Glider dive log

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 35 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 750 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

D_NO_BLEED 50 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2720 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 350 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 2 R_PORT_OVSHOOT 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 250 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 290 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -22221.535 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 0

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 75 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043712994

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064806995

RHO 1.0275 C_PITCH 2235 PRESSURE_YINT -3.6470764 SEABIRD_T_I 2.9318924e-05

MASS 51814 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 3.4945006e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.125542

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1422628

KALMAN_USE 2 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00066794927

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014236888

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 750 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 45 PRESSURE_YINT -3.6470764 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 0 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 250

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.0275 T_GPS_CHARGE -22221.535

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 290

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2235 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2720 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 75

C_ROLL_DIVE 2300 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51814 R_PORT_OVSHOOT 30 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 9 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.125542 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1422628 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.00066794927 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00014236888 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712994 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064806995 VBD_MIN 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.9318924e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 35 PHONE_DEVICE 48 SEABIRD_T_J 3.4945006e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 070315,3628.956,-12212.125,10,1.5,10,14.7 TGT_NAME RESCUE

_CALLS 1 TGT_LATLONG 3645.000,-12202.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.128,0.261

_SM_DEPTHo 1.62 KALMAN_X 10230.5,-4251.8,942.3,-15459.8,-901.5

_SM_ANGLEo -48.2 KALMAN_Y -28436.5,-116.8,-166.7,125.3,-1889.4

GPS2 070726,3628.856,-12212.179,8,1.6,14,14.7 MHEAD_RNG_PITCHd_Wd 12.1,33497,-18.2,-10.000

SPEED_LIMITS 0.173,0.244 D_GRID 1297

Post-dive calculations and measurements:

FINISH 1.5,1.012780 XPDR_PINGS 1

SM_CCo 13479,0.00,0.000,0,0,1767,385.12 ALTIM_TOP_PING 19.9,18.1

SM_GC 3.08,8.12,0.00,0.00,0.045,0.000,0.000,824,2292,1767,-6.40,0.76,385.12 _24V_AH 20.2,23.952

RAFOS_CLK 869 _10V_AH 9.9,8.660

RAFOS 0,1185177844,8.083333,8.067778,48,47,47,0,0,0,509,155,700,0,0,0 DATA_FILE_SIZE 47216,1306

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,254455808

IRIDIUM_FIX 3616.21,-12212.25,230707,101042 ERRORS 0,1,0,0,0,0,0,0,1,0,1,1,0,0,0

TT8_MAMPS 0.024544 SOUNDSPEED 1486.1

HUMID 2272 CURRENT 0.091,254.1,1

INTERNAL_PRESSURE 10.8305 GPS 230707,105355,3630.177,-12212.002,39,1.2,39,14.7

TCM_TEMP 11.20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 247 111.60 SBE_CT 904 24 438.41

Roll_motor 135 131 360.62 SBE_O2 1066 19 409.25

VBD_pump_during_apogee 394 1206 9603.44 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 2 420 21.21

GPS 15 50 7.82

TT8 2674 19 527.37

LPSleep 8679 2 198.50

TT8_Active 637 19 125.67

TT8_Sampling 1310 39 518.12

TT8_CF8 266 45 121.22

TT8_Kalman 0 81 0.00

Analog_circuits 1668 12 198.26

GPS_charging 0 0 0.00

Compass 1255 20 248.50

RAFOS 2160 1 32.08

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.08 -194.6 0.0 0.0 0 104 0.00 0.00 -75.40 0.000 2 0.000 0.000 666 1112 2599

107 -1.08 -194.6 3.3 -5.6 12 148 11.43 0.45 -24.90 0.000 4 0.248 0.128 1994 900 3655

216 -1.08 -194.6 20.0 -17.9 30 223 0.00 2.72 0.00 0.000 6 0.000 0.038 1994 2311 3656

560 -1.08 -194.6 74.7 -14.1 91 566 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2311 3658

904 -1.08 -194.6 118.5 -12.6 152 910 0.00 2.83 0.00 0.000 4 0.000 0.061 1994 904 3654

1018 -1.08 -194.6 133.8 -13.5 172 1025 0.00 2.65 0.00 0.000 6 0.000 0.042 1994 2307 3659

1363 -1.08 -194.6 180.2 -13.2 233 1368 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2308 3658

1695 -1.08 -194.6 226.9 -13.8 276 1700 0.00 3.33 0.00 0.000 4 0.000 0.132 1993 3711 3659

1739 -1.08 -194.6 233.2 -13.5 279 1746 0.00 2.72 0.00 0.000 6 0.000 0.043 1994 2311 3658

2067 -1.08 -194.6 277.7 -13.4 310 2072 0.00 3.15 0.00 0.000 4 0.000 0.108 1993 3711 3657

2122 -1.08 -194.6 285.7 -13.6 314 2129 0.00 2.83 0.00 0.000 6 0.000 0.053 1994 2296 3657

2449 -1.08 -194.6 329.4 -13.3 345 2450 0.00 0.00 0.00 0.000 6 0.000 0.000 1994 2295 3655

2765 -1.08 -194.6 369.3 -12.5 375 2770 0.00 3.28 0.00 0.000 4 0.000 0.120 1994 3709 3653

2831 -1.08 -194.6 378.1 -12.8 380 2838 0.00 2.88 0.00 0.000 6 0.000 0.063 1994 2296 3654

3156 -1.08 -194.6 419.2 -12.4 411 3161 0.00 3.28 0.00 0.000 4 0.000 0.117 1994 3710 3653

3219 -1.08 -194.6 426.9 -12.4 416 3223 0.00 2.88 0.00 0.000 6 0.000 0.064 1994 2300 3652

3543 -1.08 -194.6 466.4 -12.3 446 3548 0.00 3.25 0.00 0.000 4 0.000 0.119 1994 3705 3651

3606 -1.08 -194.6 474.6 -13.0 451 3610 0.00 2.88 0.00 0.000 6 0.000 0.063 1994 2301 3650

3940 -1.08 -194.6 515.4 -11.5 476 3945 0.00 3.25 0.00 0.000 4 0.000 0.117 1994 3707 3649

3989 -1.08 -194.6 521.6 -11.7 478 3994 0.00 2.88 0.00 0.000 6 0.000 0.063 1994 2293 3649

4305 -1.08 -194.6 560.9 -13.2 493 4310 0.00 3.25 0.00 0.000 4 0.000 0.115 1994 3708 3648

4372 -1.08 -194.6 569.8 -13.0 496 4377 0.00 2.88 0.00 0.000 6 0.000 0.061 1994 2295 3648

4693 -1.08 -194.6 608.8 -11.5 512 4698 0.00 3.28 0.00 0.000 4 0.000 0.119 1994 3708 3647

4725 -1.08 -194.6 612.6 -11.1 513 4732 0.00 2.88 0.00 0.000 6 0.000 0.061 1994 2298 3647

5041 -1.08 -194.6 646.8 -11.3 529 5046 0.00 3.22 0.00 0.000 4 0.000 0.114 1994 3706 3645

5126 -1.08 -194.6 656.7 -12.3 533 5131 0.00 2.85 0.00 0.000 6 0.000 0.059 1994 2296 3645

5453 -1.08 -194.6 696.4 -12.6 549 5458 0.00 3.22 0.00 0.000 4 0.000 0.113 1994 3707 3644

5481 -1.08 -194.6 700.0 -12.8 550 5485 0.00 2.85 0.00 0.000 6 0.000 0.060 1993 2298 3644

5796 -1.08 -194.6 737.1 -11.7 565 5801 0.00 3.22 0.00 0.000 4 0.000 0.113 1994 3711 3643

5846 -1.08 -194.6 743.1 -11.6 567 5851 0.00 2.88 0.00 0.000 6 0.000 0.060 1994 2295 3643

5912 end dive: TARGET_DEPTH_EXCEEDED

state 5913 begin apogee

5921 -0.21 0.0 750.8 11.5 570 6115 1.10 0.00 190.55 1.206 6 0.113 0.000 2183 2723 2801

6116 end apogee: CONTROL_FINISHED_OK

state 6116 begin climb

6119 1.08 194.6 760.2 0.0 580 6311 1.50 2.72 180.35 1.148 4 0.065 0.130 2467 3781 2005

6384 1.08 194.6 744.1 11.5 592 6390 0.00 2.22 0.00 0.000 6 0.000 0.047 2468 2709 2004

6700 1.08 194.6 710.5 11.2 608 6701 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2709 2003

7009 1.08 194.6 676.7 10.5 623 7010 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2709 2002

7318 1.08 194.6 644.0 10.5 638 7319 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2709 2001

7628 1.08 194.6 611.4 10.6 653 7629 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2708 2001

7937 1.08 194.6 575.6 11.9 668 7938 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2708 2000

8246 1.08 194.6 538.2 12.0 683 8247 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2708 1999

8555 1.08 194.6 499.8 12.6 698 8557 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2708 1999

8874 1.08 194.6 461.4 11.1 728 8878 0.00 2.47 0.00 0.000 4 0.000 0.113 2467 3786 1999

8958 1.08 194.6 451.3 12.0 735 8962 0.00 2.12 0.00 0.000 6 0.000 0.050 2467 2716 1999

9287 1.08 194.6 417.5 10.1 765 9292 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2716 1999

9612 1.09 196.8 384.4 9.9 796 9616 0.00 2.45 0.00 0.000 4 0.000 0.112 2468 3787 1999

9708 1.09 196.8 373.7 11.3 804 9712 0.00 2.10 0.00 0.000 6 0.000 0.047 2468 2719 1999

10035 1.09 197.8 340.4 10.0 834 10041 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2719 1999

10361 1.12 218.6 310.1 9.2 865 10385 0.00 2.47 19.10 0.987 4 0.000 0.107 2467 3783 1908

10446 1.12 218.6 301.5 10.3 872 10453 0.00 2.10 0.00 0.000 6 0.000 0.043 2468 2707 1907

10774 1.13 221.5 270.4 9.9 903 10786 0.00 3.03 2.08 1.060 4 0.000 0.089 2468 1316 1897

10843 1.13 221.5 263.4 10.1 909 10848 0.00 2.88 0.00 0.000 6 0.000 0.061 2467 2721 1897

11170 1.13 223.7 231.0 9.9 939 11179 0.00 2.55 1.98 1.041 4 0.000 0.124 2467 3786 1888

11214 1.13 223.7 226.2 10.7 943 11218 0.00 2.08 0.00 0.000 6 0.000 0.039 2467 2707 1888

11542 1.13 223.7 192.9 10.4 979 11549 0.00 2.95 0.00 0.000 4 0.000 0.086 2467 1320 1888

11628 1.13 223.7 183.2 11.4 994 11635 0.00 2.85 0.00 0.000 6 0.000 0.061 2468 2725 1888

11973 1.13 223.7 142.4 11.5 1055 11979 0.00 2.90 0.00 0.000 4 0.000 0.069 2468 1314 1888

12048 1.13 223.7 133.7 11.3 1068 12054 0.00 2.85 0.00 0.000 6 0.000 0.060 2467 2728 1888

12392 1.22 276.5 100.0 8.1 1129 12399 0.15 2.88 0.00 0.000 4 0.058 0.064 2504 1316 1132

12451 1.22 276.5 94.4 10.0 1139 12458 0.00 2.83 0.00 0.000 6 0.000 0.058 2504 2725 1159

12796 1.22 276.5 60.5 10.5 1200 12802 0.00 2.88 0.00 0.000 4 0.000 0.065 2504 1315 1186

12905 1.22 276.5 48.7 10.2 1219 12911 0.00 2.80 0.00 0.000 6 0.000 0.054 2504 2725 1202

13249 1.25 295.4 15.0 9.3 1280 13256 0.00 2.85 0.00 0.000 4 0.000 0.062 2504 1315 1213

13330 1.25 295.4 6.4 11.0 1294 13337 0.00 2.80 0.00 0.000 6 0.000 0.051 2504 2729 1229

13374 end climb: SURFACE_DEPTH_REACHED

state 13374 begin surface coast

13398 end surface coast: CONTROL_FINISHED_OK

state 13398 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	35	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	750	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
D_NO_BLEED	50	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2720	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	350	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	2	R_PORT_OVSHOOT	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	250	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	290	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-22221.535	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	0
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	75	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043712994
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064806995
RHO	1.0275	C_PITCH	2235	PRESSURE_YINT	-3.6470764	SEABIRD_T_I	2.9318924e-05
MASS	51814	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	3.4945006e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.125542
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1422628
KALMAN_USE	2	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00066794927
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014236888

GPS1	070315,3628.956,-12212.125,10,1.5,10,14.7	TGT_NAME	RESCUE
_CALLS	1	TGT_LATLONG	3645.000,-12202.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.128,0.261
_SM_DEPTHo	1.62	KALMAN_X	10230.5,-4251.8,942.3,-15459.8,-901.5
_SM_ANGLEo	-48.2	KALMAN_Y	-28436.5,-116.8,-166.7,125.3,-1889.4
GPS2	070726,3628.856,-12212.179,8,1.6,14,14.7	MHEAD_RNG_PITCHd_Wd	12.1,33497,-18.2,-10.000
SPEED_LIMITS	0.173,0.244	D_GRID	1297

FINISH	1.5,1.012780	XPDR_PINGS	1
SM_CCo	13479,0.00,0.000,0,0,1767,385.12	ALTIM_TOP_PING	19.9,18.1
SM_GC	3.08,8.12,0.00,0.00,0.045,0.000,0.000,824,2292,1767,-6.40,0.76,385.12	_24V_AH	20.2,23.952
RAFOS_CLK	869	_10V_AH	9.9,8.660
RAFOS	0,1185177844,8.083333,8.067778,48,47,47,0,0,0,509,155,700,0,0,0	DATA_FILE_SIZE	47216,1306
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,254455808
IRIDIUM_FIX	3616.21,-12212.25,230707,101042	ERRORS	0,1,0,0,0,0,0,0,1,0,1,1,0,0,0
TT8_MAMPS	0.024544	SOUNDSPEED	1486.1
HUMID	2272	CURRENT	0.091,254.1,1
INTERNAL_PRESSURE	10.8305	GPS	230707,105355,3630.177,-12212.002,39,1.2,39,14.7
TCM_TEMP	11.20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	247	111.60	SBE_CT	904	24	438.41
Roll_motor	135	131	360.62	SBE_O2	1066	19	409.25
VBD_pump_during_apogee	394	1206	9603.44	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	2	420	21.21
GPS	15	50	7.82
TT8	2674	19	527.37
LPSleep	8679	2	198.50
TT8_Active	637	19	125.67
TT8_Sampling	1310	39	518.12
TT8_CF8	266	45	121.22
TT8_Kalman	0	81	0.00
Analog_circuits	1668	12	198.26
GPS_charging	0	0	0.00
Compass	1255	20	248.50
RAFOS	2160	1	32.08

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.08	-194.6	0.0	0.0	0	104	0.00	0.00	-75.40	0.000	2	0.000	0.000	666	1112	2599
107	-1.08	-194.6	3.3	-5.6	12	148	11.43	0.45	-24.90	0.000	4	0.248	0.128	1994	900	3655
216	-1.08	-194.6	20.0	-17.9	30	223	0.00	2.72	0.00	0.000	6	0.000	0.038	1994	2311	3656
560	-1.08	-194.6	74.7	-14.1	91	566	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2311	3658
904	-1.08	-194.6	118.5	-12.6	152	910	0.00	2.83	0.00	0.000	4	0.000	0.061	1994	904	3654
1018	-1.08	-194.6	133.8	-13.5	172	1025	0.00	2.65	0.00	0.000	6	0.000	0.042	1994	2307	3659
1363	-1.08	-194.6	180.2	-13.2	233	1368	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2308	3658
1695	-1.08	-194.6	226.9	-13.8	276	1700	0.00	3.33	0.00	0.000	4	0.000	0.132	1993	3711	3659
1739	-1.08	-194.6	233.2	-13.5	279	1746	0.00	2.72	0.00	0.000	6	0.000	0.043	1994	2311	3658
2067	-1.08	-194.6	277.7	-13.4	310	2072	0.00	3.15	0.00	0.000	4	0.000	0.108	1993	3711	3657
2122	-1.08	-194.6	285.7	-13.6	314	2129	0.00	2.83	0.00	0.000	6	0.000	0.053	1994	2296	3657
2449	-1.08	-194.6	329.4	-13.3	345	2450	0.00	0.00	0.00	0.000	6	0.000	0.000	1994	2295	3655
2765	-1.08	-194.6	369.3	-12.5	375	2770	0.00	3.28	0.00	0.000	4	0.000	0.120	1994	3709	3653
2831	-1.08	-194.6	378.1	-12.8	380	2838	0.00	2.88	0.00	0.000	6	0.000	0.063	1994	2296	3654
3156	-1.08	-194.6	419.2	-12.4	411	3161	0.00	3.28	0.00	0.000	4	0.000	0.117	1994	3710	3653
3219	-1.08	-194.6	426.9	-12.4	416	3223	0.00	2.88	0.00	0.000	6	0.000	0.064	1994	2300	3652
3543	-1.08	-194.6	466.4	-12.3	446	3548	0.00	3.25	0.00	0.000	4	0.000	0.119	1994	3705	3651
3606	-1.08	-194.6	474.6	-13.0	451	3610	0.00	2.88	0.00	0.000	6	0.000	0.063	1994	2301	3650
3940	-1.08	-194.6	515.4	-11.5	476	3945	0.00	3.25	0.00	0.000	4	0.000	0.117	1994	3707	3649
3989	-1.08	-194.6	521.6	-11.7	478	3994	0.00	2.88	0.00	0.000	6	0.000	0.063	1994	2293	3649
4305	-1.08	-194.6	560.9	-13.2	493	4310	0.00	3.25	0.00	0.000	4	0.000	0.115	1994	3708	3648
4372	-1.08	-194.6	569.8	-13.0	496	4377	0.00	2.88	0.00	0.000	6	0.000	0.061	1994	2295	3648
4693	-1.08	-194.6	608.8	-11.5	512	4698	0.00	3.28	0.00	0.000	4	0.000	0.119	1994	3708	3647
4725	-1.08	-194.6	612.6	-11.1	513	4732	0.00	2.88	0.00	0.000	6	0.000	0.061	1994	2298	3647
5041	-1.08	-194.6	646.8	-11.3	529	5046	0.00	3.22	0.00	0.000	4	0.000	0.114	1994	3706	3645
5126	-1.08	-194.6	656.7	-12.3	533	5131	0.00	2.85	0.00	0.000	6	0.000	0.059	1994	2296	3645
5453	-1.08	-194.6	696.4	-12.6	549	5458	0.00	3.22	0.00	0.000	4	0.000	0.113	1994	3707	3644
5481	-1.08	-194.6	700.0	-12.8	550	5485	0.00	2.85	0.00	0.000	6	0.000	0.060	1993	2298	3644
5796	-1.08	-194.6	737.1	-11.7	565	5801	0.00	3.22	0.00	0.000	4	0.000	0.113	1994	3711	3643
5846	-1.08	-194.6	743.1	-11.6	567	5851	0.00	2.88	0.00	0.000	6	0.000	0.060	1994	2295	3643
5912	end dive: TARGET_DEPTH_EXCEEDED
state	5913	begin apogee
5921	-0.21	0.0	750.8	11.5	570	6115	1.10	0.00	190.55	1.206	6	0.113	0.000	2183	2723	2801
6116	end apogee: CONTROL_FINISHED_OK
state	6116	begin climb
6119	1.08	194.6	760.2	0.0	580	6311	1.50	2.72	180.35	1.148	4	0.065	0.130	2467	3781	2005
6384	1.08	194.6	744.1	11.5	592	6390	0.00	2.22	0.00	0.000	6	0.000	0.047	2468	2709	2004
6700	1.08	194.6	710.5	11.2	608	6701	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2709	2003
7009	1.08	194.6	676.7	10.5	623	7010	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2709	2002
7318	1.08	194.6	644.0	10.5	638	7319	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2709	2001
7628	1.08	194.6	611.4	10.6	653	7629	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2708	2001
7937	1.08	194.6	575.6	11.9	668	7938	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2708	2000
8246	1.08	194.6	538.2	12.0	683	8247	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2708	1999
8555	1.08	194.6	499.8	12.6	698	8557	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2708	1999
8874	1.08	194.6	461.4	11.1	728	8878	0.00	2.47	0.00	0.000	4	0.000	0.113	2467	3786	1999
8958	1.08	194.6	451.3	12.0	735	8962	0.00	2.12	0.00	0.000	6	0.000	0.050	2467	2716	1999
9287	1.08	194.6	417.5	10.1	765	9292	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2716	1999
9612	1.09	196.8	384.4	9.9	796	9616	0.00	2.45	0.00	0.000	4	0.000	0.112	2468	3787	1999
9708	1.09	196.8	373.7	11.3	804	9712	0.00	2.10	0.00	0.000	6	0.000	0.047	2468	2719	1999
10035	1.09	197.8	340.4	10.0	834	10041	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2719	1999
10361	1.12	218.6	310.1	9.2	865	10385	0.00	2.47	19.10	0.987	4	0.000	0.107	2467	3783	1908
10446	1.12	218.6	301.5	10.3	872	10453	0.00	2.10	0.00	0.000	6	0.000	0.043	2468	2707	1907
10774	1.13	221.5	270.4	9.9	903	10786	0.00	3.03	2.08	1.060	4	0.000	0.089	2468	1316	1897
10843	1.13	221.5	263.4	10.1	909	10848	0.00	2.88	0.00	0.000	6	0.000	0.061	2467	2721	1897
11170	1.13	223.7	231.0	9.9	939	11179	0.00	2.55	1.98	1.041	4	0.000	0.124	2467	3786	1888
11214	1.13	223.7	226.2	10.7	943	11218	0.00	2.08	0.00	0.000	6	0.000	0.039	2467	2707	1888
11542	1.13	223.7	192.9	10.4	979	11549	0.00	2.95	0.00	0.000	4	0.000	0.086	2467	1320	1888
11628	1.13	223.7	183.2	11.4	994	11635	0.00	2.85	0.00	0.000	6	0.000	0.061	2468	2725	1888
11973	1.13	223.7	142.4	11.5	1055	11979	0.00	2.90	0.00	0.000	4	0.000	0.069	2468	1314	1888
12048	1.13	223.7	133.7	11.3	1068	12054	0.00	2.85	0.00	0.000	6	0.000	0.060	2467	2728	1888
12392	1.22	276.5	100.0	8.1	1129	12399	0.15	2.88	0.00	0.000	4	0.058	0.064	2504	1316	1132
12451	1.22	276.5	94.4	10.0	1139	12458	0.00	2.83	0.00	0.000	6	0.000	0.058	2504	2725	1159
12796	1.22	276.5	60.5	10.5	1200	12802	0.00	2.88	0.00	0.000	4	0.000	0.065	2504	1315	1186
12905	1.22	276.5	48.7	10.2	1219	12911	0.00	2.80	0.00	0.000	6	0.000	0.054	2504	2725	1202
13249	1.25	295.4	15.0	9.3	1280	13256	0.00	2.85	0.00	0.000	4	0.000	0.062	2504	1315	1213
13330	1.25	295.4	6.4	11.0	1294	13337	0.00	2.80	0.00	0.000	6	0.000	0.051	2504	2729	1229
13374	end climb: SURFACE_DEPTH_REACHED
state	13374	begin surface coast
13398	end surface coast: CONTROL_FINISHED_OK
state	13398	begin surface