Glider dive log

Monterey Jul07 * SG112 * Dive index * Mission links * Dive 33 * Log results * Raw log file

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 33 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 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 -22064.791 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 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 -22064.791

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 5

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 27 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 21 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 33 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 020609,3630.124,-12210.982,8,1.5,8,14.7 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 1.50 KALMAN_X 10230.5,-4251.8,942.3,-15459.8,-901.5

_SM_ANGLEo -45.2 KALMAN_Y -28436.5,-116.8,-166.7,125.3,-1889.4

GPS2 021021,3629.984,-12210.952,12,1.4,12,14.7 MHEAD_RNG_PITCHd_Wd 10.8,30820,-18.2,-10.000

SPEED_LIMITS 0.173,0.244 D_GRID 1384

Post-dive calculations and measurements:

FINISH 1.4,1.020999 XPDR_PINGS 2

SM_CCo 12367,0.00,0.000,0,0,1920,395.91 ALTIM_TOP_PING 19.7,17.9

SM_GC 2.02,8.00,0.00,0.00,0.055,0.000,0.000,890,2287,1920,-6.11,0.76,395.91 _24V_AH 20.3,23.565

RAFOS_CLK 777 _10V_AH 9.9,8.543

RAFOS 0,1185163445,4.083333,4.068056,45,44,43,0,0,0,63,254,233,0,0,0 DATA_FILE_SIZE 44114,1198

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,254554112

IRIDIUM_FIX 3613.54,-12253.12,230707,050548 ERRORS 0,0,0,0,0,0,0,0,1,0,1,0,0,0,0

TT8_MAMPS 0.024544 SOUNDSPEED 1486.5

HUMID 2290 CURRENT 0.157,237.6,1

INTERNAL_PRESSURE 10.8403 GPS 230707,054043,3630.883,-12211.136,185,1.5,185,14.7

TCM_TEMP 11.40

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 245 109.99 SBE_CT 830 24 404.40

Roll_motor 146 142 423.62 SBE_O2 977 19 376.87

VBD_pump_during_apogee 370 1208 9088.80 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 23.45

GPS 13 50 6.80

TT8 2482 19 489.65

LPSleep 7883 2 180.28

TT8_Active 609 19 120.26

TT8_Sampling 1222 39 483.15

TT8_CF8 253 45 115.08

TT8_Kalman 0 81 0.00

Analog_circuits 1574 12 187.11

GPS_charging 0 0 0.00

Compass 1164 20 230.66

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 0 108 0.00 0.00 -79.80 0.000 2 0.000 0.000 670 1174 2774

112 -1.08 -194.6 3.4 -6.2 12 145 11.30 0.60 -16.88 0.000 4 0.245 0.110 1992 891 3596

236 -1.08 -194.6 24.6 -16.4 33 243 0.00 2.72 0.00 0.000 6 0.000 0.039 1992 2293 3559

581 -1.08 -194.6 79.1 -16.6 94 588 0.00 2.80 0.00 0.000 4 0.000 0.058 1993 898 3599

667 -1.08 -194.6 92.4 -15.4 109 674 0.00 2.72 0.00 0.000 6 0.000 0.042 1993 2306 3539

1012 -1.08 -194.6 145.4 -15.5 170 1018 0.00 2.83 0.00 0.000 4 0.000 0.061 1992 901 3599

1059 -1.08 -194.6 153.0 -15.8 178 1065 0.00 2.72 0.00 0.000 6 0.000 0.044 1992 2300 3599

1406 -1.08 -194.6 208.4 -15.8 235 1411 0.00 3.30 0.00 0.000 4 0.000 0.128 1993 3707 3586

1434 -1.08 -194.6 212.8 -15.8 237 1439 0.00 2.72 0.00 0.000 6 0.000 0.041 1992 2302 3598

1762 -1.08 -194.6 261.6 -14.7 267 1767 0.00 3.17 0.00 0.000 4 0.000 0.107 1993 3713 3597

1790 -1.08 -194.6 266.4 -15.4 269 1795 0.00 2.78 0.00 0.000 6 0.000 0.049 1993 2306 3598

2117 -1.08 -194.6 316.3 -16.0 299 2122 0.00 3.17 0.00 0.000 4 0.000 0.110 1992 3708 3597

2180 -1.08 -194.6 326.7 -15.8 304 2184 0.00 2.85 0.00 0.000 6 0.000 0.058 1992 2299 3596

2507 -1.08 -194.6 374.7 -14.2 334 2508 0.00 0.00 0.00 0.000 6 0.000 0.000 1993 2298 3594

2825 -1.08 -194.6 417.9 -13.3 364 2830 0.00 3.25 0.00 0.000 4 0.000 0.120 1992 3706 3592

2921 -1.08 -194.6 430.7 -13.1 372 2926 0.00 2.88 0.00 0.000 6 0.000 0.065 1992 2298 3592

3246 -1.08 -194.6 470.0 -11.8 402 3251 0.00 3.25 0.00 0.000 4 0.000 0.117 1993 3710 3591

3290 -1.08 -194.6 475.4 -12.1 405 3297 0.00 2.88 0.00 0.000 6 0.000 0.064 1993 2300 3591

3616 -1.08 -194.6 508.5 -10.1 432 3618 0.00 0.00 0.00 0.000 6 0.000 0.000 1992 2299 3590

3922 -1.08 -194.6 538.7 -10.3 447 3927 0.00 3.25 0.00 0.000 4 0.000 0.117 1992 3709 3588

3977 -1.08 -194.6 545.0 -11.3 449 3984 0.00 2.85 0.00 0.000 6 0.000 0.061 1992 2300 3588

4293 -1.08 -194.6 580.5 -11.8 465 4298 0.00 3.22 0.00 0.000 4 0.000 0.116 1992 3708 3586

4333 -1.08 -194.6 585.2 -12.0 467 4337 0.00 2.85 0.00 0.000 6 0.000 0.060 1993 2300 3586

4659 -1.08 -194.6 623.9 -11.7 483 4664 0.00 3.22 0.00 0.000 4 0.000 0.115 1993 3708 3585

4699 -1.08 -194.6 628.6 -11.9 485 4704 0.00 2.85 0.00 0.000 6 0.000 0.058 1993 2297 3585

5025 -1.08 -194.6 667.5 -12.0 501 5030 0.00 3.25 0.00 0.000 4 0.000 0.116 1992 3706 3584

5065 -1.08 -194.6 672.2 -12.4 503 5070 0.00 2.85 0.00 0.000 6 0.000 0.058 1992 2293 3583

5392 -1.08 -194.6 712.0 -12.4 519 5397 0.00 3.22 0.00 0.000 4 0.000 0.112 1993 3708 3582

5455 -1.08 -194.6 719.8 -12.7 522 5459 0.00 2.88 0.00 0.000 6 0.000 0.058 1992 2291 3582

5717 end dive: TARGET_DEPTH_EXCEEDED

state 5717 begin apogee

5726 -0.21 0.0 752.4 12.3 535 5906 1.12 0.00 176.70 1.208 6 0.116 0.000 2186 2720 2800

5907 end apogee: CONTROL_FINISHED_OK

state 5907 begin climb

5910 1.08 194.6 761.8 0.0 544 6102 1.50 2.83 179.95 1.151 4 0.064 0.131 2471 3785 2006

6157 1.08 194.6 745.8 13.8 555 6161 0.00 2.22 0.00 0.000 6 0.000 0.045 2471 2715 2005

6473 1.08 194.6 701.2 14.6 570 6475 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2715 2004

6783 1.08 194.6 655.1 14.9 585 6787 0.00 2.47 0.00 0.000 4 0.000 0.110 2470 3784 2003

6849 1.08 194.6 644.5 16.2 588 6853 0.00 2.15 0.00 0.000 6 0.000 0.046 2471 2712 2002

7171 1.08 194.6 599.3 13.6 604 7176 0.00 3.15 0.00 0.000 4 0.000 0.107 2471 1302 2002

7204 1.08 194.6 594.7 13.1 605 7211 0.00 3.00 0.00 0.000 6 0.000 0.076 2471 2722 2002

7520 1.08 194.6 550.5 15.8 621 7524 0.00 2.60 0.00 0.000 4 0.000 0.140 2470 3793 2001

7597 1.08 194.6 538.2 15.7 624 7603 0.00 2.15 0.00 0.000 6 0.000 0.048 2471 2719 2001

7913 1.08 194.6 497.7 11.8 640 7917 0.00 2.42 0.00 0.000 4 0.000 0.107 2471 3789 2001

7979 1.08 194.6 489.1 12.6 645 7986 0.00 2.12 0.00 0.000 6 0.000 0.048 2471 2718 2001

8307 1.10 205.7 455.1 9.6 676 8325 0.00 3.17 8.27 1.124 4 0.000 0.104 2471 1307 1961

8353 1.11 212.3 450.3 9.8 680 8364 0.00 3.00 5.70 1.123 6 0.000 0.080 2471 2722 1934

8683 1.11 212.3 414.5 11.1 711 8684 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2723 1933

9002 1.11 212.3 379.9 11.1 741 9007 0.00 2.97 0.00 0.000 4 0.000 0.077 2471 1305 1933

9068 1.11 212.3 371.8 12.1 746 9075 0.00 3.00 0.00 0.000 6 0.000 0.076 2471 2725 1933

9396 1.11 212.3 335.1 11.3 777 9400 0.00 2.60 0.00 0.000 4 0.000 0.143 2471 3793 1933

9514 1.11 212.3 320.5 12.0 787 9518 0.00 2.12 0.00 0.000 6 0.000 0.044 2471 2709 1933

9839 1.11 212.3 281.9 12.1 817 9840 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2709 1933

10157 1.11 212.3 239.7 14.6 847 10162 0.00 2.90 0.00 0.000 4 0.000 0.084 2471 1308 1933

10201 1.11 212.3 232.9 15.6 850 10208 0.00 2.85 0.00 0.000 6 0.000 0.060 2471 2723 1933

10530 1.11 212.3 188.6 12.7 888 10537 0.00 2.50 0.00 0.000 4 0.000 0.128 2471 3787 1933

10616 1.11 212.3 176.6 14.0 903 10623 0.00 2.05 0.00 0.000 6 0.000 0.038 2471 2708 1933

10961 1.11 212.3 134.4 11.4 964 10967 0.00 2.92 0.00 0.000 4 0.000 0.085 2471 1317 1933

11052 1.11 212.3 123.2 12.7 980 11059 0.00 2.83 0.00 0.000 6 0.000 0.059 2471 2724 1854

11398 1.11 212.3 81.9 12.2 1041 11404 0.00 2.88 0.00 0.000 4 0.000 0.065 2471 1314 1120

11489 1.11 212.3 71.0 12.4 1057 11496 0.00 2.80 0.00 0.000 6 0.000 0.057 2471 2720 1148

11834 1.24 288.9 38.2 7.2 1118 11841 0.15 2.85 0.00 0.000 4 0.057 0.066 2508 1319 1170

12094 1.24 288.9 16.1 10.4 1164 12101 0.00 2.80 0.00 0.000 6 0.000 0.054 2508 2729 1189

12265 end climb: SURFACE_DEPTH_REACHED

state 12265 begin surface coast

12286 end surface coast: CONTROL_FINISHED_OK

state 12286 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	33	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	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	-22064.791	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	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	020609,3630.124,-12210.982,8,1.5,8,14.7	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	1.50	KALMAN_X	10230.5,-4251.8,942.3,-15459.8,-901.5
_SM_ANGLEo	-45.2	KALMAN_Y	-28436.5,-116.8,-166.7,125.3,-1889.4
GPS2	021021,3629.984,-12210.952,12,1.4,12,14.7	MHEAD_RNG_PITCHd_Wd	10.8,30820,-18.2,-10.000
SPEED_LIMITS	0.173,0.244	D_GRID	1384

FINISH	1.4,1.020999	XPDR_PINGS	2
SM_CCo	12367,0.00,0.000,0,0,1920,395.91	ALTIM_TOP_PING	19.7,17.9
SM_GC	2.02,8.00,0.00,0.00,0.055,0.000,0.000,890,2287,1920,-6.11,0.76,395.91	_24V_AH	20.3,23.565
RAFOS_CLK	777	_10V_AH	9.9,8.543
RAFOS	0,1185163445,4.083333,4.068056,45,44,43,0,0,0,63,254,233,0,0,0	DATA_FILE_SIZE	44114,1198
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,254554112
IRIDIUM_FIX	3613.54,-12253.12,230707,050548	ERRORS	0,0,0,0,0,0,0,0,1,0,1,0,0,0,0
TT8_MAMPS	0.024544	SOUNDSPEED	1486.5
HUMID	2290	CURRENT	0.157,237.6,1
INTERNAL_PRESSURE	10.8403	GPS	230707,054043,3630.883,-12211.136,185,1.5,185,14.7
TCM_TEMP	11.40

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	245	109.99	SBE_CT	830	24	404.40
Roll_motor	146	142	423.62	SBE_O2	977	19	376.87
VBD_pump_during_apogee	370	1208	9088.80	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	23.45
GPS	13	50	6.80
TT8	2482	19	489.65
LPSleep	7883	2	180.28
TT8_Active	609	19	120.26
TT8_Sampling	1222	39	483.15
TT8_CF8	253	45	115.08
TT8_Kalman	0	81	0.00
Analog_circuits	1574	12	187.11
GPS_charging	0	0	0.00
Compass	1164	20	230.66
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	108	0.00	0.00	-79.80	0.000	2	0.000	0.000	670	1174	2774
112	-1.08	-194.6	3.4	-6.2	12	145	11.30	0.60	-16.88	0.000	4	0.245	0.110	1992	891	3596
236	-1.08	-194.6	24.6	-16.4	33	243	0.00	2.72	0.00	0.000	6	0.000	0.039	1992	2293	3559
581	-1.08	-194.6	79.1	-16.6	94	588	0.00	2.80	0.00	0.000	4	0.000	0.058	1993	898	3599
667	-1.08	-194.6	92.4	-15.4	109	674	0.00	2.72	0.00	0.000	6	0.000	0.042	1993	2306	3539
1012	-1.08	-194.6	145.4	-15.5	170	1018	0.00	2.83	0.00	0.000	4	0.000	0.061	1992	901	3599
1059	-1.08	-194.6	153.0	-15.8	178	1065	0.00	2.72	0.00	0.000	6	0.000	0.044	1992	2300	3599
1406	-1.08	-194.6	208.4	-15.8	235	1411	0.00	3.30	0.00	0.000	4	0.000	0.128	1993	3707	3586
1434	-1.08	-194.6	212.8	-15.8	237	1439	0.00	2.72	0.00	0.000	6	0.000	0.041	1992	2302	3598
1762	-1.08	-194.6	261.6	-14.7	267	1767	0.00	3.17	0.00	0.000	4	0.000	0.107	1993	3713	3597
1790	-1.08	-194.6	266.4	-15.4	269	1795	0.00	2.78	0.00	0.000	6	0.000	0.049	1993	2306	3598
2117	-1.08	-194.6	316.3	-16.0	299	2122	0.00	3.17	0.00	0.000	4	0.000	0.110	1992	3708	3597
2180	-1.08	-194.6	326.7	-15.8	304	2184	0.00	2.85	0.00	0.000	6	0.000	0.058	1992	2299	3596
2507	-1.08	-194.6	374.7	-14.2	334	2508	0.00	0.00	0.00	0.000	6	0.000	0.000	1993	2298	3594
2825	-1.08	-194.6	417.9	-13.3	364	2830	0.00	3.25	0.00	0.000	4	0.000	0.120	1992	3706	3592
2921	-1.08	-194.6	430.7	-13.1	372	2926	0.00	2.88	0.00	0.000	6	0.000	0.065	1992	2298	3592
3246	-1.08	-194.6	470.0	-11.8	402	3251	0.00	3.25	0.00	0.000	4	0.000	0.117	1993	3710	3591
3290	-1.08	-194.6	475.4	-12.1	405	3297	0.00	2.88	0.00	0.000	6	0.000	0.064	1993	2300	3591
3616	-1.08	-194.6	508.5	-10.1	432	3618	0.00	0.00	0.00	0.000	6	0.000	0.000	1992	2299	3590
3922	-1.08	-194.6	538.7	-10.3	447	3927	0.00	3.25	0.00	0.000	4	0.000	0.117	1992	3709	3588
3977	-1.08	-194.6	545.0	-11.3	449	3984	0.00	2.85	0.00	0.000	6	0.000	0.061	1992	2300	3588
4293	-1.08	-194.6	580.5	-11.8	465	4298	0.00	3.22	0.00	0.000	4	0.000	0.116	1992	3708	3586
4333	-1.08	-194.6	585.2	-12.0	467	4337	0.00	2.85	0.00	0.000	6	0.000	0.060	1993	2300	3586
4659	-1.08	-194.6	623.9	-11.7	483	4664	0.00	3.22	0.00	0.000	4	0.000	0.115	1993	3708	3585
4699	-1.08	-194.6	628.6	-11.9	485	4704	0.00	2.85	0.00	0.000	6	0.000	0.058	1993	2297	3585
5025	-1.08	-194.6	667.5	-12.0	501	5030	0.00	3.25	0.00	0.000	4	0.000	0.116	1992	3706	3584
5065	-1.08	-194.6	672.2	-12.4	503	5070	0.00	2.85	0.00	0.000	6	0.000	0.058	1992	2293	3583
5392	-1.08	-194.6	712.0	-12.4	519	5397	0.00	3.22	0.00	0.000	4	0.000	0.112	1993	3708	3582
5455	-1.08	-194.6	719.8	-12.7	522	5459	0.00	2.88	0.00	0.000	6	0.000	0.058	1992	2291	3582
5717	end dive: TARGET_DEPTH_EXCEEDED
state	5717	begin apogee
5726	-0.21	0.0	752.4	12.3	535	5906	1.12	0.00	176.70	1.208	6	0.116	0.000	2186	2720	2800
5907	end apogee: CONTROL_FINISHED_OK
state	5907	begin climb
5910	1.08	194.6	761.8	0.0	544	6102	1.50	2.83	179.95	1.151	4	0.064	0.131	2471	3785	2006
6157	1.08	194.6	745.8	13.8	555	6161	0.00	2.22	0.00	0.000	6	0.000	0.045	2471	2715	2005
6473	1.08	194.6	701.2	14.6	570	6475	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2715	2004
6783	1.08	194.6	655.1	14.9	585	6787	0.00	2.47	0.00	0.000	4	0.000	0.110	2470	3784	2003
6849	1.08	194.6	644.5	16.2	588	6853	0.00	2.15	0.00	0.000	6	0.000	0.046	2471	2712	2002
7171	1.08	194.6	599.3	13.6	604	7176	0.00	3.15	0.00	0.000	4	0.000	0.107	2471	1302	2002
7204	1.08	194.6	594.7	13.1	605	7211	0.00	3.00	0.00	0.000	6	0.000	0.076	2471	2722	2002
7520	1.08	194.6	550.5	15.8	621	7524	0.00	2.60	0.00	0.000	4	0.000	0.140	2470	3793	2001
7597	1.08	194.6	538.2	15.7	624	7603	0.00	2.15	0.00	0.000	6	0.000	0.048	2471	2719	2001
7913	1.08	194.6	497.7	11.8	640	7917	0.00	2.42	0.00	0.000	4	0.000	0.107	2471	3789	2001
7979	1.08	194.6	489.1	12.6	645	7986	0.00	2.12	0.00	0.000	6	0.000	0.048	2471	2718	2001
8307	1.10	205.7	455.1	9.6	676	8325	0.00	3.17	8.27	1.124	4	0.000	0.104	2471	1307	1961
8353	1.11	212.3	450.3	9.8	680	8364	0.00	3.00	5.70	1.123	6	0.000	0.080	2471	2722	1934
8683	1.11	212.3	414.5	11.1	711	8684	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2723	1933
9002	1.11	212.3	379.9	11.1	741	9007	0.00	2.97	0.00	0.000	4	0.000	0.077	2471	1305	1933
9068	1.11	212.3	371.8	12.1	746	9075	0.00	3.00	0.00	0.000	6	0.000	0.076	2471	2725	1933
9396	1.11	212.3	335.1	11.3	777	9400	0.00	2.60	0.00	0.000	4	0.000	0.143	2471	3793	1933
9514	1.11	212.3	320.5	12.0	787	9518	0.00	2.12	0.00	0.000	6	0.000	0.044	2471	2709	1933
9839	1.11	212.3	281.9	12.1	817	9840	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2709	1933
10157	1.11	212.3	239.7	14.6	847	10162	0.00	2.90	0.00	0.000	4	0.000	0.084	2471	1308	1933
10201	1.11	212.3	232.9	15.6	850	10208	0.00	2.85	0.00	0.000	6	0.000	0.060	2471	2723	1933
10530	1.11	212.3	188.6	12.7	888	10537	0.00	2.50	0.00	0.000	4	0.000	0.128	2471	3787	1933
10616	1.11	212.3	176.6	14.0	903	10623	0.00	2.05	0.00	0.000	6	0.000	0.038	2471	2708	1933
10961	1.11	212.3	134.4	11.4	964	10967	0.00	2.92	0.00	0.000	4	0.000	0.085	2471	1317	1933
11052	1.11	212.3	123.2	12.7	980	11059	0.00	2.83	0.00	0.000	6	0.000	0.059	2471	2724	1854
11398	1.11	212.3	81.9	12.2	1041	11404	0.00	2.88	0.00	0.000	4	0.000	0.065	2471	1314	1120
11489	1.11	212.3	71.0	12.4	1057	11496	0.00	2.80	0.00	0.000	6	0.000	0.057	2471	2720	1148
11834	1.24	288.9	38.2	7.2	1118	11841	0.15	2.85	0.00	0.000	4	0.057	0.066	2508	1319	1170
12094	1.24	288.9	16.1	10.4	1164	12101	0.00	2.80	0.00	0.000	6	0.000	0.054	2508	2729	1189
12265	end climb: SURFACE_DEPTH_REACHED
state	12265	begin surface coast
12286	end surface coast: CONTROL_FINISHED_OK
state	12286	begin surface