Glider dive log

DavisStrait May07 * SG001 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 1 HD_C 2.4896e-05 PITCH_TIMEOUT 15 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 HEADING -1 PITCH_AD_RATE 180 ALTIM_TOP_MIN_OBSTACLE 3.5

DIVE 10 TACK_ANGLE -181 PITCH_MAXERRORS 1 ALTIM_PING_DEPTH 125

D_SURF 2 ESCAPE_HEADING 180 ROLL_MIN 166 ALTIM_PING_DELTA 25

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3791 ALTIM_FREQUENCY 15

D_TGT 990 FIX_MISSING_TIMEOUT 3 C_ROLL_DIVE 1978 ALTIM_PULSE 5

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_CLIMB 1978 ALTIM_SENSITIVITY 1

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 HEAD_ERRBAND 15 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 7.0000001e-06 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 10

D_PITCH 1.5 SM_CC 350 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 100 N_FILEKB 4 R_PORT_OVSHOOT 4 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 4 MOTHERBOARD 4

SURFACE_URGENCY 5 CALL_NDIVES 1 ROLL_AD_RATE 500 DEVICE1 2

SURFACE_URGENCY_TRY 20 COMM_SEQ 0 ROLL_MAXERRORS 1 DEVICE2 -1

SURFACE_URGENCY_FORCE 20 N_NOCOMM 1 VBD_MIN 421 DEVICE3 -1

T_DIVE 528 N_NOSURFACE 0 VBD_MAX 3792 DEVICE4 -1

T_MISSION 550 UPLOAD_DIVES_MAX 5 C_VBD 2257 DEVICE5 -1

T_ABORT 1440 CALL_TRIES 5 VBD_DBAND 2 DEVICE6 -1

T_TURN 240 CALL_WAIT 60 VBD_CNV -0.24529999 SMARTS 0

T_TURN_SAMPINT 5 CAPUPLOAD 0 VBD_TIMEOUT 720 SMARTDEVICE1 -1

T_NO_W 120 CAPMAXSIZE 200000 PITCH_VBD_SHIFT 0.00167 SMARTDEVICE2 -1

USE_BATHY 0 HEAPDBG 1 VBD_PUMP_AD_RATE_SURFACE 6 COMPASS_DEVICE 1

USE_ICE -1 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 PHONE_DEVICE 32

ICE_FREEZE_MARGIN -2 N_GPS 20 VBD_BLEED_AD_RATE 10 GPS_DEVICE 32

D_OFFGRID 1001 T_GPS_ALMANAC 0 UNCOM_BLEED 20 RAFOS_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -442460.38 VBD_MAXERRORS 20 XPDR_DEVICE 24

RELAUNCH 1 T_RSLEEP 57 CF8_MAXERRORS 20 SIM_W 0

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 AH0_24V 91.800003 SIM_PITCH 0

MAX_BUOY 120 RAFOS_CORR_THRESH 60 AH0_10V 61.200001 SEABIRD_T_G 0.0042857998

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 PRESSURE_YINT 0.27000001 SEABIRD_T_H 0.00062588596

GLIDE_SLOPE 30 PITCH_MIN 679 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_I 2.1643695e-05

SPEED_FACTOR 0.94999993 PITCH_MAX 3252 AD7714Ch0Gain 1 SEABIRD_T_J 2.0181028e-06

RHO 1.02765 C_PITCH 2263 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.005328

MASS 51747 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1235065

KALMAN_USE 1 PITCH_CNV 0.0046000001 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0015880254

HD_A 0.00312 P_OVSHOOT 0.045000002 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.0001984441

HD_B 0.0099099996 PITCH_GAIN 20 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 1 D_CALL 2 PITCH_DBAND 0.1 SM_CC 350

AH0_10V 61.200001 D_FINISH 7.0000001e-06 PITCH_GAIN 20 SPEED_FACTOR 0.94999993

AH0_24V 91.800003 D_FLARE 3 PITCH_MAX 3252 SURFACE_URGENCY 5

ALTIM_BOTTOM_PING_RANGE 0 D_NO_BLEED 200 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 20

ALTIM_BOTTOM_TURN_MARGIN 10 D_OFFGRID 1001 PITCH_MIN 679 SURFACE_URGENCY_TRY 20

ALTIM_FREQUENCY 15 D_PITCH 1.5 PITCH_TIMEOUT 15 TACK_ANGLE -181

ALTIM_PING_DELTA 25 D_SAFE 100 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 125 D_SURF 2 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_PULSE 5 D_TGT 990 PRESSURE_YINT 0.27000001 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING 180 P_OVSHOOT 0.045000002 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_MIN_OBSTACLE 3.5 ESCAPE_HEADING_DELTA 10 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.3

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 RAFOS_DEVICE 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 3 RAFOS_HIT_WINDOW 5400 T_DIVE 528

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_NDIVES 1 GPS_DEVICE 32 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_A 0.00312 RHO 1.02765 T_GPS_CHARGE -442460.38

CALL_WAIT 60 HD_B 0.0099099996 ROLL_AD_RATE 500 T_MISSION 550

CAPMAXSIZE 200000 HD_C 2.4896e-05 ROLL_CNV 0.028270001 T_NO_W 120

CAPUPLOAD 0 HEADING -1 ROLL_MAX 3791 T_RSLEEP 57

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_MAXERRORS 1 T_TURN 240

COMM_SEQ 0 HEAPDBG 1 ROLL_MIN 166 T_TURN_SAMPINT 5

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN -2 ROLL_TIMEOUT 15 T_WATCHDOG 10

COURSE_BIAS 0 ID 1 R_PORT_OVSHOOT 4 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 4 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1978 INT_PRESSURE_YINT 10 SEABIRD_C_G -10.005328 USE_BATHY 0

C_ROLL_DIVE 1978 KALMAN_USE 1 SEABIRD_C_H 1.1235065 USE_ICE -1

C_VBD 2257 MASS 51747 SEABIRD_C_I -0.0015880254 VBD_BLEED_AD_RATE 10

DEEPGLIDER 0 MAX_BUOY 120 SEABIRD_C_J 0.0001984441 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MISSION 1 SEABIRD_T_G 0.0042857998 VBD_DBAND 2

DEVICE1 2 MOTHERBOARD 4 SEABIRD_T_H 0.00062588596 VBD_MAX 3792

DEVICE2 -1 N_FILEKB 4 SEABIRD_T_I 2.1643695e-05 VBD_MAXERRORS 20

DEVICE3 -1 N_GPS 20 SEABIRD_T_J 2.0181028e-06 VBD_MIN 421

DEVICE4 -1 N_NOCOMM 1 SIM_PITCH 0 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 N_NOSURFACE 0 SIM_W 0 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 PHONE_DEVICE 32 SMARTDEVICE1 -1 VBD_TIMEOUT 720

DIVE 10 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 213420,4700.585,-12540.055,12,1.1,12,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.173,0.086

_SM_DEPTHo 0.33 KALMAN_X 17547.5,1526.2,1445.2,15970.8,-2010.6

_SM_ANGLEo -50.0 KALMAN_Y -5055.6,-499.8,-545.2,-1809.4,703.0

GPS2 214539,4700.566,-12540.068,34,1.1,34,18.0 MHEAD_RNG_PITCHd_Wd 45.5,272632,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999486 ALTIM_TOP_PING 19.4,999.0

SM_CCo 28122,0.00,0.000,0,0,412,454.05 _24V_AH 23.6,63.972

SM_GC 0.33,13.50,0.00,0.00,0.000,0.000,0.000,646,1881,412,-7.25,-2.97,454.05 _10V_AH 9.6,23.806

RAFOS_CLK 0 DATA_FILE_SIZE 37803,1125

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,239702016

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,53,1893,8,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2164 CURRENT 0.032,258.5,1

INTERNAL_PRESSURE 26.1432 GPS 180607,053648,4659.886,-12536.139,23,1.1,23,18.0

TCM_TEMP 15.00 ESCAPE_REASON=NO_RECOVERY_REASON

XPDR_PINGS -1 ESCAPE_STARTED_DIVE=0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 119 88.11 SBE_CT 1899 24 1075.92

Roll_motor 277 60 393.54 nil 0 0 0.00

VBD_pump_during_apogee 512 1300 15708.16 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 0 0.00 nil 0 0 0.00

Iridium_during_xfer 157 223 828.69

Transponder_ping 0 420 2.48

GPS 35 50 17.05

TT8 6176 19 1181.15

LPSleep 14304 2 317.21

TT8_Active 923 19 176.63

TT8_Sampling 3154 39 1208.85

TT8_CF8 4087 45 1801.80

TT8_Kalman 33 81 26.23

Analog_circuits 2988 12 344.25

GPS_charging 0 0 0.00

Compass 3945 26 984.72

RAFOS 3240 1 46.66

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

state end surface CONTROL_FINISHED_OK

state start dive

38 -0.83 -116.8 0.0 0.0 0 119 0.00 0.00 -76.55 0.000 6 0.000 0.000 633 2185 2741

126 -0.83 -116.8 4.2 -5.4 7 140 7.68 2.12 0.00 0.000 4 0.000 0.000 2127 3608 2742

488 -0.83 -116.8 47.9 -12.5 56 501 0.38 4.03 0.00 0.000 6 0.000 0.000 2025 1823 2744

935 -0.83 -116.8 99.3 -10.7 117 947 0.43 2.20 0.00 0.000 4 0.000 0.000 2139 386 2740

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

967 -0.25 0.0 102.1 10.3 118 1076 0.65 0.00 96.00 0.000 6 0.000 0.000 2259 2156 2262

state end apogee CONTROL_FINISHED_OK

state start climb

1082 0.83 116.8 112.9 0.0 123 1184 1.10 3.10 93.78 0.000 4 0.000 0.000 2487 508 1784

1482 0.83 116.8 148.3 -8.6 139 1499 0.38 3.75 0.00 0.000 6 0.000 0.000 2399 2169 1791

1808 0.83 116.8 176.8 -8.8 155 1816 0.30 3.00 0.12 0.001 4 0.000 0.000 2501 351 1782

2118 0.83 116.8 205.0 -9.2 167 2134 0.35 3.95 0.00 0.000 6 0.000 0.000 2377 2157 1785

2444 0.83 116.8 231.4 -7.8 183 2453 0.28 3.62 0.10 0.000 4 0.000 0.000 2444 324 1785

2755 0.83 116.8 256.3 -8.0 195 2771 0.00 3.95 0.00 0.000 6 0.000 0.000 2446 2132 1786

3081 0.83 116.8 280.9 -7.5 211 3086 0.03 2.60 0.00 0.000 4 0.000 0.000 2444 582 1785

3384 0.83 116.8 303.6 -7.4 223 3388 0.00 2.62 0.00 0.000 6 0.000 0.000 2447 2133 1789

3705 0.83 116.8 326.6 -7.5 238 3710 0.00 3.00 0.00 0.000 4 0.000 0.000 2438 499 1789

4004 0.83 116.8 348.4 -7.3 250 4009 0.00 3.35 0.00 0.000 6 0.000 0.000 2458 2099 1792

4324 0.83 116.8 371.9 -7.1 265 4332 0.00 3.53 0.00 0.000 4 0.000 0.000 2450 388 1791

4632 0.83 116.8 397.0 -8.7 277 4648 0.00 3.72 0.40 0.000 6 0.000 0.000 2454 2099 1785

4958 0.83 116.8 423.6 -8.4 293 4962 0.00 2.60 0.00 0.000 4 0.000 0.000 2424 588 1777

5256 0.83 116.8 449.6 -8.3 305 5261 0.00 2.85 0.00 0.000 6 0.000 0.000 2442 2082 1790

5577 0.83 116.8 475.2 -7.8 320 5584 0.00 3.45 0.00 0.000 4 0.000 0.000 2451 406 1789

5893 0.83 116.8 498.7 -6.6 332 5909 0.00 3.83 0.00 0.000 6 0.000 0.000 2436 2190 1790

6215 0.83 116.8 520.2 -6.5 341 6222 0.00 3.55 0.00 0.000 4 0.000 0.000 2439 402 1783

6513 0.83 440.0 539.2 -6.0 347 6871 0.00 3.33 308.02 0.000 6 0.000 0.000 2449 2178 479

7197 1.37 757.7 577.6 -5.8 362 7216 0.60 2.70 11.60 0.000 4 0.000 0.000 2596 407 423

7510 1.90 757.7 597.3 -6.5 368 7515 0.57 2.72 0.00 0.000 6 0.000 0.000 2661 2213 421

7858 1.90 757.7 620.0 -6.8 377 7868 0.45 3.60 0.22 0.001 4 0.000 0.000 2640 458 427

8159 1.90 757.7 639.3 -6.3 383 8164 0.38 2.50 0.00 0.000 6 0.000 0.000 2670 2129 423

8478 1.90 757.7 659.7 -6.5 391 8484 0.30 2.53 0.22 0.001 4 0.000 0.000 2626 585 414

8780 1.90 757.7 679.3 -6.6 397 8789 0.40 3.83 0.12 0.001 6 0.000 0.000 2724 2126 430

9109 1.90 757.7 700.1 -6.4 405 9117 0.28 3.25 0.10 0.001 4 0.000 0.000 2677 331 425

9415 1.90 757.7 720.4 -7.4 411 9423 0.00 3.55 0.03 0.001 6 0.000 0.000 2682 2113 430

9748 1.90 757.7 742.4 -7.1 419 9754 0.00 2.83 0.05 0.001 4 0.000 0.000 2695 482 419

10047 1.90 757.7 763.0 -6.3 425 10055 0.00 3.55 0.00 0.000 6 0.000 0.000 2687 2140 419

10377 1.90 1079.6 783.1 -5.9 433 10384 0.00 3.55 0.00 0.000 4 0.000 0.000 2675 353 425

10677 2.44 1390.0 801.0 -5.5 439 10686 0.68 3.22 0.03 0.000 6 0.000 0.000 2818 2119 424

11007 2.96 1698.4 818.5 -5.4 447 11015 0.60 2.72 0.25 0.001 4 0.000 0.000 2980 335 429

11301 3.47 1698.4 835.4 -6.5 453 11309 0.38 2.90 0.03 0.000 6 0.000 0.000 3054 2153 425

11624 3.47 1698.4 854.9 -6.3 461 11631 0.35 2.90 0.03 0.002 4 0.000 0.000 2959 500 421

11920 3.47 2022.8 873.8 -6.0 467 11926 0.38 2.80 0.10 0.000 6 0.000 0.000 3045 2150 422

12241 4.01 2343.6 892.4 -5.9 475 12249 0.60 2.80 0.15 0.001 4 0.000 0.000 3163 373 424

12537 4.55 2661.1 909.1 -5.8 481 12546 0.38 3.45 0.03 0.000 6 0.000 0.000 3281 2160 431

12867 5.08 2984.2 928.1 -6.0 489 12871 0.00 2.80 0.00 0.000 4 0.000 0.000 3285 467 415

13157 5.62 2984.2 945.6 -6.3 495 13165 0.00 3.75 0.00 0.000 6 0.000 0.000 3287 2137 424

13480 5.62 2984.2 966.0 -6.5 503 13489 0.00 3.95 0.03 0.000 4 0.000 0.000 3274 365 421

13782 5.62 2984.2 987.0 -6.8 509 13786 0.00 2.83 0.00 0.000 6 0.000 0.000 3291 2102 419

14100 5.62 3117.7 993.3 1.2 517 14105 0.00 2.60 0.00 0.000 4 0.000 0.000 3289 558 410

14393 5.84 3117.7 970.7 8.2 523 14398 0.00 2.60 0.05 0.000 6 0.000 0.000 3276 2070 423

14711 5.84 3117.7 944.9 8.3 531 14718 0.00 3.35 0.00 0.000 4 0.000 0.000 3275 415 428

15009 5.84 3117.7 919.1 8.6 537 15014 0.00 2.92 0.00 0.000 6 0.000 0.000 3287 2112 424

15327 5.84 3117.7 891.5 8.8 545 15331 0.00 2.62 0.00 0.000 4 0.000 0.000 3274 595 424

15619 5.84 3117.7 863.5 9.8 551 15624 0.00 2.62 0.00 0.000 6 0.000 0.000 3283 2137 418

15937 5.84 3117.7 834.4 9.2 559 15941 0.00 2.85 0.00 0.000 4 0.000 0.000 3297 575 424

16230 5.84 3117.7 808.1 8.5 565 16235 0.00 2.80 0.10 0.002 6 0.000 0.000 3286 2108 411

16549 5.84 3117.7 780.6 8.6 573 16557 0.00 3.55 0.15 0.000 4 0.000 0.000 3297 429 415

16846 5.84 3117.7 756.2 7.7 579 16852 0.00 2.80 0.03 0.000 6 0.000 0.000 3278 2081 422

17165 5.84 3117.7 731.7 7.9 587 17170 0.00 2.80 0.05 0.000 4 0.000 0.000 3273 540 417

17458 5.84 3117.7 709.2 7.7 593 17466 0.00 3.72 0.03 0.000 6 0.000 0.000 3278 2181 416

17782 5.84 3117.7 687.0 6.9 601 17790 0.00 3.75 0.03 0.000 4 0.000 0.000 3284 403 413

18080 5.84 3117.7 666.4 6.4 607 18088 0.00 3.45 0.00 0.000 6 0.000 0.000 3266 2212 422

18405 5.84 3117.7 644.2 7.0 615 18410 0.00 3.10 0.03 0.001 4 0.000 0.000 3281 524 426

18699 5.84 3117.7 622.1 7.4 621 18704 0.00 3.28 0.00 0.000 6 0.000 0.000 3292 2052 420

19018 5.84 3117.7 600.8 6.8 629 19025 0.00 3.42 0.00 0.000 4 0.000 0.000 3272 370 413

19316 5.84 3123.6 580.7 6.0 635 19323 0.00 3.55 0.00 0.000 6 0.000 0.000 3277 2022 419

19638 5.85 3123.6 559.9 6.5 643 19643 0.00 2.92 0.00 0.000 4 0.000 0.000 3269 567 420

19931 5.85 3136.6 540.7 5.8 649 19939 0.00 3.58 0.00 0.000 6 0.000 0.000 3286 2220 416

20254 5.87 3136.6 520.8 6.3 657 20262 0.00 3.92 0.00 0.000 4 0.000 0.000 3264 390 414

20552 5.87 3136.6 500.5 6.3 663 20557 0.00 2.72 0.00 0.000 6 0.000 0.000 3280 2174 406

20879 5.87 3136.6 477.3 7.7 678 20888 0.00 3.65 0.03 0.001 4 0.000 0.000 3282 357 428

21196 5.87 3136.6 454.8 7.5 690 21201 0.00 3.12 0.03 0.000 6 0.000 0.000 3297 2115 413

21517 5.87 3136.6 433.8 6.4 705 21521 0.00 2.53 0.00 0.000 4 0.000 0.000 3292 570 415

21820 5.87 3148.8 415.4 5.8 717 21825 0.00 3.10 0.00 0.000 6 0.000 0.000 3306 2106 412

22142 5.89 3163.1 397.2 5.7 732 22146 0.00 2.80 0.00 0.000 4 0.000 0.000 3301 567 423

22445 5.92 3163.1 377.7 7.3 744 22450 0.00 2.92 0.00 0.000 6 0.000 0.000 3290 1971 417

22766 5.92 3163.1 354.4 7.5 759 22774 0.00 3.55 0.03 0.000 4 0.000 0.000 3264 326 412

23080 5.92 3163.1 331.7 6.7 771 23095 0.00 3.55 0.00 0.000 6 0.000 0.000 3287 2126 412

23410 5.92 3163.1 309.2 7.1 787 23415 0.00 3.12 0.00 0.000 4 0.000 0.000 3266 457 409

23715 5.92 3163.1 284.8 7.3 799 23720 0.00 2.80 0.00 0.000 6 0.000 0.000 3289 2087 417

24036 5.92 3163.1 260.5 7.5 814 24041 0.00 2.90 0.00 0.000 4 0.000 0.000 3276 512 416

24341 5.92 3163.1 236.5 7.5 826 24346 0.00 3.00 0.00 0.000 6 0.000 0.000 3298 2187 420

24663 5.92 3163.1 213.7 7.1 841 24667 0.00 2.70 0.00 0.000 4 0.000 0.000 3284 525 418

24973 5.92 3171.4 192.4 5.9 853 24990 0.00 4.22 0.00 0.000 6 0.000 0.000 3289 2179 412

25300 5.93 3190.5 173.2 5.5 869 25305 0.00 3.12 0.00 0.000 4 0.000 0.000 3290 528 426

25600 5.96 3199.2 153.5 5.9 881 25605 0.00 2.85 0.00 0.000 6 0.000 0.000 3286 2090 417

25922 5.98 3210.1 133.1 5.8 896 25926 0.00 2.70 0.00 0.000 4 0.000 0.000 3284 571 422

26226 6.00 3210.1 112.8 6.7 908 26241 0.00 3.75 0.00 0.000 6 0.000 0.000 3273 1961 417

26613 6.00 3256.6 90.2 4.5 942 26625 0.00 3.30 0.05 0.000 4 0.000 0.000 3283 372 411

26992 6.07 3278.9 67.8 5.4 991 27005 0.00 2.85 0.03 0.000 6 0.000 0.000 3286 2189 416

27461 6.11 3278.9 37.3 6.9 1052 27473 0.00 2.85 0.00 0.000 4 0.000 0.000 3274 396 424

27842 6.11 3278.9 11.5 6.2 1101 27854 0.00 2.53 0.00 0.000 6 0.000 0.000 3283 2119 414

state end climb SURFACE_DEPTH_REACHED

state start surface coast

state end surface coast CONTROL_FINISHED_OK

state start surface

ID	1	HD_C	2.4896e-05	PITCH_TIMEOUT	15	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	HEADING	-1	PITCH_AD_RATE	180	ALTIM_TOP_MIN_OBSTACLE	3.5
DIVE	10	TACK_ANGLE	-181	PITCH_MAXERRORS	1	ALTIM_PING_DEPTH	125
D_SURF	2	ESCAPE_HEADING	180	ROLL_MIN	166	ALTIM_PING_DELTA	25
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3791	ALTIM_FREQUENCY	15
D_TGT	990	FIX_MISSING_TIMEOUT	3	C_ROLL_DIVE	1978	ALTIM_PULSE	5
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_CLIMB	1978	ALTIM_SENSITIVITY	1
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	HEAD_ERRBAND	15	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	7.0000001e-06	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	10
D_PITCH	1.5	SM_CC	350	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	100	N_FILEKB	4	R_PORT_OVSHOOT	4	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	4	MOTHERBOARD	4
SURFACE_URGENCY	5	CALL_NDIVES	1	ROLL_AD_RATE	500	DEVICE1	2
SURFACE_URGENCY_TRY	20	COMM_SEQ	0	ROLL_MAXERRORS	1	DEVICE2	-1
SURFACE_URGENCY_FORCE	20	N_NOCOMM	1	VBD_MIN	421	DEVICE3	-1
T_DIVE	528	N_NOSURFACE	0	VBD_MAX	3792	DEVICE4	-1
T_MISSION	550	UPLOAD_DIVES_MAX	5	C_VBD	2257	DEVICE5	-1
T_ABORT	1440	CALL_TRIES	5	VBD_DBAND	2	DEVICE6	-1
T_TURN	240	CALL_WAIT	60	VBD_CNV	-0.24529999	SMARTS	0
T_TURN_SAMPINT	5	CAPUPLOAD	0	VBD_TIMEOUT	720	SMARTDEVICE1	-1
T_NO_W	120	CAPMAXSIZE	200000	PITCH_VBD_SHIFT	0.00167	SMARTDEVICE2	-1
USE_BATHY	0	HEAPDBG	1	VBD_PUMP_AD_RATE_SURFACE	6	COMPASS_DEVICE	1
USE_ICE	-1	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	PHONE_DEVICE	32
ICE_FREEZE_MARGIN	-2	N_GPS	20	VBD_BLEED_AD_RATE	10	GPS_DEVICE	32
D_OFFGRID	1001	T_GPS_ALMANAC	0	UNCOM_BLEED	20	RAFOS_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-442460.38	VBD_MAXERRORS	20	XPDR_DEVICE	24
RELAUNCH	1	T_RSLEEP	57	CF8_MAXERRORS	20	SIM_W	0
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	AH0_24V	91.800003	SIM_PITCH	0
MAX_BUOY	120	RAFOS_CORR_THRESH	60	AH0_10V	61.200001	SEABIRD_T_G	0.0042857998
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	PRESSURE_YINT	0.27000001	SEABIRD_T_H	0.00062588596
GLIDE_SLOPE	30	PITCH_MIN	679	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_I	2.1643695e-05
SPEED_FACTOR	0.94999993	PITCH_MAX	3252	AD7714Ch0Gain	1	SEABIRD_T_J	2.0181028e-06
RHO	1.02765	C_PITCH	2263	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.005328
MASS	51747	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1235065
KALMAN_USE	1	PITCH_CNV	0.0046000001	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0015880254
HD_A	0.00312	P_OVSHOOT	0.045000002	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.0001984441
HD_B	0.0099099996	PITCH_GAIN	20	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	213420,4700.585,-12540.055,12,1.1,12,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.173,0.086
_SM_DEPTHo	0.33	KALMAN_X	17547.5,1526.2,1445.2,15970.8,-2010.6
_SM_ANGLEo	-50.0	KALMAN_Y	-5055.6,-499.8,-545.2,-1809.4,703.0
GPS2	214539,4700.566,-12540.068,34,1.1,34,18.0	MHEAD_RNG_PITCHd_Wd	45.5,272632,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999486	ALTIM_TOP_PING	19.4,999.0
SM_CCo	28122,0.00,0.000,0,0,412,454.05	_24V_AH	23.6,63.972
SM_GC	0.33,13.50,0.00,0.00,0.000,0.000,0.000,646,1881,412,-7.25,-2.97,454.05	_10V_AH	9.6,23.806
RAFOS_CLK	0	DATA_FILE_SIZE	37803,1125
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,239702016
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,53,1893,8,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2164	CURRENT	0.032,258.5,1
INTERNAL_PRESSURE	26.1432	GPS	180607,053648,4659.886,-12536.139,23,1.1,23,18.0
TCM_TEMP	15.00	ESCAPE_REASON=NO_RECOVERY_REASON
XPDR_PINGS	-1	ESCAPE_STARTED_DIVE=0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	119	88.11	SBE_CT	1899	24	1075.92
Roll_motor	277	60	393.54	nil	0	0	0.00
VBD_pump_during_apogee	512	1300	15708.16	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	0	0.00	nil	0	0	0.00
Iridium_during_xfer	157	223	828.69
Transponder_ping	0	420	2.48
GPS	35	50	17.05
TT8	6176	19	1181.15
LPSleep	14304	2	317.21
TT8_Active	923	19	176.63
TT8_Sampling	3154	39	1208.85
TT8_CF8	4087	45	1801.80
TT8_Kalman	33	81	26.23
Analog_circuits	2988	12	344.25
GPS_charging	0	0	0.00
Compass	3945	26	984.72
RAFOS	3240	1	46.66

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
state	end surface	CONTROL_FINISHED_OK
state	start dive
38	-0.83	-116.8	0.0	0.0	0	119	0.00	0.00	-76.55	0.000	6	0.000	0.000	633	2185	2741
126	-0.83	-116.8	4.2	-5.4	7	140	7.68	2.12	0.00	0.000	4	0.000	0.000	2127	3608	2742
488	-0.83	-116.8	47.9	-12.5	56	501	0.38	4.03	0.00	0.000	6	0.000	0.000	2025	1823	2744
935	-0.83	-116.8	99.3	-10.7	117	947	0.43	2.20	0.00	0.000	4	0.000	0.000	2139	386	2740
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
967	-0.25	0.0	102.1	10.3	118	1076	0.65	0.00	96.00	0.000	6	0.000	0.000	2259	2156	2262
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1082	0.83	116.8	112.9	0.0	123	1184	1.10	3.10	93.78	0.000	4	0.000	0.000	2487	508	1784
1482	0.83	116.8	148.3	-8.6	139	1499	0.38	3.75	0.00	0.000	6	0.000	0.000	2399	2169	1791
1808	0.83	116.8	176.8	-8.8	155	1816	0.30	3.00	0.12	0.001	4	0.000	0.000	2501	351	1782
2118	0.83	116.8	205.0	-9.2	167	2134	0.35	3.95	0.00	0.000	6	0.000	0.000	2377	2157	1785
2444	0.83	116.8	231.4	-7.8	183	2453	0.28	3.62	0.10	0.000	4	0.000	0.000	2444	324	1785
2755	0.83	116.8	256.3	-8.0	195	2771	0.00	3.95	0.00	0.000	6	0.000	0.000	2446	2132	1786
3081	0.83	116.8	280.9	-7.5	211	3086	0.03	2.60	0.00	0.000	4	0.000	0.000	2444	582	1785
3384	0.83	116.8	303.6	-7.4	223	3388	0.00	2.62	0.00	0.000	6	0.000	0.000	2447	2133	1789
3705	0.83	116.8	326.6	-7.5	238	3710	0.00	3.00	0.00	0.000	4	0.000	0.000	2438	499	1789
4004	0.83	116.8	348.4	-7.3	250	4009	0.00	3.35	0.00	0.000	6	0.000	0.000	2458	2099	1792
4324	0.83	116.8	371.9	-7.1	265	4332	0.00	3.53	0.00	0.000	4	0.000	0.000	2450	388	1791
4632	0.83	116.8	397.0	-8.7	277	4648	0.00	3.72	0.40	0.000	6	0.000	0.000	2454	2099	1785
4958	0.83	116.8	423.6	-8.4	293	4962	0.00	2.60	0.00	0.000	4	0.000	0.000	2424	588	1777
5256	0.83	116.8	449.6	-8.3	305	5261	0.00	2.85	0.00	0.000	6	0.000	0.000	2442	2082	1790
5577	0.83	116.8	475.2	-7.8	320	5584	0.00	3.45	0.00	0.000	4	0.000	0.000	2451	406	1789
5893	0.83	116.8	498.7	-6.6	332	5909	0.00	3.83	0.00	0.000	6	0.000	0.000	2436	2190	1790
6215	0.83	116.8	520.2	-6.5	341	6222	0.00	3.55	0.00	0.000	4	0.000	0.000	2439	402	1783
6513	0.83	440.0	539.2	-6.0	347	6871	0.00	3.33	308.02	0.000	6	0.000	0.000	2449	2178	479
7197	1.37	757.7	577.6	-5.8	362	7216	0.60	2.70	11.60	0.000	4	0.000	0.000	2596	407	423
7510	1.90	757.7	597.3	-6.5	368	7515	0.57	2.72	0.00	0.000	6	0.000	0.000	2661	2213	421
7858	1.90	757.7	620.0	-6.8	377	7868	0.45	3.60	0.22	0.001	4	0.000	0.000	2640	458	427
8159	1.90	757.7	639.3	-6.3	383	8164	0.38	2.50	0.00	0.000	6	0.000	0.000	2670	2129	423
8478	1.90	757.7	659.7	-6.5	391	8484	0.30	2.53	0.22	0.001	4	0.000	0.000	2626	585	414
8780	1.90	757.7	679.3	-6.6	397	8789	0.40	3.83	0.12	0.001	6	0.000	0.000	2724	2126	430
9109	1.90	757.7	700.1	-6.4	405	9117	0.28	3.25	0.10	0.001	4	0.000	0.000	2677	331	425
9415	1.90	757.7	720.4	-7.4	411	9423	0.00	3.55	0.03	0.001	6	0.000	0.000	2682	2113	430
9748	1.90	757.7	742.4	-7.1	419	9754	0.00	2.83	0.05	0.001	4	0.000	0.000	2695	482	419
10047	1.90	757.7	763.0	-6.3	425	10055	0.00	3.55	0.00	0.000	6	0.000	0.000	2687	2140	419
10377	1.90	1079.6	783.1	-5.9	433	10384	0.00	3.55	0.00	0.000	4	0.000	0.000	2675	353	425
10677	2.44	1390.0	801.0	-5.5	439	10686	0.68	3.22	0.03	0.000	6	0.000	0.000	2818	2119	424
11007	2.96	1698.4	818.5	-5.4	447	11015	0.60	2.72	0.25	0.001	4	0.000	0.000	2980	335	429
11301	3.47	1698.4	835.4	-6.5	453	11309	0.38	2.90	0.03	0.000	6	0.000	0.000	3054	2153	425
11624	3.47	1698.4	854.9	-6.3	461	11631	0.35	2.90	0.03	0.002	4	0.000	0.000	2959	500	421
11920	3.47	2022.8	873.8	-6.0	467	11926	0.38	2.80	0.10	0.000	6	0.000	0.000	3045	2150	422
12241	4.01	2343.6	892.4	-5.9	475	12249	0.60	2.80	0.15	0.001	4	0.000	0.000	3163	373	424
12537	4.55	2661.1	909.1	-5.8	481	12546	0.38	3.45	0.03	0.000	6	0.000	0.000	3281	2160	431
12867	5.08	2984.2	928.1	-6.0	489	12871	0.00	2.80	0.00	0.000	4	0.000	0.000	3285	467	415
13157	5.62	2984.2	945.6	-6.3	495	13165	0.00	3.75	0.00	0.000	6	0.000	0.000	3287	2137	424
13480	5.62	2984.2	966.0	-6.5	503	13489	0.00	3.95	0.03	0.000	4	0.000	0.000	3274	365	421
13782	5.62	2984.2	987.0	-6.8	509	13786	0.00	2.83	0.00	0.000	6	0.000	0.000	3291	2102	419
14100	5.62	3117.7	993.3	1.2	517	14105	0.00	2.60	0.00	0.000	4	0.000	0.000	3289	558	410
14393	5.84	3117.7	970.7	8.2	523	14398	0.00	2.60	0.05	0.000	6	0.000	0.000	3276	2070	423
14711	5.84	3117.7	944.9	8.3	531	14718	0.00	3.35	0.00	0.000	4	0.000	0.000	3275	415	428
15009	5.84	3117.7	919.1	8.6	537	15014	0.00	2.92	0.00	0.000	6	0.000	0.000	3287	2112	424
15327	5.84	3117.7	891.5	8.8	545	15331	0.00	2.62	0.00	0.000	4	0.000	0.000	3274	595	424
15619	5.84	3117.7	863.5	9.8	551	15624	0.00	2.62	0.00	0.000	6	0.000	0.000	3283	2137	418
15937	5.84	3117.7	834.4	9.2	559	15941	0.00	2.85	0.00	0.000	4	0.000	0.000	3297	575	424
16230	5.84	3117.7	808.1	8.5	565	16235	0.00	2.80	0.10	0.002	6	0.000	0.000	3286	2108	411
16549	5.84	3117.7	780.6	8.6	573	16557	0.00	3.55	0.15	0.000	4	0.000	0.000	3297	429	415
16846	5.84	3117.7	756.2	7.7	579	16852	0.00	2.80	0.03	0.000	6	0.000	0.000	3278	2081	422
17165	5.84	3117.7	731.7	7.9	587	17170	0.00	2.80	0.05	0.000	4	0.000	0.000	3273	540	417
17458	5.84	3117.7	709.2	7.7	593	17466	0.00	3.72	0.03	0.000	6	0.000	0.000	3278	2181	416
17782	5.84	3117.7	687.0	6.9	601	17790	0.00	3.75	0.03	0.000	4	0.000	0.000	3284	403	413
18080	5.84	3117.7	666.4	6.4	607	18088	0.00	3.45	0.00	0.000	6	0.000	0.000	3266	2212	422
18405	5.84	3117.7	644.2	7.0	615	18410	0.00	3.10	0.03	0.001	4	0.000	0.000	3281	524	426
18699	5.84	3117.7	622.1	7.4	621	18704	0.00	3.28	0.00	0.000	6	0.000	0.000	3292	2052	420
19018	5.84	3117.7	600.8	6.8	629	19025	0.00	3.42	0.00	0.000	4	0.000	0.000	3272	370	413
19316	5.84	3123.6	580.7	6.0	635	19323	0.00	3.55	0.00	0.000	6	0.000	0.000	3277	2022	419
19638	5.85	3123.6	559.9	6.5	643	19643	0.00	2.92	0.00	0.000	4	0.000	0.000	3269	567	420
19931	5.85	3136.6	540.7	5.8	649	19939	0.00	3.58	0.00	0.000	6	0.000	0.000	3286	2220	416
20254	5.87	3136.6	520.8	6.3	657	20262	0.00	3.92	0.00	0.000	4	0.000	0.000	3264	390	414
20552	5.87	3136.6	500.5	6.3	663	20557	0.00	2.72	0.00	0.000	6	0.000	0.000	3280	2174	406
20879	5.87	3136.6	477.3	7.7	678	20888	0.00	3.65	0.03	0.001	4	0.000	0.000	3282	357	428
21196	5.87	3136.6	454.8	7.5	690	21201	0.00	3.12	0.03	0.000	6	0.000	0.000	3297	2115	413
21517	5.87	3136.6	433.8	6.4	705	21521	0.00	2.53	0.00	0.000	4	0.000	0.000	3292	570	415
21820	5.87	3148.8	415.4	5.8	717	21825	0.00	3.10	0.00	0.000	6	0.000	0.000	3306	2106	412
22142	5.89	3163.1	397.2	5.7	732	22146	0.00	2.80	0.00	0.000	4	0.000	0.000	3301	567	423
22445	5.92	3163.1	377.7	7.3	744	22450	0.00	2.92	0.00	0.000	6	0.000	0.000	3290	1971	417
22766	5.92	3163.1	354.4	7.5	759	22774	0.00	3.55	0.03	0.000	4	0.000	0.000	3264	326	412
23080	5.92	3163.1	331.7	6.7	771	23095	0.00	3.55	0.00	0.000	6	0.000	0.000	3287	2126	412
23410	5.92	3163.1	309.2	7.1	787	23415	0.00	3.12	0.00	0.000	4	0.000	0.000	3266	457	409
23715	5.92	3163.1	284.8	7.3	799	23720	0.00	2.80	0.00	0.000	6	0.000	0.000	3289	2087	417
24036	5.92	3163.1	260.5	7.5	814	24041	0.00	2.90	0.00	0.000	4	0.000	0.000	3276	512	416
24341	5.92	3163.1	236.5	7.5	826	24346	0.00	3.00	0.00	0.000	6	0.000	0.000	3298	2187	420
24663	5.92	3163.1	213.7	7.1	841	24667	0.00	2.70	0.00	0.000	4	0.000	0.000	3284	525	418
24973	5.92	3171.4	192.4	5.9	853	24990	0.00	4.22	0.00	0.000	6	0.000	0.000	3289	2179	412
25300	5.93	3190.5	173.2	5.5	869	25305	0.00	3.12	0.00	0.000	4	0.000	0.000	3290	528	426
25600	5.96	3199.2	153.5	5.9	881	25605	0.00	2.85	0.00	0.000	6	0.000	0.000	3286	2090	417
25922	5.98	3210.1	133.1	5.8	896	25926	0.00	2.70	0.00	0.000	4	0.000	0.000	3284	571	422
26226	6.00	3210.1	112.8	6.7	908	26241	0.00	3.75	0.00	0.000	6	0.000	0.000	3273	1961	417
26613	6.00	3256.6	90.2	4.5	942	26625	0.00	3.30	0.05	0.000	4	0.000	0.000	3283	372	411
26992	6.07	3278.9	67.8	5.4	991	27005	0.00	2.85	0.03	0.000	6	0.000	0.000	3286	2189	416
27461	6.11	3278.9	37.3	6.9	1052	27473	0.00	2.85	0.00	0.000	4	0.000	0.000	3274	396	424
27842	6.11	3278.9	11.5	6.2	1101	27854	0.00	2.53	0.00	0.000	6	0.000	0.000	3283	2119	414
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface