Glider dive log

DavisStrait May07 * SG001 * Dive index * Mission links * Dive 11 * 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 11 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 12 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 -442499.44 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 -442499.44

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 12 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 11 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 053648,4659.886,-12536.139,23,1.1,23,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.172,0.088

_SM_DEPTHo 0.34 KALMAN_X 19922.5,1583.7,1574.0,18348.8,-2298.7

_SM_ANGLEo -50.0 KALMAN_Y -5866.6,-614.9,-459.8,-2173.9,579.5

GPS2 054414,4659.920,-12536.150,38,1.1,38,18.0 MHEAD_RNG_PITCHd_Wd 44.9,268895,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999480 ALTIM_TOP_PING 19.8,999.0

SM_CCo 28864,0.00,0.000,0,0,408,452.09 _24V_AH 23.6,64.996

SM_GC 0.33,13.07,0.00,0.00,0.000,0.000,0.000,612,1810,408,-7.35,-4.75,452.09 _10V_AH 9.6,23.996

RAFOS_CLK 0 DATA_FILE_SIZE 40967,1164

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,239341568

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,47,1799,2,0

TT8_MAMPS 0.023777 SOUNDSPEED 1465.0

HUMID 2191 CURRENT 0.032,195.6,1

INTERNAL_PRESSURE 26.1334 GPS 180607,134753,4659.188,-12531.579,32,1.1,32,18.0

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 88.53 SBE_CT 1891 24 1071.32

Roll_motor 267 60 378.71 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15689.75 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 107 223 563.77

Transponder_ping 0 420 2.48

GPS 38 50 18.45

TT8 6284 19 1201.71

LPSleep 14933 2 331.16

TT8_Active 891 19 170.51

TT8_Sampling 3146 39 1205.79

TT8_CF8 3948 45 1740.81

TT8_Kalman 33 81 26.23

Analog_circuits 2946 12 339.49

GPS_charging 0 0 0.00

Compass 3873 26 966.91

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

39 -0.83 -116.8 0.0 0.0 0 116 0.00 0.00 -74.25 0.000 2 0.000 0.000 640 1876 2673

122 -0.83 -116.8 3.3 -4.9 7 152 7.12 2.50 -2.30 0.000 4 0.000 0.000 2095 3562 2740

500 -0.83 -116.8 46.5 -10.8 57 512 0.00 3.20 0.00 0.000 6 0.000 0.000 2106 1776 2736

954 -0.83 -116.8 98.0 -9.9 118 965 0.00 3.25 0.00 0.000 4 0.000 0.000 2091 3551 2742

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

993 -0.25 0.0 100.7 9.5 120 1092 0.65 0.00 95.47 0.000 6 0.000 0.000 2234 1888 2263

state end apogee CONTROL_FINISHED_OK

state start climb

1103 0.83 116.8 110.7 0.0 125 1210 1.17 2.40 94.57 0.000 4 0.000 0.000 2477 498 1785

1506 0.83 116.8 147.7 -8.2 140 1514 0.12 3.30 0.00 0.000 6 0.000 0.000 2417 2186 1782

1848 0.83 116.8 173.3 -7.8 156 1855 0.00 3.72 0.00 0.000 4 0.000 0.000 2424 413 1786

2164 0.83 116.8 197.6 -8.1 168 2180 0.00 3.72 0.00 0.000 6 0.000 0.000 2426 2208 1776

2489 0.83 116.8 223.8 -8.3 184 2494 0.00 2.92 0.00 0.000 4 0.000 0.000 2413 524 1780

2719 0.83 116.8 243.3 -7.8 193 2731 0.00 3.28 0.00 0.000 6 0.000 0.000 2432 2187 1788

3040 0.83 116.8 267.3 -7.7 209 3047 0.00 3.45 0.00 0.000 4 0.000 0.000 2437 398 1782

3356 0.83 116.8 289.8 -7.5 221 3372 0.00 3.45 0.00 0.000 6 0.000 0.000 2425 2179 1794

3681 0.83 116.8 313.0 -7.4 237 3686 0.00 2.83 0.00 0.000 4 0.000 0.000 2433 524 1782

3979 0.83 116.8 335.5 -7.1 249 3995 0.00 3.33 0.00 0.000 6 0.000 0.000 2428 1963 1778

4304 0.83 116.8 359.1 -7.1 265 4308 0.00 2.50 0.00 0.000 4 0.000 0.000 2427 520 1778

4603 0.83 116.8 380.5 -7.6 277 4607 0.00 2.70 0.00 0.000 6 0.000 0.000 2435 2137 1786

4924 0.83 116.8 403.8 -7.5 292 4931 0.00 3.65 0.00 0.000 4 0.000 0.000 2432 360 1784

5240 0.83 116.8 426.0 -6.8 304 5255 0.00 3.45 0.00 0.000 6 0.000 0.000 2422 2196 1778

5565 0.83 116.8 448.6 -7.1 320 5565 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 2175 1783

5879 0.83 116.8 472.9 -7.8 335 5883 0.00 3.00 0.00 0.000 4 0.000 0.000 2438 546 1784

6176 0.83 116.8 496.4 -7.4 347 6182 0.08 2.60 0.00 0.000 6 0.000 0.000 2423 2112 1779

6494 0.83 116.8 518.4 -6.9 356 6501 0.00 3.25 0.00 0.000 4 0.000 0.000 2424 450 1784

6791 0.83 116.8 539.0 -6.8 362 6796 0.00 2.67 0.00 0.000 6 0.000 0.000 2420 2053 1784

7109 0.83 116.8 560.9 -6.9 370 7114 0.17 2.70 0.00 0.000 4 0.000 0.000 2481 520 1782

7403 0.83 116.8 580.4 -6.3 376 7410 0.38 3.12 0.00 0.000 6 0.000 0.000 2391 2192 1779

7727 0.83 116.8 601.4 -6.8 384 7732 0.38 2.92 0.00 0.000 4 0.000 0.000 2483 510 1786

8021 0.83 441.4 620.7 -6.0 390 8352 0.40 2.70 310.85 0.000 6 0.000 0.000 2392 2178 466

8694 1.37 441.4 665.6 -6.9 405 8697 1.10 0.00 0.30 0.000 6 0.000 0.000 2594 2183 467

9019 1.37 441.4 686.8 -6.6 413 9027 0.50 3.58 0.00 0.000 4 0.000 0.000 2537 539 465

9323 1.37 441.4 705.9 -6.6 419 9332 0.38 3.72 0.00 0.000 6 0.000 0.000 2604 2087 460

9648 1.37 764.7 725.5 -6.0 427 9659 0.50 0.00 7.88 0.000 6 0.000 0.000 2522 2065 431

9989 1.91 764.7 746.8 -6.4 435 9997 0.98 2.60 0.10 0.000 4 0.000 0.000 2746 430 430

10297 1.91 1084.9 766.3 -5.9 441 10306 0.62 3.10 0.55 0.000 6 0.000 0.000 2624 2100 421

10625 2.45 1395.5 783.8 -5.5 449 10633 1.10 2.50 0.03 0.002 4 0.000 0.000 2863 437 422

10926 2.97 1663.8 799.0 -3.9 455 10934 0.50 3.00 0.17 0.000 6 0.000 0.000 2950 2089 428

11253 3.41 1969.7 816.1 -5.3 463 11255 0.32 0.00 0.03 0.000 6 0.000 0.000 3049 2086 419

11579 3.92 2288.6 834.9 -5.8 471 11588 0.60 3.35 0.03 0.001 4 0.000 0.000 3134 541 424

11874 4.46 2288.6 852.9 -6.5 477 11884 0.60 3.53 0.20 0.000 6 0.000 0.000 3277 2178 429

12203 4.46 2611.6 872.3 -6.0 485 12212 0.28 3.03 0.12 0.001 4 0.000 0.000 3173 387 423

12499 5.00 2930.6 890.4 -5.8 491 12508 0.50 3.35 0.03 0.000 6 0.000 0.000 3282 2164 411

12827 5.53 3248.4 909.4 -5.8 499 12833 0.00 3.10 0.03 0.001 4 0.000 0.000 3280 504 418

13117 6.06 3566.1 926.4 -5.8 505 13122 0.00 2.70 0.00 0.000 6 0.000 0.000 3264 2030 418

13439 6.59 3891.8 944.4 -6.1 513 13443 0.00 2.80 0.00 0.000 4 0.000 0.000 3261 483 426

13737 7.13 3891.8 964.5 -6.9 519 13744 0.00 3.30 0.08 0.000 6 0.000 0.000 3279 2141 427

14065 7.13 3891.8 986.3 -6.9 527 14070 0.00 2.55 0.00 0.000 4 0.000 0.000 3275 588 421

14358 7.13 4021.3 1000.4 1.3 533 14366 0.00 3.15 0.30 0.000 6 0.000 0.000 3275 1982 419

14682 7.35 4021.3 980.1 7.7 541 14687 0.00 2.92 0.03 0.000 4 0.000 0.000 3281 574 411

14974 7.35 4021.3 956.1 7.7 547 14979 0.00 2.60 0.03 0.000 6 0.000 0.000 3276 2083 422

15292 7.35 4021.3 929.8 8.6 555 15299 0.00 3.35 0.00 0.000 4 0.000 0.000 3270 426 420

15589 7.35 4021.3 903.5 8.9 561 15593 0.00 2.60 0.00 0.000 6 0.000 0.000 3283 2099 424

15907 7.35 4021.3 875.5 8.9 569 15914 0.00 3.45 0.00 0.000 4 0.000 0.000 3257 433 429

16204 7.35 4021.3 849.9 8.2 575 16209 0.00 3.25 0.00 0.000 6 0.000 0.000 3273 2075 417

16522 7.35 4021.3 823.1 8.5 583 16530 0.00 3.35 0.00 0.000 4 0.000 0.000 3290 417 415

16819 7.35 4021.3 798.6 8.0 589 16827 0.00 3.42 0.03 0.000 6 0.000 0.000 3283 2187 419

17143 7.35 4021.3 773.1 7.8 597 17148 0.00 2.90 0.03 0.000 4 0.000 0.000 3281 502 423

17436 7.35 4021.3 751.2 8.0 603 17441 0.00 2.70 0.00 0.000 6 0.000 0.000 3286 2180 419

17754 7.35 4021.3 728.0 7.3 611 17761 0.00 3.25 0.00 0.000 4 0.000 0.000 3275 455 430

18049 7.35 4021.3 706.2 7.4 617 18058 0.00 4.25 0.03 0.001 6 0.000 0.000 3281 2110 426

18374 7.35 4021.3 682.4 7.4 625 18378 0.00 2.80 0.00 0.000 4 0.000 0.000 3289 461 421

18666 7.35 4021.3 661.6 7.4 631 18672 0.00 3.10 0.03 0.000 6 0.000 0.000 3284 1960 428

18985 7.35 4021.3 640.4 6.5 639 18992 0.00 3.35 0.03 0.000 4 0.000 0.000 3276 565 417

19281 7.35 4021.3 620.4 6.7 645 19286 0.00 2.50 0.03 0.000 6 0.000 0.000 3272 2116 422

19599 7.35 4021.3 600.5 6.4 653 19607 0.00 3.95 0.00 0.000 4 0.000 0.000 3265 323 426

19897 7.35 4021.3 580.5 7.2 659 19905 0.00 4.55 0.00 0.000 6 0.000 0.000 3283 2130 419

20220 7.35 4021.3 559.3 6.8 667 20225 0.00 2.58 0.03 0.001 4 0.000 0.000 3292 580 418

20512 7.35 4021.3 540.0 6.3 673 20517 0.00 2.53 0.00 0.000 6 0.000 0.000 3270 2146 410

20830 7.35 4021.3 519.6 6.7 681 20835 0.00 2.80 0.00 0.000 4 0.000 0.000 3303 452 415

21122 7.35 4021.3 500.1 6.4 687 21129 0.00 3.20 0.15 0.000 6 0.000 0.000 3293 2073 417

21455 7.35 4021.3 478.4 6.6 702 21460 0.00 3.03 0.08 0.000 4 0.000 0.000 3282 510 410

21752 7.35 4031.7 457.6 5.9 714 21768 0.00 3.45 0.00 0.000 6 0.000 0.000 3271 2189 414

22077 7.37 4031.7 434.9 6.9 730 22084 0.00 3.55 0.00 0.000 4 0.000 0.000 3285 399 422

22380 7.37 4039.1 415.7 6.0 742 22396 0.00 3.55 0.03 0.000 6 0.000 0.000 3271 2191 419

22710 7.38 4050.6 397.4 5.8 758 22715 0.00 2.80 0.00 0.000 4 0.000 0.000 3260 480 425

23010 7.40 4050.6 377.7 6.3 770 23015 0.00 2.72 0.03 0.000 6 0.000 0.000 3299 2149 424

23335 7.40 4050.6 356.8 6.7 785 23339 0.00 2.70 0.00 0.000 4 0.000 0.000 3254 504 425

23630 7.40 4050.6 335.1 7.0 797 23636 0.00 2.70 0.03 0.000 6 0.000 0.000 3279 2025 419

23951 7.40 4050.6 312.5 7.0 812 23956 0.00 2.70 0.00 0.000 4 0.000 0.000 3275 518 426

24249 7.40 4068.0 291.0 5.6 824 24265 0.00 3.95 0.00 0.000 6 0.000 0.000 3287 1949 411

24579 7.43 4068.0 267.9 7.1 840 24584 0.00 2.97 0.00 0.000 4 0.000 0.000 3284 526 417

24879 7.43 4068.0 247.0 6.8 852 24895 0.00 3.45 0.03 0.001 6 0.000 0.000 3283 2186 424

25211 7.43 4085.8 227.5 5.6 868 25217 0.00 2.80 0.08 0.000 4 0.000 0.000 3270 509 422

25512 7.46 4111.0 209.4 5.3 880 25517 0.00 3.00 0.03 0.000 6 0.000 0.000 3289 2035 423

25833 7.50 4111.0 187.6 7.6 895 25837 0.00 2.70 0.00 0.000 4 0.000 0.000 3275 508 415

26136 7.50 4111.0 166.6 7.3 907 26141 0.00 2.80 0.00 0.000 6 0.000 0.000 3285 2053 422

26457 7.50 4111.0 145.0 7.0 922 26458 0.00 0.00 0.00 0.000 6 0.000 0.000 3295 2178 408

26771 7.50 4111.4 126.3 6.2 937 26776 0.00 2.80 0.00 0.000 4 0.000 0.000 3280 497 431

27074 7.50 4121.4 103.9 5.9 949 27078 0.00 2.70 0.00 0.000 6 0.000 0.000 3278 2182 417

27504 7.52 4140.1 78.0 5.5 1000 27517 0.00 3.35 0.03 0.001 4 0.000 0.000 3278 380 417

27563 7.55 4158.8 74.8 5.5 1006 27575 0.00 3.45 0.00 0.000 6 0.000 0.000 3287 2226 412

28027 7.58 4177.9 45.4 5.5 1067 28040 0.00 3.80 0.00 0.000 4 0.000 0.000 3269 364 421

28405 7.61 4177.9 22.8 6.9 1116 28417 0.00 3.40 0.00 0.000 6 0.000 0.000 3276 2209 413

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	11	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	12	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	-442499.44	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	053648,4659.886,-12536.139,23,1.1,23,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.172,0.088
_SM_DEPTHo	0.34	KALMAN_X	19922.5,1583.7,1574.0,18348.8,-2298.7
_SM_ANGLEo	-50.0	KALMAN_Y	-5866.6,-614.9,-459.8,-2173.9,579.5
GPS2	054414,4659.920,-12536.150,38,1.1,38,18.0	MHEAD_RNG_PITCHd_Wd	44.9,268895,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999480	ALTIM_TOP_PING	19.8,999.0
SM_CCo	28864,0.00,0.000,0,0,408,452.09	_24V_AH	23.6,64.996
SM_GC	0.33,13.07,0.00,0.00,0.000,0.000,0.000,612,1810,408,-7.35,-4.75,452.09	_10V_AH	9.6,23.996
RAFOS_CLK	0	DATA_FILE_SIZE	40967,1164
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,239341568
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,47,1799,2,0
TT8_MAMPS	0.023777	SOUNDSPEED	1465.0
HUMID	2191	CURRENT	0.032,195.6,1
INTERNAL_PRESSURE	26.1334	GPS	180607,134753,4659.188,-12531.579,32,1.1,32,18.0
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	88.53	SBE_CT	1891	24	1071.32
Roll_motor	267	60	378.71	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15689.75	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	107	223	563.77
Transponder_ping	0	420	2.48
GPS	38	50	18.45
TT8	6284	19	1201.71
LPSleep	14933	2	331.16
TT8_Active	891	19	170.51
TT8_Sampling	3146	39	1205.79
TT8_CF8	3948	45	1740.81
TT8_Kalman	33	81	26.23
Analog_circuits	2946	12	339.49
GPS_charging	0	0	0.00
Compass	3873	26	966.91
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
39	-0.83	-116.8	0.0	0.0	0	116	0.00	0.00	-74.25	0.000	2	0.000	0.000	640	1876	2673
122	-0.83	-116.8	3.3	-4.9	7	152	7.12	2.50	-2.30	0.000	4	0.000	0.000	2095	3562	2740
500	-0.83	-116.8	46.5	-10.8	57	512	0.00	3.20	0.00	0.000	6	0.000	0.000	2106	1776	2736
954	-0.83	-116.8	98.0	-9.9	118	965	0.00	3.25	0.00	0.000	4	0.000	0.000	2091	3551	2742
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
993	-0.25	0.0	100.7	9.5	120	1092	0.65	0.00	95.47	0.000	6	0.000	0.000	2234	1888	2263
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1103	0.83	116.8	110.7	0.0	125	1210	1.17	2.40	94.57	0.000	4	0.000	0.000	2477	498	1785
1506	0.83	116.8	147.7	-8.2	140	1514	0.12	3.30	0.00	0.000	6	0.000	0.000	2417	2186	1782
1848	0.83	116.8	173.3	-7.8	156	1855	0.00	3.72	0.00	0.000	4	0.000	0.000	2424	413	1786
2164	0.83	116.8	197.6	-8.1	168	2180	0.00	3.72	0.00	0.000	6	0.000	0.000	2426	2208	1776
2489	0.83	116.8	223.8	-8.3	184	2494	0.00	2.92	0.00	0.000	4	0.000	0.000	2413	524	1780
2719	0.83	116.8	243.3	-7.8	193	2731	0.00	3.28	0.00	0.000	6	0.000	0.000	2432	2187	1788
3040	0.83	116.8	267.3	-7.7	209	3047	0.00	3.45	0.00	0.000	4	0.000	0.000	2437	398	1782
3356	0.83	116.8	289.8	-7.5	221	3372	0.00	3.45	0.00	0.000	6	0.000	0.000	2425	2179	1794
3681	0.83	116.8	313.0	-7.4	237	3686	0.00	2.83	0.00	0.000	4	0.000	0.000	2433	524	1782
3979	0.83	116.8	335.5	-7.1	249	3995	0.00	3.33	0.00	0.000	6	0.000	0.000	2428	1963	1778
4304	0.83	116.8	359.1	-7.1	265	4308	0.00	2.50	0.00	0.000	4	0.000	0.000	2427	520	1778
4603	0.83	116.8	380.5	-7.6	277	4607	0.00	2.70	0.00	0.000	6	0.000	0.000	2435	2137	1786
4924	0.83	116.8	403.8	-7.5	292	4931	0.00	3.65	0.00	0.000	4	0.000	0.000	2432	360	1784
5240	0.83	116.8	426.0	-6.8	304	5255	0.00	3.45	0.00	0.000	6	0.000	0.000	2422	2196	1778
5565	0.83	116.8	448.6	-7.1	320	5565	0.00	0.00	0.00	0.000	6	0.000	0.000	2423	2175	1783
5879	0.83	116.8	472.9	-7.8	335	5883	0.00	3.00	0.00	0.000	4	0.000	0.000	2438	546	1784
6176	0.83	116.8	496.4	-7.4	347	6182	0.08	2.60	0.00	0.000	6	0.000	0.000	2423	2112	1779
6494	0.83	116.8	518.4	-6.9	356	6501	0.00	3.25	0.00	0.000	4	0.000	0.000	2424	450	1784
6791	0.83	116.8	539.0	-6.8	362	6796	0.00	2.67	0.00	0.000	6	0.000	0.000	2420	2053	1784
7109	0.83	116.8	560.9	-6.9	370	7114	0.17	2.70	0.00	0.000	4	0.000	0.000	2481	520	1782
7403	0.83	116.8	580.4	-6.3	376	7410	0.38	3.12	0.00	0.000	6	0.000	0.000	2391	2192	1779
7727	0.83	116.8	601.4	-6.8	384	7732	0.38	2.92	0.00	0.000	4	0.000	0.000	2483	510	1786
8021	0.83	441.4	620.7	-6.0	390	8352	0.40	2.70	310.85	0.000	6	0.000	0.000	2392	2178	466
8694	1.37	441.4	665.6	-6.9	405	8697	1.10	0.00	0.30	0.000	6	0.000	0.000	2594	2183	467
9019	1.37	441.4	686.8	-6.6	413	9027	0.50	3.58	0.00	0.000	4	0.000	0.000	2537	539	465
9323	1.37	441.4	705.9	-6.6	419	9332	0.38	3.72	0.00	0.000	6	0.000	0.000	2604	2087	460
9648	1.37	764.7	725.5	-6.0	427	9659	0.50	0.00	7.88	0.000	6	0.000	0.000	2522	2065	431
9989	1.91	764.7	746.8	-6.4	435	9997	0.98	2.60	0.10	0.000	4	0.000	0.000	2746	430	430
10297	1.91	1084.9	766.3	-5.9	441	10306	0.62	3.10	0.55	0.000	6	0.000	0.000	2624	2100	421
10625	2.45	1395.5	783.8	-5.5	449	10633	1.10	2.50	0.03	0.002	4	0.000	0.000	2863	437	422
10926	2.97	1663.8	799.0	-3.9	455	10934	0.50	3.00	0.17	0.000	6	0.000	0.000	2950	2089	428
11253	3.41	1969.7	816.1	-5.3	463	11255	0.32	0.00	0.03	0.000	6	0.000	0.000	3049	2086	419
11579	3.92	2288.6	834.9	-5.8	471	11588	0.60	3.35	0.03	0.001	4	0.000	0.000	3134	541	424
11874	4.46	2288.6	852.9	-6.5	477	11884	0.60	3.53	0.20	0.000	6	0.000	0.000	3277	2178	429
12203	4.46	2611.6	872.3	-6.0	485	12212	0.28	3.03	0.12	0.001	4	0.000	0.000	3173	387	423
12499	5.00	2930.6	890.4	-5.8	491	12508	0.50	3.35	0.03	0.000	6	0.000	0.000	3282	2164	411
12827	5.53	3248.4	909.4	-5.8	499	12833	0.00	3.10	0.03	0.001	4	0.000	0.000	3280	504	418
13117	6.06	3566.1	926.4	-5.8	505	13122	0.00	2.70	0.00	0.000	6	0.000	0.000	3264	2030	418
13439	6.59	3891.8	944.4	-6.1	513	13443	0.00	2.80	0.00	0.000	4	0.000	0.000	3261	483	426
13737	7.13	3891.8	964.5	-6.9	519	13744	0.00	3.30	0.08	0.000	6	0.000	0.000	3279	2141	427
14065	7.13	3891.8	986.3	-6.9	527	14070	0.00	2.55	0.00	0.000	4	0.000	0.000	3275	588	421
14358	7.13	4021.3	1000.4	1.3	533	14366	0.00	3.15	0.30	0.000	6	0.000	0.000	3275	1982	419
14682	7.35	4021.3	980.1	7.7	541	14687	0.00	2.92	0.03	0.000	4	0.000	0.000	3281	574	411
14974	7.35	4021.3	956.1	7.7	547	14979	0.00	2.60	0.03	0.000	6	0.000	0.000	3276	2083	422
15292	7.35	4021.3	929.8	8.6	555	15299	0.00	3.35	0.00	0.000	4	0.000	0.000	3270	426	420
15589	7.35	4021.3	903.5	8.9	561	15593	0.00	2.60	0.00	0.000	6	0.000	0.000	3283	2099	424
15907	7.35	4021.3	875.5	8.9	569	15914	0.00	3.45	0.00	0.000	4	0.000	0.000	3257	433	429
16204	7.35	4021.3	849.9	8.2	575	16209	0.00	3.25	0.00	0.000	6	0.000	0.000	3273	2075	417
16522	7.35	4021.3	823.1	8.5	583	16530	0.00	3.35	0.00	0.000	4	0.000	0.000	3290	417	415
16819	7.35	4021.3	798.6	8.0	589	16827	0.00	3.42	0.03	0.000	6	0.000	0.000	3283	2187	419
17143	7.35	4021.3	773.1	7.8	597	17148	0.00	2.90	0.03	0.000	4	0.000	0.000	3281	502	423
17436	7.35	4021.3	751.2	8.0	603	17441	0.00	2.70	0.00	0.000	6	0.000	0.000	3286	2180	419
17754	7.35	4021.3	728.0	7.3	611	17761	0.00	3.25	0.00	0.000	4	0.000	0.000	3275	455	430
18049	7.35	4021.3	706.2	7.4	617	18058	0.00	4.25	0.03	0.001	6	0.000	0.000	3281	2110	426
18374	7.35	4021.3	682.4	7.4	625	18378	0.00	2.80	0.00	0.000	4	0.000	0.000	3289	461	421
18666	7.35	4021.3	661.6	7.4	631	18672	0.00	3.10	0.03	0.000	6	0.000	0.000	3284	1960	428
18985	7.35	4021.3	640.4	6.5	639	18992	0.00	3.35	0.03	0.000	4	0.000	0.000	3276	565	417
19281	7.35	4021.3	620.4	6.7	645	19286	0.00	2.50	0.03	0.000	6	0.000	0.000	3272	2116	422
19599	7.35	4021.3	600.5	6.4	653	19607	0.00	3.95	0.00	0.000	4	0.000	0.000	3265	323	426
19897	7.35	4021.3	580.5	7.2	659	19905	0.00	4.55	0.00	0.000	6	0.000	0.000	3283	2130	419
20220	7.35	4021.3	559.3	6.8	667	20225	0.00	2.58	0.03	0.001	4	0.000	0.000	3292	580	418
20512	7.35	4021.3	540.0	6.3	673	20517	0.00	2.53	0.00	0.000	6	0.000	0.000	3270	2146	410
20830	7.35	4021.3	519.6	6.7	681	20835	0.00	2.80	0.00	0.000	4	0.000	0.000	3303	452	415
21122	7.35	4021.3	500.1	6.4	687	21129	0.00	3.20	0.15	0.000	6	0.000	0.000	3293	2073	417
21455	7.35	4021.3	478.4	6.6	702	21460	0.00	3.03	0.08	0.000	4	0.000	0.000	3282	510	410
21752	7.35	4031.7	457.6	5.9	714	21768	0.00	3.45	0.00	0.000	6	0.000	0.000	3271	2189	414
22077	7.37	4031.7	434.9	6.9	730	22084	0.00	3.55	0.00	0.000	4	0.000	0.000	3285	399	422
22380	7.37	4039.1	415.7	6.0	742	22396	0.00	3.55	0.03	0.000	6	0.000	0.000	3271	2191	419
22710	7.38	4050.6	397.4	5.8	758	22715	0.00	2.80	0.00	0.000	4	0.000	0.000	3260	480	425
23010	7.40	4050.6	377.7	6.3	770	23015	0.00	2.72	0.03	0.000	6	0.000	0.000	3299	2149	424
23335	7.40	4050.6	356.8	6.7	785	23339	0.00	2.70	0.00	0.000	4	0.000	0.000	3254	504	425
23630	7.40	4050.6	335.1	7.0	797	23636	0.00	2.70	0.03	0.000	6	0.000	0.000	3279	2025	419
23951	7.40	4050.6	312.5	7.0	812	23956	0.00	2.70	0.00	0.000	4	0.000	0.000	3275	518	426
24249	7.40	4068.0	291.0	5.6	824	24265	0.00	3.95	0.00	0.000	6	0.000	0.000	3287	1949	411
24579	7.43	4068.0	267.9	7.1	840	24584	0.00	2.97	0.00	0.000	4	0.000	0.000	3284	526	417
24879	7.43	4068.0	247.0	6.8	852	24895	0.00	3.45	0.03	0.001	6	0.000	0.000	3283	2186	424
25211	7.43	4085.8	227.5	5.6	868	25217	0.00	2.80	0.08	0.000	4	0.000	0.000	3270	509	422
25512	7.46	4111.0	209.4	5.3	880	25517	0.00	3.00	0.03	0.000	6	0.000	0.000	3289	2035	423
25833	7.50	4111.0	187.6	7.6	895	25837	0.00	2.70	0.00	0.000	4	0.000	0.000	3275	508	415
26136	7.50	4111.0	166.6	7.3	907	26141	0.00	2.80	0.00	0.000	6	0.000	0.000	3285	2053	422
26457	7.50	4111.0	145.0	7.0	922	26458	0.00	0.00	0.00	0.000	6	0.000	0.000	3295	2178	408
26771	7.50	4111.4	126.3	6.2	937	26776	0.00	2.80	0.00	0.000	4	0.000	0.000	3280	497	431
27074	7.50	4121.4	103.9	5.9	949	27078	0.00	2.70	0.00	0.000	6	0.000	0.000	3278	2182	417
27504	7.52	4140.1	78.0	5.5	1000	27517	0.00	3.35	0.03	0.001	4	0.000	0.000	3278	380	417
27563	7.55	4158.8	74.8	5.5	1006	27575	0.00	3.45	0.00	0.000	6	0.000	0.000	3287	2226	412
28027	7.58	4177.9	45.4	5.5	1067	28040	0.00	3.80	0.00	0.000	4	0.000	0.000	3269	364	421
28405	7.61	4177.9	22.8	6.9	1116	28417	0.00	3.40	0.00	0.000	6	0.000	0.000	3276	2209	413
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface