Glider dive log

DavisStrait May07 * SG001 * Dive index * Mission links * Dive 12 * 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 12 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 21 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 2 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 -442520.06 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 -442520.06

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 21 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 2 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 12 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 134753,4659.188,-12531.579,32,1.1,32,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.171,0.090

_SM_DEPTHo 0.33 KALMAN_X 22679.4,1778.1,1688.5,21058.6,-2350.5

_SM_ANGLEo -50.0 KALMAN_Y -6660.6,-611.4,-616.7,-2529.2,1063.7

GPS2 135820,4659.217,-12531.555,18,1.1,19,18.0 MHEAD_RNG_PITCHd_Wd 44.2,264516,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999505 ALTIM_TOP_PING 19.5,999.0

SM_CCo 27927,0.00,0.000,0,0,421,450.37 _24V_AH 23.7,65.922

SM_GC 0.34,13.18,0.00,0.00,0.000,0.000,0.000,622,1816,421,-7.36,-4.35,450.37 _10V_AH 9.6,24.179

RAFOS_CLK 0 DATA_FILE_SIZE 37870,1129

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,239083520

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,45,1582,6,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2103 CURRENT 0.035,232.0,1

INTERNAL_PRESSURE 26.1237 GPS 180607,214604,4659.042,-12527.339,18,1.1,18,18.0

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 89.12 SBE_CT 1967 24 1119.03

Roll_motor 234 60 333.21 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15758.54 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 151 223 800.83

Transponder_ping 0 420 2.49

GPS 20 50 9.60

TT8 5965 19 1140.87

LPSleep 14781 2 327.79

TT8_Active 856 19 163.76

TT8_Sampling 2901 39 1111.99

TT8_CF8 3892 45 1716.03

TT8_Kalman 33 81 26.23

Analog_circuits 2760 12 318.07

GPS_charging 0 0 0.00

Compass 3682 26 919.25

RAFOS 3600 1 51.84

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

43 -0.83 -116.8 0.0 0.0 0 128 0.00 0.00 -76.90 0.000 6 0.000 0.000 616 1806 2735

135 -0.83 -116.8 4.7 -5.3 8 150 7.50 3.53 0.00 0.000 4 0.000 0.000 2149 3589 2729

499 -0.83 -116.8 45.2 -11.4 57 512 0.35 2.90 0.00 0.000 6 0.000 0.000 2060 1806 2732

948 -0.83 -116.8 93.6 -10.1 118 959 0.40 0.00 0.00 0.000 6 0.000 0.000 2134 1820 2737

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

1021 -0.25 0.0 100.6 9.9 126 1116 0.50 0.00 92.47 0.000 6 0.000 0.000 2231 2186 2269

state end apogee CONTROL_FINISHED_OK

state start climb

1127 0.83 116.8 110.2 0.0 131 1235 1.08 2.40 96.90 0.000 4 0.000 0.000 2450 3608 1785

1372 0.83 116.8 134.1 -8.2 142 1377 0.00 2.88 0.00 0.000 6 0.000 0.000 2471 1867 1793

1704 0.83 116.8 163.9 -9.8 158 1705 0.00 0.00 0.00 0.000 6 0.000 0.000 2452 1873 1785

2018 0.83 116.8 192.3 -7.9 173 2022 0.00 2.30 0.00 0.000 4 0.000 0.000 2443 608 1784

2318 0.83 116.8 214.7 -7.0 185 2323 0.00 3.05 0.05 0.000 6 0.000 0.000 2459 2149 1788

2639 0.83 116.8 239.1 -7.9 200 2640 0.00 0.00 0.03 0.000 6 0.000 0.000 2462 2139 1793

2953 0.83 116.8 261.0 -6.7 215 2954 0.12 0.00 0.00 0.000 6 0.000 0.000 2450 2164 1788

3262 0.83 116.8 283.7 -7.2 230 3264 0.05 0.00 0.08 0.001 6 0.000 0.000 2426 2145 1778

3566 0.83 116.8 307.1 -7.5 245 3572 0.25 2.70 0.00 0.000 4 0.000 0.000 2464 498 1781

3870 0.83 116.8 332.8 -9.1 257 3875 0.00 3.12 0.05 0.000 6 0.000 0.000 2457 2165 1780

4191 0.83 116.8 360.1 -8.6 272 4193 0.35 0.00 0.00 0.000 6 0.000 0.000 2435 2160 1782

4500 0.83 116.8 386.1 -8.0 287 4508 0.15 3.12 0.03 0.001 4 0.000 0.000 2456 408 1781

4805 0.83 116.8 412.6 -8.8 299 4821 0.00 3.75 0.00 0.000 6 0.000 0.000 2473 2199 1784

5131 0.83 116.8 440.2 -8.7 315 5136 0.00 2.67 0.00 0.000 4 0.000 0.000 2484 613 1786

5433 0.83 116.8 465.2 -7.9 327 5450 0.32 3.25 0.00 0.000 6 0.000 0.000 2356 2186 1783

5769 0.83 116.8 490.8 -7.9 343 5774 0.52 2.72 0.00 0.000 4 0.000 0.000 2476 536 1786

6072 0.83 116.8 513.7 -6.8 352 6077 0.35 2.80 0.00 0.000 6 0.000 0.000 2417 2180 1773

6391 0.83 116.8 535.8 -6.8 360 6398 0.43 3.00 0.00 0.000 4 0.000 0.000 2434 354 1784

6694 0.83 116.8 555.3 -6.8 366 6702 0.00 4.43 0.00 0.000 6 0.000 0.000 2426 2170 1781

7018 0.83 438.8 574.8 -5.9 374 7361 0.00 2.62 308.38 0.000 4 0.000 0.000 2413 587 475

7658 1.37 438.8 621.7 -7.7 386 7667 0.85 3.75 0.08 0.001 6 0.000 0.000 2639 2141 474

7993 1.37 438.8 647.1 -7.2 394 8001 0.40 3.65 0.00 0.000 4 0.000 0.000 2525 462 474

8296 1.37 438.8 667.3 -6.5 400 8302 0.25 2.60 0.00 0.000 6 0.000 0.000 2578 2099 474

8615 1.37 438.8 686.9 -6.3 408 8616 0.00 0.00 0.00 0.000 6 0.000 0.000 2582 2095 470

8945 1.37 438.8 708.7 -6.6 416 8950 0.00 2.50 0.75 0.001 4 0.000 0.000 2582 570 471

9242 1.37 438.8 729.5 -7.3 422 9246 0.00 2.60 0.00 0.000 6 0.000 0.000 2583 1994 472

9560 1.37 438.8 752.3 -7.5 430 9567 0.08 3.25 0.00 0.000 4 0.000 0.000 2587 453 472

9868 1.37 438.8 773.4 -7.1 436 9873 0.32 2.62 0.00 0.000 6 0.000 0.000 2533 2096 470

10187 1.37 438.8 795.6 -7.0 444 10195 0.60 3.35 0.00 0.000 4 0.000 0.000 2609 449 477

10486 1.37 438.8 816.2 -6.6 450 10494 0.47 3.25 0.00 0.000 6 0.000 0.000 2541 1996 471

10810 1.37 759.9 835.6 -5.9 458 10828 0.00 0.00 11.05 0.000 6 0.000 0.000 2530 1996 428

11140 1.90 1084.4 854.5 -6.0 466 11149 0.80 3.15 0.22 0.001 4 0.000 0.000 2718 467 426

11436 2.45 1370.2 871.1 -4.6 472 11446 0.55 3.53 0.25 0.001 6 0.000 0.000 2858 2143 427

11765 2.92 1682.1 888.9 -5.6 480 11766 0.35 0.00 0.00 0.000 6 0.000 0.000 2953 2130 429

12091 3.44 2003.8 908.4 -5.9 488 12099 0.43 2.92 0.00 0.000 4 0.000 0.000 3040 470 422

12386 3.98 2315.1 925.3 -5.5 494 12392 0.62 2.60 0.10 0.000 6 0.000 0.000 3199 2118 427

12706 4.50 2627.0 942.7 -5.6 502 12708 0.32 0.00 0.00 0.000 6 0.000 0.000 3236 2133 418

13037 5.02 2951.7 962.8 -6.1 510 13044 0.00 3.45 0.00 0.000 4 0.000 0.000 3296 444 422

13334 5.56 3279.8 980.9 -6.2 516 13339 0.00 2.83 0.00 0.000 6 0.000 0.000 3277 2126 427

13651 6.11 3521.8 994.7 -2.9 524 13653 0.00 0.00 0.12 0.000 6 0.000 0.000 3292 2120 419

13981 6.52 3521.8 975.7 7.5 532 13987 0.00 3.00 0.20 0.001 4 0.000 0.000 3289 467 422

14274 6.52 3521.8 953.4 6.9 538 14283 0.00 3.75 0.12 0.000 6 0.000 0.000 3296 2096 421

14599 6.52 3521.8 928.5 8.0 546 14604 0.00 2.92 0.03 0.001 4 0.000 0.000 3298 562 423

14891 6.52 3521.8 904.0 8.1 552 14896 0.00 2.50 0.00 0.000 6 0.000 0.000 3285 2089 418

15210 6.52 3521.8 877.7 8.5 560 15217 0.00 3.55 0.00 0.000 4 0.000 0.000 3270 395 426

15507 6.52 3521.8 852.6 8.3 566 15515 0.00 3.83 0.00 0.000 6 0.000 0.000 3287 2191 416

15830 6.52 3521.8 826.4 8.1 574 15838 0.00 3.55 0.03 0.000 4 0.000 0.000 3286 435 421

16127 6.52 3521.8 802.6 8.3 580 16132 0.00 2.80 0.00 0.000 6 0.000 0.000 3280 2091 420

16445 6.52 3521.8 778.2 7.5 588 16450 0.00 3.12 0.00 0.000 4 0.000 0.000 3288 540 422

16738 6.52 3521.8 757.1 6.9 594 16745 0.00 3.55 0.00 0.000 6 0.000 0.000 3273 2208 421

17061 6.52 3528.2 737.6 6.0 602 17069 0.00 3.65 0.12 0.000 4 0.000 0.000 3272 457 429

17359 6.53 3545.7 720.7 5.6 608 17366 0.00 3.45 0.00 0.000 6 0.000 0.000 3287 2143 426

17682 6.56 3545.7 699.8 6.9 616 17687 0.00 3.22 0.00 0.000 4 0.000 0.000 3278 607 419

17975 6.56 3545.7 677.5 7.3 622 17980 0.00 2.80 0.00 0.000 6 0.000 0.000 3280 2028 425

18293 6.56 3545.7 653.1 7.9 630 18300 0.00 3.25 0.08 0.000 4 0.000 0.000 3293 394 417

18589 6.56 3545.7 628.8 8.3 636 18595 0.00 3.03 0.05 0.000 6 0.000 0.000 3297 2131 423

18908 6.56 3545.7 604.8 7.5 644 18916 0.00 3.72 0.00 0.000 4 0.000 0.000 3299 483 420

19205 6.56 3545.7 584.1 6.5 650 19210 0.00 2.50 0.00 0.000 6 0.000 0.000 3283 2143 423

19523 6.56 3545.7 563.2 6.8 658 19531 0.00 3.75 0.03 0.001 4 0.000 0.000 3281 383 417

19821 6.56 3545.7 542.7 7.7 664 19826 0.00 2.90 0.05 0.002 6 0.000 0.000 3283 2179 418

20139 6.56 3545.7 520.1 7.2 672 20144 0.00 2.72 0.05 0.001 4 0.000 0.000 3277 506 419

20432 6.56 3545.7 500.0 6.6 678 20440 0.00 3.55 0.00 0.000 6 0.000 0.000 3268 2183 422

20766 6.56 3545.7 478.3 6.8 693 20771 0.00 2.72 0.05 0.000 4 0.000 0.000 3291 521 418

21064 6.56 3545.7 456.2 7.2 705 21068 0.00 2.80 0.00 0.000 6 0.000 0.000 3289 2169 418

21384 6.56 3545.7 433.4 7.1 720 21389 0.00 2.62 0.00 0.000 4 0.000 0.000 3275 583 414

21687 6.56 3545.7 411.9 6.4 732 21692 0.00 3.08 0.03 0.001 6 0.000 0.000 3284 2093 428

22008 6.56 3545.7 391.3 6.4 747 22012 0.00 2.80 0.00 0.000 4 0.000 0.000 3280 545 417

22309 6.56 3545.7 370.5 6.9 759 22324 0.00 3.30 0.00 0.000 6 0.000 0.000 3274 2113 417

22639 6.56 3545.7 348.7 7.2 775 22644 0.00 2.62 0.05 0.000 4 0.000 0.000 3283 568 416

22949 6.56 3545.7 327.0 6.7 787 22954 0.00 2.78 0.00 0.000 6 0.000 0.000 3281 2091 415

23270 6.56 3545.7 305.0 7.2 802 23275 0.00 2.72 0.00 0.000 4 0.000 0.000 3281 598 422

23577 6.56 3545.7 283.5 6.5 814 23582 0.00 2.62 0.03 0.000 6 0.000 0.000 3286 2124 415

23899 6.56 3546.8 263.3 6.2 829 23903 0.00 2.58 0.00 0.000 4 0.000 0.000 3288 602 416

24209 6.56 3568.9 244.2 5.4 841 24224 0.00 3.25 0.00 0.000 6 0.000 0.000 3279 2159 417

24535 6.60 3574.4 224.5 6.0 857 24542 0.00 3.58 0.00 0.000 4 0.000 0.000 3284 518 420

24843 6.60 3574.4 204.9 7.4 869 24847 0.00 2.62 0.00 0.000 6 0.000 0.000 3284 2166 424

25164 6.60 3574.4 183.1 6.7 884 25171 0.00 3.55 0.00 0.000 4 0.000 0.000 3283 400 413

25473 6.60 3574.4 161.9 7.8 896 25478 0.00 3.10 0.00 0.000 6 0.000 0.000 3273 2097 422

25794 6.60 3574.4 139.7 7.0 911 25798 0.00 2.50 0.00 0.000 4 0.000 0.000 3283 565 424

26094 6.60 3592.6 119.2 5.6 923 26110 0.00 3.55 0.00 0.000 6 0.000 0.000 3274 2195 414

26420 6.63 3604.5 100.0 5.8 939 26433 0.00 3.10 0.00 0.000 4 0.000 0.000 3280 389 417

26766 6.65 3604.5 83.3 6.3 988 26777 0.00 3.05 0.03 0.001 6 0.000 0.000 3275 2173 416

27216 6.65 3604.5 49.8 8.6 1049 27228 0.00 3.35 0.00 0.000 4 0.000 0.000 3277 516 419

27601 6.65 3604.5 18.6 8.3 1098 27613 0.00 2.50 0.00 0.000 6 0.000 0.000 3281 2204 412

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	12	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	21	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	2	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	-442520.06	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	134753,4659.188,-12531.579,32,1.1,32,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.171,0.090
_SM_DEPTHo	0.33	KALMAN_X	22679.4,1778.1,1688.5,21058.6,-2350.5
_SM_ANGLEo	-50.0	KALMAN_Y	-6660.6,-611.4,-616.7,-2529.2,1063.7
GPS2	135820,4659.217,-12531.555,18,1.1,19,18.0	MHEAD_RNG_PITCHd_Wd	44.2,264516,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999505	ALTIM_TOP_PING	19.5,999.0
SM_CCo	27927,0.00,0.000,0,0,421,450.37	_24V_AH	23.7,65.922
SM_GC	0.34,13.18,0.00,0.00,0.000,0.000,0.000,622,1816,421,-7.36,-4.35,450.37	_10V_AH	9.6,24.179
RAFOS_CLK	0	DATA_FILE_SIZE	37870,1129
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,239083520
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,45,1582,6,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2103	CURRENT	0.035,232.0,1
INTERNAL_PRESSURE	26.1237	GPS	180607,214604,4659.042,-12527.339,18,1.1,18,18.0
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	89.12	SBE_CT	1967	24	1119.03
Roll_motor	234	60	333.21	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15758.54	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	151	223	800.83
Transponder_ping	0	420	2.49
GPS	20	50	9.60
TT8	5965	19	1140.87
LPSleep	14781	2	327.79
TT8_Active	856	19	163.76
TT8_Sampling	2901	39	1111.99
TT8_CF8	3892	45	1716.03
TT8_Kalman	33	81	26.23
Analog_circuits	2760	12	318.07
GPS_charging	0	0	0.00
Compass	3682	26	919.25
RAFOS	3600	1	51.84

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
43	-0.83	-116.8	0.0	0.0	0	128	0.00	0.00	-76.90	0.000	6	0.000	0.000	616	1806	2735
135	-0.83	-116.8	4.7	-5.3	8	150	7.50	3.53	0.00	0.000	4	0.000	0.000	2149	3589	2729
499	-0.83	-116.8	45.2	-11.4	57	512	0.35	2.90	0.00	0.000	6	0.000	0.000	2060	1806	2732
948	-0.83	-116.8	93.6	-10.1	118	959	0.40	0.00	0.00	0.000	6	0.000	0.000	2134	1820	2737
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
1021	-0.25	0.0	100.6	9.9	126	1116	0.50	0.00	92.47	0.000	6	0.000	0.000	2231	2186	2269
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1127	0.83	116.8	110.2	0.0	131	1235	1.08	2.40	96.90	0.000	4	0.000	0.000	2450	3608	1785
1372	0.83	116.8	134.1	-8.2	142	1377	0.00	2.88	0.00	0.000	6	0.000	0.000	2471	1867	1793
1704	0.83	116.8	163.9	-9.8	158	1705	0.00	0.00	0.00	0.000	6	0.000	0.000	2452	1873	1785
2018	0.83	116.8	192.3	-7.9	173	2022	0.00	2.30	0.00	0.000	4	0.000	0.000	2443	608	1784
2318	0.83	116.8	214.7	-7.0	185	2323	0.00	3.05	0.05	0.000	6	0.000	0.000	2459	2149	1788
2639	0.83	116.8	239.1	-7.9	200	2640	0.00	0.00	0.03	0.000	6	0.000	0.000	2462	2139	1793
2953	0.83	116.8	261.0	-6.7	215	2954	0.12	0.00	0.00	0.000	6	0.000	0.000	2450	2164	1788
3262	0.83	116.8	283.7	-7.2	230	3264	0.05	0.00	0.08	0.001	6	0.000	0.000	2426	2145	1778
3566	0.83	116.8	307.1	-7.5	245	3572	0.25	2.70	0.00	0.000	4	0.000	0.000	2464	498	1781
3870	0.83	116.8	332.8	-9.1	257	3875	0.00	3.12	0.05	0.000	6	0.000	0.000	2457	2165	1780
4191	0.83	116.8	360.1	-8.6	272	4193	0.35	0.00	0.00	0.000	6	0.000	0.000	2435	2160	1782
4500	0.83	116.8	386.1	-8.0	287	4508	0.15	3.12	0.03	0.001	4	0.000	0.000	2456	408	1781
4805	0.83	116.8	412.6	-8.8	299	4821	0.00	3.75	0.00	0.000	6	0.000	0.000	2473	2199	1784
5131	0.83	116.8	440.2	-8.7	315	5136	0.00	2.67	0.00	0.000	4	0.000	0.000	2484	613	1786
5433	0.83	116.8	465.2	-7.9	327	5450	0.32	3.25	0.00	0.000	6	0.000	0.000	2356	2186	1783
5769	0.83	116.8	490.8	-7.9	343	5774	0.52	2.72	0.00	0.000	4	0.000	0.000	2476	536	1786
6072	0.83	116.8	513.7	-6.8	352	6077	0.35	2.80	0.00	0.000	6	0.000	0.000	2417	2180	1773
6391	0.83	116.8	535.8	-6.8	360	6398	0.43	3.00	0.00	0.000	4	0.000	0.000	2434	354	1784
6694	0.83	116.8	555.3	-6.8	366	6702	0.00	4.43	0.00	0.000	6	0.000	0.000	2426	2170	1781
7018	0.83	438.8	574.8	-5.9	374	7361	0.00	2.62	308.38	0.000	4	0.000	0.000	2413	587	475
7658	1.37	438.8	621.7	-7.7	386	7667	0.85	3.75	0.08	0.001	6	0.000	0.000	2639	2141	474
7993	1.37	438.8	647.1	-7.2	394	8001	0.40	3.65	0.00	0.000	4	0.000	0.000	2525	462	474
8296	1.37	438.8	667.3	-6.5	400	8302	0.25	2.60	0.00	0.000	6	0.000	0.000	2578	2099	474
8615	1.37	438.8	686.9	-6.3	408	8616	0.00	0.00	0.00	0.000	6	0.000	0.000	2582	2095	470
8945	1.37	438.8	708.7	-6.6	416	8950	0.00	2.50	0.75	0.001	4	0.000	0.000	2582	570	471
9242	1.37	438.8	729.5	-7.3	422	9246	0.00	2.60	0.00	0.000	6	0.000	0.000	2583	1994	472
9560	1.37	438.8	752.3	-7.5	430	9567	0.08	3.25	0.00	0.000	4	0.000	0.000	2587	453	472
9868	1.37	438.8	773.4	-7.1	436	9873	0.32	2.62	0.00	0.000	6	0.000	0.000	2533	2096	470
10187	1.37	438.8	795.6	-7.0	444	10195	0.60	3.35	0.00	0.000	4	0.000	0.000	2609	449	477
10486	1.37	438.8	816.2	-6.6	450	10494	0.47	3.25	0.00	0.000	6	0.000	0.000	2541	1996	471
10810	1.37	759.9	835.6	-5.9	458	10828	0.00	0.00	11.05	0.000	6	0.000	0.000	2530	1996	428
11140	1.90	1084.4	854.5	-6.0	466	11149	0.80	3.15	0.22	0.001	4	0.000	0.000	2718	467	426
11436	2.45	1370.2	871.1	-4.6	472	11446	0.55	3.53	0.25	0.001	6	0.000	0.000	2858	2143	427
11765	2.92	1682.1	888.9	-5.6	480	11766	0.35	0.00	0.00	0.000	6	0.000	0.000	2953	2130	429
12091	3.44	2003.8	908.4	-5.9	488	12099	0.43	2.92	0.00	0.000	4	0.000	0.000	3040	470	422
12386	3.98	2315.1	925.3	-5.5	494	12392	0.62	2.60	0.10	0.000	6	0.000	0.000	3199	2118	427
12706	4.50	2627.0	942.7	-5.6	502	12708	0.32	0.00	0.00	0.000	6	0.000	0.000	3236	2133	418
13037	5.02	2951.7	962.8	-6.1	510	13044	0.00	3.45	0.00	0.000	4	0.000	0.000	3296	444	422
13334	5.56	3279.8	980.9	-6.2	516	13339	0.00	2.83	0.00	0.000	6	0.000	0.000	3277	2126	427
13651	6.11	3521.8	994.7	-2.9	524	13653	0.00	0.00	0.12	0.000	6	0.000	0.000	3292	2120	419
13981	6.52	3521.8	975.7	7.5	532	13987	0.00	3.00	0.20	0.001	4	0.000	0.000	3289	467	422
14274	6.52	3521.8	953.4	6.9	538	14283	0.00	3.75	0.12	0.000	6	0.000	0.000	3296	2096	421
14599	6.52	3521.8	928.5	8.0	546	14604	0.00	2.92	0.03	0.001	4	0.000	0.000	3298	562	423
14891	6.52	3521.8	904.0	8.1	552	14896	0.00	2.50	0.00	0.000	6	0.000	0.000	3285	2089	418
15210	6.52	3521.8	877.7	8.5	560	15217	0.00	3.55	0.00	0.000	4	0.000	0.000	3270	395	426
15507	6.52	3521.8	852.6	8.3	566	15515	0.00	3.83	0.00	0.000	6	0.000	0.000	3287	2191	416
15830	6.52	3521.8	826.4	8.1	574	15838	0.00	3.55	0.03	0.000	4	0.000	0.000	3286	435	421
16127	6.52	3521.8	802.6	8.3	580	16132	0.00	2.80	0.00	0.000	6	0.000	0.000	3280	2091	420
16445	6.52	3521.8	778.2	7.5	588	16450	0.00	3.12	0.00	0.000	4	0.000	0.000	3288	540	422
16738	6.52	3521.8	757.1	6.9	594	16745	0.00	3.55	0.00	0.000	6	0.000	0.000	3273	2208	421
17061	6.52	3528.2	737.6	6.0	602	17069	0.00	3.65	0.12	0.000	4	0.000	0.000	3272	457	429
17359	6.53	3545.7	720.7	5.6	608	17366	0.00	3.45	0.00	0.000	6	0.000	0.000	3287	2143	426
17682	6.56	3545.7	699.8	6.9	616	17687	0.00	3.22	0.00	0.000	4	0.000	0.000	3278	607	419
17975	6.56	3545.7	677.5	7.3	622	17980	0.00	2.80	0.00	0.000	6	0.000	0.000	3280	2028	425
18293	6.56	3545.7	653.1	7.9	630	18300	0.00	3.25	0.08	0.000	4	0.000	0.000	3293	394	417
18589	6.56	3545.7	628.8	8.3	636	18595	0.00	3.03	0.05	0.000	6	0.000	0.000	3297	2131	423
18908	6.56	3545.7	604.8	7.5	644	18916	0.00	3.72	0.00	0.000	4	0.000	0.000	3299	483	420
19205	6.56	3545.7	584.1	6.5	650	19210	0.00	2.50	0.00	0.000	6	0.000	0.000	3283	2143	423
19523	6.56	3545.7	563.2	6.8	658	19531	0.00	3.75	0.03	0.001	4	0.000	0.000	3281	383	417
19821	6.56	3545.7	542.7	7.7	664	19826	0.00	2.90	0.05	0.002	6	0.000	0.000	3283	2179	418
20139	6.56	3545.7	520.1	7.2	672	20144	0.00	2.72	0.05	0.001	4	0.000	0.000	3277	506	419
20432	6.56	3545.7	500.0	6.6	678	20440	0.00	3.55	0.00	0.000	6	0.000	0.000	3268	2183	422
20766	6.56	3545.7	478.3	6.8	693	20771	0.00	2.72	0.05	0.000	4	0.000	0.000	3291	521	418
21064	6.56	3545.7	456.2	7.2	705	21068	0.00	2.80	0.00	0.000	6	0.000	0.000	3289	2169	418
21384	6.56	3545.7	433.4	7.1	720	21389	0.00	2.62	0.00	0.000	4	0.000	0.000	3275	583	414
21687	6.56	3545.7	411.9	6.4	732	21692	0.00	3.08	0.03	0.001	6	0.000	0.000	3284	2093	428
22008	6.56	3545.7	391.3	6.4	747	22012	0.00	2.80	0.00	0.000	4	0.000	0.000	3280	545	417
22309	6.56	3545.7	370.5	6.9	759	22324	0.00	3.30	0.00	0.000	6	0.000	0.000	3274	2113	417
22639	6.56	3545.7	348.7	7.2	775	22644	0.00	2.62	0.05	0.000	4	0.000	0.000	3283	568	416
22949	6.56	3545.7	327.0	6.7	787	22954	0.00	2.78	0.00	0.000	6	0.000	0.000	3281	2091	415
23270	6.56	3545.7	305.0	7.2	802	23275	0.00	2.72	0.00	0.000	4	0.000	0.000	3281	598	422
23577	6.56	3545.7	283.5	6.5	814	23582	0.00	2.62	0.03	0.000	6	0.000	0.000	3286	2124	415
23899	6.56	3546.8	263.3	6.2	829	23903	0.00	2.58	0.00	0.000	4	0.000	0.000	3288	602	416
24209	6.56	3568.9	244.2	5.4	841	24224	0.00	3.25	0.00	0.000	6	0.000	0.000	3279	2159	417
24535	6.60	3574.4	224.5	6.0	857	24542	0.00	3.58	0.00	0.000	4	0.000	0.000	3284	518	420
24843	6.60	3574.4	204.9	7.4	869	24847	0.00	2.62	0.00	0.000	6	0.000	0.000	3284	2166	424
25164	6.60	3574.4	183.1	6.7	884	25171	0.00	3.55	0.00	0.000	4	0.000	0.000	3283	400	413
25473	6.60	3574.4	161.9	7.8	896	25478	0.00	3.10	0.00	0.000	6	0.000	0.000	3273	2097	422
25794	6.60	3574.4	139.7	7.0	911	25798	0.00	2.50	0.00	0.000	4	0.000	0.000	3283	565	424
26094	6.60	3592.6	119.2	5.6	923	26110	0.00	3.55	0.00	0.000	6	0.000	0.000	3274	2195	414
26420	6.63	3604.5	100.0	5.8	939	26433	0.00	3.10	0.00	0.000	4	0.000	0.000	3280	389	417
26766	6.65	3604.5	83.3	6.3	988	26777	0.00	3.05	0.03	0.001	6	0.000	0.000	3275	2173	416
27216	6.65	3604.5	49.8	8.6	1049	27228	0.00	3.35	0.00	0.000	4	0.000	0.000	3277	516	419
27601	6.65	3604.5	18.6	8.3	1098	27613	0.00	2.50	0.00	0.000	6	0.000	0.000	3281	2204	412
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface