Glider dive log

DavisStrait May07 * SG001 * Dive index * Mission links * Dive 13 * 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 13 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 1 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 -442558.03 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 -442558.03

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 1 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 13 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 214604,4659.042,-12527.339,18,1.1,18,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.169,0.092

_SM_DEPTHo 0.34 KALMAN_X 25300.6,1845.5,1731.1,23644.3,-2584.1

_SM_ANGLEo -50.0 KALMAN_Y -7267.5,-348.7,-364.0,-2725.2,577.4

GPS2 215325,4659.067,-12527.345,36,1.1,36,18.0 MHEAD_RNG_PITCHd_Wd 43.5,260104,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999501 ALTIM_TOP_PING 19.8,999.0

SM_CCo 28657,0.00,0.000,0,0,415,449.88 _24V_AH 23.6,66.823

SM_GC 0.34,13.23,0.00,0.00,0.000,0.000,0.000,624,1834,415,-7.25,-3.62,449.88 _10V_AH 9.6,24.368

RAFOS_CLK 0 DATA_FILE_SIZE 37806,1139

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,238698496

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,60,1854,8,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2138 CURRENT 0.022,194.8,1

INTERNAL_PRESSURE 26.1041 GPS 190607,055321,4658.936,-12522.715,16,1.1,16,18.0

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 34 119 95.77 SBE_CT 1949 24 1104.42

Roll_motor 274 60 388.02 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15698.96 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 106 223 561.36

Transponder_ping 0 420 2.48

GPS 37 50 17.93

TT8 6154 19 1176.90

LPSleep 14896 2 330.35

TT8_Active 950 19 181.84

TT8_Sampling 3101 39 1188.63

TT8_CF8 3894 45 1716.77

TT8_Kalman 33 81 26.22

Analog_circuits 2967 12 341.89

GPS_charging 0 0 0.00

Compass 3966 26 990.08

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 0 114 0.00 0.00 -72.93 0.000 2 0.000 0.000 617 1808 2611

120 -0.83 -116.8 3.1 -4.9 7 151 7.15 3.35 -4.35 0.000 4 0.000 0.000 2055 3599 2741

495 -0.83 -116.8 46.5 -11.9 57 506 0.00 2.85 0.00 0.000 6 0.000 0.000 2056 1820 2737

941 -0.83 -116.8 96.0 -9.8 118 953 0.03 2.58 0.00 0.000 4 0.000 0.000 2044 3494 2737

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

991 -0.25 0.0 100.4 9.8 122 1089 0.93 0.00 94.50 0.000 6 0.000 0.000 2245 1830 2263

state end apogee CONTROL_FINISHED_OK

state start climb

1100 0.83 116.8 109.8 0.0 127 1198 1.12 0.00 94.57 0.000 6 0.000 0.000 2480 1840 1793

1508 0.83 116.8 147.2 -9.1 147 1514 0.45 2.75 0.00 0.000 4 0.000 0.000 2393 557 1782

1813 0.83 116.8 174.0 -8.7 159 1830 0.35 3.45 0.28 0.000 6 0.000 0.000 2489 2118 1784

2139 0.83 116.8 201.5 -9.0 175 2144 0.43 2.72 0.00 0.000 4 0.000 0.000 2409 570 1782

2442 0.83 116.8 225.8 -7.4 187 2459 0.40 3.85 0.12 0.001 6 0.000 0.000 2497 1980 1783

2772 0.83 116.8 248.3 -7.2 203 2774 0.50 0.00 0.00 0.000 6 0.000 0.000 2447 1979 1784

3082 0.83 116.8 271.0 -7.4 218 3087 0.35 2.70 0.00 0.000 4 0.000 0.000 2477 550 1783

3385 0.83 116.8 294.7 -7.6 230 3402 0.35 3.92 0.03 0.001 6 0.000 0.000 2372 2196 1787

3711 0.83 116.8 322.2 -9.1 246 3717 0.30 2.70 0.30 0.001 4 0.000 0.000 2501 504 1783

4023 0.83 116.8 349.8 -8.2 258 4040 0.22 4.60 0.00 0.000 6 0.000 0.000 2426 2192 1780

4350 0.83 116.8 375.8 -8.0 274 4355 0.00 3.20 0.00 0.000 4 0.000 0.000 2420 571 1792

4591 0.83 116.8 393.7 -7.0 284 4599 0.08 3.25 0.00 0.000 6 0.002 0.000 2437 2085 1784

4932 0.83 116.8 417.5 -7.2 300 4937 0.00 2.65 0.00 0.000 4 0.000 0.000 2431 568 1780

5231 0.83 116.8 438.4 -6.7 312 5235 0.00 2.53 0.00 0.000 6 0.000 0.000 2437 2082 1780

5553 0.83 440.6 458.0 -6.0 327 5919 0.00 3.42 310.20 0.000 4 0.000 0.000 2433 379 467

6215 1.37 766.1 499.9 -6.1 353 6232 0.82 3.35 10.00 0.000 6 0.000 0.000 2614 2048 430

6564 1.91 766.1 521.9 -6.9 362 6573 0.52 3.25 0.22 0.001 4 0.000 0.000 2698 375 428

6863 1.91 766.1 542.2 -6.5 368 6872 0.35 4.03 0.05 0.001 6 0.000 0.000 2594 2152 419

7188 1.91 766.1 562.8 -6.3 376 7190 0.55 0.00 0.10 0.000 6 0.000 0.000 2707 2151 425

7518 1.91 1093.8 583.2 -6.2 384 7527 0.50 4.32 0.00 0.000 4 0.000 0.000 2623 311 420

7813 2.46 1093.8 602.6 -6.5 390 7822 1.10 3.00 0.08 0.000 6 0.000 0.000 2851 2123 415

8142 2.46 1419.3 622.5 -6.1 398 8151 0.30 4.03 0.00 0.000 4 0.000 0.000 2760 353 419

8441 3.01 1419.3 641.8 -6.9 404 8450 1.00 2.88 0.08 0.002 6 0.000 0.000 2961 2152 419

8781 3.01 1747.3 662.6 -6.2 412 8787 0.40 2.80 0.10 0.000 4 0.000 0.000 2909 531 427

9077 3.55 1747.3 682.3 -6.7 418 9086 0.88 3.10 0.05 0.000 6 0.000 0.000 3089 2175 418

9407 3.55 1747.3 703.5 -6.8 426 9413 0.38 2.70 0.05 0.000 4 0.000 0.000 2999 503 418

9711 3.55 1747.3 723.5 -6.6 432 9720 0.35 3.12 0.05 0.001 6 0.000 0.000 3096 2157 422

10040 3.55 2065.8 742.8 -5.8 440 10049 0.05 3.62 0.10 0.002 4 0.000 0.000 3037 402 428

10340 4.09 2065.8 761.8 -6.7 446 10349 0.65 3.75 0.00 0.000 6 0.000 0.000 3173 2176 423

10665 4.09 2065.8 782.5 -6.4 454 10674 0.00 3.95 0.08 0.000 4 0.000 0.000 3175 385 422

10964 4.09 2380.2 800.9 -5.7 460 10970 0.00 3.12 0.03 0.000 6 0.000 0.000 3184 2160 427

11284 4.61 2707.3 819.7 -6.1 468 11292 0.38 2.92 0.03 0.002 4 0.000 0.000 3284 406 429

11581 5.16 3007.3 835.7 -5.1 474 11586 0.00 2.60 0.08 0.000 6 0.000 0.000 3265 2092 427

11898 5.66 3303.6 851.8 -5.0 482 11899 0.00 0.00 0.00 0.000 6 0.000 0.000 3259 2095 424

12228 6.15 3585.3 867.0 -4.4 490 12233 0.00 3.10 0.03 0.000 4 0.000 0.000 3257 561 425

12520 6.62 3881.8 881.3 -5.0 496 12526 0.00 2.80 0.03 0.000 6 0.000 0.000 3263 2078 428

12838 7.12 4189.5 897.8 -5.4 504 12844 0.00 3.00 0.03 0.000 4 0.000 0.000 3270 467 424

13131 7.63 4510.1 913.8 -5.9 510 13136 0.00 3.10 0.00 0.000 6 0.000 0.000 3255 2153 425

13449 8.17 4830.0 932.6 -5.9 518 13454 0.00 2.70 0.05 0.000 4 0.000 0.000 3265 472 421

13741 8.70 4830.0 950.1 -6.5 524 13746 0.00 2.70 0.10 0.001 6 0.000 0.000 3255 2126 421

14060 8.70 4830.0 970.7 -6.8 532 14065 0.00 3.17 0.00 0.000 4 0.000 0.000 3263 565 414

14353 8.70 4830.0 990.1 -6.6 538 14358 0.00 2.53 0.00 0.000 6 0.000 0.000 3277 2087 425

14671 8.70 4901.0 990.7 3.6 546 14675 0.00 2.50 0.00 0.000 4 0.000 0.000 3270 575 421

14963 8.82 4901.0 966.3 8.6 552 14970 0.00 3.33 0.00 0.000 6 0.000 0.000 3262 2102 421

15285 8.82 4901.0 938.2 8.9 560 15293 0.00 3.35 0.03 0.001 4 0.000 0.000 3268 370 423

15583 8.82 4901.0 911.9 8.8 566 15591 0.00 3.47 0.03 0.001 6 0.000 0.000 3276 2028 422

15906 8.82 4901.0 884.1 8.8 574 15911 0.00 2.60 0.00 0.000 4 0.000 0.000 3269 472 424

16199 8.82 4901.0 858.0 8.8 580 16207 0.00 3.45 0.00 0.000 6 0.000 0.000 3274 2091 425

16522 8.82 4901.0 832.0 8.1 588 16526 0.00 2.90 0.00 0.000 4 0.000 0.000 3273 543 417

16814 8.82 4901.0 808.9 7.1 594 16819 0.00 2.70 0.03 0.000 6 0.000 0.000 3270 2206 421

17132 8.82 4901.0 785.2 7.4 602 17137 0.00 3.00 0.00 0.000 4 0.000 0.000 3273 491 416

17425 8.82 4901.0 765.4 6.3 608 17430 0.00 2.80 0.00 0.000 6 0.000 0.000 3256 2138 427

17743 8.82 4905.4 746.5 6.1 616 17750 0.00 3.62 0.00 0.000 4 0.000 0.000 3260 456 420

18040 8.83 4909.0 726.7 6.1 622 18048 0.00 3.33 0.00 0.000 6 0.000 0.000 3281 2121 419

18363 8.83 4909.0 705.0 6.7 630 18371 0.00 3.35 0.03 0.000 4 0.000 0.000 3271 455 425

18660 8.83 4909.0 684.6 6.7 636 18668 0.00 3.25 0.00 0.000 6 0.000 0.000 3270 1962 426

18984 8.83 4909.0 662.4 7.0 644 18988 0.00 2.30 0.03 0.001 4 0.000 0.000 3265 531 422

19276 8.83 4909.0 640.6 7.6 650 19282 0.00 2.80 0.03 0.000 6 0.000 0.000 3269 2066 416

19594 8.83 4909.0 616.9 7.5 658 19602 0.00 3.85 0.00 0.000 4 0.000 0.000 3250 347 414

19893 8.83 4909.0 593.6 7.7 664 19898 0.00 2.80 0.00 0.000 6 0.000 0.000 3267 2008 422

20211 8.83 4909.0 568.9 7.7 672 20216 0.00 3.00 0.00 0.000 4 0.000 0.000 3268 498 429

20515 8.83 4909.0 546.7 7.4 678 20520 0.00 3.10 0.00 0.000 6 0.000 0.000 3266 2127 415

20833 8.83 4909.0 524.5 6.9 686 20840 0.00 3.65 0.00 0.000 4 0.000 0.000 3273 344 414

21132 8.83 4909.0 505.0 6.8 692 21140 0.00 3.45 0.05 0.000 6 0.000 0.000 3273 2135 426

21458 8.83 4909.0 484.2 6.6 705 21463 0.00 3.22 0.00 0.000 4 0.000 0.000 3267 477 426

21760 8.83 4921.9 463.4 5.8 717 21766 0.00 2.90 0.05 0.001 6 0.000 0.000 3259 2134 419

22081 8.85 4921.9 440.8 6.9 732 22089 0.00 3.62 0.00 0.000 4 0.000 0.000 3272 428 420

22397 8.85 4921.9 417.9 7.5 744 22412 0.00 3.60 0.00 0.000 6 0.000 0.000 3264 2230 423

22728 8.85 4921.9 393.0 8.0 760 22735 0.00 3.55 0.00 0.000 4 0.000 0.000 3271 518 419

23039 8.85 4921.9 366.6 9.1 772 23044 0.00 2.92 0.00 0.000 6 0.000 0.000 3257 2146 424

23360 8.85 4921.9 342.8 7.2 787 23365 0.00 3.20 0.00 0.000 4 0.000 0.000 3271 475 419

23660 8.85 4921.9 321.0 6.7 799 23665 0.00 3.00 0.00 0.000 6 0.000 0.000 3268 2102 418

23985 8.85 4921.9 298.8 6.9 814 23993 0.00 3.92 0.05 0.001 4 0.000 0.000 3261 342 418

24300 8.85 4946.3 279.1 5.3 826 24316 0.00 3.85 0.00 0.000 6 0.000 0.000 3263 2002 413

24631 8.90 4952.2 260.5 6.0 842 24639 0.00 3.40 0.03 0.000 4 0.000 0.000 3254 462 417

24943 8.91 4952.2 239.3 6.8 854 24959 0.00 4.22 0.00 0.000 6 0.000 0.000 3268 2145 417

25269 8.91 4952.2 216.4 6.9 870 25276 0.00 3.65 0.00 0.000 4 0.000 0.000 3257 374 417

25577 8.91 4952.2 194.1 6.7 882 25582 0.00 2.70 0.03 0.001 6 0.000 0.000 3262 2134 424

25898 8.91 4970.6 174.0 5.6 897 25905 0.00 3.30 0.00 0.000 4 0.000 0.000 3282 469 411

26207 8.94 4971.3 155.6 6.2 909 26212 0.00 2.70 0.00 0.000 6 0.000 0.000 3264 2018 429

26528 8.94 4971.3 135.9 6.8 924 26534 0.00 2.83 0.03 0.001 4 0.000 0.000 3265 586 425

26829 8.94 5004.5 115.6 5.0 936 26834 0.00 2.95 0.00 0.000 6 0.000 0.000 3265 1987 413

27192 8.99 5007.5 91.1 6.1 963 27204 0.00 2.50 0.03 0.000 4 0.000 0.000 3276 349 417

27578 9.00 5027.5 68.8 5.5 1012 27591 0.00 3.53 0.00 0.000 6 0.000 0.000 3281 2124 423

28048 9.03 5027.5 34.4 7.2 1073 28060 0.00 3.62 0.00 0.000 4 0.000 0.000 3260 321 421

28427 9.03 5027.5 7.4 6.7 1122 28439 0.00 2.78 0.00 0.000 6 0.000 0.000 3265 2089 418

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	13	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	1	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	-442558.03	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	214604,4659.042,-12527.339,18,1.1,18,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.169,0.092
_SM_DEPTHo	0.34	KALMAN_X	25300.6,1845.5,1731.1,23644.3,-2584.1
_SM_ANGLEo	-50.0	KALMAN_Y	-7267.5,-348.7,-364.0,-2725.2,577.4
GPS2	215325,4659.067,-12527.345,36,1.1,36,18.0	MHEAD_RNG_PITCHd_Wd	43.5,260104,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999501	ALTIM_TOP_PING	19.8,999.0
SM_CCo	28657,0.00,0.000,0,0,415,449.88	_24V_AH	23.6,66.823
SM_GC	0.34,13.23,0.00,0.00,0.000,0.000,0.000,624,1834,415,-7.25,-3.62,449.88	_10V_AH	9.6,24.368
RAFOS_CLK	0	DATA_FILE_SIZE	37806,1139
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,238698496
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,60,1854,8,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2138	CURRENT	0.022,194.8,1
INTERNAL_PRESSURE	26.1041	GPS	190607,055321,4658.936,-12522.715,16,1.1,16,18.0
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	34	119	95.77	SBE_CT	1949	24	1104.42
Roll_motor	274	60	388.02	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15698.96	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	106	223	561.36
Transponder_ping	0	420	2.48
GPS	37	50	17.93
TT8	6154	19	1176.90
LPSleep	14896	2	330.35
TT8_Active	950	19	181.84
TT8_Sampling	3101	39	1188.63
TT8_CF8	3894	45	1716.77
TT8_Kalman	33	81	26.22
Analog_circuits	2967	12	341.89
GPS_charging	0	0	0.00
Compass	3966	26	990.08
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	114	0.00	0.00	-72.93	0.000	2	0.000	0.000	617	1808	2611
120	-0.83	-116.8	3.1	-4.9	7	151	7.15	3.35	-4.35	0.000	4	0.000	0.000	2055	3599	2741
495	-0.83	-116.8	46.5	-11.9	57	506	0.00	2.85	0.00	0.000	6	0.000	0.000	2056	1820	2737
941	-0.83	-116.8	96.0	-9.8	118	953	0.03	2.58	0.00	0.000	4	0.000	0.000	2044	3494	2737
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
991	-0.25	0.0	100.4	9.8	122	1089	0.93	0.00	94.50	0.000	6	0.000	0.000	2245	1830	2263
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1100	0.83	116.8	109.8	0.0	127	1198	1.12	0.00	94.57	0.000	6	0.000	0.000	2480	1840	1793
1508	0.83	116.8	147.2	-9.1	147	1514	0.45	2.75	0.00	0.000	4	0.000	0.000	2393	557	1782
1813	0.83	116.8	174.0	-8.7	159	1830	0.35	3.45	0.28	0.000	6	0.000	0.000	2489	2118	1784
2139	0.83	116.8	201.5	-9.0	175	2144	0.43	2.72	0.00	0.000	4	0.000	0.000	2409	570	1782
2442	0.83	116.8	225.8	-7.4	187	2459	0.40	3.85	0.12	0.001	6	0.000	0.000	2497	1980	1783
2772	0.83	116.8	248.3	-7.2	203	2774	0.50	0.00	0.00	0.000	6	0.000	0.000	2447	1979	1784
3082	0.83	116.8	271.0	-7.4	218	3087	0.35	2.70	0.00	0.000	4	0.000	0.000	2477	550	1783
3385	0.83	116.8	294.7	-7.6	230	3402	0.35	3.92	0.03	0.001	6	0.000	0.000	2372	2196	1787
3711	0.83	116.8	322.2	-9.1	246	3717	0.30	2.70	0.30	0.001	4	0.000	0.000	2501	504	1783
4023	0.83	116.8	349.8	-8.2	258	4040	0.22	4.60	0.00	0.000	6	0.000	0.000	2426	2192	1780
4350	0.83	116.8	375.8	-8.0	274	4355	0.00	3.20	0.00	0.000	4	0.000	0.000	2420	571	1792
4591	0.83	116.8	393.7	-7.0	284	4599	0.08	3.25	0.00	0.000	6	0.002	0.000	2437	2085	1784
4932	0.83	116.8	417.5	-7.2	300	4937	0.00	2.65	0.00	0.000	4	0.000	0.000	2431	568	1780
5231	0.83	116.8	438.4	-6.7	312	5235	0.00	2.53	0.00	0.000	6	0.000	0.000	2437	2082	1780
5553	0.83	440.6	458.0	-6.0	327	5919	0.00	3.42	310.20	0.000	4	0.000	0.000	2433	379	467
6215	1.37	766.1	499.9	-6.1	353	6232	0.82	3.35	10.00	0.000	6	0.000	0.000	2614	2048	430
6564	1.91	766.1	521.9	-6.9	362	6573	0.52	3.25	0.22	0.001	4	0.000	0.000	2698	375	428
6863	1.91	766.1	542.2	-6.5	368	6872	0.35	4.03	0.05	0.001	6	0.000	0.000	2594	2152	419
7188	1.91	766.1	562.8	-6.3	376	7190	0.55	0.00	0.10	0.000	6	0.000	0.000	2707	2151	425
7518	1.91	1093.8	583.2	-6.2	384	7527	0.50	4.32	0.00	0.000	4	0.000	0.000	2623	311	420
7813	2.46	1093.8	602.6	-6.5	390	7822	1.10	3.00	0.08	0.000	6	0.000	0.000	2851	2123	415
8142	2.46	1419.3	622.5	-6.1	398	8151	0.30	4.03	0.00	0.000	4	0.000	0.000	2760	353	419
8441	3.01	1419.3	641.8	-6.9	404	8450	1.00	2.88	0.08	0.002	6	0.000	0.000	2961	2152	419
8781	3.01	1747.3	662.6	-6.2	412	8787	0.40	2.80	0.10	0.000	4	0.000	0.000	2909	531	427
9077	3.55	1747.3	682.3	-6.7	418	9086	0.88	3.10	0.05	0.000	6	0.000	0.000	3089	2175	418
9407	3.55	1747.3	703.5	-6.8	426	9413	0.38	2.70	0.05	0.000	4	0.000	0.000	2999	503	418
9711	3.55	1747.3	723.5	-6.6	432	9720	0.35	3.12	0.05	0.001	6	0.000	0.000	3096	2157	422
10040	3.55	2065.8	742.8	-5.8	440	10049	0.05	3.62	0.10	0.002	4	0.000	0.000	3037	402	428
10340	4.09	2065.8	761.8	-6.7	446	10349	0.65	3.75	0.00	0.000	6	0.000	0.000	3173	2176	423
10665	4.09	2065.8	782.5	-6.4	454	10674	0.00	3.95	0.08	0.000	4	0.000	0.000	3175	385	422
10964	4.09	2380.2	800.9	-5.7	460	10970	0.00	3.12	0.03	0.000	6	0.000	0.000	3184	2160	427
11284	4.61	2707.3	819.7	-6.1	468	11292	0.38	2.92	0.03	0.002	4	0.000	0.000	3284	406	429
11581	5.16	3007.3	835.7	-5.1	474	11586	0.00	2.60	0.08	0.000	6	0.000	0.000	3265	2092	427
11898	5.66	3303.6	851.8	-5.0	482	11899	0.00	0.00	0.00	0.000	6	0.000	0.000	3259	2095	424
12228	6.15	3585.3	867.0	-4.4	490	12233	0.00	3.10	0.03	0.000	4	0.000	0.000	3257	561	425
12520	6.62	3881.8	881.3	-5.0	496	12526	0.00	2.80	0.03	0.000	6	0.000	0.000	3263	2078	428
12838	7.12	4189.5	897.8	-5.4	504	12844	0.00	3.00	0.03	0.000	4	0.000	0.000	3270	467	424
13131	7.63	4510.1	913.8	-5.9	510	13136	0.00	3.10	0.00	0.000	6	0.000	0.000	3255	2153	425
13449	8.17	4830.0	932.6	-5.9	518	13454	0.00	2.70	0.05	0.000	4	0.000	0.000	3265	472	421
13741	8.70	4830.0	950.1	-6.5	524	13746	0.00	2.70	0.10	0.001	6	0.000	0.000	3255	2126	421
14060	8.70	4830.0	970.7	-6.8	532	14065	0.00	3.17	0.00	0.000	4	0.000	0.000	3263	565	414
14353	8.70	4830.0	990.1	-6.6	538	14358	0.00	2.53	0.00	0.000	6	0.000	0.000	3277	2087	425
14671	8.70	4901.0	990.7	3.6	546	14675	0.00	2.50	0.00	0.000	4	0.000	0.000	3270	575	421
14963	8.82	4901.0	966.3	8.6	552	14970	0.00	3.33	0.00	0.000	6	0.000	0.000	3262	2102	421
15285	8.82	4901.0	938.2	8.9	560	15293	0.00	3.35	0.03	0.001	4	0.000	0.000	3268	370	423
15583	8.82	4901.0	911.9	8.8	566	15591	0.00	3.47	0.03	0.001	6	0.000	0.000	3276	2028	422
15906	8.82	4901.0	884.1	8.8	574	15911	0.00	2.60	0.00	0.000	4	0.000	0.000	3269	472	424
16199	8.82	4901.0	858.0	8.8	580	16207	0.00	3.45	0.00	0.000	6	0.000	0.000	3274	2091	425
16522	8.82	4901.0	832.0	8.1	588	16526	0.00	2.90	0.00	0.000	4	0.000	0.000	3273	543	417
16814	8.82	4901.0	808.9	7.1	594	16819	0.00	2.70	0.03	0.000	6	0.000	0.000	3270	2206	421
17132	8.82	4901.0	785.2	7.4	602	17137	0.00	3.00	0.00	0.000	4	0.000	0.000	3273	491	416
17425	8.82	4901.0	765.4	6.3	608	17430	0.00	2.80	0.00	0.000	6	0.000	0.000	3256	2138	427
17743	8.82	4905.4	746.5	6.1	616	17750	0.00	3.62	0.00	0.000	4	0.000	0.000	3260	456	420
18040	8.83	4909.0	726.7	6.1	622	18048	0.00	3.33	0.00	0.000	6	0.000	0.000	3281	2121	419
18363	8.83	4909.0	705.0	6.7	630	18371	0.00	3.35	0.03	0.000	4	0.000	0.000	3271	455	425
18660	8.83	4909.0	684.6	6.7	636	18668	0.00	3.25	0.00	0.000	6	0.000	0.000	3270	1962	426
18984	8.83	4909.0	662.4	7.0	644	18988	0.00	2.30	0.03	0.001	4	0.000	0.000	3265	531	422
19276	8.83	4909.0	640.6	7.6	650	19282	0.00	2.80	0.03	0.000	6	0.000	0.000	3269	2066	416
19594	8.83	4909.0	616.9	7.5	658	19602	0.00	3.85	0.00	0.000	4	0.000	0.000	3250	347	414
19893	8.83	4909.0	593.6	7.7	664	19898	0.00	2.80	0.00	0.000	6	0.000	0.000	3267	2008	422
20211	8.83	4909.0	568.9	7.7	672	20216	0.00	3.00	0.00	0.000	4	0.000	0.000	3268	498	429
20515	8.83	4909.0	546.7	7.4	678	20520	0.00	3.10	0.00	0.000	6	0.000	0.000	3266	2127	415
20833	8.83	4909.0	524.5	6.9	686	20840	0.00	3.65	0.00	0.000	4	0.000	0.000	3273	344	414
21132	8.83	4909.0	505.0	6.8	692	21140	0.00	3.45	0.05	0.000	6	0.000	0.000	3273	2135	426
21458	8.83	4909.0	484.2	6.6	705	21463	0.00	3.22	0.00	0.000	4	0.000	0.000	3267	477	426
21760	8.83	4921.9	463.4	5.8	717	21766	0.00	2.90	0.05	0.001	6	0.000	0.000	3259	2134	419
22081	8.85	4921.9	440.8	6.9	732	22089	0.00	3.62	0.00	0.000	4	0.000	0.000	3272	428	420
22397	8.85	4921.9	417.9	7.5	744	22412	0.00	3.60	0.00	0.000	6	0.000	0.000	3264	2230	423
22728	8.85	4921.9	393.0	8.0	760	22735	0.00	3.55	0.00	0.000	4	0.000	0.000	3271	518	419
23039	8.85	4921.9	366.6	9.1	772	23044	0.00	2.92	0.00	0.000	6	0.000	0.000	3257	2146	424
23360	8.85	4921.9	342.8	7.2	787	23365	0.00	3.20	0.00	0.000	4	0.000	0.000	3271	475	419
23660	8.85	4921.9	321.0	6.7	799	23665	0.00	3.00	0.00	0.000	6	0.000	0.000	3268	2102	418
23985	8.85	4921.9	298.8	6.9	814	23993	0.00	3.92	0.05	0.001	4	0.000	0.000	3261	342	418
24300	8.85	4946.3	279.1	5.3	826	24316	0.00	3.85	0.00	0.000	6	0.000	0.000	3263	2002	413
24631	8.90	4952.2	260.5	6.0	842	24639	0.00	3.40	0.03	0.000	4	0.000	0.000	3254	462	417
24943	8.91	4952.2	239.3	6.8	854	24959	0.00	4.22	0.00	0.000	6	0.000	0.000	3268	2145	417
25269	8.91	4952.2	216.4	6.9	870	25276	0.00	3.65	0.00	0.000	4	0.000	0.000	3257	374	417
25577	8.91	4952.2	194.1	6.7	882	25582	0.00	2.70	0.03	0.001	6	0.000	0.000	3262	2134	424
25898	8.91	4970.6	174.0	5.6	897	25905	0.00	3.30	0.00	0.000	4	0.000	0.000	3282	469	411
26207	8.94	4971.3	155.6	6.2	909	26212	0.00	2.70	0.00	0.000	6	0.000	0.000	3264	2018	429
26528	8.94	4971.3	135.9	6.8	924	26534	0.00	2.83	0.03	0.001	4	0.000	0.000	3265	586	425
26829	8.94	5004.5	115.6	5.0	936	26834	0.00	2.95	0.00	0.000	6	0.000	0.000	3265	1987	413
27192	8.99	5007.5	91.1	6.1	963	27204	0.00	2.50	0.03	0.000	4	0.000	0.000	3276	349	417
27578	9.00	5027.5	68.8	5.5	1012	27591	0.00	3.53	0.00	0.000	6	0.000	0.000	3281	2124	423
28048	9.03	5027.5	34.4	7.2	1073	28060	0.00	3.62	0.00	0.000	4	0.000	0.000	3260	321	421
28427	9.03	5027.5	7.4	6.7	1122	28439	0.00	2.78	0.00	0.000	6	0.000	0.000	3265	2089	418
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface