Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 14 * 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 14 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 16 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 -442567.53 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 -442567.53

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 16 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 14 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 055321,4658.936,-12522.715,16,1.1,16,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.168,0.094

_SM_DEPTHo 0.34 KALMAN_X 28192.9,1929.0,1765.2,26443.0,-2671.0

_SM_ANGLEo -50.0 KALMAN_Y -7696.9,-216.2,-289.3,-2771.8,407.9

GPS2 060243,4658.927,-12522.729,8,1.1,8,18.0 MHEAD_RNG_PITCHd_Wd 42.8,255278,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999495 ALTIM_TOP_PING 19.7,999.0

SM_CCo 28460,0.00,0.000,0,0,424,452.09 _24V_AH 23.6,67.858

SM_GC 0.34,13.10,0.00,0.00,0.000,0.000,0.000,602,2160,424,-7.25,5.74,452.09 _10V_AH 9.6,24.551

RAFOS_CLK 0 DATA_FILE_SIZE 37861,1144

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,238399488

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,43,1656,4,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2182 CURRENT 0.045,218.5,1

INTERNAL_PRESSURE 26.0748 GPS 190607,135924,4658.596,-12518.573,18,1.1,18,18.0

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 27 119 78.28 SBE_CT 1849 24 1047.84

Roll_motor 245 60 346.96 nil 0 0 0.00

VBD_pump_during_apogee 512 1300 15735.00 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 135 223 712.64

Transponder_ping 0 420 2.48

GPS 8 50 4.25

TT8 6101 19 1166.90

LPSleep 15111 2 335.11

TT8_Active 851 19 162.88

TT8_Sampling 2923 39 1120.47

TT8_CF8 3889 45 1714.78

TT8_Kalman 33 81 26.22

Analog_circuits 2786 12 321.06

GPS_charging 0 0 0.00

Compass 3646 26 910.18

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 -73.35 0.000 2 0.000 0.000 630 1825 2621

121 -0.83 -116.8 3.2 -5.2 7 150 7.45 2.50 -3.95 0.000 4 0.000 0.000 2106 3511 2746

496 -0.83 -116.8 49.9 -11.8 57 508 0.00 2.60 0.00 0.000 6 0.000 0.000 2116 1986 2741

945 -0.83 -116.8 97.5 -10.2 118 956 0.47 0.00 0.00 0.000 6 0.000 0.000 2021 1998 2749

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

979 -0.25 0.0 100.4 10.2 120 1078 1.08 0.00 96.00 0.000 6 0.000 0.000 2247 1980 2262

state end apogee CONTROL_FINISHED_OK

state start climb

1090 0.83 116.8 110.4 0.0 125 1197 1.08 3.15 94.55 0.000 4 0.000 0.000 2467 476 1782

1495 0.83 116.8 145.8 -7.4 140 1500 0.15 2.80 0.00 0.000 6 0.000 0.000 2477 2132 1784

1833 0.83 116.8 173.9 -8.5 156 1840 0.00 3.35 0.00 0.000 4 0.000 0.000 2435 457 1784

2148 0.83 116.8 201.4 -8.8 168 2152 0.00 2.62 0.00 0.000 6 0.000 0.000 2436 2143 1785

2468 0.83 116.8 228.1 -8.0 183 2470 0.00 0.00 0.20 0.000 6 0.000 0.000 2431 2128 1784

2778 0.83 116.8 251.4 -7.4 198 2785 0.00 3.30 0.00 0.000 4 0.000 0.000 2445 381 1777

3019 0.83 116.8 270.4 -7.9 207 3024 0.00 2.80 0.00 0.000 6 0.000 0.000 2437 2191 1784

3340 0.83 116.8 297.3 -8.1 222 3348 0.00 3.55 0.00 0.000 4 0.000 0.000 2450 419 1786

3656 0.83 116.8 321.3 -7.3 234 3662 0.00 3.03 0.00 0.000 6 0.000 0.000 2426 2143 1793

3977 0.83 116.8 345.6 -7.7 249 3978 0.00 0.00 0.00 0.000 6 0.000 0.000 2427 2137 1789

4292 0.83 116.8 369.6 -7.8 264 4299 0.00 3.42 0.00 0.000 4 0.000 0.000 2432 363 1790

4604 0.83 116.8 393.9 -7.4 276 4620 0.00 3.70 0.00 0.000 6 0.000 0.000 2421 2178 1785

4930 0.83 116.8 417.4 -7.5 292 4931 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2180 1786

5244 0.83 116.8 440.4 -7.9 307 5249 0.00 2.70 0.00 0.000 4 0.000 0.000 2432 523 1788

5542 0.83 116.8 463.6 -7.5 319 5559 0.03 4.12 0.00 0.000 6 0.000 0.000 2410 2187 1788

5868 0.83 116.8 489.2 -8.2 335 5869 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2194 1788

6175 0.83 116.8 513.8 -7.7 346 6182 0.00 3.65 0.00 0.000 4 0.000 0.000 2425 387 1788

6473 0.83 116.8 533.5 -6.3 352 6479 0.05 2.80 0.00 0.000 6 0.000 0.000 2446 2168 1791

6792 0.83 116.8 553.6 -6.4 360 6793 0.00 0.00 0.00 0.000 6 0.000 0.000 2432 2187 1786

7117 0.83 116.8 575.0 -6.4 368 7118 0.03 0.00 0.00 0.000 6 0.000 0.000 2435 2176 1786

7447 0.83 116.8 595.9 -6.3 376 7454 0.00 3.45 0.00 0.000 4 0.000 0.000 2448 361 1792

7756 0.83 440.9 614.5 -6.0 382 8107 0.00 3.35 310.42 0.000 6 0.000 0.000 2426 2170 467

8436 1.37 763.2 654.6 -6.0 397 8448 0.80 0.00 9.40 0.000 6 0.000 0.000 2608 2176 425

8756 1.91 1092.8 674.4 -6.2 405 8765 0.60 2.72 0.68 0.000 4 0.000 0.000 2752 346 426

9063 2.46 1421.8 692.9 -6.2 411 9072 0.38 3.58 0.20 0.001 6 0.000 0.000 2844 2014 429

9397 3.01 1421.8 713.6 -6.4 419 9405 0.55 2.85 0.35 0.001 4 0.000 0.000 2980 403 427

9696 3.01 1421.8 732.8 -6.3 425 9705 0.38 3.55 0.22 0.000 6 0.000 0.000 2865 2174 421

10021 3.01 1746.1 752.2 -6.0 433 10027 0.32 2.70 0.05 0.001 4 0.000 0.000 2961 507 425

10315 3.55 1746.1 771.1 -6.3 439 10324 0.40 3.75 0.00 0.000 6 0.000 0.000 3063 2128 427

10640 3.55 1746.1 791.6 -6.6 447 10645 0.10 2.62 0.03 0.003 4 0.000 0.000 3064 582 429

10936 3.55 2070.2 810.4 -6.0 453 10942 0.00 2.90 0.05 0.000 6 0.000 0.000 3074 2131 425

11254 4.09 2374.6 828.2 -5.3 461 11262 0.55 2.92 0.00 0.000 4 0.000 0.000 3198 424 416

11548 4.60 2670.3 844.4 -5.0 467 11558 0.38 3.85 0.03 0.000 6 0.000 0.000 3294 2102 421

11877 5.09 2969.9 860.5 -5.1 475 11882 0.00 3.10 0.00 0.000 4 0.000 0.000 3289 563 415

12167 5.60 3268.0 876.2 -5.0 481 12173 0.00 2.80 0.05 0.000 6 0.000 0.000 3285 2110 426

12485 6.09 3585.4 894.2 -5.8 489 12491 0.00 2.95 0.03 0.000 4 0.000 0.000 3296 577 422

12789 6.62 3585.4 913.3 -6.6 495 12794 0.00 2.60 0.03 0.000 6 0.000 0.000 3291 2114 419

13108 6.62 3913.1 932.9 -6.2 503 13114 0.00 2.92 0.03 0.001 4 0.000 0.000 3282 554 419

13398 7.17 4237.3 951.3 -6.0 509 13406 0.00 3.53 0.05 0.002 6 0.000 0.000 3302 2130 423

13722 7.71 4560.6 970.3 -6.0 517 13727 0.00 2.92 0.00 0.000 4 0.000 0.000 3287 484 422

14011 8.25 4866.0 986.9 -5.3 523 14020 0.00 3.83 0.08 0.000 6 0.000 0.000 3295 2120 424

14335 8.76 4953.5 989.7 2.9 531 14340 0.00 2.90 0.03 0.000 4 0.000 0.000 3281 460 423

14627 8.91 4953.5 964.9 8.8 537 14635 0.00 3.25 0.12 0.000 6 0.000 0.000 3297 2135 416

14951 8.91 4953.5 936.6 8.9 545 14956 0.00 2.80 0.00 0.000 4 0.000 0.000 3275 603 422

15243 8.91 4953.5 910.6 8.6 551 15250 0.00 3.35 0.00 0.000 6 0.000 0.000 3292 2148 417

15565 8.91 4953.5 884.5 8.1 559 15571 0.00 3.10 0.03 0.001 4 0.000 0.000 3287 518 418

15859 8.91 4953.5 860.7 8.4 565 15864 0.00 2.80 0.00 0.000 6 0.000 0.000 3288 2192 414

16177 8.91 4953.5 837.9 7.3 573 16182 0.00 3.03 0.00 0.000 4 0.000 0.000 3294 534 421

16470 8.91 4953.5 815.1 7.8 579 16477 0.00 3.45 0.00 0.000 6 0.000 0.000 3292 2186 413

16792 8.91 4953.5 790.4 7.8 587 16800 0.00 4.80 0.00 0.000 4 0.000 0.000 3290 377 423

17090 8.91 4953.5 764.8 8.0 593 17098 0.00 3.75 0.03 0.000 6 0.000 0.000 3295 2188 417

17414 8.91 4953.5 738.7 8.1 601 17415 0.00 0.00 0.00 0.000 6 0.000 0.000 3283 2201 424

17739 8.91 4953.5 713.7 7.6 609 17748 0.00 3.85 0.03 0.003 4 0.000 0.000 3287 393 421

18037 8.91 4953.5 689.9 7.8 615 18045 0.00 3.67 0.00 0.000 6 0.000 0.000 3305 2078 419

18360 8.91 4953.5 664.3 8.0 623 18365 0.00 2.62 0.00 0.000 4 0.000 0.000 3309 547 419

18654 8.91 4953.5 641.9 7.0 629 18659 0.00 3.00 0.00 0.000 6 0.000 0.000 3288 2189 420

18972 8.91 4953.5 619.8 7.1 637 18977 0.00 3.03 0.00 0.000 4 0.000 0.000 3285 541 424

19264 8.91 4953.5 600.1 6.6 643 19269 0.00 2.72 0.00 0.000 6 0.000 0.000 3289 2151 415

19582 8.91 4953.5 578.9 6.7 651 19591 0.00 3.75 0.05 0.002 4 0.000 0.000 3292 383 426

19880 8.91 4953.5 557.7 6.7 657 19887 0.00 3.65 0.00 0.000 6 0.000 0.000 3288 2179 416

20202 8.91 4953.5 534.7 7.2 665 20203 0.00 0.00 0.00 0.000 6 0.000 0.000 3293 2183 418

20527 8.91 4953.5 512.7 6.7 673 20535 0.00 3.83 0.00 0.000 4 0.000 0.000 3275 396 412

20826 8.91 4953.5 493.0 6.7 680 20831 0.00 2.83 0.00 0.000 6 0.000 0.000 3281 2200 422

21147 8.91 4957.7 473.4 6.1 695 21152 0.00 2.80 0.05 0.000 4 0.000 0.000 3281 541 418

21444 8.91 4957.7 453.7 6.8 707 21450 0.00 2.72 0.03 0.001 6 0.000 0.000 3287 2213 420

21765 8.91 4960.7 431.8 6.1 722 21770 0.00 3.00 0.00 0.000 4 0.000 0.000 3288 514 414

22071 8.92 4980.5 412.8 5.5 734 22087 0.00 3.65 0.00 0.000 6 0.000 0.000 3285 2191 417

22403 8.95 4997.6 395.2 5.6 750 22408 0.00 3.20 0.00 0.000 4 0.000 0.000 3279 568 420

22709 8.98 4997.6 375.8 6.5 762 22713 0.00 2.50 0.00 0.000 6 0.000 0.000 3285 2107 425

23030 8.98 4997.6 355.8 6.3 777 23034 0.00 2.53 0.00 0.000 4 0.000 0.000 3282 569 420

23339 8.98 4997.6 335.3 6.6 789 23354 0.00 3.35 0.00 0.000 6 0.000 0.000 3303 2090 417

23671 8.98 4997.6 314.0 6.5 805 23675 0.00 2.83 0.00 0.000 4 0.000 0.000 3285 573 426

23983 8.98 4997.6 290.1 7.5 817 23998 0.00 3.25 0.00 0.000 6 0.000 0.000 3296 2120 422

24308 8.98 4997.6 265.4 7.8 833 24313 0.00 3.22 0.00 0.000 4 0.000 0.000 3292 507 422

24611 8.98 4997.6 244.1 6.9 845 24616 0.00 2.70 0.00 0.000 6 0.000 0.000 3274 2076 418

24932 8.98 4997.6 221.2 7.4 860 24940 0.00 3.75 0.03 0.001 4 0.000 0.000 3290 528 418

25245 8.98 4997.6 199.3 6.4 872 25250 0.00 3.03 0.00 0.000 6 0.000 0.000 3290 2029 418

25566 8.98 4997.6 179.0 6.4 887 25567 0.00 0.00 0.00 0.000 6 0.000 0.000 3300 2155 420

25880 8.98 4997.6 158.8 6.4 902 25885 0.00 2.92 0.00 0.000 4 0.000 0.000 3284 528 412

26184 8.98 5008.9 137.7 5.8 914 26189 0.00 2.90 0.00 0.000 6 0.000 0.000 3284 2194 416

26506 9.00 5031.2 119.3 5.4 929 26507 0.00 0.00 0.03 0.000 6 0.000 0.000 3295 2223 422

26814 9.04 5031.2 101.6 6.9 944 26819 0.00 3.00 0.00 0.000 4 0.000 0.000 3283 519 417

26915 9.04 5031.2 94.5 6.7 955 26928 0.00 3.78 0.05 0.000 6 0.000 0.000 3291 1983 417

27382 9.04 5031.2 63.2 6.5 1016 27394 0.00 2.33 0.00 0.000 4 0.000 0.000 3290 445 416

27758 9.04 5031.2 37.6 7.0 1065 27770 0.00 2.78 0.00 0.000 6 0.000 0.000 3288 2174 423

28228 9.04 5031.2 6.3 6.4 1126 28240 0.00 2.80 0.00 0.000 4 0.000 0.000 3293 372 415

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	14	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	16	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	-442567.53	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	055321,4658.936,-12522.715,16,1.1,16,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.168,0.094
_SM_DEPTHo	0.34	KALMAN_X	28192.9,1929.0,1765.2,26443.0,-2671.0
_SM_ANGLEo	-50.0	KALMAN_Y	-7696.9,-216.2,-289.3,-2771.8,407.9
GPS2	060243,4658.927,-12522.729,8,1.1,8,18.0	MHEAD_RNG_PITCHd_Wd	42.8,255278,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999495	ALTIM_TOP_PING	19.7,999.0
SM_CCo	28460,0.00,0.000,0,0,424,452.09	_24V_AH	23.6,67.858
SM_GC	0.34,13.10,0.00,0.00,0.000,0.000,0.000,602,2160,424,-7.25,5.74,452.09	_10V_AH	9.6,24.551
RAFOS_CLK	0	DATA_FILE_SIZE	37861,1144
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,238399488
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,43,1656,4,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2182	CURRENT	0.045,218.5,1
INTERNAL_PRESSURE	26.0748	GPS	190607,135924,4658.596,-12518.573,18,1.1,18,18.0
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	27	119	78.28	SBE_CT	1849	24	1047.84
Roll_motor	245	60	346.96	nil	0	0	0.00
VBD_pump_during_apogee	512	1300	15735.00	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	135	223	712.64
Transponder_ping	0	420	2.48
GPS	8	50	4.25
TT8	6101	19	1166.90
LPSleep	15111	2	335.11
TT8_Active	851	19	162.88
TT8_Sampling	2923	39	1120.47
TT8_CF8	3889	45	1714.78
TT8_Kalman	33	81	26.22
Analog_circuits	2786	12	321.06
GPS_charging	0	0	0.00
Compass	3646	26	910.18
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	-73.35	0.000	2	0.000	0.000	630	1825	2621
121	-0.83	-116.8	3.2	-5.2	7	150	7.45	2.50	-3.95	0.000	4	0.000	0.000	2106	3511	2746
496	-0.83	-116.8	49.9	-11.8	57	508	0.00	2.60	0.00	0.000	6	0.000	0.000	2116	1986	2741
945	-0.83	-116.8	97.5	-10.2	118	956	0.47	0.00	0.00	0.000	6	0.000	0.000	2021	1998	2749
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
979	-0.25	0.0	100.4	10.2	120	1078	1.08	0.00	96.00	0.000	6	0.000	0.000	2247	1980	2262
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1090	0.83	116.8	110.4	0.0	125	1197	1.08	3.15	94.55	0.000	4	0.000	0.000	2467	476	1782
1495	0.83	116.8	145.8	-7.4	140	1500	0.15	2.80	0.00	0.000	6	0.000	0.000	2477	2132	1784
1833	0.83	116.8	173.9	-8.5	156	1840	0.00	3.35	0.00	0.000	4	0.000	0.000	2435	457	1784
2148	0.83	116.8	201.4	-8.8	168	2152	0.00	2.62	0.00	0.000	6	0.000	0.000	2436	2143	1785
2468	0.83	116.8	228.1	-8.0	183	2470	0.00	0.00	0.20	0.000	6	0.000	0.000	2431	2128	1784
2778	0.83	116.8	251.4	-7.4	198	2785	0.00	3.30	0.00	0.000	4	0.000	0.000	2445	381	1777
3019	0.83	116.8	270.4	-7.9	207	3024	0.00	2.80	0.00	0.000	6	0.000	0.000	2437	2191	1784
3340	0.83	116.8	297.3	-8.1	222	3348	0.00	3.55	0.00	0.000	4	0.000	0.000	2450	419	1786
3656	0.83	116.8	321.3	-7.3	234	3662	0.00	3.03	0.00	0.000	6	0.000	0.000	2426	2143	1793
3977	0.83	116.8	345.6	-7.7	249	3978	0.00	0.00	0.00	0.000	6	0.000	0.000	2427	2137	1789
4292	0.83	116.8	369.6	-7.8	264	4299	0.00	3.42	0.00	0.000	4	0.000	0.000	2432	363	1790
4604	0.83	116.8	393.9	-7.4	276	4620	0.00	3.70	0.00	0.000	6	0.000	0.000	2421	2178	1785
4930	0.83	116.8	417.4	-7.5	292	4931	0.00	0.00	0.00	0.000	6	0.000	0.000	2419	2180	1786
5244	0.83	116.8	440.4	-7.9	307	5249	0.00	2.70	0.00	0.000	4	0.000	0.000	2432	523	1788
5542	0.83	116.8	463.6	-7.5	319	5559	0.03	4.12	0.00	0.000	6	0.000	0.000	2410	2187	1788
5868	0.83	116.8	489.2	-8.2	335	5869	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2194	1788
6175	0.83	116.8	513.8	-7.7	346	6182	0.00	3.65	0.00	0.000	4	0.000	0.000	2425	387	1788
6473	0.83	116.8	533.5	-6.3	352	6479	0.05	2.80	0.00	0.000	6	0.000	0.000	2446	2168	1791
6792	0.83	116.8	553.6	-6.4	360	6793	0.00	0.00	0.00	0.000	6	0.000	0.000	2432	2187	1786
7117	0.83	116.8	575.0	-6.4	368	7118	0.03	0.00	0.00	0.000	6	0.000	0.000	2435	2176	1786
7447	0.83	116.8	595.9	-6.3	376	7454	0.00	3.45	0.00	0.000	4	0.000	0.000	2448	361	1792
7756	0.83	440.9	614.5	-6.0	382	8107	0.00	3.35	310.42	0.000	6	0.000	0.000	2426	2170	467
8436	1.37	763.2	654.6	-6.0	397	8448	0.80	0.00	9.40	0.000	6	0.000	0.000	2608	2176	425
8756	1.91	1092.8	674.4	-6.2	405	8765	0.60	2.72	0.68	0.000	4	0.000	0.000	2752	346	426
9063	2.46	1421.8	692.9	-6.2	411	9072	0.38	3.58	0.20	0.001	6	0.000	0.000	2844	2014	429
9397	3.01	1421.8	713.6	-6.4	419	9405	0.55	2.85	0.35	0.001	4	0.000	0.000	2980	403	427
9696	3.01	1421.8	732.8	-6.3	425	9705	0.38	3.55	0.22	0.000	6	0.000	0.000	2865	2174	421
10021	3.01	1746.1	752.2	-6.0	433	10027	0.32	2.70	0.05	0.001	4	0.000	0.000	2961	507	425
10315	3.55	1746.1	771.1	-6.3	439	10324	0.40	3.75	0.00	0.000	6	0.000	0.000	3063	2128	427
10640	3.55	1746.1	791.6	-6.6	447	10645	0.10	2.62	0.03	0.003	4	0.000	0.000	3064	582	429
10936	3.55	2070.2	810.4	-6.0	453	10942	0.00	2.90	0.05	0.000	6	0.000	0.000	3074	2131	425
11254	4.09	2374.6	828.2	-5.3	461	11262	0.55	2.92	0.00	0.000	4	0.000	0.000	3198	424	416
11548	4.60	2670.3	844.4	-5.0	467	11558	0.38	3.85	0.03	0.000	6	0.000	0.000	3294	2102	421
11877	5.09	2969.9	860.5	-5.1	475	11882	0.00	3.10	0.00	0.000	4	0.000	0.000	3289	563	415
12167	5.60	3268.0	876.2	-5.0	481	12173	0.00	2.80	0.05	0.000	6	0.000	0.000	3285	2110	426
12485	6.09	3585.4	894.2	-5.8	489	12491	0.00	2.95	0.03	0.000	4	0.000	0.000	3296	577	422
12789	6.62	3585.4	913.3	-6.6	495	12794	0.00	2.60	0.03	0.000	6	0.000	0.000	3291	2114	419
13108	6.62	3913.1	932.9	-6.2	503	13114	0.00	2.92	0.03	0.001	4	0.000	0.000	3282	554	419
13398	7.17	4237.3	951.3	-6.0	509	13406	0.00	3.53	0.05	0.002	6	0.000	0.000	3302	2130	423
13722	7.71	4560.6	970.3	-6.0	517	13727	0.00	2.92	0.00	0.000	4	0.000	0.000	3287	484	422
14011	8.25	4866.0	986.9	-5.3	523	14020	0.00	3.83	0.08	0.000	6	0.000	0.000	3295	2120	424
14335	8.76	4953.5	989.7	2.9	531	14340	0.00	2.90	0.03	0.000	4	0.000	0.000	3281	460	423
14627	8.91	4953.5	964.9	8.8	537	14635	0.00	3.25	0.12	0.000	6	0.000	0.000	3297	2135	416
14951	8.91	4953.5	936.6	8.9	545	14956	0.00	2.80	0.00	0.000	4	0.000	0.000	3275	603	422
15243	8.91	4953.5	910.6	8.6	551	15250	0.00	3.35	0.00	0.000	6	0.000	0.000	3292	2148	417
15565	8.91	4953.5	884.5	8.1	559	15571	0.00	3.10	0.03	0.001	4	0.000	0.000	3287	518	418
15859	8.91	4953.5	860.7	8.4	565	15864	0.00	2.80	0.00	0.000	6	0.000	0.000	3288	2192	414
16177	8.91	4953.5	837.9	7.3	573	16182	0.00	3.03	0.00	0.000	4	0.000	0.000	3294	534	421
16470	8.91	4953.5	815.1	7.8	579	16477	0.00	3.45	0.00	0.000	6	0.000	0.000	3292	2186	413
16792	8.91	4953.5	790.4	7.8	587	16800	0.00	4.80	0.00	0.000	4	0.000	0.000	3290	377	423
17090	8.91	4953.5	764.8	8.0	593	17098	0.00	3.75	0.03	0.000	6	0.000	0.000	3295	2188	417
17414	8.91	4953.5	738.7	8.1	601	17415	0.00	0.00	0.00	0.000	6	0.000	0.000	3283	2201	424
17739	8.91	4953.5	713.7	7.6	609	17748	0.00	3.85	0.03	0.003	4	0.000	0.000	3287	393	421
18037	8.91	4953.5	689.9	7.8	615	18045	0.00	3.67	0.00	0.000	6	0.000	0.000	3305	2078	419
18360	8.91	4953.5	664.3	8.0	623	18365	0.00	2.62	0.00	0.000	4	0.000	0.000	3309	547	419
18654	8.91	4953.5	641.9	7.0	629	18659	0.00	3.00	0.00	0.000	6	0.000	0.000	3288	2189	420
18972	8.91	4953.5	619.8	7.1	637	18977	0.00	3.03	0.00	0.000	4	0.000	0.000	3285	541	424
19264	8.91	4953.5	600.1	6.6	643	19269	0.00	2.72	0.00	0.000	6	0.000	0.000	3289	2151	415
19582	8.91	4953.5	578.9	6.7	651	19591	0.00	3.75	0.05	0.002	4	0.000	0.000	3292	383	426
19880	8.91	4953.5	557.7	6.7	657	19887	0.00	3.65	0.00	0.000	6	0.000	0.000	3288	2179	416
20202	8.91	4953.5	534.7	7.2	665	20203	0.00	0.00	0.00	0.000	6	0.000	0.000	3293	2183	418
20527	8.91	4953.5	512.7	6.7	673	20535	0.00	3.83	0.00	0.000	4	0.000	0.000	3275	396	412
20826	8.91	4953.5	493.0	6.7	680	20831	0.00	2.83	0.00	0.000	6	0.000	0.000	3281	2200	422
21147	8.91	4957.7	473.4	6.1	695	21152	0.00	2.80	0.05	0.000	4	0.000	0.000	3281	541	418
21444	8.91	4957.7	453.7	6.8	707	21450	0.00	2.72	0.03	0.001	6	0.000	0.000	3287	2213	420
21765	8.91	4960.7	431.8	6.1	722	21770	0.00	3.00	0.00	0.000	4	0.000	0.000	3288	514	414
22071	8.92	4980.5	412.8	5.5	734	22087	0.00	3.65	0.00	0.000	6	0.000	0.000	3285	2191	417
22403	8.95	4997.6	395.2	5.6	750	22408	0.00	3.20	0.00	0.000	4	0.000	0.000	3279	568	420
22709	8.98	4997.6	375.8	6.5	762	22713	0.00	2.50	0.00	0.000	6	0.000	0.000	3285	2107	425
23030	8.98	4997.6	355.8	6.3	777	23034	0.00	2.53	0.00	0.000	4	0.000	0.000	3282	569	420
23339	8.98	4997.6	335.3	6.6	789	23354	0.00	3.35	0.00	0.000	6	0.000	0.000	3303	2090	417
23671	8.98	4997.6	314.0	6.5	805	23675	0.00	2.83	0.00	0.000	4	0.000	0.000	3285	573	426
23983	8.98	4997.6	290.1	7.5	817	23998	0.00	3.25	0.00	0.000	6	0.000	0.000	3296	2120	422
24308	8.98	4997.6	265.4	7.8	833	24313	0.00	3.22	0.00	0.000	4	0.000	0.000	3292	507	422
24611	8.98	4997.6	244.1	6.9	845	24616	0.00	2.70	0.00	0.000	6	0.000	0.000	3274	2076	418
24932	8.98	4997.6	221.2	7.4	860	24940	0.00	3.75	0.03	0.001	4	0.000	0.000	3290	528	418
25245	8.98	4997.6	199.3	6.4	872	25250	0.00	3.03	0.00	0.000	6	0.000	0.000	3290	2029	418
25566	8.98	4997.6	179.0	6.4	887	25567	0.00	0.00	0.00	0.000	6	0.000	0.000	3300	2155	420
25880	8.98	4997.6	158.8	6.4	902	25885	0.00	2.92	0.00	0.000	4	0.000	0.000	3284	528	412
26184	8.98	5008.9	137.7	5.8	914	26189	0.00	2.90	0.00	0.000	6	0.000	0.000	3284	2194	416
26506	9.00	5031.2	119.3	5.4	929	26507	0.00	0.00	0.03	0.000	6	0.000	0.000	3295	2223	422
26814	9.04	5031.2	101.6	6.9	944	26819	0.00	3.00	0.00	0.000	4	0.000	0.000	3283	519	417
26915	9.04	5031.2	94.5	6.7	955	26928	0.00	3.78	0.05	0.000	6	0.000	0.000	3291	1983	417
27382	9.04	5031.2	63.2	6.5	1016	27394	0.00	2.33	0.00	0.000	4	0.000	0.000	3290	445	416
27758	9.04	5031.2	37.6	7.0	1065	27770	0.00	2.78	0.00	0.000	6	0.000	0.000	3288	2174	423
28228	9.04	5031.2	6.3	6.4	1126	28240	0.00	2.80	0.00	0.000	4	0.000	0.000	3293	372	415
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface