Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 16 * 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 16 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 11 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 5 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 -442621.19 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 -442621.19

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 11 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 5 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 16 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 221133,4659.100,-12514.754,12,1.1,13,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.166,0.097

_SM_DEPTHo 0.34 KALMAN_X 33475.5,1730.9,1662.5,31617.6,-2469.8

_SM_ANGLEo -50.0 KALMAN_Y -8037.2,-129.5,-60.4,-2430.9,216.8

GPS2 222235,4659.114,-12514.689,34,1.1,34,18.0 MHEAD_RNG_PITCHd_Wd 41.7,246550,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999524 ALTIM_TOP_PING 19.6,999.0

SM_CCo 28417,0.00,0.000,0,0,418,449.88 _24V_AH 23.7,69.817

SM_GC 0.34,12.98,0.00,0.00,0.000,0.000,0.000,626,1768,418,-7.27,-6.13,449.88 _10V_AH 9.6,24.916

RAFOS_CLK 0 DATA_FILE_SIZE 40936,1187

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,237780992

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,67,1494,6,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2135 CURRENT 0.026,262.2,1

INTERNAL_PRESSURE 26.0455 GPS 200607,061833,4659.686,-12510.695,18,1.1,18,18.0

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 37 119 106.54 SBE_CT 2044 24 1162.90

Roll_motor 218 60 310.42 nil 0 0 0.00

VBD_pump_during_apogee 512 1300 15784.73 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 159 223 844.03

Transponder_ping 0 420 2.49

GPS 35 50 16.83

TT8 6119 19 1170.30

LPSleep 15343 2 340.25

TT8_Active 887 19 169.63

TT8_Sampling 2728 39 1045.59

TT8_CF8 3850 45 1697.48

TT8_Kalman 33 81 26.22

Analog_circuits 2674 12 308.07

GPS_charging 0 0 0.00

Compass 3358 26 838.35

RAFOS 3240 1 46.66

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad

state end surface CONTROL_FINISHED_OK

state start dive

38 -0.83 -116.8 0.0 0.0 0 114 0.00 0.00 -73.80 0.000 2 0.000 0.000 667 1829 2644

121 -0.83 -116.8 3.9 -6.3 7 151 7.12 2.47 -3.17 0.000 4 0.000 0.000 2123 3557 2737

499 -0.83 -116.8 48.3 -10.9 57 511 0.75 2.72 0.00 0.000 6 0.000 0.000 2022 1868 2740

949 -0.83 -116.8 96.3 -10.4 118 962 0.45 2.95 0.00 0.000 4 0.000 0.000 2127 3525 2739

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

994 -0.25 0.0 100.8 10.7 121 1093 0.57 0.00 95.75 0.000 6 0.000 0.000 2257 1862 2258

state end apogee CONTROL_FINISHED_OK

state start climb

1104 0.83 116.8 111.3 0.0 126 1211 1.05 0.00 94.62 0.000 6 0.000 0.000 2477 1861 1783

1521 0.83 116.8 150.8 -8.8 146 1526 0.00 3.15 0.00 0.000 4 0.000 0.000 2466 442 1788

1618 0.83 116.8 158.6 -8.2 150 1624 0.35 2.83 0.00 0.000 6 0.000 0.000 2433 2133 1786

1957 0.83 116.8 185.2 -8.8 166 1964 0.43 2.90 0.00 0.000 4 0.000 0.000 2496 357 1788

2261 0.83 116.8 211.2 -9.0 178 2278 0.38 3.65 0.00 0.000 6 0.000 0.000 2392 1995 1785

2592 0.83 116.8 238.4 -8.2 194 2599 0.30 3.35 0.00 0.000 4 0.000 0.000 2481 452 1786

2895 0.83 116.8 263.2 -7.2 206 2912 0.38 3.75 0.00 0.000 6 0.000 0.000 2395 2117 1791

3221 0.83 116.8 288.9 -8.1 222 3224 0.75 0.00 0.10 0.001 6 0.000 0.000 2481 2124 1787

3530 0.83 116.8 313.4 -7.6 237 3538 0.40 2.92 0.00 0.000 4 0.000 0.000 2384 459 1783

3740 0.83 116.8 329.4 -7.6 245 3753 0.38 2.47 0.00 0.000 6 0.000 0.000 2496 2164 1788

4061 0.83 116.8 353.9 -8.1 261 4063 0.45 0.00 0.12 0.000 6 0.000 0.000 2396 2153 1783

4370 0.83 116.8 379.4 -7.9 276 4372 0.38 0.00 0.00 0.000 6 0.000 0.000 2442 2168 1786

4684 0.83 116.8 403.3 -7.3 291 4692 0.00 3.72 0.00 0.000 4 0.000 0.000 2493 366 1787

5001 0.83 116.8 426.5 -7.0 303 5018 0.40 3.72 0.00 0.000 6 0.000 0.000 2378 2155 1781

5327 0.83 116.8 448.9 -7.0 319 5329 0.73 0.00 0.00 0.000 6 0.000 0.000 2442 2141 1784

5641 0.83 116.8 470.2 -6.7 334 5642 0.43 0.00 0.00 0.000 6 0.000 0.000 2416 2152 1788

5950 0.83 116.8 490.8 -6.7 349 5952 0.73 0.00 0.00 0.000 6 0.000 0.000 2438 2142 1780

6257 0.83 116.8 512.2 -7.0 360 6265 0.10 3.00 0.50 0.001 4 0.000 0.000 2492 379 1779

6553 0.83 116.8 533.3 -6.7 366 6561 0.35 4.22 0.00 0.000 6 0.000 0.000 2387 2139 1782

6882 0.83 116.8 554.2 -6.3 374 6884 0.32 0.00 0.00 0.000 6 0.000 0.000 2441 2149 1781

7207 0.83 116.8 575.4 -6.7 382 7209 0.47 0.00 0.00 0.000 6 0.000 0.000 2441 2145 1781

7532 0.83 116.8 598.7 -6.9 390 7538 0.38 2.90 0.00 0.000 4 0.000 0.000 2480 488 1782

7831 0.83 116.8 619.6 -6.5 396 7839 0.38 3.42 0.00 0.000 6 0.000 0.000 2378 2169 1777

8160 0.83 116.8 643.5 -7.2 404 8161 0.35 0.00 0.00 0.000 6 0.000 0.000 2477 2171 1786

8484 0.83 116.8 667.0 -7.3 412 8493 0.00 4.03 0.00 0.000 4 0.000 0.000 2470 372 1775

8783 0.83 116.8 688.4 -6.8 418 8788 0.00 3.30 0.00 0.000 6 0.000 0.000 2473 2037 1786

9101 0.83 116.8 709.2 -6.7 426 9103 0.43 0.00 0.00 0.000 6 0.000 0.000 2432 2175 1784

9432 0.83 116.8 732.5 -7.0 434 9440 0.30 3.15 0.00 0.000 4 0.000 0.000 2473 356 1784

9735 0.83 437.8 751.7 -5.9 440 10087 0.35 3.58 306.85 0.001 6 0.000 0.000 2396 2012 487

10409 1.37 763.4 790.6 -6.1 455 10430 0.95 0.00 12.88 0.000 6 0.000 0.000 2580 2040 433

10734 1.91 763.4 811.3 -6.4 463 10736 0.60 0.00 0.03 0.000 6 0.000 0.000 2719 2035 433

11059 1.91 1083.5 831.6 -5.9 471 11069 0.43 3.53 0.80 0.001 4 0.000 0.000 2632 348 422

11225 2.44 1399.8 841.3 -5.7 474 11235 1.05 3.75 0.22 0.001 6 0.000 0.000 2812 2146 422

11589 2.97 1399.8 864.8 -6.9 483 11591 0.75 0.00 0.00 0.000 6 0.000 0.000 2890 2141 425

11915 2.97 1717.2 884.7 -5.8 491 11916 0.00 0.00 0.03 0.001 6 0.000 0.000 2949 2140 417

12238 3.50 2026.5 902.8 -5.5 499 12241 0.52 0.00 0.03 0.000 6 0.000 0.000 3106 2150 431

12564 4.02 2346.2 921.6 -5.9 507 12573 0.30 3.75 0.00 0.000 4 0.000 0.000 3183 366 418

12862 4.55 2672.0 939.8 -6.1 513 12868 0.38 2.90 0.00 0.000 6 0.000 0.000 3248 2164 423

13181 5.10 2979.2 957.3 -5.4 521 13189 0.00 3.78 0.10 0.000 4 0.000 0.000 3290 477 421

13475 5.61 3269.4 972.6 -4.7 527 13482 0.00 3.53 0.00 0.000 6 0.000 0.000 3295 2165 421

13797 6.10 3578.1 989.5 -5.4 535 13805 0.00 3.75 0.03 0.000 4 0.000 0.000 3289 524 429

14092 6.61 3578.1 988.4 6.6 541 14096 0.00 2.60 0.00 0.000 6 0.000 0.000 3288 2180 420

14409 6.61 3578.1 963.2 8.2 549 14414 0.00 3.00 0.00 0.000 4 0.000 0.000 3281 485 420

14701 6.61 3578.1 938.7 7.8 555 14705 0.00 2.70 0.00 0.000 6 0.000 0.000 3278 2125 429

15018 6.61 3578.1 914.1 7.5 563 15020 0.00 0.00 0.03 0.004 6 0.000 0.000 3291 2135 420

15348 6.61 3578.1 890.3 7.3 571 15350 0.00 0.00 0.05 0.000 6 0.000 0.000 3280 2139 420

15675 6.61 3578.1 864.7 7.9 579 15682 0.00 3.45 0.00 0.000 4 0.000 0.000 3275 428 418

15972 6.61 3578.1 841.3 8.6 585 15980 0.00 3.47 0.00 0.000 6 0.000 0.000 3290 1971 427

16296 6.61 3578.1 817.4 7.1 593 16303 0.00 3.38 0.00 0.000 4 0.000 0.000 3278 455 430

16593 6.61 3578.1 796.4 7.0 599 16597 0.00 2.60 0.00 0.000 6 0.000 0.000 3285 2084 421

16910 6.61 3578.1 772.8 7.7 607 16916 0.00 3.15 0.00 0.000 4 0.000 0.000 3273 550 411

17203 6.61 3578.1 750.2 7.8 613 17208 0.00 3.12 0.00 0.000 6 0.000 0.000 3277 2103 415

17521 6.61 3578.1 726.8 7.6 621 17528 0.00 3.45 0.00 0.000 4 0.000 0.000 3282 417 412

17818 6.61 3578.1 703.2 7.3 627 17823 0.00 2.60 0.00 0.000 6 0.000 0.000 3284 2093 419

18136 6.61 3578.1 679.2 7.7 635 18141 0.00 2.80 0.00 0.000 4 0.000 0.000 3280 497 417

18428 6.61 3578.1 657.1 8.6 641 18436 0.00 3.30 0.05 0.000 6 0.000 0.000 3285 2139 414

18756 6.61 3578.1 632.5 7.8 649 18761 0.00 2.83 0.00 0.000 4 0.000 0.000 3290 490 419

19049 6.61 3578.1 609.2 6.4 655 19056 0.00 3.55 0.00 0.000 6 0.000 0.000 3289 2149 420

19371 6.61 3578.1 586.2 7.3 663 19376 0.00 2.72 0.00 0.000 4 0.000 0.000 3295 479 423

19664 6.61 3578.1 566.9 7.1 669 19669 0.00 2.80 0.03 0.000 6 0.000 0.000 3290 2149 411

19982 6.61 3578.1 545.2 7.0 677 19990 0.00 3.70 0.00 0.000 4 0.000 0.000 3292 307 421

20279 6.61 3578.1 521.7 7.3 683 20287 0.00 3.22 0.00 0.000 6 0.000 0.000 3281 2119 417

20602 6.61 3578.1 497.6 7.4 691 20607 0.00 3.55 0.00 0.000 4 0.000 0.000 3298 478 423

20910 6.61 3578.1 475.4 7.0 703 20924 0.00 3.22 0.00 0.000 6 0.000 0.000 3285 2110 417

21239 6.61 3578.1 452.9 7.1 719 21243 0.00 2.60 0.00 0.000 4 0.000 0.000 3283 569 416

21541 6.61 3578.1 432.2 6.9 731 21557 0.00 3.45 0.03 0.000 6 0.000 0.000 3273 2131 424

21872 6.61 3586.6 411.9 5.9 747 21873 0.00 0.00 0.00 0.000 6 0.000 0.000 3272 2127 415

22175 6.62 3586.6 392.2 6.6 762 22181 0.00 2.62 0.03 0.005 4 0.000 0.000 3284 474 411

22478 6.62 3586.6 370.8 6.3 774 22483 0.00 2.90 0.00 0.000 6 0.000 0.000 3278 2168 419

22799 6.62 3586.6 350.5 6.4 789 22804 0.00 3.20 0.00 0.000 4 0.000 0.000 3297 517 428

23097 6.62 3595.3 331.5 5.9 801 23103 0.00 3.22 0.00 0.000 6 0.000 0.000 3305 2141 416

23418 6.64 3595.3 310.8 6.8 816 23426 0.00 3.65 0.00 0.000 4 0.000 0.000 3279 371 407

23724 6.64 3595.3 287.1 7.7 828 23739 0.00 3.45 0.00 0.000 6 0.000 0.000 3284 2147 416

24049 6.64 3595.3 264.3 6.3 844 24054 0.00 2.90 0.03 0.001 4 0.000 0.000 3295 478 416

24348 6.64 3616.6 245.9 5.4 856 24364 0.00 3.55 0.03 0.000 6 0.000 0.000 3296 2124 419

24678 6.67 3616.6 225.1 7.0 872 24679 0.00 0.00 0.00 0.000 6 0.000 0.000 3290 2134 415

24989 6.67 3623.4 205.9 6.0 887 24996 0.00 3.53 0.00 0.000 4 0.000 0.000 3292 450 414

25297 6.69 3641.5 186.3 5.6 899 25303 0.00 3.25 0.00 0.000 6 0.000 0.000 3268 2016 421

25619 6.72 3641.5 165.3 6.3 914 25624 0.00 2.72 0.03 0.001 4 0.000 0.000 3282 449 412

25917 6.72 3643.1 143.5 6.2 926 25922 0.00 2.90 0.00 0.000 6 0.000 0.000 3290 2188 415

26238 6.72 3643.1 124.5 6.5 941 26239 0.00 0.00 0.00 0.000 6 0.000 0.000 3272 2209 413

26552 6.72 3643.1 104.5 6.8 956 26560 0.00 3.55 0.00 0.000 4 0.000 0.000 3281 534 420

26919 6.72 3643.1 77.4 6.7 1000 26931 0.00 2.78 0.00 0.000 6 0.000 0.000 3272 2102 417

27385 6.72 3648.6 49.1 6.0 1061 27397 0.00 3.33 0.00 0.000 4 0.000 0.000 3295 456 413

27763 6.73 3650.9 25.6 6.2 1110 27775 0.00 2.90 0.00 0.000 6 0.000 0.000 3277 2153 416

28213 6.73 3744.2 3.8 2.7 1171 28221 0.00 0.00 0.00 0.000 6 0.000 0.000 3289 2149 427

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	16	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	11	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	5	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	-442621.19	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	221133,4659.100,-12514.754,12,1.1,13,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.166,0.097
_SM_DEPTHo	0.34	KALMAN_X	33475.5,1730.9,1662.5,31617.6,-2469.8
_SM_ANGLEo	-50.0	KALMAN_Y	-8037.2,-129.5,-60.4,-2430.9,216.8
GPS2	222235,4659.114,-12514.689,34,1.1,34,18.0	MHEAD_RNG_PITCHd_Wd	41.7,246550,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999524	ALTIM_TOP_PING	19.6,999.0
SM_CCo	28417,0.00,0.000,0,0,418,449.88	_24V_AH	23.7,69.817
SM_GC	0.34,12.98,0.00,0.00,0.000,0.000,0.000,626,1768,418,-7.27,-6.13,449.88	_10V_AH	9.6,24.916
RAFOS_CLK	0	DATA_FILE_SIZE	40936,1187
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,237780992
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,67,1494,6,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2135	CURRENT	0.026,262.2,1
INTERNAL_PRESSURE	26.0455	GPS	200607,061833,4659.686,-12510.695,18,1.1,18,18.0
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	37	119	106.54	SBE_CT	2044	24	1162.90
Roll_motor	218	60	310.42	nil	0	0	0.00
VBD_pump_during_apogee	512	1300	15784.73	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	159	223	844.03
Transponder_ping	0	420	2.49
GPS	35	50	16.83
TT8	6119	19	1170.30
LPSleep	15343	2	340.25
TT8_Active	887	19	169.63
TT8_Sampling	2728	39	1045.59
TT8_CF8	3850	45	1697.48
TT8_Kalman	33	81	26.22
Analog_circuits	2674	12	308.07
GPS_charging	0	0	0.00
Compass	3358	26	838.35
RAFOS	3240	1	46.66

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad
state	end surface	CONTROL_FINISHED_OK
state	start dive
38	-0.83	-116.8	0.0	0.0	0	114	0.00	0.00	-73.80	0.000	2	0.000	0.000	667	1829	2644
121	-0.83	-116.8	3.9	-6.3	7	151	7.12	2.47	-3.17	0.000	4	0.000	0.000	2123	3557	2737
499	-0.83	-116.8	48.3	-10.9	57	511	0.75	2.72	0.00	0.000	6	0.000	0.000	2022	1868	2740
949	-0.83	-116.8	96.3	-10.4	118	962	0.45	2.95	0.00	0.000	4	0.000	0.000	2127	3525	2739
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
994	-0.25	0.0	100.8	10.7	121	1093	0.57	0.00	95.75	0.000	6	0.000	0.000	2257	1862	2258
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1104	0.83	116.8	111.3	0.0	126	1211	1.05	0.00	94.62	0.000	6	0.000	0.000	2477	1861	1783
1521	0.83	116.8	150.8	-8.8	146	1526	0.00	3.15	0.00	0.000	4	0.000	0.000	2466	442	1788
1618	0.83	116.8	158.6	-8.2	150	1624	0.35	2.83	0.00	0.000	6	0.000	0.000	2433	2133	1786
1957	0.83	116.8	185.2	-8.8	166	1964	0.43	2.90	0.00	0.000	4	0.000	0.000	2496	357	1788
2261	0.83	116.8	211.2	-9.0	178	2278	0.38	3.65	0.00	0.000	6	0.000	0.000	2392	1995	1785
2592	0.83	116.8	238.4	-8.2	194	2599	0.30	3.35	0.00	0.000	4	0.000	0.000	2481	452	1786
2895	0.83	116.8	263.2	-7.2	206	2912	0.38	3.75	0.00	0.000	6	0.000	0.000	2395	2117	1791
3221	0.83	116.8	288.9	-8.1	222	3224	0.75	0.00	0.10	0.001	6	0.000	0.000	2481	2124	1787
3530	0.83	116.8	313.4	-7.6	237	3538	0.40	2.92	0.00	0.000	4	0.000	0.000	2384	459	1783
3740	0.83	116.8	329.4	-7.6	245	3753	0.38	2.47	0.00	0.000	6	0.000	0.000	2496	2164	1788
4061	0.83	116.8	353.9	-8.1	261	4063	0.45	0.00	0.12	0.000	6	0.000	0.000	2396	2153	1783
4370	0.83	116.8	379.4	-7.9	276	4372	0.38	0.00	0.00	0.000	6	0.000	0.000	2442	2168	1786
4684	0.83	116.8	403.3	-7.3	291	4692	0.00	3.72	0.00	0.000	4	0.000	0.000	2493	366	1787
5001	0.83	116.8	426.5	-7.0	303	5018	0.40	3.72	0.00	0.000	6	0.000	0.000	2378	2155	1781
5327	0.83	116.8	448.9	-7.0	319	5329	0.73	0.00	0.00	0.000	6	0.000	0.000	2442	2141	1784
5641	0.83	116.8	470.2	-6.7	334	5642	0.43	0.00	0.00	0.000	6	0.000	0.000	2416	2152	1788
5950	0.83	116.8	490.8	-6.7	349	5952	0.73	0.00	0.00	0.000	6	0.000	0.000	2438	2142	1780
6257	0.83	116.8	512.2	-7.0	360	6265	0.10	3.00	0.50	0.001	4	0.000	0.000	2492	379	1779
6553	0.83	116.8	533.3	-6.7	366	6561	0.35	4.22	0.00	0.000	6	0.000	0.000	2387	2139	1782
6882	0.83	116.8	554.2	-6.3	374	6884	0.32	0.00	0.00	0.000	6	0.000	0.000	2441	2149	1781
7207	0.83	116.8	575.4	-6.7	382	7209	0.47	0.00	0.00	0.000	6	0.000	0.000	2441	2145	1781
7532	0.83	116.8	598.7	-6.9	390	7538	0.38	2.90	0.00	0.000	4	0.000	0.000	2480	488	1782
7831	0.83	116.8	619.6	-6.5	396	7839	0.38	3.42	0.00	0.000	6	0.000	0.000	2378	2169	1777
8160	0.83	116.8	643.5	-7.2	404	8161	0.35	0.00	0.00	0.000	6	0.000	0.000	2477	2171	1786
8484	0.83	116.8	667.0	-7.3	412	8493	0.00	4.03	0.00	0.000	4	0.000	0.000	2470	372	1775
8783	0.83	116.8	688.4	-6.8	418	8788	0.00	3.30	0.00	0.000	6	0.000	0.000	2473	2037	1786
9101	0.83	116.8	709.2	-6.7	426	9103	0.43	0.00	0.00	0.000	6	0.000	0.000	2432	2175	1784
9432	0.83	116.8	732.5	-7.0	434	9440	0.30	3.15	0.00	0.000	4	0.000	0.000	2473	356	1784
9735	0.83	437.8	751.7	-5.9	440	10087	0.35	3.58	306.85	0.001	6	0.000	0.000	2396	2012	487
10409	1.37	763.4	790.6	-6.1	455	10430	0.95	0.00	12.88	0.000	6	0.000	0.000	2580	2040	433
10734	1.91	763.4	811.3	-6.4	463	10736	0.60	0.00	0.03	0.000	6	0.000	0.000	2719	2035	433
11059	1.91	1083.5	831.6	-5.9	471	11069	0.43	3.53	0.80	0.001	4	0.000	0.000	2632	348	422
11225	2.44	1399.8	841.3	-5.7	474	11235	1.05	3.75	0.22	0.001	6	0.000	0.000	2812	2146	422
11589	2.97	1399.8	864.8	-6.9	483	11591	0.75	0.00	0.00	0.000	6	0.000	0.000	2890	2141	425
11915	2.97	1717.2	884.7	-5.8	491	11916	0.00	0.00	0.03	0.001	6	0.000	0.000	2949	2140	417
12238	3.50	2026.5	902.8	-5.5	499	12241	0.52	0.00	0.03	0.000	6	0.000	0.000	3106	2150	431
12564	4.02	2346.2	921.6	-5.9	507	12573	0.30	3.75	0.00	0.000	4	0.000	0.000	3183	366	418
12862	4.55	2672.0	939.8	-6.1	513	12868	0.38	2.90	0.00	0.000	6	0.000	0.000	3248	2164	423
13181	5.10	2979.2	957.3	-5.4	521	13189	0.00	3.78	0.10	0.000	4	0.000	0.000	3290	477	421
13475	5.61	3269.4	972.6	-4.7	527	13482	0.00	3.53	0.00	0.000	6	0.000	0.000	3295	2165	421
13797	6.10	3578.1	989.5	-5.4	535	13805	0.00	3.75	0.03	0.000	4	0.000	0.000	3289	524	429
14092	6.61	3578.1	988.4	6.6	541	14096	0.00	2.60	0.00	0.000	6	0.000	0.000	3288	2180	420
14409	6.61	3578.1	963.2	8.2	549	14414	0.00	3.00	0.00	0.000	4	0.000	0.000	3281	485	420
14701	6.61	3578.1	938.7	7.8	555	14705	0.00	2.70	0.00	0.000	6	0.000	0.000	3278	2125	429
15018	6.61	3578.1	914.1	7.5	563	15020	0.00	0.00	0.03	0.004	6	0.000	0.000	3291	2135	420
15348	6.61	3578.1	890.3	7.3	571	15350	0.00	0.00	0.05	0.000	6	0.000	0.000	3280	2139	420
15675	6.61	3578.1	864.7	7.9	579	15682	0.00	3.45	0.00	0.000	4	0.000	0.000	3275	428	418
15972	6.61	3578.1	841.3	8.6	585	15980	0.00	3.47	0.00	0.000	6	0.000	0.000	3290	1971	427
16296	6.61	3578.1	817.4	7.1	593	16303	0.00	3.38	0.00	0.000	4	0.000	0.000	3278	455	430
16593	6.61	3578.1	796.4	7.0	599	16597	0.00	2.60	0.00	0.000	6	0.000	0.000	3285	2084	421
16910	6.61	3578.1	772.8	7.7	607	16916	0.00	3.15	0.00	0.000	4	0.000	0.000	3273	550	411
17203	6.61	3578.1	750.2	7.8	613	17208	0.00	3.12	0.00	0.000	6	0.000	0.000	3277	2103	415
17521	6.61	3578.1	726.8	7.6	621	17528	0.00	3.45	0.00	0.000	4	0.000	0.000	3282	417	412
17818	6.61	3578.1	703.2	7.3	627	17823	0.00	2.60	0.00	0.000	6	0.000	0.000	3284	2093	419
18136	6.61	3578.1	679.2	7.7	635	18141	0.00	2.80	0.00	0.000	4	0.000	0.000	3280	497	417
18428	6.61	3578.1	657.1	8.6	641	18436	0.00	3.30	0.05	0.000	6	0.000	0.000	3285	2139	414
18756	6.61	3578.1	632.5	7.8	649	18761	0.00	2.83	0.00	0.000	4	0.000	0.000	3290	490	419
19049	6.61	3578.1	609.2	6.4	655	19056	0.00	3.55	0.00	0.000	6	0.000	0.000	3289	2149	420
19371	6.61	3578.1	586.2	7.3	663	19376	0.00	2.72	0.00	0.000	4	0.000	0.000	3295	479	423
19664	6.61	3578.1	566.9	7.1	669	19669	0.00	2.80	0.03	0.000	6	0.000	0.000	3290	2149	411
19982	6.61	3578.1	545.2	7.0	677	19990	0.00	3.70	0.00	0.000	4	0.000	0.000	3292	307	421
20279	6.61	3578.1	521.7	7.3	683	20287	0.00	3.22	0.00	0.000	6	0.000	0.000	3281	2119	417
20602	6.61	3578.1	497.6	7.4	691	20607	0.00	3.55	0.00	0.000	4	0.000	0.000	3298	478	423
20910	6.61	3578.1	475.4	7.0	703	20924	0.00	3.22	0.00	0.000	6	0.000	0.000	3285	2110	417
21239	6.61	3578.1	452.9	7.1	719	21243	0.00	2.60	0.00	0.000	4	0.000	0.000	3283	569	416
21541	6.61	3578.1	432.2	6.9	731	21557	0.00	3.45	0.03	0.000	6	0.000	0.000	3273	2131	424
21872	6.61	3586.6	411.9	5.9	747	21873	0.00	0.00	0.00	0.000	6	0.000	0.000	3272	2127	415
22175	6.62	3586.6	392.2	6.6	762	22181	0.00	2.62	0.03	0.005	4	0.000	0.000	3284	474	411
22478	6.62	3586.6	370.8	6.3	774	22483	0.00	2.90	0.00	0.000	6	0.000	0.000	3278	2168	419
22799	6.62	3586.6	350.5	6.4	789	22804	0.00	3.20	0.00	0.000	4	0.000	0.000	3297	517	428
23097	6.62	3595.3	331.5	5.9	801	23103	0.00	3.22	0.00	0.000	6	0.000	0.000	3305	2141	416
23418	6.64	3595.3	310.8	6.8	816	23426	0.00	3.65	0.00	0.000	4	0.000	0.000	3279	371	407
23724	6.64	3595.3	287.1	7.7	828	23739	0.00	3.45	0.00	0.000	6	0.000	0.000	3284	2147	416
24049	6.64	3595.3	264.3	6.3	844	24054	0.00	2.90	0.03	0.001	4	0.000	0.000	3295	478	416
24348	6.64	3616.6	245.9	5.4	856	24364	0.00	3.55	0.03	0.000	6	0.000	0.000	3296	2124	419
24678	6.67	3616.6	225.1	7.0	872	24679	0.00	0.00	0.00	0.000	6	0.000	0.000	3290	2134	415
24989	6.67	3623.4	205.9	6.0	887	24996	0.00	3.53	0.00	0.000	4	0.000	0.000	3292	450	414
25297	6.69	3641.5	186.3	5.6	899	25303	0.00	3.25	0.00	0.000	6	0.000	0.000	3268	2016	421
25619	6.72	3641.5	165.3	6.3	914	25624	0.00	2.72	0.03	0.001	4	0.000	0.000	3282	449	412
25917	6.72	3643.1	143.5	6.2	926	25922	0.00	2.90	0.00	0.000	6	0.000	0.000	3290	2188	415
26238	6.72	3643.1	124.5	6.5	941	26239	0.00	0.00	0.00	0.000	6	0.000	0.000	3272	2209	413
26552	6.72	3643.1	104.5	6.8	956	26560	0.00	3.55	0.00	0.000	4	0.000	0.000	3281	534	420
26919	6.72	3643.1	77.4	6.7	1000	26931	0.00	2.78	0.00	0.000	6	0.000	0.000	3272	2102	417
27385	6.72	3648.6	49.1	6.0	1061	27397	0.00	3.33	0.00	0.000	4	0.000	0.000	3295	456	413
27763	6.73	3650.9	25.6	6.2	1110	27775	0.00	2.90	0.00	0.000	6	0.000	0.000	3277	2153	416
28213	6.73	3744.2	3.8	2.7	1171	28221	0.00	0.00	0.00	0.000	6	0.000	0.000	3289	2149	427
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface