Glider dive log

DavisStrait May07 * SG001 * Dive index * Mission links * Dive 17 * 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 17 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 1 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 -442642.59 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 -442642.59

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 1 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 17 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 061833,4659.686,-12510.695,18,1.1,18,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.166,0.099

_SM_DEPTHo 0.34 KALMAN_X 36052.3,1719.1,1671.7,34164.7,-2317.9

_SM_ANGLEo -50.0 KALMAN_Y -7744.6,228.2,103.4,-1893.4,-96.4

GPS2 062848,4659.847,-12510.626,20,1.1,20,18.0 MHEAD_RNG_PITCHd_Wd 41.3,241554,-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 19.4,999.0

SM_CCo 28246,0.00,0.000,0,0,422,451.60 _24V_AH 23.7,70.735

SM_GC 0.33,13.32,0.00,0.00,0.000,0.000,0.000,648,1778,422,-7.34,-6.13,451.60 _10V_AH 9.6,25.086

RAFOS_CLK 0 DATA_FILE_SIZE 40982,1196

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,237551616

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,38,1113,6,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2151 CURRENT 0.030, 16.3,1

INTERNAL_PRESSURE 26.0748 GPS 200607,142149,4701.257,-12506.010,25,1.1,25,18.0

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 28 119 81.44 SBE_CT 2121 24 1206.98

Roll_motor 162 60 231.54 nil 0 0 0.00

VBD_pump_during_apogee 514 1300 15865.61 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 150 223 792.85

Transponder_ping 0 420 2.49

GPS 20 50 9.98

TT8 6015 19 1150.35

LPSleep 15856 2 351.63

TT8_Active 807 19 154.41

TT8_Sampling 2414 39 925.18

TT8_CF8 3612 45 1592.55

TT8_Kalman 33 81 26.23

Analog_circuits 2363 12 272.25

GPS_charging 0 0 0.00

Compass 3063 26 764.77

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

44 -0.83 -116.8 0.0 0.0 0 108 0.00 0.00 -57.65 0.000 2 0.000 0.000 630 1775 2168

114 -0.83 -116.8 3.5 -6.7 6 157 7.00 3.12 -19.27 0.000 4 0.000 0.000 2138 3562 2739

508 -0.83 -116.8 51.3 -11.4 57 520 0.40 3.10 0.00 0.000 6 0.000 0.000 2029 1772 2740

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

964 -0.25 0.0 100.2 9.3 118 1063 0.82 0.00 95.55 0.000 6 0.000 0.000 2231 2143 2264

state end apogee CONTROL_FINISHED_OK

state start climb

1074 0.83 116.8 109.9 0.0 123 1174 1.33 0.00 95.70 0.000 6 0.000 0.000 2522 2150 1787

1484 0.83 116.8 146.2 -8.2 143 1486 0.55 0.00 0.00 0.000 6 0.000 0.000 2420 2158 1780

1794 0.83 116.8 170.5 -8.3 158 1795 0.00 0.00 0.00 0.000 6 0.000 0.000 2416 2140 1785

2103 0.83 116.8 194.5 -7.2 173 2105 0.03 0.00 0.05 0.001 6 0.000 0.000 2476 2143 1787

2407 0.83 116.8 217.6 -7.7 188 2412 0.05 2.50 0.00 0.000 4 0.000 0.000 2408 3407 1789

2637 0.83 116.8 237.5 -9.0 197 2654 0.17 3.12 0.43 0.000 6 0.000 0.000 2457 1876 1791

2963 0.83 116.8 263.4 -7.5 213 2964 0.00 0.00 0.52 0.000 6 0.000 0.000 2448 1886 1784

3278 0.83 116.8 287.5 -7.5 228 3283 0.08 2.38 0.00 0.000 4 0.000 0.000 2470 505 1787

3583 0.83 116.8 309.1 -6.9 240 3587 0.00 2.80 0.00 0.000 6 0.000 0.000 2456 2066 1779

3904 0.83 116.8 331.5 -7.5 255 3904 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 2219 1778

4218 0.83 116.8 353.4 -7.0 270 4219 0.08 0.00 0.00 0.000 6 0.000 0.000 2453 2200 1786

4527 0.83 116.8 374.3 -6.7 285 4528 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2210 1790

4836 0.83 116.8 396.0 -7.4 300 4837 0.03 0.00 0.00 0.000 6 0.000 0.000 2450 2206 1785

5146 0.83 116.8 420.1 -8.4 315 5147 0.00 0.00 0.00 0.000 6 0.000 0.000 2430 2209 1780

5455 0.83 116.8 443.4 -7.4 330 5456 0.25 0.00 0.00 0.000 6 0.000 0.000 2465 2201 1786

5759 0.83 116.8 467.0 -7.5 345 5760 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2196 1782

6068 0.83 116.8 490.5 -7.8 360 6069 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2208 1781

6380 0.83 116.8 512.5 -7.2 371 6381 0.08 0.00 0.00 0.000 6 0.000 0.000 2461 2208 1778

6710 0.83 116.8 535.4 -7.0 379 6711 0.00 0.00 0.00 0.000 6 0.000 0.000 2467 2223 1781

7030 0.83 116.8 557.5 -6.7 387 7031 0.12 0.00 0.00 0.000 6 0.000 0.000 2467 2204 1782

7355 0.83 116.8 579.4 -6.6 395 7360 0.25 2.72 0.00 0.000 4 0.000 0.000 2473 537 1779

7648 0.83 116.8 599.4 -6.5 401 7657 0.00 3.90 0.00 0.000 6 0.000 0.000 2450 2096 1783

7983 0.83 116.8 622.6 -6.9 409 7984 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 2085 1783

8303 0.83 116.8 645.4 -7.0 417 8304 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 2071 1787

8629 0.83 116.8 668.4 -6.7 425 8630 0.00 0.00 0.17 0.000 6 0.000 0.000 2461 2086 1782

8953 0.83 116.8 689.5 -6.4 433 8955 0.05 0.00 0.00 0.000 6 0.000 0.000 2457 2103 1785

9278 0.83 116.8 710.6 -6.7 441 9284 0.15 3.03 0.00 0.000 4 0.000 0.000 2461 539 1786

9476 0.83 116.8 723.3 -6.4 445 9484 0.00 3.85 0.00 0.000 6 0.000 0.000 2458 2214 1775

9800 0.83 116.8 744.3 -6.4 453 9802 0.05 0.00 0.00 0.000 6 0.000 0.000 2452 2217 1782

10129 0.83 444.5 764.7 -6.2 461 10479 0.00 0.00 315.25 0.000 6 0.000 0.000 2400 2228 449

10784 1.38 765.0 807.1 -5.9 476 10798 0.88 2.90 5.22 0.001 4 0.000 0.000 2595 395 421

11092 1.91 1068.0 825.1 -5.2 482 11101 0.65 3.45 0.08 0.000 6 0.000 0.000 2736 2116 430

11450 2.42 1371.7 844.5 -5.3 491 11453 0.35 0.00 0.30 0.001 6 0.000 0.000 2834 2130 424

11781 2.93 1371.7 864.0 -6.3 499 11790 0.32 3.33 0.03 0.001 4 0.000 0.000 2858 422 430

12080 2.93 1693.0 882.4 -5.9 505 12086 0.35 2.83 0.03 0.001 6 0.000 0.000 2916 2090 426

12401 3.46 2016.2 901.2 -6.0 513 12404 0.38 0.00 0.32 0.000 6 0.000 0.000 3055 2083 415

12730 4.00 2016.2 922.1 -6.5 521 12733 0.50 0.00 0.32 0.000 6 0.000 0.000 3153 2098 423

13056 4.00 2016.2 944.1 -6.8 529 13057 0.00 0.00 0.15 0.000 6 0.000 0.000 3151 2091 426

13379 4.00 2335.5 964.2 -5.8 537 13380 0.00 0.00 0.03 0.001 6 0.000 0.000 3150 2088 428

13704 4.54 2651.1 982.5 -5.7 545 13706 0.65 0.00 0.00 0.000 6 0.000 0.000 3236 2096 431

14029 5.06 2812.9 991.6 0.1 553 14036 0.00 3.28 0.00 0.000 4 0.000 0.000 3276 537 413

14325 5.33 2812.9 966.6 8.4 559 14330 0.00 2.53 0.05 0.000 6 0.000 0.000 3280 2169 423

14643 5.33 2812.9 942.2 7.5 567 14648 0.00 3.03 0.00 0.000 4 0.000 0.000 3285 549 425

14935 5.33 2812.9 921.2 7.6 573 14940 0.00 3.03 0.05 0.002 6 0.000 0.000 3282 2078 424

15253 5.33 2812.9 896.1 8.2 581 15254 0.00 0.00 0.00 0.000 6 0.000 0.000 3293 2082 425

15579 5.33 2812.9 871.4 8.1 589 15584 0.00 2.50 0.03 0.000 4 0.000 0.000 3286 556 422

15871 5.33 2812.9 847.6 8.0 595 15879 0.00 3.40 0.03 0.001 6 0.000 0.000 3279 2080 424

16195 5.33 2812.9 820.1 9.2 603 16200 0.00 2.50 0.10 0.002 4 0.000 0.000 3286 538 418

16487 5.33 2812.9 793.5 8.3 609 16495 0.00 3.65 0.03 0.000 6 0.000 0.000 3295 2191 421

16811 5.33 2812.9 767.8 7.8 617 16812 0.00 0.00 0.08 0.001 6 0.000 0.000 3282 2185 431

17142 5.33 2812.9 742.2 7.9 625 17147 0.00 2.72 0.03 0.000 4 0.000 0.000 3282 491 422

17436 5.33 2812.9 719.1 7.3 631 17442 0.00 3.00 0.03 0.001 6 0.000 0.000 3302 2152 419

17754 5.33 2812.9 696.5 6.9 639 17759 0.00 3.00 0.00 0.000 4 0.000 0.000 3291 484 429

18047 5.33 2819.6 676.6 6.0 645 18054 0.00 3.45 0.00 0.000 6 0.000 0.000 3296 2114 422

18369 5.34 2828.3 657.1 5.9 653 18378 0.00 3.62 0.03 0.001 4 0.000 0.000 3279 456 409

18667 5.36 2828.3 639.9 6.6 659 18675 0.00 4.25 0.00 0.000 6 0.000 0.000 3280 2069 423

18991 5.36 2828.3 618.4 6.8 667 18998 0.00 3.30 0.03 0.001 4 0.000 0.000 3279 415 423

19288 5.36 2828.3 596.8 7.1 673 19295 0.00 3.65 0.00 0.000 6 0.000 0.000 3297 2174 419

19610 5.36 2828.3 573.5 7.3 681 19616 0.00 3.12 0.05 0.001 4 0.000 0.000 3295 533 420

19904 5.36 2828.3 553.3 6.6 687 19909 0.00 3.03 0.03 0.001 6 0.000 0.000 3289 2200 416

20223 5.36 2828.3 530.7 7.5 695 20224 0.00 0.00 0.00 0.000 6 0.000 0.000 3290 2181 425

20554 5.36 2828.3 507.3 7.2 703 20559 0.00 2.95 0.00 0.000 4 0.000 0.000 3296 507 413

20851 5.36 2828.3 484.8 7.3 712 20867 0.00 3.45 0.00 0.000 6 0.000 0.000 3298 2133 421

21182 5.36 2828.3 461.1 6.7 728 21186 0.00 2.70 0.00 0.000 4 0.000 0.000 3291 496 416

21488 5.36 2828.3 440.0 7.1 740 21504 0.00 3.55 0.00 0.000 6 0.000 0.000 3292 2180 424

21820 5.36 2828.3 415.8 7.5 756 21821 0.00 0.00 0.00 0.000 6 0.000 0.000 3287 2173 420

22123 5.36 2828.3 394.2 6.9 771 22128 0.00 3.10 0.03 0.001 4 0.000 0.000 3289 519 416

22423 5.36 2828.3 372.0 7.7 783 22428 0.00 2.83 0.00 0.000 6 0.000 0.000 3284 2182 422

22744 5.36 2828.3 347.1 7.8 798 22749 0.00 2.58 0.05 0.000 4 0.000 0.000 3287 602 426

23042 5.36 2828.3 325.7 7.3 810 23046 0.00 2.60 0.00 0.000 6 0.000 0.000 3298 2116 419

23362 5.36 2828.3 302.6 7.3 825 23363 0.00 0.00 0.00 0.000 6 0.000 0.000 3292 2118 426

23677 5.36 2828.3 279.9 7.4 840 23678 0.00 0.00 0.00 0.000 6 0.000 0.000 3290 2133 417

23987 5.36 2828.3 258.2 6.8 855 23995 0.00 3.75 0.00 0.000 4 0.000 0.000 3283 362 411

24291 5.36 2828.3 237.2 7.2 867 24296 0.00 2.90 0.03 0.000 6 0.000 0.000 3287 2035 422

24613 5.36 2828.3 214.9 6.8 882 24620 0.00 3.65 0.00 0.000 4 0.000 0.000 3282 412 422

24921 5.36 2866.1 195.3 4.8 894 24927 0.00 2.90 0.03 0.001 6 0.000 0.000 3282 2187 413

25242 5.42 2866.1 174.5 6.7 909 25244 0.00 0.00 0.05 0.001 6 0.000 0.000 3266 2202 428

25551 5.42 2866.1 151.9 7.5 924 25557 0.00 3.12 0.00 0.000 4 0.000 0.000 3283 526 421

25854 5.42 2866.1 128.4 9.7 936 25860 0.00 3.12 0.00 0.000 6 0.000 0.000 3287 2167 422

26175 5.42 2866.1 108.4 6.4 951 26183 0.00 3.45 0.03 0.000 4 0.000 0.000 3274 346 414

26408 5.42 2880.3 94.9 5.7 967 26420 0.00 3.00 0.00 0.000 6 0.000 0.000 3278 1982 427

26884 5.45 2898.2 68.4 5.6 1028 26897 0.00 2.53 0.00 0.000 4 0.000 0.000 3287 399 419

27261 5.48 2898.2 43.2 7.2 1077 27274 0.00 4.05 0.00 0.000 6 0.000 0.000 3282 2177 419

27728 5.48 2942.6 14.1 4.6 1138 27742 0.00 2.50 0.05 0.001 4 0.000 0.000 3282 452 420

27764 5.55 2992.8 11.9 4.3 1141 27777 0.00 2.50 0.03 0.001 6 0.000 0.000 3294 2147 420

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	17	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	1	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	-442642.59	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	061833,4659.686,-12510.695,18,1.1,18,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.166,0.099
_SM_DEPTHo	0.34	KALMAN_X	36052.3,1719.1,1671.7,34164.7,-2317.9
_SM_ANGLEo	-50.0	KALMAN_Y	-7744.6,228.2,103.4,-1893.4,-96.4
GPS2	062848,4659.847,-12510.626,20,1.1,20,18.0	MHEAD_RNG_PITCHd_Wd	41.3,241554,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999501	ALTIM_TOP_PING	19.4,999.0
SM_CCo	28246,0.00,0.000,0,0,422,451.60	_24V_AH	23.7,70.735
SM_GC	0.33,13.32,0.00,0.00,0.000,0.000,0.000,648,1778,422,-7.34,-6.13,451.60	_10V_AH	9.6,25.086
RAFOS_CLK	0	DATA_FILE_SIZE	40982,1196
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,237551616
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,38,1113,6,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2151	CURRENT	0.030, 16.3,1
INTERNAL_PRESSURE	26.0748	GPS	200607,142149,4701.257,-12506.010,25,1.1,25,18.0
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	28	119	81.44	SBE_CT	2121	24	1206.98
Roll_motor	162	60	231.54	nil	0	0	0.00
VBD_pump_during_apogee	514	1300	15865.61	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	150	223	792.85
Transponder_ping	0	420	2.49
GPS	20	50	9.98
TT8	6015	19	1150.35
LPSleep	15856	2	351.63
TT8_Active	807	19	154.41
TT8_Sampling	2414	39	925.18
TT8_CF8	3612	45	1592.55
TT8_Kalman	33	81	26.23
Analog_circuits	2363	12	272.25
GPS_charging	0	0	0.00
Compass	3063	26	764.77
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
44	-0.83	-116.8	0.0	0.0	0	108	0.00	0.00	-57.65	0.000	2	0.000	0.000	630	1775	2168
114	-0.83	-116.8	3.5	-6.7	6	157	7.00	3.12	-19.27	0.000	4	0.000	0.000	2138	3562	2739
508	-0.83	-116.8	51.3	-11.4	57	520	0.40	3.10	0.00	0.000	6	0.000	0.000	2029	1772	2740
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
964	-0.25	0.0	100.2	9.3	118	1063	0.82	0.00	95.55	0.000	6	0.000	0.000	2231	2143	2264
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1074	0.83	116.8	109.9	0.0	123	1174	1.33	0.00	95.70	0.000	6	0.000	0.000	2522	2150	1787
1484	0.83	116.8	146.2	-8.2	143	1486	0.55	0.00	0.00	0.000	6	0.000	0.000	2420	2158	1780
1794	0.83	116.8	170.5	-8.3	158	1795	0.00	0.00	0.00	0.000	6	0.000	0.000	2416	2140	1785
2103	0.83	116.8	194.5	-7.2	173	2105	0.03	0.00	0.05	0.001	6	0.000	0.000	2476	2143	1787
2407	0.83	116.8	217.6	-7.7	188	2412	0.05	2.50	0.00	0.000	4	0.000	0.000	2408	3407	1789
2637	0.83	116.8	237.5	-9.0	197	2654	0.17	3.12	0.43	0.000	6	0.000	0.000	2457	1876	1791
2963	0.83	116.8	263.4	-7.5	213	2964	0.00	0.00	0.52	0.000	6	0.000	0.000	2448	1886	1784
3278	0.83	116.8	287.5	-7.5	228	3283	0.08	2.38	0.00	0.000	4	0.000	0.000	2470	505	1787
3583	0.83	116.8	309.1	-6.9	240	3587	0.00	2.80	0.00	0.000	6	0.000	0.000	2456	2066	1779
3904	0.83	116.8	331.5	-7.5	255	3904	0.00	0.00	0.00	0.000	6	0.000	0.000	2472	2219	1778
4218	0.83	116.8	353.4	-7.0	270	4219	0.08	0.00	0.00	0.000	6	0.000	0.000	2453	2200	1786
4527	0.83	116.8	374.3	-6.7	285	4528	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2210	1790
4836	0.83	116.8	396.0	-7.4	300	4837	0.03	0.00	0.00	0.000	6	0.000	0.000	2450	2206	1785
5146	0.83	116.8	420.1	-8.4	315	5147	0.00	0.00	0.00	0.000	6	0.000	0.000	2430	2209	1780
5455	0.83	116.8	443.4	-7.4	330	5456	0.25	0.00	0.00	0.000	6	0.000	0.000	2465	2201	1786
5759	0.83	116.8	467.0	-7.5	345	5760	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2196	1782
6068	0.83	116.8	490.5	-7.8	360	6069	0.00	0.00	0.00	0.000	6	0.000	0.000	2451	2208	1781
6380	0.83	116.8	512.5	-7.2	371	6381	0.08	0.00	0.00	0.000	6	0.000	0.000	2461	2208	1778
6710	0.83	116.8	535.4	-7.0	379	6711	0.00	0.00	0.00	0.000	6	0.000	0.000	2467	2223	1781
7030	0.83	116.8	557.5	-6.7	387	7031	0.12	0.00	0.00	0.000	6	0.000	0.000	2467	2204	1782
7355	0.83	116.8	579.4	-6.6	395	7360	0.25	2.72	0.00	0.000	4	0.000	0.000	2473	537	1779
7648	0.83	116.8	599.4	-6.5	401	7657	0.00	3.90	0.00	0.000	6	0.000	0.000	2450	2096	1783
7983	0.83	116.8	622.6	-6.9	409	7984	0.00	0.00	0.00	0.000	6	0.000	0.000	2459	2085	1783
8303	0.83	116.8	645.4	-7.0	417	8304	0.00	0.00	0.00	0.000	6	0.000	0.000	2466	2071	1787
8629	0.83	116.8	668.4	-6.7	425	8630	0.00	0.00	0.17	0.000	6	0.000	0.000	2461	2086	1782
8953	0.83	116.8	689.5	-6.4	433	8955	0.05	0.00	0.00	0.000	6	0.000	0.000	2457	2103	1785
9278	0.83	116.8	710.6	-6.7	441	9284	0.15	3.03	0.00	0.000	4	0.000	0.000	2461	539	1786
9476	0.83	116.8	723.3	-6.4	445	9484	0.00	3.85	0.00	0.000	6	0.000	0.000	2458	2214	1775
9800	0.83	116.8	744.3	-6.4	453	9802	0.05	0.00	0.00	0.000	6	0.000	0.000	2452	2217	1782
10129	0.83	444.5	764.7	-6.2	461	10479	0.00	0.00	315.25	0.000	6	0.000	0.000	2400	2228	449
10784	1.38	765.0	807.1	-5.9	476	10798	0.88	2.90	5.22	0.001	4	0.000	0.000	2595	395	421
11092	1.91	1068.0	825.1	-5.2	482	11101	0.65	3.45	0.08	0.000	6	0.000	0.000	2736	2116	430
11450	2.42	1371.7	844.5	-5.3	491	11453	0.35	0.00	0.30	0.001	6	0.000	0.000	2834	2130	424
11781	2.93	1371.7	864.0	-6.3	499	11790	0.32	3.33	0.03	0.001	4	0.000	0.000	2858	422	430
12080	2.93	1693.0	882.4	-5.9	505	12086	0.35	2.83	0.03	0.001	6	0.000	0.000	2916	2090	426
12401	3.46	2016.2	901.2	-6.0	513	12404	0.38	0.00	0.32	0.000	6	0.000	0.000	3055	2083	415
12730	4.00	2016.2	922.1	-6.5	521	12733	0.50	0.00	0.32	0.000	6	0.000	0.000	3153	2098	423
13056	4.00	2016.2	944.1	-6.8	529	13057	0.00	0.00	0.15	0.000	6	0.000	0.000	3151	2091	426
13379	4.00	2335.5	964.2	-5.8	537	13380	0.00	0.00	0.03	0.001	6	0.000	0.000	3150	2088	428
13704	4.54	2651.1	982.5	-5.7	545	13706	0.65	0.00	0.00	0.000	6	0.000	0.000	3236	2096	431
14029	5.06	2812.9	991.6	0.1	553	14036	0.00	3.28	0.00	0.000	4	0.000	0.000	3276	537	413
14325	5.33	2812.9	966.6	8.4	559	14330	0.00	2.53	0.05	0.000	6	0.000	0.000	3280	2169	423
14643	5.33	2812.9	942.2	7.5	567	14648	0.00	3.03	0.00	0.000	4	0.000	0.000	3285	549	425
14935	5.33	2812.9	921.2	7.6	573	14940	0.00	3.03	0.05	0.002	6	0.000	0.000	3282	2078	424
15253	5.33	2812.9	896.1	8.2	581	15254	0.00	0.00	0.00	0.000	6	0.000	0.000	3293	2082	425
15579	5.33	2812.9	871.4	8.1	589	15584	0.00	2.50	0.03	0.000	4	0.000	0.000	3286	556	422
15871	5.33	2812.9	847.6	8.0	595	15879	0.00	3.40	0.03	0.001	6	0.000	0.000	3279	2080	424
16195	5.33	2812.9	820.1	9.2	603	16200	0.00	2.50	0.10	0.002	4	0.000	0.000	3286	538	418
16487	5.33	2812.9	793.5	8.3	609	16495	0.00	3.65	0.03	0.000	6	0.000	0.000	3295	2191	421
16811	5.33	2812.9	767.8	7.8	617	16812	0.00	0.00	0.08	0.001	6	0.000	0.000	3282	2185	431
17142	5.33	2812.9	742.2	7.9	625	17147	0.00	2.72	0.03	0.000	4	0.000	0.000	3282	491	422
17436	5.33	2812.9	719.1	7.3	631	17442	0.00	3.00	0.03	0.001	6	0.000	0.000	3302	2152	419
17754	5.33	2812.9	696.5	6.9	639	17759	0.00	3.00	0.00	0.000	4	0.000	0.000	3291	484	429
18047	5.33	2819.6	676.6	6.0	645	18054	0.00	3.45	0.00	0.000	6	0.000	0.000	3296	2114	422
18369	5.34	2828.3	657.1	5.9	653	18378	0.00	3.62	0.03	0.001	4	0.000	0.000	3279	456	409
18667	5.36	2828.3	639.9	6.6	659	18675	0.00	4.25	0.00	0.000	6	0.000	0.000	3280	2069	423
18991	5.36	2828.3	618.4	6.8	667	18998	0.00	3.30	0.03	0.001	4	0.000	0.000	3279	415	423
19288	5.36	2828.3	596.8	7.1	673	19295	0.00	3.65	0.00	0.000	6	0.000	0.000	3297	2174	419
19610	5.36	2828.3	573.5	7.3	681	19616	0.00	3.12	0.05	0.001	4	0.000	0.000	3295	533	420
19904	5.36	2828.3	553.3	6.6	687	19909	0.00	3.03	0.03	0.001	6	0.000	0.000	3289	2200	416
20223	5.36	2828.3	530.7	7.5	695	20224	0.00	0.00	0.00	0.000	6	0.000	0.000	3290	2181	425
20554	5.36	2828.3	507.3	7.2	703	20559	0.00	2.95	0.00	0.000	4	0.000	0.000	3296	507	413
20851	5.36	2828.3	484.8	7.3	712	20867	0.00	3.45	0.00	0.000	6	0.000	0.000	3298	2133	421
21182	5.36	2828.3	461.1	6.7	728	21186	0.00	2.70	0.00	0.000	4	0.000	0.000	3291	496	416
21488	5.36	2828.3	440.0	7.1	740	21504	0.00	3.55	0.00	0.000	6	0.000	0.000	3292	2180	424
21820	5.36	2828.3	415.8	7.5	756	21821	0.00	0.00	0.00	0.000	6	0.000	0.000	3287	2173	420
22123	5.36	2828.3	394.2	6.9	771	22128	0.00	3.10	0.03	0.001	4	0.000	0.000	3289	519	416
22423	5.36	2828.3	372.0	7.7	783	22428	0.00	2.83	0.00	0.000	6	0.000	0.000	3284	2182	422
22744	5.36	2828.3	347.1	7.8	798	22749	0.00	2.58	0.05	0.000	4	0.000	0.000	3287	602	426
23042	5.36	2828.3	325.7	7.3	810	23046	0.00	2.60	0.00	0.000	6	0.000	0.000	3298	2116	419
23362	5.36	2828.3	302.6	7.3	825	23363	0.00	0.00	0.00	0.000	6	0.000	0.000	3292	2118	426
23677	5.36	2828.3	279.9	7.4	840	23678	0.00	0.00	0.00	0.000	6	0.000	0.000	3290	2133	417
23987	5.36	2828.3	258.2	6.8	855	23995	0.00	3.75	0.00	0.000	4	0.000	0.000	3283	362	411
24291	5.36	2828.3	237.2	7.2	867	24296	0.00	2.90	0.03	0.000	6	0.000	0.000	3287	2035	422
24613	5.36	2828.3	214.9	6.8	882	24620	0.00	3.65	0.00	0.000	4	0.000	0.000	3282	412	422
24921	5.36	2866.1	195.3	4.8	894	24927	0.00	2.90	0.03	0.001	6	0.000	0.000	3282	2187	413
25242	5.42	2866.1	174.5	6.7	909	25244	0.00	0.00	0.05	0.001	6	0.000	0.000	3266	2202	428
25551	5.42	2866.1	151.9	7.5	924	25557	0.00	3.12	0.00	0.000	4	0.000	0.000	3283	526	421
25854	5.42	2866.1	128.4	9.7	936	25860	0.00	3.12	0.00	0.000	6	0.000	0.000	3287	2167	422
26175	5.42	2866.1	108.4	6.4	951	26183	0.00	3.45	0.03	0.000	4	0.000	0.000	3274	346	414
26408	5.42	2880.3	94.9	5.7	967	26420	0.00	3.00	0.00	0.000	6	0.000	0.000	3278	1982	427
26884	5.45	2898.2	68.4	5.6	1028	26897	0.00	2.53	0.00	0.000	4	0.000	0.000	3287	399	419
27261	5.48	2898.2	43.2	7.2	1077	27274	0.00	4.05	0.00	0.000	6	0.000	0.000	3282	2177	419
27728	5.48	2942.6	14.1	4.6	1138	27742	0.00	2.50	0.05	0.001	4	0.000	0.000	3282	452	420
27764	5.55	2992.8	11.9	4.3	1141	27777	0.00	2.50	0.03	0.001	6	0.000	0.000	3294	2147	420
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface