Glider dive log

DavisStrait May07 * SG001 * Dive index * Mission links * Dive 22 * 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 22 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 16 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 -442755.81 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 -442755.81

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 16 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 22 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 095742,4658.796,-12500.767,18,1.1,18,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.162,0.104

_SM_DEPTHo 0.33 KALMAN_X 44029.2,-402.1,-103.6,42682.3,-953.0

_SM_ANGLEo -50.0 KALMAN_Y -8199.7,-995.8,-750.5,-1201.8,864.9

GPS2 100325,4658.819,-12500.758,21,1.1,21,18.0 MHEAD_RNG_PITCHd_Wd 39.4,232287,-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 20.0,999.0

SM_CCo 26782,0.00,0.000,0,0,419,451.84 _24V_AH 23.7,74.059

SM_GC 0.34,12.82,0.00,0.00,0.000,0.000,0.000,656,2128,419,-7.24,4.27,451.84 _10V_AH 9.6,25.753

RAFOS_CLK 0 DATA_FILE_SIZE 37835,1090

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,236240896

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,55,1801,8,0

TT8_MAMPS 0.023777 SOUNDSPEED 1465.0

HUMID 1957 CURRENT 0.046,298.5,1

INTERNAL_PRESSURE 26.1237 GPS 210607,173152,4659.040,-12505.743,7,1.1,7,18.0

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 30 119 85.60 SBE_CT 1768 24 1006.19

Roll_motor 267 60 380.49 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15754.69 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 100 223 531.83

Transponder_ping 0 420 2.49

GPS 21 50 10.41

TT8 5968 19 1141.44

LPSleep 13563 2 300.79

TT8_Active 913 19 174.69

TT8_Sampling 2890 39 1107.59

TT8_CF8 3735 45 1646.59

TT8_Kalman 33 81 26.22

Analog_circuits 2831 12 326.16

GPS_charging 0 0 0.00

Compass 3685 26 919.94

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 -57.20 0.000 2 0.000 0.000 629 1871 2136

114 -0.83 -116.8 3.2 -6.3 6 155 7.25 2.10 -19.62 0.000 4 0.000 0.000 2119 447 2739

199 -0.83 -116.8 17.4 -15.3 14 212 0.32 3.65 0.00 0.000 6 0.000 0.000 2039 2086 2737

649 -0.83 -116.8 74.0 -11.6 75 661 0.28 2.75 0.00 0.000 4 0.000 0.000 2078 574 2738

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

894 -0.25 0.0 100.2 11.2 106 993 0.77 0.00 95.68 0.000 6 0.000 0.000 2259 2090 2257

state end apogee CONTROL_FINISHED_OK

state start climb

1004 0.83 116.8 110.9 0.0 111 1111 1.00 3.62 93.70 0.000 4 0.000 0.000 2487 3494 1790

1245 0.83 116.8 133.2 -7.4 119 1253 0.38 3.75 0.00 0.000 6 0.000 0.000 2409 1793 1788

1583 0.83 116.8 159.3 -8.0 135 1590 0.50 2.92 0.00 0.000 4 0.000 0.000 2502 3586 1779

1886 0.83 116.8 183.2 -7.8 147 1902 0.00 3.85 0.00 0.000 6 0.000 0.000 2462 1797 1785

2212 0.83 116.8 208.3 -7.8 163 2217 0.00 2.50 0.00 0.000 4 0.000 0.000 2477 499 1785

2512 0.83 116.8 233.5 -8.3 175 2530 0.38 3.75 0.57 0.001 6 0.000 0.000 2410 2153 1786

2843 0.83 116.8 259.9 -7.7 191 2851 0.32 3.15 0.00 0.000 4 0.000 0.000 2498 464 1781

3055 0.83 116.8 277.4 -8.0 199 3068 0.12 2.50 0.00 0.000 6 0.000 0.000 2449 2144 1783

3376 0.83 116.8 302.1 -7.8 215 3381 0.00 3.12 0.00 0.000 4 0.000 0.000 2430 594 1785

3453 0.83 116.8 308.4 -8.0 218 3458 0.00 2.60 0.00 0.000 6 0.000 0.000 2437 2020 1779

3774 0.83 116.8 332.1 -7.3 233 3778 0.00 2.65 0.00 0.000 4 0.000 0.000 2435 3416 1784

4073 0.83 116.8 356.7 -8.1 245 4078 0.00 3.03 0.00 0.000 6 0.000 0.000 2420 1993 1784

4394 0.83 116.8 384.7 -9.0 260 4399 0.00 3.25 0.00 0.000 4 0.000 0.000 2424 3393 1781

4694 0.83 116.8 407.6 -7.4 272 4699 0.00 2.50 0.00 0.000 6 0.000 0.000 2440 1962 1784

5015 0.83 116.8 429.4 -6.6 287 5020 0.00 2.50 0.00 0.000 4 0.000 0.000 2421 3415 1782

5316 0.83 116.8 450.8 -6.3 299 5321 0.00 3.22 0.00 0.000 6 0.000 0.000 2434 1958 1791

5636 0.83 116.8 471.8 -6.9 314 5644 0.03 3.35 0.00 0.000 4 0.000 0.000 2424 3486 1786

5940 0.83 116.8 496.0 -8.4 326 5945 0.00 3.10 0.00 0.000 6 0.000 0.000 2431 1947 1787

6257 0.83 116.8 519.4 -7.2 335 6262 0.00 2.60 0.00 0.000 4 0.000 0.000 2425 3367 1782

6551 0.83 422.6 538.8 -5.3 341 6903 0.00 2.50 293.85 0.000 6 0.000 0.000 2437 1811 542

7232 1.34 422.6 582.7 -7.2 356 7240 0.85 2.70 0.00 0.000 4 0.000 0.000 2642 3592 535

7537 1.34 422.6 602.1 -6.5 362 7543 0.43 2.70 0.00 0.000 6 0.000 0.000 2540 1802 537

7857 1.34 422.6 624.5 -7.4 370 7863 0.32 2.70 0.00 0.000 4 0.000 0.000 2628 3353 535

8158 1.34 752.3 644.8 -6.2 376 8204 0.40 3.35 26.35 0.000 6 0.000 0.000 2517 1820 429

8523 1.89 1080.5 668.7 -6.2 385 8532 0.82 2.50 0.47 0.000 4 0.000 0.000 2716 3493 416

8823 2.44 1080.5 690.0 -6.8 391 8832 0.47 3.72 0.08 0.000 6 0.000 0.000 2823 1840 422

9152 2.44 1408.1 710.3 -6.2 399 9162 0.08 3.75 0.03 0.001 4 0.000 0.000 2811 3487 424

9303 2.99 1408.1 721.9 -8.9 402 9311 0.62 3.10 0.00 0.000 6 0.000 0.000 2968 1821 419

9638 2.99 1734.8 742.8 -6.1 410 9646 0.20 3.22 0.03 0.001 4 0.000 0.000 2947 3524 417

9935 3.53 1734.8 763.1 -7.1 416 9943 0.60 2.80 0.00 0.000 6 0.000 0.000 3080 1825 423

10260 3.53 2051.5 782.2 -5.7 424 10266 0.43 2.80 0.00 0.000 4 0.000 0.000 3057 3365 425

10279 4.06 2350.9 783.4 -5.1 424 10285 0.62 2.50 0.05 0.000 6 0.000 0.000 3151 1809 429

10628 4.56 2672.7 803.1 -5.9 433 10635 0.32 2.80 0.08 0.000 4 0.000 0.000 3294 3367 423

10925 5.10 2672.7 824.0 -8.0 439 10932 0.00 3.75 0.00 0.000 6 0.000 0.000 3285 1864 416

11248 5.10 3001.5 845.9 -6.2 447 11256 0.00 4.03 0.00 0.000 4 0.000 0.000 3288 3562 426

11549 5.65 3319.9 864.0 -5.8 453 11554 0.00 2.95 0.00 0.000 6 0.000 0.000 3303 1864 418

11867 6.18 3319.9 884.5 -6.6 461 11872 0.00 2.70 0.03 0.001 4 0.000 0.000 3293 3365 424

12094 6.18 3639.4 898.7 -5.9 465 12107 0.00 2.53 0.00 0.000 6 0.000 0.000 3300 1837 423

12431 6.71 3964.4 918.5 -6.1 474 12437 0.00 3.15 0.03 0.000 4 0.000 0.000 3296 3468 420

12723 7.26 4225.0 933.7 -3.6 480 12731 0.00 3.65 0.03 0.000 6 0.000 0.000 3291 1794 424

13045 7.69 4392.1 934.9 -0.1 488 13050 0.00 3.00 0.00 0.000 4 0.000 0.000 3269 3422 418

13188 7.97 4469.2 933.5 3.3 491 13193 0.00 2.70 0.08 0.000 6 0.000 0.000 3285 1875 419

13513 8.10 4469.2 913.5 6.6 499 13517 0.00 2.50 0.00 0.000 4 0.000 0.000 3295 3435 413

13805 8.10 4469.2 893.4 6.8 505 13810 0.00 3.12 0.00 0.000 6 0.000 0.000 3288 1773 424

14123 8.10 4469.2 869.2 8.0 513 14130 0.00 3.55 0.00 0.000 4 0.000 0.000 3286 3549 420

14420 8.10 4469.2 849.0 6.4 519 14427 0.00 3.45 0.00 0.000 6 0.000 0.000 3287 1793 426

14743 8.10 4469.2 827.3 7.1 527 14750 0.00 3.62 0.00 0.000 4 0.000 0.000 3260 3593 419

15041 8.10 4469.2 803.8 6.5 533 15046 0.00 2.83 0.00 0.000 6 0.000 0.000 3300 1830 424

15360 8.10 4482.0 785.0 5.8 541 15364 0.00 2.70 0.00 0.000 4 0.000 0.000 3292 3453 410

15652 8.12 4482.0 762.1 8.0 547 15657 0.00 2.70 0.03 0.000 6 0.000 0.000 3298 1862 421

15970 8.12 4482.0 739.1 7.5 555 15978 0.00 3.42 0.00 0.000 4 0.000 0.000 3271 3539 414

16268 8.12 4482.0 716.7 7.7 561 16273 0.00 3.03 0.00 0.000 6 0.000 0.000 3292 1855 412

16586 8.12 4503.7 698.1 5.4 569 16591 0.00 3.05 0.00 0.000 4 0.000 0.000 3275 3385 416

16882 8.16 4531.0 681.3 5.2 575 16887 0.00 2.60 0.00 0.000 6 0.000 0.000 3298 1966 425

17200 8.20 4531.0 659.4 7.5 583 17204 0.00 2.60 0.00 0.000 4 0.000 0.000 3306 3383 417

17493 8.20 4531.0 635.5 9.0 589 17501 0.00 3.25 0.03 0.001 6 0.000 0.000 3274 1833 418

17817 8.20 4531.0 607.4 8.7 597 17822 0.00 2.90 0.03 0.001 4 0.000 0.000 3284 3460 420

18111 8.20 4531.0 581.6 8.3 603 18116 0.00 3.25 0.00 0.000 6 0.000 0.000 3285 1785 420

18430 8.20 4537.7 560.7 6.0 611 18435 0.00 3.03 0.00 0.000 4 0.000 0.000 3291 3442 420

18725 8.21 4537.7 541.4 6.4 617 18729 0.00 2.70 0.00 0.000 6 0.000 0.000 3291 1767 419

19042 8.21 4537.7 520.4 7.0 625 19050 0.00 3.45 0.00 0.000 4 0.000 0.000 3292 3572 424

19342 8.21 4537.7 496.1 8.3 631 19358 0.00 3.92 0.08 0.000 6 0.000 0.000 3279 1752 415

19673 8.21 4537.7 469.7 7.8 647 19677 0.00 2.72 0.00 0.000 4 0.000 0.000 3288 3459 421

19979 8.21 4537.7 445.5 7.2 659 19985 0.00 3.10 0.03 0.001 6 0.000 0.000 3291 1917 420

20300 8.21 4537.7 421.9 7.2 674 20305 0.00 2.80 0.03 0.001 4 0.000 0.000 3291 3427 418

20601 8.21 4544.1 400.5 6.0 686 20605 0.00 2.60 0.00 0.000 6 0.000 0.000 3298 1954 419

20922 8.22 4544.1 378.5 6.9 701 20930 0.00 3.35 0.00 0.000 4 0.000 0.000 3292 3499 415

21237 8.22 4553.8 357.2 5.9 713 21242 0.00 2.50 0.03 0.001 6 0.000 0.000 3313 1964 419

21558 8.24 4553.8 335.1 6.7 728 21566 0.00 3.53 0.00 0.000 4 0.000 0.000 3297 3481 425

21882 8.24 4553.8 312.9 7.4 740 21887 0.00 2.50 0.00 0.000 6 0.000 0.000 3290 1842 419

22208 8.24 4553.8 290.4 7.0 755 22216 0.00 3.72 0.00 0.000 4 0.000 0.000 3293 3560 421

22530 8.24 4555.5 269.7 6.2 767 22545 0.00 3.47 0.00 0.000 6 0.000 0.000 3296 1918 420

22860 8.24 4555.5 248.6 6.4 783 22864 0.00 2.60 0.00 0.000 4 0.000 0.000 3295 3426 417

23175 8.24 4555.5 229.2 6.9 795 23191 0.00 3.75 0.08 0.000 6 0.000 0.000 3300 1790 418

23507 8.24 4555.5 204.2 8.2 811 23512 0.00 2.60 0.00 0.000 4 0.000 0.000 3307 486 421

23534 8.24 4555.5 201.6 8.7 812 23539 0.00 2.80 0.00 0.000 6 0.000 0.000 3276 2157 422

23866 8.24 4555.5 174.0 7.6 828 23872 0.00 2.92 0.03 0.001 4 0.000 0.000 3278 3413 417

24167 8.24 4603.1 154.4 4.4 840 24171 0.00 2.70 0.00 0.000 6 0.000 0.000 3284 1773 416

24488 8.32 4603.1 131.8 7.2 855 24492 0.00 2.80 0.00 0.000 4 0.000 0.000 3305 3403 416

24793 8.32 4655.2 112.5 4.3 867 24808 0.00 3.65 0.00 0.000 6 0.000 0.000 3299 1779 418

25169 8.41 4655.2 89.1 6.6 898 25181 0.00 3.08 0.00 0.000 4 0.000 0.000 3307 3561 416

25319 8.41 4701.1 82.1 4.5 916 25332 0.00 2.78 0.00 0.000 6 0.000 0.000 3304 1803 418

25801 8.49 4701.1 55.4 6.8 977 25814 0.00 3.55 0.00 0.000 4 0.000 0.000 3298 3472 417

26193 8.49 4714.2 30.7 5.8 1026 26205 0.00 2.80 0.00 0.000 6 0.000 0.000 3262 1878 421

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	22	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	16	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	-442755.81	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	095742,4658.796,-12500.767,18,1.1,18,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.162,0.104
_SM_DEPTHo	0.33	KALMAN_X	44029.2,-402.1,-103.6,42682.3,-953.0
_SM_ANGLEo	-50.0	KALMAN_Y	-8199.7,-995.8,-750.5,-1201.8,864.9
GPS2	100325,4658.819,-12500.758,21,1.1,21,18.0	MHEAD_RNG_PITCHd_Wd	39.4,232287,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999524	ALTIM_TOP_PING	20.0,999.0
SM_CCo	26782,0.00,0.000,0,0,419,451.84	_24V_AH	23.7,74.059
SM_GC	0.34,12.82,0.00,0.00,0.000,0.000,0.000,656,2128,419,-7.24,4.27,451.84	_10V_AH	9.6,25.753
RAFOS_CLK	0	DATA_FILE_SIZE	37835,1090
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,236240896
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,55,1801,8,0
TT8_MAMPS	0.023777	SOUNDSPEED	1465.0
HUMID	1957	CURRENT	0.046,298.5,1
INTERNAL_PRESSURE	26.1237	GPS	210607,173152,4659.040,-12505.743,7,1.1,7,18.0
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	30	119	85.60	SBE_CT	1768	24	1006.19
Roll_motor	267	60	380.49	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15754.69	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	100	223	531.83
Transponder_ping	0	420	2.49
GPS	21	50	10.41
TT8	5968	19	1141.44
LPSleep	13563	2	300.79
TT8_Active	913	19	174.69
TT8_Sampling	2890	39	1107.59
TT8_CF8	3735	45	1646.59
TT8_Kalman	33	81	26.22
Analog_circuits	2831	12	326.16
GPS_charging	0	0	0.00
Compass	3685	26	919.94
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	-57.20	0.000	2	0.000	0.000	629	1871	2136
114	-0.83	-116.8	3.2	-6.3	6	155	7.25	2.10	-19.62	0.000	4	0.000	0.000	2119	447	2739
199	-0.83	-116.8	17.4	-15.3	14	212	0.32	3.65	0.00	0.000	6	0.000	0.000	2039	2086	2737
649	-0.83	-116.8	74.0	-11.6	75	661	0.28	2.75	0.00	0.000	4	0.000	0.000	2078	574	2738
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
894	-0.25	0.0	100.2	11.2	106	993	0.77	0.00	95.68	0.000	6	0.000	0.000	2259	2090	2257
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1004	0.83	116.8	110.9	0.0	111	1111	1.00	3.62	93.70	0.000	4	0.000	0.000	2487	3494	1790
1245	0.83	116.8	133.2	-7.4	119	1253	0.38	3.75	0.00	0.000	6	0.000	0.000	2409	1793	1788
1583	0.83	116.8	159.3	-8.0	135	1590	0.50	2.92	0.00	0.000	4	0.000	0.000	2502	3586	1779
1886	0.83	116.8	183.2	-7.8	147	1902	0.00	3.85	0.00	0.000	6	0.000	0.000	2462	1797	1785
2212	0.83	116.8	208.3	-7.8	163	2217	0.00	2.50	0.00	0.000	4	0.000	0.000	2477	499	1785
2512	0.83	116.8	233.5	-8.3	175	2530	0.38	3.75	0.57	0.001	6	0.000	0.000	2410	2153	1786
2843	0.83	116.8	259.9	-7.7	191	2851	0.32	3.15	0.00	0.000	4	0.000	0.000	2498	464	1781
3055	0.83	116.8	277.4	-8.0	199	3068	0.12	2.50	0.00	0.000	6	0.000	0.000	2449	2144	1783
3376	0.83	116.8	302.1	-7.8	215	3381	0.00	3.12	0.00	0.000	4	0.000	0.000	2430	594	1785
3453	0.83	116.8	308.4	-8.0	218	3458	0.00	2.60	0.00	0.000	6	0.000	0.000	2437	2020	1779
3774	0.83	116.8	332.1	-7.3	233	3778	0.00	2.65	0.00	0.000	4	0.000	0.000	2435	3416	1784
4073	0.83	116.8	356.7	-8.1	245	4078	0.00	3.03	0.00	0.000	6	0.000	0.000	2420	1993	1784
4394	0.83	116.8	384.7	-9.0	260	4399	0.00	3.25	0.00	0.000	4	0.000	0.000	2424	3393	1781
4694	0.83	116.8	407.6	-7.4	272	4699	0.00	2.50	0.00	0.000	6	0.000	0.000	2440	1962	1784
5015	0.83	116.8	429.4	-6.6	287	5020	0.00	2.50	0.00	0.000	4	0.000	0.000	2421	3415	1782
5316	0.83	116.8	450.8	-6.3	299	5321	0.00	3.22	0.00	0.000	6	0.000	0.000	2434	1958	1791
5636	0.83	116.8	471.8	-6.9	314	5644	0.03	3.35	0.00	0.000	4	0.000	0.000	2424	3486	1786
5940	0.83	116.8	496.0	-8.4	326	5945	0.00	3.10	0.00	0.000	6	0.000	0.000	2431	1947	1787
6257	0.83	116.8	519.4	-7.2	335	6262	0.00	2.60	0.00	0.000	4	0.000	0.000	2425	3367	1782
6551	0.83	422.6	538.8	-5.3	341	6903	0.00	2.50	293.85	0.000	6	0.000	0.000	2437	1811	542
7232	1.34	422.6	582.7	-7.2	356	7240	0.85	2.70	0.00	0.000	4	0.000	0.000	2642	3592	535
7537	1.34	422.6	602.1	-6.5	362	7543	0.43	2.70	0.00	0.000	6	0.000	0.000	2540	1802	537
7857	1.34	422.6	624.5	-7.4	370	7863	0.32	2.70	0.00	0.000	4	0.000	0.000	2628	3353	535
8158	1.34	752.3	644.8	-6.2	376	8204	0.40	3.35	26.35	0.000	6	0.000	0.000	2517	1820	429
8523	1.89	1080.5	668.7	-6.2	385	8532	0.82	2.50	0.47	0.000	4	0.000	0.000	2716	3493	416
8823	2.44	1080.5	690.0	-6.8	391	8832	0.47	3.72	0.08	0.000	6	0.000	0.000	2823	1840	422
9152	2.44	1408.1	710.3	-6.2	399	9162	0.08	3.75	0.03	0.001	4	0.000	0.000	2811	3487	424
9303	2.99	1408.1	721.9	-8.9	402	9311	0.62	3.10	0.00	0.000	6	0.000	0.000	2968	1821	419
9638	2.99	1734.8	742.8	-6.1	410	9646	0.20	3.22	0.03	0.001	4	0.000	0.000	2947	3524	417
9935	3.53	1734.8	763.1	-7.1	416	9943	0.60	2.80	0.00	0.000	6	0.000	0.000	3080	1825	423
10260	3.53	2051.5	782.2	-5.7	424	10266	0.43	2.80	0.00	0.000	4	0.000	0.000	3057	3365	425
10279	4.06	2350.9	783.4	-5.1	424	10285	0.62	2.50	0.05	0.000	6	0.000	0.000	3151	1809	429
10628	4.56	2672.7	803.1	-5.9	433	10635	0.32	2.80	0.08	0.000	4	0.000	0.000	3294	3367	423
10925	5.10	2672.7	824.0	-8.0	439	10932	0.00	3.75	0.00	0.000	6	0.000	0.000	3285	1864	416
11248	5.10	3001.5	845.9	-6.2	447	11256	0.00	4.03	0.00	0.000	4	0.000	0.000	3288	3562	426
11549	5.65	3319.9	864.0	-5.8	453	11554	0.00	2.95	0.00	0.000	6	0.000	0.000	3303	1864	418
11867	6.18	3319.9	884.5	-6.6	461	11872	0.00	2.70	0.03	0.001	4	0.000	0.000	3293	3365	424
12094	6.18	3639.4	898.7	-5.9	465	12107	0.00	2.53	0.00	0.000	6	0.000	0.000	3300	1837	423
12431	6.71	3964.4	918.5	-6.1	474	12437	0.00	3.15	0.03	0.000	4	0.000	0.000	3296	3468	420
12723	7.26	4225.0	933.7	-3.6	480	12731	0.00	3.65	0.03	0.000	6	0.000	0.000	3291	1794	424
13045	7.69	4392.1	934.9	-0.1	488	13050	0.00	3.00	0.00	0.000	4	0.000	0.000	3269	3422	418
13188	7.97	4469.2	933.5	3.3	491	13193	0.00	2.70	0.08	0.000	6	0.000	0.000	3285	1875	419
13513	8.10	4469.2	913.5	6.6	499	13517	0.00	2.50	0.00	0.000	4	0.000	0.000	3295	3435	413
13805	8.10	4469.2	893.4	6.8	505	13810	0.00	3.12	0.00	0.000	6	0.000	0.000	3288	1773	424
14123	8.10	4469.2	869.2	8.0	513	14130	0.00	3.55	0.00	0.000	4	0.000	0.000	3286	3549	420
14420	8.10	4469.2	849.0	6.4	519	14427	0.00	3.45	0.00	0.000	6	0.000	0.000	3287	1793	426
14743	8.10	4469.2	827.3	7.1	527	14750	0.00	3.62	0.00	0.000	4	0.000	0.000	3260	3593	419
15041	8.10	4469.2	803.8	6.5	533	15046	0.00	2.83	0.00	0.000	6	0.000	0.000	3300	1830	424
15360	8.10	4482.0	785.0	5.8	541	15364	0.00	2.70	0.00	0.000	4	0.000	0.000	3292	3453	410
15652	8.12	4482.0	762.1	8.0	547	15657	0.00	2.70	0.03	0.000	6	0.000	0.000	3298	1862	421
15970	8.12	4482.0	739.1	7.5	555	15978	0.00	3.42	0.00	0.000	4	0.000	0.000	3271	3539	414
16268	8.12	4482.0	716.7	7.7	561	16273	0.00	3.03	0.00	0.000	6	0.000	0.000	3292	1855	412
16586	8.12	4503.7	698.1	5.4	569	16591	0.00	3.05	0.00	0.000	4	0.000	0.000	3275	3385	416
16882	8.16	4531.0	681.3	5.2	575	16887	0.00	2.60	0.00	0.000	6	0.000	0.000	3298	1966	425
17200	8.20	4531.0	659.4	7.5	583	17204	0.00	2.60	0.00	0.000	4	0.000	0.000	3306	3383	417
17493	8.20	4531.0	635.5	9.0	589	17501	0.00	3.25	0.03	0.001	6	0.000	0.000	3274	1833	418
17817	8.20	4531.0	607.4	8.7	597	17822	0.00	2.90	0.03	0.001	4	0.000	0.000	3284	3460	420
18111	8.20	4531.0	581.6	8.3	603	18116	0.00	3.25	0.00	0.000	6	0.000	0.000	3285	1785	420
18430	8.20	4537.7	560.7	6.0	611	18435	0.00	3.03	0.00	0.000	4	0.000	0.000	3291	3442	420
18725	8.21	4537.7	541.4	6.4	617	18729	0.00	2.70	0.00	0.000	6	0.000	0.000	3291	1767	419
19042	8.21	4537.7	520.4	7.0	625	19050	0.00	3.45	0.00	0.000	4	0.000	0.000	3292	3572	424
19342	8.21	4537.7	496.1	8.3	631	19358	0.00	3.92	0.08	0.000	6	0.000	0.000	3279	1752	415
19673	8.21	4537.7	469.7	7.8	647	19677	0.00	2.72	0.00	0.000	4	0.000	0.000	3288	3459	421
19979	8.21	4537.7	445.5	7.2	659	19985	0.00	3.10	0.03	0.001	6	0.000	0.000	3291	1917	420
20300	8.21	4537.7	421.9	7.2	674	20305	0.00	2.80	0.03	0.001	4	0.000	0.000	3291	3427	418
20601	8.21	4544.1	400.5	6.0	686	20605	0.00	2.60	0.00	0.000	6	0.000	0.000	3298	1954	419
20922	8.22	4544.1	378.5	6.9	701	20930	0.00	3.35	0.00	0.000	4	0.000	0.000	3292	3499	415
21237	8.22	4553.8	357.2	5.9	713	21242	0.00	2.50	0.03	0.001	6	0.000	0.000	3313	1964	419
21558	8.24	4553.8	335.1	6.7	728	21566	0.00	3.53	0.00	0.000	4	0.000	0.000	3297	3481	425
21882	8.24	4553.8	312.9	7.4	740	21887	0.00	2.50	0.00	0.000	6	0.000	0.000	3290	1842	419
22208	8.24	4553.8	290.4	7.0	755	22216	0.00	3.72	0.00	0.000	4	0.000	0.000	3293	3560	421
22530	8.24	4555.5	269.7	6.2	767	22545	0.00	3.47	0.00	0.000	6	0.000	0.000	3296	1918	420
22860	8.24	4555.5	248.6	6.4	783	22864	0.00	2.60	0.00	0.000	4	0.000	0.000	3295	3426	417
23175	8.24	4555.5	229.2	6.9	795	23191	0.00	3.75	0.08	0.000	6	0.000	0.000	3300	1790	418
23507	8.24	4555.5	204.2	8.2	811	23512	0.00	2.60	0.00	0.000	4	0.000	0.000	3307	486	421
23534	8.24	4555.5	201.6	8.7	812	23539	0.00	2.80	0.00	0.000	6	0.000	0.000	3276	2157	422
23866	8.24	4555.5	174.0	7.6	828	23872	0.00	2.92	0.03	0.001	4	0.000	0.000	3278	3413	417
24167	8.24	4603.1	154.4	4.4	840	24171	0.00	2.70	0.00	0.000	6	0.000	0.000	3284	1773	416
24488	8.32	4603.1	131.8	7.2	855	24492	0.00	2.80	0.00	0.000	4	0.000	0.000	3305	3403	416
24793	8.32	4655.2	112.5	4.3	867	24808	0.00	3.65	0.00	0.000	6	0.000	0.000	3299	1779	418
25169	8.41	4655.2	89.1	6.6	898	25181	0.00	3.08	0.00	0.000	4	0.000	0.000	3307	3561	416
25319	8.41	4701.1	82.1	4.5	916	25332	0.00	2.78	0.00	0.000	6	0.000	0.000	3304	1803	418
25801	8.49	4701.1	55.4	6.8	977	25814	0.00	3.55	0.00	0.000	4	0.000	0.000	3298	3472	417
26193	8.49	4714.2	30.7	5.8	1026	26205	0.00	2.80	0.00	0.000	6	0.000	0.000	3262	1878	421
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface