Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 24 * 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 24 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 2 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 30 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 -442784.94 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 -442784.94

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 2 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 30 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 24 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 014706,4700.383,-12511.715,28,1.1,28,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.027,0.191

_SM_DEPTHo 0.34 KALMAN_X 38414.7,-3758.5,-1488.3,39382.8,1754.4

_SM_ANGLEo -50.0 KALMAN_Y -8377.0,347.2,99.9,-323.3,507.1

GPS2 015512,4700.414,-12511.689,9,1.1,9,18.0 MHEAD_RNG_PITCHd_Wd 350.0,242131,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999510 ALTIM_TOP_PING 19.9,999.0

SM_CCo 28172,0.00,0.000,0,0,415,451.35 _24V_AH 23.6,75.971

SM_GC 0.34,13.48,0.00,0.00,0.000,0.000,0.000,662,2171,415,-7.48,5.03,451.35 _10V_AH 9.6,26.140

RAFOS_CLK 0 DATA_FILE_SIZE 37850,1114

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,235470848

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,64,1808,2,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2479 CURRENT 0.044,275.2,1

INTERNAL_PRESSURE 26.1041 GPS 220607,094656,4700.196,-12517.067,14,1.1,14,18.0

TCM_TEMP 15.00 ESCAPE_REASON=NO_RECOVERY_REASON

XPDR_PINGS -1 ESCAPE_STARTED_DIVE=0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 119 97.80 SBE_CT 1866 24 1057.32

Roll_motor 269 60 381.72 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15684.38 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 119 223 629.05

Transponder_ping 0 420 2.48

GPS 10 50 4.96

TT8 6225 19 1190.52

LPSleep 14300 2 317.12

TT8_Active 888 19 169.88

TT8_Sampling 3114 39 1193.55

TT8_CF8 3984 45 1756.32

TT8_Kalman 33 81 26.23

Analog_circuits 2939 12 338.58

GPS_charging 0 0 0.00

Compass 4028 26 1005.47

RAFOS 3600 1 51.84

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 -116.6 0.0 0.0 0 121 0.00 0.00 -74.38 0.000 2 0.000 0.000 651 1817 2653

127 -0.83 -116.8 4.3 -6.2 7 157 7.38 3.03 -2.97 0.000 4 0.000 0.000 2126 426 2741

506 -0.83 -116.8 57.7 -12.0 57 518 0.38 2.60 0.00 0.000 6 0.000 0.000 2043 1944 2737

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

876 -0.25 0.0 100.1 11.8 105 976 1.10 0.00 96.10 0.000 6 0.000 0.000 2269 2194 2263

state end apogee CONTROL_FINISHED_OK

state start climb

987 0.83 116.8 110.0 0.0 110 1095 0.95 2.20 94.60 0.000 4 0.000 0.000 2478 3622 1782

1397 0.83 116.8 148.2 -9.4 125 1409 0.35 2.70 0.00 0.000 6 0.000 0.000 2378 1968 1782

1718 0.83 116.8 176.2 -8.3 141 1723 0.32 2.90 0.00 0.000 4 0.000 0.000 2486 3454 1782

2023 0.83 116.8 202.1 -8.6 153 2029 0.40 2.70 0.00 0.000 6 0.000 0.000 2471 1794 1786

2344 0.83 116.8 227.2 -8.0 168 2350 0.40 2.70 0.00 0.000 4 0.000 0.000 2485 3452 1780

2647 0.83 116.8 251.6 -8.4 180 2653 0.40 2.80 0.00 0.000 6 0.000 0.000 2443 1757 1782

2968 0.83 116.8 275.7 -7.6 195 2977 0.47 3.78 0.00 0.000 4 0.000 0.000 2467 3388 1788

3272 0.83 116.8 299.1 -6.7 207 3288 0.35 3.25 0.00 0.000 6 0.000 0.000 2395 1777 1779

3597 0.83 116.8 323.1 -7.8 223 3606 0.38 3.92 0.00 0.000 4 0.000 0.000 2502 3566 1790

3901 0.83 116.8 347.4 -6.9 235 3917 0.38 3.28 0.00 0.000 6 0.000 0.000 2395 1875 1781

4226 0.83 116.8 371.4 -7.4 251 4236 0.38 3.85 0.03 0.002 4 0.000 0.000 2479 3556 1793

4539 0.83 116.8 394.6 -6.9 263 4555 0.20 3.62 0.00 0.000 6 0.000 0.000 2440 1777 1783

4864 0.83 116.8 417.8 -6.7 279 4869 0.00 2.83 0.00 0.000 4 0.000 0.000 2434 3426 1786

5163 0.83 116.8 438.6 -6.3 291 5178 0.00 3.35 0.00 0.000 6 0.000 0.000 2438 1798 1787

5488 0.83 116.8 459.0 -6.5 307 5493 0.00 3.25 0.00 0.000 4 0.000 0.000 2413 3453 1787

5796 0.83 116.8 480.4 -7.2 319 5813 0.08 4.43 0.00 0.000 6 0.000 0.000 2423 1834 1787

6147 0.83 116.8 503.5 -7.3 335 6155 0.03 3.55 0.00 0.000 4 0.000 0.000 2428 3514 1786

6449 0.83 116.8 527.1 -7.4 341 6453 0.00 2.50 0.00 0.000 6 0.000 0.000 2425 1822 1783

6767 0.83 116.8 550.4 -7.6 349 6775 0.00 3.65 0.00 0.000 4 0.000 0.000 2431 3596 1783

7065 0.83 116.8 572.3 -6.9 355 7070 0.00 3.00 0.00 0.000 6 0.000 0.000 2451 1943 1784

7384 0.83 440.9 591.7 -6.0 363 7720 0.00 3.50 310.48 0.000 4 0.000 0.000 2449 3608 464

8018 1.37 440.9 632.4 -6.6 375 8026 0.82 2.70 0.00 0.000 6 0.000 0.000 2608 1812 467

8365 1.37 440.9 655.7 -7.0 384 8370 0.38 2.70 0.00 0.000 4 0.000 0.000 2533 3473 467

8669 1.37 440.9 677.4 -6.7 390 8677 0.40 2.80 0.70 0.000 6 0.000 0.000 2591 1787 458

8993 1.37 440.9 698.1 -6.4 398 8999 0.32 2.90 0.00 0.000 4 0.000 0.000 2530 3471 463

9298 1.37 440.9 718.7 -6.9 404 9307 0.38 3.65 0.00 0.000 6 0.000 0.000 2608 1801 462

9623 1.37 440.9 742.0 -7.4 412 9631 0.45 3.12 0.00 0.000 4 0.000 0.000 2521 3594 452

9926 1.37 440.9 764.8 -7.6 418 9934 0.38 3.35 0.00 0.000 6 0.000 0.000 2584 1823 463

10250 1.37 440.9 787.2 -7.0 426 10258 0.30 3.55 0.00 0.000 4 0.000 0.000 2529 3600 471

10550 1.37 440.9 808.1 -6.7 432 10558 0.38 3.45 0.00 0.000 6 0.000 0.000 2620 1818 457

10874 1.37 440.9 829.0 -6.5 440 10880 0.25 2.70 0.00 0.000 4 0.000 0.000 2541 3494 463

11169 1.37 440.9 849.2 -7.0 446 11175 0.03 2.92 0.00 0.000 6 0.000 0.000 2572 1796 456

11488 1.37 440.9 871.7 -7.2 454 11493 0.00 2.80 0.00 0.000 4 0.000 0.000 2551 3419 459

11782 1.37 440.9 892.6 -6.4 460 11790 0.00 3.55 0.00 0.000 6 0.000 0.000 2567 1947 455

12106 1.37 745.3 910.9 -5.3 468 12120 0.03 2.58 7.78 0.000 4 0.000 0.000 2552 3442 425

12413 1.88 1037.6 926.9 -4.8 474 12422 0.60 4.03 0.08 0.002 6 0.000 0.000 2711 1783 427

12776 2.37 1325.0 944.0 -4.7 483 12785 0.47 3.55 0.35 0.000 4 0.000 0.000 2802 3557 425

13074 2.85 1649.5 960.2 -6.1 489 13082 0.57 2.92 0.00 0.000 6 0.000 0.000 2949 1763 420

13398 3.39 1969.6 979.4 -5.9 497 13404 0.47 2.50 0.05 0.001 4 0.000 0.000 3028 3370 421

13690 3.93 2173.4 994.3 -1.5 503 13695 0.52 2.60 0.00 0.000 6 0.000 0.000 3132 1807 423

14008 4.27 2173.4 981.0 7.5 511 14013 0.00 3.00 0.00 0.000 4 0.000 0.000 3177 3483 426

14301 4.27 2173.4 955.7 8.5 517 14309 0.05 3.22 0.00 0.000 6 0.000 0.000 3183 1767 432

14625 4.27 2173.4 928.1 8.7 525 14634 0.00 3.85 0.45 0.000 4 0.000 0.000 3194 3568 422

14924 4.27 2173.4 903.0 6.4 531 14930 0.00 2.72 0.03 0.000 6 0.000 0.000 3160 1757 419

15244 4.27 2173.4 877.9 7.9 539 15249 0.00 3.00 0.00 0.000 4 0.000 0.000 3174 3456 426

15537 4.27 2173.4 856.4 6.7 545 15542 0.00 3.00 0.03 0.000 6 0.000 0.000 3190 1924 423

15855 4.27 2173.4 835.5 6.6 553 15860 0.00 3.20 0.00 0.000 4 0.000 0.000 3189 3455 429

16148 4.27 2173.4 814.9 6.3 559 16154 0.00 3.03 0.00 0.000 6 0.000 0.000 3146 1805 420

16467 4.27 2173.4 792.5 7.2 567 16475 0.00 3.45 0.10 0.000 4 0.000 0.000 3177 3584 419

16766 4.27 2173.4 769.0 7.5 573 16771 0.00 2.83 0.03 0.000 6 0.000 0.000 3177 1793 418

17084 4.27 2173.4 742.0 8.6 581 17089 0.00 2.80 0.00 0.000 4 0.000 0.000 3176 3427 418

17377 4.27 2173.4 717.9 8.4 587 17382 0.00 2.70 0.03 0.000 6 0.000 0.000 3197 1896 423

17695 4.27 2173.4 694.8 7.2 595 17704 0.08 3.65 0.03 0.001 4 0.000 0.000 3192 3535 423

17994 4.27 2188.5 675.0 5.7 601 17998 0.00 2.50 0.00 0.000 6 0.000 0.000 3181 1974 422

18312 4.29 2198.2 656.5 5.9 609 18320 0.00 3.45 0.05 0.000 4 0.000 0.000 3192 3486 425

18612 4.31 2215.6 637.8 5.6 615 18620 0.00 4.03 0.00 0.000 6 0.000 0.000 3193 1860 420

18936 4.34 2215.6 617.5 6.5 623 18941 0.05 2.60 0.00 0.000 4 0.000 0.000 3188 3419 423

19230 4.34 2215.6 594.2 8.4 629 19237 0.00 3.58 0.00 0.000 6 0.000 0.000 3160 1876 419

19552 4.34 2215.6 567.9 8.1 637 19557 0.05 2.62 0.00 0.000 4 0.000 0.000 3238 3359 425

19846 4.34 2215.6 546.4 6.7 643 19854 0.05 3.72 0.00 0.000 6 0.000 0.000 3213 1861 427

20170 4.34 2215.6 524.0 6.9 651 20178 0.03 3.25 0.00 0.000 4 0.000 0.000 3231 3543 419

20470 4.34 2215.6 503.8 6.9 657 20477 0.00 3.50 0.00 0.000 6 0.000 0.000 3220 1764 421

20797 4.34 2215.6 483.2 6.4 671 20804 0.00 3.30 0.10 0.000 4 0.000 0.000 3234 3604 422

21114 4.34 2224.2 462.4 5.9 683 21119 0.00 2.70 0.00 0.000 6 0.000 0.000 3241 1959 415

21436 4.35 2224.2 441.1 6.5 698 21444 0.00 3.33 0.03 0.001 4 0.000 0.000 3234 3614 419

21754 4.35 2257.0 420.6 5.0 710 21759 0.00 3.10 0.00 0.000 6 0.000 0.000 3236 1915 419

22075 4.41 2274.8 402.7 5.6 725 22084 0.08 3.20 0.08 0.001 4 0.000 0.000 3238 3567 422

22391 4.43 2294.0 383.1 5.5 737 22396 0.00 3.00 0.00 0.000 6 0.000 0.000 3225 1794 417

22722 4.47 2297.7 363.3 6.1 753 22727 0.00 2.92 0.00 0.000 4 0.000 0.000 3202 3456 419

23025 4.47 2311.6 343.9 5.7 765 23042 0.00 3.55 0.05 0.001 6 0.000 0.000 3216 1788 419

23356 4.50 2311.6 323.1 6.6 781 23361 0.03 2.72 0.00 0.000 4 0.000 0.000 3214 3477 423

23674 4.50 2311.6 301.9 7.2 793 23679 0.00 3.00 0.03 0.000 6 0.000 0.000 3216 1930 428

23995 4.50 2311.6 280.0 7.0 808 24000 0.03 2.80 0.00 0.000 4 0.000 0.000 3228 3483 417

24304 4.50 2311.6 260.3 6.5 820 24309 0.05 3.00 0.00 0.000 6 0.000 0.000 3232 1833 419

24626 4.50 2333.7 242.4 5.4 835 24631 0.00 3.25 0.00 0.000 4 0.000 0.000 3212 3386 423

24930 4.53 2333.7 217.5 7.4 847 24934 0.00 2.62 0.00 0.000 6 0.000 0.000 3210 1854 422

25250 4.53 2333.7 190.4 8.3 862 25258 0.00 3.35 0.03 0.000 4 0.000 0.000 3210 3405 416

25562 4.53 2333.7 165.7 6.8 874 25568 0.00 3.03 0.03 0.001 6 0.000 0.000 3234 1974 421

25883 4.53 2333.7 142.6 8.1 889 25891 0.03 3.35 0.03 0.001 4 0.000 0.000 3203 3381 417

26200 4.53 2333.7 119.2 6.9 901 26216 0.17 3.65 0.00 0.000 6 0.000 0.000 3255 1809 416

26552 4.53 2353.5 96.6 5.5 923 26564 0.00 2.97 0.00 0.000 4 0.000 0.000 3279 3558 417

26942 4.57 2367.0 74.1 5.7 972 26954 0.00 2.67 0.00 0.000 6 0.000 0.000 3285 1770 425

27436 4.59 2367.0 45.0 6.4 1033 27448 0.00 3.10 0.00 0.000 4 0.000 0.000 3279 3587 423

27648 4.59 2367.0 30.9 6.2 1058 27660 0.00 2.65 0.00 0.000 6 0.000 0.000 3265 1791 419

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	24	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	2	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	30	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	-442784.94	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	014706,4700.383,-12511.715,28,1.1,28,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.027,0.191
_SM_DEPTHo	0.34	KALMAN_X	38414.7,-3758.5,-1488.3,39382.8,1754.4
_SM_ANGLEo	-50.0	KALMAN_Y	-8377.0,347.2,99.9,-323.3,507.1
GPS2	015512,4700.414,-12511.689,9,1.1,9,18.0	MHEAD_RNG_PITCHd_Wd	350.0,242131,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999510	ALTIM_TOP_PING	19.9,999.0
SM_CCo	28172,0.00,0.000,0,0,415,451.35	_24V_AH	23.6,75.971
SM_GC	0.34,13.48,0.00,0.00,0.000,0.000,0.000,662,2171,415,-7.48,5.03,451.35	_10V_AH	9.6,26.140
RAFOS_CLK	0	DATA_FILE_SIZE	37850,1114
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,235470848
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,64,1808,2,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2479	CURRENT	0.044,275.2,1
INTERNAL_PRESSURE	26.1041	GPS	220607,094656,4700.196,-12517.067,14,1.1,14,18.0
TCM_TEMP	15.00	ESCAPE_REASON=NO_RECOVERY_REASON
XPDR_PINGS	-1	ESCAPE_STARTED_DIVE=0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	119	97.80	SBE_CT	1866	24	1057.32
Roll_motor	269	60	381.72	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15684.38	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	119	223	629.05
Transponder_ping	0	420	2.48
GPS	10	50	4.96
TT8	6225	19	1190.52
LPSleep	14300	2	317.12
TT8_Active	888	19	169.88
TT8_Sampling	3114	39	1193.55
TT8_CF8	3984	45	1756.32
TT8_Kalman	33	81	26.23
Analog_circuits	2939	12	338.58
GPS_charging	0	0	0.00
Compass	4028	26	1005.47
RAFOS	3600	1	51.84

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	-116.6	0.0	0.0	0	121	0.00	0.00	-74.38	0.000	2	0.000	0.000	651	1817	2653
127	-0.83	-116.8	4.3	-6.2	7	157	7.38	3.03	-2.97	0.000	4	0.000	0.000	2126	426	2741
506	-0.83	-116.8	57.7	-12.0	57	518	0.38	2.60	0.00	0.000	6	0.000	0.000	2043	1944	2737
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
876	-0.25	0.0	100.1	11.8	105	976	1.10	0.00	96.10	0.000	6	0.000	0.000	2269	2194	2263
state	end apogee	CONTROL_FINISHED_OK
state	start climb
987	0.83	116.8	110.0	0.0	110	1095	0.95	2.20	94.60	0.000	4	0.000	0.000	2478	3622	1782
1397	0.83	116.8	148.2	-9.4	125	1409	0.35	2.70	0.00	0.000	6	0.000	0.000	2378	1968	1782
1718	0.83	116.8	176.2	-8.3	141	1723	0.32	2.90	0.00	0.000	4	0.000	0.000	2486	3454	1782
2023	0.83	116.8	202.1	-8.6	153	2029	0.40	2.70	0.00	0.000	6	0.000	0.000	2471	1794	1786
2344	0.83	116.8	227.2	-8.0	168	2350	0.40	2.70	0.00	0.000	4	0.000	0.000	2485	3452	1780
2647	0.83	116.8	251.6	-8.4	180	2653	0.40	2.80	0.00	0.000	6	0.000	0.000	2443	1757	1782
2968	0.83	116.8	275.7	-7.6	195	2977	0.47	3.78	0.00	0.000	4	0.000	0.000	2467	3388	1788
3272	0.83	116.8	299.1	-6.7	207	3288	0.35	3.25	0.00	0.000	6	0.000	0.000	2395	1777	1779
3597	0.83	116.8	323.1	-7.8	223	3606	0.38	3.92	0.00	0.000	4	0.000	0.000	2502	3566	1790
3901	0.83	116.8	347.4	-6.9	235	3917	0.38	3.28	0.00	0.000	6	0.000	0.000	2395	1875	1781
4226	0.83	116.8	371.4	-7.4	251	4236	0.38	3.85	0.03	0.002	4	0.000	0.000	2479	3556	1793
4539	0.83	116.8	394.6	-6.9	263	4555	0.20	3.62	0.00	0.000	6	0.000	0.000	2440	1777	1783
4864	0.83	116.8	417.8	-6.7	279	4869	0.00	2.83	0.00	0.000	4	0.000	0.000	2434	3426	1786
5163	0.83	116.8	438.6	-6.3	291	5178	0.00	3.35	0.00	0.000	6	0.000	0.000	2438	1798	1787
5488	0.83	116.8	459.0	-6.5	307	5493	0.00	3.25	0.00	0.000	4	0.000	0.000	2413	3453	1787
5796	0.83	116.8	480.4	-7.2	319	5813	0.08	4.43	0.00	0.000	6	0.000	0.000	2423	1834	1787
6147	0.83	116.8	503.5	-7.3	335	6155	0.03	3.55	0.00	0.000	4	0.000	0.000	2428	3514	1786
6449	0.83	116.8	527.1	-7.4	341	6453	0.00	2.50	0.00	0.000	6	0.000	0.000	2425	1822	1783
6767	0.83	116.8	550.4	-7.6	349	6775	0.00	3.65	0.00	0.000	4	0.000	0.000	2431	3596	1783
7065	0.83	116.8	572.3	-6.9	355	7070	0.00	3.00	0.00	0.000	6	0.000	0.000	2451	1943	1784
7384	0.83	440.9	591.7	-6.0	363	7720	0.00	3.50	310.48	0.000	4	0.000	0.000	2449	3608	464
8018	1.37	440.9	632.4	-6.6	375	8026	0.82	2.70	0.00	0.000	6	0.000	0.000	2608	1812	467
8365	1.37	440.9	655.7	-7.0	384	8370	0.38	2.70	0.00	0.000	4	0.000	0.000	2533	3473	467
8669	1.37	440.9	677.4	-6.7	390	8677	0.40	2.80	0.70	0.000	6	0.000	0.000	2591	1787	458
8993	1.37	440.9	698.1	-6.4	398	8999	0.32	2.90	0.00	0.000	4	0.000	0.000	2530	3471	463
9298	1.37	440.9	718.7	-6.9	404	9307	0.38	3.65	0.00	0.000	6	0.000	0.000	2608	1801	462
9623	1.37	440.9	742.0	-7.4	412	9631	0.45	3.12	0.00	0.000	4	0.000	0.000	2521	3594	452
9926	1.37	440.9	764.8	-7.6	418	9934	0.38	3.35	0.00	0.000	6	0.000	0.000	2584	1823	463
10250	1.37	440.9	787.2	-7.0	426	10258	0.30	3.55	0.00	0.000	4	0.000	0.000	2529	3600	471
10550	1.37	440.9	808.1	-6.7	432	10558	0.38	3.45	0.00	0.000	6	0.000	0.000	2620	1818	457
10874	1.37	440.9	829.0	-6.5	440	10880	0.25	2.70	0.00	0.000	4	0.000	0.000	2541	3494	463
11169	1.37	440.9	849.2	-7.0	446	11175	0.03	2.92	0.00	0.000	6	0.000	0.000	2572	1796	456
11488	1.37	440.9	871.7	-7.2	454	11493	0.00	2.80	0.00	0.000	4	0.000	0.000	2551	3419	459
11782	1.37	440.9	892.6	-6.4	460	11790	0.00	3.55	0.00	0.000	6	0.000	0.000	2567	1947	455
12106	1.37	745.3	910.9	-5.3	468	12120	0.03	2.58	7.78	0.000	4	0.000	0.000	2552	3442	425
12413	1.88	1037.6	926.9	-4.8	474	12422	0.60	4.03	0.08	0.002	6	0.000	0.000	2711	1783	427
12776	2.37	1325.0	944.0	-4.7	483	12785	0.47	3.55	0.35	0.000	4	0.000	0.000	2802	3557	425
13074	2.85	1649.5	960.2	-6.1	489	13082	0.57	2.92	0.00	0.000	6	0.000	0.000	2949	1763	420
13398	3.39	1969.6	979.4	-5.9	497	13404	0.47	2.50	0.05	0.001	4	0.000	0.000	3028	3370	421
13690	3.93	2173.4	994.3	-1.5	503	13695	0.52	2.60	0.00	0.000	6	0.000	0.000	3132	1807	423
14008	4.27	2173.4	981.0	7.5	511	14013	0.00	3.00	0.00	0.000	4	0.000	0.000	3177	3483	426
14301	4.27	2173.4	955.7	8.5	517	14309	0.05	3.22	0.00	0.000	6	0.000	0.000	3183	1767	432
14625	4.27	2173.4	928.1	8.7	525	14634	0.00	3.85	0.45	0.000	4	0.000	0.000	3194	3568	422
14924	4.27	2173.4	903.0	6.4	531	14930	0.00	2.72	0.03	0.000	6	0.000	0.000	3160	1757	419
15244	4.27	2173.4	877.9	7.9	539	15249	0.00	3.00	0.00	0.000	4	0.000	0.000	3174	3456	426
15537	4.27	2173.4	856.4	6.7	545	15542	0.00	3.00	0.03	0.000	6	0.000	0.000	3190	1924	423
15855	4.27	2173.4	835.5	6.6	553	15860	0.00	3.20	0.00	0.000	4	0.000	0.000	3189	3455	429
16148	4.27	2173.4	814.9	6.3	559	16154	0.00	3.03	0.00	0.000	6	0.000	0.000	3146	1805	420
16467	4.27	2173.4	792.5	7.2	567	16475	0.00	3.45	0.10	0.000	4	0.000	0.000	3177	3584	419
16766	4.27	2173.4	769.0	7.5	573	16771	0.00	2.83	0.03	0.000	6	0.000	0.000	3177	1793	418
17084	4.27	2173.4	742.0	8.6	581	17089	0.00	2.80	0.00	0.000	4	0.000	0.000	3176	3427	418
17377	4.27	2173.4	717.9	8.4	587	17382	0.00	2.70	0.03	0.000	6	0.000	0.000	3197	1896	423
17695	4.27	2173.4	694.8	7.2	595	17704	0.08	3.65	0.03	0.001	4	0.000	0.000	3192	3535	423
17994	4.27	2188.5	675.0	5.7	601	17998	0.00	2.50	0.00	0.000	6	0.000	0.000	3181	1974	422
18312	4.29	2198.2	656.5	5.9	609	18320	0.00	3.45	0.05	0.000	4	0.000	0.000	3192	3486	425
18612	4.31	2215.6	637.8	5.6	615	18620	0.00	4.03	0.00	0.000	6	0.000	0.000	3193	1860	420
18936	4.34	2215.6	617.5	6.5	623	18941	0.05	2.60	0.00	0.000	4	0.000	0.000	3188	3419	423
19230	4.34	2215.6	594.2	8.4	629	19237	0.00	3.58	0.00	0.000	6	0.000	0.000	3160	1876	419
19552	4.34	2215.6	567.9	8.1	637	19557	0.05	2.62	0.00	0.000	4	0.000	0.000	3238	3359	425
19846	4.34	2215.6	546.4	6.7	643	19854	0.05	3.72	0.00	0.000	6	0.000	0.000	3213	1861	427
20170	4.34	2215.6	524.0	6.9	651	20178	0.03	3.25	0.00	0.000	4	0.000	0.000	3231	3543	419
20470	4.34	2215.6	503.8	6.9	657	20477	0.00	3.50	0.00	0.000	6	0.000	0.000	3220	1764	421
20797	4.34	2215.6	483.2	6.4	671	20804	0.00	3.30	0.10	0.000	4	0.000	0.000	3234	3604	422
21114	4.34	2224.2	462.4	5.9	683	21119	0.00	2.70	0.00	0.000	6	0.000	0.000	3241	1959	415
21436	4.35	2224.2	441.1	6.5	698	21444	0.00	3.33	0.03	0.001	4	0.000	0.000	3234	3614	419
21754	4.35	2257.0	420.6	5.0	710	21759	0.00	3.10	0.00	0.000	6	0.000	0.000	3236	1915	419
22075	4.41	2274.8	402.7	5.6	725	22084	0.08	3.20	0.08	0.001	4	0.000	0.000	3238	3567	422
22391	4.43	2294.0	383.1	5.5	737	22396	0.00	3.00	0.00	0.000	6	0.000	0.000	3225	1794	417
22722	4.47	2297.7	363.3	6.1	753	22727	0.00	2.92	0.00	0.000	4	0.000	0.000	3202	3456	419
23025	4.47	2311.6	343.9	5.7	765	23042	0.00	3.55	0.05	0.001	6	0.000	0.000	3216	1788	419
23356	4.50	2311.6	323.1	6.6	781	23361	0.03	2.72	0.00	0.000	4	0.000	0.000	3214	3477	423
23674	4.50	2311.6	301.9	7.2	793	23679	0.00	3.00	0.03	0.000	6	0.000	0.000	3216	1930	428
23995	4.50	2311.6	280.0	7.0	808	24000	0.03	2.80	0.00	0.000	4	0.000	0.000	3228	3483	417
24304	4.50	2311.6	260.3	6.5	820	24309	0.05	3.00	0.00	0.000	6	0.000	0.000	3232	1833	419
24626	4.50	2333.7	242.4	5.4	835	24631	0.00	3.25	0.00	0.000	4	0.000	0.000	3212	3386	423
24930	4.53	2333.7	217.5	7.4	847	24934	0.00	2.62	0.00	0.000	6	0.000	0.000	3210	1854	422
25250	4.53	2333.7	190.4	8.3	862	25258	0.00	3.35	0.03	0.000	4	0.000	0.000	3210	3405	416
25562	4.53	2333.7	165.7	6.8	874	25568	0.00	3.03	0.03	0.001	6	0.000	0.000	3234	1974	421
25883	4.53	2333.7	142.6	8.1	889	25891	0.03	3.35	0.03	0.001	4	0.000	0.000	3203	3381	417
26200	4.53	2333.7	119.2	6.9	901	26216	0.17	3.65	0.00	0.000	6	0.000	0.000	3255	1809	416
26552	4.53	2353.5	96.6	5.5	923	26564	0.00	2.97	0.00	0.000	4	0.000	0.000	3279	3558	417
26942	4.57	2367.0	74.1	5.7	972	26954	0.00	2.67	0.00	0.000	6	0.000	0.000	3285	1770	425
27436	4.59	2367.0	45.0	6.4	1033	27448	0.00	3.10	0.00	0.000	4	0.000	0.000	3279	3587	423
27648	4.59	2367.0	30.9	6.2	1058	27660	0.00	2.65	0.00	0.000	6	0.000	0.000	3265	1791	419
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface