Glider dive log

DavisStrait May07 * SG001 * Dive index * Mission links * Dive 28 * 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 28 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 4 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 11 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 -442903.75 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 -442903.75

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 4 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 11 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 28 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 102739,4658.417,-12530.449,18,1.1,18,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.110,0.158

_SM_DEPTHo 0.34 KALMAN_X 23782.5,-2658.1,-1803.0,29525.3,2569.1

_SM_ANGLEo -50.0 KALMAN_Y -10478.5,-486.2,-419.1,-428.9,1109.9

GPS2 103507,4658.467,-12530.506,32,1.1,32,18.0 MHEAD_RNG_PITCHd_Wd 16.9,264055,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999493 ALTIM_TOP_PING 19.2,999.0

SM_CCo 28104,0.00,0.000,0,0,417,450.13 _24V_AH 23.7,79.900

SM_GC 0.34,12.95,0.00,0.00,0.000,0.000,0.000,682,2181,417,-7.28,5.94,450.13 _10V_AH 9.6,26.892

RAFOS_CLK 0 DATA_FILE_SIZE 37845,1106

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,234123264

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,47,1840,4,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 1990 CURRENT 0.026,264.5,1

INTERNAL_PRESSURE 26.0748 GPS 230607,182540,4658.375,-12535.389,6,1.1,6,18.0

TCM_TEMP 15.00 ESCAPE_REASON=NO_RECOVERY_REASON

XPDR_PINGS -1 ESCAPE_STARTED_DIVE=0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 119 78.83 SBE_CT 1857 24 1056.76

Roll_motor 275 60 391.55 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15764.71 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 108 223 571.40

Transponder_ping 0 420 2.49

GPS 32 50 15.69

TT8 6095 19 1165.69

LPSleep 14320 2 317.56

TT8_Active 907 19 173.56

TT8_Sampling 3136 39 1201.92

TT8_CF8 3980 45 1754.87

TT8_Kalman 33 81 26.23

Analog_circuits 2968 12 341.96

GPS_charging 0 0 0.00

Compass 4069 26 1015.74

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 -116.7 0.0 0.0 0 115 0.00 0.00 -74.07 0.000 2 0.000 0.000 599 1846 2653

121 -0.83 -116.8 3.3 -5.1 7 151 7.22 3.22 -2.83 0.000 4 0.000 0.000 2100 3552 2739

405 -0.83 -116.8 41.9 -12.1 44 418 0.30 3.60 0.00 0.000 6 0.000 0.000 2075 1772 2733

856 -0.83 -116.8 93.8 -11.2 105 868 0.03 2.10 0.00 0.000 4 0.000 0.000 2052 359 2744

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

922 -0.25 0.0 100.6 11.3 111 1021 0.80 0.00 95.38 0.000 6 0.000 0.000 2239 2156 2266

state end apogee CONTROL_FINISHED_OK

state start climb

1032 0.83 116.8 111.2 0.0 116 1138 1.15 2.30 94.45 0.000 4 0.000 0.000 2492 3414 1790

1436 0.83 116.8 148.0 -8.9 131 1444 0.40 4.45 0.00 0.000 6 0.000 0.000 2410 1764 1780

1779 0.83 116.8 177.4 -8.2 147 1784 0.00 2.70 0.00 0.000 4 0.000 0.000 2408 3450 1786

2078 0.83 116.8 202.9 -8.6 159 2094 0.00 3.22 0.00 0.000 6 0.000 0.000 2397 1785 1786

2403 0.83 116.8 229.8 -8.7 175 2411 0.32 3.10 0.00 0.000 4 0.000 0.000 2495 3523 1781

2715 0.83 116.8 256.9 -8.2 187 2720 0.32 2.53 0.00 0.000 6 0.000 0.000 2468 1869 1781

3036 0.83 116.8 281.6 -7.6 202 3044 0.17 3.55 0.00 0.000 4 0.000 0.000 2440 3535 1788

3340 0.83 116.8 305.3 -6.7 214 3345 0.03 3.00 0.00 0.000 6 0.000 0.000 2447 1771 1788

3661 0.83 116.8 328.1 -7.0 229 3666 0.05 3.00 0.00 0.000 4 0.000 0.000 2442 3461 1784

3965 0.83 116.8 350.3 -7.7 241 3982 0.05 3.80 0.55 0.001 6 0.000 0.000 2455 1774 1783

4295 0.83 116.8 373.6 -7.2 257 4300 0.00 2.70 0.00 0.000 4 0.000 0.000 2431 3430 1781

4594 0.83 116.8 396.9 -7.7 269 4610 0.05 3.30 0.00 0.000 6 0.000 0.000 2444 1735 1784

4919 0.83 116.8 423.1 -8.2 285 4927 0.00 3.65 0.00 0.000 4 0.000 0.000 2449 3522 1784

5227 0.83 116.8 448.5 -8.0 297 5232 0.00 2.85 0.00 0.000 6 0.000 0.000 2461 1969 1783

5549 0.83 116.8 473.3 -8.0 312 5556 0.00 3.62 0.00 0.000 4 0.000 0.000 2440 3503 1789

5867 0.83 116.8 497.5 -7.2 324 5875 0.00 2.92 0.00 0.000 6 0.000 0.000 2438 1841 1785

6191 0.83 116.8 520.6 -6.9 333 6199 0.00 3.65 0.00 0.000 4 0.000 0.000 2465 3516 1784

6503 0.83 116.8 542.7 -7.5 339 6511 0.00 3.55 0.00 0.000 6 0.000 0.000 2446 1845 1785

6832 0.83 116.8 565.2 -6.8 347 6837 0.00 3.25 0.00 0.000 4 0.000 0.000 2458 3386 1778

7127 0.83 116.8 585.2 -6.7 353 7131 0.00 2.62 0.00 0.000 6 0.000 0.000 2445 1864 1782

7445 0.83 116.8 606.9 -6.8 361 7453 0.00 2.62 0.00 0.000 4 0.000 0.000 2462 3541 1786

7742 0.83 116.8 627.9 -7.0 367 7746 0.00 2.70 0.00 0.000 6 0.000 0.000 2451 1892 1782

8065 0.83 116.8 651.4 -7.5 375 8070 0.00 3.10 0.00 0.000 4 0.000 0.000 2449 3452 1782

8359 0.83 116.8 671.9 -6.4 381 8366 0.00 3.22 0.00 0.000 6 0.000 0.000 2437 1847 1782

8682 0.83 116.8 693.3 -6.5 389 8689 0.00 3.45 0.00 0.000 4 0.000 0.000 2445 3598 1781

8981 0.83 116.8 713.7 -6.9 395 8986 0.00 2.83 0.00 0.000 6 0.000 0.000 2453 1810 1780

9299 0.83 440.1 732.9 -6.0 403 9655 0.00 3.45 310.40 0.000 4 0.000 0.000 2451 3589 462

9949 1.37 440.1 772.0 -6.4 416 9957 0.65 3.55 0.00 0.000 6 0.000 0.000 2598 1788 472

10290 1.37 440.1 793.6 -6.6 424 10297 0.00 3.65 0.00 0.000 4 0.000 0.000 2592 3583 465

10590 1.37 768.4 813.8 -6.2 430 10605 0.10 3.65 8.52 0.000 6 0.000 0.000 2554 1903 432

10954 1.92 1095.6 835.3 -6.2 439 10964 0.80 3.33 0.82 0.001 4 0.000 0.000 2725 3541 423

11256 2.47 1417.0 852.9 -5.9 445 11265 0.45 3.55 0.05 0.000 6 0.000 0.000 2807 1881 427

11586 3.00 1724.9 870.9 -5.4 453 11592 0.75 2.50 0.05 0.002 4 0.000 0.000 2963 3404 431

11882 3.52 2041.5 888.3 -5.8 459 11892 0.35 3.78 0.32 0.001 6 0.000 0.000 3023 1993 425

12213 4.04 2368.8 907.6 -6.2 467 12219 0.60 2.30 0.22 0.002 4 0.000 0.000 3193 3368 422

12510 4.59 2662.4 924.5 -4.9 473 12519 0.40 3.53 0.20 0.000 6 0.000 0.000 3278 1862 429

12838 5.08 2964.7 941.6 -5.2 481 12843 0.00 2.80 0.00 0.000 4 0.000 0.000 3289 3370 426

13133 5.59 3274.7 957.9 -5.5 487 13138 0.00 2.53 0.03 0.001 6 0.000 0.000 3314 1870 423

13452 6.10 3599.2 976.3 -6.1 495 13460 0.00 3.45 0.00 0.000 4 0.000 0.000 3295 3533 425

13751 6.65 3861.3 993.7 -3.7 501 13757 0.00 3.03 0.05 0.001 6 0.000 0.000 3309 1872 424

14070 7.08 3873.1 985.4 5.8 509 14075 0.00 2.80 0.00 0.000 4 0.000 0.000 3272 3378 418

14364 7.10 3873.1 962.4 8.7 515 14369 0.00 2.55 0.08 0.001 6 0.000 0.000 3313 1873 411

14682 7.10 3873.1 937.8 7.7 523 14689 0.00 3.35 0.00 0.000 4 0.000 0.000 3278 3559 426

14981 7.10 3873.1 913.4 7.6 529 14986 0.00 3.00 0.00 0.000 6 0.000 0.000 3274 1777 420

15299 7.10 3873.1 887.7 8.3 537 15306 0.00 3.45 0.00 0.000 4 0.000 0.000 3286 3555 425

15597 7.10 3873.1 861.2 9.3 543 15605 0.00 3.58 0.00 0.000 6 0.000 0.000 3279 1737 421

15920 7.10 3873.1 833.4 8.8 551 15927 0.00 3.45 0.00 0.000 4 0.000 0.000 3307 3397 421

16219 7.10 3873.1 807.8 7.8 557 16223 0.00 2.45 0.00 0.000 6 0.000 0.000 3287 1846 420

16537 7.10 3873.1 784.5 7.2 565 16541 0.00 2.53 0.00 0.000 4 0.000 0.000 3284 3380 418

16831 7.10 3873.1 763.4 6.8 571 16835 0.00 2.55 0.00 0.000 6 0.000 0.000 3287 1999 424

17149 7.10 3873.1 741.8 6.8 579 17154 0.00 2.65 0.00 0.000 4 0.000 0.000 3294 3411 426

17443 7.10 3873.1 721.0 7.7 585 17451 0.00 3.35 0.10 0.001 6 0.000 0.000 3301 2005 420

17772 7.10 3873.1 697.5 7.4 593 17777 0.00 2.85 0.00 0.000 4 0.000 0.000 3299 3403 422

18073 7.10 3873.1 674.9 6.7 599 18077 0.00 2.60 0.00 0.000 6 0.000 0.000 3293 1964 419

18391 7.10 3873.1 652.8 7.0 607 18396 0.00 2.70 0.00 0.000 4 0.000 0.000 3291 3399 417

18684 7.10 3873.1 631.2 6.9 613 18690 0.00 3.22 0.03 0.000 6 0.000 0.000 3277 1824 417

19004 7.10 3873.1 607.9 7.3 621 19009 0.00 3.00 0.00 0.000 4 0.000 0.000 3284 3471 415

19298 7.10 3873.1 587.1 6.8 627 19306 0.00 3.72 0.03 0.001 6 0.000 0.000 3260 1858 423

19622 7.10 3873.1 564.3 7.2 635 19630 0.00 3.58 0.00 0.000 4 0.000 0.000 3262 3509 424

19927 7.10 3873.1 542.3 7.3 641 19934 0.00 3.45 0.00 0.000 6 0.000 0.000 3312 1811 424

20256 7.10 3873.1 519.2 7.1 649 20264 0.00 3.75 0.03 0.000 4 0.000 0.000 3290 3546 424

20553 7.10 3873.1 497.4 6.3 655 20568 0.00 3.25 0.00 0.000 6 0.000 0.000 3289 1852 421

20887 7.10 3873.1 475.2 6.5 671 20892 0.00 2.50 0.05 0.000 4 0.000 0.000 3274 3405 423

21190 7.10 3887.2 456.4 5.7 683 21206 0.00 3.65 0.00 0.000 6 0.000 0.000 3294 1792 417

21521 7.13 3887.2 435.8 6.8 699 21526 0.00 2.80 0.00 0.000 4 0.000 0.000 3299 3481 420

21824 7.13 3889.9 414.4 6.1 711 21829 0.00 3.10 0.00 0.000 6 0.000 0.000 3290 1977 418

22145 7.13 3889.9 392.6 6.7 726 22153 0.00 3.45 0.03 0.000 4 0.000 0.000 3292 3501 422

22462 7.13 3939.9 370.9 4.4 738 22466 0.00 2.62 0.00 0.000 6 0.000 0.000 3300 1831 420

22783 7.22 3939.9 349.3 6.6 753 22790 0.00 3.55 0.00 0.000 4 0.000 0.000 3267 3455 420

23093 7.22 3952.8 329.8 5.8 765 23097 0.00 2.50 0.03 0.001 6 0.000 0.000 3284 1921 423

23414 7.24 3963.2 311.9 5.9 780 23422 0.00 3.75 0.05 0.001 4 0.000 0.000 3276 3571 423

23728 7.25 3963.2 289.6 7.4 792 23744 0.00 3.75 0.00 0.000 6 0.000 0.000 3283 1763 416

24054 7.25 3963.2 264.9 7.3 808 24062 0.00 3.65 0.03 0.000 4 0.000 0.000 3294 3540 416

24373 7.25 3983.3 242.4 5.5 820 24388 0.00 3.22 0.00 0.000 6 0.000 0.000 3303 1781 423

24699 7.29 3983.3 219.1 7.2 836 24704 0.00 2.70 0.08 0.000 4 0.000 0.000 3274 3425 419

25000 7.29 4020.3 198.0 4.8 848 25005 0.00 3.25 0.00 0.000 6 0.000 0.000 3276 1775 421

25321 7.35 4042.1 180.0 5.4 863 25325 0.00 2.90 0.00 0.000 4 0.000 0.000 3295 3438 424

25626 7.39 4043.5 160.5 6.2 875 25643 0.00 3.85 0.12 0.000 6 0.000 0.000 3286 1771 420

25958 7.39 4043.5 136.4 8.1 891 25963 0.00 3.00 0.00 0.000 4 0.000 0.000 3289 3440 424

26263 7.39 4095.5 115.4 4.3 903 26268 0.00 2.50 0.00 0.000 6 0.000 0.000 3291 1877 422

26610 7.48 4095.5 92.0 7.3 927 26622 0.00 2.50 0.00 0.000 4 0.000 0.000 3267 3545 420

26990 7.48 4102.5 66.8 6.0 976 27002 0.00 2.85 0.00 0.000 6 0.000 0.000 3289 1783 418

27462 7.49 4102.5 36.8 6.6 1037 27474 0.00 3.08 0.00 0.000 4 0.000 0.000 3307 3576 415

27850 7.49 4102.5 11.3 7.0 1086 27862 0.00 3.40 0.00 0.000 6 0.000 0.000 3296 1787 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	28	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	4	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	11	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	-442903.75	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	102739,4658.417,-12530.449,18,1.1,18,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.110,0.158
_SM_DEPTHo	0.34	KALMAN_X	23782.5,-2658.1,-1803.0,29525.3,2569.1
_SM_ANGLEo	-50.0	KALMAN_Y	-10478.5,-486.2,-419.1,-428.9,1109.9
GPS2	103507,4658.467,-12530.506,32,1.1,32,18.0	MHEAD_RNG_PITCHd_Wd	16.9,264055,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999493	ALTIM_TOP_PING	19.2,999.0
SM_CCo	28104,0.00,0.000,0,0,417,450.13	_24V_AH	23.7,79.900
SM_GC	0.34,12.95,0.00,0.00,0.000,0.000,0.000,682,2181,417,-7.28,5.94,450.13	_10V_AH	9.6,26.892
RAFOS_CLK	0	DATA_FILE_SIZE	37845,1106
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,234123264
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,47,1840,4,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	1990	CURRENT	0.026,264.5,1
INTERNAL_PRESSURE	26.0748	GPS	230607,182540,4658.375,-12535.389,6,1.1,6,18.0
TCM_TEMP	15.00	ESCAPE_REASON=NO_RECOVERY_REASON
XPDR_PINGS	-1	ESCAPE_STARTED_DIVE=0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	119	78.83	SBE_CT	1857	24	1056.76
Roll_motor	275	60	391.55	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15764.71	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	108	223	571.40
Transponder_ping	0	420	2.49
GPS	32	50	15.69
TT8	6095	19	1165.69
LPSleep	14320	2	317.56
TT8_Active	907	19	173.56
TT8_Sampling	3136	39	1201.92
TT8_CF8	3980	45	1754.87
TT8_Kalman	33	81	26.23
Analog_circuits	2968	12	341.96
GPS_charging	0	0	0.00
Compass	4069	26	1015.74
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	-116.7	0.0	0.0	0	115	0.00	0.00	-74.07	0.000	2	0.000	0.000	599	1846	2653
121	-0.83	-116.8	3.3	-5.1	7	151	7.22	3.22	-2.83	0.000	4	0.000	0.000	2100	3552	2739
405	-0.83	-116.8	41.9	-12.1	44	418	0.30	3.60	0.00	0.000	6	0.000	0.000	2075	1772	2733
856	-0.83	-116.8	93.8	-11.2	105	868	0.03	2.10	0.00	0.000	4	0.000	0.000	2052	359	2744
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
922	-0.25	0.0	100.6	11.3	111	1021	0.80	0.00	95.38	0.000	6	0.000	0.000	2239	2156	2266
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1032	0.83	116.8	111.2	0.0	116	1138	1.15	2.30	94.45	0.000	4	0.000	0.000	2492	3414	1790
1436	0.83	116.8	148.0	-8.9	131	1444	0.40	4.45	0.00	0.000	6	0.000	0.000	2410	1764	1780
1779	0.83	116.8	177.4	-8.2	147	1784	0.00	2.70	0.00	0.000	4	0.000	0.000	2408	3450	1786
2078	0.83	116.8	202.9	-8.6	159	2094	0.00	3.22	0.00	0.000	6	0.000	0.000	2397	1785	1786
2403	0.83	116.8	229.8	-8.7	175	2411	0.32	3.10	0.00	0.000	4	0.000	0.000	2495	3523	1781
2715	0.83	116.8	256.9	-8.2	187	2720	0.32	2.53	0.00	0.000	6	0.000	0.000	2468	1869	1781
3036	0.83	116.8	281.6	-7.6	202	3044	0.17	3.55	0.00	0.000	4	0.000	0.000	2440	3535	1788
3340	0.83	116.8	305.3	-6.7	214	3345	0.03	3.00	0.00	0.000	6	0.000	0.000	2447	1771	1788
3661	0.83	116.8	328.1	-7.0	229	3666	0.05	3.00	0.00	0.000	4	0.000	0.000	2442	3461	1784
3965	0.83	116.8	350.3	-7.7	241	3982	0.05	3.80	0.55	0.001	6	0.000	0.000	2455	1774	1783
4295	0.83	116.8	373.6	-7.2	257	4300	0.00	2.70	0.00	0.000	4	0.000	0.000	2431	3430	1781
4594	0.83	116.8	396.9	-7.7	269	4610	0.05	3.30	0.00	0.000	6	0.000	0.000	2444	1735	1784
4919	0.83	116.8	423.1	-8.2	285	4927	0.00	3.65	0.00	0.000	4	0.000	0.000	2449	3522	1784
5227	0.83	116.8	448.5	-8.0	297	5232	0.00	2.85	0.00	0.000	6	0.000	0.000	2461	1969	1783
5549	0.83	116.8	473.3	-8.0	312	5556	0.00	3.62	0.00	0.000	4	0.000	0.000	2440	3503	1789
5867	0.83	116.8	497.5	-7.2	324	5875	0.00	2.92	0.00	0.000	6	0.000	0.000	2438	1841	1785
6191	0.83	116.8	520.6	-6.9	333	6199	0.00	3.65	0.00	0.000	4	0.000	0.000	2465	3516	1784
6503	0.83	116.8	542.7	-7.5	339	6511	0.00	3.55	0.00	0.000	6	0.000	0.000	2446	1845	1785
6832	0.83	116.8	565.2	-6.8	347	6837	0.00	3.25	0.00	0.000	4	0.000	0.000	2458	3386	1778
7127	0.83	116.8	585.2	-6.7	353	7131	0.00	2.62	0.00	0.000	6	0.000	0.000	2445	1864	1782
7445	0.83	116.8	606.9	-6.8	361	7453	0.00	2.62	0.00	0.000	4	0.000	0.000	2462	3541	1786
7742	0.83	116.8	627.9	-7.0	367	7746	0.00	2.70	0.00	0.000	6	0.000	0.000	2451	1892	1782
8065	0.83	116.8	651.4	-7.5	375	8070	0.00	3.10	0.00	0.000	4	0.000	0.000	2449	3452	1782
8359	0.83	116.8	671.9	-6.4	381	8366	0.00	3.22	0.00	0.000	6	0.000	0.000	2437	1847	1782
8682	0.83	116.8	693.3	-6.5	389	8689	0.00	3.45	0.00	0.000	4	0.000	0.000	2445	3598	1781
8981	0.83	116.8	713.7	-6.9	395	8986	0.00	2.83	0.00	0.000	6	0.000	0.000	2453	1810	1780
9299	0.83	440.1	732.9	-6.0	403	9655	0.00	3.45	310.40	0.000	4	0.000	0.000	2451	3589	462
9949	1.37	440.1	772.0	-6.4	416	9957	0.65	3.55	0.00	0.000	6	0.000	0.000	2598	1788	472
10290	1.37	440.1	793.6	-6.6	424	10297	0.00	3.65	0.00	0.000	4	0.000	0.000	2592	3583	465
10590	1.37	768.4	813.8	-6.2	430	10605	0.10	3.65	8.52	0.000	6	0.000	0.000	2554	1903	432
10954	1.92	1095.6	835.3	-6.2	439	10964	0.80	3.33	0.82	0.001	4	0.000	0.000	2725	3541	423
11256	2.47	1417.0	852.9	-5.9	445	11265	0.45	3.55	0.05	0.000	6	0.000	0.000	2807	1881	427
11586	3.00	1724.9	870.9	-5.4	453	11592	0.75	2.50	0.05	0.002	4	0.000	0.000	2963	3404	431
11882	3.52	2041.5	888.3	-5.8	459	11892	0.35	3.78	0.32	0.001	6	0.000	0.000	3023	1993	425
12213	4.04	2368.8	907.6	-6.2	467	12219	0.60	2.30	0.22	0.002	4	0.000	0.000	3193	3368	422
12510	4.59	2662.4	924.5	-4.9	473	12519	0.40	3.53	0.20	0.000	6	0.000	0.000	3278	1862	429
12838	5.08	2964.7	941.6	-5.2	481	12843	0.00	2.80	0.00	0.000	4	0.000	0.000	3289	3370	426
13133	5.59	3274.7	957.9	-5.5	487	13138	0.00	2.53	0.03	0.001	6	0.000	0.000	3314	1870	423
13452	6.10	3599.2	976.3	-6.1	495	13460	0.00	3.45	0.00	0.000	4	0.000	0.000	3295	3533	425
13751	6.65	3861.3	993.7	-3.7	501	13757	0.00	3.03	0.05	0.001	6	0.000	0.000	3309	1872	424
14070	7.08	3873.1	985.4	5.8	509	14075	0.00	2.80	0.00	0.000	4	0.000	0.000	3272	3378	418
14364	7.10	3873.1	962.4	8.7	515	14369	0.00	2.55	0.08	0.001	6	0.000	0.000	3313	1873	411
14682	7.10	3873.1	937.8	7.7	523	14689	0.00	3.35	0.00	0.000	4	0.000	0.000	3278	3559	426
14981	7.10	3873.1	913.4	7.6	529	14986	0.00	3.00	0.00	0.000	6	0.000	0.000	3274	1777	420
15299	7.10	3873.1	887.7	8.3	537	15306	0.00	3.45	0.00	0.000	4	0.000	0.000	3286	3555	425
15597	7.10	3873.1	861.2	9.3	543	15605	0.00	3.58	0.00	0.000	6	0.000	0.000	3279	1737	421
15920	7.10	3873.1	833.4	8.8	551	15927	0.00	3.45	0.00	0.000	4	0.000	0.000	3307	3397	421
16219	7.10	3873.1	807.8	7.8	557	16223	0.00	2.45	0.00	0.000	6	0.000	0.000	3287	1846	420
16537	7.10	3873.1	784.5	7.2	565	16541	0.00	2.53	0.00	0.000	4	0.000	0.000	3284	3380	418
16831	7.10	3873.1	763.4	6.8	571	16835	0.00	2.55	0.00	0.000	6	0.000	0.000	3287	1999	424
17149	7.10	3873.1	741.8	6.8	579	17154	0.00	2.65	0.00	0.000	4	0.000	0.000	3294	3411	426
17443	7.10	3873.1	721.0	7.7	585	17451	0.00	3.35	0.10	0.001	6	0.000	0.000	3301	2005	420
17772	7.10	3873.1	697.5	7.4	593	17777	0.00	2.85	0.00	0.000	4	0.000	0.000	3299	3403	422
18073	7.10	3873.1	674.9	6.7	599	18077	0.00	2.60	0.00	0.000	6	0.000	0.000	3293	1964	419
18391	7.10	3873.1	652.8	7.0	607	18396	0.00	2.70	0.00	0.000	4	0.000	0.000	3291	3399	417
18684	7.10	3873.1	631.2	6.9	613	18690	0.00	3.22	0.03	0.000	6	0.000	0.000	3277	1824	417
19004	7.10	3873.1	607.9	7.3	621	19009	0.00	3.00	0.00	0.000	4	0.000	0.000	3284	3471	415
19298	7.10	3873.1	587.1	6.8	627	19306	0.00	3.72	0.03	0.001	6	0.000	0.000	3260	1858	423
19622	7.10	3873.1	564.3	7.2	635	19630	0.00	3.58	0.00	0.000	4	0.000	0.000	3262	3509	424
19927	7.10	3873.1	542.3	7.3	641	19934	0.00	3.45	0.00	0.000	6	0.000	0.000	3312	1811	424
20256	7.10	3873.1	519.2	7.1	649	20264	0.00	3.75	0.03	0.000	4	0.000	0.000	3290	3546	424
20553	7.10	3873.1	497.4	6.3	655	20568	0.00	3.25	0.00	0.000	6	0.000	0.000	3289	1852	421
20887	7.10	3873.1	475.2	6.5	671	20892	0.00	2.50	0.05	0.000	4	0.000	0.000	3274	3405	423
21190	7.10	3887.2	456.4	5.7	683	21206	0.00	3.65	0.00	0.000	6	0.000	0.000	3294	1792	417
21521	7.13	3887.2	435.8	6.8	699	21526	0.00	2.80	0.00	0.000	4	0.000	0.000	3299	3481	420
21824	7.13	3889.9	414.4	6.1	711	21829	0.00	3.10	0.00	0.000	6	0.000	0.000	3290	1977	418
22145	7.13	3889.9	392.6	6.7	726	22153	0.00	3.45	0.03	0.000	4	0.000	0.000	3292	3501	422
22462	7.13	3939.9	370.9	4.4	738	22466	0.00	2.62	0.00	0.000	6	0.000	0.000	3300	1831	420
22783	7.22	3939.9	349.3	6.6	753	22790	0.00	3.55	0.00	0.000	4	0.000	0.000	3267	3455	420
23093	7.22	3952.8	329.8	5.8	765	23097	0.00	2.50	0.03	0.001	6	0.000	0.000	3284	1921	423
23414	7.24	3963.2	311.9	5.9	780	23422	0.00	3.75	0.05	0.001	4	0.000	0.000	3276	3571	423
23728	7.25	3963.2	289.6	7.4	792	23744	0.00	3.75	0.00	0.000	6	0.000	0.000	3283	1763	416
24054	7.25	3963.2	264.9	7.3	808	24062	0.00	3.65	0.03	0.000	4	0.000	0.000	3294	3540	416
24373	7.25	3983.3	242.4	5.5	820	24388	0.00	3.22	0.00	0.000	6	0.000	0.000	3303	1781	423
24699	7.29	3983.3	219.1	7.2	836	24704	0.00	2.70	0.08	0.000	4	0.000	0.000	3274	3425	419
25000	7.29	4020.3	198.0	4.8	848	25005	0.00	3.25	0.00	0.000	6	0.000	0.000	3276	1775	421
25321	7.35	4042.1	180.0	5.4	863	25325	0.00	2.90	0.00	0.000	4	0.000	0.000	3295	3438	424
25626	7.39	4043.5	160.5	6.2	875	25643	0.00	3.85	0.12	0.000	6	0.000	0.000	3286	1771	420
25958	7.39	4043.5	136.4	8.1	891	25963	0.00	3.00	0.00	0.000	4	0.000	0.000	3289	3440	424
26263	7.39	4095.5	115.4	4.3	903	26268	0.00	2.50	0.00	0.000	6	0.000	0.000	3291	1877	422
26610	7.48	4095.5	92.0	7.3	927	26622	0.00	2.50	0.00	0.000	4	0.000	0.000	3267	3545	420
26990	7.48	4102.5	66.8	6.0	976	27002	0.00	2.85	0.00	0.000	6	0.000	0.000	3289	1783	418
27462	7.49	4102.5	36.8	6.6	1037	27474	0.00	3.08	0.00	0.000	4	0.000	0.000	3307	3576	415
27850	7.49	4102.5	11.3	7.0	1086	27862	0.00	3.40	0.00	0.000	6	0.000	0.000	3296	1787	421
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface