Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 3 * 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 3 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 3 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 8 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 -442285.78 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 -442285.78

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 3 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 8 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 3 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 130712,4704.390,-12603.564,15,1.1,15,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.101,-0.164

_SM_DEPTHo 0.34 KALMAN_X 2806.5,926.1,1285.7,1860.9,-871.0

_SM_ANGLEo -50.0 KALMAN_Y -667.0,-235.6,-328.7,487.4,259.9

GPS2 131616,4704.457,-12603.597,15,1.1,15,18.0 MHEAD_RNG_PITCHd_Wd 130.4,295840,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999487 ALTIM_TOP_PING 19.8,999.0

SM_CCo 28051,0.00,0.000,0,0,413,449.88 _24V_AH 23.7,57.383

SM_GC 0.34,12.70,0.00,0.00,0.000,0.000,0.000,640,1955,413,-7.27,-1.02,449.88 _10V_AH 9.6,22.474

RAFOS_CLK 0 DATA_FILE_SIZE 37815,1125

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,242110464

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,63,1814,5,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2089 CURRENT 0.096,283.7,1

INTERNAL_PRESSURE 26.0748 GPS 150607,210609,4703.944,-12600.976,24,1.1,24,18.0

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 35 119 99.49 SBE_CT 1910 24 1086.84

Roll_motor 270 60 384.05 nil 0 0 0.00

VBD_pump_during_apogee 512 1300 15786.27 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 129 223 681.90

Transponder_ping 0 420 2.49

GPS 15 50 7.37

TT8 6097 19 1166.02

LPSleep 14376 2 318.81

TT8_Active 907 19 173.47

TT8_Sampling 3122 39 1196.64

TT8_CF8 3945 45 1739.34

TT8_Kalman 31 81 24.72

Analog_circuits 2958 12 340.78

GPS_charging 0 0 0.00

Compass 4013 26 1001.66

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

43 -0.83 -116.8 0.0 0.0 0 119 0.00 0.00 -74.03 0.000 2 0.000 0.000 657 2188 2647

126 -0.83 -116.8 3.2 -4.8 7 155 7.18 2.80 -3.12 0.000 4 0.000 0.000 2147 405 2736

497 -0.83 -116.8 47.5 -11.8 57 510 0.38 2.53 0.00 0.000 6 0.000 0.000 2064 2084 2737

944 -0.83 -116.8 99.4 -10.5 118 956 0.20 2.90 0.00 0.000 4 0.000 0.000 2115 456 2739

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

974 -0.25 0.0 102.3 9.9 119 1077 0.75 0.00 94.97 0.000 6 0.000 0.000 2256 2104 2263

state end apogee CONTROL_FINISHED_OK

state start climb

1083 0.83 116.8 111.8 0.0 124 1190 1.12 2.28 94.22 0.000 4 0.000 0.000 2475 3475 1790

1491 0.83 116.8 147.9 -8.4 139 1503 0.40 2.90 0.00 0.000 6 0.000 0.000 2394 1808 1788

1812 0.83 116.8 174.8 -9.3 155 1818 0.38 2.50 0.52 0.001 4 0.000 0.000 2480 3375 1787

2110 0.83 116.8 202.0 -8.6 167 2116 0.38 2.80 0.05 0.000 6 0.000 0.000 2414 1769 1783

2431 0.83 116.8 227.4 -7.9 182 2439 0.40 3.35 0.00 0.000 4 0.000 0.000 2497 3529 1787

2734 0.83 116.8 252.4 -7.8 194 2750 0.35 3.35 0.00 0.000 6 0.000 0.000 2384 1865 1788

3059 0.83 116.8 275.7 -7.2 210 3067 0.35 3.55 0.00 0.000 4 0.000 0.000 2480 3519 1780

3362 0.83 116.8 298.6 -7.6 222 3377 0.32 2.95 0.00 0.000 6 0.000 0.000 2406 1837 1784

3686 0.83 116.8 321.7 -7.0 238 3692 0.38 2.83 0.00 0.000 4 0.000 0.000 2490 3498 1789

3989 0.83 116.8 343.8 -8.1 250 4005 0.43 3.45 0.00 0.000 6 0.000 0.000 2402 1961 1786

4314 0.83 116.8 369.1 -8.2 266 4320 0.32 2.90 0.00 0.000 4 0.000 0.000 2491 3467 1779

4617 0.83 116.8 392.7 -7.4 278 4634 0.40 3.42 0.00 0.000 6 0.000 0.000 2395 1787 1787

4943 0.83 116.8 416.5 -7.1 294 4948 0.35 2.92 0.00 0.000 4 0.000 0.000 2511 3456 1779

5250 0.83 116.8 438.2 -6.3 306 5267 0.40 4.22 0.00 0.000 6 0.000 0.000 2415 1816 1780

5576 0.83 116.8 460.1 -6.8 322 5585 0.35 3.75 0.00 0.000 4 0.000 0.000 2472 3584 1784

5881 0.83 116.8 480.7 -6.9 334 5886 0.00 3.03 0.00 0.000 6 0.000 0.000 2464 1824 1787

6208 0.83 116.8 502.9 -7.3 348 6212 0.00 2.60 0.00 0.000 4 0.000 0.000 2452 3432 1783

6500 0.83 116.8 525.5 -7.6 354 6506 0.00 3.15 0.05 0.000 6 0.000 0.000 2474 1786 1786

6819 0.83 116.8 549.0 -7.3 362 6827 0.00 4.50 0.00 0.000 4 0.000 0.000 2454 3605 1783

7119 0.83 439.8 569.1 -6.0 368 7472 0.00 3.35 309.85 0.000 6 0.000 0.000 2467 1839 477

7790 1.37 439.8 611.3 -6.4 383 7797 0.73 2.70 0.00 0.000 4 0.000 0.000 2585 3601 475

8085 1.37 439.8 631.7 -6.6 389 8094 0.32 4.05 0.00 0.000 6 0.000 0.000 2500 1803 463

8414 1.37 439.8 653.7 -6.9 397 8423 0.35 2.70 0.93 0.001 4 0.000 0.000 2590 3630 465

8712 1.37 439.8 674.7 -7.0 403 8720 0.40 3.10 0.00 0.000 6 0.000 0.000 2502 1835 470

9036 1.37 439.8 695.8 -6.5 411 9044 0.43 3.72 0.00 0.000 4 0.000 0.000 2595 3619 472

9339 1.37 768.8 715.8 -6.2 417 9358 0.38 2.78 10.50 0.000 6 0.000 0.000 2506 1805 416

9708 1.92 768.8 739.0 -6.6 426 9716 1.15 2.70 0.05 0.000 4 0.000 0.000 2747 3627 427

10006 1.92 1097.5 758.6 -6.2 432 10015 0.35 3.33 0.03 0.000 6 0.000 0.000 2645 1849 431

10335 2.47 1421.3 778.1 -6.0 440 10344 1.02 2.50 0.03 0.001 4 0.000 0.000 2818 3526 421

10635 3.01 1731.2 796.1 -5.5 446 10643 0.60 2.90 0.00 0.000 6 0.000 0.000 2976 1881 426

10963 3.53 2049.5 814.7 -5.8 454 10969 0.32 2.53 0.08 0.001 4 0.000 0.000 3056 3386 428

11263 4.06 2049.5 832.0 -6.7 460 11271 0.60 2.70 0.08 0.000 6 0.000 0.000 3194 1836 417

11596 4.06 2368.2 851.3 -5.8 468 11604 0.32 3.75 0.00 0.000 4 0.000 0.000 3120 3601 423

11896 4.59 2685.5 868.8 -5.8 474 11905 0.77 2.83 0.10 0.000 6 0.000 0.000 3286 1810 418

12229 5.12 3007.0 887.9 -5.9 482 12238 0.00 3.85 0.05 0.000 4 0.000 0.000 3289 3575 419

12523 5.66 3320.8 906.2 -5.6 488 12531 0.00 3.25 0.15 0.000 6 0.000 0.000 3285 1907 429

12847 6.18 3320.8 925.8 -6.3 496 12852 0.00 2.80 0.10 0.001 4 0.000 0.000 3286 3462 413

13140 6.18 3644.0 944.1 -6.0 502 13146 0.00 3.12 0.00 0.000 6 0.000 0.000 3291 1795 416

13458 6.72 3954.5 962.6 -5.5 510 13466 0.00 3.75 0.08 0.000 4 0.000 0.000 3305 3597 426

13752 7.24 4232.3 978.4 -4.3 516 13757 0.00 3.00 0.00 0.000 6 0.000 0.000 3296 1801 419

14070 7.70 4507.7 993.3 -4.2 524 14077 0.00 3.45 0.00 0.000 4 0.000 0.000 3303 3604 427

14366 8.16 4507.7 976.8 8.8 530 14372 0.00 3.25 0.03 0.000 6 0.000 0.000 3288 1820 425

14685 8.16 4507.7 950.5 8.5 538 14692 0.00 3.45 0.00 0.000 4 0.000 0.000 3302 3394 424

14982 8.16 4507.7 926.6 7.9 544 14987 0.00 2.40 0.03 0.000 6 0.000 0.000 3298 1845 426

15300 8.16 4507.7 903.3 7.2 552 15305 0.00 2.85 0.00 0.000 4 0.000 0.000 3288 3361 425

15592 8.16 4507.7 881.2 7.5 558 15599 0.00 3.28 0.00 0.000 6 0.000 0.000 3292 1992 425

15915 8.16 4507.7 856.8 7.6 566 15920 0.00 3.05 0.03 0.001 4 0.000 0.000 3280 3396 419

16208 8.16 4507.7 834.3 7.6 572 16213 0.00 3.10 0.03 0.001 6 0.000 0.000 3300 1855 426

16526 8.16 4507.7 809.8 7.9 580 16531 0.00 3.03 0.00 0.000 4 0.000 0.000 3297 3365 417

16818 8.16 4507.7 785.9 8.2 586 16823 0.00 3.10 0.00 0.000 6 0.000 0.000 3294 1856 423

17136 8.16 4507.7 759.3 8.5 594 17141 0.00 2.95 0.03 0.003 4 0.000 0.000 3278 3377 417

17429 8.16 4507.7 734.2 8.4 600 17434 0.00 2.60 0.10 0.000 6 0.000 0.000 3289 1825 425

17747 8.16 4507.7 708.2 8.3 608 17754 0.00 3.65 0.00 0.000 4 0.000 0.000 3273 3611 420

18044 8.16 4507.7 682.1 8.9 614 18052 0.00 3.25 0.00 0.000 6 0.000 0.000 3292 1953 423

18368 8.16 4507.7 656.1 8.1 622 18372 0.00 2.50 0.03 0.001 4 0.000 0.000 3288 3466 421

18660 8.16 4507.7 632.2 7.7 628 18665 0.00 2.70 0.03 0.000 6 0.000 0.000 3290 1789 421

18978 8.16 4507.7 608.7 7.2 636 18982 0.00 2.80 0.00 0.000 4 0.000 0.000 3317 3453 421

19269 8.16 4507.7 586.7 7.3 642 19275 0.00 3.10 0.03 0.001 6 0.000 0.000 3297 1781 421

19587 8.16 4507.7 565.1 6.7 650 19592 0.00 3.12 0.00 0.000 4 0.000 0.000 3293 3449 416

19879 8.16 4507.7 546.2 6.5 656 19884 0.00 2.80 0.05 0.000 6 0.000 0.000 3287 1804 423

20198 8.16 4507.7 525.2 6.8 664 20206 0.00 3.92 0.03 0.003 4 0.000 0.000 3304 3610 419

20494 8.16 4507.7 505.1 6.9 670 20500 0.00 2.80 0.08 0.000 6 0.000 0.000 3301 1844 428

20816 8.16 4523.7 486.8 5.6 683 20820 0.00 2.53 0.00 0.000 4 0.000 0.000 3293 3370 420

21118 8.19 4546.6 470.2 5.4 695 21123 0.00 2.67 0.00 0.000 6 0.000 0.000 3285 1870 422

21439 8.23 4546.6 449.6 7.3 710 21444 0.00 2.92 0.00 0.000 4 0.000 0.000 3290 3399 423

21740 8.23 4546.6 424.5 8.8 722 21755 0.00 3.25 0.00 0.000 6 0.000 0.000 3298 1861 414

22065 8.23 4546.6 396.1 8.7 738 22072 0.00 3.45 0.00 0.000 4 0.000 0.000 3282 3533 417

22370 8.23 4546.6 370.8 8.1 750 22375 0.00 2.83 0.03 0.000 6 0.000 0.000 3276 1846 415

22691 8.23 4546.6 346.7 7.3 765 22698 0.00 3.75 0.00 0.000 4 0.000 0.000 3291 3393 421

22996 8.23 4546.6 324.7 8.3 777 23001 0.00 2.83 0.00 0.000 6 0.000 0.000 3275 1772 413

23317 8.23 4546.6 301.4 7.5 792 23325 0.00 3.65 0.00 0.000 4 0.000 0.000 3289 3555 423

23623 8.23 4546.6 278.0 6.4 804 23628 0.00 2.70 0.05 0.000 6 0.000 0.000 3296 1778 421

23943 8.23 4546.6 255.6 6.9 819 23948 0.00 2.72 0.00 0.000 4 0.000 0.000 3289 3450 420

24245 8.23 4546.6 234.2 7.7 831 24250 0.00 2.80 0.00 0.000 6 0.000 0.000 3291 1808 415

24566 8.23 4546.6 212.9 6.4 846 24571 0.00 2.72 0.00 0.000 4 0.000 0.000 3310 3461 420

24873 8.23 4548.7 193.7 6.2 858 24888 0.00 3.38 0.00 0.000 6 0.000 0.000 3301 1939 425

25204 8.23 4562.8 174.7 5.7 874 25208 0.00 2.50 0.00 0.000 4 0.000 0.000 3300 3480 418

25510 8.26 4562.8 155.0 6.6 886 25515 0.00 3.25 0.00 0.000 6 0.000 0.000 3288 1797 409

25831 8.26 4562.8 133.4 6.5 901 25832 0.00 0.00 0.00 0.000 6 0.000 0.000 3294 1796 415

26141 8.26 4562.8 113.7 6.6 916 26145 0.00 2.53 0.00 0.000 4 0.000 0.000 3294 3392 420

26458 8.26 4587.2 96.9 5.3 933 26471 0.00 3.22 0.00 0.000 6 0.000 0.000 3306 1849 415

26944 8.30 4587.2 66.9 6.9 994 26956 0.00 2.58 0.00 0.000 4 0.000 0.000 3291 3507 410

27319 8.30 4587.2 43.1 6.7 1043 27332 0.00 3.20 0.03 0.001 6 0.000 0.000 3280 1815 423

27792 8.30 4587.2 10.4 6.3 1104 27804 0.00 3.33 0.00 0.000 4 0.000 0.000 3289 3498 422

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	3	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	3	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	8	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	-442285.78	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	130712,4704.390,-12603.564,15,1.1,15,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.101,-0.164
_SM_DEPTHo	0.34	KALMAN_X	2806.5,926.1,1285.7,1860.9,-871.0
_SM_ANGLEo	-50.0	KALMAN_Y	-667.0,-235.6,-328.7,487.4,259.9
GPS2	131616,4704.457,-12603.597,15,1.1,15,18.0	MHEAD_RNG_PITCHd_Wd	130.4,295840,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999487	ALTIM_TOP_PING	19.8,999.0
SM_CCo	28051,0.00,0.000,0,0,413,449.88	_24V_AH	23.7,57.383
SM_GC	0.34,12.70,0.00,0.00,0.000,0.000,0.000,640,1955,413,-7.27,-1.02,449.88	_10V_AH	9.6,22.474
RAFOS_CLK	0	DATA_FILE_SIZE	37815,1125
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,242110464
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,63,1814,5,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2089	CURRENT	0.096,283.7,1
INTERNAL_PRESSURE	26.0748	GPS	150607,210609,4703.944,-12600.976,24,1.1,24,18.0
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	35	119	99.49	SBE_CT	1910	24	1086.84
Roll_motor	270	60	384.05	nil	0	0	0.00
VBD_pump_during_apogee	512	1300	15786.27	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	129	223	681.90
Transponder_ping	0	420	2.49
GPS	15	50	7.37
TT8	6097	19	1166.02
LPSleep	14376	2	318.81
TT8_Active	907	19	173.47
TT8_Sampling	3122	39	1196.64
TT8_CF8	3945	45	1739.34
TT8_Kalman	31	81	24.72
Analog_circuits	2958	12	340.78
GPS_charging	0	0	0.00
Compass	4013	26	1001.66
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
43	-0.83	-116.8	0.0	0.0	0	119	0.00	0.00	-74.03	0.000	2	0.000	0.000	657	2188	2647
126	-0.83	-116.8	3.2	-4.8	7	155	7.18	2.80	-3.12	0.000	4	0.000	0.000	2147	405	2736
497	-0.83	-116.8	47.5	-11.8	57	510	0.38	2.53	0.00	0.000	6	0.000	0.000	2064	2084	2737
944	-0.83	-116.8	99.4	-10.5	118	956	0.20	2.90	0.00	0.000	4	0.000	0.000	2115	456	2739
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
974	-0.25	0.0	102.3	9.9	119	1077	0.75	0.00	94.97	0.000	6	0.000	0.000	2256	2104	2263
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1083	0.83	116.8	111.8	0.0	124	1190	1.12	2.28	94.22	0.000	4	0.000	0.000	2475	3475	1790
1491	0.83	116.8	147.9	-8.4	139	1503	0.40	2.90	0.00	0.000	6	0.000	0.000	2394	1808	1788
1812	0.83	116.8	174.8	-9.3	155	1818	0.38	2.50	0.52	0.001	4	0.000	0.000	2480	3375	1787
2110	0.83	116.8	202.0	-8.6	167	2116	0.38	2.80	0.05	0.000	6	0.000	0.000	2414	1769	1783
2431	0.83	116.8	227.4	-7.9	182	2439	0.40	3.35	0.00	0.000	4	0.000	0.000	2497	3529	1787
2734	0.83	116.8	252.4	-7.8	194	2750	0.35	3.35	0.00	0.000	6	0.000	0.000	2384	1865	1788
3059	0.83	116.8	275.7	-7.2	210	3067	0.35	3.55	0.00	0.000	4	0.000	0.000	2480	3519	1780
3362	0.83	116.8	298.6	-7.6	222	3377	0.32	2.95	0.00	0.000	6	0.000	0.000	2406	1837	1784
3686	0.83	116.8	321.7	-7.0	238	3692	0.38	2.83	0.00	0.000	4	0.000	0.000	2490	3498	1789
3989	0.83	116.8	343.8	-8.1	250	4005	0.43	3.45	0.00	0.000	6	0.000	0.000	2402	1961	1786
4314	0.83	116.8	369.1	-8.2	266	4320	0.32	2.90	0.00	0.000	4	0.000	0.000	2491	3467	1779
4617	0.83	116.8	392.7	-7.4	278	4634	0.40	3.42	0.00	0.000	6	0.000	0.000	2395	1787	1787
4943	0.83	116.8	416.5	-7.1	294	4948	0.35	2.92	0.00	0.000	4	0.000	0.000	2511	3456	1779
5250	0.83	116.8	438.2	-6.3	306	5267	0.40	4.22	0.00	0.000	6	0.000	0.000	2415	1816	1780
5576	0.83	116.8	460.1	-6.8	322	5585	0.35	3.75	0.00	0.000	4	0.000	0.000	2472	3584	1784
5881	0.83	116.8	480.7	-6.9	334	5886	0.00	3.03	0.00	0.000	6	0.000	0.000	2464	1824	1787
6208	0.83	116.8	502.9	-7.3	348	6212	0.00	2.60	0.00	0.000	4	0.000	0.000	2452	3432	1783
6500	0.83	116.8	525.5	-7.6	354	6506	0.00	3.15	0.05	0.000	6	0.000	0.000	2474	1786	1786
6819	0.83	116.8	549.0	-7.3	362	6827	0.00	4.50	0.00	0.000	4	0.000	0.000	2454	3605	1783
7119	0.83	439.8	569.1	-6.0	368	7472	0.00	3.35	309.85	0.000	6	0.000	0.000	2467	1839	477
7790	1.37	439.8	611.3	-6.4	383	7797	0.73	2.70	0.00	0.000	4	0.000	0.000	2585	3601	475
8085	1.37	439.8	631.7	-6.6	389	8094	0.32	4.05	0.00	0.000	6	0.000	0.000	2500	1803	463
8414	1.37	439.8	653.7	-6.9	397	8423	0.35	2.70	0.93	0.001	4	0.000	0.000	2590	3630	465
8712	1.37	439.8	674.7	-7.0	403	8720	0.40	3.10	0.00	0.000	6	0.000	0.000	2502	1835	470
9036	1.37	439.8	695.8	-6.5	411	9044	0.43	3.72	0.00	0.000	4	0.000	0.000	2595	3619	472
9339	1.37	768.8	715.8	-6.2	417	9358	0.38	2.78	10.50	0.000	6	0.000	0.000	2506	1805	416
9708	1.92	768.8	739.0	-6.6	426	9716	1.15	2.70	0.05	0.000	4	0.000	0.000	2747	3627	427
10006	1.92	1097.5	758.6	-6.2	432	10015	0.35	3.33	0.03	0.000	6	0.000	0.000	2645	1849	431
10335	2.47	1421.3	778.1	-6.0	440	10344	1.02	2.50	0.03	0.001	4	0.000	0.000	2818	3526	421
10635	3.01	1731.2	796.1	-5.5	446	10643	0.60	2.90	0.00	0.000	6	0.000	0.000	2976	1881	426
10963	3.53	2049.5	814.7	-5.8	454	10969	0.32	2.53	0.08	0.001	4	0.000	0.000	3056	3386	428
11263	4.06	2049.5	832.0	-6.7	460	11271	0.60	2.70	0.08	0.000	6	0.000	0.000	3194	1836	417
11596	4.06	2368.2	851.3	-5.8	468	11604	0.32	3.75	0.00	0.000	4	0.000	0.000	3120	3601	423
11896	4.59	2685.5	868.8	-5.8	474	11905	0.77	2.83	0.10	0.000	6	0.000	0.000	3286	1810	418
12229	5.12	3007.0	887.9	-5.9	482	12238	0.00	3.85	0.05	0.000	4	0.000	0.000	3289	3575	419
12523	5.66	3320.8	906.2	-5.6	488	12531	0.00	3.25	0.15	0.000	6	0.000	0.000	3285	1907	429
12847	6.18	3320.8	925.8	-6.3	496	12852	0.00	2.80	0.10	0.001	4	0.000	0.000	3286	3462	413
13140	6.18	3644.0	944.1	-6.0	502	13146	0.00	3.12	0.00	0.000	6	0.000	0.000	3291	1795	416
13458	6.72	3954.5	962.6	-5.5	510	13466	0.00	3.75	0.08	0.000	4	0.000	0.000	3305	3597	426
13752	7.24	4232.3	978.4	-4.3	516	13757	0.00	3.00	0.00	0.000	6	0.000	0.000	3296	1801	419
14070	7.70	4507.7	993.3	-4.2	524	14077	0.00	3.45	0.00	0.000	4	0.000	0.000	3303	3604	427
14366	8.16	4507.7	976.8	8.8	530	14372	0.00	3.25	0.03	0.000	6	0.000	0.000	3288	1820	425
14685	8.16	4507.7	950.5	8.5	538	14692	0.00	3.45	0.00	0.000	4	0.000	0.000	3302	3394	424
14982	8.16	4507.7	926.6	7.9	544	14987	0.00	2.40	0.03	0.000	6	0.000	0.000	3298	1845	426
15300	8.16	4507.7	903.3	7.2	552	15305	0.00	2.85	0.00	0.000	4	0.000	0.000	3288	3361	425
15592	8.16	4507.7	881.2	7.5	558	15599	0.00	3.28	0.00	0.000	6	0.000	0.000	3292	1992	425
15915	8.16	4507.7	856.8	7.6	566	15920	0.00	3.05	0.03	0.001	4	0.000	0.000	3280	3396	419
16208	8.16	4507.7	834.3	7.6	572	16213	0.00	3.10	0.03	0.001	6	0.000	0.000	3300	1855	426
16526	8.16	4507.7	809.8	7.9	580	16531	0.00	3.03	0.00	0.000	4	0.000	0.000	3297	3365	417
16818	8.16	4507.7	785.9	8.2	586	16823	0.00	3.10	0.00	0.000	6	0.000	0.000	3294	1856	423
17136	8.16	4507.7	759.3	8.5	594	17141	0.00	2.95	0.03	0.003	4	0.000	0.000	3278	3377	417
17429	8.16	4507.7	734.2	8.4	600	17434	0.00	2.60	0.10	0.000	6	0.000	0.000	3289	1825	425
17747	8.16	4507.7	708.2	8.3	608	17754	0.00	3.65	0.00	0.000	4	0.000	0.000	3273	3611	420
18044	8.16	4507.7	682.1	8.9	614	18052	0.00	3.25	0.00	0.000	6	0.000	0.000	3292	1953	423
18368	8.16	4507.7	656.1	8.1	622	18372	0.00	2.50	0.03	0.001	4	0.000	0.000	3288	3466	421
18660	8.16	4507.7	632.2	7.7	628	18665	0.00	2.70	0.03	0.000	6	0.000	0.000	3290	1789	421
18978	8.16	4507.7	608.7	7.2	636	18982	0.00	2.80	0.00	0.000	4	0.000	0.000	3317	3453	421
19269	8.16	4507.7	586.7	7.3	642	19275	0.00	3.10	0.03	0.001	6	0.000	0.000	3297	1781	421
19587	8.16	4507.7	565.1	6.7	650	19592	0.00	3.12	0.00	0.000	4	0.000	0.000	3293	3449	416
19879	8.16	4507.7	546.2	6.5	656	19884	0.00	2.80	0.05	0.000	6	0.000	0.000	3287	1804	423
20198	8.16	4507.7	525.2	6.8	664	20206	0.00	3.92	0.03	0.003	4	0.000	0.000	3304	3610	419
20494	8.16	4507.7	505.1	6.9	670	20500	0.00	2.80	0.08	0.000	6	0.000	0.000	3301	1844	428
20816	8.16	4523.7	486.8	5.6	683	20820	0.00	2.53	0.00	0.000	4	0.000	0.000	3293	3370	420
21118	8.19	4546.6	470.2	5.4	695	21123	0.00	2.67	0.00	0.000	6	0.000	0.000	3285	1870	422
21439	8.23	4546.6	449.6	7.3	710	21444	0.00	2.92	0.00	0.000	4	0.000	0.000	3290	3399	423
21740	8.23	4546.6	424.5	8.8	722	21755	0.00	3.25	0.00	0.000	6	0.000	0.000	3298	1861	414
22065	8.23	4546.6	396.1	8.7	738	22072	0.00	3.45	0.00	0.000	4	0.000	0.000	3282	3533	417
22370	8.23	4546.6	370.8	8.1	750	22375	0.00	2.83	0.03	0.000	6	0.000	0.000	3276	1846	415
22691	8.23	4546.6	346.7	7.3	765	22698	0.00	3.75	0.00	0.000	4	0.000	0.000	3291	3393	421
22996	8.23	4546.6	324.7	8.3	777	23001	0.00	2.83	0.00	0.000	6	0.000	0.000	3275	1772	413
23317	8.23	4546.6	301.4	7.5	792	23325	0.00	3.65	0.00	0.000	4	0.000	0.000	3289	3555	423
23623	8.23	4546.6	278.0	6.4	804	23628	0.00	2.70	0.05	0.000	6	0.000	0.000	3296	1778	421
23943	8.23	4546.6	255.6	6.9	819	23948	0.00	2.72	0.00	0.000	4	0.000	0.000	3289	3450	420
24245	8.23	4546.6	234.2	7.7	831	24250	0.00	2.80	0.00	0.000	6	0.000	0.000	3291	1808	415
24566	8.23	4546.6	212.9	6.4	846	24571	0.00	2.72	0.00	0.000	4	0.000	0.000	3310	3461	420
24873	8.23	4548.7	193.7	6.2	858	24888	0.00	3.38	0.00	0.000	6	0.000	0.000	3301	1939	425
25204	8.23	4562.8	174.7	5.7	874	25208	0.00	2.50	0.00	0.000	4	0.000	0.000	3300	3480	418
25510	8.26	4562.8	155.0	6.6	886	25515	0.00	3.25	0.00	0.000	6	0.000	0.000	3288	1797	409
25831	8.26	4562.8	133.4	6.5	901	25832	0.00	0.00	0.00	0.000	6	0.000	0.000	3294	1796	415
26141	8.26	4562.8	113.7	6.6	916	26145	0.00	2.53	0.00	0.000	4	0.000	0.000	3294	3392	420
26458	8.26	4587.2	96.9	5.3	933	26471	0.00	3.22	0.00	0.000	6	0.000	0.000	3306	1849	415
26944	8.30	4587.2	66.9	6.9	994	26956	0.00	2.58	0.00	0.000	4	0.000	0.000	3291	3507	410
27319	8.30	4587.2	43.1	6.7	1043	27332	0.00	3.20	0.03	0.001	6	0.000	0.000	3280	1815	423
27792	8.30	4587.2	10.4	6.3	1104	27804	0.00	3.33	0.00	0.000	4	0.000	0.000	3289	3498	422
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface