Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 31 * 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 31 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 19 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 1 MOTHERBOARD 4

SURFACE_URGENCY 5 CALL_NDIVES 1 ROLL_AD_RATE 500 DEVICE1 2

SURFACE_URGENCY_TRY 20 COMM_SEQ 0 ROLL_MAXERRORS 1 DEVICE2 -1

SURFACE_URGENCY_FORCE 20 N_NOCOMM 1 VBD_MIN 421 DEVICE3 -1

T_DIVE 528 N_NOSURFACE 0 VBD_MAX 3792 DEVICE4 -1

T_MISSION 550 UPLOAD_DIVES_MAX 5 C_VBD 2257 DEVICE5 -1

T_ABORT 1440 CALL_TRIES 5 VBD_DBAND 2 DEVICE6 -1

T_TURN 240 CALL_WAIT 60 VBD_CNV -0.24529999 SMARTS 0

T_TURN_SAMPINT 5 CAPUPLOAD 0 VBD_TIMEOUT 720 SMARTDEVICE1 -1

T_NO_W 120 CAPMAXSIZE 200000 PITCH_VBD_SHIFT 0.00167 SMARTDEVICE2 -1

USE_BATHY 0 HEAPDBG 1 VBD_PUMP_AD_RATE_SURFACE 6 COMPASS_DEVICE 1

USE_ICE -1 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 PHONE_DEVICE 32

ICE_FREEZE_MARGIN -2 N_GPS 20 VBD_BLEED_AD_RATE 10 GPS_DEVICE 32

D_OFFGRID 1001 T_GPS_ALMANAC 0 UNCOM_BLEED 20 RAFOS_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -442997.41 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 -442997.41

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 19 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 1 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1978 INT_PRESSURE_YINT 10 SEABIRD_C_G -10.005328 USE_BATHY 0

C_ROLL_DIVE 1978 KALMAN_USE 1 SEABIRD_C_H 1.1235065 USE_ICE -1

C_VBD 2257 MASS 51747 SEABIRD_C_I -0.0015880254 VBD_BLEED_AD_RATE 10

DEEPGLIDER 0 MAX_BUOY 120 SEABIRD_C_J 0.0001984441 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MISSION 1 SEABIRD_T_G 0.0042857998 VBD_DBAND 2

DEVICE1 2 MOTHERBOARD 4 SEABIRD_T_H 0.00062588596 VBD_MAX 3792

DEVICE2 -1 N_FILEKB 4 SEABIRD_T_I 2.1643695e-05 VBD_MAXERRORS 20

DEVICE3 -1 N_GPS 20 SEABIRD_T_J 2.0181028e-06 VBD_MIN 421

DEVICE4 -1 N_NOCOMM 1 SIM_PITCH 0 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 N_NOSURFACE 0 SIM_W 0 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 PHONE_DEVICE 32 SMARTDEVICE1 -1 VBD_TIMEOUT 720

DIVE 31 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 104148,4658.706,-12546.017,32,1.1,32,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.172,0.088

_SM_DEPTHo 0.34 KALMAN_X 12548.3,-2423.3,-2833.9,22008.5,3654.9

_SM_ANGLEo -50.0 KALMAN_Y -11309.2,-194.0,38.9,6.2,164.6

GPS2 105312,4658.684,-12546.026,37,1.1,37,18.0 MHEAD_RNG_PITCHd_Wd 44.9,280774,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999484 ALTIM_TOP_PING 19.1,999.0

SM_CCo 27716,0.00,0.000,0,0,419,451.84 _24V_AH 23.7,82.876

SM_GC 0.34,13.52,0.00,0.00,0.000,0.000,0.000,657,2208,419,-7.26,6.25,451.84 _10V_AH 9.6,27.448

RAFOS_CLK 0 DATA_FILE_SIZE 37777,1103

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,233140224

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,47,1859,2,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2025 CURRENT 0.074,276.4,1

INTERNAL_PRESSURE 26.0455 GPS 240607,183723,4659.054,-12552.042,13,1.1,13,18.0

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 84.96 SBE_CT 1762 24 1002.52

Roll_motor 276 60 393.08 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15749.30 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 163 223 861.84

Transponder_ping 0 420 2.49

GPS 42 50 20.58

TT8 6061 19 1159.09

LPSleep 14173 2 314.31

TT8_Active 887 19 169.79

TT8_Sampling 3035 39 1163.20

TT8_CF8 4088 45 1802.26

TT8_Kalman 33 81 26.23

Analog_circuits 2891 12 333.15

GPS_charging 0 0 0.00

Compass 3801 26 948.82

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

39 -0.83 -116.8 0.0 0.0 0 116 0.00 0.00 -74.85 0.000 2 0.000 0.000 637 1790 2671

123 -0.83 -116.8 3.6 -4.9 7 152 7.43 2.45 -2.12 0.000 4 0.000 0.000 2124 386 2733

499 -0.83 -116.8 50.4 -12.3 57 511 0.38 2.88 0.00 0.000 6 0.000 0.000 2044 2051 2741

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

919 -0.25 0.0 100.8 9.6 113 1017 1.17 0.00 94.62 0.000 6 0.000 0.000 2254 1919 2256

state end apogee CONTROL_FINISHED_OK

state start climb

1029 0.83 116.8 109.7 0.0 118 1136 1.08 2.50 94.62 0.000 4 0.000 0.000 2498 3446 1783

1270 0.83 116.8 131.9 -8.1 126 1287 0.38 3.45 0.00 0.000 6 0.000 0.000 2425 1873 1788

1596 0.83 116.8 157.7 -8.9 142 1604 0.47 3.35 0.00 0.000 4 0.000 0.000 2490 3529 1785

1899 0.83 116.8 184.2 -7.6 154 1916 0.32 3.28 0.15 0.001 6 0.000 0.000 2423 1892 1782

2225 0.83 116.8 208.4 -6.8 170 2230 0.00 3.15 0.00 0.000 4 0.000 0.000 2404 3389 1782

2449 0.83 116.8 223.6 -7.0 179 2457 0.25 3.35 0.00 0.000 6 0.000 0.000 2436 1840 1785

2786 0.83 116.8 247.7 -8.2 195 2793 0.00 3.83 0.00 0.000 4 0.000 0.000 2447 3607 1785

2965 0.83 116.8 263.4 -8.6 202 2971 0.00 3.08 0.00 0.000 6 0.000 0.000 2463 2011 1784

3302 0.83 116.8 290.3 -7.5 218 3307 0.05 2.62 0.00 0.000 4 0.000 0.000 2440 3437 1782

3605 0.83 116.8 311.2 -6.9 230 3610 0.00 2.70 0.00 0.000 6 0.000 0.000 2459 1934 1786

3926 0.83 116.8 334.4 -8.0 245 3931 0.05 2.80 0.00 0.000 4 0.000 0.000 2470 3465 1785

4187 0.83 116.8 354.7 -7.9 255 4194 0.00 2.75 0.00 0.000 6 0.000 0.000 2448 1963 1779

4521 0.83 116.8 380.8 -7.8 271 4526 0.00 3.22 0.00 0.000 4 0.000 0.000 2461 3485 1785

4822 0.83 116.8 405.0 -8.0 283 4827 0.00 2.70 0.00 0.000 6 0.000 0.000 2444 1970 1782

5143 0.83 116.8 428.2 -7.3 298 5150 0.00 3.45 0.00 0.000 4 0.000 0.000 2461 3617 1780

5461 0.83 116.8 454.0 -8.1 310 5478 0.03 3.45 0.00 0.000 6 0.000 0.000 2447 1764 1774

5797 0.83 116.8 481.1 -7.9 326 5805 0.00 4.12 0.03 0.001 4 0.000 0.000 2453 3570 1783

6110 0.83 116.8 505.5 -7.1 337 6115 0.00 3.10 0.00 0.000 6 0.000 0.000 2442 1902 1775

6428 0.83 116.8 527.4 -6.8 345 6434 0.03 2.90 0.00 0.000 4 0.000 0.000 2420 3452 1779

6722 0.83 116.8 547.1 -6.4 351 6727 0.00 3.00 0.00 0.000 6 0.000 0.000 2450 1918 1781

7040 0.83 116.8 569.5 -7.2 359 7044 0.00 2.47 0.00 0.000 4 0.000 0.000 2453 511 1781

7133 0.83 116.8 576.5 -8.0 361 7137 0.00 2.70 0.00 0.000 6 0.000 0.000 2426 2156 1780

7463 0.83 116.8 602.8 -7.9 369 7467 0.00 2.30 0.00 0.000 4 0.000 0.000 2465 3421 1784

7756 0.83 116.8 625.1 -7.1 375 7764 0.03 3.55 0.00 0.000 6 0.000 0.000 2445 1887 1783

8080 0.83 116.8 647.6 -7.3 383 8087 0.00 3.55 0.00 0.000 4 0.000 0.000 2456 3525 1777

8379 0.83 116.8 667.1 -6.4 389 8384 0.00 3.00 0.00 0.000 6 0.000 0.000 2453 1889 1784

8697 0.83 116.8 689.0 -6.9 397 8702 0.00 2.70 0.00 0.000 4 0.000 0.000 2473 3392 1783

8991 0.83 116.8 709.2 -6.4 403 8999 0.00 3.53 0.00 0.000 6 0.000 0.000 2427 1848 1790

9314 0.83 116.8 730.2 -6.4 411 9321 0.00 3.25 0.00 0.000 4 0.000 0.000 2445 3533 1779

9614 0.83 116.8 749.2 -6.7 417 9618 0.00 2.85 0.00 0.000 6 0.000 0.000 2469 1875 1781

9932 0.83 116.8 770.5 -6.6 425 9937 0.00 2.70 0.00 0.000 4 0.000 0.000 2463 3449 1786

10146 0.83 422.6 783.1 -5.3 429 10460 0.08 3.55 293.15 0.000 6 0.000 0.000 2455 1812 537

10774 1.34 744.2 818.3 -5.9 443 10814 0.70 2.85 26.50 0.000 4 0.000 0.000 2604 397 427

10897 1.88 744.2 826.4 -7.1 445 10905 0.43 3.05 0.05 0.000 6 0.000 0.000 2659 2147 427

11253 1.88 744.2 850.2 -6.6 454 11261 0.00 2.65 0.82 0.001 4 0.000 0.000 2689 3547 431

11555 1.88 1070.1 870.4 -6.1 460 11564 0.05 3.83 0.12 0.000 6 0.000 0.000 2685 1787 419

11884 2.42 1070.1 891.9 -6.7 468 11893 0.57 3.00 0.05 0.000 4 0.000 0.000 2848 3573 425

12190 2.42 1070.1 913.0 -6.4 474 12196 0.35 2.83 0.03 0.000 6 0.000 0.000 2790 1772 426

12511 2.42 1389.2 932.5 -5.8 482 12520 0.32 3.47 0.05 0.000 4 0.000 0.000 2825 3444 424

12810 2.96 1699.6 949.8 -5.5 488 12819 0.40 2.90 0.03 0.001 6 0.000 0.000 2939 1847 424

13140 3.47 2026.2 969.6 -6.1 496 13149 0.60 3.62 0.08 0.001 4 0.000 0.000 3055 3516 416

13440 4.02 2344.9 988.1 -5.8 502 13446 0.43 2.53 0.08 0.000 6 0.000 0.000 3152 1831 421

13759 4.55 2429.9 989.8 3.0 510 13767 0.70 2.90 0.00 0.000 4 0.000 0.000 3326 3583 419

14058 4.69 2429.9 966.3 6.9 516 14066 0.00 3.75 0.00 0.000 6 0.000 0.000 3295 1801 415

14382 4.69 2429.9 938.7 8.8 524 14390 0.00 3.55 0.03 0.000 4 0.000 0.000 3323 3601 428

14680 4.69 2429.9 911.7 7.7 530 14689 0.00 4.43 0.05 0.000 6 0.000 0.000 3298 1810 415

15005 4.69 2429.9 884.1 8.6 538 15012 0.00 3.30 0.00 0.000 4 0.000 0.000 3278 3628 430

15303 4.69 2429.9 857.3 9.0 544 15309 0.15 2.70 0.12 0.000 6 0.000 0.000 3244 1817 421

15624 4.69 2429.9 828.4 9.2 552 15631 0.00 3.35 0.03 0.001 4 0.000 0.000 3254 3586 418

15922 4.69 2429.9 801.5 7.6 558 15931 0.00 3.55 0.12 0.001 6 0.000 0.000 3255 1775 426

16246 4.69 2429.9 773.8 8.4 566 16251 0.00 3.10 0.00 0.000 4 0.000 0.000 3251 3415 424

16536 4.69 2429.9 750.7 7.7 572 16545 0.00 3.83 0.03 0.000 6 0.000 0.000 3263 1790 428

16866 4.69 2429.9 726.6 7.5 580 16875 0.03 2.80 0.00 0.000 4 0.000 0.000 3248 3569 421

17165 4.69 2429.9 704.3 6.3 586 17170 0.00 2.80 0.00 0.000 6 0.000 0.000 3264 1761 431

17490 4.69 2429.9 680.5 7.5 594 17495 0.00 2.70 0.10 0.000 4 0.000 0.000 3235 3444 423

17784 4.69 2429.9 659.7 6.6 600 17789 0.00 3.00 0.00 0.000 6 0.000 0.000 3255 1897 419

18102 4.69 2429.9 637.3 7.3 608 18110 0.00 4.22 0.00 0.000 4 0.000 0.000 3260 3565 422

18401 4.69 2429.9 613.5 8.9 614 18409 0.00 3.30 0.05 0.000 6 0.000 0.000 3258 1752 412

18726 4.69 2429.9 591.7 6.4 622 18731 0.00 3.10 0.00 0.000 4 0.000 0.000 3267 3425 423

19031 4.69 2430.1 571.7 6.2 628 19036 0.00 3.00 0.00 0.000 6 0.000 0.000 3254 1895 423

19349 4.69 2430.1 551.1 6.7 636 19354 0.00 3.00 0.00 0.000 4 0.000 0.000 3261 3470 421

19655 4.69 2430.1 530.7 6.5 642 19662 0.00 3.45 0.08 0.000 6 0.000 0.000 3263 1801 420

19979 4.69 2430.1 509.2 6.6 650 19987 0.00 3.65 0.00 0.000 4 0.000 0.000 3245 3561 424

20295 4.69 2430.1 488.6 7.2 659 20311 0.03 3.30 0.03 0.000 6 0.000 0.000 3259 1814 415

20625 4.69 2430.1 466.2 7.2 675 20632 0.00 3.45 0.00 0.000 4 0.000 0.000 3248 3514 424

20944 4.69 2430.1 444.2 7.0 687 20949 0.00 2.83 0.00 0.000 6 0.000 0.000 3253 1840 412

21264 4.69 2430.1 424.0 6.5 702 21273 0.03 3.62 0.00 0.000 4 0.000 0.000 3240 3612 418

21578 4.69 2430.1 401.1 7.5 714 21583 0.00 3.10 0.00 0.000 6 0.000 0.000 3236 1831 423

21900 4.69 2430.1 376.8 7.4 729 21904 0.00 2.55 0.00 0.000 4 0.000 0.000 3264 3379 421

22204 4.69 2430.1 357.4 6.6 741 22208 0.00 2.50 0.00 0.000 6 0.000 0.000 3254 1974 416

22526 4.69 2432.4 338.3 6.2 756 22533 0.00 3.35 0.00 0.000 4 0.000 0.000 3271 3514 427

22834 4.70 2432.4 315.3 8.6 768 22849 0.00 3.55 0.00 0.000 6 0.000 0.000 3259 1854 419

23160 4.70 2432.4 288.8 7.8 784 23164 0.00 2.70 0.00 0.000 4 0.000 0.000 3262 3485 419

23463 4.70 2433.2 267.6 6.2 796 23469 0.00 3.25 0.00 0.000 6 0.000 0.000 3252 1846 424

23785 4.70 2444.2 248.5 5.8 811 23792 0.00 3.45 0.00 0.000 4 0.000 0.000 3258 3560 413

23946 4.72 2476.2 239.6 5.0 817 23954 0.00 3.42 0.05 0.001 6 0.000 0.000 3232 1758 430

24283 4.77 2491.9 220.3 5.7 833 24288 0.00 2.80 0.00 0.000 4 0.000 0.000 3263 3387 423

24589 4.80 2523.3 200.6 5.1 845 24604 0.00 3.22 0.00 0.000 6 0.000 0.000 3248 1847 421

24914 4.85 2523.3 178.0 7.0 861 24922 0.00 3.33 0.08 0.000 4 0.000 0.000 3250 3554 422

25234 4.85 2568.2 157.3 4.6 873 25251 0.03 3.53 0.03 0.001 6 0.000 0.000 3274 1869 423

25564 4.92 2568.2 136.8 6.3 889 25569 0.00 2.90 0.00 0.000 4 0.000 0.000 3260 3410 415

25870 4.92 2593.0 116.9 5.3 901 25876 0.03 2.83 0.00 0.000 6 0.000 0.000 3260 1862 426

26222 4.97 2615.0 94.3 5.4 925 26235 0.00 3.25 0.00 0.000 4 0.000 0.000 3254 3497 422

26608 5.00 2656.8 73.5 4.7 974 26622 0.00 2.58 0.00 0.000 6 0.000 0.000 3264 1851 423

27083 5.07 2656.8 38.1 7.6 1035 27096 0.05 2.97 0.00 0.000 4 0.000 0.000 3258 3515 425

27472 5.07 2656.8 10.6 7.1 1084 27485 0.00 2.62 0.03 0.001 6 0.000 0.000 3255 1835 417

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	31	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	19	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	1	MOTHERBOARD	4
SURFACE_URGENCY	5	CALL_NDIVES	1	ROLL_AD_RATE	500	DEVICE1	2
SURFACE_URGENCY_TRY	20	COMM_SEQ	0	ROLL_MAXERRORS	1	DEVICE2	-1
SURFACE_URGENCY_FORCE	20	N_NOCOMM	1	VBD_MIN	421	DEVICE3	-1
T_DIVE	528	N_NOSURFACE	0	VBD_MAX	3792	DEVICE4	-1
T_MISSION	550	UPLOAD_DIVES_MAX	5	C_VBD	2257	DEVICE5	-1
T_ABORT	1440	CALL_TRIES	5	VBD_DBAND	2	DEVICE6	-1
T_TURN	240	CALL_WAIT	60	VBD_CNV	-0.24529999	SMARTS	0
T_TURN_SAMPINT	5	CAPUPLOAD	0	VBD_TIMEOUT	720	SMARTDEVICE1	-1
T_NO_W	120	CAPMAXSIZE	200000	PITCH_VBD_SHIFT	0.00167	SMARTDEVICE2	-1
USE_BATHY	0	HEAPDBG	1	VBD_PUMP_AD_RATE_SURFACE	6	COMPASS_DEVICE	1
USE_ICE	-1	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	PHONE_DEVICE	32
ICE_FREEZE_MARGIN	-2	N_GPS	20	VBD_BLEED_AD_RATE	10	GPS_DEVICE	32
D_OFFGRID	1001	T_GPS_ALMANAC	0	UNCOM_BLEED	20	RAFOS_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-442997.41	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	104148,4658.706,-12546.017,32,1.1,32,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.172,0.088
_SM_DEPTHo	0.34	KALMAN_X	12548.3,-2423.3,-2833.9,22008.5,3654.9
_SM_ANGLEo	-50.0	KALMAN_Y	-11309.2,-194.0,38.9,6.2,164.6
GPS2	105312,4658.684,-12546.026,37,1.1,37,18.0	MHEAD_RNG_PITCHd_Wd	44.9,280774,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999484	ALTIM_TOP_PING	19.1,999.0
SM_CCo	27716,0.00,0.000,0,0,419,451.84	_24V_AH	23.7,82.876
SM_GC	0.34,13.52,0.00,0.00,0.000,0.000,0.000,657,2208,419,-7.26,6.25,451.84	_10V_AH	9.6,27.448
RAFOS_CLK	0	DATA_FILE_SIZE	37777,1103
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,233140224
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,47,1859,2,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2025	CURRENT	0.074,276.4,1
INTERNAL_PRESSURE	26.0455	GPS	240607,183723,4659.054,-12552.042,13,1.1,13,18.0
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	84.96	SBE_CT	1762	24	1002.52
Roll_motor	276	60	393.08	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15749.30	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	163	223	861.84
Transponder_ping	0	420	2.49
GPS	42	50	20.58
TT8	6061	19	1159.09
LPSleep	14173	2	314.31
TT8_Active	887	19	169.79
TT8_Sampling	3035	39	1163.20
TT8_CF8	4088	45	1802.26
TT8_Kalman	33	81	26.23
Analog_circuits	2891	12	333.15
GPS_charging	0	0	0.00
Compass	3801	26	948.82
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
39	-0.83	-116.8	0.0	0.0	0	116	0.00	0.00	-74.85	0.000	2	0.000	0.000	637	1790	2671
123	-0.83	-116.8	3.6	-4.9	7	152	7.43	2.45	-2.12	0.000	4	0.000	0.000	2124	386	2733
499	-0.83	-116.8	50.4	-12.3	57	511	0.38	2.88	0.00	0.000	6	0.000	0.000	2044	2051	2741
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
919	-0.25	0.0	100.8	9.6	113	1017	1.17	0.00	94.62	0.000	6	0.000	0.000	2254	1919	2256
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1029	0.83	116.8	109.7	0.0	118	1136	1.08	2.50	94.62	0.000	4	0.000	0.000	2498	3446	1783
1270	0.83	116.8	131.9	-8.1	126	1287	0.38	3.45	0.00	0.000	6	0.000	0.000	2425	1873	1788
1596	0.83	116.8	157.7	-8.9	142	1604	0.47	3.35	0.00	0.000	4	0.000	0.000	2490	3529	1785
1899	0.83	116.8	184.2	-7.6	154	1916	0.32	3.28	0.15	0.001	6	0.000	0.000	2423	1892	1782
2225	0.83	116.8	208.4	-6.8	170	2230	0.00	3.15	0.00	0.000	4	0.000	0.000	2404	3389	1782
2449	0.83	116.8	223.6	-7.0	179	2457	0.25	3.35	0.00	0.000	6	0.000	0.000	2436	1840	1785
2786	0.83	116.8	247.7	-8.2	195	2793	0.00	3.83	0.00	0.000	4	0.000	0.000	2447	3607	1785
2965	0.83	116.8	263.4	-8.6	202	2971	0.00	3.08	0.00	0.000	6	0.000	0.000	2463	2011	1784
3302	0.83	116.8	290.3	-7.5	218	3307	0.05	2.62	0.00	0.000	4	0.000	0.000	2440	3437	1782
3605	0.83	116.8	311.2	-6.9	230	3610	0.00	2.70	0.00	0.000	6	0.000	0.000	2459	1934	1786
3926	0.83	116.8	334.4	-8.0	245	3931	0.05	2.80	0.00	0.000	4	0.000	0.000	2470	3465	1785
4187	0.83	116.8	354.7	-7.9	255	4194	0.00	2.75	0.00	0.000	6	0.000	0.000	2448	1963	1779
4521	0.83	116.8	380.8	-7.8	271	4526	0.00	3.22	0.00	0.000	4	0.000	0.000	2461	3485	1785
4822	0.83	116.8	405.0	-8.0	283	4827	0.00	2.70	0.00	0.000	6	0.000	0.000	2444	1970	1782
5143	0.83	116.8	428.2	-7.3	298	5150	0.00	3.45	0.00	0.000	4	0.000	0.000	2461	3617	1780
5461	0.83	116.8	454.0	-8.1	310	5478	0.03	3.45	0.00	0.000	6	0.000	0.000	2447	1764	1774
5797	0.83	116.8	481.1	-7.9	326	5805	0.00	4.12	0.03	0.001	4	0.000	0.000	2453	3570	1783
6110	0.83	116.8	505.5	-7.1	337	6115	0.00	3.10	0.00	0.000	6	0.000	0.000	2442	1902	1775
6428	0.83	116.8	527.4	-6.8	345	6434	0.03	2.90	0.00	0.000	4	0.000	0.000	2420	3452	1779
6722	0.83	116.8	547.1	-6.4	351	6727	0.00	3.00	0.00	0.000	6	0.000	0.000	2450	1918	1781
7040	0.83	116.8	569.5	-7.2	359	7044	0.00	2.47	0.00	0.000	4	0.000	0.000	2453	511	1781
7133	0.83	116.8	576.5	-8.0	361	7137	0.00	2.70	0.00	0.000	6	0.000	0.000	2426	2156	1780
7463	0.83	116.8	602.8	-7.9	369	7467	0.00	2.30	0.00	0.000	4	0.000	0.000	2465	3421	1784
7756	0.83	116.8	625.1	-7.1	375	7764	0.03	3.55	0.00	0.000	6	0.000	0.000	2445	1887	1783
8080	0.83	116.8	647.6	-7.3	383	8087	0.00	3.55	0.00	0.000	4	0.000	0.000	2456	3525	1777
8379	0.83	116.8	667.1	-6.4	389	8384	0.00	3.00	0.00	0.000	6	0.000	0.000	2453	1889	1784
8697	0.83	116.8	689.0	-6.9	397	8702	0.00	2.70	0.00	0.000	4	0.000	0.000	2473	3392	1783
8991	0.83	116.8	709.2	-6.4	403	8999	0.00	3.53	0.00	0.000	6	0.000	0.000	2427	1848	1790
9314	0.83	116.8	730.2	-6.4	411	9321	0.00	3.25	0.00	0.000	4	0.000	0.000	2445	3533	1779
9614	0.83	116.8	749.2	-6.7	417	9618	0.00	2.85	0.00	0.000	6	0.000	0.000	2469	1875	1781
9932	0.83	116.8	770.5	-6.6	425	9937	0.00	2.70	0.00	0.000	4	0.000	0.000	2463	3449	1786
10146	0.83	422.6	783.1	-5.3	429	10460	0.08	3.55	293.15	0.000	6	0.000	0.000	2455	1812	537
10774	1.34	744.2	818.3	-5.9	443	10814	0.70	2.85	26.50	0.000	4	0.000	0.000	2604	397	427
10897	1.88	744.2	826.4	-7.1	445	10905	0.43	3.05	0.05	0.000	6	0.000	0.000	2659	2147	427
11253	1.88	744.2	850.2	-6.6	454	11261	0.00	2.65	0.82	0.001	4	0.000	0.000	2689	3547	431
11555	1.88	1070.1	870.4	-6.1	460	11564	0.05	3.83	0.12	0.000	6	0.000	0.000	2685	1787	419
11884	2.42	1070.1	891.9	-6.7	468	11893	0.57	3.00	0.05	0.000	4	0.000	0.000	2848	3573	425
12190	2.42	1070.1	913.0	-6.4	474	12196	0.35	2.83	0.03	0.000	6	0.000	0.000	2790	1772	426
12511	2.42	1389.2	932.5	-5.8	482	12520	0.32	3.47	0.05	0.000	4	0.000	0.000	2825	3444	424
12810	2.96	1699.6	949.8	-5.5	488	12819	0.40	2.90	0.03	0.001	6	0.000	0.000	2939	1847	424
13140	3.47	2026.2	969.6	-6.1	496	13149	0.60	3.62	0.08	0.001	4	0.000	0.000	3055	3516	416
13440	4.02	2344.9	988.1	-5.8	502	13446	0.43	2.53	0.08	0.000	6	0.000	0.000	3152	1831	421
13759	4.55	2429.9	989.8	3.0	510	13767	0.70	2.90	0.00	0.000	4	0.000	0.000	3326	3583	419
14058	4.69	2429.9	966.3	6.9	516	14066	0.00	3.75	0.00	0.000	6	0.000	0.000	3295	1801	415
14382	4.69	2429.9	938.7	8.8	524	14390	0.00	3.55	0.03	0.000	4	0.000	0.000	3323	3601	428
14680	4.69	2429.9	911.7	7.7	530	14689	0.00	4.43	0.05	0.000	6	0.000	0.000	3298	1810	415
15005	4.69	2429.9	884.1	8.6	538	15012	0.00	3.30	0.00	0.000	4	0.000	0.000	3278	3628	430
15303	4.69	2429.9	857.3	9.0	544	15309	0.15	2.70	0.12	0.000	6	0.000	0.000	3244	1817	421
15624	4.69	2429.9	828.4	9.2	552	15631	0.00	3.35	0.03	0.001	4	0.000	0.000	3254	3586	418
15922	4.69	2429.9	801.5	7.6	558	15931	0.00	3.55	0.12	0.001	6	0.000	0.000	3255	1775	426
16246	4.69	2429.9	773.8	8.4	566	16251	0.00	3.10	0.00	0.000	4	0.000	0.000	3251	3415	424
16536	4.69	2429.9	750.7	7.7	572	16545	0.00	3.83	0.03	0.000	6	0.000	0.000	3263	1790	428
16866	4.69	2429.9	726.6	7.5	580	16875	0.03	2.80	0.00	0.000	4	0.000	0.000	3248	3569	421
17165	4.69	2429.9	704.3	6.3	586	17170	0.00	2.80	0.00	0.000	6	0.000	0.000	3264	1761	431
17490	4.69	2429.9	680.5	7.5	594	17495	0.00	2.70	0.10	0.000	4	0.000	0.000	3235	3444	423
17784	4.69	2429.9	659.7	6.6	600	17789	0.00	3.00	0.00	0.000	6	0.000	0.000	3255	1897	419
18102	4.69	2429.9	637.3	7.3	608	18110	0.00	4.22	0.00	0.000	4	0.000	0.000	3260	3565	422
18401	4.69	2429.9	613.5	8.9	614	18409	0.00	3.30	0.05	0.000	6	0.000	0.000	3258	1752	412
18726	4.69	2429.9	591.7	6.4	622	18731	0.00	3.10	0.00	0.000	4	0.000	0.000	3267	3425	423
19031	4.69	2430.1	571.7	6.2	628	19036	0.00	3.00	0.00	0.000	6	0.000	0.000	3254	1895	423
19349	4.69	2430.1	551.1	6.7	636	19354	0.00	3.00	0.00	0.000	4	0.000	0.000	3261	3470	421
19655	4.69	2430.1	530.7	6.5	642	19662	0.00	3.45	0.08	0.000	6	0.000	0.000	3263	1801	420
19979	4.69	2430.1	509.2	6.6	650	19987	0.00	3.65	0.00	0.000	4	0.000	0.000	3245	3561	424
20295	4.69	2430.1	488.6	7.2	659	20311	0.03	3.30	0.03	0.000	6	0.000	0.000	3259	1814	415
20625	4.69	2430.1	466.2	7.2	675	20632	0.00	3.45	0.00	0.000	4	0.000	0.000	3248	3514	424
20944	4.69	2430.1	444.2	7.0	687	20949	0.00	2.83	0.00	0.000	6	0.000	0.000	3253	1840	412
21264	4.69	2430.1	424.0	6.5	702	21273	0.03	3.62	0.00	0.000	4	0.000	0.000	3240	3612	418
21578	4.69	2430.1	401.1	7.5	714	21583	0.00	3.10	0.00	0.000	6	0.000	0.000	3236	1831	423
21900	4.69	2430.1	376.8	7.4	729	21904	0.00	2.55	0.00	0.000	4	0.000	0.000	3264	3379	421
22204	4.69	2430.1	357.4	6.6	741	22208	0.00	2.50	0.00	0.000	6	0.000	0.000	3254	1974	416
22526	4.69	2432.4	338.3	6.2	756	22533	0.00	3.35	0.00	0.000	4	0.000	0.000	3271	3514	427
22834	4.70	2432.4	315.3	8.6	768	22849	0.00	3.55	0.00	0.000	6	0.000	0.000	3259	1854	419
23160	4.70	2432.4	288.8	7.8	784	23164	0.00	2.70	0.00	0.000	4	0.000	0.000	3262	3485	419
23463	4.70	2433.2	267.6	6.2	796	23469	0.00	3.25	0.00	0.000	6	0.000	0.000	3252	1846	424
23785	4.70	2444.2	248.5	5.8	811	23792	0.00	3.45	0.00	0.000	4	0.000	0.000	3258	3560	413
23946	4.72	2476.2	239.6	5.0	817	23954	0.00	3.42	0.05	0.001	6	0.000	0.000	3232	1758	430
24283	4.77	2491.9	220.3	5.7	833	24288	0.00	2.80	0.00	0.000	4	0.000	0.000	3263	3387	423
24589	4.80	2523.3	200.6	5.1	845	24604	0.00	3.22	0.00	0.000	6	0.000	0.000	3248	1847	421
24914	4.85	2523.3	178.0	7.0	861	24922	0.00	3.33	0.08	0.000	4	0.000	0.000	3250	3554	422
25234	4.85	2568.2	157.3	4.6	873	25251	0.03	3.53	0.03	0.001	6	0.000	0.000	3274	1869	423
25564	4.92	2568.2	136.8	6.3	889	25569	0.00	2.90	0.00	0.000	4	0.000	0.000	3260	3410	415
25870	4.92	2593.0	116.9	5.3	901	25876	0.03	2.83	0.00	0.000	6	0.000	0.000	3260	1862	426
26222	4.97	2615.0	94.3	5.4	925	26235	0.00	3.25	0.00	0.000	4	0.000	0.000	3254	3497	422
26608	5.00	2656.8	73.5	4.7	974	26622	0.00	2.58	0.00	0.000	6	0.000	0.000	3264	1851	423
27083	5.07	2656.8	38.1	7.6	1035	27096	0.05	2.97	0.00	0.000	4	0.000	0.000	3258	3515	425
27472	5.07	2656.8	10.6	7.1	1084	27485	0.00	2.62	0.03	0.001	6	0.000	0.000	3255	1835	417
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface