Glider dive log

DavisStrait May07 * SG001 * Dive index * Mission links * Dive 35 * 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 35 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 12 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 15 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 -443114.06 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 -443114.06

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 12 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 15 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 35 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 182400,4657.157,-12611.659,29,1.1,29,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.175,0.081

_SM_DEPTHo 0.34 KALMAN_X -6027.6,-3104.8,-3229.3,9414.1,4382.0

_SM_ANGLEo -50.0 KALMAN_Y -12700.0,-776.1,-646.2,-125.7,1000.5

GPS2 183513,4657.142,-12611.635,31,1.1,31,18.0 MHEAD_RNG_PITCHd_Wd 47.3,310460,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999481 ALTIM_TOP_PING 19.6,999.0

SM_CCo 27957,0.00,0.000,0,0,416,451.84 _24V_AH 23.7,86.820

SM_GC 0.34,13.00,0.00,0.00,0.000,0.000,0.000,636,1747,416,-7.28,-5.71,451.84 _10V_AH 9.6,28.168

RAFOS_CLK 0 DATA_FILE_SIZE 37818,1119

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,231833600

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,49,1919,1,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2029 CURRENT 0.111,213.8,1

INTERNAL_PRESSURE 26.1725 GPS 260607,022346,4655.283,-12617.600,33,1.1,33,18.0

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 29 119 84.26 SBE_CT 1839 24 1046.36

Roll_motor 287 60 409.39 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15753.92 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 161 223 852.62

Transponder_ping 0 420 2.49

GPS 31 50 15.36

TT8 6065 19 1159.91

LPSleep 14527 2 322.17

TT8_Active 895 19 171.16

TT8_Sampling 2962 39 1135.49

TT8_CF8 4029 45 1776.12

TT8_Kalman 33 81 26.23

Analog_circuits 2847 12 328.02

GPS_charging 0 0 0.00

Compass 3772 26 941.66

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

39 -0.83 -116.8 0.0 0.0 0 124 0.00 0.00 -77.18 0.000 6 0.000 0.000 633 2192 2729

130 -0.83 -116.8 4.7 -5.7 8 145 7.57 3.38 0.00 0.000 4 0.000 0.000 2156 391 2737

497 -0.83 -116.8 47.7 -12.0 57 510 0.47 2.65 0.00 0.000 6 0.000 0.000 2058 2068 2735

946 -0.83 -116.8 99.9 -8.9 118 958 0.35 2.72 0.00 0.000 4 0.000 0.000 2156 3511 2731

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

977 -0.25 0.0 102.3 7.3 119 1080 0.68 0.00 94.78 0.000 6 0.000 0.000 2265 1840 2262

state end apogee CONTROL_FINISHED_OK

state start climb

1086 0.83 116.8 111.1 0.0 124 1194 0.90 3.05 94.70 0.000 4 0.000 0.000 2461 3390 1788

1270 0.83 116.8 129.7 -11.0 130 1275 0.00 2.40 0.00 0.000 6 0.000 0.000 2478 1978 1775

1596 0.83 116.8 161.2 -9.9 146 1603 0.00 3.25 0.00 0.000 4 0.000 0.000 2458 460 1783

1682 0.83 116.8 169.4 -9.3 149 1697 0.03 3.35 0.00 0.000 6 0.000 0.000 2468 2119 1785

2007 0.83 116.8 195.9 -8.5 165 2011 0.00 2.20 0.00 0.000 4 0.000 0.000 2486 3400 1783

2127 0.83 116.8 206.0 -8.6 170 2131 0.00 2.60 0.00 0.000 6 0.000 0.000 2486 1994 1776

2463 0.83 116.8 232.8 -8.3 186 2468 0.03 2.78 0.00 0.000 4 0.000 0.000 2457 581 1786

2767 0.83 116.8 257.1 -7.7 198 2783 0.05 3.33 0.00 0.000 6 0.000 0.000 2471 2131 1783

3092 0.83 116.8 283.3 -8.2 214 3100 0.00 3.55 0.00 0.000 4 0.000 0.000 2465 366 1783

3227 0.83 116.8 294.7 -8.4 219 3232 0.20 2.90 0.00 0.000 6 0.000 0.000 2415 2137 1782

3554 0.83 445.8 317.0 -6.2 235 3886 0.00 2.85 314.75 0.000 4 0.000 0.000 2417 3535 443

4184 1.38 445.8 364.2 -7.2 258 4193 0.80 3.58 0.00 0.000 6 0.000 0.000 2603 1874 454

4528 1.38 445.8 390.1 -7.6 274 4537 0.30 3.50 1.52 0.000 4 0.000 0.000 2563 3544 447

4835 1.38 445.8 415.4 -7.9 286 4840 0.00 2.72 0.00 0.000 6 0.000 0.000 2561 1758 444

5156 1.38 445.8 442.4 -8.2 301 5160 0.00 2.55 0.00 0.000 4 0.000 0.000 2551 500 439

5260 1.38 445.8 451.4 -8.0 305 5265 0.00 2.60 0.25 0.000 6 0.000 0.000 2558 2170 449

5581 1.38 445.8 474.1 -6.6 320 5585 0.00 2.33 0.00 0.000 4 0.000 0.000 2561 3433 442

5681 1.38 445.8 480.8 -6.3 324 5686 0.00 2.83 0.00 0.000 6 0.000 0.000 2565 1805 440

6012 1.38 764.2 499.1 -5.8 340 6022 0.03 2.88 3.10 0.000 4 0.000 0.000 2555 3438 428

6225 1.91 764.2 513.0 -6.9 345 6233 0.65 2.60 0.10 0.000 6 0.000 0.000 2702 1785 431

6558 1.91 764.2 536.0 -7.5 353 6563 0.00 2.70 0.08 0.000 4 0.000 0.000 2697 3394 425

6861 1.91 764.2 558.9 -6.6 359 6867 0.03 2.80 0.03 0.001 6 0.000 0.000 2701 1856 425

7181 1.91 1088.4 578.4 -6.0 367 7185 0.00 2.40 0.00 0.000 4 0.000 0.000 2711 475 434

7281 2.45 1088.4 584.5 -6.4 369 7290 0.60 3.83 0.08 0.001 6 0.000 0.000 2859 2139 428

7615 2.45 1088.4 607.7 -7.6 377 7624 0.30 3.05 0.08 0.002 4 0.000 0.000 2755 3541 425

7913 2.45 1088.4 632.6 -7.1 383 7921 0.38 3.25 0.00 0.000 6 0.000 0.000 2864 1854 422

8237 2.45 1412.2 652.9 -6.0 391 8243 0.30 2.80 0.12 0.001 4 0.000 0.000 2760 3378 424

8534 2.99 1738.2 669.5 -6.1 397 8543 1.05 2.70 0.05 0.000 6 0.000 0.000 2923 1853 424

8859 3.54 1738.2 689.9 -6.6 405 8864 0.65 2.30 0.00 0.000 4 0.000 0.000 3034 583 434

9155 3.54 1738.2 709.4 -6.4 411 9161 0.12 2.80 0.05 0.000 6 0.000 0.000 3068 2116 424

9475 3.54 1738.2 730.1 -6.3 419 9483 0.03 2.75 0.62 0.001 4 0.000 0.000 3041 3501 431

9772 3.54 2031.5 746.1 -4.9 425 9776 0.00 2.53 0.00 0.000 6 0.000 0.000 3031 1862 425

10089 4.03 2321.8 760.6 -4.7 433 10098 0.80 3.47 0.00 0.000 4 0.000 0.000 3152 3489 420

10339 4.51 2620.0 772.9 -5.0 438 10345 0.57 2.62 0.03 0.000 6 0.000 0.000 3266 1857 422

10668 5.01 2935.9 790.7 -5.7 446 10674 0.00 2.70 0.05 0.002 4 0.000 0.000 3303 3404 427

10884 5.54 2935.9 804.4 -6.5 450 10892 0.00 3.47 0.15 0.001 6 0.000 0.000 3309 1906 415

11237 5.54 2935.9 827.2 -7.1 459 11244 0.00 3.25 0.05 0.000 4 0.000 0.000 3306 3578 425

11531 5.54 2935.9 847.8 -7.1 465 11539 0.00 3.55 0.00 0.000 6 0.000 0.000 3316 1763 428

11861 5.54 2935.9 870.7 -6.8 473 11865 0.00 2.12 0.00 0.000 4 0.000 0.000 3305 485 417

11984 5.54 3253.8 879.6 -5.8 475 12000 0.00 3.55 0.00 0.000 6 0.000 0.000 3313 2001 423

12325 6.07 3583.1 901.3 -6.2 484 12330 0.00 2.72 0.00 0.000 4 0.000 0.000 3317 3386 427

12394 6.62 3890.2 905.4 -5.4 485 12400 0.00 2.80 0.08 0.000 6 0.000 0.000 3315 1857 430

12741 7.13 4205.1 925.6 -5.7 494 12746 0.00 2.42 0.00 0.000 4 0.000 0.000 3303 557 419

12761 7.66 4522.4 927.0 -5.8 494 12767 0.00 3.05 0.03 0.000 6 0.000 0.000 3326 2105 429

13111 8.19 4845.0 947.3 -6.0 503 13115 0.00 2.67 0.00 0.000 4 0.000 0.000 3304 3377 427

13404 8.73 5163.8 965.5 -5.8 509 13408 0.00 2.50 0.00 0.000 6 0.000 0.000 3297 1837 424

13721 9.26 5476.5 983.2 -5.6 517 13729 0.00 3.83 0.00 0.000 4 0.000 0.000 3304 3530 425

14019 9.78 5656.6 994.3 -0.6 523 14025 0.00 3.30 0.03 0.000 6 0.000 0.000 3295 1973 422

14338 10.08 5656.6 973.3 7.8 531 14346 0.00 4.05 0.03 0.000 4 0.000 0.000 3301 3629 425

14638 10.08 5656.6 951.2 7.1 537 14646 0.00 3.33 0.03 0.000 6 0.000 0.000 3307 1881 418

14962 10.08 5656.6 927.8 7.6 545 14967 0.00 2.70 0.08 0.000 4 0.000 0.000 3299 3412 422

15255 10.08 5656.6 902.5 8.9 551 15263 0.00 3.62 0.03 0.000 6 0.000 0.000 3279 1748 420

15579 10.08 5656.6 875.4 8.2 559 15585 0.00 3.15 0.03 0.000 4 0.000 0.000 3303 3402 420

15873 10.08 5656.6 853.2 7.2 565 15880 0.00 3.45 0.00 0.000 6 0.000 0.000 3321 1854 425

16195 10.08 5656.6 831.1 7.1 573 16201 0.00 3.15 0.05 0.001 4 0.000 0.000 3326 3513 423

16490 10.08 5656.6 809.5 7.8 579 16495 0.00 3.00 0.00 0.000 6 0.000 0.000 3306 1943 431

16809 10.08 5656.6 784.6 8.2 587 16813 0.00 2.90 0.00 0.000 4 0.000 0.000 3305 3466 421

17101 10.08 5656.6 759.5 8.5 593 17106 0.00 2.70 0.00 0.000 6 0.000 0.000 3298 1819 419

17419 10.08 5656.6 733.1 8.2 601 17426 0.00 3.45 0.00 0.000 4 0.000 0.000 3293 3586 420

17716 10.08 5656.6 709.9 7.4 607 17722 0.00 2.90 0.03 0.000 6 0.000 0.000 3290 1761 424

18035 10.08 5656.6 688.8 6.5 615 18043 0.00 3.65 0.03 0.000 4 0.000 0.000 3313 3517 418

18334 10.08 5656.6 669.1 6.4 621 18341 0.00 3.70 0.00 0.000 6 0.000 0.000 3311 1746 413

18657 10.08 5656.6 645.0 7.9 629 18662 0.00 2.80 0.03 0.001 4 0.000 0.000 3302 3395 414

18950 10.08 5656.6 620.2 8.0 635 18958 0.00 3.55 0.08 0.000 6 0.000 0.000 3322 1760 416

19274 10.08 5656.6 596.4 7.0 643 19279 0.00 2.80 0.03 0.000 4 0.000 0.000 3312 3437 415

19568 10.08 5668.6 577.0 5.8 649 19573 0.00 2.80 0.00 0.000 6 0.000 0.000 3306 1815 421

19886 10.10 5668.6 556.0 6.8 657 19891 0.00 2.83 0.00 0.000 4 0.000 0.000 3290 3475 419

20182 10.10 5668.6 533.3 7.9 663 20187 0.00 2.85 0.03 0.001 6 0.000 0.000 3288 1814 421

20500 10.10 5668.6 509.0 7.6 671 20508 0.00 3.55 0.03 0.001 4 0.000 0.000 3308 3607 425

20810 10.10 5668.6 487.6 6.5 680 20825 0.00 3.55 0.00 0.000 6 0.000 0.000 3313 1819 421

21140 10.10 5668.6 464.9 7.0 696 21144 0.00 2.50 0.00 0.000 4 0.000 0.000 3300 3381 416

21445 10.10 5685.1 444.7 5.6 708 21449 0.00 2.60 0.00 0.000 6 0.000 0.000 3296 1876 431

21767 10.13 5700.7 426.3 5.7 723 21772 0.00 2.72 0.03 0.000 4 0.000 0.000 3300 3400 420

22083 10.16 5700.7 407.0 8.1 735 22088 0.00 2.65 0.03 0.001 6 0.000 0.000 3294 1849 425

22404 10.16 5700.7 382.3 8.2 750 22410 0.00 3.15 0.03 0.000 4 0.000 0.000 3279 3370 421

22704 10.16 5700.7 359.4 6.5 762 22710 0.00 2.83 0.05 0.001 6 0.000 0.000 3294 1847 414

23026 10.16 5700.7 337.1 6.5 777 23030 0.00 2.50 0.00 0.000 4 0.000 0.000 3315 3386 415

23330 10.16 5700.7 316.7 8.2 789 23346 0.00 4.05 0.00 0.000 6 0.000 0.000 3292 1841 414

23656 10.16 5700.7 292.5 8.0 805 23661 0.00 2.97 0.00 0.000 4 0.000 0.000 3301 3378 417

23959 10.16 5700.7 267.7 6.2 817 23964 0.00 2.55 0.03 0.000 6 0.000 0.000 3288 1862 415

24280 10.16 5701.8 247.1 6.2 832 24286 0.00 3.15 0.03 0.000 4 0.000 0.000 3310 3427 421

24582 10.16 5701.8 226.4 6.5 844 24598 0.00 3.65 0.00 0.000 6 0.000 0.000 3308 1932 417

24907 10.16 5701.8 203.1 7.4 860 24912 0.00 2.80 0.00 0.000 4 0.000 0.000 3304 3390 412

25213 10.16 5721.7 181.8 5.5 872 25228 0.00 3.12 0.00 0.000 6 0.000 0.000 3284 1768 423

25538 10.19 5721.7 162.2 7.0 888 25546 0.00 3.65 0.00 0.000 4 0.000 0.000 3301 3558 420

25801 10.19 5721.7 139.4 8.8 898 25806 0.00 2.70 0.00 0.000 6 0.000 0.000 3305 1813 418

26122 10.19 5721.7 111.4 8.4 913 26127 0.00 3.12 0.00 0.000 4 0.000 0.000 3317 3442 421

26465 10.19 5721.7 89.2 6.6 942 26477 0.00 2.88 0.00 0.000 6 0.000 0.000 3299 1791 416

26943 10.19 5722.5 61.5 6.2 1003 26956 0.00 2.78 0.00 0.000 4 0.000 0.000 3304 3451 425

27326 10.19 5722.5 36.9 6.7 1052 27338 0.00 3.10 0.00 0.000 6 0.000 0.000 3303 1800 421

27806 10.19 5722.5 4.4 6.7 1113 27818 0.00 3.30 0.00 0.000 4 0.000 0.000 3299 3566 416

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	35	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	12	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	15	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	-443114.06	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	182400,4657.157,-12611.659,29,1.1,29,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.175,0.081
_SM_DEPTHo	0.34	KALMAN_X	-6027.6,-3104.8,-3229.3,9414.1,4382.0
_SM_ANGLEo	-50.0	KALMAN_Y	-12700.0,-776.1,-646.2,-125.7,1000.5
GPS2	183513,4657.142,-12611.635,31,1.1,31,18.0	MHEAD_RNG_PITCHd_Wd	47.3,310460,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999481	ALTIM_TOP_PING	19.6,999.0
SM_CCo	27957,0.00,0.000,0,0,416,451.84	_24V_AH	23.7,86.820
SM_GC	0.34,13.00,0.00,0.00,0.000,0.000,0.000,636,1747,416,-7.28,-5.71,451.84	_10V_AH	9.6,28.168
RAFOS_CLK	0	DATA_FILE_SIZE	37818,1119
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,231833600
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,49,1919,1,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2029	CURRENT	0.111,213.8,1
INTERNAL_PRESSURE	26.1725	GPS	260607,022346,4655.283,-12617.600,33,1.1,33,18.0
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	29	119	84.26	SBE_CT	1839	24	1046.36
Roll_motor	287	60	409.39	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15753.92	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	161	223	852.62
Transponder_ping	0	420	2.49
GPS	31	50	15.36
TT8	6065	19	1159.91
LPSleep	14527	2	322.17
TT8_Active	895	19	171.16
TT8_Sampling	2962	39	1135.49
TT8_CF8	4029	45	1776.12
TT8_Kalman	33	81	26.23
Analog_circuits	2847	12	328.02
GPS_charging	0	0	0.00
Compass	3772	26	941.66
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
39	-0.83	-116.8	0.0	0.0	0	124	0.00	0.00	-77.18	0.000	6	0.000	0.000	633	2192	2729
130	-0.83	-116.8	4.7	-5.7	8	145	7.57	3.38	0.00	0.000	4	0.000	0.000	2156	391	2737
497	-0.83	-116.8	47.7	-12.0	57	510	0.47	2.65	0.00	0.000	6	0.000	0.000	2058	2068	2735
946	-0.83	-116.8	99.9	-8.9	118	958	0.35	2.72	0.00	0.000	4	0.000	0.000	2156	3511	2731
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
977	-0.25	0.0	102.3	7.3	119	1080	0.68	0.00	94.78	0.000	6	0.000	0.000	2265	1840	2262
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1086	0.83	116.8	111.1	0.0	124	1194	0.90	3.05	94.70	0.000	4	0.000	0.000	2461	3390	1788
1270	0.83	116.8	129.7	-11.0	130	1275	0.00	2.40	0.00	0.000	6	0.000	0.000	2478	1978	1775
1596	0.83	116.8	161.2	-9.9	146	1603	0.00	3.25	0.00	0.000	4	0.000	0.000	2458	460	1783
1682	0.83	116.8	169.4	-9.3	149	1697	0.03	3.35	0.00	0.000	6	0.000	0.000	2468	2119	1785
2007	0.83	116.8	195.9	-8.5	165	2011	0.00	2.20	0.00	0.000	4	0.000	0.000	2486	3400	1783
2127	0.83	116.8	206.0	-8.6	170	2131	0.00	2.60	0.00	0.000	6	0.000	0.000	2486	1994	1776
2463	0.83	116.8	232.8	-8.3	186	2468	0.03	2.78	0.00	0.000	4	0.000	0.000	2457	581	1786
2767	0.83	116.8	257.1	-7.7	198	2783	0.05	3.33	0.00	0.000	6	0.000	0.000	2471	2131	1783
3092	0.83	116.8	283.3	-8.2	214	3100	0.00	3.55	0.00	0.000	4	0.000	0.000	2465	366	1783
3227	0.83	116.8	294.7	-8.4	219	3232	0.20	2.90	0.00	0.000	6	0.000	0.000	2415	2137	1782
3554	0.83	445.8	317.0	-6.2	235	3886	0.00	2.85	314.75	0.000	4	0.000	0.000	2417	3535	443
4184	1.38	445.8	364.2	-7.2	258	4193	0.80	3.58	0.00	0.000	6	0.000	0.000	2603	1874	454
4528	1.38	445.8	390.1	-7.6	274	4537	0.30	3.50	1.52	0.000	4	0.000	0.000	2563	3544	447
4835	1.38	445.8	415.4	-7.9	286	4840	0.00	2.72	0.00	0.000	6	0.000	0.000	2561	1758	444
5156	1.38	445.8	442.4	-8.2	301	5160	0.00	2.55	0.00	0.000	4	0.000	0.000	2551	500	439
5260	1.38	445.8	451.4	-8.0	305	5265	0.00	2.60	0.25	0.000	6	0.000	0.000	2558	2170	449
5581	1.38	445.8	474.1	-6.6	320	5585	0.00	2.33	0.00	0.000	4	0.000	0.000	2561	3433	442
5681	1.38	445.8	480.8	-6.3	324	5686	0.00	2.83	0.00	0.000	6	0.000	0.000	2565	1805	440
6012	1.38	764.2	499.1	-5.8	340	6022	0.03	2.88	3.10	0.000	4	0.000	0.000	2555	3438	428
6225	1.91	764.2	513.0	-6.9	345	6233	0.65	2.60	0.10	0.000	6	0.000	0.000	2702	1785	431
6558	1.91	764.2	536.0	-7.5	353	6563	0.00	2.70	0.08	0.000	4	0.000	0.000	2697	3394	425
6861	1.91	764.2	558.9	-6.6	359	6867	0.03	2.80	0.03	0.001	6	0.000	0.000	2701	1856	425
7181	1.91	1088.4	578.4	-6.0	367	7185	0.00	2.40	0.00	0.000	4	0.000	0.000	2711	475	434
7281	2.45	1088.4	584.5	-6.4	369	7290	0.60	3.83	0.08	0.001	6	0.000	0.000	2859	2139	428
7615	2.45	1088.4	607.7	-7.6	377	7624	0.30	3.05	0.08	0.002	4	0.000	0.000	2755	3541	425
7913	2.45	1088.4	632.6	-7.1	383	7921	0.38	3.25	0.00	0.000	6	0.000	0.000	2864	1854	422
8237	2.45	1412.2	652.9	-6.0	391	8243	0.30	2.80	0.12	0.001	4	0.000	0.000	2760	3378	424
8534	2.99	1738.2	669.5	-6.1	397	8543	1.05	2.70	0.05	0.000	6	0.000	0.000	2923	1853	424
8859	3.54	1738.2	689.9	-6.6	405	8864	0.65	2.30	0.00	0.000	4	0.000	0.000	3034	583	434
9155	3.54	1738.2	709.4	-6.4	411	9161	0.12	2.80	0.05	0.000	6	0.000	0.000	3068	2116	424
9475	3.54	1738.2	730.1	-6.3	419	9483	0.03	2.75	0.62	0.001	4	0.000	0.000	3041	3501	431
9772	3.54	2031.5	746.1	-4.9	425	9776	0.00	2.53	0.00	0.000	6	0.000	0.000	3031	1862	425
10089	4.03	2321.8	760.6	-4.7	433	10098	0.80	3.47	0.00	0.000	4	0.000	0.000	3152	3489	420
10339	4.51	2620.0	772.9	-5.0	438	10345	0.57	2.62	0.03	0.000	6	0.000	0.000	3266	1857	422
10668	5.01	2935.9	790.7	-5.7	446	10674	0.00	2.70	0.05	0.002	4	0.000	0.000	3303	3404	427
10884	5.54	2935.9	804.4	-6.5	450	10892	0.00	3.47	0.15	0.001	6	0.000	0.000	3309	1906	415
11237	5.54	2935.9	827.2	-7.1	459	11244	0.00	3.25	0.05	0.000	4	0.000	0.000	3306	3578	425
11531	5.54	2935.9	847.8	-7.1	465	11539	0.00	3.55	0.00	0.000	6	0.000	0.000	3316	1763	428
11861	5.54	2935.9	870.7	-6.8	473	11865	0.00	2.12	0.00	0.000	4	0.000	0.000	3305	485	417
11984	5.54	3253.8	879.6	-5.8	475	12000	0.00	3.55	0.00	0.000	6	0.000	0.000	3313	2001	423
12325	6.07	3583.1	901.3	-6.2	484	12330	0.00	2.72	0.00	0.000	4	0.000	0.000	3317	3386	427
12394	6.62	3890.2	905.4	-5.4	485	12400	0.00	2.80	0.08	0.000	6	0.000	0.000	3315	1857	430
12741	7.13	4205.1	925.6	-5.7	494	12746	0.00	2.42	0.00	0.000	4	0.000	0.000	3303	557	419
12761	7.66	4522.4	927.0	-5.8	494	12767	0.00	3.05	0.03	0.000	6	0.000	0.000	3326	2105	429
13111	8.19	4845.0	947.3	-6.0	503	13115	0.00	2.67	0.00	0.000	4	0.000	0.000	3304	3377	427
13404	8.73	5163.8	965.5	-5.8	509	13408	0.00	2.50	0.00	0.000	6	0.000	0.000	3297	1837	424
13721	9.26	5476.5	983.2	-5.6	517	13729	0.00	3.83	0.00	0.000	4	0.000	0.000	3304	3530	425
14019	9.78	5656.6	994.3	-0.6	523	14025	0.00	3.30	0.03	0.000	6	0.000	0.000	3295	1973	422
14338	10.08	5656.6	973.3	7.8	531	14346	0.00	4.05	0.03	0.000	4	0.000	0.000	3301	3629	425
14638	10.08	5656.6	951.2	7.1	537	14646	0.00	3.33	0.03	0.000	6	0.000	0.000	3307	1881	418
14962	10.08	5656.6	927.8	7.6	545	14967	0.00	2.70	0.08	0.000	4	0.000	0.000	3299	3412	422
15255	10.08	5656.6	902.5	8.9	551	15263	0.00	3.62	0.03	0.000	6	0.000	0.000	3279	1748	420
15579	10.08	5656.6	875.4	8.2	559	15585	0.00	3.15	0.03	0.000	4	0.000	0.000	3303	3402	420
15873	10.08	5656.6	853.2	7.2	565	15880	0.00	3.45	0.00	0.000	6	0.000	0.000	3321	1854	425
16195	10.08	5656.6	831.1	7.1	573	16201	0.00	3.15	0.05	0.001	4	0.000	0.000	3326	3513	423
16490	10.08	5656.6	809.5	7.8	579	16495	0.00	3.00	0.00	0.000	6	0.000	0.000	3306	1943	431
16809	10.08	5656.6	784.6	8.2	587	16813	0.00	2.90	0.00	0.000	4	0.000	0.000	3305	3466	421
17101	10.08	5656.6	759.5	8.5	593	17106	0.00	2.70	0.00	0.000	6	0.000	0.000	3298	1819	419
17419	10.08	5656.6	733.1	8.2	601	17426	0.00	3.45	0.00	0.000	4	0.000	0.000	3293	3586	420
17716	10.08	5656.6	709.9	7.4	607	17722	0.00	2.90	0.03	0.000	6	0.000	0.000	3290	1761	424
18035	10.08	5656.6	688.8	6.5	615	18043	0.00	3.65	0.03	0.000	4	0.000	0.000	3313	3517	418
18334	10.08	5656.6	669.1	6.4	621	18341	0.00	3.70	0.00	0.000	6	0.000	0.000	3311	1746	413
18657	10.08	5656.6	645.0	7.9	629	18662	0.00	2.80	0.03	0.001	4	0.000	0.000	3302	3395	414
18950	10.08	5656.6	620.2	8.0	635	18958	0.00	3.55	0.08	0.000	6	0.000	0.000	3322	1760	416
19274	10.08	5656.6	596.4	7.0	643	19279	0.00	2.80	0.03	0.000	4	0.000	0.000	3312	3437	415
19568	10.08	5668.6	577.0	5.8	649	19573	0.00	2.80	0.00	0.000	6	0.000	0.000	3306	1815	421
19886	10.10	5668.6	556.0	6.8	657	19891	0.00	2.83	0.00	0.000	4	0.000	0.000	3290	3475	419
20182	10.10	5668.6	533.3	7.9	663	20187	0.00	2.85	0.03	0.001	6	0.000	0.000	3288	1814	421
20500	10.10	5668.6	509.0	7.6	671	20508	0.00	3.55	0.03	0.001	4	0.000	0.000	3308	3607	425
20810	10.10	5668.6	487.6	6.5	680	20825	0.00	3.55	0.00	0.000	6	0.000	0.000	3313	1819	421
21140	10.10	5668.6	464.9	7.0	696	21144	0.00	2.50	0.00	0.000	4	0.000	0.000	3300	3381	416
21445	10.10	5685.1	444.7	5.6	708	21449	0.00	2.60	0.00	0.000	6	0.000	0.000	3296	1876	431
21767	10.13	5700.7	426.3	5.7	723	21772	0.00	2.72	0.03	0.000	4	0.000	0.000	3300	3400	420
22083	10.16	5700.7	407.0	8.1	735	22088	0.00	2.65	0.03	0.001	6	0.000	0.000	3294	1849	425
22404	10.16	5700.7	382.3	8.2	750	22410	0.00	3.15	0.03	0.000	4	0.000	0.000	3279	3370	421
22704	10.16	5700.7	359.4	6.5	762	22710	0.00	2.83	0.05	0.001	6	0.000	0.000	3294	1847	414
23026	10.16	5700.7	337.1	6.5	777	23030	0.00	2.50	0.00	0.000	4	0.000	0.000	3315	3386	415
23330	10.16	5700.7	316.7	8.2	789	23346	0.00	4.05	0.00	0.000	6	0.000	0.000	3292	1841	414
23656	10.16	5700.7	292.5	8.0	805	23661	0.00	2.97	0.00	0.000	4	0.000	0.000	3301	3378	417
23959	10.16	5700.7	267.7	6.2	817	23964	0.00	2.55	0.03	0.000	6	0.000	0.000	3288	1862	415
24280	10.16	5701.8	247.1	6.2	832	24286	0.00	3.15	0.03	0.000	4	0.000	0.000	3310	3427	421
24582	10.16	5701.8	226.4	6.5	844	24598	0.00	3.65	0.00	0.000	6	0.000	0.000	3308	1932	417
24907	10.16	5701.8	203.1	7.4	860	24912	0.00	2.80	0.00	0.000	4	0.000	0.000	3304	3390	412
25213	10.16	5721.7	181.8	5.5	872	25228	0.00	3.12	0.00	0.000	6	0.000	0.000	3284	1768	423
25538	10.19	5721.7	162.2	7.0	888	25546	0.00	3.65	0.00	0.000	4	0.000	0.000	3301	3558	420
25801	10.19	5721.7	139.4	8.8	898	25806	0.00	2.70	0.00	0.000	6	0.000	0.000	3305	1813	418
26122	10.19	5721.7	111.4	8.4	913	26127	0.00	3.12	0.00	0.000	4	0.000	0.000	3317	3442	421
26465	10.19	5721.7	89.2	6.6	942	26477	0.00	2.88	0.00	0.000	6	0.000	0.000	3299	1791	416
26943	10.19	5722.5	61.5	6.2	1003	26956	0.00	2.78	0.00	0.000	4	0.000	0.000	3304	3451	425
27326	10.19	5722.5	36.9	6.7	1052	27338	0.00	3.10	0.00	0.000	6	0.000	0.000	3303	1800	421
27806	10.19	5722.5	4.4	6.7	1113	27818	0.00	3.30	0.00	0.000	4	0.000	0.000	3299	3566	416
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface