Glider dive log

DavisStrait May07 * SG001 * Dive index * Mission links * Dive 38 * 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 38 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 16 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 21 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 -443182.19 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 -443182.19

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 16 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 21 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 38 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 184233,4653.963,-12626.734,28,1.1,28,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.109,0.159

_SM_DEPTHo 0.34 KALMAN_X -18223.1,-2509.5,-2396.3,1040.8,3346.2

_SM_ANGLEo -50.0 KALMAN_Y -16823.7,-463.5,-610.1,-2285.7,1162.8

GPS2 185216,4653.940,-12626.766,26,1.1,26,18.0 MHEAD_RNG_PITCHd_Wd 16.3,329926,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999494 ALTIM_TOP_PING 19.3,999.0

SM_CCo 28155,0.00,0.000,0,0,424,449.14 _24V_AH 23.7,89.572

SM_GC 0.34,13.38,0.00,0.00,0.000,0.000,0.000,641,1825,424,-7.26,-4.41,449.14 _10V_AH 9.6,28.745

RAFOS_CLK 0 DATA_FILE_SIZE 37859,1126

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,230768640

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,1,0,0,0,0,0,0,0,0,0,53,1841,0,0

TT8_MAMPS 0.023777 SOUNDSPEED 1465.0

HUMID 1992 CURRENT 0.076,204.6,1

INTERNAL_PRESSURE 26.026 GPS 270607,024403,4654.535,-12631.130,34,1.1,34,18.0

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 31 119 88.70 SBE_CT 1818 24 1034.38

Roll_motor 275 60 391.37 nil 0 0 0.00

VBD_pump_during_apogee 512 1300 15774.72 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 136 223 721.51

Transponder_ping 0 420 2.49

GPS 27 50 13.37

TT8 6122 19 1170.74

LPSleep 14393 2 319.20

TT8_Active 899 19 171.96

TT8_Sampling 3099 39 1187.71

TT8_CF8 4073 45 1795.63

TT8_Kalman 33 81 26.23

Analog_circuits 2930 12 337.60

GPS_charging 0 0 0.00

Compass 3917 26 977.84

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

44 -0.83 -116.8 0.0 0.0 0 120 0.00 0.00 -74.22 0.000 2 0.000 0.000 635 2169 2657

127 -0.83 -116.8 3.2 -5.2 7 157 7.40 3.70 -2.67 0.000 4 0.000 0.000 2164 393 2745

506 -0.83 -116.8 45.4 -12.1 57 519 0.40 3.15 0.00 0.000 6 0.000 0.000 2048 2046 2750

960 -0.83 -116.8 96.3 -10.5 118 972 0.00 2.50 0.00 0.000 4 0.000 0.000 2026 417 2743

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

1011 -0.25 0.0 100.7 9.9 122 1110 0.95 0.00 96.28 0.000 6 0.000 0.000 2228 1977 2255

state end apogee CONTROL_FINISHED_OK

state start climb

1122 0.83 116.8 110.6 0.0 127 1229 1.17 2.40 93.30 0.000 4 0.000 0.000 2455 3522 1785

1531 0.83 116.8 148.4 -9.3 142 1544 0.32 2.50 0.45 0.001 6 0.000 0.000 2386 1860 1777

1852 0.83 116.8 175.4 -8.9 158 1860 0.57 3.10 0.00 0.000 4 0.000 0.000 2535 3622 1782

2157 0.83 116.8 201.7 -8.1 170 2174 0.62 3.62 0.00 0.000 6 0.000 0.000 2382 1840 1787

2483 0.83 116.8 226.4 -7.0 186 2491 0.43 2.92 0.00 0.000 4 0.000 0.000 2446 3481 1780

2790 0.83 116.8 250.6 -7.8 198 2795 0.03 3.05 0.00 0.000 6 0.000 0.000 2486 1819 1784

3110 0.83 116.8 276.6 -7.8 213 3119 0.40 3.10 0.00 0.000 4 0.000 0.000 2375 3519 1787

3413 0.83 116.8 300.4 -7.3 225 3429 0.50 3.00 0.00 0.000 6 0.000 0.000 2481 1860 1787

3738 0.83 116.8 322.4 -6.8 241 3743 0.00 2.80 0.00 0.000 4 0.000 0.000 2465 3406 1789

4036 0.83 116.8 343.8 -7.3 253 4042 0.00 3.25 0.00 0.000 6 0.000 0.000 2449 1969 1781

4357 0.83 116.8 367.7 -7.5 268 4363 0.15 2.50 0.60 0.001 4 0.000 0.000 2445 3374 1784

4664 0.83 116.8 391.6 -7.1 280 4681 0.20 3.53 0.00 0.000 6 0.000 0.000 2421 1813 1787

4994 0.83 116.8 415.8 -8.0 296 5000 0.00 3.12 0.00 0.000 4 0.000 0.000 2429 3374 1781

5300 0.83 116.8 441.1 -8.2 308 5305 0.00 3.22 0.00 0.000 6 0.000 0.000 2424 1882 1784

5622 0.83 116.8 465.3 -7.3 323 5629 0.00 3.42 0.00 0.000 4 0.000 0.000 2422 3517 1781

5945 0.83 437.1 487.5 -5.9 335 6263 0.03 2.60 307.48 0.000 6 0.000 0.000 2434 1836 476

6613 1.37 437.1 527.5 -6.5 353 6622 0.85 3.33 0.43 0.000 4 0.000 0.000 2602 3568 486

6912 1.37 437.1 549.1 -7.9 359 6920 0.38 3.45 0.00 0.000 6 0.000 0.000 2525 1790 474

7236 1.37 437.1 575.7 -8.5 367 7244 0.28 3.33 0.00 0.000 4 0.000 0.000 2529 3547 479

7535 1.37 437.1 600.0 -7.5 373 7542 0.00 3.45 0.00 0.000 6 0.000 0.000 2545 1755 486

7858 1.37 437.1 621.7 -6.7 381 7865 0.00 3.45 0.00 0.000 4 0.000 0.000 2554 3550 479

8158 1.37 437.1 641.0 -6.3 387 8163 0.00 3.25 0.00 0.000 6 0.000 0.000 2579 1893 480

8476 1.37 437.1 660.3 -6.3 395 8482 0.00 3.22 0.00 0.000 4 0.000 0.000 2543 3338 484

8771 1.37 437.1 680.1 -6.5 401 8776 0.00 3.05 0.00 0.000 6 0.000 0.000 2552 1956 475

9089 1.37 437.1 700.6 -6.5 409 9094 0.00 2.92 0.03 0.000 4 0.000 0.000 2563 3417 474

9384 1.37 763.3 718.7 -6.1 415 9403 0.00 3.03 11.77 0.000 6 0.000 0.000 2566 1857 430

9755 1.91 1083.9 739.9 -5.9 424 9764 0.70 3.55 0.10 0.001 4 0.000 0.000 2695 3489 429

10056 2.45 1401.0 758.4 -5.8 430 10065 0.62 3.33 0.17 0.000 6 0.000 0.000 2838 1861 420

10386 2.97 1712.9 777.1 -5.6 438 10393 0.50 2.60 0.30 0.002 4 0.000 0.000 2897 3411 418

10683 3.50 2033.3 794.5 -5.9 444 10692 0.57 3.25 0.12 0.000 6 0.000 0.000 3028 1866 421

11013 4.03 2347.8 812.9 -5.7 452 11019 0.43 2.50 0.03 0.002 4 0.000 0.000 3133 3394 417

11309 4.56 2666.9 831.0 -5.8 458 11315 0.57 2.50 0.00 0.000 6 0.000 0.000 3233 1865 428

11629 5.09 2991.8 850.4 -6.1 466 11634 0.00 2.95 0.03 0.000 4 0.000 0.000 3277 3376 424

11924 5.63 2991.8 868.9 -6.3 472 11929 0.00 2.72 0.17 0.000 6 0.000 0.000 3289 1855 420

12242 5.63 3316.3 888.0 -6.0 480 12248 0.00 2.70 0.15 0.002 4 0.000 0.000 3285 3364 417

12538 6.17 3628.2 906.1 -5.6 486 12543 0.00 3.05 0.00 0.000 6 0.000 0.000 3303 1855 419

12857 6.69 3945.7 924.6 -5.8 494 12862 0.00 2.92 0.00 0.000 4 0.000 0.000 3307 3389 420

13149 7.22 4272.2 941.8 -6.1 500 13156 0.00 3.35 0.00 0.000 6 0.000 0.000 3301 1986 419

13472 7.77 4586.7 960.2 -5.7 508 13477 0.00 2.92 0.05 0.000 4 0.000 0.000 3273 3391 420

13763 8.29 4881.1 976.5 -4.9 514 13770 0.00 3.25 0.00 0.000 6 0.000 0.000 3300 1855 421

14085 8.79 5173.5 993.2 -4.8 522 14093 0.00 4.43 0.00 0.000 4 0.000 0.000 3280 3599 419

14383 9.28 5173.5 978.8 8.8 528 14388 0.00 2.83 0.03 0.000 6 0.000 0.000 3306 1810 426

14702 9.28 5173.5 951.1 8.8 536 14707 0.00 2.75 0.03 0.001 4 0.000 0.000 3273 3344 426

14996 9.28 5173.5 924.7 8.3 542 15001 0.00 2.60 0.00 0.000 6 0.000 0.000 3276 1818 421

15314 9.28 5173.5 899.0 8.0 550 15321 0.00 3.65 0.00 0.000 4 0.000 0.000 3317 3623 419

15612 9.28 5173.5 875.6 7.5 556 15617 0.00 3.12 0.00 0.000 6 0.000 0.000 3285 1834 415

15930 9.28 5173.5 851.2 7.7 564 15934 0.00 2.72 0.00 0.000 4 0.000 0.000 3296 3372 423

16224 9.28 5173.5 827.9 8.2 570 16231 0.00 3.35 0.00 0.000 6 0.000 0.000 3288 1813 421

16547 9.28 5173.5 800.3 8.9 578 16552 0.00 2.80 0.03 0.000 4 0.000 0.000 3292 3474 420

16839 9.28 5173.5 774.1 8.2 584 16847 0.00 3.65 0.00 0.000 6 0.000 0.000 3290 1831 426

17163 9.28 5173.5 747.2 8.1 592 17170 0.00 3.47 0.00 0.000 4 0.000 0.000 3313 3497 411

17460 9.28 5173.5 723.4 7.1 598 17467 0.00 3.33 0.00 0.000 6 0.000 0.000 3295 1817 419

17783 9.28 5173.5 701.0 6.9 606 17790 0.00 3.42 0.00 0.000 4 0.000 0.000 3291 3591 414

18081 9.28 5173.5 681.0 7.2 612 18086 0.00 3.10 0.00 0.000 6 0.000 0.000 3301 1807 422

18399 9.28 5173.5 659.6 6.9 620 18406 0.00 3.65 0.00 0.000 4 0.000 0.000 3288 3592 422

18705 9.28 5173.5 637.4 7.4 626 18714 0.00 3.75 0.03 0.000 6 0.000 0.000 3275 1812 425

19039 9.28 5173.5 611.9 7.7 634 19045 0.00 2.70 0.12 0.001 4 0.000 0.000 3295 3429 427

19338 9.28 5173.5 588.2 7.9 640 19343 0.00 2.83 0.00 0.000 6 0.000 0.000 3306 1796 416

19662 9.28 5173.5 564.0 7.5 648 19670 0.00 3.75 0.00 0.000 4 0.000 0.000 3295 3603 411

19970 9.28 5173.5 541.8 6.7 654 19974 0.00 2.72 0.00 0.000 6 0.000 0.000 3290 1835 422

20287 9.28 5173.5 520.4 6.7 662 20292 0.00 2.55 0.00 0.000 4 0.000 0.000 3295 3374 412

20586 9.28 5173.5 500.2 6.8 668 20591 0.00 2.50 0.00 0.000 6 0.000 0.000 3282 1844 417

20909 9.28 5173.5 477.5 6.5 683 20914 0.00 2.50 0.03 0.001 4 0.000 0.000 3286 3364 418

21208 9.28 5178.6 456.6 6.1 695 21213 0.00 3.10 0.00 0.000 6 0.000 0.000 3288 1879 417

21529 9.28 5178.6 436.1 6.4 710 21534 0.00 3.00 0.00 0.000 4 0.000 0.000 3277 3410 424

21829 9.28 5195.2 416.7 5.6 722 21844 0.00 3.35 0.00 0.000 6 0.000 0.000 3312 2018 421

22154 9.31 5195.2 395.2 6.8 738 22158 0.00 2.30 0.00 0.000 4 0.000 0.000 3291 3361 414

22457 9.31 5219.2 374.9 5.3 750 22462 0.00 2.65 0.00 0.000 6 0.000 0.000 3281 1851 422

22779 9.35 5228.8 356.1 5.9 765 22786 0.00 3.35 0.00 0.000 4 0.000 0.000 3297 3538 416

23087 9.37 5228.8 336.8 6.5 777 23092 0.00 2.50 0.03 0.000 6 0.000 0.000 3292 1832 424

23408 9.37 5228.8 315.1 6.9 792 23413 0.00 2.58 0.03 0.000 4 0.000 0.000 3299 3342 418

23709 9.37 5231.2 293.7 6.2 804 23725 0.00 3.45 0.00 0.000 6 0.000 0.000 3289 1827 418

24034 9.37 5231.2 270.7 7.2 820 24039 0.00 3.00 0.03 0.000 4 0.000 0.000 3307 3371 423

24335 9.37 5236.7 248.7 6.0 832 24350 0.00 3.25 0.00 0.000 6 0.000 0.000 3295 1849 423

24660 9.38 5236.7 226.6 6.7 848 24665 0.00 2.83 0.05 0.000 4 0.000 0.000 3295 3394 418

24960 9.38 5236.7 204.7 6.6 860 24975 0.00 3.78 0.00 0.000 6 0.000 0.000 3289 1973 418

25286 9.38 5236.7 180.0 7.3 876 25293 0.00 3.45 0.00 0.000 4 0.000 0.000 3287 3377 423

25331 9.38 5236.7 176.6 6.3 877 25343 0.00 2.72 0.05 0.001 6 0.000 0.000 3291 1869 418

25653 9.38 5254.1 155.6 5.6 893 25658 0.00 3.20 0.00 0.000 4 0.000 0.000 3284 3425 414

25958 9.41 5254.1 134.2 8.8 905 25963 0.00 2.83 0.00 0.000 6 0.000 0.000 3291 1889 424

26280 9.41 5276.7 115.4 5.4 920 26282 0.00 0.00 0.03 0.001 6 0.000 0.000 3281 1897 418

26610 9.45 5312.7 96.2 4.9 941 26622 0.00 3.03 0.00 0.000 4 0.000 0.000 3293 3557 424

26865 9.51 5340.3 85.0 5.2 973 26878 0.00 2.78 0.05 0.000 6 0.000 0.000 3309 1927 421

27335 9.55 5340.3 50.2 6.7 1034 27348 0.00 3.00 0.05 0.000 4 0.000 0.000 3285 611 417

27398 9.55 5340.3 45.0 8.3 1041 27410 0.00 2.53 0.00 0.000 6 0.000 0.000 3286 2136 418

27872 9.55 5340.3 14.4 6.3 1102 27884 0.00 2.22 0.00 0.000 4 0.000 0.000 3308 3596 423

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	38	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	16	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	21	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	-443182.19	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	184233,4653.963,-12626.734,28,1.1,28,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.109,0.159
_SM_DEPTHo	0.34	KALMAN_X	-18223.1,-2509.5,-2396.3,1040.8,3346.2
_SM_ANGLEo	-50.0	KALMAN_Y	-16823.7,-463.5,-610.1,-2285.7,1162.8
GPS2	185216,4653.940,-12626.766,26,1.1,26,18.0	MHEAD_RNG_PITCHd_Wd	16.3,329926,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999494	ALTIM_TOP_PING	19.3,999.0
SM_CCo	28155,0.00,0.000,0,0,424,449.14	_24V_AH	23.7,89.572
SM_GC	0.34,13.38,0.00,0.00,0.000,0.000,0.000,641,1825,424,-7.26,-4.41,449.14	_10V_AH	9.6,28.745
RAFOS_CLK	0	DATA_FILE_SIZE	37859,1126
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,230768640
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,1,0,0,0,0,0,0,0,0,0,53,1841,0,0
TT8_MAMPS	0.023777	SOUNDSPEED	1465.0
HUMID	1992	CURRENT	0.076,204.6,1
INTERNAL_PRESSURE	26.026	GPS	270607,024403,4654.535,-12631.130,34,1.1,34,18.0
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	31	119	88.70	SBE_CT	1818	24	1034.38
Roll_motor	275	60	391.37	nil	0	0	0.00
VBD_pump_during_apogee	512	1300	15774.72	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	136	223	721.51
Transponder_ping	0	420	2.49
GPS	27	50	13.37
TT8	6122	19	1170.74
LPSleep	14393	2	319.20
TT8_Active	899	19	171.96
TT8_Sampling	3099	39	1187.71
TT8_CF8	4073	45	1795.63
TT8_Kalman	33	81	26.23
Analog_circuits	2930	12	337.60
GPS_charging	0	0	0.00
Compass	3917	26	977.84
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
44	-0.83	-116.8	0.0	0.0	0	120	0.00	0.00	-74.22	0.000	2	0.000	0.000	635	2169	2657
127	-0.83	-116.8	3.2	-5.2	7	157	7.40	3.70	-2.67	0.000	4	0.000	0.000	2164	393	2745
506	-0.83	-116.8	45.4	-12.1	57	519	0.40	3.15	0.00	0.000	6	0.000	0.000	2048	2046	2750
960	-0.83	-116.8	96.3	-10.5	118	972	0.00	2.50	0.00	0.000	4	0.000	0.000	2026	417	2743
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
1011	-0.25	0.0	100.7	9.9	122	1110	0.95	0.00	96.28	0.000	6	0.000	0.000	2228	1977	2255
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1122	0.83	116.8	110.6	0.0	127	1229	1.17	2.40	93.30	0.000	4	0.000	0.000	2455	3522	1785
1531	0.83	116.8	148.4	-9.3	142	1544	0.32	2.50	0.45	0.001	6	0.000	0.000	2386	1860	1777
1852	0.83	116.8	175.4	-8.9	158	1860	0.57	3.10	0.00	0.000	4	0.000	0.000	2535	3622	1782
2157	0.83	116.8	201.7	-8.1	170	2174	0.62	3.62	0.00	0.000	6	0.000	0.000	2382	1840	1787
2483	0.83	116.8	226.4	-7.0	186	2491	0.43	2.92	0.00	0.000	4	0.000	0.000	2446	3481	1780
2790	0.83	116.8	250.6	-7.8	198	2795	0.03	3.05	0.00	0.000	6	0.000	0.000	2486	1819	1784
3110	0.83	116.8	276.6	-7.8	213	3119	0.40	3.10	0.00	0.000	4	0.000	0.000	2375	3519	1787
3413	0.83	116.8	300.4	-7.3	225	3429	0.50	3.00	0.00	0.000	6	0.000	0.000	2481	1860	1787
3738	0.83	116.8	322.4	-6.8	241	3743	0.00	2.80	0.00	0.000	4	0.000	0.000	2465	3406	1789
4036	0.83	116.8	343.8	-7.3	253	4042	0.00	3.25	0.00	0.000	6	0.000	0.000	2449	1969	1781
4357	0.83	116.8	367.7	-7.5	268	4363	0.15	2.50	0.60	0.001	4	0.000	0.000	2445	3374	1784
4664	0.83	116.8	391.6	-7.1	280	4681	0.20	3.53	0.00	0.000	6	0.000	0.000	2421	1813	1787
4994	0.83	116.8	415.8	-8.0	296	5000	0.00	3.12	0.00	0.000	4	0.000	0.000	2429	3374	1781
5300	0.83	116.8	441.1	-8.2	308	5305	0.00	3.22	0.00	0.000	6	0.000	0.000	2424	1882	1784
5622	0.83	116.8	465.3	-7.3	323	5629	0.00	3.42	0.00	0.000	4	0.000	0.000	2422	3517	1781
5945	0.83	437.1	487.5	-5.9	335	6263	0.03	2.60	307.48	0.000	6	0.000	0.000	2434	1836	476
6613	1.37	437.1	527.5	-6.5	353	6622	0.85	3.33	0.43	0.000	4	0.000	0.000	2602	3568	486
6912	1.37	437.1	549.1	-7.9	359	6920	0.38	3.45	0.00	0.000	6	0.000	0.000	2525	1790	474
7236	1.37	437.1	575.7	-8.5	367	7244	0.28	3.33	0.00	0.000	4	0.000	0.000	2529	3547	479
7535	1.37	437.1	600.0	-7.5	373	7542	0.00	3.45	0.00	0.000	6	0.000	0.000	2545	1755	486
7858	1.37	437.1	621.7	-6.7	381	7865	0.00	3.45	0.00	0.000	4	0.000	0.000	2554	3550	479
8158	1.37	437.1	641.0	-6.3	387	8163	0.00	3.25	0.00	0.000	6	0.000	0.000	2579	1893	480
8476	1.37	437.1	660.3	-6.3	395	8482	0.00	3.22	0.00	0.000	4	0.000	0.000	2543	3338	484
8771	1.37	437.1	680.1	-6.5	401	8776	0.00	3.05	0.00	0.000	6	0.000	0.000	2552	1956	475
9089	1.37	437.1	700.6	-6.5	409	9094	0.00	2.92	0.03	0.000	4	0.000	0.000	2563	3417	474
9384	1.37	763.3	718.7	-6.1	415	9403	0.00	3.03	11.77	0.000	6	0.000	0.000	2566	1857	430
9755	1.91	1083.9	739.9	-5.9	424	9764	0.70	3.55	0.10	0.001	4	0.000	0.000	2695	3489	429
10056	2.45	1401.0	758.4	-5.8	430	10065	0.62	3.33	0.17	0.000	6	0.000	0.000	2838	1861	420
10386	2.97	1712.9	777.1	-5.6	438	10393	0.50	2.60	0.30	0.002	4	0.000	0.000	2897	3411	418
10683	3.50	2033.3	794.5	-5.9	444	10692	0.57	3.25	0.12	0.000	6	0.000	0.000	3028	1866	421
11013	4.03	2347.8	812.9	-5.7	452	11019	0.43	2.50	0.03	0.002	4	0.000	0.000	3133	3394	417
11309	4.56	2666.9	831.0	-5.8	458	11315	0.57	2.50	0.00	0.000	6	0.000	0.000	3233	1865	428
11629	5.09	2991.8	850.4	-6.1	466	11634	0.00	2.95	0.03	0.000	4	0.000	0.000	3277	3376	424
11924	5.63	2991.8	868.9	-6.3	472	11929	0.00	2.72	0.17	0.000	6	0.000	0.000	3289	1855	420
12242	5.63	3316.3	888.0	-6.0	480	12248	0.00	2.70	0.15	0.002	4	0.000	0.000	3285	3364	417
12538	6.17	3628.2	906.1	-5.6	486	12543	0.00	3.05	0.00	0.000	6	0.000	0.000	3303	1855	419
12857	6.69	3945.7	924.6	-5.8	494	12862	0.00	2.92	0.00	0.000	4	0.000	0.000	3307	3389	420
13149	7.22	4272.2	941.8	-6.1	500	13156	0.00	3.35	0.00	0.000	6	0.000	0.000	3301	1986	419
13472	7.77	4586.7	960.2	-5.7	508	13477	0.00	2.92	0.05	0.000	4	0.000	0.000	3273	3391	420
13763	8.29	4881.1	976.5	-4.9	514	13770	0.00	3.25	0.00	0.000	6	0.000	0.000	3300	1855	421
14085	8.79	5173.5	993.2	-4.8	522	14093	0.00	4.43	0.00	0.000	4	0.000	0.000	3280	3599	419
14383	9.28	5173.5	978.8	8.8	528	14388	0.00	2.83	0.03	0.000	6	0.000	0.000	3306	1810	426
14702	9.28	5173.5	951.1	8.8	536	14707	0.00	2.75	0.03	0.001	4	0.000	0.000	3273	3344	426
14996	9.28	5173.5	924.7	8.3	542	15001	0.00	2.60	0.00	0.000	6	0.000	0.000	3276	1818	421
15314	9.28	5173.5	899.0	8.0	550	15321	0.00	3.65	0.00	0.000	4	0.000	0.000	3317	3623	419
15612	9.28	5173.5	875.6	7.5	556	15617	0.00	3.12	0.00	0.000	6	0.000	0.000	3285	1834	415
15930	9.28	5173.5	851.2	7.7	564	15934	0.00	2.72	0.00	0.000	4	0.000	0.000	3296	3372	423
16224	9.28	5173.5	827.9	8.2	570	16231	0.00	3.35	0.00	0.000	6	0.000	0.000	3288	1813	421
16547	9.28	5173.5	800.3	8.9	578	16552	0.00	2.80	0.03	0.000	4	0.000	0.000	3292	3474	420
16839	9.28	5173.5	774.1	8.2	584	16847	0.00	3.65	0.00	0.000	6	0.000	0.000	3290	1831	426
17163	9.28	5173.5	747.2	8.1	592	17170	0.00	3.47	0.00	0.000	4	0.000	0.000	3313	3497	411
17460	9.28	5173.5	723.4	7.1	598	17467	0.00	3.33	0.00	0.000	6	0.000	0.000	3295	1817	419
17783	9.28	5173.5	701.0	6.9	606	17790	0.00	3.42	0.00	0.000	4	0.000	0.000	3291	3591	414
18081	9.28	5173.5	681.0	7.2	612	18086	0.00	3.10	0.00	0.000	6	0.000	0.000	3301	1807	422
18399	9.28	5173.5	659.6	6.9	620	18406	0.00	3.65	0.00	0.000	4	0.000	0.000	3288	3592	422
18705	9.28	5173.5	637.4	7.4	626	18714	0.00	3.75	0.03	0.000	6	0.000	0.000	3275	1812	425
19039	9.28	5173.5	611.9	7.7	634	19045	0.00	2.70	0.12	0.001	4	0.000	0.000	3295	3429	427
19338	9.28	5173.5	588.2	7.9	640	19343	0.00	2.83	0.00	0.000	6	0.000	0.000	3306	1796	416
19662	9.28	5173.5	564.0	7.5	648	19670	0.00	3.75	0.00	0.000	4	0.000	0.000	3295	3603	411
19970	9.28	5173.5	541.8	6.7	654	19974	0.00	2.72	0.00	0.000	6	0.000	0.000	3290	1835	422
20287	9.28	5173.5	520.4	6.7	662	20292	0.00	2.55	0.00	0.000	4	0.000	0.000	3295	3374	412
20586	9.28	5173.5	500.2	6.8	668	20591	0.00	2.50	0.00	0.000	6	0.000	0.000	3282	1844	417
20909	9.28	5173.5	477.5	6.5	683	20914	0.00	2.50	0.03	0.001	4	0.000	0.000	3286	3364	418
21208	9.28	5178.6	456.6	6.1	695	21213	0.00	3.10	0.00	0.000	6	0.000	0.000	3288	1879	417
21529	9.28	5178.6	436.1	6.4	710	21534	0.00	3.00	0.00	0.000	4	0.000	0.000	3277	3410	424
21829	9.28	5195.2	416.7	5.6	722	21844	0.00	3.35	0.00	0.000	6	0.000	0.000	3312	2018	421
22154	9.31	5195.2	395.2	6.8	738	22158	0.00	2.30	0.00	0.000	4	0.000	0.000	3291	3361	414
22457	9.31	5219.2	374.9	5.3	750	22462	0.00	2.65	0.00	0.000	6	0.000	0.000	3281	1851	422
22779	9.35	5228.8	356.1	5.9	765	22786	0.00	3.35	0.00	0.000	4	0.000	0.000	3297	3538	416
23087	9.37	5228.8	336.8	6.5	777	23092	0.00	2.50	0.03	0.000	6	0.000	0.000	3292	1832	424
23408	9.37	5228.8	315.1	6.9	792	23413	0.00	2.58	0.03	0.000	4	0.000	0.000	3299	3342	418
23709	9.37	5231.2	293.7	6.2	804	23725	0.00	3.45	0.00	0.000	6	0.000	0.000	3289	1827	418
24034	9.37	5231.2	270.7	7.2	820	24039	0.00	3.00	0.03	0.000	4	0.000	0.000	3307	3371	423
24335	9.37	5236.7	248.7	6.0	832	24350	0.00	3.25	0.00	0.000	6	0.000	0.000	3295	1849	423
24660	9.38	5236.7	226.6	6.7	848	24665	0.00	2.83	0.05	0.000	4	0.000	0.000	3295	3394	418
24960	9.38	5236.7	204.7	6.6	860	24975	0.00	3.78	0.00	0.000	6	0.000	0.000	3289	1973	418
25286	9.38	5236.7	180.0	7.3	876	25293	0.00	3.45	0.00	0.000	4	0.000	0.000	3287	3377	423
25331	9.38	5236.7	176.6	6.3	877	25343	0.00	2.72	0.05	0.001	6	0.000	0.000	3291	1869	418
25653	9.38	5254.1	155.6	5.6	893	25658	0.00	3.20	0.00	0.000	4	0.000	0.000	3284	3425	414
25958	9.41	5254.1	134.2	8.8	905	25963	0.00	2.83	0.00	0.000	6	0.000	0.000	3291	1889	424
26280	9.41	5276.7	115.4	5.4	920	26282	0.00	0.00	0.03	0.001	6	0.000	0.000	3281	1897	418
26610	9.45	5312.7	96.2	4.9	941	26622	0.00	3.03	0.00	0.000	4	0.000	0.000	3293	3557	424
26865	9.51	5340.3	85.0	5.2	973	26878	0.00	2.78	0.05	0.000	6	0.000	0.000	3309	1927	421
27335	9.55	5340.3	50.2	6.7	1034	27348	0.00	3.00	0.05	0.000	4	0.000	0.000	3285	611	417
27398	9.55	5340.3	45.0	8.3	1041	27410	0.00	2.53	0.00	0.000	6	0.000	0.000	3286	2136	418
27872	9.55	5340.3	14.4	6.3	1102	27884	0.00	2.22	0.00	0.000	4	0.000	0.000	3308	3596	423
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface