Glider dive log

DavisStrait May07 * SG001 * Dive index * Mission links * Dive 6 * 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 6 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 26 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 11 MOTHERBOARD 4

SURFACE_URGENCY 5 CALL_NDIVES 1 ROLL_AD_RATE 500 DEVICE1 2

SURFACE_URGENCY_TRY 20 COMM_SEQ 0 ROLL_MAXERRORS 1 DEVICE2 -1

SURFACE_URGENCY_FORCE 20 N_NOCOMM 1 VBD_MIN 421 DEVICE3 -1

T_DIVE 528 N_NOSURFACE 0 VBD_MAX 3792 DEVICE4 -1

T_MISSION 550 UPLOAD_DIVES_MAX 5 C_VBD 2257 DEVICE5 -1

T_ABORT 1440 CALL_TRIES 5 VBD_DBAND 2 DEVICE6 -1

T_TURN 240 CALL_WAIT 60 VBD_CNV -0.24529999 SMARTS 0

T_TURN_SAMPINT 5 CAPUPLOAD 0 VBD_TIMEOUT 720 SMARTDEVICE1 -1

T_NO_W 120 CAPMAXSIZE 200000 PITCH_VBD_SHIFT 0.00167 SMARTDEVICE2 -1

USE_BATHY 0 HEAPDBG 1 VBD_PUMP_AD_RATE_SURFACE 6 COMPASS_DEVICE 1

USE_ICE -1 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 PHONE_DEVICE 32

ICE_FREEZE_MARGIN -2 N_GPS 20 VBD_BLEED_AD_RATE 10 GPS_DEVICE 32

D_OFFGRID 1001 T_GPS_ALMANAC 0 UNCOM_BLEED 20 RAFOS_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -442369.94 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 -442369.94

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 26 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 11 UPLOAD_DIVES_MAX 5

C_ROLL_CLIMB 1978 INT_PRESSURE_YINT 10 SEABIRD_C_G -10.005328 USE_BATHY 0

C_ROLL_DIVE 1978 KALMAN_USE 1 SEABIRD_C_H 1.1235065 USE_ICE -1

C_VBD 2257 MASS 51747 SEABIRD_C_I -0.0015880254 VBD_BLEED_AD_RATE 10

DEEPGLIDER 0 MAX_BUOY 120 SEABIRD_C_J 0.0001984441 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MISSION 1 SEABIRD_T_G 0.0042857998 VBD_DBAND 2

DEVICE1 2 MOTHERBOARD 4 SEABIRD_T_H 0.00062588596 VBD_MAX 3792

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

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

DEVICE4 -1 N_NOCOMM 1 SIM_PITCH 0 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 N_NOSURFACE 0 SIM_W 0 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 PHONE_DEVICE 32 SMARTDEVICE1 -1 VBD_TIMEOUT 720

DIVE 6 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 132729,4702.980,-12554.692,20,1.1,20,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.176,0.079

_SM_DEPTHo 0.34 KALMAN_X 8794.8,1170.9,1149.3,6874.6,-1752.0

_SM_ANGLEo -50.0 KALMAN_Y -2112.6,-417.1,-370.7,-451.8,426.9

GPS2 133651,4703.035,-12554.763,15,1.1,15,18.0 MHEAD_RNG_PITCHd_Wd 47.9,286949,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999502 ALTIM_TOP_PING 19.5,999.0

SM_CCo 28297,0.00,0.000,0,0,405,452.33 _24V_AH 23.6,60.105

SM_GC 0.34,13.10,0.00,0.00,0.000,0.000,0.000,623,2100,405,-7.31,3.84,452.33 _10V_AH 9.6,23.046

RAFOS_CLK 0 DATA_FILE_SIZE 37806,1142

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,241074176

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,67,1886,2,0

TT8_MAMPS 0.027612 SOUNDSPEED 1465.0

HUMID 2108 CURRENT 0.046,287.8,1

INTERNAL_PRESSURE 26.0846 GPS 160607,213046,4702.472,-12551.063,18,1.1,19,18.0

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 33 119 94.08 SBE_CT 1765 24 1000.22

Roll_motor 277 60 393.08 nil 0 0 0.00

VBD_pump_during_apogee 514 1300 15774.89 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 133 223 701.95

Transponder_ping 0 420 2.48

GPS 16 50 7.77

TT8 6165 19 1179.01

LPSleep 14530 2 322.22

TT8_Active 904 19 173.01

TT8_Sampling 3104 39 1189.58

TT8_CF8 4007 45 1766.84

TT8_Kalman 33 81 26.22

Analog_circuits 2948 12 339.66

GPS_charging 0 0 0.00

Compass 3835 26 957.40

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 0 128 0.00 0.00 -76.97 0.000 6 0.000 0.000 652 1767 2742

135 -0.83 -116.8 4.7 -5.6 8 149 7.12 3.95 0.00 0.000 4 0.000 0.000 2115 3466 2748

498 -0.83 -116.8 45.8 -11.2 57 510 0.35 2.47 0.00 0.000 6 0.000 0.000 2025 1799 2746

946 -0.83 -116.8 95.5 -11.2 118 958 0.45 3.30 0.00 0.000 4 0.000 0.000 2122 3597 2744

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

996 -0.25 0.0 100.2 11.0 122 1095 0.70 0.00 95.12 0.000 6 0.000 0.000 2268 1801 2270

state end apogee CONTROL_FINISHED_OK

state start climb

1106 0.83 116.8 110.5 0.0 127 1213 1.02 2.40 95.03 0.000 4 0.000 0.000 2504 508 1789

1511 0.83 116.8 147.0 -8.7 142 1519 0.35 2.92 0.52 0.000 6 0.000 0.000 2404 2099 1783

1852 0.83 116.8 174.8 -8.1 158 1857 0.43 2.70 0.00 0.000 4 0.000 0.000 2471 518 1783

2155 0.83 116.8 199.6 -7.8 170 2171 0.35 3.03 0.00 0.000 6 0.000 0.000 2392 2132 1784

2480 0.83 116.8 224.4 -7.3 186 2488 0.30 3.75 0.00 0.000 4 0.000 0.000 2436 339 1783

2783 0.83 116.8 246.2 -6.3 198 2789 0.00 3.25 0.00 0.000 6 0.000 0.000 2430 1962 1780

3104 0.83 116.8 270.1 -7.6 213 3109 0.00 2.83 0.00 0.000 4 0.000 0.000 2444 536 1788

3402 0.83 116.8 294.1 -7.9 225 3418 0.00 3.75 0.00 0.000 6 0.000 0.000 2435 2182 1782

3728 0.83 116.8 319.7 -7.8 241 3729 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 2198 1786

4042 0.83 116.8 343.5 -7.1 256 4050 0.00 4.03 0.55 0.001 4 0.000 0.000 2456 403 1788

4345 0.83 116.8 365.9 -6.5 268 4350 0.00 2.80 0.00 0.000 6 0.000 0.000 2435 2035 1786

4666 0.83 116.8 388.3 -7.0 283 4672 0.00 3.25 0.05 0.001 4 0.000 0.000 2426 476 1787

4970 0.83 116.8 410.3 -7.6 295 4986 0.00 4.05 0.00 0.000 6 0.000 0.000 2443 2153 1784

5296 0.83 116.8 436.1 -7.8 311 5301 0.00 3.00 0.00 0.000 4 0.000 0.000 2459 499 1779

5595 0.83 116.8 458.4 -7.2 323 5599 0.00 2.80 0.00 0.000 6 0.000 0.000 2430 2005 1785

5916 0.83 116.8 481.3 -7.0 338 5923 0.03 3.65 0.00 0.000 4 0.000 0.000 2451 347 1788

6221 0.83 446.5 500.7 -6.2 350 6556 0.00 2.80 316.60 0.000 6 0.000 0.000 2445 2122 445

6907 1.38 766.9 541.0 -5.9 366 6917 0.57 3.15 3.30 0.000 4 0.000 0.000 2569 583 426

7212 1.92 766.9 559.7 -6.3 372 7221 0.57 3.45 0.00 0.000 6 0.000 0.000 2718 2141 419

7570 1.92 766.9 582.6 -6.8 381 7572 0.32 0.00 0.03 0.001 6 0.000 0.000 2628 2122 422

7900 1.92 766.9 605.9 -7.3 389 7909 0.35 2.70 1.40 0.001 4 0.000 0.000 2710 369 421

8199 1.92 766.9 626.6 -6.4 395 8208 0.35 3.22 0.03 0.000 6 0.000 0.000 2639 2133 421

8523 1.92 766.9 647.9 -6.6 403 8533 0.50 4.12 0.17 0.001 4 0.000 0.000 2724 350 429

8819 1.92 766.9 667.5 -6.4 409 8827 0.35 3.03 0.05 0.000 6 0.000 0.000 2632 2146 427

9147 1.92 766.9 688.3 -6.4 417 9157 0.32 2.70 0.03 0.001 4 0.000 0.000 2734 447 413

9445 1.92 766.9 708.1 -7.0 423 9453 0.40 3.25 0.00 0.000 6 0.000 0.000 2644 2117 422

9785 1.92 766.9 730.8 -7.2 431 9793 0.38 3.10 0.00 0.000 4 0.000 0.000 2746 340 427

10097 1.92 766.9 753.8 -6.9 437 10105 0.35 3.03 0.03 0.000 6 0.000 0.000 2632 2131 424

10425 1.92 766.9 776.1 -6.8 445 10428 0.38 0.00 0.05 0.003 6 0.000 0.000 2723 2128 418

10751 1.92 766.9 798.7 -7.0 453 10760 0.47 3.45 0.10 0.002 4 0.000 0.000 2639 451 422

11054 1.92 766.9 818.8 -6.7 459 11062 0.32 3.12 0.03 0.000 6 0.000 0.000 2718 2094 426

11382 1.92 1096.0 838.9 -6.2 467 11388 0.32 2.90 0.00 0.000 4 0.000 0.000 2635 599 422

11676 2.47 1405.9 857.8 -5.5 473 11685 1.23 2.62 0.05 0.001 6 0.000 0.000 2868 2136 426

12004 2.98 1711.6 875.2 -5.3 481 12013 0.40 3.75 0.00 0.000 4 0.000 0.000 2926 363 419

12300 3.49 2016.1 891.4 -5.3 487 12308 0.57 3.10 0.00 0.000 6 0.000 0.000 3103 2149 421

12624 4.00 2330.0 908.7 -5.6 495 12632 0.35 3.25 0.17 0.001 4 0.000 0.000 3143 475 425

12922 4.53 2641.7 925.9 -5.6 501 12930 0.77 3.10 0.00 0.000 6 0.000 0.000 3306 2123 421

13245 5.05 2960.5 944.4 -5.8 509 13253 0.00 3.72 0.00 0.000 4 0.000 0.000 3306 411 422

13543 5.58 3276.6 961.6 -5.7 515 13551 0.00 3.85 0.03 0.000 6 0.000 0.000 3321 2087 428

13866 6.11 3598.1 980.2 -5.9 523 13874 0.00 3.45 0.22 0.001 4 0.000 0.000 3322 440 416

14161 6.64 3823.0 995.3 -2.3 529 14170 0.00 3.65 0.05 0.000 6 0.000 0.000 3315 2099 423

14486 7.02 3823.0 977.1 8.7 537 14490 0.00 2.62 0.00 0.000 4 0.000 0.000 3322 571 419

14779 7.02 3823.0 949.6 9.8 543 14786 0.00 3.40 0.05 0.000 6 0.000 0.000 3309 2144 420

15102 7.02 3823.0 922.2 8.4 551 15110 0.00 3.75 0.00 0.000 4 0.000 0.000 3331 367 417

15399 7.02 3823.0 899.1 7.5 557 15407 0.00 3.75 0.08 0.000 6 0.000 0.000 3303 2166 423

15723 7.02 3823.0 873.9 8.0 565 15727 0.00 2.80 0.00 0.000 4 0.000 0.000 3329 545 423

16015 7.02 3823.0 849.3 8.4 571 16022 0.00 3.47 0.00 0.000 6 0.000 0.000 3315 1975 417

16339 7.02 3823.0 822.4 8.4 579 16346 0.00 3.22 0.03 0.000 4 0.000 0.000 3305 431 414

16635 7.02 3823.0 797.0 8.2 585 16643 0.00 3.33 0.05 0.000 6 0.000 0.000 3321 2221 421

16958 7.02 3823.0 772.0 7.5 593 16963 0.00 2.88 0.00 0.000 4 0.000 0.000 3310 582 422

17251 7.02 3823.0 750.5 7.0 599 17256 0.00 3.08 0.03 0.001 6 0.000 0.000 3314 1980 422

17570 7.02 3823.0 725.3 8.3 607 17574 0.00 2.83 0.00 0.000 4 0.000 0.000 3317 487 413

17861 7.02 3823.0 700.7 8.4 613 17870 0.00 4.22 0.03 0.001 6 0.000 0.000 3315 2168 423

18186 7.02 3823.0 673.0 8.5 621 18190 0.00 2.83 0.00 0.000 4 0.000 0.000 3322 489 415

18479 7.02 3823.0 647.7 8.6 627 18484 0.00 3.00 0.00 0.000 6 0.000 0.000 3308 2013 418

18797 7.02 3823.0 622.3 8.0 635 18805 0.00 3.75 0.03 0.001 4 0.000 0.000 3316 345 420

19094 7.02 3823.0 600.1 6.9 641 19103 0.00 3.75 0.03 0.000 6 0.000 0.000 3311 2136 418

19418 7.02 3823.0 578.6 6.4 649 19426 0.00 3.62 0.00 0.000 4 0.000 0.000 3308 356 422

19716 7.02 3854.6 561.5 5.1 655 19724 0.00 3.92 0.00 0.000 6 0.000 0.000 3305 2144 419

20039 7.07 3854.6 542.2 6.4 663 20044 0.00 2.72 0.03 0.000 4 0.000 0.000 3340 464 419

20332 7.07 3854.6 521.3 6.9 669 20340 0.00 3.75 0.00 0.000 6 0.000 0.000 3321 2179 420

20655 7.07 3854.6 497.3 7.7 677 20661 0.00 3.62 0.03 0.000 4 0.000 0.000 3305 494 414

20957 7.07 3854.6 474.1 7.3 689 20972 0.00 3.55 0.00 0.000 6 0.000 0.000 3328 2175 424

21282 7.07 3854.6 452.3 6.5 705 21291 0.00 3.97 0.05 0.000 4 0.000 0.000 3292 497 411

21594 7.07 3854.6 431.6 7.6 717 21609 0.00 3.35 0.00 0.000 6 0.000 0.000 3338 2166 427

21919 7.07 3854.6 410.2 6.4 733 21923 0.00 2.83 0.00 0.000 4 0.000 0.000 3321 473 427

22222 7.07 3856.8 391.1 6.2 745 22227 0.00 3.25 0.03 0.000 6 0.000 0.000 3309 2096 419

22543 7.08 3856.8 370.8 6.7 760 22550 0.00 3.35 0.00 0.000 4 0.000 0.000 3322 416 418

22849 7.08 3856.8 348.0 7.1 772 22854 0.00 2.62 0.08 0.000 6 0.000 0.000 3323 2074 420

23170 7.08 3856.8 322.8 8.3 787 23177 0.00 2.60 0.00 0.000 4 0.000 0.000 3318 420 415

23479 7.08 3856.8 298.2 7.0 799 23486 0.00 3.45 0.00 0.000 6 0.000 0.000 3305 2110 419

23810 7.08 3857.8 275.8 6.2 815 23815 0.00 2.80 0.00 0.000 4 0.000 0.000 3309 576 416

24109 7.08 3863.6 256.4 6.0 827 24126 0.00 3.85 0.00 0.000 6 0.000 0.000 3312 2116 412

24440 7.09 3863.6 235.8 6.3 843 24447 0.00 3.22 0.00 0.000 4 0.000 0.000 3312 403 424

24757 7.09 3891.6 215.9 5.2 855 24772 0.00 3.50 0.00 0.000 6 0.000 0.000 3312 2047 422

25087 7.13 3891.6 195.1 6.4 871 25092 0.00 2.92 0.00 0.000 4 0.000 0.000 3315 527 404

25390 7.13 3894.7 175.0 6.1 883 25395 0.00 2.72 0.00 0.000 6 0.000 0.000 3327 2071 420

25711 7.14 3894.7 153.1 7.3 898 25717 0.00 3.15 0.03 0.001 4 0.000 0.000 3296 550 408

26011 7.14 3894.7 132.5 6.4 910 26016 0.00 2.40 0.03 0.001 6 0.000 0.000 3327 2091 418

26333 7.14 3912.4 114.7 5.6 925 26340 0.00 3.35 0.00 0.000 4 0.000 0.000 3310 420 418

26658 7.17 3923.9 95.7 5.8 942 26671 0.00 3.30 0.03 0.000 6 0.000 0.000 3309 2187 418

27126 7.19 3923.9 65.8 6.3 1003 27138 0.00 2.78 0.00 0.000 4 0.000 0.000 3324 490 421

27502 7.19 3923.9 42.5 6.3 1052 27514 0.00 3.20 0.00 0.000 6 0.000 0.000 3317 2135 415

27977 7.19 3968.4 14.5 4.6 1113 27990 0.00 3.12 0.00 0.000 4 0.000 0.000 3311 479 417

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	6	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	26	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	11	MOTHERBOARD	4
SURFACE_URGENCY	5	CALL_NDIVES	1	ROLL_AD_RATE	500	DEVICE1	2
SURFACE_URGENCY_TRY	20	COMM_SEQ	0	ROLL_MAXERRORS	1	DEVICE2	-1
SURFACE_URGENCY_FORCE	20	N_NOCOMM	1	VBD_MIN	421	DEVICE3	-1
T_DIVE	528	N_NOSURFACE	0	VBD_MAX	3792	DEVICE4	-1
T_MISSION	550	UPLOAD_DIVES_MAX	5	C_VBD	2257	DEVICE5	-1
T_ABORT	1440	CALL_TRIES	5	VBD_DBAND	2	DEVICE6	-1
T_TURN	240	CALL_WAIT	60	VBD_CNV	-0.24529999	SMARTS	0
T_TURN_SAMPINT	5	CAPUPLOAD	0	VBD_TIMEOUT	720	SMARTDEVICE1	-1
T_NO_W	120	CAPMAXSIZE	200000	PITCH_VBD_SHIFT	0.00167	SMARTDEVICE2	-1
USE_BATHY	0	HEAPDBG	1	VBD_PUMP_AD_RATE_SURFACE	6	COMPASS_DEVICE	1
USE_ICE	-1	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	PHONE_DEVICE	32
ICE_FREEZE_MARGIN	-2	N_GPS	20	VBD_BLEED_AD_RATE	10	GPS_DEVICE	32
D_OFFGRID	1001	T_GPS_ALMANAC	0	UNCOM_BLEED	20	RAFOS_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-442369.94	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	132729,4702.980,-12554.692,20,1.1,20,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.176,0.079
_SM_DEPTHo	0.34	KALMAN_X	8794.8,1170.9,1149.3,6874.6,-1752.0
_SM_ANGLEo	-50.0	KALMAN_Y	-2112.6,-417.1,-370.7,-451.8,426.9
GPS2	133651,4703.035,-12554.763,15,1.1,15,18.0	MHEAD_RNG_PITCHd_Wd	47.9,286949,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999502	ALTIM_TOP_PING	19.5,999.0
SM_CCo	28297,0.00,0.000,0,0,405,452.33	_24V_AH	23.6,60.105
SM_GC	0.34,13.10,0.00,0.00,0.000,0.000,0.000,623,2100,405,-7.31,3.84,452.33	_10V_AH	9.6,23.046
RAFOS_CLK	0	DATA_FILE_SIZE	37806,1142
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,241074176
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,67,1886,2,0
TT8_MAMPS	0.027612	SOUNDSPEED	1465.0
HUMID	2108	CURRENT	0.046,287.8,1
INTERNAL_PRESSURE	26.0846	GPS	160607,213046,4702.472,-12551.063,18,1.1,19,18.0
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	33	119	94.08	SBE_CT	1765	24	1000.22
Roll_motor	277	60	393.08	nil	0	0	0.00
VBD_pump_during_apogee	514	1300	15774.89	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	133	223	701.95
Transponder_ping	0	420	2.48
GPS	16	50	7.77
TT8	6165	19	1179.01
LPSleep	14530	2	322.22
TT8_Active	904	19	173.01
TT8_Sampling	3104	39	1189.58
TT8_CF8	4007	45	1766.84
TT8_Kalman	33	81	26.22
Analog_circuits	2948	12	339.66
GPS_charging	0	0	0.00
Compass	3835	26	957.40
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	128	0.00	0.00	-76.97	0.000	6	0.000	0.000	652	1767	2742
135	-0.83	-116.8	4.7	-5.6	8	149	7.12	3.95	0.00	0.000	4	0.000	0.000	2115	3466	2748
498	-0.83	-116.8	45.8	-11.2	57	510	0.35	2.47	0.00	0.000	6	0.000	0.000	2025	1799	2746
946	-0.83	-116.8	95.5	-11.2	118	958	0.45	3.30	0.00	0.000	4	0.000	0.000	2122	3597	2744
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
996	-0.25	0.0	100.2	11.0	122	1095	0.70	0.00	95.12	0.000	6	0.000	0.000	2268	1801	2270
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1106	0.83	116.8	110.5	0.0	127	1213	1.02	2.40	95.03	0.000	4	0.000	0.000	2504	508	1789
1511	0.83	116.8	147.0	-8.7	142	1519	0.35	2.92	0.52	0.000	6	0.000	0.000	2404	2099	1783
1852	0.83	116.8	174.8	-8.1	158	1857	0.43	2.70	0.00	0.000	4	0.000	0.000	2471	518	1783
2155	0.83	116.8	199.6	-7.8	170	2171	0.35	3.03	0.00	0.000	6	0.000	0.000	2392	2132	1784
2480	0.83	116.8	224.4	-7.3	186	2488	0.30	3.75	0.00	0.000	4	0.000	0.000	2436	339	1783
2783	0.83	116.8	246.2	-6.3	198	2789	0.00	3.25	0.00	0.000	6	0.000	0.000	2430	1962	1780
3104	0.83	116.8	270.1	-7.6	213	3109	0.00	2.83	0.00	0.000	4	0.000	0.000	2444	536	1788
3402	0.83	116.8	294.1	-7.9	225	3418	0.00	3.75	0.00	0.000	6	0.000	0.000	2435	2182	1782
3728	0.83	116.8	319.7	-7.8	241	3729	0.00	0.00	0.00	0.000	6	0.000	0.000	2442	2198	1786
4042	0.83	116.8	343.5	-7.1	256	4050	0.00	4.03	0.55	0.001	4	0.000	0.000	2456	403	1788
4345	0.83	116.8	365.9	-6.5	268	4350	0.00	2.80	0.00	0.000	6	0.000	0.000	2435	2035	1786
4666	0.83	116.8	388.3	-7.0	283	4672	0.00	3.25	0.05	0.001	4	0.000	0.000	2426	476	1787
4970	0.83	116.8	410.3	-7.6	295	4986	0.00	4.05	0.00	0.000	6	0.000	0.000	2443	2153	1784
5296	0.83	116.8	436.1	-7.8	311	5301	0.00	3.00	0.00	0.000	4	0.000	0.000	2459	499	1779
5595	0.83	116.8	458.4	-7.2	323	5599	0.00	2.80	0.00	0.000	6	0.000	0.000	2430	2005	1785
5916	0.83	116.8	481.3	-7.0	338	5923	0.03	3.65	0.00	0.000	4	0.000	0.000	2451	347	1788
6221	0.83	446.5	500.7	-6.2	350	6556	0.00	2.80	316.60	0.000	6	0.000	0.000	2445	2122	445
6907	1.38	766.9	541.0	-5.9	366	6917	0.57	3.15	3.30	0.000	4	0.000	0.000	2569	583	426
7212	1.92	766.9	559.7	-6.3	372	7221	0.57	3.45	0.00	0.000	6	0.000	0.000	2718	2141	419
7570	1.92	766.9	582.6	-6.8	381	7572	0.32	0.00	0.03	0.001	6	0.000	0.000	2628	2122	422
7900	1.92	766.9	605.9	-7.3	389	7909	0.35	2.70	1.40	0.001	4	0.000	0.000	2710	369	421
8199	1.92	766.9	626.6	-6.4	395	8208	0.35	3.22	0.03	0.000	6	0.000	0.000	2639	2133	421
8523	1.92	766.9	647.9	-6.6	403	8533	0.50	4.12	0.17	0.001	4	0.000	0.000	2724	350	429
8819	1.92	766.9	667.5	-6.4	409	8827	0.35	3.03	0.05	0.000	6	0.000	0.000	2632	2146	427
9147	1.92	766.9	688.3	-6.4	417	9157	0.32	2.70	0.03	0.001	4	0.000	0.000	2734	447	413
9445	1.92	766.9	708.1	-7.0	423	9453	0.40	3.25	0.00	0.000	6	0.000	0.000	2644	2117	422
9785	1.92	766.9	730.8	-7.2	431	9793	0.38	3.10	0.00	0.000	4	0.000	0.000	2746	340	427
10097	1.92	766.9	753.8	-6.9	437	10105	0.35	3.03	0.03	0.000	6	0.000	0.000	2632	2131	424
10425	1.92	766.9	776.1	-6.8	445	10428	0.38	0.00	0.05	0.003	6	0.000	0.000	2723	2128	418
10751	1.92	766.9	798.7	-7.0	453	10760	0.47	3.45	0.10	0.002	4	0.000	0.000	2639	451	422
11054	1.92	766.9	818.8	-6.7	459	11062	0.32	3.12	0.03	0.000	6	0.000	0.000	2718	2094	426
11382	1.92	1096.0	838.9	-6.2	467	11388	0.32	2.90	0.00	0.000	4	0.000	0.000	2635	599	422
11676	2.47	1405.9	857.8	-5.5	473	11685	1.23	2.62	0.05	0.001	6	0.000	0.000	2868	2136	426
12004	2.98	1711.6	875.2	-5.3	481	12013	0.40	3.75	0.00	0.000	4	0.000	0.000	2926	363	419
12300	3.49	2016.1	891.4	-5.3	487	12308	0.57	3.10	0.00	0.000	6	0.000	0.000	3103	2149	421
12624	4.00	2330.0	908.7	-5.6	495	12632	0.35	3.25	0.17	0.001	4	0.000	0.000	3143	475	425
12922	4.53	2641.7	925.9	-5.6	501	12930	0.77	3.10	0.00	0.000	6	0.000	0.000	3306	2123	421
13245	5.05	2960.5	944.4	-5.8	509	13253	0.00	3.72	0.00	0.000	4	0.000	0.000	3306	411	422
13543	5.58	3276.6	961.6	-5.7	515	13551	0.00	3.85	0.03	0.000	6	0.000	0.000	3321	2087	428
13866	6.11	3598.1	980.2	-5.9	523	13874	0.00	3.45	0.22	0.001	4	0.000	0.000	3322	440	416
14161	6.64	3823.0	995.3	-2.3	529	14170	0.00	3.65	0.05	0.000	6	0.000	0.000	3315	2099	423
14486	7.02	3823.0	977.1	8.7	537	14490	0.00	2.62	0.00	0.000	4	0.000	0.000	3322	571	419
14779	7.02	3823.0	949.6	9.8	543	14786	0.00	3.40	0.05	0.000	6	0.000	0.000	3309	2144	420
15102	7.02	3823.0	922.2	8.4	551	15110	0.00	3.75	0.00	0.000	4	0.000	0.000	3331	367	417
15399	7.02	3823.0	899.1	7.5	557	15407	0.00	3.75	0.08	0.000	6	0.000	0.000	3303	2166	423
15723	7.02	3823.0	873.9	8.0	565	15727	0.00	2.80	0.00	0.000	4	0.000	0.000	3329	545	423
16015	7.02	3823.0	849.3	8.4	571	16022	0.00	3.47	0.00	0.000	6	0.000	0.000	3315	1975	417
16339	7.02	3823.0	822.4	8.4	579	16346	0.00	3.22	0.03	0.000	4	0.000	0.000	3305	431	414
16635	7.02	3823.0	797.0	8.2	585	16643	0.00	3.33	0.05	0.000	6	0.000	0.000	3321	2221	421
16958	7.02	3823.0	772.0	7.5	593	16963	0.00	2.88	0.00	0.000	4	0.000	0.000	3310	582	422
17251	7.02	3823.0	750.5	7.0	599	17256	0.00	3.08	0.03	0.001	6	0.000	0.000	3314	1980	422
17570	7.02	3823.0	725.3	8.3	607	17574	0.00	2.83	0.00	0.000	4	0.000	0.000	3317	487	413
17861	7.02	3823.0	700.7	8.4	613	17870	0.00	4.22	0.03	0.001	6	0.000	0.000	3315	2168	423
18186	7.02	3823.0	673.0	8.5	621	18190	0.00	2.83	0.00	0.000	4	0.000	0.000	3322	489	415
18479	7.02	3823.0	647.7	8.6	627	18484	0.00	3.00	0.00	0.000	6	0.000	0.000	3308	2013	418
18797	7.02	3823.0	622.3	8.0	635	18805	0.00	3.75	0.03	0.001	4	0.000	0.000	3316	345	420
19094	7.02	3823.0	600.1	6.9	641	19103	0.00	3.75	0.03	0.000	6	0.000	0.000	3311	2136	418
19418	7.02	3823.0	578.6	6.4	649	19426	0.00	3.62	0.00	0.000	4	0.000	0.000	3308	356	422
19716	7.02	3854.6	561.5	5.1	655	19724	0.00	3.92	0.00	0.000	6	0.000	0.000	3305	2144	419
20039	7.07	3854.6	542.2	6.4	663	20044	0.00	2.72	0.03	0.000	4	0.000	0.000	3340	464	419
20332	7.07	3854.6	521.3	6.9	669	20340	0.00	3.75	0.00	0.000	6	0.000	0.000	3321	2179	420
20655	7.07	3854.6	497.3	7.7	677	20661	0.00	3.62	0.03	0.000	4	0.000	0.000	3305	494	414
20957	7.07	3854.6	474.1	7.3	689	20972	0.00	3.55	0.00	0.000	6	0.000	0.000	3328	2175	424
21282	7.07	3854.6	452.3	6.5	705	21291	0.00	3.97	0.05	0.000	4	0.000	0.000	3292	497	411
21594	7.07	3854.6	431.6	7.6	717	21609	0.00	3.35	0.00	0.000	6	0.000	0.000	3338	2166	427
21919	7.07	3854.6	410.2	6.4	733	21923	0.00	2.83	0.00	0.000	4	0.000	0.000	3321	473	427
22222	7.07	3856.8	391.1	6.2	745	22227	0.00	3.25	0.03	0.000	6	0.000	0.000	3309	2096	419
22543	7.08	3856.8	370.8	6.7	760	22550	0.00	3.35	0.00	0.000	4	0.000	0.000	3322	416	418
22849	7.08	3856.8	348.0	7.1	772	22854	0.00	2.62	0.08	0.000	6	0.000	0.000	3323	2074	420
23170	7.08	3856.8	322.8	8.3	787	23177	0.00	2.60	0.00	0.000	4	0.000	0.000	3318	420	415
23479	7.08	3856.8	298.2	7.0	799	23486	0.00	3.45	0.00	0.000	6	0.000	0.000	3305	2110	419
23810	7.08	3857.8	275.8	6.2	815	23815	0.00	2.80	0.00	0.000	4	0.000	0.000	3309	576	416
24109	7.08	3863.6	256.4	6.0	827	24126	0.00	3.85	0.00	0.000	6	0.000	0.000	3312	2116	412
24440	7.09	3863.6	235.8	6.3	843	24447	0.00	3.22	0.00	0.000	4	0.000	0.000	3312	403	424
24757	7.09	3891.6	215.9	5.2	855	24772	0.00	3.50	0.00	0.000	6	0.000	0.000	3312	2047	422
25087	7.13	3891.6	195.1	6.4	871	25092	0.00	2.92	0.00	0.000	4	0.000	0.000	3315	527	404
25390	7.13	3894.7	175.0	6.1	883	25395	0.00	2.72	0.00	0.000	6	0.000	0.000	3327	2071	420
25711	7.14	3894.7	153.1	7.3	898	25717	0.00	3.15	0.03	0.001	4	0.000	0.000	3296	550	408
26011	7.14	3894.7	132.5	6.4	910	26016	0.00	2.40	0.03	0.001	6	0.000	0.000	3327	2091	418
26333	7.14	3912.4	114.7	5.6	925	26340	0.00	3.35	0.00	0.000	4	0.000	0.000	3310	420	418
26658	7.17	3923.9	95.7	5.8	942	26671	0.00	3.30	0.03	0.000	6	0.000	0.000	3309	2187	418
27126	7.19	3923.9	65.8	6.3	1003	27138	0.00	2.78	0.00	0.000	4	0.000	0.000	3324	490	421
27502	7.19	3923.9	42.5	6.3	1052	27514	0.00	3.20	0.00	0.000	6	0.000	0.000	3317	2135	415
27977	7.19	3968.4	14.5	4.6	1113	27990	0.00	3.12	0.00	0.000	4	0.000	0.000	3311	479	417
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface