Glider dive log

DavisStrait May07 * SG001 * Dive index * Mission links * Dive 7 * 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 7 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 8 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 14 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 -442399.5 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 -442399.5

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 8 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 14 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 7 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 213046,4702.472,-12551.063,18,1.1,19,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.175,0.080

_SM_DEPTHo 0.34 KALMAN_X 10856.0,1368.6,1260.7,9136.4,-1980.2

_SM_ANGLEo -50.0 KALMAN_Y -2671.0,-512.7,-383.3,-670.3,655.0

GPS2 214026,4702.560,-12551.072,28,1.1,28,18.0 MHEAD_RNG_PITCHd_Wd 47.4,283190,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999496 ALTIM_TOP_PING 19.9,999.0

SM_CCo 27766,0.00,0.000,0,0,413,451.11 _24V_AH 23.7,61.129

SM_GC 0.34,12.70,0.00,0.00,0.000,0.000,0.000,640,1765,413,-7.31,-6.11,451.11 _10V_AH 9.6,23.235

RAFOS_CLK 0 DATA_FILE_SIZE 37846,1127

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,240742400

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,65,1749,1,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2124 CURRENT 0.052,282.3,1

INTERNAL_PRESSURE 26.1139 GPS 170607,052516,4701.693,-12547.731,13,1.1,13,18.0

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 37 119 104.35 SBE_CT 1939 24 1102.97

Roll_motor 260 60 371.11 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15746.99 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 134 223 712.85

Transponder_ping 0 420 2.49

GPS 28 50 13.88

TT8 6150 19 1176.18

LPSleep 14097 2 312.63

TT8_Active 895 19 171.17

TT8_Sampling 3084 39 1182.02

TT8_CF8 3961 45 1746.20

TT8_Kalman 33 81 26.22

Analog_circuits 2909 12 335.19

GPS_charging 0 0 0.00

Compass 3949 26 985.70

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 0 129 0.00 0.00 -76.78 0.000 6 0.000 0.000 634 2113 2739

135 -0.83 -116.8 4.2 -5.2 8 149 7.22 2.10 0.00 0.000 4 0.000 0.000 2128 3515 2731

499 -0.83 -116.8 46.4 -11.7 57 512 0.35 2.97 0.00 0.000 6 0.000 0.000 2026 1857 2727

950 -0.83 -116.8 96.9 -11.5 118 963 0.45 3.15 0.00 0.000 4 0.000 0.000 2129 3505 2726

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

989 -0.25 0.0 100.2 11.1 120 1086 0.73 0.00 94.43 0.000 6 0.000 0.000 2258 1802 2260

state end apogee CONTROL_FINISHED_OK

state start climb

1098 0.83 116.8 110.4 0.0 125 1199 0.98 2.10 94.47 0.000 4 0.000 0.000 2488 414 1790

1503 0.83 116.8 147.6 -6.9 141 1520 0.40 3.62 0.15 0.000 6 0.000 0.000 2397 2193 1785

1829 0.83 116.8 170.7 -7.5 157 1837 0.32 3.10 0.00 0.000 4 0.000 0.000 2492 369 1780

2133 0.83 116.8 196.3 -7.6 169 2149 0.40 3.35 0.00 0.000 6 0.000 0.000 2398 2152 1772

2459 0.83 116.8 222.5 -7.9 185 2467 0.45 3.55 0.00 0.000 4 0.000 0.000 2491 365 1782

2762 0.83 116.8 248.3 -7.7 197 2767 0.40 2.80 0.00 0.000 6 0.000 0.000 2443 2162 1785

3083 0.83 116.8 273.2 -7.5 212 3088 0.43 2.72 0.00 0.000 4 0.000 0.000 2496 569 1783

3385 0.83 116.8 297.5 -8.1 224 3401 0.38 3.35 0.00 0.000 6 0.000 0.000 2386 2126 1785

3711 0.83 116.8 323.6 -7.6 240 3718 0.50 3.03 0.00 0.000 4 0.000 0.000 2491 459 1785

4013 0.83 116.8 346.7 -7.6 252 4018 0.32 2.65 0.00 0.000 6 0.000 0.000 2425 2099 1785

4334 0.83 116.8 372.7 -8.4 267 4339 0.45 2.70 0.00 0.000 4 0.000 0.000 2468 540 1788

4637 0.83 116.8 396.4 -7.3 279 4653 0.17 3.75 0.00 0.000 6 0.000 0.000 2451 2077 1789

4963 0.83 116.8 418.3 -6.6 295 4968 0.00 2.85 0.00 0.000 4 0.000 0.000 2433 573 1788

5262 0.83 441.8 437.7 -6.1 307 5587 0.00 2.85 311.73 0.000 6 0.000 0.000 2449 2109 456

5909 1.37 441.8 480.3 -6.9 334 5918 0.88 3.53 0.15 0.000 4 0.000 0.000 2632 456 462

6216 1.37 441.8 501.7 -7.1 346 6222 0.38 2.60 0.00 0.000 6 0.000 0.000 2575 2095 457

6535 1.37 441.8 524.0 -7.0 354 6541 0.47 2.50 0.05 0.001 4 0.000 0.000 2590 538 468

6829 1.37 771.2 543.7 -6.2 360 6844 0.52 3.22 7.85 0.000 6 0.000 0.000 2537 2074 427

7192 1.92 1093.2 565.7 -5.9 369 7201 0.98 3.42 0.10 0.001 4 0.000 0.000 2700 401 425

7490 2.46 1093.2 585.6 -6.5 375 7498 0.55 2.83 0.05 0.000 6 0.000 0.000 2855 2220 421

7813 2.46 1093.2 607.4 -6.9 383 7821 0.38 4.12 0.00 0.000 4 0.000 0.000 2760 426 420

8111 2.46 1093.2 629.5 -7.4 389 8120 0.38 2.80 0.22 0.000 6 0.000 0.000 2862 2083 421

8435 2.46 1093.2 652.1 -7.0 397 8442 0.40 2.50 0.45 0.001 4 0.000 0.000 2761 540 426

8736 2.46 1093.2 673.0 -7.3 403 8744 0.35 3.25 0.05 0.000 6 0.000 0.000 2855 2077 425

9064 2.46 1093.2 694.4 -6.6 411 9072 0.52 2.80 0.32 0.001 4 0.000 0.000 2754 422 420

9370 2.46 1422.1 715.3 -6.2 417 9379 0.35 3.12 0.05 0.000 6 0.000 0.000 2854 2165 422

9699 3.01 1751.3 736.3 -6.2 425 9708 0.45 2.70 0.47 0.001 4 0.000 0.000 2950 341 415

10007 3.56 1751.3 755.7 -6.4 431 10016 0.60 3.75 0.00 0.000 6 0.000 0.000 3093 2136 413

10336 3.56 1751.3 776.0 -6.5 439 10345 0.47 3.72 0.00 0.000 4 0.000 0.000 2986 349 422

10634 3.56 2071.5 794.3 -5.9 445 10641 0.38 2.70 0.05 0.000 6 0.000 0.000 3030 2161 422

10961 4.09 2389.4 812.6 -5.8 453 10963 0.32 0.00 0.03 0.000 6 0.000 0.000 3167 2167 423

11285 4.63 2389.4 833.7 -6.6 461 11294 0.68 2.92 0.05 0.001 4 0.000 0.000 3325 384 423

11584 4.63 2389.4 855.5 -7.7 467 11592 0.38 3.10 0.00 0.000 6 0.000 0.000 3230 2182 427

11908 4.63 2389.4 879.1 -7.4 475 11916 0.38 3.08 0.00 0.000 4 0.000 0.000 3317 450 422

12206 4.63 2389.4 901.7 -6.9 481 12212 0.38 2.70 0.00 0.000 6 0.000 0.000 3277 2108 431

12525 4.63 2389.4 922.5 -6.3 489 12531 0.17 2.55 0.03 0.002 4 0.000 0.000 3266 552 416

12819 4.63 2389.4 940.6 -6.3 495 12826 0.00 3.55 0.00 0.000 6 0.000 0.000 3264 2059 424

13141 4.63 2705.7 958.7 -5.7 503 13146 0.00 3.05 0.03 0.000 4 0.000 0.000 3280 512 420

13430 5.15 3000.1 974.4 -4.9 509 13435 0.00 3.05 0.00 0.000 6 0.000 0.000 3262 2029 427

13748 5.65 3290.8 989.8 -4.8 517 13753 0.00 2.70 0.00 0.000 4 0.000 0.000 3273 561 426

14039 6.13 3290.8 986.9 7.2 523 14044 0.00 3.05 0.00 0.000 6 0.000 0.000 3262 2108 425

14357 6.13 3290.8 959.0 9.1 531 14361 0.00 2.60 0.00 0.000 4 0.000 0.000 3263 569 415

14648 6.13 3290.8 931.8 9.0 537 14653 0.00 2.53 0.00 0.000 6 0.000 0.000 3261 2144 426

14966 6.13 3290.8 902.7 9.3 545 14971 0.00 3.03 0.00 0.000 4 0.000 0.000 3265 498 418

15258 6.13 3290.8 875.4 8.8 551 15263 0.00 2.90 0.00 0.000 6 0.000 0.000 3257 2015 416

15576 6.13 3290.8 848.9 8.2 559 15584 0.00 4.45 0.00 0.000 4 0.000 0.000 3259 370 416

15873 6.13 3290.8 825.0 7.3 565 15879 0.00 2.80 0.03 0.000 6 0.000 0.000 3259 2165 416

16191 6.13 3290.8 800.3 7.8 573 16199 0.00 3.85 0.00 0.000 4 0.000 0.000 3267 385 425

16489 6.13 3290.8 777.9 7.7 579 16496 0.00 3.42 0.00 0.000 6 0.000 0.000 3278 2068 420

16811 6.13 3290.8 755.6 6.8 587 16816 0.00 2.60 0.08 0.000 4 0.000 0.000 3269 523 419

17103 6.13 3290.8 736.4 6.3 593 17111 0.00 3.92 0.00 0.000 6 0.000 0.000 3257 2081 421

17427 6.13 3302.6 717.6 5.8 601 17432 0.00 2.50 0.03 0.000 4 0.000 0.000 3263 551 419

17720 6.15 3309.3 699.1 6.0 607 17725 0.00 2.80 0.00 0.000 6 0.000 0.000 3279 2104 424

18038 6.16 3309.3 678.2 6.5 615 18042 0.00 2.50 0.00 0.000 4 0.000 0.000 3268 556 425

18330 6.16 3309.3 657.3 7.1 621 18334 0.00 2.67 0.00 0.000 6 0.000 0.000 3265 2077 417

18648 6.16 3309.3 635.7 6.8 629 18654 0.00 2.90 0.03 0.001 4 0.000 0.000 3274 559 424

18941 6.16 3309.3 615.4 7.1 635 18948 0.00 3.45 0.00 0.000 6 0.000 0.000 3253 2189 422

19264 6.16 3309.3 592.9 7.2 643 19269 0.00 2.83 0.03 0.000 4 0.000 0.000 3262 545 421

19556 6.16 3309.3 572.1 7.4 649 19561 0.00 2.95 0.00 0.000 6 0.000 0.000 3273 2058 417

19874 6.16 3309.3 550.5 6.7 657 19879 0.00 2.80 0.00 0.000 4 0.000 0.000 3254 553 420

20166 6.16 3309.3 530.1 6.6 663 20171 0.00 2.83 0.00 0.000 6 0.000 0.000 3280 2183 418

20484 6.16 3309.3 509.5 6.4 671 20492 0.00 3.75 0.00 0.000 4 0.000 0.000 3258 413 419

20792 6.16 3317.9 489.7 5.9 680 20807 0.00 3.50 0.00 0.000 6 0.000 0.000 3273 2068 416

21123 6.18 3341.9 471.7 5.3 696 21127 0.00 2.62 0.00 0.000 4 0.000 0.000 3266 539 419

21428 6.22 3356.8 454.2 5.7 708 21433 0.00 2.90 0.08 0.000 6 0.000 0.000 3242 2109 416

21749 6.24 3356.8 433.8 6.7 723 21754 0.00 3.15 0.00 0.000 4 0.000 0.000 3260 562 421

22050 6.24 3356.8 412.8 6.5 735 22066 0.00 3.45 0.05 0.001 6 0.000 0.000 3246 2110 409

22380 6.24 3356.8 387.1 8.9 751 22385 0.00 2.80 0.03 0.001 4 0.000 0.000 3262 480 415

22678 6.24 3356.8 357.7 8.6 763 22693 0.00 3.55 0.00 0.000 6 0.000 0.000 3263 2141 417

23003 6.24 3356.8 326.6 9.1 779 23008 0.00 2.92 0.00 0.000 4 0.000 0.000 3253 475 423

23297 6.24 3356.8 300.0 7.3 791 23302 0.00 2.83 0.00 0.000 6 0.000 0.000 3283 2167 422

23618 6.24 3356.8 275.7 7.1 806 23623 0.00 2.70 0.03 0.001 4 0.000 0.000 3281 504 413

23919 6.24 3360.0 252.8 6.1 818 23934 0.00 4.05 0.00 0.000 6 0.000 0.000 3270 2192 420

24249 6.25 3360.0 228.9 7.6 834 24254 0.00 2.75 0.00 0.000 4 0.000 0.000 3258 503 419

24545 6.25 3360.0 205.6 7.8 846 24554 0.00 2.50 0.00 0.000 6 0.000 0.000 3269 2167 416

24881 6.25 3360.0 179.9 7.8 862 24886 0.00 3.00 0.00 0.000 4 0.000 0.000 3279 514 421

25182 6.25 3360.0 155.1 7.3 874 25187 0.00 3.12 0.00 0.000 6 0.000 0.000 3268 2174 418

25502 6.25 3360.0 132.8 6.5 889 25507 0.00 2.70 0.00 0.000 4 0.000 0.000 3274 476 422

25802 6.25 3360.0 110.5 7.0 901 25818 0.00 3.83 0.00 0.000 6 0.000 0.000 3277 2132 426

26191 6.25 3395.2 88.2 4.9 938 26203 0.00 2.58 0.00 0.000 4 0.000 0.000 3266 462 417

26576 6.31 3430.1 69.0 4.9 987 26588 0.00 2.58 0.00 0.000 6 0.000 0.000 3257 2110 416

27055 6.36 3430.1 41.9 6.4 1048 27067 0.00 2.65 0.00 0.000 4 0.000 0.000 3257 358 421

27442 6.36 3430.1 18.3 6.7 1097 27455 0.00 3.40 0.03 0.001 6 0.000 0.000 3282 2135 421

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	7	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	8	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	14	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	-442399.5	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	213046,4702.472,-12551.063,18,1.1,19,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.175,0.080
_SM_DEPTHo	0.34	KALMAN_X	10856.0,1368.6,1260.7,9136.4,-1980.2
_SM_ANGLEo	-50.0	KALMAN_Y	-2671.0,-512.7,-383.3,-670.3,655.0
GPS2	214026,4702.560,-12551.072,28,1.1,28,18.0	MHEAD_RNG_PITCHd_Wd	47.4,283190,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999496	ALTIM_TOP_PING	19.9,999.0
SM_CCo	27766,0.00,0.000,0,0,413,451.11	_24V_AH	23.7,61.129
SM_GC	0.34,12.70,0.00,0.00,0.000,0.000,0.000,640,1765,413,-7.31,-6.11,451.11	_10V_AH	9.6,23.235
RAFOS_CLK	0	DATA_FILE_SIZE	37846,1127
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,240742400
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,65,1749,1,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2124	CURRENT	0.052,282.3,1
INTERNAL_PRESSURE	26.1139	GPS	170607,052516,4701.693,-12547.731,13,1.1,13,18.0
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	37	119	104.35	SBE_CT	1939	24	1102.97
Roll_motor	260	60	371.11	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15746.99	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	134	223	712.85
Transponder_ping	0	420	2.49
GPS	28	50	13.88
TT8	6150	19	1176.18
LPSleep	14097	2	312.63
TT8_Active	895	19	171.17
TT8_Sampling	3084	39	1182.02
TT8_CF8	3961	45	1746.20
TT8_Kalman	33	81	26.22
Analog_circuits	2909	12	335.19
GPS_charging	0	0	0.00
Compass	3949	26	985.70
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	129	0.00	0.00	-76.78	0.000	6	0.000	0.000	634	2113	2739
135	-0.83	-116.8	4.2	-5.2	8	149	7.22	2.10	0.00	0.000	4	0.000	0.000	2128	3515	2731
499	-0.83	-116.8	46.4	-11.7	57	512	0.35	2.97	0.00	0.000	6	0.000	0.000	2026	1857	2727
950	-0.83	-116.8	96.9	-11.5	118	963	0.45	3.15	0.00	0.000	4	0.000	0.000	2129	3505	2726
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
989	-0.25	0.0	100.2	11.1	120	1086	0.73	0.00	94.43	0.000	6	0.000	0.000	2258	1802	2260
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1098	0.83	116.8	110.4	0.0	125	1199	0.98	2.10	94.47	0.000	4	0.000	0.000	2488	414	1790
1503	0.83	116.8	147.6	-6.9	141	1520	0.40	3.62	0.15	0.000	6	0.000	0.000	2397	2193	1785
1829	0.83	116.8	170.7	-7.5	157	1837	0.32	3.10	0.00	0.000	4	0.000	0.000	2492	369	1780
2133	0.83	116.8	196.3	-7.6	169	2149	0.40	3.35	0.00	0.000	6	0.000	0.000	2398	2152	1772
2459	0.83	116.8	222.5	-7.9	185	2467	0.45	3.55	0.00	0.000	4	0.000	0.000	2491	365	1782
2762	0.83	116.8	248.3	-7.7	197	2767	0.40	2.80	0.00	0.000	6	0.000	0.000	2443	2162	1785
3083	0.83	116.8	273.2	-7.5	212	3088	0.43	2.72	0.00	0.000	4	0.000	0.000	2496	569	1783
3385	0.83	116.8	297.5	-8.1	224	3401	0.38	3.35	0.00	0.000	6	0.000	0.000	2386	2126	1785
3711	0.83	116.8	323.6	-7.6	240	3718	0.50	3.03	0.00	0.000	4	0.000	0.000	2491	459	1785
4013	0.83	116.8	346.7	-7.6	252	4018	0.32	2.65	0.00	0.000	6	0.000	0.000	2425	2099	1785
4334	0.83	116.8	372.7	-8.4	267	4339	0.45	2.70	0.00	0.000	4	0.000	0.000	2468	540	1788
4637	0.83	116.8	396.4	-7.3	279	4653	0.17	3.75	0.00	0.000	6	0.000	0.000	2451	2077	1789
4963	0.83	116.8	418.3	-6.6	295	4968	0.00	2.85	0.00	0.000	4	0.000	0.000	2433	573	1788
5262	0.83	441.8	437.7	-6.1	307	5587	0.00	2.85	311.73	0.000	6	0.000	0.000	2449	2109	456
5909	1.37	441.8	480.3	-6.9	334	5918	0.88	3.53	0.15	0.000	4	0.000	0.000	2632	456	462
6216	1.37	441.8	501.7	-7.1	346	6222	0.38	2.60	0.00	0.000	6	0.000	0.000	2575	2095	457
6535	1.37	441.8	524.0	-7.0	354	6541	0.47	2.50	0.05	0.001	4	0.000	0.000	2590	538	468
6829	1.37	771.2	543.7	-6.2	360	6844	0.52	3.22	7.85	0.000	6	0.000	0.000	2537	2074	427
7192	1.92	1093.2	565.7	-5.9	369	7201	0.98	3.42	0.10	0.001	4	0.000	0.000	2700	401	425
7490	2.46	1093.2	585.6	-6.5	375	7498	0.55	2.83	0.05	0.000	6	0.000	0.000	2855	2220	421
7813	2.46	1093.2	607.4	-6.9	383	7821	0.38	4.12	0.00	0.000	4	0.000	0.000	2760	426	420
8111	2.46	1093.2	629.5	-7.4	389	8120	0.38	2.80	0.22	0.000	6	0.000	0.000	2862	2083	421
8435	2.46	1093.2	652.1	-7.0	397	8442	0.40	2.50	0.45	0.001	4	0.000	0.000	2761	540	426
8736	2.46	1093.2	673.0	-7.3	403	8744	0.35	3.25	0.05	0.000	6	0.000	0.000	2855	2077	425
9064	2.46	1093.2	694.4	-6.6	411	9072	0.52	2.80	0.32	0.001	4	0.000	0.000	2754	422	420
9370	2.46	1422.1	715.3	-6.2	417	9379	0.35	3.12	0.05	0.000	6	0.000	0.000	2854	2165	422
9699	3.01	1751.3	736.3	-6.2	425	9708	0.45	2.70	0.47	0.001	4	0.000	0.000	2950	341	415
10007	3.56	1751.3	755.7	-6.4	431	10016	0.60	3.75	0.00	0.000	6	0.000	0.000	3093	2136	413
10336	3.56	1751.3	776.0	-6.5	439	10345	0.47	3.72	0.00	0.000	4	0.000	0.000	2986	349	422
10634	3.56	2071.5	794.3	-5.9	445	10641	0.38	2.70	0.05	0.000	6	0.000	0.000	3030	2161	422
10961	4.09	2389.4	812.6	-5.8	453	10963	0.32	0.00	0.03	0.000	6	0.000	0.000	3167	2167	423
11285	4.63	2389.4	833.7	-6.6	461	11294	0.68	2.92	0.05	0.001	4	0.000	0.000	3325	384	423
11584	4.63	2389.4	855.5	-7.7	467	11592	0.38	3.10	0.00	0.000	6	0.000	0.000	3230	2182	427
11908	4.63	2389.4	879.1	-7.4	475	11916	0.38	3.08	0.00	0.000	4	0.000	0.000	3317	450	422
12206	4.63	2389.4	901.7	-6.9	481	12212	0.38	2.70	0.00	0.000	6	0.000	0.000	3277	2108	431
12525	4.63	2389.4	922.5	-6.3	489	12531	0.17	2.55	0.03	0.002	4	0.000	0.000	3266	552	416
12819	4.63	2389.4	940.6	-6.3	495	12826	0.00	3.55	0.00	0.000	6	0.000	0.000	3264	2059	424
13141	4.63	2705.7	958.7	-5.7	503	13146	0.00	3.05	0.03	0.000	4	0.000	0.000	3280	512	420
13430	5.15	3000.1	974.4	-4.9	509	13435	0.00	3.05	0.00	0.000	6	0.000	0.000	3262	2029	427
13748	5.65	3290.8	989.8	-4.8	517	13753	0.00	2.70	0.00	0.000	4	0.000	0.000	3273	561	426
14039	6.13	3290.8	986.9	7.2	523	14044	0.00	3.05	0.00	0.000	6	0.000	0.000	3262	2108	425
14357	6.13	3290.8	959.0	9.1	531	14361	0.00	2.60	0.00	0.000	4	0.000	0.000	3263	569	415
14648	6.13	3290.8	931.8	9.0	537	14653	0.00	2.53	0.00	0.000	6	0.000	0.000	3261	2144	426
14966	6.13	3290.8	902.7	9.3	545	14971	0.00	3.03	0.00	0.000	4	0.000	0.000	3265	498	418
15258	6.13	3290.8	875.4	8.8	551	15263	0.00	2.90	0.00	0.000	6	0.000	0.000	3257	2015	416
15576	6.13	3290.8	848.9	8.2	559	15584	0.00	4.45	0.00	0.000	4	0.000	0.000	3259	370	416
15873	6.13	3290.8	825.0	7.3	565	15879	0.00	2.80	0.03	0.000	6	0.000	0.000	3259	2165	416
16191	6.13	3290.8	800.3	7.8	573	16199	0.00	3.85	0.00	0.000	4	0.000	0.000	3267	385	425
16489	6.13	3290.8	777.9	7.7	579	16496	0.00	3.42	0.00	0.000	6	0.000	0.000	3278	2068	420
16811	6.13	3290.8	755.6	6.8	587	16816	0.00	2.60	0.08	0.000	4	0.000	0.000	3269	523	419
17103	6.13	3290.8	736.4	6.3	593	17111	0.00	3.92	0.00	0.000	6	0.000	0.000	3257	2081	421
17427	6.13	3302.6	717.6	5.8	601	17432	0.00	2.50	0.03	0.000	4	0.000	0.000	3263	551	419
17720	6.15	3309.3	699.1	6.0	607	17725	0.00	2.80	0.00	0.000	6	0.000	0.000	3279	2104	424
18038	6.16	3309.3	678.2	6.5	615	18042	0.00	2.50	0.00	0.000	4	0.000	0.000	3268	556	425
18330	6.16	3309.3	657.3	7.1	621	18334	0.00	2.67	0.00	0.000	6	0.000	0.000	3265	2077	417
18648	6.16	3309.3	635.7	6.8	629	18654	0.00	2.90	0.03	0.001	4	0.000	0.000	3274	559	424
18941	6.16	3309.3	615.4	7.1	635	18948	0.00	3.45	0.00	0.000	6	0.000	0.000	3253	2189	422
19264	6.16	3309.3	592.9	7.2	643	19269	0.00	2.83	0.03	0.000	4	0.000	0.000	3262	545	421
19556	6.16	3309.3	572.1	7.4	649	19561	0.00	2.95	0.00	0.000	6	0.000	0.000	3273	2058	417
19874	6.16	3309.3	550.5	6.7	657	19879	0.00	2.80	0.00	0.000	4	0.000	0.000	3254	553	420
20166	6.16	3309.3	530.1	6.6	663	20171	0.00	2.83	0.00	0.000	6	0.000	0.000	3280	2183	418
20484	6.16	3309.3	509.5	6.4	671	20492	0.00	3.75	0.00	0.000	4	0.000	0.000	3258	413	419
20792	6.16	3317.9	489.7	5.9	680	20807	0.00	3.50	0.00	0.000	6	0.000	0.000	3273	2068	416
21123	6.18	3341.9	471.7	5.3	696	21127	0.00	2.62	0.00	0.000	4	0.000	0.000	3266	539	419
21428	6.22	3356.8	454.2	5.7	708	21433	0.00	2.90	0.08	0.000	6	0.000	0.000	3242	2109	416
21749	6.24	3356.8	433.8	6.7	723	21754	0.00	3.15	0.00	0.000	4	0.000	0.000	3260	562	421
22050	6.24	3356.8	412.8	6.5	735	22066	0.00	3.45	0.05	0.001	6	0.000	0.000	3246	2110	409
22380	6.24	3356.8	387.1	8.9	751	22385	0.00	2.80	0.03	0.001	4	0.000	0.000	3262	480	415
22678	6.24	3356.8	357.7	8.6	763	22693	0.00	3.55	0.00	0.000	6	0.000	0.000	3263	2141	417
23003	6.24	3356.8	326.6	9.1	779	23008	0.00	2.92	0.00	0.000	4	0.000	0.000	3253	475	423
23297	6.24	3356.8	300.0	7.3	791	23302	0.00	2.83	0.00	0.000	6	0.000	0.000	3283	2167	422
23618	6.24	3356.8	275.7	7.1	806	23623	0.00	2.70	0.03	0.001	4	0.000	0.000	3281	504	413
23919	6.24	3360.0	252.8	6.1	818	23934	0.00	4.05	0.00	0.000	6	0.000	0.000	3270	2192	420
24249	6.25	3360.0	228.9	7.6	834	24254	0.00	2.75	0.00	0.000	4	0.000	0.000	3258	503	419
24545	6.25	3360.0	205.6	7.8	846	24554	0.00	2.50	0.00	0.000	6	0.000	0.000	3269	2167	416
24881	6.25	3360.0	179.9	7.8	862	24886	0.00	3.00	0.00	0.000	4	0.000	0.000	3279	514	421
25182	6.25	3360.0	155.1	7.3	874	25187	0.00	3.12	0.00	0.000	6	0.000	0.000	3268	2174	418
25502	6.25	3360.0	132.8	6.5	889	25507	0.00	2.70	0.00	0.000	4	0.000	0.000	3274	476	422
25802	6.25	3360.0	110.5	7.0	901	25818	0.00	3.83	0.00	0.000	6	0.000	0.000	3277	2132	426
26191	6.25	3395.2	88.2	4.9	938	26203	0.00	2.58	0.00	0.000	4	0.000	0.000	3266	462	417
26576	6.31	3430.1	69.0	4.9	987	26588	0.00	2.58	0.00	0.000	6	0.000	0.000	3257	2110	416
27055	6.36	3430.1	41.9	6.4	1048	27067	0.00	2.65	0.00	0.000	4	0.000	0.000	3257	358	421
27442	6.36	3430.1	18.3	6.7	1097	27455	0.00	3.40	0.03	0.001	6	0.000	0.000	3282	2135	421
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface