Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 8 * 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 8 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 -442409.62 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 -442409.62

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 8 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 052516,4701.693,-12547.731,13,1.1,13,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.175,0.082

_SM_DEPTHo 0.34 KALMAN_X 12881.1,1363.6,1249.7,11323.4,-1896.3

_SM_ANGLEo -50.0 KALMAN_Y -3522.3,-532.4,-576.7,-1139.0,928.1

GPS2 053431,4701.723,-12547.748,9,1.1,9,18.0 MHEAD_RNG_PITCHd_Wd 46.8,280157,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999509 ALTIM_TOP_PING 19.8,999.0

SM_CCo 28345,0.00,0.000,0,0,416,451.11 _24V_AH 23.7,62.142

SM_GC 0.34,13.45,0.00,0.00,0.000,0.000,0.000,671,1813,416,-7.31,-4.81,451.11 _10V_AH 9.6,23.421

RAFOS_CLK 0 DATA_FILE_SIZE 37857,1137

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,240414720

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,65,1844,5,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2171 CURRENT 0.027,290.1,1

INTERNAL_PRESSURE 26.1237 GPS 170607,132909,4701.534,-12543.867,15,1.1,15,18.0

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 94.90 SBE_CT 1829 24 1040.63

Roll_motor 272 60 387.42 nil 0 0 0.00

VBD_pump_during_apogee 513 1300 15817.85 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 132 223 702.35

Transponder_ping 0 420 2.49

GPS 9 50 4.56

TT8 6103 19 1167.22

LPSleep 14728 2 326.63

TT8_Active 936 19 179.17

TT8_Sampling 3017 39 1156.48

TT8_CF8 3964 45 1747.73

TT8_Kalman 33 81 26.22

Analog_circuits 2942 12 338.94

GPS_charging 0 0 0.00

Compass 3798 26 948.08

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 -76.95 0.000 6 0.000 0.000 639 1731 2745

135 -0.83 -116.8 4.4 -5.3 8 150 7.88 3.33 0.00 0.000 4 0.000 0.000 2158 3547 2735

499 -0.83 -116.8 47.1 -11.3 57 511 0.52 2.47 0.00 0.000 6 0.000 0.000 2010 2012 2739

948 -0.83 -116.8 99.1 -11.4 118 960 0.30 2.67 0.00 0.000 4 0.000 0.000 2070 3543 2743

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

983 -0.25 0.0 102.1 10.6 119 1086 0.82 0.00 95.07 0.000 6 0.000 0.000 2246 1789 2267

state end apogee CONTROL_FINISHED_OK

state start climb

1092 0.83 116.8 113.2 0.0 124 1211 1.00 2.75 95.82 0.000 4 0.000 0.000 2510 367 1784

1520 0.83 116.8 151.2 -8.4 140 1528 0.38 3.65 0.00 0.000 6 0.000 0.000 2411 2157 1783

1862 0.83 116.8 179.2 -8.2 156 1870 0.32 4.75 0.00 0.000 4 0.000 0.000 2498 450 1787

2166 0.83 116.8 205.8 -7.6 168 2182 0.38 3.90 0.00 0.000 6 0.000 0.000 2402 2108 1788

2491 0.83 116.8 232.1 -8.1 184 2497 0.32 2.90 0.00 0.000 4 0.000 0.000 2479 559 1783

2795 0.83 116.8 256.7 -8.2 196 2812 0.38 3.28 0.00 0.000 6 0.000 0.000 2399 1988 1781

3121 0.83 116.8 283.5 -8.4 212 3129 0.30 3.15 0.00 0.000 4 0.000 0.000 2481 436 1783

3425 0.83 116.8 308.1 -7.7 224 3431 0.32 2.65 0.00 0.000 6 0.000 0.000 2434 2083 1782

3746 0.83 116.8 333.0 -7.6 239 3755 0.35 3.53 0.00 0.000 4 0.000 0.000 2509 428 1787

4050 0.83 116.8 356.4 -6.8 251 4066 0.38 3.30 0.00 0.000 6 0.000 0.000 2384 2106 1775

4375 0.83 116.8 381.3 -7.8 267 4384 0.47 4.03 0.00 0.000 4 0.000 0.000 2515 335 1779

4680 0.83 116.8 404.6 -7.9 279 4686 0.38 2.80 0.00 0.000 6 0.000 0.000 2424 2135 1782

5001 0.83 116.8 426.3 -6.5 294 5010 0.40 4.10 0.00 0.000 4 0.000 0.000 2490 404 1787

5307 0.83 417.7 445.9 -5.1 306 5635 0.32 2.65 289.27 0.000 6 0.000 0.000 2409 2083 560

5973 1.33 417.7 486.7 -6.9 333 5978 0.82 2.53 0.00 0.000 4 0.000 0.000 2539 547 553

6268 1.33 417.7 507.7 -7.2 343 6274 0.03 2.83 0.00 0.000 6 0.000 0.000 2534 2198 563

6587 1.33 417.7 528.8 -6.6 351 6591 0.00 2.70 0.00 0.000 4 0.000 0.000 2539 534 560

6878 1.33 417.7 548.0 -7.4 357 6883 0.00 2.80 0.00 0.000 6 0.000 0.000 2520 1951 557

7196 1.33 741.1 567.7 -6.0 365 7249 0.03 3.10 30.42 0.000 4 0.000 0.000 2541 396 431

7543 1.87 1054.4 587.6 -5.6 372 7552 0.82 3.00 0.73 0.000 6 0.000 0.000 2712 2173 425

7883 2.40 1054.4 608.8 -6.6 380 7892 0.32 3.62 0.50 0.001 4 0.000 0.000 2762 368 434

8182 2.40 1054.4 629.6 -7.1 386 8188 0.03 2.80 0.05 0.000 6 0.000 0.000 2774 2146 421

8501 2.40 1054.4 651.3 -6.9 394 8509 0.00 3.25 0.20 0.001 4 0.000 0.000 2755 416 425

8605 2.40 1054.4 658.4 -6.4 396 8613 0.00 3.30 0.40 0.000 6 0.000 0.000 2776 2204 425

8938 2.40 1054.4 680.6 -7.0 404 8940 0.03 0.00 0.03 0.000 6 0.000 0.000 2764 2198 428

9265 2.40 1054.4 703.4 -6.9 412 9274 0.03 3.85 0.25 0.001 4 0.000 0.000 2769 397 422

9574 2.40 1054.4 726.1 -7.6 418 9579 0.00 3.00 0.08 0.000 6 0.000 0.000 2772 2117 423

9902 2.40 1054.4 749.4 -7.4 426 9908 0.03 3.25 0.00 0.000 4 0.000 0.000 2764 578 419

10201 2.40 1054.4 770.4 -6.5 432 10206 0.00 2.70 0.08 0.000 6 0.000 0.000 2770 2137 424

10530 2.40 1054.4 790.2 -6.3 440 10535 0.00 2.53 0.00 0.000 4 0.000 0.000 2771 573 417

10833 2.40 1360.7 808.6 -5.4 446 10839 0.10 2.53 0.03 0.001 6 0.000 0.000 2764 2140 416

11160 2.91 1679.9 826.9 -5.8 454 11168 0.65 2.92 0.03 0.002 4 0.000 0.000 2934 366 422

11459 3.44 1994.1 845.6 -5.7 460 11468 0.40 3.55 0.00 0.000 6 0.000 0.000 3062 2130 426

11784 3.97 2323.5 865.7 -6.2 468 11787 0.62 0.00 0.05 0.000 6 0.000 0.000 3177 2109 415

12114 4.52 2323.5 887.0 -6.3 476 12122 0.38 3.33 0.00 0.000 4 0.000 0.000 3291 453 426

12413 4.52 2323.5 906.9 -6.3 482 12421 0.38 2.90 0.00 0.000 6 0.000 0.000 3184 2087 419

12736 4.52 2643.8 926.3 -5.9 490 12741 0.32 2.70 0.00 0.000 4 0.000 0.000 3299 527 417

13027 5.05 2945.5 942.5 -5.2 496 13035 0.00 3.55 0.03 0.001 6 0.000 0.000 3283 2045 418

13350 5.55 3239.6 958.5 -4.9 504 13355 0.00 2.60 0.00 0.000 4 0.000 0.000 3312 476 426

13641 6.05 3513.6 972.6 -4.1 510 13646 0.00 3.10 0.08 0.000 6 0.000 0.000 3288 2130 419

13959 6.50 3791.5 986.4 -4.3 518 13964 0.00 2.90 0.00 0.000 4 0.000 0.000 3290 616 419

14254 6.97 3840.1 991.3 4.4 524 14261 0.00 3.25 0.03 0.001 6 0.000 0.000 3289 2142 419

14582 7.05 3840.1 963.8 9.2 532 14587 0.00 3.00 0.00 0.000 4 0.000 0.000 3287 469 426

14874 7.05 3840.1 936.7 9.0 538 14882 0.00 3.72 0.00 0.000 6 0.000 0.000 3287 2141 418

15197 7.05 3840.1 910.1 8.2 546 15204 0.00 3.25 0.00 0.000 4 0.000 0.000 3296 446 417

15493 7.05 3840.1 885.8 7.5 552 15499 0.00 3.10 0.00 0.000 6 0.000 0.000 3284 2123 425

15811 7.05 3840.1 861.7 7.7 560 15817 0.00 2.80 0.03 0.001 4 0.000 0.000 3275 476 415

16105 7.05 3840.1 840.2 7.5 566 16110 0.00 2.83 0.00 0.000 6 0.000 0.000 3282 2142 423

16423 7.05 3840.1 818.4 6.8 574 16428 0.00 2.70 0.00 0.000 4 0.000 0.000 3265 468 418

16715 7.05 3840.1 798.4 6.3 580 16720 0.00 2.90 0.00 0.000 6 0.000 0.000 3290 1999 419

17033 7.05 3840.1 776.2 7.2 588 17041 0.00 3.45 0.00 0.000 4 0.000 0.000 3290 357 427

17331 7.05 3840.1 754.0 7.8 594 17336 0.00 3.10 0.00 0.000 6 0.000 0.000 3287 2151 420

17649 7.05 3840.1 730.2 7.5 602 17657 0.00 3.75 0.03 0.000 4 0.000 0.000 3283 359 417

17946 7.05 3840.1 708.0 7.1 608 17954 0.00 3.85 0.00 0.000 6 0.000 0.000 3298 2158 417

18269 7.05 3840.1 685.9 6.9 616 18277 0.00 4.05 0.00 0.000 4 0.000 0.000 3281 576 420

18567 7.05 3844.6 666.1 6.1 622 18572 0.00 2.62 0.00 0.000 6 0.000 0.000 3288 2082 422

18885 7.06 3844.6 646.1 6.3 630 18889 0.00 2.60 0.00 0.000 4 0.000 0.000 3277 515 420

19177 7.06 3844.6 627.0 6.3 636 19185 0.00 3.92 0.00 0.000 6 0.000 0.000 3260 2168 421

19501 7.06 3844.6 606.7 6.3 644 19505 0.00 2.70 0.00 0.000 4 0.000 0.000 3280 497 414

19793 7.06 3844.6 586.4 6.9 650 19798 0.00 2.80 0.00 0.000 6 0.000 0.000 3274 2025 414

20111 7.06 3844.6 562.3 7.9 658 20116 0.00 3.10 0.00 0.000 4 0.000 0.000 3281 474 414

20403 7.06 3844.6 539.2 7.3 664 20411 0.00 3.85 0.00 0.000 6 0.000 0.000 3287 2103 422

20726 7.06 3844.6 515.2 7.6 672 20731 0.00 2.50 0.03 0.000 4 0.000 0.000 3281 571 419

21015 7.06 3844.6 494.4 6.6 679 21020 0.00 2.80 0.03 0.001 6 0.000 0.000 3291 1992 418

21336 7.06 3847.6 474.2 6.1 694 21340 0.00 2.50 0.00 0.000 4 0.000 0.000 3269 512 421

21637 7.06 3847.6 455.1 7.0 706 21652 0.00 3.55 0.00 0.000 6 0.000 0.000 3281 2200 418

21962 7.06 3847.6 434.3 6.5 722 21968 0.00 3.12 0.03 0.000 4 0.000 0.000 3293 570 416

22261 7.06 3858.8 415.4 5.8 734 22277 0.00 3.55 0.00 0.000 6 0.000 0.000 3263 2115 419

22586 7.08 3864.2 397.1 6.0 750 22594 0.00 3.30 0.03 0.000 4 0.000 0.000 3282 376 414

22893 7.09 3864.2 376.3 7.2 762 22898 0.00 3.10 0.00 0.000 6 0.000 0.000 3287 2034 424

23213 7.09 3864.2 354.0 6.9 777 23221 0.00 3.35 0.03 0.001 4 0.000 0.000 3284 358 424

23518 7.09 3864.2 332.2 6.9 789 23533 0.00 3.30 0.00 0.000 6 0.000 0.000 3261 2177 411

23848 7.09 3864.2 308.4 7.9 805 23849 0.00 0.00 0.00 0.000 6 0.000 0.000 3281 2170 419

24152 7.09 3864.2 284.6 7.8 820 24160 0.00 3.65 0.00 0.000 4 0.000 0.000 3276 381 407

24466 7.09 3864.2 260.9 7.0 832 24482 0.00 3.72 0.00 0.000 6 0.000 0.000 3277 2156 415

24796 7.09 3864.2 236.5 7.6 848 24804 0.00 3.65 0.00 0.000 4 0.000 0.000 3286 382 412

25110 7.09 3864.2 211.7 7.7 860 25117 0.00 3.20 0.00 0.000 6 0.000 0.000 3288 2148 425

25443 7.09 3864.2 187.5 7.1 876 25444 0.00 0.00 0.00 0.000 6 0.000 0.000 3293 2161 423

25748 7.09 3864.2 164.2 7.1 891 25752 0.00 2.83 0.00 0.000 4 0.000 0.000 3272 483 420

25846 7.09 3864.2 156.6 6.8 895 25854 0.00 3.83 0.03 0.001 6 0.000 0.000 3285 2169 411

26183 7.09 3864.2 133.5 6.5 911 26185 0.00 0.00 0.03 0.000 6 0.000 0.000 3287 2167 424

26486 7.09 3864.2 113.5 6.6 926 26491 0.00 2.65 0.03 0.001 4 0.000 0.000 3296 3462 419

26545 7.09 3870.2 110.0 6.0 928 26562 0.00 4.15 0.00 0.000 6 0.000 0.000 3274 1872 415

26940 7.10 3907.3 87.6 4.8 965 26952 0.00 3.12 0.00 0.000 4 0.000 0.000 3296 3563 414

26991 7.16 3947.0 85.4 4.7 970 27001 0.00 3.35 0.00 0.000 6 0.000 0.000 3283 1790 414

27443 7.23 3947.0 56.8 6.5 1031 27455 0.00 2.62 0.03 0.001 4 0.000 0.000 3292 399 418

27821 7.23 3947.0 30.7 6.8 1080 27833 0.00 2.83 0.00 0.000 6 0.000 0.000 3283 2176 418

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	8	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	-442409.62	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	052516,4701.693,-12547.731,13,1.1,13,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.175,0.082
_SM_DEPTHo	0.34	KALMAN_X	12881.1,1363.6,1249.7,11323.4,-1896.3
_SM_ANGLEo	-50.0	KALMAN_Y	-3522.3,-532.4,-576.7,-1139.0,928.1
GPS2	053431,4701.723,-12547.748,9,1.1,9,18.0	MHEAD_RNG_PITCHd_Wd	46.8,280157,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999509	ALTIM_TOP_PING	19.8,999.0
SM_CCo	28345,0.00,0.000,0,0,416,451.11	_24V_AH	23.7,62.142
SM_GC	0.34,13.45,0.00,0.00,0.000,0.000,0.000,671,1813,416,-7.31,-4.81,451.11	_10V_AH	9.6,23.421
RAFOS_CLK	0	DATA_FILE_SIZE	37857,1137
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,240414720
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,65,1844,5,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2171	CURRENT	0.027,290.1,1
INTERNAL_PRESSURE	26.1237	GPS	170607,132909,4701.534,-12543.867,15,1.1,15,18.0
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	94.90	SBE_CT	1829	24	1040.63
Roll_motor	272	60	387.42	nil	0	0	0.00
VBD_pump_during_apogee	513	1300	15817.85	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	132	223	702.35
Transponder_ping	0	420	2.49
GPS	9	50	4.56
TT8	6103	19	1167.22
LPSleep	14728	2	326.63
TT8_Active	936	19	179.17
TT8_Sampling	3017	39	1156.48
TT8_CF8	3964	45	1747.73
TT8_Kalman	33	81	26.22
Analog_circuits	2942	12	338.94
GPS_charging	0	0	0.00
Compass	3798	26	948.08
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	-76.95	0.000	6	0.000	0.000	639	1731	2745
135	-0.83	-116.8	4.4	-5.3	8	150	7.88	3.33	0.00	0.000	4	0.000	0.000	2158	3547	2735
499	-0.83	-116.8	47.1	-11.3	57	511	0.52	2.47	0.00	0.000	6	0.000	0.000	2010	2012	2739
948	-0.83	-116.8	99.1	-11.4	118	960	0.30	2.67	0.00	0.000	4	0.000	0.000	2070	3543	2743
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
983	-0.25	0.0	102.1	10.6	119	1086	0.82	0.00	95.07	0.000	6	0.000	0.000	2246	1789	2267
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1092	0.83	116.8	113.2	0.0	124	1211	1.00	2.75	95.82	0.000	4	0.000	0.000	2510	367	1784
1520	0.83	116.8	151.2	-8.4	140	1528	0.38	3.65	0.00	0.000	6	0.000	0.000	2411	2157	1783
1862	0.83	116.8	179.2	-8.2	156	1870	0.32	4.75	0.00	0.000	4	0.000	0.000	2498	450	1787
2166	0.83	116.8	205.8	-7.6	168	2182	0.38	3.90	0.00	0.000	6	0.000	0.000	2402	2108	1788
2491	0.83	116.8	232.1	-8.1	184	2497	0.32	2.90	0.00	0.000	4	0.000	0.000	2479	559	1783
2795	0.83	116.8	256.7	-8.2	196	2812	0.38	3.28	0.00	0.000	6	0.000	0.000	2399	1988	1781
3121	0.83	116.8	283.5	-8.4	212	3129	0.30	3.15	0.00	0.000	4	0.000	0.000	2481	436	1783
3425	0.83	116.8	308.1	-7.7	224	3431	0.32	2.65	0.00	0.000	6	0.000	0.000	2434	2083	1782
3746	0.83	116.8	333.0	-7.6	239	3755	0.35	3.53	0.00	0.000	4	0.000	0.000	2509	428	1787
4050	0.83	116.8	356.4	-6.8	251	4066	0.38	3.30	0.00	0.000	6	0.000	0.000	2384	2106	1775
4375	0.83	116.8	381.3	-7.8	267	4384	0.47	4.03	0.00	0.000	4	0.000	0.000	2515	335	1779
4680	0.83	116.8	404.6	-7.9	279	4686	0.38	2.80	0.00	0.000	6	0.000	0.000	2424	2135	1782
5001	0.83	116.8	426.3	-6.5	294	5010	0.40	4.10	0.00	0.000	4	0.000	0.000	2490	404	1787
5307	0.83	417.7	445.9	-5.1	306	5635	0.32	2.65	289.27	0.000	6	0.000	0.000	2409	2083	560
5973	1.33	417.7	486.7	-6.9	333	5978	0.82	2.53	0.00	0.000	4	0.000	0.000	2539	547	553
6268	1.33	417.7	507.7	-7.2	343	6274	0.03	2.83	0.00	0.000	6	0.000	0.000	2534	2198	563
6587	1.33	417.7	528.8	-6.6	351	6591	0.00	2.70	0.00	0.000	4	0.000	0.000	2539	534	560
6878	1.33	417.7	548.0	-7.4	357	6883	0.00	2.80	0.00	0.000	6	0.000	0.000	2520	1951	557
7196	1.33	741.1	567.7	-6.0	365	7249	0.03	3.10	30.42	0.000	4	0.000	0.000	2541	396	431
7543	1.87	1054.4	587.6	-5.6	372	7552	0.82	3.00	0.73	0.000	6	0.000	0.000	2712	2173	425
7883	2.40	1054.4	608.8	-6.6	380	7892	0.32	3.62	0.50	0.001	4	0.000	0.000	2762	368	434
8182	2.40	1054.4	629.6	-7.1	386	8188	0.03	2.80	0.05	0.000	6	0.000	0.000	2774	2146	421
8501	2.40	1054.4	651.3	-6.9	394	8509	0.00	3.25	0.20	0.001	4	0.000	0.000	2755	416	425
8605	2.40	1054.4	658.4	-6.4	396	8613	0.00	3.30	0.40	0.000	6	0.000	0.000	2776	2204	425
8938	2.40	1054.4	680.6	-7.0	404	8940	0.03	0.00	0.03	0.000	6	0.000	0.000	2764	2198	428
9265	2.40	1054.4	703.4	-6.9	412	9274	0.03	3.85	0.25	0.001	4	0.000	0.000	2769	397	422
9574	2.40	1054.4	726.1	-7.6	418	9579	0.00	3.00	0.08	0.000	6	0.000	0.000	2772	2117	423
9902	2.40	1054.4	749.4	-7.4	426	9908	0.03	3.25	0.00	0.000	4	0.000	0.000	2764	578	419
10201	2.40	1054.4	770.4	-6.5	432	10206	0.00	2.70	0.08	0.000	6	0.000	0.000	2770	2137	424
10530	2.40	1054.4	790.2	-6.3	440	10535	0.00	2.53	0.00	0.000	4	0.000	0.000	2771	573	417
10833	2.40	1360.7	808.6	-5.4	446	10839	0.10	2.53	0.03	0.001	6	0.000	0.000	2764	2140	416
11160	2.91	1679.9	826.9	-5.8	454	11168	0.65	2.92	0.03	0.002	4	0.000	0.000	2934	366	422
11459	3.44	1994.1	845.6	-5.7	460	11468	0.40	3.55	0.00	0.000	6	0.000	0.000	3062	2130	426
11784	3.97	2323.5	865.7	-6.2	468	11787	0.62	0.00	0.05	0.000	6	0.000	0.000	3177	2109	415
12114	4.52	2323.5	887.0	-6.3	476	12122	0.38	3.33	0.00	0.000	4	0.000	0.000	3291	453	426
12413	4.52	2323.5	906.9	-6.3	482	12421	0.38	2.90	0.00	0.000	6	0.000	0.000	3184	2087	419
12736	4.52	2643.8	926.3	-5.9	490	12741	0.32	2.70	0.00	0.000	4	0.000	0.000	3299	527	417
13027	5.05	2945.5	942.5	-5.2	496	13035	0.00	3.55	0.03	0.001	6	0.000	0.000	3283	2045	418
13350	5.55	3239.6	958.5	-4.9	504	13355	0.00	2.60	0.00	0.000	4	0.000	0.000	3312	476	426
13641	6.05	3513.6	972.6	-4.1	510	13646	0.00	3.10	0.08	0.000	6	0.000	0.000	3288	2130	419
13959	6.50	3791.5	986.4	-4.3	518	13964	0.00	2.90	0.00	0.000	4	0.000	0.000	3290	616	419
14254	6.97	3840.1	991.3	4.4	524	14261	0.00	3.25	0.03	0.001	6	0.000	0.000	3289	2142	419
14582	7.05	3840.1	963.8	9.2	532	14587	0.00	3.00	0.00	0.000	4	0.000	0.000	3287	469	426
14874	7.05	3840.1	936.7	9.0	538	14882	0.00	3.72	0.00	0.000	6	0.000	0.000	3287	2141	418
15197	7.05	3840.1	910.1	8.2	546	15204	0.00	3.25	0.00	0.000	4	0.000	0.000	3296	446	417
15493	7.05	3840.1	885.8	7.5	552	15499	0.00	3.10	0.00	0.000	6	0.000	0.000	3284	2123	425
15811	7.05	3840.1	861.7	7.7	560	15817	0.00	2.80	0.03	0.001	4	0.000	0.000	3275	476	415
16105	7.05	3840.1	840.2	7.5	566	16110	0.00	2.83	0.00	0.000	6	0.000	0.000	3282	2142	423
16423	7.05	3840.1	818.4	6.8	574	16428	0.00	2.70	0.00	0.000	4	0.000	0.000	3265	468	418
16715	7.05	3840.1	798.4	6.3	580	16720	0.00	2.90	0.00	0.000	6	0.000	0.000	3290	1999	419
17033	7.05	3840.1	776.2	7.2	588	17041	0.00	3.45	0.00	0.000	4	0.000	0.000	3290	357	427
17331	7.05	3840.1	754.0	7.8	594	17336	0.00	3.10	0.00	0.000	6	0.000	0.000	3287	2151	420
17649	7.05	3840.1	730.2	7.5	602	17657	0.00	3.75	0.03	0.000	4	0.000	0.000	3283	359	417
17946	7.05	3840.1	708.0	7.1	608	17954	0.00	3.85	0.00	0.000	6	0.000	0.000	3298	2158	417
18269	7.05	3840.1	685.9	6.9	616	18277	0.00	4.05	0.00	0.000	4	0.000	0.000	3281	576	420
18567	7.05	3844.6	666.1	6.1	622	18572	0.00	2.62	0.00	0.000	6	0.000	0.000	3288	2082	422
18885	7.06	3844.6	646.1	6.3	630	18889	0.00	2.60	0.00	0.000	4	0.000	0.000	3277	515	420
19177	7.06	3844.6	627.0	6.3	636	19185	0.00	3.92	0.00	0.000	6	0.000	0.000	3260	2168	421
19501	7.06	3844.6	606.7	6.3	644	19505	0.00	2.70	0.00	0.000	4	0.000	0.000	3280	497	414
19793	7.06	3844.6	586.4	6.9	650	19798	0.00	2.80	0.00	0.000	6	0.000	0.000	3274	2025	414
20111	7.06	3844.6	562.3	7.9	658	20116	0.00	3.10	0.00	0.000	4	0.000	0.000	3281	474	414
20403	7.06	3844.6	539.2	7.3	664	20411	0.00	3.85	0.00	0.000	6	0.000	0.000	3287	2103	422
20726	7.06	3844.6	515.2	7.6	672	20731	0.00	2.50	0.03	0.000	4	0.000	0.000	3281	571	419
21015	7.06	3844.6	494.4	6.6	679	21020	0.00	2.80	0.03	0.001	6	0.000	0.000	3291	1992	418
21336	7.06	3847.6	474.2	6.1	694	21340	0.00	2.50	0.00	0.000	4	0.000	0.000	3269	512	421
21637	7.06	3847.6	455.1	7.0	706	21652	0.00	3.55	0.00	0.000	6	0.000	0.000	3281	2200	418
21962	7.06	3847.6	434.3	6.5	722	21968	0.00	3.12	0.03	0.000	4	0.000	0.000	3293	570	416
22261	7.06	3858.8	415.4	5.8	734	22277	0.00	3.55	0.00	0.000	6	0.000	0.000	3263	2115	419
22586	7.08	3864.2	397.1	6.0	750	22594	0.00	3.30	0.03	0.000	4	0.000	0.000	3282	376	414
22893	7.09	3864.2	376.3	7.2	762	22898	0.00	3.10	0.00	0.000	6	0.000	0.000	3287	2034	424
23213	7.09	3864.2	354.0	6.9	777	23221	0.00	3.35	0.03	0.001	4	0.000	0.000	3284	358	424
23518	7.09	3864.2	332.2	6.9	789	23533	0.00	3.30	0.00	0.000	6	0.000	0.000	3261	2177	411
23848	7.09	3864.2	308.4	7.9	805	23849	0.00	0.00	0.00	0.000	6	0.000	0.000	3281	2170	419
24152	7.09	3864.2	284.6	7.8	820	24160	0.00	3.65	0.00	0.000	4	0.000	0.000	3276	381	407
24466	7.09	3864.2	260.9	7.0	832	24482	0.00	3.72	0.00	0.000	6	0.000	0.000	3277	2156	415
24796	7.09	3864.2	236.5	7.6	848	24804	0.00	3.65	0.00	0.000	4	0.000	0.000	3286	382	412
25110	7.09	3864.2	211.7	7.7	860	25117	0.00	3.20	0.00	0.000	6	0.000	0.000	3288	2148	425
25443	7.09	3864.2	187.5	7.1	876	25444	0.00	0.00	0.00	0.000	6	0.000	0.000	3293	2161	423
25748	7.09	3864.2	164.2	7.1	891	25752	0.00	2.83	0.00	0.000	4	0.000	0.000	3272	483	420
25846	7.09	3864.2	156.6	6.8	895	25854	0.00	3.83	0.03	0.001	6	0.000	0.000	3285	2169	411
26183	7.09	3864.2	133.5	6.5	911	26185	0.00	0.00	0.03	0.000	6	0.000	0.000	3287	2167	424
26486	7.09	3864.2	113.5	6.6	926	26491	0.00	2.65	0.03	0.001	4	0.000	0.000	3296	3462	419
26545	7.09	3870.2	110.0	6.0	928	26562	0.00	4.15	0.00	0.000	6	0.000	0.000	3274	1872	415
26940	7.10	3907.3	87.6	4.8	965	26952	0.00	3.12	0.00	0.000	4	0.000	0.000	3296	3563	414
26991	7.16	3947.0	85.4	4.7	970	27001	0.00	3.35	0.00	0.000	6	0.000	0.000	3283	1790	414
27443	7.23	3947.0	56.8	6.5	1031	27455	0.00	2.62	0.03	0.001	4	0.000	0.000	3292	399	418
27821	7.23	3947.0	30.7	6.8	1080	27833	0.00	2.83	0.00	0.000	6	0.000	0.000	3283	2176	418
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface