Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 1 * 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 1 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 3 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 5 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 -442252.84 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 -442252.84

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 3 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 5 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 1 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 204511,4704.835,-12609.053,7,1.1,7,18.0 TGT_NAME EIGHT

_CALLS 2 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.178,0.073

_SM_DEPTHo 0.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 205048,4704.864,-12609.097,19,1.1,19,18.0 MHEAD_RNG_PITCHd_Wd 49.6,301796,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999503 ALTIM_TOP_PING 19.4,999.0

SM_CCo 29180,0.00,0.000,0,0,413,451.35 _24V_AH 23.6,55.536

SM_GC 0.34,13.25,0.00,0.00,0.000,0.000,0.000,618,1870,413,-7.30,-2.60,451.35 _10V_AH 9.6,22.092

RAFOS_CLK 0 DATA_FILE_SIZE 37810,1130

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,242778112

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,58,1831,4,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2117 CURRENT 0.089,283.5,1

INTERNAL_PRESSURE 26.0748 GPS 150607,045942,4704.531,-12606.449,32,1.1,32,18.0

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 35 119 99.14 SBE_CT 2034 24 1152.20

Roll_motor 273 60 387.35 nil 0 0 0.00

VBD_pump_during_apogee 513 1300 15759.55 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 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 84 223 442.16

Transponder_ping 0 420 2.48

GPS 19 50 9.56

TT8 6193 19 1184.32

LPSleep 15333 2 340.03

TT8_Active 881 19 168.57

TT8_Sampling 3194 39 1224.15

TT8_CF8 3940 45 1736.91

TT8_Kalman 29 81 22.99

Analog_circuits 2981 12 343.46

GPS_charging 0 0 0.00

Compass 4115 26 1027.15

RAFOS 3600 1 51.84

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

38 -0.83 -116.8 0.0 0.0 0 112 0.00 0.00 -67.05 0.000 6 0.000 0.000 622 2170 2744

119 -0.83 -116.8 3.1 -4.8 7 132 7.07 2.70 0.00 0.000 4 0.000 0.000 2133 372 2743

246 -0.83 -116.8 19.3 -12.4 23 258 0.75 2.95 0.00 0.000 6 0.000 0.000 2040 2056 2737

692 -0.83 -116.8 72.6 -12.4 84 704 0.32 2.90 0.00 0.000 4 0.000 0.000 2115 3602 2740

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

940 -0.25 0.0 100.1 10.5 116 1038 0.73 0.00 95.40 0.000 6 0.000 0.000 2277 1836 2271

state end apogee CONTROL_FINISHED_OK

state start climb

1049 0.83 116.8 110.0 0.0 121 1167 0.98 2.85 95.43 0.000 4 0.000 0.000 2487 442 1784

1471 0.83 116.8 149.2 -9.2 137 1479 0.40 2.90 0.12 0.000 6 0.000 0.000 2401 2162 1787

1812 0.83 116.8 177.2 -7.6 153 1814 0.32 0.00 0.00 0.000 6 0.000 0.000 2453 2158 1788

2122 0.83 116.8 198.5 -6.5 168 2130 0.43 3.55 0.00 0.000 4 0.000 0.000 2394 370 1785

2433 0.83 116.8 219.7 -7.0 180 2439 0.40 2.70 0.00 0.000 6 0.000 0.000 2432 2211 1788

2754 0.83 116.8 241.4 -7.0 195 2762 0.45 3.10 0.00 0.000 4 0.000 0.000 2400 406 1788

3056 0.83 116.8 261.4 -7.2 207 3062 0.38 2.80 0.00 0.000 6 0.000 0.000 2445 2164 1786

3377 0.83 116.8 282.5 -6.7 222 3383 0.43 2.90 0.00 0.000 4 0.000 0.000 2420 502 1784

3679 0.83 116.8 304.4 -7.2 234 3695 0.35 3.22 0.00 0.000 6 0.000 0.000 2495 2173 1784

4004 0.83 116.8 328.2 -7.0 250 4010 0.38 2.70 0.03 0.001 4 0.000 0.000 2403 567 1779

4315 0.83 116.8 349.9 -6.9 262 4321 0.38 2.60 0.00 0.000 6 0.000 0.000 2434 2105 1782

4636 0.83 116.8 372.3 -7.1 277 4645 0.40 3.72 0.00 0.000 4 0.000 0.000 2388 432 1784

4939 0.83 116.8 394.6 -7.0 289 4944 0.35 2.53 0.00 0.000 6 0.000 0.000 2438 2102 1787

5260 0.83 116.8 417.7 -7.2 304 5265 0.43 2.80 0.00 0.000 4 0.000 0.000 2398 455 1775

5566 0.83 116.8 442.3 -8.3 316 5582 0.40 2.83 0.00 0.000 6 0.000 0.000 2468 2146 1782

5891 0.83 116.8 467.6 -7.6 332 5899 0.40 3.75 0.00 0.000 4 0.000 0.000 2394 481 1787

6193 0.83 116.8 489.8 -6.5 344 6199 0.35 2.53 0.00 0.000 6 0.000 0.000 2432 2100 1789

6516 0.83 116.8 512.7 -7.1 355 6518 0.40 0.00 0.00 0.000 6 0.000 0.000 2431 2098 1778

6843 0.83 116.8 534.7 -6.5 363 6849 0.50 2.70 0.00 0.000 4 0.000 0.000 2474 466 1784

7138 0.83 445.1 554.4 -6.2 369 7492 0.38 3.35 315.33 0.001 6 0.000 0.000 2393 2129 445

7808 1.38 741.5 589.0 -5.0 384 7823 1.17 3.55 5.18 0.000 4 0.000 0.000 2610 503 427

8108 1.87 1042.7 603.9 -5.2 390 8114 0.35 2.53 0.10 0.000 6 0.000 0.000 2716 2113 425

8463 2.38 1363.5 624.2 -5.9 399 8469 0.47 2.80 0.08 0.001 4 0.000 0.000 2798 477 432

8758 2.91 1363.5 643.3 -6.5 405 8766 0.57 2.72 0.10 0.000 6 0.000 0.000 2948 2189 420

9082 2.91 1363.5 663.5 -6.4 413 9088 0.38 2.80 0.15 0.000 4 0.000 0.000 2861 532 430

9377 2.91 1673.7 681.3 -5.5 419 9383 0.38 2.80 0.05 0.000 6 0.000 0.000 2878 2174 428

9697 3.43 1994.3 700.2 -5.9 427 9706 0.43 3.92 0.10 0.001 4 0.000 0.000 3051 371 429

9996 3.97 2305.7 718.0 -5.5 433 10005 0.57 3.88 0.17 0.002 6 0.000 0.000 3177 2025 418

10324 4.49 2616.2 736.0 -5.5 441 10330 0.38 2.50 0.08 0.001 4 0.000 0.000 3277 463 422

10619 5.00 2616.2 753.7 -6.9 447 10624 0.00 2.83 0.00 0.000 6 0.000 0.000 3264 2101 428

10937 5.00 2940.7 773.1 -6.0 455 10943 0.00 2.65 0.12 0.001 4 0.000 0.000 3279 583 427

11231 5.55 2940.7 792.4 -6.6 461 11236 0.00 2.72 0.12 0.000 6 0.000 0.000 3264 2132 422

11553 5.55 2940.7 813.4 -6.9 469 11558 0.00 2.70 0.03 0.001 4 0.000 0.000 3272 464 423

11853 5.55 2940.7 835.1 -6.8 475 11859 0.00 3.10 0.03 0.001 6 0.000 0.000 3287 1997 419

12183 5.55 2940.7 856.7 -6.8 483 12191 0.00 3.45 0.10 0.000 4 0.000 0.000 3262 454 425

12475 5.55 3250.3 876.3 -5.5 489 12482 0.00 3.35 0.03 0.000 6 0.000 0.000 3289 2131 419

12804 6.06 3564.7 894.8 -5.7 497 12813 0.00 4.05 0.03 0.000 4 0.000 0.000 3287 348 424

13095 6.59 3871.2 910.9 -5.4 503 13100 0.00 3.10 0.00 0.000 6 0.000 0.000 3277 2125 422

13413 7.10 4178.8 928.1 -5.4 511 13417 0.00 2.70 0.00 0.000 4 0.000 0.000 3263 547 423

13640 7.61 4483.5 941.3 -5.3 515 13651 0.00 2.60 0.03 0.000 6 0.000 0.000 3270 2096 424

13977 8.12 4811.3 961.3 -6.2 524 13981 0.00 2.53 0.00 0.000 4 0.000 0.000 3285 577 420

14267 8.67 4811.3 979.6 -7.0 530 14272 0.00 2.50 0.00 0.000 6 0.000 0.000 3277 2106 424

14585 8.67 5087.3 996.6 -4.2 538 14590 0.00 2.83 0.08 0.000 4 0.000 0.000 3256 533 428

14878 9.13 5087.3 982.2 6.6 544 14883 0.00 2.70 0.00 0.000 6 0.000 0.000 3282 2067 417

15196 9.13 5087.3 960.0 7.1 552 15201 0.00 2.83 0.00 0.000 4 0.000 0.000 3266 447 424

15487 9.13 5087.3 939.7 7.0 558 15495 0.00 3.33 0.03 0.001 6 0.000 0.000 3257 2100 421

15811 9.13 5087.3 917.0 7.2 566 15816 0.00 2.60 0.03 0.000 4 0.000 0.000 3277 541 423

16103 9.13 5087.3 895.4 7.1 572 16108 0.00 3.25 0.00 0.000 6 0.000 0.000 3275 2070 419

16421 9.13 5087.3 872.2 7.4 580 16427 0.00 3.10 0.05 0.001 4 0.000 0.000 3272 473 423

16714 9.13 5087.3 850.4 7.6 586 16719 0.00 2.70 0.03 0.002 6 0.000 0.000 3280 2142 415

17032 9.13 5087.3 827.6 7.4 594 17037 0.00 2.83 0.05 0.000 4 0.000 0.000 3269 449 427

17324 9.13 5087.3 805.9 7.0 600 17330 0.00 2.83 0.05 0.000 6 0.000 0.000 3269 2091 416

17642 9.13 5087.3 783.8 7.1 608 17651 0.00 3.60 0.05 0.000 4 0.000 0.000 3271 575 426

17940 9.13 5087.5 764.0 6.2 614 17945 0.00 3.05 0.00 0.000 6 0.000 0.000 3274 2122 418

18258 9.13 5087.5 743.3 6.6 622 18265 0.00 3.25 0.03 0.000 4 0.000 0.000 3273 456 420

18555 9.13 5087.5 723.4 6.8 628 18562 0.00 3.35 0.00 0.000 6 0.000 0.000 3258 2118 416

18877 9.13 5087.5 702.0 6.7 636 18885 0.00 3.95 0.00 0.000 4 0.000 0.000 3272 423 414

19173 9.13 5087.5 681.8 6.7 642 19179 0.00 3.10 0.05 0.000 6 0.000 0.000 3283 2088 421

19492 9.13 5089.2 662.1 6.2 650 19497 0.00 2.50 0.03 0.001 4 0.000 0.000 3269 546 423

19785 9.13 5089.2 641.7 6.9 656 19789 0.00 2.50 0.10 0.000 6 0.000 0.000 3268 2086 421

20103 9.13 5089.2 619.4 7.2 664 20110 0.00 3.50 0.00 0.000 4 0.000 0.000 3275 355 424

20400 9.13 5089.2 598.0 6.7 670 20408 0.00 3.92 0.00 0.000 6 0.000 0.000 3281 2176 422

20723 9.13 5089.2 575.0 7.2 678 20728 0.00 2.80 0.00 0.000 4 0.000 0.000 3273 538 425

21015 9.13 5089.2 554.1 6.8 684 21022 0.00 3.53 0.00 0.000 6 0.000 0.000 3273 2196 423

21339 9.13 5089.2 531.3 7.2 692 21347 0.00 3.20 0.05 0.001 4 0.000 0.000 3270 379 414

21635 9.13 5089.2 509.0 7.4 698 21640 0.00 2.92 0.00 0.000 6 0.000 0.000 3258 2194 415

21961 9.13 5089.2 485.8 7.2 710 21965 0.00 2.90 0.00 0.000 4 0.000 0.000 3288 554 418

22258 9.13 5089.2 464.0 6.4 722 22274 0.00 3.75 0.00 0.000 6 0.000 0.000 3270 2037 421

22584 9.13 5089.2 443.9 6.5 738 22589 0.00 2.83 0.05 0.000 4 0.000 0.000 3266 496 419

22882 9.13 5091.5 425.4 6.2 750 22897 0.00 3.40 0.03 0.000 6 0.000 0.000 3265 2164 416

23212 9.14 5091.5 405.1 6.5 766 23219 0.00 3.85 0.00 0.000 4 0.000 0.000 3271 366 414

23518 9.14 5091.5 383.5 6.2 778 23524 0.00 2.80 0.05 0.000 6 0.000 0.000 3280 2182 425

23843 9.14 5091.5 361.3 7.0 793 23847 0.00 2.80 0.00 0.000 4 0.000 0.000 3272 510 422

24140 9.14 5091.5 339.8 6.7 805 24145 0.00 3.00 0.00 0.000 6 0.000 0.000 3260 2196 411

24461 9.14 5091.5 319.1 6.4 820 24465 0.00 2.83 0.00 0.000 4 0.000 0.000 3252 536 414

24760 9.14 5091.5 300.0 6.7 832 24764 0.00 2.50 0.00 0.000 6 0.000 0.000 3287 1967 416

25081 9.14 5091.5 278.5 6.8 847 25088 0.00 3.80 0.00 0.000 4 0.000 0.000 3272 349 412

25385 9.14 5095.5 258.1 6.1 859 25401 0.00 3.53 0.08 0.000 6 0.000 0.000 3275 2140 416

25715 9.14 5099.6 237.8 6.1 875 25724 0.00 3.65 0.03 0.001 4 0.000 0.000 3277 469 416

26036 9.15 5132.9 217.6 5.0 887 26041 0.00 2.62 0.03 0.001 6 0.000 0.000 3270 2134 421

26362 9.21 5144.3 200.0 5.8 902 26367 0.00 3.25 0.00 0.000 4 0.000 0.000 3275 459 416

26667 9.23 5160.0 178.2 5.7 914 26683 0.00 3.55 0.00 0.000 6 0.000 0.000 3267 2103 411

26997 9.25 5160.0 153.1 7.3 930 27002 0.00 2.62 0.00 0.000 4 0.000 0.000 3265 563 414

27306 9.25 5193.2 133.4 5.0 942 27312 0.00 3.15 0.00 0.000 6 0.000 0.000 3259 2008 415

27627 9.31 5193.2 111.5 6.3 957 27633 0.00 3.05 0.03 0.001 4 0.000 0.000 3258 491 421

27943 9.31 5276.2 97.7 3.1 977 27953 0.00 2.50 0.00 0.000 6 0.000 0.000 3260 2115 425

28401 9.45 5276.2 63.4 8.9 1038 28413 0.00 2.88 0.03 0.000 4 0.000 0.000 3268 458 415

28768 9.45 5276.2 29.4 9.3 1087 28780 0.00 3.03 0.00 0.000 6 0.000 0.000 3273 2128 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	1	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	3	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	5	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	-442252.84	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	204511,4704.835,-12609.053,7,1.1,7,18.0	TGT_NAME	EIGHT
_CALLS	2	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.178,0.073
_SM_DEPTHo	0.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	205048,4704.864,-12609.097,19,1.1,19,18.0	MHEAD_RNG_PITCHd_Wd	49.6,301796,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999503	ALTIM_TOP_PING	19.4,999.0
SM_CCo	29180,0.00,0.000,0,0,413,451.35	_24V_AH	23.6,55.536
SM_GC	0.34,13.25,0.00,0.00,0.000,0.000,0.000,618,1870,413,-7.30,-2.60,451.35	_10V_AH	9.6,22.092
RAFOS_CLK	0	DATA_FILE_SIZE	37810,1130
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,242778112
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,58,1831,4,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2117	CURRENT	0.089,283.5,1
INTERNAL_PRESSURE	26.0748	GPS	150607,045942,4704.531,-12606.449,32,1.1,32,18.0
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	35	119	99.14	SBE_CT	2034	24	1152.20
Roll_motor	273	60	387.35	nil	0	0	0.00
VBD_pump_during_apogee	513	1300	15759.55	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	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	84	223	442.16
Transponder_ping	0	420	2.48
GPS	19	50	9.56
TT8	6193	19	1184.32
LPSleep	15333	2	340.03
TT8_Active	881	19	168.57
TT8_Sampling	3194	39	1224.15
TT8_CF8	3940	45	1736.91
TT8_Kalman	29	81	22.99
Analog_circuits	2981	12	343.46
GPS_charging	0	0	0.00
Compass	4115	26	1027.15
RAFOS	3600	1	51.84

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
38	-0.83	-116.8	0.0	0.0	0	112	0.00	0.00	-67.05	0.000	6	0.000	0.000	622	2170	2744
119	-0.83	-116.8	3.1	-4.8	7	132	7.07	2.70	0.00	0.000	4	0.000	0.000	2133	372	2743
246	-0.83	-116.8	19.3	-12.4	23	258	0.75	2.95	0.00	0.000	6	0.000	0.000	2040	2056	2737
692	-0.83	-116.8	72.6	-12.4	84	704	0.32	2.90	0.00	0.000	4	0.000	0.000	2115	3602	2740
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
940	-0.25	0.0	100.1	10.5	116	1038	0.73	0.00	95.40	0.000	6	0.000	0.000	2277	1836	2271
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1049	0.83	116.8	110.0	0.0	121	1167	0.98	2.85	95.43	0.000	4	0.000	0.000	2487	442	1784
1471	0.83	116.8	149.2	-9.2	137	1479	0.40	2.90	0.12	0.000	6	0.000	0.000	2401	2162	1787
1812	0.83	116.8	177.2	-7.6	153	1814	0.32	0.00	0.00	0.000	6	0.000	0.000	2453	2158	1788
2122	0.83	116.8	198.5	-6.5	168	2130	0.43	3.55	0.00	0.000	4	0.000	0.000	2394	370	1785
2433	0.83	116.8	219.7	-7.0	180	2439	0.40	2.70	0.00	0.000	6	0.000	0.000	2432	2211	1788
2754	0.83	116.8	241.4	-7.0	195	2762	0.45	3.10	0.00	0.000	4	0.000	0.000	2400	406	1788
3056	0.83	116.8	261.4	-7.2	207	3062	0.38	2.80	0.00	0.000	6	0.000	0.000	2445	2164	1786
3377	0.83	116.8	282.5	-6.7	222	3383	0.43	2.90	0.00	0.000	4	0.000	0.000	2420	502	1784
3679	0.83	116.8	304.4	-7.2	234	3695	0.35	3.22	0.00	0.000	6	0.000	0.000	2495	2173	1784
4004	0.83	116.8	328.2	-7.0	250	4010	0.38	2.70	0.03	0.001	4	0.000	0.000	2403	567	1779
4315	0.83	116.8	349.9	-6.9	262	4321	0.38	2.60	0.00	0.000	6	0.000	0.000	2434	2105	1782
4636	0.83	116.8	372.3	-7.1	277	4645	0.40	3.72	0.00	0.000	4	0.000	0.000	2388	432	1784
4939	0.83	116.8	394.6	-7.0	289	4944	0.35	2.53	0.00	0.000	6	0.000	0.000	2438	2102	1787
5260	0.83	116.8	417.7	-7.2	304	5265	0.43	2.80	0.00	0.000	4	0.000	0.000	2398	455	1775
5566	0.83	116.8	442.3	-8.3	316	5582	0.40	2.83	0.00	0.000	6	0.000	0.000	2468	2146	1782
5891	0.83	116.8	467.6	-7.6	332	5899	0.40	3.75	0.00	0.000	4	0.000	0.000	2394	481	1787
6193	0.83	116.8	489.8	-6.5	344	6199	0.35	2.53	0.00	0.000	6	0.000	0.000	2432	2100	1789
6516	0.83	116.8	512.7	-7.1	355	6518	0.40	0.00	0.00	0.000	6	0.000	0.000	2431	2098	1778
6843	0.83	116.8	534.7	-6.5	363	6849	0.50	2.70	0.00	0.000	4	0.000	0.000	2474	466	1784
7138	0.83	445.1	554.4	-6.2	369	7492	0.38	3.35	315.33	0.001	6	0.000	0.000	2393	2129	445
7808	1.38	741.5	589.0	-5.0	384	7823	1.17	3.55	5.18	0.000	4	0.000	0.000	2610	503	427
8108	1.87	1042.7	603.9	-5.2	390	8114	0.35	2.53	0.10	0.000	6	0.000	0.000	2716	2113	425
8463	2.38	1363.5	624.2	-5.9	399	8469	0.47	2.80	0.08	0.001	4	0.000	0.000	2798	477	432
8758	2.91	1363.5	643.3	-6.5	405	8766	0.57	2.72	0.10	0.000	6	0.000	0.000	2948	2189	420
9082	2.91	1363.5	663.5	-6.4	413	9088	0.38	2.80	0.15	0.000	4	0.000	0.000	2861	532	430
9377	2.91	1673.7	681.3	-5.5	419	9383	0.38	2.80	0.05	0.000	6	0.000	0.000	2878	2174	428
9697	3.43	1994.3	700.2	-5.9	427	9706	0.43	3.92	0.10	0.001	4	0.000	0.000	3051	371	429
9996	3.97	2305.7	718.0	-5.5	433	10005	0.57	3.88	0.17	0.002	6	0.000	0.000	3177	2025	418
10324	4.49	2616.2	736.0	-5.5	441	10330	0.38	2.50	0.08	0.001	4	0.000	0.000	3277	463	422
10619	5.00	2616.2	753.7	-6.9	447	10624	0.00	2.83	0.00	0.000	6	0.000	0.000	3264	2101	428
10937	5.00	2940.7	773.1	-6.0	455	10943	0.00	2.65	0.12	0.001	4	0.000	0.000	3279	583	427
11231	5.55	2940.7	792.4	-6.6	461	11236	0.00	2.72	0.12	0.000	6	0.000	0.000	3264	2132	422
11553	5.55	2940.7	813.4	-6.9	469	11558	0.00	2.70	0.03	0.001	4	0.000	0.000	3272	464	423
11853	5.55	2940.7	835.1	-6.8	475	11859	0.00	3.10	0.03	0.001	6	0.000	0.000	3287	1997	419
12183	5.55	2940.7	856.7	-6.8	483	12191	0.00	3.45	0.10	0.000	4	0.000	0.000	3262	454	425
12475	5.55	3250.3	876.3	-5.5	489	12482	0.00	3.35	0.03	0.000	6	0.000	0.000	3289	2131	419
12804	6.06	3564.7	894.8	-5.7	497	12813	0.00	4.05	0.03	0.000	4	0.000	0.000	3287	348	424
13095	6.59	3871.2	910.9	-5.4	503	13100	0.00	3.10	0.00	0.000	6	0.000	0.000	3277	2125	422
13413	7.10	4178.8	928.1	-5.4	511	13417	0.00	2.70	0.00	0.000	4	0.000	0.000	3263	547	423
13640	7.61	4483.5	941.3	-5.3	515	13651	0.00	2.60	0.03	0.000	6	0.000	0.000	3270	2096	424
13977	8.12	4811.3	961.3	-6.2	524	13981	0.00	2.53	0.00	0.000	4	0.000	0.000	3285	577	420
14267	8.67	4811.3	979.6	-7.0	530	14272	0.00	2.50	0.00	0.000	6	0.000	0.000	3277	2106	424
14585	8.67	5087.3	996.6	-4.2	538	14590	0.00	2.83	0.08	0.000	4	0.000	0.000	3256	533	428
14878	9.13	5087.3	982.2	6.6	544	14883	0.00	2.70	0.00	0.000	6	0.000	0.000	3282	2067	417
15196	9.13	5087.3	960.0	7.1	552	15201	0.00	2.83	0.00	0.000	4	0.000	0.000	3266	447	424
15487	9.13	5087.3	939.7	7.0	558	15495	0.00	3.33	0.03	0.001	6	0.000	0.000	3257	2100	421
15811	9.13	5087.3	917.0	7.2	566	15816	0.00	2.60	0.03	0.000	4	0.000	0.000	3277	541	423
16103	9.13	5087.3	895.4	7.1	572	16108	0.00	3.25	0.00	0.000	6	0.000	0.000	3275	2070	419
16421	9.13	5087.3	872.2	7.4	580	16427	0.00	3.10	0.05	0.001	4	0.000	0.000	3272	473	423
16714	9.13	5087.3	850.4	7.6	586	16719	0.00	2.70	0.03	0.002	6	0.000	0.000	3280	2142	415
17032	9.13	5087.3	827.6	7.4	594	17037	0.00	2.83	0.05	0.000	4	0.000	0.000	3269	449	427
17324	9.13	5087.3	805.9	7.0	600	17330	0.00	2.83	0.05	0.000	6	0.000	0.000	3269	2091	416
17642	9.13	5087.3	783.8	7.1	608	17651	0.00	3.60	0.05	0.000	4	0.000	0.000	3271	575	426
17940	9.13	5087.5	764.0	6.2	614	17945	0.00	3.05	0.00	0.000	6	0.000	0.000	3274	2122	418
18258	9.13	5087.5	743.3	6.6	622	18265	0.00	3.25	0.03	0.000	4	0.000	0.000	3273	456	420
18555	9.13	5087.5	723.4	6.8	628	18562	0.00	3.35	0.00	0.000	6	0.000	0.000	3258	2118	416
18877	9.13	5087.5	702.0	6.7	636	18885	0.00	3.95	0.00	0.000	4	0.000	0.000	3272	423	414
19173	9.13	5087.5	681.8	6.7	642	19179	0.00	3.10	0.05	0.000	6	0.000	0.000	3283	2088	421
19492	9.13	5089.2	662.1	6.2	650	19497	0.00	2.50	0.03	0.001	4	0.000	0.000	3269	546	423
19785	9.13	5089.2	641.7	6.9	656	19789	0.00	2.50	0.10	0.000	6	0.000	0.000	3268	2086	421
20103	9.13	5089.2	619.4	7.2	664	20110	0.00	3.50	0.00	0.000	4	0.000	0.000	3275	355	424
20400	9.13	5089.2	598.0	6.7	670	20408	0.00	3.92	0.00	0.000	6	0.000	0.000	3281	2176	422
20723	9.13	5089.2	575.0	7.2	678	20728	0.00	2.80	0.00	0.000	4	0.000	0.000	3273	538	425
21015	9.13	5089.2	554.1	6.8	684	21022	0.00	3.53	0.00	0.000	6	0.000	0.000	3273	2196	423
21339	9.13	5089.2	531.3	7.2	692	21347	0.00	3.20	0.05	0.001	4	0.000	0.000	3270	379	414
21635	9.13	5089.2	509.0	7.4	698	21640	0.00	2.92	0.00	0.000	6	0.000	0.000	3258	2194	415
21961	9.13	5089.2	485.8	7.2	710	21965	0.00	2.90	0.00	0.000	4	0.000	0.000	3288	554	418
22258	9.13	5089.2	464.0	6.4	722	22274	0.00	3.75	0.00	0.000	6	0.000	0.000	3270	2037	421
22584	9.13	5089.2	443.9	6.5	738	22589	0.00	2.83	0.05	0.000	4	0.000	0.000	3266	496	419
22882	9.13	5091.5	425.4	6.2	750	22897	0.00	3.40	0.03	0.000	6	0.000	0.000	3265	2164	416
23212	9.14	5091.5	405.1	6.5	766	23219	0.00	3.85	0.00	0.000	4	0.000	0.000	3271	366	414
23518	9.14	5091.5	383.5	6.2	778	23524	0.00	2.80	0.05	0.000	6	0.000	0.000	3280	2182	425
23843	9.14	5091.5	361.3	7.0	793	23847	0.00	2.80	0.00	0.000	4	0.000	0.000	3272	510	422
24140	9.14	5091.5	339.8	6.7	805	24145	0.00	3.00	0.00	0.000	6	0.000	0.000	3260	2196	411
24461	9.14	5091.5	319.1	6.4	820	24465	0.00	2.83	0.00	0.000	4	0.000	0.000	3252	536	414
24760	9.14	5091.5	300.0	6.7	832	24764	0.00	2.50	0.00	0.000	6	0.000	0.000	3287	1967	416
25081	9.14	5091.5	278.5	6.8	847	25088	0.00	3.80	0.00	0.000	4	0.000	0.000	3272	349	412
25385	9.14	5095.5	258.1	6.1	859	25401	0.00	3.53	0.08	0.000	6	0.000	0.000	3275	2140	416
25715	9.14	5099.6	237.8	6.1	875	25724	0.00	3.65	0.03	0.001	4	0.000	0.000	3277	469	416
26036	9.15	5132.9	217.6	5.0	887	26041	0.00	2.62	0.03	0.001	6	0.000	0.000	3270	2134	421
26362	9.21	5144.3	200.0	5.8	902	26367	0.00	3.25	0.00	0.000	4	0.000	0.000	3275	459	416
26667	9.23	5160.0	178.2	5.7	914	26683	0.00	3.55	0.00	0.000	6	0.000	0.000	3267	2103	411
26997	9.25	5160.0	153.1	7.3	930	27002	0.00	2.62	0.00	0.000	4	0.000	0.000	3265	563	414
27306	9.25	5193.2	133.4	5.0	942	27312	0.00	3.15	0.00	0.000	6	0.000	0.000	3259	2008	415
27627	9.31	5193.2	111.5	6.3	957	27633	0.00	3.05	0.03	0.001	4	0.000	0.000	3258	491	421
27943	9.31	5276.2	97.7	3.1	977	27953	0.00	2.50	0.00	0.000	6	0.000	0.000	3260	2115	425
28401	9.45	5276.2	63.4	8.9	1038	28413	0.00	2.88	0.03	0.000	4	0.000	0.000	3268	458	415
28768	9.45	5276.2	29.4	9.3	1087	28780	0.00	3.03	0.00	0.000	6	0.000	0.000	3273	2128	418
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface