Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 2 * 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 2 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 13 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 -442269.78 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 -442269.78

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 13 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 2 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 045942,4704.531,-12606.449,32,1.1,32,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.066,0.181

_SM_DEPTHo 0.34 KALMAN_X 665.3,665.3,665.3,1207.4,632.2

_SM_ANGLEo -50.0 KALMAN_Y -212.3,-212.3,-212.3,11.0,-201.8

GPS2 050853,4704.514,-12606.504,16,1.1,16,18.0 MHEAD_RNG_PITCHd_Wd 2.1,299098,-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 19.6,999.0

SM_CCo 28567,0.00,0.000,0,0,420,449.88 _24V_AH 23.7,56.464

SM_GC 0.34,13.15,0.00,0.00,0.000,0.000,0.000,663,2194,420,-7.24,5.71,449.88 _10V_AH 9.6,22.285

RAFOS_CLK 0 DATA_FILE_SIZE 37824,1143

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,242429952

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,1,0,0,0,0,0,0,0,0,0,49,1880,4,0

TT8_MAMPS 0.029146 SOUNDSPEED 1465.0

HUMID 2137 CURRENT 0.089,298.0,1

INTERNAL_PRESSURE 26.0748 GPS 150607,130712,4704.390,-12603.564,15,1.1,15,18.0

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 31 119 89.12 SBE_CT 1913 24 1088.47

Roll_motor 278 60 396.45 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15753.92 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 129 223 684.40

Transponder_ping 0 420 2.49

GPS 16 50 7.82

TT8 6256 19 1196.36

LPSleep 14565 2 323.01

TT8_Active 904 19 172.95

TT8_Sampling 3186 39 1221.24

TT8_CF8 4057 45 1788.63

TT8_Kalman 30 81 23.74

Analog_circuits 2996 12 345.22

GPS_charging 0 0 0.00

Compass 4014 26 1002.13

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 -77.05 0.000 6 0.000 0.000 608 1883 2740

135 -0.83 -116.8 4.6 -5.5 8 149 7.40 3.53 0.00 0.000 4 0.000 0.000 2149 3536 2746

498 -0.83 -116.8 45.8 -11.6 57 511 0.40 3.12 0.00 0.000 6 0.000 0.000 2038 1843 2739

946 -0.83 -116.8 93.9 -9.8 118 959 0.43 3.42 0.00 0.000 4 0.000 0.000 2137 3512 2738

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

1020 -0.25 0.0 100.4 9.8 125 1118 0.73 0.00 95.28 0.000 6 0.000 0.000 2290 1764 2266

state end apogee CONTROL_FINISHED_OK

state start climb

1129 0.83 116.8 110.2 0.0 130 1236 0.93 2.55 94.53 0.000 4 0.000 0.000 2470 496 1785

1532 0.83 116.8 148.6 -8.5 145 1537 0.28 2.72 0.00 0.000 6 0.000 0.000 2414 2158 1784

1869 0.83 116.8 177.3 -8.7 161 1878 0.35 4.03 0.00 0.000 4 0.000 0.000 2463 382 1783

2173 0.83 116.8 204.6 -8.8 173 2178 0.00 2.72 0.08 0.000 6 0.000 0.000 2458 2205 1786

2494 0.83 116.8 232.5 -9.0 188 2501 0.00 3.45 0.00 0.000 4 0.000 0.000 2467 420 1781

2809 0.83 116.8 258.9 -7.9 200 2826 0.00 3.55 0.40 0.000 6 0.000 0.000 2470 2172 1775

3135 0.83 116.8 283.7 -7.8 216 3140 0.12 2.70 0.00 0.000 4 0.001 0.000 2422 553 1783

3438 0.83 116.8 307.7 -8.0 228 3454 0.00 3.75 0.00 0.000 6 0.000 0.000 2409 2143 1782

3763 0.83 116.8 332.6 -7.7 244 3772 0.40 3.03 0.10 0.001 4 0.000 0.000 2503 392 1782

4075 0.83 116.8 356.1 -7.7 256 4092 0.35 3.67 0.00 0.000 6 0.000 0.000 2416 2038 1784

4401 0.83 116.8 380.0 -7.5 272 4408 0.00 3.58 0.00 0.000 4 0.000 0.000 2431 468 1780

4713 0.83 116.8 402.6 -6.7 284 4719 0.38 2.60 0.00 0.000 6 0.000 0.000 2446 2113 1777

5034 0.83 116.8 424.6 -7.1 299 5042 0.50 2.92 0.00 0.000 4 0.000 0.000 2432 349 1790

5338 0.83 116.8 448.4 -7.4 311 5344 0.08 3.00 0.00 0.000 6 0.000 0.000 2421 2151 1787

5660 0.83 116.8 473.8 -7.8 326 5667 0.28 3.25 0.00 0.000 4 0.000 0.000 2439 410 1780

5964 0.83 437.5 495.9 -5.9 338 6296 0.00 3.30 306.02 0.000 6 0.000 0.000 2464 2191 480

6622 1.37 755.9 534.2 -5.8 354 6652 0.65 3.28 12.85 0.000 4 0.000 0.000 2593 534 427

6945 1.90 755.9 558.0 -8.5 360 6962 0.38 3.62 0.05 0.000 6 0.000 0.000 2702 2174 423

7286 1.90 755.9 585.4 -7.9 369 7292 0.05 2.83 0.35 0.001 4 0.000 0.000 2703 511 428

7581 1.90 755.9 607.2 -6.7 375 7587 0.15 2.72 0.08 0.000 6 0.000 0.000 2660 2183 423

7900 1.90 755.9 627.8 -6.3 383 7908 0.00 3.35 0.03 0.001 4 0.000 0.000 2663 430 423

8200 1.90 1080.6 646.5 -6.1 389 8204 0.00 2.50 0.00 0.000 6 0.000 0.000 2642 2108 421

8518 2.44 1080.6 666.4 -6.3 397 8526 0.88 3.15 0.00 0.000 4 0.000 0.000 2826 469 424

8819 2.44 1405.4 685.2 -6.1 403 8828 0.38 3.42 0.05 0.000 6 0.000 0.000 2751 2093 418

9144 2.98 1733.1 704.5 -6.2 411 9153 0.85 3.62 0.45 0.000 4 0.000 0.000 2931 427 426

9444 3.53 2052.2 723.6 -5.8 417 9452 0.60 3.10 0.00 0.000 6 0.000 0.000 3074 2150 426

9768 4.06 2368.0 742.1 -5.7 425 9778 0.47 3.72 0.08 0.000 4 0.000 0.000 3177 444 433

10067 4.59 2368.0 759.5 -6.4 431 10074 0.60 2.60 0.08 0.000 6 0.000 0.000 3254 2081 423

10387 4.59 2672.8 776.3 -5.3 439 10396 0.45 3.75 0.00 0.000 4 0.000 0.000 3208 462 421

10688 5.10 2978.6 792.5 -5.3 445 10696 0.40 2.88 0.17 0.000 6 0.000 0.000 3290 1992 421

11016 5.61 3292.1 810.1 -5.6 453 11021 0.00 2.90 0.00 0.000 4 0.000 0.000 3328 461 419

11318 6.13 3292.1 828.2 -6.5 459 11324 0.00 3.15 0.03 0.000 6 0.000 0.000 3306 2094 424

11639 6.13 3613.4 847.3 -5.9 467 11644 0.00 2.50 0.05 0.001 4 0.000 0.000 3307 551 427

11939 6.67 3922.6 865.3 -5.5 473 11945 0.00 3.08 0.10 0.000 6 0.000 0.000 3315 1966 420

12266 7.19 4232.3 882.9 -5.5 481 12271 0.00 2.30 0.05 0.000 4 0.000 0.000 3317 554 430

12563 7.70 4537.8 899.7 -5.3 487 12571 0.00 3.35 0.05 0.000 6 0.000 0.000 3315 2108 418

12893 8.21 4857.0 918.6 -5.8 495 12900 0.00 3.42 0.00 0.000 4 0.000 0.000 3310 396 422

13190 8.75 4857.0 937.8 -6.3 501 13198 0.00 4.03 0.00 0.000 6 0.000 0.000 3312 2182 421

13513 8.75 5167.1 955.9 -5.5 509 13521 0.00 3.95 0.00 0.000 4 0.000 0.000 3312 421 426

13811 9.26 5483.7 973.5 -5.7 515 13819 0.00 3.35 0.03 0.000 6 0.000 0.000 3322 2120 421

14134 9.79 5795.3 991.9 -5.6 523 14139 0.00 3.12 0.00 0.000 4 0.000 0.000 3304 605 421

14425 10.31 5795.3 986.3 8.3 529 14430 0.00 2.53 0.08 0.000 6 0.000 0.000 3299 2149 424

14743 10.31 5795.3 960.2 8.2 537 14748 0.00 2.70 0.03 0.000 4 0.000 0.000 3310 502 414

15036 10.31 5795.3 936.2 7.8 543 15041 0.00 2.70 0.00 0.000 6 0.000 0.000 3310 2180 421

15354 10.31 5795.3 911.1 7.9 551 15359 0.00 3.00 0.00 0.000 4 0.000 0.000 3311 491 420

15647 10.31 5795.3 886.9 7.3 557 15656 0.00 4.05 0.00 0.000 6 0.000 0.000 3311 2201 421

15982 10.31 5795.3 860.5 8.3 565 15990 0.00 3.20 0.03 0.001 4 0.000 0.000 3321 389 430

16280 10.31 5795.3 836.2 7.6 571 16285 0.00 2.70 0.03 0.000 6 0.000 0.000 3306 2175 422

16598 10.31 5795.3 813.3 7.3 579 16603 0.00 2.72 0.10 0.000 4 0.000 0.000 3318 556 419

16891 10.31 5795.3 792.3 7.2 585 16895 0.00 2.62 0.00 0.000 6 0.000 0.000 3320 2112 415

17209 10.31 5795.3 769.9 7.2 593 17217 0.00 3.85 0.00 0.000 4 0.000 0.000 3311 457 416

17507 10.31 5795.3 746.1 7.1 599 17512 0.00 2.83 0.00 0.000 6 0.000 0.000 3337 2119 424

17824 10.31 5795.3 720.4 8.3 607 17829 0.00 2.60 0.03 0.001 4 0.000 0.000 3303 535 415

18116 10.31 5795.3 697.1 7.5 613 18121 0.00 2.78 0.00 0.000 6 0.000 0.000 3306 2099 425

18434 10.31 5795.3 673.5 7.6 621 18439 0.00 3.30 0.00 0.000 4 0.000 0.000 3305 493 418

18727 10.31 5795.3 651.2 8.5 627 18734 0.00 3.55 0.00 0.000 6 0.000 0.000 3324 2133 421

19049 10.31 5795.3 625.4 8.1 635 19054 0.00 2.60 0.05 0.000 4 0.000 0.000 3311 566 416

19341 10.31 5795.3 601.8 8.1 641 19346 0.00 2.70 0.00 0.000 6 0.000 0.000 3294 2097 421

19659 10.31 5795.3 577.1 7.8 649 19664 0.00 2.53 0.00 0.000 4 0.000 0.000 3303 493 415

19952 10.31 5795.3 554.7 6.7 655 19958 0.00 3.12 0.00 0.000 6 0.000 0.000 3312 2167 407

20271 10.31 5795.3 533.2 6.8 663 20278 0.00 3.53 0.00 0.000 4 0.000 0.000 3305 444 408

20568 10.31 5795.3 512.5 7.1 669 20573 0.00 2.80 0.00 0.000 6 0.000 0.000 3309 2091 410

20888 10.31 5795.3 490.3 7.0 680 20896 0.00 3.75 0.00 0.000 4 0.000 0.000 3315 437 417

21194 10.31 5795.3 469.5 7.5 692 21209 0.00 3.28 0.00 0.000 6 0.000 0.000 3310 2096 416

21520 10.31 5795.3 449.1 6.3 708 21524 0.00 2.60 0.00 0.000 4 0.000 0.000 3305 542 424

21821 10.31 5795.3 428.7 6.5 720 21837 0.00 3.30 0.00 0.000 6 0.000 0.000 3324 2184 424

22146 10.31 5795.3 407.7 6.5 736 22154 0.00 3.92 0.00 0.000 4 0.000 0.000 3314 362 423

22454 10.31 5806.2 387.4 5.8 748 22470 0.00 3.55 0.00 0.000 6 0.000 0.000 3316 2052 418

22780 10.33 5806.2 368.0 6.3 764 22785 0.00 3.03 0.03 0.001 4 0.000 0.000 3320 493 412

23079 10.33 5806.2 349.1 6.4 776 23084 0.00 2.80 0.00 0.000 6 0.000 0.000 3288 2153 417

23400 10.33 5806.2 328.5 6.3 791 23405 0.00 2.70 0.03 0.001 4 0.000 0.000 3318 502 414

23700 10.33 5816.0 309.1 5.9 803 23705 0.00 2.90 0.00 0.000 6 0.000 0.000 3300 2095 422

24021 10.35 5816.0 288.4 6.6 818 24029 0.00 3.42 0.00 0.000 4 0.000 0.000 3313 407 411

24329 10.35 5823.3 266.4 6.0 830 24334 0.00 2.72 0.00 0.000 6 0.000 0.000 3307 2180 406

24650 10.36 5823.3 244.4 6.9 845 24657 0.00 3.55 0.00 0.000 4 0.000 0.000 3320 367 418

24964 10.36 5826.5 225.4 6.1 857 24980 0.00 3.45 0.00 0.000 6 0.000 0.000 3297 2192 423

25295 10.37 5841.8 206.3 5.7 873 25303 0.00 3.55 0.03 0.000 4 0.000 0.000 3319 387 423

25609 10.39 5851.4 185.7 5.9 885 25614 0.00 2.70 0.05 0.000 6 0.000 0.000 3320 2177 412

25936 10.41 5869.5 166.9 5.6 900 25941 0.00 3.10 0.00 0.000 4 0.000 0.000 3309 544 414

26243 10.44 5869.5 143.9 7.9 912 26248 0.00 2.50 0.00 0.000 6 0.000 0.000 3319 2076 422

26565 10.44 5876.1 121.4 6.0 927 26569 0.00 2.60 0.00 0.000 4 0.000 0.000 3320 525 418

26878 10.45 5876.1 101.8 6.4 939 26883 0.00 2.70 0.00 0.000 6 0.000 0.000 3319 2034 426

27342 10.45 5903.8 72.7 5.2 996 27354 0.00 2.97 0.00 0.000 4 0.000 0.000 3304 527 424

27721 10.49 5918.5 50.7 5.7 1045 27733 0.00 2.60 0.00 0.000 6 0.000 0.000 3324 2068 415

28189 10.52 5918.5 19.2 6.3 1106 28201 0.00 2.47 0.00 0.000 4 0.000 0.000 3316 408 418

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	2	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	13	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	-442269.78	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	045942,4704.531,-12606.449,32,1.1,32,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.066,0.181
_SM_DEPTHo	0.34	KALMAN_X	665.3,665.3,665.3,1207.4,632.2
_SM_ANGLEo	-50.0	KALMAN_Y	-212.3,-212.3,-212.3,11.0,-201.8
GPS2	050853,4704.514,-12606.504,16,1.1,16,18.0	MHEAD_RNG_PITCHd_Wd	2.1,299098,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999496	ALTIM_TOP_PING	19.6,999.0
SM_CCo	28567,0.00,0.000,0,0,420,449.88	_24V_AH	23.7,56.464
SM_GC	0.34,13.15,0.00,0.00,0.000,0.000,0.000,663,2194,420,-7.24,5.71,449.88	_10V_AH	9.6,22.285
RAFOS_CLK	0	DATA_FILE_SIZE	37824,1143
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,242429952
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,1,0,0,0,0,0,0,0,0,0,49,1880,4,0
TT8_MAMPS	0.029146	SOUNDSPEED	1465.0
HUMID	2137	CURRENT	0.089,298.0,1
INTERNAL_PRESSURE	26.0748	GPS	150607,130712,4704.390,-12603.564,15,1.1,15,18.0
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	31	119	89.12	SBE_CT	1913	24	1088.47
Roll_motor	278	60	396.45	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15753.92	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	129	223	684.40
Transponder_ping	0	420	2.49
GPS	16	50	7.82
TT8	6256	19	1196.36
LPSleep	14565	2	323.01
TT8_Active	904	19	172.95
TT8_Sampling	3186	39	1221.24
TT8_CF8	4057	45	1788.63
TT8_Kalman	30	81	23.74
Analog_circuits	2996	12	345.22
GPS_charging	0	0	0.00
Compass	4014	26	1002.13
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	-77.05	0.000	6	0.000	0.000	608	1883	2740
135	-0.83	-116.8	4.6	-5.5	8	149	7.40	3.53	0.00	0.000	4	0.000	0.000	2149	3536	2746
498	-0.83	-116.8	45.8	-11.6	57	511	0.40	3.12	0.00	0.000	6	0.000	0.000	2038	1843	2739
946	-0.83	-116.8	93.9	-9.8	118	959	0.43	3.42	0.00	0.000	4	0.000	0.000	2137	3512	2738
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
1020	-0.25	0.0	100.4	9.8	125	1118	0.73	0.00	95.28	0.000	6	0.000	0.000	2290	1764	2266
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1129	0.83	116.8	110.2	0.0	130	1236	0.93	2.55	94.53	0.000	4	0.000	0.000	2470	496	1785
1532	0.83	116.8	148.6	-8.5	145	1537	0.28	2.72	0.00	0.000	6	0.000	0.000	2414	2158	1784
1869	0.83	116.8	177.3	-8.7	161	1878	0.35	4.03	0.00	0.000	4	0.000	0.000	2463	382	1783
2173	0.83	116.8	204.6	-8.8	173	2178	0.00	2.72	0.08	0.000	6	0.000	0.000	2458	2205	1786
2494	0.83	116.8	232.5	-9.0	188	2501	0.00	3.45	0.00	0.000	4	0.000	0.000	2467	420	1781
2809	0.83	116.8	258.9	-7.9	200	2826	0.00	3.55	0.40	0.000	6	0.000	0.000	2470	2172	1775
3135	0.83	116.8	283.7	-7.8	216	3140	0.12	2.70	0.00	0.000	4	0.001	0.000	2422	553	1783
3438	0.83	116.8	307.7	-8.0	228	3454	0.00	3.75	0.00	0.000	6	0.000	0.000	2409	2143	1782
3763	0.83	116.8	332.6	-7.7	244	3772	0.40	3.03	0.10	0.001	4	0.000	0.000	2503	392	1782
4075	0.83	116.8	356.1	-7.7	256	4092	0.35	3.67	0.00	0.000	6	0.000	0.000	2416	2038	1784
4401	0.83	116.8	380.0	-7.5	272	4408	0.00	3.58	0.00	0.000	4	0.000	0.000	2431	468	1780
4713	0.83	116.8	402.6	-6.7	284	4719	0.38	2.60	0.00	0.000	6	0.000	0.000	2446	2113	1777
5034	0.83	116.8	424.6	-7.1	299	5042	0.50	2.92	0.00	0.000	4	0.000	0.000	2432	349	1790
5338	0.83	116.8	448.4	-7.4	311	5344	0.08	3.00	0.00	0.000	6	0.000	0.000	2421	2151	1787
5660	0.83	116.8	473.8	-7.8	326	5667	0.28	3.25	0.00	0.000	4	0.000	0.000	2439	410	1780
5964	0.83	437.5	495.9	-5.9	338	6296	0.00	3.30	306.02	0.000	6	0.000	0.000	2464	2191	480
6622	1.37	755.9	534.2	-5.8	354	6652	0.65	3.28	12.85	0.000	4	0.000	0.000	2593	534	427
6945	1.90	755.9	558.0	-8.5	360	6962	0.38	3.62	0.05	0.000	6	0.000	0.000	2702	2174	423
7286	1.90	755.9	585.4	-7.9	369	7292	0.05	2.83	0.35	0.001	4	0.000	0.000	2703	511	428
7581	1.90	755.9	607.2	-6.7	375	7587	0.15	2.72	0.08	0.000	6	0.000	0.000	2660	2183	423
7900	1.90	755.9	627.8	-6.3	383	7908	0.00	3.35	0.03	0.001	4	0.000	0.000	2663	430	423
8200	1.90	1080.6	646.5	-6.1	389	8204	0.00	2.50	0.00	0.000	6	0.000	0.000	2642	2108	421
8518	2.44	1080.6	666.4	-6.3	397	8526	0.88	3.15	0.00	0.000	4	0.000	0.000	2826	469	424
8819	2.44	1405.4	685.2	-6.1	403	8828	0.38	3.42	0.05	0.000	6	0.000	0.000	2751	2093	418
9144	2.98	1733.1	704.5	-6.2	411	9153	0.85	3.62	0.45	0.000	4	0.000	0.000	2931	427	426
9444	3.53	2052.2	723.6	-5.8	417	9452	0.60	3.10	0.00	0.000	6	0.000	0.000	3074	2150	426
9768	4.06	2368.0	742.1	-5.7	425	9778	0.47	3.72	0.08	0.000	4	0.000	0.000	3177	444	433
10067	4.59	2368.0	759.5	-6.4	431	10074	0.60	2.60	0.08	0.000	6	0.000	0.000	3254	2081	423
10387	4.59	2672.8	776.3	-5.3	439	10396	0.45	3.75	0.00	0.000	4	0.000	0.000	3208	462	421
10688	5.10	2978.6	792.5	-5.3	445	10696	0.40	2.88	0.17	0.000	6	0.000	0.000	3290	1992	421
11016	5.61	3292.1	810.1	-5.6	453	11021	0.00	2.90	0.00	0.000	4	0.000	0.000	3328	461	419
11318	6.13	3292.1	828.2	-6.5	459	11324	0.00	3.15	0.03	0.000	6	0.000	0.000	3306	2094	424
11639	6.13	3613.4	847.3	-5.9	467	11644	0.00	2.50	0.05	0.001	4	0.000	0.000	3307	551	427
11939	6.67	3922.6	865.3	-5.5	473	11945	0.00	3.08	0.10	0.000	6	0.000	0.000	3315	1966	420
12266	7.19	4232.3	882.9	-5.5	481	12271	0.00	2.30	0.05	0.000	4	0.000	0.000	3317	554	430
12563	7.70	4537.8	899.7	-5.3	487	12571	0.00	3.35	0.05	0.000	6	0.000	0.000	3315	2108	418
12893	8.21	4857.0	918.6	-5.8	495	12900	0.00	3.42	0.00	0.000	4	0.000	0.000	3310	396	422
13190	8.75	4857.0	937.8	-6.3	501	13198	0.00	4.03	0.00	0.000	6	0.000	0.000	3312	2182	421
13513	8.75	5167.1	955.9	-5.5	509	13521	0.00	3.95	0.00	0.000	4	0.000	0.000	3312	421	426
13811	9.26	5483.7	973.5	-5.7	515	13819	0.00	3.35	0.03	0.000	6	0.000	0.000	3322	2120	421
14134	9.79	5795.3	991.9	-5.6	523	14139	0.00	3.12	0.00	0.000	4	0.000	0.000	3304	605	421
14425	10.31	5795.3	986.3	8.3	529	14430	0.00	2.53	0.08	0.000	6	0.000	0.000	3299	2149	424
14743	10.31	5795.3	960.2	8.2	537	14748	0.00	2.70	0.03	0.000	4	0.000	0.000	3310	502	414
15036	10.31	5795.3	936.2	7.8	543	15041	0.00	2.70	0.00	0.000	6	0.000	0.000	3310	2180	421
15354	10.31	5795.3	911.1	7.9	551	15359	0.00	3.00	0.00	0.000	4	0.000	0.000	3311	491	420
15647	10.31	5795.3	886.9	7.3	557	15656	0.00	4.05	0.00	0.000	6	0.000	0.000	3311	2201	421
15982	10.31	5795.3	860.5	8.3	565	15990	0.00	3.20	0.03	0.001	4	0.000	0.000	3321	389	430
16280	10.31	5795.3	836.2	7.6	571	16285	0.00	2.70	0.03	0.000	6	0.000	0.000	3306	2175	422
16598	10.31	5795.3	813.3	7.3	579	16603	0.00	2.72	0.10	0.000	4	0.000	0.000	3318	556	419
16891	10.31	5795.3	792.3	7.2	585	16895	0.00	2.62	0.00	0.000	6	0.000	0.000	3320	2112	415
17209	10.31	5795.3	769.9	7.2	593	17217	0.00	3.85	0.00	0.000	4	0.000	0.000	3311	457	416
17507	10.31	5795.3	746.1	7.1	599	17512	0.00	2.83	0.00	0.000	6	0.000	0.000	3337	2119	424
17824	10.31	5795.3	720.4	8.3	607	17829	0.00	2.60	0.03	0.001	4	0.000	0.000	3303	535	415
18116	10.31	5795.3	697.1	7.5	613	18121	0.00	2.78	0.00	0.000	6	0.000	0.000	3306	2099	425
18434	10.31	5795.3	673.5	7.6	621	18439	0.00	3.30	0.00	0.000	4	0.000	0.000	3305	493	418
18727	10.31	5795.3	651.2	8.5	627	18734	0.00	3.55	0.00	0.000	6	0.000	0.000	3324	2133	421
19049	10.31	5795.3	625.4	8.1	635	19054	0.00	2.60	0.05	0.000	4	0.000	0.000	3311	566	416
19341	10.31	5795.3	601.8	8.1	641	19346	0.00	2.70	0.00	0.000	6	0.000	0.000	3294	2097	421
19659	10.31	5795.3	577.1	7.8	649	19664	0.00	2.53	0.00	0.000	4	0.000	0.000	3303	493	415
19952	10.31	5795.3	554.7	6.7	655	19958	0.00	3.12	0.00	0.000	6	0.000	0.000	3312	2167	407
20271	10.31	5795.3	533.2	6.8	663	20278	0.00	3.53	0.00	0.000	4	0.000	0.000	3305	444	408
20568	10.31	5795.3	512.5	7.1	669	20573	0.00	2.80	0.00	0.000	6	0.000	0.000	3309	2091	410
20888	10.31	5795.3	490.3	7.0	680	20896	0.00	3.75	0.00	0.000	4	0.000	0.000	3315	437	417
21194	10.31	5795.3	469.5	7.5	692	21209	0.00	3.28	0.00	0.000	6	0.000	0.000	3310	2096	416
21520	10.31	5795.3	449.1	6.3	708	21524	0.00	2.60	0.00	0.000	4	0.000	0.000	3305	542	424
21821	10.31	5795.3	428.7	6.5	720	21837	0.00	3.30	0.00	0.000	6	0.000	0.000	3324	2184	424
22146	10.31	5795.3	407.7	6.5	736	22154	0.00	3.92	0.00	0.000	4	0.000	0.000	3314	362	423
22454	10.31	5806.2	387.4	5.8	748	22470	0.00	3.55	0.00	0.000	6	0.000	0.000	3316	2052	418
22780	10.33	5806.2	368.0	6.3	764	22785	0.00	3.03	0.03	0.001	4	0.000	0.000	3320	493	412
23079	10.33	5806.2	349.1	6.4	776	23084	0.00	2.80	0.00	0.000	6	0.000	0.000	3288	2153	417
23400	10.33	5806.2	328.5	6.3	791	23405	0.00	2.70	0.03	0.001	4	0.000	0.000	3318	502	414
23700	10.33	5816.0	309.1	5.9	803	23705	0.00	2.90	0.00	0.000	6	0.000	0.000	3300	2095	422
24021	10.35	5816.0	288.4	6.6	818	24029	0.00	3.42	0.00	0.000	4	0.000	0.000	3313	407	411
24329	10.35	5823.3	266.4	6.0	830	24334	0.00	2.72	0.00	0.000	6	0.000	0.000	3307	2180	406
24650	10.36	5823.3	244.4	6.9	845	24657	0.00	3.55	0.00	0.000	4	0.000	0.000	3320	367	418
24964	10.36	5826.5	225.4	6.1	857	24980	0.00	3.45	0.00	0.000	6	0.000	0.000	3297	2192	423
25295	10.37	5841.8	206.3	5.7	873	25303	0.00	3.55	0.03	0.000	4	0.000	0.000	3319	387	423
25609	10.39	5851.4	185.7	5.9	885	25614	0.00	2.70	0.05	0.000	6	0.000	0.000	3320	2177	412
25936	10.41	5869.5	166.9	5.6	900	25941	0.00	3.10	0.00	0.000	4	0.000	0.000	3309	544	414
26243	10.44	5869.5	143.9	7.9	912	26248	0.00	2.50	0.00	0.000	6	0.000	0.000	3319	2076	422
26565	10.44	5876.1	121.4	6.0	927	26569	0.00	2.60	0.00	0.000	4	0.000	0.000	3320	525	418
26878	10.45	5876.1	101.8	6.4	939	26883	0.00	2.70	0.00	0.000	6	0.000	0.000	3319	2034	426
27342	10.45	5903.8	72.7	5.2	996	27354	0.00	2.97	0.00	0.000	4	0.000	0.000	3304	527	424
27721	10.49	5918.5	50.7	5.7	1045	27733	0.00	2.60	0.00	0.000	6	0.000	0.000	3324	2068	415
28189	10.52	5918.5	19.2	6.3	1106	28201	0.00	2.47	0.00	0.000	4	0.000	0.000	3316	408	418
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface