Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 23 * 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 23 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 4 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 30 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 -442773.97 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 -442773.97

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 4 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 30 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 23 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 173152,4659.040,-12505.743,7,1.1,7,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 4 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.064,0.182

_SM_DEPTHo 0.34 KALMAN_X 42021.2,-2423.4,-1395.0,41781.2,2553.3

_SM_ANGLEo -50.0 KALMAN_Y -8631.3,-815.1,-272.9,-1089.3,1168.7

GPS2 174213,4659.021,-12505.740,17,1.1,17,18.0 MHEAD_RNG_PITCHd_Wd 1.5,237246,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999495 ALTIM_TOP_PING 19.8,999.0

SM_CCo 28941,0.00,0.000,0,0,417,450.86 _24V_AH 23.7,75.039

SM_GC 0.34,12.98,0.00,0.00,0.000,0.000,0.000,645,1826,417,-7.23,-4.47,450.86 _10V_AH 9.6,25.950

RAFOS_CLK 0 DATA_FILE_SIZE 37814,1155

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,235786240

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,67,1820,0,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2019 CURRENT 0.110,321.6,1

INTERNAL_PRESSURE 26.0748 GPS 220607,014706,4700.383,-12511.715,28,1.1,28,18.0

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 32 119 92.65 SBE_CT 1952 24 1110.81

Roll_motor 271 60 385.86 nil 0 0 0.00

VBD_pump_during_apogee 513 1300 15833.26 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 155 223 823.54

Transponder_ping 0 420 2.49

GPS 17 50 8.42

TT8 6386 19 1221.38

LPSleep 14711 2 326.25

TT8_Active 882 19 168.76

TT8_Sampling 3215 39 1232.31

TT8_CF8 4222 45 1861.35

TT8_Kalman 33 81 26.24

Analog_circuits 2987 12 344.12

GPS_charging 0 0 0.00

Compass 4187 26 1045.30

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

39 -0.83 -116.8 0.0 0.0 0 115 0.00 0.00 -73.72 0.000 2 0.000 0.000 615 2112 2641

121 -0.83 -116.8 3.8 -5.7 7 152 7.65 2.65 -3.42 0.000 4 0.000 0.000 2144 590 2752

503 -0.83 -116.8 52.1 -11.5 57 515 0.43 2.92 0.00 0.000 6 0.000 0.000 2062 2176 2744

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

960 -0.25 0.0 100.3 9.2 118 1059 0.75 0.00 96.47 0.000 6 0.000 0.000 2240 1820 2271

state end apogee CONTROL_FINISHED_OK

state start climb

1071 0.83 116.8 109.2 0.0 123 1178 1.12 2.50 95.25 0.000 4 0.000 0.000 2502 540 1786

1357 0.83 116.8 137.0 -9.4 133 1363 0.15 2.70 0.00 0.000 6 0.000 0.000 2471 2171 1784

1678 0.83 116.8 164.8 -8.4 148 1682 0.00 2.33 0.00 0.000 4 0.000 0.000 2427 3446 1784

1977 0.83 116.8 186.1 -6.9 160 1993 0.00 3.45 0.00 0.000 6 0.000 0.000 2435 1923 1784

2302 0.83 116.8 210.5 -7.9 176 2308 0.00 3.25 0.00 0.000 4 0.000 0.000 2433 3437 1784

2602 0.83 116.8 234.4 -8.1 188 2618 0.00 3.45 0.00 0.000 6 0.000 0.000 2440 1893 1779

2928 0.83 116.8 260.0 -7.8 204 2935 0.00 3.35 0.00 0.000 4 0.000 0.000 2418 3575 1779

3235 0.83 116.8 283.3 -7.4 216 3240 0.03 2.70 0.00 0.000 6 0.000 0.000 2414 1771 1782

3556 0.83 441.6 304.9 -6.0 231 3890 0.00 3.42 310.73 0.000 4 0.000 0.000 2451 3627 464

4187 1.37 441.6 346.3 -7.2 254 4195 0.85 2.90 0.00 0.000 6 0.000 0.000 2615 1863 467

4531 1.37 441.6 370.0 -7.4 270 4539 0.35 3.65 0.00 0.000 4 0.000 0.000 2508 3518 468

4836 1.37 441.6 394.0 -6.4 282 4853 0.32 3.28 1.60 0.000 6 0.000 0.000 2605 1975 463

5167 1.37 441.6 418.3 -7.2 298 5172 0.50 2.30 0.00 0.000 4 0.000 0.000 2509 3405 450

5470 1.37 441.6 442.2 -7.0 310 5476 0.50 2.70 0.00 0.000 6 0.000 0.000 2570 1873 458

5791 1.37 441.6 465.0 -6.8 325 5796 0.32 2.53 0.00 0.000 4 0.000 0.000 2582 3421 460

6096 1.37 758.8 483.9 -5.7 337 6114 0.03 2.62 8.05 0.000 6 0.000 0.000 2578 1845 431

6447 1.90 1074.0 502.3 -5.6 353 6455 0.70 3.62 0.00 0.000 4 0.000 0.000 2727 3518 427

6750 2.43 1074.0 523.9 -7.3 359 6759 0.73 2.70 0.20 0.000 6 0.000 0.000 2829 1857 432

7074 2.43 1074.0 548.7 -7.7 367 7080 0.45 2.50 0.03 0.001 4 0.000 0.000 2760 3393 433

7369 2.43 1074.0 572.8 -7.8 373 7374 0.38 2.55 0.03 0.000 6 0.000 0.000 2796 1833 427

7687 2.43 1074.0 595.6 -7.2 381 7696 0.38 3.25 0.10 0.001 4 0.000 0.000 2748 3505 429

7985 2.43 1397.3 615.5 -5.9 387 7994 0.40 3.53 0.00 0.000 6 0.000 0.000 2842 1827 424

8310 2.97 1716.2 634.2 -5.8 395 8317 0.38 2.60 0.28 0.001 4 0.000 0.000 2887 3378 429

8616 3.50 1716.2 653.5 -6.8 401 8625 0.82 3.33 0.03 0.000 6 0.000 0.000 3072 1868 423

8945 3.50 1716.2 676.6 -7.2 409 8954 0.32 3.45 0.08 0.001 4 0.000 0.000 2987 3507 419

9249 3.50 1716.2 698.8 -7.0 415 9257 0.38 2.95 0.22 0.000 6 0.000 0.000 3078 1963 428

9577 3.50 1716.2 721.2 -7.1 423 9582 0.47 2.50 0.00 0.000 4 0.000 0.000 2994 3376 421

9869 3.50 1716.2 741.4 -7.1 429 9874 0.00 2.80 0.03 0.000 6 0.000 0.000 2982 1905 423

10188 3.50 2025.8 759.8 -5.4 437 10196 0.50 2.90 0.22 0.001 4 0.000 0.000 3074 3563 421

10485 4.02 2331.1 776.3 -5.3 443 10491 0.40 2.70 0.03 0.000 6 0.000 0.000 3124 1782 423

10810 4.53 2656.6 795.3 -6.0 451 10819 0.57 3.28 0.03 0.001 4 0.000 0.000 3281 3433 427

11110 5.07 2977.8 812.8 -5.9 457 11115 0.00 3.10 0.00 0.000 6 0.000 0.000 3240 1774 429

11429 5.61 3299.6 830.3 -5.9 465 11434 0.00 2.80 0.17 0.000 4 0.000 0.000 3261 3422 422

11724 6.14 3627.2 848.2 -6.1 471 11730 0.00 3.05 0.03 0.000 6 0.000 0.000 3282 1855 427

12044 6.69 3952.5 867.1 -6.0 479 12049 0.00 2.92 0.05 0.000 4 0.000 0.000 3278 3403 420

12339 7.23 4276.5 886.1 -6.0 485 12345 0.00 3.12 0.00 0.000 6 0.000 0.000 3262 1856 421

12658 7.77 4590.0 904.0 -5.6 493 12665 0.00 3.35 0.00 0.000 4 0.000 0.000 3280 3523 423

12956 8.30 4915.4 921.5 -6.0 499 12964 0.00 3.62 0.00 0.000 6 0.000 0.000 3222 1862 423

13279 8.84 5231.6 939.8 -5.7 507 13287 0.00 3.35 0.03 0.001 4 0.000 0.000 3272 3537 422

13584 9.37 5555.6 957.2 -6.0 513 13588 0.00 2.83 0.00 0.000 6 0.000 0.000 3262 1763 423

13902 9.91 5887.1 977.1 -6.2 521 13907 0.00 3.28 0.00 0.000 4 0.000 0.000 3285 3399 419

14199 10.46 6203.9 994.1 -5.7 527 14206 0.00 3.35 0.00 0.000 6 0.000 0.000 3252 1775 419

14523 10.99 6228.7 989.8 5.3 535 14530 0.00 3.75 0.00 0.000 4 0.000 0.000 3240 3579 421

14822 11.03 6228.7 964.0 8.4 541 14826 0.00 2.80 0.00 0.000 6 0.000 0.000 3294 1835 416

15140 11.03 6228.7 937.9 8.2 549 15144 0.00 2.62 0.00 0.000 4 0.000 0.000 3241 3386 415

15433 11.03 6228.7 915.3 7.1 555 15438 0.00 3.10 0.00 0.000 6 0.000 0.000 3265 1978 419

15751 11.03 6228.7 891.5 7.7 563 15756 0.00 2.60 0.03 0.001 4 0.000 0.000 3260 3376 415

16045 11.03 6228.7 868.6 7.8 569 16049 0.00 2.55 0.00 0.000 6 0.000 0.000 3277 1950 417

16363 11.03 6228.7 843.0 8.2 577 16367 0.00 3.05 0.00 0.000 4 0.000 0.000 3287 3365 415

16656 11.03 6228.7 819.7 7.2 583 16664 0.00 3.65 0.00 0.000 6 0.000 0.000 3284 1810 421

16979 11.03 6228.7 796.0 7.4 591 16984 0.00 2.62 0.03 0.001 4 0.000 0.000 3263 3373 420

17273 11.03 6228.7 772.9 8.2 597 17280 0.00 3.33 0.00 0.000 6 0.000 0.000 3245 1840 424

17596 11.03 6228.7 746.2 8.4 605 17601 0.00 3.05 0.00 0.000 4 0.000 0.000 3254 3346 422

17890 11.03 6228.7 722.9 7.5 611 17894 0.00 2.60 0.03 0.000 6 0.000 0.000 3253 1834 417

18207 11.03 6228.7 699.2 7.6 619 18212 0.00 2.53 0.00 0.000 4 0.000 0.000 3265 3436 420

18502 11.03 6228.7 674.9 7.9 625 18506 0.00 2.80 0.00 0.000 6 0.000 0.000 3267 1916 424

18819 11.03 6228.7 652.0 6.7 633 18824 0.00 2.53 0.03 0.000 4 0.000 0.000 3273 3358 420

19114 11.03 6234.6 633.4 6.0 639 19122 0.00 3.25 0.08 0.000 6 0.000 0.000 3278 1855 418

19438 11.04 6234.6 613.1 6.5 647 19443 0.00 2.70 0.00 0.000 4 0.000 0.000 3301 3408 419

19733 11.04 6364.4 594.4 1.4 653 19738 0.00 3.05 0.08 0.000 6 0.000 0.000 3275 1848 421

20052 11.26 6364.4 574.2 6.5 661 20060 0.00 3.92 0.00 0.000 4 0.000 0.000 3266 3352 418

20351 11.26 6364.6 553.3 6.2 667 20358 0.00 3.33 0.00 0.000 6 0.000 0.000 3288 1799 420

20673 11.26 6364.6 530.9 7.0 675 20677 0.00 2.60 0.00 0.000 4 0.000 0.000 3260 3355 419

20968 11.26 6370.1 511.1 6.0 681 20975 0.00 3.40 0.00 0.000 6 0.000 0.000 3258 1782 422

21292 11.27 6370.1 490.4 6.7 692 21297 0.00 2.60 0.00 0.000 4 0.000 0.000 3274 3367 417

21597 11.27 6370.1 469.9 7.8 704 21602 0.00 2.60 0.00 0.000 6 0.000 0.000 3265 1959 417

21919 11.27 6370.1 448.4 6.7 719 21923 0.00 2.62 0.00 0.000 4 0.000 0.000 3244 3367 420

22218 11.27 6370.1 428.2 6.7 731 22234 0.00 3.42 0.03 0.000 6 0.000 0.000 3272 1828 416

22548 11.27 6370.1 406.4 6.7 747 22553 0.00 2.65 0.00 0.000 4 0.000 0.000 3250 3381 420

22854 11.27 6412.6 387.7 4.6 759 22869 0.00 3.25 0.00 0.000 6 0.000 0.000 3272 1828 426

23185 11.34 6412.6 368.4 6.5 775 23189 0.00 2.90 0.00 0.000 4 0.000 0.000 3269 3367 415

23497 11.34 6417.1 347.7 6.1 787 23501 0.00 2.50 0.00 0.000 6 0.000 0.000 3276 1927 416

23817 11.35 6417.1 326.1 6.7 802 23827 0.00 3.30 0.00 0.000 4 0.000 0.000 3282 3570 426

24144 11.35 6436.2 305.1 5.5 814 24149 0.00 3.10 0.00 0.000 6 0.000 0.000 3257 1808 415

24476 11.38 6436.2 285.1 6.5 830 24484 0.00 3.75 0.00 0.000 4 0.000 0.000 3272 3530 419

24795 11.38 6436.2 262.1 7.8 842 24800 0.00 2.90 0.00 0.000 6 0.000 0.000 3280 1896 419

25117 11.38 6436.2 240.6 6.3 857 25124 0.00 3.83 0.00 0.000 4 0.000 0.000 3281 3549 425

25428 11.38 6436.2 222.3 6.7 869 25433 0.00 3.20 0.00 0.000 6 0.000 0.000 3275 1770 422

25750 11.38 6436.2 202.4 6.9 884 25754 0.00 2.70 0.00 0.000 4 0.000 0.000 3270 3398 420

26056 11.38 6436.2 180.3 6.9 896 26071 0.00 3.45 0.00 0.000 6 0.000 0.000 3273 1863 412

26382 11.38 6436.2 157.0 6.4 912 26387 0.00 3.25 0.00 0.000 4 0.000 0.000 3266 3437 424

26684 11.38 6436.2 137.1 9.4 924 26689 0.00 2.80 0.00 0.000 6 0.000 0.000 3280 1801 423

27005 11.38 6436.2 113.9 6.5 939 27011 0.00 3.25 0.00 0.000 4 0.000 0.000 3254 3334 415

27342 11.38 6458.0 89.9 5.4 965 27354 0.00 2.58 0.00 0.000 6 0.000 0.000 3294 1920 418

27821 11.42 6460.1 63.6 6.2 1026 27834 0.00 3.20 0.00 0.000 4 0.000 0.000 3279 3573 410

28208 11.42 6493.6 40.9 5.0 1075 28221 0.00 3.45 0.00 0.000 6 0.000 0.000 3271 1812 415

28693 11.48 6493.6 10.7 6.9 1136 28705 0.00 2.70 0.00 0.000 4 0.000 0.000 3291 3572 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	23	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	4	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	30	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	-442773.97	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	173152,4659.040,-12505.743,7,1.1,7,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	4	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.064,0.182
_SM_DEPTHo	0.34	KALMAN_X	42021.2,-2423.4,-1395.0,41781.2,2553.3
_SM_ANGLEo	-50.0	KALMAN_Y	-8631.3,-815.1,-272.9,-1089.3,1168.7
GPS2	174213,4659.021,-12505.740,17,1.1,17,18.0	MHEAD_RNG_PITCHd_Wd	1.5,237246,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999495	ALTIM_TOP_PING	19.8,999.0
SM_CCo	28941,0.00,0.000,0,0,417,450.86	_24V_AH	23.7,75.039
SM_GC	0.34,12.98,0.00,0.00,0.000,0.000,0.000,645,1826,417,-7.23,-4.47,450.86	_10V_AH	9.6,25.950
RAFOS_CLK	0	DATA_FILE_SIZE	37814,1155
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,235786240
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,67,1820,0,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2019	CURRENT	0.110,321.6,1
INTERNAL_PRESSURE	26.0748	GPS	220607,014706,4700.383,-12511.715,28,1.1,28,18.0
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	32	119	92.65	SBE_CT	1952	24	1110.81
Roll_motor	271	60	385.86	nil	0	0	0.00
VBD_pump_during_apogee	513	1300	15833.26	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	155	223	823.54
Transponder_ping	0	420	2.49
GPS	17	50	8.42
TT8	6386	19	1221.38
LPSleep	14711	2	326.25
TT8_Active	882	19	168.76
TT8_Sampling	3215	39	1232.31
TT8_CF8	4222	45	1861.35
TT8_Kalman	33	81	26.24
Analog_circuits	2987	12	344.12
GPS_charging	0	0	0.00
Compass	4187	26	1045.30
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
39	-0.83	-116.8	0.0	0.0	0	115	0.00	0.00	-73.72	0.000	2	0.000	0.000	615	2112	2641
121	-0.83	-116.8	3.8	-5.7	7	152	7.65	2.65	-3.42	0.000	4	0.000	0.000	2144	590	2752
503	-0.83	-116.8	52.1	-11.5	57	515	0.43	2.92	0.00	0.000	6	0.000	0.000	2062	2176	2744
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
960	-0.25	0.0	100.3	9.2	118	1059	0.75	0.00	96.47	0.000	6	0.000	0.000	2240	1820	2271
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1071	0.83	116.8	109.2	0.0	123	1178	1.12	2.50	95.25	0.000	4	0.000	0.000	2502	540	1786
1357	0.83	116.8	137.0	-9.4	133	1363	0.15	2.70	0.00	0.000	6	0.000	0.000	2471	2171	1784
1678	0.83	116.8	164.8	-8.4	148	1682	0.00	2.33	0.00	0.000	4	0.000	0.000	2427	3446	1784
1977	0.83	116.8	186.1	-6.9	160	1993	0.00	3.45	0.00	0.000	6	0.000	0.000	2435	1923	1784
2302	0.83	116.8	210.5	-7.9	176	2308	0.00	3.25	0.00	0.000	4	0.000	0.000	2433	3437	1784
2602	0.83	116.8	234.4	-8.1	188	2618	0.00	3.45	0.00	0.000	6	0.000	0.000	2440	1893	1779
2928	0.83	116.8	260.0	-7.8	204	2935	0.00	3.35	0.00	0.000	4	0.000	0.000	2418	3575	1779
3235	0.83	116.8	283.3	-7.4	216	3240	0.03	2.70	0.00	0.000	6	0.000	0.000	2414	1771	1782
3556	0.83	441.6	304.9	-6.0	231	3890	0.00	3.42	310.73	0.000	4	0.000	0.000	2451	3627	464
4187	1.37	441.6	346.3	-7.2	254	4195	0.85	2.90	0.00	0.000	6	0.000	0.000	2615	1863	467
4531	1.37	441.6	370.0	-7.4	270	4539	0.35	3.65	0.00	0.000	4	0.000	0.000	2508	3518	468
4836	1.37	441.6	394.0	-6.4	282	4853	0.32	3.28	1.60	0.000	6	0.000	0.000	2605	1975	463
5167	1.37	441.6	418.3	-7.2	298	5172	0.50	2.30	0.00	0.000	4	0.000	0.000	2509	3405	450
5470	1.37	441.6	442.2	-7.0	310	5476	0.50	2.70	0.00	0.000	6	0.000	0.000	2570	1873	458
5791	1.37	441.6	465.0	-6.8	325	5796	0.32	2.53	0.00	0.000	4	0.000	0.000	2582	3421	460
6096	1.37	758.8	483.9	-5.7	337	6114	0.03	2.62	8.05	0.000	6	0.000	0.000	2578	1845	431
6447	1.90	1074.0	502.3	-5.6	353	6455	0.70	3.62	0.00	0.000	4	0.000	0.000	2727	3518	427
6750	2.43	1074.0	523.9	-7.3	359	6759	0.73	2.70	0.20	0.000	6	0.000	0.000	2829	1857	432
7074	2.43	1074.0	548.7	-7.7	367	7080	0.45	2.50	0.03	0.001	4	0.000	0.000	2760	3393	433
7369	2.43	1074.0	572.8	-7.8	373	7374	0.38	2.55	0.03	0.000	6	0.000	0.000	2796	1833	427
7687	2.43	1074.0	595.6	-7.2	381	7696	0.38	3.25	0.10	0.001	4	0.000	0.000	2748	3505	429
7985	2.43	1397.3	615.5	-5.9	387	7994	0.40	3.53	0.00	0.000	6	0.000	0.000	2842	1827	424
8310	2.97	1716.2	634.2	-5.8	395	8317	0.38	2.60	0.28	0.001	4	0.000	0.000	2887	3378	429
8616	3.50	1716.2	653.5	-6.8	401	8625	0.82	3.33	0.03	0.000	6	0.000	0.000	3072	1868	423
8945	3.50	1716.2	676.6	-7.2	409	8954	0.32	3.45	0.08	0.001	4	0.000	0.000	2987	3507	419
9249	3.50	1716.2	698.8	-7.0	415	9257	0.38	2.95	0.22	0.000	6	0.000	0.000	3078	1963	428
9577	3.50	1716.2	721.2	-7.1	423	9582	0.47	2.50	0.00	0.000	4	0.000	0.000	2994	3376	421
9869	3.50	1716.2	741.4	-7.1	429	9874	0.00	2.80	0.03	0.000	6	0.000	0.000	2982	1905	423
10188	3.50	2025.8	759.8	-5.4	437	10196	0.50	2.90	0.22	0.001	4	0.000	0.000	3074	3563	421
10485	4.02	2331.1	776.3	-5.3	443	10491	0.40	2.70	0.03	0.000	6	0.000	0.000	3124	1782	423
10810	4.53	2656.6	795.3	-6.0	451	10819	0.57	3.28	0.03	0.001	4	0.000	0.000	3281	3433	427
11110	5.07	2977.8	812.8	-5.9	457	11115	0.00	3.10	0.00	0.000	6	0.000	0.000	3240	1774	429
11429	5.61	3299.6	830.3	-5.9	465	11434	0.00	2.80	0.17	0.000	4	0.000	0.000	3261	3422	422
11724	6.14	3627.2	848.2	-6.1	471	11730	0.00	3.05	0.03	0.000	6	0.000	0.000	3282	1855	427
12044	6.69	3952.5	867.1	-6.0	479	12049	0.00	2.92	0.05	0.000	4	0.000	0.000	3278	3403	420
12339	7.23	4276.5	886.1	-6.0	485	12345	0.00	3.12	0.00	0.000	6	0.000	0.000	3262	1856	421
12658	7.77	4590.0	904.0	-5.6	493	12665	0.00	3.35	0.00	0.000	4	0.000	0.000	3280	3523	423
12956	8.30	4915.4	921.5	-6.0	499	12964	0.00	3.62	0.00	0.000	6	0.000	0.000	3222	1862	423
13279	8.84	5231.6	939.8	-5.7	507	13287	0.00	3.35	0.03	0.001	4	0.000	0.000	3272	3537	422
13584	9.37	5555.6	957.2	-6.0	513	13588	0.00	2.83	0.00	0.000	6	0.000	0.000	3262	1763	423
13902	9.91	5887.1	977.1	-6.2	521	13907	0.00	3.28	0.00	0.000	4	0.000	0.000	3285	3399	419
14199	10.46	6203.9	994.1	-5.7	527	14206	0.00	3.35	0.00	0.000	6	0.000	0.000	3252	1775	419
14523	10.99	6228.7	989.8	5.3	535	14530	0.00	3.75	0.00	0.000	4	0.000	0.000	3240	3579	421
14822	11.03	6228.7	964.0	8.4	541	14826	0.00	2.80	0.00	0.000	6	0.000	0.000	3294	1835	416
15140	11.03	6228.7	937.9	8.2	549	15144	0.00	2.62	0.00	0.000	4	0.000	0.000	3241	3386	415
15433	11.03	6228.7	915.3	7.1	555	15438	0.00	3.10	0.00	0.000	6	0.000	0.000	3265	1978	419
15751	11.03	6228.7	891.5	7.7	563	15756	0.00	2.60	0.03	0.001	4	0.000	0.000	3260	3376	415
16045	11.03	6228.7	868.6	7.8	569	16049	0.00	2.55	0.00	0.000	6	0.000	0.000	3277	1950	417
16363	11.03	6228.7	843.0	8.2	577	16367	0.00	3.05	0.00	0.000	4	0.000	0.000	3287	3365	415
16656	11.03	6228.7	819.7	7.2	583	16664	0.00	3.65	0.00	0.000	6	0.000	0.000	3284	1810	421
16979	11.03	6228.7	796.0	7.4	591	16984	0.00	2.62	0.03	0.001	4	0.000	0.000	3263	3373	420
17273	11.03	6228.7	772.9	8.2	597	17280	0.00	3.33	0.00	0.000	6	0.000	0.000	3245	1840	424
17596	11.03	6228.7	746.2	8.4	605	17601	0.00	3.05	0.00	0.000	4	0.000	0.000	3254	3346	422
17890	11.03	6228.7	722.9	7.5	611	17894	0.00	2.60	0.03	0.000	6	0.000	0.000	3253	1834	417
18207	11.03	6228.7	699.2	7.6	619	18212	0.00	2.53	0.00	0.000	4	0.000	0.000	3265	3436	420
18502	11.03	6228.7	674.9	7.9	625	18506	0.00	2.80	0.00	0.000	6	0.000	0.000	3267	1916	424
18819	11.03	6228.7	652.0	6.7	633	18824	0.00	2.53	0.03	0.000	4	0.000	0.000	3273	3358	420
19114	11.03	6234.6	633.4	6.0	639	19122	0.00	3.25	0.08	0.000	6	0.000	0.000	3278	1855	418
19438	11.04	6234.6	613.1	6.5	647	19443	0.00	2.70	0.00	0.000	4	0.000	0.000	3301	3408	419
19733	11.04	6364.4	594.4	1.4	653	19738	0.00	3.05	0.08	0.000	6	0.000	0.000	3275	1848	421
20052	11.26	6364.4	574.2	6.5	661	20060	0.00	3.92	0.00	0.000	4	0.000	0.000	3266	3352	418
20351	11.26	6364.6	553.3	6.2	667	20358	0.00	3.33	0.00	0.000	6	0.000	0.000	3288	1799	420
20673	11.26	6364.6	530.9	7.0	675	20677	0.00	2.60	0.00	0.000	4	0.000	0.000	3260	3355	419
20968	11.26	6370.1	511.1	6.0	681	20975	0.00	3.40	0.00	0.000	6	0.000	0.000	3258	1782	422
21292	11.27	6370.1	490.4	6.7	692	21297	0.00	2.60	0.00	0.000	4	0.000	0.000	3274	3367	417
21597	11.27	6370.1	469.9	7.8	704	21602	0.00	2.60	0.00	0.000	6	0.000	0.000	3265	1959	417
21919	11.27	6370.1	448.4	6.7	719	21923	0.00	2.62	0.00	0.000	4	0.000	0.000	3244	3367	420
22218	11.27	6370.1	428.2	6.7	731	22234	0.00	3.42	0.03	0.000	6	0.000	0.000	3272	1828	416
22548	11.27	6370.1	406.4	6.7	747	22553	0.00	2.65	0.00	0.000	4	0.000	0.000	3250	3381	420
22854	11.27	6412.6	387.7	4.6	759	22869	0.00	3.25	0.00	0.000	6	0.000	0.000	3272	1828	426
23185	11.34	6412.6	368.4	6.5	775	23189	0.00	2.90	0.00	0.000	4	0.000	0.000	3269	3367	415
23497	11.34	6417.1	347.7	6.1	787	23501	0.00	2.50	0.00	0.000	6	0.000	0.000	3276	1927	416
23817	11.35	6417.1	326.1	6.7	802	23827	0.00	3.30	0.00	0.000	4	0.000	0.000	3282	3570	426
24144	11.35	6436.2	305.1	5.5	814	24149	0.00	3.10	0.00	0.000	6	0.000	0.000	3257	1808	415
24476	11.38	6436.2	285.1	6.5	830	24484	0.00	3.75	0.00	0.000	4	0.000	0.000	3272	3530	419
24795	11.38	6436.2	262.1	7.8	842	24800	0.00	2.90	0.00	0.000	6	0.000	0.000	3280	1896	419
25117	11.38	6436.2	240.6	6.3	857	25124	0.00	3.83	0.00	0.000	4	0.000	0.000	3281	3549	425
25428	11.38	6436.2	222.3	6.7	869	25433	0.00	3.20	0.00	0.000	6	0.000	0.000	3275	1770	422
25750	11.38	6436.2	202.4	6.9	884	25754	0.00	2.70	0.00	0.000	4	0.000	0.000	3270	3398	420
26056	11.38	6436.2	180.3	6.9	896	26071	0.00	3.45	0.00	0.000	6	0.000	0.000	3273	1863	412
26382	11.38	6436.2	157.0	6.4	912	26387	0.00	3.25	0.00	0.000	4	0.000	0.000	3266	3437	424
26684	11.38	6436.2	137.1	9.4	924	26689	0.00	2.80	0.00	0.000	6	0.000	0.000	3280	1801	423
27005	11.38	6436.2	113.9	6.5	939	27011	0.00	3.25	0.00	0.000	4	0.000	0.000	3254	3334	415
27342	11.38	6458.0	89.9	5.4	965	27354	0.00	2.58	0.00	0.000	6	0.000	0.000	3294	1920	418
27821	11.42	6460.1	63.6	6.2	1026	27834	0.00	3.20	0.00	0.000	4	0.000	0.000	3279	3573	410
28208	11.42	6493.6	40.9	5.0	1075	28221	0.00	3.45	0.00	0.000	6	0.000	0.000	3271	1812	415
28693	11.48	6493.6	10.7	6.9	1136	28705	0.00	2.70	0.00	0.000	4	0.000	0.000	3291	3572	418
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface