Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 36 * 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 36 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 1 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 -443129.88 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 -443129.88

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 1 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 36 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 022346,4655.283,-12617.600,33,1.1,33,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.045,0.188

_SM_DEPTHo 0.34 KALMAN_X -10651.7,-2960.5,-3227.7,6316.1,4277.9

_SM_ANGLEo -50.0 KALMAN_Y -14381.5,-1148.5,-930.1,-1248.1,1448.6

GPS2 023441,4655.254,-12617.629,14,1.1,14,18.0 MHEAD_RNG_PITCHd_Wd 355.5,318653,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.7,0.999503 ALTIM_TOP_PING 19.7,999.0

SM_CCo 28676,0.00,0.000,0,0,417,453.07 _24V_AH 23.7,87.728

SM_GC 0.34,13.12,0.00,0.00,0.000,0.000,0.000,622,1782,417,-7.48,-5.82,453.07 _10V_AH 9.6,28.363

RAFOS_CLK 0 DATA_FILE_SIZE 37840,1115

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,231440384

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,47,1908,1,0

TT8_MAMPS 0.028379 SOUNDSPEED 1465.0

HUMID 2090 CURRENT 0.073,184.9,1

INTERNAL_PRESSURE 26.1334 GPS 260607,103511,4654.239,-12622.139,30,1.1,30,18.0

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 30 119 85.81 SBE_CT 1850 24 1052.58

Roll_motor 285 60 406.09 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15753.15 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 161 223 853.76

Transponder_ping 0 420 2.49

GPS 15 50 7.29

TT8 6184 19 1182.65

LPSleep 14712 2 326.27

TT8_Active 841 19 161.00

TT8_Sampling 3157 39 1210.07

TT8_CF8 4281 45 1887.64

TT8_Kalman 33 81 26.23

Analog_circuits 2925 12 337.02

GPS_charging 0 0 0.00

Compass 4066 26 1014.93

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

39 -0.83 -116.8 0.0 0.0 0 115 0.00 0.00 -74.18 0.000 2 0.000 0.000 658 1775 2653

122 -0.83 -116.8 3.1 -4.8 7 152 7.32 2.08 -2.80 0.000 4 0.000 0.000 2151 369 2741

501 -0.83 -116.8 48.3 -12.8 57 513 0.35 3.12 0.00 0.000 6 0.000 0.000 2060 2152 2744

956 -0.83 -116.8 98.1 -9.3 118 968 0.08 2.80 0.00 0.000 4 0.000 0.000 2053 370 2741

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

997 -0.25 0.0 100.8 9.4 120 1095 0.85 0.00 95.38 0.000 6 0.000 0.000 2237 2161 2266

state end apogee CONTROL_FINISHED_OK

state start climb

1107 0.83 116.8 111.7 0.0 125 1214 1.10 2.17 94.75 0.000 4 0.000 0.000 2479 3429 1787

1300 0.83 116.8 130.2 -6.8 132 1308 0.38 3.25 0.00 0.000 6 0.000 0.000 2385 1782 1785

1643 0.83 116.8 156.9 -8.5 148 1651 0.35 3.55 0.00 0.000 4 0.000 0.000 2487 3571 1773

1949 0.83 116.8 184.7 -9.3 160 1954 0.00 3.10 0.00 0.000 6 0.000 0.000 2495 1879 1781

2270 0.83 116.8 212.4 -7.6 175 2279 0.00 4.15 0.43 0.001 4 0.000 0.000 2455 3405 1787

2581 0.83 116.8 235.6 -7.9 187 2597 0.38 3.72 0.00 0.000 6 0.000 0.000 2374 1877 1777

2906 0.83 116.8 259.6 -7.5 203 2914 0.45 2.90 0.00 0.000 4 0.000 0.000 2466 3543 1786

3215 0.83 116.8 282.4 -6.8 215 3221 0.35 2.83 0.00 0.000 6 0.000 0.000 2437 1752 1781

3536 0.83 116.8 304.4 -6.6 230 3544 0.43 3.10 0.00 0.000 4 0.000 0.000 2476 3544 1782

3847 0.83 116.8 326.8 -7.5 242 3864 0.38 3.10 0.15 0.001 6 0.000 0.000 2363 1755 1781

4177 0.83 116.8 351.6 -7.5 258 4183 0.32 2.70 0.00 0.000 4 0.000 0.000 2416 3447 1789

4484 0.83 116.8 375.6 -8.3 270 4489 0.00 3.12 0.00 0.000 6 0.000 0.000 2425 1925 1783

4805 0.83 116.8 401.0 -7.9 285 4810 0.00 2.80 0.00 0.000 4 0.000 0.000 2418 3457 1783

5106 0.83 116.8 425.3 -8.3 297 5121 0.00 3.47 0.00 0.000 6 0.000 0.000 2428 1885 1784

5436 0.83 116.8 452.2 -7.9 313 5440 0.00 2.60 0.00 0.000 4 0.000 0.000 2436 3416 1778

5744 0.83 116.8 472.8 -6.5 325 5749 0.00 2.53 0.10 0.000 6 0.000 0.000 2436 1856 1785

6065 0.83 445.7 492.4 -6.2 340 6396 0.00 2.50 313.38 0.000 4 0.000 0.000 2427 3536 448

6695 1.38 445.7 537.1 -7.3 354 6704 0.82 2.70 1.02 0.000 6 0.000 0.000 2624 1802 450

7032 1.38 445.7 560.6 -6.8 362 7038 0.35 2.83 0.12 0.002 4 0.000 0.000 2507 3459 444

7336 1.38 761.7 579.7 -5.7 368 7346 0.38 3.00 3.28 0.000 6 0.000 0.000 2630 1771 432

7700 1.91 1056.2 597.9 -4.9 377 7710 0.30 3.78 1.15 0.001 4 0.000 0.000 2716 3556 428

8002 2.40 1366.6 613.8 -5.5 383 8011 0.38 3.75 0.28 0.000 6 0.000 0.000 2785 1765 421

8328 2.92 1687.6 633.3 -5.9 391 8336 0.60 3.00 0.00 0.000 4 0.000 0.000 2944 3600 428

8635 3.45 1687.6 653.5 -7.1 397 8644 0.40 4.72 0.15 0.000 6 0.000 0.000 3010 1768 425

8959 3.45 1687.6 675.6 -6.8 405 8968 0.10 3.72 0.03 0.001 4 0.000 0.000 2972 3577 420

9262 3.45 1687.6 696.3 -7.2 411 9271 0.22 4.03 0.03 0.005 6 0.000 0.000 3042 1795 431

9588 3.45 1687.6 717.1 -6.3 419 9593 0.00 3.12 0.05 0.000 4 0.000 0.000 3028 3452 420

9838 3.45 1997.9 730.8 -5.5 424 9843 0.00 2.80 0.10 0.000 6 0.000 0.000 3051 1787 419

10157 3.97 2294.4 746.6 -5.0 432 10165 0.65 2.72 0.22 0.000 4 0.000 0.000 3179 3544 416

10305 4.47 2593.7 754.2 -5.1 435 10314 0.38 3.65 0.08 0.000 6 0.000 0.000 3270 1857 416

10640 4.97 2899.0 771.2 -5.3 443 10645 0.00 3.10 0.00 0.000 4 0.000 0.000 3258 3485 419

10936 5.48 2899.0 789.6 -7.2 449 10941 0.00 2.70 0.00 0.000 6 0.000 0.000 3255 1805 425

11255 5.48 2899.0 811.5 -6.8 457 11260 0.00 2.95 0.03 0.001 4 0.000 0.000 3253 3465 421

11555 5.48 3212.6 830.8 -5.6 463 11563 0.00 3.30 0.15 0.000 6 0.000 0.000 3264 1806 421

11880 6.00 3533.5 849.6 -5.9 471 11888 0.00 3.55 0.05 0.000 4 0.000 0.000 3278 3584 416

12176 6.54 3807.5 864.3 -4.1 477 12181 0.00 2.70 0.03 0.000 6 0.000 0.000 3267 1931 426

12493 6.99 4108.9 880.5 -5.2 485 12498 0.00 2.83 0.00 0.000 4 0.000 0.000 3266 3448 418

12789 7.50 4426.5 898.1 -5.8 491 12795 0.00 2.90 0.03 0.001 6 0.000 0.000 3290 1818 417

13108 8.03 4753.9 917.0 -6.2 499 13116 0.00 3.65 0.00 0.000 4 0.000 0.000 3268 3562 423

13406 8.57 5070.0 934.2 -5.7 505 13412 0.00 3.17 0.03 0.000 6 0.000 0.000 3263 1867 420

13725 9.10 5385.2 952.7 -5.7 513 13730 0.00 3.00 0.00 0.000 4 0.000 0.000 3245 3405 414

14022 9.63 5385.2 971.0 -6.3 519 14027 0.00 2.80 0.03 0.000 6 0.000 0.000 3291 1777 412

14340 9.63 5385.2 990.9 -6.3 527 14345 0.00 3.10 0.00 0.000 4 0.000 0.000 3257 3444 421

14633 9.63 5385.2 988.7 7.8 533 14641 0.00 3.65 0.00 0.000 6 0.000 0.000 3260 1763 420

14956 9.63 5385.2 963.4 8.0 541 14964 0.00 3.75 0.00 0.000 4 0.000 0.000 3263 3576 430

15257 9.63 5385.2 938.0 9.0 547 15262 0.00 2.80 0.00 0.000 6 0.000 0.000 3259 1909 419

15575 9.63 5385.2 912.4 7.9 555 15583 0.00 3.45 0.00 0.000 4 0.000 0.000 3261 3413 422

15875 9.63 5385.2 888.2 8.4 561 15879 0.00 2.40 0.00 0.000 6 0.000 0.000 3277 1887 414

16194 9.63 5385.2 861.5 8.7 569 16201 0.00 3.55 0.00 0.000 4 0.000 0.000 3263 3541 425

16493 9.63 5385.2 836.9 7.3 575 16498 0.00 2.50 0.00 0.000 6 0.000 0.000 3256 2002 424

16811 9.63 5385.2 814.1 7.2 583 16816 0.00 2.70 0.05 0.000 4 0.000 0.000 3263 3425 416

17108 9.63 5393.7 794.5 5.9 589 17112 0.00 2.62 0.00 0.000 6 0.000 0.000 3263 1863 423

17426 9.64 5393.7 774.4 6.5 597 17433 0.00 3.55 0.00 0.000 4 0.000 0.000 3277 3506 422

17726 9.64 5393.7 752.8 8.1 603 17731 0.00 2.72 0.00 0.000 6 0.000 0.000 3271 1896 423

18044 9.64 5393.7 728.7 7.8 611 18052 0.00 3.55 0.00 0.000 4 0.000 0.000 3265 3565 418

18344 9.64 5393.7 704.8 7.8 617 18352 0.00 3.35 0.05 0.000 6 0.000 0.000 3269 1761 426

18669 9.64 5393.7 681.8 7.1 625 18676 0.00 3.45 0.00 0.000 4 0.000 0.000 3257 3442 418

18969 9.64 5393.7 660.4 6.5 631 18975 0.00 2.97 0.05 0.000 6 0.000 0.000 3260 1898 421

19288 9.64 5393.7 639.6 6.5 639 19295 0.00 3.28 0.00 0.000 4 0.000 0.000 3285 3439 414

19589 9.64 5393.7 619.1 6.8 645 19594 0.00 2.60 0.00 0.000 6 0.000 0.000 3253 1828 415

19907 9.64 5393.7 596.1 7.5 653 19915 0.00 3.35 0.00 0.000 4 0.000 0.000 3280 3487 420

20210 9.64 5393.7 572.8 7.2 659 20215 0.00 2.92 0.00 0.000 6 0.000 0.000 3244 1798 417

20528 9.64 5393.7 549.5 7.4 667 20532 0.00 2.50 0.00 0.000 4 0.000 0.000 3274 3390 417

20824 9.64 5393.7 527.5 6.5 673 20832 0.00 4.05 0.00 0.000 6 0.000 0.000 3268 1841 423

21147 9.64 5393.7 505.0 7.1 681 21151 0.00 2.50 0.00 0.000 4 0.000 0.000 3254 3387 418

21460 9.64 5419.4 480.7 5.3 691 21464 0.00 2.85 0.00 0.000 6 0.000 0.000 3275 1865 414

21780 9.69 5419.4 459.0 6.8 706 21785 0.00 2.80 0.00 0.000 4 0.000 0.000 3245 3422 419

22086 9.69 5419.4 438.9 6.5 718 22091 0.00 2.60 0.03 0.000 6 0.000 0.000 3281 1996 412

22409 9.69 5424.3 419.1 6.1 733 22416 0.00 3.55 0.00 0.000 4 0.000 0.000 3272 3536 415

22717 9.69 5427.7 400.3 6.1 745 22722 0.00 2.72 0.00 0.000 6 0.000 0.000 3280 1901 416

23038 9.70 5427.7 380.5 6.3 760 23042 0.00 2.83 0.00 0.000 4 0.000 0.000 3259 3407 424

23341 9.70 5427.7 358.2 6.9 772 23346 0.00 3.00 0.00 0.000 6 0.000 0.000 3257 1895 417

23661 9.70 5427.7 335.4 6.8 787 23666 0.00 2.50 0.03 0.000 4 0.000 0.000 3270 3371 422

23962 9.70 5457.0 315.0 5.1 799 23966 0.00 2.80 0.00 0.000 6 0.000 0.000 3276 1854 412

24283 9.75 5467.2 295.7 5.9 814 24290 0.00 3.30 0.00 0.000 4 0.000 0.000 3275 3586 421

24593 9.77 5474.8 277.0 6.0 826 24598 0.00 3.25 0.00 0.000 6 0.000 0.000 3260 1884 419

24914 9.78 5474.8 256.1 7.1 841 24919 0.00 2.80 0.00 0.000 4 0.000 0.000 3268 3420 419

25222 9.78 5475.8 235.9 6.2 853 25227 0.00 2.80 0.00 0.000 6 0.000 0.000 3252 1799 418

25543 9.78 5475.8 213.6 7.3 868 25548 0.00 2.70 0.00 0.000 4 0.000 0.000 3292 3451 423

25847 9.78 5475.8 190.8 8.3 880 25852 0.00 2.80 0.00 0.000 6 0.000 0.000 3273 1782 422

26169 9.78 5475.8 167.3 6.7 895 26176 0.00 3.45 0.00 0.000 4 0.000 0.000 3255 3567 426

26480 9.78 5475.8 145.7 7.5 907 26484 0.00 2.80 0.00 0.000 6 0.000 0.000 3267 1914 421

26800 9.78 5475.8 123.8 6.7 922 26809 0.00 5.12 0.00 0.000 4 0.000 0.000 3259 3607 420

27112 9.78 5498.4 104.2 5.4 934 27118 0.00 2.72 0.03 0.000 6 0.000 0.000 3266 1759 425

27542 9.82 5498.4 79.1 6.4 982 27555 0.00 3.50 0.05 0.000 4 0.000 0.000 3277 3562 418

27921 9.82 5498.4 49.8 7.1 1031 27934 0.00 4.00 0.03 0.000 6 0.000 0.000 3283 1764 419

28399 9.82 5498.4 13.7 8.2 1092 28411 0.00 2.72 0.00 0.000 4 0.000 0.000 3258 3553 417

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	36	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	1	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	-443129.88	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	022346,4655.283,-12617.600,33,1.1,33,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.045,0.188
_SM_DEPTHo	0.34	KALMAN_X	-10651.7,-2960.5,-3227.7,6316.1,4277.9
_SM_ANGLEo	-50.0	KALMAN_Y	-14381.5,-1148.5,-930.1,-1248.1,1448.6
GPS2	023441,4655.254,-12617.629,14,1.1,14,18.0	MHEAD_RNG_PITCHd_Wd	355.5,318653,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.7,0.999503	ALTIM_TOP_PING	19.7,999.0
SM_CCo	28676,0.00,0.000,0,0,417,453.07	_24V_AH	23.7,87.728
SM_GC	0.34,13.12,0.00,0.00,0.000,0.000,0.000,622,1782,417,-7.48,-5.82,453.07	_10V_AH	9.6,28.363
RAFOS_CLK	0	DATA_FILE_SIZE	37840,1115
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,231440384
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,47,1908,1,0
TT8_MAMPS	0.028379	SOUNDSPEED	1465.0
HUMID	2090	CURRENT	0.073,184.9,1
INTERNAL_PRESSURE	26.1334	GPS	260607,103511,4654.239,-12622.139,30,1.1,30,18.0
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	30	119	85.81	SBE_CT	1850	24	1052.58
Roll_motor	285	60	406.09	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15753.15	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	161	223	853.76
Transponder_ping	0	420	2.49
GPS	15	50	7.29
TT8	6184	19	1182.65
LPSleep	14712	2	326.27
TT8_Active	841	19	161.00
TT8_Sampling	3157	39	1210.07
TT8_CF8	4281	45	1887.64
TT8_Kalman	33	81	26.23
Analog_circuits	2925	12	337.02
GPS_charging	0	0	0.00
Compass	4066	26	1014.93
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
39	-0.83	-116.8	0.0	0.0	0	115	0.00	0.00	-74.18	0.000	2	0.000	0.000	658	1775	2653
122	-0.83	-116.8	3.1	-4.8	7	152	7.32	2.08	-2.80	0.000	4	0.000	0.000	2151	369	2741
501	-0.83	-116.8	48.3	-12.8	57	513	0.35	3.12	0.00	0.000	6	0.000	0.000	2060	2152	2744
956	-0.83	-116.8	98.1	-9.3	118	968	0.08	2.80	0.00	0.000	4	0.000	0.000	2053	370	2741
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
997	-0.25	0.0	100.8	9.4	120	1095	0.85	0.00	95.38	0.000	6	0.000	0.000	2237	2161	2266
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1107	0.83	116.8	111.7	0.0	125	1214	1.10	2.17	94.75	0.000	4	0.000	0.000	2479	3429	1787
1300	0.83	116.8	130.2	-6.8	132	1308	0.38	3.25	0.00	0.000	6	0.000	0.000	2385	1782	1785
1643	0.83	116.8	156.9	-8.5	148	1651	0.35	3.55	0.00	0.000	4	0.000	0.000	2487	3571	1773
1949	0.83	116.8	184.7	-9.3	160	1954	0.00	3.10	0.00	0.000	6	0.000	0.000	2495	1879	1781
2270	0.83	116.8	212.4	-7.6	175	2279	0.00	4.15	0.43	0.001	4	0.000	0.000	2455	3405	1787
2581	0.83	116.8	235.6	-7.9	187	2597	0.38	3.72	0.00	0.000	6	0.000	0.000	2374	1877	1777
2906	0.83	116.8	259.6	-7.5	203	2914	0.45	2.90	0.00	0.000	4	0.000	0.000	2466	3543	1786
3215	0.83	116.8	282.4	-6.8	215	3221	0.35	2.83	0.00	0.000	6	0.000	0.000	2437	1752	1781
3536	0.83	116.8	304.4	-6.6	230	3544	0.43	3.10	0.00	0.000	4	0.000	0.000	2476	3544	1782
3847	0.83	116.8	326.8	-7.5	242	3864	0.38	3.10	0.15	0.001	6	0.000	0.000	2363	1755	1781
4177	0.83	116.8	351.6	-7.5	258	4183	0.32	2.70	0.00	0.000	4	0.000	0.000	2416	3447	1789
4484	0.83	116.8	375.6	-8.3	270	4489	0.00	3.12	0.00	0.000	6	0.000	0.000	2425	1925	1783
4805	0.83	116.8	401.0	-7.9	285	4810	0.00	2.80	0.00	0.000	4	0.000	0.000	2418	3457	1783
5106	0.83	116.8	425.3	-8.3	297	5121	0.00	3.47	0.00	0.000	6	0.000	0.000	2428	1885	1784
5436	0.83	116.8	452.2	-7.9	313	5440	0.00	2.60	0.00	0.000	4	0.000	0.000	2436	3416	1778
5744	0.83	116.8	472.8	-6.5	325	5749	0.00	2.53	0.10	0.000	6	0.000	0.000	2436	1856	1785
6065	0.83	445.7	492.4	-6.2	340	6396	0.00	2.50	313.38	0.000	4	0.000	0.000	2427	3536	448
6695	1.38	445.7	537.1	-7.3	354	6704	0.82	2.70	1.02	0.000	6	0.000	0.000	2624	1802	450
7032	1.38	445.7	560.6	-6.8	362	7038	0.35	2.83	0.12	0.002	4	0.000	0.000	2507	3459	444
7336	1.38	761.7	579.7	-5.7	368	7346	0.38	3.00	3.28	0.000	6	0.000	0.000	2630	1771	432
7700	1.91	1056.2	597.9	-4.9	377	7710	0.30	3.78	1.15	0.001	4	0.000	0.000	2716	3556	428
8002	2.40	1366.6	613.8	-5.5	383	8011	0.38	3.75	0.28	0.000	6	0.000	0.000	2785	1765	421
8328	2.92	1687.6	633.3	-5.9	391	8336	0.60	3.00	0.00	0.000	4	0.000	0.000	2944	3600	428
8635	3.45	1687.6	653.5	-7.1	397	8644	0.40	4.72	0.15	0.000	6	0.000	0.000	3010	1768	425
8959	3.45	1687.6	675.6	-6.8	405	8968	0.10	3.72	0.03	0.001	4	0.000	0.000	2972	3577	420
9262	3.45	1687.6	696.3	-7.2	411	9271	0.22	4.03	0.03	0.005	6	0.000	0.000	3042	1795	431
9588	3.45	1687.6	717.1	-6.3	419	9593	0.00	3.12	0.05	0.000	4	0.000	0.000	3028	3452	420
9838	3.45	1997.9	730.8	-5.5	424	9843	0.00	2.80	0.10	0.000	6	0.000	0.000	3051	1787	419
10157	3.97	2294.4	746.6	-5.0	432	10165	0.65	2.72	0.22	0.000	4	0.000	0.000	3179	3544	416
10305	4.47	2593.7	754.2	-5.1	435	10314	0.38	3.65	0.08	0.000	6	0.000	0.000	3270	1857	416
10640	4.97	2899.0	771.2	-5.3	443	10645	0.00	3.10	0.00	0.000	4	0.000	0.000	3258	3485	419
10936	5.48	2899.0	789.6	-7.2	449	10941	0.00	2.70	0.00	0.000	6	0.000	0.000	3255	1805	425
11255	5.48	2899.0	811.5	-6.8	457	11260	0.00	2.95	0.03	0.001	4	0.000	0.000	3253	3465	421
11555	5.48	3212.6	830.8	-5.6	463	11563	0.00	3.30	0.15	0.000	6	0.000	0.000	3264	1806	421
11880	6.00	3533.5	849.6	-5.9	471	11888	0.00	3.55	0.05	0.000	4	0.000	0.000	3278	3584	416
12176	6.54	3807.5	864.3	-4.1	477	12181	0.00	2.70	0.03	0.000	6	0.000	0.000	3267	1931	426
12493	6.99	4108.9	880.5	-5.2	485	12498	0.00	2.83	0.00	0.000	4	0.000	0.000	3266	3448	418
12789	7.50	4426.5	898.1	-5.8	491	12795	0.00	2.90	0.03	0.001	6	0.000	0.000	3290	1818	417
13108	8.03	4753.9	917.0	-6.2	499	13116	0.00	3.65	0.00	0.000	4	0.000	0.000	3268	3562	423
13406	8.57	5070.0	934.2	-5.7	505	13412	0.00	3.17	0.03	0.000	6	0.000	0.000	3263	1867	420
13725	9.10	5385.2	952.7	-5.7	513	13730	0.00	3.00	0.00	0.000	4	0.000	0.000	3245	3405	414
14022	9.63	5385.2	971.0	-6.3	519	14027	0.00	2.80	0.03	0.000	6	0.000	0.000	3291	1777	412
14340	9.63	5385.2	990.9	-6.3	527	14345	0.00	3.10	0.00	0.000	4	0.000	0.000	3257	3444	421
14633	9.63	5385.2	988.7	7.8	533	14641	0.00	3.65	0.00	0.000	6	0.000	0.000	3260	1763	420
14956	9.63	5385.2	963.4	8.0	541	14964	0.00	3.75	0.00	0.000	4	0.000	0.000	3263	3576	430
15257	9.63	5385.2	938.0	9.0	547	15262	0.00	2.80	0.00	0.000	6	0.000	0.000	3259	1909	419
15575	9.63	5385.2	912.4	7.9	555	15583	0.00	3.45	0.00	0.000	4	0.000	0.000	3261	3413	422
15875	9.63	5385.2	888.2	8.4	561	15879	0.00	2.40	0.00	0.000	6	0.000	0.000	3277	1887	414
16194	9.63	5385.2	861.5	8.7	569	16201	0.00	3.55	0.00	0.000	4	0.000	0.000	3263	3541	425
16493	9.63	5385.2	836.9	7.3	575	16498	0.00	2.50	0.00	0.000	6	0.000	0.000	3256	2002	424
16811	9.63	5385.2	814.1	7.2	583	16816	0.00	2.70	0.05	0.000	4	0.000	0.000	3263	3425	416
17108	9.63	5393.7	794.5	5.9	589	17112	0.00	2.62	0.00	0.000	6	0.000	0.000	3263	1863	423
17426	9.64	5393.7	774.4	6.5	597	17433	0.00	3.55	0.00	0.000	4	0.000	0.000	3277	3506	422
17726	9.64	5393.7	752.8	8.1	603	17731	0.00	2.72	0.00	0.000	6	0.000	0.000	3271	1896	423
18044	9.64	5393.7	728.7	7.8	611	18052	0.00	3.55	0.00	0.000	4	0.000	0.000	3265	3565	418
18344	9.64	5393.7	704.8	7.8	617	18352	0.00	3.35	0.05	0.000	6	0.000	0.000	3269	1761	426
18669	9.64	5393.7	681.8	7.1	625	18676	0.00	3.45	0.00	0.000	4	0.000	0.000	3257	3442	418
18969	9.64	5393.7	660.4	6.5	631	18975	0.00	2.97	0.05	0.000	6	0.000	0.000	3260	1898	421
19288	9.64	5393.7	639.6	6.5	639	19295	0.00	3.28	0.00	0.000	4	0.000	0.000	3285	3439	414
19589	9.64	5393.7	619.1	6.8	645	19594	0.00	2.60	0.00	0.000	6	0.000	0.000	3253	1828	415
19907	9.64	5393.7	596.1	7.5	653	19915	0.00	3.35	0.00	0.000	4	0.000	0.000	3280	3487	420
20210	9.64	5393.7	572.8	7.2	659	20215	0.00	2.92	0.00	0.000	6	0.000	0.000	3244	1798	417
20528	9.64	5393.7	549.5	7.4	667	20532	0.00	2.50	0.00	0.000	4	0.000	0.000	3274	3390	417
20824	9.64	5393.7	527.5	6.5	673	20832	0.00	4.05	0.00	0.000	6	0.000	0.000	3268	1841	423
21147	9.64	5393.7	505.0	7.1	681	21151	0.00	2.50	0.00	0.000	4	0.000	0.000	3254	3387	418
21460	9.64	5419.4	480.7	5.3	691	21464	0.00	2.85	0.00	0.000	6	0.000	0.000	3275	1865	414
21780	9.69	5419.4	459.0	6.8	706	21785	0.00	2.80	0.00	0.000	4	0.000	0.000	3245	3422	419
22086	9.69	5419.4	438.9	6.5	718	22091	0.00	2.60	0.03	0.000	6	0.000	0.000	3281	1996	412
22409	9.69	5424.3	419.1	6.1	733	22416	0.00	3.55	0.00	0.000	4	0.000	0.000	3272	3536	415
22717	9.69	5427.7	400.3	6.1	745	22722	0.00	2.72	0.00	0.000	6	0.000	0.000	3280	1901	416
23038	9.70	5427.7	380.5	6.3	760	23042	0.00	2.83	0.00	0.000	4	0.000	0.000	3259	3407	424
23341	9.70	5427.7	358.2	6.9	772	23346	0.00	3.00	0.00	0.000	6	0.000	0.000	3257	1895	417
23661	9.70	5427.7	335.4	6.8	787	23666	0.00	2.50	0.03	0.000	4	0.000	0.000	3270	3371	422
23962	9.70	5457.0	315.0	5.1	799	23966	0.00	2.80	0.00	0.000	6	0.000	0.000	3276	1854	412
24283	9.75	5467.2	295.7	5.9	814	24290	0.00	3.30	0.00	0.000	4	0.000	0.000	3275	3586	421
24593	9.77	5474.8	277.0	6.0	826	24598	0.00	3.25	0.00	0.000	6	0.000	0.000	3260	1884	419
24914	9.78	5474.8	256.1	7.1	841	24919	0.00	2.80	0.00	0.000	4	0.000	0.000	3268	3420	419
25222	9.78	5475.8	235.9	6.2	853	25227	0.00	2.80	0.00	0.000	6	0.000	0.000	3252	1799	418
25543	9.78	5475.8	213.6	7.3	868	25548	0.00	2.70	0.00	0.000	4	0.000	0.000	3292	3451	423
25847	9.78	5475.8	190.8	8.3	880	25852	0.00	2.80	0.00	0.000	6	0.000	0.000	3273	1782	422
26169	9.78	5475.8	167.3	6.7	895	26176	0.00	3.45	0.00	0.000	4	0.000	0.000	3255	3567	426
26480	9.78	5475.8	145.7	7.5	907	26484	0.00	2.80	0.00	0.000	6	0.000	0.000	3267	1914	421
26800	9.78	5475.8	123.8	6.7	922	26809	0.00	5.12	0.00	0.000	4	0.000	0.000	3259	3607	420
27112	9.78	5498.4	104.2	5.4	934	27118	0.00	2.72	0.03	0.000	6	0.000	0.000	3266	1759	425
27542	9.82	5498.4	79.1	6.4	982	27555	0.00	3.50	0.05	0.000	4	0.000	0.000	3277	3562	418
27921	9.82	5498.4	49.8	7.1	1031	27934	0.00	4.00	0.03	0.000	6	0.000	0.000	3283	1764	419
28399	9.82	5498.4	13.7	8.2	1092	28411	0.00	2.72	0.00	0.000	4	0.000	0.000	3258	3553	417
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface