Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 4 * 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 4 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 2 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 8 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 -442316.91 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 -442316.91

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 2 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 8 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 4 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 210609,4703.944,-12600.976,24,1.1,24,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.177,0.076

_SM_DEPTHo 0.34 KALMAN_X 4620.2,1027.1,1225.2,3193.2,-1594.1

_SM_ANGLEo -50.0 KALMAN_Y -993.7,-185.1,-269.4,-191.5,382.1

GPS2 211536,4703.971,-12601.054,29,1.1,30,18.0 MHEAD_RNG_PITCHd_Wd 48.8,293322,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999512 ALTIM_TOP_PING 19.4,999.0

SM_CCo 29433,0.00,0.000,0,0,416,452.33 _24V_AH 23.7,58.288

SM_GC 0.34,13.52,0.00,0.00,0.000,0.000,0.000,619,2183,416,-7.31,5.94,452.33 _10V_AH 9.6,22.669

RAFOS_CLK 0 DATA_FILE_SIZE 40958,1176

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,241713152

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,66,1892,5,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2111 CURRENT 0.071,299.2,1

INTERNAL_PRESSURE 26.0455 GPS 160607,052814,4703.775,-12557.817,9,1.1,9,18.0

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 36 119 101.81 SBE_CT 1912 24 1088.03

Roll_motor 280 60 398.94 nil 0 0 0.00

VBD_pump_during_apogee 513 1300 15826.33 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 129 223 683.92

Transponder_ping 0 420 2.49

GPS 30 50 14.64

TT8 6341 19 1212.76

LPSleep 15294 2 339.17

TT8_Active 900 19 172.20

TT8_Sampling 3247 39 1244.58

TT8_CF8 4067 45 1793.28

TT8_Kalman 32 81 25.44

Analog_circuits 3029 12 348.96

GPS_charging 0 0 0.00

Compass 4017 26 1002.79

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

43 -0.83 -116.8 0.0 0.0 0 119 0.00 0.00 -73.68 0.000 2 0.000 0.000 653 1947 2653

126 -0.83 -116.8 3.1 -5.0 7 155 7.28 2.33 -3.12 0.000 4 0.000 0.000 2101 3493 2743

498 -0.83 -116.8 47.0 -11.7 57 511 0.03 3.10 0.00 0.000 6 0.000 0.000 2112 1838 2744

950 -0.83 -116.8 95.8 -9.6 118 963 0.35 3.75 0.00 0.000 4 0.000 0.000 2004 3622 2740

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

1019 -0.25 0.0 101.0 9.0 124 1123 1.12 0.00 95.75 0.000 6 0.000 0.000 2247 1822 2266

state end apogee CONTROL_FINISHED_OK

state start climb

1129 0.83 116.8 109.9 0.0 129 1236 1.38 2.60 94.25 0.000 4 0.000 0.000 2478 518 1786

1481 0.83 116.8 141.5 -8.8 141 1493 0.40 2.85 0.00 0.000 6 0.000 0.000 2390 2180 1785

1802 0.83 116.8 171.3 -8.7 157 1810 0.35 3.55 0.00 0.000 4 0.000 0.000 2510 402 1785

2104 0.83 116.8 194.4 -7.4 169 2121 0.40 3.55 0.00 0.000 6 0.000 0.000 2397 2045 1787

2430 0.83 116.8 217.5 -6.9 185 2431 0.43 0.00 0.00 0.000 6 0.000 0.000 2428 2050 1795

2744 0.83 116.8 239.9 -7.1 200 2752 0.32 2.55 0.93 0.001 4 0.000 0.000 2394 339 1783

3049 0.83 116.8 263.1 -9.5 212 3066 0.38 2.92 0.00 0.000 6 0.000 0.000 2483 2132 1783

3374 0.83 116.8 286.7 -8.1 228 3382 0.47 2.90 0.00 0.000 4 0.000 0.000 2395 348 1778

3676 0.83 116.8 310.4 -7.7 240 3681 0.38 2.80 0.00 0.000 6 0.000 0.000 2435 2138 1782

3997 0.83 116.8 335.5 -7.8 255 3998 0.50 0.00 0.00 0.000 6 0.000 0.000 2456 2144 1789

4311 0.83 116.8 358.4 -7.2 270 4319 0.32 3.72 0.00 0.000 4 0.000 0.000 2490 357 1783

4614 0.83 116.8 381.3 -7.2 282 4631 0.40 3.62 0.00 0.000 6 0.000 0.000 2393 2110 1777

4940 0.83 116.8 406.4 -8.1 298 4949 0.45 3.75 0.00 0.000 4 0.000 0.000 2477 327 1775

5243 0.83 443.9 428.8 -6.1 310 5597 0.38 3.00 314.30 0.000 6 0.000 0.000 2400 2137 453

5924 1.38 443.9 474.4 -6.5 338 5929 0.80 2.58 0.00 0.000 4 0.000 0.000 2584 591 456

6226 1.38 772.4 494.1 -6.2 350 6244 0.00 2.62 6.85 0.000 6 0.000 0.000 2568 2107 422

6573 1.93 772.4 516.9 -6.9 361 6583 0.57 3.72 0.20 0.001 4 0.000 0.000 2727 416 423

6872 1.93 772.4 538.5 -7.1 367 6881 0.38 3.45 0.32 0.000 6 0.000 0.000 2628 2102 419

7196 1.93 772.4 559.6 -6.5 375 7205 0.32 3.75 0.03 0.002 4 0.000 0.000 2731 407 432

7495 1.93 1092.3 578.6 -5.9 381 7504 0.43 3.75 0.03 0.005 6 0.000 0.000 2629 2049 427

7819 2.46 1421.3 598.9 -6.2 389 7828 0.98 3.42 0.30 0.001 4 0.000 0.000 2833 406 427

8117 3.01 1747.2 616.9 -6.1 395 8125 0.60 3.10 0.00 0.000 6 0.000 0.000 2984 2079 421

8441 3.55 1747.2 637.3 -6.5 403 8447 0.45 2.80 0.03 0.001 4 0.000 0.000 3070 557 418

8735 3.55 1747.2 658.1 -7.2 409 8744 0.35 2.92 0.03 0.000 6 0.000 0.000 2967 2095 420

9059 3.55 1747.2 679.5 -6.3 417 9067 0.40 2.92 0.03 0.005 4 0.000 0.000 3052 328 415

9358 3.55 2066.0 697.4 -5.8 423 9366 0.40 3.00 0.03 0.001 6 0.000 0.000 2991 2114 417

9682 4.09 2390.4 716.1 -6.0 431 9691 0.95 3.72 0.17 0.001 4 0.000 0.000 3170 437 421

9979 4.63 2679.1 732.4 -4.7 437 9985 0.62 2.65 0.00 0.000 6 0.000 0.000 3274 2199 428

10298 5.11 2983.5 748.7 -5.3 445 10298 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2201 420

10629 5.62 3293.3 767.4 -5.5 453 10634 0.00 3.25 0.00 0.000 4 0.000 0.000 3316 513 425

10925 6.14 3609.4 783.9 -5.7 459 10930 0.00 2.80 0.00 0.000 6 0.000 0.000 3317 2206 423

11242 6.66 3910.6 800.1 -5.2 467 11254 0.00 3.92 0.00 0.000 4 0.000 0.000 3319 420 422

11538 7.17 4234.2 816.3 -6.0 473 11544 0.00 3.03 0.10 0.000 6 0.000 0.000 3322 2178 422

11867 7.71 4555.5 835.0 -5.9 481 11874 0.00 3.33 0.00 0.000 4 0.000 0.000 3318 368 422

12163 8.24 4868.7 853.5 -5.6 487 12167 0.00 2.83 0.00 0.000 6 0.000 0.000 3324 2162 417

12481 8.77 5183.3 871.3 -5.7 495 12486 0.00 2.53 0.00 0.000 4 0.000 0.000 3309 559 420

12774 9.29 5480.8 887.3 -5.0 501 12778 0.00 2.70 0.00 0.000 6 0.000 0.000 3323 2076 419

13091 9.79 5778.6 902.9 -5.0 509 13096 0.00 3.00 0.00 0.000 4 0.000 0.000 3325 539 415

13383 10.29 6102.5 919.1 -6.0 515 13389 0.00 3.25 0.05 0.000 6 0.000 0.000 3319 2216 421

13701 10.83 6416.1 936.9 -5.6 523 13706 0.00 2.70 0.00 0.000 4 0.000 0.000 3324 549 425

13995 11.35 6724.6 953.7 -5.4 529 14002 0.00 3.55 0.00 0.000 6 0.000 0.000 3299 2222 425

14317 11.87 7025.9 971.1 -5.2 537 14322 0.00 3.03 0.00 0.000 4 0.000 0.000 3312 545 419

14607 12.37 7330.7 985.6 -5.3 543 14614 0.00 3.35 0.03 0.001 6 0.000 0.000 3321 2103 416

14929 12.88 7446.3 989.0 1.9 551 14934 0.00 2.80 0.00 0.000 4 0.000 0.000 3325 554 424

15221 13.07 7446.3 966.1 7.9 557 15228 0.00 3.33 0.00 0.000 6 0.000 0.000 3317 2099 416

15543 13.07 7446.3 941.3 7.8 565 15548 0.00 2.83 0.00 0.000 4 0.000 0.000 3308 467 410

15835 13.07 7446.3 917.7 7.8 571 15840 0.00 3.10 0.00 0.000 6 0.000 0.000 3333 2134 424

16153 13.07 7446.3 892.6 7.8 579 16160 0.00 3.33 0.00 0.000 4 0.000 0.000 3317 355 424

16450 13.07 7446.3 869.3 7.2 585 16457 0.00 3.33 0.03 0.000 6 0.000 0.000 3325 2142 421

16773 13.07 7446.3 846.6 7.1 593 16778 0.00 2.62 0.03 0.001 4 0.000 0.000 3310 547 421

17064 13.07 7446.3 825.2 7.0 599 17072 0.00 3.62 0.00 0.000 6 0.000 0.000 3306 2098 415

17387 13.07 7446.3 802.4 7.0 607 17391 0.00 2.72 0.00 0.000 4 0.000 0.000 3318 444 423

17679 13.07 7446.3 779.8 7.6 613 17684 0.00 3.25 0.00 0.000 6 0.000 0.000 3314 2087 416

17997 13.07 7446.3 753.4 8.4 621 18002 0.00 2.83 0.00 0.000 4 0.000 0.000 3322 567 416

18290 13.07 7446.3 728.6 7.1 627 18295 0.00 2.85 0.00 0.000 6 0.000 0.000 3314 2096 423

18608 13.07 7446.3 704.9 7.3 635 18613 0.00 2.53 0.00 0.000 4 0.000 0.000 3319 561 420

18902 13.07 7446.3 685.3 6.4 641 18909 0.00 3.45 0.00 0.000 6 0.000 0.000 3317 2087 426

19225 13.07 7446.3 665.0 6.3 649 19229 0.00 2.72 0.00 0.000 4 0.000 0.000 3320 461 421

19517 13.07 7446.3 645.3 6.9 655 19521 0.00 2.80 0.00 0.000 6 0.000 0.000 3322 2106 413

19834 13.07 7446.3 625.4 6.4 663 19841 0.00 3.33 0.00 0.000 4 0.000 0.000 3315 334 428

20131 13.07 7446.3 606.3 7.0 669 20139 0.00 3.65 0.00 0.000 6 0.000 0.000 3318 2127 413

20454 13.07 7446.3 584.7 6.7 677 20462 0.00 3.33 0.03 0.000 4 0.000 0.000 3322 410 424

20751 13.07 7446.3 563.2 6.9 683 20759 0.00 3.55 0.03 0.001 6 0.000 0.000 3313 2065 413

21074 13.07 7446.3 540.5 7.0 691 21080 0.00 3.25 0.00 0.000 4 0.000 0.000 3325 555 419

21367 13.07 7448.6 520.9 6.2 697 21372 0.00 3.03 0.00 0.000 6 0.000 0.000 3319 2083 419

21686 13.07 7448.6 500.1 6.7 705 21691 0.00 3.20 0.00 0.000 4 0.000 0.000 3318 532 413

21990 13.07 7448.6 478.4 7.5 716 21995 0.00 2.62 0.00 0.000 6 0.000 0.000 3325 2084 423

22311 13.07 7448.6 455.3 7.3 731 22315 0.00 2.53 0.00 0.000 4 0.000 0.000 3326 562 420

22617 13.07 7448.6 433.2 6.8 743 22622 0.00 3.10 0.00 0.000 6 0.000 0.000 3324 2190 416

22938 13.07 7454.1 413.2 6.0 758 22946 0.00 3.30 0.03 0.000 4 0.000 0.000 3317 421 425

23246 13.08 7476.4 394.4 5.4 770 23251 0.00 3.10 0.00 0.000 6 0.000 0.000 3320 2192 418

23566 13.12 7476.4 373.8 7.1 785 23571 0.00 2.80 0.00 0.000 4 0.000 0.000 3321 529 415

23867 13.12 7476.4 352.4 7.5 797 23872 0.00 2.95 0.00 0.000 6 0.000 0.000 3338 1980 417

24188 13.12 7476.4 329.9 6.9 812 24192 0.00 2.40 0.00 0.000 4 0.000 0.000 3327 545 420

24495 13.12 7490.0 308.4 5.7 824 24510 0.00 3.55 0.00 0.000 6 0.000 0.000 3314 2077 415

24825 13.14 7490.0 287.4 6.5 840 24834 0.00 2.50 0.00 0.000 4 0.000 0.000 3307 360 419

25149 13.14 7491.6 267.2 6.2 852 25156 0.00 3.35 0.00 0.000 6 0.000 0.000 3329 2174 417

25480 13.15 7491.6 245.7 6.3 868 25485 0.00 3.03 0.00 0.000 4 0.000 0.000 3342 504 428

25789 13.15 7503.5 225.8 5.8 880 25805 0.00 3.55 0.03 0.000 6 0.000 0.000 3317 2066 419

26114 13.17 7503.5 205.6 6.8 896 26119 0.00 2.90 0.00 0.000 4 0.000 0.000 3313 506 421

26422 13.17 7503.5 182.4 6.7 908 26427 0.00 2.70 0.00 0.000 6 0.000 0.000 3308 2044 422

26743 13.17 7503.5 160.7 6.3 923 26751 0.00 4.25 0.00 0.000 4 0.000 0.000 3317 357 421

27052 13.17 7518.2 141.6 5.7 935 27057 0.00 2.80 0.00 0.000 6 0.000 0.000 3319 2146 417

27374 13.19 7528.6 122.6 5.9 950 27379 0.00 3.10 0.00 0.000 4 0.000 0.000 3306 474 417

27678 13.21 7533.3 103.9 6.1 962 27683 0.00 2.80 0.00 0.000 6 0.000 0.000 3304 2036 418

28087 13.22 7580.2 85.0 4.5 1013 28098 0.00 3.25 0.05 0.000 4 0.000 0.000 3310 383 425

28459 13.29 7580.2 61.4 6.9 1062 28472 0.00 2.97 0.03 0.000 6 0.000 0.000 3322 2040 419

28928 13.29 7580.2 28.6 7.0 1123 28940 0.00 3.05 0.05 0.000 4 0.000 0.000 3327 363 421

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	4	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	2	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	8	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	-442316.91	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	210609,4703.944,-12600.976,24,1.1,24,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.177,0.076
_SM_DEPTHo	0.34	KALMAN_X	4620.2,1027.1,1225.2,3193.2,-1594.1
_SM_ANGLEo	-50.0	KALMAN_Y	-993.7,-185.1,-269.4,-191.5,382.1
GPS2	211536,4703.971,-12601.054,29,1.1,30,18.0	MHEAD_RNG_PITCHd_Wd	48.8,293322,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999512	ALTIM_TOP_PING	19.4,999.0
SM_CCo	29433,0.00,0.000,0,0,416,452.33	_24V_AH	23.7,58.288
SM_GC	0.34,13.52,0.00,0.00,0.000,0.000,0.000,619,2183,416,-7.31,5.94,452.33	_10V_AH	9.6,22.669
RAFOS_CLK	0	DATA_FILE_SIZE	40958,1176
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,241713152
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,66,1892,5,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2111	CURRENT	0.071,299.2,1
INTERNAL_PRESSURE	26.0455	GPS	160607,052814,4703.775,-12557.817,9,1.1,9,18.0
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	36	119	101.81	SBE_CT	1912	24	1088.03
Roll_motor	280	60	398.94	nil	0	0	0.00
VBD_pump_during_apogee	513	1300	15826.33	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	683.92
Transponder_ping	0	420	2.49
GPS	30	50	14.64
TT8	6341	19	1212.76
LPSleep	15294	2	339.17
TT8_Active	900	19	172.20
TT8_Sampling	3247	39	1244.58
TT8_CF8	4067	45	1793.28
TT8_Kalman	32	81	25.44
Analog_circuits	3029	12	348.96
GPS_charging	0	0	0.00
Compass	4017	26	1002.79
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
43	-0.83	-116.8	0.0	0.0	0	119	0.00	0.00	-73.68	0.000	2	0.000	0.000	653	1947	2653
126	-0.83	-116.8	3.1	-5.0	7	155	7.28	2.33	-3.12	0.000	4	0.000	0.000	2101	3493	2743
498	-0.83	-116.8	47.0	-11.7	57	511	0.03	3.10	0.00	0.000	6	0.000	0.000	2112	1838	2744
950	-0.83	-116.8	95.8	-9.6	118	963	0.35	3.75	0.00	0.000	4	0.000	0.000	2004	3622	2740
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
1019	-0.25	0.0	101.0	9.0	124	1123	1.12	0.00	95.75	0.000	6	0.000	0.000	2247	1822	2266
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1129	0.83	116.8	109.9	0.0	129	1236	1.38	2.60	94.25	0.000	4	0.000	0.000	2478	518	1786
1481	0.83	116.8	141.5	-8.8	141	1493	0.40	2.85	0.00	0.000	6	0.000	0.000	2390	2180	1785
1802	0.83	116.8	171.3	-8.7	157	1810	0.35	3.55	0.00	0.000	4	0.000	0.000	2510	402	1785
2104	0.83	116.8	194.4	-7.4	169	2121	0.40	3.55	0.00	0.000	6	0.000	0.000	2397	2045	1787
2430	0.83	116.8	217.5	-6.9	185	2431	0.43	0.00	0.00	0.000	6	0.000	0.000	2428	2050	1795
2744	0.83	116.8	239.9	-7.1	200	2752	0.32	2.55	0.93	0.001	4	0.000	0.000	2394	339	1783
3049	0.83	116.8	263.1	-9.5	212	3066	0.38	2.92	0.00	0.000	6	0.000	0.000	2483	2132	1783
3374	0.83	116.8	286.7	-8.1	228	3382	0.47	2.90	0.00	0.000	4	0.000	0.000	2395	348	1778
3676	0.83	116.8	310.4	-7.7	240	3681	0.38	2.80	0.00	0.000	6	0.000	0.000	2435	2138	1782
3997	0.83	116.8	335.5	-7.8	255	3998	0.50	0.00	0.00	0.000	6	0.000	0.000	2456	2144	1789
4311	0.83	116.8	358.4	-7.2	270	4319	0.32	3.72	0.00	0.000	4	0.000	0.000	2490	357	1783
4614	0.83	116.8	381.3	-7.2	282	4631	0.40	3.62	0.00	0.000	6	0.000	0.000	2393	2110	1777
4940	0.83	116.8	406.4	-8.1	298	4949	0.45	3.75	0.00	0.000	4	0.000	0.000	2477	327	1775
5243	0.83	443.9	428.8	-6.1	310	5597	0.38	3.00	314.30	0.000	6	0.000	0.000	2400	2137	453
5924	1.38	443.9	474.4	-6.5	338	5929	0.80	2.58	0.00	0.000	4	0.000	0.000	2584	591	456
6226	1.38	772.4	494.1	-6.2	350	6244	0.00	2.62	6.85	0.000	6	0.000	0.000	2568	2107	422
6573	1.93	772.4	516.9	-6.9	361	6583	0.57	3.72	0.20	0.001	4	0.000	0.000	2727	416	423
6872	1.93	772.4	538.5	-7.1	367	6881	0.38	3.45	0.32	0.000	6	0.000	0.000	2628	2102	419
7196	1.93	772.4	559.6	-6.5	375	7205	0.32	3.75	0.03	0.002	4	0.000	0.000	2731	407	432
7495	1.93	1092.3	578.6	-5.9	381	7504	0.43	3.75	0.03	0.005	6	0.000	0.000	2629	2049	427
7819	2.46	1421.3	598.9	-6.2	389	7828	0.98	3.42	0.30	0.001	4	0.000	0.000	2833	406	427
8117	3.01	1747.2	616.9	-6.1	395	8125	0.60	3.10	0.00	0.000	6	0.000	0.000	2984	2079	421
8441	3.55	1747.2	637.3	-6.5	403	8447	0.45	2.80	0.03	0.001	4	0.000	0.000	3070	557	418
8735	3.55	1747.2	658.1	-7.2	409	8744	0.35	2.92	0.03	0.000	6	0.000	0.000	2967	2095	420
9059	3.55	1747.2	679.5	-6.3	417	9067	0.40	2.92	0.03	0.005	4	0.000	0.000	3052	328	415
9358	3.55	2066.0	697.4	-5.8	423	9366	0.40	3.00	0.03	0.001	6	0.000	0.000	2991	2114	417
9682	4.09	2390.4	716.1	-6.0	431	9691	0.95	3.72	0.17	0.001	4	0.000	0.000	3170	437	421
9979	4.63	2679.1	732.4	-4.7	437	9985	0.62	2.65	0.00	0.000	6	0.000	0.000	3274	2199	428
10298	5.11	2983.5	748.7	-5.3	445	10298	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2201	420
10629	5.62	3293.3	767.4	-5.5	453	10634	0.00	3.25	0.00	0.000	4	0.000	0.000	3316	513	425
10925	6.14	3609.4	783.9	-5.7	459	10930	0.00	2.80	0.00	0.000	6	0.000	0.000	3317	2206	423
11242	6.66	3910.6	800.1	-5.2	467	11254	0.00	3.92	0.00	0.000	4	0.000	0.000	3319	420	422
11538	7.17	4234.2	816.3	-6.0	473	11544	0.00	3.03	0.10	0.000	6	0.000	0.000	3322	2178	422
11867	7.71	4555.5	835.0	-5.9	481	11874	0.00	3.33	0.00	0.000	4	0.000	0.000	3318	368	422
12163	8.24	4868.7	853.5	-5.6	487	12167	0.00	2.83	0.00	0.000	6	0.000	0.000	3324	2162	417
12481	8.77	5183.3	871.3	-5.7	495	12486	0.00	2.53	0.00	0.000	4	0.000	0.000	3309	559	420
12774	9.29	5480.8	887.3	-5.0	501	12778	0.00	2.70	0.00	0.000	6	0.000	0.000	3323	2076	419
13091	9.79	5778.6	902.9	-5.0	509	13096	0.00	3.00	0.00	0.000	4	0.000	0.000	3325	539	415
13383	10.29	6102.5	919.1	-6.0	515	13389	0.00	3.25	0.05	0.000	6	0.000	0.000	3319	2216	421
13701	10.83	6416.1	936.9	-5.6	523	13706	0.00	2.70	0.00	0.000	4	0.000	0.000	3324	549	425
13995	11.35	6724.6	953.7	-5.4	529	14002	0.00	3.55	0.00	0.000	6	0.000	0.000	3299	2222	425
14317	11.87	7025.9	971.1	-5.2	537	14322	0.00	3.03	0.00	0.000	4	0.000	0.000	3312	545	419
14607	12.37	7330.7	985.6	-5.3	543	14614	0.00	3.35	0.03	0.001	6	0.000	0.000	3321	2103	416
14929	12.88	7446.3	989.0	1.9	551	14934	0.00	2.80	0.00	0.000	4	0.000	0.000	3325	554	424
15221	13.07	7446.3	966.1	7.9	557	15228	0.00	3.33	0.00	0.000	6	0.000	0.000	3317	2099	416
15543	13.07	7446.3	941.3	7.8	565	15548	0.00	2.83	0.00	0.000	4	0.000	0.000	3308	467	410
15835	13.07	7446.3	917.7	7.8	571	15840	0.00	3.10	0.00	0.000	6	0.000	0.000	3333	2134	424
16153	13.07	7446.3	892.6	7.8	579	16160	0.00	3.33	0.00	0.000	4	0.000	0.000	3317	355	424
16450	13.07	7446.3	869.3	7.2	585	16457	0.00	3.33	0.03	0.000	6	0.000	0.000	3325	2142	421
16773	13.07	7446.3	846.6	7.1	593	16778	0.00	2.62	0.03	0.001	4	0.000	0.000	3310	547	421
17064	13.07	7446.3	825.2	7.0	599	17072	0.00	3.62	0.00	0.000	6	0.000	0.000	3306	2098	415
17387	13.07	7446.3	802.4	7.0	607	17391	0.00	2.72	0.00	0.000	4	0.000	0.000	3318	444	423
17679	13.07	7446.3	779.8	7.6	613	17684	0.00	3.25	0.00	0.000	6	0.000	0.000	3314	2087	416
17997	13.07	7446.3	753.4	8.4	621	18002	0.00	2.83	0.00	0.000	4	0.000	0.000	3322	567	416
18290	13.07	7446.3	728.6	7.1	627	18295	0.00	2.85	0.00	0.000	6	0.000	0.000	3314	2096	423
18608	13.07	7446.3	704.9	7.3	635	18613	0.00	2.53	0.00	0.000	4	0.000	0.000	3319	561	420
18902	13.07	7446.3	685.3	6.4	641	18909	0.00	3.45	0.00	0.000	6	0.000	0.000	3317	2087	426
19225	13.07	7446.3	665.0	6.3	649	19229	0.00	2.72	0.00	0.000	4	0.000	0.000	3320	461	421
19517	13.07	7446.3	645.3	6.9	655	19521	0.00	2.80	0.00	0.000	6	0.000	0.000	3322	2106	413
19834	13.07	7446.3	625.4	6.4	663	19841	0.00	3.33	0.00	0.000	4	0.000	0.000	3315	334	428
20131	13.07	7446.3	606.3	7.0	669	20139	0.00	3.65	0.00	0.000	6	0.000	0.000	3318	2127	413
20454	13.07	7446.3	584.7	6.7	677	20462	0.00	3.33	0.03	0.000	4	0.000	0.000	3322	410	424
20751	13.07	7446.3	563.2	6.9	683	20759	0.00	3.55	0.03	0.001	6	0.000	0.000	3313	2065	413
21074	13.07	7446.3	540.5	7.0	691	21080	0.00	3.25	0.00	0.000	4	0.000	0.000	3325	555	419
21367	13.07	7448.6	520.9	6.2	697	21372	0.00	3.03	0.00	0.000	6	0.000	0.000	3319	2083	419
21686	13.07	7448.6	500.1	6.7	705	21691	0.00	3.20	0.00	0.000	4	0.000	0.000	3318	532	413
21990	13.07	7448.6	478.4	7.5	716	21995	0.00	2.62	0.00	0.000	6	0.000	0.000	3325	2084	423
22311	13.07	7448.6	455.3	7.3	731	22315	0.00	2.53	0.00	0.000	4	0.000	0.000	3326	562	420
22617	13.07	7448.6	433.2	6.8	743	22622	0.00	3.10	0.00	0.000	6	0.000	0.000	3324	2190	416
22938	13.07	7454.1	413.2	6.0	758	22946	0.00	3.30	0.03	0.000	4	0.000	0.000	3317	421	425
23246	13.08	7476.4	394.4	5.4	770	23251	0.00	3.10	0.00	0.000	6	0.000	0.000	3320	2192	418
23566	13.12	7476.4	373.8	7.1	785	23571	0.00	2.80	0.00	0.000	4	0.000	0.000	3321	529	415
23867	13.12	7476.4	352.4	7.5	797	23872	0.00	2.95	0.00	0.000	6	0.000	0.000	3338	1980	417
24188	13.12	7476.4	329.9	6.9	812	24192	0.00	2.40	0.00	0.000	4	0.000	0.000	3327	545	420
24495	13.12	7490.0	308.4	5.7	824	24510	0.00	3.55	0.00	0.000	6	0.000	0.000	3314	2077	415
24825	13.14	7490.0	287.4	6.5	840	24834	0.00	2.50	0.00	0.000	4	0.000	0.000	3307	360	419
25149	13.14	7491.6	267.2	6.2	852	25156	0.00	3.35	0.00	0.000	6	0.000	0.000	3329	2174	417
25480	13.15	7491.6	245.7	6.3	868	25485	0.00	3.03	0.00	0.000	4	0.000	0.000	3342	504	428
25789	13.15	7503.5	225.8	5.8	880	25805	0.00	3.55	0.03	0.000	6	0.000	0.000	3317	2066	419
26114	13.17	7503.5	205.6	6.8	896	26119	0.00	2.90	0.00	0.000	4	0.000	0.000	3313	506	421
26422	13.17	7503.5	182.4	6.7	908	26427	0.00	2.70	0.00	0.000	6	0.000	0.000	3308	2044	422
26743	13.17	7503.5	160.7	6.3	923	26751	0.00	4.25	0.00	0.000	4	0.000	0.000	3317	357	421
27052	13.17	7518.2	141.6	5.7	935	27057	0.00	2.80	0.00	0.000	6	0.000	0.000	3319	2146	417
27374	13.19	7528.6	122.6	5.9	950	27379	0.00	3.10	0.00	0.000	4	0.000	0.000	3306	474	417
27678	13.21	7533.3	103.9	6.1	962	27683	0.00	2.80	0.00	0.000	6	0.000	0.000	3304	2036	418
28087	13.22	7580.2	85.0	4.5	1013	28098	0.00	3.25	0.05	0.000	4	0.000	0.000	3310	383	425
28459	13.29	7580.2	61.4	6.9	1062	28472	0.00	2.97	0.03	0.000	6	0.000	0.000	3322	2040	419
28928	13.29	7580.2	28.6	7.0	1123	28940	0.00	3.05	0.05	0.000	4	0.000	0.000	3327	363	421
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface