Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 40 * 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 40 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 5 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 19 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 -443232.16 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 -443232.16

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 5 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 19 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 40 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 105405,4654.673,-12635.641,26,1.1,26,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.177,0.077

_SM_DEPTHo 0.34 KALMAN_X -24999.0,-2504.7,-2443.5,-3437.7,3309.0

_SM_ANGLEo -50.0 KALMAN_Y -17158.8,1.2,57.1,-1776.5,-346.8

GPS2 110532,4654.670,-12635.705,19,1.1,19,18.0 MHEAD_RNG_PITCHd_Wd 48.6,339463,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999493 ALTIM_TOP_PING 19.8,999.0

SM_CCo 28777,0.00,0.000,0,0,419,449.88 _24V_AH 23.7,91.521

SM_GC 0.33,13.62,0.00,0.00,0.000,0.000,0.000,654,2104,419,-7.29,3.76,449.88 _10V_AH 9.6,29.136

RAFOS_CLK 0 DATA_FILE_SIZE 37783,1148

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,230047744

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,48,1908,1,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2008 CURRENT 0.094,203.3,1

INTERNAL_PRESSURE 26.0748 GPS 270607,190730,4655.921,-12638.979,23,1.1,24,18.0

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 28 119 80.10 SBE_CT 1870 24 1063.93

Roll_motor 282 60 402.00 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15772.41 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 170 223 899.49

Transponder_ping 0 420 2.49

GPS 19 50 9.48

TT8 6257 19 1196.71

LPSleep 14703 2 326.06

TT8_Active 910 19 174.05

TT8_Sampling 3143 39 1204.51

TT8_CF8 4288 45 1890.66

TT8_Kalman 33 81 26.23

Analog_circuits 2971 12 342.37

GPS_charging 0 0 0.00

Compass 4049 26 1010.68

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

44 -0.83 -116.8 0.0 0.0 0 120 0.00 0.00 -73.80 0.000 2 0.000 0.000 647 2130 2646

126 -0.83 -116.8 3.3 -5.2 7 156 7.15 2.55 -3.10 0.000 4 0.000 0.000 2126 3398 2741

205 -0.83 -116.8 10.0 -8.0 15 217 0.35 3.12 0.00 0.000 6 0.000 0.000 2029 1853 2746

656 -0.83 -116.8 62.7 -11.9 76 668 0.28 2.67 0.00 0.000 4 0.000 0.000 2073 354 2749

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

1010 -0.25 0.0 100.9 9.7 122 1109 0.90 0.00 95.53 0.000 6 0.000 0.000 2276 2035 2263

state end apogee CONTROL_FINISHED_OK

state start climb

1120 0.83 116.8 110.0 0.0 127 1228 0.93 2.75 95.07 0.000 4 0.000 0.000 2470 3440 1786

1525 0.83 116.8 147.4 -8.6 142 1530 0.00 3.25 0.00 0.000 6 0.000 0.000 2483 1904 1786

1857 0.83 116.8 174.7 -8.1 158 1862 0.00 2.62 0.00 0.000 4 0.000 0.000 2461 3427 1775

2157 0.83 116.8 198.8 -8.0 170 2173 0.00 3.42 0.00 0.000 6 0.000 0.000 2468 1751 1783

2482 0.83 116.8 224.5 -8.0 186 2488 0.00 2.70 0.12 0.000 4 0.000 0.000 2471 3432 1784

2786 0.83 116.8 248.8 -7.9 198 2801 0.00 3.35 0.00 0.000 6 0.000 0.000 2481 1872 1781

3111 0.83 116.8 273.9 -7.9 214 3116 0.00 2.60 0.00 0.000 4 0.000 0.000 2467 3412 1782

3411 0.83 116.8 296.0 -7.2 226 3416 0.00 2.92 0.00 0.000 6 0.000 0.000 2484 1868 1781

3732 0.83 116.8 318.1 -6.4 241 3737 0.00 2.72 0.00 0.000 4 0.000 0.000 2441 3399 1785

4033 0.83 116.8 338.9 -6.9 253 4038 0.20 2.72 0.00 0.000 6 0.000 0.000 2418 1771 1780

4355 0.83 116.8 362.0 -7.1 268 4362 0.25 3.25 0.00 0.000 4 0.000 0.000 2461 3563 1788

4673 0.83 116.8 385.6 -7.6 280 4689 0.03 3.45 0.00 0.000 6 0.000 0.000 2452 1809 1780

5002 0.83 116.8 409.7 -7.3 296 5007 0.00 2.70 0.00 0.000 4 0.000 0.000 2471 3438 1778

5315 0.83 116.8 434.1 -7.9 308 5320 0.20 2.83 0.00 0.000 6 0.000 0.000 2436 1783 1780

5647 0.83 116.8 458.0 -7.4 323 5653 0.08 3.00 0.00 0.000 4 0.000 0.000 2422 3409 1779

5954 0.83 116.8 482.1 -7.3 335 5970 0.08 3.65 0.00 0.000 6 0.000 0.000 2451 1761 1790

6298 0.83 116.8 505.6 -6.8 350 6303 0.03 2.70 0.00 0.000 4 0.000 0.000 2456 3389 1786

6594 0.83 116.8 524.0 -6.6 356 6599 0.00 3.05 0.00 0.000 6 0.000 0.000 2464 1855 1778

6912 0.83 116.8 544.6 -6.4 364 6916 0.00 2.50 0.00 0.000 4 0.000 0.000 2467 3356 1781

7207 0.83 116.8 566.1 -7.1 370 7213 0.00 3.12 0.00 0.000 6 0.000 0.000 2473 1867 1786

7526 0.83 116.8 587.8 -6.8 378 7530 0.00 2.50 0.00 0.000 4 0.000 0.000 2457 3411 1780

7821 0.83 116.8 607.4 -6.9 384 7829 0.00 3.45 0.00 0.000 6 0.000 0.000 2465 1763 1782

8144 0.83 116.8 628.2 -6.4 392 8150 0.17 2.92 0.00 0.000 4 0.000 0.000 2404 3408 1781

8441 0.83 116.8 648.2 -6.3 398 8447 0.03 2.97 0.00 0.000 6 0.002 0.000 2414 1734 1782

8760 0.83 116.8 669.4 -7.0 406 8769 0.17 3.55 0.00 0.000 4 0.000 0.000 2481 3499 1781

9065 0.83 116.8 690.7 -7.4 412 9072 0.00 3.45 0.00 0.000 6 0.000 0.000 2463 1832 1781

9389 0.83 116.8 712.6 -6.6 420 9396 0.00 3.65 0.00 0.000 4 0.000 0.000 2444 3513 1778

9689 0.83 116.8 733.0 -6.6 426 9694 0.00 2.70 0.00 0.000 6 0.000 0.000 2458 1962 1783

10008 0.83 116.8 754.1 -6.6 434 10013 0.17 2.62 0.00 0.000 4 0.000 0.000 2462 3377 1784

10304 0.83 116.8 774.1 -6.7 440 10312 0.00 3.62 0.00 0.000 6 0.000 0.000 2451 1831 1785

10628 0.83 116.8 794.7 -6.5 448 10633 0.00 3.10 0.00 0.000 4 0.000 0.000 2477 3381 1778

10925 0.83 116.8 814.7 -6.5 454 10930 0.12 2.70 0.00 0.000 6 0.000 0.000 2470 1828 1787

11245 0.83 440.1 834.6 -6.0 462 11568 0.08 2.62 309.55 0.000 4 0.000 0.000 2459 3367 471

11854 1.37 757.8 870.3 -5.8 474 11873 0.60 3.75 9.38 0.000 6 0.000 0.000 2603 1740 428

12219 1.90 1068.1 890.2 -5.5 483 12229 0.47 3.92 0.40 0.001 4 0.000 0.000 2702 3516 428

12518 2.42 1387.5 907.6 -5.9 489 12527 0.57 2.50 0.98 0.000 6 0.000 0.000 2822 1879 421

12848 2.95 1709.0 927.1 -5.9 497 12853 0.30 2.78 0.00 0.000 4 0.000 0.000 2923 3345 429

13139 3.49 2025.6 943.8 -5.7 503 13147 0.60 3.10 0.00 0.000 6 0.000 0.000 3078 1824 426

13463 4.02 2332.3 961.1 -5.4 511 13472 0.43 3.25 0.22 0.001 4 0.000 0.000 3168 3522 415

13759 4.53 2629.7 977.3 -5.0 517 13767 0.60 2.80 0.00 0.000 6 0.000 0.000 3300 1748 426

14082 5.03 2937.4 994.3 -5.4 525 14087 0.00 3.10 0.00 0.000 4 0.000 0.000 3310 3422 424

14375 5.54 2937.4 986.0 7.8 531 14382 0.00 3.58 0.00 0.000 6 0.000 0.000 3282 1744 423

14698 5.54 2937.4 961.6 7.5 539 14703 0.00 3.10 0.00 0.000 4 0.000 0.000 3291 3414 426

14992 5.54 2937.4 940.0 6.9 545 14998 0.00 3.10 0.05 0.000 6 0.000 0.000 3289 1772 418

15311 5.54 2937.4 916.4 7.5 553 15316 0.00 2.92 0.05 0.001 4 0.000 0.000 3292 3446 421

15606 5.54 2937.4 892.9 7.7 559 15611 0.00 3.00 0.00 0.000 6 0.000 0.000 3288 1772 422

15925 5.54 2937.4 868.4 7.7 567 15933 0.00 3.55 0.05 0.000 4 0.000 0.000 3295 3562 420

16222 5.54 2937.4 845.5 7.4 573 16227 0.00 3.03 0.00 0.000 6 0.000 0.000 3297 1791 422

16540 5.54 2937.4 822.1 7.5 581 16545 0.00 2.70 0.00 0.000 4 0.000 0.000 3282 3436 420

16835 5.54 2937.4 800.1 7.6 587 16842 0.00 3.45 0.00 0.000 6 0.000 0.000 3288 1782 424

17159 5.54 2937.4 775.7 7.6 595 17164 0.00 2.72 0.03 0.000 4 0.000 0.000 3290 3457 420

17453 5.54 2937.4 752.6 7.9 601 17461 0.00 3.75 0.03 0.001 6 0.000 0.000 3305 1745 417

17777 5.54 2937.4 728.2 7.5 609 17782 0.00 2.70 0.08 0.000 4 0.000 0.000 3291 3419 426

18078 5.54 2937.4 706.1 7.3 615 18085 0.00 3.35 0.03 0.001 6 0.000 0.000 3286 1852 416

18406 5.54 2937.4 683.1 7.2 623 18411 0.00 3.10 0.00 0.000 4 0.000 0.000 3289 3380 423

18707 5.54 2937.4 661.4 6.9 629 18712 0.00 2.50 0.00 0.000 6 0.000 0.000 3301 1845 417

19026 5.54 2937.4 640.6 6.7 637 19031 0.00 3.10 0.00 0.000 4 0.000 0.000 3307 3383 432

19330 5.54 2941.2 619.5 6.1 643 19338 0.00 3.25 0.17 0.000 6 0.000 0.000 3309 1839 409

19664 5.55 2941.2 597.3 6.8 651 19672 0.00 3.53 0.00 0.000 4 0.000 0.000 3303 3511 421

19962 5.55 2944.2 575.8 6.1 657 19967 0.00 2.92 0.00 0.000 6 0.000 0.000 3299 1859 417

20280 5.55 2944.2 555.6 6.3 665 20285 0.00 2.72 0.00 0.000 4 0.000 0.000 3300 3371 421

20575 5.55 2945.1 538.0 6.2 671 20582 0.00 3.62 0.00 0.000 6 0.000 0.000 3307 1833 424

20898 5.55 2950.9 518.5 6.0 679 20905 0.00 3.45 0.00 0.000 4 0.000 0.000 3292 3490 417

21199 5.56 2950.9 498.6 6.5 685 21204 0.00 2.80 0.08 0.000 6 0.000 0.000 3296 1829 417

21519 5.56 2950.9 478.4 6.3 700 21527 0.00 3.42 0.03 0.001 4 0.000 0.000 3291 3514 415

21838 5.56 2976.0 460.4 5.3 712 21854 0.00 3.38 0.00 0.000 6 0.000 0.000 3296 1973 420

22169 5.61 2976.1 441.3 6.2 728 22177 0.00 3.85 0.00 0.000 4 0.000 0.000 3292 3543 417

22478 5.61 2976.1 418.8 7.9 740 22494 0.00 4.03 0.00 0.000 6 0.000 0.000 3290 1887 414

22804 5.61 2976.1 393.0 7.9 756 22809 0.00 2.83 0.00 0.000 4 0.000 0.000 3285 3458 420

23108 5.61 2976.1 368.4 7.3 768 23123 0.00 3.55 0.00 0.000 6 0.000 0.000 3292 1789 418

23434 5.61 2976.1 343.1 7.6 784 23442 0.00 3.72 0.05 0.001 4 0.000 0.000 3299 3577 421

23752 5.61 2990.4 320.5 5.7 796 23757 0.00 2.92 0.00 0.000 6 0.000 0.000 3310 1851 411

24074 5.63 2990.4 299.3 6.6 811 24079 0.00 2.92 0.03 0.001 4 0.000 0.000 3288 3350 418

24377 5.63 2998.0 280.0 6.0 823 24392 0.00 3.42 0.00 0.000 6 0.000 0.000 3300 1845 418

24703 5.64 2998.0 259.6 6.4 839 24708 0.00 3.15 0.03 0.000 4 0.000 0.000 3296 3380 419

25006 5.64 3010.4 238.5 5.8 851 25011 0.00 2.72 0.00 0.000 6 0.000 0.000 3297 1847 413

25327 5.66 3010.4 214.9 7.2 866 25331 0.00 2.60 0.00 0.000 4 0.000 0.000 3300 3402 419

25358 5.66 3010.4 212.2 6.3 867 25363 0.00 3.08 0.00 0.000 6 0.000 0.000 3278 2016 423

25679 5.66 3010.4 190.4 6.4 882 25683 0.00 2.40 0.00 0.000 4 0.000 0.000 3305 3404 418

25743 5.66 3010.4 186.4 7.1 884 25755 0.00 2.50 0.00 0.000 6 0.000 0.000 3283 1847 417

26064 5.66 3010.4 163.8 7.0 900 26065 0.00 0.00 0.00 0.000 6 0.000 0.000 3290 1843 416

26380 5.66 3011.4 143.3 6.2 915 26384 0.00 2.80 0.00 0.000 4 0.000 0.000 3285 3371 417

26687 5.66 3044.6 126.0 5.0 927 26702 0.00 3.42 0.00 0.000 6 0.000 0.000 3271 1872 415

27013 5.72 3050.2 105.8 6.0 943 27017 0.00 2.50 0.00 0.000 4 0.000 0.000 3305 3430 413

27062 5.73 3067.8 102.8 5.6 945 27067 0.00 2.80 0.00 0.000 6 0.000 0.000 3307 1791 420

27507 5.76 3086.6 77.5 5.5 999 27519 0.00 3.10 0.00 0.000 4 0.000 0.000 3300 3602 424

27560 5.79 3107.3 75.0 5.5 1004 27572 0.00 2.67 0.00 0.000 6 0.000 0.000 3315 1941 415

28034 5.82 3107.3 46.4 6.6 1065 28046 0.00 2.72 0.00 0.000 4 0.000 0.000 3301 3502 417

28184 5.82 3107.3 35.9 7.0 1083 28196 0.00 3.53 0.00 0.000 6 0.000 0.000 3295 1845 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	40	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	5	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	19	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	-443232.16	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	105405,4654.673,-12635.641,26,1.1,26,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.177,0.077
_SM_DEPTHo	0.34	KALMAN_X	-24999.0,-2504.7,-2443.5,-3437.7,3309.0
_SM_ANGLEo	-50.0	KALMAN_Y	-17158.8,1.2,57.1,-1776.5,-346.8
GPS2	110532,4654.670,-12635.705,19,1.1,19,18.0	MHEAD_RNG_PITCHd_Wd	48.6,339463,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999493	ALTIM_TOP_PING	19.8,999.0
SM_CCo	28777,0.00,0.000,0,0,419,449.88	_24V_AH	23.7,91.521
SM_GC	0.33,13.62,0.00,0.00,0.000,0.000,0.000,654,2104,419,-7.29,3.76,449.88	_10V_AH	9.6,29.136
RAFOS_CLK	0	DATA_FILE_SIZE	37783,1148
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,230047744
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,48,1908,1,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2008	CURRENT	0.094,203.3,1
INTERNAL_PRESSURE	26.0748	GPS	270607,190730,4655.921,-12638.979,23,1.1,24,18.0
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	28	119	80.10	SBE_CT	1870	24	1063.93
Roll_motor	282	60	402.00	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15772.41	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	170	223	899.49
Transponder_ping	0	420	2.49
GPS	19	50	9.48
TT8	6257	19	1196.71
LPSleep	14703	2	326.06
TT8_Active	910	19	174.05
TT8_Sampling	3143	39	1204.51
TT8_CF8	4288	45	1890.66
TT8_Kalman	33	81	26.23
Analog_circuits	2971	12	342.37
GPS_charging	0	0	0.00
Compass	4049	26	1010.68
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
44	-0.83	-116.8	0.0	0.0	0	120	0.00	0.00	-73.80	0.000	2	0.000	0.000	647	2130	2646
126	-0.83	-116.8	3.3	-5.2	7	156	7.15	2.55	-3.10	0.000	4	0.000	0.000	2126	3398	2741
205	-0.83	-116.8	10.0	-8.0	15	217	0.35	3.12	0.00	0.000	6	0.000	0.000	2029	1853	2746
656	-0.83	-116.8	62.7	-11.9	76	668	0.28	2.67	0.00	0.000	4	0.000	0.000	2073	354	2749
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
1010	-0.25	0.0	100.9	9.7	122	1109	0.90	0.00	95.53	0.000	6	0.000	0.000	2276	2035	2263
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1120	0.83	116.8	110.0	0.0	127	1228	0.93	2.75	95.07	0.000	4	0.000	0.000	2470	3440	1786
1525	0.83	116.8	147.4	-8.6	142	1530	0.00	3.25	0.00	0.000	6	0.000	0.000	2483	1904	1786
1857	0.83	116.8	174.7	-8.1	158	1862	0.00	2.62	0.00	0.000	4	0.000	0.000	2461	3427	1775
2157	0.83	116.8	198.8	-8.0	170	2173	0.00	3.42	0.00	0.000	6	0.000	0.000	2468	1751	1783
2482	0.83	116.8	224.5	-8.0	186	2488	0.00	2.70	0.12	0.000	4	0.000	0.000	2471	3432	1784
2786	0.83	116.8	248.8	-7.9	198	2801	0.00	3.35	0.00	0.000	6	0.000	0.000	2481	1872	1781
3111	0.83	116.8	273.9	-7.9	214	3116	0.00	2.60	0.00	0.000	4	0.000	0.000	2467	3412	1782
3411	0.83	116.8	296.0	-7.2	226	3416	0.00	2.92	0.00	0.000	6	0.000	0.000	2484	1868	1781
3732	0.83	116.8	318.1	-6.4	241	3737	0.00	2.72	0.00	0.000	4	0.000	0.000	2441	3399	1785
4033	0.83	116.8	338.9	-6.9	253	4038	0.20	2.72	0.00	0.000	6	0.000	0.000	2418	1771	1780
4355	0.83	116.8	362.0	-7.1	268	4362	0.25	3.25	0.00	0.000	4	0.000	0.000	2461	3563	1788
4673	0.83	116.8	385.6	-7.6	280	4689	0.03	3.45	0.00	0.000	6	0.000	0.000	2452	1809	1780
5002	0.83	116.8	409.7	-7.3	296	5007	0.00	2.70	0.00	0.000	4	0.000	0.000	2471	3438	1778
5315	0.83	116.8	434.1	-7.9	308	5320	0.20	2.83	0.00	0.000	6	0.000	0.000	2436	1783	1780
5647	0.83	116.8	458.0	-7.4	323	5653	0.08	3.00	0.00	0.000	4	0.000	0.000	2422	3409	1779
5954	0.83	116.8	482.1	-7.3	335	5970	0.08	3.65	0.00	0.000	6	0.000	0.000	2451	1761	1790
6298	0.83	116.8	505.6	-6.8	350	6303	0.03	2.70	0.00	0.000	4	0.000	0.000	2456	3389	1786
6594	0.83	116.8	524.0	-6.6	356	6599	0.00	3.05	0.00	0.000	6	0.000	0.000	2464	1855	1778
6912	0.83	116.8	544.6	-6.4	364	6916	0.00	2.50	0.00	0.000	4	0.000	0.000	2467	3356	1781
7207	0.83	116.8	566.1	-7.1	370	7213	0.00	3.12	0.00	0.000	6	0.000	0.000	2473	1867	1786
7526	0.83	116.8	587.8	-6.8	378	7530	0.00	2.50	0.00	0.000	4	0.000	0.000	2457	3411	1780
7821	0.83	116.8	607.4	-6.9	384	7829	0.00	3.45	0.00	0.000	6	0.000	0.000	2465	1763	1782
8144	0.83	116.8	628.2	-6.4	392	8150	0.17	2.92	0.00	0.000	4	0.000	0.000	2404	3408	1781
8441	0.83	116.8	648.2	-6.3	398	8447	0.03	2.97	0.00	0.000	6	0.002	0.000	2414	1734	1782
8760	0.83	116.8	669.4	-7.0	406	8769	0.17	3.55	0.00	0.000	4	0.000	0.000	2481	3499	1781
9065	0.83	116.8	690.7	-7.4	412	9072	0.00	3.45	0.00	0.000	6	0.000	0.000	2463	1832	1781
9389	0.83	116.8	712.6	-6.6	420	9396	0.00	3.65	0.00	0.000	4	0.000	0.000	2444	3513	1778
9689	0.83	116.8	733.0	-6.6	426	9694	0.00	2.70	0.00	0.000	6	0.000	0.000	2458	1962	1783
10008	0.83	116.8	754.1	-6.6	434	10013	0.17	2.62	0.00	0.000	4	0.000	0.000	2462	3377	1784
10304	0.83	116.8	774.1	-6.7	440	10312	0.00	3.62	0.00	0.000	6	0.000	0.000	2451	1831	1785
10628	0.83	116.8	794.7	-6.5	448	10633	0.00	3.10	0.00	0.000	4	0.000	0.000	2477	3381	1778
10925	0.83	116.8	814.7	-6.5	454	10930	0.12	2.70	0.00	0.000	6	0.000	0.000	2470	1828	1787
11245	0.83	440.1	834.6	-6.0	462	11568	0.08	2.62	309.55	0.000	4	0.000	0.000	2459	3367	471
11854	1.37	757.8	870.3	-5.8	474	11873	0.60	3.75	9.38	0.000	6	0.000	0.000	2603	1740	428
12219	1.90	1068.1	890.2	-5.5	483	12229	0.47	3.92	0.40	0.001	4	0.000	0.000	2702	3516	428
12518	2.42	1387.5	907.6	-5.9	489	12527	0.57	2.50	0.98	0.000	6	0.000	0.000	2822	1879	421
12848	2.95	1709.0	927.1	-5.9	497	12853	0.30	2.78	0.00	0.000	4	0.000	0.000	2923	3345	429
13139	3.49	2025.6	943.8	-5.7	503	13147	0.60	3.10	0.00	0.000	6	0.000	0.000	3078	1824	426
13463	4.02	2332.3	961.1	-5.4	511	13472	0.43	3.25	0.22	0.001	4	0.000	0.000	3168	3522	415
13759	4.53	2629.7	977.3	-5.0	517	13767	0.60	2.80	0.00	0.000	6	0.000	0.000	3300	1748	426
14082	5.03	2937.4	994.3	-5.4	525	14087	0.00	3.10	0.00	0.000	4	0.000	0.000	3310	3422	424
14375	5.54	2937.4	986.0	7.8	531	14382	0.00	3.58	0.00	0.000	6	0.000	0.000	3282	1744	423
14698	5.54	2937.4	961.6	7.5	539	14703	0.00	3.10	0.00	0.000	4	0.000	0.000	3291	3414	426
14992	5.54	2937.4	940.0	6.9	545	14998	0.00	3.10	0.05	0.000	6	0.000	0.000	3289	1772	418
15311	5.54	2937.4	916.4	7.5	553	15316	0.00	2.92	0.05	0.001	4	0.000	0.000	3292	3446	421
15606	5.54	2937.4	892.9	7.7	559	15611	0.00	3.00	0.00	0.000	6	0.000	0.000	3288	1772	422
15925	5.54	2937.4	868.4	7.7	567	15933	0.00	3.55	0.05	0.000	4	0.000	0.000	3295	3562	420
16222	5.54	2937.4	845.5	7.4	573	16227	0.00	3.03	0.00	0.000	6	0.000	0.000	3297	1791	422
16540	5.54	2937.4	822.1	7.5	581	16545	0.00	2.70	0.00	0.000	4	0.000	0.000	3282	3436	420
16835	5.54	2937.4	800.1	7.6	587	16842	0.00	3.45	0.00	0.000	6	0.000	0.000	3288	1782	424
17159	5.54	2937.4	775.7	7.6	595	17164	0.00	2.72	0.03	0.000	4	0.000	0.000	3290	3457	420
17453	5.54	2937.4	752.6	7.9	601	17461	0.00	3.75	0.03	0.001	6	0.000	0.000	3305	1745	417
17777	5.54	2937.4	728.2	7.5	609	17782	0.00	2.70	0.08	0.000	4	0.000	0.000	3291	3419	426
18078	5.54	2937.4	706.1	7.3	615	18085	0.00	3.35	0.03	0.001	6	0.000	0.000	3286	1852	416
18406	5.54	2937.4	683.1	7.2	623	18411	0.00	3.10	0.00	0.000	4	0.000	0.000	3289	3380	423
18707	5.54	2937.4	661.4	6.9	629	18712	0.00	2.50	0.00	0.000	6	0.000	0.000	3301	1845	417
19026	5.54	2937.4	640.6	6.7	637	19031	0.00	3.10	0.00	0.000	4	0.000	0.000	3307	3383	432
19330	5.54	2941.2	619.5	6.1	643	19338	0.00	3.25	0.17	0.000	6	0.000	0.000	3309	1839	409
19664	5.55	2941.2	597.3	6.8	651	19672	0.00	3.53	0.00	0.000	4	0.000	0.000	3303	3511	421
19962	5.55	2944.2	575.8	6.1	657	19967	0.00	2.92	0.00	0.000	6	0.000	0.000	3299	1859	417
20280	5.55	2944.2	555.6	6.3	665	20285	0.00	2.72	0.00	0.000	4	0.000	0.000	3300	3371	421
20575	5.55	2945.1	538.0	6.2	671	20582	0.00	3.62	0.00	0.000	6	0.000	0.000	3307	1833	424
20898	5.55	2950.9	518.5	6.0	679	20905	0.00	3.45	0.00	0.000	4	0.000	0.000	3292	3490	417
21199	5.56	2950.9	498.6	6.5	685	21204	0.00	2.80	0.08	0.000	6	0.000	0.000	3296	1829	417
21519	5.56	2950.9	478.4	6.3	700	21527	0.00	3.42	0.03	0.001	4	0.000	0.000	3291	3514	415
21838	5.56	2976.0	460.4	5.3	712	21854	0.00	3.38	0.00	0.000	6	0.000	0.000	3296	1973	420
22169	5.61	2976.1	441.3	6.2	728	22177	0.00	3.85	0.00	0.000	4	0.000	0.000	3292	3543	417
22478	5.61	2976.1	418.8	7.9	740	22494	0.00	4.03	0.00	0.000	6	0.000	0.000	3290	1887	414
22804	5.61	2976.1	393.0	7.9	756	22809	0.00	2.83	0.00	0.000	4	0.000	0.000	3285	3458	420
23108	5.61	2976.1	368.4	7.3	768	23123	0.00	3.55	0.00	0.000	6	0.000	0.000	3292	1789	418
23434	5.61	2976.1	343.1	7.6	784	23442	0.00	3.72	0.05	0.001	4	0.000	0.000	3299	3577	421
23752	5.61	2990.4	320.5	5.7	796	23757	0.00	2.92	0.00	0.000	6	0.000	0.000	3310	1851	411
24074	5.63	2990.4	299.3	6.6	811	24079	0.00	2.92	0.03	0.001	4	0.000	0.000	3288	3350	418
24377	5.63	2998.0	280.0	6.0	823	24392	0.00	3.42	0.00	0.000	6	0.000	0.000	3300	1845	418
24703	5.64	2998.0	259.6	6.4	839	24708	0.00	3.15	0.03	0.000	4	0.000	0.000	3296	3380	419
25006	5.64	3010.4	238.5	5.8	851	25011	0.00	2.72	0.00	0.000	6	0.000	0.000	3297	1847	413
25327	5.66	3010.4	214.9	7.2	866	25331	0.00	2.60	0.00	0.000	4	0.000	0.000	3300	3402	419
25358	5.66	3010.4	212.2	6.3	867	25363	0.00	3.08	0.00	0.000	6	0.000	0.000	3278	2016	423
25679	5.66	3010.4	190.4	6.4	882	25683	0.00	2.40	0.00	0.000	4	0.000	0.000	3305	3404	418
25743	5.66	3010.4	186.4	7.1	884	25755	0.00	2.50	0.00	0.000	6	0.000	0.000	3283	1847	417
26064	5.66	3010.4	163.8	7.0	900	26065	0.00	0.00	0.00	0.000	6	0.000	0.000	3290	1843	416
26380	5.66	3011.4	143.3	6.2	915	26384	0.00	2.80	0.00	0.000	4	0.000	0.000	3285	3371	417
26687	5.66	3044.6	126.0	5.0	927	26702	0.00	3.42	0.00	0.000	6	0.000	0.000	3271	1872	415
27013	5.72	3050.2	105.8	6.0	943	27017	0.00	2.50	0.00	0.000	4	0.000	0.000	3305	3430	413
27062	5.73	3067.8	102.8	5.6	945	27067	0.00	2.80	0.00	0.000	6	0.000	0.000	3307	1791	420
27507	5.76	3086.6	77.5	5.5	999	27519	0.00	3.10	0.00	0.000	4	0.000	0.000	3300	3602	424
27560	5.79	3107.3	75.0	5.5	1004	27572	0.00	2.67	0.00	0.000	6	0.000	0.000	3315	1941	415
28034	5.82	3107.3	46.4	6.6	1065	28046	0.00	2.72	0.00	0.000	4	0.000	0.000	3301	3502	417
28184	5.82	3107.3	35.9	7.0	1083	28196	0.00	3.53	0.00	0.000	6	0.000	0.000	3295	1845	418
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface