Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 5 * 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 5 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 5 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 -442353.12 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 -442353.12

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 5 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 5 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 052814,4703.775,-12557.817,9,1.1,9,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.177,0.077

_SM_DEPTHo 0.34 KALMAN_X 6923.1,1063.0,1023.8,5102.0,-1321.9

_SM_ANGLEo -50.0 KALMAN_Y -1403.3,-160.9,-164.4,-203.5,169.2

GPS2 053928,4703.812,-12557.837,35,1.1,35,18.0 MHEAD_RNG_PITCHd_Wd 48.4,289810,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999501 ALTIM_TOP_PING 19.9,999.0

SM_CCo 27938,0.00,0.000,0,0,418,450.62 _24V_AH 23.7,59.199

SM_GC 0.33,12.88,0.00,0.00,0.000,0.000,0.000,651,1765,418,-7.24,-5.80,450.62 _10V_AH 9.6,22.858

RAFOS_CLK 0 DATA_FILE_SIZE 37821,1111

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,241434624

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,48,1755,5,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2140 CURRENT 0.052,278.0,1

INTERNAL_PRESSURE 26.0748 GPS 160607,132729,4702.980,-12554.692,20,1.1,20,18.0

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 33 119 93.21 SBE_CT 1849 24 1052.28

Roll_motor 259 60 369.33 nil 0 0 0.00

VBD_pump_during_apogee 510 1300 15730.05 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 159 223 843.31

Transponder_ping 0 420 2.49

GPS 35 50 17.09

TT8 6038 19 1154.69

LPSleep 14431 2 320.04

TT8_Active 872 19 166.81

TT8_Sampling 3082 39 1181.17

TT8_CF8 4028 45 1776.10

TT8_Kalman 33 81 26.22

Analog_circuits 2882 12 332.08

GPS_charging 0 0 0.00

Compass 3941 26 983.73

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

38 -0.83 -116.8 0.0 0.0 0 124 0.00 0.00 -76.97 0.000 6 0.000 0.000 618 2186 2737

130 -0.83 -116.8 4.8 -5.6 8 144 7.32 2.78 0.00 0.000 4 0.000 0.000 2129 3461 2734

493 -0.83 -116.8 45.0 -11.2 57 506 0.35 3.12 0.00 0.000 6 0.000 0.000 2045 1842 2731

942 -0.83 -116.8 94.5 -9.9 118 955 0.32 3.33 0.00 0.000 4 0.000 0.000 2129 3606 2742

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

1010 -0.25 0.0 100.3 9.7 124 1107 0.60 0.00 93.95 0.000 6 0.000 0.000 2244 1834 2271

state end apogee CONTROL_FINISHED_OK

state start climb

1118 0.83 116.8 111.3 0.0 129 1226 1.60 2.20 95.65 0.001 4 0.000 0.000 2488 561 1781

1523 0.83 116.8 149.8 -8.7 144 1528 0.47 2.70 0.00 0.000 6 0.000 0.000 2405 2177 1783

1860 0.83 116.8 179.7 -9.1 160 1862 0.47 0.00 0.00 0.000 6 0.000 0.000 2512 2165 1784

2165 0.83 116.8 206.7 -7.9 175 2172 0.45 2.88 0.00 0.000 4 0.000 0.000 2410 417 1777

2468 0.83 116.8 228.4 -7.0 187 2473 0.35 2.53 0.00 0.000 6 0.000 0.000 2456 2089 1780

2789 0.83 116.8 249.5 -7.0 202 2797 0.40 3.00 0.00 0.000 4 0.000 0.000 2406 376 1784

3091 0.83 116.8 272.9 -7.5 214 3108 0.38 3.65 0.00 0.000 6 0.000 0.000 2491 2169 1775

3417 0.83 116.8 298.1 -7.9 230 3425 0.43 3.12 0.00 0.000 4 0.000 0.000 2411 374 1783

3721 0.83 116.8 321.5 -7.8 242 3737 0.38 3.53 0.00 0.000 6 0.000 0.000 2495 2183 1792

4046 0.83 116.8 346.3 -7.7 258 4054 0.35 3.10 0.00 0.000 4 0.000 0.000 2407 382 1783

4349 0.83 116.8 370.6 -7.1 270 4355 0.35 2.83 0.00 0.000 6 0.000 0.000 2452 2135 1781

4670 0.83 116.8 393.0 -6.7 285 4676 0.47 2.72 0.00 0.000 4 0.000 0.000 2410 608 1781

4976 0.83 440.5 412.2 -6.0 297 5329 0.35 2.62 309.50 0.000 6 0.000 0.000 2502 2113 463

5636 1.37 440.5 454.9 -6.9 324 5642 0.50 2.50 0.05 0.001 4 0.000 0.000 2584 592 472

5948 1.37 440.5 478.0 -7.5 336 5965 0.38 3.25 0.00 0.000 6 0.000 0.000 2513 2138 465

6274 1.37 440.5 501.0 -7.2 352 6279 0.52 2.72 0.00 0.000 4 0.000 0.000 2587 518 474

6568 1.37 440.5 523.1 -7.6 358 6577 0.25 3.45 1.27 0.001 6 0.000 0.000 2550 2176 468

6893 1.37 440.5 547.6 -7.8 366 6898 0.05 2.80 0.00 0.000 4 0.000 0.000 2538 598 471

7186 1.37 440.5 570.4 -7.9 372 7193 0.00 3.35 0.00 0.000 6 0.000 0.000 2560 2115 464

7509 1.37 440.5 594.6 -7.4 380 7516 0.00 3.65 0.00 0.000 4 0.000 0.000 2539 472 465

7807 1.37 763.7 615.3 -6.0 386 7821 0.03 3.45 7.05 0.000 6 0.000 0.000 2545 1995 433

8176 1.91 1090.9 637.1 -6.1 395 8186 0.95 3.15 1.98 0.000 4 0.000 0.000 2721 480 427

8480 2.46 1406.8 656.9 -5.7 401 8489 0.43 3.15 0.08 0.000 6 0.000 0.000 2825 1991 417

8811 2.98 1725.9 675.4 -5.8 409 8820 0.70 3.15 0.17 0.001 4 0.000 0.000 2967 481 424

9109 3.52 2048.8 693.1 -6.0 415 9118 0.40 3.25 0.12 0.000 6 0.000 0.000 3055 2110 424

9438 4.06 2364.1 712.0 -5.7 423 9447 0.55 3.53 0.00 0.000 4 0.000 0.000 3198 411 419

9744 4.58 2690.3 730.0 -6.1 429 9752 0.38 2.90 0.00 0.000 6 0.000 0.000 3304 2089 427

10074 5.13 3016.6 749.4 -6.1 437 10079 0.00 2.60 0.00 0.000 4 0.000 0.000 3294 540 423

10376 5.67 3016.6 769.2 -6.7 443 10380 0.00 2.53 0.00 0.000 6 0.000 0.000 3294 2079 417

10695 5.67 3344.9 789.1 -6.2 451 10700 0.00 2.80 0.00 0.000 4 0.000 0.000 3292 571 420

11000 6.22 3660.4 808.4 -5.7 457 11006 0.00 3.12 0.00 0.000 6 0.000 0.000 3266 2095 418

11319 6.75 3982.1 828.0 -5.9 465 11324 0.00 2.83 0.00 0.000 4 0.000 0.000 3299 560 424

11614 7.29 3982.1 846.3 -6.4 471 11622 0.00 3.85 0.08 0.001 6 0.000 0.000 3279 2053 419

11939 7.29 4304.8 865.5 -6.0 479 11944 0.00 2.50 0.05 0.001 4 0.000 0.000 3300 494 427

12232 7.82 4615.3 882.5 -5.5 485 12237 0.00 2.90 0.03 0.000 6 0.000 0.000 3290 2050 413

12550 8.34 4921.4 899.2 -5.3 493 12558 0.00 3.92 0.03 0.001 4 0.000 0.000 3283 375 418

12845 8.85 5226.4 914.1 -5.3 499 12853 0.00 4.22 0.00 0.000 6 0.000 0.000 3287 2150 425

13168 9.36 5519.0 929.6 -4.8 507 13173 0.00 2.72 0.05 0.000 4 0.000 0.000 3293 511 421

13458 9.85 5814.4 944.4 -4.9 513 13463 0.00 2.90 0.03 0.000 6 0.000 0.000 3288 2160 426

13778 10.35 6134.9 962.7 -5.9 521 13783 0.00 2.80 0.00 0.000 4 0.000 0.000 3296 506 425

14074 10.88 6461.5 980.5 -6.1 527 14079 0.00 2.70 0.03 0.000 6 0.000 0.000 3283 2034 418

14393 11.43 6725.2 996.0 -3.7 535 14398 0.00 2.70 0.03 0.001 4 0.000 0.000 3284 493 422

14687 11.87 6725.2 980.1 7.6 541 14695 0.00 3.35 0.05 0.002 6 0.000 0.000 3297 2173 421

15010 11.87 6725.2 954.6 8.1 549 15016 0.00 2.90 0.05 0.001 4 0.000 0.000 3288 491 411

15303 11.87 6725.2 929.6 8.2 555 15309 0.00 3.05 0.00 0.000 6 0.000 0.000 3281 2183 415

15621 11.87 6725.2 903.7 8.3 563 15629 0.00 3.92 0.00 0.000 4 0.000 0.000 3285 369 422

15919 11.87 6725.2 879.0 8.1 569 15924 0.00 3.03 0.05 0.000 6 0.000 0.000 3284 2146 426

16237 11.87 6725.2 853.6 8.0 577 16242 0.00 2.80 0.00 0.000 4 0.000 0.000 3287 479 426

16530 11.87 6725.2 831.1 7.0 583 16537 0.00 3.28 0.05 0.001 6 0.000 0.000 3275 2076 418

16853 11.87 6725.2 807.1 7.4 591 16857 0.00 2.50 0.00 0.000 4 0.000 0.000 3290 527 428

17145 11.87 6725.2 785.5 7.3 597 17150 0.00 2.70 0.00 0.000 6 0.000 0.000 3280 2189 420

17464 11.87 6725.2 763.4 7.1 605 17469 0.00 3.20 0.00 0.000 4 0.000 0.000 3289 496 423

17756 11.87 6725.2 742.5 6.5 611 17764 0.00 3.75 0.03 0.000 6 0.000 0.000 3277 2222 425

18080 11.87 6725.2 720.1 7.0 619 18087 0.00 3.45 0.00 0.000 4 0.000 0.000 3289 439 421

18377 11.87 6725.2 698.5 7.0 625 18382 0.00 2.92 0.00 0.000 6 0.000 0.000 3286 2094 420

18695 11.87 6725.2 677.1 6.7 633 18699 0.00 2.53 0.00 0.000 4 0.000 0.000 3277 542 423

18987 11.87 6725.2 657.2 6.9 639 18992 0.00 2.83 0.00 0.000 6 0.000 0.000 3291 2109 415

19305 11.87 6725.2 636.8 6.4 647 19309 0.00 2.50 0.00 0.000 4 0.000 0.000 3291 575 416

19598 11.87 6725.2 617.0 6.5 653 19605 0.00 3.33 0.00 0.000 6 0.000 0.000 3286 2081 415

19920 11.87 6725.2 595.3 6.7 661 19925 0.00 2.50 0.00 0.000 4 0.000 0.000 3300 546 414

20214 11.87 6725.2 575.3 7.0 667 20218 0.00 2.80 0.00 0.000 6 0.000 0.000 3295 2077 429

20531 11.87 6725.2 554.3 6.6 675 20536 0.00 2.83 0.00 0.000 4 0.000 0.000 3280 528 417

20824 11.87 6725.2 537.5 6.3 681 20830 0.00 2.60 0.03 0.001 6 0.000 0.000 3291 1988 425

21143 11.87 6733.0 518.0 6.0 689 21148 0.00 2.80 0.00 0.000 4 0.000 0.000 3278 588 413

21437 11.88 6741.9 499.7 5.9 695 21441 0.00 2.60 0.00 0.000 6 0.000 0.000 3285 2117 420

21765 11.89 6757.9 481.2 5.6 710 21769 0.00 2.50 0.00 0.000 4 0.000 0.000 3289 553 422

22065 11.92 6757.9 458.5 6.6 722 22070 0.00 2.70 0.00 0.000 6 0.000 0.000 3293 2077 414

22386 11.92 6757.9 430.4 8.9 737 22393 0.00 3.35 0.03 0.000 4 0.000 0.000 3297 572 417

22697 11.92 6757.9 401.0 7.5 749 22702 0.00 3.15 0.03 0.000 6 0.000 0.000 3297 2126 428

23022 11.92 6757.9 372.7 8.8 764 23030 0.00 3.45 0.03 0.002 4 0.000 0.000 3298 460 422

23336 11.92 6757.9 344.5 8.3 776 23340 0.00 2.50 0.00 0.000 6 0.000 0.000 3282 2042 420

23657 11.92 6757.9 315.4 8.6 791 23662 0.00 2.72 0.03 0.003 4 0.000 0.000 3292 521 428

23961 11.92 6757.9 288.3 8.0 803 23977 0.00 3.75 0.03 0.001 6 0.000 0.000 3292 2188 418

24292 11.92 6757.9 262.0 7.7 819 24296 0.00 2.83 0.00 0.000 4 0.000 0.000 3293 526 414

24587 11.92 6757.9 239.3 8.9 831 24596 0.00 3.50 0.00 0.000 6 0.000 0.000 3292 2185 430

24923 11.92 6757.9 213.5 7.4 847 24924 0.00 0.00 0.00 0.000 6 0.000 0.000 3291 2176 419

25226 11.92 6757.9 186.8 9.5 862 25233 0.00 3.35 0.00 0.000 4 0.000 0.000 3295 546 423

25532 11.92 6757.9 159.5 8.4 874 25547 0.00 3.33 0.00 0.000 6 0.000 0.000 3295 2087 422

25857 11.92 6757.9 133.3 7.9 890 25861 0.00 2.72 0.00 0.000 4 0.000 0.000 3283 558 425

26005 11.92 6757.9 122.0 7.3 896 26010 0.00 2.70 0.03 0.001 6 0.000 0.000 3296 2214 422

26332 11.92 6757.9 98.2 7.4 914 26344 0.00 2.50 0.03 0.000 4 0.000 0.000 3285 3583 427

26501 11.92 6757.9 88.1 7.1 935 26513 0.00 2.85 0.00 0.000 6 0.000 0.000 3288 1788 420

26968 11.92 6760.3 58.2 6.2 996 26980 0.00 2.20 0.00 0.000 4 0.000 0.000 3291 369 413

27345 11.93 6765.9 34.3 6.0 1045 27358 0.00 3.62 0.00 0.000 6 0.000 0.000 3297 2168 420

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	5	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	5	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	-442353.12	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	052814,4703.775,-12557.817,9,1.1,9,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.177,0.077
_SM_DEPTHo	0.34	KALMAN_X	6923.1,1063.0,1023.8,5102.0,-1321.9
_SM_ANGLEo	-50.0	KALMAN_Y	-1403.3,-160.9,-164.4,-203.5,169.2
GPS2	053928,4703.812,-12557.837,35,1.1,35,18.0	MHEAD_RNG_PITCHd_Wd	48.4,289810,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999501	ALTIM_TOP_PING	19.9,999.0
SM_CCo	27938,0.00,0.000,0,0,418,450.62	_24V_AH	23.7,59.199
SM_GC	0.33,12.88,0.00,0.00,0.000,0.000,0.000,651,1765,418,-7.24,-5.80,450.62	_10V_AH	9.6,22.858
RAFOS_CLK	0	DATA_FILE_SIZE	37821,1111
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,241434624
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,48,1755,5,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2140	CURRENT	0.052,278.0,1
INTERNAL_PRESSURE	26.0748	GPS	160607,132729,4702.980,-12554.692,20,1.1,20,18.0
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	33	119	93.21	SBE_CT	1849	24	1052.28
Roll_motor	259	60	369.33	nil	0	0	0.00
VBD_pump_during_apogee	510	1300	15730.05	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	159	223	843.31
Transponder_ping	0	420	2.49
GPS	35	50	17.09
TT8	6038	19	1154.69
LPSleep	14431	2	320.04
TT8_Active	872	19	166.81
TT8_Sampling	3082	39	1181.17
TT8_CF8	4028	45	1776.10
TT8_Kalman	33	81	26.22
Analog_circuits	2882	12	332.08
GPS_charging	0	0	0.00
Compass	3941	26	983.73
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
38	-0.83	-116.8	0.0	0.0	0	124	0.00	0.00	-76.97	0.000	6	0.000	0.000	618	2186	2737
130	-0.83	-116.8	4.8	-5.6	8	144	7.32	2.78	0.00	0.000	4	0.000	0.000	2129	3461	2734
493	-0.83	-116.8	45.0	-11.2	57	506	0.35	3.12	0.00	0.000	6	0.000	0.000	2045	1842	2731
942	-0.83	-116.8	94.5	-9.9	118	955	0.32	3.33	0.00	0.000	4	0.000	0.000	2129	3606	2742
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
1010	-0.25	0.0	100.3	9.7	124	1107	0.60	0.00	93.95	0.000	6	0.000	0.000	2244	1834	2271
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1118	0.83	116.8	111.3	0.0	129	1226	1.60	2.20	95.65	0.001	4	0.000	0.000	2488	561	1781
1523	0.83	116.8	149.8	-8.7	144	1528	0.47	2.70	0.00	0.000	6	0.000	0.000	2405	2177	1783
1860	0.83	116.8	179.7	-9.1	160	1862	0.47	0.00	0.00	0.000	6	0.000	0.000	2512	2165	1784
2165	0.83	116.8	206.7	-7.9	175	2172	0.45	2.88	0.00	0.000	4	0.000	0.000	2410	417	1777
2468	0.83	116.8	228.4	-7.0	187	2473	0.35	2.53	0.00	0.000	6	0.000	0.000	2456	2089	1780
2789	0.83	116.8	249.5	-7.0	202	2797	0.40	3.00	0.00	0.000	4	0.000	0.000	2406	376	1784
3091	0.83	116.8	272.9	-7.5	214	3108	0.38	3.65	0.00	0.000	6	0.000	0.000	2491	2169	1775
3417	0.83	116.8	298.1	-7.9	230	3425	0.43	3.12	0.00	0.000	4	0.000	0.000	2411	374	1783
3721	0.83	116.8	321.5	-7.8	242	3737	0.38	3.53	0.00	0.000	6	0.000	0.000	2495	2183	1792
4046	0.83	116.8	346.3	-7.7	258	4054	0.35	3.10	0.00	0.000	4	0.000	0.000	2407	382	1783
4349	0.83	116.8	370.6	-7.1	270	4355	0.35	2.83	0.00	0.000	6	0.000	0.000	2452	2135	1781
4670	0.83	116.8	393.0	-6.7	285	4676	0.47	2.72	0.00	0.000	4	0.000	0.000	2410	608	1781
4976	0.83	440.5	412.2	-6.0	297	5329	0.35	2.62	309.50	0.000	6	0.000	0.000	2502	2113	463
5636	1.37	440.5	454.9	-6.9	324	5642	0.50	2.50	0.05	0.001	4	0.000	0.000	2584	592	472
5948	1.37	440.5	478.0	-7.5	336	5965	0.38	3.25	0.00	0.000	6	0.000	0.000	2513	2138	465
6274	1.37	440.5	501.0	-7.2	352	6279	0.52	2.72	0.00	0.000	4	0.000	0.000	2587	518	474
6568	1.37	440.5	523.1	-7.6	358	6577	0.25	3.45	1.27	0.001	6	0.000	0.000	2550	2176	468
6893	1.37	440.5	547.6	-7.8	366	6898	0.05	2.80	0.00	0.000	4	0.000	0.000	2538	598	471
7186	1.37	440.5	570.4	-7.9	372	7193	0.00	3.35	0.00	0.000	6	0.000	0.000	2560	2115	464
7509	1.37	440.5	594.6	-7.4	380	7516	0.00	3.65	0.00	0.000	4	0.000	0.000	2539	472	465
7807	1.37	763.7	615.3	-6.0	386	7821	0.03	3.45	7.05	0.000	6	0.000	0.000	2545	1995	433
8176	1.91	1090.9	637.1	-6.1	395	8186	0.95	3.15	1.98	0.000	4	0.000	0.000	2721	480	427
8480	2.46	1406.8	656.9	-5.7	401	8489	0.43	3.15	0.08	0.000	6	0.000	0.000	2825	1991	417
8811	2.98	1725.9	675.4	-5.8	409	8820	0.70	3.15	0.17	0.001	4	0.000	0.000	2967	481	424
9109	3.52	2048.8	693.1	-6.0	415	9118	0.40	3.25	0.12	0.000	6	0.000	0.000	3055	2110	424
9438	4.06	2364.1	712.0	-5.7	423	9447	0.55	3.53	0.00	0.000	4	0.000	0.000	3198	411	419
9744	4.58	2690.3	730.0	-6.1	429	9752	0.38	2.90	0.00	0.000	6	0.000	0.000	3304	2089	427
10074	5.13	3016.6	749.4	-6.1	437	10079	0.00	2.60	0.00	0.000	4	0.000	0.000	3294	540	423
10376	5.67	3016.6	769.2	-6.7	443	10380	0.00	2.53	0.00	0.000	6	0.000	0.000	3294	2079	417
10695	5.67	3344.9	789.1	-6.2	451	10700	0.00	2.80	0.00	0.000	4	0.000	0.000	3292	571	420
11000	6.22	3660.4	808.4	-5.7	457	11006	0.00	3.12	0.00	0.000	6	0.000	0.000	3266	2095	418
11319	6.75	3982.1	828.0	-5.9	465	11324	0.00	2.83	0.00	0.000	4	0.000	0.000	3299	560	424
11614	7.29	3982.1	846.3	-6.4	471	11622	0.00	3.85	0.08	0.001	6	0.000	0.000	3279	2053	419
11939	7.29	4304.8	865.5	-6.0	479	11944	0.00	2.50	0.05	0.001	4	0.000	0.000	3300	494	427
12232	7.82	4615.3	882.5	-5.5	485	12237	0.00	2.90	0.03	0.000	6	0.000	0.000	3290	2050	413
12550	8.34	4921.4	899.2	-5.3	493	12558	0.00	3.92	0.03	0.001	4	0.000	0.000	3283	375	418
12845	8.85	5226.4	914.1	-5.3	499	12853	0.00	4.22	0.00	0.000	6	0.000	0.000	3287	2150	425
13168	9.36	5519.0	929.6	-4.8	507	13173	0.00	2.72	0.05	0.000	4	0.000	0.000	3293	511	421
13458	9.85	5814.4	944.4	-4.9	513	13463	0.00	2.90	0.03	0.000	6	0.000	0.000	3288	2160	426
13778	10.35	6134.9	962.7	-5.9	521	13783	0.00	2.80	0.00	0.000	4	0.000	0.000	3296	506	425
14074	10.88	6461.5	980.5	-6.1	527	14079	0.00	2.70	0.03	0.000	6	0.000	0.000	3283	2034	418
14393	11.43	6725.2	996.0	-3.7	535	14398	0.00	2.70	0.03	0.001	4	0.000	0.000	3284	493	422
14687	11.87	6725.2	980.1	7.6	541	14695	0.00	3.35	0.05	0.002	6	0.000	0.000	3297	2173	421
15010	11.87	6725.2	954.6	8.1	549	15016	0.00	2.90	0.05	0.001	4	0.000	0.000	3288	491	411
15303	11.87	6725.2	929.6	8.2	555	15309	0.00	3.05	0.00	0.000	6	0.000	0.000	3281	2183	415
15621	11.87	6725.2	903.7	8.3	563	15629	0.00	3.92	0.00	0.000	4	0.000	0.000	3285	369	422
15919	11.87	6725.2	879.0	8.1	569	15924	0.00	3.03	0.05	0.000	6	0.000	0.000	3284	2146	426
16237	11.87	6725.2	853.6	8.0	577	16242	0.00	2.80	0.00	0.000	4	0.000	0.000	3287	479	426
16530	11.87	6725.2	831.1	7.0	583	16537	0.00	3.28	0.05	0.001	6	0.000	0.000	3275	2076	418
16853	11.87	6725.2	807.1	7.4	591	16857	0.00	2.50	0.00	0.000	4	0.000	0.000	3290	527	428
17145	11.87	6725.2	785.5	7.3	597	17150	0.00	2.70	0.00	0.000	6	0.000	0.000	3280	2189	420
17464	11.87	6725.2	763.4	7.1	605	17469	0.00	3.20	0.00	0.000	4	0.000	0.000	3289	496	423
17756	11.87	6725.2	742.5	6.5	611	17764	0.00	3.75	0.03	0.000	6	0.000	0.000	3277	2222	425
18080	11.87	6725.2	720.1	7.0	619	18087	0.00	3.45	0.00	0.000	4	0.000	0.000	3289	439	421
18377	11.87	6725.2	698.5	7.0	625	18382	0.00	2.92	0.00	0.000	6	0.000	0.000	3286	2094	420
18695	11.87	6725.2	677.1	6.7	633	18699	0.00	2.53	0.00	0.000	4	0.000	0.000	3277	542	423
18987	11.87	6725.2	657.2	6.9	639	18992	0.00	2.83	0.00	0.000	6	0.000	0.000	3291	2109	415
19305	11.87	6725.2	636.8	6.4	647	19309	0.00	2.50	0.00	0.000	4	0.000	0.000	3291	575	416
19598	11.87	6725.2	617.0	6.5	653	19605	0.00	3.33	0.00	0.000	6	0.000	0.000	3286	2081	415
19920	11.87	6725.2	595.3	6.7	661	19925	0.00	2.50	0.00	0.000	4	0.000	0.000	3300	546	414
20214	11.87	6725.2	575.3	7.0	667	20218	0.00	2.80	0.00	0.000	6	0.000	0.000	3295	2077	429
20531	11.87	6725.2	554.3	6.6	675	20536	0.00	2.83	0.00	0.000	4	0.000	0.000	3280	528	417
20824	11.87	6725.2	537.5	6.3	681	20830	0.00	2.60	0.03	0.001	6	0.000	0.000	3291	1988	425
21143	11.87	6733.0	518.0	6.0	689	21148	0.00	2.80	0.00	0.000	4	0.000	0.000	3278	588	413
21437	11.88	6741.9	499.7	5.9	695	21441	0.00	2.60	0.00	0.000	6	0.000	0.000	3285	2117	420
21765	11.89	6757.9	481.2	5.6	710	21769	0.00	2.50	0.00	0.000	4	0.000	0.000	3289	553	422
22065	11.92	6757.9	458.5	6.6	722	22070	0.00	2.70	0.00	0.000	6	0.000	0.000	3293	2077	414
22386	11.92	6757.9	430.4	8.9	737	22393	0.00	3.35	0.03	0.000	4	0.000	0.000	3297	572	417
22697	11.92	6757.9	401.0	7.5	749	22702	0.00	3.15	0.03	0.000	6	0.000	0.000	3297	2126	428
23022	11.92	6757.9	372.7	8.8	764	23030	0.00	3.45	0.03	0.002	4	0.000	0.000	3298	460	422
23336	11.92	6757.9	344.5	8.3	776	23340	0.00	2.50	0.00	0.000	6	0.000	0.000	3282	2042	420
23657	11.92	6757.9	315.4	8.6	791	23662	0.00	2.72	0.03	0.003	4	0.000	0.000	3292	521	428
23961	11.92	6757.9	288.3	8.0	803	23977	0.00	3.75	0.03	0.001	6	0.000	0.000	3292	2188	418
24292	11.92	6757.9	262.0	7.7	819	24296	0.00	2.83	0.00	0.000	4	0.000	0.000	3293	526	414
24587	11.92	6757.9	239.3	8.9	831	24596	0.00	3.50	0.00	0.000	6	0.000	0.000	3292	2185	430
24923	11.92	6757.9	213.5	7.4	847	24924	0.00	0.00	0.00	0.000	6	0.000	0.000	3291	2176	419
25226	11.92	6757.9	186.8	9.5	862	25233	0.00	3.35	0.00	0.000	4	0.000	0.000	3295	546	423
25532	11.92	6757.9	159.5	8.4	874	25547	0.00	3.33	0.00	0.000	6	0.000	0.000	3295	2087	422
25857	11.92	6757.9	133.3	7.9	890	25861	0.00	2.72	0.00	0.000	4	0.000	0.000	3283	558	425
26005	11.92	6757.9	122.0	7.3	896	26010	0.00	2.70	0.03	0.001	6	0.000	0.000	3296	2214	422
26332	11.92	6757.9	98.2	7.4	914	26344	0.00	2.50	0.03	0.000	4	0.000	0.000	3285	3583	427
26501	11.92	6757.9	88.1	7.1	935	26513	0.00	2.85	0.00	0.000	6	0.000	0.000	3288	1788	420
26968	11.92	6760.3	58.2	6.2	996	26980	0.00	2.20	0.00	0.000	4	0.000	0.000	3291	369	413
27345	11.93	6765.9	34.3	6.0	1045	27358	0.00	3.62	0.00	0.000	6	0.000	0.000	3297	2168	420
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface