Glider dive log

WA coast Jun07 * SG001 * Dive index * Mission links * Dive 9 * 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 9 TACK_ANGLE -181 PITCH_MAXERRORS 1 ALTIM_PING_DEPTH 125

D_SURF 2 ESCAPE_HEADING 180 ROLL_MIN 166 ALTIM_PING_DELTA 25

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3791 ALTIM_FREQUENCY 15

D_TGT 990 FIX_MISSING_TIMEOUT 3 C_ROLL_DIVE 1978 ALTIM_PULSE 5

D_ABORT 1090 TGT_DEFAULT_LAT 47.599998 C_ROLL_CLIMB 1978 ALTIM_SENSITIVITY 1

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 HEAD_ERRBAND 15 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 7.0000001e-06 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 10

D_PITCH 1.5 SM_CC 350 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 100 N_FILEKB 4 R_PORT_OVSHOOT 4 DEEPGLIDERMB 0

D_CALL 2 FILEMGR 2 R_STBD_OVSHOOT 13 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 -442424.25 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 -442424.25

CALL_WAIT 60 HD_B 0.0099099996 ROLL_AD_RATE 500 T_MISSION 550

CAPMAXSIZE 200000 HD_C 2.4896e-05 ROLL_CNV 0.028270001 T_NO_W 120

CAPUPLOAD 0 HEADING -1 ROLL_MAX 3791 T_RSLEEP 57

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_MAXERRORS 1 T_TURN 240

COMM_SEQ 0 HEAPDBG 1 ROLL_MIN 166 T_TURN_SAMPINT 5

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN -2 ROLL_TIMEOUT 15 T_WATCHDOG 10

COURSE_BIAS 0 ID 1 R_PORT_OVSHOOT 4 UNCOM_BLEED 20

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 13 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 9 PITCH_AD_RATE 180 SMARTDEVICE2 -1 XPDR_DEVICE 24

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 132909,4701.534,-12543.867,15,1.1,15,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.174,0.084

_SM_DEPTHo 0.34 KALMAN_X 15185.9,1458.7,1368.9,13651.0,-2012.4

_SM_ANGLEo -50.0 KALMAN_Y -4098.8,-342.3,-320.3,-1320.2,536.1

GPS2 133755,4701.565,-12543.896,8,1.1,8,18.0 MHEAD_RNG_PITCHd_Wd 46.3,276016,-12.7,-6.250

SPEED_LIMITS 0.103,0.183 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.3,0.999510 ALTIM_TOP_PING 19.9,999.0

SM_CCo 28454,0.00,0.000,0,0,417,451.84 _24V_AH 23.7,63.055

SM_GC 0.34,13.35,0.00,0.00,0.000,0.000,0.000,632,2182,417,-7.25,5.96,451.84 _10V_AH 9.6,23.614

RAFOS_CLK 0 DATA_FILE_SIZE 37859,1130

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 255582208,240037888

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,48,1871,7,0

TT8_MAMPS 0.024544 SOUNDSPEED 1465.0

HUMID 2112 CURRENT 0.037,252.4,1

INTERNAL_PRESSURE 26.153 GPS 170607,213420,4700.585,-12540.055,12,1.1,12,18.0

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 2007 24 1141.72

Roll_motor 277 60 394.57 nil 0 0 0.00

VBD_pump_during_apogee 511 1300 15767.02 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 127 223 671.23

Transponder_ping 0 420 2.49

GPS 14 50 6.72

TT8 6165 19 1179.02

LPSleep 14567 2 323.04

TT8_Active 911 19 174.35

TT8_Sampling 3170 39 1215.22

TT8_CF8 4021 45 1772.85

TT8_Kalman 33 81 26.23

Analog_circuits 3003 12 346.03

GPS_charging 0 0 0.00

Compass 4034 26 1006.91

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

38 -0.83 -116.8 0.0 0.0 0 114 0.00 0.00 -73.57 0.000 2 0.000 0.000 643 1813 2635

121 -0.83 -116.8 3.0 -4.7 7 150 7.03 3.42 -3.50 0.000 4 0.000 0.000 2144 3580 2746

495 -0.83 -116.8 48.7 -12.3 57 508 0.43 2.78 0.00 0.000 6 0.000 0.000 2047 1915 2743

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

934 -0.25 0.0 100.4 10.6 116 1034 1.02 0.00 96.45 0.000 6 0.000 0.000 2282 2164 2260

state end apogee CONTROL_FINISHED_OK

state start climb

1045 0.83 116.8 110.0 0.0 121 1152 1.00 2.90 93.70 0.000 4 0.000 0.000 2516 489 1788

1448 0.83 116.8 146.9 -9.8 136 1456 0.40 3.30 0.17 0.000 6 0.000 0.000 2419 2130 1778

1789 0.83 116.8 177.1 -8.5 152 1797 0.00 3.47 0.05 0.000 4 0.000 0.000 2414 477 1784

2092 0.83 116.8 201.1 -7.6 164 2108 0.00 3.45 0.00 0.000 6 0.000 0.000 2410 2153 1781

2418 0.83 116.8 226.7 -8.2 180 2424 0.30 2.92 0.03 0.001 4 0.000 0.000 2505 484 1785

2726 0.83 116.8 252.7 -7.6 192 2742 0.38 3.35 0.00 0.000 6 0.000 0.000 2404 2052 1782

3052 0.83 116.8 277.7 -7.7 208 3057 0.00 2.53 0.03 0.000 4 0.000 0.000 2393 505 1787

3354 0.83 116.8 302.3 -8.9 220 3370 0.38 3.30 0.00 0.000 6 0.000 0.000 2508 2186 1783

3680 0.83 116.8 328.0 -7.9 236 3687 0.38 3.10 0.00 0.000 4 0.000 0.000 2402 404 1780

3983 0.83 116.8 351.6 -7.6 248 3988 0.15 2.62 0.00 0.000 6 0.000 0.000 2410 2128 1790

4303 0.83 116.8 374.2 -7.2 263 4308 0.00 2.67 0.00 0.000 4 0.000 0.000 2459 575 1784

4603 0.83 116.8 396.9 -7.2 275 4608 0.00 2.80 0.00 0.000 6 0.000 0.000 2446 2003 1781

4924 0.83 116.8 418.3 -6.7 290 4932 0.00 3.62 0.00 0.000 4 0.000 0.000 2441 340 1783

5240 0.83 116.8 439.8 -6.9 302 5257 0.10 3.65 0.00 0.000 6 0.000 0.000 2386 2135 1783

5566 0.83 116.8 461.8 -7.2 318 5572 0.22 2.90 0.00 0.000 4 0.000 0.000 2447 478 1777

5871 0.83 116.8 483.6 -7.3 330 5876 0.00 2.80 0.00 0.000 6 0.000 0.000 2458 2024 1785

6190 0.83 116.8 507.1 -7.2 343 6198 0.00 3.53 0.00 0.000 4 0.000 0.000 2456 483 1783

6488 0.83 116.8 529.9 -7.4 349 6493 0.00 2.60 0.00 0.000 6 0.000 0.000 2466 2035 1790

6806 0.83 116.8 554.0 -7.8 357 6813 0.00 3.38 0.00 0.000 4 0.000 0.000 2455 528 1783

7110 0.83 116.8 577.1 -7.4 363 7117 0.00 3.55 0.00 0.000 6 0.000 0.000 2452 2179 1779

7433 0.83 116.8 600.3 -7.0 371 7438 0.00 2.70 0.03 0.000 4 0.000 0.000 2455 464 1781

7726 0.83 116.8 620.5 -7.0 377 7733 0.00 3.45 0.00 0.000 6 0.000 0.000 2450 2134 1781

8049 0.83 441.8 640.9 -6.1 385 8413 0.00 2.60 311.50 0.000 4 0.000 0.000 2450 433 464

8706 1.37 441.8 679.3 -6.5 398 8714 0.70 3.22 0.00 0.000 6 0.000 0.000 2593 2090 461

9045 1.37 770.7 701.5 -6.2 406 9060 0.35 3.42 7.10 0.000 4 0.000 0.000 2508 453 436

9353 1.92 1099.1 720.9 -6.2 412 9363 1.08 3.25 1.15 0.001 6 0.000 0.000 2737 1999 423

9723 2.47 1099.1 743.2 -6.5 421 9731 0.45 3.05 0.00 0.000 4 0.000 0.000 2827 457 423

10030 2.47 1099.1 763.0 -6.3 427 10036 0.17 2.80 0.12 0.000 6 0.000 0.000 2777 2132 427

10357 2.47 1423.1 782.6 -6.0 435 10363 0.00 2.83 0.47 0.000 4 0.000 0.000 2770 460 419

10657 3.01 1749.6 800.8 -6.1 441 10667 0.77 3.85 0.22 0.000 6 0.000 0.000 2960 2000 419

10987 3.56 2076.1 821.3 -6.1 449 10996 0.62 3.38 0.03 0.001 4 0.000 0.000 3053 470 428

11287 4.10 2396.7 838.6 -5.9 455 11295 0.55 3.12 0.05 0.000 6 0.000 0.000 3154 2148 421

11614 4.64 2703.5 856.0 -5.4 463 11623 0.60 3.55 0.00 0.000 4 0.000 0.000 3276 372 427

11912 5.15 3008.4 872.7 -5.3 469 11917 0.00 3.00 0.03 0.000 6 0.000 0.000 3288 2067 423

12231 5.66 3328.0 890.5 -5.9 477 12237 0.00 3.10 0.03 0.001 4 0.000 0.000 3280 522 427

12526 6.19 3656.9 908.6 -6.2 483 12531 0.00 2.50 0.00 0.000 6 0.000 0.000 3288 1956 419

12844 6.74 3656.9 930.0 -6.9 491 12852 0.00 3.90 0.00 0.000 4 0.000 0.000 3292 457 425

13144 6.74 3982.4 948.9 -6.1 497 13149 0.00 2.62 0.00 0.000 6 0.000 0.000 3297 2093 425

13463 7.29 4312.1 968.6 -6.2 505 13468 0.00 3.10 0.00 0.000 4 0.000 0.000 3294 519 429

13753 7.84 4618.1 985.2 -5.3 511 13761 0.00 3.67 0.00 0.000 6 0.000 0.000 3280 2077 420

14076 8.35 4855.4 997.5 -2.7 519 14083 0.00 3.45 0.00 0.000 4 0.000 0.000 3296 408 426

14373 8.74 4855.4 977.8 8.4 525 14381 0.00 3.65 0.00 0.000 6 0.000 0.000 3290 2065 418

14696 8.74 4855.4 951.6 8.2 533 14701 0.00 2.53 0.03 0.000 4 0.000 0.000 3296 519 415

14989 8.74 4855.4 927.6 8.2 539 14996 0.00 3.55 0.00 0.000 6 0.000 0.000 3306 2185 422

15312 8.74 4855.4 902.8 7.8 547 15317 0.00 3.00 0.08 0.000 4 0.000 0.000 3291 523 426

15605 8.74 4855.4 879.1 8.3 553 15611 0.00 3.00 0.05 0.000 6 0.000 0.000 3298 2182 423

15924 8.74 4855.4 853.4 8.0 561 15928 0.00 2.70 0.00 0.000 4 0.000 0.000 3277 502 421

16216 8.74 4855.4 831.3 7.0 567 16223 0.00 3.55 0.00 0.000 6 0.000 0.000 3295 2185 427

16539 8.74 4855.4 808.0 7.4 575 16543 0.00 2.80 0.00 0.000 4 0.000 0.000 3282 499 417

16831 8.74 4855.4 785.7 8.6 581 16839 0.00 3.45 0.00 0.000 6 0.000 0.000 3301 2168 422

17154 8.74 4855.4 759.8 8.2 589 17162 0.00 3.65 0.00 0.000 4 0.000 0.000 3284 390 418

17452 8.74 4855.4 735.1 8.4 595 17457 0.00 3.00 0.05 0.001 6 0.000 0.000 3299 2182 424

17770 8.74 4855.4 710.2 7.8 603 17775 0.00 3.10 0.00 0.000 4 0.000 0.000 3292 518 428

18062 8.74 4855.4 686.4 7.4 609 18068 0.00 2.80 0.05 0.000 6 0.000 0.000 3298 2199 420

18381 8.74 4855.4 663.4 7.1 617 18388 0.00 3.75 0.00 0.000 4 0.000 0.000 3281 393 415

18679 8.74 4856.4 644.9 6.2 623 18684 0.00 2.90 0.03 0.000 6 0.000 0.000 3284 2064 423

18998 8.75 4866.5 626.3 5.9 631 19006 0.00 3.97 0.03 0.001 4 0.000 0.000 3290 486 424

19297 8.76 4885.9 608.3 5.5 637 19301 0.00 2.62 0.00 0.000 6 0.000 0.000 3276 2144 427

19614 8.79 4885.9 587.6 6.8 645 19622 0.00 3.65 0.00 0.000 4 0.000 0.000 3294 384 423

19912 8.79 4885.9 564.9 7.6 651 19918 0.00 2.80 0.08 0.000 6 0.000 0.000 3291 2198 423

20230 8.79 4885.9 542.9 6.9 659 20236 0.00 3.00 0.03 0.002 4 0.000 0.000 3285 522 414

20524 8.79 4885.9 521.6 7.5 665 20529 0.00 2.70 0.00 0.000 6 0.000 0.000 3287 2177 423

20842 8.79 4885.9 498.9 7.2 673 20847 0.00 2.80 0.03 0.001 4 0.000 0.000 3288 476 425

21144 8.79 4885.9 476.6 7.4 685 21159 0.00 3.65 0.00 0.000 6 0.000 0.000 3276 2158 425

21469 8.79 4885.9 453.8 6.8 701 21473 0.00 2.72 0.00 0.000 4 0.000 0.000 3285 466 414

21770 8.79 4885.9 433.6 7.2 713 21775 0.00 3.10 0.00 0.000 6 0.000 0.000 3287 2109 421

22091 8.79 4885.9 412.1 6.7 728 22099 0.00 3.55 0.05 0.001 4 0.000 0.000 3284 344 426

22400 8.79 4885.9 391.8 7.0 740 22404 0.00 2.70 0.00 0.000 6 0.000 0.000 3299 2100 422

22720 8.79 4885.9 371.4 6.6 755 22728 0.00 3.22 0.05 0.000 4 0.000 0.000 3274 440 419

23031 8.79 4904.3 350.3 5.6 767 23036 0.00 2.90 0.00 0.000 6 0.000 0.000 3265 2110 420

23352 8.83 4904.3 327.0 6.7 782 23357 0.00 3.00 0.00 0.000 4 0.000 0.000 3304 478 417

23658 8.83 4904.3 304.4 6.8 794 23674 0.00 3.83 0.00 0.000 6 0.000 0.000 3304 2100 414

23989 8.83 4904.3 282.6 6.6 810 23994 0.00 2.53 0.03 0.001 4 0.000 0.000 3291 500 423

24307 8.83 4904.3 261.5 7.8 822 24314 0.00 3.12 0.00 0.000 6 0.000 0.000 3303 2174 408

24641 8.83 4904.3 238.6 6.8 838 24649 0.00 3.58 0.03 0.000 4 0.000 0.000 3290 447 423

24964 8.83 4914.6 219.1 5.9 850 24979 0.00 3.45 0.00 0.000 6 0.000 0.000 3298 2022 427

25299 8.84 4920.4 200.1 6.0 866 25304 0.00 2.62 0.00 0.000 4 0.000 0.000 3286 459 421

25603 8.85 4920.4 177.8 7.3 878 25608 0.00 2.83 0.00 0.000 6 0.000 0.000 3281 2151 420

25924 8.85 4920.4 154.7 6.7 893 25928 0.00 2.70 0.00 0.000 4 0.000 0.000 3280 530 418

26224 8.85 4956.0 135.0 4.9 905 26240 0.00 3.30 0.03 0.001 6 0.000 0.000 3281 2183 420

26555 8.91 4962.1 117.7 6.0 921 26560 0.00 3.10 0.00 0.000 4 0.000 0.000 3294 504 415

26871 8.92 4962.1 94.6 8.4 938 26883 0.00 3.30 0.00 0.000 6 0.000 0.000 3285 2133 424

27335 8.92 4962.1 66.0 6.3 999 27347 0.00 3.12 0.00 0.000 4 0.000 0.000 3281 354 418

27711 8.92 4962.1 41.3 6.7 1048 27723 0.00 3.65 0.00 0.000 6 0.000 0.000 3267 2139 422

28184 8.92 4962.1 10.5 6.4 1109 28196 0.00 2.70 0.00 0.000 4 0.000 0.000 3279 410 422

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	9	TACK_ANGLE	-181	PITCH_MAXERRORS	1	ALTIM_PING_DEPTH	125
D_SURF	2	ESCAPE_HEADING	180	ROLL_MIN	166	ALTIM_PING_DELTA	25
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3791	ALTIM_FREQUENCY	15
D_TGT	990	FIX_MISSING_TIMEOUT	3	C_ROLL_DIVE	1978	ALTIM_PULSE	5
D_ABORT	1090	TGT_DEFAULT_LAT	47.599998	C_ROLL_CLIMB	1978	ALTIM_SENSITIVITY	1
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	HEAD_ERRBAND	15	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	7.0000001e-06	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	10
D_PITCH	1.5	SM_CC	350	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	100	N_FILEKB	4	R_PORT_OVSHOOT	4	DEEPGLIDERMB	0
D_CALL	2	FILEMGR	2	R_STBD_OVSHOOT	13	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	-442424.25	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	132909,4701.534,-12543.867,15,1.1,15,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.174,0.084
_SM_DEPTHo	0.34	KALMAN_X	15185.9,1458.7,1368.9,13651.0,-2012.4
_SM_ANGLEo	-50.0	KALMAN_Y	-4098.8,-342.3,-320.3,-1320.2,536.1
GPS2	133755,4701.565,-12543.896,8,1.1,8,18.0	MHEAD_RNG_PITCHd_Wd	46.3,276016,-12.7,-6.250
SPEED_LIMITS	0.103,0.183	D_GRID	990

FINISH	0.3,0.999510	ALTIM_TOP_PING	19.9,999.0
SM_CCo	28454,0.00,0.000,0,0,417,451.84	_24V_AH	23.7,63.055
SM_GC	0.34,13.35,0.00,0.00,0.000,0.000,0.000,632,2182,417,-7.25,5.96,451.84	_10V_AH	9.6,23.614
RAFOS_CLK	0	DATA_FILE_SIZE	37859,1130
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	255582208,240037888
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,48,1871,7,0
TT8_MAMPS	0.024544	SOUNDSPEED	1465.0
HUMID	2112	CURRENT	0.037,252.4,1
INTERNAL_PRESSURE	26.153	GPS	170607,213420,4700.585,-12540.055,12,1.1,12,18.0
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	2007	24	1141.72
Roll_motor	277	60	394.57	nil	0	0	0.00
VBD_pump_during_apogee	511	1300	15767.02	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	127	223	671.23
Transponder_ping	0	420	2.49
GPS	14	50	6.72
TT8	6165	19	1179.02
LPSleep	14567	2	323.04
TT8_Active	911	19	174.35
TT8_Sampling	3170	39	1215.22
TT8_CF8	4021	45	1772.85
TT8_Kalman	33	81	26.23
Analog_circuits	3003	12	346.03
GPS_charging	0	0	0.00
Compass	4034	26	1006.91
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
38	-0.83	-116.8	0.0	0.0	0	114	0.00	0.00	-73.57	0.000	2	0.000	0.000	643	1813	2635
121	-0.83	-116.8	3.0	-4.7	7	150	7.03	3.42	-3.50	0.000	4	0.000	0.000	2144	3580	2746
495	-0.83	-116.8	48.7	-12.3	57	508	0.43	2.78	0.00	0.000	6	0.000	0.000	2047	1915	2743
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
934	-0.25	0.0	100.4	10.6	116	1034	1.02	0.00	96.45	0.000	6	0.000	0.000	2282	2164	2260
state	end apogee	CONTROL_FINISHED_OK
state	start climb
1045	0.83	116.8	110.0	0.0	121	1152	1.00	2.90	93.70	0.000	4	0.000	0.000	2516	489	1788
1448	0.83	116.8	146.9	-9.8	136	1456	0.40	3.30	0.17	0.000	6	0.000	0.000	2419	2130	1778
1789	0.83	116.8	177.1	-8.5	152	1797	0.00	3.47	0.05	0.000	4	0.000	0.000	2414	477	1784
2092	0.83	116.8	201.1	-7.6	164	2108	0.00	3.45	0.00	0.000	6	0.000	0.000	2410	2153	1781
2418	0.83	116.8	226.7	-8.2	180	2424	0.30	2.92	0.03	0.001	4	0.000	0.000	2505	484	1785
2726	0.83	116.8	252.7	-7.6	192	2742	0.38	3.35	0.00	0.000	6	0.000	0.000	2404	2052	1782
3052	0.83	116.8	277.7	-7.7	208	3057	0.00	2.53	0.03	0.000	4	0.000	0.000	2393	505	1787
3354	0.83	116.8	302.3	-8.9	220	3370	0.38	3.30	0.00	0.000	6	0.000	0.000	2508	2186	1783
3680	0.83	116.8	328.0	-7.9	236	3687	0.38	3.10	0.00	0.000	4	0.000	0.000	2402	404	1780
3983	0.83	116.8	351.6	-7.6	248	3988	0.15	2.62	0.00	0.000	6	0.000	0.000	2410	2128	1790
4303	0.83	116.8	374.2	-7.2	263	4308	0.00	2.67	0.00	0.000	4	0.000	0.000	2459	575	1784
4603	0.83	116.8	396.9	-7.2	275	4608	0.00	2.80	0.00	0.000	6	0.000	0.000	2446	2003	1781
4924	0.83	116.8	418.3	-6.7	290	4932	0.00	3.62	0.00	0.000	4	0.000	0.000	2441	340	1783
5240	0.83	116.8	439.8	-6.9	302	5257	0.10	3.65	0.00	0.000	6	0.000	0.000	2386	2135	1783
5566	0.83	116.8	461.8	-7.2	318	5572	0.22	2.90	0.00	0.000	4	0.000	0.000	2447	478	1777
5871	0.83	116.8	483.6	-7.3	330	5876	0.00	2.80	0.00	0.000	6	0.000	0.000	2458	2024	1785
6190	0.83	116.8	507.1	-7.2	343	6198	0.00	3.53	0.00	0.000	4	0.000	0.000	2456	483	1783
6488	0.83	116.8	529.9	-7.4	349	6493	0.00	2.60	0.00	0.000	6	0.000	0.000	2466	2035	1790
6806	0.83	116.8	554.0	-7.8	357	6813	0.00	3.38	0.00	0.000	4	0.000	0.000	2455	528	1783
7110	0.83	116.8	577.1	-7.4	363	7117	0.00	3.55	0.00	0.000	6	0.000	0.000	2452	2179	1779
7433	0.83	116.8	600.3	-7.0	371	7438	0.00	2.70	0.03	0.000	4	0.000	0.000	2455	464	1781
7726	0.83	116.8	620.5	-7.0	377	7733	0.00	3.45	0.00	0.000	6	0.000	0.000	2450	2134	1781
8049	0.83	441.8	640.9	-6.1	385	8413	0.00	2.60	311.50	0.000	4	0.000	0.000	2450	433	464
8706	1.37	441.8	679.3	-6.5	398	8714	0.70	3.22	0.00	0.000	6	0.000	0.000	2593	2090	461
9045	1.37	770.7	701.5	-6.2	406	9060	0.35	3.42	7.10	0.000	4	0.000	0.000	2508	453	436
9353	1.92	1099.1	720.9	-6.2	412	9363	1.08	3.25	1.15	0.001	6	0.000	0.000	2737	1999	423
9723	2.47	1099.1	743.2	-6.5	421	9731	0.45	3.05	0.00	0.000	4	0.000	0.000	2827	457	423
10030	2.47	1099.1	763.0	-6.3	427	10036	0.17	2.80	0.12	0.000	6	0.000	0.000	2777	2132	427
10357	2.47	1423.1	782.6	-6.0	435	10363	0.00	2.83	0.47	0.000	4	0.000	0.000	2770	460	419
10657	3.01	1749.6	800.8	-6.1	441	10667	0.77	3.85	0.22	0.000	6	0.000	0.000	2960	2000	419
10987	3.56	2076.1	821.3	-6.1	449	10996	0.62	3.38	0.03	0.001	4	0.000	0.000	3053	470	428
11287	4.10	2396.7	838.6	-5.9	455	11295	0.55	3.12	0.05	0.000	6	0.000	0.000	3154	2148	421
11614	4.64	2703.5	856.0	-5.4	463	11623	0.60	3.55	0.00	0.000	4	0.000	0.000	3276	372	427
11912	5.15	3008.4	872.7	-5.3	469	11917	0.00	3.00	0.03	0.000	6	0.000	0.000	3288	2067	423
12231	5.66	3328.0	890.5	-5.9	477	12237	0.00	3.10	0.03	0.001	4	0.000	0.000	3280	522	427
12526	6.19	3656.9	908.6	-6.2	483	12531	0.00	2.50	0.00	0.000	6	0.000	0.000	3288	1956	419
12844	6.74	3656.9	930.0	-6.9	491	12852	0.00	3.90	0.00	0.000	4	0.000	0.000	3292	457	425
13144	6.74	3982.4	948.9	-6.1	497	13149	0.00	2.62	0.00	0.000	6	0.000	0.000	3297	2093	425
13463	7.29	4312.1	968.6	-6.2	505	13468	0.00	3.10	0.00	0.000	4	0.000	0.000	3294	519	429
13753	7.84	4618.1	985.2	-5.3	511	13761	0.00	3.67	0.00	0.000	6	0.000	0.000	3280	2077	420
14076	8.35	4855.4	997.5	-2.7	519	14083	0.00	3.45	0.00	0.000	4	0.000	0.000	3296	408	426
14373	8.74	4855.4	977.8	8.4	525	14381	0.00	3.65	0.00	0.000	6	0.000	0.000	3290	2065	418
14696	8.74	4855.4	951.6	8.2	533	14701	0.00	2.53	0.03	0.000	4	0.000	0.000	3296	519	415
14989	8.74	4855.4	927.6	8.2	539	14996	0.00	3.55	0.00	0.000	6	0.000	0.000	3306	2185	422
15312	8.74	4855.4	902.8	7.8	547	15317	0.00	3.00	0.08	0.000	4	0.000	0.000	3291	523	426
15605	8.74	4855.4	879.1	8.3	553	15611	0.00	3.00	0.05	0.000	6	0.000	0.000	3298	2182	423
15924	8.74	4855.4	853.4	8.0	561	15928	0.00	2.70	0.00	0.000	4	0.000	0.000	3277	502	421
16216	8.74	4855.4	831.3	7.0	567	16223	0.00	3.55	0.00	0.000	6	0.000	0.000	3295	2185	427
16539	8.74	4855.4	808.0	7.4	575	16543	0.00	2.80	0.00	0.000	4	0.000	0.000	3282	499	417
16831	8.74	4855.4	785.7	8.6	581	16839	0.00	3.45	0.00	0.000	6	0.000	0.000	3301	2168	422
17154	8.74	4855.4	759.8	8.2	589	17162	0.00	3.65	0.00	0.000	4	0.000	0.000	3284	390	418
17452	8.74	4855.4	735.1	8.4	595	17457	0.00	3.00	0.05	0.001	6	0.000	0.000	3299	2182	424
17770	8.74	4855.4	710.2	7.8	603	17775	0.00	3.10	0.00	0.000	4	0.000	0.000	3292	518	428
18062	8.74	4855.4	686.4	7.4	609	18068	0.00	2.80	0.05	0.000	6	0.000	0.000	3298	2199	420
18381	8.74	4855.4	663.4	7.1	617	18388	0.00	3.75	0.00	0.000	4	0.000	0.000	3281	393	415
18679	8.74	4856.4	644.9	6.2	623	18684	0.00	2.90	0.03	0.000	6	0.000	0.000	3284	2064	423
18998	8.75	4866.5	626.3	5.9	631	19006	0.00	3.97	0.03	0.001	4	0.000	0.000	3290	486	424
19297	8.76	4885.9	608.3	5.5	637	19301	0.00	2.62	0.00	0.000	6	0.000	0.000	3276	2144	427
19614	8.79	4885.9	587.6	6.8	645	19622	0.00	3.65	0.00	0.000	4	0.000	0.000	3294	384	423
19912	8.79	4885.9	564.9	7.6	651	19918	0.00	2.80	0.08	0.000	6	0.000	0.000	3291	2198	423
20230	8.79	4885.9	542.9	6.9	659	20236	0.00	3.00	0.03	0.002	4	0.000	0.000	3285	522	414
20524	8.79	4885.9	521.6	7.5	665	20529	0.00	2.70	0.00	0.000	6	0.000	0.000	3287	2177	423
20842	8.79	4885.9	498.9	7.2	673	20847	0.00	2.80	0.03	0.001	4	0.000	0.000	3288	476	425
21144	8.79	4885.9	476.6	7.4	685	21159	0.00	3.65	0.00	0.000	6	0.000	0.000	3276	2158	425
21469	8.79	4885.9	453.8	6.8	701	21473	0.00	2.72	0.00	0.000	4	0.000	0.000	3285	466	414
21770	8.79	4885.9	433.6	7.2	713	21775	0.00	3.10	0.00	0.000	6	0.000	0.000	3287	2109	421
22091	8.79	4885.9	412.1	6.7	728	22099	0.00	3.55	0.05	0.001	4	0.000	0.000	3284	344	426
22400	8.79	4885.9	391.8	7.0	740	22404	0.00	2.70	0.00	0.000	6	0.000	0.000	3299	2100	422
22720	8.79	4885.9	371.4	6.6	755	22728	0.00	3.22	0.05	0.000	4	0.000	0.000	3274	440	419
23031	8.79	4904.3	350.3	5.6	767	23036	0.00	2.90	0.00	0.000	6	0.000	0.000	3265	2110	420
23352	8.83	4904.3	327.0	6.7	782	23357	0.00	3.00	0.00	0.000	4	0.000	0.000	3304	478	417
23658	8.83	4904.3	304.4	6.8	794	23674	0.00	3.83	0.00	0.000	6	0.000	0.000	3304	2100	414
23989	8.83	4904.3	282.6	6.6	810	23994	0.00	2.53	0.03	0.001	4	0.000	0.000	3291	500	423
24307	8.83	4904.3	261.5	7.8	822	24314	0.00	3.12	0.00	0.000	6	0.000	0.000	3303	2174	408
24641	8.83	4904.3	238.6	6.8	838	24649	0.00	3.58	0.03	0.000	4	0.000	0.000	3290	447	423
24964	8.83	4914.6	219.1	5.9	850	24979	0.00	3.45	0.00	0.000	6	0.000	0.000	3298	2022	427
25299	8.84	4920.4	200.1	6.0	866	25304	0.00	2.62	0.00	0.000	4	0.000	0.000	3286	459	421
25603	8.85	4920.4	177.8	7.3	878	25608	0.00	2.83	0.00	0.000	6	0.000	0.000	3281	2151	420
25924	8.85	4920.4	154.7	6.7	893	25928	0.00	2.70	0.00	0.000	4	0.000	0.000	3280	530	418
26224	8.85	4956.0	135.0	4.9	905	26240	0.00	3.30	0.03	0.001	6	0.000	0.000	3281	2183	420
26555	8.91	4962.1	117.7	6.0	921	26560	0.00	3.10	0.00	0.000	4	0.000	0.000	3294	504	415
26871	8.92	4962.1	94.6	8.4	938	26883	0.00	3.30	0.00	0.000	6	0.000	0.000	3285	2133	424
27335	8.92	4962.1	66.0	6.3	999	27347	0.00	3.12	0.00	0.000	4	0.000	0.000	3281	354	418
27711	8.92	4962.1	41.3	6.7	1048	27723	0.00	3.65	0.00	0.000	6	0.000	0.000	3267	2139	422
28184	8.92	4962.1	10.5	6.4	1109	28196	0.00	2.70	0.00	0.000	4	0.000	0.000	3279	410	422
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface