Glider dive log

Faroes Nov07 * SG103 * Dive index * Mission links * Dive 254 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 254 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 229 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3788 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2900 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 571.30371 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 8 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 572 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3921 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2901 DEVICE6 -1

T_NO_W 300 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -67140.805 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 55 AH0_24V 91.800003 SEABIRD_T_G 0.0043712188

SPEED_FACTOR 1 PITCH_MAX 3362 AH0_10V 61.200001 SEABIRD_T_H 0.00064056052

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -14.98249 SEABIRD_T_I 2.37435e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_J 2.3296527e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8560104

FERRY_MAX 55 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1097485

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0009817977

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017126031

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SM_CC 571.30371

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 55 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -14.98249 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -67140.805

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 103 ROLL_MAX 3788 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 INT_PRESSURE_YINT 0 ROLL_MIN 229 UNCOM_BLEED 20

C_ROLL_DIVE 2900 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2901 MASS 52000 R_PORT_OVSHOOT 19 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 8 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.8560104 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1097485 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0009817977 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017126031 VBD_MAX 3921

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043712188 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064056052 VBD_MIN 572

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.37435e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 254 PHONE_DEVICE 48 SEABIRD_T_J 2.3296527e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 015140,6359.022,-1245.198,38,1.9,46,-12.3 TGT_NAME KW

_CALLS 2 TGT_LATLONG 6400.000,-1300.000

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.198,0.093

_SM_DEPTHo -0.45 KALMAN_X -225146.9,2049.4,466.2,1980.5,4152.5

_SM_ANGLEo -50.7 KALMAN_Y -219061.7,360.9,429.4,487069.8,-1836.6

GPS2 020237,6359.130,-1244.618,16,1.3,32,-12.3 MHEAD_RNG_PITCHd_Wd 307.4,12592,-11.1,-6.000

SPEED_LIMITS 0.104,0.218 D_GRID 583

Post-dive calculations and measurements:

FINISH -1.0,1.027356 XPDR_PINGS 2

SM_CCo 17408,258.98,0.774,2,0,572,571.30 ALTIM_BOTTOM_PING 500.8,97.0

SM_GC -0.78,0.00,0.00,258.98,0.000,0.000,0.774,47,2896,572,-10.87,-0.11,571.30 _24V_AH 23.4,45.020

IRIDIUM_FIX 6332.30,-1246.08,311207,050543 _10V_AH 10.1,21.953

TT8_MAMPS 0.029146 DATA_FILE_SIZE 41097,837

HUMID 1991 CFSIZE 260165632,243666944

INTERNAL_PRESSURE 8.7601 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,36,2,0

TCM_TEMP 17.00 GPS 311207,065952,6359.754,-1240.570,39,2.4,58,-12.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 156 95.29 SBE_CT 606 24 340.83

Roll_motor 182 102 437.95 SBE_O2 586 19 260.74

VBD_pump_during_apogee 330 1189 9195.97 WL_BB2F 557 105 1370.08

VBD_pump_during_surface 258 773 4689.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 185.85 nil 0 0 0.00

Iridium_during_connect 69 160 259.10 nil 0 0 0.00

Iridium_during_xfer 311 223 1624.42

Transponder_ping 4 420 44.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.45

TT8 1567 19 313.44

LPSleep 13327 2 294.79

TT8_Active 781 19 156.38

TT8_Sampling 1951 39 784.27

TT8_CF8 717 45 332.01

TT8_Kalman 33 81 27.57

Analog_circuits 1765 12 214.01

GPS_charging 0 0 0.00

Compass 1901 8 153.67

RAFOS 0 0 0.00

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

24 -1.10 -146.6 0.0 0.0 0 129 0.00 0.00 -102.28 0.000 2 0.000 0.000 44 2896 3334

132 -1.10 -146.6 3.2 -4.3 5 154 11.93 2.55 -3.00 0.000 4 0.156 0.065 2163 1487 3503

254 -1.10 -146.6 23.4 -9.0 10 259 0.00 2.67 0.00 0.000 6 0.000 0.073 2163 2903 3503

571 -1.10 -146.6 44.0 -4.5 25 572 0.00 0.00 0.00 0.000 6 0.000 0.000 2162 2903 3503

880 -1.10 -146.6 63.9 -8.4 40 884 0.00 2.62 0.00 0.000 4 0.000 0.064 2163 1483 3503

911 -1.10 -146.6 65.9 -6.0 41 918 0.00 2.70 0.00 0.000 6 0.000 0.081 2163 2908 3503

1229 -1.10 -146.6 94.9 -8.3 57 1230 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2908 3503

1537 -1.10 -146.6 114.6 -5.4 72 1542 0.00 2.62 0.00 0.000 4 0.000 0.066 2163 1489 3503

1554 -1.10 -146.6 116.1 -7.5 73 1558 0.00 2.70 0.00 0.000 6 0.000 0.079 2163 2909 3502

1880 -1.10 -146.6 140.8 -7.0 89 1884 0.00 2.65 0.00 0.000 4 0.000 0.071 2163 1486 3503

1907 -1.10 -146.6 142.5 -5.5 90 1911 0.00 2.67 0.00 0.000 6 0.000 0.077 2163 2900 3503

2222 -1.10 -146.6 163.3 -7.8 105 2223 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3503

2531 -1.10 -146.6 185.7 -6.6 120 2532 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3503

2840 -1.10 -146.6 205.4 -7.7 135 2844 0.00 2.62 0.00 0.000 4 0.000 0.067 2163 1482 3503

2872 -1.10 -146.6 206.8 -4.0 136 2879 0.00 2.70 0.00 0.000 6 0.000 0.081 2163 2901 3503

3188 -1.10 -146.6 223.5 -5.6 152 3189 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2902 3503

3497 -1.10 -146.6 246.2 -9.7 167 3501 0.00 2.62 0.00 0.000 4 0.000 0.070 2163 1490 3503

3558 -1.10 -146.6 250.5 -8.3 170 3562 0.00 2.65 0.00 0.000 6 0.000 0.074 2162 2900 3503

3884 -1.10 -146.6 273.9 -7.2 186 3885 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3503

4194 -1.10 -146.6 292.2 -5.0 201 4197 0.00 1.73 0.00 0.000 4 0.000 0.103 2163 3787 3503

4249 -1.10 -146.6 295.4 -6.1 203 4253 0.00 1.58 0.00 0.000 6 0.000 0.051 2163 2904 3503

4570 -1.10 -146.6 316.8 -6.5 219 4574 0.00 2.58 0.00 0.000 4 0.000 0.066 2163 1489 3503

4631 -1.10 -146.6 321.4 -8.2 222 4635 0.00 2.67 0.00 0.000 6 0.000 0.077 2163 2903 3503

4957 -1.10 -146.6 341.8 -4.5 238 4961 0.00 2.60 0.00 0.000 4 0.000 0.063 2163 1483 3503

4984 -1.10 -146.6 343.5 -6.3 239 4988 0.00 2.67 0.00 0.000 6 0.000 0.076 2162 2901 3503

5299 -1.10 -146.6 362.4 -6.5 254 5303 0.00 2.60 0.00 0.000 4 0.000 0.065 2163 1487 3503

5347 -1.10 -146.6 365.7 -6.6 256 5352 0.00 2.65 0.00 0.000 6 0.000 0.075 2163 2900 3503

5669 -1.10 -146.6 384.5 -6.1 272 5673 0.00 2.60 0.00 0.000 4 0.000 0.064 2163 1482 3503

5712 -1.10 -146.6 387.6 -7.2 274 5716 0.00 2.67 0.00 0.000 6 0.000 0.074 2163 2908 3503

6039 -1.10 -146.6 411.7 -7.2 290 6043 0.00 2.60 0.00 0.000 4 0.000 0.063 2163 1486 3503

6065 -1.10 -146.6 413.6 -7.0 291 6070 0.00 2.65 0.00 0.000 6 0.000 0.071 2163 2908 3503

6381 -1.10 -146.6 432.5 -6.1 306 6382 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2908 3503

6692 -1.10 -146.6 450.8 -6.1 321 6697 0.00 2.58 0.00 0.000 4 0.000 0.060 2163 1484 3503

6732 -1.10 -146.6 453.5 -7.0 323 6736 0.00 2.62 0.00 0.000 6 0.000 0.068 2163 2900 3503

7058 -1.10 -146.6 475.2 -6.6 339 7059 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2900 3503

7367 -1.10 -146.6 493.4 -5.7 354 7371 0.00 2.55 0.00 0.000 4 0.000 0.057 2163 1476 3503

7422 -1.10 -146.6 496.9 -6.4 356 7428 0.00 2.65 0.00 0.000 6 0.000 0.067 2163 2909 3503

7737 -1.10 -146.6 516.6 -6.3 372 7741 0.00 2.55 0.00 0.000 4 0.000 0.054 2163 1482 3503

7802 -1.10 -146.6 520.9 -6.9 375 7807 0.00 2.60 0.00 0.000 6 0.000 0.065 2163 2899 3503

8130 -1.10 -146.6 542.0 -6.5 391 8131 0.00 0.00 0.00 0.000 6 0.000 0.000 2163 2899 3502

8439 -1.10 -146.6 562.5 -6.6 406 8443 0.00 2.53 0.00 0.000 4 0.000 0.052 2163 1477 3503

8488 -1.10 -146.6 565.9 -7.2 408 8492 0.00 2.60 0.00 0.000 6 0.000 0.063 2163 2899 3503

8765 end dive: TARGET_DEPTH_EXCEEDED

state 8765 begin apogee

8773 -0.42 0.0 583.5 6.3 422 8901 0.75 0.00 124.85 1.190 6 0.082 0.000 2316 2094 2901

8901 end apogee: CONTROL_FINISHED_OK

state 8902 begin climb

8904 1.10 146.6 588.3 0.0 428 9032 1.55 2.58 120.22 1.180 4 0.054 0.051 2651 695 2303

9196 1.11 154.0 578.0 5.8 441 9211 0.00 2.47 7.70 1.017 6 0.000 0.034 2651 2126 2273

9533 1.11 154.0 559.1 6.0 458 9537 0.00 2.53 0.00 0.000 4 0.000 0.063 2651 3495 2272

9644 1.11 154.0 551.8 6.7 463 9648 0.00 2.45 0.00 0.000 6 0.000 0.035 2651 2085 2272

9964 1.14 178.1 534.6 5.3 479 9990 0.00 2.67 21.10 1.172 4 0.000 0.063 2651 3495 2173

10121 1.14 178.1 524.0 7.2 486 10125 0.00 2.45 0.00 0.000 6 0.000 0.037 2651 2100 2173

10441 1.14 180.1 503.1 5.9 502 10446 0.00 2.53 0.00 0.000 4 0.000 0.055 2651 697 2173

10558 1.14 180.1 495.9 6.7 507 10563 0.00 2.42 0.00 0.000 6 0.000 0.036 2651 2091 2172

10874 1.14 180.1 472.6 7.9 522 10878 0.00 2.62 0.00 0.000 4 0.000 0.069 2651 3504 2171

10951 1.14 180.1 466.5 8.4 525 10957 0.00 2.47 0.00 0.000 6 0.000 0.040 2651 2106 2171

11267 1.15 181.3 446.5 6.0 541 11276 0.00 2.62 3.90 0.787 4 0.000 0.067 2651 3510 2161

11349 1.15 185.2 441.5 5.9 544 11359 0.00 2.47 4.88 0.876 6 0.000 0.042 2651 2102 2146

11687 1.19 215.4 424.8 5.2 561 11721 0.00 2.70 26.27 1.113 4 0.000 0.070 2651 3502 2021

11779 1.19 215.4 418.4 7.6 565 11783 0.00 2.50 0.00 0.000 6 0.000 0.043 2651 2100 2021

12099 1.19 215.4 394.6 7.4 581 12103 0.00 2.65 0.00 0.000 4 0.000 0.071 2651 3506 2021

12131 1.19 215.4 392.2 7.2 582 12138 0.00 2.50 0.00 0.000 6 0.000 0.044 2651 2094 2021

12447 1.19 215.4 374.7 6.0 598 12451 0.00 2.53 0.00 0.000 4 0.000 0.060 2651 695 2021

12486 1.19 215.4 372.1 6.9 600 12491 0.00 2.45 0.00 0.000 6 0.000 0.040 2651 2097 2021

12813 1.19 215.4 347.2 8.6 616 12818 0.00 2.62 0.00 0.000 4 0.000 0.072 2651 3508 2021

12857 1.19 215.4 343.1 9.0 618 12861 0.00 2.47 0.00 0.000 6 0.000 0.044 2651 2102 2021

13184 1.19 215.4 318.0 7.4 634 13188 0.00 2.62 0.00 0.000 4 0.000 0.072 2651 3507 2021

13223 1.19 215.4 315.2 7.3 636 13228 0.00 2.50 0.00 0.000 6 0.000 0.045 2651 2092 2021

13549 1.19 215.4 289.7 8.0 652 13551 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2092 2021

13859 1.19 215.4 263.1 7.8 667 13863 0.00 2.67 0.00 0.000 4 0.000 0.073 2651 3512 2021

13953 1.19 215.4 254.4 8.7 671 13957 0.00 2.50 0.00 0.000 6 0.000 0.044 2651 2093 2022

14268 1.19 215.4 226.3 7.8 686 14273 0.00 2.67 0.00 0.000 4 0.000 0.073 2651 3512 2022

14318 1.19 215.4 222.2 8.6 688 14322 0.00 2.50 0.00 0.000 6 0.000 0.045 2651 2093 2022

14633 1.19 215.4 199.4 6.7 703 14638 0.00 2.65 0.00 0.000 4 0.000 0.071 2651 3507 2022

14705 1.19 215.4 194.6 6.3 706 14709 0.00 2.47 0.00 0.000 6 0.000 0.042 2651 2096 2022

15026 1.19 215.4 169.8 7.9 722 15030 0.00 2.65 0.00 0.000 4 0.000 0.071 2651 3510 2022

15069 1.19 215.4 166.0 9.0 724 15073 0.00 2.50 0.00 0.000 6 0.000 0.046 2651 2096 2023

15398 1.19 215.4 137.4 9.9 740 15402 0.00 2.65 0.00 0.000 4 0.000 0.073 2651 3507 2023

15464 1.19 215.4 130.6 9.1 743 15468 0.00 2.47 0.00 0.000 6 0.000 0.044 2651 2100 2023

15784 1.19 215.4 105.8 7.6 759 15789 0.00 2.65 0.00 0.000 4 0.000 0.074 2651 3508 2023

15839 1.19 215.4 101.7 6.7 761 15846 0.00 2.50 0.00 0.000 6 0.000 0.045 2651 2081 2022

16156 1.19 215.4 79.7 7.0 777 16160 0.00 2.67 0.00 0.000 4 0.000 0.073 2651 3507 2023

16187 1.19 215.4 76.9 8.3 778 16194 0.00 2.50 0.00 0.000 6 0.000 0.045 2651 2107 2023

16505 1.19 215.4 57.8 6.3 794 16506 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2107 2023

16813 1.19 215.4 35.2 6.6 809 16818 0.00 2.62 0.00 0.000 4 0.000 0.072 2651 3508 2023

16876 1.19 215.4 31.6 6.2 812 16880 0.00 2.50 0.00 0.000 6 0.000 0.048 2651 2100 2023

17202 1.22 240.7 11.2 5.3 828 17226 0.12 0.00 21.42 0.828 6 0.044 0.000 2687 2098 1919

17364 end climb: SURFACE_DEPTH_REACHED

state 17364 begin surface coast

17386 end surface coast: CONTROL_FINISHED_OK

state 17386 begin surface

ID	103	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	254	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	229	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3788	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2900	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	571.30371	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	8	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	572	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3921	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2901	DEVICE6	-1
T_NO_W	300	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-67140.805	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	55	AH0_24V	91.800003	SEABIRD_T_G	0.0043712188
SPEED_FACTOR	1	PITCH_MAX	3362	AH0_10V	61.200001	SEABIRD_T_H	0.00064056052
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-14.98249	SEABIRD_T_I	2.37435e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_J	2.3296527e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8560104
FERRY_MAX	55	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1097485
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0009817977
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017126031

GPS1	015140,6359.022,-1245.198,38,1.9,46,-12.3	TGT_NAME	KW
_CALLS	2	TGT_LATLONG	6400.000,-1300.000
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.198,0.093
_SM_DEPTHo	-0.45	KALMAN_X	-225146.9,2049.4,466.2,1980.5,4152.5
_SM_ANGLEo	-50.7	KALMAN_Y	-219061.7,360.9,429.4,487069.8,-1836.6
GPS2	020237,6359.130,-1244.618,16,1.3,32,-12.3	MHEAD_RNG_PITCHd_Wd	307.4,12592,-11.1,-6.000
SPEED_LIMITS	0.104,0.218	D_GRID	583

FINISH	-1.0,1.027356	XPDR_PINGS	2
SM_CCo	17408,258.98,0.774,2,0,572,571.30	ALTIM_BOTTOM_PING	500.8,97.0
SM_GC	-0.78,0.00,0.00,258.98,0.000,0.000,0.774,47,2896,572,-10.87,-0.11,571.30	_24V_AH	23.4,45.020
IRIDIUM_FIX	6332.30,-1246.08,311207,050543	_10V_AH	10.1,21.953
TT8_MAMPS	0.029146	DATA_FILE_SIZE	41097,837
HUMID	1991	CFSIZE	260165632,243666944
INTERNAL_PRESSURE	8.7601	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,36,2,0
TCM_TEMP	17.00	GPS	311207,065952,6359.754,-1240.570,39,2.4,58,-12.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	156	95.29	SBE_CT	606	24	340.83
Roll_motor	182	102	437.95	SBE_O2	586	19	260.74
VBD_pump_during_apogee	330	1189	9195.97	WL_BB2F	557	105	1370.08
VBD_pump_during_surface	258	773	4689.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	185.85	nil	0	0	0.00
Iridium_during_connect	69	160	259.10	nil	0	0	0.00
Iridium_during_xfer	311	223	1624.42
Transponder_ping	4	420	44.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.45
TT8	1567	19	313.44
LPSleep	13327	2	294.79
TT8_Active	781	19	156.38
TT8_Sampling	1951	39	784.27
TT8_CF8	717	45	332.01
TT8_Kalman	33	81	27.57
Analog_circuits	1765	12	214.01
GPS_charging	0	0	0.00
Compass	1901	8	153.67
RAFOS	0	0	0.00

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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
24	-1.10	-146.6	0.0	0.0	0	129	0.00	0.00	-102.28	0.000	2	0.000	0.000	44	2896	3334
132	-1.10	-146.6	3.2	-4.3	5	154	11.93	2.55	-3.00	0.000	4	0.156	0.065	2163	1487	3503
254	-1.10	-146.6	23.4	-9.0	10	259	0.00	2.67	0.00	0.000	6	0.000	0.073	2163	2903	3503
571	-1.10	-146.6	44.0	-4.5	25	572	0.00	0.00	0.00	0.000	6	0.000	0.000	2162	2903	3503
880	-1.10	-146.6	63.9	-8.4	40	884	0.00	2.62	0.00	0.000	4	0.000	0.064	2163	1483	3503
911	-1.10	-146.6	65.9	-6.0	41	918	0.00	2.70	0.00	0.000	6	0.000	0.081	2163	2908	3503
1229	-1.10	-146.6	94.9	-8.3	57	1230	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2908	3503
1537	-1.10	-146.6	114.6	-5.4	72	1542	0.00	2.62	0.00	0.000	4	0.000	0.066	2163	1489	3503
1554	-1.10	-146.6	116.1	-7.5	73	1558	0.00	2.70	0.00	0.000	6	0.000	0.079	2163	2909	3502
1880	-1.10	-146.6	140.8	-7.0	89	1884	0.00	2.65	0.00	0.000	4	0.000	0.071	2163	1486	3503
1907	-1.10	-146.6	142.5	-5.5	90	1911	0.00	2.67	0.00	0.000	6	0.000	0.077	2163	2900	3503
2222	-1.10	-146.6	163.3	-7.8	105	2223	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3503
2531	-1.10	-146.6	185.7	-6.6	120	2532	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3503
2840	-1.10	-146.6	205.4	-7.7	135	2844	0.00	2.62	0.00	0.000	4	0.000	0.067	2163	1482	3503
2872	-1.10	-146.6	206.8	-4.0	136	2879	0.00	2.70	0.00	0.000	6	0.000	0.081	2163	2901	3503
3188	-1.10	-146.6	223.5	-5.6	152	3189	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2902	3503
3497	-1.10	-146.6	246.2	-9.7	167	3501	0.00	2.62	0.00	0.000	4	0.000	0.070	2163	1490	3503
3558	-1.10	-146.6	250.5	-8.3	170	3562	0.00	2.65	0.00	0.000	6	0.000	0.074	2162	2900	3503
3884	-1.10	-146.6	273.9	-7.2	186	3885	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3503
4194	-1.10	-146.6	292.2	-5.0	201	4197	0.00	1.73	0.00	0.000	4	0.000	0.103	2163	3787	3503
4249	-1.10	-146.6	295.4	-6.1	203	4253	0.00	1.58	0.00	0.000	6	0.000	0.051	2163	2904	3503
4570	-1.10	-146.6	316.8	-6.5	219	4574	0.00	2.58	0.00	0.000	4	0.000	0.066	2163	1489	3503
4631	-1.10	-146.6	321.4	-8.2	222	4635	0.00	2.67	0.00	0.000	6	0.000	0.077	2163	2903	3503
4957	-1.10	-146.6	341.8	-4.5	238	4961	0.00	2.60	0.00	0.000	4	0.000	0.063	2163	1483	3503
4984	-1.10	-146.6	343.5	-6.3	239	4988	0.00	2.67	0.00	0.000	6	0.000	0.076	2162	2901	3503
5299	-1.10	-146.6	362.4	-6.5	254	5303	0.00	2.60	0.00	0.000	4	0.000	0.065	2163	1487	3503
5347	-1.10	-146.6	365.7	-6.6	256	5352	0.00	2.65	0.00	0.000	6	0.000	0.075	2163	2900	3503
5669	-1.10	-146.6	384.5	-6.1	272	5673	0.00	2.60	0.00	0.000	4	0.000	0.064	2163	1482	3503
5712	-1.10	-146.6	387.6	-7.2	274	5716	0.00	2.67	0.00	0.000	6	0.000	0.074	2163	2908	3503
6039	-1.10	-146.6	411.7	-7.2	290	6043	0.00	2.60	0.00	0.000	4	0.000	0.063	2163	1486	3503
6065	-1.10	-146.6	413.6	-7.0	291	6070	0.00	2.65	0.00	0.000	6	0.000	0.071	2163	2908	3503
6381	-1.10	-146.6	432.5	-6.1	306	6382	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2908	3503
6692	-1.10	-146.6	450.8	-6.1	321	6697	0.00	2.58	0.00	0.000	4	0.000	0.060	2163	1484	3503
6732	-1.10	-146.6	453.5	-7.0	323	6736	0.00	2.62	0.00	0.000	6	0.000	0.068	2163	2900	3503
7058	-1.10	-146.6	475.2	-6.6	339	7059	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2900	3503
7367	-1.10	-146.6	493.4	-5.7	354	7371	0.00	2.55	0.00	0.000	4	0.000	0.057	2163	1476	3503
7422	-1.10	-146.6	496.9	-6.4	356	7428	0.00	2.65	0.00	0.000	6	0.000	0.067	2163	2909	3503
7737	-1.10	-146.6	516.6	-6.3	372	7741	0.00	2.55	0.00	0.000	4	0.000	0.054	2163	1482	3503
7802	-1.10	-146.6	520.9	-6.9	375	7807	0.00	2.60	0.00	0.000	6	0.000	0.065	2163	2899	3503
8130	-1.10	-146.6	542.0	-6.5	391	8131	0.00	0.00	0.00	0.000	6	0.000	0.000	2163	2899	3502
8439	-1.10	-146.6	562.5	-6.6	406	8443	0.00	2.53	0.00	0.000	4	0.000	0.052	2163	1477	3503
8488	-1.10	-146.6	565.9	-7.2	408	8492	0.00	2.60	0.00	0.000	6	0.000	0.063	2163	2899	3503
8765	end dive: TARGET_DEPTH_EXCEEDED
state	8765	begin apogee
8773	-0.42	0.0	583.5	6.3	422	8901	0.75	0.00	124.85	1.190	6	0.082	0.000	2316	2094	2901
8901	end apogee: CONTROL_FINISHED_OK
state	8902	begin climb
8904	1.10	146.6	588.3	0.0	428	9032	1.55	2.58	120.22	1.180	4	0.054	0.051	2651	695	2303
9196	1.11	154.0	578.0	5.8	441	9211	0.00	2.47	7.70	1.017	6	0.000	0.034	2651	2126	2273
9533	1.11	154.0	559.1	6.0	458	9537	0.00	2.53	0.00	0.000	4	0.000	0.063	2651	3495	2272
9644	1.11	154.0	551.8	6.7	463	9648	0.00	2.45	0.00	0.000	6	0.000	0.035	2651	2085	2272
9964	1.14	178.1	534.6	5.3	479	9990	0.00	2.67	21.10	1.172	4	0.000	0.063	2651	3495	2173
10121	1.14	178.1	524.0	7.2	486	10125	0.00	2.45	0.00	0.000	6	0.000	0.037	2651	2100	2173
10441	1.14	180.1	503.1	5.9	502	10446	0.00	2.53	0.00	0.000	4	0.000	0.055	2651	697	2173
10558	1.14	180.1	495.9	6.7	507	10563	0.00	2.42	0.00	0.000	6	0.000	0.036	2651	2091	2172
10874	1.14	180.1	472.6	7.9	522	10878	0.00	2.62	0.00	0.000	4	0.000	0.069	2651	3504	2171
10951	1.14	180.1	466.5	8.4	525	10957	0.00	2.47	0.00	0.000	6	0.000	0.040	2651	2106	2171
11267	1.15	181.3	446.5	6.0	541	11276	0.00	2.62	3.90	0.787	4	0.000	0.067	2651	3510	2161
11349	1.15	185.2	441.5	5.9	544	11359	0.00	2.47	4.88	0.876	6	0.000	0.042	2651	2102	2146
11687	1.19	215.4	424.8	5.2	561	11721	0.00	2.70	26.27	1.113	4	0.000	0.070	2651	3502	2021
11779	1.19	215.4	418.4	7.6	565	11783	0.00	2.50	0.00	0.000	6	0.000	0.043	2651	2100	2021
12099	1.19	215.4	394.6	7.4	581	12103	0.00	2.65	0.00	0.000	4	0.000	0.071	2651	3506	2021
12131	1.19	215.4	392.2	7.2	582	12138	0.00	2.50	0.00	0.000	6	0.000	0.044	2651	2094	2021
12447	1.19	215.4	374.7	6.0	598	12451	0.00	2.53	0.00	0.000	4	0.000	0.060	2651	695	2021
12486	1.19	215.4	372.1	6.9	600	12491	0.00	2.45	0.00	0.000	6	0.000	0.040	2651	2097	2021
12813	1.19	215.4	347.2	8.6	616	12818	0.00	2.62	0.00	0.000	4	0.000	0.072	2651	3508	2021
12857	1.19	215.4	343.1	9.0	618	12861	0.00	2.47	0.00	0.000	6	0.000	0.044	2651	2102	2021
13184	1.19	215.4	318.0	7.4	634	13188	0.00	2.62	0.00	0.000	4	0.000	0.072	2651	3507	2021
13223	1.19	215.4	315.2	7.3	636	13228	0.00	2.50	0.00	0.000	6	0.000	0.045	2651	2092	2021
13549	1.19	215.4	289.7	8.0	652	13551	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2092	2021
13859	1.19	215.4	263.1	7.8	667	13863	0.00	2.67	0.00	0.000	4	0.000	0.073	2651	3512	2021
13953	1.19	215.4	254.4	8.7	671	13957	0.00	2.50	0.00	0.000	6	0.000	0.044	2651	2093	2022
14268	1.19	215.4	226.3	7.8	686	14273	0.00	2.67	0.00	0.000	4	0.000	0.073	2651	3512	2022
14318	1.19	215.4	222.2	8.6	688	14322	0.00	2.50	0.00	0.000	6	0.000	0.045	2651	2093	2022
14633	1.19	215.4	199.4	6.7	703	14638	0.00	2.65	0.00	0.000	4	0.000	0.071	2651	3507	2022
14705	1.19	215.4	194.6	6.3	706	14709	0.00	2.47	0.00	0.000	6	0.000	0.042	2651	2096	2022
15026	1.19	215.4	169.8	7.9	722	15030	0.00	2.65	0.00	0.000	4	0.000	0.071	2651	3510	2022
15069	1.19	215.4	166.0	9.0	724	15073	0.00	2.50	0.00	0.000	6	0.000	0.046	2651	2096	2023
15398	1.19	215.4	137.4	9.9	740	15402	0.00	2.65	0.00	0.000	4	0.000	0.073	2651	3507	2023
15464	1.19	215.4	130.6	9.1	743	15468	0.00	2.47	0.00	0.000	6	0.000	0.044	2651	2100	2023
15784	1.19	215.4	105.8	7.6	759	15789	0.00	2.65	0.00	0.000	4	0.000	0.074	2651	3508	2023
15839	1.19	215.4	101.7	6.7	761	15846	0.00	2.50	0.00	0.000	6	0.000	0.045	2651	2081	2022
16156	1.19	215.4	79.7	7.0	777	16160	0.00	2.67	0.00	0.000	4	0.000	0.073	2651	3507	2023
16187	1.19	215.4	76.9	8.3	778	16194	0.00	2.50	0.00	0.000	6	0.000	0.045	2651	2107	2023
16505	1.19	215.4	57.8	6.3	794	16506	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2107	2023
16813	1.19	215.4	35.2	6.6	809	16818	0.00	2.62	0.00	0.000	4	0.000	0.072	2651	3508	2023
16876	1.19	215.4	31.6	6.2	812	16880	0.00	2.50	0.00	0.000	6	0.000	0.048	2651	2100	2023
17202	1.22	240.7	11.2	5.3	828	17226	0.12	0.00	21.42	0.828	6	0.044	0.000	2687	2098	1919
17364	end climb: SURFACE_DEPTH_REACHED
state	17364	begin surface coast
17386	end surface coast: CONTROL_FINISHED_OK
state	17386	begin surface