Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1194 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 6 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054949999 XPDR_VALID 6

DIVE 1194 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 2 XPDR_REP -1

D_SURF 4 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 400 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 FILEMGR 0 C_VBD 2775 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 120

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 4 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0020000001 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERS 0

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 390 CAPMAXSIZE 5000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 510 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 2 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 550 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -1 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 56

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3000 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2320 FG_AHR_10V 99.95948 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 312.75552 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 85 PITCH_GAIN 18 PRESSURE_YINT -14.5 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.0014504 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.0039810701 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.029864 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 4 N_NOCOMM 4 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 400

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 99.95948 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 312.75552 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 18 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3000 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0039810701 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.029864 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0020000001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 5000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 390

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 56 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.0014504 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -14.5 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 510

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 2

C_PITCH 2320 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2320 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2775 LOGGERS 0 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0.029999999 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 2 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 60 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72946 ROLL_MAX 3825 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 215 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 85 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 1194 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1000 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 6 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP -1

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 6

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 280222,140610,4754.342,-12513.869,18,2.0,19,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,141141,4754.371,-12513.864,4,1.8,7,15.9 MHEAD_RNG_PITCHd_Wd 172.2,167662,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 197

TGT_NAME OFFSHORE IRON 1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000

TGT_LATLONG 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH 0.3,1.024673 MEM0 60876,1,0,0

SM_CCo 5320.19,5.70,0.735,0,1144.6,1146.0,1143.2,399.93 MEM1 65508,1,0,0

SM_GC 1.19,5.70,16.31,3.16,0.735,0.047,0.026,1144.6,1146.0,1143.2,175.8,2354.4,0,0,0,11.02,15.88,15.93 MEM2 971344,31,75464,57

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 45058,1053

IRIDIUM_FIX 4754.02,-12511.36,280222,124646 CAP_FILE_SIZE 188310,0

TCM_TEMP 267.54 SDSIZE 4028416,3742656

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4340,1

HUMID 51.39 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.99 CURRENT 0.202,335.1,1

INTERNAL_PRESSURE 8.91787 MAGCAL 1.000000,0.000458,0.031252,-0.006867,1.047524,-0.100378,0.005223,-0.012097,0.969230,557.8,-281.1,98.5,36,0.0354,0

_24V_AH 14.70,425.753 IMPLIED_C_PITCH 2395,12.04,794

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2924,58.180050,690

FG_AHR_24Vo 312.890 GPS 280222,154125,4754.686,-12514.252,43,0.9,44,15.9

FG_AHR_10Vo 99.976

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 442 1321 8602.74 legato 34 20 10.21

Pitch_motor 35 236 124.29 nil 0 0 0.00

Roll_motor 71 109 115.90 nil 0 0 0.00

Iridium 162 200 477.34 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 16 15 3.71 nil 0 0 0.00

Core 2227 11 394.34 SciCon 0 0 0.00

LPSleep 3342 2 140.40 nil 0 0 0.00

Compass 692 5 51.94 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

2 end surface: CONTROL_FINISHED_OK

state 3 begin dive

5.95 16386 -82.73 -1.35 0.00 1129.4 1128.5 1130.2 178.4 2237.2 0.00 0.00 0 82.59 75.05 0.00 0.00 0.005 0.000 0.000 2978.56 3164.81 2792.31 178.38 2236.88 0 0 0 14.86 30.00 30.00

83.32 18983 -82.73 -1.35 -60.00 2977.8 3164.1 2791.5 178.2 2236.8 3.83 -5.41 14 110.42 2.94 14.16 2.55 0.012 0.237 0.063 3111.16 3315.50 2906.81 1992.25 1208.75 0 0 0 14.95 15.50 14.92

132.49 1028 -82.73 -1.35 0.00 3111.4 3315.8 2907.0 1992.8 1208.4 13.33 -14.32 24 138.04 0.00 0.00 2.67 0.000 0.000 0.025 3111.25 3315.56 2906.94 1992.44 2354.81 0 0 0 30.00 30.00 15.90

322.90 0 -82.73 -1.35 0.00 3111.0 3315.1 2906.8 1992.8 2354.6 35.03 -11.20 62 324.23 0.00 0.00 0.00 0.000 0.000 0.000 3110.50 3314.56 2906.44 1992.12 2354.31 0 0 0 30.00 30.00 30.00

507.54 516 -82.73 -1.35 -60.00 3110.8 3315.2 2906.4 1992.4 2355.1 56.14 -10.68 99 513.33 0.00 0.00 2.83 0.000 0.000 0.056 3111.44 3315.50 2907.38 1992.25 1207.81 0 0 0 30.00 30.00 15.93

552.74 1028 -82.73 -1.35 -0.09 3111.0 3314.9 2907.1 1992.3 1207.4 61.18 -11.34 108 558.16 0.00 0.00 2.66 0.000 0.000 0.024 3112.19 3316.06 2908.31 1991.44 2354.62 0 0 0 30.00 30.00 15.94

743.00 260 -82.73 -1.35 60.00 3111.4 3315.8 2907.1 1992.1 2353.8 79.08 -10.51 146 748.15 0.00 0.00 2.74 0.000 0.000 0.080 3112.16 3316.12 2908.19 1992.06 3428.00 0 0 0 30.00 30.00 15.90

817.60 1028 -82.73 -1.35 0.32 3111.2 3315.5 2906.9 1992.6 3427.4 87.73 -11.17 161 823.14 0.00 0.00 2.59 0.000 0.000 0.017 3110.97 3314.88 2907.06 1992.50 2250.19 0 0 0 30.00 30.00 15.96

1008.04 548 -82.73 -1.35 -60.00 3111.1 3315.3 2906.9 1991.8 2248.9 101.81 -6.46 199 1013.16 0.00 0.00 2.58 0.000 0.000 0.061 3112.38 3316.81 2907.94 1991.00 1208.94 0 0 0 30.00 30.00 15.95

1117.65 1028 -82.73 -1.35 0.18 3111.0 3315.1 2906.9 1992.9 1209.4 111.57 -9.61 221 1123.21 0.00 0.00 2.67 0.000 0.000 0.024 3111.31 3315.25 2907.38 1992.69 2358.44 0 0 0 30.00 30.00 15.97

1427.72 32 -82.73 -1.35 0.18 3111.2 3315.7 2906.8 1992.6 2358.6 132.14 -3.46 283 1429.05 0.00 0.00 0.00 0.000 0.000 0.000 3110.19 3314.50 2905.88 1992.12 2358.44 0 0 0 30.00 30.00 30.00

1732.77 292 -82.73 -1.35 60.00 3111.1 3315.3 2906.9 1992.2 2358.0 148.56 -5.39 344 1738.32 0.00 0.00 2.73 0.000 0.000 0.081 3111.16 3315.19 2907.12 1993.00 3427.94 0 0 0 30.00 30.00 15.92

1792.97 1028 -82.73 -1.35 -0.54 3110.7 3314.3 2907.0 1992.1 3428.2 152.74 -7.23 356 1798.32 0.00 0.00 2.63 0.000 0.000 0.017 3111.53 3315.12 2907.94 1992.44 2231.00 0 0 0 30.00 30.00 15.97

2102.94 516 -82.73 -1.35 -60.00 3111.5 3315.9 2907.1 1992.3 2229.9 174.21 -7.14 418 2108.40 0.00 0.00 2.52 0.000 0.000 0.061 3111.47 3315.44 2907.50 1992.56 1208.06 0 0 0 30.00 30.00 15.96

2257.92 1028 -82.73 -1.35 -1.63 3111.4 3315.7 2907.1 1992.4 1207.6 184.88 -7.19 449 2263.45 0.00 0.00 2.59 0.000 0.000 0.024 3111.44 3315.62 2907.25 1992.69 2327.19 0 0 0 30.00 30.00 15.99

2562 end dive: TARGET_DEPTH_EXCEEDED

state 2562 begin apogee

2564.91 10243 0.00 -0.28 0.00 3111.2 3315.4 2906.9 1992.2 2039.9 197.03 -3.20 510 2630.34 60.35 1.76 0.17 1.322 0.136 0.110 2774.97 2916.88 2633.06 2254.81 2168.75 0 0 0 10.81 15.85 15.39

2632 end apogee: CONTROL_FINISHED_OK

state 2632 begin climb

2633.08 10759 82.73 1.35 -60.00 2774.3 2917.2 2631.4 2255.1 2168.9 196.21 0.00 523 2703.76 61.60 2.62 3.01 1.268 0.112 0.072 2437.06 2522.50 2351.62 2650.56 993.38 0 0 0 11.78 15.61 15.76

2705.97 11303 164.44 1.51 0.00 2436.0 2522.0 2350.1 2651.4 993.4 192.46 5.68 538 2773.73 62.17 0.22 2.69 1.241 0.078 0.019 2104.41 2152.62 2056.19 2701.12 2147.69 0 0 0 11.84 15.55 15.62

3076.08 16966 164.44 1.55 -60.00 2096.4 2151.8 2041.0 2701.1 2147.9 164.74 6.52 612 3081.66 0.00 0.00 2.96 0.000 0.000 0.071 2096.34 2151.94 2040.75 2701.62 993.44 0 0 0 30.00 30.00 15.78

3291.13 11303 290.10 1.81 0.44 2095.8 2151.6 2040.0 2701.9 993.2 153.64 4.18 655 3391.63 94.97 0.35 2.68 1.231 0.064 0.021 1591.19 1616.12 1566.25 2776.94 2153.75 0 0 0 11.16 15.74 15.87

3694.21 16710 290.10 1.82 60.00 1582.7 1618.6 1546.8 2776.3 2153.4 125.37 7.59 735 3699.76 0.00 0.00 2.71 0.000 0.000 0.075 1583.03 1619.19 1546.88 2777.19 3206.69 0 0 0 30.00 30.00 15.81

3774.22 17414 290.10 1.82 0.44 1582.4 1618.5 1546.2 2776.3 3206.3 117.16 10.92 751 3779.95 0.00 0.00 2.64 0.000 0.000 0.021 1583.19 1619.69 1546.69 2777.44 2063.94 0 0 0 30.00 30.00 15.85

4084.35 16966 290.10 1.86 -60.00 1579.6 1619.9 1539.2 2777.0 2063.9 89.82 6.68 813 4089.90 0.00 0.00 2.74 0.000 0.000 0.077 1580.56 1621.38 1539.75 2777.00 993.38 0 0 0 30.00 30.00 15.87

4124.35 17478 290.10 1.89 0.62 1578.6 1619.6 1537.6 2777.2 993.6 87.14 6.65 821 4129.89 0.00 0.00 2.68 0.000 0.000 0.021 1579.31 1620.50 1538.12 2776.62 2156.75 0 0 0 30.00 30.00 15.92

4314.81 10535 393.72 2.10 60.00 1578.2 1620.1 1536.4 2776.9 2156.9 77.01 4.93 859 4402.01 79.93 0.32 2.70 1.161 0.068 0.077 1170.03 1172.12 1167.94 2842.56 3205.31 0 0 0 11.06 15.89 15.39

4604.77 1028 393.72 2.10 1.83 1164.6 1172.2 1157.0 2842.2 3204.9 54.10 8.61 917 4609.98 0.00 0.00 2.57 0.000 0.000 0.021 1164.69 1172.56 1156.81 2842.44 2087.06 0 0 0 30.00 30.00 15.81

4794.87 580 393.72 2.11 -60.00 1163.2 1172.9 1153.5 2841.9 2087.6 39.50 7.88 955 4800.04 0.00 0.00 2.80 0.000 0.000 0.078 1163.09 1172.75 1153.44 2842.25 993.56 0 0 0 30.00 30.00 15.82

4854.47 1028 393.72 2.11 1.75 1162.3 1172.7 1152.0 2842.8 993.2 34.57 8.39 967 4860.22 0.00 0.00 2.74 0.000 0.000 0.021 1162.75 1173.38 1152.12 2842.19 2173.94 0 0 0 30.00 30.00 15.88

5044.49 16386 393.72 2.11 1.75 1161.8 1173.1 1150.4 2842.4 2174.1 19.66 8.04 1005 5045.82 0.00 0.00 0.00 0.000 0.000 0.000 1161.50 1173.12 1149.88 2842.50 2173.62 0 0 0 30.00 30.00 30.00

5229.52 16902 393.72 2.11 -60.00 1161.2 1175.4 1146.9 2842.4 2174.0 4.20 8.87 1042 5235.13 0.00 0.00 3.01 0.000 0.000 0.073 1161.50 1175.56 1147.44 2843.12 992.19 0 0 0 30.00 30.00 15.88

5239 end climb: SURFACE_DEPTH_REACHED

state 5239 begin surface coast

5284 end surface coast: CONTROL_FINISHED_OK

state 5284 begin surface

ID	249	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	6	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054949999	XPDR_VALID	6
DIVE	1194	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	2	XPDR_REP	-1
D_SURF	4	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	400	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	FILEMGR	0	C_VBD	2775	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	120
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	4	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0020000001	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERS	0
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	390	CAPMAXSIZE	5000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	510	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	2	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	550	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-1	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	56
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3000	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2320	FG_AHR_10V	99.95948	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	312.75552	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	85	PITCH_GAIN	18	PRESSURE_YINT	-14.5	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.0014504	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.0039810701	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.029864	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	280222,140610,4754.342,-12513.869,18,2.0,19,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,141141,4754.371,-12513.864,4,1.8,7,15.9	MHEAD_RNG_PITCHd_Wd	172.2,167662,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	197
TGT_NAME	OFFSHORE	IRON	1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
TGT_LATLONG	4700.000,-12700.000

FINISH	0.3,1.024673	MEM0	60876,1,0,0
SM_CCo	5320.19,5.70,0.735,0,1144.6,1146.0,1143.2,399.93	MEM1	65508,1,0,0
SM_GC	1.19,5.70,16.31,3.16,0.735,0.047,0.026,1144.6,1146.0,1143.2,175.8,2354.4,0,0,0,11.02,15.88,15.93	MEM2	971344,31,75464,57
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	45058,1053
IRIDIUM_FIX	4754.02,-12511.36,280222,124646	CAP_FILE_SIZE	188310,0
TCM_TEMP	267.54	SDSIZE	4028416,3742656
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4340,1
HUMID	51.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.99	CURRENT	0.202,335.1,1
INTERNAL_PRESSURE	8.91787	MAGCAL	1.000000,0.000458,0.031252,-0.006867,1.047524,-0.100378,0.005223,-0.012097,0.969230,557.8,-281.1,98.5,36,0.0354,0
_24V_AH	14.70,425.753	IMPLIED_C_PITCH	2395,12.04,794
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2924,58.180050,690
FG_AHR_24Vo	312.890	GPS	280222,154125,4754.686,-12514.252,43,0.9,44,15.9
FG_AHR_10Vo	99.976

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	442	1321	8602.74	legato	34	20	10.21
Pitch_motor	35	236	124.29	nil	0	0	0.00
Roll_motor	71	109	115.90	nil	0	0	0.00
Iridium	162	200	477.34	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	16	15	3.71	nil	0	0	0.00
Core	2227	11	394.34	SciCon	0	0	0.00
LPSleep	3342	2	140.40	nil	0	0	0.00
Compass	692	5	51.94	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
2	end surface: CONTROL_FINISHED_OK
state	3	begin dive
5.95	16386	-82.73	-1.35	0.00	1129.4	1128.5	1130.2	178.4	2237.2	0.00	0.00	0	82.59	75.05	0.00	0.00	0.005	0.000	0.000	2978.56	3164.81	2792.31	178.38	2236.88	0	0	0	14.86	30.00	30.00
83.32	18983	-82.73	-1.35	-60.00	2977.8	3164.1	2791.5	178.2	2236.8	3.83	-5.41	14	110.42	2.94	14.16	2.55	0.012	0.237	0.063	3111.16	3315.50	2906.81	1992.25	1208.75	0	0	0	14.95	15.50	14.92
132.49	1028	-82.73	-1.35	0.00	3111.4	3315.8	2907.0	1992.8	1208.4	13.33	-14.32	24	138.04	0.00	0.00	2.67	0.000	0.000	0.025	3111.25	3315.56	2906.94	1992.44	2354.81	0	0	0	30.00	30.00	15.90
322.90	0	-82.73	-1.35	0.00	3111.0	3315.1	2906.8	1992.8	2354.6	35.03	-11.20	62	324.23	0.00	0.00	0.00	0.000	0.000	0.000	3110.50	3314.56	2906.44	1992.12	2354.31	0	0	0	30.00	30.00	30.00
507.54	516	-82.73	-1.35	-60.00	3110.8	3315.2	2906.4	1992.4	2355.1	56.14	-10.68	99	513.33	0.00	0.00	2.83	0.000	0.000	0.056	3111.44	3315.50	2907.38	1992.25	1207.81	0	0	0	30.00	30.00	15.93
552.74	1028	-82.73	-1.35	-0.09	3111.0	3314.9	2907.1	1992.3	1207.4	61.18	-11.34	108	558.16	0.00	0.00	2.66	0.000	0.000	0.024	3112.19	3316.06	2908.31	1991.44	2354.62	0	0	0	30.00	30.00	15.94
743.00	260	-82.73	-1.35	60.00	3111.4	3315.8	2907.1	1992.1	2353.8	79.08	-10.51	146	748.15	0.00	0.00	2.74	0.000	0.000	0.080	3112.16	3316.12	2908.19	1992.06	3428.00	0	0	0	30.00	30.00	15.90
817.60	1028	-82.73	-1.35	0.32	3111.2	3315.5	2906.9	1992.6	3427.4	87.73	-11.17	161	823.14	0.00	0.00	2.59	0.000	0.000	0.017	3110.97	3314.88	2907.06	1992.50	2250.19	0	0	0	30.00	30.00	15.96
1008.04	548	-82.73	-1.35	-60.00	3111.1	3315.3	2906.9	1991.8	2248.9	101.81	-6.46	199	1013.16	0.00	0.00	2.58	0.000	0.000	0.061	3112.38	3316.81	2907.94	1991.00	1208.94	0	0	0	30.00	30.00	15.95
1117.65	1028	-82.73	-1.35	0.18	3111.0	3315.1	2906.9	1992.9	1209.4	111.57	-9.61	221	1123.21	0.00	0.00	2.67	0.000	0.000	0.024	3111.31	3315.25	2907.38	1992.69	2358.44	0	0	0	30.00	30.00	15.97
1427.72	32	-82.73	-1.35	0.18	3111.2	3315.7	2906.8	1992.6	2358.6	132.14	-3.46	283	1429.05	0.00	0.00	0.00	0.000	0.000	0.000	3110.19	3314.50	2905.88	1992.12	2358.44	0	0	0	30.00	30.00	30.00
1732.77	292	-82.73	-1.35	60.00	3111.1	3315.3	2906.9	1992.2	2358.0	148.56	-5.39	344	1738.32	0.00	0.00	2.73	0.000	0.000	0.081	3111.16	3315.19	2907.12	1993.00	3427.94	0	0	0	30.00	30.00	15.92
1792.97	1028	-82.73	-1.35	-0.54	3110.7	3314.3	2907.0	1992.1	3428.2	152.74	-7.23	356	1798.32	0.00	0.00	2.63	0.000	0.000	0.017	3111.53	3315.12	2907.94	1992.44	2231.00	0	0	0	30.00	30.00	15.97
2102.94	516	-82.73	-1.35	-60.00	3111.5	3315.9	2907.1	1992.3	2229.9	174.21	-7.14	418	2108.40	0.00	0.00	2.52	0.000	0.000	0.061	3111.47	3315.44	2907.50	1992.56	1208.06	0	0	0	30.00	30.00	15.96
2257.92	1028	-82.73	-1.35	-1.63	3111.4	3315.7	2907.1	1992.4	1207.6	184.88	-7.19	449	2263.45	0.00	0.00	2.59	0.000	0.000	0.024	3111.44	3315.62	2907.25	1992.69	2327.19	0	0	0	30.00	30.00	15.99
2562	end dive: TARGET_DEPTH_EXCEEDED
state	2562	begin apogee
2564.91	10243	0.00	-0.28	0.00	3111.2	3315.4	2906.9	1992.2	2039.9	197.03	-3.20	510	2630.34	60.35	1.76	0.17	1.322	0.136	0.110	2774.97	2916.88	2633.06	2254.81	2168.75	0	0	0	10.81	15.85	15.39
2632	end apogee: CONTROL_FINISHED_OK
state	2632	begin climb
2633.08	10759	82.73	1.35	-60.00	2774.3	2917.2	2631.4	2255.1	2168.9	196.21	0.00	523	2703.76	61.60	2.62	3.01	1.268	0.112	0.072	2437.06	2522.50	2351.62	2650.56	993.38	0	0	0	11.78	15.61	15.76
2705.97	11303	164.44	1.51	0.00	2436.0	2522.0	2350.1	2651.4	993.4	192.46	5.68	538	2773.73	62.17	0.22	2.69	1.241	0.078	0.019	2104.41	2152.62	2056.19	2701.12	2147.69	0	0	0	11.84	15.55	15.62
3076.08	16966	164.44	1.55	-60.00	2096.4	2151.8	2041.0	2701.1	2147.9	164.74	6.52	612	3081.66	0.00	0.00	2.96	0.000	0.000	0.071	2096.34	2151.94	2040.75	2701.62	993.44	0	0	0	30.00	30.00	15.78
3291.13	11303	290.10	1.81	0.44	2095.8	2151.6	2040.0	2701.9	993.2	153.64	4.18	655	3391.63	94.97	0.35	2.68	1.231	0.064	0.021	1591.19	1616.12	1566.25	2776.94	2153.75	0	0	0	11.16	15.74	15.87
3694.21	16710	290.10	1.82	60.00	1582.7	1618.6	1546.8	2776.3	2153.4	125.37	7.59	735	3699.76	0.00	0.00	2.71	0.000	0.000	0.075	1583.03	1619.19	1546.88	2777.19	3206.69	0	0	0	30.00	30.00	15.81
3774.22	17414	290.10	1.82	0.44	1582.4	1618.5	1546.2	2776.3	3206.3	117.16	10.92	751	3779.95	0.00	0.00	2.64	0.000	0.000	0.021	1583.19	1619.69	1546.69	2777.44	2063.94	0	0	0	30.00	30.00	15.85
4084.35	16966	290.10	1.86	-60.00	1579.6	1619.9	1539.2	2777.0	2063.9	89.82	6.68	813	4089.90	0.00	0.00	2.74	0.000	0.000	0.077	1580.56	1621.38	1539.75	2777.00	993.38	0	0	0	30.00	30.00	15.87
4124.35	17478	290.10	1.89	0.62	1578.6	1619.6	1537.6	2777.2	993.6	87.14	6.65	821	4129.89	0.00	0.00	2.68	0.000	0.000	0.021	1579.31	1620.50	1538.12	2776.62	2156.75	0	0	0	30.00	30.00	15.92
4314.81	10535	393.72	2.10	60.00	1578.2	1620.1	1536.4	2776.9	2156.9	77.01	4.93	859	4402.01	79.93	0.32	2.70	1.161	0.068	0.077	1170.03	1172.12	1167.94	2842.56	3205.31	0	0	0	11.06	15.89	15.39
4604.77	1028	393.72	2.10	1.83	1164.6	1172.2	1157.0	2842.2	3204.9	54.10	8.61	917	4609.98	0.00	0.00	2.57	0.000	0.000	0.021	1164.69	1172.56	1156.81	2842.44	2087.06	0	0	0	30.00	30.00	15.81
4794.87	580	393.72	2.11	-60.00	1163.2	1172.9	1153.5	2841.9	2087.6	39.50	7.88	955	4800.04	0.00	0.00	2.80	0.000	0.000	0.078	1163.09	1172.75	1153.44	2842.25	993.56	0	0	0	30.00	30.00	15.82
4854.47	1028	393.72	2.11	1.75	1162.3	1172.7	1152.0	2842.8	993.2	34.57	8.39	967	4860.22	0.00	0.00	2.74	0.000	0.000	0.021	1162.75	1173.38	1152.12	2842.19	2173.94	0	0	0	30.00	30.00	15.88
5044.49	16386	393.72	2.11	1.75	1161.8	1173.1	1150.4	2842.4	2174.1	19.66	8.04	1005	5045.82	0.00	0.00	0.00	0.000	0.000	0.000	1161.50	1173.12	1149.88	2842.50	2173.62	0	0	0	30.00	30.00	30.00
5229.52	16902	393.72	2.11	-60.00	1161.2	1175.4	1146.9	2842.4	2174.0	4.20	8.87	1042	5235.13	0.00	0.00	3.01	0.000	0.000	0.073	1161.50	1175.56	1147.44	2843.12	992.19	0	0	0	30.00	30.00	15.88
5239	end climb: SURFACE_DEPTH_REACHED
state	5239	begin surface coast
5284	end surface coast: CONTROL_FINISHED_OK
state	5284	begin surface