Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 192 * 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 192 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 0 XPDR_REP -1

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 425 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 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 2 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 1

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 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 450 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 34

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 29.341551 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 59.539124 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 -180.00272 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00021665409 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 0.0063095698 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0094307503 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2240 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 2 N_NOCOMM 2 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 425

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 29.341551 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 59.539124 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 0.0063095698 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0094307503 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 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 390

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.00021665409 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -180.00272 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 450

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 2240 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 1 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 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 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 192 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 090621,185601,4750.764,-12511.927,12,1.1,28,16.0 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090621,190117,4750.747,-12511.873,2,1.1,4,16.0 MHEAD_RNG_PITCHd_Wd 223.6,165784,-21.6,-8.462,-23.21

SPEED_LIMITS 0.147,0.197 D_GRID 287

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 0.3,1.023727 FG_AHR_10Vo 29.386

SM_CCo 7431.56,100.19,1.173,0,1043.3,991.1,1095.5,424.79 MEM0 60876,1,0,0

SM_GC 7.75,100.19,15.82,0.32,1.173,0.056,0.065,1043.3,991.1,1095.5,185.6,2357.7,0,0,0,12.78,15.95,15.98 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971728,19,75360,55

IRIDIUM_FIX 4752.57,-12511.36,090621,165702 DATA_FILE_SIZE 28959,1051

TCM_TEMP 265.54 CAP_FILE_SIZE 201153,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3971264

SC_FREEKB 3792704 SDFILEDIR 996,1

HUMID 49.02 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.46 CURRENT 0.077, 64.0,1

INTERNAL_PRESSURE 8.84673 MAGCAL 1.000000,0.009575,0.001355,-0.024382,1.042250,-0.061801,-0.039444,-0.043516,1.035596,649.7,-299.1,49.6,32,0.0267,0

_24V_AH 14.88,64.171 IMPLIED_C_PITCH 2359,13.84,754

_10V_AH 14.98,0.000 IMPLIED_C_VBD 3004,33.900436,442

FG_AHR_24Vo 59.687 GPS 090621,210639,4750.443,-12512.272,62,1.0,63,16.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 438 1484 9687.81 nil 0 0 0.00

Pitch_motor 34 256 132.06 nil 0 0 0.00

Roll_motor 82 148 182.30 nil 0 0 0.00

Iridium 178 223 591.02 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.88 nil 0 0 0.00

Core 3106 11 549.10 SciCon 7326 14 1546.07

LPSleep 4582 2 192.19 nil 0 0 0.00

Compass 1582 5 118.51 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

4 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.62 16386 -82.73 -1.37 0.00 1035.7 1012.9 1058.4 186.8 2249.3 0.00 0.00 0 65.64 57.85 0.00 0.00 0.005 0.000 0.000 2454.69 2605.19 2304.19 186.94 2249.62 0 0 0 15.77 30.00 30.00

66.38 18983 -82.73 -1.37 -60.00 2454.3 2604.2 2304.4 186.6 2249.4 3.52 -3.78 11 104.55 16.10 13.93 2.60 0.006 0.256 0.068 3113.09 3310.31 2915.88 1988.88 1210.00 0 0 0 15.79 15.73 15.73

207.53 1028 -82.73 -1.37 0.00 3113.0 3309.1 2916.9 1989.1 1209.9 31.12 -17.26 39 213.09 0.00 0.00 2.68 0.000 0.000 0.030 3115.16 3310.38 2919.94 1988.75 2350.81 0 0 0 30.00 30.00 15.90

397.96 260 -82.73 -1.37 60.00 3113.2 3308.4 2918.0 1988.9 2350.8 58.18 -13.53 77 403.51 0.00 0.00 2.72 0.000 0.000 0.087 3114.81 3309.81 2919.81 1988.88 3427.06 0 0 0 30.00 30.00 15.94

517.75 1028 -82.73 -1.37 0.00 3112.8 3307.7 2917.8 1989.3 3427.1 72.13 -9.54 101 523.19 0.00 0.00 2.62 0.000 0.000 0.021 3113.12 3308.38 2917.88 1988.31 2245.50 0 0 0 30.00 30.00 15.98

708.10 260 -82.73 -1.37 60.00 3113.0 3308.2 2917.8 1988.4 2244.4 86.08 -7.65 139 713.30 0.00 0.00 2.97 0.000 0.000 0.082 3114.06 3309.12 2919.00 1987.38 3427.12 0 0 0 30.00 30.00 16.01

782.75 1028 -82.73 -1.37 0.00 3112.7 3307.6 2917.8 1988.9 3427.2 92.38 -8.52 154 788.29 0.00 0.00 2.62 0.000 0.000 0.022 3113.19 3308.12 2918.25 1988.50 2245.88 0 0 0 30.00 30.00 16.02

972.80 260 -82.73 -1.37 60.00 3113.3 3308.1 2918.4 1988.4 2244.6 106.83 -7.25 183 977.93 0.00 0.00 2.95 0.000 0.000 0.082 3113.47 3308.00 2918.94 1988.31 3425.50 0 0 0 30.00 30.00 16.04

1057.37 1028 -82.73 -1.37 0.00 3113.2 3307.8 2918.6 1988.5 3426.0 113.60 -8.09 200 1063.37 0.00 0.00 2.62 0.000 0.000 0.022 3113.34 3307.81 2918.88 1988.62 2247.31 0 0 0 30.00 30.00 16.05

1372.89 516 -82.73 -1.37 -60.00 3113.3 3307.9 2918.7 1988.6 2247.5 135.76 -7.35 232 1377.96 0.00 0.00 2.55 0.000 0.000 0.066 3113.44 3308.38 2918.50 1988.56 1208.81 0 0 0 30.00 30.00 16.08

1492.93 1028 -82.73 -1.37 0.00 3113.6 3307.8 2919.4 1988.8 1208.7 145.82 -8.53 256 1498.01 0.00 0.00 2.65 0.000 0.000 0.029 3113.53 3307.56 2919.50 1988.88 2354.50 0 0 0 30.00 30.00 16.09

1803.00 0 -82.73 -1.37 0.00 3113.4 3307.7 2919.2 1988.5 2354.4 170.89 -7.82 288 1804.33 0.00 0.00 0.00 0.000 0.000 0.000 3113.34 3307.62 2919.06 1988.56 2354.88 0 0 0 30.00 30.00 30.00

2113.44 516 -82.73 -1.37 -60.00 3113.2 3307.1 2919.3 1988.1 2354.6 194.02 -7.36 319 2118.36 0.00 0.00 2.81 0.000 0.000 0.061 3113.88 3307.69 2920.06 1988.50 1210.25 0 0 0 30.00 30.00 16.11

2223.21 1028 -82.73 -1.37 0.00 3113.8 3307.9 2919.6 1988.3 1210.2 202.96 -8.15 341 2228.18 0.00 0.00 2.63 0.000 0.000 0.029 3114.25 3308.25 2920.25 1988.44 2352.88 0 0 0 30.00 30.00 16.12

2533.18 516 -82.73 -1.37 -60.00 3113.6 3307.9 2919.2 1988.3 2353.4 227.04 -7.46 373 2538.28 0.00 0.00 2.82 0.000 0.000 0.061 3113.66 3307.56 2919.75 1988.38 1209.75 0 0 0 30.00 30.00 16.10

2633.19 1028 -82.73 -1.37 0.00 3114.0 3308.0 2920.0 1988.4 1209.8 234.66 -7.49 393 2638.27 0.00 0.00 2.63 0.000 0.000 0.029 3114.50 3308.69 2920.31 1988.00 2353.00 0 0 0 30.00 30.00 16.16

2943.25 516 -82.73 -1.37 -60.00 3113.4 3307.4 2919.4 1988.6 2353.6 256.71 -6.88 425 2948.36 0.00 0.00 2.81 0.000 0.000 0.061 3113.41 3307.38 2919.44 1988.75 1210.12 0 0 0 30.00 30.00 16.15

2997.80 1028 -82.73 -1.37 0.00 3113.9 3307.8 2920.0 1988.5 1210.1 260.83 -7.48 436 3003.82 0.00 0.00 2.64 0.000 0.000 0.030 3113.53 3307.19 2919.88 1988.81 2353.31 0 0 0 30.00 30.00 16.16

3313.32 516 -82.73 -1.37 -60.00 3113.3 3307.2 2919.3 1989.0 2353.4 285.30 -8.61 468 3318.43 0.00 0.00 2.82 0.000 0.000 0.061 3114.50 3308.38 2920.62 1987.31 1209.25 0 0 0 30.00 30.00 16.11

3333 end dive: TARGET_DEPTH_EXCEEDED

state 3333 begin apogee

3337.05 10243 0.00 -0.28 0.00 3113.6 3307.6 2919.6 1988.9 2276.7 287.06 -8.79 472 3398.61 57.06 1.80 0.12 1.485 0.153 0.149 2772.19 2899.69 2644.69 2254.69 2163.81 0 0 0 12.83 16.08 15.84

3399 end apogee: CONTROL_FINISHED_OK

state 3400 begin climb

3400.81 10503 82.73 1.37 60.00 2772.9 2900.0 2645.8 2253.9 2162.9 289.65 0.00 478 3469.83 58.51 2.59 3.05 1.437 0.099 0.086 2436.53 2515.50 2357.56 2656.25 3345.62 0 0 0 12.84 15.86 15.61

3552.96 9254 140.78 1.48 0.00 2433.3 2515.3 2351.4 2656.1 3346.2 284.75 4.50 508 3600.22 42.35 0.00 2.69 1.404 0.000 0.023 2198.47 2257.44 2139.50 2655.19 2183.38 0 0 0 12.73 30.00 15.78

3908.03 2629 140.78 1.52 -60.00 2194.6 2259.1 2130.0 2656.1 2182.6 263.09 6.73 548 3913.16 0.00 0.19 2.67 0.000 0.087 0.074 2196.00 2260.81 2131.19 2701.62 1131.56 0 0 0 30.00 15.84 15.86

4032.60 1028 140.78 1.52 0.00 2193.3 2258.9 2127.8 2702.6 1131.8 252.83 8.54 573 4038.59 0.00 0.00 2.65 0.000 0.000 0.029 2194.34 2260.56 2128.12 2701.94 2275.62 0 0 0 30.00 30.00 15.94

4348.13 16902 140.78 1.52 -60.00 2192.8 2259.4 2126.1 2702.1 2275.1 225.97 8.71 605 4353.24 0.00 0.00 2.88 0.000 0.000 0.068 2194.03 2260.75 2127.31 2701.81 1130.38 0 0 0 30.00 30.00 15.98

4392.68 17414 140.78 1.52 0.00 2192.8 2259.9 2125.7 2702.3 1130.6 221.79 9.10 614 4398.86 0.00 0.00 2.64 0.000 0.000 0.029 2194.38 2261.38 2127.38 2702.12 2271.69 0 0 0 30.00 30.00 16.01

4708.38 16386 140.78 1.52 0.00 2192.3 2259.8 2124.8 2701.7 2271.5 193.01 9.09 646 4709.71 0.00 0.00 0.00 0.000 0.000 0.000 2191.94 2260.00 2123.88 2701.62 2271.75 0 0 0 30.00 30.00 30.00

5018.66 16386 140.78 1.52 0.00 2192.3 2260.4 2124.2 2702.3 2271.1 165.24 9.05 677 5019.99 0.00 0.00 0.00 0.000 0.000 0.000 2191.19 2259.50 2122.88 2701.44 2271.38 0 0 0 30.00 30.00 30.00

5328.73 16710 140.78 1.54 60.00 2191.7 2260.1 2123.2 2701.8 2272.0 142.08 7.13 708 5333.41 0.00 0.00 2.70 0.000 0.000 0.089 2192.34 2261.56 2123.12 2701.31 3346.94 0 0 0 30.00 30.00 16.07

5428.37 17478 140.78 1.56 0.00 2191.2 2260.1 2122.2 2702.4 3346.9 134.21 7.89 728 5433.44 0.00 0.00 2.63 0.000 0.000 0.024 2191.81 2260.62 2123.00 2702.25 2185.00 0 0 0 30.00 30.00 16.10

5738.79 8226 180.56 1.64 0.00 2190.8 2260.2 2121.4 2701.9 2185.6 116.19 5.75 760 5768.97 28.92 0.00 0.00 1.271 0.000 0.000 2037.88 2091.69 1984.06 2702.69 2185.19 0 0 0 12.74 30.00 30.00

6073.44 0 180.56 1.64 0.00 2033.0 2091.2 1974.8 2702.2 2183.8 89.13 8.98 805 6074.77 0.00 0.00 0.00 0.000 0.000 0.000 2032.53 2091.06 1974.00 2702.50 2184.00 0 0 0 30.00 30.00 30.00

6258.47 260 180.56 1.64 60.00 2033.0 2092.1 1973.8 2702.1 2184.1 73.46 8.01 842 6264.07 0.00 0.00 2.92 0.000 0.000 0.085 2033.81 2092.88 1974.75 2702.25 3346.06 0 0 0 30.00 30.00 16.04

6428.52 1092 180.56 1.66 0.00 2032.6 2092.2 1972.9 2702.1 3345.9 59.36 7.43 876 6434.05 0.00 0.00 2.62 0.000 0.000 0.023 2033.09 2092.69 1973.50 2701.00 2184.50 0 0 0 30.00 30.00 16.05

6618.96 10275 240.10 1.78 0.00 2031.8 2091.8 1971.7 2702.5 2184.4 49.10 4.40 914 6665.11 43.73 0.30 0.00 1.213 0.074 0.000 1796.12 1833.25 1759.00 2763.69 2184.50 0 0 0 12.85 16.04 30.00

6849.17 8486 285.09 1.87 60.00 1788.7 1832.5 1744.9 2763.6 2184.6 35.83 5.39 960 6890.21 33.74 0.00 2.95 1.164 0.000 0.085 1611.81 1642.88 1580.75 2764.25 3345.94 0 0 0 12.77 30.00 15.79

7118.69 1028 285.09 1.87 0.00 1605.7 1643.5 1567.8 2763.7 3345.2 10.36 13.19 1014 7124.24 0.00 0.00 2.66 0.000 0.000 0.025 1606.06 1644.00 1568.12 2763.88 2195.69 0 0 0 30.00 30.00 15.93

7253 end climb: SURFACE_DEPTH_REACHED

state 7253 begin surface coast

7303 end surface coast: CONTROL_FINISHED_OK

state 7303 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	192	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	0	XPDR_REP	-1
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	425	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	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	2	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	1
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	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	450	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	34
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	29.341551	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	59.539124	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	-180.00272	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00021665409	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	0.0063095698	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0094307503	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2240	ALTIM_PULSE	1

GPS1	090621,185601,4750.764,-12511.927,12,1.1,28,16.0	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090621,190117,4750.747,-12511.873,2,1.1,4,16.0	MHEAD_RNG_PITCHd_Wd	223.6,165784,-21.6,-8.462,-23.21
SPEED_LIMITS	0.147,0.197	D_GRID	287
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	0.3,1.023727	FG_AHR_10Vo	29.386
SM_CCo	7431.56,100.19,1.173,0,1043.3,991.1,1095.5,424.79	MEM0	60876,1,0,0
SM_GC	7.75,100.19,15.82,0.32,1.173,0.056,0.065,1043.3,991.1,1095.5,185.6,2357.7,0,0,0,12.78,15.95,15.98	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971728,19,75360,55
IRIDIUM_FIX	4752.57,-12511.36,090621,165702	DATA_FILE_SIZE	28959,1051
TCM_TEMP	265.54	CAP_FILE_SIZE	201153,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3971264
SC_FREEKB	3792704	SDFILEDIR	996,1
HUMID	49.02	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.46	CURRENT	0.077, 64.0,1
INTERNAL_PRESSURE	8.84673	MAGCAL	1.000000,0.009575,0.001355,-0.024382,1.042250,-0.061801,-0.039444,-0.043516,1.035596,649.7,-299.1,49.6,32,0.0267,0
_24V_AH	14.88,64.171	IMPLIED_C_PITCH	2359,13.84,754
_10V_AH	14.98,0.000	IMPLIED_C_VBD	3004,33.900436,442
FG_AHR_24Vo	59.687	GPS	090621,210639,4750.443,-12512.272,62,1.0,63,16.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	438	1484	9687.81	nil	0	0	0.00
Pitch_motor	34	256	132.06	nil	0	0	0.00
Roll_motor	82	148	182.30	nil	0	0	0.00
Iridium	178	223	591.02	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.88	nil	0	0	0.00
Core	3106	11	549.10	SciCon	7326	14	1546.07
LPSleep	4582	2	192.19	nil	0	0	0.00
Compass	1582	5	118.51	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
4	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.62	16386	-82.73	-1.37	0.00	1035.7	1012.9	1058.4	186.8	2249.3	0.00	0.00	0	65.64	57.85	0.00	0.00	0.005	0.000	0.000	2454.69	2605.19	2304.19	186.94	2249.62	0	0	0	15.77	30.00	30.00
66.38	18983	-82.73	-1.37	-60.00	2454.3	2604.2	2304.4	186.6	2249.4	3.52	-3.78	11	104.55	16.10	13.93	2.60	0.006	0.256	0.068	3113.09	3310.31	2915.88	1988.88	1210.00	0	0	0	15.79	15.73	15.73
207.53	1028	-82.73	-1.37	0.00	3113.0	3309.1	2916.9	1989.1	1209.9	31.12	-17.26	39	213.09	0.00	0.00	2.68	0.000	0.000	0.030	3115.16	3310.38	2919.94	1988.75	2350.81	0	0	0	30.00	30.00	15.90
397.96	260	-82.73	-1.37	60.00	3113.2	3308.4	2918.0	1988.9	2350.8	58.18	-13.53	77	403.51	0.00	0.00	2.72	0.000	0.000	0.087	3114.81	3309.81	2919.81	1988.88	3427.06	0	0	0	30.00	30.00	15.94
517.75	1028	-82.73	-1.37	0.00	3112.8	3307.7	2917.8	1989.3	3427.1	72.13	-9.54	101	523.19	0.00	0.00	2.62	0.000	0.000	0.021	3113.12	3308.38	2917.88	1988.31	2245.50	0	0	0	30.00	30.00	15.98
708.10	260	-82.73	-1.37	60.00	3113.0	3308.2	2917.8	1988.4	2244.4	86.08	-7.65	139	713.30	0.00	0.00	2.97	0.000	0.000	0.082	3114.06	3309.12	2919.00	1987.38	3427.12	0	0	0	30.00	30.00	16.01
782.75	1028	-82.73	-1.37	0.00	3112.7	3307.6	2917.8	1988.9	3427.2	92.38	-8.52	154	788.29	0.00	0.00	2.62	0.000	0.000	0.022	3113.19	3308.12	2918.25	1988.50	2245.88	0	0	0	30.00	30.00	16.02
972.80	260	-82.73	-1.37	60.00	3113.3	3308.1	2918.4	1988.4	2244.6	106.83	-7.25	183	977.93	0.00	0.00	2.95	0.000	0.000	0.082	3113.47	3308.00	2918.94	1988.31	3425.50	0	0	0	30.00	30.00	16.04
1057.37	1028	-82.73	-1.37	0.00	3113.2	3307.8	2918.6	1988.5	3426.0	113.60	-8.09	200	1063.37	0.00	0.00	2.62	0.000	0.000	0.022	3113.34	3307.81	2918.88	1988.62	2247.31	0	0	0	30.00	30.00	16.05
1372.89	516	-82.73	-1.37	-60.00	3113.3	3307.9	2918.7	1988.6	2247.5	135.76	-7.35	232	1377.96	0.00	0.00	2.55	0.000	0.000	0.066	3113.44	3308.38	2918.50	1988.56	1208.81	0	0	0	30.00	30.00	16.08
1492.93	1028	-82.73	-1.37	0.00	3113.6	3307.8	2919.4	1988.8	1208.7	145.82	-8.53	256	1498.01	0.00	0.00	2.65	0.000	0.000	0.029	3113.53	3307.56	2919.50	1988.88	2354.50	0	0	0	30.00	30.00	16.09
1803.00	0	-82.73	-1.37	0.00	3113.4	3307.7	2919.2	1988.5	2354.4	170.89	-7.82	288	1804.33	0.00	0.00	0.00	0.000	0.000	0.000	3113.34	3307.62	2919.06	1988.56	2354.88	0	0	0	30.00	30.00	30.00
2113.44	516	-82.73	-1.37	-60.00	3113.2	3307.1	2919.3	1988.1	2354.6	194.02	-7.36	319	2118.36	0.00	0.00	2.81	0.000	0.000	0.061	3113.88	3307.69	2920.06	1988.50	1210.25	0	0	0	30.00	30.00	16.11
2223.21	1028	-82.73	-1.37	0.00	3113.8	3307.9	2919.6	1988.3	1210.2	202.96	-8.15	341	2228.18	0.00	0.00	2.63	0.000	0.000	0.029	3114.25	3308.25	2920.25	1988.44	2352.88	0	0	0	30.00	30.00	16.12
2533.18	516	-82.73	-1.37	-60.00	3113.6	3307.9	2919.2	1988.3	2353.4	227.04	-7.46	373	2538.28	0.00	0.00	2.82	0.000	0.000	0.061	3113.66	3307.56	2919.75	1988.38	1209.75	0	0	0	30.00	30.00	16.10
2633.19	1028	-82.73	-1.37	0.00	3114.0	3308.0	2920.0	1988.4	1209.8	234.66	-7.49	393	2638.27	0.00	0.00	2.63	0.000	0.000	0.029	3114.50	3308.69	2920.31	1988.00	2353.00	0	0	0	30.00	30.00	16.16
2943.25	516	-82.73	-1.37	-60.00	3113.4	3307.4	2919.4	1988.6	2353.6	256.71	-6.88	425	2948.36	0.00	0.00	2.81	0.000	0.000	0.061	3113.41	3307.38	2919.44	1988.75	1210.12	0	0	0	30.00	30.00	16.15
2997.80	1028	-82.73	-1.37	0.00	3113.9	3307.8	2920.0	1988.5	1210.1	260.83	-7.48	436	3003.82	0.00	0.00	2.64	0.000	0.000	0.030	3113.53	3307.19	2919.88	1988.81	2353.31	0	0	0	30.00	30.00	16.16
3313.32	516	-82.73	-1.37	-60.00	3113.3	3307.2	2919.3	1989.0	2353.4	285.30	-8.61	468	3318.43	0.00	0.00	2.82	0.000	0.000	0.061	3114.50	3308.38	2920.62	1987.31	1209.25	0	0	0	30.00	30.00	16.11
3333	end dive: TARGET_DEPTH_EXCEEDED
state	3333	begin apogee
3337.05	10243	0.00	-0.28	0.00	3113.6	3307.6	2919.6	1988.9	2276.7	287.06	-8.79	472	3398.61	57.06	1.80	0.12	1.485	0.153	0.149	2772.19	2899.69	2644.69	2254.69	2163.81	0	0	0	12.83	16.08	15.84
3399	end apogee: CONTROL_FINISHED_OK
state	3400	begin climb
3400.81	10503	82.73	1.37	60.00	2772.9	2900.0	2645.8	2253.9	2162.9	289.65	0.00	478	3469.83	58.51	2.59	3.05	1.437	0.099	0.086	2436.53	2515.50	2357.56	2656.25	3345.62	0	0	0	12.84	15.86	15.61
3552.96	9254	140.78	1.48	0.00	2433.3	2515.3	2351.4	2656.1	3346.2	284.75	4.50	508	3600.22	42.35	0.00	2.69	1.404	0.000	0.023	2198.47	2257.44	2139.50	2655.19	2183.38	0	0	0	12.73	30.00	15.78
3908.03	2629	140.78	1.52	-60.00	2194.6	2259.1	2130.0	2656.1	2182.6	263.09	6.73	548	3913.16	0.00	0.19	2.67	0.000	0.087	0.074	2196.00	2260.81	2131.19	2701.62	1131.56	0	0	0	30.00	15.84	15.86
4032.60	1028	140.78	1.52	0.00	2193.3	2258.9	2127.8	2702.6	1131.8	252.83	8.54	573	4038.59	0.00	0.00	2.65	0.000	0.000	0.029	2194.34	2260.56	2128.12	2701.94	2275.62	0	0	0	30.00	30.00	15.94
4348.13	16902	140.78	1.52	-60.00	2192.8	2259.4	2126.1	2702.1	2275.1	225.97	8.71	605	4353.24	0.00	0.00	2.88	0.000	0.000	0.068	2194.03	2260.75	2127.31	2701.81	1130.38	0	0	0	30.00	30.00	15.98
4392.68	17414	140.78	1.52	0.00	2192.8	2259.9	2125.7	2702.3	1130.6	221.79	9.10	614	4398.86	0.00	0.00	2.64	0.000	0.000	0.029	2194.38	2261.38	2127.38	2702.12	2271.69	0	0	0	30.00	30.00	16.01
4708.38	16386	140.78	1.52	0.00	2192.3	2259.8	2124.8	2701.7	2271.5	193.01	9.09	646	4709.71	0.00	0.00	0.00	0.000	0.000	0.000	2191.94	2260.00	2123.88	2701.62	2271.75	0	0	0	30.00	30.00	30.00
5018.66	16386	140.78	1.52	0.00	2192.3	2260.4	2124.2	2702.3	2271.1	165.24	9.05	677	5019.99	0.00	0.00	0.00	0.000	0.000	0.000	2191.19	2259.50	2122.88	2701.44	2271.38	0	0	0	30.00	30.00	30.00
5328.73	16710	140.78	1.54	60.00	2191.7	2260.1	2123.2	2701.8	2272.0	142.08	7.13	708	5333.41	0.00	0.00	2.70	0.000	0.000	0.089	2192.34	2261.56	2123.12	2701.31	3346.94	0	0	0	30.00	30.00	16.07
5428.37	17478	140.78	1.56	0.00	2191.2	2260.1	2122.2	2702.4	3346.9	134.21	7.89	728	5433.44	0.00	0.00	2.63	0.000	0.000	0.024	2191.81	2260.62	2123.00	2702.25	2185.00	0	0	0	30.00	30.00	16.10
5738.79	8226	180.56	1.64	0.00	2190.8	2260.2	2121.4	2701.9	2185.6	116.19	5.75	760	5768.97	28.92	0.00	0.00	1.271	0.000	0.000	2037.88	2091.69	1984.06	2702.69	2185.19	0	0	0	12.74	30.00	30.00
6073.44	0	180.56	1.64	0.00	2033.0	2091.2	1974.8	2702.2	2183.8	89.13	8.98	805	6074.77	0.00	0.00	0.00	0.000	0.000	0.000	2032.53	2091.06	1974.00	2702.50	2184.00	0	0	0	30.00	30.00	30.00
6258.47	260	180.56	1.64	60.00	2033.0	2092.1	1973.8	2702.1	2184.1	73.46	8.01	842	6264.07	0.00	0.00	2.92	0.000	0.000	0.085	2033.81	2092.88	1974.75	2702.25	3346.06	0	0	0	30.00	30.00	16.04
6428.52	1092	180.56	1.66	0.00	2032.6	2092.2	1972.9	2702.1	3345.9	59.36	7.43	876	6434.05	0.00	0.00	2.62	0.000	0.000	0.023	2033.09	2092.69	1973.50	2701.00	2184.50	0	0	0	30.00	30.00	16.05
6618.96	10275	240.10	1.78	0.00	2031.8	2091.8	1971.7	2702.5	2184.4	49.10	4.40	914	6665.11	43.73	0.30	0.00	1.213	0.074	0.000	1796.12	1833.25	1759.00	2763.69	2184.50	0	0	0	12.85	16.04	30.00
6849.17	8486	285.09	1.87	60.00	1788.7	1832.5	1744.9	2763.6	2184.6	35.83	5.39	960	6890.21	33.74	0.00	2.95	1.164	0.000	0.085	1611.81	1642.88	1580.75	2764.25	3345.94	0	0	0	12.77	30.00	15.79
7118.69	1028	285.09	1.87	0.00	1605.7	1643.5	1567.8	2763.7	3345.2	10.36	13.19	1014	7124.24	0.00	0.00	2.66	0.000	0.000	0.025	1606.06	1644.00	1568.12	2763.88	2195.69	0	0	0	30.00	30.00	15.93
7253	end climb: SURFACE_DEPTH_REACHED
state	7253	begin surface coast
7303	end surface coast: CONTROL_FINISHED_OK
state	7303	begin surface