Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 278 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

MISSION 2 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 278 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 475 ROLL_MAXERRORS 1 XPDR_INT -1

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP -1

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 990 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -3.0999999

D_ABORT 1000 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3020 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0013 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 410 T_GPS 5 W_ADJ_DBAND 3 LOGGERDEVICE2 -1

T_MISSION 470 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 180 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_BATHY -1 PITCH_MIN 200 AH0_24V 575 NAV_DEVICE -1

USE_ICE 0 PITCH_MAX 3920 AH0_10V 0 NAV2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2340 MINV_24V 0 NETWORK_DEVICE -1

D_OFFGRID 1000 PITCH_DBAND 0.050000001 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 0 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

APOGEE_PITCH -5 PITCH_GAIN 12 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 110 PITCH_TIMEOUT 30 FG_AHR_10V 28.24497 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 72.64994 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.0275 PITCH_ADJ_DBAND 0 PRESSURE_YINT -170.23515 SEABIRD_T_J 4.3e-06

MASS 72293 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022672296 SEABIRD_C_G -10

NAV_MODE 0 C_PITCH_AUTO_MAX 0 COMPASS_USE 32772 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 3 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 700 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 3350 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 1000 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 0 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 990 N_NOCOMM 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 28.24497 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 72.64994 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.050000001 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 12 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3920 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 236 PITCH_VBD_SHIFT 0.0013 T_DIVE 410

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_USE 32772 INT_PRESSURE_YINT -3.0999999 PITCH_W_GAIN 3 T_GPS 5

C_PITCH 2340 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022672296 T_MISSION 470

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -170.23515 T_NO_W 180

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3020 LOGGERS 1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.0275 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72293 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 110 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 0 ROLL_MAX 3350 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 278 MISSION 2 ROLL_MIN 700 W_ADJ_DBAND 3

D_ABORT 1000 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_BOOST 0 NAV2_DEVICE -1 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE -1 SC_PROFILE 7.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 0 SC_RECORDABOVE 2000.0 XPDR_REP -1

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE -1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 050823,165940,4752.409,-12515.354,36,0.9,37,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050823,170454,4752.360,-12515.383,3,0.9,7,15.8 MHEAD_RNG_PITCHd_Wd 81.4,6403,-17.1,-8.049,-21.16,2007,0.284

SPEED_LIMITS 0.139,0.208 D_GRID 257

TGT_NAME SHELF IRON 1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.572571,-595.407471,-574.239685

TGT_LATLONG 4751.930,-12510.270 OSC 8000225

Post-dive calculations and measurements:

FINISH 0.2,1.023415 FG_AHR_24Vo 72.799

SURF forcing FG_AHR_10Vo 28.294

SM_CCo 5522.86,47.02,0.915,0,1083.4,1091.0,1075.9,475.04 MEM0 60116,1,0,0

SM_GC 1.93,47.02,20.80,0.25,0.915,0.045,0.078,1083.4,1091.0,1075.9,183.8,2046.8,0,0,0,12.60,15.91,15.86 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 970728,24,76220,57

IRIDIUM_FIX 4752.95,-12515.83,050823,151033 DATA_FILE_SIZE 25709,868

TCM_TEMP 259.94 CAP_FILE_SIZE 364181,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,3918496

SC_FREEKB 3772800 SDFILEDIR 1703,279

HUMID 50.65 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.13 IMPLIED_C_PITCH 2386,11.89,515,0.0,0.00

INTERNAL_PRESSURE 8.93846 IMPLIED_C_VBD 3218,42.272480,419,0

_24V_AH 15.03,107.810 GPS 050823,183810,4752.122,-12515.079,34,1.1,38,15.8

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 591 1212 10777.88 nil 0 0 0.00

Pitch_motor 44 240 159.97 nil 0 0 0.00

Roll_motor 80 223 272.30 nil 0 0 0.00

Iridium 227 207 709.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 16 15 3.72 nil 0 0 0.00

Core 3225 6 328.97 SciCon 5448 22 1814.35

Fast 6 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2520 2 75.60

Compass 1812 5 135.94

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

9.02 16386 -107.06 -1.56 0.00 1088.8 1091.9 1085.7 184.1 2054.2 0.00 0.00 0 70.62 60.07 0.00 0.00 0.005 0.000 0.000 2357.22 2343.50 2370.94 184.06 2054.44 0 0 0 15.68 30.00 30.00

71.06 18983 -107.06 -1.56 -80.00 2356.8 2344.1 2369.6 184.0 2054.2 3.10 -2.95 12 128.18 27.45 16.21 3.58 0.006 0.241 0.113 3457.12 3439.06 3475.19 1960.31 687.69 0 0 0 15.71 15.74 15.66

221.71 1028 -107.06 -1.56 0.00 3457.9 3440.1 3475.8 1960.1 687.9 28.84 -16.25 41 228.25 0.00 0.00 3.33 0.000 0.000 0.042 3458.47 3440.38 3476.56 1960.19 2134.25 0 0 0 30.00 30.00 15.91

411.74 516 -107.06 -1.56 -80.00 3458.2 3439.9 3476.4 1959.9 2134.0 56.58 -14.74 79 418.45 0.00 0.00 3.74 0.000 0.000 0.103 3458.19 3440.12 3476.25 1960.31 688.88 0 0 0 30.00 30.00 15.86

516.88 1028 -107.06 -1.56 0.00 3458.8 3440.1 3477.6 1959.9 688.8 72.71 -15.08 100 523.41 0.00 0.00 3.31 0.000 0.000 0.041 3459.25 3441.00 3477.50 1958.62 2136.31 0 0 0 30.00 30.00 15.95

706.93 260 -107.06 -1.56 80.00 3460.2 3441.4 3478.9 1960.1 2136.7 94.22 -9.29 138 713.53 0.00 0.00 3.01 0.000 0.000 0.087 3462.25 3443.75 3480.75 1960.50 3363.69 0 0 0 30.00 30.00 15.96

891.37 1028 -107.06 -1.56 0.00 3460.8 3443.2 3478.3 1959.9 3363.6 111.44 -9.51 175 898.65 0.00 0.00 2.99 0.000 0.000 0.036 3461.69 3444.00 3479.38 1959.81 2065.06 0 0 0 30.00 30.00 16.01

1207.15 516 -107.06 -1.56 -80.00 3462.3 3443.3 3481.2 1960.1 2065.6 143.98 -10.66 207 1213.25 0.00 0.00 3.56 0.000 0.000 0.108 3463.56 3444.25 3482.88 1959.81 689.12 0 0 0 30.00 30.00 15.99

1377.18 1028 -107.06 -1.56 0.00 3462.7 3443.8 3481.7 1959.9 689.1 163.63 -11.52 241 1383.09 0.00 0.00 3.28 0.000 0.000 0.042 3462.22 3443.50 3480.94 1960.31 2138.75 0 0 0 30.00 30.00 16.03

1687.21 260 -107.06 -1.56 80.00 3462.5 3443.7 3481.3 1960.2 2139.2 189.94 -9.43 273 1693.04 0.00 0.00 3.02 0.000 0.000 0.090 3463.44 3444.44 3482.44 1960.50 3364.31 0 0 0 30.00 30.00 16.02

1731.45 1028 -107.06 -1.56 0.00 3462.8 3443.7 3481.9 1959.9 3363.9 194.86 -11.36 282 1738.71 0.00 0.00 2.99 0.000 0.000 0.038 3463.44 3444.81 3482.06 1960.81 2064.44 0 0 0 30.00 30.00 16.04

2047.23 516 -107.06 -1.56 -80.00 3462.1 3443.8 3480.3 1960.6 2064.6 232.33 -13.15 314 2053.28 0.00 0.00 3.56 0.000 0.000 0.110 3463.94 3445.06 3482.81 1959.81 687.81 0 0 0 30.00 30.00 16.02

2097.24 1028 -107.06 -1.56 0.00 3462.2 3443.3 3481.1 1960.1 687.8 239.15 -13.18 324 2103.14 0.00 0.00 3.27 0.000 0.000 0.043 3462.78 3443.75 3481.81 1960.00 2137.81 0 0 0 30.00 30.00 16.04

2247 end dive: TARGET_DEPTH_EXCEEDED

state 2247 begin apogee

2248.94 10243 0.00 -0.42 0.00 3462.5 3444.1 3480.9 1960.3 2181.6 257.20 -11.22 340 2336.76 80.87 2.30 0.10 1.212 0.121 0.171 3018.16 2987.19 3049.12 2240.19 2110.38 0 0 0 12.41 16.04 15.77

2340 end apogee: CONTROL_FINISHED_OK

state 2340 begin climb

2343.08 10503 107.06 1.56 80.00 3018.1 2988.1 3048.2 2239.6 2111.8 260.06 0.00 348 2445.15 84.93 3.68 3.15 1.172 0.063 0.087 2581.09 2551.38 2610.81 2728.44 3365.44 0 0 0 12.80 15.84 15.58

2463.77 11303 238.68 1.74 0.00 2578.5 2546.4 2610.6 2728.6 3365.2 259.45 1.31 370 2575.00 101.14 0.25 2.95 1.163 0.049 0.035 2046.94 2015.12 2078.75 2774.69 2112.56 0 0 0 12.65 15.72 15.74

2878.54 4613 238.68 1.74 -80.00 2040.1 2007.2 2073.0 2775.2 2112.1 210.94 12.73 422 2885.98 0.00 0.28 3.71 0.000 0.133 0.103 2039.97 2007.00 2072.94 2754.75 687.75 0 0 0 30.00 15.86 15.84

3008.82 17414 238.68 1.74 0.00 2038.6 2007.4 2069.8 2755.4 687.8 192.65 13.99 448 3016.34 0.00 0.00 3.47 0.000 0.000 0.046 2039.28 2007.62 2070.94 2755.44 2182.81 0 0 0 30.00 30.00 15.93

3324.60 16386 238.68 1.74 0.00 2037.0 2003.9 2070.1 2755.8 2183.2 152.89 13.15 480 3326.17 0.00 0.00 0.00 0.000 0.000 0.000 2036.12 2003.50 2068.75 2755.81 2182.50 0 0 0 30.00 30.00 30.00

3634.63 16902 238.68 1.74 -80.00 2036.4 2003.0 2069.8 2755.6 2182.9 113.24 11.64 511 3641.88 0.00 0.00 3.86 0.000 0.000 0.101 2035.88 2001.75 2070.00 2756.31 686.81 0 0 0 30.00 30.00 15.99

3760.37 17414 238.68 1.74 0.00 2036.0 2003.1 2068.9 2755.9 686.9 96.18 13.02 536 3767.13 0.00 0.00 3.46 0.000 0.000 0.046 2035.78 2002.69 2068.88 2756.25 2183.81 0 0 0 30.00 30.00 16.00

3950.57 16646 238.68 1.74 80.00 2035.5 2002.1 2068.9 2755.3 2184.0 76.72 9.43 574 3957.36 0.00 0.00 2.93 0.000 0.000 0.089 2036.50 2003.25 2069.75 2755.56 3364.50 0 0 0 30.00 30.00 15.99

4175.99 19527 238.68 1.81 0.00 2034.6 2000.2 2069.0 2755.2 3365.4 63.46 5.55 619 4182.86 0.00 0.25 2.88 0.000 0.049 0.036 2034.44 1999.94 2068.94 2791.19 2113.62 0 0 0 30.00 16.02 16.02

4366.35 16966 238.68 1.87 -80.00 2034.3 2000.1 2068.5 2791.9 2113.8 52.08 6.05 657 4373.24 0.00 0.00 3.64 0.000 0.000 0.102 2034.56 2000.19 2068.94 2791.19 687.56 0 0 0 30.00 30.00 16.00

4576.88 19527 238.68 1.94 0.00 2034.2 1999.9 2068.6 2792.0 687.6 39.17 5.84 699 4583.79 0.00 0.13 3.44 0.000 0.064 0.044 2035.62 2001.06 2070.19 2823.25 2189.00 0 0 0 30.00 16.03 16.05

4767.27 8742 299.26 2.02 -80.00 2034.4 1999.9 2068.9 2823.0 2188.6 29.73 4.95 737 4838.71 61.81 0.00 3.87 0.952 0.000 0.098 1799.16 1772.44 1825.88 2823.62 687.94 0 0 0 12.34 30.00 15.85

5067.36 11303 397.30 2.14 0.00 1797.8 1771.2 1824.4 2823.5 687.8 11.41 3.03 796 5175.39 98.42 0.29 3.45 0.928 0.045 0.044 1399.38 1382.56 1416.19 2873.12 2192.38 0 0 0 12.54 15.96 15.96

5358.87 8742 465.73 2.23 -80.00 1403.4 1383.2 1423.6 2872.9 2191.4 3.60 4.55 853 5390.39 29.93 0.00 0.00 0.876 0.000 0.000 1283.72 1267.31 1300.12 2873.69 2192.19 0 0 0 12.55 30.00 30.00

5390 end climb: SURFACE_DEPTH_REACHED

state 5391 begin surface coast

5434 end surface coast: CONTROL_FINISHED_OK

state 5434 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
MISSION	2	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	278	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	475	ROLL_MAXERRORS	1	XPDR_INT	-1
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	-1
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	990	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-3.0999999
D_ABORT	1000	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3020	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0013	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	410	T_GPS	5	W_ADJ_DBAND	3	LOGGERDEVICE2	-1
T_MISSION	470	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	180	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_BATHY	-1	PITCH_MIN	200	AH0_24V	575	NAV_DEVICE	-1
USE_ICE	0	PITCH_MAX	3920	AH0_10V	0	NAV2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2340	MINV_24V	0	NETWORK_DEVICE	-1
D_OFFGRID	1000	PITCH_DBAND	0.050000001	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	0	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
APOGEE_PITCH	-5	PITCH_GAIN	12	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	110	PITCH_TIMEOUT	30	FG_AHR_10V	28.24497	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	72.64994	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.0275	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-170.23515	SEABIRD_T_J	4.3e-06
MASS	72293	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022672296	SEABIRD_C_G	-10
NAV_MODE	0	C_PITCH_AUTO_MAX	0	COMPASS_USE	32772	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	3	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	700	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	3350	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13

GPS1	050823,165940,4752.409,-12515.354,36,0.9,37,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050823,170454,4752.360,-12515.383,3,0.9,7,15.8	MHEAD_RNG_PITCHd_Wd	81.4,6403,-17.1,-8.049,-21.16,2007,0.284
SPEED_LIMITS	0.139,0.208	D_GRID	257
TGT_NAME	SHELF	IRON	1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.572571,-595.407471,-574.239685
TGT_LATLONG	4751.930,-12510.270	OSC	8000225

FINISH	0.2,1.023415	FG_AHR_24Vo	72.799
SURF	forcing	FG_AHR_10Vo	28.294
SM_CCo	5522.86,47.02,0.915,0,1083.4,1091.0,1075.9,475.04	MEM0	60116,1,0,0
SM_GC	1.93,47.02,20.80,0.25,0.915,0.045,0.078,1083.4,1091.0,1075.9,183.8,2046.8,0,0,0,12.60,15.91,15.86	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	970728,24,76220,57
IRIDIUM_FIX	4752.95,-12515.83,050823,151033	DATA_FILE_SIZE	25709,868
TCM_TEMP	259.94	CAP_FILE_SIZE	364181,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,3918496
SC_FREEKB	3772800	SDFILEDIR	1703,279
HUMID	50.65	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.13	IMPLIED_C_PITCH	2386,11.89,515,0.0,0.00
INTERNAL_PRESSURE	8.93846	IMPLIED_C_VBD	3218,42.272480,419,0
_24V_AH	15.03,107.810	GPS	050823,183810,4752.122,-12515.079,34,1.1,38,15.8
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	591	1212	10777.88	nil	0	0	0.00
Pitch_motor	44	240	159.97	nil	0	0	0.00
Roll_motor	80	223	272.30	nil	0	0	0.00
Iridium	227	207	709.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	16	15	3.72	nil	0	0	0.00
Core	3225	6	328.97	SciCon	5448	22	1814.35
Fast	6	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2520	2	75.60
Compass	1812	5	135.94
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
9.02	16386	-107.06	-1.56	0.00	1088.8	1091.9	1085.7	184.1	2054.2	0.00	0.00	0	70.62	60.07	0.00	0.00	0.005	0.000	0.000	2357.22	2343.50	2370.94	184.06	2054.44	0	0	0	15.68	30.00	30.00
71.06	18983	-107.06	-1.56	-80.00	2356.8	2344.1	2369.6	184.0	2054.2	3.10	-2.95	12	128.18	27.45	16.21	3.58	0.006	0.241	0.113	3457.12	3439.06	3475.19	1960.31	687.69	0	0	0	15.71	15.74	15.66
221.71	1028	-107.06	-1.56	0.00	3457.9	3440.1	3475.8	1960.1	687.9	28.84	-16.25	41	228.25	0.00	0.00	3.33	0.000	0.000	0.042	3458.47	3440.38	3476.56	1960.19	2134.25	0	0	0	30.00	30.00	15.91
411.74	516	-107.06	-1.56	-80.00	3458.2	3439.9	3476.4	1959.9	2134.0	56.58	-14.74	79	418.45	0.00	0.00	3.74	0.000	0.000	0.103	3458.19	3440.12	3476.25	1960.31	688.88	0	0	0	30.00	30.00	15.86
516.88	1028	-107.06	-1.56	0.00	3458.8	3440.1	3477.6	1959.9	688.8	72.71	-15.08	100	523.41	0.00	0.00	3.31	0.000	0.000	0.041	3459.25	3441.00	3477.50	1958.62	2136.31	0	0	0	30.00	30.00	15.95
706.93	260	-107.06	-1.56	80.00	3460.2	3441.4	3478.9	1960.1	2136.7	94.22	-9.29	138	713.53	0.00	0.00	3.01	0.000	0.000	0.087	3462.25	3443.75	3480.75	1960.50	3363.69	0	0	0	30.00	30.00	15.96
891.37	1028	-107.06	-1.56	0.00	3460.8	3443.2	3478.3	1959.9	3363.6	111.44	-9.51	175	898.65	0.00	0.00	2.99	0.000	0.000	0.036	3461.69	3444.00	3479.38	1959.81	2065.06	0	0	0	30.00	30.00	16.01
1207.15	516	-107.06	-1.56	-80.00	3462.3	3443.3	3481.2	1960.1	2065.6	143.98	-10.66	207	1213.25	0.00	0.00	3.56	0.000	0.000	0.108	3463.56	3444.25	3482.88	1959.81	689.12	0	0	0	30.00	30.00	15.99
1377.18	1028	-107.06	-1.56	0.00	3462.7	3443.8	3481.7	1959.9	689.1	163.63	-11.52	241	1383.09	0.00	0.00	3.28	0.000	0.000	0.042	3462.22	3443.50	3480.94	1960.31	2138.75	0	0	0	30.00	30.00	16.03
1687.21	260	-107.06	-1.56	80.00	3462.5	3443.7	3481.3	1960.2	2139.2	189.94	-9.43	273	1693.04	0.00	0.00	3.02	0.000	0.000	0.090	3463.44	3444.44	3482.44	1960.50	3364.31	0	0	0	30.00	30.00	16.02
1731.45	1028	-107.06	-1.56	0.00	3462.8	3443.7	3481.9	1959.9	3363.9	194.86	-11.36	282	1738.71	0.00	0.00	2.99	0.000	0.000	0.038	3463.44	3444.81	3482.06	1960.81	2064.44	0	0	0	30.00	30.00	16.04
2047.23	516	-107.06	-1.56	-80.00	3462.1	3443.8	3480.3	1960.6	2064.6	232.33	-13.15	314	2053.28	0.00	0.00	3.56	0.000	0.000	0.110	3463.94	3445.06	3482.81	1959.81	687.81	0	0	0	30.00	30.00	16.02
2097.24	1028	-107.06	-1.56	0.00	3462.2	3443.3	3481.1	1960.1	687.8	239.15	-13.18	324	2103.14	0.00	0.00	3.27	0.000	0.000	0.043	3462.78	3443.75	3481.81	1960.00	2137.81	0	0	0	30.00	30.00	16.04
2247	end dive: TARGET_DEPTH_EXCEEDED
state	2247	begin apogee
2248.94	10243	0.00	-0.42	0.00	3462.5	3444.1	3480.9	1960.3	2181.6	257.20	-11.22	340	2336.76	80.87	2.30	0.10	1.212	0.121	0.171	3018.16	2987.19	3049.12	2240.19	2110.38	0	0	0	12.41	16.04	15.77
2340	end apogee: CONTROL_FINISHED_OK
state	2340	begin climb
2343.08	10503	107.06	1.56	80.00	3018.1	2988.1	3048.2	2239.6	2111.8	260.06	0.00	348	2445.15	84.93	3.68	3.15	1.172	0.063	0.087	2581.09	2551.38	2610.81	2728.44	3365.44	0	0	0	12.80	15.84	15.58
2463.77	11303	238.68	1.74	0.00	2578.5	2546.4	2610.6	2728.6	3365.2	259.45	1.31	370	2575.00	101.14	0.25	2.95	1.163	0.049	0.035	2046.94	2015.12	2078.75	2774.69	2112.56	0	0	0	12.65	15.72	15.74
2878.54	4613	238.68	1.74	-80.00	2040.1	2007.2	2073.0	2775.2	2112.1	210.94	12.73	422	2885.98	0.00	0.28	3.71	0.000	0.133	0.103	2039.97	2007.00	2072.94	2754.75	687.75	0	0	0	30.00	15.86	15.84
3008.82	17414	238.68	1.74	0.00	2038.6	2007.4	2069.8	2755.4	687.8	192.65	13.99	448	3016.34	0.00	0.00	3.47	0.000	0.000	0.046	2039.28	2007.62	2070.94	2755.44	2182.81	0	0	0	30.00	30.00	15.93
3324.60	16386	238.68	1.74	0.00	2037.0	2003.9	2070.1	2755.8	2183.2	152.89	13.15	480	3326.17	0.00	0.00	0.00	0.000	0.000	0.000	2036.12	2003.50	2068.75	2755.81	2182.50	0	0	0	30.00	30.00	30.00
3634.63	16902	238.68	1.74	-80.00	2036.4	2003.0	2069.8	2755.6	2182.9	113.24	11.64	511	3641.88	0.00	0.00	3.86	0.000	0.000	0.101	2035.88	2001.75	2070.00	2756.31	686.81	0	0	0	30.00	30.00	15.99
3760.37	17414	238.68	1.74	0.00	2036.0	2003.1	2068.9	2755.9	686.9	96.18	13.02	536	3767.13	0.00	0.00	3.46	0.000	0.000	0.046	2035.78	2002.69	2068.88	2756.25	2183.81	0	0	0	30.00	30.00	16.00
3950.57	16646	238.68	1.74	80.00	2035.5	2002.1	2068.9	2755.3	2184.0	76.72	9.43	574	3957.36	0.00	0.00	2.93	0.000	0.000	0.089	2036.50	2003.25	2069.75	2755.56	3364.50	0	0	0	30.00	30.00	15.99
4175.99	19527	238.68	1.81	0.00	2034.6	2000.2	2069.0	2755.2	3365.4	63.46	5.55	619	4182.86	0.00	0.25	2.88	0.000	0.049	0.036	2034.44	1999.94	2068.94	2791.19	2113.62	0	0	0	30.00	16.02	16.02
4366.35	16966	238.68	1.87	-80.00	2034.3	2000.1	2068.5	2791.9	2113.8	52.08	6.05	657	4373.24	0.00	0.00	3.64	0.000	0.000	0.102	2034.56	2000.19	2068.94	2791.19	687.56	0	0	0	30.00	30.00	16.00
4576.88	19527	238.68	1.94	0.00	2034.2	1999.9	2068.6	2792.0	687.6	39.17	5.84	699	4583.79	0.00	0.13	3.44	0.000	0.064	0.044	2035.62	2001.06	2070.19	2823.25	2189.00	0	0	0	30.00	16.03	16.05
4767.27	8742	299.26	2.02	-80.00	2034.4	1999.9	2068.9	2823.0	2188.6	29.73	4.95	737	4838.71	61.81	0.00	3.87	0.952	0.000	0.098	1799.16	1772.44	1825.88	2823.62	687.94	0	0	0	12.34	30.00	15.85
5067.36	11303	397.30	2.14	0.00	1797.8	1771.2	1824.4	2823.5	687.8	11.41	3.03	796	5175.39	98.42	0.29	3.45	0.928	0.045	0.044	1399.38	1382.56	1416.19	2873.12	2192.38	0	0	0	12.54	15.96	15.96
5358.87	8742	465.73	2.23	-80.00	1403.4	1383.2	1423.6	2872.9	2191.4	3.60	4.55	853	5390.39	29.93	0.00	0.00	0.876	0.000	0.000	1283.72	1267.31	1300.12	2873.69	2192.19	0	0	0	12.55	30.00	30.00
5390	end climb: SURFACE_DEPTH_REACHED
state	5391	begin surface coast
5434	end surface coast: CONTROL_FINISHED_OK
state	5434	begin surface