Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 283 * 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 283 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 28.499538 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 73.455025 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 28.499538 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 73.455025 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 283 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 060823,014020,4752.859,-12513.751,59,0.8,60,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060823,014458,4752.854,-12513.741,3,0.8,6,15.8 MHEAD_RNG_PITCHd_Wd 218.1,166116,-17.1,-8.049,-21.16,2007,0.261

SPEED_LIMITS 0.139,0.208 D_GRID 249

TGT_NAME OFFSHORE 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 4700.000,-12700.000 OSC 8000266

Post-dive calculations and measurements:

FINISH 0.1,1.023332 _10V_AH 15.00,0.000

SURF forcing FG_AHR_24Vo 73.607

SM_CCo 6398.61,53.58,0.918,0,1083.8,1099.4,1068.2,474.95 FG_AHR_10Vo 28.554

SM_GC 1.89,53.58,20.83,0.25,0.918,0.042,0.081,1083.8,1099.4,1068.2,181.8,2061.6,0,0,0,12.57,15.92,15.88 MEM0 60116,1,0,0

SUPER 27,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4751.64,-12513.98,060823,002343 MEM2 970800,20,76228,57

TCM_TEMP 259.61 DATA_FILE_SIZE 28958,988

XPDR_PINGS 0,14.0,11.5 CAP_FILE_SIZE 393626,0

SC_FREEKB 3770880 SDSIZE 4028416,3916960

HUMID 50.74 SDFILEDIR 1733,284

TEMP 81.16 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.94228 IMPLIED_C_PITCH 2366,12.33,614,0.0,0.00

_24V_AH 15.04,108.873 GPS 060823,033217,4752.519,-12514.519,3,1.2,5,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 616 1198 11110.59 nil 0 0 0.00

Pitch_motor 44 238 157.89 nil 0 0 0.00

Roll_motor 84 153 195.78 nil 0 0 0.00

Iridium 195 203 597.82 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.42 nil 0 0 0.00

Core 3538 6 360.88 SciCon 6316 21 2037.76

Fast 5 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3043 2 91.29

Compass 2025 5 151.92

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

9.04 16386 -107.06 -1.56 0.00 1083.5 1082.7 1084.4 181.7 2139.8 0.00 0.00 0 70.79 60.24 0.00 0.00 0.005 0.000 0.000 2388.09 2376.50 2399.69 181.75 2140.44 0 0 0 15.71 30.00 30.00

71.22 18727 -107.06 -1.56 80.00 2387.8 2377.2 2398.4 181.6 2141.0 3.54 -3.60 12 123.73 25.78 15.52 3.10 0.006 0.238 0.094 3457.12 3440.06 3474.19 1959.56 3363.12 0 0 0 15.68 15.73 15.66

352.29 1028 -107.06 -1.56 0.00 3458.2 3443.0 3473.5 1959.8 3363.8 55.32 -14.38 67 358.63 0.00 0.00 2.99 0.000 0.000 0.037 3458.09 3442.75 3473.44 1960.25 2065.94 0 0 0 30.00 30.00 15.94

542.31 516 -107.06 -1.56 -80.00 3459.0 3443.1 3474.9 1960.1 2065.9 79.99 -11.93 105 548.93 0.00 0.00 3.55 0.000 0.000 0.106 3459.72 3443.44 3476.00 1958.94 688.81 0 0 0 30.00 30.00 15.96

662.39 1028 -107.06 -1.56 0.00 3458.8 3442.7 3475.0 1959.9 688.8 92.94 -10.21 129 669.10 0.00 0.00 3.31 0.000 0.000 0.040 3458.69 3442.62 3474.75 1959.81 2138.56 0 0 0 30.00 30.00 15.98

857.66 260 -107.06 -1.56 80.00 3459.8 3443.3 3476.3 1959.9 2138.4 109.58 -7.75 156 863.49 0.00 0.00 3.06 0.000 0.000 0.089 3459.12 3442.88 3475.38 1960.19 3364.12 0 0 0 30.00 30.00 16.00

971.92 1028 -107.06 -1.56 0.00 3460.6 3444.0 3477.2 1959.5 3362.6 119.67 -8.39 179 979.23 0.00 0.00 2.99 0.000 0.000 0.036 3460.81 3444.12 3477.50 1960.25 2064.19 0 0 0 30.00 30.00 16.02

1287.70 260 -107.06 -1.56 80.00 3461.1 3444.1 3478.2 1960.6 2064.2 148.02 -10.81 211 1293.64 0.00 0.00 3.25 0.000 0.000 0.087 3461.56 3443.81 3479.31 1960.00 3362.31 0 0 0 30.00 30.00 16.03

1391.96 1028 -107.06 -1.56 0.00 3460.9 3443.9 3477.9 1959.3 3362.9 160.48 -11.36 232 1399.26 0.00 0.00 2.99 0.000 0.000 0.037 3461.19 3444.44 3477.94 1960.38 2065.38 0 0 0 30.00 30.00 16.03

1707.74 516 -107.06 -1.56 -80.00 3460.9 3444.2 3477.6 1960.2 2065.6 190.53 -9.13 264 1713.81 0.00 0.00 3.56 0.000 0.000 0.110 3461.72 3444.12 3479.31 1960.25 687.06 0 0 0 30.00 30.00 16.00

1757.75 1028 -107.06 -1.56 0.00 3461.0 3444.1 3477.9 1960.3 687.4 195.51 -10.14 274 1763.71 0.00 0.00 3.33 0.000 0.000 0.042 3461.75 3444.19 3479.31 1960.44 2135.00 0 0 0 30.00 30.00 16.08

2067.76 260 -107.06 -1.56 80.00 3460.8 3444.4 3477.1 1960.4 2135.5 228.35 -11.32 306 2073.55 0.00 0.00 3.07 0.000 0.000 0.090 3461.84 3444.31 3479.38 1960.75 3361.44 0 0 0 30.00 30.00 16.00

2102.00 1028 -107.06 -1.56 0.00 3461.3 3445.4 3477.2 1960.2 3362.2 232.54 -11.96 313 2109.50 0.00 0.00 2.99 0.000 0.000 0.038 3461.59 3444.38 3478.81 1960.75 2065.12 0 0 0 30.00 30.00 16.04

2257 end dive: TARGET_DEPTH_EXCEEDED

state 2257 begin apogee

2259.59 10243 0.00 -0.42 0.00 3461.0 3444.3 3477.7 1960.5 2194.2 249.47 -10.82 329 2347.24 80.35 2.16 0.14 1.198 0.122 0.154 3020.66 2989.56 3051.75 2238.81 2108.69 0 0 0 12.48 16.03 15.77

2358 end apogee: CONTROL_FINISHED_OK

state 2359 begin climb

2361.55 10243 107.06 1.56 0.00 3018.3 2987.6 3049.0 2239.4 2110.1 252.76 0.00 337 2454.84 84.54 3.45 0.00 1.163 0.066 0.000 2581.25 2551.25 2611.25 2728.00 2109.56 0 0 0 12.75 15.86 30.00

2758.44 16710 107.06 1.65 80.00 2570.8 2539.5 2602.1 2727.9 2109.2 236.30 5.27 380 2764.26 0.00 0.00 3.19 0.000 0.000 0.086 2571.59 2539.69 2603.50 2726.81 3363.06 0 0 0 30.00 30.00 15.86

2992.73 19527 107.06 1.71 0.00 2569.3 2537.6 2601.0 2727.5 3362.2 223.12 5.86 427 3000.14 0.00 0.22 2.90 0.000 0.056 0.038 2570.50 2537.50 2603.50 2770.69 2114.88 0 0 0 30.00 16.02 15.99

3308.51 20807 107.06 1.73 80.00 2566.9 2535.0 2598.8 2771.9 2114.6 200.20 7.42 459 3314.54 0.00 0.25 3.14 0.000 0.136 0.086 2566.91 2535.19 2598.62 2754.94 3362.31 0 0 0 30.00 15.96 15.96

3482.74 17414 107.06 1.73 0.00 2566.9 2534.7 2599.2 2754.2 3363.6 185.67 8.38 494 3489.96 0.00 0.00 2.88 0.000 0.000 0.038 2568.03 2535.69 2600.38 2752.69 2113.38 0 0 0 30.00 30.00 16.00

3798.57 19015 107.06 1.79 -80.00 2564.5 2530.6 2598.5 2754.9 2113.9 164.28 6.19 526 3805.90 0.00 0.21 3.65 0.000 0.052 0.100 2563.88 2529.44 2598.31 2787.62 687.31 0 0 0 30.00 16.07 16.00

3998.70 17478 107.06 1.83 0.00 2562.9 2531.1 2594.7 2788.4 687.1 150.52 6.70 566 4006.17 0.00 0.00 3.49 0.000 0.000 0.045 2563.91 2531.88 2595.94 2788.69 2187.19 0 0 0 30.00 30.00 16.03

4314.46 10535 178.75 1.92 80.00 2562.9 2531.2 2594.6 2788.8 2187.1 134.42 4.38 598 4393.88 69.13 0.12 2.99 1.051 0.064 0.089 2289.75 2255.44 2324.06 2821.81 3362.06 0 0 0 12.39 16.12 15.82

4621.73 21511 178.75 1.92 0.00 2280.7 2243.1 2318.4 2821.3 3362.8 104.79 12.38 659 4629.23 0.00 0.25 2.91 0.000 0.149 0.037 2281.88 2243.88 2319.88 2799.56 2112.50 0 0 0 30.00 15.91 15.96

4932.82 10535 237.90 2.00 80.00 2278.1 2240.1 2316.1 2800.2 2112.9 82.28 5.02 717 5002.61 61.02 0.25 3.19 0.987 0.047 0.087 2048.53 2015.31 2081.75 2839.44 3362.50 0 0 0 12.46 15.99 15.78

5091.19 5125 237.90 2.00 0.00 2044.7 2008.6 2080.8 2839.2 3363.4 70.77 7.89 748 5097.91 0.00 0.25 2.90 0.000 0.144 0.037 2045.59 2009.81 2081.38 2818.12 2112.19 0 0 0 30.00 15.87 15.91

5281.52 19015 237.90 2.03 -80.00 2041.5 2006.8 2076.2 2818.3 2112.4 59.25 7.03 786 5288.51 0.00 0.18 3.68 0.000 0.059 0.101 2042.59 2008.50 2076.69 2846.19 687.50 0 0 0 30.00 15.99 15.92

5517.17 17478 237.90 2.10 0.00 2039.5 2006.6 2072.4 2846.2 687.5 41.94 5.56 833 5523.89 0.00 0.00 3.50 0.000 0.000 0.045 2040.12 2007.31 2072.94 2846.69 2187.50 0 0 0 30.00 30.00 16.00

5707.38 10791 320.82 2.21 -80.00 2038.7 2005.3 2072.1 2846.4 2188.4 33.73 3.80 871 5804.00 82.86 0.23 3.90 0.956 0.047 0.097 1712.06 1689.25 1734.88 2891.81 686.88 0 0 0 12.49 16.01 15.75

6032.65 11303 418.70 2.34 0.00 1709.6 1688.4 1730.7 2891.1 686.9 13.85 3.04 935 6144.83 99.00 0.12 3.52 0.923 0.069 0.044 1312.50 1299.81 1325.19 2920.56 2190.19 0 0 0 12.51 15.95 15.87

6278 end climb: SURFACE_DEPTH_REACHED

state 6278 begin surface coast

6303 end surface coast: CONTROL_FINISHED_OK

state 6303 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	283	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	28.499538	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	73.455025	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	060823,014020,4752.859,-12513.751,59,0.8,60,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060823,014458,4752.854,-12513.741,3,0.8,6,15.8	MHEAD_RNG_PITCHd_Wd	218.1,166116,-17.1,-8.049,-21.16,2007,0.261
SPEED_LIMITS	0.139,0.208	D_GRID	249
TGT_NAME	OFFSHORE	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	4700.000,-12700.000	OSC	8000266

FINISH	0.1,1.023332	_10V_AH	15.00,0.000
SURF	forcing	FG_AHR_24Vo	73.607
SM_CCo	6398.61,53.58,0.918,0,1083.8,1099.4,1068.2,474.95	FG_AHR_10Vo	28.554
SM_GC	1.89,53.58,20.83,0.25,0.918,0.042,0.081,1083.8,1099.4,1068.2,181.8,2061.6,0,0,0,12.57,15.92,15.88	MEM0	60116,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4751.64,-12513.98,060823,002343	MEM2	970800,20,76228,57
TCM_TEMP	259.61	DATA_FILE_SIZE	28958,988
XPDR_PINGS	0,14.0,11.5	CAP_FILE_SIZE	393626,0
SC_FREEKB	3770880	SDSIZE	4028416,3916960
HUMID	50.74	SDFILEDIR	1733,284
TEMP	81.16	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.94228	IMPLIED_C_PITCH	2366,12.33,614,0.0,0.00
_24V_AH	15.04,108.873	GPS	060823,033217,4752.519,-12514.519,3,1.2,5,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	616	1198	11110.59	nil	0	0	0.00
Pitch_motor	44	238	157.89	nil	0	0	0.00
Roll_motor	84	153	195.78	nil	0	0	0.00
Iridium	195	203	597.82	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.42	nil	0	0	0.00
Core	3538	6	360.88	SciCon	6316	21	2037.76
Fast	5	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3043	2	91.29
Compass	2025	5	151.92
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
9.04	16386	-107.06	-1.56	0.00	1083.5	1082.7	1084.4	181.7	2139.8	0.00	0.00	0	70.79	60.24	0.00	0.00	0.005	0.000	0.000	2388.09	2376.50	2399.69	181.75	2140.44	0	0	0	15.71	30.00	30.00
71.22	18727	-107.06	-1.56	80.00	2387.8	2377.2	2398.4	181.6	2141.0	3.54	-3.60	12	123.73	25.78	15.52	3.10	0.006	0.238	0.094	3457.12	3440.06	3474.19	1959.56	3363.12	0	0	0	15.68	15.73	15.66
352.29	1028	-107.06	-1.56	0.00	3458.2	3443.0	3473.5	1959.8	3363.8	55.32	-14.38	67	358.63	0.00	0.00	2.99	0.000	0.000	0.037	3458.09	3442.75	3473.44	1960.25	2065.94	0	0	0	30.00	30.00	15.94
542.31	516	-107.06	-1.56	-80.00	3459.0	3443.1	3474.9	1960.1	2065.9	79.99	-11.93	105	548.93	0.00	0.00	3.55	0.000	0.000	0.106	3459.72	3443.44	3476.00	1958.94	688.81	0	0	0	30.00	30.00	15.96
662.39	1028	-107.06	-1.56	0.00	3458.8	3442.7	3475.0	1959.9	688.8	92.94	-10.21	129	669.10	0.00	0.00	3.31	0.000	0.000	0.040	3458.69	3442.62	3474.75	1959.81	2138.56	0	0	0	30.00	30.00	15.98
857.66	260	-107.06	-1.56	80.00	3459.8	3443.3	3476.3	1959.9	2138.4	109.58	-7.75	156	863.49	0.00	0.00	3.06	0.000	0.000	0.089	3459.12	3442.88	3475.38	1960.19	3364.12	0	0	0	30.00	30.00	16.00
971.92	1028	-107.06	-1.56	0.00	3460.6	3444.0	3477.2	1959.5	3362.6	119.67	-8.39	179	979.23	0.00	0.00	2.99	0.000	0.000	0.036	3460.81	3444.12	3477.50	1960.25	2064.19	0	0	0	30.00	30.00	16.02
1287.70	260	-107.06	-1.56	80.00	3461.1	3444.1	3478.2	1960.6	2064.2	148.02	-10.81	211	1293.64	0.00	0.00	3.25	0.000	0.000	0.087	3461.56	3443.81	3479.31	1960.00	3362.31	0	0	0	30.00	30.00	16.03
1391.96	1028	-107.06	-1.56	0.00	3460.9	3443.9	3477.9	1959.3	3362.9	160.48	-11.36	232	1399.26	0.00	0.00	2.99	0.000	0.000	0.037	3461.19	3444.44	3477.94	1960.38	2065.38	0	0	0	30.00	30.00	16.03
1707.74	516	-107.06	-1.56	-80.00	3460.9	3444.2	3477.6	1960.2	2065.6	190.53	-9.13	264	1713.81	0.00	0.00	3.56	0.000	0.000	0.110	3461.72	3444.12	3479.31	1960.25	687.06	0	0	0	30.00	30.00	16.00
1757.75	1028	-107.06	-1.56	0.00	3461.0	3444.1	3477.9	1960.3	687.4	195.51	-10.14	274	1763.71	0.00	0.00	3.33	0.000	0.000	0.042	3461.75	3444.19	3479.31	1960.44	2135.00	0	0	0	30.00	30.00	16.08
2067.76	260	-107.06	-1.56	80.00	3460.8	3444.4	3477.1	1960.4	2135.5	228.35	-11.32	306	2073.55	0.00	0.00	3.07	0.000	0.000	0.090	3461.84	3444.31	3479.38	1960.75	3361.44	0	0	0	30.00	30.00	16.00
2102.00	1028	-107.06	-1.56	0.00	3461.3	3445.4	3477.2	1960.2	3362.2	232.54	-11.96	313	2109.50	0.00	0.00	2.99	0.000	0.000	0.038	3461.59	3444.38	3478.81	1960.75	2065.12	0	0	0	30.00	30.00	16.04
2257	end dive: TARGET_DEPTH_EXCEEDED
state	2257	begin apogee
2259.59	10243	0.00	-0.42	0.00	3461.0	3444.3	3477.7	1960.5	2194.2	249.47	-10.82	329	2347.24	80.35	2.16	0.14	1.198	0.122	0.154	3020.66	2989.56	3051.75	2238.81	2108.69	0	0	0	12.48	16.03	15.77
2358	end apogee: CONTROL_FINISHED_OK
state	2359	begin climb
2361.55	10243	107.06	1.56	0.00	3018.3	2987.6	3049.0	2239.4	2110.1	252.76	0.00	337	2454.84	84.54	3.45	0.00	1.163	0.066	0.000	2581.25	2551.25	2611.25	2728.00	2109.56	0	0	0	12.75	15.86	30.00
2758.44	16710	107.06	1.65	80.00	2570.8	2539.5	2602.1	2727.9	2109.2	236.30	5.27	380	2764.26	0.00	0.00	3.19	0.000	0.000	0.086	2571.59	2539.69	2603.50	2726.81	3363.06	0	0	0	30.00	30.00	15.86
2992.73	19527	107.06	1.71	0.00	2569.3	2537.6	2601.0	2727.5	3362.2	223.12	5.86	427	3000.14	0.00	0.22	2.90	0.000	0.056	0.038	2570.50	2537.50	2603.50	2770.69	2114.88	0	0	0	30.00	16.02	15.99
3308.51	20807	107.06	1.73	80.00	2566.9	2535.0	2598.8	2771.9	2114.6	200.20	7.42	459	3314.54	0.00	0.25	3.14	0.000	0.136	0.086	2566.91	2535.19	2598.62	2754.94	3362.31	0	0	0	30.00	15.96	15.96
3482.74	17414	107.06	1.73	0.00	2566.9	2534.7	2599.2	2754.2	3363.6	185.67	8.38	494	3489.96	0.00	0.00	2.88	0.000	0.000	0.038	2568.03	2535.69	2600.38	2752.69	2113.38	0	0	0	30.00	30.00	16.00
3798.57	19015	107.06	1.79	-80.00	2564.5	2530.6	2598.5	2754.9	2113.9	164.28	6.19	526	3805.90	0.00	0.21	3.65	0.000	0.052	0.100	2563.88	2529.44	2598.31	2787.62	687.31	0	0	0	30.00	16.07	16.00
3998.70	17478	107.06	1.83	0.00	2562.9	2531.1	2594.7	2788.4	687.1	150.52	6.70	566	4006.17	0.00	0.00	3.49	0.000	0.000	0.045	2563.91	2531.88	2595.94	2788.69	2187.19	0	0	0	30.00	30.00	16.03
4314.46	10535	178.75	1.92	80.00	2562.9	2531.2	2594.6	2788.8	2187.1	134.42	4.38	598	4393.88	69.13	0.12	2.99	1.051	0.064	0.089	2289.75	2255.44	2324.06	2821.81	3362.06	0	0	0	12.39	16.12	15.82
4621.73	21511	178.75	1.92	0.00	2280.7	2243.1	2318.4	2821.3	3362.8	104.79	12.38	659	4629.23	0.00	0.25	2.91	0.000	0.149	0.037	2281.88	2243.88	2319.88	2799.56	2112.50	0	0	0	30.00	15.91	15.96
4932.82	10535	237.90	2.00	80.00	2278.1	2240.1	2316.1	2800.2	2112.9	82.28	5.02	717	5002.61	61.02	0.25	3.19	0.987	0.047	0.087	2048.53	2015.31	2081.75	2839.44	3362.50	0	0	0	12.46	15.99	15.78
5091.19	5125	237.90	2.00	0.00	2044.7	2008.6	2080.8	2839.2	3363.4	70.77	7.89	748	5097.91	0.00	0.25	2.90	0.000	0.144	0.037	2045.59	2009.81	2081.38	2818.12	2112.19	0	0	0	30.00	15.87	15.91
5281.52	19015	237.90	2.03	-80.00	2041.5	2006.8	2076.2	2818.3	2112.4	59.25	7.03	786	5288.51	0.00	0.18	3.68	0.000	0.059	0.101	2042.59	2008.50	2076.69	2846.19	687.50	0	0	0	30.00	15.99	15.92
5517.17	17478	237.90	2.10	0.00	2039.5	2006.6	2072.4	2846.2	687.5	41.94	5.56	833	5523.89	0.00	0.00	3.50	0.000	0.000	0.045	2040.12	2007.31	2072.94	2846.69	2187.50	0	0	0	30.00	30.00	16.00
5707.38	10791	320.82	2.21	-80.00	2038.7	2005.3	2072.1	2846.4	2188.4	33.73	3.80	871	5804.00	82.86	0.23	3.90	0.956	0.047	0.097	1712.06	1689.25	1734.88	2891.81	686.88	0	0	0	12.49	16.01	15.75
6032.65	11303	418.70	2.34	0.00	1709.6	1688.4	1730.7	2891.1	686.9	13.85	3.04	935	6144.83	99.00	0.12	3.52	0.923	0.069	0.044	1312.50	1299.81	1325.19	2920.56	2190.19	0	0	0	12.51	15.95	15.87
6278	end climb: SURFACE_DEPTH_REACHED
state	6278	begin surface coast
6303	end surface coast: CONTROL_FINISHED_OK
state	6303	begin surface