Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 284 * 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 284 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 28.554443 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 73.618805 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 28.554443 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 73.618805 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 284 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 060823,033217,4752.519,-12514.519,3,1.2,5,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060823,033706,4752.488,-12514.522,3,1.1,6,15.8 MHEAD_RNG_PITCHd_Wd 218.1,164919,-17.1,-8.049,-21.16,2007,0.255

SPEED_LIMITS 0.139,0.208 D_GRID 318

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 8000225

Post-dive calculations and measurements:

FINISH 0.0,1.023375 FG_AHR_24Vo 73.775

SURF forcing FG_AHR_10Vo 28.605

SM_CCo 6260.79,8.23,0.732,0,1083.3,1082.9,1083.7,475.08 MEM0 60116,1,0,0

SM_GC 2.22,8.23,20.65,3.03,0.732,0.043,0.040,1083.3,1082.9,1083.7,186.7,2068.1,0,0,0,12.59,15.86,15.82 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 970752,23,76216,57

IRIDIUM_FIX 4755.47,-12501.63,060823,014140 DATA_FILE_SIZE 25710,891

TCM_TEMP 260.04 CAP_FILE_SIZE 370688,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,3916704

SC_FREEKB 3770496 SDFILEDIR 1739,285

HUMID 50.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.20 IMPLIED_C_PITCH 2392,11.36,589,0.0,0.00

INTERNAL_PRESSURE 8.93987 IMPLIED_C_VBD 3239,40.680546,589,0

_24V_AH 15.09,109.092 GPS 060823,052238,4751.891,-12515.852,37,1.2,37,15.8

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 590 1310 11678.49 nil 0 0 0.00

Pitch_motor 44 236 158.31 nil 0 0 0.00

Roll_motor 71 151 164.54 nil 0 0 0.00

Iridium 204 211 652.04 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 3323 6 339.00 SciCon 6222 20 1882.75

Fast 6 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 3171 2 95.15

Compass 1886 5 141.47

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

8.98 16386 -107.06 -1.56 0.00 1084.0 1092.3 1075.7 181.7 2150.6 0.00 0.00 0 65.55 55.12 0.00 0.00 0.005 0.000 0.000 2245.41 2228.44 2262.38 181.75 2151.56 0 0 0 15.71 30.00 30.00

65.99 18727 -107.06 -1.56 80.00 2244.1 2228.1 2260.2 181.8 2151.2 3.01 -2.87 11 127.70 31.42 15.82 3.10 0.006 0.237 0.096 3457.62 3440.00 3475.25 1961.50 3361.88 0 0 0 15.69 15.74 15.65

356.25 1028 -107.06 -1.56 0.00 3458.6 3444.3 3472.9 1961.4 3362.0 53.52 -15.15 68 362.64 0.00 0.00 3.03 0.000 0.000 0.040 3459.16 3444.19 3474.12 1960.75 2066.31 0 0 0 30.00 30.00 15.90

546.25 0 -107.06 -1.56 0.00 3459.4 3443.8 3475.1 1960.5 2065.9 76.23 -12.36 106 550.98 0.00 0.00 0.00 0.000 0.000 0.000 3459.28 3443.56 3475.00 1960.81 2066.88 0 0 0 30.00 30.00 30.00

736.31 260 -107.06 -1.56 80.00 3460.4 3443.7 3477.1 1960.9 2066.4 94.32 -9.98 144 742.97 0.00 0.00 3.24 0.000 0.000 0.087 3460.34 3444.19 3476.50 1961.38 3362.25 0 0 0 30.00 30.00 15.95

766.55 1028 -107.06 -1.56 0.00 3459.6 3443.5 3475.8 1961.2 3362.2 97.67 -10.80 150 773.06 0.00 0.00 3.00 0.000 0.000 0.038 3461.41 3445.25 3477.56 1959.50 2064.56 0 0 0 30.00 30.00 15.98

961.57 0 -107.06 -1.56 0.00 3460.8 3443.9 3477.8 1960.9 2064.6 117.13 -10.05 172 963.14 0.00 0.00 0.00 0.000 0.000 0.000 3460.72 3443.06 3478.38 1960.38 2064.94 0 0 0 30.00 30.00 30.00

1271.59 260 -107.06 -1.56 80.00 3462.1 3443.4 3480.8 1960.7 2064.6 148.30 -10.64 203 1277.47 0.00 0.00 3.26 0.000 0.000 0.088 3463.19 3445.12 3481.25 1959.81 3360.88 0 0 0 30.00 30.00 16.05

1441.61 1028 -107.06 -1.56 0.00 3462.4 3444.6 3480.2 1961.2 3361.9 166.91 -10.45 237 1447.64 0.00 0.00 2.99 0.000 0.000 0.040 3462.09 3444.69 3479.50 1961.56 2064.81 0 0 0 30.00 30.00 16.05

1751.62 516 -107.06 -1.56 -80.00 3462.1 3444.3 3479.9 1961.1 2065.1 195.67 -9.13 269 1757.67 0.00 0.00 3.54 0.000 0.000 0.111 3463.59 3445.81 3481.38 1961.75 687.56 0 0 0 30.00 30.00 16.04

1781.63 1028 -107.06 -1.56 0.00 3462.5 3444.2 3480.8 1961.2 687.9 198.89 -9.97 275 1787.58 0.00 0.00 3.31 0.000 0.000 0.043 3462.78 3444.94 3480.62 1960.19 2137.00 0 0 0 30.00 30.00 16.07

2091.65 0 -107.06 -1.56 0.00 3462.6 3444.6 3480.6 1960.6 2137.7 228.69 -10.18 307 2093.22 0.00 0.00 0.00 0.000 0.000 0.000 3461.88 3444.88 3478.88 1961.19 2137.81 0 0 0 30.00 30.00 30.00

2401.91 260 -107.06 -1.56 80.00 3461.9 3444.2 3479.6 1961.2 2137.6 261.14 -10.17 338 2407.46 0.00 0.00 3.06 0.000 0.000 0.092 3462.91 3445.31 3480.50 1960.19 3362.62 0 0 0 30.00 30.00 16.08

2475.91 1028 -107.06 -1.56 0.00 3462.2 3443.8 3480.7 1961.2 3362.1 269.42 -11.07 353 2483.21 0.00 0.00 3.01 0.000 0.000 0.042 3462.72 3445.06 3480.38 1960.88 2065.44 0 0 0 30.00 30.00 16.03

2791.93 0 -107.06 -1.56 0.00 3462.0 3443.7 3480.3 1961.4 2066.3 303.91 -11.51 385 2793.51 0.00 0.00 0.00 0.000 0.000 0.000 3461.34 3443.25 3479.44 1960.88 2066.00 0 0 0 30.00 30.00 30.00

2921 end dive: TARGET_DEPTH_EXCEEDED

state 2921 begin apogee

2923.52 10243 0.00 -0.42 0.00 3462.5 3444.3 3480.6 1961.3 2191.8 318.91 -12.01 398 3012.29 81.49 2.21 0.13 1.310 0.118 0.152 3017.53 2986.62 3048.44 2240.56 2109.56 0 0 0 12.35 16.06 15.76

3015 end apogee: CONTROL_FINISHED_OK

state 3016 begin climb

3018.60 10759 107.06 1.56 -80.00 3018.4 2987.4 3049.4 2239.6 2109.9 323.29 0.00 406 3119.01 85.69 3.61 3.75 1.266 0.063 0.106 2581.53 2552.31 2610.75 2728.75 687.69 0 0 0 12.75 15.84 15.58

3122.43 11303 269.22 1.78 0.00 2578.4 2550.2 2606.6 2729.2 687.7 324.56 -0.25 417 3260.23 124.81 0.32 3.55 1.251 0.042 0.045 1920.22 1889.62 1950.81 2788.69 2186.19 0 0 0 12.68 15.70 15.68

3563.79 4357 269.22 1.78 80.00 1917.7 1886.0 1949.4 2789.1 2185.9 267.52 16.24 474 3569.80 0.00 0.31 2.99 0.000 0.129 0.090 1918.94 1887.06 1950.81 2764.44 3360.75 0 0 0 30.00 15.84 15.83

3653.80 1028 269.22 1.78 0.00 1917.1 1885.1 1949.1 2764.6 3361.9 253.36 15.56 492 3659.50 0.00 0.00 2.89 0.000 0.000 0.038 1917.84 1886.56 1949.12 2764.88 2115.69 0 0 0 30.00 30.00 15.90

3963.82 0 269.22 1.78 0.00 1916.3 1883.7 1948.9 2764.2 2115.9 208.28 15.22 524 3965.39 0.00 0.00 0.00 0.000 0.000 0.000 1915.69 1883.31 1948.06 2764.06 2115.69 0 0 0 30.00 30.00 30.00

4273.84 0 269.22 1.78 0.00 1915.7 1883.4 1947.9 2764.6 2115.8 163.65 13.60 555 4275.66 0.00 0.00 0.00 0.000 0.000 0.000 1914.56 1882.31 1946.81 2764.06 2115.88 0 0 0 30.00 30.00 30.00

4583.86 0 269.22 1.78 0.00 1915.2 1882.8 1947.7 2764.4 2115.8 122.14 13.01 586 4585.43 0.00 0.00 0.00 0.000 0.000 0.000 1914.84 1882.56 1947.12 2764.38 2115.94 0 0 0 30.00 30.00 30.00

4888.90 260 269.22 1.78 80.00 1915.2 1882.6 1947.8 2764.8 2115.8 84.74 9.97 630 4895.51 0.00 0.00 3.16 0.000 0.000 0.089 1915.31 1882.69 1947.94 2764.25 3362.19 0 0 0 30.00 30.00 16.02

4984.00 1028 269.22 1.78 0.00 1914.5 1881.2 1947.9 2763.5 3362.8 74.78 10.28 649 4990.45 0.00 0.00 2.89 0.000 0.000 0.040 1916.03 1882.44 1949.62 2763.94 2114.06 0 0 0 30.00 30.00 16.02

5174.10 2629 269.22 1.80 -80.00 1914.3 1881.1 1947.6 2764.3 2114.1 59.76 7.10 687 5181.10 0.00 0.17 3.68 0.000 0.061 0.105 1914.44 1880.81 1948.06 2790.25 687.81 0 0 0 30.00 16.08 15.99

5409.70 21511 269.22 1.80 0.00 1914.1 1881.1 1947.1 2790.4 688.1 39.65 8.32 734 5416.67 0.00 0.23 3.49 0.000 0.141 0.046 1914.28 1881.56 1947.00 2771.88 2182.31 0 0 0 30.00 15.96 15.99

5600.16 10791 347.69 1.91 -80.00 1914.1 1881.5 1946.6 2771.8 2182.0 29.86 4.03 772 5692.66 82.11 0.30 3.91 0.968 0.045 0.101 1600.72 1577.94 1623.50 2817.06 687.69 0 0 0 12.38 16.06 15.79

5821.25 5125 347.69 1.91 0.00 1602.3 1578.8 1625.9 2817.0 687.6 14.70 8.86 815 5828.27 0.00 0.25 3.52 0.000 0.134 0.045 1602.75 1579.25 1626.25 2796.38 2183.31 0 0 0 30.00 15.83 15.92

6011.76 10535 469.08 2.06 80.00 1600.8 1576.9 1624.8 2795.9 2182.9 9.27 1.83 853 6144.84 121.86 0.41 3.05 0.930 0.043 0.089 1107.09 1092.94 1121.25 2852.94 3362.31 0 0 0 12.53 16.03 15.65

6173 end climb: SURFACE_DEPTH_REACHED

state 6173 begin surface coast

6208 end surface coast: CONTROL_FINISHED_OK

state 6208 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	284	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	28.554443	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	73.618805	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	060823,033217,4752.519,-12514.519,3,1.2,5,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060823,033706,4752.488,-12514.522,3,1.1,6,15.8	MHEAD_RNG_PITCHd_Wd	218.1,164919,-17.1,-8.049,-21.16,2007,0.255
SPEED_LIMITS	0.139,0.208	D_GRID	318
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	8000225

FINISH	0.0,1.023375	FG_AHR_24Vo	73.775
SURF	forcing	FG_AHR_10Vo	28.605
SM_CCo	6260.79,8.23,0.732,0,1083.3,1082.9,1083.7,475.08	MEM0	60116,1,0,0
SM_GC	2.22,8.23,20.65,3.03,0.732,0.043,0.040,1083.3,1082.9,1083.7,186.7,2068.1,0,0,0,12.59,15.86,15.82	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	970752,23,76216,57
IRIDIUM_FIX	4755.47,-12501.63,060823,014140	DATA_FILE_SIZE	25710,891
TCM_TEMP	260.04	CAP_FILE_SIZE	370688,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,3916704
SC_FREEKB	3770496	SDFILEDIR	1739,285
HUMID	50.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.20	IMPLIED_C_PITCH	2392,11.36,589,0.0,0.00
INTERNAL_PRESSURE	8.93987	IMPLIED_C_VBD	3239,40.680546,589,0
_24V_AH	15.09,109.092	GPS	060823,052238,4751.891,-12515.852,37,1.2,37,15.8
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	590	1310	11678.49	nil	0	0	0.00
Pitch_motor	44	236	158.31	nil	0	0	0.00
Roll_motor	71	151	164.54	nil	0	0	0.00
Iridium	204	211	652.04	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	3323	6	339.00	SciCon	6222	20	1882.75
Fast	6	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	3171	2	95.15
Compass	1886	5	141.47
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
8.98	16386	-107.06	-1.56	0.00	1084.0	1092.3	1075.7	181.7	2150.6	0.00	0.00	0	65.55	55.12	0.00	0.00	0.005	0.000	0.000	2245.41	2228.44	2262.38	181.75	2151.56	0	0	0	15.71	30.00	30.00
65.99	18727	-107.06	-1.56	80.00	2244.1	2228.1	2260.2	181.8	2151.2	3.01	-2.87	11	127.70	31.42	15.82	3.10	0.006	0.237	0.096	3457.62	3440.00	3475.25	1961.50	3361.88	0	0	0	15.69	15.74	15.65
356.25	1028	-107.06	-1.56	0.00	3458.6	3444.3	3472.9	1961.4	3362.0	53.52	-15.15	68	362.64	0.00	0.00	3.03	0.000	0.000	0.040	3459.16	3444.19	3474.12	1960.75	2066.31	0	0	0	30.00	30.00	15.90
546.25	0	-107.06	-1.56	0.00	3459.4	3443.8	3475.1	1960.5	2065.9	76.23	-12.36	106	550.98	0.00	0.00	0.00	0.000	0.000	0.000	3459.28	3443.56	3475.00	1960.81	2066.88	0	0	0	30.00	30.00	30.00
736.31	260	-107.06	-1.56	80.00	3460.4	3443.7	3477.1	1960.9	2066.4	94.32	-9.98	144	742.97	0.00	0.00	3.24	0.000	0.000	0.087	3460.34	3444.19	3476.50	1961.38	3362.25	0	0	0	30.00	30.00	15.95
766.55	1028	-107.06	-1.56	0.00	3459.6	3443.5	3475.8	1961.2	3362.2	97.67	-10.80	150	773.06	0.00	0.00	3.00	0.000	0.000	0.038	3461.41	3445.25	3477.56	1959.50	2064.56	0	0	0	30.00	30.00	15.98
961.57	0	-107.06	-1.56	0.00	3460.8	3443.9	3477.8	1960.9	2064.6	117.13	-10.05	172	963.14	0.00	0.00	0.00	0.000	0.000	0.000	3460.72	3443.06	3478.38	1960.38	2064.94	0	0	0	30.00	30.00	30.00
1271.59	260	-107.06	-1.56	80.00	3462.1	3443.4	3480.8	1960.7	2064.6	148.30	-10.64	203	1277.47	0.00	0.00	3.26	0.000	0.000	0.088	3463.19	3445.12	3481.25	1959.81	3360.88	0	0	0	30.00	30.00	16.05
1441.61	1028	-107.06	-1.56	0.00	3462.4	3444.6	3480.2	1961.2	3361.9	166.91	-10.45	237	1447.64	0.00	0.00	2.99	0.000	0.000	0.040	3462.09	3444.69	3479.50	1961.56	2064.81	0	0	0	30.00	30.00	16.05
1751.62	516	-107.06	-1.56	-80.00	3462.1	3444.3	3479.9	1961.1	2065.1	195.67	-9.13	269	1757.67	0.00	0.00	3.54	0.000	0.000	0.111	3463.59	3445.81	3481.38	1961.75	687.56	0	0	0	30.00	30.00	16.04
1781.63	1028	-107.06	-1.56	0.00	3462.5	3444.2	3480.8	1961.2	687.9	198.89	-9.97	275	1787.58	0.00	0.00	3.31	0.000	0.000	0.043	3462.78	3444.94	3480.62	1960.19	2137.00	0	0	0	30.00	30.00	16.07
2091.65	0	-107.06	-1.56	0.00	3462.6	3444.6	3480.6	1960.6	2137.7	228.69	-10.18	307	2093.22	0.00	0.00	0.00	0.000	0.000	0.000	3461.88	3444.88	3478.88	1961.19	2137.81	0	0	0	30.00	30.00	30.00
2401.91	260	-107.06	-1.56	80.00	3461.9	3444.2	3479.6	1961.2	2137.6	261.14	-10.17	338	2407.46	0.00	0.00	3.06	0.000	0.000	0.092	3462.91	3445.31	3480.50	1960.19	3362.62	0	0	0	30.00	30.00	16.08
2475.91	1028	-107.06	-1.56	0.00	3462.2	3443.8	3480.7	1961.2	3362.1	269.42	-11.07	353	2483.21	0.00	0.00	3.01	0.000	0.000	0.042	3462.72	3445.06	3480.38	1960.88	2065.44	0	0	0	30.00	30.00	16.03
2791.93	0	-107.06	-1.56	0.00	3462.0	3443.7	3480.3	1961.4	2066.3	303.91	-11.51	385	2793.51	0.00	0.00	0.00	0.000	0.000	0.000	3461.34	3443.25	3479.44	1960.88	2066.00	0	0	0	30.00	30.00	30.00
2921	end dive: TARGET_DEPTH_EXCEEDED
state	2921	begin apogee
2923.52	10243	0.00	-0.42	0.00	3462.5	3444.3	3480.6	1961.3	2191.8	318.91	-12.01	398	3012.29	81.49	2.21	0.13	1.310	0.118	0.152	3017.53	2986.62	3048.44	2240.56	2109.56	0	0	0	12.35	16.06	15.76
3015	end apogee: CONTROL_FINISHED_OK
state	3016	begin climb
3018.60	10759	107.06	1.56	-80.00	3018.4	2987.4	3049.4	2239.6	2109.9	323.29	0.00	406	3119.01	85.69	3.61	3.75	1.266	0.063	0.106	2581.53	2552.31	2610.75	2728.75	687.69	0	0	0	12.75	15.84	15.58
3122.43	11303	269.22	1.78	0.00	2578.4	2550.2	2606.6	2729.2	687.7	324.56	-0.25	417	3260.23	124.81	0.32	3.55	1.251	0.042	0.045	1920.22	1889.62	1950.81	2788.69	2186.19	0	0	0	12.68	15.70	15.68
3563.79	4357	269.22	1.78	80.00	1917.7	1886.0	1949.4	2789.1	2185.9	267.52	16.24	474	3569.80	0.00	0.31	2.99	0.000	0.129	0.090	1918.94	1887.06	1950.81	2764.44	3360.75	0	0	0	30.00	15.84	15.83
3653.80	1028	269.22	1.78	0.00	1917.1	1885.1	1949.1	2764.6	3361.9	253.36	15.56	492	3659.50	0.00	0.00	2.89	0.000	0.000	0.038	1917.84	1886.56	1949.12	2764.88	2115.69	0	0	0	30.00	30.00	15.90
3963.82	0	269.22	1.78	0.00	1916.3	1883.7	1948.9	2764.2	2115.9	208.28	15.22	524	3965.39	0.00	0.00	0.00	0.000	0.000	0.000	1915.69	1883.31	1948.06	2764.06	2115.69	0	0	0	30.00	30.00	30.00
4273.84	0	269.22	1.78	0.00	1915.7	1883.4	1947.9	2764.6	2115.8	163.65	13.60	555	4275.66	0.00	0.00	0.00	0.000	0.000	0.000	1914.56	1882.31	1946.81	2764.06	2115.88	0	0	0	30.00	30.00	30.00
4583.86	0	269.22	1.78	0.00	1915.2	1882.8	1947.7	2764.4	2115.8	122.14	13.01	586	4585.43	0.00	0.00	0.00	0.000	0.000	0.000	1914.84	1882.56	1947.12	2764.38	2115.94	0	0	0	30.00	30.00	30.00
4888.90	260	269.22	1.78	80.00	1915.2	1882.6	1947.8	2764.8	2115.8	84.74	9.97	630	4895.51	0.00	0.00	3.16	0.000	0.000	0.089	1915.31	1882.69	1947.94	2764.25	3362.19	0	0	0	30.00	30.00	16.02
4984.00	1028	269.22	1.78	0.00	1914.5	1881.2	1947.9	2763.5	3362.8	74.78	10.28	649	4990.45	0.00	0.00	2.89	0.000	0.000	0.040	1916.03	1882.44	1949.62	2763.94	2114.06	0	0	0	30.00	30.00	16.02
5174.10	2629	269.22	1.80	-80.00	1914.3	1881.1	1947.6	2764.3	2114.1	59.76	7.10	687	5181.10	0.00	0.17	3.68	0.000	0.061	0.105	1914.44	1880.81	1948.06	2790.25	687.81	0	0	0	30.00	16.08	15.99
5409.70	21511	269.22	1.80	0.00	1914.1	1881.1	1947.1	2790.4	688.1	39.65	8.32	734	5416.67	0.00	0.23	3.49	0.000	0.141	0.046	1914.28	1881.56	1947.00	2771.88	2182.31	0	0	0	30.00	15.96	15.99
5600.16	10791	347.69	1.91	-80.00	1914.1	1881.5	1946.6	2771.8	2182.0	29.86	4.03	772	5692.66	82.11	0.30	3.91	0.968	0.045	0.101	1600.72	1577.94	1623.50	2817.06	687.69	0	0	0	12.38	16.06	15.79
5821.25	5125	347.69	1.91	0.00	1602.3	1578.8	1625.9	2817.0	687.6	14.70	8.86	815	5828.27	0.00	0.25	3.52	0.000	0.134	0.045	1602.75	1579.25	1626.25	2796.38	2183.31	0	0	0	30.00	15.83	15.92
6011.76	10535	469.08	2.06	80.00	1600.8	1576.9	1624.8	2795.9	2182.9	9.27	1.83	853	6144.84	121.86	0.41	3.05	0.930	0.043	0.089	1107.09	1092.94	1121.25	2852.94	3362.31	0	0	0	12.53	16.03	15.65
6173	end climb: SURFACE_DEPTH_REACHED
state	6173	begin surface coast
6208	end surface coast: CONTROL_FINISHED_OK
state	6208	begin surface