Glider dive log

NANOOS May23 * SG236 * Dive index * Mission links * Dive 54 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

MISSION 2 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 54 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 400 ROLL_MAXERRORS 1 XPDR_INT -1

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 900 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT 0

D_ABORT 1000 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 200 PROTOCOL 9 C_VBD 3280 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 0.0034 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 0

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 300 T_GPS 5 W_ADJ_DBAND 3 LOGGERDEVICE2 -1

T_MISSION 370 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 120 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 2300 MINV_24V 0 NETWORK_DEVICE -1

D_OFFGRID 1000 PITCH_DBAND 0.1 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

APOGEE_PITCH -5 PITCH_GAIN 26 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 100 PITCH_TIMEOUT 30 FG_AHR_10V 2.8278508 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 9.7690668 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 -167.25104 SEABIRD_T_J 4.3e-06

MASS 72296 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022672296 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 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 2 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 3.0

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 900 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 2.8278508 PHONE_SUPPLY 2 SM_CC 400

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 9.7690668 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 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 26 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 100000 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 0.0034 T_DIVE 300

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_USE 49156 INT_PRESSURE_YINT 0 PITCH_W_GAIN 2 T_GPS 5

C_PITCH 2300 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022672296 T_MISSION 370

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -167.25104 T_NO_W 120

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3280 LOGGERS 0 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 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.0275 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72296 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 100 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 54 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 3.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 200 NETWORK_DEVICE -1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 140523,133040,4654.545,-12502.537,133,1.0,134,15.6 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140523,133531,4654.601,-12502.506,3,1.0,5,15.6 MHEAD_RNG_PITCHd_Wd 136.1,4341,-21.9,-10.000,-25.07,1480,0.133

SPEED_LIMITS 0.173,0.214 D_GRID 550

TGT_NAME WESTPORT IRON 1.000000,-0.019498,0.014234,0.010014,1.029979,-0.045473,0.030325,-0.070164,1.010294,99.359505,-608.912170,-621.229126

TGT_LATLONG 4653.000,-12500.000 OSC 8000266

Post-dive calculations and measurements:

FREEZE 564.96,0.000,-0.425,0,1,0 FG_AHR_24Vo 9.859

SURF forcing FG_AHR_10Vo 2.831

SM_CCo 6032.89,390.54,1.407,0,500.8,519.1,482.6,681.73 MEM0 60116,1,0,0

SM_GC 1.86,0.00,15.38,0.07,0.000,0.051,0.183,504.9,517.8,492.0,180.4,2077.6,0,0,0,30.00,16.19,16.19 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 970856,27,76092,54

IRIDIUM_FIX 4654.60,-12501.85,140523,095810 DATA_FILE_SIZE 19358,735

TCM_TEMP 12.14 CAP_FILE_SIZE 220394,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 3887104,3861056

HUMID -3.23 SDFILEDIR 344,55

TEMP 101.22 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 3.3422 CURRENT 0.014,207.2,1

_24V_AH 5.96,16.355 GPS 140523,163055,4654.532,-12502.558,119,0.8,120,15.6

_10V_AH 5.98,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 698 1432 5964.30 nil 0 0 0.00

Pitch_motor 33 283 56.89 nil 0 0 0.00

Roll_motor 74 224 99.73 nil 0 0 0.00

Iridium 233 69 97.55 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 1.36 nil 0 0 0.00

Core 2422 6 98.52 SciCon 0 0 0.00

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 7790 2 93.18

Compass 1030 5 30.82

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

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

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

Guidance and control:

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

2 end surface: CONTROL_FINISHED_OK

state 2 begin dive

2.91 16386 -97.32 -1.17 0.00 501.2 524.1 478.3 179.2 2120.2 0.00 0.00 0 41.02 36.92 0.00 0.00 0.005 0.000 0.000 1412.66 1371.31 1454.00 178.50 2120.62 0 0 0 15.78 30.00 30.00

41.54 18983 -97.32 -1.17 -80.00 1411.2 1371.0 1451.5 178.8 2121.2 3.42 -5.73 7 128.25 60.15 13.95 3.88 0.005 0.283 0.125 3676.12 3655.38 3696.88 2014.00 689.75 0 0 0 15.78 15.72 15.79

160.67 1028 -97.32 -1.17 0.00 3677.7 3657.0 3698.4 2014.6 689.6 17.21 -15.18 30 167.04 0.00 0.00 3.53 0.000 0.000 0.062 3677.91 3656.75 3699.06 2015.38 2122.94 0 0 0 30.00 30.00 15.87

350.77 260 -97.32 -1.17 80.00 3677.9 3657.5 3698.4 2015.0 2122.6 45.53 -13.51 68 357.50 0.00 0.00 3.31 0.000 0.000 0.112 3679.97 3659.31 3700.62 2013.56 3359.56 0 0 0 30.00 30.00 15.91

585.83 1028 -97.32 -1.17 0.00 3678.1 3657.6 3698.6 2014.7 3359.9 78.32 -12.09 115 592.68 0.00 0.00 3.17 0.000 0.000 0.057 3678.66 3658.00 3699.31 2014.94 2075.69 0 0 0 30.00 30.00 15.98

775.88 260 -97.32 -1.17 80.00 3678.4 3658.2 3698.6 2014.9 2075.5 99.75 -11.38 153 782.88 0.00 0.00 3.40 0.000 0.000 0.108 3678.03 3658.06 3698.00 2014.94 3358.69 0 0 0 30.00 30.00 15.99

895.91 1028 -97.32 -1.17 0.00 3678.5 3658.6 3698.4 2015.3 3358.6 113.36 -11.00 177 902.65 0.00 0.00 3.15 0.000 0.000 0.057 3679.03 3660.00 3698.06 2015.19 2073.94 0 0 0 30.00 30.00 16.03

1206.43 516 -97.32 -1.17 -80.00 3678.7 3658.8 3698.6 2015.2 2073.1 144.78 -10.00 209 1212.81 0.00 0.00 3.71 0.000 0.000 0.126 3678.97 3659.69 3698.25 2015.69 688.69 0 0 0 30.00 30.00 16.04

1240.95 1028 -97.32 -1.17 0.00 3678.8 3659.2 3698.4 2015.0 688.5 148.84 -11.92 216 1247.71 0.00 0.00 3.49 0.000 0.000 0.062 3678.31 3658.75 3697.88 2014.75 2123.94 0 0 0 30.00 30.00 16.06

1556.26 0 -97.32 -1.17 0.00 3679.3 3660.1 3698.4 2014.9 2124.8 182.57 -10.23 248 1557.86 0.00 0.00 0.00 0.000 0.000 0.000 3677.59 3658.12 3697.06 2014.31 2124.12 0 0 0 30.00 30.00 30.00

1866.58 260 -97.32 -1.17 80.00 3679.3 3659.8 3698.8 2015.2 2124.1 214.72 -10.66 279 1872.83 0.00 0.00 3.27 0.000 0.000 0.115 3678.78 3660.19 3697.38 2014.69 3359.12 0 0 0 30.00 30.00 16.10

1916.40 1028 -97.32 -1.17 0.00 3679.1 3660.1 3698.0 2015.1 3358.9 220.62 -11.94 289 1922.78 0.00 0.00 3.15 0.000 0.000 0.060 3679.72 3660.25 3699.19 2014.81 2077.06 0 0 0 30.00 30.00 16.12

2226.10 0 -97.32 -1.17 0.00 3678.8 3659.5 3698.2 2015.1 2076.6 254.50 -10.76 321 2227.72 0.00 0.00 0.00 0.000 0.000 0.000 3677.59 3658.38 3696.81 2014.81 2076.75 0 0 0 30.00 30.00 30.00

2536.13 260 -97.32 -1.17 80.00 3679.0 3659.8 3698.1 2014.5 2076.4 286.93 -10.41 352 2543.35 0.00 0.00 3.41 0.000 0.000 0.113 3678.50 3659.50 3697.50 2015.31 3358.31 0 0 0 30.00 30.00 16.13

2566.12 1028 -97.32 -1.17 0.00 3679.0 3659.5 3698.4 2014.6 3359.3 290.36 -11.03 358 2572.90 0.00 0.00 3.14 0.000 0.000 0.061 3678.28 3659.12 3697.44 2015.25 2074.12 0 0 0 30.00 30.00 16.15

2876.68 260 -97.32 -1.17 80.00 3678.7 3659.4 3698.0 2014.2 2074.1 318.04 -7.67 390 2883.03 0.00 0.00 3.42 0.000 0.000 0.114 3679.28 3660.06 3698.50 2015.00 3357.69 0 0 0 30.00 30.00 16.15

2951.14 1028 -97.32 -1.17 0.00 3679.2 3659.8 3698.5 2015.2 3357.1 324.48 -8.68 405 2957.88 0.00 0.00 3.14 0.000 0.000 0.062 3679.16 3660.50 3697.81 2015.06 2076.69 0 0 0 30.00 30.00 16.17

3266.36 0 -97.32 -1.17 0.00 3678.8 3659.6 3698.0 2014.8 2076.2 347.24 -7.14 437 3267.97 0.00 0.00 0.00 0.000 0.000 0.000 3678.31 3658.56 3698.06 2014.62 2076.06 0 0 0 30.00 30.00 30.00

3576.64 0 -97.32 -1.17 0.00 3678.7 3659.4 3698.1 2014.7 2076.5 370.62 -8.38 468 3578.23 0.00 0.00 0.00 0.000 0.000 0.000 3678.03 3658.62 3697.44 2014.69 2076.56 0 0 0 30.00 30.00 30.00

3886.21 0 -97.32 -1.17 0.00 3678.6 3659.1 3698.0 2014.6 2075.9 399.81 -9.65 499 3887.81 0.00 0.00 0.00 0.000 0.000 0.000 3677.44 3658.38 3696.50 2014.81 2076.12 0 0 0 30.00 30.00 30.00

4196.24 260 -97.32 -1.17 80.00 3677.8 3657.8 3697.8 2014.8 2075.9 431.54 -10.29 530 4203.27 0.00 0.00 3.41 0.000 0.000 0.116 3678.03 3657.88 3698.19 2014.75 3357.94 0 0 0 30.00 30.00 16.18

4271.69 1028 -97.32 -1.17 0.00 3677.9 3658.1 3697.7 2015.0 3358.3 440.63 -12.29 545 4278.05 0.00 0.00 3.16 0.000 0.000 0.065 3677.16 3657.12 3697.19 2015.31 2077.44 0 0 0 30.00 30.00 16.20

4586.32 260 -97.32 -1.17 80.00 3677.2 3656.2 3698.1 2014.7 2077.6 479.97 -12.40 577 4593.30 0.00 0.00 3.40 0.000 0.000 0.116 3677.31 3656.75 3697.88 2015.06 3358.19 0 0 0 30.00 30.00 16.18

4676.49 1028 -97.32 -1.17 0.00 3676.9 3655.7 3698.1 2014.6 3357.9 490.16 -10.19 595 4683.07 0.00 0.00 3.17 0.000 0.000 0.065 3676.12 3655.00 3697.25 2014.88 2075.06 0 0 0 30.00 30.00 16.21

4986.39 260 -97.32 -1.17 80.00 3676.1 3654.5 3697.8 2014.8 2075.3 525.42 -14.70 627 4993.36 0.00 0.00 3.40 0.000 0.000 0.116 3676.12 3654.31 3697.94 2014.19 3358.56 0 0 0 30.00 30.00 16.19

5061.64 1028 -97.32 -1.17 0.00 3675.8 3653.9 3697.6 2015.5 3358.4 536.46 -15.95 642 5068.14 0.00 0.00 3.16 0.000 0.000 0.065 3676.22 3653.56 3698.88 2014.81 2076.94 0 0 0 30.00 30.00 16.21

5156 end dive: TARGET_DEPTH_EXCEEDED

state 5156 begin apogee

5158.06 10243 0.00 -0.19 0.00 3675.3 3653.1 3697.6 2014.9 2125.9 550.08 -13.11 652 5236.55 72.26 1.55 0.09 1.433 0.131 0.224 3277.19 3255.88 3298.50 2253.62 2076.88 0 0 0 13.13 16.17 15.77

5236 end apogee: CONTROL_FINISHED_OK

state 5236 begin climb

5237.07 10759 97.32 1.17 -80.00 3279.3 3257.9 3300.6 2256.4 2077.4 554.77 0.00 659 5327.80 77.04 2.09 3.86 1.396 0.077 0.131 2884.34 2864.75 2903.94 2590.00 689.94 0 0 0 12.92 15.83 15.48

5555.46 11303 243.73 1.67 0.00 2876.7 2858.6 2894.8 2591.7 690.4 564.97 -0.16 722 5626.51 61.54 0.70 3.61 1.403 0.071 0.070 2558.62 2537.62 2579.62 2713.62 2116.94 0 0 0 12.82 15.78 15.82

5626 end climb: NO_VERTICAL_VELOCITY

state 5626 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
MISSION	2	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	54	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	400	ROLL_MAXERRORS	1	XPDR_INT	-1
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	900	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	0
D_ABORT	1000	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	200	PROTOCOL	9	C_VBD	3280	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	0.0034	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	0
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	300	T_GPS	5	W_ADJ_DBAND	3	LOGGERDEVICE2	-1
T_MISSION	370	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	120	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	2300	MINV_24V	0	NETWORK_DEVICE	-1
D_OFFGRID	1000	PITCH_DBAND	0.1	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
APOGEE_PITCH	-5	PITCH_GAIN	26	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	100	PITCH_TIMEOUT	30	FG_AHR_10V	2.8278508	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	9.7690668	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	-167.25104	SEABIRD_T_J	4.3e-06
MASS	72296	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022672296	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	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	2	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	3.0
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	140523,133040,4654.545,-12502.537,133,1.0,134,15.6	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140523,133531,4654.601,-12502.506,3,1.0,5,15.6	MHEAD_RNG_PITCHd_Wd	136.1,4341,-21.9,-10.000,-25.07,1480,0.133
SPEED_LIMITS	0.173,0.214	D_GRID	550
TGT_NAME	WESTPORT	IRON	1.000000,-0.019498,0.014234,0.010014,1.029979,-0.045473,0.030325,-0.070164,1.010294,99.359505,-608.912170,-621.229126
TGT_LATLONG	4653.000,-12500.000	OSC	8000266

FREEZE	564.96,0.000,-0.425,0,1,0	FG_AHR_24Vo	9.859
SURF	forcing	FG_AHR_10Vo	2.831
SM_CCo	6032.89,390.54,1.407,0,500.8,519.1,482.6,681.73	MEM0	60116,1,0,0
SM_GC	1.86,0.00,15.38,0.07,0.000,0.051,0.183,504.9,517.8,492.0,180.4,2077.6,0,0,0,30.00,16.19,16.19	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	970856,27,76092,54
IRIDIUM_FIX	4654.60,-12501.85,140523,095810	DATA_FILE_SIZE	19358,735
TCM_TEMP	12.14	CAP_FILE_SIZE	220394,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	3887104,3861056
HUMID	-3.23	SDFILEDIR	344,55
TEMP	101.22	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	3.3422	CURRENT	0.014,207.2,1
_24V_AH	5.96,16.355	GPS	140523,163055,4654.532,-12502.558,119,0.8,120,15.6
_10V_AH	5.98,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	698	1432	5964.30	nil	0	0	0.00
Pitch_motor	33	283	56.89	nil	0	0	0.00
Roll_motor	74	224	99.73	nil	0	0	0.00
Iridium	233	69	97.55	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	1.36	nil	0	0	0.00
Core	2422	6	98.52	SciCon	0	0	0.00
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	7790	2	93.18
Compass	1030	5	30.82
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

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

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
2	end surface: CONTROL_FINISHED_OK
state	2	begin dive
2.91	16386	-97.32	-1.17	0.00	501.2	524.1	478.3	179.2	2120.2	0.00	0.00	0	41.02	36.92	0.00	0.00	0.005	0.000	0.000	1412.66	1371.31	1454.00	178.50	2120.62	0	0	0	15.78	30.00	30.00
41.54	18983	-97.32	-1.17	-80.00	1411.2	1371.0	1451.5	178.8	2121.2	3.42	-5.73	7	128.25	60.15	13.95	3.88	0.005	0.283	0.125	3676.12	3655.38	3696.88	2014.00	689.75	0	0	0	15.78	15.72	15.79
160.67	1028	-97.32	-1.17	0.00	3677.7	3657.0	3698.4	2014.6	689.6	17.21	-15.18	30	167.04	0.00	0.00	3.53	0.000	0.000	0.062	3677.91	3656.75	3699.06	2015.38	2122.94	0	0	0	30.00	30.00	15.87
350.77	260	-97.32	-1.17	80.00	3677.9	3657.5	3698.4	2015.0	2122.6	45.53	-13.51	68	357.50	0.00	0.00	3.31	0.000	0.000	0.112	3679.97	3659.31	3700.62	2013.56	3359.56	0	0	0	30.00	30.00	15.91
585.83	1028	-97.32	-1.17	0.00	3678.1	3657.6	3698.6	2014.7	3359.9	78.32	-12.09	115	592.68	0.00	0.00	3.17	0.000	0.000	0.057	3678.66	3658.00	3699.31	2014.94	2075.69	0	0	0	30.00	30.00	15.98
775.88	260	-97.32	-1.17	80.00	3678.4	3658.2	3698.6	2014.9	2075.5	99.75	-11.38	153	782.88	0.00	0.00	3.40	0.000	0.000	0.108	3678.03	3658.06	3698.00	2014.94	3358.69	0	0	0	30.00	30.00	15.99
895.91	1028	-97.32	-1.17	0.00	3678.5	3658.6	3698.4	2015.3	3358.6	113.36	-11.00	177	902.65	0.00	0.00	3.15	0.000	0.000	0.057	3679.03	3660.00	3698.06	2015.19	2073.94	0	0	0	30.00	30.00	16.03
1206.43	516	-97.32	-1.17	-80.00	3678.7	3658.8	3698.6	2015.2	2073.1	144.78	-10.00	209	1212.81	0.00	0.00	3.71	0.000	0.000	0.126	3678.97	3659.69	3698.25	2015.69	688.69	0	0	0	30.00	30.00	16.04
1240.95	1028	-97.32	-1.17	0.00	3678.8	3659.2	3698.4	2015.0	688.5	148.84	-11.92	216	1247.71	0.00	0.00	3.49	0.000	0.000	0.062	3678.31	3658.75	3697.88	2014.75	2123.94	0	0	0	30.00	30.00	16.06
1556.26	0	-97.32	-1.17	0.00	3679.3	3660.1	3698.4	2014.9	2124.8	182.57	-10.23	248	1557.86	0.00	0.00	0.00	0.000	0.000	0.000	3677.59	3658.12	3697.06	2014.31	2124.12	0	0	0	30.00	30.00	30.00
1866.58	260	-97.32	-1.17	80.00	3679.3	3659.8	3698.8	2015.2	2124.1	214.72	-10.66	279	1872.83	0.00	0.00	3.27	0.000	0.000	0.115	3678.78	3660.19	3697.38	2014.69	3359.12	0	0	0	30.00	30.00	16.10
1916.40	1028	-97.32	-1.17	0.00	3679.1	3660.1	3698.0	2015.1	3358.9	220.62	-11.94	289	1922.78	0.00	0.00	3.15	0.000	0.000	0.060	3679.72	3660.25	3699.19	2014.81	2077.06	0	0	0	30.00	30.00	16.12
2226.10	0	-97.32	-1.17	0.00	3678.8	3659.5	3698.2	2015.1	2076.6	254.50	-10.76	321	2227.72	0.00	0.00	0.00	0.000	0.000	0.000	3677.59	3658.38	3696.81	2014.81	2076.75	0	0	0	30.00	30.00	30.00
2536.13	260	-97.32	-1.17	80.00	3679.0	3659.8	3698.1	2014.5	2076.4	286.93	-10.41	352	2543.35	0.00	0.00	3.41	0.000	0.000	0.113	3678.50	3659.50	3697.50	2015.31	3358.31	0	0	0	30.00	30.00	16.13
2566.12	1028	-97.32	-1.17	0.00	3679.0	3659.5	3698.4	2014.6	3359.3	290.36	-11.03	358	2572.90	0.00	0.00	3.14	0.000	0.000	0.061	3678.28	3659.12	3697.44	2015.25	2074.12	0	0	0	30.00	30.00	16.15
2876.68	260	-97.32	-1.17	80.00	3678.7	3659.4	3698.0	2014.2	2074.1	318.04	-7.67	390	2883.03	0.00	0.00	3.42	0.000	0.000	0.114	3679.28	3660.06	3698.50	2015.00	3357.69	0	0	0	30.00	30.00	16.15
2951.14	1028	-97.32	-1.17	0.00	3679.2	3659.8	3698.5	2015.2	3357.1	324.48	-8.68	405	2957.88	0.00	0.00	3.14	0.000	0.000	0.062	3679.16	3660.50	3697.81	2015.06	2076.69	0	0	0	30.00	30.00	16.17
3266.36	0	-97.32	-1.17	0.00	3678.8	3659.6	3698.0	2014.8	2076.2	347.24	-7.14	437	3267.97	0.00	0.00	0.00	0.000	0.000	0.000	3678.31	3658.56	3698.06	2014.62	2076.06	0	0	0	30.00	30.00	30.00
3576.64	0	-97.32	-1.17	0.00	3678.7	3659.4	3698.1	2014.7	2076.5	370.62	-8.38	468	3578.23	0.00	0.00	0.00	0.000	0.000	0.000	3678.03	3658.62	3697.44	2014.69	2076.56	0	0	0	30.00	30.00	30.00
3886.21	0	-97.32	-1.17	0.00	3678.6	3659.1	3698.0	2014.6	2075.9	399.81	-9.65	499	3887.81	0.00	0.00	0.00	0.000	0.000	0.000	3677.44	3658.38	3696.50	2014.81	2076.12	0	0	0	30.00	30.00	30.00
4196.24	260	-97.32	-1.17	80.00	3677.8	3657.8	3697.8	2014.8	2075.9	431.54	-10.29	530	4203.27	0.00	0.00	3.41	0.000	0.000	0.116	3678.03	3657.88	3698.19	2014.75	3357.94	0	0	0	30.00	30.00	16.18
4271.69	1028	-97.32	-1.17	0.00	3677.9	3658.1	3697.7	2015.0	3358.3	440.63	-12.29	545	4278.05	0.00	0.00	3.16	0.000	0.000	0.065	3677.16	3657.12	3697.19	2015.31	2077.44	0	0	0	30.00	30.00	16.20
4586.32	260	-97.32	-1.17	80.00	3677.2	3656.2	3698.1	2014.7	2077.6	479.97	-12.40	577	4593.30	0.00	0.00	3.40	0.000	0.000	0.116	3677.31	3656.75	3697.88	2015.06	3358.19	0	0	0	30.00	30.00	16.18
4676.49	1028	-97.32	-1.17	0.00	3676.9	3655.7	3698.1	2014.6	3357.9	490.16	-10.19	595	4683.07	0.00	0.00	3.17	0.000	0.000	0.065	3676.12	3655.00	3697.25	2014.88	2075.06	0	0	0	30.00	30.00	16.21
4986.39	260	-97.32	-1.17	80.00	3676.1	3654.5	3697.8	2014.8	2075.3	525.42	-14.70	627	4993.36	0.00	0.00	3.40	0.000	0.000	0.116	3676.12	3654.31	3697.94	2014.19	3358.56	0	0	0	30.00	30.00	16.19
5061.64	1028	-97.32	-1.17	0.00	3675.8	3653.9	3697.6	2015.5	3358.4	536.46	-15.95	642	5068.14	0.00	0.00	3.16	0.000	0.000	0.065	3676.22	3653.56	3698.88	2014.81	2076.94	0	0	0	30.00	30.00	16.21
5156	end dive: TARGET_DEPTH_EXCEEDED
state	5156	begin apogee
5158.06	10243	0.00	-0.19	0.00	3675.3	3653.1	3697.6	2014.9	2125.9	550.08	-13.11	652	5236.55	72.26	1.55	0.09	1.433	0.131	0.224	3277.19	3255.88	3298.50	2253.62	2076.88	0	0	0	13.13	16.17	15.77
5236	end apogee: CONTROL_FINISHED_OK
state	5236	begin climb
5237.07	10759	97.32	1.17	-80.00	3279.3	3257.9	3300.6	2256.4	2077.4	554.77	0.00	659	5327.80	77.04	2.09	3.86	1.396	0.077	0.131	2884.34	2864.75	2903.94	2590.00	689.94	0	0	0	12.92	15.83	15.48
5555.46	11303	243.73	1.67	0.00	2876.7	2858.6	2894.8	2591.7	690.4	564.97	-0.16	722	5626.51	61.54	0.70	3.61	1.403	0.071	0.070	2558.62	2537.62	2579.62	2713.62	2116.94	0	0	0	12.82	15.78	15.82
5626	end climb: NO_VERTICAL_VELOCITY
state	5626	begin surface