Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 662 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 8 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054949999 XPDR_VALID 6

DIVE 662 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 SM_CC 430 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 4 N_FILEKB 4 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 COMM_SEQ 7 C_VBD 2890 DEEPGLIDERMB 0

D_NO_BLEED 200 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0020000001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 20000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 3 LOGGERDEVICE2 -1

T_DIVE 410 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 520 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_EPIRB 0 PITCH_MIN 200 AH0_24V 506 NAV_DEVICE -1

USE_BATHY -1 PITCH_MAX 3000 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2515 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 16 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 97.99234 SEABIRD_T_G 0.0043000001

MAX_BUOY 80 PITCH_MAXERRORS 1 FG_AHR_24V 187.28275 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 0 PRESSURE_YINT -179.54233 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

MASS 72955 C_PITCH_AUTO_MAX 0 COMPASS_USE 16388 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 6 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.00177828 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.020747701 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 60 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2250 ALTIM_PULSE 1

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 506 D_PITCH 0 N_FILEKB 4 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 4 N_NOCOMM 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 990 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 1 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 430

ALTIM_SENSITIVITY 3 FG_AHR_10V 97.99234 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 187.28275 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 16 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.00177828 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.020747701 PITCH_MAX 3000 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 20000 HD_C 5.7000002e-06 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 200 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0020000001 T_DIVE 410

COMPASS2_DEVICE -1 ID 249 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 6 T_GPS 5

COMPASS_USE 16388 INT_PRESSURE_YINT -3 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2515 KALMAN_USE 2 PRESSURE_SLOPE 0.00021665409 T_MISSION 520

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -179.54233 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2250 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2250 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2890 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72955 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054949999 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 60 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 80 ROLL_MAX 3825 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 3

DIVE 662 MISSION 8 ROLL_TIMEOUT 25 XPDR_DEVICE 21

D_ABORT 1010 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 7.0 XPDR_INT -1

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10

D_NO_BLEED 200 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 220123,021504,4752.724,-12514.479,1,1.2,5,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220123,022340,4752.731,-12514.537,1,0.8,34,15.8 MHEAD_RNG_PITCHd_Wd 120.2,5506,-16.4,-8.049,-28.31,2124,0.245

SPEED_LIMITS 0.139,0.149 D_GRID 218

TGT_NAME SHELF IRON 1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000

TGT_LATLONG 4751.930,-12510.270

Post-dive calculations and measurements:

FINISH -0.1,1.024960 FG_AHR_10Vo 98.047

SM_CCo 6046.91,74.18,1.022,0,1136.2,1141.1,1131.2,430.22 MEM0 60108,1,0,0

SM_GC 0.92,74.18,19.39,0.12,1.022,0.043,0.081,1136.2,1141.1,1131.2,176.9,2177.4,0,0,0,11.11,15.88,15.93 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 959600,469,78248,67

IRIDIUM_FIX 4754.02,-12511.36,220123,002830 DATA_FILE_SIZE 22499,772

TCM_TEMP 268.48 CAP_FILE_SIZE 190782,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3816704

SC_FREEKB 3624544 SDFILEDIR 4003,1

HUMID 54.65 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 84.21 CURRENT 0.180,328.5,1

INTERNAL_PRESSURE 8.57653 IMPLIED_C_PITCH 2581,12.26,561,0.0,0.00

_24V_AH 14.83,226.049 IMPLIED_C_VBD 3024,52.172367,346,0

_10V_AH 15.00,0.000 GPS 220123,040555,4752.927,-12514.756,8,1.7,42,15.8

FG_AHR_24Vo 187.418

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 462 1257 8632.19 nil 0 0 0.00

Pitch_motor 41 249 154.47 nil 0 0 0.00

Roll_motor 70 93 97.75 nil 0 0 0.00

Iridium 254 219 830.19 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 46 15 10.37 nil 0 0 0.00

Core 3937 6 401.58 SciCon 5882 26 2308.10

Fast 91 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2320 2 69.61

Compass 1720 5 129.00

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

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

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

Guidance and control:

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

19.30 16386 -77.86 -1.18 0.00 1123.8 1132.6 1115.0 176.9 2285.9 0.00 0.00 0 119.79 70.47 0.00 0.00 0.005 0.000 0.000 2893.34 3067.06 2719.62 176.44 2287.25 0 0 0 14.83 30.00 30.00

122.02 18727 -77.86 -1.18 60.00 2893.6 3063.3 2723.9 176.4 2286.4 3.11 -3.38 14 235.91 4.70 17.20 3.08 0.009 0.205 0.079 3209.84 3405.75 3013.94 2227.62 3353.88 0 0 0 15.00 15.40 14.94

467.31 1028 -77.86 -1.18 0.00 3211.8 3405.4 3018.1 2227.6 3354.1 67.45 -13.98 66 486.30 0.00 0.00 2.75 0.000 0.000 0.017 3212.59 3406.00 3019.19 2227.44 2195.62 0 0 0 30.00 30.00 15.83

672.49 516 -77.86 -1.18 -60.00 3211.9 3405.6 3018.2 2227.8 2193.3 88.85 -9.64 104 691.24 0.00 0.00 2.89 0.000 0.000 0.065 3212.19 3406.12 3018.25 2228.19 1143.44 0 0 0 30.00 30.00 15.71

732.65 1028 -77.86 -1.18 0.00 3212.0 3405.8 3018.2 2227.6 1143.6 94.99 -10.03 113 751.40 0.00 0.00 2.72 0.000 0.000 0.023 3211.62 3405.06 3018.19 2227.75 2281.50 0 0 0 30.00 30.00 15.83

937.46 0 -77.86 -1.18 0.00 3212.1 3405.2 3019.1 2227.7 2281.8 113.51 -8.80 136 941.48 0.00 0.00 0.00 0.000 0.000 0.000 3211.66 3404.06 3019.25 2227.56 2280.88 0 0 0 30.00 30.00 30.00

1247.53 516 -77.86 -1.18 -60.00 3212.1 3405.4 3018.8 2227.8 2281.3 138.35 -7.82 167 1266.12 0.00 0.00 3.09 0.000 0.000 0.061 3212.94 3404.69 3021.19 2226.06 1144.12 0 0 0 30.00 30.00 15.79

1332.54 1028 -77.86 -1.18 0.00 3212.3 3405.5 3019.1 2227.8 1143.8 145.76 -8.82 181 1349.94 0.00 0.00 2.74 0.000 0.000 0.023 3213.66 3407.00 3020.31 2227.06 2281.31 0 0 0 30.00 30.00 15.85

1656.21 0 -77.86 -1.18 0.00 3212.3 3405.1 3019.5 2228.1 2281.7 168.87 -6.89 213 1660.23 0.00 0.00 0.00 0.000 0.000 0.000 3211.34 3404.25 3018.44 2227.69 2281.81 0 0 0 30.00 30.00 30.00

1966.29 516 -77.86 -1.18 -60.00 3212.3 3405.1 3019.4 2227.7 2280.9 191.84 -7.82 244 1985.30 0.00 0.00 3.12 0.000 0.000 0.061 3212.88 3405.38 3020.38 2226.88 1143.50 0 0 0 30.00 30.00 15.83

1991.71 1028 -77.86 -1.18 0.00 3212.3 3405.2 3019.3 2227.9 1143.1 193.97 -8.16 246 2009.50 0.00 0.00 2.72 0.000 0.000 0.023 3213.09 3405.88 3020.31 2228.31 2282.31 0 0 0 30.00 30.00 15.94

2285 end dive: TARGET_DEPTH_EXCEEDED

state 2285 begin apogee

2291.23 10243 0.00 -0.31 0.00 3212.8 3404.9 3020.8 2227.6 2170.7 218.70 -8.70 275 2392.15 60.02 1.57 0.23 1.258 0.124 0.094 2888.78 3025.62 2751.94 2439.75 2292.62 0 0 0 10.83 15.81 15.45

2396 end apogee: CONTROL_FINISHED_OK

state 2397 begin climb

2400.33 10759 77.86 1.18 -60.00 2887.8 3025.5 2750.1 2439.8 2292.1 222.47 0.00 282 2517.02 59.69 2.57 3.19 1.236 0.090 0.063 2569.59 2670.19 2469.00 2805.56 1143.69 0 0 0 11.55 15.72 15.32

2593.04 11303 183.40 1.39 0.00 2566.9 2669.7 2464.1 2805.6 1143.1 219.34 2.94 308 2727.38 81.47 0.31 2.77 1.228 0.059 0.023 2141.72 2215.88 2067.56 2871.31 2283.00 0 0 0 11.45 15.63 15.74

3033.48 16646 183.40 1.39 60.00 2131.1 2215.4 2046.8 2871.5 2282.8 188.17 8.03 356 3052.32 0.00 0.00 3.08 0.000 0.000 0.080 2131.50 2216.12 2046.88 2872.06 3354.00 0 0 0 30.00 30.00 15.72

3112.92 17414 183.40 1.39 0.00 2130.8 2214.8 2046.9 2872.1 3353.2 181.18 8.66 369 3131.87 0.00 0.00 2.72 0.000 0.000 0.017 2131.53 2216.56 2046.50 2872.69 2192.75 0 0 0 30.00 30.00 15.83

3438.35 16966 183.40 1.44 -60.00 2129.3 2215.5 2043.1 2872.2 2190.9 155.66 7.26 401 3456.76 0.00 0.00 2.88 0.000 0.000 0.069 2129.22 2216.00 2042.44 2871.50 1144.12 0 0 0 30.00 30.00 15.72

3533.63 17478 183.40 1.50 0.00 2128.5 2215.5 2041.5 2871.8 1143.6 148.89 7.05 417 3551.24 0.00 0.00 2.74 0.000 0.000 0.024 2128.78 2216.19 2041.38 2871.56 2280.19 0 0 0 30.00 30.00 15.90

3857.74 18759 183.40 1.66 60.00 2128.4 2216.2 2040.6 2871.9 2280.2 129.92 5.32 449 3880.00 0.00 0.31 3.06 0.000 0.060 0.079 2128.78 2216.62 2040.94 2937.06 3351.38 0 0 0 30.00 15.88 15.72

3941.45 17414 183.40 1.66 0.00 2128.2 2215.5 2040.9 2937.9 3351.4 123.59 8.04 462 3959.05 0.00 0.00 2.71 0.000 0.000 0.017 2129.22 2216.62 2041.81 2937.06 2193.69 0 0 0 30.00 30.00 15.76

4265.58 16966 183.40 1.78 -60.00 2127.7 2215.8 2039.5 2937.5 2191.4 102.47 6.20 494 4284.00 0.00 0.00 2.87 0.000 0.000 0.068 2128.12 2216.56 2039.69 2937.69 1143.50 0 0 0 30.00 30.00 15.89

4465.91 19527 183.40 1.91 0.00 2126.9 2215.4 2038.4 2937.1 1143.5 90.21 5.74 531 4486.50 0.00 0.26 2.74 0.000 0.058 0.024 2127.12 2215.88 2038.38 2998.88 2283.94 0 0 0 30.00 15.80 15.76

4673.00 16966 183.40 2.06 -60.00 2127.2 2216.0 2038.3 2999.9 2283.5 78.43 5.70 569 4692.81 0.00 0.00 3.10 0.000 0.000 0.063 2127.56 2216.38 2038.75 2999.69 1143.19 0 0 0 30.00 30.00 15.73

4924.87 11303 330.74 2.35 0.00 2126.8 2215.5 2038.2 2999.1 1143.6 73.48 0.92 616 5100.19 112.31 0.05 2.75 1.101 0.250 0.023 1541.97 1585.06 1498.88 2994.69 2284.12 0 0 0 10.98 15.64 15.88

5286.33 18951 330.74 2.35 -60.00 1531.8 1584.4 1479.2 2995.2 2283.9 50.02 10.24 676 5307.76 0.00 0.05 3.15 0.000 0.163 0.065 1532.53 1585.00 1480.06 3017.88 1143.38 0 0 0 30.00 15.59 15.56

5519.39 19463 330.74 2.35 0.00 1529.6 1584.6 1474.5 3017.9 1143.4 30.40 11.25 719 5537.97 0.00 0.00 2.77 0.000 0.000 0.024 1530.12 1585.19 1475.06 3017.31 2279.25 0 0 0 30.00 30.00 15.79

5724.09 18951 330.74 2.35 -60.00 1528.5 1584.5 1472.5 3018.0 2279.3 11.49 8.18 757 5744.55 0.00 0.00 3.11 0.000 0.000 0.064 1529.06 1585.38 1472.75 3016.56 1145.12 0 0 0 30.00 30.00 15.70

5761.11 19463 330.74 2.35 0.00 1528.4 1584.5 1472.2 3017.8 1144.6 7.06 11.99 761 5779.69 0.00 0.00 2.76 0.000 0.000 0.024 1529.09 1584.94 1473.25 3018.31 2280.62 0 0 0 30.00 30.00 15.72

5789 end climb: SURFACE_DEPTH_REACHED

state 5790 begin surface coast

5831 end surface coast: CONTROL_FINISHED_OK

state 5831 begin surface

ID	249	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	8	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054949999	XPDR_VALID	6
DIVE	662	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	SM_CC	430	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	4	N_FILEKB	4	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	COMM_SEQ	7	C_VBD	2890	DEEPGLIDERMB	0
D_NO_BLEED	200	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0020000001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	20000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	3	LOGGERDEVICE2	-1
T_DIVE	410	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	520	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_EPIRB	0	PITCH_MIN	200	AH0_24V	506	NAV_DEVICE	-1
USE_BATHY	-1	PITCH_MAX	3000	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2515	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	16	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	97.99234	SEABIRD_T_G	0.0043000001
MAX_BUOY	80	PITCH_MAXERRORS	1	FG_AHR_24V	187.28275	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-179.54233	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
MASS	72955	C_PITCH_AUTO_MAX	0	COMPASS_USE	16388	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	6	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.00177828	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.020747701	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	60	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2250	ALTIM_PULSE	1

GPS1	220123,021504,4752.724,-12514.479,1,1.2,5,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220123,022340,4752.731,-12514.537,1,0.8,34,15.8	MHEAD_RNG_PITCHd_Wd	120.2,5506,-16.4,-8.049,-28.31,2124,0.245
SPEED_LIMITS	0.139,0.149	D_GRID	218
TGT_NAME	SHELF	IRON	1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
TGT_LATLONG	4751.930,-12510.270

FINISH	-0.1,1.024960	FG_AHR_10Vo	98.047
SM_CCo	6046.91,74.18,1.022,0,1136.2,1141.1,1131.2,430.22	MEM0	60108,1,0,0
SM_GC	0.92,74.18,19.39,0.12,1.022,0.043,0.081,1136.2,1141.1,1131.2,176.9,2177.4,0,0,0,11.11,15.88,15.93	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	959600,469,78248,67
IRIDIUM_FIX	4754.02,-12511.36,220123,002830	DATA_FILE_SIZE	22499,772
TCM_TEMP	268.48	CAP_FILE_SIZE	190782,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3816704
SC_FREEKB	3624544	SDFILEDIR	4003,1
HUMID	54.65	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	84.21	CURRENT	0.180,328.5,1
INTERNAL_PRESSURE	8.57653	IMPLIED_C_PITCH	2581,12.26,561,0.0,0.00
_24V_AH	14.83,226.049	IMPLIED_C_VBD	3024,52.172367,346,0
_10V_AH	15.00,0.000	GPS	220123,040555,4752.927,-12514.756,8,1.7,42,15.8
FG_AHR_24Vo	187.418

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	462	1257	8632.19	nil	0	0	0.00
Pitch_motor	41	249	154.47	nil	0	0	0.00
Roll_motor	70	93	97.75	nil	0	0	0.00
Iridium	254	219	830.19	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	46	15	10.37	nil	0	0	0.00
Core	3937	6	401.58	SciCon	5882	26	2308.10
Fast	91	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2320	2	69.61
Compass	1720	5	129.00
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

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

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
19.30	16386	-77.86	-1.18	0.00	1123.8	1132.6	1115.0	176.9	2285.9	0.00	0.00	0	119.79	70.47	0.00	0.00	0.005	0.000	0.000	2893.34	3067.06	2719.62	176.44	2287.25	0	0	0	14.83	30.00	30.00
122.02	18727	-77.86	-1.18	60.00	2893.6	3063.3	2723.9	176.4	2286.4	3.11	-3.38	14	235.91	4.70	17.20	3.08	0.009	0.205	0.079	3209.84	3405.75	3013.94	2227.62	3353.88	0	0	0	15.00	15.40	14.94
467.31	1028	-77.86	-1.18	0.00	3211.8	3405.4	3018.1	2227.6	3354.1	67.45	-13.98	66	486.30	0.00	0.00	2.75	0.000	0.000	0.017	3212.59	3406.00	3019.19	2227.44	2195.62	0	0	0	30.00	30.00	15.83
672.49	516	-77.86	-1.18	-60.00	3211.9	3405.6	3018.2	2227.8	2193.3	88.85	-9.64	104	691.24	0.00	0.00	2.89	0.000	0.000	0.065	3212.19	3406.12	3018.25	2228.19	1143.44	0	0	0	30.00	30.00	15.71
732.65	1028	-77.86	-1.18	0.00	3212.0	3405.8	3018.2	2227.6	1143.6	94.99	-10.03	113	751.40	0.00	0.00	2.72	0.000	0.000	0.023	3211.62	3405.06	3018.19	2227.75	2281.50	0	0	0	30.00	30.00	15.83
937.46	0	-77.86	-1.18	0.00	3212.1	3405.2	3019.1	2227.7	2281.8	113.51	-8.80	136	941.48	0.00	0.00	0.00	0.000	0.000	0.000	3211.66	3404.06	3019.25	2227.56	2280.88	0	0	0	30.00	30.00	30.00
1247.53	516	-77.86	-1.18	-60.00	3212.1	3405.4	3018.8	2227.8	2281.3	138.35	-7.82	167	1266.12	0.00	0.00	3.09	0.000	0.000	0.061	3212.94	3404.69	3021.19	2226.06	1144.12	0	0	0	30.00	30.00	15.79
1332.54	1028	-77.86	-1.18	0.00	3212.3	3405.5	3019.1	2227.8	1143.8	145.76	-8.82	181	1349.94	0.00	0.00	2.74	0.000	0.000	0.023	3213.66	3407.00	3020.31	2227.06	2281.31	0	0	0	30.00	30.00	15.85
1656.21	0	-77.86	-1.18	0.00	3212.3	3405.1	3019.5	2228.1	2281.7	168.87	-6.89	213	1660.23	0.00	0.00	0.00	0.000	0.000	0.000	3211.34	3404.25	3018.44	2227.69	2281.81	0	0	0	30.00	30.00	30.00
1966.29	516	-77.86	-1.18	-60.00	3212.3	3405.1	3019.4	2227.7	2280.9	191.84	-7.82	244	1985.30	0.00	0.00	3.12	0.000	0.000	0.061	3212.88	3405.38	3020.38	2226.88	1143.50	0	0	0	30.00	30.00	15.83
1991.71	1028	-77.86	-1.18	0.00	3212.3	3405.2	3019.3	2227.9	1143.1	193.97	-8.16	246	2009.50	0.00	0.00	2.72	0.000	0.000	0.023	3213.09	3405.88	3020.31	2228.31	2282.31	0	0	0	30.00	30.00	15.94
2285	end dive: TARGET_DEPTH_EXCEEDED
state	2285	begin apogee
2291.23	10243	0.00	-0.31	0.00	3212.8	3404.9	3020.8	2227.6	2170.7	218.70	-8.70	275	2392.15	60.02	1.57	0.23	1.258	0.124	0.094	2888.78	3025.62	2751.94	2439.75	2292.62	0	0	0	10.83	15.81	15.45
2396	end apogee: CONTROL_FINISHED_OK
state	2397	begin climb
2400.33	10759	77.86	1.18	-60.00	2887.8	3025.5	2750.1	2439.8	2292.1	222.47	0.00	282	2517.02	59.69	2.57	3.19	1.236	0.090	0.063	2569.59	2670.19	2469.00	2805.56	1143.69	0	0	0	11.55	15.72	15.32
2593.04	11303	183.40	1.39	0.00	2566.9	2669.7	2464.1	2805.6	1143.1	219.34	2.94	308	2727.38	81.47	0.31	2.77	1.228	0.059	0.023	2141.72	2215.88	2067.56	2871.31	2283.00	0	0	0	11.45	15.63	15.74
3033.48	16646	183.40	1.39	60.00	2131.1	2215.4	2046.8	2871.5	2282.8	188.17	8.03	356	3052.32	0.00	0.00	3.08	0.000	0.000	0.080	2131.50	2216.12	2046.88	2872.06	3354.00	0	0	0	30.00	30.00	15.72
3112.92	17414	183.40	1.39	0.00	2130.8	2214.8	2046.9	2872.1	3353.2	181.18	8.66	369	3131.87	0.00	0.00	2.72	0.000	0.000	0.017	2131.53	2216.56	2046.50	2872.69	2192.75	0	0	0	30.00	30.00	15.83
3438.35	16966	183.40	1.44	-60.00	2129.3	2215.5	2043.1	2872.2	2190.9	155.66	7.26	401	3456.76	0.00	0.00	2.88	0.000	0.000	0.069	2129.22	2216.00	2042.44	2871.50	1144.12	0	0	0	30.00	30.00	15.72
3533.63	17478	183.40	1.50	0.00	2128.5	2215.5	2041.5	2871.8	1143.6	148.89	7.05	417	3551.24	0.00	0.00	2.74	0.000	0.000	0.024	2128.78	2216.19	2041.38	2871.56	2280.19	0	0	0	30.00	30.00	15.90
3857.74	18759	183.40	1.66	60.00	2128.4	2216.2	2040.6	2871.9	2280.2	129.92	5.32	449	3880.00	0.00	0.31	3.06	0.000	0.060	0.079	2128.78	2216.62	2040.94	2937.06	3351.38	0	0	0	30.00	15.88	15.72
3941.45	17414	183.40	1.66	0.00	2128.2	2215.5	2040.9	2937.9	3351.4	123.59	8.04	462	3959.05	0.00	0.00	2.71	0.000	0.000	0.017	2129.22	2216.62	2041.81	2937.06	2193.69	0	0	0	30.00	30.00	15.76
4265.58	16966	183.40	1.78	-60.00	2127.7	2215.8	2039.5	2937.5	2191.4	102.47	6.20	494	4284.00	0.00	0.00	2.87	0.000	0.000	0.068	2128.12	2216.56	2039.69	2937.69	1143.50	0	0	0	30.00	30.00	15.89
4465.91	19527	183.40	1.91	0.00	2126.9	2215.4	2038.4	2937.1	1143.5	90.21	5.74	531	4486.50	0.00	0.26	2.74	0.000	0.058	0.024	2127.12	2215.88	2038.38	2998.88	2283.94	0	0	0	30.00	15.80	15.76
4673.00	16966	183.40	2.06	-60.00	2127.2	2216.0	2038.3	2999.9	2283.5	78.43	5.70	569	4692.81	0.00	0.00	3.10	0.000	0.000	0.063	2127.56	2216.38	2038.75	2999.69	1143.19	0	0	0	30.00	30.00	15.73
4924.87	11303	330.74	2.35	0.00	2126.8	2215.5	2038.2	2999.1	1143.6	73.48	0.92	616	5100.19	112.31	0.05	2.75	1.101	0.250	0.023	1541.97	1585.06	1498.88	2994.69	2284.12	0	0	0	10.98	15.64	15.88
5286.33	18951	330.74	2.35	-60.00	1531.8	1584.4	1479.2	2995.2	2283.9	50.02	10.24	676	5307.76	0.00	0.05	3.15	0.000	0.163	0.065	1532.53	1585.00	1480.06	3017.88	1143.38	0	0	0	30.00	15.59	15.56
5519.39	19463	330.74	2.35	0.00	1529.6	1584.6	1474.5	3017.9	1143.4	30.40	11.25	719	5537.97	0.00	0.00	2.77	0.000	0.000	0.024	1530.12	1585.19	1475.06	3017.31	2279.25	0	0	0	30.00	30.00	15.79
5724.09	18951	330.74	2.35	-60.00	1528.5	1584.5	1472.5	3018.0	2279.3	11.49	8.18	757	5744.55	0.00	0.00	3.11	0.000	0.000	0.064	1529.06	1585.38	1472.75	3016.56	1145.12	0	0	0	30.00	30.00	15.70
5761.11	19463	330.74	2.35	0.00	1528.4	1584.5	1472.2	3017.8	1144.6	7.06	11.99	761	5779.69	0.00	0.00	2.76	0.000	0.000	0.024	1529.09	1584.94	1473.25	3018.31	2280.62	0	0	0	30.00	30.00	15.72
5789	end climb: SURFACE_DEPTH_REACHED
state	5790	begin surface coast
5831	end surface coast: CONTROL_FINISHED_OK
state	5831	begin surface