Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 663 * 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 663 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 98.049171 SEABIRD_T_G 0.0043000001

MAX_BUOY 80 PITCH_MAXERRORS 1 FG_AHR_24V 187.43498 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 98.049171 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 187.43498 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 663 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 220123,040555,4752.927,-12514.756,8,1.7,42,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220123,041418,4752.964,-12514.865,3,0.7,6,15.8 MHEAD_RNG_PITCHd_Wd 137.7,6023,-16.4,-8.049,-28.31,2124,0.263

SPEED_LIMITS 0.139,0.149 D_GRID 220

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:

WARN HSCICON missed fuel gauge read FG_AHR_10Vo 98.105

FINISH 0.1,1.024933 MEM0 60108,1,0,0

SM_CCo 6142.66,92.62,1.027,0,1135.9,1131.6,1140.2,430.28 MEM1 65508,1,0,0

SM_GC 1.09,92.62,19.19,0.12,1.027,0.035,0.087,1135.9,1131.6,1140.2,178.4,2175.0,0,0,0,11.15,15.86,15.92 MEM2 959568,471,78240,67

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 22507,765

IRIDIUM_FIX 4754.38,-12436.63,220123,021858 CAP_FILE_SIZE 190979,0

TCM_TEMP 268.39 SDSIZE 4028416,3816480

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4009,1

SC_FREEKB 3624160 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 54.74 CURRENT 0.224,337.0,1

TEMP 84.20 MAGCAL 1.000000,-0.005492,0.014990,-0.010268,1.051583,-0.077017,0.030306,0.015816,1.006649,489.6,-201.5,7.7,28,0.0333,0

INTERNAL_PRESSURE 8.57404 IMPLIED_C_PITCH 2578,12.27,554,0.0,0.00

_24V_AH 14.83,226.237 IMPLIED_C_VBD 3033,42.895397,314,0

_10V_AH 15.00,0.000 GPS 220123,055733,4753.308,-12515.168,3,1.1,8,15.8

FG_AHR_24Vo 187.570

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 468 1255 8723.28 nil 0 0 0.00

Pitch_motor 41 208 128.11 nil 0 0 0.00

Roll_motor 70 124 130.41 nil 0 0 0.00

Iridium 271 224 906.70 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 17 15 3.85 nil 0 0 0.00

Core 3910 6 398.89 SciCon 5954 19 1741.46

Fast 91 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2406 2 72.20

Compass 1709 5 128.18

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 12 begin dive

19.29 16386 -77.86 -1.18 0.00 1124.7 1136.6 1112.8 175.8 2297.8 0.00 0.00 0 126.36 75.55 0.00 0.00 0.005 0.000 0.000 3028.56 3195.88 2861.25 175.69 2297.31 0 0 0 14.84 30.00 30.00

128.58 18727 -77.86 -1.18 60.00 3029.8 3195.5 2864.1 175.8 2298.5 3.64 -3.74 15 237.32 2.55 17.29 3.05 0.013 0.208 0.079 3209.84 3395.94 3023.75 2228.62 3352.94 0 0 0 15.02 15.39 14.99

469.40 1028 -77.86 -1.18 0.00 3210.9 3395.9 3025.9 2228.1 3353.2 68.74 -13.66 66 488.15 0.00 0.00 2.75 0.000 0.000 0.017 3211.19 3396.25 3026.12 2228.69 2196.06 0 0 0 30.00 30.00 15.85

674.30 516 -77.86 -1.18 -60.00 3210.9 3395.9 3026.0 2228.2 2194.0 91.56 -9.48 104 693.04 0.00 0.00 2.90 0.000 0.000 0.065 3210.94 3395.75 3026.12 2228.38 1143.25 0 0 0 30.00 30.00 15.75

719.45 1028 -77.86 -1.18 0.00 3211.1 3396.1 3026.1 2228.1 1143.2 96.04 -9.89 110 737.82 0.00 0.00 2.73 0.000 0.000 0.023 3210.94 3395.50 3026.38 2228.31 2282.94 0 0 0 30.00 30.00 15.87

923.86 516 -77.86 -1.18 -60.00 3211.2 3395.6 3026.8 2228.2 2282.6 113.97 -8.26 132 942.46 0.00 0.00 3.06 0.000 0.000 0.061 3210.69 3395.56 3025.81 2228.44 1142.75 0 0 0 30.00 30.00 15.85

968.88 1028 -77.86 -1.18 0.00 3211.2 3395.9 3026.6 2228.2 1142.1 117.81 -8.42 138 986.66 0.00 0.00 2.74 0.000 0.000 0.023 3211.84 3396.62 3027.06 2228.50 2281.06 0 0 0 30.00 30.00 15.87

1292.72 0 -77.86 -1.18 0.00 3211.3 3395.6 3026.9 2228.2 2281.4 143.88 -7.61 170 1296.74 0.00 0.00 0.00 0.000 0.000 0.000 3211.03 3395.81 3026.25 2228.56 2281.75 0 0 0 30.00 30.00 30.00

1602.80 516 -77.86 -1.18 -60.00 3211.2 3395.8 3026.7 2228.5 2281.6 167.24 -7.37 201 1621.42 0.00 0.00 3.07 0.000 0.000 0.061 3210.09 3394.56 3025.62 2228.19 1143.69 0 0 0 30.00 30.00 15.80

1671.87 1028 -77.86 -1.18 0.00 3211.1 3395.5 3026.7 2228.4 1143.8 172.70 -7.72 212 1690.22 0.00 0.00 2.71 0.000 0.000 0.023 3212.75 3396.75 3028.75 2226.56 2282.31 0 0 0 30.00 30.00 15.91

1996.25 0 -77.86 -1.18 0.00 3211.6 3396.0 3027.2 2228.4 2282.7 195.93 -6.72 244 2000.27 0.00 0.00 0.00 0.000 0.000 0.000 3210.94 3396.50 3025.38 2228.38 2282.38 0 0 0 30.00 30.00 30.00

2306.32 516 -77.86 -1.18 -60.00 3211.8 3395.8 3027.7 2228.3 2282.7 217.27 -7.51 275 2325.15 0.00 0.00 3.09 0.000 0.000 0.061 3212.22 3395.75 3028.69 2228.69 1142.12 0 0 0 30.00 30.00 15.90

2345 end dive: TARGET_DEPTH_EXCEEDED

state 2346 begin apogee

2363.50 10243 0.00 -0.31 0.00 3211.0 3394.6 3027.4 2228.8 2282.3 220.32 -7.59 280 2464.01 60.03 1.57 0.13 1.256 0.127 0.125 2888.50 3023.88 2753.12 2439.69 2167.50 0 0 0 10.92 15.75 15.46

2477 end apogee: CONTROL_FINISHED_OK

state 2477 begin climb

2480.37 10503 77.86 1.18 60.00 2887.2 3024.5 2750.0 2439.7 2167.9 223.72 0.00 287 2602.24 59.72 2.57 3.47 1.235 0.091 0.078 2572.78 2673.44 2472.12 2805.31 3353.88 0 0 0 11.59 15.72 15.31

2674.22 11303 172.24 1.37 0.00 2566.7 2671.5 2461.9 2805.7 3353.7 219.61 3.48 313 2800.17 73.49 0.28 2.73 1.225 0.061 0.017 2186.62 2266.69 2106.56 2863.81 2185.38 0 0 0 11.40 15.65 15.74

3106.78 16966 172.24 1.46 -60.00 2176.8 2266.6 2086.9 2863.5 2186.0 191.59 6.59 360 3124.82 0.00 0.00 2.88 0.000 0.000 0.069 2176.16 2265.56 2086.75 2863.25 1143.38 0 0 0 30.00 30.00 15.78

3211.79 17478 172.24 1.49 0.00 2175.3 2266.6 2084.0 2864.1 1143.2 183.98 7.46 378 3229.39 0.00 0.00 2.74 0.000 0.000 0.024 2176.34 2267.38 2085.31 2863.31 2280.12 0 0 0 30.00 30.00 15.73

3535.87 19015 172.24 1.60 -60.00 2174.5 2266.6 2082.4 2864.3 2280.2 163.15 6.23 410 3557.74 0.00 0.25 3.10 0.000 0.062 0.064 2175.88 2268.44 2083.31 2919.81 1143.69 0 0 0 30.00 15.77 15.76

3599.19 17414 172.24 1.60 0.00 2174.0 2266.4 2081.5 2920.8 1143.6 158.12 7.81 419 3616.79 0.00 0.00 2.76 0.000 0.000 0.025 2174.72 2267.38 2082.06 2920.88 2280.75 0 0 0 30.00 30.00 15.82

3923.28 16450 172.24 1.66 0.00 2174.0 2266.7 2081.2 2920.8 2279.8 134.25 7.10 451 3927.34 0.00 0.00 0.00 0.000 0.000 0.000 2172.91 2266.25 2079.56 2920.62 2279.94 0 0 0 30.00 30.00 30.00

4233.83 16966 172.24 1.75 -60.00 2173.8 2266.5 2081.0 2920.5 2280.0 115.32 6.56 482 4252.66 0.00 0.00 3.09 0.000 0.000 0.065 2171.97 2264.62 2079.31 2920.25 1143.88 0 0 0 30.00 30.00 15.81

4293.56 19527 172.24 1.84 0.00 2172.9 2265.8 2079.9 2920.4 1143.7 111.40 6.47 491 4314.15 0.00 0.28 2.74 0.000 0.060 0.024 2173.91 2267.38 2080.44 2981.69 2281.12 0 0 0 30.00 15.71 15.93

4620.66 8742 236.49 1.97 -60.00 2173.0 2266.2 2079.8 2981.9 2281.2 92.07 4.94 537 4711.88 50.01 0.00 3.16 1.116 0.000 0.065 1925.50 1998.81 1852.19 2981.94 1143.88 0 0 0 11.04 30.00 15.50

4943.90 19527 236.49 2.15 0.00 1917.1 1997.0 1837.2 2982.3 1143.6 72.27 5.09 594 4963.73 0.00 0.11 2.77 0.000 0.100 0.024 1918.16 1997.75 1838.56 3019.31 2280.31 0 0 0 30.00 15.58 15.78

5150.25 10791 306.31 2.29 -60.00 1915.7 1996.7 1834.8 3018.8 2280.3 62.91 4.67 632 5248.36 54.37 0.00 3.16 1.078 0.000 0.066 1640.12 1693.94 1586.31 3018.81 1144.75 0 0 0 11.32 30.00 15.47

5459.88 3077 306.31 2.29 0.00 1633.3 1693.3 1573.3 3018.8 1144.9 39.16 8.64 686 5478.84 0.00 0.00 2.78 0.000 0.000 0.025 1633.78 1694.19 1573.38 3018.75 2277.44 0 0 0 30.00 30.00 15.80

5665.48 19015 306.31 2.40 -60.00 1631.6 1693.5 1569.6 3018.7 2277.2 23.74 6.18 724 5685.71 0.00 0.00 3.11 0.000 0.000 0.063 1631.47 1693.38 1569.56 3018.88 1143.81 0 0 0 30.00 30.00 15.74

5792.16 19463 306.31 2.40 0.00 1630.9 1693.4 1568.3 3019.0 1143.7 10.67 11.12 746 5810.74 0.00 0.00 2.77 0.000 0.000 0.025 1630.97 1693.75 1568.19 3019.31 2278.12 0 0 0 30.00 30.00 15.78

5856 end climb: SURFACE_DEPTH_REACHED

state 5857 begin surface coast

5902 end surface coast: CONTROL_FINISHED_OK

state 5903 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	663	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	98.049171	SEABIRD_T_G	0.0043000001
MAX_BUOY	80	PITCH_MAXERRORS	1	FG_AHR_24V	187.43498	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	220123,040555,4752.927,-12514.756,8,1.7,42,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220123,041418,4752.964,-12514.865,3,0.7,6,15.8	MHEAD_RNG_PITCHd_Wd	137.7,6023,-16.4,-8.049,-28.31,2124,0.263
SPEED_LIMITS	0.139,0.149	D_GRID	220
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

WARN	HSCICON missed fuel gauge read	FG_AHR_10Vo	98.105
FINISH	0.1,1.024933	MEM0	60108,1,0,0
SM_CCo	6142.66,92.62,1.027,0,1135.9,1131.6,1140.2,430.28	MEM1	65508,1,0,0
SM_GC	1.09,92.62,19.19,0.12,1.027,0.035,0.087,1135.9,1131.6,1140.2,178.4,2175.0,0,0,0,11.15,15.86,15.92	MEM2	959568,471,78240,67
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	22507,765
IRIDIUM_FIX	4754.38,-12436.63,220123,021858	CAP_FILE_SIZE	190979,0
TCM_TEMP	268.39	SDSIZE	4028416,3816480
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4009,1
SC_FREEKB	3624160	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	54.74	CURRENT	0.224,337.0,1
TEMP	84.20	MAGCAL	1.000000,-0.005492,0.014990,-0.010268,1.051583,-0.077017,0.030306,0.015816,1.006649,489.6,-201.5,7.7,28,0.0333,0
INTERNAL_PRESSURE	8.57404	IMPLIED_C_PITCH	2578,12.27,554,0.0,0.00
_24V_AH	14.83,226.237	IMPLIED_C_VBD	3033,42.895397,314,0
_10V_AH	15.00,0.000	GPS	220123,055733,4753.308,-12515.168,3,1.1,8,15.8
FG_AHR_24Vo	187.570

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	468	1255	8723.28	nil	0	0	0.00
Pitch_motor	41	208	128.11	nil	0	0	0.00
Roll_motor	70	124	130.41	nil	0	0	0.00
Iridium	271	224	906.70	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	17	15	3.85	nil	0	0	0.00
Core	3910	6	398.89	SciCon	5954	19	1741.46
Fast	91	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2406	2	72.20
Compass	1709	5	128.18
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	12	begin dive
19.29	16386	-77.86	-1.18	0.00	1124.7	1136.6	1112.8	175.8	2297.8	0.00	0.00	0	126.36	75.55	0.00	0.00	0.005	0.000	0.000	3028.56	3195.88	2861.25	175.69	2297.31	0	0	0	14.84	30.00	30.00
128.58	18727	-77.86	-1.18	60.00	3029.8	3195.5	2864.1	175.8	2298.5	3.64	-3.74	15	237.32	2.55	17.29	3.05	0.013	0.208	0.079	3209.84	3395.94	3023.75	2228.62	3352.94	0	0	0	15.02	15.39	14.99
469.40	1028	-77.86	-1.18	0.00	3210.9	3395.9	3025.9	2228.1	3353.2	68.74	-13.66	66	488.15	0.00	0.00	2.75	0.000	0.000	0.017	3211.19	3396.25	3026.12	2228.69	2196.06	0	0	0	30.00	30.00	15.85
674.30	516	-77.86	-1.18	-60.00	3210.9	3395.9	3026.0	2228.2	2194.0	91.56	-9.48	104	693.04	0.00	0.00	2.90	0.000	0.000	0.065	3210.94	3395.75	3026.12	2228.38	1143.25	0	0	0	30.00	30.00	15.75
719.45	1028	-77.86	-1.18	0.00	3211.1	3396.1	3026.1	2228.1	1143.2	96.04	-9.89	110	737.82	0.00	0.00	2.73	0.000	0.000	0.023	3210.94	3395.50	3026.38	2228.31	2282.94	0	0	0	30.00	30.00	15.87
923.86	516	-77.86	-1.18	-60.00	3211.2	3395.6	3026.8	2228.2	2282.6	113.97	-8.26	132	942.46	0.00	0.00	3.06	0.000	0.000	0.061	3210.69	3395.56	3025.81	2228.44	1142.75	0	0	0	30.00	30.00	15.85
968.88	1028	-77.86	-1.18	0.00	3211.2	3395.9	3026.6	2228.2	1142.1	117.81	-8.42	138	986.66	0.00	0.00	2.74	0.000	0.000	0.023	3211.84	3396.62	3027.06	2228.50	2281.06	0	0	0	30.00	30.00	15.87
1292.72	0	-77.86	-1.18	0.00	3211.3	3395.6	3026.9	2228.2	2281.4	143.88	-7.61	170	1296.74	0.00	0.00	0.00	0.000	0.000	0.000	3211.03	3395.81	3026.25	2228.56	2281.75	0	0	0	30.00	30.00	30.00
1602.80	516	-77.86	-1.18	-60.00	3211.2	3395.8	3026.7	2228.5	2281.6	167.24	-7.37	201	1621.42	0.00	0.00	3.07	0.000	0.000	0.061	3210.09	3394.56	3025.62	2228.19	1143.69	0	0	0	30.00	30.00	15.80
1671.87	1028	-77.86	-1.18	0.00	3211.1	3395.5	3026.7	2228.4	1143.8	172.70	-7.72	212	1690.22	0.00	0.00	2.71	0.000	0.000	0.023	3212.75	3396.75	3028.75	2226.56	2282.31	0	0	0	30.00	30.00	15.91
1996.25	0	-77.86	-1.18	0.00	3211.6	3396.0	3027.2	2228.4	2282.7	195.93	-6.72	244	2000.27	0.00	0.00	0.00	0.000	0.000	0.000	3210.94	3396.50	3025.38	2228.38	2282.38	0	0	0	30.00	30.00	30.00
2306.32	516	-77.86	-1.18	-60.00	3211.8	3395.8	3027.7	2228.3	2282.7	217.27	-7.51	275	2325.15	0.00	0.00	3.09	0.000	0.000	0.061	3212.22	3395.75	3028.69	2228.69	1142.12	0	0	0	30.00	30.00	15.90
2345	end dive: TARGET_DEPTH_EXCEEDED
state	2346	begin apogee
2363.50	10243	0.00	-0.31	0.00	3211.0	3394.6	3027.4	2228.8	2282.3	220.32	-7.59	280	2464.01	60.03	1.57	0.13	1.256	0.127	0.125	2888.50	3023.88	2753.12	2439.69	2167.50	0	0	0	10.92	15.75	15.46
2477	end apogee: CONTROL_FINISHED_OK
state	2477	begin climb
2480.37	10503	77.86	1.18	60.00	2887.2	3024.5	2750.0	2439.7	2167.9	223.72	0.00	287	2602.24	59.72	2.57	3.47	1.235	0.091	0.078	2572.78	2673.44	2472.12	2805.31	3353.88	0	0	0	11.59	15.72	15.31
2674.22	11303	172.24	1.37	0.00	2566.7	2671.5	2461.9	2805.7	3353.7	219.61	3.48	313	2800.17	73.49	0.28	2.73	1.225	0.061	0.017	2186.62	2266.69	2106.56	2863.81	2185.38	0	0	0	11.40	15.65	15.74
3106.78	16966	172.24	1.46	-60.00	2176.8	2266.6	2086.9	2863.5	2186.0	191.59	6.59	360	3124.82	0.00	0.00	2.88	0.000	0.000	0.069	2176.16	2265.56	2086.75	2863.25	1143.38	0	0	0	30.00	30.00	15.78
3211.79	17478	172.24	1.49	0.00	2175.3	2266.6	2084.0	2864.1	1143.2	183.98	7.46	378	3229.39	0.00	0.00	2.74	0.000	0.000	0.024	2176.34	2267.38	2085.31	2863.31	2280.12	0	0	0	30.00	30.00	15.73
3535.87	19015	172.24	1.60	-60.00	2174.5	2266.6	2082.4	2864.3	2280.2	163.15	6.23	410	3557.74	0.00	0.25	3.10	0.000	0.062	0.064	2175.88	2268.44	2083.31	2919.81	1143.69	0	0	0	30.00	15.77	15.76
3599.19	17414	172.24	1.60	0.00	2174.0	2266.4	2081.5	2920.8	1143.6	158.12	7.81	419	3616.79	0.00	0.00	2.76	0.000	0.000	0.025	2174.72	2267.38	2082.06	2920.88	2280.75	0	0	0	30.00	30.00	15.82
3923.28	16450	172.24	1.66	0.00	2174.0	2266.7	2081.2	2920.8	2279.8	134.25	7.10	451	3927.34	0.00	0.00	0.00	0.000	0.000	0.000	2172.91	2266.25	2079.56	2920.62	2279.94	0	0	0	30.00	30.00	30.00
4233.83	16966	172.24	1.75	-60.00	2173.8	2266.5	2081.0	2920.5	2280.0	115.32	6.56	482	4252.66	0.00	0.00	3.09	0.000	0.000	0.065	2171.97	2264.62	2079.31	2920.25	1143.88	0	0	0	30.00	30.00	15.81
4293.56	19527	172.24	1.84	0.00	2172.9	2265.8	2079.9	2920.4	1143.7	111.40	6.47	491	4314.15	0.00	0.28	2.74	0.000	0.060	0.024	2173.91	2267.38	2080.44	2981.69	2281.12	0	0	0	30.00	15.71	15.93
4620.66	8742	236.49	1.97	-60.00	2173.0	2266.2	2079.8	2981.9	2281.2	92.07	4.94	537	4711.88	50.01	0.00	3.16	1.116	0.000	0.065	1925.50	1998.81	1852.19	2981.94	1143.88	0	0	0	11.04	30.00	15.50
4943.90	19527	236.49	2.15	0.00	1917.1	1997.0	1837.2	2982.3	1143.6	72.27	5.09	594	4963.73	0.00	0.11	2.77	0.000	0.100	0.024	1918.16	1997.75	1838.56	3019.31	2280.31	0	0	0	30.00	15.58	15.78
5150.25	10791	306.31	2.29	-60.00	1915.7	1996.7	1834.8	3018.8	2280.3	62.91	4.67	632	5248.36	54.37	0.00	3.16	1.078	0.000	0.066	1640.12	1693.94	1586.31	3018.81	1144.75	0	0	0	11.32	30.00	15.47
5459.88	3077	306.31	2.29	0.00	1633.3	1693.3	1573.3	3018.8	1144.9	39.16	8.64	686	5478.84	0.00	0.00	2.78	0.000	0.000	0.025	1633.78	1694.19	1573.38	3018.75	2277.44	0	0	0	30.00	30.00	15.80
5665.48	19015	306.31	2.40	-60.00	1631.6	1693.5	1569.6	3018.7	2277.2	23.74	6.18	724	5685.71	0.00	0.00	3.11	0.000	0.000	0.063	1631.47	1693.38	1569.56	3018.88	1143.81	0	0	0	30.00	30.00	15.74
5792.16	19463	306.31	2.40	0.00	1630.9	1693.4	1568.3	3019.0	1143.7	10.67	11.12	746	5810.74	0.00	0.00	2.77	0.000	0.000	0.025	1630.97	1693.75	1568.19	3019.31	2278.12	0	0	0	30.00	30.00	15.78
5856	end climb: SURFACE_DEPTH_REACHED
state	5857	begin surface coast
5902	end surface coast: CONTROL_FINISHED_OK
state	5903	begin surface