Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 873 * 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 873 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 400 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 390 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 470 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 126.74913 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 243.02475 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 2260 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 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 400

ALTIM_SENSITIVITY 3 FG_AHR_10V 126.74913 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 243.02475 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 390

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 470

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 2025 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2260 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 120 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 873 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 230323,204340,4752.133,-12513.539,8,0.8,23,15.8 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230323,205527,4752.130,-12513.375,2,0.9,6,15.8 MHEAD_RNG_PITCHd_Wd 117.5,3876,-17.5,-8.462,-28.88,2074,0.238

SPEED_LIMITS 0.147,0.153 D_GRID 210

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 126.805

FINISH 2.5,1.024855 MEM0 60108,1,0,0

SM_CCo 5900.72,48.74,1.011,0,1260.8,1278.6,1243.0,399.65 MEM1 65508,1,0,0

SM_GC 1.01,48.74,19.99,3.30,1.011,0.059,0.024,1260.8,1278.6,1243.0,181.8,2291.6,0,0,0,10.84,15.70,15.88 MEM2 955404,679,78244,67

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 22531,762

IRIDIUM_FIX 4751.26,-12509.51,230323,204838 CAP_FILE_SIZE 195882,0

TCM_TEMP 266.45 SDSIZE 4028416,3752128

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 5269,1

SC_FREEKB 3543488 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 55.20 CURRENT 0.091, 56.0,1

TEMP 84.23 MAGCAL 1.000000,0.004304,0.009947,-0.013104,1.014132,-0.054471,0.019086,0.025344,0.997363,519.5,-246.4,4.7,29,0.0306,0

INTERNAL_PRESSURE 8.56741 IMPLIED_C_PITCH 2557,12.11,516,0.0,0.00

_24V_AH 14.67,297.547 IMPLIED_C_VBD 3088,78.965828,331,0

_10V_AH 15.00,0.000 GPS 230323,223502,4752.053,-12512.648,25,0.8,27,15.8

FG_AHR_24Vo 243.163

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 477 1247 8730.88 nil 0 0 0.00

Pitch_motor 42 198 124.01 nil 0 0 0.00

Roll_motor 74 121 132.14 nil 0 0 0.00

Iridium 340 223 1119.12 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 17 15 3.90 nil 0 0 0.00

Core 4073 6 415.54 SciCon 5767 20 1733.91

Fast 147 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2188 2 65.66

Compass 1725 5 129.40

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

19.68 16386 -116.79 -1.33 0.00 1248.3 1272.1 1224.4 178.2 2211.4 0.00 0.00 0 121.42 71.60 0.00 0.00 0.005 0.000 0.000 2978.34 3155.94 2800.75 178.25 2210.25 0 0 0 14.62 30.00 30.00

123.64 18727 -116.79 -1.33 60.00 2979.4 3153.9 2804.9 178.2 2209.7 3.38 -3.71 14 239.54 6.18 17.04 3.39 0.008 0.199 0.080 3369.28 3582.56 3156.00 2193.56 3362.00 0 0 0 15.01 15.22 14.84

360.88 1028 -116.79 -1.33 0.00 3371.4 3581.8 3161.1 2193.6 3362.9 45.87 -11.99 44 380.53 0.00 0.00 2.83 0.000 0.000 0.018 3371.75 3582.25 3161.25 2192.69 2202.81 0 0 0 30.00 30.00 15.64

566.71 516 -116.79 -1.33 -60.00 3371.6 3581.7 3161.5 2193.7 2201.4 68.20 -10.20 82 586.43 0.00 0.00 3.01 0.000 0.000 0.065 3371.12 3581.62 3160.62 2193.31 1152.44 0 0 0 30.00 30.00 15.67

692.86 1028 -116.79 -1.33 0.00 3371.6 3581.9 3161.3 2193.7 1152.6 83.63 -12.61 104 711.35 0.00 0.00 2.79 0.000 0.000 0.024 3371.31 3581.62 3161.00 2193.50 2287.69 0 0 0 30.00 30.00 15.77

897.47 260 -116.79 -1.33 60.00 3371.8 3582.1 3161.4 2193.5 2287.2 99.38 -5.91 142 917.57 0.00 0.00 3.14 0.000 0.000 0.081 3372.06 3582.31 3161.81 2193.12 3361.94 0 0 0 30.00 30.00 15.60

984.01 1028 -116.79 -1.33 0.00 3371.7 3581.8 3161.6 2193.1 3362.1 104.48 -6.59 156 1002.57 0.00 0.00 2.81 0.000 0.000 0.017 3371.91 3581.94 3161.88 2193.12 2197.12 0 0 0 30.00 30.00 15.86

1308.64 260 -116.79 -1.33 60.00 3371.4 3581.1 3161.7 2193.9 2194.8 127.99 -6.64 188 1329.22 0.00 0.00 3.41 0.000 0.000 0.077 3371.00 3582.50 3159.50 2193.62 3362.56 0 0 0 30.00 30.00 15.52

1395.65 1028 -116.79 -1.33 0.00 3371.6 3581.7 3161.5 2193.4 3362.0 135.14 -8.56 202 1413.81 0.00 0.00 2.80 0.000 0.000 0.017 3372.69 3582.44 3162.94 2191.81 2198.12 0 0 0 30.00 30.00 15.83

1719.85 0 -116.79 -1.33 0.00 3371.7 3581.8 3161.6 2193.2 2197.2 162.00 -9.06 234 1723.87 0.00 0.00 0.00 0.000 0.000 0.000 3371.00 3581.31 3160.69 2192.94 2196.38 0 0 0 30.00 30.00 30.00

2029.93 260 -116.79 -1.33 60.00 3371.3 3581.6 3161.0 2193.3 2196.9 191.64 -9.25 265 2050.76 0.00 0.00 3.40 0.000 0.000 0.076 3370.44 3580.19 3160.69 2193.25 3362.25 0 0 0 30.00 30.00 15.60

2067.35 1028 -116.79 -1.33 0.00 3371.4 3581.2 3161.5 2193.6 3362.4 195.23 -9.79 269 2085.32 0.00 0.00 2.79 0.000 0.000 0.017 3373.59 3583.62 3163.56 2193.25 2198.75 0 0 0 30.00 30.00 15.88

2240 end dive: TARGET_DEPTH_EXCEEDED

state 2241 begin apogee

2247.54 10243 0.00 -0.31 0.00 3371.1 3580.7 3161.5 2193.6 1983.4 210.06 -8.14 286 2385.77 88.12 1.85 0.14 1.247 0.123 0.121 2891.12 3015.25 2767.00 2441.06 2088.50 0 0 0 10.71 15.68 15.28

2398 end apogee: CONTROL_FINISHED_OK

state 2399 begin climb

2402.42 10759 116.79 1.33 -60.00 2886.5 3013.4 2759.6 2441.0 2089.0 213.52 0.00 295 2563.48 89.63 2.83 3.48 1.217 0.089 0.078 2412.06 2493.12 2331.00 2841.31 923.88 0 0 0 11.37 15.63 15.19

2571.18 1092 116.79 1.43 0.00 2406.4 2491.2 2321.6 2841.1 924.1 206.92 6.81 313 2589.17 0.00 0.00 2.75 0.000 0.000 0.019 2406.69 2492.12 2321.25 2840.81 2069.38 0 0 0 30.00 30.00 15.64

2895.81 18759 116.79 1.56 60.00 2402.6 2490.8 2314.4 2841.1 2069.4 185.91 6.28 345 2917.04 0.00 0.35 3.02 0.000 0.067 0.070 2403.59 2491.75 2315.44 2906.06 3127.69 0 0 0 30.00 15.65 15.62

2993.91 17478 116.79 1.60 0.00 2402.7 2491.2 2314.1 2906.5 3127.8 178.38 7.72 361 3012.68 0.00 0.00 2.85 0.000 0.000 0.021 2402.38 2490.50 2314.25 2905.56 1987.81 0 0 0 30.00 30.00 15.66

3319.17 16450 116.79 1.71 0.00 2401.4 2491.4 2311.4 2906.1 1987.9 154.89 6.75 393 3323.24 0.00 0.00 0.00 0.000 0.000 0.000 2401.06 2491.94 2310.19 2905.62 1988.00 0 0 0 30.00 30.00 30.00

3629.75 10535 199.84 1.87 60.00 2401.1 2491.4 2310.9 2905.9 1987.8 138.51 4.35 424 3744.38 64.69 0.41 3.27 1.141 0.056 0.069 2074.12 2140.00 2008.25 2983.19 3128.56 0 0 0 10.92 15.68 15.36

3770.11 1028 199.84 1.87 0.00 2068.9 2139.0 1998.8 2982.9 3127.6 127.54 9.14 443 3789.22 0.00 0.00 2.87 0.000 0.000 0.022 2068.59 2139.94 1997.25 2983.19 1990.69 0 0 0 30.00 30.00 15.72

4095.73 16710 199.84 1.95 60.00 2064.8 2139.5 1990.2 2982.7 1990.6 100.41 7.20 475 4115.72 0.00 0.00 3.21 0.000 0.000 0.067 2064.47 2137.81 1991.12 2982.50 3125.94 0 0 0 30.00 30.00 15.68

4167.83 19527 199.84 2.06 0.00 2064.4 2139.2 1989.5 2982.8 3126.6 95.81 6.63 486 4188.17 0.00 0.11 2.86 0.000 0.103 0.022 2064.72 2140.06 1989.38 3014.88 1991.06 0 0 0 30.00 15.56 15.74

4374.82 18759 199.84 2.20 60.00 2063.3 2139.5 1987.1 3015.6 1990.6 83.79 6.04 524 4395.58 0.00 0.00 3.25 0.000 0.000 0.066 2065.25 2141.56 1988.94 3016.19 3127.75 0 0 0 30.00 30.00 15.65

4627.52 11303 276.36 2.36 0.00 2062.9 2139.6 1986.3 3015.9 3128.2 70.16 4.67 571 4731.04 59.63 0.00 2.85 1.067 0.000 0.022 1763.66 1826.31 1701.00 3015.12 1989.06 0 0 0 11.08 30.00 15.74

4917.59 10791 337.95 2.48 -60.00 1754.2 1825.5 1682.8 3016.4 1988.7 54.64 5.41 621 5007.89 48.62 0.00 3.18 1.035 0.000 0.085 1510.81 1562.81 1458.81 3016.19 923.69 0 0 0 11.35 30.00 15.30

5064.89 3141 337.95 2.53 0.00 1506.8 1562.4 1451.2 3016.4 923.8 44.68 7.59 643 5083.99 0.00 0.00 2.76 0.000 0.000 0.020 1507.25 1562.88 1451.62 3015.50 2066.75 0 0 0 30.00 30.00 15.59

5270.52 18499 337.95 2.63 0.00 1504.1 1562.6 1445.6 3015.5 2067.1 30.88 6.86 681 5277.41 0.00 0.00 0.00 0.000 0.000 0.000 1504.06 1562.50 1445.62 3015.56 2066.69 0 0 0 30.00 30.00 30.00

5464.02 18499 337.95 2.68 0.00 1502.7 1562.4 1443.1 3015.9 2066.6 17.40 7.54 719 5470.90 0.00 0.00 0.00 0.000 0.000 0.000 1502.91 1562.62 1443.19 3016.00 2067.00 0 0 0 30.00 30.00 30.00

5657.39 19015 337.95 2.79 -60.00 1501.7 1562.6 1440.7 3015.5 2067.9 5.04 6.60 757 5678.95 0.00 0.00 3.41 0.000 0.000 0.079 1501.53 1562.56 1440.50 3016.06 924.12 0 0 0 30.00 30.00 15.56

5685 end climb: SURFACE_DEPTH_REACHED

state 5685 begin surface coast

5700 end surface coast: CONTROL_FINISHED_OK

state 5701 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	873	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	400	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	390	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	470	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	126.74913	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	243.02475	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	2260	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PULSE	1

GPS1	230323,204340,4752.133,-12513.539,8,0.8,23,15.8	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230323,205527,4752.130,-12513.375,2,0.9,6,15.8	MHEAD_RNG_PITCHd_Wd	117.5,3876,-17.5,-8.462,-28.88,2074,0.238
SPEED_LIMITS	0.147,0.153	D_GRID	210
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	126.805
FINISH	2.5,1.024855	MEM0	60108,1,0,0
SM_CCo	5900.72,48.74,1.011,0,1260.8,1278.6,1243.0,399.65	MEM1	65508,1,0,0
SM_GC	1.01,48.74,19.99,3.30,1.011,0.059,0.024,1260.8,1278.6,1243.0,181.8,2291.6,0,0,0,10.84,15.70,15.88	MEM2	955404,679,78244,67
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	22531,762
IRIDIUM_FIX	4751.26,-12509.51,230323,204838	CAP_FILE_SIZE	195882,0
TCM_TEMP	266.45	SDSIZE	4028416,3752128
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	5269,1
SC_FREEKB	3543488	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	55.20	CURRENT	0.091, 56.0,1
TEMP	84.23	MAGCAL	1.000000,0.004304,0.009947,-0.013104,1.014132,-0.054471,0.019086,0.025344,0.997363,519.5,-246.4,4.7,29,0.0306,0
INTERNAL_PRESSURE	8.56741	IMPLIED_C_PITCH	2557,12.11,516,0.0,0.00
_24V_AH	14.67,297.547	IMPLIED_C_VBD	3088,78.965828,331,0
_10V_AH	15.00,0.000	GPS	230323,223502,4752.053,-12512.648,25,0.8,27,15.8
FG_AHR_24Vo	243.163

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	477	1247	8730.88	nil	0	0	0.00
Pitch_motor	42	198	124.01	nil	0	0	0.00
Roll_motor	74	121	132.14	nil	0	0	0.00
Iridium	340	223	1119.12	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	17	15	3.90	nil	0	0	0.00
Core	4073	6	415.54	SciCon	5767	20	1733.91
Fast	147	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2188	2	65.66
Compass	1725	5	129.40
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
19.68	16386	-116.79	-1.33	0.00	1248.3	1272.1	1224.4	178.2	2211.4	0.00	0.00	0	121.42	71.60	0.00	0.00	0.005	0.000	0.000	2978.34	3155.94	2800.75	178.25	2210.25	0	0	0	14.62	30.00	30.00
123.64	18727	-116.79	-1.33	60.00	2979.4	3153.9	2804.9	178.2	2209.7	3.38	-3.71	14	239.54	6.18	17.04	3.39	0.008	0.199	0.080	3369.28	3582.56	3156.00	2193.56	3362.00	0	0	0	15.01	15.22	14.84
360.88	1028	-116.79	-1.33	0.00	3371.4	3581.8	3161.1	2193.6	3362.9	45.87	-11.99	44	380.53	0.00	0.00	2.83	0.000	0.000	0.018	3371.75	3582.25	3161.25	2192.69	2202.81	0	0	0	30.00	30.00	15.64
566.71	516	-116.79	-1.33	-60.00	3371.6	3581.7	3161.5	2193.7	2201.4	68.20	-10.20	82	586.43	0.00	0.00	3.01	0.000	0.000	0.065	3371.12	3581.62	3160.62	2193.31	1152.44	0	0	0	30.00	30.00	15.67
692.86	1028	-116.79	-1.33	0.00	3371.6	3581.9	3161.3	2193.7	1152.6	83.63	-12.61	104	711.35	0.00	0.00	2.79	0.000	0.000	0.024	3371.31	3581.62	3161.00	2193.50	2287.69	0	0	0	30.00	30.00	15.77
897.47	260	-116.79	-1.33	60.00	3371.8	3582.1	3161.4	2193.5	2287.2	99.38	-5.91	142	917.57	0.00	0.00	3.14	0.000	0.000	0.081	3372.06	3582.31	3161.81	2193.12	3361.94	0	0	0	30.00	30.00	15.60
984.01	1028	-116.79	-1.33	0.00	3371.7	3581.8	3161.6	2193.1	3362.1	104.48	-6.59	156	1002.57	0.00	0.00	2.81	0.000	0.000	0.017	3371.91	3581.94	3161.88	2193.12	2197.12	0	0	0	30.00	30.00	15.86
1308.64	260	-116.79	-1.33	60.00	3371.4	3581.1	3161.7	2193.9	2194.8	127.99	-6.64	188	1329.22	0.00	0.00	3.41	0.000	0.000	0.077	3371.00	3582.50	3159.50	2193.62	3362.56	0	0	0	30.00	30.00	15.52
1395.65	1028	-116.79	-1.33	0.00	3371.6	3581.7	3161.5	2193.4	3362.0	135.14	-8.56	202	1413.81	0.00	0.00	2.80	0.000	0.000	0.017	3372.69	3582.44	3162.94	2191.81	2198.12	0	0	0	30.00	30.00	15.83
1719.85	0	-116.79	-1.33	0.00	3371.7	3581.8	3161.6	2193.2	2197.2	162.00	-9.06	234	1723.87	0.00	0.00	0.00	0.000	0.000	0.000	3371.00	3581.31	3160.69	2192.94	2196.38	0	0	0	30.00	30.00	30.00
2029.93	260	-116.79	-1.33	60.00	3371.3	3581.6	3161.0	2193.3	2196.9	191.64	-9.25	265	2050.76	0.00	0.00	3.40	0.000	0.000	0.076	3370.44	3580.19	3160.69	2193.25	3362.25	0	0	0	30.00	30.00	15.60
2067.35	1028	-116.79	-1.33	0.00	3371.4	3581.2	3161.5	2193.6	3362.4	195.23	-9.79	269	2085.32	0.00	0.00	2.79	0.000	0.000	0.017	3373.59	3583.62	3163.56	2193.25	2198.75	0	0	0	30.00	30.00	15.88
2240	end dive: TARGET_DEPTH_EXCEEDED
state	2241	begin apogee
2247.54	10243	0.00	-0.31	0.00	3371.1	3580.7	3161.5	2193.6	1983.4	210.06	-8.14	286	2385.77	88.12	1.85	0.14	1.247	0.123	0.121	2891.12	3015.25	2767.00	2441.06	2088.50	0	0	0	10.71	15.68	15.28
2398	end apogee: CONTROL_FINISHED_OK
state	2399	begin climb
2402.42	10759	116.79	1.33	-60.00	2886.5	3013.4	2759.6	2441.0	2089.0	213.52	0.00	295	2563.48	89.63	2.83	3.48	1.217	0.089	0.078	2412.06	2493.12	2331.00	2841.31	923.88	0	0	0	11.37	15.63	15.19
2571.18	1092	116.79	1.43	0.00	2406.4	2491.2	2321.6	2841.1	924.1	206.92	6.81	313	2589.17	0.00	0.00	2.75	0.000	0.000	0.019	2406.69	2492.12	2321.25	2840.81	2069.38	0	0	0	30.00	30.00	15.64
2895.81	18759	116.79	1.56	60.00	2402.6	2490.8	2314.4	2841.1	2069.4	185.91	6.28	345	2917.04	0.00	0.35	3.02	0.000	0.067	0.070	2403.59	2491.75	2315.44	2906.06	3127.69	0	0	0	30.00	15.65	15.62
2993.91	17478	116.79	1.60	0.00	2402.7	2491.2	2314.1	2906.5	3127.8	178.38	7.72	361	3012.68	0.00	0.00	2.85	0.000	0.000	0.021	2402.38	2490.50	2314.25	2905.56	1987.81	0	0	0	30.00	30.00	15.66
3319.17	16450	116.79	1.71	0.00	2401.4	2491.4	2311.4	2906.1	1987.9	154.89	6.75	393	3323.24	0.00	0.00	0.00	0.000	0.000	0.000	2401.06	2491.94	2310.19	2905.62	1988.00	0	0	0	30.00	30.00	30.00
3629.75	10535	199.84	1.87	60.00	2401.1	2491.4	2310.9	2905.9	1987.8	138.51	4.35	424	3744.38	64.69	0.41	3.27	1.141	0.056	0.069	2074.12	2140.00	2008.25	2983.19	3128.56	0	0	0	10.92	15.68	15.36
3770.11	1028	199.84	1.87	0.00	2068.9	2139.0	1998.8	2982.9	3127.6	127.54	9.14	443	3789.22	0.00	0.00	2.87	0.000	0.000	0.022	2068.59	2139.94	1997.25	2983.19	1990.69	0	0	0	30.00	30.00	15.72
4095.73	16710	199.84	1.95	60.00	2064.8	2139.5	1990.2	2982.7	1990.6	100.41	7.20	475	4115.72	0.00	0.00	3.21	0.000	0.000	0.067	2064.47	2137.81	1991.12	2982.50	3125.94	0	0	0	30.00	30.00	15.68
4167.83	19527	199.84	2.06	0.00	2064.4	2139.2	1989.5	2982.8	3126.6	95.81	6.63	486	4188.17	0.00	0.11	2.86	0.000	0.103	0.022	2064.72	2140.06	1989.38	3014.88	1991.06	0	0	0	30.00	15.56	15.74
4374.82	18759	199.84	2.20	60.00	2063.3	2139.5	1987.1	3015.6	1990.6	83.79	6.04	524	4395.58	0.00	0.00	3.25	0.000	0.000	0.066	2065.25	2141.56	1988.94	3016.19	3127.75	0	0	0	30.00	30.00	15.65
4627.52	11303	276.36	2.36	0.00	2062.9	2139.6	1986.3	3015.9	3128.2	70.16	4.67	571	4731.04	59.63	0.00	2.85	1.067	0.000	0.022	1763.66	1826.31	1701.00	3015.12	1989.06	0	0	0	11.08	30.00	15.74
4917.59	10791	337.95	2.48	-60.00	1754.2	1825.5	1682.8	3016.4	1988.7	54.64	5.41	621	5007.89	48.62	0.00	3.18	1.035	0.000	0.085	1510.81	1562.81	1458.81	3016.19	923.69	0	0	0	11.35	30.00	15.30
5064.89	3141	337.95	2.53	0.00	1506.8	1562.4	1451.2	3016.4	923.8	44.68	7.59	643	5083.99	0.00	0.00	2.76	0.000	0.000	0.020	1507.25	1562.88	1451.62	3015.50	2066.75	0	0	0	30.00	30.00	15.59
5270.52	18499	337.95	2.63	0.00	1504.1	1562.6	1445.6	3015.5	2067.1	30.88	6.86	681	5277.41	0.00	0.00	0.00	0.000	0.000	0.000	1504.06	1562.50	1445.62	3015.56	2066.69	0	0	0	30.00	30.00	30.00
5464.02	18499	337.95	2.68	0.00	1502.7	1562.4	1443.1	3015.9	2066.6	17.40	7.54	719	5470.90	0.00	0.00	0.00	0.000	0.000	0.000	1502.91	1562.62	1443.19	3016.00	2067.00	0	0	0	30.00	30.00	30.00
5657.39	19015	337.95	2.79	-60.00	1501.7	1562.6	1440.7	3015.5	2067.9	5.04	6.60	757	5678.95	0.00	0.00	3.41	0.000	0.000	0.079	1501.53	1562.56	1440.50	3016.06	924.12	0	0	0	30.00	30.00	15.56
5685	end climb: SURFACE_DEPTH_REACHED
state	5685	begin surface coast
5700	end surface coast: CONTROL_FINISHED_OK
state	5701	begin surface