Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 875 * 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 875 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 126.85998 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 243.32808 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 126.85998 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 243.32808 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 875 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 240323,001015,4751.853,-12511.884,2,1.4,6,15.8 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 -61.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240323,002133,4751.795,-12511.759,3,1.3,5,15.8 MHEAD_RNG_PITCHd_Wd 240.4,167011,-17.5,-8.462,-28.88,2074,0.238

SPEED_LIMITS 0.147,0.153 D_GRID 210

TGT_NAME OFFSHORE 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 4700.000,-12700.000

Post-dive calculations and measurements:

WARN HSCICON missed fuel gauge read FG_AHR_24Vo 243.466

FINISH -0.1,1.024866 FG_AHR_10Vo 126.916

SM_CCo 5776.27,49.22,1.007,0,1260.0,1279.8,1240.2,399.85 MEM0 60108,1,0,0

SM_GC 0.96,49.22,19.62,0.68,1.007,0.042,0.035,1260.0,1279.8,1240.2,176.9,2293.9,0,0,0,11.08,15.81,15.88 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 955304,685,78224,67

IRIDIUM_FIX 4750.72,-12516.60,230323,224003 DATA_FILE_SIZE 19277,727

TCM_TEMP 266.54 CAP_FILE_SIZE 194969,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3751680

SC_FREEKB 3542720 SDFILEDIR 5281,1

HUMID 55.35 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 84.24 CURRENT 0.040,171.9,1

INTERNAL_PRESSURE 8.57299 IMPLIED_C_PITCH 2566,11.80,515,0.0,0.00

_24V_AH 14.68,297.927 IMPLIED_C_VBD 2949,65.195358,457,0

_10V_AH 15.00,0.000 GPS 240323,015912,4751.572,-12512.244,33,0.8,35,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 478 1241 8714.24 nil 0 0 0.00

Pitch_motor 42 197 122.58 nil 0 0 0.00

Roll_motor 74 111 122.06 nil 0 0 0.00

Iridium 316 216 1004.66 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 16 15 3.74 nil 0 0 0.00

Core 3967 6 404.73 SciCon 5654 20 1700.78

Fast 142 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2161 2 64.83

Compass 1667 5 125.06

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

19.69 16386 -116.79 -1.33 0.00 1247.3 1273.5 1221.2 178.3 2208.9 0.00 0.00 0 121.18 71.36 0.00 0.00 0.005 0.000 0.000 2996.91 3175.19 2818.62 178.12 2207.00 0 0 0 14.62 30.00 30.00

123.40 18727 -116.79 -1.33 60.00 2998.0 3173.2 2822.8 178.4 2207.2 3.76 -4.35 14 239.59 5.59 17.08 3.41 0.008 0.198 0.079 3369.06 3580.94 3157.19 2192.44 3362.12 0 0 0 14.99 15.26 14.83

245.93 1028 -116.79 -1.33 0.00 3370.6 3579.9 3161.2 2192.3 3362.0 32.99 -13.53 21 265.33 0.00 0.00 2.82 0.000 0.000 0.017 3371.12 3580.75 3161.50 2191.44 2201.81 0 0 0 30.00 30.00 15.61

451.56 0 -116.79 -1.33 0.00 3370.8 3579.9 3161.6 2192.5 2198.9 60.20 -13.43 59 458.41 0.00 0.00 0.00 0.000 0.000 0.000 3370.94 3580.38 3161.50 2192.62 2198.69 0 0 0 30.00 30.00 30.00

644.51 516 -116.79 -1.33 -60.00 3370.9 3580.1 3161.7 2192.6 2199.3 82.01 -8.87 97 663.83 0.00 0.00 3.00 0.000 0.000 0.065 3370.97 3580.19 3161.75 2192.25 1155.31 0 0 0 30.00 30.00 15.61

705.48 1028 -116.79 -1.33 0.00 3370.7 3580.0 3161.4 2192.3 1155.1 87.95 -10.10 106 723.98 0.00 0.00 2.80 0.000 0.000 0.023 3371.06 3580.25 3161.88 2192.69 2291.25 0 0 0 30.00 30.00 15.72

915.06 0 -116.79 -1.33 0.00 3370.7 3579.4 3161.9 2192.4 2291.2 110.63 -9.56 135 919.08 0.00 0.00 0.00 0.000 0.000 0.000 3370.56 3579.38 3161.75 2192.00 2291.25 0 0 0 30.00 30.00 30.00

1225.16 516 -116.79 -1.33 -60.00 3370.8 3579.9 3161.8 2192.6 2290.9 133.81 -7.32 166 1244.95 0.00 0.00 3.22 0.000 0.000 0.059 3372.06 3581.75 3162.38 2191.00 1153.88 0 0 0 30.00 30.00 15.68

1281.41 1028 -116.79 -1.33 0.00 3370.9 3579.9 3161.9 2192.6 1153.8 138.38 -8.12 174 1299.20 0.00 0.00 2.79 0.000 0.000 0.024 3372.09 3581.06 3163.12 2191.81 2288.94 0 0 0 30.00 30.00 15.76

1605.28 0 -116.79 -1.33 0.00 3371.1 3580.4 3161.9 2192.4 2288.6 164.74 -8.06 206 1609.30 0.00 0.00 0.00 0.000 0.000 0.000 3369.75 3578.25 3161.25 2191.94 2289.19 0 0 0 30.00 30.00 30.00

1915.38 516 -116.79 -1.33 -60.00 3370.9 3579.8 3162.1 2192.0 2288.9 189.12 -8.82 237 1935.15 0.00 0.00 3.23 0.000 0.000 0.059 3370.97 3580.19 3161.75 2190.56 1155.00 0 0 0 30.00 30.00 15.71

1975.88 1028 -116.79 -1.33 0.00 3371.4 3580.3 3162.5 2192.3 1155.1 195.10 -9.91 246 1995.04 0.00 0.00 2.80 0.000 0.000 0.023 3372.47 3581.00 3163.94 2192.69 2288.31 0 0 0 30.00 30.00 15.67

2141 end dive: TARGET_DEPTH_EXCEEDED

state 2141 begin apogee

2148.20 10243 0.00 -0.31 0.00 3370.5 3579.1 3161.9 2192.5 1979.3 210.58 -9.21 262 2286.47 88.25 1.86 0.16 1.241 0.121 0.112 2889.34 3013.50 2765.19 2438.94 2090.19 0 0 0 10.73 15.70 15.28

2300 end apogee: CONTROL_FINISHED_OK

state 2300 begin climb

2303.12 10759 116.79 1.33 -60.00 2886.6 3013.2 2760.1 2440.4 2090.1 215.13 0.00 271 2465.80 89.74 2.84 3.51 1.218 0.086 0.077 2410.34 2494.31 2326.38 2840.56 922.44 0 0 0 11.43 15.64 15.21

2472.79 11303 204.09 1.50 0.00 2406.5 2492.6 2320.4 2840.7 922.8 213.21 4.14 289 2591.61 68.68 0.25 2.79 1.188 0.065 0.018 2057.97 2122.19 1993.75 2893.00 2069.19 0 0 0 11.40 15.42 15.59

2898.28 16710 204.09 1.59 60.00 2047.2 2122.3 1972.2 2892.2 2069.4 187.80 7.02 335 2917.88 0.00 0.00 3.06 0.000 0.000 0.072 2046.81 2122.00 1971.62 2892.56 3127.81 0 0 0 30.00 30.00 15.65

2929.03 17478 204.09 1.64 0.00 2046.9 2122.1 1971.8 2892.6 3128.9 185.35 7.63 338 2948.55 0.00 0.00 2.85 0.000 0.000 0.021 2048.34 2123.56 1973.12 2892.50 1987.44 0 0 0 30.00 30.00 15.79

3255.08 18759 204.09 1.72 60.00 2045.6 2122.0 1969.1 2892.6 1987.5 161.21 7.06 370 3276.74 0.00 0.26 3.28 0.000 0.063 0.068 2047.69 2124.06 1971.31 2948.19 3127.06 0 0 0 30.00 15.59 15.58

3293.22 17414 204.09 1.72 0.00 2045.7 2122.1 1969.4 2948.3 3127.5 157.88 8.49 374 3311.64 0.00 0.00 2.87 0.000 0.000 0.021 2046.28 2123.06 1969.50 2948.94 1988.31 0 0 0 30.00 30.00 15.75

3617.78 16386 204.09 1.72 0.00 2044.9 2122.4 1967.4 2949.0 1988.0 132.06 8.37 406 3621.84 0.00 0.00 0.00 0.000 0.000 0.000 2044.34 2121.69 1967.00 2948.31 1987.56 0 0 0 30.00 30.00 30.00

3928.38 16710 204.09 1.77 60.00 2044.4 2122.1 1966.6 2949.0 1988.1 105.17 7.75 437 3948.40 0.00 0.00 3.26 0.000 0.000 0.068 2045.12 2123.19 1967.06 2948.62 3127.00 0 0 0 30.00 30.00 15.73

4065.31 17478 204.09 1.87 0.00 2044.5 2122.2 1966.8 2948.9 3126.8 95.67 6.67 461 4084.82 0.00 0.00 2.84 0.000 0.000 0.021 2045.28 2123.19 1967.38 2948.69 1987.69 0 0 0 30.00 30.00 15.67

4271.37 18759 204.09 1.97 60.00 2043.6 2121.8 1965.4 2948.5 1988.0 83.62 6.78 499 4294.01 0.00 0.28 3.27 0.000 0.060 0.067 2043.81 2122.31 1965.31 3012.00 3127.81 0 0 0 30.00 15.70 15.58

4401.04 9254 271.39 2.11 0.00 2043.8 2122.2 1965.4 3012.2 3127.9 75.76 5.13 521 4496.56 52.73 0.00 2.86 1.075 0.000 0.021 1782.41 1850.69 1714.12 3012.12 1987.31 0 0 0 10.89 30.00 15.75

4683.11 2629 271.39 2.24 -60.00 1775.7 1850.2 1701.2 3012.1 1987.7 59.82 6.36 570 4703.87 0.00 0.00 3.17 0.000 0.000 0.081 1775.81 1850.69 1700.94 3012.12 921.31 0 0 0 30.00 30.00 15.55

4845.91 19527 271.39 2.34 0.00 1774.9 1850.5 1699.3 3012.0 921.3 48.81 6.77 599 4864.64 0.00 0.00 2.75 0.000 0.000 0.019 1775.56 1851.50 1699.62 3012.19 2068.25 0 0 0 30.00 30.00 15.70

5051.40 10535 338.01 2.47 60.00 1773.6 1850.6 1696.6 3012.6 2067.9 37.49 5.16 637 5147.76 52.69 0.00 3.06 1.028 0.000 0.073 1512.28 1566.44 1458.12 3012.38 3127.06 0 0 0 11.24 30.00 15.36

5204.64 3141 338.01 2.55 0.00 1507.6 1565.9 1449.4 3012.5 3127.3 27.57 7.06 660 5224.02 0.00 0.00 2.88 0.000 0.000 0.021 1508.81 1567.19 1450.44 3012.44 1992.38 0 0 0 30.00 30.00 15.63

5410.64 2373 338.01 2.59 60.00 1504.8 1566.1 1443.6 3012.6 1992.3 12.72 7.83 698 5431.80 0.00 0.00 3.26 0.000 0.000 0.068 1504.91 1565.75 1444.06 3012.50 3128.19 0 0 0 30.00 30.00 15.66

5478.69 3141 338.01 2.66 0.00 1504.5 1566.1 1442.9 3012.5 3128.2 7.66 7.34 708 5498.20 0.00 0.00 2.87 0.000 0.000 0.022 1504.69 1566.25 1443.12 3012.81 1991.62 0 0 0 30.00 30.00 15.75

5529 end climb: SURFACE_DEPTH_REACHED

state 5529 begin surface coast

5590 end surface coast: CONTROL_FINISHED_OK

state 5591 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	875	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	126.85998	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	243.32808	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	240323,001015,4751.853,-12511.884,2,1.4,6,15.8	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	-61.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240323,002133,4751.795,-12511.759,3,1.3,5,15.8	MHEAD_RNG_PITCHd_Wd	240.4,167011,-17.5,-8.462,-28.88,2074,0.238
SPEED_LIMITS	0.147,0.153	D_GRID	210
TGT_NAME	OFFSHORE	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	4700.000,-12700.000

WARN	HSCICON missed fuel gauge read	FG_AHR_24Vo	243.466
FINISH	-0.1,1.024866	FG_AHR_10Vo	126.916
SM_CCo	5776.27,49.22,1.007,0,1260.0,1279.8,1240.2,399.85	MEM0	60108,1,0,0
SM_GC	0.96,49.22,19.62,0.68,1.007,0.042,0.035,1260.0,1279.8,1240.2,176.9,2293.9,0,0,0,11.08,15.81,15.88	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	955304,685,78224,67
IRIDIUM_FIX	4750.72,-12516.60,230323,224003	DATA_FILE_SIZE	19277,727
TCM_TEMP	266.54	CAP_FILE_SIZE	194969,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3751680
SC_FREEKB	3542720	SDFILEDIR	5281,1
HUMID	55.35	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	84.24	CURRENT	0.040,171.9,1
INTERNAL_PRESSURE	8.57299	IMPLIED_C_PITCH	2566,11.80,515,0.0,0.00
_24V_AH	14.68,297.927	IMPLIED_C_VBD	2949,65.195358,457,0
_10V_AH	15.00,0.000	GPS	240323,015912,4751.572,-12512.244,33,0.8,35,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	478	1241	8714.24	nil	0	0	0.00
Pitch_motor	42	197	122.58	nil	0	0	0.00
Roll_motor	74	111	122.06	nil	0	0	0.00
Iridium	316	216	1004.66	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	16	15	3.74	nil	0	0	0.00
Core	3967	6	404.73	SciCon	5654	20	1700.78
Fast	142	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2161	2	64.83
Compass	1667	5	125.06
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
19.69	16386	-116.79	-1.33	0.00	1247.3	1273.5	1221.2	178.3	2208.9	0.00	0.00	0	121.18	71.36	0.00	0.00	0.005	0.000	0.000	2996.91	3175.19	2818.62	178.12	2207.00	0	0	0	14.62	30.00	30.00
123.40	18727	-116.79	-1.33	60.00	2998.0	3173.2	2822.8	178.4	2207.2	3.76	-4.35	14	239.59	5.59	17.08	3.41	0.008	0.198	0.079	3369.06	3580.94	3157.19	2192.44	3362.12	0	0	0	14.99	15.26	14.83
245.93	1028	-116.79	-1.33	0.00	3370.6	3579.9	3161.2	2192.3	3362.0	32.99	-13.53	21	265.33	0.00	0.00	2.82	0.000	0.000	0.017	3371.12	3580.75	3161.50	2191.44	2201.81	0	0	0	30.00	30.00	15.61
451.56	0	-116.79	-1.33	0.00	3370.8	3579.9	3161.6	2192.5	2198.9	60.20	-13.43	59	458.41	0.00	0.00	0.00	0.000	0.000	0.000	3370.94	3580.38	3161.50	2192.62	2198.69	0	0	0	30.00	30.00	30.00
644.51	516	-116.79	-1.33	-60.00	3370.9	3580.1	3161.7	2192.6	2199.3	82.01	-8.87	97	663.83	0.00	0.00	3.00	0.000	0.000	0.065	3370.97	3580.19	3161.75	2192.25	1155.31	0	0	0	30.00	30.00	15.61
705.48	1028	-116.79	-1.33	0.00	3370.7	3580.0	3161.4	2192.3	1155.1	87.95	-10.10	106	723.98	0.00	0.00	2.80	0.000	0.000	0.023	3371.06	3580.25	3161.88	2192.69	2291.25	0	0	0	30.00	30.00	15.72
915.06	0	-116.79	-1.33	0.00	3370.7	3579.4	3161.9	2192.4	2291.2	110.63	-9.56	135	919.08	0.00	0.00	0.00	0.000	0.000	0.000	3370.56	3579.38	3161.75	2192.00	2291.25	0	0	0	30.00	30.00	30.00
1225.16	516	-116.79	-1.33	-60.00	3370.8	3579.9	3161.8	2192.6	2290.9	133.81	-7.32	166	1244.95	0.00	0.00	3.22	0.000	0.000	0.059	3372.06	3581.75	3162.38	2191.00	1153.88	0	0	0	30.00	30.00	15.68
1281.41	1028	-116.79	-1.33	0.00	3370.9	3579.9	3161.9	2192.6	1153.8	138.38	-8.12	174	1299.20	0.00	0.00	2.79	0.000	0.000	0.024	3372.09	3581.06	3163.12	2191.81	2288.94	0	0	0	30.00	30.00	15.76
1605.28	0	-116.79	-1.33	0.00	3371.1	3580.4	3161.9	2192.4	2288.6	164.74	-8.06	206	1609.30	0.00	0.00	0.00	0.000	0.000	0.000	3369.75	3578.25	3161.25	2191.94	2289.19	0	0	0	30.00	30.00	30.00
1915.38	516	-116.79	-1.33	-60.00	3370.9	3579.8	3162.1	2192.0	2288.9	189.12	-8.82	237	1935.15	0.00	0.00	3.23	0.000	0.000	0.059	3370.97	3580.19	3161.75	2190.56	1155.00	0	0	0	30.00	30.00	15.71
1975.88	1028	-116.79	-1.33	0.00	3371.4	3580.3	3162.5	2192.3	1155.1	195.10	-9.91	246	1995.04	0.00	0.00	2.80	0.000	0.000	0.023	3372.47	3581.00	3163.94	2192.69	2288.31	0	0	0	30.00	30.00	15.67
2141	end dive: TARGET_DEPTH_EXCEEDED
state	2141	begin apogee
2148.20	10243	0.00	-0.31	0.00	3370.5	3579.1	3161.9	2192.5	1979.3	210.58	-9.21	262	2286.47	88.25	1.86	0.16	1.241	0.121	0.112	2889.34	3013.50	2765.19	2438.94	2090.19	0	0	0	10.73	15.70	15.28
2300	end apogee: CONTROL_FINISHED_OK
state	2300	begin climb
2303.12	10759	116.79	1.33	-60.00	2886.6	3013.2	2760.1	2440.4	2090.1	215.13	0.00	271	2465.80	89.74	2.84	3.51	1.218	0.086	0.077	2410.34	2494.31	2326.38	2840.56	922.44	0	0	0	11.43	15.64	15.21
2472.79	11303	204.09	1.50	0.00	2406.5	2492.6	2320.4	2840.7	922.8	213.21	4.14	289	2591.61	68.68	0.25	2.79	1.188	0.065	0.018	2057.97	2122.19	1993.75	2893.00	2069.19	0	0	0	11.40	15.42	15.59
2898.28	16710	204.09	1.59	60.00	2047.2	2122.3	1972.2	2892.2	2069.4	187.80	7.02	335	2917.88	0.00	0.00	3.06	0.000	0.000	0.072	2046.81	2122.00	1971.62	2892.56	3127.81	0	0	0	30.00	30.00	15.65
2929.03	17478	204.09	1.64	0.00	2046.9	2122.1	1971.8	2892.6	3128.9	185.35	7.63	338	2948.55	0.00	0.00	2.85	0.000	0.000	0.021	2048.34	2123.56	1973.12	2892.50	1987.44	0	0	0	30.00	30.00	15.79
3255.08	18759	204.09	1.72	60.00	2045.6	2122.0	1969.1	2892.6	1987.5	161.21	7.06	370	3276.74	0.00	0.26	3.28	0.000	0.063	0.068	2047.69	2124.06	1971.31	2948.19	3127.06	0	0	0	30.00	15.59	15.58
3293.22	17414	204.09	1.72	0.00	2045.7	2122.1	1969.4	2948.3	3127.5	157.88	8.49	374	3311.64	0.00	0.00	2.87	0.000	0.000	0.021	2046.28	2123.06	1969.50	2948.94	1988.31	0	0	0	30.00	30.00	15.75
3617.78	16386	204.09	1.72	0.00	2044.9	2122.4	1967.4	2949.0	1988.0	132.06	8.37	406	3621.84	0.00	0.00	0.00	0.000	0.000	0.000	2044.34	2121.69	1967.00	2948.31	1987.56	0	0	0	30.00	30.00	30.00
3928.38	16710	204.09	1.77	60.00	2044.4	2122.1	1966.6	2949.0	1988.1	105.17	7.75	437	3948.40	0.00	0.00	3.26	0.000	0.000	0.068	2045.12	2123.19	1967.06	2948.62	3127.00	0	0	0	30.00	30.00	15.73
4065.31	17478	204.09	1.87	0.00	2044.5	2122.2	1966.8	2948.9	3126.8	95.67	6.67	461	4084.82	0.00	0.00	2.84	0.000	0.000	0.021	2045.28	2123.19	1967.38	2948.69	1987.69	0	0	0	30.00	30.00	15.67
4271.37	18759	204.09	1.97	60.00	2043.6	2121.8	1965.4	2948.5	1988.0	83.62	6.78	499	4294.01	0.00	0.28	3.27	0.000	0.060	0.067	2043.81	2122.31	1965.31	3012.00	3127.81	0	0	0	30.00	15.70	15.58
4401.04	9254	271.39	2.11	0.00	2043.8	2122.2	1965.4	3012.2	3127.9	75.76	5.13	521	4496.56	52.73	0.00	2.86	1.075	0.000	0.021	1782.41	1850.69	1714.12	3012.12	1987.31	0	0	0	10.89	30.00	15.75
4683.11	2629	271.39	2.24	-60.00	1775.7	1850.2	1701.2	3012.1	1987.7	59.82	6.36	570	4703.87	0.00	0.00	3.17	0.000	0.000	0.081	1775.81	1850.69	1700.94	3012.12	921.31	0	0	0	30.00	30.00	15.55
4845.91	19527	271.39	2.34	0.00	1774.9	1850.5	1699.3	3012.0	921.3	48.81	6.77	599	4864.64	0.00	0.00	2.75	0.000	0.000	0.019	1775.56	1851.50	1699.62	3012.19	2068.25	0	0	0	30.00	30.00	15.70
5051.40	10535	338.01	2.47	60.00	1773.6	1850.6	1696.6	3012.6	2067.9	37.49	5.16	637	5147.76	52.69	0.00	3.06	1.028	0.000	0.073	1512.28	1566.44	1458.12	3012.38	3127.06	0	0	0	11.24	30.00	15.36
5204.64	3141	338.01	2.55	0.00	1507.6	1565.9	1449.4	3012.5	3127.3	27.57	7.06	660	5224.02	0.00	0.00	2.88	0.000	0.000	0.021	1508.81	1567.19	1450.44	3012.44	1992.38	0	0	0	30.00	30.00	15.63
5410.64	2373	338.01	2.59	60.00	1504.8	1566.1	1443.6	3012.6	1992.3	12.72	7.83	698	5431.80	0.00	0.00	3.26	0.000	0.000	0.068	1504.91	1565.75	1444.06	3012.50	3128.19	0	0	0	30.00	30.00	15.66
5478.69	3141	338.01	2.66	0.00	1504.5	1566.1	1442.9	3012.5	3128.2	7.66	7.34	708	5498.20	0.00	0.00	2.87	0.000	0.000	0.022	1504.69	1566.25	1443.12	3012.81	1991.62	0	0	0	30.00	30.00	15.75
5529	end climb: SURFACE_DEPTH_REACHED
state	5529	begin surface coast
5590	end surface coast: CONTROL_FINISHED_OK
state	5591	begin surface