Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 1011 * 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 1011 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 700 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 0

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 20000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 250 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 320 T_RSLEEP 1 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 2390 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 139.0605 SEABIRD_T_G 0.0043000001

MAX_BUOY 110 PITCH_MAXERRORS 1 FG_AHR_24V 286.18823 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 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 0 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 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.00177828 PITCH_W_DBAND 0 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 2240 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2100 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 700 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 139.0605 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 286.18823 PITCH_ADJ_GAIN 0.029999999 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 250

COMPASS2_DEVICE -1 ID 249 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 16388 INT_PRESSURE_YINT -3 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2390 KALMAN_USE 2 PRESSURE_SLOPE 0.00021665409 T_MISSION 320

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 1

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2240 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2890 LOGGERS 0 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 110 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 0

DIVE 1011 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 0 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 280423,020940,4653.476,-12500.873,23,1.1,24,15.6 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280423,021700,4653.415,-12500.883,3,0.6,4,15.6 MHEAD_RNG_PITCHd_Wd 109.0,1356,-19.6,-9.333,-30.00,1988,0.269

SPEED_LIMITS 0.162,0.172 D_GRID 718

TGT_NAME WESTPORT 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 4653.000,-12500.000

Post-dive calculations and measurements:

FREEZE 713.18,0.000,-0.537,0,1,0 FG_AHR_24Vo 286.503

SM_CCo 7321.31,310.46,1.855,0,500.7,492.2,509.1,586.11 FG_AHR_10Vo 139.089

SM_GC 0.94,0.00,18.53,0.24,0.000,0.044,0.073,493.7,491.5,495.9,180.5,2276.4,0,0,0,30.00,15.68,15.88 MEM0 60108,1,0,0

SUPER 19,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4653.31,-12500.04,270423,220511 MEM2 951880,797,78788,98

TCM_TEMP 259.70 DATA_FILE_SIZE 22485,750

XPDR_PINGS 0,13.0,10.5 CAP_FILE_SIZE 231300,0

HUMID 55.49 SDSIZE 4028416,3715424

TEMP 84.54 SDFILEDIR 5965,1

INTERNAL_PRESSURE 8.52456 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

_24V_AH 14.25,346.418 MAGCAL 1.000000,0.024398,0.008398,-0.022474,1.041815,-0.100639,-0.035643,0.004232,1.004393,503.9,-211.8,-13.7,36,0.0284,0

_10V_AH 15.00,0.000 GPS 280423,062639,4653.288,-12459.895,22,1.0,23,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 652 1918 17831.32 nil 0 0 0.00

Pitch_motor 41 199 118.13 nil 0 0 0.00

Roll_motor 82 117 138.09 nil 0 0 0.00

Iridium 194 204 566.20 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.54 nil 0 0 0.00

Core 3607 6 367.92 SciCon 0 0 0.00

Fast 176 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 10824 2 324.73

Compass 1186 5 88.95

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

16.19 16386 -107.06 -1.44 0.00 693.8 704.3 683.4 178.0 2187.8 0.00 0.00 0 122.34 74.86 0.00 0.00 0.005 0.000 0.000 2520.81 2694.81 2346.81 178.25 2186.81 0 0 0 14.91 30.00 30.00

124.56 18727 -107.06 -1.44 60.00 2522.3 2692.3 2352.2 178.2 2186.4 3.84 -4.12 15 243.97 12.39 16.34 3.30 0.006 0.200 0.083 3330.75 3552.25 3109.25 2041.19 3342.81 0 0 0 15.05 15.28 14.85

250.37 3205 -107.06 -1.15 0.00 3331.5 3548.4 3114.6 2041.2 3343.6 35.93 -16.42 23 270.55 0.00 0.53 2.71 0.000 0.140 0.019 3332.22 3549.06 3115.38 2111.75 2181.81 0 0 0 30.00 15.56 15.84

455.91 260 -107.06 -1.15 60.00 3332.3 3548.4 3116.2 2111.8 2179.1 63.07 -12.58 61 476.19 0.00 0.00 3.36 0.000 0.000 0.080 3333.91 3549.81 3118.00 2111.75 3342.12 0 0 0 30.00 30.00 15.61

542.04 1028 -107.06 -1.15 0.00 3332.0 3546.8 3117.2 2111.9 3342.7 73.51 -11.58 75 559.52 0.00 0.00 2.69 0.000 0.000 0.018 3331.78 3546.69 3116.88 2112.75 2180.75 0 0 0 30.00 30.00 15.88

745.66 128 -107.06 -1.23 0.00 3331.7 3545.9 3117.5 2111.9 2177.8 95.75 -10.04 113 752.17 0.00 0.00 0.00 0.000 0.000 0.000 3332.16 3547.19 3117.12 2112.25 2177.38 0 0 0 30.00 30.00 30.00

943.73 4257 -107.06 -1.31 0.00 3332.0 3546.9 3117.1 2112.1 2177.6 113.83 -9.26 137 949.88 0.00 0.34 0.00 0.000 0.064 0.000 3331.84 3547.81 3115.88 2054.81 2177.69 0 0 0 30.00 15.85 30.00

1255.25 516 -107.06 -1.31 -60.00 3331.9 3546.1 3117.7 2056.9 2178.1 153.75 -12.63 168 1273.49 0.00 0.00 2.80 0.000 0.000 0.065 3332.78 3546.94 3118.62 2056.81 1133.75 0 0 0 30.00 30.00 15.68

1289.22 1028 -107.06 -1.31 0.00 3331.9 3546.3 3117.6 2056.8 1134.0 158.10 -12.69 172 1307.46 0.00 0.00 2.74 0.000 0.000 0.025 3332.53 3547.69 3117.38 2056.94 2269.56 0 0 0 30.00 30.00 15.89

1612.79 516 -107.06 -1.31 -60.00 3332.5 3546.7 3118.2 2056.1 2269.6 196.52 -11.42 204 1632.25 0.00 0.00 3.04 0.000 0.000 0.061 3332.22 3546.81 3117.62 2056.81 1134.38 0 0 0 30.00 30.00 15.68

1667.98 1028 -107.06 -1.31 0.00 3332.3 3546.4 3118.3 2056.6 1134.2 202.77 -11.30 212 1686.06 0.00 0.00 2.75 0.000 0.000 0.024 3332.53 3547.38 3117.69 2056.62 2269.88 0 0 0 30.00 30.00 15.90

1991.41 516 -107.06 -1.31 -60.00 3332.3 3546.9 3117.6 2056.5 2269.4 236.51 -9.79 244 2011.20 0.00 0.00 3.03 0.000 0.000 0.060 3333.62 3547.75 3119.50 2056.38 1133.56 0 0 0 30.00 30.00 15.68

2037.09 1028 -107.06 -1.31 0.00 3332.3 3546.0 3118.6 2056.4 1133.2 241.80 -11.27 250 2055.55 0.00 0.00 2.74 0.000 0.000 0.025 3334.38 3548.12 3120.62 2056.19 2268.56 0 0 0 30.00 30.00 15.89

2360.95 516 -107.06 -1.31 -60.00 3332.5 3546.8 3118.2 2056.2 2268.9 276.99 -10.45 282 2380.24 0.00 0.00 3.05 0.000 0.000 0.061 3332.81 3546.69 3118.94 2056.62 1134.62 0 0 0 30.00 30.00 15.67

2411.01 1028 -107.06 -1.31 0.00 3332.7 3546.7 3118.7 2056.4 1134.4 282.23 -10.49 289 2429.09 0.00 0.00 2.76 0.000 0.000 0.025 3333.94 3547.06 3120.81 2056.25 2269.69 0 0 0 30.00 30.00 15.89

2734.47 0 -107.06 -1.31 0.00 3332.5 3546.8 3118.3 2056.9 2269.5 318.01 -12.17 321 2738.53 0.00 0.00 0.00 0.000 0.000 0.000 3332.50 3546.88 3118.12 2055.88 2269.88 0 0 0 30.00 30.00 30.00

3044.51 516 -107.06 -1.31 -60.00 3332.5 3547.0 3118.0 2056.4 2270.0 355.97 -11.55 352 3063.83 0.00 0.00 3.09 0.000 0.000 0.061 3332.50 3547.19 3117.81 2056.06 1133.56 0 0 0 30.00 30.00 15.67

3139.60 1028 -107.06 -1.31 0.00 3332.8 3546.8 3118.7 2055.9 1133.4 367.51 -11.83 368 3158.08 0.00 0.00 2.77 0.000 0.000 0.025 3332.31 3546.12 3118.50 2056.75 2268.38 0 0 0 30.00 30.00 15.89

3463.48 516 -107.06 -1.31 -60.00 3332.3 3546.1 3118.5 2056.9 2268.3 405.65 -11.83 400 3482.77 0.00 0.00 3.07 0.000 0.000 0.062 3332.44 3547.00 3117.88 2056.50 1133.00 0 0 0 30.00 30.00 15.66

3508.54 1028 -107.06 -1.31 0.00 3332.2 3546.1 3118.3 2056.1 1132.6 411.68 -13.19 406 3526.62 0.00 0.00 2.76 0.000 0.000 0.025 3332.94 3546.81 3119.06 2056.81 2268.25 0 0 0 30.00 30.00 15.88

3832.04 260 -107.06 -1.31 60.00 3332.2 3546.2 3118.2 2056.3 2267.9 451.49 -12.33 438 3851.77 0.00 0.00 3.11 0.000 0.000 0.084 3332.72 3546.81 3118.62 2055.75 3342.62 0 0 0 30.00 30.00 15.59

3882.64 1028 -107.06 -1.31 0.00 3331.8 3543.4 3120.2 2056.6 3341.8 457.72 -12.13 445 3901.11 0.00 0.00 2.71 0.000 0.000 0.018 3332.28 3543.50 3121.06 2056.50 2181.56 0 0 0 30.00 30.00 15.91

4206.51 516 -107.06 -1.31 -60.00 3331.6 3542.9 3120.4 2056.4 2178.9 495.17 -10.48 477 4224.99 0.00 0.00 2.84 0.000 0.000 0.067 3332.25 3543.50 3121.00 2056.62 1134.69 0 0 0 30.00 30.00 15.65

4245.75 1028 -107.06 -1.31 0.00 3331.8 3543.1 3120.5 2056.6 1134.2 499.31 -10.54 482 4263.83 0.00 0.00 2.75 0.000 0.000 0.025 3331.91 3543.62 3120.19 2056.31 2268.44 0 0 0 30.00 30.00 15.88

4569.26 516 -107.06 -1.31 -60.00 3331.7 3542.7 3120.8 2056.4 2268.4 531.73 -10.21 514 4588.58 0.00 0.00 3.09 0.000 0.000 0.063 3331.62 3543.25 3120.00 2056.12 1133.38 0 0 0 30.00 30.00 15.64

4619.35 1028 -107.06 -1.31 0.00 3331.8 3542.8 3120.8 2057.2 1132.8 537.09 -10.71 521 4637.43 0.00 0.00 2.77 0.000 0.000 0.026 3331.69 3542.88 3120.50 2056.44 2266.25 0 0 0 30.00 30.00 15.87

4942.82 516 -107.06 -1.31 -60.00 3331.1 3542.0 3120.2 2056.6 2266.2 570.62 -10.81 553 4962.10 0.00 0.00 3.08 0.000 0.000 0.063 3332.00 3542.88 3121.12 2055.38 1133.75 0 0 0 30.00 30.00 15.64

4987.88 1028 -107.06 -1.31 0.00 3331.6 3542.4 3120.9 2056.6 1134.1 575.70 -11.28 559 5005.95 0.00 0.00 2.78 0.000 0.000 0.026 3331.28 3542.56 3120.00 2056.44 2267.50 0 0 0 30.00 30.00 15.86

5311.34 0 -107.06 -1.31 0.00 3331.3 3541.9 3120.7 2056.8 2267.2 610.87 -10.99 591 5315.39 0.00 0.00 0.00 0.000 0.000 0.000 3330.72 3540.38 3121.06 2056.38 2267.19 0 0 0 30.00 30.00 30.00

5621.39 516 -107.06 -1.31 -60.00 3330.6 3540.2 3121.1 2056.4 2267.1 645.71 -11.80 622 5640.68 0.00 0.00 3.09 0.000 0.000 0.064 3330.81 3540.25 3121.38 2056.19 1134.19 0 0 0 30.00 30.00 15.62

5696.57 1028 -107.06 -1.31 0.00 3330.3 3540.4 3120.1 2056.6 1134.2 655.24 -12.76 634 5714.84 0.00 0.00 2.78 0.000 0.000 0.026 3330.84 3540.56 3121.12 2055.94 2266.69 0 0 0 30.00 30.00 15.86

6020.27 516 -107.06 -1.31 -60.00 3329.5 3538.2 3120.8 2056.3 2267.3 687.24 -9.57 666 6039.58 0.00 0.00 3.07 0.000 0.000 0.064 3331.00 3539.88 3122.12 2056.69 1134.69 0 0 0 30.00 30.00 15.62

6075.36 1028 -107.06 -1.31 0.00 3329.4 3538.2 3120.7 2056.7 1133.9 692.82 -10.14 674 6093.44 0.00 0.00 2.77 0.000 0.000 0.026 3330.75 3539.94 3121.56 2056.31 2266.50 0 0 0 30.00 30.00 15.85

6158 end dive: TARGET_DEPTH_EXCEEDED

state 6158 begin apogee

6165.02 10243 0.00 -0.31 0.00 3329.4 3538.3 3120.4 2056.5 2038.9 701.01 -10.42 682 6300.24 85.50 2.06 0.19 1.919 0.135 0.118 2890.94 3019.31 2762.56 2314.38 2153.38 0 0 0 10.23 15.46 15.13

6304 end apogee: CONTROL_FINISHED_OK

state 6304 begin climb

6307.79 10243 107.06 1.44 0.00 2887.3 3019.2 2755.4 2315.1 2153.7 705.99 0.00 691 6454.21 89.26 3.07 0.00 1.871 0.089 0.000 2454.78 2535.88 2373.69 2742.06 2153.38 0 0 0 11.55 15.55 30.00

6760.13 10791 299.77 1.82 -60.00 2442.2 2533.9 2350.6 2741.6 2153.2 714.58 -0.63 734 6877.64 79.64 0.61 0.00 1.875 0.058 0.000 2060.34 2127.88 1992.81 2843.19 2153.56 0 0 0 11.50 15.73 30.00

6880 end climb: NO_VERTICAL_VELOCITY

state 6880 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	1011	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	700	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	0
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	20000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	250	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	320	T_RSLEEP	1	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	2390	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	139.0605	SEABIRD_T_G	0.0043000001
MAX_BUOY	110	PITCH_MAXERRORS	1	FG_AHR_24V	286.18823	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	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	0	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	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.00177828	PITCH_W_DBAND	0	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	2240	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	280423,020940,4653.476,-12500.873,23,1.1,24,15.6	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280423,021700,4653.415,-12500.883,3,0.6,4,15.6	MHEAD_RNG_PITCHd_Wd	109.0,1356,-19.6,-9.333,-30.00,1988,0.269
SPEED_LIMITS	0.162,0.172	D_GRID	718
TGT_NAME	WESTPORT	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	4653.000,-12500.000

FREEZE	713.18,0.000,-0.537,0,1,0	FG_AHR_24Vo	286.503
SM_CCo	7321.31,310.46,1.855,0,500.7,492.2,509.1,586.11	FG_AHR_10Vo	139.089
SM_GC	0.94,0.00,18.53,0.24,0.000,0.044,0.073,493.7,491.5,495.9,180.5,2276.4,0,0,0,30.00,15.68,15.88	MEM0	60108,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4653.31,-12500.04,270423,220511	MEM2	951880,797,78788,98
TCM_TEMP	259.70	DATA_FILE_SIZE	22485,750
XPDR_PINGS	0,13.0,10.5	CAP_FILE_SIZE	231300,0
HUMID	55.49	SDSIZE	4028416,3715424
TEMP	84.54	SDFILEDIR	5965,1
INTERNAL_PRESSURE	8.52456	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	14.25,346.418	MAGCAL	1.000000,0.024398,0.008398,-0.022474,1.041815,-0.100639,-0.035643,0.004232,1.004393,503.9,-211.8,-13.7,36,0.0284,0
_10V_AH	15.00,0.000	GPS	280423,062639,4653.288,-12459.895,22,1.0,23,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	652	1918	17831.32	nil	0	0	0.00
Pitch_motor	41	199	118.13	nil	0	0	0.00
Roll_motor	82	117	138.09	nil	0	0	0.00
Iridium	194	204	566.20	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.54	nil	0	0	0.00
Core	3607	6	367.92	SciCon	0	0	0.00
Fast	176	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	10824	2	324.73
Compass	1186	5	88.95
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
16.19	16386	-107.06	-1.44	0.00	693.8	704.3	683.4	178.0	2187.8	0.00	0.00	0	122.34	74.86	0.00	0.00	0.005	0.000	0.000	2520.81	2694.81	2346.81	178.25	2186.81	0	0	0	14.91	30.00	30.00
124.56	18727	-107.06	-1.44	60.00	2522.3	2692.3	2352.2	178.2	2186.4	3.84	-4.12	15	243.97	12.39	16.34	3.30	0.006	0.200	0.083	3330.75	3552.25	3109.25	2041.19	3342.81	0	0	0	15.05	15.28	14.85
250.37	3205	-107.06	-1.15	0.00	3331.5	3548.4	3114.6	2041.2	3343.6	35.93	-16.42	23	270.55	0.00	0.53	2.71	0.000	0.140	0.019	3332.22	3549.06	3115.38	2111.75	2181.81	0	0	0	30.00	15.56	15.84
455.91	260	-107.06	-1.15	60.00	3332.3	3548.4	3116.2	2111.8	2179.1	63.07	-12.58	61	476.19	0.00	0.00	3.36	0.000	0.000	0.080	3333.91	3549.81	3118.00	2111.75	3342.12	0	0	0	30.00	30.00	15.61
542.04	1028	-107.06	-1.15	0.00	3332.0	3546.8	3117.2	2111.9	3342.7	73.51	-11.58	75	559.52	0.00	0.00	2.69	0.000	0.000	0.018	3331.78	3546.69	3116.88	2112.75	2180.75	0	0	0	30.00	30.00	15.88
745.66	128	-107.06	-1.23	0.00	3331.7	3545.9	3117.5	2111.9	2177.8	95.75	-10.04	113	752.17	0.00	0.00	0.00	0.000	0.000	0.000	3332.16	3547.19	3117.12	2112.25	2177.38	0	0	0	30.00	30.00	30.00
943.73	4257	-107.06	-1.31	0.00	3332.0	3546.9	3117.1	2112.1	2177.6	113.83	-9.26	137	949.88	0.00	0.34	0.00	0.000	0.064	0.000	3331.84	3547.81	3115.88	2054.81	2177.69	0	0	0	30.00	15.85	30.00
1255.25	516	-107.06	-1.31	-60.00	3331.9	3546.1	3117.7	2056.9	2178.1	153.75	-12.63	168	1273.49	0.00	0.00	2.80	0.000	0.000	0.065	3332.78	3546.94	3118.62	2056.81	1133.75	0	0	0	30.00	30.00	15.68
1289.22	1028	-107.06	-1.31	0.00	3331.9	3546.3	3117.6	2056.8	1134.0	158.10	-12.69	172	1307.46	0.00	0.00	2.74	0.000	0.000	0.025	3332.53	3547.69	3117.38	2056.94	2269.56	0	0	0	30.00	30.00	15.89
1612.79	516	-107.06	-1.31	-60.00	3332.5	3546.7	3118.2	2056.1	2269.6	196.52	-11.42	204	1632.25	0.00	0.00	3.04	0.000	0.000	0.061	3332.22	3546.81	3117.62	2056.81	1134.38	0	0	0	30.00	30.00	15.68
1667.98	1028	-107.06	-1.31	0.00	3332.3	3546.4	3118.3	2056.6	1134.2	202.77	-11.30	212	1686.06	0.00	0.00	2.75	0.000	0.000	0.024	3332.53	3547.38	3117.69	2056.62	2269.88	0	0	0	30.00	30.00	15.90
1991.41	516	-107.06	-1.31	-60.00	3332.3	3546.9	3117.6	2056.5	2269.4	236.51	-9.79	244	2011.20	0.00	0.00	3.03	0.000	0.000	0.060	3333.62	3547.75	3119.50	2056.38	1133.56	0	0	0	30.00	30.00	15.68
2037.09	1028	-107.06	-1.31	0.00	3332.3	3546.0	3118.6	2056.4	1133.2	241.80	-11.27	250	2055.55	0.00	0.00	2.74	0.000	0.000	0.025	3334.38	3548.12	3120.62	2056.19	2268.56	0	0	0	30.00	30.00	15.89
2360.95	516	-107.06	-1.31	-60.00	3332.5	3546.8	3118.2	2056.2	2268.9	276.99	-10.45	282	2380.24	0.00	0.00	3.05	0.000	0.000	0.061	3332.81	3546.69	3118.94	2056.62	1134.62	0	0	0	30.00	30.00	15.67
2411.01	1028	-107.06	-1.31	0.00	3332.7	3546.7	3118.7	2056.4	1134.4	282.23	-10.49	289	2429.09	0.00	0.00	2.76	0.000	0.000	0.025	3333.94	3547.06	3120.81	2056.25	2269.69	0	0	0	30.00	30.00	15.89
2734.47	0	-107.06	-1.31	0.00	3332.5	3546.8	3118.3	2056.9	2269.5	318.01	-12.17	321	2738.53	0.00	0.00	0.00	0.000	0.000	0.000	3332.50	3546.88	3118.12	2055.88	2269.88	0	0	0	30.00	30.00	30.00
3044.51	516	-107.06	-1.31	-60.00	3332.5	3547.0	3118.0	2056.4	2270.0	355.97	-11.55	352	3063.83	0.00	0.00	3.09	0.000	0.000	0.061	3332.50	3547.19	3117.81	2056.06	1133.56	0	0	0	30.00	30.00	15.67
3139.60	1028	-107.06	-1.31	0.00	3332.8	3546.8	3118.7	2055.9	1133.4	367.51	-11.83	368	3158.08	0.00	0.00	2.77	0.000	0.000	0.025	3332.31	3546.12	3118.50	2056.75	2268.38	0	0	0	30.00	30.00	15.89
3463.48	516	-107.06	-1.31	-60.00	3332.3	3546.1	3118.5	2056.9	2268.3	405.65	-11.83	400	3482.77	0.00	0.00	3.07	0.000	0.000	0.062	3332.44	3547.00	3117.88	2056.50	1133.00	0	0	0	30.00	30.00	15.66
3508.54	1028	-107.06	-1.31	0.00	3332.2	3546.1	3118.3	2056.1	1132.6	411.68	-13.19	406	3526.62	0.00	0.00	2.76	0.000	0.000	0.025	3332.94	3546.81	3119.06	2056.81	2268.25	0	0	0	30.00	30.00	15.88
3832.04	260	-107.06	-1.31	60.00	3332.2	3546.2	3118.2	2056.3	2267.9	451.49	-12.33	438	3851.77	0.00	0.00	3.11	0.000	0.000	0.084	3332.72	3546.81	3118.62	2055.75	3342.62	0	0	0	30.00	30.00	15.59
3882.64	1028	-107.06	-1.31	0.00	3331.8	3543.4	3120.2	2056.6	3341.8	457.72	-12.13	445	3901.11	0.00	0.00	2.71	0.000	0.000	0.018	3332.28	3543.50	3121.06	2056.50	2181.56	0	0	0	30.00	30.00	15.91
4206.51	516	-107.06	-1.31	-60.00	3331.6	3542.9	3120.4	2056.4	2178.9	495.17	-10.48	477	4224.99	0.00	0.00	2.84	0.000	0.000	0.067	3332.25	3543.50	3121.00	2056.62	1134.69	0	0	0	30.00	30.00	15.65
4245.75	1028	-107.06	-1.31	0.00	3331.8	3543.1	3120.5	2056.6	1134.2	499.31	-10.54	482	4263.83	0.00	0.00	2.75	0.000	0.000	0.025	3331.91	3543.62	3120.19	2056.31	2268.44	0	0	0	30.00	30.00	15.88
4569.26	516	-107.06	-1.31	-60.00	3331.7	3542.7	3120.8	2056.4	2268.4	531.73	-10.21	514	4588.58	0.00	0.00	3.09	0.000	0.000	0.063	3331.62	3543.25	3120.00	2056.12	1133.38	0	0	0	30.00	30.00	15.64
4619.35	1028	-107.06	-1.31	0.00	3331.8	3542.8	3120.8	2057.2	1132.8	537.09	-10.71	521	4637.43	0.00	0.00	2.77	0.000	0.000	0.026	3331.69	3542.88	3120.50	2056.44	2266.25	0	0	0	30.00	30.00	15.87
4942.82	516	-107.06	-1.31	-60.00	3331.1	3542.0	3120.2	2056.6	2266.2	570.62	-10.81	553	4962.10	0.00	0.00	3.08	0.000	0.000	0.063	3332.00	3542.88	3121.12	2055.38	1133.75	0	0	0	30.00	30.00	15.64
4987.88	1028	-107.06	-1.31	0.00	3331.6	3542.4	3120.9	2056.6	1134.1	575.70	-11.28	559	5005.95	0.00	0.00	2.78	0.000	0.000	0.026	3331.28	3542.56	3120.00	2056.44	2267.50	0	0	0	30.00	30.00	15.86
5311.34	0	-107.06	-1.31	0.00	3331.3	3541.9	3120.7	2056.8	2267.2	610.87	-10.99	591	5315.39	0.00	0.00	0.00	0.000	0.000	0.000	3330.72	3540.38	3121.06	2056.38	2267.19	0	0	0	30.00	30.00	30.00
5621.39	516	-107.06	-1.31	-60.00	3330.6	3540.2	3121.1	2056.4	2267.1	645.71	-11.80	622	5640.68	0.00	0.00	3.09	0.000	0.000	0.064	3330.81	3540.25	3121.38	2056.19	1134.19	0	0	0	30.00	30.00	15.62
5696.57	1028	-107.06	-1.31	0.00	3330.3	3540.4	3120.1	2056.6	1134.2	655.24	-12.76	634	5714.84	0.00	0.00	2.78	0.000	0.000	0.026	3330.84	3540.56	3121.12	2055.94	2266.69	0	0	0	30.00	30.00	15.86
6020.27	516	-107.06	-1.31	-60.00	3329.5	3538.2	3120.8	2056.3	2267.3	687.24	-9.57	666	6039.58	0.00	0.00	3.07	0.000	0.000	0.064	3331.00	3539.88	3122.12	2056.69	1134.69	0	0	0	30.00	30.00	15.62
6075.36	1028	-107.06	-1.31	0.00	3329.4	3538.2	3120.7	2056.7	1133.9	692.82	-10.14	674	6093.44	0.00	0.00	2.77	0.000	0.000	0.026	3330.75	3539.94	3121.56	2056.31	2266.50	0	0	0	30.00	30.00	15.85
6158	end dive: TARGET_DEPTH_EXCEEDED
state	6158	begin apogee
6165.02	10243	0.00	-0.31	0.00	3329.4	3538.3	3120.4	2056.5	2038.9	701.01	-10.42	682	6300.24	85.50	2.06	0.19	1.919	0.135	0.118	2890.94	3019.31	2762.56	2314.38	2153.38	0	0	0	10.23	15.46	15.13
6304	end apogee: CONTROL_FINISHED_OK
state	6304	begin climb
6307.79	10243	107.06	1.44	0.00	2887.3	3019.2	2755.4	2315.1	2153.7	705.99	0.00	691	6454.21	89.26	3.07	0.00	1.871	0.089	0.000	2454.78	2535.88	2373.69	2742.06	2153.38	0	0	0	11.55	15.55	30.00
6760.13	10791	299.77	1.82	-60.00	2442.2	2533.9	2350.6	2741.6	2153.2	714.58	-0.63	734	6877.64	79.64	0.61	0.00	1.875	0.058	0.000	2060.34	2127.88	1992.81	2843.19	2153.56	0	0	0	11.50	15.73	30.00
6880	end climb: NO_VERTICAL_VELOCITY
state	6880	begin surface