Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 428 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 428 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 425 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 990 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 FILEMGR 0 C_VBD 2500 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 120

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERS 1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 410 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 450 T_GPS 5 LOITER_D_TOP 150 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 250 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 1 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 180 RAFOS_PEAK_OFFSET 0 AH0_24V 575 GPS_DEVICE 48

T_LOITER 7200 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -1 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 190 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3920 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 990 C_PITCH 2140 FG_AHR_10V 41.356464 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 107.85882 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 80 PITCH_GAIN 20 PRESSURE_YINT -170.66119 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00022638284 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72660 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 0 PITCH_W_GAIN 3 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 7.0

KALMAN_USE 2 ROLL_MIN 670 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 7.0

HD_A 0.003 ROLL_MAX 3465 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0099900002 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 1.6e-05 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 575 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 425

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 41.356464 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 107.85882 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3920 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 190 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099900002 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_DIVE 410

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 236 PRESSURE_SLOPE 0.00022638284 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -170.66119 T_LOITER 7200

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 PROTOCOL 9 T_MISSION 450

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 180

COMPASS_USE 4 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 1

C_PITCH 2140 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2200 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2500 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 150 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054945 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72660 ROLL_MAX 3465 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 670 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 80 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 428 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1010 MINV_24V 11 SC_PROFILE 7.0 XPDR_DEVICE 21

D_BOOST 2 MISSION 2 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 7.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 0 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 990 N_DIVES 0 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 311220,091640,4751.956,-12516.344,34,0.8,35,15.8 TGT_LATLONG 4747.280,-12520.390

_CALLS 2 TGT_RADIUS 7000.000

_SM_DEPTHo 0.87 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -60.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 311220,092356,4751.967,-12516.271,4,1.1,7,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.139,0.180 MHEAD_RNG_PITCHd_Wd 194.8,10081,-20.4,-8.049,-24.07

TGT_NAME OUT9 D_GRID 383

Post-dive calculations and measurements:

SM_CCo 8324.25,2.09,0.277,0,768.4,764.8,772.1,424.75 _10V_AH 14.70,0.000

SM_GC 0.79,2.09,15.79,0.34,0.277,0.058,0.079,768.4,764.8,772.1,171.6,2066.8,0,0,0,12.30,15.77,15.81 FG_AHR_24Vo 108.024

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 41.399

IRIDIUM_FIX 4752.03,-12518.46,311220,091859 MEM 1100088,47,75720,114

TCM_TEMP 191.74 DATA_FILE_SIZE 41785,1119

XPDR_PINGS 3,14.0,11.5 CAP_FILE_SIZE 232737,0

SC_FREEKB 3700448 SDSIZE 3918848,3798912

HUMID 57.25 SDFILEDIR 2166,1

TEMP 8.68 ERRORS 0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.82943 GPS 311220,114338,4751.823,-12516.777,33,1.2,33,15.8

_24V_AH 14.22,127.235

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 507 2679 19330.70 legato 0 0 0.00

Pitch_motor 34 255 126.72 nil 0 0 0.00

Roll_motor 94 222 300.31 nil 0 0 0.00

Iridium 250 203 725.42 nil 0 0 0.00

Transponder_ping 0 420 4.48 nil 0 0 0.00

GPS 15 15 3.52 nil 0 0 0.00

Core 3553 11 616.45 SciCon 8191 11 1385.05

LPSleep 5182 2 213.30 nil 0 0 0.00

Compass 1870 5 137.45 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7.09 16386 -77.86 -1.25 0.00 762.6 763.8 761.4 170.2 2116.4 0.00 0.00 0 85.55 77.86 0.00 0.00 0.005 0.000 0.000 2465.12 2443.62 2486.62 170.25 2118.50 0 0 0 15.43 30.00 30.00

85.82 18983 -77.86 -1.25 -80.00 2464.0 2442.4 2485.6 170.5 2118.8 3.10 -3.81 15 117.69 8.79 14.05 4.26 0.007 0.255 0.156 2816.28 2813.25 2819.31 1836.19 663.25 0 0 0 15.47 15.54 15.43

340.47 1028 -77.86 -1.25 0.00 2816.1 2812.8 2819.3 1835.9 663.4 58.31 -17.19 66 346.28 0.00 0.00 3.58 0.000 0.000 0.055 2816.16 2813.06 2819.25 1835.62 2117.81 0 0 0 30.00 30.00 15.75

525.54 260 -77.86 -1.25 80.00 2815.9 2812.4 2819.5 1835.7 2117.2 85.98 -13.21 103 531.31 0.00 0.00 3.67 0.000 0.000 0.113 2818.75 2815.31 2822.19 1834.94 3472.50 0 0 0 30.00 30.00 15.80

755.60 1028 -77.86 -1.25 0.00 2816.7 2813.1 2820.4 1836.1 3472.6 115.70 -10.98 149 760.25 0.00 0.00 3.47 0.000 0.000 0.059 2819.28 2815.31 2823.25 1834.81 2081.88 0 0 0 30.00 30.00 15.85

1065.62 260 -77.86 -1.25 80.00 2816.5 2812.3 2820.7 1835.8 2082.0 149.15 -11.29 181 1071.34 0.00 0.00 3.79 0.000 0.000 0.112 2818.91 2815.25 2822.56 1834.62 3474.06 0 0 0 30.00 30.00 15.89

1214.49 1028 -77.86 -1.25 0.00 2816.7 2812.9 2820.4 1836.3 3473.6 169.59 -13.19 211 1221.40 0.00 0.00 3.48 0.000 0.000 0.060 2817.66 2813.38 2821.94 1835.94 2082.19 0 0 0 30.00 30.00 15.91

1520.72 0 -77.86 -1.25 0.00 2816.4 2812.5 2820.2 1836.1 2082.5 206.90 -12.22 242 1522.05 0.00 0.00 0.00 0.000 0.000 0.000 2817.09 2812.88 2821.31 1835.81 2082.44 0 0 0 30.00 30.00 30.00

1820.77 0 -77.86 -1.25 0.00 2816.3 2812.4 2820.3 1836.1 2082.8 241.32 -10.50 272 1822.10 0.00 0.00 0.00 0.000 0.000 0.000 2817.03 2812.31 2821.75 1835.75 2082.56 0 0 0 30.00 30.00 30.00

2120.83 0 -77.86 -1.25 0.00 2817.0 2812.8 2821.1 1835.6 2082.8 273.13 -10.44 302 2122.16 0.00 0.00 0.00 0.000 0.000 0.000 2817.16 2813.19 2821.12 1836.00 2082.62 0 0 0 30.00 30.00 30.00

2420.97 260 -77.86 -1.25 80.00 2816.8 2812.9 2820.8 1835.9 2082.6 303.23 -9.22 332 2426.66 0.00 0.00 3.81 0.000 0.000 0.118 2815.31 2811.56 2819.06 1835.88 3474.06 0 0 0 30.00 30.00 15.96

2506.00 1028 -77.86 -1.25 0.00 2816.4 2812.2 2820.6 1834.8 3473.6 313.01 -11.79 349 2510.59 0.00 0.00 3.48 0.000 0.000 0.063 2816.34 2812.31 2820.38 1835.50 2081.50 0 0 0 30.00 30.00 15.96

2816.00 260 -77.86 -1.25 80.00 2816.7 2812.8 2820.5 1835.7 2081.4 346.72 -11.44 381 2821.72 0.00 0.00 3.79 0.000 0.000 0.117 2815.03 2811.06 2819.00 1836.31 3474.56 0 0 0 30.00 30.00 15.97

2864.94 1028 -77.86 -1.25 0.00 2816.4 2812.2 2820.5 1836.0 3474.3 352.63 -11.72 391 2871.75 0.00 0.00 3.47 0.000 0.000 0.062 2818.78 2815.12 2822.44 1834.81 2083.31 0 0 0 30.00 30.00 15.95

3150 end dive: TARGET_DEPTH_EXCEEDED

state 3150 begin apogee

3152.33 10243 0.00 -0.25 0.00 2816.4 2812.5 2820.2 1836.1 2222.9 383.78 -10.49 420 3217.94 62.21 1.73 0.09 1.510 0.145 0.222 2499.00 2505.75 2492.25 2080.19 2183.44 0 0 0 12.49 15.89 15.39

3219 end apogee: CONTROL_FINISHED_OK

state 3219 begin climb

3219.84 10503 77.86 1.25 80.00 2498.0 2505.1 2490.9 2079.9 2183.8 386.62 0.00 426 3295.40 66.84 2.58 3.73 1.465 0.088 0.119 2179.09 2194.06 2164.12 2448.00 3472.06 0 0 0 12.52 15.45 15.09

3348.19 11303 127.35 1.40 0.00 2177.6 2192.8 2162.4 2448.4 3471.7 381.81 4.58 451 3399.91 44.35 0.20 3.33 1.422 0.085 0.055 1981.91 2006.00 1957.81 2491.19 2179.25 0 0 0 12.39 15.37 15.34

3698.20 16386 127.35 1.40 0.00 1969.8 1997.2 1942.4 2491.9 2179.2 350.87 10.47 491 3699.53 0.00 0.00 0.00 0.000 0.000 0.000 1970.50 1998.50 1942.50 2491.69 2179.62 0 0 0 30.00 30.00 30.00

3998.23 16386 127.35 1.40 0.00 1967.8 1996.6 1938.9 2491.4 2179.4 323.57 8.85 521 3999.56 0.00 0.00 0.00 0.000 0.000 0.000 1968.19 1997.25 1939.12 2491.81 2179.44 0 0 0 30.00 30.00 30.00

4298.26 16646 127.35 1.40 80.00 1966.6 1996.4 1936.9 2491.8 2178.8 298.77 8.01 551 4303.87 0.00 0.00 3.58 0.000 0.000 0.118 1965.50 1995.75 1935.25 2491.94 3475.06 0 0 0 30.00 30.00 15.83

4483.32 17414 127.35 1.40 0.00 1966.4 1995.9 1936.8 2491.9 3475.5 282.83 8.98 588 4487.88 0.00 0.00 3.24 0.000 0.000 0.057 1969.00 1998.31 1939.69 2491.62 2181.81 0 0 0 30.00 30.00 15.85

4793.37 16966 127.35 1.45 -80.00 1965.7 1995.9 1935.4 2491.5 2182.8 260.26 6.32 620 4799.12 0.00 0.00 4.05 0.000 0.000 0.137 1964.06 1994.56 1933.56 2491.38 737.50 0 0 0 30.00 30.00 15.86

4888.39 17414 127.35 1.45 0.00 1964.0 1992.9 1935.2 2491.4 737.6 252.85 7.70 639 4893.11 0.00 0.00 3.60 0.000 0.000 0.054 1964.03 1992.56 1935.50 2491.69 2216.56 0 0 0 30.00 30.00 15.89

5198.43 16710 127.35 1.47 80.00 1963.8 1993.2 1934.4 2492.2 2221.8 230.15 7.42 671 5202.99 0.00 0.00 3.42 0.000 0.000 0.118 1964.25 1993.50 1935.00 2492.31 3472.81 0 0 0 30.00 30.00 15.90

5268.43 17414 127.35 1.47 0.00 1963.6 1992.7 1934.5 2491.4 3473.6 223.80 8.89 685 5272.95 0.00 0.00 3.17 0.000 0.000 0.056 1963.78 1992.81 1934.75 2491.38 2178.75 0 0 0 30.00 30.00 15.86

5578.48 16386 127.35 1.47 0.00 1963.3 1993.1 1933.5 2491.8 2180.0 197.96 8.90 717 5579.82 0.00 0.00 0.00 0.000 0.000 0.000 1963.75 1993.31 1934.19 2492.00 2179.94 0 0 0 30.00 30.00 30.00

5878.55 16386 127.35 1.47 0.00 1962.8 1992.8 1932.8 2492.2 2180.1 172.88 8.05 747 5879.88 0.00 0.00 0.00 0.000 0.000 0.000 1963.34 1993.19 1933.50 2491.62 2180.31 0 0 0 30.00 30.00 30.00

6178.52 16386 127.35 1.47 0.00 1962.8 1992.9 1932.8 2492.0 2180.4 150.43 7.75 777 6179.85 0.00 0.00 0.00 0.000 0.000 0.000 1963.03 1992.94 1933.12 2491.50 2180.12 0 0 0 30.00 30.00 30.00

6478.55 16902 127.35 1.47 -80.00 1962.7 1993.1 1932.3 2491.9 2180.2 127.45 7.55 807 6484.39 0.00 0.00 4.02 0.000 0.000 0.133 1960.91 1990.62 1931.19 2491.62 735.50 0 0 0 30.00 30.00 15.89

6633.59 17414 127.35 1.47 0.00 1962.1 1991.5 1932.7 2491.8 735.7 114.17 8.04 838 6639.21 0.00 0.00 3.65 0.000 0.000 0.056 1960.69 1989.62 1931.75 2492.00 2224.25 0 0 0 30.00 30.00 15.92

6938.66 10535 177.34 1.62 80.00 1961.5 1990.8 1932.3 2492.1 2223.9 97.47 4.55 875 6985.30 39.44 0.25 3.48 1.187 0.077 0.117 1777.28 1808.94 1745.62 2542.69 3473.75 0 0 0 12.45 15.86 15.55

7018.65 9254 209.45 1.72 0.00 1773.2 1803.4 1743.0 2542.5 3473.6 92.92 5.80 891 7050.92 27.74 0.00 3.26 1.130 0.000 0.053 1644.72 1677.12 1612.31 2543.19 2180.00 0 0 0 12.52 30.00 15.64

7228.74 0 209.45 1.72 0.00 1640.0 1675.6 1604.4 2542.8 2180.1 72.12 11.25 933 7230.07 0.00 0.00 0.00 0.000 0.000 0.000 1640.06 1675.38 1604.75 2542.12 2179.75 0 0 0 30.00 30.00 30.00

7408.81 10535 258.70 1.87 80.00 1639.1 1675.2 1602.9 2542.6 2180.0 62.01 4.60 969 7455.55 40.66 0.31 3.65 1.116 0.069 0.113 1445.25 1480.88 1409.62 2602.50 3474.12 0 0 0 12.38 15.68 15.42

7498.84 1092 258.70 1.89 0.00 1442.5 1476.8 1408.1 2602.8 3474.1 55.78 7.20 987 7504.54 0.00 0.00 3.31 0.000 0.000 0.052 1443.28 1477.62 1408.94 2602.88 2180.69 0 0 0 30.00 30.00 15.53

7683.90 516 258.70 1.89 -80.00 1440.6 1476.9 1404.2 2602.8 2180.8 43.20 9.64 1024 7689.78 0.00 0.00 4.13 0.000 0.000 0.131 1440.69 1477.25 1404.12 2603.00 736.25 0 0 0 30.00 30.00 15.60

7914.06 1028 258.70 1.89 0.00 1439.3 1476.8 1401.8 2603.2 736.7 21.87 8.97 1070 7919.76 0.00 0.00 3.65 0.000 0.000 0.053 1439.09 1476.81 1401.38 2603.56 2223.50 0 0 0 30.00 30.00 15.70

8099.09 0 258.70 1.89 0.00 1438.1 1476.4 1399.8 2602.6 2223.7 5.48 7.64 1107 8100.42 0.00 0.00 0.00 0.000 0.000 0.000 1438.12 1476.31 1399.94 2603.12 2223.94 0 0 0 30.00 30.00 30.00

8138 end climb: SURFACE_DEPTH_REACHED

state 8138 begin surface coast

8158 end surface coast: CONTROL_FINISHED_OK

state 8159 begin surface

ID	236	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	428	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	425	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	990	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	FILEMGR	0	C_VBD	2500	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	120
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERS	1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	410	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	450	T_GPS	5	LOITER_D_TOP	150	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	250	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	1	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	180	RAFOS_PEAK_OFFSET	0	AH0_24V	575	GPS_DEVICE	48
T_LOITER	7200	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-1	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	190	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3920	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	990	C_PITCH	2140	FG_AHR_10V	41.356464	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	107.85882	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	80	PITCH_GAIN	20	PRESSURE_YINT	-170.66119	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00022638284	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72660	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	0	PITCH_W_GAIN	3	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	7.0
KALMAN_USE	2	ROLL_MIN	670	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	7.0
HD_A	0.003	ROLL_MAX	3465	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0099900002	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_PULSE	3

GPS1	311220,091640,4751.956,-12516.344,34,0.8,35,15.8	TGT_LATLONG	4747.280,-12520.390
_CALLS	2	TGT_RADIUS	7000.000
_SM_DEPTHo	0.87	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-60.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	311220,092356,4751.967,-12516.271,4,1.1,7,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.139,0.180	MHEAD_RNG_PITCHd_Wd	194.8,10081,-20.4,-8.049,-24.07
TGT_NAME	OUT9	D_GRID	383

SM_CCo	8324.25,2.09,0.277,0,768.4,764.8,772.1,424.75	_10V_AH	14.70,0.000
SM_GC	0.79,2.09,15.79,0.34,0.277,0.058,0.079,768.4,764.8,772.1,171.6,2066.8,0,0,0,12.30,15.77,15.81	FG_AHR_24Vo	108.024
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	41.399
IRIDIUM_FIX	4752.03,-12518.46,311220,091859	MEM	1100088,47,75720,114
TCM_TEMP	191.74	DATA_FILE_SIZE	41785,1119
XPDR_PINGS	3,14.0,11.5	CAP_FILE_SIZE	232737,0
SC_FREEKB	3700448	SDSIZE	3918848,3798912
HUMID	57.25	SDFILEDIR	2166,1
TEMP	8.68	ERRORS	0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.82943	GPS	311220,114338,4751.823,-12516.777,33,1.2,33,15.8
_24V_AH	14.22,127.235

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	507	2679	19330.70	legato	0	0	0.00
Pitch_motor	34	255	126.72	nil	0	0	0.00
Roll_motor	94	222	300.31	nil	0	0	0.00
Iridium	250	203	725.42	nil	0	0	0.00
Transponder_ping	0	420	4.48	nil	0	0	0.00
GPS	15	15	3.52	nil	0	0	0.00
Core	3553	11	616.45	SciCon	8191	11	1385.05
LPSleep	5182	2	213.30	nil	0	0	0.00
Compass	1870	5	137.45	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7.09	16386	-77.86	-1.25	0.00	762.6	763.8	761.4	170.2	2116.4	0.00	0.00	0	85.55	77.86	0.00	0.00	0.005	0.000	0.000	2465.12	2443.62	2486.62	170.25	2118.50	0	0	0	15.43	30.00	30.00
85.82	18983	-77.86	-1.25	-80.00	2464.0	2442.4	2485.6	170.5	2118.8	3.10	-3.81	15	117.69	8.79	14.05	4.26	0.007	0.255	0.156	2816.28	2813.25	2819.31	1836.19	663.25	0	0	0	15.47	15.54	15.43
340.47	1028	-77.86	-1.25	0.00	2816.1	2812.8	2819.3	1835.9	663.4	58.31	-17.19	66	346.28	0.00	0.00	3.58	0.000	0.000	0.055	2816.16	2813.06	2819.25	1835.62	2117.81	0	0	0	30.00	30.00	15.75
525.54	260	-77.86	-1.25	80.00	2815.9	2812.4	2819.5	1835.7	2117.2	85.98	-13.21	103	531.31	0.00	0.00	3.67	0.000	0.000	0.113	2818.75	2815.31	2822.19	1834.94	3472.50	0	0	0	30.00	30.00	15.80
755.60	1028	-77.86	-1.25	0.00	2816.7	2813.1	2820.4	1836.1	3472.6	115.70	-10.98	149	760.25	0.00	0.00	3.47	0.000	0.000	0.059	2819.28	2815.31	2823.25	1834.81	2081.88	0	0	0	30.00	30.00	15.85
1065.62	260	-77.86	-1.25	80.00	2816.5	2812.3	2820.7	1835.8	2082.0	149.15	-11.29	181	1071.34	0.00	0.00	3.79	0.000	0.000	0.112	2818.91	2815.25	2822.56	1834.62	3474.06	0	0	0	30.00	30.00	15.89
1214.49	1028	-77.86	-1.25	0.00	2816.7	2812.9	2820.4	1836.3	3473.6	169.59	-13.19	211	1221.40	0.00	0.00	3.48	0.000	0.000	0.060	2817.66	2813.38	2821.94	1835.94	2082.19	0	0	0	30.00	30.00	15.91
1520.72	0	-77.86	-1.25	0.00	2816.4	2812.5	2820.2	1836.1	2082.5	206.90	-12.22	242	1522.05	0.00	0.00	0.00	0.000	0.000	0.000	2817.09	2812.88	2821.31	1835.81	2082.44	0	0	0	30.00	30.00	30.00
1820.77	0	-77.86	-1.25	0.00	2816.3	2812.4	2820.3	1836.1	2082.8	241.32	-10.50	272	1822.10	0.00	0.00	0.00	0.000	0.000	0.000	2817.03	2812.31	2821.75	1835.75	2082.56	0	0	0	30.00	30.00	30.00
2120.83	0	-77.86	-1.25	0.00	2817.0	2812.8	2821.1	1835.6	2082.8	273.13	-10.44	302	2122.16	0.00	0.00	0.00	0.000	0.000	0.000	2817.16	2813.19	2821.12	1836.00	2082.62	0	0	0	30.00	30.00	30.00
2420.97	260	-77.86	-1.25	80.00	2816.8	2812.9	2820.8	1835.9	2082.6	303.23	-9.22	332	2426.66	0.00	0.00	3.81	0.000	0.000	0.118	2815.31	2811.56	2819.06	1835.88	3474.06	0	0	0	30.00	30.00	15.96
2506.00	1028	-77.86	-1.25	0.00	2816.4	2812.2	2820.6	1834.8	3473.6	313.01	-11.79	349	2510.59	0.00	0.00	3.48	0.000	0.000	0.063	2816.34	2812.31	2820.38	1835.50	2081.50	0	0	0	30.00	30.00	15.96
2816.00	260	-77.86	-1.25	80.00	2816.7	2812.8	2820.5	1835.7	2081.4	346.72	-11.44	381	2821.72	0.00	0.00	3.79	0.000	0.000	0.117	2815.03	2811.06	2819.00	1836.31	3474.56	0	0	0	30.00	30.00	15.97
2864.94	1028	-77.86	-1.25	0.00	2816.4	2812.2	2820.5	1836.0	3474.3	352.63	-11.72	391	2871.75	0.00	0.00	3.47	0.000	0.000	0.062	2818.78	2815.12	2822.44	1834.81	2083.31	0	0	0	30.00	30.00	15.95
3150	end dive: TARGET_DEPTH_EXCEEDED
state	3150	begin apogee
3152.33	10243	0.00	-0.25	0.00	2816.4	2812.5	2820.2	1836.1	2222.9	383.78	-10.49	420	3217.94	62.21	1.73	0.09	1.510	0.145	0.222	2499.00	2505.75	2492.25	2080.19	2183.44	0	0	0	12.49	15.89	15.39
3219	end apogee: CONTROL_FINISHED_OK
state	3219	begin climb
3219.84	10503	77.86	1.25	80.00	2498.0	2505.1	2490.9	2079.9	2183.8	386.62	0.00	426	3295.40	66.84	2.58	3.73	1.465	0.088	0.119	2179.09	2194.06	2164.12	2448.00	3472.06	0	0	0	12.52	15.45	15.09
3348.19	11303	127.35	1.40	0.00	2177.6	2192.8	2162.4	2448.4	3471.7	381.81	4.58	451	3399.91	44.35	0.20	3.33	1.422	0.085	0.055	1981.91	2006.00	1957.81	2491.19	2179.25	0	0	0	12.39	15.37	15.34
3698.20	16386	127.35	1.40	0.00	1969.8	1997.2	1942.4	2491.9	2179.2	350.87	10.47	491	3699.53	0.00	0.00	0.00	0.000	0.000	0.000	1970.50	1998.50	1942.50	2491.69	2179.62	0	0	0	30.00	30.00	30.00
3998.23	16386	127.35	1.40	0.00	1967.8	1996.6	1938.9	2491.4	2179.4	323.57	8.85	521	3999.56	0.00	0.00	0.00	0.000	0.000	0.000	1968.19	1997.25	1939.12	2491.81	2179.44	0	0	0	30.00	30.00	30.00
4298.26	16646	127.35	1.40	80.00	1966.6	1996.4	1936.9	2491.8	2178.8	298.77	8.01	551	4303.87	0.00	0.00	3.58	0.000	0.000	0.118	1965.50	1995.75	1935.25	2491.94	3475.06	0	0	0	30.00	30.00	15.83
4483.32	17414	127.35	1.40	0.00	1966.4	1995.9	1936.8	2491.9	3475.5	282.83	8.98	588	4487.88	0.00	0.00	3.24	0.000	0.000	0.057	1969.00	1998.31	1939.69	2491.62	2181.81	0	0	0	30.00	30.00	15.85
4793.37	16966	127.35	1.45	-80.00	1965.7	1995.9	1935.4	2491.5	2182.8	260.26	6.32	620	4799.12	0.00	0.00	4.05	0.000	0.000	0.137	1964.06	1994.56	1933.56	2491.38	737.50	0	0	0	30.00	30.00	15.86
4888.39	17414	127.35	1.45	0.00	1964.0	1992.9	1935.2	2491.4	737.6	252.85	7.70	639	4893.11	0.00	0.00	3.60	0.000	0.000	0.054	1964.03	1992.56	1935.50	2491.69	2216.56	0	0	0	30.00	30.00	15.89
5198.43	16710	127.35	1.47	80.00	1963.8	1993.2	1934.4	2492.2	2221.8	230.15	7.42	671	5202.99	0.00	0.00	3.42	0.000	0.000	0.118	1964.25	1993.50	1935.00	2492.31	3472.81	0	0	0	30.00	30.00	15.90
5268.43	17414	127.35	1.47	0.00	1963.6	1992.7	1934.5	2491.4	3473.6	223.80	8.89	685	5272.95	0.00	0.00	3.17	0.000	0.000	0.056	1963.78	1992.81	1934.75	2491.38	2178.75	0	0	0	30.00	30.00	15.86
5578.48	16386	127.35	1.47	0.00	1963.3	1993.1	1933.5	2491.8	2180.0	197.96	8.90	717	5579.82	0.00	0.00	0.00	0.000	0.000	0.000	1963.75	1993.31	1934.19	2492.00	2179.94	0	0	0	30.00	30.00	30.00
5878.55	16386	127.35	1.47	0.00	1962.8	1992.8	1932.8	2492.2	2180.1	172.88	8.05	747	5879.88	0.00	0.00	0.00	0.000	0.000	0.000	1963.34	1993.19	1933.50	2491.62	2180.31	0	0	0	30.00	30.00	30.00
6178.52	16386	127.35	1.47	0.00	1962.8	1992.9	1932.8	2492.0	2180.4	150.43	7.75	777	6179.85	0.00	0.00	0.00	0.000	0.000	0.000	1963.03	1992.94	1933.12	2491.50	2180.12	0	0	0	30.00	30.00	30.00
6478.55	16902	127.35	1.47	-80.00	1962.7	1993.1	1932.3	2491.9	2180.2	127.45	7.55	807	6484.39	0.00	0.00	4.02	0.000	0.000	0.133	1960.91	1990.62	1931.19	2491.62	735.50	0	0	0	30.00	30.00	15.89
6633.59	17414	127.35	1.47	0.00	1962.1	1991.5	1932.7	2491.8	735.7	114.17	8.04	838	6639.21	0.00	0.00	3.65	0.000	0.000	0.056	1960.69	1989.62	1931.75	2492.00	2224.25	0	0	0	30.00	30.00	15.92
6938.66	10535	177.34	1.62	80.00	1961.5	1990.8	1932.3	2492.1	2223.9	97.47	4.55	875	6985.30	39.44	0.25	3.48	1.187	0.077	0.117	1777.28	1808.94	1745.62	2542.69	3473.75	0	0	0	12.45	15.86	15.55
7018.65	9254	209.45	1.72	0.00	1773.2	1803.4	1743.0	2542.5	3473.6	92.92	5.80	891	7050.92	27.74	0.00	3.26	1.130	0.000	0.053	1644.72	1677.12	1612.31	2543.19	2180.00	0	0	0	12.52	30.00	15.64
7228.74	0	209.45	1.72	0.00	1640.0	1675.6	1604.4	2542.8	2180.1	72.12	11.25	933	7230.07	0.00	0.00	0.00	0.000	0.000	0.000	1640.06	1675.38	1604.75	2542.12	2179.75	0	0	0	30.00	30.00	30.00
7408.81	10535	258.70	1.87	80.00	1639.1	1675.2	1602.9	2542.6	2180.0	62.01	4.60	969	7455.55	40.66	0.31	3.65	1.116	0.069	0.113	1445.25	1480.88	1409.62	2602.50	3474.12	0	0	0	12.38	15.68	15.42
7498.84	1092	258.70	1.89	0.00	1442.5	1476.8	1408.1	2602.8	3474.1	55.78	7.20	987	7504.54	0.00	0.00	3.31	0.000	0.000	0.052	1443.28	1477.62	1408.94	2602.88	2180.69	0	0	0	30.00	30.00	15.53
7683.90	516	258.70	1.89	-80.00	1440.6	1476.9	1404.2	2602.8	2180.8	43.20	9.64	1024	7689.78	0.00	0.00	4.13	0.000	0.000	0.131	1440.69	1477.25	1404.12	2603.00	736.25	0	0	0	30.00	30.00	15.60
7914.06	1028	258.70	1.89	0.00	1439.3	1476.8	1401.8	2603.2	736.7	21.87	8.97	1070	7919.76	0.00	0.00	3.65	0.000	0.000	0.053	1439.09	1476.81	1401.38	2603.56	2223.50	0	0	0	30.00	30.00	15.70
8099.09	0	258.70	1.89	0.00	1438.1	1476.4	1399.8	2602.6	2223.7	5.48	7.64	1107	8100.42	0.00	0.00	0.00	0.000	0.000	0.000	1438.12	1476.31	1399.94	2603.12	2223.94	0	0	0	30.00	30.00	30.00
8138	end climb: SURFACE_DEPTH_REACHED
state	8138	begin surface coast
8158	end surface coast: CONTROL_FINISHED_OK
state	8159	begin surface