Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 929 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

MISSION 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 929 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 475 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 500 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 2 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 150 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 195 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 0 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 70.11599 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 224.19754 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 160 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 10 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 100 SC_NDIVE 1.0

HD_B 0.0099900002 ROLL_DEG 80 ALTIM_PING_DELTA 10

HD_C 1.6e-05 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 575 D_SURF 2 N_NOCOMM 2 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 10 D_TGT 500 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 475

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 70.11599 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 224.19754 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 4 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 150

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 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 PROTOCOL 9 T_MISSION 195

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 2100 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 160 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 929 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 240321,095802,4708.247,-12459.113,5,1.2,32,15.6 TGT_LATLONG 4708.000,-12500.600

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.73 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -53.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240321,100352,4708.241,-12459.062,2,0.6,4,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.275 MHEAD_RNG_PITCHd_Wd 241.5,1987,-18.7,-11.111,-22.02

TGT_NAME HOLD D_GRID 199

Post-dive calculations and measurements:

SM_CCo 3472.33,126.51,0.999,0,563.0,574.0,552.1,475.14 _24V_AH 14.44,260.225

SM_GC -0.53,126.51,16.25,3.44,0.999,0.063,0.046,563.0,574.0,552.1,170.3,2125.7,0,0,0,11.20,15.52,15.70 _10V_AH 14.82,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 224.376

IRIDIUM_FIX 4707.10,-12459.52,240321,085958 FG_AHR_10Vo 70.130

TCM_TEMP 175.96 MEM 1103696,38,73452,56

XPDR_PINGS 6,14.0,11.5 DATA_FILE_SIZE 19438,575

ALTIM_BOTTOM_PING 183.1,11.6 CAP_FILE_SIZE 310900,0

SC_FREEKB 3503360 SDSIZE 3918848,3664576

HUMID 58.77 SDFILEDIR 4671,1

TEMP 8.77 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.82163 GPS 240321,110214,4708.217,-12459.465,1,0.8,3,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 645 1217 11346.41 legato 0 0 0.00

Pitch_motor 35 245 126.83 nil 0 0 0.00

Roll_motor 109 212 334.74 nil 0 0 0.00

Iridium 164 196 466.57 nil 0 0 0.00

Transponder_ping 4 420 24.26 nil 0 0 0.00

GPS 13 15 2.89 nil 0 0 0.00

Core 2531 11 442.67 SciCon 3367 7 365.31

LPSleep 1108 2 45.99 nil 0 0 0.00

Compass 1393 5 103.24 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 10 30 4.45

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

7.44 16386 -155.72 -1.40 0.00 560.3 569.6 551.1 165.4 2083.2 0.00 0.00 0 98.26 90.29 0.00 0.00 0.005 0.000 0.000 2634.31 2612.62 2656.00 165.38 2082.88 0 0 0 14.61 30.00 30.00

98.54 18983 -155.72 -1.40 -80.00 2633.2 2612.0 2654.4 165.2 2082.5 3.15 -9.09 17 135.63 11.34 13.98 4.05 0.007 0.245 0.150 3134.66 3127.50 3141.81 1799.81 662.69 0 0 0 14.78 15.27 14.64

169.30 1028 -155.72 -1.40 0.00 3133.4 3126.1 3140.8 1799.6 662.9 18.54 -20.08 31 175.02 0.00 0.00 3.55 0.000 0.000 0.052 3134.31 3127.00 3141.62 1799.81 2120.94 0 0 0 30.00 30.00 15.65

233.88 0 -155.72 -1.40 0.00 3133.4 3125.9 3141.0 1800.0 2120.9 30.48 -17.90 44 238.20 0.00 0.00 0.00 0.000 0.000 0.000 3134.44 3126.38 3142.50 1799.81 2121.31 0 0 0 30.00 30.00 30.00

298.89 260 -155.72 -1.40 80.00 3133.4 3125.2 3141.5 1800.1 2121.1 42.65 -18.10 57 305.07 0.00 0.00 3.63 0.000 0.000 0.110 3135.09 3127.25 3142.94 1799.31 3474.00 0 0 0 30.00 30.00 15.56

334.34 1028 -155.72 -1.40 0.00 3133.7 3125.8 3141.6 1799.8 3475.0 49.32 -19.07 64 340.04 0.00 0.00 3.42 0.000 0.000 0.056 3135.09 3127.38 3142.81 1799.75 2081.06 0 0 0 30.00 30.00 15.66

398.92 260 -155.72 -1.40 80.00 3133.3 3125.3 3141.4 1800.5 2080.4 60.97 -18.32 77 405.11 0.00 0.00 3.75 0.000 0.000 0.108 3134.09 3126.62 3141.56 1799.81 3474.38 0 0 0 30.00 30.00 15.58

489.37 1028 -155.72 -1.40 0.00 3133.3 3125.2 3141.4 1799.6 3474.3 77.01 -18.25 95 495.06 0.00 0.00 3.39 0.000 0.000 0.056 3133.31 3125.69 3140.94 1799.56 2082.44 0 0 0 30.00 30.00 15.67

553.95 516 -155.72 -1.40 -80.00 3133.2 3125.4 3141.1 1800.4 2081.9 86.60 -13.88 108 560.18 0.00 0.00 4.00 0.000 0.000 0.148 3134.78 3127.25 3142.31 1799.81 662.94 0 0 0 30.00 30.00 15.48

579.39 1028 -155.72 -1.40 0.00 3133.7 3126.4 3140.9 1800.1 662.9 90.35 -14.70 113 585.09 0.00 0.00 3.48 0.000 0.000 0.048 3133.88 3126.31 3141.44 1799.69 2123.31 0 0 0 30.00 30.00 15.74

643.97 260 -155.72 -1.40 80.00 3133.5 3125.7 3141.4 1799.6 2123.2 99.64 -14.17 126 650.78 0.00 0.00 3.56 0.000 0.000 0.108 3133.53 3126.12 3140.94 1800.25 3476.00 0 0 0 30.00 30.00 15.61

664.44 1028 -155.72 -1.40 0.00 3133.7 3125.9 3141.4 1799.1 3475.9 102.50 -14.32 130 670.12 0.00 0.00 3.38 0.000 0.000 0.053 3134.56 3126.94 3142.19 1800.06 2079.88 0 0 0 30.00 30.00 15.69

729.01 0 -155.72 -1.40 0.00 3133.5 3125.9 3141.1 1799.7 2080.3 110.72 -12.27 143 733.33 0.00 0.00 0.00 0.000 0.000 0.000 3134.19 3126.38 3142.00 1799.38 2080.00 0 0 0 30.00 30.00 30.00

794.02 260 -155.72 -1.40 80.00 3133.7 3125.6 3141.7 1800.0 2080.2 118.81 -12.61 156 800.21 0.00 0.00 3.70 0.000 0.000 0.105 3134.50 3126.75 3142.25 1799.56 3475.88 0 0 0 30.00 30.00 15.61

844.48 1028 -155.72 -1.40 0.00 3132.8 3125.1 3140.6 1799.9 3475.4 125.53 -13.74 166 850.39 0.00 0.00 3.36 0.000 0.000 0.053 3134.66 3127.19 3142.12 1799.50 2081.44 0 0 0 30.00 30.00 15.71

909.05 516 -155.72 -1.40 -80.00 3133.3 3125.6 3141.1 1800.1 2081.6 134.13 -12.81 179 915.26 0.00 0.00 3.98 0.000 0.000 0.148 3133.75 3126.12 3141.38 1799.75 661.94 0 0 0 30.00 30.00 15.49

939.49 1028 -155.72 -1.40 0.00 3133.1 3125.8 3140.4 1799.4 662.1 138.19 -13.55 185 945.19 0.00 0.00 3.46 0.000 0.000 0.046 3134.59 3126.88 3142.31 1799.50 2123.94 0 0 0 30.00 30.00 15.76

1004.07 0 -155.72 -1.40 0.00 3133.3 3125.8 3140.8 1799.9 2124.1 146.28 -11.92 198 1008.39 0.00 0.00 0.00 0.000 0.000 0.000 3134.91 3127.44 3142.38 1799.19 2123.81 0 0 0 30.00 30.00 30.00

1069.06 0 -155.72 -1.40 0.00 3133.7 3125.9 3141.5 1800.2 2124.2 154.20 -12.44 208 1070.39 0.00 0.00 0.00 0.000 0.000 0.000 3134.25 3126.62 3141.88 1800.00 2124.38 0 0 0 30.00 30.00 30.00

1339 end dive: BOTTOM_OBSTACLE_DETECTED

state 1339 begin apogee

1340.23 10243 0.00 -0.25 0.00 3133.7 3126.2 3141.1 1799.4 2081.9 185.29 -11.12 235 1463.96 120.96 2.06 0.08 1.218 0.137 0.212 2497.97 2507.31 2488.62 2080.06 2117.12 0 0 0 10.88 15.64 14.99

1467 end apogee: CONTROL_FINISHED_OK

state 1467 begin climb

1466.74 10243 155.72 1.40 0.00 2497.1 2506.6 2487.5 2080.0 2120.8 189.32 0.00 247 1599.21 128.26 2.82 0.00 1.170 0.079 0.000 1864.59 1893.88 1835.31 2483.69 2121.00 0 0 0 11.65 15.25 30.00

1895.19 10791 198.38 1.53 -80.00 1853.8 1887.5 1820.1 2484.8 2121.0 155.09 9.05 291 1937.29 35.78 0.17 4.11 1.113 0.077 0.135 1690.34 1723.62 1657.06 2530.00 663.00 0 0 0 11.19 15.63 15.18

2095.99 1028 198.38 1.53 0.00 1685.0 1715.8 1654.3 2530.8 662.6 129.78 13.56 331 2101.72 0.00 0.00 3.53 0.000 0.000 0.046 1685.12 1715.75 1654.50 2530.75 2126.81 0 0 0 30.00 30.00 15.62

2160.58 16902 198.38 1.53 -80.00 1683.0 1715.3 1650.7 2530.8 2126.6 122.55 10.98 344 2166.82 0.00 0.00 4.05 0.000 0.000 0.128 1684.12 1716.25 1652.00 2530.38 661.94 0 0 0 30.00 30.00 15.48

2186.01 17414 198.38 1.53 0.00 1683.1 1715.3 1650.9 2530.4 661.9 119.97 10.62 349 2191.73 0.00 0.00 3.48 0.000 0.000 0.044 1683.22 1715.50 1650.94 2530.88 2126.88 0 0 0 30.00 30.00 15.67

2250.61 16710 198.38 1.55 80.00 1682.3 1714.8 1649.8 2530.8 2126.8 113.42 10.44 362 2256.74 0.00 0.00 3.58 0.000 0.000 0.107 1682.78 1715.69 1649.88 2530.62 3475.00 0 0 0 30.00 30.00 15.56

2325.67 17414 198.38 1.55 0.00 1681.8 1714.9 1648.7 2530.7 3474.1 105.11 11.37 377 2331.30 0.00 0.00 3.37 0.000 0.000 0.051 1682.16 1715.19 1649.12 2530.56 2077.81 0 0 0 30.00 30.00 15.69

2390.63 16966 198.38 1.58 -80.00 1682.1 1715.1 1649.1 2530.6 2077.7 98.13 10.09 390 2396.83 0.00 0.00 3.88 0.000 0.000 0.131 1682.44 1715.31 1649.56 2530.25 661.62 0 0 0 30.00 30.00 15.51

2486.09 17414 198.38 1.58 0.00 1682.0 1714.7 1649.3 2531.1 661.7 88.18 10.62 409 2491.35 0.00 0.00 3.44 0.000 0.000 0.043 1683.50 1715.94 1651.06 2529.94 2129.12 0 0 0 30.00 30.00 15.73

2550.68 10535 262.91 1.77 80.00 1681.7 1714.6 1648.7 2531.1 2129.3 82.91 7.99 422 2618.09 59.09 0.24 3.61 1.064 0.065 0.109 1427.91 1462.12 1393.69 2588.62 3473.81 0 0 0 11.05 15.71 15.15

2641.39 1028 262.91 1.77 0.00 1426.1 1460.5 1391.7 2588.9 3473.3 73.60 11.59 440 2647.50 0.00 0.00 3.39 0.000 0.000 0.052 1426.53 1461.19 1391.88 2587.88 2074.31 0 0 0 30.00 30.00 15.49

2706.43 580 262.91 1.82 -80.00 1425.2 1460.7 1389.7 2589.2 2074.9 66.99 9.68 453 2712.59 0.00 0.00 3.90 0.000 0.000 0.132 1425.78 1461.44 1390.12 2588.75 661.38 0 0 0 30.00 30.00 15.41

2746.82 1028 262.91 1.82 0.00 1425.2 1460.9 1389.6 2589.0 661.8 62.54 11.29 461 2752.52 0.00 0.00 3.47 0.000 0.000 0.043 1425.53 1460.94 1390.12 2588.38 2127.50 0 0 0 30.00 30.00 15.60

2811.42 64 262.91 1.85 0.00 1424.6 1460.6 1388.6 2589.1 2127.8 55.72 10.03 474 2815.75 0.00 0.00 0.00 0.000 0.000 0.000 1424.91 1461.12 1388.69 2588.88 2127.94 0 0 0 30.00 30.00 30.00

2876.43 10535 334.88 2.07 80.00 1424.0 1460.2 1387.8 2588.9 2128.0 50.69 7.63 487 2958.15 72.93 0.32 3.64 1.024 0.057 0.108 1134.34 1168.12 1100.56 2654.88 3474.06 0 0 0 11.23 15.64 15.09

3021.41 1028 334.88 2.07 0.00 1132.0 1165.9 1098.1 2654.1 3473.4 35.47 12.96 516 3027.13 0.00 0.00 3.42 0.000 0.000 0.051 1132.03 1166.00 1098.06 2654.00 2077.88 0 0 0 30.00 30.00 15.51

3086.44 0 334.88 2.07 0.00 1131.2 1165.8 1096.7 2654.6 2077.6 27.47 12.15 529 3090.76 0.00 0.00 0.00 0.000 0.000 0.000 1131.50 1166.19 1096.81 2654.44 2077.81 0 0 0 30.00 30.00 30.00

3151.45 0 334.88 2.07 0.00 1130.8 1165.9 1095.7 2654.2 2077.8 20.20 11.69 542 3155.78 0.00 0.00 0.00 0.000 0.000 0.000 1130.78 1165.94 1095.62 2653.88 2077.50 0 0 0 30.00 30.00 30.00

3216.45 0 334.88 2.07 0.00 1130.4 1165.9 1094.9 2653.9 2077.8 12.90 10.96 555 3220.77 0.00 0.00 0.00 0.000 0.000 0.000 1130.78 1166.12 1095.44 2654.44 2077.75 0 0 0 30.00 30.00 30.00

3281.46 516 334.88 2.07 -80.00 1130.3 1166.1 1094.5 2653.8 2078.0 4.59 12.78 568 3287.24 0.00 0.00 3.91 0.000 0.000 0.133 1130.47 1166.31 1094.62 2654.44 661.75 0 0 0 30.00 30.00 15.47

3302 end climb: SURFACE_DEPTH_REACHED

state 3302 begin surface coast

3317 end surface coast: CONTROL_FINISHED_OK

state 3317 begin surface

ID	236	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
MISSION	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	929	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	475	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	500	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	2	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	150	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	195	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	0	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	70.11599	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	224.19754	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	160	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	10	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	100	SC_NDIVE	1.0
HD_B	0.0099900002	ROLL_DEG	80	ALTIM_PING_DELTA	10
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	240321,095802,4708.247,-12459.113,5,1.2,32,15.6	TGT_LATLONG	4708.000,-12500.600
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.73	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-53.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240321,100352,4708.241,-12459.062,2,0.6,4,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.275	MHEAD_RNG_PITCHd_Wd	241.5,1987,-18.7,-11.111,-22.02
TGT_NAME	HOLD	D_GRID	199

SM_CCo	3472.33,126.51,0.999,0,563.0,574.0,552.1,475.14	_24V_AH	14.44,260.225
SM_GC	-0.53,126.51,16.25,3.44,0.999,0.063,0.046,563.0,574.0,552.1,170.3,2125.7,0,0,0,11.20,15.52,15.70	_10V_AH	14.82,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	224.376
IRIDIUM_FIX	4707.10,-12459.52,240321,085958	FG_AHR_10Vo	70.130
TCM_TEMP	175.96	MEM	1103696,38,73452,56
XPDR_PINGS	6,14.0,11.5	DATA_FILE_SIZE	19438,575
ALTIM_BOTTOM_PING	183.1,11.6	CAP_FILE_SIZE	310900,0
SC_FREEKB	3503360	SDSIZE	3918848,3664576
HUMID	58.77	SDFILEDIR	4671,1
TEMP	8.77	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.82163	GPS	240321,110214,4708.217,-12459.465,1,0.8,3,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	645	1217	11346.41	legato	0	0	0.00
Pitch_motor	35	245	126.83	nil	0	0	0.00
Roll_motor	109	212	334.74	nil	0	0	0.00
Iridium	164	196	466.57	nil	0	0	0.00
Transponder_ping	4	420	24.26	nil	0	0	0.00
GPS	13	15	2.89	nil	0	0	0.00
Core	2531	11	442.67	SciCon	3367	7	365.31
LPSleep	1108	2	45.99	nil	0	0	0.00
Compass	1393	5	103.24	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	10	30	4.45

		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
7.44	16386	-155.72	-1.40	0.00	560.3	569.6	551.1	165.4	2083.2	0.00	0.00	0	98.26	90.29	0.00	0.00	0.005	0.000	0.000	2634.31	2612.62	2656.00	165.38	2082.88	0	0	0	14.61	30.00	30.00
98.54	18983	-155.72	-1.40	-80.00	2633.2	2612.0	2654.4	165.2	2082.5	3.15	-9.09	17	135.63	11.34	13.98	4.05	0.007	0.245	0.150	3134.66	3127.50	3141.81	1799.81	662.69	0	0	0	14.78	15.27	14.64
169.30	1028	-155.72	-1.40	0.00	3133.4	3126.1	3140.8	1799.6	662.9	18.54	-20.08	31	175.02	0.00	0.00	3.55	0.000	0.000	0.052	3134.31	3127.00	3141.62	1799.81	2120.94	0	0	0	30.00	30.00	15.65
233.88	0	-155.72	-1.40	0.00	3133.4	3125.9	3141.0	1800.0	2120.9	30.48	-17.90	44	238.20	0.00	0.00	0.00	0.000	0.000	0.000	3134.44	3126.38	3142.50	1799.81	2121.31	0	0	0	30.00	30.00	30.00
298.89	260	-155.72	-1.40	80.00	3133.4	3125.2	3141.5	1800.1	2121.1	42.65	-18.10	57	305.07	0.00	0.00	3.63	0.000	0.000	0.110	3135.09	3127.25	3142.94	1799.31	3474.00	0	0	0	30.00	30.00	15.56
334.34	1028	-155.72	-1.40	0.00	3133.7	3125.8	3141.6	1799.8	3475.0	49.32	-19.07	64	340.04	0.00	0.00	3.42	0.000	0.000	0.056	3135.09	3127.38	3142.81	1799.75	2081.06	0	0	0	30.00	30.00	15.66
398.92	260	-155.72	-1.40	80.00	3133.3	3125.3	3141.4	1800.5	2080.4	60.97	-18.32	77	405.11	0.00	0.00	3.75	0.000	0.000	0.108	3134.09	3126.62	3141.56	1799.81	3474.38	0	0	0	30.00	30.00	15.58
489.37	1028	-155.72	-1.40	0.00	3133.3	3125.2	3141.4	1799.6	3474.3	77.01	-18.25	95	495.06	0.00	0.00	3.39	0.000	0.000	0.056	3133.31	3125.69	3140.94	1799.56	2082.44	0	0	0	30.00	30.00	15.67
553.95	516	-155.72	-1.40	-80.00	3133.2	3125.4	3141.1	1800.4	2081.9	86.60	-13.88	108	560.18	0.00	0.00	4.00	0.000	0.000	0.148	3134.78	3127.25	3142.31	1799.81	662.94	0	0	0	30.00	30.00	15.48
579.39	1028	-155.72	-1.40	0.00	3133.7	3126.4	3140.9	1800.1	662.9	90.35	-14.70	113	585.09	0.00	0.00	3.48	0.000	0.000	0.048	3133.88	3126.31	3141.44	1799.69	2123.31	0	0	0	30.00	30.00	15.74
643.97	260	-155.72	-1.40	80.00	3133.5	3125.7	3141.4	1799.6	2123.2	99.64	-14.17	126	650.78	0.00	0.00	3.56	0.000	0.000	0.108	3133.53	3126.12	3140.94	1800.25	3476.00	0	0	0	30.00	30.00	15.61
664.44	1028	-155.72	-1.40	0.00	3133.7	3125.9	3141.4	1799.1	3475.9	102.50	-14.32	130	670.12	0.00	0.00	3.38	0.000	0.000	0.053	3134.56	3126.94	3142.19	1800.06	2079.88	0	0	0	30.00	30.00	15.69
729.01	0	-155.72	-1.40	0.00	3133.5	3125.9	3141.1	1799.7	2080.3	110.72	-12.27	143	733.33	0.00	0.00	0.00	0.000	0.000	0.000	3134.19	3126.38	3142.00	1799.38	2080.00	0	0	0	30.00	30.00	30.00
794.02	260	-155.72	-1.40	80.00	3133.7	3125.6	3141.7	1800.0	2080.2	118.81	-12.61	156	800.21	0.00	0.00	3.70	0.000	0.000	0.105	3134.50	3126.75	3142.25	1799.56	3475.88	0	0	0	30.00	30.00	15.61
844.48	1028	-155.72	-1.40	0.00	3132.8	3125.1	3140.6	1799.9	3475.4	125.53	-13.74	166	850.39	0.00	0.00	3.36	0.000	0.000	0.053	3134.66	3127.19	3142.12	1799.50	2081.44	0	0	0	30.00	30.00	15.71
909.05	516	-155.72	-1.40	-80.00	3133.3	3125.6	3141.1	1800.1	2081.6	134.13	-12.81	179	915.26	0.00	0.00	3.98	0.000	0.000	0.148	3133.75	3126.12	3141.38	1799.75	661.94	0	0	0	30.00	30.00	15.49
939.49	1028	-155.72	-1.40	0.00	3133.1	3125.8	3140.4	1799.4	662.1	138.19	-13.55	185	945.19	0.00	0.00	3.46	0.000	0.000	0.046	3134.59	3126.88	3142.31	1799.50	2123.94	0	0	0	30.00	30.00	15.76
1004.07	0	-155.72	-1.40	0.00	3133.3	3125.8	3140.8	1799.9	2124.1	146.28	-11.92	198	1008.39	0.00	0.00	0.00	0.000	0.000	0.000	3134.91	3127.44	3142.38	1799.19	2123.81	0	0	0	30.00	30.00	30.00
1069.06	0	-155.72	-1.40	0.00	3133.7	3125.9	3141.5	1800.2	2124.2	154.20	-12.44	208	1070.39	0.00	0.00	0.00	0.000	0.000	0.000	3134.25	3126.62	3141.88	1800.00	2124.38	0	0	0	30.00	30.00	30.00
1339	end dive: BOTTOM_OBSTACLE_DETECTED
state	1339	begin apogee
1340.23	10243	0.00	-0.25	0.00	3133.7	3126.2	3141.1	1799.4	2081.9	185.29	-11.12	235	1463.96	120.96	2.06	0.08	1.218	0.137	0.212	2497.97	2507.31	2488.62	2080.06	2117.12	0	0	0	10.88	15.64	14.99
1467	end apogee: CONTROL_FINISHED_OK
state	1467	begin climb
1466.74	10243	155.72	1.40	0.00	2497.1	2506.6	2487.5	2080.0	2120.8	189.32	0.00	247	1599.21	128.26	2.82	0.00	1.170	0.079	0.000	1864.59	1893.88	1835.31	2483.69	2121.00	0	0	0	11.65	15.25	30.00
1895.19	10791	198.38	1.53	-80.00	1853.8	1887.5	1820.1	2484.8	2121.0	155.09	9.05	291	1937.29	35.78	0.17	4.11	1.113	0.077	0.135	1690.34	1723.62	1657.06	2530.00	663.00	0	0	0	11.19	15.63	15.18
2095.99	1028	198.38	1.53	0.00	1685.0	1715.8	1654.3	2530.8	662.6	129.78	13.56	331	2101.72	0.00	0.00	3.53	0.000	0.000	0.046	1685.12	1715.75	1654.50	2530.75	2126.81	0	0	0	30.00	30.00	15.62
2160.58	16902	198.38	1.53	-80.00	1683.0	1715.3	1650.7	2530.8	2126.6	122.55	10.98	344	2166.82	0.00	0.00	4.05	0.000	0.000	0.128	1684.12	1716.25	1652.00	2530.38	661.94	0	0	0	30.00	30.00	15.48
2186.01	17414	198.38	1.53	0.00	1683.1	1715.3	1650.9	2530.4	661.9	119.97	10.62	349	2191.73	0.00	0.00	3.48	0.000	0.000	0.044	1683.22	1715.50	1650.94	2530.88	2126.88	0	0	0	30.00	30.00	15.67
2250.61	16710	198.38	1.55	80.00	1682.3	1714.8	1649.8	2530.8	2126.8	113.42	10.44	362	2256.74	0.00	0.00	3.58	0.000	0.000	0.107	1682.78	1715.69	1649.88	2530.62	3475.00	0	0	0	30.00	30.00	15.56
2325.67	17414	198.38	1.55	0.00	1681.8	1714.9	1648.7	2530.7	3474.1	105.11	11.37	377	2331.30	0.00	0.00	3.37	0.000	0.000	0.051	1682.16	1715.19	1649.12	2530.56	2077.81	0	0	0	30.00	30.00	15.69
2390.63	16966	198.38	1.58	-80.00	1682.1	1715.1	1649.1	2530.6	2077.7	98.13	10.09	390	2396.83	0.00	0.00	3.88	0.000	0.000	0.131	1682.44	1715.31	1649.56	2530.25	661.62	0	0	0	30.00	30.00	15.51
2486.09	17414	198.38	1.58	0.00	1682.0	1714.7	1649.3	2531.1	661.7	88.18	10.62	409	2491.35	0.00	0.00	3.44	0.000	0.000	0.043	1683.50	1715.94	1651.06	2529.94	2129.12	0	0	0	30.00	30.00	15.73
2550.68	10535	262.91	1.77	80.00	1681.7	1714.6	1648.7	2531.1	2129.3	82.91	7.99	422	2618.09	59.09	0.24	3.61	1.064	0.065	0.109	1427.91	1462.12	1393.69	2588.62	3473.81	0	0	0	11.05	15.71	15.15
2641.39	1028	262.91	1.77	0.00	1426.1	1460.5	1391.7	2588.9	3473.3	73.60	11.59	440	2647.50	0.00	0.00	3.39	0.000	0.000	0.052	1426.53	1461.19	1391.88	2587.88	2074.31	0	0	0	30.00	30.00	15.49
2706.43	580	262.91	1.82	-80.00	1425.2	1460.7	1389.7	2589.2	2074.9	66.99	9.68	453	2712.59	0.00	0.00	3.90	0.000	0.000	0.132	1425.78	1461.44	1390.12	2588.75	661.38	0	0	0	30.00	30.00	15.41
2746.82	1028	262.91	1.82	0.00	1425.2	1460.9	1389.6	2589.0	661.8	62.54	11.29	461	2752.52	0.00	0.00	3.47	0.000	0.000	0.043	1425.53	1460.94	1390.12	2588.38	2127.50	0	0	0	30.00	30.00	15.60
2811.42	64	262.91	1.85	0.00	1424.6	1460.6	1388.6	2589.1	2127.8	55.72	10.03	474	2815.75	0.00	0.00	0.00	0.000	0.000	0.000	1424.91	1461.12	1388.69	2588.88	2127.94	0	0	0	30.00	30.00	30.00
2876.43	10535	334.88	2.07	80.00	1424.0	1460.2	1387.8	2588.9	2128.0	50.69	7.63	487	2958.15	72.93	0.32	3.64	1.024	0.057	0.108	1134.34	1168.12	1100.56	2654.88	3474.06	0	0	0	11.23	15.64	15.09
3021.41	1028	334.88	2.07	0.00	1132.0	1165.9	1098.1	2654.1	3473.4	35.47	12.96	516	3027.13	0.00	0.00	3.42	0.000	0.000	0.051	1132.03	1166.00	1098.06	2654.00	2077.88	0	0	0	30.00	30.00	15.51
3086.44	0	334.88	2.07	0.00	1131.2	1165.8	1096.7	2654.6	2077.6	27.47	12.15	529	3090.76	0.00	0.00	0.00	0.000	0.000	0.000	1131.50	1166.19	1096.81	2654.44	2077.81	0	0	0	30.00	30.00	30.00
3151.45	0	334.88	2.07	0.00	1130.8	1165.9	1095.7	2654.2	2077.8	20.20	11.69	542	3155.78	0.00	0.00	0.00	0.000	0.000	0.000	1130.78	1165.94	1095.62	2653.88	2077.50	0	0	0	30.00	30.00	30.00
3216.45	0	334.88	2.07	0.00	1130.4	1165.9	1094.9	2653.9	2077.8	12.90	10.96	555	3220.77	0.00	0.00	0.00	0.000	0.000	0.000	1130.78	1166.12	1095.44	2654.44	2077.75	0	0	0	30.00	30.00	30.00
3281.46	516	334.88	2.07	-80.00	1130.3	1166.1	1094.5	2653.8	2078.0	4.59	12.78	568	3287.24	0.00	0.00	3.91	0.000	0.000	0.133	1130.47	1166.31	1094.62	2654.44	661.75	0	0	0	30.00	30.00	15.47
3302	end climb: SURFACE_DEPTH_REACHED
state	3302	begin surface coast
3317	end surface coast: CONTROL_FINISHED_OK
state	3317	begin surface