Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 94 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

MISSION 2 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 94 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 475 ROLL_MAXERRORS 1 XPDR_INT -1

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP -1

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 990 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -3.0999999

D_ABORT 1000 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3020 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0013 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 410 T_GPS 5 W_ADJ_DBAND 3 LOGGERDEVICE2 -1

T_MISSION 470 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_BATHY -1 PITCH_MIN 200 AH0_24V 575 NAV_DEVICE -1

USE_ICE 0 PITCH_MAX 3920 AH0_10V 0 NAV2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2340 MINV_24V 0 NETWORK_DEVICE -1

D_OFFGRID 1000 PITCH_DBAND 0.050000001 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 0 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

APOGEE_PITCH -5 PITCH_GAIN 12 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 110 PITCH_TIMEOUT 30 FG_AHR_10V 10.328599 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 30.175863 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.0275 PITCH_ADJ_DBAND 0 PRESSURE_YINT -170.23515 SEABIRD_T_J 4.3e-06

MASS 72293 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022672296 SEABIRD_C_G -10

NAV_MODE 0 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 3 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 700 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 3350 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 1000 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 0 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 990 N_NOCOMM 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 10.328599 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 30.175863 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.050000001 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 12 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3920 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 236 PITCH_VBD_SHIFT 0.0013 T_DIVE 410

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_USE 49156 INT_PRESSURE_YINT -3.0999999 PITCH_W_GAIN 3 T_GPS 5

C_PITCH 2340 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022672296 T_MISSION 470

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -170.23515 T_NO_W 120

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3020 LOGGERS 1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.0275 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72293 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 110 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 0 ROLL_MAX 3350 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 94 MISSION 2 ROLL_MIN 700 W_ADJ_DBAND 3

D_ABORT 1000 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_BOOST 0 NAV2_DEVICE -1 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE -1 SC_PROFILE 7.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 0 SC_RECORDABOVE 2000.0 XPDR_REP -1

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE -1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 220623,012937,4751.767,-12512.264,3,1.2,6,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,013401,4751.725,-12512.245,3,1.2,5,15.8 MHEAD_RNG_PITCHd_Wd 219.1,166433,-17.1,-8.049,-21.16,2007,0.276

SPEED_LIMITS 0.139,0.208 D_GRID 249

TGT_NAME OFFSHORE IRON 1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.572571,-595.407471,-574.239685

TGT_LATLONG 4700.000,-12700.000 OSC 8000225

Post-dive calculations and measurements:

FINISH 0.0,1.024392 FG_AHR_24Vo 30.332

SURF forcing FG_AHR_10Vo 10.379

SM_CCo 6101.97,175.76,0.937,0,1084.8,1097.9,1071.8,474.70 MEM0 60116,1,0,0

SM_GC 1.46,175.76,20.09,0.07,0.937,0.042,0.158,1084.8,1097.9,1071.8,189.1,2070.4,0,0,0,12.86,16.04,16.00 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 970856,18,76212,57

IRIDIUM_FIX 4752.57,-12511.36,210623,235551 DATA_FILE_SIZE 25723,912

TCM_TEMP 257.98 CAP_FILE_SIZE 217772,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,3986848

SC_FREEKB 3843072 SDFILEDIR 599,95

HUMID 50.02 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.29 MAGCAL 1.000000,0.023260,0.004680,-0.012816,1.057091,0.009116,-0.033739,-0.101091,1.061399,227.3,-581.1,-623.8,36,0.0296,0

INTERNAL_PRESSURE 8.9227 IMPLIED_C_PITCH 2361,12.55,573,0.0,0.00

_24V_AH 14.90,48.034 IMPLIED_C_VBD 3258,37.630440,293,0

_10V_AH 14.99,0.000 GPS 220623,031639,4751.287,-12512.718,26,0.9,27,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 625 1212 11290.54 nil 0 0 0.00

Pitch_motor 44 250 165.77 nil 0 0 0.00

Roll_motor 84 194 244.88 nil 0 0 0.00

Iridium 182 224 608.21 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.13 nil 0 0 0.00

Core 3194 6 325.65 SciCon 5891 20 1845.42

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2946 2 88.34

Compass 1870 5 140.17

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8.92 16386 -107.06 -1.56 0.00 1092.8 1100.2 1085.3 190.6 2128.1 0.00 0.00 0 80.83 70.29 0.00 0.00 0.005 0.000 0.000 2571.12 2569.62 2572.62 190.38 2128.81 0 0 0 15.78 30.00 30.00

81.27 18727 -107.06 -1.56 80.00 2571.1 2569.9 2572.2 190.2 2128.5 3.16 -2.78 14 132.18 22.45 16.67 3.25 0.006 0.250 0.103 3457.38 3442.69 3472.06 1960.50 3361.12 0 0 0 15.80 15.75 15.76

285.49 1028 -107.06 -1.56 0.00 3458.8 3445.8 3471.8 1960.8 3360.4 37.19 -15.43 54 292.15 0.00 0.00 3.09 0.000 0.000 0.051 3459.00 3445.25 3472.75 1960.38 2071.44 0 0 0 30.00 30.00 15.92

475.63 516 -107.06 -1.56 -80.00 3458.8 3445.7 3471.9 1960.5 2071.4 63.98 -12.69 92 482.31 0.00 0.00 3.63 0.000 0.000 0.119 3459.88 3446.69 3473.06 1961.19 689.75 0 0 0 30.00 30.00 15.92

540.71 1028 -107.06 -1.56 0.00 3459.1 3445.8 3472.4 1960.8 689.8 71.95 -11.91 105 547.28 0.00 0.00 3.42 0.000 0.000 0.054 3461.03 3447.75 3474.31 1960.81 2130.19 0 0 0 30.00 30.00 15.96

730.72 260 -107.06 -1.56 80.00 3459.3 3445.4 3473.1 1960.7 2129.8 91.20 -11.63 143 737.16 0.00 0.00 3.19 0.000 0.000 0.100 3461.00 3447.12 3474.88 1961.12 3360.81 0 0 0 30.00 30.00 15.97

820.73 1028 -107.06 -1.56 0.00 3458.8 3445.8 3471.8 1961.2 3361.2 102.13 -12.34 161 826.37 0.00 0.00 3.07 0.000 0.000 0.050 3460.69 3447.19 3474.19 1960.56 2068.12 0 0 0 30.00 30.00 16.02

1130.74 516 -107.06 -1.56 -80.00 3459.7 3445.6 3473.7 1960.9 2068.5 134.42 -9.80 193 1136.60 0.00 0.00 3.60 0.000 0.000 0.119 3461.09 3447.38 3474.81 1961.81 691.00 0 0 0 30.00 30.00 16.04

1215.00 1028 -107.06 -1.56 0.00 3459.3 3445.3 3473.4 1960.8 691.1 143.55 -10.66 210 1222.34 0.00 0.00 3.40 0.000 0.000 0.053 3459.81 3445.62 3474.00 1961.38 2130.25 0 0 0 30.00 30.00 16.06

1530.77 260 -107.06 -1.56 80.00 3460.1 3445.5 3474.7 1961.3 2130.1 172.79 -9.83 242 1536.71 0.00 0.00 3.16 0.000 0.000 0.101 3460.69 3445.56 3475.81 1960.75 3360.69 0 0 0 30.00 30.00 16.05

1580.80 1028 -107.06 -1.56 0.00 3460.1 3446.1 3474.2 1961.0 3360.8 178.05 -10.82 252 1586.61 0.00 0.00 3.05 0.000 0.000 0.050 3461.72 3447.50 3475.94 1960.25 2069.31 0 0 0 30.00 30.00 16.09

1890.84 0 -107.06 -1.56 0.00 3460.4 3446.3 3474.5 1961.2 2069.8 210.63 -10.49 284 1892.41 0.00 0.00 0.00 0.000 0.000 0.000 3459.50 3445.62 3473.38 1960.88 2070.06 0 0 0 30.00 30.00 30.00

2200.87 516 -107.06 -1.56 -80.00 3460.2 3446.0 3474.5 1960.9 2069.8 241.81 -9.68 315 2206.96 0.00 0.00 3.62 0.000 0.000 0.122 3461.53 3446.81 3476.25 1961.06 690.81 0 0 0 30.00 30.00 16.10

2270 end dive: TARGET_DEPTH_EXCEEDED

state 2271 begin apogee

2277.38 10243 0.00 -0.42 0.00 3460.3 3446.1 3474.4 1960.7 2176.4 249.33 -10.70 329 2366.43 80.64 2.37 0.09 1.212 0.124 0.195 3017.38 2989.12 3045.62 2239.88 2117.69 0 0 0 12.88 16.09 15.75

2371 end apogee: CONTROL_FINISHED_OK

state 2371 begin climb

2374.39 10503 107.06 1.56 80.00 3016.7 2988.0 3045.3 2239.8 2118.4 251.48 0.00 338 2476.00 85.39 3.77 3.29 1.173 0.062 0.097 2581.69 2554.38 2609.00 2727.94 3361.69 0 0 0 12.82 15.85 15.55

2558.79 17414 107.06 1.56 0.00 2574.8 2544.0 2605.6 2727.0 3360.4 241.48 7.77 373 2566.09 0.00 0.00 2.98 0.000 0.000 0.049 2576.84 2545.44 2608.25 2727.38 2118.06 0 0 0 30.00 30.00 15.79

2874.61 16966 107.06 1.62 -80.00 2569.6 2539.3 2599.9 2727.8 2117.9 219.47 6.28 405 2881.72 0.00 0.00 3.70 0.000 0.000 0.111 2568.53 2538.62 2598.44 2728.00 688.75 0 0 0 30.00 30.00 15.94

3110.26 17478 107.06 1.64 0.00 2567.2 2539.2 2595.1 2727.5 688.7 203.80 7.15 452 3116.27 0.00 0.00 3.56 0.000 0.000 0.057 2567.62 2539.19 2596.06 2729.06 2178.69 0 0 0 30.00 30.00 15.97

3420.26 18499 107.06 1.71 0.00 2566.5 2537.9 2595.1 2728.3 2180.2 184.43 5.77 484 3422.06 0.00 0.22 0.00 0.000 0.051 0.000 2569.16 2540.25 2598.06 2772.94 2180.12 0 0 0 30.00 16.04 30.00

3730.28 16710 107.06 1.75 80.00 2564.4 2534.9 2593.9 2774.0 2180.2 164.94 6.97 515 3736.06 0.00 0.00 3.03 0.000 0.000 0.099 2566.41 2537.44 2595.38 2774.00 3361.62 0 0 0 30.00 30.00 16.04

3964.57 17478 107.06 1.80 0.00 2565.5 2536.2 2594.8 2773.4 3361.4 148.09 6.28 562 3971.79 0.00 0.00 2.93 0.000 0.000 0.052 2566.28 2536.81 2595.75 2773.56 2115.44 0 0 0 30.00 30.00 16.09

4280.34 10535 179.80 1.89 80.00 2564.6 2534.1 2595.1 2773.4 2115.8 134.85 4.32 594 4366.00 74.58 0.20 3.24 1.045 0.051 0.099 2287.09 2255.38 2318.81 2819.75 3361.00 0 0 0 12.92 16.10 15.78

4594.58 21511 179.80 1.89 0.00 2277.9 2240.1 2315.7 2819.8 3361.0 97.49 12.47 656 4601.38 0.00 0.34 2.96 0.000 0.158 0.052 2277.97 2240.06 2315.88 2793.75 2118.31 0 0 0 30.00 15.91 15.97

4784.78 16646 179.80 1.89 80.00 2275.7 2239.1 2312.4 2793.1 2118.8 80.64 9.04 694 4791.43 0.00 0.00 3.19 0.000 0.000 0.096 2278.06 2241.56 2314.56 2793.81 3362.81 0 0 0 30.00 30.00 15.94

4899.86 17414 179.80 1.89 0.00 2275.1 2238.5 2311.6 2793.8 3362.6 68.40 10.25 717 4906.35 0.00 0.00 2.96 0.000 0.000 0.051 2278.03 2241.12 2314.94 2793.19 2119.25 0 0 0 30.00 30.00 16.00

5089.91 10535 291.38 2.04 80.00 2274.3 2237.3 2311.2 2794.1 2119.9 61.50 2.34 755 5217.94 115.90 0.35 3.25 0.977 0.042 0.097 1832.25 1805.94 1858.56 2847.50 3361.31 0 0 0 12.83 16.05 15.64

5401.48 5125 291.38 2.04 0.00 1829.0 1801.1 1856.8 2848.0 3361.1 35.78 12.84 816 5408.20 0.00 0.27 2.98 0.000 0.151 0.051 1831.09 1803.19 1859.00 2830.31 2121.06 0 0 0 30.00 15.83 15.85

5591.71 260 291.38 2.04 80.00 1828.2 1799.6 1856.8 2830.1 2121.4 18.39 7.61 854 5598.37 0.00 0.00 3.20 0.000 0.000 0.096 1829.88 1800.88 1858.88 2830.12 3362.19 0 0 0 30.00 30.00 15.92

5826.85 3141 291.38 2.10 0.00 1826.9 1796.9 1856.9 2830.4 3361.7 2.68 6.04 901 5833.52 0.00 0.22 2.93 0.000 0.054 0.050 1828.25 1798.44 1858.06 2862.19 2119.38 0 0 0 30.00 15.97 15.98

5841 end climb: SURFACE_DEPTH_REACHED

state 5842 begin surface coast

5882 end surface coast: CONTROL_FINISHED_OK

state 5882 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
MISSION	2	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	94	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	475	ROLL_MAXERRORS	1	XPDR_INT	-1
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	-1
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	990	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-3.0999999
D_ABORT	1000	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3020	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0013	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	410	T_GPS	5	W_ADJ_DBAND	3	LOGGERDEVICE2	-1
T_MISSION	470	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_BATHY	-1	PITCH_MIN	200	AH0_24V	575	NAV_DEVICE	-1
USE_ICE	0	PITCH_MAX	3920	AH0_10V	0	NAV2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2340	MINV_24V	0	NETWORK_DEVICE	-1
D_OFFGRID	1000	PITCH_DBAND	0.050000001	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	0	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
APOGEE_PITCH	-5	PITCH_GAIN	12	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	110	PITCH_TIMEOUT	30	FG_AHR_10V	10.328599	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	30.175863	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.0275	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-170.23515	SEABIRD_T_J	4.3e-06
MASS	72293	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022672296	SEABIRD_C_G	-10
NAV_MODE	0	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	3	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	700	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	3350	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13

GPS1	220623,012937,4751.767,-12512.264,3,1.2,6,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,013401,4751.725,-12512.245,3,1.2,5,15.8	MHEAD_RNG_PITCHd_Wd	219.1,166433,-17.1,-8.049,-21.16,2007,0.276
SPEED_LIMITS	0.139,0.208	D_GRID	249
TGT_NAME	OFFSHORE	IRON	1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.572571,-595.407471,-574.239685
TGT_LATLONG	4700.000,-12700.000	OSC	8000225

FINISH	0.0,1.024392	FG_AHR_24Vo	30.332
SURF	forcing	FG_AHR_10Vo	10.379
SM_CCo	6101.97,175.76,0.937,0,1084.8,1097.9,1071.8,474.70	MEM0	60116,1,0,0
SM_GC	1.46,175.76,20.09,0.07,0.937,0.042,0.158,1084.8,1097.9,1071.8,189.1,2070.4,0,0,0,12.86,16.04,16.00	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	970856,18,76212,57
IRIDIUM_FIX	4752.57,-12511.36,210623,235551	DATA_FILE_SIZE	25723,912
TCM_TEMP	257.98	CAP_FILE_SIZE	217772,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,3986848
SC_FREEKB	3843072	SDFILEDIR	599,95
HUMID	50.02	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.29	MAGCAL	1.000000,0.023260,0.004680,-0.012816,1.057091,0.009116,-0.033739,-0.101091,1.061399,227.3,-581.1,-623.8,36,0.0296,0
INTERNAL_PRESSURE	8.9227	IMPLIED_C_PITCH	2361,12.55,573,0.0,0.00
_24V_AH	14.90,48.034	IMPLIED_C_VBD	3258,37.630440,293,0
_10V_AH	14.99,0.000	GPS	220623,031639,4751.287,-12512.718,26,0.9,27,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	625	1212	11290.54	nil	0	0	0.00
Pitch_motor	44	250	165.77	nil	0	0	0.00
Roll_motor	84	194	244.88	nil	0	0	0.00
Iridium	182	224	608.21	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.13	nil	0	0	0.00
Core	3194	6	325.65	SciCon	5891	20	1845.42
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2946	2	88.34
Compass	1870	5	140.17
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8.92	16386	-107.06	-1.56	0.00	1092.8	1100.2	1085.3	190.6	2128.1	0.00	0.00	0	80.83	70.29	0.00	0.00	0.005	0.000	0.000	2571.12	2569.62	2572.62	190.38	2128.81	0	0	0	15.78	30.00	30.00
81.27	18727	-107.06	-1.56	80.00	2571.1	2569.9	2572.2	190.2	2128.5	3.16	-2.78	14	132.18	22.45	16.67	3.25	0.006	0.250	0.103	3457.38	3442.69	3472.06	1960.50	3361.12	0	0	0	15.80	15.75	15.76
285.49	1028	-107.06	-1.56	0.00	3458.8	3445.8	3471.8	1960.8	3360.4	37.19	-15.43	54	292.15	0.00	0.00	3.09	0.000	0.000	0.051	3459.00	3445.25	3472.75	1960.38	2071.44	0	0	0	30.00	30.00	15.92
475.63	516	-107.06	-1.56	-80.00	3458.8	3445.7	3471.9	1960.5	2071.4	63.98	-12.69	92	482.31	0.00	0.00	3.63	0.000	0.000	0.119	3459.88	3446.69	3473.06	1961.19	689.75	0	0	0	30.00	30.00	15.92
540.71	1028	-107.06	-1.56	0.00	3459.1	3445.8	3472.4	1960.8	689.8	71.95	-11.91	105	547.28	0.00	0.00	3.42	0.000	0.000	0.054	3461.03	3447.75	3474.31	1960.81	2130.19	0	0	0	30.00	30.00	15.96
730.72	260	-107.06	-1.56	80.00	3459.3	3445.4	3473.1	1960.7	2129.8	91.20	-11.63	143	737.16	0.00	0.00	3.19	0.000	0.000	0.100	3461.00	3447.12	3474.88	1961.12	3360.81	0	0	0	30.00	30.00	15.97
820.73	1028	-107.06	-1.56	0.00	3458.8	3445.8	3471.8	1961.2	3361.2	102.13	-12.34	161	826.37	0.00	0.00	3.07	0.000	0.000	0.050	3460.69	3447.19	3474.19	1960.56	2068.12	0	0	0	30.00	30.00	16.02
1130.74	516	-107.06	-1.56	-80.00	3459.7	3445.6	3473.7	1960.9	2068.5	134.42	-9.80	193	1136.60	0.00	0.00	3.60	0.000	0.000	0.119	3461.09	3447.38	3474.81	1961.81	691.00	0	0	0	30.00	30.00	16.04
1215.00	1028	-107.06	-1.56	0.00	3459.3	3445.3	3473.4	1960.8	691.1	143.55	-10.66	210	1222.34	0.00	0.00	3.40	0.000	0.000	0.053	3459.81	3445.62	3474.00	1961.38	2130.25	0	0	0	30.00	30.00	16.06
1530.77	260	-107.06	-1.56	80.00	3460.1	3445.5	3474.7	1961.3	2130.1	172.79	-9.83	242	1536.71	0.00	0.00	3.16	0.000	0.000	0.101	3460.69	3445.56	3475.81	1960.75	3360.69	0	0	0	30.00	30.00	16.05
1580.80	1028	-107.06	-1.56	0.00	3460.1	3446.1	3474.2	1961.0	3360.8	178.05	-10.82	252	1586.61	0.00	0.00	3.05	0.000	0.000	0.050	3461.72	3447.50	3475.94	1960.25	2069.31	0	0	0	30.00	30.00	16.09
1890.84	0	-107.06	-1.56	0.00	3460.4	3446.3	3474.5	1961.2	2069.8	210.63	-10.49	284	1892.41	0.00	0.00	0.00	0.000	0.000	0.000	3459.50	3445.62	3473.38	1960.88	2070.06	0	0	0	30.00	30.00	30.00
2200.87	516	-107.06	-1.56	-80.00	3460.2	3446.0	3474.5	1960.9	2069.8	241.81	-9.68	315	2206.96	0.00	0.00	3.62	0.000	0.000	0.122	3461.53	3446.81	3476.25	1961.06	690.81	0	0	0	30.00	30.00	16.10
2270	end dive: TARGET_DEPTH_EXCEEDED
state	2271	begin apogee
2277.38	10243	0.00	-0.42	0.00	3460.3	3446.1	3474.4	1960.7	2176.4	249.33	-10.70	329	2366.43	80.64	2.37	0.09	1.212	0.124	0.195	3017.38	2989.12	3045.62	2239.88	2117.69	0	0	0	12.88	16.09	15.75
2371	end apogee: CONTROL_FINISHED_OK
state	2371	begin climb
2374.39	10503	107.06	1.56	80.00	3016.7	2988.0	3045.3	2239.8	2118.4	251.48	0.00	338	2476.00	85.39	3.77	3.29	1.173	0.062	0.097	2581.69	2554.38	2609.00	2727.94	3361.69	0	0	0	12.82	15.85	15.55
2558.79	17414	107.06	1.56	0.00	2574.8	2544.0	2605.6	2727.0	3360.4	241.48	7.77	373	2566.09	0.00	0.00	2.98	0.000	0.000	0.049	2576.84	2545.44	2608.25	2727.38	2118.06	0	0	0	30.00	30.00	15.79
2874.61	16966	107.06	1.62	-80.00	2569.6	2539.3	2599.9	2727.8	2117.9	219.47	6.28	405	2881.72	0.00	0.00	3.70	0.000	0.000	0.111	2568.53	2538.62	2598.44	2728.00	688.75	0	0	0	30.00	30.00	15.94
3110.26	17478	107.06	1.64	0.00	2567.2	2539.2	2595.1	2727.5	688.7	203.80	7.15	452	3116.27	0.00	0.00	3.56	0.000	0.000	0.057	2567.62	2539.19	2596.06	2729.06	2178.69	0	0	0	30.00	30.00	15.97
3420.26	18499	107.06	1.71	0.00	2566.5	2537.9	2595.1	2728.3	2180.2	184.43	5.77	484	3422.06	0.00	0.22	0.00	0.000	0.051	0.000	2569.16	2540.25	2598.06	2772.94	2180.12	0	0	0	30.00	16.04	30.00
3730.28	16710	107.06	1.75	80.00	2564.4	2534.9	2593.9	2774.0	2180.2	164.94	6.97	515	3736.06	0.00	0.00	3.03	0.000	0.000	0.099	2566.41	2537.44	2595.38	2774.00	3361.62	0	0	0	30.00	30.00	16.04
3964.57	17478	107.06	1.80	0.00	2565.5	2536.2	2594.8	2773.4	3361.4	148.09	6.28	562	3971.79	0.00	0.00	2.93	0.000	0.000	0.052	2566.28	2536.81	2595.75	2773.56	2115.44	0	0	0	30.00	30.00	16.09
4280.34	10535	179.80	1.89	80.00	2564.6	2534.1	2595.1	2773.4	2115.8	134.85	4.32	594	4366.00	74.58	0.20	3.24	1.045	0.051	0.099	2287.09	2255.38	2318.81	2819.75	3361.00	0	0	0	12.92	16.10	15.78
4594.58	21511	179.80	1.89	0.00	2277.9	2240.1	2315.7	2819.8	3361.0	97.49	12.47	656	4601.38	0.00	0.34	2.96	0.000	0.158	0.052	2277.97	2240.06	2315.88	2793.75	2118.31	0	0	0	30.00	15.91	15.97
4784.78	16646	179.80	1.89	80.00	2275.7	2239.1	2312.4	2793.1	2118.8	80.64	9.04	694	4791.43	0.00	0.00	3.19	0.000	0.000	0.096	2278.06	2241.56	2314.56	2793.81	3362.81	0	0	0	30.00	30.00	15.94
4899.86	17414	179.80	1.89	0.00	2275.1	2238.5	2311.6	2793.8	3362.6	68.40	10.25	717	4906.35	0.00	0.00	2.96	0.000	0.000	0.051	2278.03	2241.12	2314.94	2793.19	2119.25	0	0	0	30.00	30.00	16.00
5089.91	10535	291.38	2.04	80.00	2274.3	2237.3	2311.2	2794.1	2119.9	61.50	2.34	755	5217.94	115.90	0.35	3.25	0.977	0.042	0.097	1832.25	1805.94	1858.56	2847.50	3361.31	0	0	0	12.83	16.05	15.64
5401.48	5125	291.38	2.04	0.00	1829.0	1801.1	1856.8	2848.0	3361.1	35.78	12.84	816	5408.20	0.00	0.27	2.98	0.000	0.151	0.051	1831.09	1803.19	1859.00	2830.31	2121.06	0	0	0	30.00	15.83	15.85
5591.71	260	291.38	2.04	80.00	1828.2	1799.6	1856.8	2830.1	2121.4	18.39	7.61	854	5598.37	0.00	0.00	3.20	0.000	0.000	0.096	1829.88	1800.88	1858.88	2830.12	3362.19	0	0	0	30.00	30.00	15.92
5826.85	3141	291.38	2.10	0.00	1826.9	1796.9	1856.9	2830.4	3361.7	2.68	6.04	901	5833.52	0.00	0.22	2.93	0.000	0.054	0.050	1828.25	1798.44	1858.06	2862.19	2119.38	0	0	0	30.00	15.97	15.98
5841	end climb: SURFACE_DEPTH_REACHED
state	5842	begin surface coast
5882	end surface coast: CONTROL_FINISHED_OK
state	5882	begin surface