Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1061 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 6 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054949999 XPDR_VALID 6

DIVE 1061 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 2 XPDR_REP -1

D_SURF 4 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 425 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 FILEMGR 0 C_VBD 2775 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 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 4 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0020000001 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 0

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 390 CAPMAXSIZE 5000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 470 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 2 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 550 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 56

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3000 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2320 FG_AHR_10V 91.594101 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 277.59415 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 85 PITCH_GAIN 18 PRESSURE_YINT -14.5 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.0014504 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.0063095698 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0220051 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 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 550 D_SURF 4 N_NOCOMM 4 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 91.594101 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 277.59415 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 18 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3000 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0063095698 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0220051 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0020000001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 5000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 390

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 56 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.0014504 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -14.5 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 470

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 2

C_PITCH 2320 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 2320 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2775 LOGGERS 0 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0.029999999 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 2 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 60 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72946 ROLL_MAX 3825 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 215 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 85 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 1061 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1000 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 6 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP -1

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 6

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 1000 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 250122,192240,4750.413,-12511.712,16,1.5,17,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250122,193007,4750.390,-12511.711,3,1.5,8,15.9 MHEAD_RNG_PITCHd_Wd 331.2,3368,-25.2,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 229

TGT_NAME SHELF 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 4751.930,-12510.270

Post-dive calculations and measurements:

FINISH 0.2,1.022884 MEM0 60876,1,0,0

SM_CCo 5180.71,20.43,1.045,0,1042.9,1013.5,1072.3,424.88 MEM1 65508,1,0,0

SM_GC 0.73,20.43,16.64,0.62,1.045,0.052,0.052,1042.9,1013.5,1072.3,191.1,2359.1,0,0,0,11.19,15.85,15.91 MEM2 971404,27,75484,57

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 45058,1022

IRIDIUM_FIX 4750.34,-12512.13,250122,173354 CAP_FILE_SIZE 187300,0

TCM_TEMP 267.23 SDSIZE 4028416,3772128

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 3941,1

HUMID 50.71 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.08 CURRENT 0.175,156.3,1

INTERNAL_PRESSURE 8.89905 MAGCAL 1.000000,-0.197288,-0.367873,-0.087943,1.142601,-0.453900,0.284263,0.075390,1.324551,694.2,-163.8,-165.3,28,0.1079,0

_24V_AH 14.81,375.534 IMPLIED_C_PITCH 2372,12.38,793

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2713,49.490517,671

FG_AHR_24Vo 277.741 GPS 250122,205709,4750.287,-12511.647,21,1.1,21,15.9

FG_AHR_10Vo 91.610

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 471 1365 9542.02 legato 34 20 10.24

Pitch_motor 36 242 132.17 nil 0 0 0.00

Roll_motor 67 114 114.14 nil 0 0 0.00

Iridium 248 207 762.08 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 17 15 3.95 nil 0 0 0.00

Core 2288 11 405.09 SciCon 0 0 0.00

LPSleep 3228 2 135.59 nil 0 0 0.00

Compass 673 5 50.49 nil 0 0 0.00

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

2 end surface: CONTROL_FINISHED_OK

state 3 begin dive

5.79 16386 -82.73 -1.56 0.00 1034.2 1004.6 1063.9 175.7 2255.1 0.00 0.00 0 82.57 75.22 0.00 0.00 0.005 0.000 0.000 2903.41 3089.75 2717.06 175.81 2255.75 0 0 0 14.90 30.00 30.00

83.30 18727 -82.73 -1.56 60.00 2903.0 3088.8 2717.3 175.9 2255.5 3.84 -5.07 14 111.50 4.66 14.20 3.02 0.009 0.242 0.078 3111.81 3323.00 2900.62 1941.50 3427.88 0 0 0 15.00 15.48 15.00

203.59 1028 -82.73 -1.56 0.00 3113.2 3324.8 2901.8 1941.3 3428.2 26.03 -16.42 38 209.13 0.00 0.00 2.63 0.000 0.000 0.018 3113.75 3324.38 2903.12 1941.44 2255.06 0 0 0 30.00 30.00 15.85

393.99 0 -82.73 -1.56 0.00 3113.2 3324.5 2901.9 1941.8 2252.0 54.57 -14.79 76 395.32 0.00 0.00 0.00 0.000 0.000 0.000 3112.50 3324.31 2900.69 1941.62 2252.25 0 0 0 30.00 30.00 30.00

578.76 516 -82.73 -1.56 -60.00 3113.3 3324.8 2901.8 1941.7 2252.2 81.37 -13.68 113 584.18 0.00 0.00 2.59 0.000 0.000 0.064 3112.72 3323.94 2901.50 1941.75 1209.31 0 0 0 30.00 30.00 15.91

653.65 1028 -82.73 -1.56 0.10 3112.6 3323.9 2901.3 1942.0 1209.4 91.44 -12.96 128 659.21 0.00 0.00 2.65 0.000 0.000 0.025 3114.72 3324.94 2904.50 1941.38 2355.56 0 0 0 30.00 30.00 15.93

843.69 260 -82.73 -1.56 60.00 3112.9 3324.0 2901.8 1941.5 2354.9 112.29 -9.69 166 849.25 0.00 0.00 2.72 0.000 0.000 0.081 3113.44 3324.75 2902.12 1941.06 3427.44 0 0 0 30.00 30.00 15.92

903.70 1028 -82.73 -1.56 0.01 3113.1 3323.9 2902.2 1941.6 3426.3 118.13 -9.86 178 909.23 0.00 0.00 2.60 0.000 0.000 0.017 3113.53 3324.12 2902.94 1941.88 2246.75 0 0 0 30.00 30.00 15.95

1213.81 516 -82.73 -1.56 -60.00 3113.0 3323.8 2902.2 1941.8 2243.3 144.74 -8.88 240 1219.35 0.00 0.00 2.56 0.000 0.000 0.063 3113.31 3324.06 2902.56 1941.62 1208.00 0 0 0 30.00 30.00 15.97

1263.82 1028 -82.73 -1.56 -0.08 3113.3 3324.8 2901.9 1941.6 1207.8 149.60 -9.67 250 1269.37 0.00 0.00 2.65 0.000 0.000 0.025 3113.44 3324.31 2902.56 1941.88 2352.56 0 0 0 30.00 30.00 15.98

1573.93 516 -82.73 -1.56 -60.00 3113.0 3323.6 2902.4 1941.6 2352.6 180.32 -9.98 312 1579.50 0.00 0.00 2.81 0.000 0.000 0.058 3114.66 3324.94 2904.38 1940.94 1209.50 0 0 0 30.00 30.00 15.98

1618.93 1028 -82.73 -1.56 0.06 3113.1 3323.6 2902.6 1941.7 1209.3 185.01 -10.49 321 1624.49 0.00 0.00 2.65 0.000 0.000 0.025 3113.44 3323.31 2903.56 1941.69 2356.19 0 0 0 30.00 30.00 15.99

1929.16 516 -82.73 -1.56 -60.00 3112.8 3323.3 2902.2 1941.3 2356.1 211.70 -8.20 383 1934.62 0.00 0.00 2.82 0.000 0.000 0.058 3113.38 3324.00 2902.75 1941.81 1207.88 0 0 0 30.00 30.00 15.98

2004.07 1028 -82.73 -1.56 -0.11 3113.3 3323.9 2902.8 1941.6 1208.2 217.87 -8.44 398 2009.62 0.00 0.00 2.65 0.000 0.000 0.025 3113.34 3324.62 2902.06 1942.19 2353.25 0 0 0 30.00 30.00 16.00

2153 end dive: TARGET_DEPTH_EXCEEDED

state 2153 begin apogee

2156.02 10243 0.00 -0.28 0.00 3113.2 3323.8 2902.8 1941.5 2040.5 229.16 -7.34 428 2221.51 61.19 2.19 0.17 1.366 0.142 0.115 2774.50 2917.75 2631.25 2254.44 2157.12 0 0 0 10.86 15.85 15.45

2223 end apogee: CONTROL_FINISHED_OK

state 2223 begin climb

2224.09 11271 82.73 1.56 0.00 2773.8 2916.8 2630.9 2254.6 2165.5 230.64 0.00 441 2290.94 61.47 2.95 0.19 1.321 0.090 0.074 2437.47 2528.12 2346.81 2702.88 2030.44 0 0 0 11.90 15.67 15.77

2593.27 10275 156.99 1.71 0.00 2433.9 2527.9 2339.8 2702.8 2030.2 213.34 4.99 515 2651.97 56.77 0.19 0.00 1.295 0.080 0.000 2134.09 2186.12 2082.06 2746.50 2030.69 0 0 0 11.27 15.77 30.00

2954.27 8486 207.38 1.81 60.00 2129.8 2187.1 2072.4 2746.1 2030.2 188.56 6.11 587 3001.00 40.20 0.00 3.05 1.254 0.000 0.073 1929.03 1970.62 1887.44 2747.69 3204.75 0 0 0 11.21 30.00 15.43

3054.29 1092 207.38 1.84 -0.52 1926.2 1969.3 1883.0 2747.1 3205.6 182.12 6.99 607 3059.82 0.00 0.00 2.66 0.000 0.000 0.022 1926.75 1969.88 1883.62 2746.69 2048.50 0 0 0 30.00 30.00 15.75

3364.37 10535 276.08 1.98 60.00 1922.0 1969.8 1874.1 2747.2 2048.8 165.28 5.25 669 3423.79 53.79 0.31 2.99 1.251 0.062 0.072 1649.31 1675.44 1623.19 2813.88 3206.31 0 0 0 11.18 15.83 15.43

3466.07 1028 276.08 1.98 -0.27 1645.8 1675.4 1616.3 2814.5 3206.2 156.15 10.72 689 3471.44 0.00 0.00 2.66 0.000 0.000 0.022 1645.75 1675.88 1615.62 2814.12 2053.94 0 0 0 30.00 30.00 15.74

3776.01 16902 276.08 1.98 -60.00 1640.4 1675.5 1605.3 2813.7 2054.4 121.49 11.50 751 3781.74 0.00 0.00 2.71 0.000 0.000 0.078 1640.59 1675.94 1605.25 2813.69 993.56 0 0 0 30.00 30.00 15.84

3811.12 17414 276.08 1.98 -0.41 1639.5 1675.8 1603.2 2813.7 993.6 117.18 12.46 758 3816.56 0.00 0.00 2.65 0.000 0.000 0.021 1639.78 1676.38 1603.19 2814.56 2137.19 0 0 0 30.00 30.00 15.86

4121.13 8486 319.01 2.07 60.00 1638.0 1675.6 1600.4 2814.7 2136.8 89.39 6.46 820 4162.08 34.42 0.00 2.72 1.161 0.000 0.077 1474.34 1499.31 1449.38 2814.38 3204.94 0 0 0 11.14 30.00 15.49

4211.15 1092 319.01 2.08 0.00 1471.9 1499.2 1444.7 2813.9 3205.7 83.16 7.62 838 4216.69 0.00 0.00 2.63 0.000 0.000 0.022 1471.81 1499.75 1443.88 2814.62 2057.62 0 0 0 30.00 30.00 15.83

4401.60 10535 399.59 2.24 60.00 1469.2 1499.7 1438.6 2814.6 2057.9 72.97 4.70 876 4470.80 63.54 0.32 2.96 1.156 0.065 0.073 1145.81 1141.19 1150.44 2880.62 3205.50 0 0 0 11.35 15.84 15.43

4603.49 1028 399.59 2.24 0.31 1142.0 1141.5 1142.5 2880.6 3204.9 54.65 10.87 916 4608.87 0.00 0.00 2.63 0.000 0.000 0.022 1141.78 1141.75 1141.81 2880.81 2063.44 0 0 0 30.00 30.00 15.78

4793.73 260 399.59 2.24 60.00 1139.9 1141.9 1137.8 2880.7 2064.1 34.43 10.28 954 4799.14 0.00 0.00 2.92 0.000 0.000 0.072 1140.19 1142.19 1138.19 2880.38 3204.88 0 0 0 30.00 30.00 15.84

4993.38 1028 399.59 2.24 0.31 1138.9 1141.8 1135.9 2880.8 3205.0 13.40 10.54 994 4998.94 0.00 0.00 2.62 0.000 0.000 0.022 1139.44 1142.38 1136.50 2880.50 2064.44 0 0 0 30.00 30.00 15.89

5088 end climb: SURFACE_DEPTH_REACHED

state 5088 begin surface coast

5133 end surface coast: CONTROL_FINISHED_OK

state 5133 begin surface

ID	249	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	6	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054949999	XPDR_VALID	6
DIVE	1061	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	2	XPDR_REP	-1
D_SURF	4	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	425	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	FILEMGR	0	C_VBD	2775	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	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	4	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0020000001	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	0
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	390	CAPMAXSIZE	5000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	470	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	2	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	550	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	56
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3000	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2320	FG_AHR_10V	91.594101	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	277.59415	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	85	PITCH_GAIN	18	PRESSURE_YINT	-14.5	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.0014504	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.0063095698	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0220051	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	250122,192240,4750.413,-12511.712,16,1.5,17,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250122,193007,4750.390,-12511.711,3,1.5,8,15.9	MHEAD_RNG_PITCHd_Wd	331.2,3368,-25.2,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	229
TGT_NAME	SHELF	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	4751.930,-12510.270

FINISH	0.2,1.022884	MEM0	60876,1,0,0
SM_CCo	5180.71,20.43,1.045,0,1042.9,1013.5,1072.3,424.88	MEM1	65508,1,0,0
SM_GC	0.73,20.43,16.64,0.62,1.045,0.052,0.052,1042.9,1013.5,1072.3,191.1,2359.1,0,0,0,11.19,15.85,15.91	MEM2	971404,27,75484,57
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	45058,1022
IRIDIUM_FIX	4750.34,-12512.13,250122,173354	CAP_FILE_SIZE	187300,0
TCM_TEMP	267.23	SDSIZE	4028416,3772128
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	3941,1
HUMID	50.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.08	CURRENT	0.175,156.3,1
INTERNAL_PRESSURE	8.89905	MAGCAL	1.000000,-0.197288,-0.367873,-0.087943,1.142601,-0.453900,0.284263,0.075390,1.324551,694.2,-163.8,-165.3,28,0.1079,0
_24V_AH	14.81,375.534	IMPLIED_C_PITCH	2372,12.38,793
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2713,49.490517,671
FG_AHR_24Vo	277.741	GPS	250122,205709,4750.287,-12511.647,21,1.1,21,15.9
FG_AHR_10Vo	91.610

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	471	1365	9542.02	legato	34	20	10.24
Pitch_motor	36	242	132.17	nil	0	0	0.00
Roll_motor	67	114	114.14	nil	0	0	0.00
Iridium	248	207	762.08	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	17	15	3.95	nil	0	0	0.00
Core	2288	11	405.09	SciCon	0	0	0.00
LPSleep	3228	2	135.59	nil	0	0	0.00
Compass	673	5	50.49	nil	0	0	0.00
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
2	end surface: CONTROL_FINISHED_OK
state	3	begin dive
5.79	16386	-82.73	-1.56	0.00	1034.2	1004.6	1063.9	175.7	2255.1	0.00	0.00	0	82.57	75.22	0.00	0.00	0.005	0.000	0.000	2903.41	3089.75	2717.06	175.81	2255.75	0	0	0	14.90	30.00	30.00
83.30	18727	-82.73	-1.56	60.00	2903.0	3088.8	2717.3	175.9	2255.5	3.84	-5.07	14	111.50	4.66	14.20	3.02	0.009	0.242	0.078	3111.81	3323.00	2900.62	1941.50	3427.88	0	0	0	15.00	15.48	15.00
203.59	1028	-82.73	-1.56	0.00	3113.2	3324.8	2901.8	1941.3	3428.2	26.03	-16.42	38	209.13	0.00	0.00	2.63	0.000	0.000	0.018	3113.75	3324.38	2903.12	1941.44	2255.06	0	0	0	30.00	30.00	15.85
393.99	0	-82.73	-1.56	0.00	3113.2	3324.5	2901.9	1941.8	2252.0	54.57	-14.79	76	395.32	0.00	0.00	0.00	0.000	0.000	0.000	3112.50	3324.31	2900.69	1941.62	2252.25	0	0	0	30.00	30.00	30.00
578.76	516	-82.73	-1.56	-60.00	3113.3	3324.8	2901.8	1941.7	2252.2	81.37	-13.68	113	584.18	0.00	0.00	2.59	0.000	0.000	0.064	3112.72	3323.94	2901.50	1941.75	1209.31	0	0	0	30.00	30.00	15.91
653.65	1028	-82.73	-1.56	0.10	3112.6	3323.9	2901.3	1942.0	1209.4	91.44	-12.96	128	659.21	0.00	0.00	2.65	0.000	0.000	0.025	3114.72	3324.94	2904.50	1941.38	2355.56	0	0	0	30.00	30.00	15.93
843.69	260	-82.73	-1.56	60.00	3112.9	3324.0	2901.8	1941.5	2354.9	112.29	-9.69	166	849.25	0.00	0.00	2.72	0.000	0.000	0.081	3113.44	3324.75	2902.12	1941.06	3427.44	0	0	0	30.00	30.00	15.92
903.70	1028	-82.73	-1.56	0.01	3113.1	3323.9	2902.2	1941.6	3426.3	118.13	-9.86	178	909.23	0.00	0.00	2.60	0.000	0.000	0.017	3113.53	3324.12	2902.94	1941.88	2246.75	0	0	0	30.00	30.00	15.95
1213.81	516	-82.73	-1.56	-60.00	3113.0	3323.8	2902.2	1941.8	2243.3	144.74	-8.88	240	1219.35	0.00	0.00	2.56	0.000	0.000	0.063	3113.31	3324.06	2902.56	1941.62	1208.00	0	0	0	30.00	30.00	15.97
1263.82	1028	-82.73	-1.56	-0.08	3113.3	3324.8	2901.9	1941.6	1207.8	149.60	-9.67	250	1269.37	0.00	0.00	2.65	0.000	0.000	0.025	3113.44	3324.31	2902.56	1941.88	2352.56	0	0	0	30.00	30.00	15.98
1573.93	516	-82.73	-1.56	-60.00	3113.0	3323.6	2902.4	1941.6	2352.6	180.32	-9.98	312	1579.50	0.00	0.00	2.81	0.000	0.000	0.058	3114.66	3324.94	2904.38	1940.94	1209.50	0	0	0	30.00	30.00	15.98
1618.93	1028	-82.73	-1.56	0.06	3113.1	3323.6	2902.6	1941.7	1209.3	185.01	-10.49	321	1624.49	0.00	0.00	2.65	0.000	0.000	0.025	3113.44	3323.31	2903.56	1941.69	2356.19	0	0	0	30.00	30.00	15.99
1929.16	516	-82.73	-1.56	-60.00	3112.8	3323.3	2902.2	1941.3	2356.1	211.70	-8.20	383	1934.62	0.00	0.00	2.82	0.000	0.000	0.058	3113.38	3324.00	2902.75	1941.81	1207.88	0	0	0	30.00	30.00	15.98
2004.07	1028	-82.73	-1.56	-0.11	3113.3	3323.9	2902.8	1941.6	1208.2	217.87	-8.44	398	2009.62	0.00	0.00	2.65	0.000	0.000	0.025	3113.34	3324.62	2902.06	1942.19	2353.25	0	0	0	30.00	30.00	16.00
2153	end dive: TARGET_DEPTH_EXCEEDED
state	2153	begin apogee
2156.02	10243	0.00	-0.28	0.00	3113.2	3323.8	2902.8	1941.5	2040.5	229.16	-7.34	428	2221.51	61.19	2.19	0.17	1.366	0.142	0.115	2774.50	2917.75	2631.25	2254.44	2157.12	0	0	0	10.86	15.85	15.45
2223	end apogee: CONTROL_FINISHED_OK
state	2223	begin climb
2224.09	11271	82.73	1.56	0.00	2773.8	2916.8	2630.9	2254.6	2165.5	230.64	0.00	441	2290.94	61.47	2.95	0.19	1.321	0.090	0.074	2437.47	2528.12	2346.81	2702.88	2030.44	0	0	0	11.90	15.67	15.77
2593.27	10275	156.99	1.71	0.00	2433.9	2527.9	2339.8	2702.8	2030.2	213.34	4.99	515	2651.97	56.77	0.19	0.00	1.295	0.080	0.000	2134.09	2186.12	2082.06	2746.50	2030.69	0	0	0	11.27	15.77	30.00
2954.27	8486	207.38	1.81	60.00	2129.8	2187.1	2072.4	2746.1	2030.2	188.56	6.11	587	3001.00	40.20	0.00	3.05	1.254	0.000	0.073	1929.03	1970.62	1887.44	2747.69	3204.75	0	0	0	11.21	30.00	15.43
3054.29	1092	207.38	1.84	-0.52	1926.2	1969.3	1883.0	2747.1	3205.6	182.12	6.99	607	3059.82	0.00	0.00	2.66	0.000	0.000	0.022	1926.75	1969.88	1883.62	2746.69	2048.50	0	0	0	30.00	30.00	15.75
3364.37	10535	276.08	1.98	60.00	1922.0	1969.8	1874.1	2747.2	2048.8	165.28	5.25	669	3423.79	53.79	0.31	2.99	1.251	0.062	0.072	1649.31	1675.44	1623.19	2813.88	3206.31	0	0	0	11.18	15.83	15.43
3466.07	1028	276.08	1.98	-0.27	1645.8	1675.4	1616.3	2814.5	3206.2	156.15	10.72	689	3471.44	0.00	0.00	2.66	0.000	0.000	0.022	1645.75	1675.88	1615.62	2814.12	2053.94	0	0	0	30.00	30.00	15.74
3776.01	16902	276.08	1.98	-60.00	1640.4	1675.5	1605.3	2813.7	2054.4	121.49	11.50	751	3781.74	0.00	0.00	2.71	0.000	0.000	0.078	1640.59	1675.94	1605.25	2813.69	993.56	0	0	0	30.00	30.00	15.84
3811.12	17414	276.08	1.98	-0.41	1639.5	1675.8	1603.2	2813.7	993.6	117.18	12.46	758	3816.56	0.00	0.00	2.65	0.000	0.000	0.021	1639.78	1676.38	1603.19	2814.56	2137.19	0	0	0	30.00	30.00	15.86
4121.13	8486	319.01	2.07	60.00	1638.0	1675.6	1600.4	2814.7	2136.8	89.39	6.46	820	4162.08	34.42	0.00	2.72	1.161	0.000	0.077	1474.34	1499.31	1449.38	2814.38	3204.94	0	0	0	11.14	30.00	15.49
4211.15	1092	319.01	2.08	0.00	1471.9	1499.2	1444.7	2813.9	3205.7	83.16	7.62	838	4216.69	0.00	0.00	2.63	0.000	0.000	0.022	1471.81	1499.75	1443.88	2814.62	2057.62	0	0	0	30.00	30.00	15.83
4401.60	10535	399.59	2.24	60.00	1469.2	1499.7	1438.6	2814.6	2057.9	72.97	4.70	876	4470.80	63.54	0.32	2.96	1.156	0.065	0.073	1145.81	1141.19	1150.44	2880.62	3205.50	0	0	0	11.35	15.84	15.43
4603.49	1028	399.59	2.24	0.31	1142.0	1141.5	1142.5	2880.6	3204.9	54.65	10.87	916	4608.87	0.00	0.00	2.63	0.000	0.000	0.022	1141.78	1141.75	1141.81	2880.81	2063.44	0	0	0	30.00	30.00	15.78
4793.73	260	399.59	2.24	60.00	1139.9	1141.9	1137.8	2880.7	2064.1	34.43	10.28	954	4799.14	0.00	0.00	2.92	0.000	0.000	0.072	1140.19	1142.19	1138.19	2880.38	3204.88	0	0	0	30.00	30.00	15.84
4993.38	1028	399.59	2.24	0.31	1138.9	1141.8	1135.9	2880.8	3205.0	13.40	10.54	994	4998.94	0.00	0.00	2.62	0.000	0.000	0.022	1139.44	1142.38	1136.50	2880.50	2064.44	0	0	0	30.00	30.00	15.89
5088	end climb: SURFACE_DEPTH_REACHED
state	5088	begin surface coast
5133	end surface coast: CONTROL_FINISHED_OK
state	5133	begin surface