Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1186 * 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 1186 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 400 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 510 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 99.833321 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 311.60214 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 0.0039810701 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.029864 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 400

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 99.833321 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 311.60214 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 0.0039810701 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.029864 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 510

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 1186 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 280222,024630,4752.307,-12513.709,40,0.9,40,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,025254,4752.384,-12513.680,2,1.0,3,15.9 MHEAD_RNG_PITCHd_Wd 130.3,4320,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 191

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 0.2,1.024678 FG_AHR_10Vo 99.849

SM_CCo 5075.91,0.00,0.000,0,1106.7,1116.5,1096.8,409.24 MEM0 60876,1,0,0

SM_GC 0.63,0.00,16.49,0.57,0.000,0.053,0.052,1106.7,1116.5,1096.8,179.6,2353.7,0,0,0,30.00,15.86,15.90 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971316,30,75512,57

IRIDIUM_FIX 4751.64,-12513.98,280222,011022 DATA_FILE_SIZE 45048,994

TCM_TEMP 267.57 CAP_FILE_SIZE 182086,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3743680

HUMID 51.16 SDFILEDIR 4316,1

TEMP 82.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.91263 CURRENT 0.245,349.9,1

_24V_AH 14.77,424.351 IMPLIED_C_PITCH 2391,12.16,748

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2866,35.518169,687

FG_AHR_24Vo 311.738 GPS 280222,041756,4752.775,-12513.674,2,1.4,5,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 446 1319 8697.87 legato 34 20 10.24

Pitch_motor 36 234 125.83 nil 0 0 0.00

Roll_motor 67 110 110.53 nil 0 0 0.00

Iridium 192 206 588.26 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.88 nil 0 0 0.00

Core 2166 11 383.55 SciCon 0 0 0.00

LPSleep 3189 2 133.95 nil 0 0 0.00

Compass 655 5 49.17 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

5.93 16386 -82.73 -1.35 0.00 1140.7 1141.4 1139.9 175.8 2243.0 0.00 0.00 0 71.99 64.91 0.00 0.00 0.005 0.000 0.000 2720.91 2895.62 2546.19 175.88 2243.19 0 0 0 14.90 30.00 30.00

72.73 18727 -82.73 -1.35 60.00 2719.8 2894.1 2545.5 175.9 2243.2 3.00 -4.30 12 105.61 9.36 14.51 3.06 0.007 0.235 0.083 3110.88 3328.12 2893.62 1993.50 3425.00 0 0 0 15.07 15.45 14.92

117.67 1028 -82.73 -1.35 0.00 3111.0 3327.2 2894.8 1993.7 3424.2 11.97 -17.01 21 123.22 0.00 0.00 2.59 0.000 0.000 0.017 3112.44 3328.19 2896.69 1994.12 2238.19 0 0 0 30.00 30.00 15.84

308.08 260 -82.73 -1.35 60.00 3111.2 3327.2 2895.3 1993.6 2238.4 36.52 -12.48 59 313.30 0.00 0.00 3.00 0.000 0.000 0.077 3112.69 3328.50 2896.88 1993.62 3427.25 0 0 0 30.00 30.00 15.83

443.03 1028 -82.73 -1.35 0.37 3111.5 3325.8 2897.1 1993.5 3426.8 54.52 -12.99 86 448.32 0.00 0.00 2.58 0.000 0.000 0.017 3113.00 3327.38 2898.62 1993.69 2255.12 0 0 0 30.00 30.00 15.91

633.15 516 -82.73 -1.35 -60.00 3111.2 3325.8 2896.6 1992.9 2253.9 73.62 -8.65 124 638.28 0.00 0.00 2.55 0.000 0.000 0.063 3111.78 3326.38 2897.19 1994.12 1208.88 0 0 0 30.00 30.00 15.91

757.79 1028 -82.73 -1.35 -0.44 3111.4 3325.8 2897.0 1993.1 1208.9 84.82 -9.03 149 763.34 0.00 0.00 2.62 0.000 0.000 0.024 3111.16 3325.94 2896.38 1993.62 2346.94 0 0 0 30.00 30.00 15.95

947.85 260 -82.73 -1.35 60.00 3111.3 3326.0 2896.7 1993.5 2346.4 100.76 -8.11 187 953.42 0.00 0.00 2.73 0.000 0.000 0.080 3112.50 3327.12 2897.88 1993.88 3426.75 0 0 0 30.00 30.00 15.89

1057.88 1028 -82.73 -1.35 0.08 3111.2 3323.4 2898.9 1993.1 3426.4 110.65 -9.09 209 1063.42 0.00 0.00 2.59 0.000 0.000 0.017 3111.94 3323.44 2900.44 1993.75 2245.56 0 0 0 30.00 30.00 15.95

1368.00 260 -82.73 -1.35 60.00 3111.1 3323.1 2899.1 1993.5 2244.1 135.92 -7.37 271 1373.60 0.00 0.00 2.99 0.000 0.000 0.077 3112.06 3324.06 2900.06 1993.88 3426.12 0 0 0 30.00 30.00 15.89

1468.03 1028 -82.73 -1.35 0.26 3111.7 3323.8 2899.5 1993.6 3425.9 143.91 -7.87 291 1473.56 0.00 0.00 2.57 0.000 0.000 0.017 3111.84 3323.62 2900.06 1993.50 2248.62 0 0 0 30.00 30.00 15.96

1778.16 548 -82.73 -1.35 -60.00 3111.7 3324.1 2899.2 1993.2 2247.6 164.73 -6.42 353 1783.85 0.00 0.00 2.53 0.000 0.000 0.062 3113.69 3325.50 2901.88 1993.56 1207.94 0 0 0 30.00 30.00 15.94

1823.26 1028 -82.73 -1.35 0.37 3111.8 3323.6 2900.1 1993.4 1207.7 167.96 -7.10 362 1828.69 0.00 0.00 2.64 0.000 0.000 0.024 3112.56 3324.06 2901.06 1993.69 2363.69 0 0 0 30.00 30.00 15.97

2117 end dive: TARGET_DEPTH_EXCEEDED

state 2118 begin apogee

2120.15 10243 0.00 -0.28 0.00 3111.1 3323.3 2898.9 1993.2 2041.7 191.06 -7.20 421 2185.58 60.14 1.83 0.17 1.319 0.134 0.111 2773.88 2917.69 2630.06 2255.12 2168.50 0 0 0 10.79 15.82 15.41

2187 end apogee: CONTROL_FINISHED_OK

state 2187 begin climb

2188.32 11271 82.73 1.35 0.00 2774.0 2917.9 2630.1 2254.7 2168.8 193.46 0.00 434 2255.11 61.33 2.64 0.19 1.271 0.093 0.071 2438.53 2529.88 2347.19 2650.25 2027.94 0 0 0 11.80 15.67 15.76

2557.42 10535 213.95 1.61 60.00 2434.0 2528.2 2339.7 2652.4 2029.0 182.30 3.99 508 2662.66 98.88 0.35 3.07 1.262 0.065 0.071 1901.62 1938.81 1864.44 2721.50 3206.56 0 0 0 11.19 15.78 15.27

2750.07 1028 213.95 1.61 0.37 1898.0 1939.2 1856.9 2723.1 3206.1 167.32 9.48 546 2755.44 0.00 0.00 2.63 0.000 0.000 0.021 1897.28 1938.62 1855.94 2723.56 2062.81 0 0 0 30.00 30.00 15.68

3060.01 16450 213.95 1.63 0.37 1892.7 1940.4 1844.9 2723.8 2063.2 140.84 7.74 608 3061.34 0.00 0.00 0.00 0.000 0.000 0.000 1891.78 1939.31 1844.25 2723.06 2062.25 0 0 0 30.00 30.00 30.00

3365.09 8742 273.45 1.75 -60.00 1891.1 1941.1 1841.1 2723.1 2063.1 119.04 6.43 669 3416.86 45.81 0.00 2.73 1.182 0.000 0.079 1659.69 1695.75 1623.62 2723.31 991.81 0 0 0 11.03 30.00 15.43

3420.09 3141 273.45 1.78 0.72 1658.5 1695.1 1622.0 2723.3 992.0 115.33 6.78 680 3425.69 0.00 0.17 2.69 0.000 0.092 0.020 1658.47 1695.19 1621.75 2764.06 2161.50 0 0 0 30.00 15.68 15.78

3730.22 580 273.45 1.81 -60.00 1652.3 1695.3 1609.4 2763.6 2161.0 93.56 7.15 742 3735.79 0.00 0.00 2.97 0.000 0.000 0.072 1652.56 1695.69 1609.44 2764.25 992.38 0 0 0 30.00 30.00 15.83

3965.51 11303 337.00 1.93 1.70 1651.1 1695.8 1606.5 2764.0 992.2 77.90 6.29 789 4022.58 50.39 0.14 2.72 1.150 0.095 0.021 1401.38 1425.50 1377.25 2803.69 2178.00 0 0 0 11.08 15.77 15.91

4205.35 8742 407.00 2.07 -60.00 1394.8 1425.8 1363.9 2803.1 2176.9 61.55 6.07 837 4267.73 55.54 0.00 3.04 1.118 0.000 0.075 1116.09 1116.12 1116.06 2803.25 993.56 0 0 0 11.25 30.00 15.38

4355.37 1028 407.00 2.07 1.70 1111.9 1115.2 1108.6 2803.6 993.4 50.16 7.99 867 4360.94 0.00 0.00 2.75 0.000 0.000 0.020 1112.03 1115.56 1108.50 2803.38 2176.44 0 0 0 30.00 30.00 15.76

4545.42 324 407.00 2.09 60.00 1109.6 1116.1 1103.0 2803.4 2176.6 36.93 7.70 905 4550.97 0.00 0.00 2.62 0.000 0.000 0.076 1109.72 1116.00 1103.44 2803.25 3206.44 0 0 0 30.00 30.00 15.81

4570.42 3141 407.00 2.11 0.50 1109.5 1115.9 1103.1 2803.0 3206.8 35.23 7.21 910 4576.00 0.00 0.19 2.60 0.000 0.087 0.021 1109.47 1116.06 1102.88 2845.88 2062.06 0 0 0 30.00 15.72 15.83

4760.45 324 407.00 2.14 60.00 1108.5 1116.8 1100.2 2846.4 2062.4 20.07 6.96 948 4766.21 0.00 0.00 2.90 0.000 0.000 0.071 1108.66 1117.06 1100.25 2845.50 3207.81 0 0 0 30.00 30.00 15.86

4785.54 1028 407.00 2.14 1.30 1108.3 1116.7 1100.0 2845.1 3207.8 17.79 8.61 953 4790.97 0.00 0.00 2.56 0.000 0.000 0.022 1108.53 1117.06 1100.00 2846.25 2080.94 0 0 0 30.00 30.00 15.88

4945 end climb: SURFACE_DEPTH_REACHED

state 4945 begin surface coast

4990 end surface coast: CONTROL_FINISHED_OK

state 4990 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	1186	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	400	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	510	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	99.833321	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	311.60214	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	0.0039810701	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.029864	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	280222,024630,4752.307,-12513.709,40,0.9,40,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,025254,4752.384,-12513.680,2,1.0,3,15.9	MHEAD_RNG_PITCHd_Wd	130.3,4320,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	191
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	0.2,1.024678	FG_AHR_10Vo	99.849
SM_CCo	5075.91,0.00,0.000,0,1106.7,1116.5,1096.8,409.24	MEM0	60876,1,0,0
SM_GC	0.63,0.00,16.49,0.57,0.000,0.053,0.052,1106.7,1116.5,1096.8,179.6,2353.7,0,0,0,30.00,15.86,15.90	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971316,30,75512,57
IRIDIUM_FIX	4751.64,-12513.98,280222,011022	DATA_FILE_SIZE	45048,994
TCM_TEMP	267.57	CAP_FILE_SIZE	182086,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3743680
HUMID	51.16	SDFILEDIR	4316,1
TEMP	82.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.91263	CURRENT	0.245,349.9,1
_24V_AH	14.77,424.351	IMPLIED_C_PITCH	2391,12.16,748
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2866,35.518169,687
FG_AHR_24Vo	311.738	GPS	280222,041756,4752.775,-12513.674,2,1.4,5,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	446	1319	8697.87	legato	34	20	10.24
Pitch_motor	36	234	125.83	nil	0	0	0.00
Roll_motor	67	110	110.53	nil	0	0	0.00
Iridium	192	206	588.26	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.88	nil	0	0	0.00
Core	2166	11	383.55	SciCon	0	0	0.00
LPSleep	3189	2	133.95	nil	0	0	0.00
Compass	655	5	49.17	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
5.93	16386	-82.73	-1.35	0.00	1140.7	1141.4	1139.9	175.8	2243.0	0.00	0.00	0	71.99	64.91	0.00	0.00	0.005	0.000	0.000	2720.91	2895.62	2546.19	175.88	2243.19	0	0	0	14.90	30.00	30.00
72.73	18727	-82.73	-1.35	60.00	2719.8	2894.1	2545.5	175.9	2243.2	3.00	-4.30	12	105.61	9.36	14.51	3.06	0.007	0.235	0.083	3110.88	3328.12	2893.62	1993.50	3425.00	0	0	0	15.07	15.45	14.92
117.67	1028	-82.73	-1.35	0.00	3111.0	3327.2	2894.8	1993.7	3424.2	11.97	-17.01	21	123.22	0.00	0.00	2.59	0.000	0.000	0.017	3112.44	3328.19	2896.69	1994.12	2238.19	0	0	0	30.00	30.00	15.84
308.08	260	-82.73	-1.35	60.00	3111.2	3327.2	2895.3	1993.6	2238.4	36.52	-12.48	59	313.30	0.00	0.00	3.00	0.000	0.000	0.077	3112.69	3328.50	2896.88	1993.62	3427.25	0	0	0	30.00	30.00	15.83
443.03	1028	-82.73	-1.35	0.37	3111.5	3325.8	2897.1	1993.5	3426.8	54.52	-12.99	86	448.32	0.00	0.00	2.58	0.000	0.000	0.017	3113.00	3327.38	2898.62	1993.69	2255.12	0	0	0	30.00	30.00	15.91
633.15	516	-82.73	-1.35	-60.00	3111.2	3325.8	2896.6	1992.9	2253.9	73.62	-8.65	124	638.28	0.00	0.00	2.55	0.000	0.000	0.063	3111.78	3326.38	2897.19	1994.12	1208.88	0	0	0	30.00	30.00	15.91
757.79	1028	-82.73	-1.35	-0.44	3111.4	3325.8	2897.0	1993.1	1208.9	84.82	-9.03	149	763.34	0.00	0.00	2.62	0.000	0.000	0.024	3111.16	3325.94	2896.38	1993.62	2346.94	0	0	0	30.00	30.00	15.95
947.85	260	-82.73	-1.35	60.00	3111.3	3326.0	2896.7	1993.5	2346.4	100.76	-8.11	187	953.42	0.00	0.00	2.73	0.000	0.000	0.080	3112.50	3327.12	2897.88	1993.88	3426.75	0	0	0	30.00	30.00	15.89
1057.88	1028	-82.73	-1.35	0.08	3111.2	3323.4	2898.9	1993.1	3426.4	110.65	-9.09	209	1063.42	0.00	0.00	2.59	0.000	0.000	0.017	3111.94	3323.44	2900.44	1993.75	2245.56	0	0	0	30.00	30.00	15.95
1368.00	260	-82.73	-1.35	60.00	3111.1	3323.1	2899.1	1993.5	2244.1	135.92	-7.37	271	1373.60	0.00	0.00	2.99	0.000	0.000	0.077	3112.06	3324.06	2900.06	1993.88	3426.12	0	0	0	30.00	30.00	15.89
1468.03	1028	-82.73	-1.35	0.26	3111.7	3323.8	2899.5	1993.6	3425.9	143.91	-7.87	291	1473.56	0.00	0.00	2.57	0.000	0.000	0.017	3111.84	3323.62	2900.06	1993.50	2248.62	0	0	0	30.00	30.00	15.96
1778.16	548	-82.73	-1.35	-60.00	3111.7	3324.1	2899.2	1993.2	2247.6	164.73	-6.42	353	1783.85	0.00	0.00	2.53	0.000	0.000	0.062	3113.69	3325.50	2901.88	1993.56	1207.94	0	0	0	30.00	30.00	15.94
1823.26	1028	-82.73	-1.35	0.37	3111.8	3323.6	2900.1	1993.4	1207.7	167.96	-7.10	362	1828.69	0.00	0.00	2.64	0.000	0.000	0.024	3112.56	3324.06	2901.06	1993.69	2363.69	0	0	0	30.00	30.00	15.97
2117	end dive: TARGET_DEPTH_EXCEEDED
state	2118	begin apogee
2120.15	10243	0.00	-0.28	0.00	3111.1	3323.3	2898.9	1993.2	2041.7	191.06	-7.20	421	2185.58	60.14	1.83	0.17	1.319	0.134	0.111	2773.88	2917.69	2630.06	2255.12	2168.50	0	0	0	10.79	15.82	15.41
2187	end apogee: CONTROL_FINISHED_OK
state	2187	begin climb
2188.32	11271	82.73	1.35	0.00	2774.0	2917.9	2630.1	2254.7	2168.8	193.46	0.00	434	2255.11	61.33	2.64	0.19	1.271	0.093	0.071	2438.53	2529.88	2347.19	2650.25	2027.94	0	0	0	11.80	15.67	15.76
2557.42	10535	213.95	1.61	60.00	2434.0	2528.2	2339.7	2652.4	2029.0	182.30	3.99	508	2662.66	98.88	0.35	3.07	1.262	0.065	0.071	1901.62	1938.81	1864.44	2721.50	3206.56	0	0	0	11.19	15.78	15.27
2750.07	1028	213.95	1.61	0.37	1898.0	1939.2	1856.9	2723.1	3206.1	167.32	9.48	546	2755.44	0.00	0.00	2.63	0.000	0.000	0.021	1897.28	1938.62	1855.94	2723.56	2062.81	0	0	0	30.00	30.00	15.68
3060.01	16450	213.95	1.63	0.37	1892.7	1940.4	1844.9	2723.8	2063.2	140.84	7.74	608	3061.34	0.00	0.00	0.00	0.000	0.000	0.000	1891.78	1939.31	1844.25	2723.06	2062.25	0	0	0	30.00	30.00	30.00
3365.09	8742	273.45	1.75	-60.00	1891.1	1941.1	1841.1	2723.1	2063.1	119.04	6.43	669	3416.86	45.81	0.00	2.73	1.182	0.000	0.079	1659.69	1695.75	1623.62	2723.31	991.81	0	0	0	11.03	30.00	15.43
3420.09	3141	273.45	1.78	0.72	1658.5	1695.1	1622.0	2723.3	992.0	115.33	6.78	680	3425.69	0.00	0.17	2.69	0.000	0.092	0.020	1658.47	1695.19	1621.75	2764.06	2161.50	0	0	0	30.00	15.68	15.78
3730.22	580	273.45	1.81	-60.00	1652.3	1695.3	1609.4	2763.6	2161.0	93.56	7.15	742	3735.79	0.00	0.00	2.97	0.000	0.000	0.072	1652.56	1695.69	1609.44	2764.25	992.38	0	0	0	30.00	30.00	15.83
3965.51	11303	337.00	1.93	1.70	1651.1	1695.8	1606.5	2764.0	992.2	77.90	6.29	789	4022.58	50.39	0.14	2.72	1.150	0.095	0.021	1401.38	1425.50	1377.25	2803.69	2178.00	0	0	0	11.08	15.77	15.91
4205.35	8742	407.00	2.07	-60.00	1394.8	1425.8	1363.9	2803.1	2176.9	61.55	6.07	837	4267.73	55.54	0.00	3.04	1.118	0.000	0.075	1116.09	1116.12	1116.06	2803.25	993.56	0	0	0	11.25	30.00	15.38
4355.37	1028	407.00	2.07	1.70	1111.9	1115.2	1108.6	2803.6	993.4	50.16	7.99	867	4360.94	0.00	0.00	2.75	0.000	0.000	0.020	1112.03	1115.56	1108.50	2803.38	2176.44	0	0	0	30.00	30.00	15.76
4545.42	324	407.00	2.09	60.00	1109.6	1116.1	1103.0	2803.4	2176.6	36.93	7.70	905	4550.97	0.00	0.00	2.62	0.000	0.000	0.076	1109.72	1116.00	1103.44	2803.25	3206.44	0	0	0	30.00	30.00	15.81
4570.42	3141	407.00	2.11	0.50	1109.5	1115.9	1103.1	2803.0	3206.8	35.23	7.21	910	4576.00	0.00	0.19	2.60	0.000	0.087	0.021	1109.47	1116.06	1102.88	2845.88	2062.06	0	0	0	30.00	15.72	15.83
4760.45	324	407.00	2.14	60.00	1108.5	1116.8	1100.2	2846.4	2062.4	20.07	6.96	948	4766.21	0.00	0.00	2.90	0.000	0.000	0.071	1108.66	1117.06	1100.25	2845.50	3207.81	0	0	0	30.00	30.00	15.86
4785.54	1028	407.00	2.14	1.30	1108.3	1116.7	1100.0	2845.1	3207.8	17.79	8.61	953	4790.97	0.00	0.00	2.56	0.000	0.000	0.022	1108.53	1117.06	1100.00	2846.25	2080.94	0	0	0	30.00	30.00	15.88
4945	end climb: SURFACE_DEPTH_REACHED
state	4945	begin surface coast
4990	end surface coast: CONTROL_FINISHED_OK
state	4990	begin surface