Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1187 * 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 1187 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 99.850433 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 311.7478 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 99.850433 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 311.7478 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 1187 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 280222,041756,4752.775,-12513.674,2,1.4,5,15.9 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,042519,4752.872,-12513.616,3,1.9,6,15.9 MHEAD_RNG_PITCHd_Wd 141.8,4509,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 175

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 0.6,1.024679 MEM0 60876,1,0,0

SM_CCo 4660.80,22.26,1.057,0,1143.3,1137.2,1149.4,400.25 MEM1 65508,1,0,0

SM_GC 0.64,22.26,16.25,0.31,1.057,0.050,0.064,1143.3,1137.2,1149.4,178.2,2354.3,0,0,0,11.10,15.83,15.89 MEM2 971396,27,75492,57

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 41829,918

IRIDIUM_FIX 4752.57,-12511.36,280222,042111 CAP_FILE_SIZE 175631,0

TCM_TEMP 267.60 SDSIZE 4028416,3743552

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4319,1

HUMID 51.21 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.00 CURRENT 0.283,358.5,1

INTERNAL_PRESSURE 8.91368 MAGCAL 1.000000,-0.119605,0.517491,0.030746,0.945825,-0.207549,0.092170,0.112108,0.561539,-140.3,-42.5,712.2,36,0.1154,0

_24V_AH 14.79,424.525 IMPLIED_C_PITCH 2383,12.51,687

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2842,37.964073,622

FG_AHR_24Vo 311.878 GPS 280222,054401,4753.364,-12513.485,19,0.8,41,15.9

FG_AHR_10Vo 99.865

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 439 1302 8463.00 legato 34 20 10.17

Pitch_motor 36 239 127.97 nil 0 0 0.00

Roll_motor 65 116 111.91 nil 0 0 0.00

Iridium 192 211 599.94 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.42 nil 0 0 0.00

Core 2059 11 364.44 SciCon 0 0 0.00

LPSleep 2942 2 123.58 nil 0 0 0.00

Compass 607 5 45.59 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 1105.2 1107.6 1102.8 176.8 2244.6 0.00 0.00 0 72.00 64.89 0.00 0.00 0.005 0.000 0.000 2680.44 2850.75 2510.12 176.81 2244.75 0 0 0 14.84 30.00 30.00

72.73 18727 -82.73 -1.35 60.00 2680.3 2850.1 2510.5 176.9 2244.3 3.02 -4.64 12 106.63 10.30 14.59 3.03 0.007 0.240 0.077 3110.62 3327.00 2894.25 1992.69 3427.38 0 0 0 14.96 15.46 14.88

238.72 1028 -82.73 -1.35 0.00 3111.4 3327.5 2895.2 1992.5 3427.5 28.55 -13.98 45 244.26 0.00 0.00 2.60 0.000 0.000 0.017 3112.50 3327.56 2897.44 1991.12 2252.69 0 0 0 30.00 30.00 15.90

429.13 260 -82.73 -1.35 60.00 3111.4 3327.4 2895.3 1992.5 2250.6 52.65 -12.97 83 434.54 0.00 0.00 2.99 0.000 0.000 0.075 3112.06 3328.25 2895.88 1992.88 3427.12 0 0 0 30.00 30.00 15.86

558.90 1028 -82.73 -1.35 1.12 3111.1 3326.7 2895.6 1992.9 3427.3 69.89 -12.85 109 564.33 0.00 0.00 2.53 0.000 0.000 0.017 3111.28 3326.56 2896.00 1992.50 2266.25 0 0 0 30.00 30.00 15.94

749.25 516 -82.73 -1.35 -60.00 3111.2 3326.3 2896.1 1992.8 2264.5 87.89 -8.05 147 754.38 0.00 0.00 2.58 0.000 0.000 0.062 3112.12 3327.19 2897.06 1991.75 1207.94 0 0 0 30.00 30.00 15.93

768.86 1028 -82.73 -1.35 1.49 3110.9 3325.9 2895.9 1992.5 1208.1 89.37 -7.65 151 774.43 0.00 0.00 2.72 0.000 0.000 0.024 3111.72 3327.12 2896.31 1992.56 2382.94 0 0 0 30.00 30.00 15.95

958.92 260 -82.73 -1.35 60.00 3111.3 3326.4 2896.2 1992.9 2382.4 102.46 -7.54 189 964.48 0.00 0.00 2.66 0.000 0.000 0.080 3111.59 3326.69 2896.50 1992.44 3425.38 0 0 0 30.00 30.00 15.90

1153.98 1028 -82.73 -1.35 2.00 3111.0 3326.1 2895.9 1992.6 3424.8 119.77 -9.61 228 1159.11 0.00 0.00 2.49 0.000 0.000 0.017 3111.38 3326.50 2896.25 1992.50 2275.81 0 0 0 30.00 30.00 15.96

1464.10 516 -82.73 -1.35 -60.00 3111.2 3326.3 2896.1 1992.8 2275.4 144.67 -7.80 290 1469.62 0.00 0.00 2.61 0.000 0.000 0.061 3111.41 3326.62 2896.19 1992.56 1208.94 0 0 0 30.00 30.00 15.94

1544.11 1028 -82.73 -1.35 1.66 3111.2 3326.1 2896.2 1992.0 1208.8 150.79 -7.58 306 1549.67 0.00 0.00 2.73 0.000 0.000 0.025 3111.62 3326.06 2897.19 1992.69 2384.94 0 0 0 30.00 30.00 15.97

1854.22 516 -82.73 -1.35 -60.00 3111.2 3326.2 2896.3 1992.4 2384.9 173.41 -7.09 368 1859.98 0.00 0.00 2.88 0.000 0.000 0.056 3111.94 3326.81 2897.06 1992.75 1207.81 0 0 0 30.00 30.00 15.95

1878 end dive: TARGET_DEPTH_EXCEEDED

state 1879 begin apogee

1883.00 10243 0.00 -0.28 0.00 3111.1 3326.1 2896.2 1991.9 2153.6 175.17 -6.98 373 1947.44 60.08 1.82 0.17 1.302 0.139 0.116 2775.50 2920.62 2630.38 2253.38 2030.25 0 0 0 10.82 15.81 15.39

1949 end apogee: CONTROL_FINISHED_OK

state 1949 begin climb

1950.18 11271 82.73 1.35 0.00 2773.5 2919.4 2627.7 2253.8 2030.4 177.49 0.00 386 2016.97 61.15 2.63 0.20 1.253 0.093 0.070 2437.28 2528.12 2346.44 2653.00 2172.19 0 0 0 11.90 15.66 15.77

2319.28 10535 212.78 1.61 60.00 2433.5 2528.3 2338.6 2652.8 2171.4 164.90 4.03 460 2423.36 97.52 0.36 2.69 1.237 0.069 0.076 1907.66 1945.19 1870.12 2722.25 3204.00 0 0 0 11.19 15.77 15.27

2475.68 1028 212.78 1.61 -0.12 1903.4 1944.2 1862.6 2723.4 3204.0 154.67 7.97 491 2481.12 0.00 0.00 2.66 0.000 0.000 0.021 1903.62 1944.94 1862.31 2723.75 2054.56 0 0 0 30.00 30.00 15.65

2785.64 16966 212.78 1.65 -60.00 1898.0 1944.7 1851.2 2723.5 2054.6 133.28 6.75 553 2791.17 0.00 0.00 2.69 0.000 0.000 0.078 1898.78 1945.44 1852.12 2723.12 993.31 0 0 0 30.00 30.00 15.80

2855.64 17478 212.78 1.66 -0.23 1897.1 1944.7 1849.5 2723.4 993.3 127.87 7.83 567 2861.17 0.00 0.00 2.62 0.000 0.000 0.020 1897.44 1945.25 1849.62 2723.31 2138.94 0 0 0 30.00 30.00 15.85

3165.69 10535 291.58 1.82 60.00 1896.6 1944.8 1848.4 2723.0 2139.5 108.47 5.77 629 3232.54 60.41 0.24 2.75 1.180 0.080 0.075 1586.75 1617.19 1556.31 2775.31 3206.50 0 0 0 11.08 15.86 15.41

3350.69 1028 291.58 1.82 0.77 1581.3 1616.2 1546.5 2775.2 3206.4 94.16 8.28 666 3356.23 0.00 0.00 2.62 0.000 0.000 0.021 1581.94 1616.94 1546.94 2774.56 2068.19 0 0 0 30.00 30.00 15.80

3541.11 16646 291.58 1.82 60.00 1577.3 1616.3 1538.2 2775.9 2068.1 78.82 7.98 704 3546.48 0.00 0.00 2.88 0.000 0.000 0.070 1577.97 1617.19 1538.75 2775.62 3206.12 0 0 0 30.00 30.00 15.82

3775.76 17478 291.58 1.84 2.45 1576.6 1616.4 1536.9 2775.2 3206.3 60.75 7.15 751 3781.28 0.00 0.00 2.52 0.000 0.000 0.021 1576.44 1616.69 1536.19 2775.75 2094.38 0 0 0 30.00 30.00 15.91

3966.43 10535 372.10 2.00 60.00 1575.3 1616.8 1533.9 2775.7 2094.6 49.99 5.72 789 4034.34 62.79 0.19 2.85 1.121 0.088 0.071 1258.09 1269.00 1247.19 2817.06 3208.00 0 0 0 11.09 15.88 15.43

4131.56 1092 372.10 2.02 2.81 1255.1 1269.3 1240.8 2816.9 3207.9 38.24 7.62 822 4137.08 0.00 0.00 2.53 0.000 0.000 0.020 1254.62 1269.44 1239.81 2817.50 2100.56 0 0 0 30.00 30.00 15.79

4321.97 0 372.10 2.02 2.81 1252.1 1269.4 1234.7 2817.2 2101.4 23.94 8.02 860 4323.29 0.00 0.00 0.00 0.000 0.000 0.000 1251.84 1269.56 1234.12 2817.50 2101.12 0 0 0 30.00 30.00 30.00

4506.61 580 372.10 2.05 -60.00 1251.2 1270.1 1232.3 2817.8 2100.2 11.16 6.95 897 4512.19 0.00 0.00 2.82 0.000 0.000 0.079 1251.12 1269.94 1232.31 2818.00 993.44 0 0 0 30.00 30.00 15.85

4561.60 1028 372.10 2.05 3.06 1250.7 1272.4 1229.0 2817.9 993.2 5.13 12.24 908 4567.17 0.00 0.00 2.79 0.000 0.000 0.021 1251.22 1274.56 1227.88 2817.00 2197.19 0 0 0 30.00 30.00 15.90

4571 end climb: SURFACE_DEPTH_REACHED

state 4571 begin surface coast

4611 end surface coast: CONTROL_FINISHED_OK

state 4611 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	1187	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	99.850433	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	311.7478	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	280222,041756,4752.775,-12513.674,2,1.4,5,15.9	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,042519,4752.872,-12513.616,3,1.9,6,15.9	MHEAD_RNG_PITCHd_Wd	141.8,4509,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	175
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	0.6,1.024679	MEM0	60876,1,0,0
SM_CCo	4660.80,22.26,1.057,0,1143.3,1137.2,1149.4,400.25	MEM1	65508,1,0,0
SM_GC	0.64,22.26,16.25,0.31,1.057,0.050,0.064,1143.3,1137.2,1149.4,178.2,2354.3,0,0,0,11.10,15.83,15.89	MEM2	971396,27,75492,57
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	41829,918
IRIDIUM_FIX	4752.57,-12511.36,280222,042111	CAP_FILE_SIZE	175631,0
TCM_TEMP	267.60	SDSIZE	4028416,3743552
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4319,1
HUMID	51.21	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.00	CURRENT	0.283,358.5,1
INTERNAL_PRESSURE	8.91368	MAGCAL	1.000000,-0.119605,0.517491,0.030746,0.945825,-0.207549,0.092170,0.112108,0.561539,-140.3,-42.5,712.2,36,0.1154,0
_24V_AH	14.79,424.525	IMPLIED_C_PITCH	2383,12.51,687
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2842,37.964073,622
FG_AHR_24Vo	311.878	GPS	280222,054401,4753.364,-12513.485,19,0.8,41,15.9
FG_AHR_10Vo	99.865

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	439	1302	8463.00	legato	34	20	10.17
Pitch_motor	36	239	127.97	nil	0	0	0.00
Roll_motor	65	116	111.91	nil	0	0	0.00
Iridium	192	211	599.94	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.42	nil	0	0	0.00
Core	2059	11	364.44	SciCon	0	0	0.00
LPSleep	2942	2	123.58	nil	0	0	0.00
Compass	607	5	45.59	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	1105.2	1107.6	1102.8	176.8	2244.6	0.00	0.00	0	72.00	64.89	0.00	0.00	0.005	0.000	0.000	2680.44	2850.75	2510.12	176.81	2244.75	0	0	0	14.84	30.00	30.00
72.73	18727	-82.73	-1.35	60.00	2680.3	2850.1	2510.5	176.9	2244.3	3.02	-4.64	12	106.63	10.30	14.59	3.03	0.007	0.240	0.077	3110.62	3327.00	2894.25	1992.69	3427.38	0	0	0	14.96	15.46	14.88
238.72	1028	-82.73	-1.35	0.00	3111.4	3327.5	2895.2	1992.5	3427.5	28.55	-13.98	45	244.26	0.00	0.00	2.60	0.000	0.000	0.017	3112.50	3327.56	2897.44	1991.12	2252.69	0	0	0	30.00	30.00	15.90
429.13	260	-82.73	-1.35	60.00	3111.4	3327.4	2895.3	1992.5	2250.6	52.65	-12.97	83	434.54	0.00	0.00	2.99	0.000	0.000	0.075	3112.06	3328.25	2895.88	1992.88	3427.12	0	0	0	30.00	30.00	15.86
558.90	1028	-82.73	-1.35	1.12	3111.1	3326.7	2895.6	1992.9	3427.3	69.89	-12.85	109	564.33	0.00	0.00	2.53	0.000	0.000	0.017	3111.28	3326.56	2896.00	1992.50	2266.25	0	0	0	30.00	30.00	15.94
749.25	516	-82.73	-1.35	-60.00	3111.2	3326.3	2896.1	1992.8	2264.5	87.89	-8.05	147	754.38	0.00	0.00	2.58	0.000	0.000	0.062	3112.12	3327.19	2897.06	1991.75	1207.94	0	0	0	30.00	30.00	15.93
768.86	1028	-82.73	-1.35	1.49	3110.9	3325.9	2895.9	1992.5	1208.1	89.37	-7.65	151	774.43	0.00	0.00	2.72	0.000	0.000	0.024	3111.72	3327.12	2896.31	1992.56	2382.94	0	0	0	30.00	30.00	15.95
958.92	260	-82.73	-1.35	60.00	3111.3	3326.4	2896.2	1992.9	2382.4	102.46	-7.54	189	964.48	0.00	0.00	2.66	0.000	0.000	0.080	3111.59	3326.69	2896.50	1992.44	3425.38	0	0	0	30.00	30.00	15.90
1153.98	1028	-82.73	-1.35	2.00	3111.0	3326.1	2895.9	1992.6	3424.8	119.77	-9.61	228	1159.11	0.00	0.00	2.49	0.000	0.000	0.017	3111.38	3326.50	2896.25	1992.50	2275.81	0	0	0	30.00	30.00	15.96
1464.10	516	-82.73	-1.35	-60.00	3111.2	3326.3	2896.1	1992.8	2275.4	144.67	-7.80	290	1469.62	0.00	0.00	2.61	0.000	0.000	0.061	3111.41	3326.62	2896.19	1992.56	1208.94	0	0	0	30.00	30.00	15.94
1544.11	1028	-82.73	-1.35	1.66	3111.2	3326.1	2896.2	1992.0	1208.8	150.79	-7.58	306	1549.67	0.00	0.00	2.73	0.000	0.000	0.025	3111.62	3326.06	2897.19	1992.69	2384.94	0	0	0	30.00	30.00	15.97
1854.22	516	-82.73	-1.35	-60.00	3111.2	3326.2	2896.3	1992.4	2384.9	173.41	-7.09	368	1859.98	0.00	0.00	2.88	0.000	0.000	0.056	3111.94	3326.81	2897.06	1992.75	1207.81	0	0	0	30.00	30.00	15.95
1878	end dive: TARGET_DEPTH_EXCEEDED
state	1879	begin apogee
1883.00	10243	0.00	-0.28	0.00	3111.1	3326.1	2896.2	1991.9	2153.6	175.17	-6.98	373	1947.44	60.08	1.82	0.17	1.302	0.139	0.116	2775.50	2920.62	2630.38	2253.38	2030.25	0	0	0	10.82	15.81	15.39
1949	end apogee: CONTROL_FINISHED_OK
state	1949	begin climb
1950.18	11271	82.73	1.35	0.00	2773.5	2919.4	2627.7	2253.8	2030.4	177.49	0.00	386	2016.97	61.15	2.63	0.20	1.253	0.093	0.070	2437.28	2528.12	2346.44	2653.00	2172.19	0	0	0	11.90	15.66	15.77
2319.28	10535	212.78	1.61	60.00	2433.5	2528.3	2338.6	2652.8	2171.4	164.90	4.03	460	2423.36	97.52	0.36	2.69	1.237	0.069	0.076	1907.66	1945.19	1870.12	2722.25	3204.00	0	0	0	11.19	15.77	15.27
2475.68	1028	212.78	1.61	-0.12	1903.4	1944.2	1862.6	2723.4	3204.0	154.67	7.97	491	2481.12	0.00	0.00	2.66	0.000	0.000	0.021	1903.62	1944.94	1862.31	2723.75	2054.56	0	0	0	30.00	30.00	15.65
2785.64	16966	212.78	1.65	-60.00	1898.0	1944.7	1851.2	2723.5	2054.6	133.28	6.75	553	2791.17	0.00	0.00	2.69	0.000	0.000	0.078	1898.78	1945.44	1852.12	2723.12	993.31	0	0	0	30.00	30.00	15.80
2855.64	17478	212.78	1.66	-0.23	1897.1	1944.7	1849.5	2723.4	993.3	127.87	7.83	567	2861.17	0.00	0.00	2.62	0.000	0.000	0.020	1897.44	1945.25	1849.62	2723.31	2138.94	0	0	0	30.00	30.00	15.85
3165.69	10535	291.58	1.82	60.00	1896.6	1944.8	1848.4	2723.0	2139.5	108.47	5.77	629	3232.54	60.41	0.24	2.75	1.180	0.080	0.075	1586.75	1617.19	1556.31	2775.31	3206.50	0	0	0	11.08	15.86	15.41
3350.69	1028	291.58	1.82	0.77	1581.3	1616.2	1546.5	2775.2	3206.4	94.16	8.28	666	3356.23	0.00	0.00	2.62	0.000	0.000	0.021	1581.94	1616.94	1546.94	2774.56	2068.19	0	0	0	30.00	30.00	15.80
3541.11	16646	291.58	1.82	60.00	1577.3	1616.3	1538.2	2775.9	2068.1	78.82	7.98	704	3546.48	0.00	0.00	2.88	0.000	0.000	0.070	1577.97	1617.19	1538.75	2775.62	3206.12	0	0	0	30.00	30.00	15.82
3775.76	17478	291.58	1.84	2.45	1576.6	1616.4	1536.9	2775.2	3206.3	60.75	7.15	751	3781.28	0.00	0.00	2.52	0.000	0.000	0.021	1576.44	1616.69	1536.19	2775.75	2094.38	0	0	0	30.00	30.00	15.91
3966.43	10535	372.10	2.00	60.00	1575.3	1616.8	1533.9	2775.7	2094.6	49.99	5.72	789	4034.34	62.79	0.19	2.85	1.121	0.088	0.071	1258.09	1269.00	1247.19	2817.06	3208.00	0	0	0	11.09	15.88	15.43
4131.56	1092	372.10	2.02	2.81	1255.1	1269.3	1240.8	2816.9	3207.9	38.24	7.62	822	4137.08	0.00	0.00	2.53	0.000	0.000	0.020	1254.62	1269.44	1239.81	2817.50	2100.56	0	0	0	30.00	30.00	15.79
4321.97	0	372.10	2.02	2.81	1252.1	1269.4	1234.7	2817.2	2101.4	23.94	8.02	860	4323.29	0.00	0.00	0.00	0.000	0.000	0.000	1251.84	1269.56	1234.12	2817.50	2101.12	0	0	0	30.00	30.00	30.00
4506.61	580	372.10	2.05	-60.00	1251.2	1270.1	1232.3	2817.8	2100.2	11.16	6.95	897	4512.19	0.00	0.00	2.82	0.000	0.000	0.079	1251.12	1269.94	1232.31	2818.00	993.44	0	0	0	30.00	30.00	15.85
4561.60	1028	372.10	2.05	3.06	1250.7	1272.4	1229.0	2817.9	993.2	5.13	12.24	908	4567.17	0.00	0.00	2.79	0.000	0.000	0.021	1251.22	1274.56	1227.88	2817.00	2197.19	0	0	0	30.00	30.00	15.90
4571	end climb: SURFACE_DEPTH_REACHED
state	4571	begin surface coast
4611	end surface coast: CONTROL_FINISHED_OK
state	4611	begin surface