Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1189 * 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 1189 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 99.881645 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 312.03146 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 99.881645 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 312.03146 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 1189 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 280222,070234,4753.777,-12513.196,1,0.8,3,15.9 TGT_RADIUS 2500.000

_CALLS 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,071400,4753.894,-12513.096,3,1.3,6,15.9 MHEAD_RNG_PITCHd_Wd 172.6,167912,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 176

TGT_NAME OFFSHORE 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 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH 1.0,1.024682 MEM0 60876,1,0,0

SM_CCo 4672.80,0.00,0.000,0,816.9,806.1,827.7,480.32 MEM1 65508,1,0,0

SM_GC 0.43,0.00,17.20,0.41,0.000,0.082,0.060,816.9,806.1,827.7,183.1,2352.9,0,0,0,30.00,15.66,15.82 MEM2 971436,26,75472,57

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 38608,913

IRIDIUM_FIX 4754.02,-12511.36,280222,070836 CAP_FILE_SIZE 178181,0

TCM_TEMP 267.51 SDSIZE 4028416,3743296

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4325,1

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

TEMP 82.10 CURRENT 0.212, 15.4,1

INTERNAL_PRESSURE 8.90197 MAGCAL 1.000000,0.015262,-0.037567,-0.008370,1.079387,-0.096885,0.004256,-0.008614,1.032628,628.7,-299.1,48.5,29,0.0342,0

_24V_AH 14.73,424.888 IMPLIED_C_PITCH 2391,12.25,675

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2888,28.003513,657

FG_AHR_24Vo 312.180 GPS 280222,083300,4754.124,-12512.940,48,0.8,48,15.9

FG_AHR_10Vo 99.896

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 496 1302 9535.76 legato 34 20 10.11

Pitch_motor 36 229 124.57 nil 0 0 0.00

Roll_motor 60 116 104.08 nil 0 0 0.00

Iridium 338 200 1000.09 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.40 nil 0 0 0.00

Core 2230 11 394.87 SciCon 0 0 0.00

LPSleep 3048 2 128.04 nil 0 0 0.00

Compass 604 5 45.35 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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

6.06 16386 -82.73 -1.35 0.00 1140.0 1137.6 1142.4 175.9 2252.7 0.00 0.00 0 72.12 64.91 0.00 0.00 0.005 0.000 0.000 2731.88 2904.69 2559.06 175.75 2251.06 0 0 0 14.88 30.00 30.00

72.86 18983 -82.73 -1.35 -60.00 2730.8 2903.1 2558.4 176.1 2250.4 3.14 -4.74 12 105.61 9.06 14.18 2.62 0.007 0.229 0.067 3111.16 3329.19 2893.12 1991.50 1209.06 0 0 0 15.05 15.46 14.91

107.67 1028 -82.73 -1.35 0.00 3111.2 3329.3 2893.1 1991.0 1209.2 9.77 -15.85 19 113.22 0.00 0.00 2.68 0.000 0.000 0.023 3111.00 3328.94 2893.06 1991.25 2355.62 0 0 0 30.00 30.00 15.86

298.11 0 -82.73 -1.35 0.00 3111.4 3329.1 2893.8 1991.8 2355.2 35.06 -11.25 57 299.43 0.00 0.00 0.00 0.000 0.000 0.000 3110.47 3328.25 2892.69 1990.94 2355.56 0 0 0 30.00 30.00 30.00

482.86 260 -82.73 -1.35 60.00 3111.4 3329.1 2893.7 1991.4 2355.7 56.50 -10.85 94 488.35 0.00 0.00 2.77 0.000 0.000 0.080 3112.22 3329.75 2894.69 1991.88 3425.81 0 0 0 30.00 30.00 15.88

552.81 1028 -82.73 -1.35 -0.07 3112.0 3328.5 2895.6 1991.8 3425.8 64.62 -11.71 108 558.37 0.00 0.00 2.62 0.000 0.000 0.017 3112.66 3329.62 2895.69 1991.88 2247.50 0 0 0 30.00 30.00 15.93

743.27 516 -82.73 -1.35 -60.00 3111.7 3328.4 2895.0 1992.0 2246.3 82.26 -8.44 146 748.41 0.00 0.00 2.57 0.000 0.000 0.062 3111.97 3328.75 2895.19 1992.00 1209.19 0 0 0 30.00 30.00 15.93

762.88 1028 -82.73 -1.35 0.20 3111.5 3327.9 2895.1 1992.0 1209.2 84.08 -8.72 150 768.43 0.00 0.00 2.67 0.000 0.000 0.024 3112.25 3329.00 2895.50 1992.12 2358.25 0 0 0 30.00 30.00 15.96

952.94 260 -82.73 -1.35 60.00 3111.4 3328.1 2894.8 1991.8 2358.0 100.94 -8.54 188 958.50 0.00 0.00 2.72 0.000 0.000 0.081 3111.78 3328.31 2895.25 1991.94 3427.06 0 0 0 30.00 30.00 15.90

1107.99 1028 -82.73 -1.35 1.07 3111.3 3327.5 2895.1 1991.6 3427.2 116.01 -9.70 219 1113.53 0.00 0.00 2.55 0.000 0.000 0.017 3112.09 3328.25 2895.94 1992.44 2262.25 0 0 0 30.00 30.00 15.96

1418.12 548 -82.73 -1.35 -60.00 3111.1 3327.2 2894.9 1991.8 2261.2 137.74 -6.38 281 1423.64 0.00 0.00 2.59 0.000 0.000 0.062 3111.56 3327.56 2895.56 1992.31 1207.88 0 0 0 30.00 30.00 15.95

1538.14 1028 -82.73 -1.35 0.63 3111.6 3327.9 2895.2 1992.2 1208.1 145.84 -6.73 305 1543.69 0.00 0.00 2.68 0.000 0.000 0.024 3111.59 3327.56 2895.62 1992.31 2367.44 0 0 0 30.00 30.00 15.98

1848.35 0 -82.73 -1.35 0.63 3111.6 3327.8 2895.5 1992.2 2367.4 167.48 -7.13 367 1849.68 0.00 0.00 0.00 0.000 0.000 0.000 3111.06 3327.56 2894.56 1992.19 2367.56 0 0 0 30.00 30.00 30.00

1968 end dive: TARGET_DEPTH_EXCEEDED

state 1968 begin apogee

1970.18 10243 0.00 -0.28 0.00 3111.8 3327.8 2895.9 1992.6 2042.7 176.19 -7.42 391 2035.61 60.08 1.80 0.17 1.303 0.137 0.117 2774.22 2920.88 2627.56 2254.38 2168.38 0 0 0 10.79 15.83 15.40

2037 end apogee: CONTROL_FINISHED_OK

state 2037 begin climb

2038.35 10759 82.73 1.35 -60.00 2773.6 2919.8 2627.3 2254.1 2168.0 178.36 0.00 404 2109.03 60.95 2.66 3.01 1.252 0.113 0.072 2437.62 2524.06 2351.19 2650.62 993.62 0 0 0 11.90 15.62 15.77

2196.26 11303 227.97 1.64 0.00 2434.8 2523.9 2345.6 2650.8 993.3 175.07 3.51 436 2311.59 108.77 0.41 2.69 1.239 0.057 0.020 1845.44 1876.06 1814.81 2733.44 2146.06 0 0 0 11.49 15.61 15.71

2613.89 16386 227.97 1.64 0.00 1836.9 1875.9 1797.9 2733.9 2145.5 141.99 8.49 519 2615.22 0.00 0.00 0.00 0.000 0.000 0.000 1836.00 1875.12 1796.88 2734.00 2146.19 0 0 0 30.00 30.00 30.00

2919.01 16966 227.97 1.68 -60.00 1835.3 1876.0 1794.6 2733.6 2146.0 119.10 6.61 580 2924.59 0.00 0.00 2.94 0.000 0.000 0.073 1835.62 1876.88 1794.38 2733.88 993.31 0 0 0 30.00 30.00 15.84

2999.03 17478 227.97 1.70 -0.25 1834.7 1876.3 1793.0 2733.9 993.2 113.45 7.17 596 3004.56 0.00 0.00 2.63 0.000 0.000 0.021 1835.31 1877.38 1793.25 2733.81 2142.31 0 0 0 30.00 30.00 15.89

3309.14 10535 303.05 1.85 60.00 1834.5 1876.5 1792.4 2734.0 2142.4 92.97 5.90 658 3372.58 57.62 0.21 2.73 1.165 0.077 0.076 1538.78 1566.19 1511.38 2785.44 3206.81 0 0 0 11.06 15.89 15.43

3494.70 1028 303.05 1.85 -0.16 1534.8 1566.9 1502.6 2785.4 3205.9 78.96 8.19 695 3500.25 0.00 0.00 2.64 0.000 0.000 0.022 1534.72 1567.38 1502.06 2787.00 2053.00 0 0 0 30.00 30.00 15.82

3685.17 8742 369.12 1.99 -60.00 1531.7 1567.4 1496.0 2785.6 2053.1 67.13 6.21 733 3742.30 52.28 0.00 2.73 1.127 0.000 0.081 1270.12 1281.56 1258.69 2786.44 992.12 0 0 0 11.23 30.00 15.40

3839.97 1028 369.12 1.99 -0.68 1266.8 1282.1 1251.4 2786.1 992.2 54.92 8.21 764 3845.35 0.00 0.00 2.64 0.000 0.000 0.020 1266.72 1282.56 1250.88 2786.19 2135.81 0 0 0 30.00 30.00 15.79

4030.45 324 369.12 2.01 60.00 1263.8 1282.2 1245.4 2786.3 2136.1 41.70 7.22 802 4035.44 0.00 0.00 2.73 0.000 0.000 0.074 1264.00 1282.50 1245.50 2786.44 3206.19 0 0 0 30.00 30.00 15.83

4234.93 11303 478.73 2.23 1.05 1263.1 1282.4 1243.8 2786.7 3205.6 28.00 4.72 843 4324.22 83.32 0.47 2.59 1.093 0.057 0.021 823.44 801.19 845.69 2878.88 2071.94 0 0 0 11.11 15.77 15.90

4506.33 516 478.73 2.23 -60.00 818.0 807.3 828.6 2879.2 2071.5 6.82 10.39 897 4511.90 0.00 0.00 2.78 0.000 0.000 0.081 818.06 807.69 828.44 2879.00 993.50 0 0 0 30.00 30.00 15.77

4531.33 1028 478.73 2.23 0.95 817.8 808.6 827.1 2879.2 993.2 4.36 10.15 902 4536.89 0.00 0.00 2.71 0.000 0.000 0.020 817.78 809.06 826.50 2879.94 2160.19 0 0 0 30.00 30.00 15.81

4541 end climb: SURFACE_DEPTH_REACHED

state 4541 begin surface coast

4586 end surface coast: CONTROL_FINISHED_OK

state 4586 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	1189	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	99.881645	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	312.03146	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	280222,070234,4753.777,-12513.196,1,0.8,3,15.9	TGT_RADIUS	2500.000
_CALLS	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,071400,4753.894,-12513.096,3,1.3,6,15.9	MHEAD_RNG_PITCHd_Wd	172.6,167912,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	176
TGT_NAME	OFFSHORE	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	4700.000,-12700.000

FINISH	1.0,1.024682	MEM0	60876,1,0,0
SM_CCo	4672.80,0.00,0.000,0,816.9,806.1,827.7,480.32	MEM1	65508,1,0,0
SM_GC	0.43,0.00,17.20,0.41,0.000,0.082,0.060,816.9,806.1,827.7,183.1,2352.9,0,0,0,30.00,15.66,15.82	MEM2	971436,26,75472,57
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	38608,913
IRIDIUM_FIX	4754.02,-12511.36,280222,070836	CAP_FILE_SIZE	178181,0
TCM_TEMP	267.51	SDSIZE	4028416,3743296
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4325,1
HUMID	51.21	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.10	CURRENT	0.212, 15.4,1
INTERNAL_PRESSURE	8.90197	MAGCAL	1.000000,0.015262,-0.037567,-0.008370,1.079387,-0.096885,0.004256,-0.008614,1.032628,628.7,-299.1,48.5,29,0.0342,0
_24V_AH	14.73,424.888	IMPLIED_C_PITCH	2391,12.25,675
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2888,28.003513,657
FG_AHR_24Vo	312.180	GPS	280222,083300,4754.124,-12512.940,48,0.8,48,15.9
FG_AHR_10Vo	99.896

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	496	1302	9535.76	legato	34	20	10.11
Pitch_motor	36	229	124.57	nil	0	0	0.00
Roll_motor	60	116	104.08	nil	0	0	0.00
Iridium	338	200	1000.09	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.40	nil	0	0	0.00
Core	2230	11	394.87	SciCon	0	0	0.00
LPSleep	3048	2	128.04	nil	0	0	0.00
Compass	604	5	45.35	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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
6.06	16386	-82.73	-1.35	0.00	1140.0	1137.6	1142.4	175.9	2252.7	0.00	0.00	0	72.12	64.91	0.00	0.00	0.005	0.000	0.000	2731.88	2904.69	2559.06	175.75	2251.06	0	0	0	14.88	30.00	30.00
72.86	18983	-82.73	-1.35	-60.00	2730.8	2903.1	2558.4	176.1	2250.4	3.14	-4.74	12	105.61	9.06	14.18	2.62	0.007	0.229	0.067	3111.16	3329.19	2893.12	1991.50	1209.06	0	0	0	15.05	15.46	14.91
107.67	1028	-82.73	-1.35	0.00	3111.2	3329.3	2893.1	1991.0	1209.2	9.77	-15.85	19	113.22	0.00	0.00	2.68	0.000	0.000	0.023	3111.00	3328.94	2893.06	1991.25	2355.62	0	0	0	30.00	30.00	15.86
298.11	0	-82.73	-1.35	0.00	3111.4	3329.1	2893.8	1991.8	2355.2	35.06	-11.25	57	299.43	0.00	0.00	0.00	0.000	0.000	0.000	3110.47	3328.25	2892.69	1990.94	2355.56	0	0	0	30.00	30.00	30.00
482.86	260	-82.73	-1.35	60.00	3111.4	3329.1	2893.7	1991.4	2355.7	56.50	-10.85	94	488.35	0.00	0.00	2.77	0.000	0.000	0.080	3112.22	3329.75	2894.69	1991.88	3425.81	0	0	0	30.00	30.00	15.88
552.81	1028	-82.73	-1.35	-0.07	3112.0	3328.5	2895.6	1991.8	3425.8	64.62	-11.71	108	558.37	0.00	0.00	2.62	0.000	0.000	0.017	3112.66	3329.62	2895.69	1991.88	2247.50	0	0	0	30.00	30.00	15.93
743.27	516	-82.73	-1.35	-60.00	3111.7	3328.4	2895.0	1992.0	2246.3	82.26	-8.44	146	748.41	0.00	0.00	2.57	0.000	0.000	0.062	3111.97	3328.75	2895.19	1992.00	1209.19	0	0	0	30.00	30.00	15.93
762.88	1028	-82.73	-1.35	0.20	3111.5	3327.9	2895.1	1992.0	1209.2	84.08	-8.72	150	768.43	0.00	0.00	2.67	0.000	0.000	0.024	3112.25	3329.00	2895.50	1992.12	2358.25	0	0	0	30.00	30.00	15.96
952.94	260	-82.73	-1.35	60.00	3111.4	3328.1	2894.8	1991.8	2358.0	100.94	-8.54	188	958.50	0.00	0.00	2.72	0.000	0.000	0.081	3111.78	3328.31	2895.25	1991.94	3427.06	0	0	0	30.00	30.00	15.90
1107.99	1028	-82.73	-1.35	1.07	3111.3	3327.5	2895.1	1991.6	3427.2	116.01	-9.70	219	1113.53	0.00	0.00	2.55	0.000	0.000	0.017	3112.09	3328.25	2895.94	1992.44	2262.25	0	0	0	30.00	30.00	15.96
1418.12	548	-82.73	-1.35	-60.00	3111.1	3327.2	2894.9	1991.8	2261.2	137.74	-6.38	281	1423.64	0.00	0.00	2.59	0.000	0.000	0.062	3111.56	3327.56	2895.56	1992.31	1207.88	0	0	0	30.00	30.00	15.95
1538.14	1028	-82.73	-1.35	0.63	3111.6	3327.9	2895.2	1992.2	1208.1	145.84	-6.73	305	1543.69	0.00	0.00	2.68	0.000	0.000	0.024	3111.59	3327.56	2895.62	1992.31	2367.44	0	0	0	30.00	30.00	15.98
1848.35	0	-82.73	-1.35	0.63	3111.6	3327.8	2895.5	1992.2	2367.4	167.48	-7.13	367	1849.68	0.00	0.00	0.00	0.000	0.000	0.000	3111.06	3327.56	2894.56	1992.19	2367.56	0	0	0	30.00	30.00	30.00
1968	end dive: TARGET_DEPTH_EXCEEDED
state	1968	begin apogee
1970.18	10243	0.00	-0.28	0.00	3111.8	3327.8	2895.9	1992.6	2042.7	176.19	-7.42	391	2035.61	60.08	1.80	0.17	1.303	0.137	0.117	2774.22	2920.88	2627.56	2254.38	2168.38	0	0	0	10.79	15.83	15.40
2037	end apogee: CONTROL_FINISHED_OK
state	2037	begin climb
2038.35	10759	82.73	1.35	-60.00	2773.6	2919.8	2627.3	2254.1	2168.0	178.36	0.00	404	2109.03	60.95	2.66	3.01	1.252	0.113	0.072	2437.62	2524.06	2351.19	2650.62	993.62	0	0	0	11.90	15.62	15.77
2196.26	11303	227.97	1.64	0.00	2434.8	2523.9	2345.6	2650.8	993.3	175.07	3.51	436	2311.59	108.77	0.41	2.69	1.239	0.057	0.020	1845.44	1876.06	1814.81	2733.44	2146.06	0	0	0	11.49	15.61	15.71
2613.89	16386	227.97	1.64	0.00	1836.9	1875.9	1797.9	2733.9	2145.5	141.99	8.49	519	2615.22	0.00	0.00	0.00	0.000	0.000	0.000	1836.00	1875.12	1796.88	2734.00	2146.19	0	0	0	30.00	30.00	30.00
2919.01	16966	227.97	1.68	-60.00	1835.3	1876.0	1794.6	2733.6	2146.0	119.10	6.61	580	2924.59	0.00	0.00	2.94	0.000	0.000	0.073	1835.62	1876.88	1794.38	2733.88	993.31	0	0	0	30.00	30.00	15.84
2999.03	17478	227.97	1.70	-0.25	1834.7	1876.3	1793.0	2733.9	993.2	113.45	7.17	596	3004.56	0.00	0.00	2.63	0.000	0.000	0.021	1835.31	1877.38	1793.25	2733.81	2142.31	0	0	0	30.00	30.00	15.89
3309.14	10535	303.05	1.85	60.00	1834.5	1876.5	1792.4	2734.0	2142.4	92.97	5.90	658	3372.58	57.62	0.21	2.73	1.165	0.077	0.076	1538.78	1566.19	1511.38	2785.44	3206.81	0	0	0	11.06	15.89	15.43
3494.70	1028	303.05	1.85	-0.16	1534.8	1566.9	1502.6	2785.4	3205.9	78.96	8.19	695	3500.25	0.00	0.00	2.64	0.000	0.000	0.022	1534.72	1567.38	1502.06	2787.00	2053.00	0	0	0	30.00	30.00	15.82
3685.17	8742	369.12	1.99	-60.00	1531.7	1567.4	1496.0	2785.6	2053.1	67.13	6.21	733	3742.30	52.28	0.00	2.73	1.127	0.000	0.081	1270.12	1281.56	1258.69	2786.44	992.12	0	0	0	11.23	30.00	15.40
3839.97	1028	369.12	1.99	-0.68	1266.8	1282.1	1251.4	2786.1	992.2	54.92	8.21	764	3845.35	0.00	0.00	2.64	0.000	0.000	0.020	1266.72	1282.56	1250.88	2786.19	2135.81	0	0	0	30.00	30.00	15.79
4030.45	324	369.12	2.01	60.00	1263.8	1282.2	1245.4	2786.3	2136.1	41.70	7.22	802	4035.44	0.00	0.00	2.73	0.000	0.000	0.074	1264.00	1282.50	1245.50	2786.44	3206.19	0	0	0	30.00	30.00	15.83
4234.93	11303	478.73	2.23	1.05	1263.1	1282.4	1243.8	2786.7	3205.6	28.00	4.72	843	4324.22	83.32	0.47	2.59	1.093	0.057	0.021	823.44	801.19	845.69	2878.88	2071.94	0	0	0	11.11	15.77	15.90
4506.33	516	478.73	2.23	-60.00	818.0	807.3	828.6	2879.2	2071.5	6.82	10.39	897	4511.90	0.00	0.00	2.78	0.000	0.000	0.081	818.06	807.69	828.44	2879.00	993.50	0	0	0	30.00	30.00	15.77
4531.33	1028	478.73	2.23	0.95	817.8	808.6	827.1	2879.2	993.2	4.36	10.15	902	4536.89	0.00	0.00	2.71	0.000	0.000	0.020	817.78	809.06	826.50	2879.94	2160.19	0	0	0	30.00	30.00	15.81
4541	end climb: SURFACE_DEPTH_REACHED
state	4541	begin surface coast
4586	end surface coast: CONTROL_FINISHED_OK
state	4586	begin surface