Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1190 * 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 1190 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 99.89743 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 312.18854 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 99.89743 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 312.18854 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 1190 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 280222,083300,4754.124,-12512.940,48,0.8,48,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,083821,4754.166,-12512.896,2,0.7,4,15.9 MHEAD_RNG_PITCHd_Wd 172.5,168415,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 175

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 0.1,1.020940 MEM0 60876,1,0,0

SM_CCo 4709.91,0.00,0.000,0,976.3,983.5,969.1,441.22 MEM1 65508,1,0,0

SM_GC 0.72,0.00,16.57,0.56,0.000,0.046,0.050,976.3,983.5,969.1,184.3,2359.4,0,0,0,30.00,15.80,15.84 MEM2 971332,31,75476,57

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 41813,921

IRIDIUM_FIX 4754.78,-12520.31,280222,071047 CAP_FILE_SIZE 171352,0

TCM_TEMP 267.72 SDSIZE 4028416,3743168

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4328,1

HUMID 50.94 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.06 CURRENT 0.141, 8.8,1

INTERNAL_PRESSURE 8.91004 MAGCAL 1.000000,0.009104,-0.047840,-0.008736,1.087463,-0.091409,0.045244,-0.011961,0.975924,638.7,-294.4,107.1,35,0.0416,0

_24V_AH 14.75,425.067 IMPLIED_C_PITCH 2387,12.33,683

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2872,43.331730,626

FG_AHR_24Vo 312.326 GPS 280222,095714,4754.286,-12512.840,1,0.8,4,15.9

FG_AHR_10Vo 99.912

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 481 1297 9219.79 legato 34 20 10.18

Pitch_motor 36 237 127.45 nil 0 0 0.00

Roll_motor 56 111 93.22 nil 0 0 0.00

Iridium 154 202 462.57 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 2.96 nil 0 0 0.00

Core 2038 11 360.74 SciCon 0 0 0.00

LPSleep 2912 2 122.32 nil 0 0 0.00

Compass 609 5 45.74 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 0.00 815.7 803.0 828.4 181.8 2238.9 0.00 0.00 0 87.65 80.18 0.00 0.00 0.005 0.000 0.000 2781.75 2959.69 2603.81 181.94 2237.94 0 0 0 14.85 30.00 30.00

88.39 18727 -82.73 -1.35 60.00 2780.3 2957.9 2602.8 182.0 2239.0 3.24 -4.21 15 120.68 7.62 14.39 3.07 0.008 0.238 0.078 3111.94 3327.00 2896.88 1992.19 3424.62 0 0 0 14.90 15.49 14.88

157.76 1028 -82.73 -1.35 0.00 3112.1 3326.4 2897.8 1992.4 3424.2 15.55 -14.59 29 163.32 0.00 0.00 2.62 0.000 0.000 0.017 3112.53 3326.88 2898.19 1992.62 2248.38 0 0 0 30.00 30.00 15.87

348.21 260 -82.73 -1.35 60.00 3112.0 3326.4 2897.6 1992.4 2246.2 39.98 -12.87 67 353.63 0.00 0.00 3.03 0.000 0.000 0.075 3114.00 3328.38 2899.62 1992.38 3427.94 0 0 0 30.00 30.00 15.86

387.96 1028 -82.73 -1.35 0.52 3111.9 3325.9 2897.9 1992.5 3426.8 45.84 -15.12 75 393.39 0.00 0.00 2.59 0.000 0.000 0.017 3112.19 3326.44 2897.94 1992.50 2256.19 0 0 0 30.00 30.00 15.91

578.30 0 -82.73 -1.35 0.52 3112.0 3326.5 2897.6 1992.4 2254.2 70.20 -11.71 113 579.63 0.00 0.00 0.00 0.000 0.000 0.000 3111.97 3326.31 2897.62 1992.75 2254.00 0 0 0 30.00 30.00 30.00

762.97 0 -82.73 -1.35 0.52 3112.1 3326.1 2898.1 1992.1 2253.7 88.58 -8.46 150 764.30 0.00 0.00 0.00 0.000 0.000 0.000 3111.75 3326.69 2896.81 1993.25 2253.88 0 0 0 30.00 30.00 30.00

948.04 260 -82.73 -1.35 60.00 3111.9 3326.0 2897.9 1993.0 2253.6 103.53 -7.57 187 953.64 0.00 0.00 2.99 0.000 0.000 0.075 3112.28 3326.06 2898.50 1992.62 3430.31 0 0 0 30.00 30.00 15.91

1113.48 1028 -82.73 -1.35 -0.21 3111.7 3325.6 2897.7 1992.7 3429.5 117.86 -8.90 220 1118.65 0.00 0.00 2.61 0.000 0.000 0.017 3112.84 3326.56 2899.12 1992.81 2242.56 0 0 0 30.00 30.00 15.97

1423.20 516 -82.73 -1.35 -60.00 3112.2 3325.8 2898.7 1992.2 2241.5 139.23 -6.77 282 1428.73 0.00 0.00 2.53 0.000 0.000 0.062 3112.69 3327.69 2897.69 1992.56 1208.94 0 0 0 30.00 30.00 15.95

1513.22 1028 -82.73 -1.35 -0.21 3112.1 3326.0 2898.2 1992.3 1208.8 145.94 -7.45 300 1518.78 0.00 0.00 2.64 0.000 0.000 0.024 3113.22 3326.19 2900.25 1992.75 2351.94 0 0 0 30.00 30.00 15.98

1823.33 0 -82.73 -1.35 -0.21 3111.6 3325.6 2897.6 1992.9 2351.6 167.85 -7.00 362 1824.66 0.00 0.00 0.00 0.000 0.000 0.000 3110.84 3324.88 2896.81 1992.62 2351.62 0 0 0 30.00 30.00 30.00

1937 end dive: TARGET_DEPTH_EXCEEDED

state 1938 begin apogee

1940.25 10243 0.00 -0.28 0.00 3112.0 3325.6 2898.4 1993.2 2041.8 175.28 -6.22 385 2005.92 59.87 1.80 0.17 1.298 0.130 0.112 2774.84 2923.31 2626.38 2253.81 2167.19 0 0 0 10.87 15.86 15.41

2007 end apogee: CONTROL_FINISHED_OK

state 2008 begin climb

2008.76 10759 82.73 1.35 -60.00 2774.1 2923.1 2625.1 2255.3 2167.6 177.46 0.00 398 2079.43 61.10 2.65 2.97 1.249 0.113 0.071 2436.97 2525.69 2348.25 2650.44 991.94 0 0 0 11.93 15.63 15.77

2166.65 11303 204.28 1.59 0.00 2434.3 2525.6 2342.9 2650.6 991.9 173.79 4.32 430 2265.09 91.40 0.34 2.69 1.234 0.060 0.020 1941.72 1984.62 1898.81 2724.56 2148.88 0 0 0 11.40 15.62 15.72

2567.29 16710 204.28 1.61 60.00 1933.1 1984.7 1881.6 2724.0 2147.9 144.32 7.70 510 2573.01 0.00 0.00 2.70 0.000 0.000 0.073 1933.00 1984.06 1881.94 2725.06 3206.81 0 0 0 30.00 30.00 15.80

2742.89 17414 204.28 1.61 0.46 1932.3 1984.4 1880.2 2724.8 3206.2 129.22 8.78 545 2747.89 0.00 0.00 2.62 0.000 0.000 0.021 1932.25 1984.62 1879.88 2724.62 2061.94 0 0 0 30.00 30.00 15.85

3052.42 10791 289.85 1.78 -60.00 1930.5 1984.8 1876.3 2724.1 2062.1 109.35 5.54 607 3124.35 65.02 0.15 2.74 1.178 0.090 0.078 1592.34 1625.38 1559.31 2767.31 994.00 0 0 0 11.09 15.87 15.39

3157.41 1028 289.85 1.78 0.69 1589.2 1625.3 1553.0 2767.2 994.2 101.18 8.83 628 3162.99 0.00 0.00 2.71 0.000 0.000 0.020 1589.19 1625.25 1553.12 2767.81 2160.25 0 0 0 30.00 30.00 15.75

3467.49 16966 289.85 1.82 -60.00 1583.9 1625.6 1542.3 2767.6 2159.7 78.82 6.73 690 3473.06 0.00 0.00 2.98 0.000 0.000 0.071 1584.06 1626.00 1542.12 2767.19 993.38 0 0 0 30.00 30.00 15.83

3667.51 17478 289.85 1.85 2.60 1582.4 1626.3 1538.5 2767.6 993.6 66.71 6.55 730 3673.06 0.00 0.00 2.78 0.000 0.000 0.021 1582.16 1626.31 1538.00 2767.56 2187.50 0 0 0 30.00 30.00 15.90

3857.53 16966 289.85 1.89 -60.00 1581.8 1627.0 1536.7 2767.8 2186.8 53.81 6.79 768 3863.32 0.00 0.00 3.04 0.000 0.000 0.071 1582.34 1627.94 1536.75 2766.88 992.25 0 0 0 30.00 30.00 15.88

3922.71 11303 358.48 2.02 2.30 1581.5 1627.3 1535.6 2767.4 992.3 49.83 6.12 781 3981.92 53.54 0.26 2.74 1.120 0.068 0.021 1313.81 1333.81 1293.81 2829.00 2188.12 0 0 0 11.13 15.80 15.93

4164.18 260 358.48 2.02 60.00 1308.5 1334.6 1282.4 2828.8 2188.6 33.70 8.02 829 4169.72 0.00 0.00 2.58 0.000 0.000 0.074 1309.00 1334.94 1283.06 2828.69 3205.19 0 0 0 30.00 30.00 15.83

4269.22 9254 439.39 2.19 2.05 1308.1 1334.8 1281.3 2828.4 3205.3 26.83 5.70 850 4336.63 62.96 0.00 2.54 1.083 0.000 0.021 984.62 976.62 992.62 2827.31 2090.44 0 0 0 11.31 30.00 15.87

4519.29 2113 439.39 2.21 2.05 978.9 981.0 976.9 2828.4 2090.6 8.84 7.12 900 4520.72 0.00 0.17 0.00 0.000 0.084 0.000 978.78 980.81 976.75 2870.31 2090.06 0 0 0 30.00 15.78 30.00

4573 end climb: SURFACE_DEPTH_REACHED

state 4574 begin surface coast

4624 end surface coast: CONTROL_FINISHED_OK

state 4624 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	1190	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	99.89743	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	312.18854	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	280222,083300,4754.124,-12512.940,48,0.8,48,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,083821,4754.166,-12512.896,2,0.7,4,15.9	MHEAD_RNG_PITCHd_Wd	172.5,168415,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	175
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	0.1,1.020940	MEM0	60876,1,0,0
SM_CCo	4709.91,0.00,0.000,0,976.3,983.5,969.1,441.22	MEM1	65508,1,0,0
SM_GC	0.72,0.00,16.57,0.56,0.000,0.046,0.050,976.3,983.5,969.1,184.3,2359.4,0,0,0,30.00,15.80,15.84	MEM2	971332,31,75476,57
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	41813,921
IRIDIUM_FIX	4754.78,-12520.31,280222,071047	CAP_FILE_SIZE	171352,0
TCM_TEMP	267.72	SDSIZE	4028416,3743168
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4328,1
HUMID	50.94	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.06	CURRENT	0.141, 8.8,1
INTERNAL_PRESSURE	8.91004	MAGCAL	1.000000,0.009104,-0.047840,-0.008736,1.087463,-0.091409,0.045244,-0.011961,0.975924,638.7,-294.4,107.1,35,0.0416,0
_24V_AH	14.75,425.067	IMPLIED_C_PITCH	2387,12.33,683
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2872,43.331730,626
FG_AHR_24Vo	312.326	GPS	280222,095714,4754.286,-12512.840,1,0.8,4,15.9
FG_AHR_10Vo	99.912

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	481	1297	9219.79	legato	34	20	10.18
Pitch_motor	36	237	127.45	nil	0	0	0.00
Roll_motor	56	111	93.22	nil	0	0	0.00
Iridium	154	202	462.57	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	2.96	nil	0	0	0.00
Core	2038	11	360.74	SciCon	0	0	0.00
LPSleep	2912	2	122.32	nil	0	0	0.00
Compass	609	5	45.74	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	815.7	803.0	828.4	181.8	2238.9	0.00	0.00	0	87.65	80.18	0.00	0.00	0.005	0.000	0.000	2781.75	2959.69	2603.81	181.94	2237.94	0	0	0	14.85	30.00	30.00
88.39	18727	-82.73	-1.35	60.00	2780.3	2957.9	2602.8	182.0	2239.0	3.24	-4.21	15	120.68	7.62	14.39	3.07	0.008	0.238	0.078	3111.94	3327.00	2896.88	1992.19	3424.62	0	0	0	14.90	15.49	14.88
157.76	1028	-82.73	-1.35	0.00	3112.1	3326.4	2897.8	1992.4	3424.2	15.55	-14.59	29	163.32	0.00	0.00	2.62	0.000	0.000	0.017	3112.53	3326.88	2898.19	1992.62	2248.38	0	0	0	30.00	30.00	15.87
348.21	260	-82.73	-1.35	60.00	3112.0	3326.4	2897.6	1992.4	2246.2	39.98	-12.87	67	353.63	0.00	0.00	3.03	0.000	0.000	0.075	3114.00	3328.38	2899.62	1992.38	3427.94	0	0	0	30.00	30.00	15.86
387.96	1028	-82.73	-1.35	0.52	3111.9	3325.9	2897.9	1992.5	3426.8	45.84	-15.12	75	393.39	0.00	0.00	2.59	0.000	0.000	0.017	3112.19	3326.44	2897.94	1992.50	2256.19	0	0	0	30.00	30.00	15.91
578.30	0	-82.73	-1.35	0.52	3112.0	3326.5	2897.6	1992.4	2254.2	70.20	-11.71	113	579.63	0.00	0.00	0.00	0.000	0.000	0.000	3111.97	3326.31	2897.62	1992.75	2254.00	0	0	0	30.00	30.00	30.00
762.97	0	-82.73	-1.35	0.52	3112.1	3326.1	2898.1	1992.1	2253.7	88.58	-8.46	150	764.30	0.00	0.00	0.00	0.000	0.000	0.000	3111.75	3326.69	2896.81	1993.25	2253.88	0	0	0	30.00	30.00	30.00
948.04	260	-82.73	-1.35	60.00	3111.9	3326.0	2897.9	1993.0	2253.6	103.53	-7.57	187	953.64	0.00	0.00	2.99	0.000	0.000	0.075	3112.28	3326.06	2898.50	1992.62	3430.31	0	0	0	30.00	30.00	15.91
1113.48	1028	-82.73	-1.35	-0.21	3111.7	3325.6	2897.7	1992.7	3429.5	117.86	-8.90	220	1118.65	0.00	0.00	2.61	0.000	0.000	0.017	3112.84	3326.56	2899.12	1992.81	2242.56	0	0	0	30.00	30.00	15.97
1423.20	516	-82.73	-1.35	-60.00	3112.2	3325.8	2898.7	1992.2	2241.5	139.23	-6.77	282	1428.73	0.00	0.00	2.53	0.000	0.000	0.062	3112.69	3327.69	2897.69	1992.56	1208.94	0	0	0	30.00	30.00	15.95
1513.22	1028	-82.73	-1.35	-0.21	3112.1	3326.0	2898.2	1992.3	1208.8	145.94	-7.45	300	1518.78	0.00	0.00	2.64	0.000	0.000	0.024	3113.22	3326.19	2900.25	1992.75	2351.94	0	0	0	30.00	30.00	15.98
1823.33	0	-82.73	-1.35	-0.21	3111.6	3325.6	2897.6	1992.9	2351.6	167.85	-7.00	362	1824.66	0.00	0.00	0.00	0.000	0.000	0.000	3110.84	3324.88	2896.81	1992.62	2351.62	0	0	0	30.00	30.00	30.00
1937	end dive: TARGET_DEPTH_EXCEEDED
state	1938	begin apogee
1940.25	10243	0.00	-0.28	0.00	3112.0	3325.6	2898.4	1993.2	2041.8	175.28	-6.22	385	2005.92	59.87	1.80	0.17	1.298	0.130	0.112	2774.84	2923.31	2626.38	2253.81	2167.19	0	0	0	10.87	15.86	15.41
2007	end apogee: CONTROL_FINISHED_OK
state	2008	begin climb
2008.76	10759	82.73	1.35	-60.00	2774.1	2923.1	2625.1	2255.3	2167.6	177.46	0.00	398	2079.43	61.10	2.65	2.97	1.249	0.113	0.071	2436.97	2525.69	2348.25	2650.44	991.94	0	0	0	11.93	15.63	15.77
2166.65	11303	204.28	1.59	0.00	2434.3	2525.6	2342.9	2650.6	991.9	173.79	4.32	430	2265.09	91.40	0.34	2.69	1.234	0.060	0.020	1941.72	1984.62	1898.81	2724.56	2148.88	0	0	0	11.40	15.62	15.72
2567.29	16710	204.28	1.61	60.00	1933.1	1984.7	1881.6	2724.0	2147.9	144.32	7.70	510	2573.01	0.00	0.00	2.70	0.000	0.000	0.073	1933.00	1984.06	1881.94	2725.06	3206.81	0	0	0	30.00	30.00	15.80
2742.89	17414	204.28	1.61	0.46	1932.3	1984.4	1880.2	2724.8	3206.2	129.22	8.78	545	2747.89	0.00	0.00	2.62	0.000	0.000	0.021	1932.25	1984.62	1879.88	2724.62	2061.94	0	0	0	30.00	30.00	15.85
3052.42	10791	289.85	1.78	-60.00	1930.5	1984.8	1876.3	2724.1	2062.1	109.35	5.54	607	3124.35	65.02	0.15	2.74	1.178	0.090	0.078	1592.34	1625.38	1559.31	2767.31	994.00	0	0	0	11.09	15.87	15.39
3157.41	1028	289.85	1.78	0.69	1589.2	1625.3	1553.0	2767.2	994.2	101.18	8.83	628	3162.99	0.00	0.00	2.71	0.000	0.000	0.020	1589.19	1625.25	1553.12	2767.81	2160.25	0	0	0	30.00	30.00	15.75
3467.49	16966	289.85	1.82	-60.00	1583.9	1625.6	1542.3	2767.6	2159.7	78.82	6.73	690	3473.06	0.00	0.00	2.98	0.000	0.000	0.071	1584.06	1626.00	1542.12	2767.19	993.38	0	0	0	30.00	30.00	15.83
3667.51	17478	289.85	1.85	2.60	1582.4	1626.3	1538.5	2767.6	993.6	66.71	6.55	730	3673.06	0.00	0.00	2.78	0.000	0.000	0.021	1582.16	1626.31	1538.00	2767.56	2187.50	0	0	0	30.00	30.00	15.90
3857.53	16966	289.85	1.89	-60.00	1581.8	1627.0	1536.7	2767.8	2186.8	53.81	6.79	768	3863.32	0.00	0.00	3.04	0.000	0.000	0.071	1582.34	1627.94	1536.75	2766.88	992.25	0	0	0	30.00	30.00	15.88
3922.71	11303	358.48	2.02	2.30	1581.5	1627.3	1535.6	2767.4	992.3	49.83	6.12	781	3981.92	53.54	0.26	2.74	1.120	0.068	0.021	1313.81	1333.81	1293.81	2829.00	2188.12	0	0	0	11.13	15.80	15.93
4164.18	260	358.48	2.02	60.00	1308.5	1334.6	1282.4	2828.8	2188.6	33.70	8.02	829	4169.72	0.00	0.00	2.58	0.000	0.000	0.074	1309.00	1334.94	1283.06	2828.69	3205.19	0	0	0	30.00	30.00	15.83
4269.22	9254	439.39	2.19	2.05	1308.1	1334.8	1281.3	2828.4	3205.3	26.83	5.70	850	4336.63	62.96	0.00	2.54	1.083	0.000	0.021	984.62	976.62	992.62	2827.31	2090.44	0	0	0	11.31	30.00	15.87
4519.29	2113	439.39	2.21	2.05	978.9	981.0	976.9	2828.4	2090.6	8.84	7.12	900	4520.72	0.00	0.17	0.00	0.000	0.084	0.000	978.78	980.81	976.75	2870.31	2090.06	0	0	0	30.00	15.78	30.00
4573	end climb: SURFACE_DEPTH_REACHED
state	4574	begin surface coast
4624	end surface coast: CONTROL_FINISHED_OK
state	4624	begin surface