Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1191 * 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 1191 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 99.913376 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 312.3364 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 99.913376 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 312.3364 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 1191 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 280222,095714,4754.286,-12512.840,1,0.8,4,15.9 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,100412,4754.328,-12512.809,2,1.2,5,15.9 MHEAD_RNG_PITCHd_Wd 178.2,168682,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 167

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 0.1,1.016288 FG_AHR_10Vo 99.927

SM_CCo 4405.41,16.68,1.024,0,1144.7,1138.1,1151.4,399.91 MEM0 60876,1,0,0

SM_GC 0.51,16.68,16.19,0.38,1.024,0.046,0.064,1144.7,1138.1,1151.4,176.2,2352.7,0,0,0,11.13,15.87,15.91 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971324,33,75444,57

IRIDIUM_FIX 4754.02,-12511.36,280222,100005 DATA_FILE_SIZE 38595,868

TCM_TEMP 267.66 CAP_FILE_SIZE 173991,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3743040

HUMID 51.27 SDFILEDIR 4331,1

TEMP 81.95 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.92043 CURRENT 0.090,342.5,1

_24V_AH 14.75,425.238 IMPLIED_C_PITCH 2392,12.29,636

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2884,35.616543,612

FG_AHR_24Vo 312.466 GPS 280222,111831,4754.288,-12513.053,3,1.2,33,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 446 1289 8498.87 legato 34 20 10.18

Pitch_motor 35 227 119.76 nil 0 0 0.00

Roll_motor 66 121 119.38 nil 0 0 0.00

Iridium 189 205 574.29 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.16 nil 0 0 0.00

Core 1993 11 352.81 SciCon 0 0 0.00

LPSleep 2749 2 115.48 nil 0 0 0.00

Compass 576 5 43.26 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 0.00 976.1 969.9 982.2 175.9 2220.7 0.00 0.00 0 82.58 75.14 0.00 0.00 0.005 0.000 0.000 2790.28 2962.69 2617.88 176.00 2221.62 0 0 0 14.83 30.00 30.00

83.31 18983 -82.73 -1.35 -60.00 2789.1 2961.2 2617.0 175.8 2221.5 3.09 -4.38 14 114.85 7.91 14.19 2.55 0.007 0.228 0.067 3112.09 3325.56 2898.62 1992.88 1209.31 0 0 0 14.92 15.46 14.89

116.92 1028 -82.73 -1.35 0.00 3112.2 3325.2 2899.1 1992.3 1208.5 8.92 -15.91 21 122.47 0.00 0.00 2.67 0.000 0.000 0.024 3112.88 3326.25 2899.50 1992.56 2353.81 0 0 0 30.00 30.00 15.87

307.36 0 -82.73 -1.35 0.00 3112.1 3324.9 2899.3 1993.2 2353.8 33.38 -12.43 59 308.69 0.00 0.00 0.00 0.000 0.000 0.000 3111.38 3324.31 2898.44 1992.94 2353.94 0 0 0 30.00 30.00 30.00

492.04 260 -82.73 -1.35 60.00 3112.6 3325.6 2899.6 1992.8 2354.2 54.38 -12.13 96 497.81 0.00 0.00 2.74 0.000 0.000 0.081 3113.03 3325.62 2900.44 1993.38 3427.75 0 0 0 30.00 30.00 15.89

552.25 1028 -82.73 -1.35 -0.13 3112.7 3325.3 2900.0 1993.1 3427.4 61.95 -12.20 108 557.62 0.00 0.00 2.62 0.000 0.000 0.017 3113.66 3324.31 2903.00 1993.94 2244.88 0 0 0 30.00 30.00 15.94

742.54 0 -82.73 -1.35 -0.13 3112.4 3324.5 2900.3 1993.4 2243.2 79.92 -8.75 146 743.87 0.00 0.00 0.00 0.000 0.000 0.000 3112.34 3324.50 2900.19 1993.81 2243.88 0 0 0 30.00 30.00 30.00

927.21 260 -82.73 -1.35 60.00 3112.5 3325.0 2900.0 1993.7 2243.7 94.73 -7.94 183 932.82 0.00 0.00 3.04 0.000 0.000 0.076 3113.19 3325.50 2900.88 1993.62 3426.56 0 0 0 30.00 30.00 15.90

1097.26 1028 -82.73 -1.35 0.20 3112.6 3324.9 2900.3 1993.5 3426.2 112.95 -11.65 217 1102.80 0.00 0.00 2.60 0.000 0.000 0.017 3112.72 3324.88 2900.56 1993.12 2249.06 0 0 0 30.00 30.00 15.96

1407.38 516 -82.73 -1.35 -60.00 3112.4 3324.4 2900.4 1993.5 2247.9 137.31 -6.81 279 1412.90 0.00 0.00 2.56 0.000 0.000 0.062 3112.94 3325.38 2900.50 1994.50 1209.00 0 0 0 30.00 30.00 15.95

1492.39 1028 -82.73 -1.35 0.26 3112.7 3324.6 2900.9 1993.3 1208.9 143.09 -6.98 296 1497.95 0.00 0.00 2.67 0.000 0.000 0.024 3112.66 3324.44 2900.88 1993.81 2360.19 0 0 0 30.00 30.00 15.98

1802.46 260 -82.73 -1.35 60.00 3112.2 3324.3 2900.2 1994.0 2360.4 163.96 -6.71 358 1808.22 0.00 0.00 2.73 0.000 0.000 0.081 3113.81 3326.75 2900.88 1993.81 3426.62 0 0 0 30.00 30.00 15.93

1842 end dive: TARGET_DEPTH_EXCEEDED

state 1842 begin apogee

1847.92 10243 0.00 -0.28 0.00 3112.3 3324.2 2900.5 1993.4 2052.1 167.03 -7.46 366 1912.35 60.10 1.79 0.15 1.290 0.134 0.122 2774.59 2920.19 2629.00 2254.19 2169.00 0 0 0 10.83 15.84 15.41

1914 end apogee: CONTROL_FINISHED_OK

state 1914 begin climb

1915.19 10759 82.73 1.35 -60.00 2773.2 2919.1 2627.2 2254.4 2168.6 169.11 0.00 379 1985.85 60.85 2.66 2.99 1.238 0.112 0.072 2437.16 2524.81 2349.50 2650.94 993.62 0 0 0 11.92 15.62 15.76

2088.09 11303 218.61 1.62 0.00 2433.5 2524.4 2342.7 2650.9 993.6 164.44 3.83 414 2197.09 101.63 0.38 2.64 1.227 0.063 0.020 1884.38 1923.06 1845.69 2727.44 2149.69 0 0 0 11.37 15.62 15.73

2499.30 16966 218.61 1.65 -60.00 1873.6 1921.6 1825.6 2727.3 2148.9 135.53 6.93 496 2504.87 0.00 0.00 2.96 0.000 0.000 0.071 1873.88 1922.50 1825.25 2726.94 993.62 0 0 0 30.00 30.00 15.78

2614.32 17478 218.61 1.67 1.50 1871.9 1921.9 1822.0 2727.2 993.2 126.73 7.85 519 2619.87 0.00 0.00 2.73 0.000 0.000 0.021 1872.81 1922.88 1822.75 2726.75 2169.12 0 0 0 30.00 30.00 15.84

2924.42 10791 279.25 1.79 -60.00 1871.8 1922.3 1821.2 2726.5 2169.9 105.62 6.39 581 2976.71 46.31 0.15 3.04 1.164 0.095 0.073 1636.12 1673.00 1599.25 2766.50 992.94 0 0 0 11.18 15.87 15.43

3019.43 1092 279.25 1.80 1.72 1632.1 1672.2 1592.1 2766.4 993.6 98.44 7.91 600 3024.99 0.00 0.00 2.75 0.000 0.000 0.021 1632.56 1673.00 1592.12 2766.38 2174.56 0 0 0 30.00 30.00 15.79

3209.68 324 279.25 1.82 60.00 1629.2 1673.1 1585.4 2766.4 2174.3 85.03 7.55 638 3214.99 0.00 0.00 2.63 0.000 0.000 0.074 1629.28 1672.69 1585.88 2766.62 3207.38 0 0 0 30.00 30.00 15.84

3384.87 1092 279.25 1.83 2.41 1628.7 1672.8 1584.6 2766.7 3207.8 71.99 7.70 673 3390.01 0.00 0.00 2.54 0.000 0.000 0.021 1628.41 1673.19 1583.62 2766.44 2094.31 0 0 0 30.00 30.00 15.89

3574.91 10791 379.67 2.03 -60.00 1628.2 1673.9 1582.4 2766.7 2094.8 61.26 5.04 711 3658.97 78.10 0.28 2.84 1.131 0.073 0.079 1227.47 1236.06 1218.88 2824.94 992.31 0 0 0 11.09 15.87 15.39

3761.77 1028 379.67 2.03 1.63 1222.8 1236.8 1208.9 2824.5 992.9 46.86 8.45 748 3766.78 0.00 0.00 2.73 0.000 0.000 0.021 1223.22 1237.12 1209.31 2824.62 2173.56 0 0 0 30.00 30.00 15.77

3951.29 324 379.67 2.05 60.00 1220.8 1237.0 1204.6 2824.4 2173.5 32.03 7.65 786 3956.82 0.00 0.00 2.63 0.000 0.000 0.075 1221.03 1237.31 1204.75 2824.56 3206.12 0 0 0 30.00 30.00 15.83

3991.30 1092 379.67 2.06 1.50 1220.6 1237.2 1203.9 2825.1 3207.0 28.87 7.83 794 3996.81 0.00 0.00 2.57 0.000 0.000 0.021 1220.97 1238.00 1203.94 2823.31 2080.44 0 0 0 30.00 30.00 15.86

4181.72 516 379.67 2.06 -60.00 1219.8 1240.0 1199.5 2824.8 2080.6 13.96 8.02 832 4186.90 0.00 0.00 2.75 0.000 0.000 0.077 1219.97 1240.12 1199.81 2824.75 991.88 0 0 0 30.00 30.00 15.85

4221.34 1028 379.67 2.06 1.50 1219.8 1241.1 1198.6 2824.5 991.9 10.04 10.25 840 4226.92 0.00 0.00 2.70 0.000 0.000 0.021 1219.81 1241.19 1198.44 2824.56 2171.69 0 0 0 30.00 30.00 15.90

4300 end climb: SURFACE_DEPTH_REACHED

state 4301 begin surface coast

4361 end surface coast: CONTROL_FINISHED_OK

state 4361 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	1191	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	99.913376	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	312.3364	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	280222,095714,4754.286,-12512.840,1,0.8,4,15.9	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,100412,4754.328,-12512.809,2,1.2,5,15.9	MHEAD_RNG_PITCHd_Wd	178.2,168682,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	167
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	0.1,1.016288	FG_AHR_10Vo	99.927
SM_CCo	4405.41,16.68,1.024,0,1144.7,1138.1,1151.4,399.91	MEM0	60876,1,0,0
SM_GC	0.51,16.68,16.19,0.38,1.024,0.046,0.064,1144.7,1138.1,1151.4,176.2,2352.7,0,0,0,11.13,15.87,15.91	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971324,33,75444,57
IRIDIUM_FIX	4754.02,-12511.36,280222,100005	DATA_FILE_SIZE	38595,868
TCM_TEMP	267.66	CAP_FILE_SIZE	173991,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3743040
HUMID	51.27	SDFILEDIR	4331,1
TEMP	81.95	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.92043	CURRENT	0.090,342.5,1
_24V_AH	14.75,425.238	IMPLIED_C_PITCH	2392,12.29,636
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2884,35.616543,612
FG_AHR_24Vo	312.466	GPS	280222,111831,4754.288,-12513.053,3,1.2,33,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	446	1289	8498.87	legato	34	20	10.18
Pitch_motor	35	227	119.76	nil	0	0	0.00
Roll_motor	66	121	119.38	nil	0	0	0.00
Iridium	189	205	574.29	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.16	nil	0	0	0.00
Core	1993	11	352.81	SciCon	0	0	0.00
LPSleep	2749	2	115.48	nil	0	0	0.00
Compass	576	5	43.26	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	976.1	969.9	982.2	175.9	2220.7	0.00	0.00	0	82.58	75.14	0.00	0.00	0.005	0.000	0.000	2790.28	2962.69	2617.88	176.00	2221.62	0	0	0	14.83	30.00	30.00
83.31	18983	-82.73	-1.35	-60.00	2789.1	2961.2	2617.0	175.8	2221.5	3.09	-4.38	14	114.85	7.91	14.19	2.55	0.007	0.228	0.067	3112.09	3325.56	2898.62	1992.88	1209.31	0	0	0	14.92	15.46	14.89
116.92	1028	-82.73	-1.35	0.00	3112.2	3325.2	2899.1	1992.3	1208.5	8.92	-15.91	21	122.47	0.00	0.00	2.67	0.000	0.000	0.024	3112.88	3326.25	2899.50	1992.56	2353.81	0	0	0	30.00	30.00	15.87
307.36	0	-82.73	-1.35	0.00	3112.1	3324.9	2899.3	1993.2	2353.8	33.38	-12.43	59	308.69	0.00	0.00	0.00	0.000	0.000	0.000	3111.38	3324.31	2898.44	1992.94	2353.94	0	0	0	30.00	30.00	30.00
492.04	260	-82.73	-1.35	60.00	3112.6	3325.6	2899.6	1992.8	2354.2	54.38	-12.13	96	497.81	0.00	0.00	2.74	0.000	0.000	0.081	3113.03	3325.62	2900.44	1993.38	3427.75	0	0	0	30.00	30.00	15.89
552.25	1028	-82.73	-1.35	-0.13	3112.7	3325.3	2900.0	1993.1	3427.4	61.95	-12.20	108	557.62	0.00	0.00	2.62	0.000	0.000	0.017	3113.66	3324.31	2903.00	1993.94	2244.88	0	0	0	30.00	30.00	15.94
742.54	0	-82.73	-1.35	-0.13	3112.4	3324.5	2900.3	1993.4	2243.2	79.92	-8.75	146	743.87	0.00	0.00	0.00	0.000	0.000	0.000	3112.34	3324.50	2900.19	1993.81	2243.88	0	0	0	30.00	30.00	30.00
927.21	260	-82.73	-1.35	60.00	3112.5	3325.0	2900.0	1993.7	2243.7	94.73	-7.94	183	932.82	0.00	0.00	3.04	0.000	0.000	0.076	3113.19	3325.50	2900.88	1993.62	3426.56	0	0	0	30.00	30.00	15.90
1097.26	1028	-82.73	-1.35	0.20	3112.6	3324.9	2900.3	1993.5	3426.2	112.95	-11.65	217	1102.80	0.00	0.00	2.60	0.000	0.000	0.017	3112.72	3324.88	2900.56	1993.12	2249.06	0	0	0	30.00	30.00	15.96
1407.38	516	-82.73	-1.35	-60.00	3112.4	3324.4	2900.4	1993.5	2247.9	137.31	-6.81	279	1412.90	0.00	0.00	2.56	0.000	0.000	0.062	3112.94	3325.38	2900.50	1994.50	1209.00	0	0	0	30.00	30.00	15.95
1492.39	1028	-82.73	-1.35	0.26	3112.7	3324.6	2900.9	1993.3	1208.9	143.09	-6.98	296	1497.95	0.00	0.00	2.67	0.000	0.000	0.024	3112.66	3324.44	2900.88	1993.81	2360.19	0	0	0	30.00	30.00	15.98
1802.46	260	-82.73	-1.35	60.00	3112.2	3324.3	2900.2	1994.0	2360.4	163.96	-6.71	358	1808.22	0.00	0.00	2.73	0.000	0.000	0.081	3113.81	3326.75	2900.88	1993.81	3426.62	0	0	0	30.00	30.00	15.93
1842	end dive: TARGET_DEPTH_EXCEEDED
state	1842	begin apogee
1847.92	10243	0.00	-0.28	0.00	3112.3	3324.2	2900.5	1993.4	2052.1	167.03	-7.46	366	1912.35	60.10	1.79	0.15	1.290	0.134	0.122	2774.59	2920.19	2629.00	2254.19	2169.00	0	0	0	10.83	15.84	15.41
1914	end apogee: CONTROL_FINISHED_OK
state	1914	begin climb
1915.19	10759	82.73	1.35	-60.00	2773.2	2919.1	2627.2	2254.4	2168.6	169.11	0.00	379	1985.85	60.85	2.66	2.99	1.238	0.112	0.072	2437.16	2524.81	2349.50	2650.94	993.62	0	0	0	11.92	15.62	15.76
2088.09	11303	218.61	1.62	0.00	2433.5	2524.4	2342.7	2650.9	993.6	164.44	3.83	414	2197.09	101.63	0.38	2.64	1.227	0.063	0.020	1884.38	1923.06	1845.69	2727.44	2149.69	0	0	0	11.37	15.62	15.73
2499.30	16966	218.61	1.65	-60.00	1873.6	1921.6	1825.6	2727.3	2148.9	135.53	6.93	496	2504.87	0.00	0.00	2.96	0.000	0.000	0.071	1873.88	1922.50	1825.25	2726.94	993.62	0	0	0	30.00	30.00	15.78
2614.32	17478	218.61	1.67	1.50	1871.9	1921.9	1822.0	2727.2	993.2	126.73	7.85	519	2619.87	0.00	0.00	2.73	0.000	0.000	0.021	1872.81	1922.88	1822.75	2726.75	2169.12	0	0	0	30.00	30.00	15.84
2924.42	10791	279.25	1.79	-60.00	1871.8	1922.3	1821.2	2726.5	2169.9	105.62	6.39	581	2976.71	46.31	0.15	3.04	1.164	0.095	0.073	1636.12	1673.00	1599.25	2766.50	992.94	0	0	0	11.18	15.87	15.43
3019.43	1092	279.25	1.80	1.72	1632.1	1672.2	1592.1	2766.4	993.6	98.44	7.91	600	3024.99	0.00	0.00	2.75	0.000	0.000	0.021	1632.56	1673.00	1592.12	2766.38	2174.56	0	0	0	30.00	30.00	15.79
3209.68	324	279.25	1.82	60.00	1629.2	1673.1	1585.4	2766.4	2174.3	85.03	7.55	638	3214.99	0.00	0.00	2.63	0.000	0.000	0.074	1629.28	1672.69	1585.88	2766.62	3207.38	0	0	0	30.00	30.00	15.84
3384.87	1092	279.25	1.83	2.41	1628.7	1672.8	1584.6	2766.7	3207.8	71.99	7.70	673	3390.01	0.00	0.00	2.54	0.000	0.000	0.021	1628.41	1673.19	1583.62	2766.44	2094.31	0	0	0	30.00	30.00	15.89
3574.91	10791	379.67	2.03	-60.00	1628.2	1673.9	1582.4	2766.7	2094.8	61.26	5.04	711	3658.97	78.10	0.28	2.84	1.131	0.073	0.079	1227.47	1236.06	1218.88	2824.94	992.31	0	0	0	11.09	15.87	15.39
3761.77	1028	379.67	2.03	1.63	1222.8	1236.8	1208.9	2824.5	992.9	46.86	8.45	748	3766.78	0.00	0.00	2.73	0.000	0.000	0.021	1223.22	1237.12	1209.31	2824.62	2173.56	0	0	0	30.00	30.00	15.77
3951.29	324	379.67	2.05	60.00	1220.8	1237.0	1204.6	2824.4	2173.5	32.03	7.65	786	3956.82	0.00	0.00	2.63	0.000	0.000	0.075	1221.03	1237.31	1204.75	2824.56	3206.12	0	0	0	30.00	30.00	15.83
3991.30	1092	379.67	2.06	1.50	1220.6	1237.2	1203.9	2825.1	3207.0	28.87	7.83	794	3996.81	0.00	0.00	2.57	0.000	0.000	0.021	1220.97	1238.00	1203.94	2823.31	2080.44	0	0	0	30.00	30.00	15.86
4181.72	516	379.67	2.06	-60.00	1219.8	1240.0	1199.5	2824.8	2080.6	13.96	8.02	832	4186.90	0.00	0.00	2.75	0.000	0.000	0.077	1219.97	1240.12	1199.81	2824.75	991.88	0	0	0	30.00	30.00	15.85
4221.34	1028	379.67	2.06	1.50	1219.8	1241.1	1198.6	2824.5	991.9	10.04	10.25	840	4226.92	0.00	0.00	2.70	0.000	0.000	0.021	1219.81	1241.19	1198.44	2824.56	2171.69	0	0	0	30.00	30.00	15.90
4300	end climb: SURFACE_DEPTH_REACHED
state	4301	begin surface coast
4361	end surface coast: CONTROL_FINISHED_OK
state	4361	begin surface