Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1192 * 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 1192 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 99.928772 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 312.47641 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 99.928772 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 312.47641 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 1192 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 280222,111831,4754.288,-12513.053,3,1.2,33,15.9 TGT_RADIUS 2500.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -61.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,112716,4754.340,-12513.031,2,0.6,4,15.9 MHEAD_RNG_PITCHd_Wd 184.7,168470,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 168

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 0.1,1.024582 MEM0 60876,1,0,0

SM_CCo 4570.12,10.92,0.944,0,1145.5,1142.9,1148.1,399.72 MEM1 65508,1,0,0

SM_GC 1.19,10.92,16.40,0.63,0.944,0.053,0.053,1145.5,1142.9,1148.1,177.2,2355.3,0,0,0,11.22,15.85,15.90 MEM2 971344,31,75464,57

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 38527,902

IRIDIUM_FIX 4754.02,-12511.36,280222,112310 CAP_FILE_SIZE 175934,0

TCM_TEMP 267.72 SDSIZE 4028416,3742912

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4334,1

HUMID 51.31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.02 CURRENT 0.107,315.6,1

INTERNAL_PRESSURE 8.91268 MAGCAL 1.000000,0.178763,0.740493,0.056835,0.788538,-0.696595,0.084380,0.384980,0.140142,-897.8,1081.4,845.2,36,0.1816,0

_24V_AH 14.80,425.408 IMPLIED_C_PITCH 2388,12.28,672

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2857,28.440630,603

FG_AHR_24Vo 312.606 GPS 280222,124350,4754.293,-12513.510,1,0.9,3,15.9

FG_AHR_10Vo 99.943

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 439 1296 8442.94 legato 34 20 10.28

Pitch_motor 35 233 123.86 nil 0 0 0.00

Roll_motor 66 113 111.16 nil 0 0 0.00

Iridium 223 203 672.79 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 2067 11 365.99 SciCon 0 0 0.00

LPSleep 2934 2 123.26 nil 0 0 0.00

Compass 598 5 44.87 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

6.00 16386 -82.73 -1.35 0.00 1139.8 1139.1 1140.6 175.9 2266.2 0.00 0.00 0 77.17 70.01 0.00 0.00 0.005 0.000 0.000 2853.19 3035.38 2671.00 175.81 2266.12 0 0 0 14.92 30.00 30.00

78.29 18983 -82.73 -1.35 -60.00 2853.1 3035.3 2670.9 175.7 2265.9 3.47 -5.33 13 107.53 6.01 14.26 2.63 0.008 0.233 0.063 3109.09 3317.75 2900.44 1991.50 1207.75 0 0 0 15.07 15.50 14.96

134.60 1028 -82.73 -1.35 0.00 3110.7 3318.3 2903.1 1991.3 1207.8 13.50 -14.16 24 140.16 0.00 0.00 2.67 0.000 0.000 0.025 3110.53 3318.25 2902.81 1991.38 2354.25 0 0 0 30.00 30.00 15.89

325.05 260 -82.73 -1.35 60.00 3110.9 3318.9 2902.9 1991.3 2354.2 37.49 -12.25 62 330.22 0.00 0.00 2.71 0.000 0.000 0.078 3111.44 3319.00 2903.88 1991.81 3427.88 0 0 0 30.00 30.00 15.87

349.85 1028 -82.73 -1.35 0.10 3110.8 3318.0 2903.7 1992.1 3426.6 40.80 -12.98 67 355.28 0.00 0.00 2.60 0.000 0.000 0.017 3111.09 3317.44 2904.75 1992.19 2247.56 0 0 0 30.00 30.00 15.91

540.12 0 -82.73 -1.35 0.10 3110.9 3318.4 2903.4 1992.3 2246.2 63.07 -10.79 105 541.46 0.00 0.00 0.00 0.000 0.000 0.000 3110.44 3317.50 2903.38 1991.88 2246.44 0 0 0 30.00 30.00 30.00

724.79 260 -82.73 -1.35 60.00 3110.8 3318.1 2903.6 1992.4 2246.2 80.52 -8.54 142 730.60 0.00 0.00 2.99 0.000 0.000 0.075 3111.84 3319.00 2904.69 1992.06 3427.00 0 0 0 30.00 30.00 15.90

759.80 1028 -82.73 -1.35 -0.16 3111.0 3318.3 2903.6 1991.8 3427.1 83.50 -8.53 149 765.34 0.00 0.00 2.60 0.000 0.000 0.017 3110.91 3318.62 2903.19 1991.38 2235.94 0 0 0 30.00 30.00 15.95

950.26 260 -82.73 -1.35 60.00 3110.8 3318.1 2903.6 1992.1 2234.8 100.14 -8.67 187 955.48 0.00 0.00 3.01 0.000 0.000 0.075 3112.50 3319.31 2905.69 1991.75 3427.50 0 0 0 30.00 30.00 15.90

1114.92 1028 -82.73 -1.35 1.48 3110.9 3317.9 2903.8 1992.6 3427.3 115.71 -8.61 220 1120.45 0.00 0.00 2.52 0.000 0.000 0.017 3110.91 3317.88 2903.94 1992.19 2263.94 0 0 0 30.00 30.00 15.96

1424.99 516 -82.73 -1.35 -60.00 3111.0 3318.3 2903.6 1992.4 2263.9 137.17 -7.00 282 1430.52 0.00 0.00 2.59 0.000 0.000 0.061 3110.78 3317.88 2903.69 1992.75 1206.81 0 0 0 30.00 30.00 15.96

1449.98 1028 -82.73 -1.35 1.48 3110.9 3317.8 2904.1 1992.8 1206.7 139.09 -7.30 287 1455.55 0.00 0.00 2.72 0.000 0.000 0.024 3110.97 3318.12 2903.81 1992.31 2382.50 0 0 0 30.00 30.00 15.97

1760.23 516 -82.73 -1.35 -60.00 3110.8 3317.7 2904.0 1992.6 2382.5 160.69 -7.16 349 1765.68 0.00 0.00 2.88 0.000 0.000 0.056 3111.94 3318.62 2905.25 1991.62 1209.06 0 0 0 30.00 30.00 15.95

1855 end dive: TARGET_DEPTH_EXCEEDED

state 1855 begin apogee

1858.72 10243 0.00 -0.28 0.00 3110.8 3317.6 2903.9 1992.8 2151.0 168.12 -8.11 368 1923.14 59.78 1.82 0.16 1.297 0.144 0.114 2775.62 2918.75 2632.50 2252.50 2028.38 0 0 0 10.95 15.81 15.41

1925 end apogee: CONTROL_FINISHED_OK

state 1925 begin climb

1925.88 11271 82.73 1.35 0.00 2773.9 2917.3 2630.4 2253.2 2028.1 170.92 0.00 381 1992.67 61.03 2.59 0.20 1.245 0.086 0.070 2436.03 2527.31 2344.75 2654.69 2168.31 0 0 0 11.90 15.67 15.77

2294.95 10535 227.54 1.64 60.00 2433.1 2528.1 2338.1 2654.1 2168.1 159.72 3.52 455 2409.31 108.35 0.38 2.71 1.230 0.060 0.075 1848.09 1880.12 1816.06 2733.38 3207.06 0 0 0 11.25 15.78 15.27

2436.70 1028 227.54 1.64 0.00 1844.5 1878.8 1810.2 2732.8 3206.8 150.47 8.62 483 2442.07 0.00 0.00 2.68 0.000 0.000 0.021 1844.66 1879.75 1809.56 2733.38 2056.00 0 0 0 30.00 30.00 15.62

2746.65 16966 227.54 1.66 -60.00 1836.7 1879.6 1793.8 2733.3 2056.6 126.72 7.65 545 2752.19 0.00 0.00 2.70 0.000 0.000 0.078 1836.62 1879.62 1793.62 2732.69 995.12 0 0 0 30.00 30.00 15.79

2876.68 17414 227.54 1.66 -0.35 1835.8 1879.9 1791.6 2733.2 994.9 115.79 8.42 571 2882.22 0.00 0.00 2.64 0.000 0.000 0.021 1836.12 1881.12 1791.12 2733.25 2138.38 0 0 0 30.00 30.00 15.87

3186.79 10791 318.81 1.84 -60.00 1834.8 1880.6 1788.9 2733.4 2138.5 96.29 5.35 633 3264.23 69.83 0.19 2.95 1.171 0.083 0.076 1475.31 1500.50 1450.12 2781.44 992.12 0 0 0 11.14 15.87 15.40

3411.84 1092 318.81 1.88 0.05 1468.2 1500.2 1436.1 2781.2 992.1 81.86 6.66 678 3417.38 0.00 0.00 2.67 0.000 0.000 0.021 1468.72 1500.75 1436.69 2780.69 2147.44 0 0 0 30.00 30.00 15.80

3602.53 16966 318.81 1.91 -60.00 1466.3 1500.8 1431.9 2780.9 2147.4 69.48 6.66 716 3607.48 0.00 0.00 2.93 0.000 0.000 0.074 1466.59 1501.25 1431.94 2781.25 993.81 0 0 0 30.00 30.00 15.82

3786.93 17478 318.81 1.93 1.00 1464.7 1501.0 1428.4 2780.9 993.7 56.14 7.40 753 3792.48 0.00 0.00 2.70 0.000 0.000 0.021 1464.53 1501.50 1427.56 2781.19 2162.50 0 0 0 30.00 30.00 15.90

3977.54 10791 387.61 2.07 -60.00 1464.3 1502.2 1426.5 2781.2 2162.4 43.40 6.12 791 4038.77 53.90 0.25 3.01 1.109 0.072 0.074 1194.69 1202.38 1187.00 2837.62 992.06 0 0 0 11.08 15.88 15.43

4067.15 1092 387.61 2.09 0.31 1192.8 1202.6 1182.9 2837.2 992.2 37.13 7.28 809 4072.51 0.00 0.00 2.68 0.000 0.000 0.020 1192.41 1202.69 1182.12 2837.19 2149.81 0 0 0 30.00 30.00 15.79

4257.39 260 387.61 2.09 60.00 1190.1 1203.4 1176.9 2837.3 2149.4 21.45 8.40 847 4262.54 0.00 0.00 2.69 0.000 0.000 0.075 1189.97 1203.25 1176.69 2837.19 3206.31 0 0 0 30.00 30.00 15.82

4297.00 1028 387.61 2.09 0.23 1189.5 1203.2 1175.8 2836.6 3207.1 18.18 8.22 855 4302.55 0.00 0.00 2.62 0.000 0.000 0.021 1189.81 1203.38 1176.25 2836.50 2059.31 0 0 0 30.00 30.00 15.86

4477 end climb: SURFACE_DEPTH_REACHED

state 4477 begin surface coast

4532 end surface coast: CONTROL_FINISHED_OK

state 4532 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	1192	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	99.928772	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	312.47641	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	280222,111831,4754.288,-12513.053,3,1.2,33,15.9	TGT_RADIUS	2500.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,112716,4754.340,-12513.031,2,0.6,4,15.9	MHEAD_RNG_PITCHd_Wd	184.7,168470,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	168
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	0.1,1.024582	MEM0	60876,1,0,0
SM_CCo	4570.12,10.92,0.944,0,1145.5,1142.9,1148.1,399.72	MEM1	65508,1,0,0
SM_GC	1.19,10.92,16.40,0.63,0.944,0.053,0.053,1145.5,1142.9,1148.1,177.2,2355.3,0,0,0,11.22,15.85,15.90	MEM2	971344,31,75464,57
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	38527,902
IRIDIUM_FIX	4754.02,-12511.36,280222,112310	CAP_FILE_SIZE	175934,0
TCM_TEMP	267.72	SDSIZE	4028416,3742912
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4334,1
HUMID	51.31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.02	CURRENT	0.107,315.6,1
INTERNAL_PRESSURE	8.91268	MAGCAL	1.000000,0.178763,0.740493,0.056835,0.788538,-0.696595,0.084380,0.384980,0.140142,-897.8,1081.4,845.2,36,0.1816,0
_24V_AH	14.80,425.408	IMPLIED_C_PITCH	2388,12.28,672
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2857,28.440630,603
FG_AHR_24Vo	312.606	GPS	280222,124350,4754.293,-12513.510,1,0.9,3,15.9
FG_AHR_10Vo	99.943

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	439	1296	8442.94	legato	34	20	10.28
Pitch_motor	35	233	123.86	nil	0	0	0.00
Roll_motor	66	113	111.16	nil	0	0	0.00
Iridium	223	203	672.79	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	2067	11	365.99	SciCon	0	0	0.00
LPSleep	2934	2	123.26	nil	0	0	0.00
Compass	598	5	44.87	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
6.00	16386	-82.73	-1.35	0.00	1139.8	1139.1	1140.6	175.9	2266.2	0.00	0.00	0	77.17	70.01	0.00	0.00	0.005	0.000	0.000	2853.19	3035.38	2671.00	175.81	2266.12	0	0	0	14.92	30.00	30.00
78.29	18983	-82.73	-1.35	-60.00	2853.1	3035.3	2670.9	175.7	2265.9	3.47	-5.33	13	107.53	6.01	14.26	2.63	0.008	0.233	0.063	3109.09	3317.75	2900.44	1991.50	1207.75	0	0	0	15.07	15.50	14.96
134.60	1028	-82.73	-1.35	0.00	3110.7	3318.3	2903.1	1991.3	1207.8	13.50	-14.16	24	140.16	0.00	0.00	2.67	0.000	0.000	0.025	3110.53	3318.25	2902.81	1991.38	2354.25	0	0	0	30.00	30.00	15.89
325.05	260	-82.73	-1.35	60.00	3110.9	3318.9	2902.9	1991.3	2354.2	37.49	-12.25	62	330.22	0.00	0.00	2.71	0.000	0.000	0.078	3111.44	3319.00	2903.88	1991.81	3427.88	0	0	0	30.00	30.00	15.87
349.85	1028	-82.73	-1.35	0.10	3110.8	3318.0	2903.7	1992.1	3426.6	40.80	-12.98	67	355.28	0.00	0.00	2.60	0.000	0.000	0.017	3111.09	3317.44	2904.75	1992.19	2247.56	0	0	0	30.00	30.00	15.91
540.12	0	-82.73	-1.35	0.10	3110.9	3318.4	2903.4	1992.3	2246.2	63.07	-10.79	105	541.46	0.00	0.00	0.00	0.000	0.000	0.000	3110.44	3317.50	2903.38	1991.88	2246.44	0	0	0	30.00	30.00	30.00
724.79	260	-82.73	-1.35	60.00	3110.8	3318.1	2903.6	1992.4	2246.2	80.52	-8.54	142	730.60	0.00	0.00	2.99	0.000	0.000	0.075	3111.84	3319.00	2904.69	1992.06	3427.00	0	0	0	30.00	30.00	15.90
759.80	1028	-82.73	-1.35	-0.16	3111.0	3318.3	2903.6	1991.8	3427.1	83.50	-8.53	149	765.34	0.00	0.00	2.60	0.000	0.000	0.017	3110.91	3318.62	2903.19	1991.38	2235.94	0	0	0	30.00	30.00	15.95
950.26	260	-82.73	-1.35	60.00	3110.8	3318.1	2903.6	1992.1	2234.8	100.14	-8.67	187	955.48	0.00	0.00	3.01	0.000	0.000	0.075	3112.50	3319.31	2905.69	1991.75	3427.50	0	0	0	30.00	30.00	15.90
1114.92	1028	-82.73	-1.35	1.48	3110.9	3317.9	2903.8	1992.6	3427.3	115.71	-8.61	220	1120.45	0.00	0.00	2.52	0.000	0.000	0.017	3110.91	3317.88	2903.94	1992.19	2263.94	0	0	0	30.00	30.00	15.96
1424.99	516	-82.73	-1.35	-60.00	3111.0	3318.3	2903.6	1992.4	2263.9	137.17	-7.00	282	1430.52	0.00	0.00	2.59	0.000	0.000	0.061	3110.78	3317.88	2903.69	1992.75	1206.81	0	0	0	30.00	30.00	15.96
1449.98	1028	-82.73	-1.35	1.48	3110.9	3317.8	2904.1	1992.8	1206.7	139.09	-7.30	287	1455.55	0.00	0.00	2.72	0.000	0.000	0.024	3110.97	3318.12	2903.81	1992.31	2382.50	0	0	0	30.00	30.00	15.97
1760.23	516	-82.73	-1.35	-60.00	3110.8	3317.7	2904.0	1992.6	2382.5	160.69	-7.16	349	1765.68	0.00	0.00	2.88	0.000	0.000	0.056	3111.94	3318.62	2905.25	1991.62	1209.06	0	0	0	30.00	30.00	15.95
1855	end dive: TARGET_DEPTH_EXCEEDED
state	1855	begin apogee
1858.72	10243	0.00	-0.28	0.00	3110.8	3317.6	2903.9	1992.8	2151.0	168.12	-8.11	368	1923.14	59.78	1.82	0.16	1.297	0.144	0.114	2775.62	2918.75	2632.50	2252.50	2028.38	0	0	0	10.95	15.81	15.41
1925	end apogee: CONTROL_FINISHED_OK
state	1925	begin climb
1925.88	11271	82.73	1.35	0.00	2773.9	2917.3	2630.4	2253.2	2028.1	170.92	0.00	381	1992.67	61.03	2.59	0.20	1.245	0.086	0.070	2436.03	2527.31	2344.75	2654.69	2168.31	0	0	0	11.90	15.67	15.77
2294.95	10535	227.54	1.64	60.00	2433.1	2528.1	2338.1	2654.1	2168.1	159.72	3.52	455	2409.31	108.35	0.38	2.71	1.230	0.060	0.075	1848.09	1880.12	1816.06	2733.38	3207.06	0	0	0	11.25	15.78	15.27
2436.70	1028	227.54	1.64	0.00	1844.5	1878.8	1810.2	2732.8	3206.8	150.47	8.62	483	2442.07	0.00	0.00	2.68	0.000	0.000	0.021	1844.66	1879.75	1809.56	2733.38	2056.00	0	0	0	30.00	30.00	15.62
2746.65	16966	227.54	1.66	-60.00	1836.7	1879.6	1793.8	2733.3	2056.6	126.72	7.65	545	2752.19	0.00	0.00	2.70	0.000	0.000	0.078	1836.62	1879.62	1793.62	2732.69	995.12	0	0	0	30.00	30.00	15.79
2876.68	17414	227.54	1.66	-0.35	1835.8	1879.9	1791.6	2733.2	994.9	115.79	8.42	571	2882.22	0.00	0.00	2.64	0.000	0.000	0.021	1836.12	1881.12	1791.12	2733.25	2138.38	0	0	0	30.00	30.00	15.87
3186.79	10791	318.81	1.84	-60.00	1834.8	1880.6	1788.9	2733.4	2138.5	96.29	5.35	633	3264.23	69.83	0.19	2.95	1.171	0.083	0.076	1475.31	1500.50	1450.12	2781.44	992.12	0	0	0	11.14	15.87	15.40
3411.84	1092	318.81	1.88	0.05	1468.2	1500.2	1436.1	2781.2	992.1	81.86	6.66	678	3417.38	0.00	0.00	2.67	0.000	0.000	0.021	1468.72	1500.75	1436.69	2780.69	2147.44	0	0	0	30.00	30.00	15.80
3602.53	16966	318.81	1.91	-60.00	1466.3	1500.8	1431.9	2780.9	2147.4	69.48	6.66	716	3607.48	0.00	0.00	2.93	0.000	0.000	0.074	1466.59	1501.25	1431.94	2781.25	993.81	0	0	0	30.00	30.00	15.82
3786.93	17478	318.81	1.93	1.00	1464.7	1501.0	1428.4	2780.9	993.7	56.14	7.40	753	3792.48	0.00	0.00	2.70	0.000	0.000	0.021	1464.53	1501.50	1427.56	2781.19	2162.50	0	0	0	30.00	30.00	15.90
3977.54	10791	387.61	2.07	-60.00	1464.3	1502.2	1426.5	2781.2	2162.4	43.40	6.12	791	4038.77	53.90	0.25	3.01	1.109	0.072	0.074	1194.69	1202.38	1187.00	2837.62	992.06	0	0	0	11.08	15.88	15.43
4067.15	1092	387.61	2.09	0.31	1192.8	1202.6	1182.9	2837.2	992.2	37.13	7.28	809	4072.51	0.00	0.00	2.68	0.000	0.000	0.020	1192.41	1202.69	1182.12	2837.19	2149.81	0	0	0	30.00	30.00	15.79
4257.39	260	387.61	2.09	60.00	1190.1	1203.4	1176.9	2837.3	2149.4	21.45	8.40	847	4262.54	0.00	0.00	2.69	0.000	0.000	0.075	1189.97	1203.25	1176.69	2837.19	3206.31	0	0	0	30.00	30.00	15.82
4297.00	1028	387.61	2.09	0.23	1189.5	1203.2	1175.8	2836.6	3207.1	18.18	8.22	855	4302.55	0.00	0.00	2.62	0.000	0.000	0.021	1189.81	1203.38	1176.25	2836.50	2059.31	0	0	0	30.00	30.00	15.86
4477	end climb: SURFACE_DEPTH_REACHED
state	4477	begin surface coast
4532	end surface coast: CONTROL_FINISHED_OK
state	4532	begin surface