Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1193 * 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 1193 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 99.944099 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 312.61563 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 99.944099 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 312.61563 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 1193 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 280222,124350,4754.293,-12513.510,1,0.9,3,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.57 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 280222,124921,4754.320,-12513.503,3,0.9,5,15.9 MHEAD_RNG_PITCHd_Wd 174.7,167970,-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 0.2,1.024676 MEM0 60876,1,0,0

SM_CCo 4569.92,0.00,0.000,0,1129.3,1138.9,1119.7,403.69 MEM1 65508,1,0,0

SM_GC 0.83,0.00,16.26,0.38,0.000,0.048,0.059,1129.3,1138.9,1119.7,179.4,2350.3,0,0,0,30.00,15.85,15.90 MEM2 971348,30,75480,57

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 38591,893

IRIDIUM_FIX 4755.33,-12513.21,280222,112450 CAP_FILE_SIZE 168618,0

TCM_TEMP 267.64 SDSIZE 4028416,3742784

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4337,1

HUMID 51.29 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.97 CURRENT 0.144,323.1,1

INTERNAL_PRESSURE 8.91704 MAGCAL 1.000000,0.002011,-0.021080,-0.013158,1.060495,-0.096191,0.018950,-0.028010,1.010070,611.2,-285.7,72.1,36,0.0373,0

_24V_AH 14.74,425.579 IMPLIED_C_PITCH 2394,12.20,654

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2896,41.732853,617

FG_AHR_24Vo 312.746 GPS 280222,140610,4754.342,-12513.869,18,2.0,19,15.9

FG_AHR_10Vo 99.958

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 441 1303 8477.28 legato 34 20 10.23

Pitch_motor 35 234 123.97 nil 0 0 0.00

Roll_motor 60 113 101.90 nil 0 0 0.00

Iridium 154 216 492.76 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.11 nil 0 0 0.00

Core 1969 11 348.66 SciCon 0 0 0.00

LPSleep 2841 2 119.33 nil 0 0 0.00

Compass 592 5 44.45 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

5.95 16386 -82.73 -1.35 0.00 1141.8 1136.8 1146.9 177.0 2262.2 0.00 0.00 0 77.10 70.00 0.00 0.00 0.005 0.000 0.000 2826.97 3000.19 2653.75 176.12 2261.19 0 0 0 14.95 30.00 30.00

77.84 18467 -82.73 -1.35 0.00 2825.7 2998.6 2652.7 176.1 2260.8 3.11 -4.72 13 104.59 6.91 14.25 0.00 0.008 0.235 0.000 3111.06 3320.12 2902.00 1992.81 2261.06 0 0 0 15.08 15.49 30.00

286.67 260 -82.73 -1.35 60.00 3111.8 3319.8 2903.7 1992.7 2261.9 31.03 -12.18 55 292.27 0.00 0.00 2.98 0.000 0.000 0.077 3112.19 3320.44 2903.94 1993.12 3426.31 0 0 0 30.00 30.00 15.87

316.67 1028 -82.73 -1.35 0.00 3112.0 3319.6 2904.3 1993.1 3426.4 35.02 -13.30 61 322.24 0.00 0.00 2.62 0.000 0.000 0.017 3111.69 3319.62 2903.75 1993.12 2246.12 0 0 0 30.00 30.00 15.90

507.07 0 -82.73 -1.35 0.00 3112.0 3319.7 2904.2 1993.5 2243.4 58.72 -12.29 99 508.40 0.00 0.00 0.00 0.000 0.000 0.000 3111.22 3318.94 2903.50 1992.81 2243.88 0 0 0 30.00 30.00 30.00

691.80 260 -82.73 -1.35 60.00 3111.9 3319.9 2904.0 1992.7 2243.8 75.63 -7.79 136 697.34 0.00 0.00 2.99 0.000 0.000 0.077 3112.25 3319.75 2904.75 1992.94 3427.06 0 0 0 30.00 30.00 15.89

781.76 1028 -82.73 -1.35 0.78 3112.0 3320.1 2904.0 1993.1 3427.7 82.93 -8.17 154 787.29 0.00 0.00 2.57 0.000 0.000 0.017 3111.97 3319.75 2904.19 1993.81 2255.31 0 0 0 30.00 30.00 15.95

972.17 516 -82.73 -1.35 -60.00 3112.4 3320.8 2903.9 1993.4 2253.4 101.09 -9.53 192 977.31 0.00 0.00 2.57 0.000 0.000 0.062 3113.22 3320.94 2905.50 1993.62 1207.94 0 0 0 30.00 30.00 15.95

1071.81 1028 -82.73 -1.35 0.13 3112.0 3320.0 2903.9 1993.6 1207.7 109.71 -8.47 212 1077.36 0.00 0.00 2.66 0.000 0.000 0.024 3112.28 3319.75 2904.81 1993.50 2356.56 0 0 0 30.00 30.00 15.98

1381.93 516 -82.73 -1.35 -60.00 3112.3 3320.1 2904.6 1993.3 2356.1 130.86 -7.67 274 1387.50 0.00 0.00 2.84 0.000 0.000 0.057 3111.78 3319.25 2904.31 1993.69 1208.00 0 0 0 30.00 30.00 15.95

1421.93 1028 -82.73 -1.35 -0.01 3112.2 3319.4 2904.9 1993.8 1207.8 134.02 -7.82 282 1427.48 0.00 0.00 2.65 0.000 0.000 0.024 3112.25 3319.88 2904.62 1992.12 2355.56 0 0 0 30.00 30.00 15.97

1732.05 260 -82.73 -1.35 60.00 3112.1 3319.8 2904.4 1993.4 2354.6 159.17 -8.63 344 1737.60 0.00 0.00 2.72 0.000 0.000 0.082 3112.34 3320.38 2904.31 1993.50 3427.69 0 0 0 30.00 30.00 15.92

1782.06 1028 -82.73 -1.35 0.13 3111.9 3319.4 2904.5 1993.6 3427.2 163.83 -9.43 354 1787.58 0.00 0.00 2.60 0.000 0.000 0.017 3113.84 3320.88 2906.81 1993.50 2241.00 0 0 0 30.00 30.00 15.97

1936 end dive: TARGET_DEPTH_EXCEEDED

state 1936 begin apogee

1939.21 10243 0.00 -0.28 0.00 3111.9 3319.8 2903.9 1993.6 2041.9 176.35 -8.32 385 2004.43 59.99 1.79 0.17 1.304 0.133 0.114 2774.25 2917.12 2631.38 2255.12 2170.69 0 0 0 10.94 15.85 15.41

2006 end apogee: CONTROL_FINISHED_OK

state 2006 begin climb

2007.34 10759 82.73 1.35 -60.00 2774.1 2917.6 2630.6 2254.4 2170.7 178.84 0.00 398 2078.00 61.28 2.67 2.98 1.253 0.114 0.072 2437.38 2522.94 2351.81 2650.44 993.38 0 0 0 11.90 15.63 15.76

2200.24 11303 249.79 1.69 0.00 2433.9 2521.8 2346.0 2650.9 993.5 175.29 2.76 437 2331.25 124.82 0.48 2.66 1.242 0.059 0.020 1757.84 1783.62 1732.06 2742.81 2147.81 0 0 0 11.44 15.63 15.74

2633.50 16646 249.79 1.69 60.00 1746.8 1782.0 1711.6 2742.3 2148.1 141.08 8.83 523 2639.03 0.00 0.00 2.68 0.000 0.000 0.074 1746.94 1782.06 1711.81 2742.88 3205.56 0 0 0 30.00 30.00 15.80

2788.51 17414 249.79 1.69 -0.52 1746.4 1781.9 1710.9 2742.4 3205.3 125.81 10.18 554 2794.06 0.00 0.00 2.65 0.000 0.000 0.022 1746.81 1782.44 1711.19 2741.19 2047.00 0 0 0 30.00 30.00 15.84

3098.58 16966 249.79 1.70 -60.00 1744.2 1782.1 1706.4 2742.4 2047.2 99.66 7.55 616 3104.10 0.00 0.00 2.67 0.000 0.000 0.077 1744.75 1782.44 1707.06 2742.50 991.88 0 0 0 30.00 30.00 15.87

3213.59 17478 249.79 1.73 -1.01 1743.8 1782.9 1704.6 2743.4 992.4 91.08 6.92 639 3219.31 0.00 0.00 2.60 0.000 0.000 0.020 1743.91 1783.12 1704.69 2743.31 2128.38 0 0 0 30.00 30.00 15.92

3404.01 10535 337.30 1.91 60.00 1743.7 1782.8 1704.6 2742.8 2128.1 80.67 5.48 677 3476.23 67.19 0.23 2.77 1.153 0.076 0.075 1400.47 1421.81 1379.12 2793.62 3207.12 0 0 0 11.09 15.89 15.41

3689.31 1092 337.30 1.93 0.50 1394.7 1422.0 1367.4 2794.0 3207.4 60.79 7.66 734 3694.34 0.00 0.00 2.62 0.000 0.000 0.022 1394.53 1422.31 1366.75 2794.44 2064.25 0 0 0 30.00 30.00 15.83

3879.16 8486 401.70 2.05 60.00 1391.9 1422.4 1361.4 2794.1 2063.7 48.87 6.27 772 3936.25 51.01 0.00 2.93 1.097 0.000 0.072 1138.31 1141.31 1135.31 2794.81 3205.56 0 0 0 11.23 30.00 15.44

4013.96 3141 401.70 2.07 1.32 1135.4 1140.9 1130.0 2794.2 3205.5 38.54 7.74 799 4019.36 0.00 0.17 2.59 0.000 0.084 0.021 1135.62 1140.94 1130.31 2834.06 2077.69 0 0 0 30.00 15.70 15.78

4203.82 516 401.70 2.07 -60.00 1133.0 1140.9 1125.1 2834.3 2077.8 23.19 8.72 837 4209.39 0.00 0.00 2.77 0.000 0.000 0.077 1133.56 1141.44 1125.69 2834.44 992.12 0 0 0 30.00 30.00 15.83

4254.17 1028 401.70 2.07 1.32 1132.7 1141.4 1124.0 2833.9 992.1 18.34 9.89 847 4259.40 0.00 0.00 2.72 0.000 0.000 0.021 1132.88 1141.25 1124.50 2834.31 2165.88 0 0 0 30.00 30.00 15.87

4428 end climb: SURFACE_DEPTH_REACHED

state 4429 begin surface coast

4483 end surface coast: CONTROL_FINISHED_OK

state 4483 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	1193	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	99.944099	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	312.61563	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	280222,124350,4754.293,-12513.510,1,0.9,3,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.57	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	280222,124921,4754.320,-12513.503,3,0.9,5,15.9	MHEAD_RNG_PITCHd_Wd	174.7,167970,-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	0.2,1.024676	MEM0	60876,1,0,0
SM_CCo	4569.92,0.00,0.000,0,1129.3,1138.9,1119.7,403.69	MEM1	65508,1,0,0
SM_GC	0.83,0.00,16.26,0.38,0.000,0.048,0.059,1129.3,1138.9,1119.7,179.4,2350.3,0,0,0,30.00,15.85,15.90	MEM2	971348,30,75480,57
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	38591,893
IRIDIUM_FIX	4755.33,-12513.21,280222,112450	CAP_FILE_SIZE	168618,0
TCM_TEMP	267.64	SDSIZE	4028416,3742784
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4337,1
HUMID	51.29	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.97	CURRENT	0.144,323.1,1
INTERNAL_PRESSURE	8.91704	MAGCAL	1.000000,0.002011,-0.021080,-0.013158,1.060495,-0.096191,0.018950,-0.028010,1.010070,611.2,-285.7,72.1,36,0.0373,0
_24V_AH	14.74,425.579	IMPLIED_C_PITCH	2394,12.20,654
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2896,41.732853,617
FG_AHR_24Vo	312.746	GPS	280222,140610,4754.342,-12513.869,18,2.0,19,15.9
FG_AHR_10Vo	99.958

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	441	1303	8477.28	legato	34	20	10.23
Pitch_motor	35	234	123.97	nil	0	0	0.00
Roll_motor	60	113	101.90	nil	0	0	0.00
Iridium	154	216	492.76	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.11	nil	0	0	0.00
Core	1969	11	348.66	SciCon	0	0	0.00
LPSleep	2841	2	119.33	nil	0	0	0.00
Compass	592	5	44.45	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
5.95	16386	-82.73	-1.35	0.00	1141.8	1136.8	1146.9	177.0	2262.2	0.00	0.00	0	77.10	70.00	0.00	0.00	0.005	0.000	0.000	2826.97	3000.19	2653.75	176.12	2261.19	0	0	0	14.95	30.00	30.00
77.84	18467	-82.73	-1.35	0.00	2825.7	2998.6	2652.7	176.1	2260.8	3.11	-4.72	13	104.59	6.91	14.25	0.00	0.008	0.235	0.000	3111.06	3320.12	2902.00	1992.81	2261.06	0	0	0	15.08	15.49	30.00
286.67	260	-82.73	-1.35	60.00	3111.8	3319.8	2903.7	1992.7	2261.9	31.03	-12.18	55	292.27	0.00	0.00	2.98	0.000	0.000	0.077	3112.19	3320.44	2903.94	1993.12	3426.31	0	0	0	30.00	30.00	15.87
316.67	1028	-82.73	-1.35	0.00	3112.0	3319.6	2904.3	1993.1	3426.4	35.02	-13.30	61	322.24	0.00	0.00	2.62	0.000	0.000	0.017	3111.69	3319.62	2903.75	1993.12	2246.12	0	0	0	30.00	30.00	15.90
507.07	0	-82.73	-1.35	0.00	3112.0	3319.7	2904.2	1993.5	2243.4	58.72	-12.29	99	508.40	0.00	0.00	0.00	0.000	0.000	0.000	3111.22	3318.94	2903.50	1992.81	2243.88	0	0	0	30.00	30.00	30.00
691.80	260	-82.73	-1.35	60.00	3111.9	3319.9	2904.0	1992.7	2243.8	75.63	-7.79	136	697.34	0.00	0.00	2.99	0.000	0.000	0.077	3112.25	3319.75	2904.75	1992.94	3427.06	0	0	0	30.00	30.00	15.89
781.76	1028	-82.73	-1.35	0.78	3112.0	3320.1	2904.0	1993.1	3427.7	82.93	-8.17	154	787.29	0.00	0.00	2.57	0.000	0.000	0.017	3111.97	3319.75	2904.19	1993.81	2255.31	0	0	0	30.00	30.00	15.95
972.17	516	-82.73	-1.35	-60.00	3112.4	3320.8	2903.9	1993.4	2253.4	101.09	-9.53	192	977.31	0.00	0.00	2.57	0.000	0.000	0.062	3113.22	3320.94	2905.50	1993.62	1207.94	0	0	0	30.00	30.00	15.95
1071.81	1028	-82.73	-1.35	0.13	3112.0	3320.0	2903.9	1993.6	1207.7	109.71	-8.47	212	1077.36	0.00	0.00	2.66	0.000	0.000	0.024	3112.28	3319.75	2904.81	1993.50	2356.56	0	0	0	30.00	30.00	15.98
1381.93	516	-82.73	-1.35	-60.00	3112.3	3320.1	2904.6	1993.3	2356.1	130.86	-7.67	274	1387.50	0.00	0.00	2.84	0.000	0.000	0.057	3111.78	3319.25	2904.31	1993.69	1208.00	0	0	0	30.00	30.00	15.95
1421.93	1028	-82.73	-1.35	-0.01	3112.2	3319.4	2904.9	1993.8	1207.8	134.02	-7.82	282	1427.48	0.00	0.00	2.65	0.000	0.000	0.024	3112.25	3319.88	2904.62	1992.12	2355.56	0	0	0	30.00	30.00	15.97
1732.05	260	-82.73	-1.35	60.00	3112.1	3319.8	2904.4	1993.4	2354.6	159.17	-8.63	344	1737.60	0.00	0.00	2.72	0.000	0.000	0.082	3112.34	3320.38	2904.31	1993.50	3427.69	0	0	0	30.00	30.00	15.92
1782.06	1028	-82.73	-1.35	0.13	3111.9	3319.4	2904.5	1993.6	3427.2	163.83	-9.43	354	1787.58	0.00	0.00	2.60	0.000	0.000	0.017	3113.84	3320.88	2906.81	1993.50	2241.00	0	0	0	30.00	30.00	15.97
1936	end dive: TARGET_DEPTH_EXCEEDED
state	1936	begin apogee
1939.21	10243	0.00	-0.28	0.00	3111.9	3319.8	2903.9	1993.6	2041.9	176.35	-8.32	385	2004.43	59.99	1.79	0.17	1.304	0.133	0.114	2774.25	2917.12	2631.38	2255.12	2170.69	0	0	0	10.94	15.85	15.41
2006	end apogee: CONTROL_FINISHED_OK
state	2006	begin climb
2007.34	10759	82.73	1.35	-60.00	2774.1	2917.6	2630.6	2254.4	2170.7	178.84	0.00	398	2078.00	61.28	2.67	2.98	1.253	0.114	0.072	2437.38	2522.94	2351.81	2650.44	993.38	0	0	0	11.90	15.63	15.76
2200.24	11303	249.79	1.69	0.00	2433.9	2521.8	2346.0	2650.9	993.5	175.29	2.76	437	2331.25	124.82	0.48	2.66	1.242	0.059	0.020	1757.84	1783.62	1732.06	2742.81	2147.81	0	0	0	11.44	15.63	15.74
2633.50	16646	249.79	1.69	60.00	1746.8	1782.0	1711.6	2742.3	2148.1	141.08	8.83	523	2639.03	0.00	0.00	2.68	0.000	0.000	0.074	1746.94	1782.06	1711.81	2742.88	3205.56	0	0	0	30.00	30.00	15.80
2788.51	17414	249.79	1.69	-0.52	1746.4	1781.9	1710.9	2742.4	3205.3	125.81	10.18	554	2794.06	0.00	0.00	2.65	0.000	0.000	0.022	1746.81	1782.44	1711.19	2741.19	2047.00	0	0	0	30.00	30.00	15.84
3098.58	16966	249.79	1.70	-60.00	1744.2	1782.1	1706.4	2742.4	2047.2	99.66	7.55	616	3104.10	0.00	0.00	2.67	0.000	0.000	0.077	1744.75	1782.44	1707.06	2742.50	991.88	0	0	0	30.00	30.00	15.87
3213.59	17478	249.79	1.73	-1.01	1743.8	1782.9	1704.6	2743.4	992.4	91.08	6.92	639	3219.31	0.00	0.00	2.60	0.000	0.000	0.020	1743.91	1783.12	1704.69	2743.31	2128.38	0	0	0	30.00	30.00	15.92
3404.01	10535	337.30	1.91	60.00	1743.7	1782.8	1704.6	2742.8	2128.1	80.67	5.48	677	3476.23	67.19	0.23	2.77	1.153	0.076	0.075	1400.47	1421.81	1379.12	2793.62	3207.12	0	0	0	11.09	15.89	15.41
3689.31	1092	337.30	1.93	0.50	1394.7	1422.0	1367.4	2794.0	3207.4	60.79	7.66	734	3694.34	0.00	0.00	2.62	0.000	0.000	0.022	1394.53	1422.31	1366.75	2794.44	2064.25	0	0	0	30.00	30.00	15.83
3879.16	8486	401.70	2.05	60.00	1391.9	1422.4	1361.4	2794.1	2063.7	48.87	6.27	772	3936.25	51.01	0.00	2.93	1.097	0.000	0.072	1138.31	1141.31	1135.31	2794.81	3205.56	0	0	0	11.23	30.00	15.44
4013.96	3141	401.70	2.07	1.32	1135.4	1140.9	1130.0	2794.2	3205.5	38.54	7.74	799	4019.36	0.00	0.17	2.59	0.000	0.084	0.021	1135.62	1140.94	1130.31	2834.06	2077.69	0	0	0	30.00	15.70	15.78
4203.82	516	401.70	2.07	-60.00	1133.0	1140.9	1125.1	2834.3	2077.8	23.19	8.72	837	4209.39	0.00	0.00	2.77	0.000	0.000	0.077	1133.56	1141.44	1125.69	2834.44	992.12	0	0	0	30.00	30.00	15.83
4254.17	1028	401.70	2.07	1.32	1132.7	1141.4	1124.0	2833.9	992.1	18.34	9.89	847	4259.40	0.00	0.00	2.72	0.000	0.000	0.021	1132.88	1141.25	1124.50	2834.31	2165.88	0	0	0	30.00	30.00	15.87
4428	end climb: SURFACE_DEPTH_REACHED
state	4429	begin surface coast
4483	end surface coast: CONTROL_FINISHED_OK
state	4483	begin surface