Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1195 * 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 1195 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 99.977379 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 312.9003 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 99.977379 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 312.9003 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 1195 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 280222,154125,4754.686,-12514.252,43,0.9,44,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,154713,4754.731,-12514.248,4,0.9,7,15.9 MHEAD_RNG_PITCHd_Wd 171.9,167677,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 183

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 0.4,1.024682 MEM0 60876,1,0,0

SM_CCo 4621.08,14.80,1.002,0,1144.7,1126.6,1162.7,399.92 MEM1 65508,1,0,0

SM_GC 1.45,14.80,16.42,0.27,1.002,0.052,0.067,1144.7,1126.6,1162.7,175.9,2360.5,0,0,0,11.34,15.79,15.85 MEM2 971372,30,75456,57

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 41785,912

IRIDIUM_FIX 4755.33,-12513.21,280222,140900 CAP_FILE_SIZE 172014,0

TCM_TEMP 267.42 SDSIZE 4028416,3742528

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4343,1

HUMID 51.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.98 CURRENT 0.226,339.3,1

INTERNAL_PRESSURE 8.91658 MAGCAL 1.000000,0.002266,0.032731,-0.007125,1.048564,-0.054669,0.011116,-0.021559,0.968219,557.6,-318.0,101.6,36,0.0372,0

_24V_AH 14.75,425.929 IMPLIED_C_PITCH 2386,12.49,666

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2860,58.201519,622

FG_AHR_24Vo 313.031 GPS 280222,170438,4754.949,-12514.544,1,1.5,3,15.9

FG_AHR_10Vo 99.992

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 440 1313 8522.85 legato 34 20 10.13

Pitch_motor 35 235 124.87 nil 0 0 0.00

Roll_motor 61 115 104.53 nil 0 0 0.00

Iridium 171 215 545.15 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 16 15 3.63 nil 0 0 0.00

Core 2029 11 359.22 SciCon 0 0 0.00

LPSleep 2854 2 119.90 nil 0 0 0.00

Compass 604 5 45.31 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 1143.9 1142.4 1145.3 175.8 2241.2 0.00 0.00 0 77.09 69.96 0.00 0.00 0.005 0.000 0.000 2837.53 3015.62 2659.44 175.88 2240.81 0 0 0 14.94 30.00 30.00

77.83 18467 -82.73 -1.35 0.00 2836.3 3014.1 2658.6 175.8 2240.3 3.11 -4.59 13 104.60 6.66 14.29 0.00 0.008 0.236 0.000 3112.56 3326.25 2898.88 1993.69 2239.94 0 0 0 15.09 15.51 30.00

286.68 0 -82.73 -1.35 -60.00 3112.2 3324.4 2900.1 1993.6 2240.8 29.13 -11.54 55 288.01 0.00 0.00 0.00 0.000 0.000 0.000 3111.78 3324.69 2898.88 1993.81 2240.38 0 0 0 30.00 30.00 30.00

471.70 0 -82.73 -1.35 -60.00 3112.4 3325.0 2899.8 1993.9 2240.7 51.34 -12.38 92 473.04 0.00 0.00 0.00 0.000 0.000 0.000 3111.50 3324.56 2898.44 1993.19 2240.25 0 0 0 30.00 30.00 30.00

656.74 260 -82.73 -1.35 60.00 3112.4 3324.8 2900.1 1993.4 2240.3 72.61 -10.75 129 662.36 0.00 0.00 3.06 0.000 0.000 0.077 3113.28 3325.69 2900.88 1993.44 3426.12 0 0 0 30.00 30.00 15.89

781.97 1028 -82.73 -1.35 0.00 3112.6 3324.2 2901.1 1993.6 3425.5 86.92 -12.15 154 787.39 0.00 0.00 2.62 0.000 0.000 0.017 3113.34 3325.56 2901.12 1993.50 2246.44 0 0 0 30.00 30.00 15.95

971.85 516 -82.73 -1.35 -60.00 3112.7 3324.4 2900.9 1993.5 2245.0 105.59 -7.99 192 977.38 0.00 0.00 2.57 0.000 0.000 0.061 3112.91 3324.94 2900.88 1993.88 1207.75 0 0 0 30.00 30.00 15.95

1021.87 1028 -82.73 -1.35 0.42 3112.8 3324.3 2901.2 1993.2 1207.9 109.65 -8.12 202 1027.41 0.00 0.00 2.68 0.000 0.000 0.024 3112.97 3324.69 2901.25 1993.75 2363.12 0 0 0 30.00 30.00 15.96

1331.98 260 -82.73 -1.35 60.00 3112.6 3324.4 2900.9 1993.9 2363.4 132.31 -7.95 264 1337.53 0.00 0.00 2.72 0.000 0.000 0.081 3112.59 3324.62 2900.56 1993.56 3427.12 0 0 0 30.00 30.00 15.92

1487.02 1028 -82.73 -1.35 0.92 3112.6 3323.9 2901.2 1993.8 3426.9 147.93 -10.27 295 1492.55 0.00 0.00 2.58 0.000 0.000 0.017 3112.81 3324.00 2901.62 1994.00 2255.19 0 0 0 30.00 30.00 15.97

1797.14 516 -82.73 -1.35 -60.00 3112.9 3324.6 2901.1 1993.6 2253.9 176.01 -7.72 357 1802.67 0.00 0.00 2.59 0.000 0.000 0.061 3112.50 3324.38 2900.62 1993.56 1209.12 0 0 0 30.00 30.00 15.96

1847.15 1028 -82.73 -1.35 0.79 3112.4 3323.7 2901.1 1993.1 1209.2 179.89 -7.81 367 1852.71 0.00 0.00 2.70 0.000 0.000 0.024 3112.91 3324.12 2901.69 1993.38 2370.62 0 0 0 30.00 30.00 15.98

1891 end dive: TARGET_DEPTH_EXCEEDED

state 1891 begin apogee

1894.07 10243 0.00 -0.28 0.00 3112.7 3324.5 2900.9 1993.8 2041.9 183.28 -7.56 376 1959.73 60.12 1.79 0.17 1.313 0.132 0.116 2774.59 2919.12 2630.06 2254.75 2168.06 0 0 0 10.92 15.85 15.40

1961 end apogee: CONTROL_FINISHED_OK

state 1962 begin climb

1962.58 10759 82.73 1.35 -60.00 2774.4 2919.0 2629.8 2255.1 2168.2 185.32 0.00 389 2033.25 61.02 2.64 2.99 1.263 0.106 0.071 2437.28 2524.44 2350.12 2651.00 992.31 0 0 0 11.82 15.63 15.76

2165.47 11303 222.94 1.63 0.00 2434.0 2524.2 2343.9 2650.9 992.4 180.09 3.68 430 2276.54 104.72 0.40 2.67 1.249 0.056 0.020 1864.88 1897.19 1832.56 2734.56 2146.81 0 0 0 11.39 15.63 15.74

2579.05 16902 222.94 1.63 -60.00 1856.9 1898.8 1815.1 2734.6 2147.2 149.69 9.96 512 2584.45 0.00 0.00 2.95 0.000 0.000 0.071 1857.16 1899.06 1815.25 2734.25 993.69 0 0 0 30.00 30.00 15.78

2603.79 17414 222.94 1.63 0.00 1856.6 1898.9 1814.2 2733.9 993.8 146.82 11.11 517 2609.22 0.00 0.00 2.66 0.000 0.000 0.020 1857.41 1899.94 1814.88 2734.25 2147.06 0 0 0 30.00 30.00 15.81

2913.73 16710 222.94 1.65 60.00 1855.7 1898.8 1812.6 2733.9 2147.5 118.90 7.52 579 2919.25 0.00 0.00 2.68 0.000 0.000 0.074 1855.59 1898.56 1812.62 2734.50 3208.19 0 0 0 30.00 30.00 15.87

2958.71 17414 222.94 1.65 -0.29 1855.8 1899.0 1812.6 2734.4 3208.0 115.25 8.12 588 2964.27 0.00 0.00 2.65 0.000 0.000 0.021 1856.69 1900.38 1813.00 2734.75 2048.44 0 0 0 30.00 30.00 15.90

3268.77 16710 222.94 1.69 60.00 1854.8 1899.0 1810.6 2734.5 2048.3 92.89 6.63 650 3274.35 0.00 0.00 2.93 0.000 0.000 0.069 1854.97 1899.19 1810.75 2735.06 3206.44 0 0 0 30.00 30.00 15.91

3343.79 11303 305.02 1.85 0.90 1855.0 1898.9 1811.0 2734.9 3205.9 88.49 5.66 665 3411.26 62.63 0.20 2.59 1.168 0.077 0.021 1532.12 1558.44 1505.81 2785.94 2067.69 0 0 0 11.07 15.80 15.93

3593.85 516 305.02 1.85 -60.00 1524.0 1558.2 1489.8 2785.9 2067.6 72.33 8.14 715 3599.41 0.00 0.00 2.76 0.000 0.000 0.077 1524.09 1558.56 1489.62 2785.38 993.88 0 0 0 30.00 30.00 15.81

3623.85 1028 305.02 1.85 2.10 1523.5 1558.5 1488.4 2785.8 993.7 69.88 8.11 721 3629.61 0.00 0.00 2.74 0.000 0.000 0.021 1523.72 1558.81 1488.62 2786.00 2180.88 0 0 0 30.00 30.00 15.85

3813.93 16710 305.02 1.87 60.00 1522.2 1558.5 1485.9 2785.9 2181.4 55.02 7.68 759 3819.47 0.00 0.00 2.62 0.000 0.000 0.075 1522.47 1559.06 1485.88 2787.06 3205.94 0 0 0 30.00 30.00 15.86

4049.00 17478 305.02 1.90 4.18 1521.5 1558.8 1484.3 2786.8 3205.4 38.29 6.71 806 4054.12 0.00 0.00 2.45 0.000 0.000 0.020 1522.50 1560.31 1484.69 2787.12 2122.00 0 0 0 30.00 30.00 15.92

4239.45 10275 382.66 2.06 4.18 1520.8 1560.6 1481.1 2786.7 2121.9 27.22 5.81 844 4301.65 60.15 0.19 0.00 1.104 0.078 0.000 1215.28 1222.62 1207.94 2834.81 2122.00 0 0 0 11.06 15.89 30.00

4484.12 516 382.66 2.06 -60.00 1210.3 1223.2 1197.5 2835.0 2122.0 8.61 8.49 893 4489.69 0.00 0.00 2.89 0.000 0.000 0.078 1210.56 1223.38 1197.75 2835.19 994.62 0 0 0 30.00 30.00 15.80

4514.11 1028 382.66 2.06 4.18 1210.0 1223.5 1196.5 2835.4 994.6 5.74 9.47 899 4519.70 0.00 0.00 2.85 0.000 0.000 0.021 1210.09 1224.56 1195.62 2835.38 2215.50 0 0 0 30.00 30.00 15.86

4533 end climb: SURFACE_DEPTH_REACHED

state 4533 begin surface coast

4579 end surface coast: CONTROL_FINISHED_OK

state 4579 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	1195	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	99.977379	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	312.9003	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	280222,154125,4754.686,-12514.252,43,0.9,44,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,154713,4754.731,-12514.248,4,0.9,7,15.9	MHEAD_RNG_PITCHd_Wd	171.9,167677,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	183
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	0.4,1.024682	MEM0	60876,1,0,0
SM_CCo	4621.08,14.80,1.002,0,1144.7,1126.6,1162.7,399.92	MEM1	65508,1,0,0
SM_GC	1.45,14.80,16.42,0.27,1.002,0.052,0.067,1144.7,1126.6,1162.7,175.9,2360.5,0,0,0,11.34,15.79,15.85	MEM2	971372,30,75456,57
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	41785,912
IRIDIUM_FIX	4755.33,-12513.21,280222,140900	CAP_FILE_SIZE	172014,0
TCM_TEMP	267.42	SDSIZE	4028416,3742528
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4343,1
HUMID	51.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.98	CURRENT	0.226,339.3,1
INTERNAL_PRESSURE	8.91658	MAGCAL	1.000000,0.002266,0.032731,-0.007125,1.048564,-0.054669,0.011116,-0.021559,0.968219,557.6,-318.0,101.6,36,0.0372,0
_24V_AH	14.75,425.929	IMPLIED_C_PITCH	2386,12.49,666
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2860,58.201519,622
FG_AHR_24Vo	313.031	GPS	280222,170438,4754.949,-12514.544,1,1.5,3,15.9
FG_AHR_10Vo	99.992

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	440	1313	8522.85	legato	34	20	10.13
Pitch_motor	35	235	124.87	nil	0	0	0.00
Roll_motor	61	115	104.53	nil	0	0	0.00
Iridium	171	215	545.15	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	16	15	3.63	nil	0	0	0.00
Core	2029	11	359.22	SciCon	0	0	0.00
LPSleep	2854	2	119.90	nil	0	0	0.00
Compass	604	5	45.31	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	1143.9	1142.4	1145.3	175.8	2241.2	0.00	0.00	0	77.09	69.96	0.00	0.00	0.005	0.000	0.000	2837.53	3015.62	2659.44	175.88	2240.81	0	0	0	14.94	30.00	30.00
77.83	18467	-82.73	-1.35	0.00	2836.3	3014.1	2658.6	175.8	2240.3	3.11	-4.59	13	104.60	6.66	14.29	0.00	0.008	0.236	0.000	3112.56	3326.25	2898.88	1993.69	2239.94	0	0	0	15.09	15.51	30.00
286.68	0	-82.73	-1.35	-60.00	3112.2	3324.4	2900.1	1993.6	2240.8	29.13	-11.54	55	288.01	0.00	0.00	0.00	0.000	0.000	0.000	3111.78	3324.69	2898.88	1993.81	2240.38	0	0	0	30.00	30.00	30.00
471.70	0	-82.73	-1.35	-60.00	3112.4	3325.0	2899.8	1993.9	2240.7	51.34	-12.38	92	473.04	0.00	0.00	0.00	0.000	0.000	0.000	3111.50	3324.56	2898.44	1993.19	2240.25	0	0	0	30.00	30.00	30.00
656.74	260	-82.73	-1.35	60.00	3112.4	3324.8	2900.1	1993.4	2240.3	72.61	-10.75	129	662.36	0.00	0.00	3.06	0.000	0.000	0.077	3113.28	3325.69	2900.88	1993.44	3426.12	0	0	0	30.00	30.00	15.89
781.97	1028	-82.73	-1.35	0.00	3112.6	3324.2	2901.1	1993.6	3425.5	86.92	-12.15	154	787.39	0.00	0.00	2.62	0.000	0.000	0.017	3113.34	3325.56	2901.12	1993.50	2246.44	0	0	0	30.00	30.00	15.95
971.85	516	-82.73	-1.35	-60.00	3112.7	3324.4	2900.9	1993.5	2245.0	105.59	-7.99	192	977.38	0.00	0.00	2.57	0.000	0.000	0.061	3112.91	3324.94	2900.88	1993.88	1207.75	0	0	0	30.00	30.00	15.95
1021.87	1028	-82.73	-1.35	0.42	3112.8	3324.3	2901.2	1993.2	1207.9	109.65	-8.12	202	1027.41	0.00	0.00	2.68	0.000	0.000	0.024	3112.97	3324.69	2901.25	1993.75	2363.12	0	0	0	30.00	30.00	15.96
1331.98	260	-82.73	-1.35	60.00	3112.6	3324.4	2900.9	1993.9	2363.4	132.31	-7.95	264	1337.53	0.00	0.00	2.72	0.000	0.000	0.081	3112.59	3324.62	2900.56	1993.56	3427.12	0	0	0	30.00	30.00	15.92
1487.02	1028	-82.73	-1.35	0.92	3112.6	3323.9	2901.2	1993.8	3426.9	147.93	-10.27	295	1492.55	0.00	0.00	2.58	0.000	0.000	0.017	3112.81	3324.00	2901.62	1994.00	2255.19	0	0	0	30.00	30.00	15.97
1797.14	516	-82.73	-1.35	-60.00	3112.9	3324.6	2901.1	1993.6	2253.9	176.01	-7.72	357	1802.67	0.00	0.00	2.59	0.000	0.000	0.061	3112.50	3324.38	2900.62	1993.56	1209.12	0	0	0	30.00	30.00	15.96
1847.15	1028	-82.73	-1.35	0.79	3112.4	3323.7	2901.1	1993.1	1209.2	179.89	-7.81	367	1852.71	0.00	0.00	2.70	0.000	0.000	0.024	3112.91	3324.12	2901.69	1993.38	2370.62	0	0	0	30.00	30.00	15.98
1891	end dive: TARGET_DEPTH_EXCEEDED
state	1891	begin apogee
1894.07	10243	0.00	-0.28	0.00	3112.7	3324.5	2900.9	1993.8	2041.9	183.28	-7.56	376	1959.73	60.12	1.79	0.17	1.313	0.132	0.116	2774.59	2919.12	2630.06	2254.75	2168.06	0	0	0	10.92	15.85	15.40
1961	end apogee: CONTROL_FINISHED_OK
state	1962	begin climb
1962.58	10759	82.73	1.35	-60.00	2774.4	2919.0	2629.8	2255.1	2168.2	185.32	0.00	389	2033.25	61.02	2.64	2.99	1.263	0.106	0.071	2437.28	2524.44	2350.12	2651.00	992.31	0	0	0	11.82	15.63	15.76
2165.47	11303	222.94	1.63	0.00	2434.0	2524.2	2343.9	2650.9	992.4	180.09	3.68	430	2276.54	104.72	0.40	2.67	1.249	0.056	0.020	1864.88	1897.19	1832.56	2734.56	2146.81	0	0	0	11.39	15.63	15.74
2579.05	16902	222.94	1.63	-60.00	1856.9	1898.8	1815.1	2734.6	2147.2	149.69	9.96	512	2584.45	0.00	0.00	2.95	0.000	0.000	0.071	1857.16	1899.06	1815.25	2734.25	993.69	0	0	0	30.00	30.00	15.78
2603.79	17414	222.94	1.63	0.00	1856.6	1898.9	1814.2	2733.9	993.8	146.82	11.11	517	2609.22	0.00	0.00	2.66	0.000	0.000	0.020	1857.41	1899.94	1814.88	2734.25	2147.06	0	0	0	30.00	30.00	15.81
2913.73	16710	222.94	1.65	60.00	1855.7	1898.8	1812.6	2733.9	2147.5	118.90	7.52	579	2919.25	0.00	0.00	2.68	0.000	0.000	0.074	1855.59	1898.56	1812.62	2734.50	3208.19	0	0	0	30.00	30.00	15.87
2958.71	17414	222.94	1.65	-0.29	1855.8	1899.0	1812.6	2734.4	3208.0	115.25	8.12	588	2964.27	0.00	0.00	2.65	0.000	0.000	0.021	1856.69	1900.38	1813.00	2734.75	2048.44	0	0	0	30.00	30.00	15.90
3268.77	16710	222.94	1.69	60.00	1854.8	1899.0	1810.6	2734.5	2048.3	92.89	6.63	650	3274.35	0.00	0.00	2.93	0.000	0.000	0.069	1854.97	1899.19	1810.75	2735.06	3206.44	0	0	0	30.00	30.00	15.91
3343.79	11303	305.02	1.85	0.90	1855.0	1898.9	1811.0	2734.9	3205.9	88.49	5.66	665	3411.26	62.63	0.20	2.59	1.168	0.077	0.021	1532.12	1558.44	1505.81	2785.94	2067.69	0	0	0	11.07	15.80	15.93
3593.85	516	305.02	1.85	-60.00	1524.0	1558.2	1489.8	2785.9	2067.6	72.33	8.14	715	3599.41	0.00	0.00	2.76	0.000	0.000	0.077	1524.09	1558.56	1489.62	2785.38	993.88	0	0	0	30.00	30.00	15.81
3623.85	1028	305.02	1.85	2.10	1523.5	1558.5	1488.4	2785.8	993.7	69.88	8.11	721	3629.61	0.00	0.00	2.74	0.000	0.000	0.021	1523.72	1558.81	1488.62	2786.00	2180.88	0	0	0	30.00	30.00	15.85
3813.93	16710	305.02	1.87	60.00	1522.2	1558.5	1485.9	2785.9	2181.4	55.02	7.68	759	3819.47	0.00	0.00	2.62	0.000	0.000	0.075	1522.47	1559.06	1485.88	2787.06	3205.94	0	0	0	30.00	30.00	15.86
4049.00	17478	305.02	1.90	4.18	1521.5	1558.8	1484.3	2786.8	3205.4	38.29	6.71	806	4054.12	0.00	0.00	2.45	0.000	0.000	0.020	1522.50	1560.31	1484.69	2787.12	2122.00	0	0	0	30.00	30.00	15.92
4239.45	10275	382.66	2.06	4.18	1520.8	1560.6	1481.1	2786.7	2121.9	27.22	5.81	844	4301.65	60.15	0.19	0.00	1.104	0.078	0.000	1215.28	1222.62	1207.94	2834.81	2122.00	0	0	0	11.06	15.89	30.00
4484.12	516	382.66	2.06	-60.00	1210.3	1223.2	1197.5	2835.0	2122.0	8.61	8.49	893	4489.69	0.00	0.00	2.89	0.000	0.000	0.078	1210.56	1223.38	1197.75	2835.19	994.62	0	0	0	30.00	30.00	15.80
4514.11	1028	382.66	2.06	4.18	1210.0	1223.5	1196.5	2835.4	994.6	5.74	9.47	899	4519.70	0.00	0.00	2.85	0.000	0.000	0.021	1210.09	1224.56	1195.62	2835.38	2215.50	0	0	0	30.00	30.00	15.86
4533	end climb: SURFACE_DEPTH_REACHED
state	4533	begin surface coast
4579	end surface coast: CONTROL_FINISHED_OK
state	4579	begin surface