Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1201 * 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 1201 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 300 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 100.0675 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 314.01877 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 200 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 0 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 100.0675 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 314.01877 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 300

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 200 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 1201 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 0 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 280222,234557,4755.935,-12516.591,3,2.1,42,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,235122,4755.987,-12516.547,2,1.1,4,15.9 MHEAD_RNG_PITCHd_Wd 215.6,166809,-22.6,-11.000,-28.75

SPEED_LIMITS 0.191,0.201 D_GRID 286

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 0.0,1.011900 FG_AHR_10Vo 100.085

SM_CCo 5539.93,0.00,0.000,0,728.3,732.2,724.5,502.04 MEM0 60876,1,0,0

SM_GC 0.61,0.00,16.56,0.57,0.000,0.053,0.049,728.3,732.2,724.5,187.0,2367.3,0,0,0,30.00,15.90,15.94 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971328,32,75460,57

IRIDIUM_FIX 4755.71,-12517.69,280222,221813 DATA_FILE_SIZE 48326,1085

TCM_TEMP 267.23 CAP_FILE_SIZE 195364,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3741760

HUMID 51.50 SDFILEDIR 4361,1

TEMP 82.11 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89406 IMPLIED_C_PITCH 2395,10.81,827

_24V_AH 14.57,427.318 IMPLIED_C_VBD 2717,46.470604,827

_10V_AH 15.00,0.000 GPS 010322,012407,4755.989,-12517.777,2,1.6,6,15.9

FG_AHR_24Vo 314.227

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 620 1457 13179.47 legato 34 20 10.00

Pitch_motor 36 234 123.55 nil 0 0 0.00

Roll_motor 62 117 107.28 nil 0 0 0.00

Iridium 155 219 496.82 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 2379 11 421.10 SciCon 0 0 0.00

LPSleep 3402 2 142.90 nil 0 0 0.00

Compass 712 5 53.42 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 -194.65 -1.65 0.00 903.8 901.9 905.8 175.8 2244.1 0.00 0.00 0 82.58 75.04 0.00 0.00 0.005 0.000 0.000 2713.44 2875.75 2551.12 175.88 2244.25 0 0 0 14.87 30.00 30.00

83.32 18727 -194.65 -1.65 60.00 2713.0 2874.4 2551.6 175.7 2244.4 3.11 -4.21 14 125.67 20.07 13.43 3.09 0.006 0.235 0.083 3568.69 3801.50 3335.88 1920.69 3425.50 0 0 0 14.89 15.49 14.88

147.74 1028 -194.65 -1.65 0.00 3568.7 3801.7 3335.8 1921.8 3426.5 14.38 -15.55 27 153.29 0.00 0.00 2.63 0.000 0.000 0.018 3567.66 3799.81 3335.50 1921.75 2251.94 0 0 0 30.00 30.00 15.88

338.15 0 -194.65 -1.65 0.00 3568.2 3800.8 3335.6 1921.3 2250.8 43.41 -14.92 65 339.48 0.00 0.00 0.00 0.000 0.000 0.000 3567.75 3800.62 3334.88 1921.31 2249.31 0 0 0 30.00 30.00 30.00

523.02 260 -194.65 -1.65 60.00 3568.0 3800.4 3335.6 1921.1 2250.0 71.65 -14.32 102 528.51 0.00 0.00 3.03 0.000 0.000 0.078 3568.28 3800.25 3336.31 1921.69 3425.38 0 0 0 30.00 30.00 15.89

637.87 1028 -194.65 -1.65 0.18 3568.2 3800.2 3336.3 1921.7 3425.2 89.48 -14.28 125 643.42 0.00 0.00 2.61 0.000 0.000 0.018 3568.44 3800.62 3336.25 1921.56 2251.25 0 0 0 30.00 30.00 15.94

827.95 0 -194.65 -1.65 0.18 3567.9 3800.1 3335.6 1921.6 2250.3 111.63 -10.96 163 829.27 0.00 0.00 0.00 0.000 0.000 0.000 3567.84 3800.06 3335.62 1921.25 2250.00 0 0 0 30.00 30.00 30.00

1133.06 260 -194.65 -1.65 60.00 3568.1 3800.1 3336.1 1921.8 2249.6 145.24 -11.40 224 1138.67 0.00 0.00 3.04 0.000 0.000 0.078 3568.53 3800.69 3336.38 1921.62 3426.62 0 0 0 30.00 30.00 15.92

1338.12 1028 -194.65 -1.65 0.45 3568.0 3800.0 3336.1 1921.2 3426.3 169.89 -11.68 265 1343.66 0.00 0.00 2.59 0.000 0.000 0.018 3568.47 3800.25 3336.69 1921.75 2253.94 0 0 0 30.00 30.00 15.98

1648.24 260 -194.65 -1.65 60.00 3568.2 3799.9 3336.6 1920.9 2252.9 204.64 -10.66 327 1653.85 0.00 0.00 3.01 0.000 0.000 0.077 3569.38 3800.62 3338.12 1921.62 3428.25 0 0 0 30.00 30.00 15.92

1693.24 1028 -194.65 -1.65 0.61 3568.2 3799.9 3336.6 1922.0 3427.5 209.87 -11.80 336 1698.78 0.00 0.00 2.57 0.000 0.000 0.018 3568.06 3800.31 3335.81 1922.00 2253.81 0 0 0 30.00 30.00 15.97

2003.35 0 -194.65 -1.65 0.61 3568.1 3799.6 3336.7 1921.6 2252.6 242.93 -10.09 398 2004.68 0.00 0.00 0.00 0.000 0.000 0.000 3568.09 3799.94 3336.25 1920.88 2252.56 0 0 0 30.00 30.00 30.00

2308.56 260 -194.65 -1.65 60.00 3568.2 3800.1 3336.2 1921.6 2252.2 272.97 -10.73 459 2314.04 0.00 0.00 2.99 0.000 0.000 0.078 3568.94 3800.88 3337.00 1921.00 3425.88 0 0 0 30.00 30.00 15.92

2343.44 1028 -194.65 -1.65 0.88 3568.2 3800.4 3336.0 1921.7 3425.4 277.07 -11.89 466 2348.98 0.00 0.00 2.56 0.000 0.000 0.018 3568.44 3800.06 3336.81 1921.50 2259.06 0 0 0 30.00 30.00 15.98

2428 end dive: TARGET_DEPTH_EXCEEDED

state 2428 begin apogee

2430.30 10243 0.00 -0.28 0.00 3568.5 3800.8 3336.3 1921.7 2043.9 286.18 -10.97 483 2575.40 139.90 2.26 0.17 1.457 0.134 0.117 2773.50 2872.62 2674.38 2254.44 2158.19 0 0 0 10.93 15.85 15.22

2577 end apogee: CONTROL_FINISHED_OK

state 2577 begin climb

2578.14 10759 194.65 1.65 -60.00 2774.0 2873.6 2674.4 2254.5 2165.7 293.33 0.00 511 2734.39 145.18 3.13 3.04 1.395 0.106 0.072 1981.91 2009.56 1954.25 2722.50 993.25 0 0 0 11.73 15.42 15.53

2756.78 11303 353.43 1.96 0.00 1977.8 2009.4 1946.1 2722.0 993.5 290.00 6.10 546 2886.42 122.47 0.46 2.72 1.366 0.053 0.020 1335.25 1363.19 1307.31 2816.06 2143.31 0 0 0 11.72 15.44 15.52

3188.67 8742 423.36 2.10 -60.00 1326.9 1363.4 1290.4 2815.5 2143.8 249.75 8.84 632 3251.08 56.72 0.00 3.02 1.321 0.000 0.078 1049.47 1057.94 1041.00 2815.69 994.69 0 0 0 11.49 30.00 15.31

3288.66 1028 423.36 2.10 -0.29 1047.8 1058.4 1037.3 2815.9 994.8 239.04 11.01 652 3294.39 0.00 0.00 2.69 0.000 0.000 0.021 1048.03 1058.75 1037.31 2816.00 2137.75 0 0 0 30.00 30.00 15.69

3598.70 0 423.36 2.10 -0.29 1044.4 1060.1 1028.8 2815.6 2137.5 204.29 10.71 714 3600.03 0.00 0.00 0.00 0.000 0.000 0.000 1044.28 1060.19 1028.38 2815.25 2137.88 0 0 0 30.00 30.00 30.00

3903.72 516 423.36 2.10 -60.00 1044.5 1062.2 1026.8 2815.6 2137.9 170.19 10.72 775 3909.32 0.00 0.00 2.94 0.000 0.000 0.076 1044.25 1061.94 1026.56 2815.62 993.56 0 0 0 30.00 30.00 15.87

3953.72 1028 423.36 2.10 -0.45 1043.9 1063.1 1024.7 2815.6 993.4 163.64 13.58 785 3959.27 0.00 0.00 2.64 0.000 0.000 0.021 1044.12 1063.06 1025.19 2815.38 2134.44 0 0 0 30.00 30.00 15.91

4263.79 10791 500.47 2.26 -60.00 1042.9 1063.2 1022.6 2815.8 2134.5 129.65 8.62 847 4331.34 61.44 0.31 2.98 1.238 0.064 0.078 735.12 718.25 752.00 2883.25 992.50 0 0 0 11.22 15.89 15.41

4354.28 1028 500.47 2.26 -0.39 733.5 718.4 748.5 2884.4 993.4 119.14 12.72 865 4359.32 0.00 0.00 2.67 0.000 0.000 0.021 733.06 718.69 747.44 2884.19 2135.00 0 0 0 30.00 30.00 15.76

4663.85 260 500.47 2.26 60.00 730.2 724.0 736.4 2884.7 2134.6 83.09 11.04 927 4669.59 0.00 0.00 2.74 0.000 0.000 0.075 730.59 724.44 736.75 2884.69 3207.06 0 0 0 30.00 30.00 15.86

4774.00 1028 500.47 2.26 0.74 729.4 724.1 734.8 2885.2 3206.8 70.48 11.36 949 4779.43 0.00 0.00 2.62 0.000 0.000 0.023 729.88 725.12 734.62 2884.75 2070.31 0 0 0 30.00 30.00 15.88

4964.36 64 500.47 2.28 0.74 729.7 726.9 732.6 2884.2 2070.4 51.90 10.18 987 4965.69 0.00 0.00 0.00 0.000 0.000 0.000 729.62 726.88 732.38 2884.19 2070.31 0 0 0 30.00 30.00 30.00

5149.01 64 500.47 2.29 0.74 729.3 727.6 731.1 2884.8 2070.2 32.57 10.29 1024 5150.34 0.00 0.00 0.00 0.000 0.000 0.000 729.12 727.31 730.94 2884.50 2070.31 0 0 0 30.00 30.00 30.00

5334.08 324 500.47 2.30 60.00 729.4 729.1 729.7 2884.2 2070.9 12.54 10.32 1061 5339.65 0.00 0.00 2.89 0.000 0.000 0.073 729.56 729.06 730.06 2885.00 3206.88 0 0 0 30.00 30.00 15.92

5364.09 1092 500.47 2.31 1.53 729.5 729.0 730.1 2884.2 3206.9 9.40 10.41 1067 5369.61 0.00 0.00 2.57 0.000 0.000 0.022 729.41 729.19 729.62 2885.06 2083.38 0 0 0 30.00 30.00 15.94

5413 end climb: SURFACE_DEPTH_REACHED

state 5413 begin surface coast

5453 end surface coast: CONTROL_FINISHED_OK

state 5454 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	1201	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	300	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	100.0675	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	314.01877	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	200	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	0	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	280222,234557,4755.935,-12516.591,3,2.1,42,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,235122,4755.987,-12516.547,2,1.1,4,15.9	MHEAD_RNG_PITCHd_Wd	215.6,166809,-22.6,-11.000,-28.75
SPEED_LIMITS	0.191,0.201	D_GRID	286
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	0.0,1.011900	FG_AHR_10Vo	100.085
SM_CCo	5539.93,0.00,0.000,0,728.3,732.2,724.5,502.04	MEM0	60876,1,0,0
SM_GC	0.61,0.00,16.56,0.57,0.000,0.053,0.049,728.3,732.2,724.5,187.0,2367.3,0,0,0,30.00,15.90,15.94	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971328,32,75460,57
IRIDIUM_FIX	4755.71,-12517.69,280222,221813	DATA_FILE_SIZE	48326,1085
TCM_TEMP	267.23	CAP_FILE_SIZE	195364,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3741760
HUMID	51.50	SDFILEDIR	4361,1
TEMP	82.11	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89406	IMPLIED_C_PITCH	2395,10.81,827
_24V_AH	14.57,427.318	IMPLIED_C_VBD	2717,46.470604,827
_10V_AH	15.00,0.000	GPS	010322,012407,4755.989,-12517.777,2,1.6,6,15.9
FG_AHR_24Vo	314.227

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	620	1457	13179.47	legato	34	20	10.00
Pitch_motor	36	234	123.55	nil	0	0	0.00
Roll_motor	62	117	107.28	nil	0	0	0.00
Iridium	155	219	496.82	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	2379	11	421.10	SciCon	0	0	0.00
LPSleep	3402	2	142.90	nil	0	0	0.00
Compass	712	5	53.42	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	-194.65	-1.65	0.00	903.8	901.9	905.8	175.8	2244.1	0.00	0.00	0	82.58	75.04	0.00	0.00	0.005	0.000	0.000	2713.44	2875.75	2551.12	175.88	2244.25	0	0	0	14.87	30.00	30.00
83.32	18727	-194.65	-1.65	60.00	2713.0	2874.4	2551.6	175.7	2244.4	3.11	-4.21	14	125.67	20.07	13.43	3.09	0.006	0.235	0.083	3568.69	3801.50	3335.88	1920.69	3425.50	0	0	0	14.89	15.49	14.88
147.74	1028	-194.65	-1.65	0.00	3568.7	3801.7	3335.8	1921.8	3426.5	14.38	-15.55	27	153.29	0.00	0.00	2.63	0.000	0.000	0.018	3567.66	3799.81	3335.50	1921.75	2251.94	0	0	0	30.00	30.00	15.88
338.15	0	-194.65	-1.65	0.00	3568.2	3800.8	3335.6	1921.3	2250.8	43.41	-14.92	65	339.48	0.00	0.00	0.00	0.000	0.000	0.000	3567.75	3800.62	3334.88	1921.31	2249.31	0	0	0	30.00	30.00	30.00
523.02	260	-194.65	-1.65	60.00	3568.0	3800.4	3335.6	1921.1	2250.0	71.65	-14.32	102	528.51	0.00	0.00	3.03	0.000	0.000	0.078	3568.28	3800.25	3336.31	1921.69	3425.38	0	0	0	30.00	30.00	15.89
637.87	1028	-194.65	-1.65	0.18	3568.2	3800.2	3336.3	1921.7	3425.2	89.48	-14.28	125	643.42	0.00	0.00	2.61	0.000	0.000	0.018	3568.44	3800.62	3336.25	1921.56	2251.25	0	0	0	30.00	30.00	15.94
827.95	0	-194.65	-1.65	0.18	3567.9	3800.1	3335.6	1921.6	2250.3	111.63	-10.96	163	829.27	0.00	0.00	0.00	0.000	0.000	0.000	3567.84	3800.06	3335.62	1921.25	2250.00	0	0	0	30.00	30.00	30.00
1133.06	260	-194.65	-1.65	60.00	3568.1	3800.1	3336.1	1921.8	2249.6	145.24	-11.40	224	1138.67	0.00	0.00	3.04	0.000	0.000	0.078	3568.53	3800.69	3336.38	1921.62	3426.62	0	0	0	30.00	30.00	15.92
1338.12	1028	-194.65	-1.65	0.45	3568.0	3800.0	3336.1	1921.2	3426.3	169.89	-11.68	265	1343.66	0.00	0.00	2.59	0.000	0.000	0.018	3568.47	3800.25	3336.69	1921.75	2253.94	0	0	0	30.00	30.00	15.98
1648.24	260	-194.65	-1.65	60.00	3568.2	3799.9	3336.6	1920.9	2252.9	204.64	-10.66	327	1653.85	0.00	0.00	3.01	0.000	0.000	0.077	3569.38	3800.62	3338.12	1921.62	3428.25	0	0	0	30.00	30.00	15.92
1693.24	1028	-194.65	-1.65	0.61	3568.2	3799.9	3336.6	1922.0	3427.5	209.87	-11.80	336	1698.78	0.00	0.00	2.57	0.000	0.000	0.018	3568.06	3800.31	3335.81	1922.00	2253.81	0	0	0	30.00	30.00	15.97
2003.35	0	-194.65	-1.65	0.61	3568.1	3799.6	3336.7	1921.6	2252.6	242.93	-10.09	398	2004.68	0.00	0.00	0.00	0.000	0.000	0.000	3568.09	3799.94	3336.25	1920.88	2252.56	0	0	0	30.00	30.00	30.00
2308.56	260	-194.65	-1.65	60.00	3568.2	3800.1	3336.2	1921.6	2252.2	272.97	-10.73	459	2314.04	0.00	0.00	2.99	0.000	0.000	0.078	3568.94	3800.88	3337.00	1921.00	3425.88	0	0	0	30.00	30.00	15.92
2343.44	1028	-194.65	-1.65	0.88	3568.2	3800.4	3336.0	1921.7	3425.4	277.07	-11.89	466	2348.98	0.00	0.00	2.56	0.000	0.000	0.018	3568.44	3800.06	3336.81	1921.50	2259.06	0	0	0	30.00	30.00	15.98
2428	end dive: TARGET_DEPTH_EXCEEDED
state	2428	begin apogee
2430.30	10243	0.00	-0.28	0.00	3568.5	3800.8	3336.3	1921.7	2043.9	286.18	-10.97	483	2575.40	139.90	2.26	0.17	1.457	0.134	0.117	2773.50	2872.62	2674.38	2254.44	2158.19	0	0	0	10.93	15.85	15.22
2577	end apogee: CONTROL_FINISHED_OK
state	2577	begin climb
2578.14	10759	194.65	1.65	-60.00	2774.0	2873.6	2674.4	2254.5	2165.7	293.33	0.00	511	2734.39	145.18	3.13	3.04	1.395	0.106	0.072	1981.91	2009.56	1954.25	2722.50	993.25	0	0	0	11.73	15.42	15.53
2756.78	11303	353.43	1.96	0.00	1977.8	2009.4	1946.1	2722.0	993.5	290.00	6.10	546	2886.42	122.47	0.46	2.72	1.366	0.053	0.020	1335.25	1363.19	1307.31	2816.06	2143.31	0	0	0	11.72	15.44	15.52
3188.67	8742	423.36	2.10	-60.00	1326.9	1363.4	1290.4	2815.5	2143.8	249.75	8.84	632	3251.08	56.72	0.00	3.02	1.321	0.000	0.078	1049.47	1057.94	1041.00	2815.69	994.69	0	0	0	11.49	30.00	15.31
3288.66	1028	423.36	2.10	-0.29	1047.8	1058.4	1037.3	2815.9	994.8	239.04	11.01	652	3294.39	0.00	0.00	2.69	0.000	0.000	0.021	1048.03	1058.75	1037.31	2816.00	2137.75	0	0	0	30.00	30.00	15.69
3598.70	0	423.36	2.10	-0.29	1044.4	1060.1	1028.8	2815.6	2137.5	204.29	10.71	714	3600.03	0.00	0.00	0.00	0.000	0.000	0.000	1044.28	1060.19	1028.38	2815.25	2137.88	0	0	0	30.00	30.00	30.00
3903.72	516	423.36	2.10	-60.00	1044.5	1062.2	1026.8	2815.6	2137.9	170.19	10.72	775	3909.32	0.00	0.00	2.94	0.000	0.000	0.076	1044.25	1061.94	1026.56	2815.62	993.56	0	0	0	30.00	30.00	15.87
3953.72	1028	423.36	2.10	-0.45	1043.9	1063.1	1024.7	2815.6	993.4	163.64	13.58	785	3959.27	0.00	0.00	2.64	0.000	0.000	0.021	1044.12	1063.06	1025.19	2815.38	2134.44	0	0	0	30.00	30.00	15.91
4263.79	10791	500.47	2.26	-60.00	1042.9	1063.2	1022.6	2815.8	2134.5	129.65	8.62	847	4331.34	61.44	0.31	2.98	1.238	0.064	0.078	735.12	718.25	752.00	2883.25	992.50	0	0	0	11.22	15.89	15.41
4354.28	1028	500.47	2.26	-0.39	733.5	718.4	748.5	2884.4	993.4	119.14	12.72	865	4359.32	0.00	0.00	2.67	0.000	0.000	0.021	733.06	718.69	747.44	2884.19	2135.00	0	0	0	30.00	30.00	15.76
4663.85	260	500.47	2.26	60.00	730.2	724.0	736.4	2884.7	2134.6	83.09	11.04	927	4669.59	0.00	0.00	2.74	0.000	0.000	0.075	730.59	724.44	736.75	2884.69	3207.06	0	0	0	30.00	30.00	15.86
4774.00	1028	500.47	2.26	0.74	729.4	724.1	734.8	2885.2	3206.8	70.48	11.36	949	4779.43	0.00	0.00	2.62	0.000	0.000	0.023	729.88	725.12	734.62	2884.75	2070.31	0	0	0	30.00	30.00	15.88
4964.36	64	500.47	2.28	0.74	729.7	726.9	732.6	2884.2	2070.4	51.90	10.18	987	4965.69	0.00	0.00	0.00	0.000	0.000	0.000	729.62	726.88	732.38	2884.19	2070.31	0	0	0	30.00	30.00	30.00
5149.01	64	500.47	2.29	0.74	729.3	727.6	731.1	2884.8	2070.2	32.57	10.29	1024	5150.34	0.00	0.00	0.00	0.000	0.000	0.000	729.12	727.31	730.94	2884.50	2070.31	0	0	0	30.00	30.00	30.00
5334.08	324	500.47	2.30	60.00	729.4	729.1	729.7	2884.2	2070.9	12.54	10.32	1061	5339.65	0.00	0.00	2.89	0.000	0.000	0.073	729.56	729.06	730.06	2885.00	3206.88	0	0	0	30.00	30.00	15.92
5364.09	1092	500.47	2.31	1.53	729.5	729.0	730.1	2884.2	3206.9	9.40	10.41	1067	5369.61	0.00	0.00	2.57	0.000	0.000	0.022	729.41	729.19	729.62	2885.06	2083.38	0	0	0	30.00	30.00	15.94
5413	end climb: SURFACE_DEPTH_REACHED
state	5413	begin surface coast
5453	end surface coast: CONTROL_FINISHED_OK
state	5454	begin surface