Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1301 * 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 1301 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 360 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 105.1954 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 340.74924 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 120 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 105.1954 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 340.74924 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 360

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 120 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 1301 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 210322,141402,4703.777,-12447.963,30,0.9,31,15.7 TGT_RADIUS 2500.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,142229,4703.746,-12447.973,2,0.9,4,15.7 MHEAD_RNG_PITCHd_Wd 81.2,10509,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 113

TGT_NAME PICKUP 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 4702.180,-12439.970

Post-dive calculations and measurements:

FINISH 0.2,1.022896 MEM0 60876,1,0,0

SM_CCo 2941.57,18.62,1.037,0,1144.3,1150.9,1137.7,400.02 MEM1 65508,1,0,0

SM_GC 0.44,18.62,15.99,0.69,1.037,0.039,0.048,1144.3,1150.9,1137.7,178.2,2353.8,0,0,0,11.10,15.87,15.92 MEM2 971116,34,75572,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 25791,575

IRIDIUM_FIX 4704.45,-12446.31,210322,141829 CAP_FILE_SIZE 161869,0

TCM_TEMP 266.98 SDSIZE 4028416,3721184

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4661,1

HUMID 51.63 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.97 CURRENT 0.030,139.8,1

INTERNAL_PRESSURE 8.91858 MAGCAL 1.000000,0.009386,-0.046481,0.009655,1.014439,-0.098525,0.034478,-0.020755,0.932520,634.3,-275.2,120.8,21,0.0345,0

_24V_AH 14.75,463.357 IMPLIED_C_PITCH 2405,11.69,380

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2934,48.345818,343

FG_AHR_24Vo 340.877 GPS 210322,151156,4703.696,-12447.629,2,1.4,5,15.7

FG_AHR_10Vo 105.205

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 470 1229 8526.06 legato 34 20 10.24

Pitch_motor 35 223 116.59 nil 0 0 0.00

Roll_motor 67 105 104.67 nil 0 0 0.00

Iridium 230 180 613.25 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.10 nil 0 0 0.00

Core 1647 11 291.55 SciCon 0 0 0.00

LPSleep 1736 2 72.93 nil 0 0 0.00

Compass 393 5 29.55 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

6.06 16386 -116.79 -1.44 0.00 1025.3 1023.5 1027.1 173.2 2260.8 0.00 0.00 0 82.56 74.99 0.00 0.00 0.005 0.000 0.000 2855.56 3030.19 2680.94 173.56 2261.19 0 0 0 14.79 30.00 30.00

83.30 18727 -116.79 -1.44 60.00 2854.4 3029.3 2679.5 173.5 2261.3 3.17 -4.09 14 115.58 9.36 14.05 3.01 0.007 0.223 0.082 3250.59 3467.19 3034.00 1970.50 3427.75 0 0 0 14.77 15.49 14.83

218.05 1028 -116.79 -1.44 0.00 3250.2 3466.4 3034.1 1971.0 3426.9 24.61 -15.92 41 223.24 0.00 0.00 2.61 0.000 0.000 0.018 3250.72 3467.06 3034.38 1970.75 2248.81 0 0 0 30.00 30.00 15.89

348.05 516 -116.79 -1.44 -60.00 3249.9 3465.9 3033.9 1970.7 2247.2 41.05 -12.19 67 353.45 0.00 0.00 2.56 0.000 0.000 0.062 3250.22 3466.75 3033.69 1971.19 1209.00 0 0 0 30.00 30.00 15.91

397.86 1028 -116.79 -1.44 0.75 3250.7 3466.6 3034.8 1971.3 1208.9 47.12 -12.16 77 403.33 0.00 0.00 2.71 0.000 0.000 0.026 3250.78 3466.56 3035.00 1970.38 2364.25 0 0 0 30.00 30.00 15.92

527.80 516 -116.79 -1.44 -60.00 3250.3 3466.6 3033.9 1971.0 2364.5 61.68 -10.67 103 533.38 0.00 0.00 2.86 0.000 0.000 0.057 3251.22 3466.88 3035.56 1970.81 1209.12 0 0 0 30.00 30.00 15.92

552.79 1028 -116.79 -1.44 0.44 3250.2 3466.4 3034.1 1971.0 1208.8 64.22 -10.32 108 558.35 0.00 0.00 2.69 0.000 0.000 0.025 3252.34 3468.56 3036.12 1970.19 2360.44 0 0 0 30.00 30.00 15.94

682.86 260 -116.79 -1.44 60.00 3250.4 3466.8 3034.1 1971.2 2360.9 75.31 -7.92 134 688.42 0.00 0.00 2.74 0.000 0.000 0.084 3250.38 3466.69 3034.06 1971.38 3430.44 0 0 0 30.00 30.00 15.89

727.86 1028 -116.79 -1.44 1.03 3250.4 3465.2 3035.6 1970.8 3429.6 79.15 -8.62 143 733.39 0.00 0.00 2.57 0.000 0.000 0.018 3251.66 3466.50 3036.81 1970.62 2256.88 0 0 0 30.00 30.00 15.94

857.91 260 -116.79 -1.44 60.00 3250.5 3465.3 3035.7 1971.1 2256.9 88.33 -7.25 169 863.52 0.00 0.00 3.01 0.000 0.000 0.080 3252.19 3467.00 3037.38 1970.69 3427.69 0 0 0 30.00 30.00 15.89

882.91 1028 -116.79 -1.44 1.84 3250.6 3465.5 3035.6 1971.1 3427.9 90.36 -7.82 174 888.44 0.00 0.00 2.52 0.000 0.000 0.018 3250.94 3466.00 3035.88 1971.00 2264.88 0 0 0 30.00 30.00 15.94

1012.95 292 -116.79 -1.44 60.00 3250.0 3465.1 3034.9 1970.9 2265.1 99.85 -7.06 200 1018.52 0.00 0.00 2.98 0.000 0.000 0.080 3250.50 3465.19 3035.81 1971.31 3425.56 0 0 0 30.00 30.00 15.90

1037.93 1028 -116.79 -1.44 2.25 3250.2 3465.1 3035.4 1970.8 3425.8 101.80 -7.43 205 1043.06 0.00 0.00 2.50 0.000 0.000 0.019 3250.50 3465.44 3035.56 1970.81 2269.62 0 0 0 30.00 30.00 15.95

1193 end dive: TARGET_DEPTH_EXCEEDED

state 1193 begin apogee

1195.02 10243 0.00 -0.28 0.00 3250.2 3465.6 3034.8 1970.9 2041.6 113.31 -7.20 236 1283.16 83.05 1.96 0.17 1.229 0.132 0.106 2773.41 2905.44 2641.38 2254.25 2169.56 0 0 0 10.89 15.83 15.34

1285 end apogee: CONTROL_FINISHED_OK

state 1286 begin climb

1286.14 11271 116.79 1.44 0.00 2773.9 2906.4 2641.4 2254.1 2169.6 115.48 0.00 253 1377.76 85.51 2.78 0.20 1.171 0.089 0.070 2297.00 2361.06 2232.94 2675.88 2033.00 0 0 0 11.75 15.60 15.70

1559.99 10535 234.35 1.68 60.00 2292.4 2362.4 2222.5 2676.1 2032.8 102.73 5.28 308 1653.39 87.50 0.31 3.06 1.147 0.054 0.071 1820.03 1861.62 1778.44 2747.50 3205.44 0 0 0 11.29 15.71 15.27

1755.65 9254 297.09 1.80 0.76 1813.8 1861.0 1766.7 2747.6 3206.2 89.29 7.09 347 1808.95 48.37 0.00 2.62 1.108 0.000 0.021 1564.78 1604.88 1524.69 2746.75 2068.06 0 0 0 11.42 30.00 15.70

1931.18 10791 377.05 1.96 -60.00 1558.1 1605.1 1511.0 2747.6 2068.6 77.57 6.52 382 1999.71 62.76 0.30 2.77 1.100 0.059 0.078 1237.78 1254.56 1221.00 2817.00 994.62 0 0 0 11.39 15.70 15.29

2012.37 1092 377.05 1.98 1.04 1236.7 1254.8 1218.5 2817.0 994.5 71.12 8.45 398 2017.37 0.00 0.00 2.74 0.000 0.000 0.020 1236.66 1255.25 1218.06 2816.69 2162.69 0 0 0 30.00 30.00 15.64

2141.86 324 377.05 2.00 60.00 1233.6 1255.3 1211.9 2817.2 2162.2 60.27 8.18 424 2147.71 0.00 0.00 2.67 0.000 0.000 0.076 1233.53 1255.50 1211.56 2816.50 3205.62 0 0 0 30.00 30.00 15.74

2166.85 1092 377.05 2.01 1.14 1233.2 1255.4 1211.1 2816.9 3205.4 58.09 8.59 429 2172.38 0.00 0.00 2.60 0.000 0.000 0.021 1232.88 1255.62 1210.12 2816.62 2073.25 0 0 0 30.00 30.00 15.75

2296.91 580 377.05 2.03 -60.00 1232.0 1256.1 1207.9 2816.9 2073.3 47.48 8.16 455 2302.45 0.00 0.00 2.73 0.000 0.000 0.075 1231.59 1255.81 1207.38 2817.44 992.25 0 0 0 30.00 30.00 15.80

2351.89 1028 377.05 2.03 0.32 1231.4 1255.9 1206.9 2816.8 992.1 42.47 9.38 466 2357.64 0.00 0.00 2.65 0.000 0.000 0.020 1231.69 1256.12 1207.25 2816.75 2150.19 0 0 0 30.00 30.00 15.83

2482.10 516 377.05 2.03 -60.00 1230.8 1256.3 1205.2 2816.8 2149.3 30.92 8.69 492 2487.84 0.00 0.00 2.94 0.000 0.000 0.071 1231.03 1256.62 1205.44 2816.75 993.31 0 0 0 30.00 30.00 15.84

2606.95 1092 377.05 2.06 -1.24 1230.8 1257.2 1204.5 2817.2 993.2 20.46 7.68 517 2612.46 0.00 0.00 2.59 0.000 0.000 0.020 1230.84 1256.81 1204.88 2816.50 2122.50 0 0 0 30.00 30.00 15.89

2736.98 324 377.05 2.09 60.00 1230.3 1258.2 1202.4 2817.0 2123.5 10.61 7.58 543 2742.52 0.00 0.00 2.74 0.000 0.000 0.074 1230.47 1258.25 1202.69 2816.06 3205.38 0 0 0 30.00 30.00 15.89

2811.97 1092 377.05 2.13 -0.69 1230.0 1259.5 1200.5 2817.0 3205.8 4.85 7.25 558 2817.52 0.00 0.00 2.65 0.000 0.000 0.021 1229.94 1259.38 1200.50 2817.25 2040.94 0 0 0 30.00 30.00 15.91

2827 end climb: SURFACE_DEPTH_REACHED

state 2827 begin surface coast

2897 end surface coast: CONTROL_FINISHED_OK

state 2897 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	1301	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	360	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	105.1954	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	340.74924	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	120	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	210322,141402,4703.777,-12447.963,30,0.9,31,15.7	TGT_RADIUS	2500.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,142229,4703.746,-12447.973,2,0.9,4,15.7	MHEAD_RNG_PITCHd_Wd	81.2,10509,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	113
TGT_NAME	PICKUP	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	4702.180,-12439.970

FINISH	0.2,1.022896	MEM0	60876,1,0,0
SM_CCo	2941.57,18.62,1.037,0,1144.3,1150.9,1137.7,400.02	MEM1	65508,1,0,0
SM_GC	0.44,18.62,15.99,0.69,1.037,0.039,0.048,1144.3,1150.9,1137.7,178.2,2353.8,0,0,0,11.10,15.87,15.92	MEM2	971116,34,75572,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	25791,575
IRIDIUM_FIX	4704.45,-12446.31,210322,141829	CAP_FILE_SIZE	161869,0
TCM_TEMP	266.98	SDSIZE	4028416,3721184
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4661,1
HUMID	51.63	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.97	CURRENT	0.030,139.8,1
INTERNAL_PRESSURE	8.91858	MAGCAL	1.000000,0.009386,-0.046481,0.009655,1.014439,-0.098525,0.034478,-0.020755,0.932520,634.3,-275.2,120.8,21,0.0345,0
_24V_AH	14.75,463.357	IMPLIED_C_PITCH	2405,11.69,380
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2934,48.345818,343
FG_AHR_24Vo	340.877	GPS	210322,151156,4703.696,-12447.629,2,1.4,5,15.7
FG_AHR_10Vo	105.205

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	470	1229	8526.06	legato	34	20	10.24
Pitch_motor	35	223	116.59	nil	0	0	0.00
Roll_motor	67	105	104.67	nil	0	0	0.00
Iridium	230	180	613.25	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.10	nil	0	0	0.00
Core	1647	11	291.55	SciCon	0	0	0.00
LPSleep	1736	2	72.93	nil	0	0	0.00
Compass	393	5	29.55	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
6.06	16386	-116.79	-1.44	0.00	1025.3	1023.5	1027.1	173.2	2260.8	0.00	0.00	0	82.56	74.99	0.00	0.00	0.005	0.000	0.000	2855.56	3030.19	2680.94	173.56	2261.19	0	0	0	14.79	30.00	30.00
83.30	18727	-116.79	-1.44	60.00	2854.4	3029.3	2679.5	173.5	2261.3	3.17	-4.09	14	115.58	9.36	14.05	3.01	0.007	0.223	0.082	3250.59	3467.19	3034.00	1970.50	3427.75	0	0	0	14.77	15.49	14.83
218.05	1028	-116.79	-1.44	0.00	3250.2	3466.4	3034.1	1971.0	3426.9	24.61	-15.92	41	223.24	0.00	0.00	2.61	0.000	0.000	0.018	3250.72	3467.06	3034.38	1970.75	2248.81	0	0	0	30.00	30.00	15.89
348.05	516	-116.79	-1.44	-60.00	3249.9	3465.9	3033.9	1970.7	2247.2	41.05	-12.19	67	353.45	0.00	0.00	2.56	0.000	0.000	0.062	3250.22	3466.75	3033.69	1971.19	1209.00	0	0	0	30.00	30.00	15.91
397.86	1028	-116.79	-1.44	0.75	3250.7	3466.6	3034.8	1971.3	1208.9	47.12	-12.16	77	403.33	0.00	0.00	2.71	0.000	0.000	0.026	3250.78	3466.56	3035.00	1970.38	2364.25	0	0	0	30.00	30.00	15.92
527.80	516	-116.79	-1.44	-60.00	3250.3	3466.6	3033.9	1971.0	2364.5	61.68	-10.67	103	533.38	0.00	0.00	2.86	0.000	0.000	0.057	3251.22	3466.88	3035.56	1970.81	1209.12	0	0	0	30.00	30.00	15.92
552.79	1028	-116.79	-1.44	0.44	3250.2	3466.4	3034.1	1971.0	1208.8	64.22	-10.32	108	558.35	0.00	0.00	2.69	0.000	0.000	0.025	3252.34	3468.56	3036.12	1970.19	2360.44	0	0	0	30.00	30.00	15.94
682.86	260	-116.79	-1.44	60.00	3250.4	3466.8	3034.1	1971.2	2360.9	75.31	-7.92	134	688.42	0.00	0.00	2.74	0.000	0.000	0.084	3250.38	3466.69	3034.06	1971.38	3430.44	0	0	0	30.00	30.00	15.89
727.86	1028	-116.79	-1.44	1.03	3250.4	3465.2	3035.6	1970.8	3429.6	79.15	-8.62	143	733.39	0.00	0.00	2.57	0.000	0.000	0.018	3251.66	3466.50	3036.81	1970.62	2256.88	0	0	0	30.00	30.00	15.94
857.91	260	-116.79	-1.44	60.00	3250.5	3465.3	3035.7	1971.1	2256.9	88.33	-7.25	169	863.52	0.00	0.00	3.01	0.000	0.000	0.080	3252.19	3467.00	3037.38	1970.69	3427.69	0	0	0	30.00	30.00	15.89
882.91	1028	-116.79	-1.44	1.84	3250.6	3465.5	3035.6	1971.1	3427.9	90.36	-7.82	174	888.44	0.00	0.00	2.52	0.000	0.000	0.018	3250.94	3466.00	3035.88	1971.00	2264.88	0	0	0	30.00	30.00	15.94
1012.95	292	-116.79	-1.44	60.00	3250.0	3465.1	3034.9	1970.9	2265.1	99.85	-7.06	200	1018.52	0.00	0.00	2.98	0.000	0.000	0.080	3250.50	3465.19	3035.81	1971.31	3425.56	0	0	0	30.00	30.00	15.90
1037.93	1028	-116.79	-1.44	2.25	3250.2	3465.1	3035.4	1970.8	3425.8	101.80	-7.43	205	1043.06	0.00	0.00	2.50	0.000	0.000	0.019	3250.50	3465.44	3035.56	1970.81	2269.62	0	0	0	30.00	30.00	15.95
1193	end dive: TARGET_DEPTH_EXCEEDED
state	1193	begin apogee
1195.02	10243	0.00	-0.28	0.00	3250.2	3465.6	3034.8	1970.9	2041.6	113.31	-7.20	236	1283.16	83.05	1.96	0.17	1.229	0.132	0.106	2773.41	2905.44	2641.38	2254.25	2169.56	0	0	0	10.89	15.83	15.34
1285	end apogee: CONTROL_FINISHED_OK
state	1286	begin climb
1286.14	11271	116.79	1.44	0.00	2773.9	2906.4	2641.4	2254.1	2169.6	115.48	0.00	253	1377.76	85.51	2.78	0.20	1.171	0.089	0.070	2297.00	2361.06	2232.94	2675.88	2033.00	0	0	0	11.75	15.60	15.70
1559.99	10535	234.35	1.68	60.00	2292.4	2362.4	2222.5	2676.1	2032.8	102.73	5.28	308	1653.39	87.50	0.31	3.06	1.147	0.054	0.071	1820.03	1861.62	1778.44	2747.50	3205.44	0	0	0	11.29	15.71	15.27
1755.65	9254	297.09	1.80	0.76	1813.8	1861.0	1766.7	2747.6	3206.2	89.29	7.09	347	1808.95	48.37	0.00	2.62	1.108	0.000	0.021	1564.78	1604.88	1524.69	2746.75	2068.06	0	0	0	11.42	30.00	15.70
1931.18	10791	377.05	1.96	-60.00	1558.1	1605.1	1511.0	2747.6	2068.6	77.57	6.52	382	1999.71	62.76	0.30	2.77	1.100	0.059	0.078	1237.78	1254.56	1221.00	2817.00	994.62	0	0	0	11.39	15.70	15.29
2012.37	1092	377.05	1.98	1.04	1236.7	1254.8	1218.5	2817.0	994.5	71.12	8.45	398	2017.37	0.00	0.00	2.74	0.000	0.000	0.020	1236.66	1255.25	1218.06	2816.69	2162.69	0	0	0	30.00	30.00	15.64
2141.86	324	377.05	2.00	60.00	1233.6	1255.3	1211.9	2817.2	2162.2	60.27	8.18	424	2147.71	0.00	0.00	2.67	0.000	0.000	0.076	1233.53	1255.50	1211.56	2816.50	3205.62	0	0	0	30.00	30.00	15.74
2166.85	1092	377.05	2.01	1.14	1233.2	1255.4	1211.1	2816.9	3205.4	58.09	8.59	429	2172.38	0.00	0.00	2.60	0.000	0.000	0.021	1232.88	1255.62	1210.12	2816.62	2073.25	0	0	0	30.00	30.00	15.75
2296.91	580	377.05	2.03	-60.00	1232.0	1256.1	1207.9	2816.9	2073.3	47.48	8.16	455	2302.45	0.00	0.00	2.73	0.000	0.000	0.075	1231.59	1255.81	1207.38	2817.44	992.25	0	0	0	30.00	30.00	15.80
2351.89	1028	377.05	2.03	0.32	1231.4	1255.9	1206.9	2816.8	992.1	42.47	9.38	466	2357.64	0.00	0.00	2.65	0.000	0.000	0.020	1231.69	1256.12	1207.25	2816.75	2150.19	0	0	0	30.00	30.00	15.83
2482.10	516	377.05	2.03	-60.00	1230.8	1256.3	1205.2	2816.8	2149.3	30.92	8.69	492	2487.84	0.00	0.00	2.94	0.000	0.000	0.071	1231.03	1256.62	1205.44	2816.75	993.31	0	0	0	30.00	30.00	15.84
2606.95	1092	377.05	2.06	-1.24	1230.8	1257.2	1204.5	2817.2	993.2	20.46	7.68	517	2612.46	0.00	0.00	2.59	0.000	0.000	0.020	1230.84	1256.81	1204.88	2816.50	2122.50	0	0	0	30.00	30.00	15.89
2736.98	324	377.05	2.09	60.00	1230.3	1258.2	1202.4	2817.0	2123.5	10.61	7.58	543	2742.52	0.00	0.00	2.74	0.000	0.000	0.074	1230.47	1258.25	1202.69	2816.06	3205.38	0	0	0	30.00	30.00	15.89
2811.97	1092	377.05	2.13	-0.69	1230.0	1259.5	1200.5	2817.0	3205.8	4.85	7.25	558	2817.52	0.00	0.00	2.65	0.000	0.000	0.021	1229.94	1259.38	1200.50	2817.25	2040.94	0	0	0	30.00	30.00	15.91
2827	end climb: SURFACE_DEPTH_REACHED
state	2827	begin surface coast
2897	end surface coast: CONTROL_FINISHED_OK
state	2897	begin surface