Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 182 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

MISSION 2 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 182 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 475 ROLL_MAXERRORS 1 XPDR_INT -1

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP -1

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 990 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -3.0999999

D_ABORT 1000 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3020 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0013 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 410 T_GPS 5 W_ADJ_DBAND 3 LOGGERDEVICE2 -1

T_MISSION 470 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 180 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_BATHY -1 PITCH_MIN 200 AH0_24V 575 NAV_DEVICE -1

USE_ICE 0 PITCH_MAX 3920 AH0_10V 0 NAV2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2340 MINV_24V 0 NETWORK_DEVICE -1

D_OFFGRID 1000 PITCH_DBAND 0.050000001 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 0 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

APOGEE_PITCH -5 PITCH_GAIN 12 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 110 PITCH_TIMEOUT 30 FG_AHR_10V 18.891535 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 51.02158 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.0275 PITCH_ADJ_DBAND 0 PRESSURE_YINT -170.23515 SEABIRD_T_J 4.3e-06

MASS 72293 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022672296 SEABIRD_C_G -10

NAV_MODE 0 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 3 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 700 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 3350 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 1000 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 0 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 990 N_NOCOMM 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 18.891535 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 51.02158 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.050000001 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 12 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3920 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 236 PITCH_VBD_SHIFT 0.0013 T_DIVE 410

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_USE 49156 INT_PRESSURE_YINT -3.0999999 PITCH_W_GAIN 3 T_GPS 5

C_PITCH 2340 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022672296 T_MISSION 470

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -170.23515 T_NO_W 180

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3020 LOGGERS 1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.0275 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72293 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 110 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 0 ROLL_MAX 3350 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 182 MISSION 2 ROLL_MIN 700 W_ADJ_DBAND 3

D_ABORT 1000 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_BOOST 0 NAV2_DEVICE -1 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE -1 SC_PROFILE 7.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 0 SC_RECORDABOVE 2000.0 XPDR_REP -1

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE -1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 130723,201056,4752.280,-12514.184,3,1.1,6,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130723,201558,4752.254,-12514.243,2,1.1,6,15.8 MHEAD_RNG_PITCHd_Wd 81.1,4974,-17.1,-8.049,-21.16,2007,0.232

SPEED_LIMITS 0.139,0.208 D_GRID 218

TGT_NAME SHELF IRON 1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.572571,-595.407471,-574.239685

TGT_LATLONG 4751.930,-12510.270 OSC 8000225

Post-dive calculations and measurements:

FINISH 0.0,1.023579 FG_AHR_24Vo 51.169

SURF forcing FG_AHR_10Vo 18.938

SM_CCo 5352.31,91.73,0.922,0,1083.4,1094.2,1072.6,475.05 MEM0 60116,1,0,0

SM_GC 1.51,91.73,19.75,0.06,0.922,0.045,0.164,1083.4,1094.2,1072.6,188.0,2069.1,0,0,0,12.72,15.85,15.85 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 970780,22,76208,57

IRIDIUM_FIX 4751.64,-12513.98,130723,180202 DATA_FILE_SIZE 22510,776

TCM_TEMP 257.76 CAP_FILE_SIZE 330017,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,3956768

SC_FREEKB 3809792 SDFILEDIR 1127,183

HUMID 50.45 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.27 IMPLIED_C_PITCH 2358,12.38,515,0.0,0.00

INTERNAL_PRESSURE 8.92691 IMPLIED_C_VBD 3243,28.644600,267,0

_24V_AH 14.94,77.171 GPS 130723,214555,4752.202,-12513.619,7,2.0,11,15.8

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 611 1165 10657.60 nil 0 0 0.00

Pitch_motor 43 239 155.09 nil 0 0 0.00

Roll_motor 57 164 141.37 nil 0 0 0.00

Iridium 212 212 674.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.47 nil 0 0 0.00

Core 2980 6 303.98 SciCon 5233 21 1695.10

Fast 6 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2533 2 76.01

Compass 1668 5 125.12

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

9.01 16386 -107.06 -1.56 0.00 1092.6 1100.9 1084.4 186.6 2134.0 0.00 0.00 0 75.77 65.15 0.00 0.00 0.005 0.000 0.000 2471.16 2465.44 2476.88 186.75 2134.38 0 0 0 15.75 30.00 30.00

76.21 18983 -107.06 -1.56 -80.00 2470.6 2465.1 2476.1 186.7 2135.4 3.32 -3.25 13 133.22 25.08 16.17 3.85 0.006 0.240 0.114 3457.06 3440.88 3473.25 1959.81 689.00 0 0 0 15.76 15.74 15.73

166.75 1028 -107.06 -1.56 0.00 3458.0 3442.4 3473.6 1960.3 689.1 20.34 -24.12 30 173.33 0.00 0.00 3.43 0.000 0.000 0.048 3458.69 3443.00 3474.38 1959.38 2128.50 0 0 0 30.00 30.00 15.88

356.78 260 -107.06 -1.56 80.00 3458.3 3442.5 3474.2 1960.4 2128.6 52.44 -14.50 68 363.21 0.00 0.00 3.19 0.000 0.000 0.094 3458.53 3442.69 3474.38 1960.00 3361.75 0 0 0 30.00 30.00 15.92

396.77 1028 -107.06 -1.56 0.00 3459.1 3443.8 3474.5 1959.8 3362.1 58.70 -15.90 76 403.19 0.00 0.00 3.08 0.000 0.000 0.041 3460.72 3445.31 3476.12 1959.88 2067.94 0 0 0 30.00 30.00 15.95

586.83 0 -107.06 -1.56 0.00 3459.2 3443.1 3475.3 1959.8 2067.7 81.26 -11.53 114 591.26 0.00 0.00 0.00 0.000 0.000 0.000 3459.50 3443.69 3475.31 1960.00 2067.75 0 0 0 30.00 30.00 30.00

776.84 0 -107.06 -1.56 0.00 3459.2 3443.0 3475.5 1960.0 2067.4 100.09 -9.22 152 777.46 0.00 0.00 0.00 0.000 0.000 0.000 3458.94 3443.31 3474.56 1959.88 2067.44 0 0 0 30.00 30.00 30.00

1087.11 260 -107.06 -1.56 80.00 3460.0 3443.4 3476.6 1959.9 2067.6 131.79 -11.13 183 1092.80 0.00 0.00 3.33 0.000 0.000 0.092 3459.25 3443.94 3474.56 1959.81 3360.56 0 0 0 30.00 30.00 16.02

1151.11 1028 -107.06 -1.56 0.00 3459.9 3444.4 3475.4 1959.6 3362.0 139.97 -12.47 196 1158.70 0.00 0.00 3.07 0.000 0.000 0.041 3460.38 3444.06 3476.69 1960.12 2068.94 0 0 0 30.00 30.00 16.02

1467.14 0 -107.06 -1.56 0.00 3460.6 3444.5 3476.8 1959.8 2069.1 174.22 -10.70 228 1468.71 0.00 0.00 0.00 0.000 0.000 0.000 3460.38 3443.31 3477.44 1959.75 2068.94 0 0 0 30.00 30.00 30.00

1776.89 0 -107.06 -1.56 0.00 3460.4 3443.9 3476.9 1959.9 2068.4 204.20 -9.76 259 1778.46 0.00 0.00 0.00 0.000 0.000 0.000 3460.50 3443.81 3477.19 1959.44 2068.88 0 0 0 30.00 30.00 30.00

1916 end dive: TARGET_DEPTH_EXCEEDED

state 1917 begin apogee

1918.79 10243 0.00 -0.42 0.00 3460.7 3444.8 3476.7 1960.1 2189.1 218.34 -10.00 273 2007.46 81.17 2.28 0.12 1.166 0.123 0.154 3019.81 2990.00 3049.62 2240.19 2110.50 0 0 0 12.69 16.05 15.74

2011 end apogee: CONTROL_FINISHED_OK

state 2011 begin climb

2013.77 10243 107.06 1.56 0.00 3016.9 2988.2 3045.7 2239.6 2111.5 220.54 0.00 281 2107.89 84.88 3.66 0.00 1.134 0.067 0.000 2583.56 2555.31 2611.81 2726.75 2111.19 0 0 0 12.77 15.82 30.00

2411.74 16710 107.06 1.59 80.00 2570.5 2540.6 2600.4 2725.8 2111.8 196.94 7.20 323 2417.36 0.00 0.00 3.28 0.000 0.000 0.091 2571.72 2541.88 2601.56 2726.06 3361.56 0 0 0 30.00 30.00 15.92

2521.48 17414 107.06 1.59 0.00 2570.1 2539.6 2600.7 2726.2 3361.9 188.38 7.80 345 2527.24 0.00 0.00 2.98 0.000 0.000 0.044 2570.31 2539.38 2601.25 2725.50 2114.94 0 0 0 30.00 30.00 15.95

2831.80 16710 107.06 1.63 80.00 2568.1 2537.0 2599.2 2725.7 2116.1 167.67 6.56 377 2837.81 0.00 0.00 3.21 0.000 0.000 0.090 2568.19 2536.69 2599.69 2726.19 3363.19 0 0 0 30.00 30.00 16.01

2951.55 17414 107.06 1.63 0.00 2568.7 2537.8 2599.6 2725.5 3362.9 159.05 7.66 401 2957.34 0.00 0.00 2.96 0.000 0.000 0.043 2569.03 2537.19 2600.88 2727.06 2116.00 0 0 0 30.00 30.00 16.02

3261.87 18759 107.06 1.66 80.00 2567.1 2535.0 2599.2 2725.6 2117.2 137.52 7.10 433 3267.60 0.00 0.13 3.20 0.000 0.075 0.089 2566.44 2535.31 2597.56 2757.50 3361.81 0 0 0 30.00 16.09 16.04

3351.65 17478 107.06 1.69 0.00 2567.4 2535.4 2599.4 2757.8 3361.9 130.99 7.22 451 3357.37 0.00 0.00 2.93 0.000 0.000 0.044 2567.84 2535.38 2600.31 2758.06 2115.25 0 0 0 30.00 30.00 16.05

3662.17 10275 193.15 1.80 0.00 2566.8 2535.3 2598.3 2757.9 2114.9 117.20 3.64 483 3756.57 89.31 0.15 0.00 1.018 0.066 0.000 2233.97 2201.25 2266.69 2787.56 2114.88 0 0 0 12.75 16.12 30.00

4061.70 20743 193.15 1.80 80.00 2221.2 2186.7 2255.8 2789.3 2115.4 76.47 10.14 547 4068.57 0.00 0.26 3.23 0.000 0.143 0.090 2221.56 2187.19 2255.94 2771.75 3361.62 0 0 0 30.00 15.95 15.93

4112.39 17414 193.15 1.80 0.00 2220.2 2184.3 2256.1 2771.5 3362.4 71.70 9.31 557 4118.66 0.00 0.00 2.97 0.000 0.000 0.044 2221.06 2184.81 2257.31 2771.50 2114.69 0 0 0 30.00 30.00 15.97

4302.23 16710 193.15 1.82 80.00 2219.2 2183.8 2254.8 2771.0 2116.2 57.76 7.40 595 4308.85 0.00 0.00 3.22 0.000 0.000 0.090 2220.62 2185.06 2256.19 2771.62 3362.44 0 0 0 30.00 30.00 15.98

4537.49 11303 292.33 1.95 0.00 2218.5 2181.3 2255.8 2772.3 3363.3 46.24 2.97 642 4644.42 96.75 0.38 2.97 0.958 0.045 0.044 1826.72 1800.88 1852.56 2825.94 2115.56 0 0 0 12.68 15.99 16.03

4827.97 4357 292.33 1.95 80.00 1825.7 1798.9 1852.4 2825.9 2115.4 24.54 11.08 699 4834.85 0.00 0.25 3.27 0.000 0.141 0.091 1827.06 1800.44 1853.69 2805.56 3361.06 0 0 0 30.00 15.88 15.87

5048.38 11303 375.20 2.06 0.00 1824.9 1797.3 1852.6 2805.8 3361.9 9.16 3.81 743 5135.42 77.85 0.31 2.98 0.918 0.048 0.044 1491.56 1476.81 1506.31 2851.38 2115.44 0 0 0 12.69 15.95 15.98

5188 end climb: SURFACE_DEPTH_REACHED

state 5189 begin surface coast

5219 end surface coast: CONTROL_FINISHED_OK

state 5219 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
MISSION	2	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	182	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	475	ROLL_MAXERRORS	1	XPDR_INT	-1
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	-1
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	990	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-3.0999999
D_ABORT	1000	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3020	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0013	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	410	T_GPS	5	W_ADJ_DBAND	3	LOGGERDEVICE2	-1
T_MISSION	470	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	180	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_BATHY	-1	PITCH_MIN	200	AH0_24V	575	NAV_DEVICE	-1
USE_ICE	0	PITCH_MAX	3920	AH0_10V	0	NAV2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2340	MINV_24V	0	NETWORK_DEVICE	-1
D_OFFGRID	1000	PITCH_DBAND	0.050000001	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	0	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
APOGEE_PITCH	-5	PITCH_GAIN	12	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	110	PITCH_TIMEOUT	30	FG_AHR_10V	18.891535	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	51.02158	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.0275	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-170.23515	SEABIRD_T_J	4.3e-06
MASS	72293	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022672296	SEABIRD_C_G	-10
NAV_MODE	0	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	3	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	700	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	3350	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13

GPS1	130723,201056,4752.280,-12514.184,3,1.1,6,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130723,201558,4752.254,-12514.243,2,1.1,6,15.8	MHEAD_RNG_PITCHd_Wd	81.1,4974,-17.1,-8.049,-21.16,2007,0.232
SPEED_LIMITS	0.139,0.208	D_GRID	218
TGT_NAME	SHELF	IRON	1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.572571,-595.407471,-574.239685
TGT_LATLONG	4751.930,-12510.270	OSC	8000225

FINISH	0.0,1.023579	FG_AHR_24Vo	51.169
SURF	forcing	FG_AHR_10Vo	18.938
SM_CCo	5352.31,91.73,0.922,0,1083.4,1094.2,1072.6,475.05	MEM0	60116,1,0,0
SM_GC	1.51,91.73,19.75,0.06,0.922,0.045,0.164,1083.4,1094.2,1072.6,188.0,2069.1,0,0,0,12.72,15.85,15.85	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	970780,22,76208,57
IRIDIUM_FIX	4751.64,-12513.98,130723,180202	DATA_FILE_SIZE	22510,776
TCM_TEMP	257.76	CAP_FILE_SIZE	330017,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,3956768
SC_FREEKB	3809792	SDFILEDIR	1127,183
HUMID	50.45	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.27	IMPLIED_C_PITCH	2358,12.38,515,0.0,0.00
INTERNAL_PRESSURE	8.92691	IMPLIED_C_VBD	3243,28.644600,267,0
_24V_AH	14.94,77.171	GPS	130723,214555,4752.202,-12513.619,7,2.0,11,15.8
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	611	1165	10657.60	nil	0	0	0.00
Pitch_motor	43	239	155.09	nil	0	0	0.00
Roll_motor	57	164	141.37	nil	0	0	0.00
Iridium	212	212	674.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.47	nil	0	0	0.00
Core	2980	6	303.98	SciCon	5233	21	1695.10
Fast	6	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2533	2	76.01
Compass	1668	5	125.12
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
9.01	16386	-107.06	-1.56	0.00	1092.6	1100.9	1084.4	186.6	2134.0	0.00	0.00	0	75.77	65.15	0.00	0.00	0.005	0.000	0.000	2471.16	2465.44	2476.88	186.75	2134.38	0	0	0	15.75	30.00	30.00
76.21	18983	-107.06	-1.56	-80.00	2470.6	2465.1	2476.1	186.7	2135.4	3.32	-3.25	13	133.22	25.08	16.17	3.85	0.006	0.240	0.114	3457.06	3440.88	3473.25	1959.81	689.00	0	0	0	15.76	15.74	15.73
166.75	1028	-107.06	-1.56	0.00	3458.0	3442.4	3473.6	1960.3	689.1	20.34	-24.12	30	173.33	0.00	0.00	3.43	0.000	0.000	0.048	3458.69	3443.00	3474.38	1959.38	2128.50	0	0	0	30.00	30.00	15.88
356.78	260	-107.06	-1.56	80.00	3458.3	3442.5	3474.2	1960.4	2128.6	52.44	-14.50	68	363.21	0.00	0.00	3.19	0.000	0.000	0.094	3458.53	3442.69	3474.38	1960.00	3361.75	0	0	0	30.00	30.00	15.92
396.77	1028	-107.06	-1.56	0.00	3459.1	3443.8	3474.5	1959.8	3362.1	58.70	-15.90	76	403.19	0.00	0.00	3.08	0.000	0.000	0.041	3460.72	3445.31	3476.12	1959.88	2067.94	0	0	0	30.00	30.00	15.95
586.83	0	-107.06	-1.56	0.00	3459.2	3443.1	3475.3	1959.8	2067.7	81.26	-11.53	114	591.26	0.00	0.00	0.00	0.000	0.000	0.000	3459.50	3443.69	3475.31	1960.00	2067.75	0	0	0	30.00	30.00	30.00
776.84	0	-107.06	-1.56	0.00	3459.2	3443.0	3475.5	1960.0	2067.4	100.09	-9.22	152	777.46	0.00	0.00	0.00	0.000	0.000	0.000	3458.94	3443.31	3474.56	1959.88	2067.44	0	0	0	30.00	30.00	30.00
1087.11	260	-107.06	-1.56	80.00	3460.0	3443.4	3476.6	1959.9	2067.6	131.79	-11.13	183	1092.80	0.00	0.00	3.33	0.000	0.000	0.092	3459.25	3443.94	3474.56	1959.81	3360.56	0	0	0	30.00	30.00	16.02
1151.11	1028	-107.06	-1.56	0.00	3459.9	3444.4	3475.4	1959.6	3362.0	139.97	-12.47	196	1158.70	0.00	0.00	3.07	0.000	0.000	0.041	3460.38	3444.06	3476.69	1960.12	2068.94	0	0	0	30.00	30.00	16.02
1467.14	0	-107.06	-1.56	0.00	3460.6	3444.5	3476.8	1959.8	2069.1	174.22	-10.70	228	1468.71	0.00	0.00	0.00	0.000	0.000	0.000	3460.38	3443.31	3477.44	1959.75	2068.94	0	0	0	30.00	30.00	30.00
1776.89	0	-107.06	-1.56	0.00	3460.4	3443.9	3476.9	1959.9	2068.4	204.20	-9.76	259	1778.46	0.00	0.00	0.00	0.000	0.000	0.000	3460.50	3443.81	3477.19	1959.44	2068.88	0	0	0	30.00	30.00	30.00
1916	end dive: TARGET_DEPTH_EXCEEDED
state	1917	begin apogee
1918.79	10243	0.00	-0.42	0.00	3460.7	3444.8	3476.7	1960.1	2189.1	218.34	-10.00	273	2007.46	81.17	2.28	0.12	1.166	0.123	0.154	3019.81	2990.00	3049.62	2240.19	2110.50	0	0	0	12.69	16.05	15.74
2011	end apogee: CONTROL_FINISHED_OK
state	2011	begin climb
2013.77	10243	107.06	1.56	0.00	3016.9	2988.2	3045.7	2239.6	2111.5	220.54	0.00	281	2107.89	84.88	3.66	0.00	1.134	0.067	0.000	2583.56	2555.31	2611.81	2726.75	2111.19	0	0	0	12.77	15.82	30.00
2411.74	16710	107.06	1.59	80.00	2570.5	2540.6	2600.4	2725.8	2111.8	196.94	7.20	323	2417.36	0.00	0.00	3.28	0.000	0.000	0.091	2571.72	2541.88	2601.56	2726.06	3361.56	0	0	0	30.00	30.00	15.92
2521.48	17414	107.06	1.59	0.00	2570.1	2539.6	2600.7	2726.2	3361.9	188.38	7.80	345	2527.24	0.00	0.00	2.98	0.000	0.000	0.044	2570.31	2539.38	2601.25	2725.50	2114.94	0	0	0	30.00	30.00	15.95
2831.80	16710	107.06	1.63	80.00	2568.1	2537.0	2599.2	2725.7	2116.1	167.67	6.56	377	2837.81	0.00	0.00	3.21	0.000	0.000	0.090	2568.19	2536.69	2599.69	2726.19	3363.19	0	0	0	30.00	30.00	16.01
2951.55	17414	107.06	1.63	0.00	2568.7	2537.8	2599.6	2725.5	3362.9	159.05	7.66	401	2957.34	0.00	0.00	2.96	0.000	0.000	0.043	2569.03	2537.19	2600.88	2727.06	2116.00	0	0	0	30.00	30.00	16.02
3261.87	18759	107.06	1.66	80.00	2567.1	2535.0	2599.2	2725.6	2117.2	137.52	7.10	433	3267.60	0.00	0.13	3.20	0.000	0.075	0.089	2566.44	2535.31	2597.56	2757.50	3361.81	0	0	0	30.00	16.09	16.04
3351.65	17478	107.06	1.69	0.00	2567.4	2535.4	2599.4	2757.8	3361.9	130.99	7.22	451	3357.37	0.00	0.00	2.93	0.000	0.000	0.044	2567.84	2535.38	2600.31	2758.06	2115.25	0	0	0	30.00	30.00	16.05
3662.17	10275	193.15	1.80	0.00	2566.8	2535.3	2598.3	2757.9	2114.9	117.20	3.64	483	3756.57	89.31	0.15	0.00	1.018	0.066	0.000	2233.97	2201.25	2266.69	2787.56	2114.88	0	0	0	12.75	16.12	30.00
4061.70	20743	193.15	1.80	80.00	2221.2	2186.7	2255.8	2789.3	2115.4	76.47	10.14	547	4068.57	0.00	0.26	3.23	0.000	0.143	0.090	2221.56	2187.19	2255.94	2771.75	3361.62	0	0	0	30.00	15.95	15.93
4112.39	17414	193.15	1.80	0.00	2220.2	2184.3	2256.1	2771.5	3362.4	71.70	9.31	557	4118.66	0.00	0.00	2.97	0.000	0.000	0.044	2221.06	2184.81	2257.31	2771.50	2114.69	0	0	0	30.00	30.00	15.97
4302.23	16710	193.15	1.82	80.00	2219.2	2183.8	2254.8	2771.0	2116.2	57.76	7.40	595	4308.85	0.00	0.00	3.22	0.000	0.000	0.090	2220.62	2185.06	2256.19	2771.62	3362.44	0	0	0	30.00	30.00	15.98
4537.49	11303	292.33	1.95	0.00	2218.5	2181.3	2255.8	2772.3	3363.3	46.24	2.97	642	4644.42	96.75	0.38	2.97	0.958	0.045	0.044	1826.72	1800.88	1852.56	2825.94	2115.56	0	0	0	12.68	15.99	16.03
4827.97	4357	292.33	1.95	80.00	1825.7	1798.9	1852.4	2825.9	2115.4	24.54	11.08	699	4834.85	0.00	0.25	3.27	0.000	0.141	0.091	1827.06	1800.44	1853.69	2805.56	3361.06	0	0	0	30.00	15.88	15.87
5048.38	11303	375.20	2.06	0.00	1824.9	1797.3	1852.6	2805.8	3361.9	9.16	3.81	743	5135.42	77.85	0.31	2.98	0.918	0.048	0.044	1491.56	1476.81	1506.31	2851.38	2115.44	0	0	0	12.69	15.95	15.98
5188	end climb: SURFACE_DEPTH_REACHED
state	5189	begin surface coast
5219	end surface coast: CONTROL_FINISHED_OK
state	5219	begin surface