Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 184 * 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 184 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 18.986639 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 51.336674 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 18.986639 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 51.336674 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 184 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 130723,231731,4751.977,-12513.048,24,1.0,25,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 130723,232208,4751.985,-12513.059,2,0.7,4,15.8 MHEAD_RNG_PITCHd_Wd 75.9,3467,-17.1,-8.049,-21.16,2007,0.254

SPEED_LIMITS 0.139,0.208 D_GRID 188

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 8000266

Post-dive calculations and measurements:

FINISH -0.0,1.022723 FG_AHR_24Vo 51.475

SURF forcing FG_AHR_10Vo 19.026

SM_CCo 4287.52,94.40,0.912,0,1083.5,1103.5,1063.4,475.03 MEM0 60116,1,0,0

SM_GC 1.78,94.40,19.30,3.39,0.912,0.045,0.047,1083.5,1103.5,1063.4,185.6,2133.9,0,0,0,12.71,15.89,15.85 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 970756,23,76212,57

IRIDIUM_FIX 4750.34,-12512.13,130723,214714 DATA_FILE_SIZE 19315,676

TCM_TEMP 258.08 CAP_FILE_SIZE 309660,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,3956224

SC_FREEKB 3809024 SDFILEDIR 1139,185

HUMID 50.17 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.22 IMPLIED_C_PITCH 2383,12.11,420,0.0,0.00

INTERNAL_PRESSURE 8.93455 IMPLIED_C_VBD 3277,35.171886,315,0

_24V_AH 14.95,77.558 GPS 140723,003432,4751.774,-12512.572,3,1.3,24,15.8

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 580 1120 9730.17 nil 0 0 0.00

Pitch_motor 42 245 155.70 nil 0 0 0.00

Roll_motor 68 195 199.92 nil 0 0 0.00

Iridium 193 204 591.89 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 2613 6 266.57 SciCon 4160 23 1468.71

Fast 3 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1807 2 54.23

Compass 1441 5 108.12

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

8.99 16386 -107.06 -1.56 0.00 1093.6 1102.5 1084.6 184.1 2065.1 0.00 0.00 0 75.76 65.18 0.00 0.00 0.005 0.000 0.000 2486.97 2483.31 2490.62 184.12 2065.94 0 0 0 15.76 30.00 30.00

76.20 18983 -107.06 -1.56 -80.00 2486.5 2482.8 2490.2 184.1 2065.2 3.22 -2.91 13 129.08 23.97 16.13 3.66 0.006 0.246 0.118 3457.03 3440.75 3473.31 1961.00 691.31 0 0 0 15.75 15.75 15.72

357.63 1028 -107.06 -1.56 0.00 3458.3 3442.3 3474.4 1961.1 691.4 52.71 -16.12 68 364.20 0.00 0.00 3.40 0.000 0.000 0.046 3458.78 3443.00 3474.56 1960.56 2131.31 0 0 0 30.00 30.00 15.97

547.65 260 -107.06 -1.56 80.00 3458.9 3443.2 3474.6 1961.6 2130.8 73.28 -9.06 106 554.09 0.00 0.00 3.18 0.000 0.000 0.095 3460.12 3443.56 3476.69 1960.38 3360.81 0 0 0 30.00 30.00 15.98

782.71 1028 -107.06 -1.56 0.00 3459.4 3443.7 3475.1 1960.6 3360.1 96.25 -11.08 153 789.32 0.00 0.00 3.09 0.000 0.000 0.044 3460.06 3444.62 3475.50 1961.31 2066.75 0 0 0 30.00 30.00 16.03

972.87 260 -107.06 -1.56 80.00 3459.7 3443.7 3475.7 1961.2 2066.8 115.72 -9.91 176 978.86 0.00 0.00 3.32 0.000 0.000 0.091 3460.22 3443.88 3476.56 1961.00 3361.94 0 0 0 30.00 30.00 16.03

1047.11 1028 -107.06 -1.56 0.00 3459.2 3443.5 3474.8 1960.4 3361.9 123.44 -10.20 191 1054.42 0.00 0.00 3.06 0.000 0.000 0.043 3459.97 3444.50 3475.44 1960.62 2066.06 0 0 0 30.00 30.00 16.04

1362.90 516 -107.06 -1.56 -80.00 3460.5 3444.9 3476.1 1961.1 2066.4 155.77 -9.98 223 1369.23 0.00 0.00 3.65 0.000 0.000 0.117 3461.25 3445.06 3477.44 1960.75 689.12 0 0 0 30.00 30.00 16.02

1442.90 1028 -107.06 -1.56 0.00 3460.1 3444.2 3475.9 1960.9 689.1 165.27 -11.67 239 1448.90 0.00 0.00 3.37 0.000 0.000 0.047 3460.34 3443.94 3476.75 1961.38 2133.75 0 0 0 30.00 30.00 16.09

1662 end dive: TARGET_DEPTH_EXCEEDED

state 1663 begin apogee

1664.61 10243 0.00 -0.42 0.00 3459.7 3443.7 3475.8 1961.1 2178.6 188.01 -10.19 262 1752.38 80.28 2.25 0.10 1.121 0.122 0.179 3018.19 2988.44 3047.94 2239.81 2114.38 0 0 0 12.68 16.03 15.75

1755 end apogee: CONTROL_FINISHED_OK

state 1756 begin climb

1758.70 10759 107.06 1.56 -80.00 3016.9 2988.2 3045.6 2239.6 2114.4 190.68 0.00 270 1860.89 83.71 3.65 3.81 1.094 0.066 0.105 2581.50 2553.81 2609.19 2726.69 689.31 0 0 0 12.75 15.84 15.59

1869.51 11303 201.03 1.69 0.00 2577.5 2550.9 2604.0 2727.1 688.9 188.23 3.24 289 1954.35 72.83 0.15 3.58 1.076 0.067 0.047 2200.91 2168.06 2233.75 2763.94 2185.31 0 0 0 12.73 15.72 15.71

2259.73 20743 201.03 1.69 80.00 2188.6 2152.8 2224.5 2763.9 2186.2 144.03 13.11 336 2265.49 0.00 0.30 3.05 0.000 0.138 0.092 2188.47 2153.44 2223.50 2743.75 3362.81 0 0 0 30.00 15.89 15.86

2319.50 17414 201.03 1.69 0.00 2188.0 2151.1 2224.9 2743.6 3362.5 136.16 12.97 348 2325.26 0.00 0.00 2.97 0.000 0.000 0.043 2189.41 2152.88 2225.94 2743.81 2116.50 0 0 0 30.00 30.00 15.93

2629.76 16386 201.03 1.69 0.00 2187.4 2150.2 2224.6 2743.3 2118.0 105.00 10.33 380 2631.33 0.00 0.00 0.00 0.000 0.000 0.000 2186.69 2149.94 2223.44 2743.56 2117.88 0 0 0 30.00 30.00 30.00

2934.58 16902 201.03 1.69 -80.00 2185.9 2149.4 2222.4 2743.6 2118.4 71.84 8.92 436 2941.55 0.00 0.00 3.72 0.000 0.000 0.107 2186.44 2150.00 2222.88 2743.12 689.69 0 0 0 30.00 30.00 16.00

2955.00 17414 201.03 1.69 0.00 2185.3 2149.2 2221.4 2743.7 689.5 69.94 8.98 440 2962.07 0.00 0.00 3.52 0.000 0.000 0.049 2185.75 2150.12 2221.38 2743.12 2184.69 0 0 0 30.00 30.00 16.00

3145.67 18759 201.03 1.76 80.00 2185.1 2149.0 2221.1 2742.6 2184.9 58.62 5.52 478 3152.38 0.00 0.25 3.00 0.000 0.052 0.091 2187.25 2151.75 2222.75 2781.88 3361.19 0 0 0 30.00 16.02 16.02

3355.91 17478 201.03 1.80 0.00 2184.9 2149.1 2220.8 2782.6 3361.5 42.64 6.85 520 3362.38 0.00 0.00 2.93 0.000 0.000 0.043 2184.78 2148.81 2220.75 2782.75 2115.62 0 0 0 30.00 30.00 16.04

3545.93 10791 292.26 1.92 -80.00 2184.7 2148.4 2221.0 2782.8 2115.5 35.39 3.38 558 3643.53 87.87 0.17 3.77 0.943 0.061 0.108 1826.03 1798.88 1853.19 2818.25 689.12 0 0 0 12.73 16.07 15.76

3657.16 1092 292.26 1.98 0.00 1827.1 1800.4 1853.8 2818.0 689.3 30.47 6.08 579 3663.92 0.00 0.00 3.57 0.000 0.000 0.048 1827.38 1801.12 1853.62 2818.75 2181.56 0 0 0 30.00 30.00 15.86

3847.36 0 292.26 1.98 0.00 1826.7 1799.8 1853.5 2817.5 2181.1 15.11 8.46 617 3851.79 0.00 0.00 0.00 0.000 0.000 0.000 1826.94 1800.19 1853.69 2818.25 2181.69 0 0 0 30.00 30.00 30.00

4032.43 10791 371.10 2.08 -80.00 1826.0 1798.4 1853.6 2817.9 2181.3 7.24 4.01 654 4114.38 72.44 0.19 3.96 0.909 0.060 0.108 1507.50 1490.62 1524.38 2856.81 689.81 0 0 0 12.70 16.01 15.74

4118 end climb: SURFACE_DEPTH_REACHED

state 4118 begin surface coast

4148 end surface coast: CONTROL_FINISHED_OK

state 4148 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	184	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	18.986639	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	51.336674	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	130723,231731,4751.977,-12513.048,24,1.0,25,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	130723,232208,4751.985,-12513.059,2,0.7,4,15.8	MHEAD_RNG_PITCHd_Wd	75.9,3467,-17.1,-8.049,-21.16,2007,0.254
SPEED_LIMITS	0.139,0.208	D_GRID	188
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	8000266

FINISH	-0.0,1.022723	FG_AHR_24Vo	51.475
SURF	forcing	FG_AHR_10Vo	19.026
SM_CCo	4287.52,94.40,0.912,0,1083.5,1103.5,1063.4,475.03	MEM0	60116,1,0,0
SM_GC	1.78,94.40,19.30,3.39,0.912,0.045,0.047,1083.5,1103.5,1063.4,185.6,2133.9,0,0,0,12.71,15.89,15.85	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	970756,23,76212,57
IRIDIUM_FIX	4750.34,-12512.13,130723,214714	DATA_FILE_SIZE	19315,676
TCM_TEMP	258.08	CAP_FILE_SIZE	309660,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,3956224
SC_FREEKB	3809024	SDFILEDIR	1139,185
HUMID	50.17	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.22	IMPLIED_C_PITCH	2383,12.11,420,0.0,0.00
INTERNAL_PRESSURE	8.93455	IMPLIED_C_VBD	3277,35.171886,315,0
_24V_AH	14.95,77.558	GPS	140723,003432,4751.774,-12512.572,3,1.3,24,15.8
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	580	1120	9730.17	nil	0	0	0.00
Pitch_motor	42	245	155.70	nil	0	0	0.00
Roll_motor	68	195	199.92	nil	0	0	0.00
Iridium	193	204	591.89	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	2613	6	266.57	SciCon	4160	23	1468.71
Fast	3	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1807	2	54.23
Compass	1441	5	108.12
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
8.99	16386	-107.06	-1.56	0.00	1093.6	1102.5	1084.6	184.1	2065.1	0.00	0.00	0	75.76	65.18	0.00	0.00	0.005	0.000	0.000	2486.97	2483.31	2490.62	184.12	2065.94	0	0	0	15.76	30.00	30.00
76.20	18983	-107.06	-1.56	-80.00	2486.5	2482.8	2490.2	184.1	2065.2	3.22	-2.91	13	129.08	23.97	16.13	3.66	0.006	0.246	0.118	3457.03	3440.75	3473.31	1961.00	691.31	0	0	0	15.75	15.75	15.72
357.63	1028	-107.06	-1.56	0.00	3458.3	3442.3	3474.4	1961.1	691.4	52.71	-16.12	68	364.20	0.00	0.00	3.40	0.000	0.000	0.046	3458.78	3443.00	3474.56	1960.56	2131.31	0	0	0	30.00	30.00	15.97
547.65	260	-107.06	-1.56	80.00	3458.9	3443.2	3474.6	1961.6	2130.8	73.28	-9.06	106	554.09	0.00	0.00	3.18	0.000	0.000	0.095	3460.12	3443.56	3476.69	1960.38	3360.81	0	0	0	30.00	30.00	15.98
782.71	1028	-107.06	-1.56	0.00	3459.4	3443.7	3475.1	1960.6	3360.1	96.25	-11.08	153	789.32	0.00	0.00	3.09	0.000	0.000	0.044	3460.06	3444.62	3475.50	1961.31	2066.75	0	0	0	30.00	30.00	16.03
972.87	260	-107.06	-1.56	80.00	3459.7	3443.7	3475.7	1961.2	2066.8	115.72	-9.91	176	978.86	0.00	0.00	3.32	0.000	0.000	0.091	3460.22	3443.88	3476.56	1961.00	3361.94	0	0	0	30.00	30.00	16.03
1047.11	1028	-107.06	-1.56	0.00	3459.2	3443.5	3474.8	1960.4	3361.9	123.44	-10.20	191	1054.42	0.00	0.00	3.06	0.000	0.000	0.043	3459.97	3444.50	3475.44	1960.62	2066.06	0	0	0	30.00	30.00	16.04
1362.90	516	-107.06	-1.56	-80.00	3460.5	3444.9	3476.1	1961.1	2066.4	155.77	-9.98	223	1369.23	0.00	0.00	3.65	0.000	0.000	0.117	3461.25	3445.06	3477.44	1960.75	689.12	0	0	0	30.00	30.00	16.02
1442.90	1028	-107.06	-1.56	0.00	3460.1	3444.2	3475.9	1960.9	689.1	165.27	-11.67	239	1448.90	0.00	0.00	3.37	0.000	0.000	0.047	3460.34	3443.94	3476.75	1961.38	2133.75	0	0	0	30.00	30.00	16.09
1662	end dive: TARGET_DEPTH_EXCEEDED
state	1663	begin apogee
1664.61	10243	0.00	-0.42	0.00	3459.7	3443.7	3475.8	1961.1	2178.6	188.01	-10.19	262	1752.38	80.28	2.25	0.10	1.121	0.122	0.179	3018.19	2988.44	3047.94	2239.81	2114.38	0	0	0	12.68	16.03	15.75
1755	end apogee: CONTROL_FINISHED_OK
state	1756	begin climb
1758.70	10759	107.06	1.56	-80.00	3016.9	2988.2	3045.6	2239.6	2114.4	190.68	0.00	270	1860.89	83.71	3.65	3.81	1.094	0.066	0.105	2581.50	2553.81	2609.19	2726.69	689.31	0	0	0	12.75	15.84	15.59
1869.51	11303	201.03	1.69	0.00	2577.5	2550.9	2604.0	2727.1	688.9	188.23	3.24	289	1954.35	72.83	0.15	3.58	1.076	0.067	0.047	2200.91	2168.06	2233.75	2763.94	2185.31	0	0	0	12.73	15.72	15.71
2259.73	20743	201.03	1.69	80.00	2188.6	2152.8	2224.5	2763.9	2186.2	144.03	13.11	336	2265.49	0.00	0.30	3.05	0.000	0.138	0.092	2188.47	2153.44	2223.50	2743.75	3362.81	0	0	0	30.00	15.89	15.86
2319.50	17414	201.03	1.69	0.00	2188.0	2151.1	2224.9	2743.6	3362.5	136.16	12.97	348	2325.26	0.00	0.00	2.97	0.000	0.000	0.043	2189.41	2152.88	2225.94	2743.81	2116.50	0	0	0	30.00	30.00	15.93
2629.76	16386	201.03	1.69	0.00	2187.4	2150.2	2224.6	2743.3	2118.0	105.00	10.33	380	2631.33	0.00	0.00	0.00	0.000	0.000	0.000	2186.69	2149.94	2223.44	2743.56	2117.88	0	0	0	30.00	30.00	30.00
2934.58	16902	201.03	1.69	-80.00	2185.9	2149.4	2222.4	2743.6	2118.4	71.84	8.92	436	2941.55	0.00	0.00	3.72	0.000	0.000	0.107	2186.44	2150.00	2222.88	2743.12	689.69	0	0	0	30.00	30.00	16.00
2955.00	17414	201.03	1.69	0.00	2185.3	2149.2	2221.4	2743.7	689.5	69.94	8.98	440	2962.07	0.00	0.00	3.52	0.000	0.000	0.049	2185.75	2150.12	2221.38	2743.12	2184.69	0	0	0	30.00	30.00	16.00
3145.67	18759	201.03	1.76	80.00	2185.1	2149.0	2221.1	2742.6	2184.9	58.62	5.52	478	3152.38	0.00	0.25	3.00	0.000	0.052	0.091	2187.25	2151.75	2222.75	2781.88	3361.19	0	0	0	30.00	16.02	16.02
3355.91	17478	201.03	1.80	0.00	2184.9	2149.1	2220.8	2782.6	3361.5	42.64	6.85	520	3362.38	0.00	0.00	2.93	0.000	0.000	0.043	2184.78	2148.81	2220.75	2782.75	2115.62	0	0	0	30.00	30.00	16.04
3545.93	10791	292.26	1.92	-80.00	2184.7	2148.4	2221.0	2782.8	2115.5	35.39	3.38	558	3643.53	87.87	0.17	3.77	0.943	0.061	0.108	1826.03	1798.88	1853.19	2818.25	689.12	0	0	0	12.73	16.07	15.76
3657.16	1092	292.26	1.98	0.00	1827.1	1800.4	1853.8	2818.0	689.3	30.47	6.08	579	3663.92	0.00	0.00	3.57	0.000	0.000	0.048	1827.38	1801.12	1853.62	2818.75	2181.56	0	0	0	30.00	30.00	15.86
3847.36	0	292.26	1.98	0.00	1826.7	1799.8	1853.5	2817.5	2181.1	15.11	8.46	617	3851.79	0.00	0.00	0.00	0.000	0.000	0.000	1826.94	1800.19	1853.69	2818.25	2181.69	0	0	0	30.00	30.00	30.00
4032.43	10791	371.10	2.08	-80.00	1826.0	1798.4	1853.6	2817.9	2181.3	7.24	4.01	654	4114.38	72.44	0.19	3.96	0.909	0.060	0.108	1507.50	1490.62	1524.38	2856.81	689.81	0	0	0	12.70	16.01	15.74
4118	end climb: SURFACE_DEPTH_REACHED
state	4118	begin surface coast
4148	end surface coast: CONTROL_FINISHED_OK
state	4148	begin surface