Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 185 * 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 185 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 19.027245 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 51.485619 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 19.027245 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 51.485619 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 185 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 140723,003432,4751.774,-12512.572,3,1.3,24,15.8 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 -65.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140723,003854,4751.760,-12512.576,2,0.7,4,15.8 MHEAD_RNG_PITCHd_Wd 67.9,2883,-17.1,-8.049,-21.16,2007,0.269

SPEED_LIMITS 0.139,0.208 D_GRID 189

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 -0.0,1.023583 FG_AHR_24Vo 51.631

SURF forcing FG_AHR_10Vo 19.072

SM_CCo 4907.96,118.64,0.923,0,1084.2,1104.0,1064.5,474.84 MEM0 60116,1,0,0

SM_GC 1.93,118.64,19.73,0.05,0.923,0.044,0.185,1084.2,1104.0,1064.5,186.5,2073.1,0,0,0,12.72,15.92,15.91 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 970776,22,76212,57

IRIDIUM_FIX 4752.03,-12518.46,130723,231856 DATA_FILE_SIZE 19301,737

TCM_TEMP 258.20 CAP_FILE_SIZE 322181,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,3955936

SC_FREEKB 3808640 SDFILEDIR 1145,186

HUMID 50.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.23 MAGCAL 1.000000,0.013789,0.032060,-0.019011,1.063531,-0.006508,-0.000838,-0.060719,1.007976,199.3,-582.1,-560.5,25,0.0240,0

INTERNAL_PRESSURE 8.93165 IMPLIED_C_PITCH 2361,12.45,454,0.0,0.00

_24V_AH 14.93,77.754 GPS 140723,020119,4751.674,-12512.104,2,0.9,4,15.8

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 604 1123 10138.44 nil 0 0 0.00

Pitch_motor 42 247 157.27 nil 0 0 0.00

Roll_motor 60 184 166.61 nil 0 0 0.00

Iridium 176 211 556.95 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 2782 6 283.77 SciCon 4759 23 1644.78

Fast 3 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2221 2 66.64

Compass 1566 5 117.47

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 1091.4 1103.4 1079.4 185.3 2059.6 0.00 0.00 0 75.75 65.18 0.00 0.00 0.005 0.000 0.000 2506.03 2501.06 2511.00 185.44 2060.06 0 0 0 15.77 30.00 30.00

76.19 18983 -107.06 -1.56 -80.00 2506.2 2502.4 2510.1 185.5 2059.4 3.67 -3.69 13 127.75 22.32 15.55 3.63 0.006 0.247 0.116 3458.44 3441.62 3475.25 1959.88 691.00 0 0 0 15.78 15.75 15.74

146.28 1028 -107.06 -1.56 0.00 3457.6 3442.1 3473.1 1959.9 690.9 17.71 -20.19 26 152.82 0.00 0.00 3.39 0.000 0.000 0.047 3459.03 3443.88 3474.19 1960.12 2130.94 0 0 0 30.00 30.00 15.88

336.29 516 -107.06 -1.56 -80.00 3458.1 3442.9 3473.4 1959.6 2131.3 45.36 -12.26 64 343.05 0.00 0.00 3.81 0.000 0.000 0.111 3458.06 3442.88 3473.25 1959.56 689.88 0 0 0 30.00 30.00 15.92

396.48 1028 -107.06 -1.56 0.00 3458.3 3442.8 3473.9 1960.4 690.0 53.32 -13.55 76 403.00 0.00 0.00 3.38 0.000 0.000 0.045 3459.34 3443.69 3475.00 1960.19 2132.94 0 0 0 30.00 30.00 15.97

586.53 260 -107.06 -1.56 80.00 3458.9 3443.2 3474.6 1959.9 2133.4 75.05 -10.29 114 593.13 0.00 0.00 3.12 0.000 0.000 0.095 3459.06 3443.19 3474.94 1959.62 3361.81 0 0 0 30.00 30.00 15.98

731.72 1028 -107.06 -1.56 0.00 3459.7 3444.4 3474.9 1960.2 3362.1 91.70 -11.15 143 738.27 0.00 0.00 3.03 0.000 0.000 0.043 3459.59 3444.25 3474.94 1960.31 2065.94 0 0 0 30.00 30.00 16.00

921.73 0 -107.06 -1.56 0.00 3459.6 3444.4 3474.8 1959.4 2065.9 110.59 -10.49 171 923.30 0.00 0.00 0.00 0.000 0.000 0.000 3458.88 3443.94 3473.81 1960.44 2065.81 0 0 0 30.00 30.00 30.00

1231.75 0 -107.06 -1.56 0.00 3459.9 3444.2 3475.5 1960.5 2065.6 140.78 -8.99 202 1233.32 0.00 0.00 0.00 0.000 0.000 0.000 3459.22 3442.69 3475.75 1959.94 2065.19 0 0 0 30.00 30.00 30.00

1541.77 0 -107.06 -1.56 0.00 3459.4 3443.4 3475.4 1960.1 2065.6 171.85 -10.35 233 1543.34 0.00 0.00 0.00 0.000 0.000 0.000 3459.16 3443.25 3475.06 1959.62 2065.12 0 0 0 30.00 30.00 30.00

1711 end dive: TARGET_DEPTH_EXCEEDED

state 1712 begin apogee

1713.60 10243 0.00 -0.42 0.00 3459.9 3444.3 3475.4 1959.8 2193.2 189.20 -10.20 250 1801.30 80.48 2.23 0.14 1.123 0.125 0.150 3021.25 2991.50 3051.00 2238.94 2109.56 0 0 0 12.65 16.04 15.77

1804 end apogee: CONTROL_FINISHED_OK

state 1805 begin climb

1807.61 10243 107.06 1.56 0.00 3017.2 2987.7 3046.8 2240.6 2110.3 192.57 0.00 258 1900.77 84.20 3.63 0.00 1.098 0.067 0.000 2582.12 2553.56 2610.69 2725.75 2111.38 0 0 0 12.73 15.84 30.00

2204.38 16966 107.06 1.59 -80.00 2570.8 2540.4 2601.2 2726.2 2111.1 173.33 7.04 299 2211.54 0.00 0.00 3.72 0.000 0.000 0.108 2570.44 2540.06 2600.81 2727.00 689.50 0 0 0 30.00 30.00 15.87

2250.00 17414 107.06 1.59 0.00 2569.4 2540.8 2598.1 2725.6 689.2 169.73 7.92 308 2256.04 0.00 0.00 3.52 0.000 0.000 0.049 2571.75 2543.38 2600.12 2726.12 2184.62 0 0 0 30.00 30.00 15.96

2560.10 19015 107.06 1.65 -80.00 2569.1 2539.7 2598.5 2726.2 2184.8 148.54 6.24 340 2567.40 0.00 0.10 3.88 0.000 0.086 0.104 2568.19 2538.19 2598.19 2755.88 687.88 0 0 0 30.00 16.04 15.96

2605.92 17478 107.06 1.67 0.00 2568.0 2539.1 2596.9 2755.1 687.8 145.11 7.49 349 2611.88 0.00 0.00 3.43 0.000 0.000 0.049 2569.59 2540.94 2598.25 2754.69 2186.12 0 0 0 30.00 30.00 16.03

2915.93 16710 107.06 1.71 80.00 2567.7 2538.9 2596.4 2755.4 2187.1 123.39 6.49 381 2921.59 0.00 0.00 2.89 0.000 0.000 0.091 2568.22 2539.12 2597.31 2756.12 3364.25 0 0 0 30.00 30.00 16.05

3115.94 11303 178.05 1.80 0.00 2567.8 2539.5 2596.0 2755.9 3364.0 111.90 4.41 421 3196.55 72.34 0.16 2.88 1.006 0.067 0.040 2290.25 2257.12 2323.38 2794.31 2113.06 0 0 0 12.76 16.04 16.08

3500.93 20999 178.05 1.80 -80.00 2282.6 2248.1 2317.1 2795.4 2112.6 74.30 11.30 490 3508.11 0.00 0.32 3.69 0.000 0.137 0.106 2282.62 2248.25 2317.00 2773.00 687.81 0 0 0 30.00 15.97 15.94

3576.68 17414 178.05 1.80 0.00 2282.1 2248.3 2315.9 2772.7 687.7 66.64 9.53 505 3583.44 0.00 0.00 3.49 0.000 0.000 0.047 2282.78 2248.69 2316.88 2772.31 2186.88 0 0 0 30.00 30.00 15.99

3766.92 10535 243.06 1.89 80.00 2280.7 2245.6 2315.9 2773.1 2186.9 55.51 4.72 543 3842.48 64.81 0.24 2.98 0.962 0.053 0.092 2028.62 1997.12 2060.12 2814.38 3361.31 0 0 0 12.75 16.06 15.76

3911.06 5125 243.06 1.89 0.00 2024.0 1989.8 2058.3 2814.2 3361.8 45.72 9.00 571 3917.79 0.00 0.26 2.96 0.000 0.149 0.039 2023.62 1989.19 2058.06 2791.00 2115.81 0 0 0 30.00 15.81 15.88

4101.38 18499 243.06 1.93 0.00 2020.8 1987.3 2054.3 2791.2 2114.8 32.49 6.64 609 4105.99 0.00 0.19 0.00 0.000 0.062 0.000 2020.78 1987.25 2054.31 2825.50 2114.75 0 0 0 30.00 15.98 30.00

4286.74 16710 243.06 2.01 80.00 2019.9 1986.4 2053.4 2825.7 2114.9 21.79 5.56 646 4293.28 0.00 0.00 3.17 0.000 0.000 0.088 2020.50 1987.00 2054.00 2826.12 3361.94 0 0 0 30.00 30.00 15.99

4461.91 11303 344.52 2.14 0.00 2018.9 1984.1 2053.6 2826.1 3361.6 15.72 2.85 681 4568.52 96.47 0.22 2.91 0.938 0.061 0.038 1614.66 1596.12 1633.19 2878.00 2113.75 0 0 0 12.71 16.00 16.03

4722 end climb: SURFACE_DEPTH_REACHED

state 4722 begin surface coast

4747 end surface coast: CONTROL_FINISHED_OK

state 4747 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	185	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	19.027245	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	51.485619	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	140723,003432,4751.774,-12512.572,3,1.3,24,15.8	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	-65.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140723,003854,4751.760,-12512.576,2,0.7,4,15.8	MHEAD_RNG_PITCHd_Wd	67.9,2883,-17.1,-8.049,-21.16,2007,0.269
SPEED_LIMITS	0.139,0.208	D_GRID	189
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	-0.0,1.023583	FG_AHR_24Vo	51.631
SURF	forcing	FG_AHR_10Vo	19.072
SM_CCo	4907.96,118.64,0.923,0,1084.2,1104.0,1064.5,474.84	MEM0	60116,1,0,0
SM_GC	1.93,118.64,19.73,0.05,0.923,0.044,0.185,1084.2,1104.0,1064.5,186.5,2073.1,0,0,0,12.72,15.92,15.91	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	970776,22,76212,57
IRIDIUM_FIX	4752.03,-12518.46,130723,231856	DATA_FILE_SIZE	19301,737
TCM_TEMP	258.20	CAP_FILE_SIZE	322181,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,3955936
SC_FREEKB	3808640	SDFILEDIR	1145,186
HUMID	50.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.23	MAGCAL	1.000000,0.013789,0.032060,-0.019011,1.063531,-0.006508,-0.000838,-0.060719,1.007976,199.3,-582.1,-560.5,25,0.0240,0
INTERNAL_PRESSURE	8.93165	IMPLIED_C_PITCH	2361,12.45,454,0.0,0.00
_24V_AH	14.93,77.754	GPS	140723,020119,4751.674,-12512.104,2,0.9,4,15.8
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	604	1123	10138.44	nil	0	0	0.00
Pitch_motor	42	247	157.27	nil	0	0	0.00
Roll_motor	60	184	166.61	nil	0	0	0.00
Iridium	176	211	556.95	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	2782	6	283.77	SciCon	4759	23	1644.78
Fast	3	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2221	2	66.64
Compass	1566	5	117.47
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	1091.4	1103.4	1079.4	185.3	2059.6	0.00	0.00	0	75.75	65.18	0.00	0.00	0.005	0.000	0.000	2506.03	2501.06	2511.00	185.44	2060.06	0	0	0	15.77	30.00	30.00
76.19	18983	-107.06	-1.56	-80.00	2506.2	2502.4	2510.1	185.5	2059.4	3.67	-3.69	13	127.75	22.32	15.55	3.63	0.006	0.247	0.116	3458.44	3441.62	3475.25	1959.88	691.00	0	0	0	15.78	15.75	15.74
146.28	1028	-107.06	-1.56	0.00	3457.6	3442.1	3473.1	1959.9	690.9	17.71	-20.19	26	152.82	0.00	0.00	3.39	0.000	0.000	0.047	3459.03	3443.88	3474.19	1960.12	2130.94	0	0	0	30.00	30.00	15.88
336.29	516	-107.06	-1.56	-80.00	3458.1	3442.9	3473.4	1959.6	2131.3	45.36	-12.26	64	343.05	0.00	0.00	3.81	0.000	0.000	0.111	3458.06	3442.88	3473.25	1959.56	689.88	0	0	0	30.00	30.00	15.92
396.48	1028	-107.06	-1.56	0.00	3458.3	3442.8	3473.9	1960.4	690.0	53.32	-13.55	76	403.00	0.00	0.00	3.38	0.000	0.000	0.045	3459.34	3443.69	3475.00	1960.19	2132.94	0	0	0	30.00	30.00	15.97
586.53	260	-107.06	-1.56	80.00	3458.9	3443.2	3474.6	1959.9	2133.4	75.05	-10.29	114	593.13	0.00	0.00	3.12	0.000	0.000	0.095	3459.06	3443.19	3474.94	1959.62	3361.81	0	0	0	30.00	30.00	15.98
731.72	1028	-107.06	-1.56	0.00	3459.7	3444.4	3474.9	1960.2	3362.1	91.70	-11.15	143	738.27	0.00	0.00	3.03	0.000	0.000	0.043	3459.59	3444.25	3474.94	1960.31	2065.94	0	0	0	30.00	30.00	16.00
921.73	0	-107.06	-1.56	0.00	3459.6	3444.4	3474.8	1959.4	2065.9	110.59	-10.49	171	923.30	0.00	0.00	0.00	0.000	0.000	0.000	3458.88	3443.94	3473.81	1960.44	2065.81	0	0	0	30.00	30.00	30.00
1231.75	0	-107.06	-1.56	0.00	3459.9	3444.2	3475.5	1960.5	2065.6	140.78	-8.99	202	1233.32	0.00	0.00	0.00	0.000	0.000	0.000	3459.22	3442.69	3475.75	1959.94	2065.19	0	0	0	30.00	30.00	30.00
1541.77	0	-107.06	-1.56	0.00	3459.4	3443.4	3475.4	1960.1	2065.6	171.85	-10.35	233	1543.34	0.00	0.00	0.00	0.000	0.000	0.000	3459.16	3443.25	3475.06	1959.62	2065.12	0	0	0	30.00	30.00	30.00
1711	end dive: TARGET_DEPTH_EXCEEDED
state	1712	begin apogee
1713.60	10243	0.00	-0.42	0.00	3459.9	3444.3	3475.4	1959.8	2193.2	189.20	-10.20	250	1801.30	80.48	2.23	0.14	1.123	0.125	0.150	3021.25	2991.50	3051.00	2238.94	2109.56	0	0	0	12.65	16.04	15.77
1804	end apogee: CONTROL_FINISHED_OK
state	1805	begin climb
1807.61	10243	107.06	1.56	0.00	3017.2	2987.7	3046.8	2240.6	2110.3	192.57	0.00	258	1900.77	84.20	3.63	0.00	1.098	0.067	0.000	2582.12	2553.56	2610.69	2725.75	2111.38	0	0	0	12.73	15.84	30.00
2204.38	16966	107.06	1.59	-80.00	2570.8	2540.4	2601.2	2726.2	2111.1	173.33	7.04	299	2211.54	0.00	0.00	3.72	0.000	0.000	0.108	2570.44	2540.06	2600.81	2727.00	689.50	0	0	0	30.00	30.00	15.87
2250.00	17414	107.06	1.59	0.00	2569.4	2540.8	2598.1	2725.6	689.2	169.73	7.92	308	2256.04	0.00	0.00	3.52	0.000	0.000	0.049	2571.75	2543.38	2600.12	2726.12	2184.62	0	0	0	30.00	30.00	15.96
2560.10	19015	107.06	1.65	-80.00	2569.1	2539.7	2598.5	2726.2	2184.8	148.54	6.24	340	2567.40	0.00	0.10	3.88	0.000	0.086	0.104	2568.19	2538.19	2598.19	2755.88	687.88	0	0	0	30.00	16.04	15.96
2605.92	17478	107.06	1.67	0.00	2568.0	2539.1	2596.9	2755.1	687.8	145.11	7.49	349	2611.88	0.00	0.00	3.43	0.000	0.000	0.049	2569.59	2540.94	2598.25	2754.69	2186.12	0	0	0	30.00	30.00	16.03
2915.93	16710	107.06	1.71	80.00	2567.7	2538.9	2596.4	2755.4	2187.1	123.39	6.49	381	2921.59	0.00	0.00	2.89	0.000	0.000	0.091	2568.22	2539.12	2597.31	2756.12	3364.25	0	0	0	30.00	30.00	16.05
3115.94	11303	178.05	1.80	0.00	2567.8	2539.5	2596.0	2755.9	3364.0	111.90	4.41	421	3196.55	72.34	0.16	2.88	1.006	0.067	0.040	2290.25	2257.12	2323.38	2794.31	2113.06	0	0	0	12.76	16.04	16.08
3500.93	20999	178.05	1.80	-80.00	2282.6	2248.1	2317.1	2795.4	2112.6	74.30	11.30	490	3508.11	0.00	0.32	3.69	0.000	0.137	0.106	2282.62	2248.25	2317.00	2773.00	687.81	0	0	0	30.00	15.97	15.94
3576.68	17414	178.05	1.80	0.00	2282.1	2248.3	2315.9	2772.7	687.7	66.64	9.53	505	3583.44	0.00	0.00	3.49	0.000	0.000	0.047	2282.78	2248.69	2316.88	2772.31	2186.88	0	0	0	30.00	30.00	15.99
3766.92	10535	243.06	1.89	80.00	2280.7	2245.6	2315.9	2773.1	2186.9	55.51	4.72	543	3842.48	64.81	0.24	2.98	0.962	0.053	0.092	2028.62	1997.12	2060.12	2814.38	3361.31	0	0	0	12.75	16.06	15.76
3911.06	5125	243.06	1.89	0.00	2024.0	1989.8	2058.3	2814.2	3361.8	45.72	9.00	571	3917.79	0.00	0.26	2.96	0.000	0.149	0.039	2023.62	1989.19	2058.06	2791.00	2115.81	0	0	0	30.00	15.81	15.88
4101.38	18499	243.06	1.93	0.00	2020.8	1987.3	2054.3	2791.2	2114.8	32.49	6.64	609	4105.99	0.00	0.19	0.00	0.000	0.062	0.000	2020.78	1987.25	2054.31	2825.50	2114.75	0	0	0	30.00	15.98	30.00
4286.74	16710	243.06	2.01	80.00	2019.9	1986.4	2053.4	2825.7	2114.9	21.79	5.56	646	4293.28	0.00	0.00	3.17	0.000	0.000	0.088	2020.50	1987.00	2054.00	2826.12	3361.94	0	0	0	30.00	30.00	15.99
4461.91	11303	344.52	2.14	0.00	2018.9	1984.1	2053.6	2826.1	3361.6	15.72	2.85	681	4568.52	96.47	0.22	2.91	0.938	0.061	0.038	1614.66	1596.12	1633.19	2878.00	2113.75	0	0	0	12.71	16.00	16.03
4722	end climb: SURFACE_DEPTH_REACHED
state	4722	begin surface coast
4747	end surface coast: CONTROL_FINISHED_OK
state	4747	begin surface