Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 190 * 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 190 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 0 XPDR_REP -1

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 425 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 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 2 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 1

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 390 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 450 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 34

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 29.26576 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 59.238968 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 85 PITCH_GAIN 18 PRESSURE_YINT -180.00272 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00021665409 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 0.0063095698 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0094307503 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2240 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 2 N_NOCOMM 2 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 425

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 29.26576 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 59.238968 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 0.0063095698 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0094307503 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 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 390

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.00021665409 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -180.00272 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 450

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 2240 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 1 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 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 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 85 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 190 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 090621,151004,4750.535,-12511.830,2,1.9,5,16.0 TGT_RADIUS 2500.000

_CALLS 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090621,152056,4750.461,-12511.732,3,1.9,5,16.0 MHEAD_RNG_PITCHd_Wd 350.7,3272,-21.6,-8.462,-23.21

SPEED_LIMITS 0.147,0.197 D_GRID 229

TGT_NAME SHELF 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 4751.930,-12510.270

Post-dive calculations and measurements:

FINISH -0.1,1.023880 FG_AHR_10Vo 29.299

SM_CCo 5550.57,44.60,1.116,0,1042.7,1006.4,1078.9,424.94 MEM0 60876,1,0,0

SM_GC 1.02,44.60,16.11,2.45,1.116,0.046,0.022,1042.7,1006.4,1078.9,188.0,2268.8,0,0,0,12.75,15.82,15.86 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971756,18,75352,55

IRIDIUM_FIX 4750.34,-12512.13,090621,151601 DATA_FILE_SIZE 22523,833

TCM_TEMP 265.98 CAP_FILE_SIZE 174320,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3971680

SC_FREEKB 3793600 SDFILEDIR 986,1

HUMID 48.69 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.41 CURRENT 0.080,123.7,1

INTERNAL_PRESSURE 8.85105 IMPLIED_C_PITCH 2358,13.68,560

_24V_AH 14.93,63.795 IMPLIED_C_VBD 2975,20.500359,246

_10V_AH 15.00,0.000 GPS 090621,165431,4750.904,-12511.323,35,0.8,36,16.0

FG_AHR_24Vo 59.374

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 442 1384 9149.97 nil 0 0 0.00

Pitch_motor 35 253 133.21 nil 0 0 0.00

Roll_motor 64 149 144.63 nil 0 0 0.00

Iridium 327 223 1090.69 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.03 nil 0 0 0.00

Core 2725 11 482.49 SciCon 5500 14 1233.95

LPSleep 3409 2 143.19 nil 0 0 0.00

Compass 1273 5 95.50 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

4 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.32 16386 -82.73 -1.37 0.00 1031.8 1013.0 1050.7 184.3 2242.8 0.00 0.00 0 65.28 57.81 0.00 0.00 0.005 0.000 0.000 2455.66 2606.00 2305.31 184.50 2243.81 0 0 0 15.82 30.00 30.00

66.01 18727 -82.73 -1.37 60.00 2455.1 2604.8 2305.3 184.6 2243.4 3.14 -3.15 11 105.28 16.64 13.96 3.01 0.006 0.254 0.085 3113.75 3310.81 2916.69 1988.75 3426.12 0 0 0 15.82 15.77 15.76

183.28 1028 -82.73 -1.37 0.00 3112.7 3308.2 2917.2 1988.8 3425.8 26.30 -21.52 34 188.83 0.00 0.00 2.64 0.000 0.000 0.022 3112.44 3308.00 2916.88 1989.50 2263.25 0 0 0 30.00 30.00 15.93

374.00 516 -82.73 -1.37 -60.00 3113.1 3308.4 2917.8 1989.4 2261.6 54.21 -11.58 72 378.92 0.00 0.00 2.62 0.000 0.000 0.066 3113.19 3308.81 2917.56 1989.12 1210.44 0 0 0 30.00 30.00 15.97

493.42 1028 -82.73 -1.37 0.00 3112.4 3307.7 2917.1 1989.5 1210.0 67.80 -11.26 96 498.97 0.00 0.00 2.68 0.000 0.000 0.029 3112.88 3308.38 2917.38 1990.00 2350.81 0 0 0 30.00 30.00 16.01

683.90 260 -82.73 -1.37 60.00 3112.9 3308.2 2917.6 1990.1 2350.9 85.32 -8.40 134 689.06 0.00 0.00 2.73 0.000 0.000 0.086 3113.25 3308.75 2917.75 1990.12 3425.69 0 0 0 30.00 30.00 16.01

809.57 1028 -82.73 -1.37 0.00 3112.4 3306.9 2917.9 1989.5 3425.8 97.91 -9.74 159 814.09 0.00 0.00 2.63 0.000 0.000 0.021 3113.56 3308.38 2918.75 1989.62 2251.75 0 0 0 30.00 30.00 16.04

1003.60 516 -82.73 -1.37 -60.00 3112.8 3307.4 2918.2 1989.9 2250.1 115.91 -9.23 181 1008.67 0.00 0.00 2.57 0.000 0.000 0.065 3112.56 3307.38 2917.75 1989.50 1209.50 0 0 0 30.00 30.00 16.05

1173.66 1028 -82.73 -1.37 0.00 3113.2 3307.9 2918.5 1989.7 1209.7 132.78 -9.72 215 1178.73 0.00 0.00 2.67 0.000 0.000 0.029 3114.12 3308.56 2919.69 1989.25 2351.56 0 0 0 30.00 30.00 16.08

1483.72 0 -82.73 -1.37 0.00 3113.2 3307.8 2918.5 1989.8 2351.6 160.33 -8.50 247 1485.05 0.00 0.00 0.00 0.000 0.000 0.000 3112.38 3307.31 2917.44 1989.25 2351.69 0 0 0 30.00 30.00 30.00

1794.17 0 -82.73 -1.37 0.00 3112.8 3307.6 2917.9 1989.8 2351.9 191.01 -10.35 278 1795.50 0.00 0.00 0.00 0.000 0.000 0.000 3111.81 3306.62 2917.00 1989.50 2352.06 0 0 0 30.00 30.00 30.00

2104.23 516 -82.73 -1.37 -60.00 3112.8 3307.2 2918.3 1989.6 2351.7 220.99 -9.05 309 2108.96 0.00 0.00 2.84 0.000 0.000 0.061 3113.81 3308.44 2919.19 1990.19 1209.44 0 0 0 30.00 30.00 16.14

2188 end dive: TARGET_DEPTH_EXCEEDED

state 2188 begin apogee

2192.52 10243 0.00 -0.28 0.00 3112.6 3307.2 2917.9 1989.9 2273.9 229.17 -9.70 326 2252.85 56.51 1.80 0.12 1.385 0.151 0.150 2774.50 2903.19 2645.81 2254.69 2187.12 0 0 0 12.83 16.07 15.82

2254 end apogee: CONTROL_FINISHED_OK

state 2254 begin climb

2254.98 10503 82.73 1.37 60.00 2773.9 2903.2 2644.7 2254.1 2166.6 231.27 0.00 332 2322.41 57.99 2.61 3.01 1.336 0.098 0.085 2434.91 2517.88 2351.94 2656.38 3346.31 0 0 0 12.82 15.85 15.62

2340.90 9254 136.63 1.47 0.00 2434.7 2519.1 2350.3 2656.2 3346.0 227.46 4.78 346 2386.72 39.67 0.00 2.68 1.297 0.000 0.022 2218.34 2278.75 2157.94 2656.06 2182.69 0 0 0 12.75 30.00 15.72

2690.57 516 136.63 1.47 -60.00 2210.2 2277.6 2142.8 2656.0 2182.8 201.06 8.03 386 2695.65 0.00 0.00 2.66 0.000 0.000 0.074 2211.03 2278.75 2143.31 2655.81 1132.75 0 0 0 30.00 30.00 15.87

2760.59 17414 136.63 1.47 0.00 2209.7 2277.5 2141.8 2656.0 1132.9 195.17 8.53 400 2765.68 0.00 0.00 2.68 0.000 0.000 0.029 2210.25 2278.06 2142.44 2654.62 2271.75 0 0 0 30.00 30.00 15.91

3070.84 16646 136.63 1.47 60.00 2209.1 2278.3 2139.9 2656.1 2271.9 170.07 8.10 432 3075.82 0.00 0.00 2.72 0.000 0.000 0.088 2209.19 2278.00 2140.38 2655.44 3345.56 0 0 0 30.00 30.00 15.99

3120.67 17414 136.63 1.47 0.00 2208.8 2278.6 2139.0 2655.9 3345.7 165.57 9.21 442 3125.76 0.00 0.00 2.65 0.000 0.000 0.023 2209.69 2279.31 2140.06 2655.69 2186.31 0 0 0 30.00 30.00 15.98

3430.74 16386 136.63 1.47 0.00 2208.4 2278.4 2138.4 2655.1 2186.1 139.89 8.04 474 3432.07 0.00 0.00 0.00 0.000 0.000 0.000 2207.34 2277.88 2136.81 2655.69 2186.38 0 0 0 30.00 30.00 30.00

3741.19 16386 136.63 1.47 0.00 2207.8 2278.3 2137.4 2655.4 2185.7 114.32 8.03 505 3742.52 0.00 0.00 0.00 0.000 0.000 0.000 2207.06 2277.75 2136.38 2655.62 2185.75 0 0 0 30.00 30.00 30.00

4045.90 10791 171.37 1.54 -60.00 2208.0 2278.7 2137.4 2655.8 2185.1 92.50 6.09 547 4077.37 25.08 0.23 2.66 1.201 0.081 0.076 2074.34 2130.94 2017.75 2707.44 1131.19 0 0 0 12.90 16.07 15.94

4245.95 1028 171.37 1.54 0.00 2071.3 2130.8 2011.9 2706.9 1131.4 75.91 8.84 587 4251.50 0.00 0.00 2.65 0.000 0.000 0.029 2073.38 2132.81 2013.94 2707.88 2274.25 0 0 0 30.00 30.00 16.04

4436.39 8486 206.10 1.61 60.00 2070.4 2130.8 2010.1 2707.1 2274.1 62.98 6.09 625 4467.44 26.33 0.00 2.73 1.172 0.000 0.091 1934.34 1983.81 1884.88 2707.19 3347.25 0 0 0 12.90 30.00 15.86

4696.06 1092 206.10 1.65 0.00 1929.1 1983.1 1875.1 2707.4 3347.1 45.13 6.56 677 4701.77 0.00 0.00 2.66 0.000 0.000 0.023 1929.03 1983.25 1874.81 2707.12 2184.81 0 0 0 30.00 30.00 16.02

4886.60 10791 275.54 1.79 -60.00 1927.7 1983.8 1871.5 2707.4 2184.9 36.41 3.72 715 4943.38 50.49 0.29 2.69 1.168 0.075 0.076 1651.88 1686.44 1617.31 2769.19 1131.38 0 0 0 12.82 16.01 15.78

5171.45 9254 329.12 1.90 0.00 1641.8 1684.4 1599.3 2768.7 1130.9 18.78 4.80 772 5218.10 39.98 0.00 2.68 1.126 0.000 0.028 1433.12 1459.06 1407.19 2768.81 2275.06 0 0 0 12.76 30.00 15.93

5401.54 10535 364.87 1.97 60.00 1425.0 1459.1 1390.9 2768.9 2275.4 4.72 6.02 818 5434.05 27.52 0.17 2.74 1.082 0.090 0.089 1287.28 1308.69 1265.88 2809.94 3346.44 0 0 0 12.75 15.87 15.75

5442 end climb: SURFACE_DEPTH_REACHED

state 5442 begin surface coast

5477 end surface coast: CONTROL_FINISHED_OK

state 5477 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	190	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	0	XPDR_REP	-1
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	425	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	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	2	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	1
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	390	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	450	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	34
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	29.26576	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	59.238968	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	85	PITCH_GAIN	18	PRESSURE_YINT	-180.00272	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00021665409	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	0.0063095698	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0094307503	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2240	ALTIM_PULSE	1

GPS1	090621,151004,4750.535,-12511.830,2,1.9,5,16.0	TGT_RADIUS	2500.000
_CALLS	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090621,152056,4750.461,-12511.732,3,1.9,5,16.0	MHEAD_RNG_PITCHd_Wd	350.7,3272,-21.6,-8.462,-23.21
SPEED_LIMITS	0.147,0.197	D_GRID	229
TGT_NAME	SHELF	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	4751.930,-12510.270

FINISH	-0.1,1.023880	FG_AHR_10Vo	29.299
SM_CCo	5550.57,44.60,1.116,0,1042.7,1006.4,1078.9,424.94	MEM0	60876,1,0,0
SM_GC	1.02,44.60,16.11,2.45,1.116,0.046,0.022,1042.7,1006.4,1078.9,188.0,2268.8,0,0,0,12.75,15.82,15.86	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971756,18,75352,55
IRIDIUM_FIX	4750.34,-12512.13,090621,151601	DATA_FILE_SIZE	22523,833
TCM_TEMP	265.98	CAP_FILE_SIZE	174320,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3971680
SC_FREEKB	3793600	SDFILEDIR	986,1
HUMID	48.69	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.41	CURRENT	0.080,123.7,1
INTERNAL_PRESSURE	8.85105	IMPLIED_C_PITCH	2358,13.68,560
_24V_AH	14.93,63.795	IMPLIED_C_VBD	2975,20.500359,246
_10V_AH	15.00,0.000	GPS	090621,165431,4750.904,-12511.323,35,0.8,36,16.0
FG_AHR_24Vo	59.374

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	442	1384	9149.97	nil	0	0	0.00
Pitch_motor	35	253	133.21	nil	0	0	0.00
Roll_motor	64	149	144.63	nil	0	0	0.00
Iridium	327	223	1090.69	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.03	nil	0	0	0.00
Core	2725	11	482.49	SciCon	5500	14	1233.95
LPSleep	3409	2	143.19	nil	0	0	0.00
Compass	1273	5	95.50	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
4	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.32	16386	-82.73	-1.37	0.00	1031.8	1013.0	1050.7	184.3	2242.8	0.00	0.00	0	65.28	57.81	0.00	0.00	0.005	0.000	0.000	2455.66	2606.00	2305.31	184.50	2243.81	0	0	0	15.82	30.00	30.00
66.01	18727	-82.73	-1.37	60.00	2455.1	2604.8	2305.3	184.6	2243.4	3.14	-3.15	11	105.28	16.64	13.96	3.01	0.006	0.254	0.085	3113.75	3310.81	2916.69	1988.75	3426.12	0	0	0	15.82	15.77	15.76
183.28	1028	-82.73	-1.37	0.00	3112.7	3308.2	2917.2	1988.8	3425.8	26.30	-21.52	34	188.83	0.00	0.00	2.64	0.000	0.000	0.022	3112.44	3308.00	2916.88	1989.50	2263.25	0	0	0	30.00	30.00	15.93
374.00	516	-82.73	-1.37	-60.00	3113.1	3308.4	2917.8	1989.4	2261.6	54.21	-11.58	72	378.92	0.00	0.00	2.62	0.000	0.000	0.066	3113.19	3308.81	2917.56	1989.12	1210.44	0	0	0	30.00	30.00	15.97
493.42	1028	-82.73	-1.37	0.00	3112.4	3307.7	2917.1	1989.5	1210.0	67.80	-11.26	96	498.97	0.00	0.00	2.68	0.000	0.000	0.029	3112.88	3308.38	2917.38	1990.00	2350.81	0	0	0	30.00	30.00	16.01
683.90	260	-82.73	-1.37	60.00	3112.9	3308.2	2917.6	1990.1	2350.9	85.32	-8.40	134	689.06	0.00	0.00	2.73	0.000	0.000	0.086	3113.25	3308.75	2917.75	1990.12	3425.69	0	0	0	30.00	30.00	16.01
809.57	1028	-82.73	-1.37	0.00	3112.4	3306.9	2917.9	1989.5	3425.8	97.91	-9.74	159	814.09	0.00	0.00	2.63	0.000	0.000	0.021	3113.56	3308.38	2918.75	1989.62	2251.75	0	0	0	30.00	30.00	16.04
1003.60	516	-82.73	-1.37	-60.00	3112.8	3307.4	2918.2	1989.9	2250.1	115.91	-9.23	181	1008.67	0.00	0.00	2.57	0.000	0.000	0.065	3112.56	3307.38	2917.75	1989.50	1209.50	0	0	0	30.00	30.00	16.05
1173.66	1028	-82.73	-1.37	0.00	3113.2	3307.9	2918.5	1989.7	1209.7	132.78	-9.72	215	1178.73	0.00	0.00	2.67	0.000	0.000	0.029	3114.12	3308.56	2919.69	1989.25	2351.56	0	0	0	30.00	30.00	16.08
1483.72	0	-82.73	-1.37	0.00	3113.2	3307.8	2918.5	1989.8	2351.6	160.33	-8.50	247	1485.05	0.00	0.00	0.00	0.000	0.000	0.000	3112.38	3307.31	2917.44	1989.25	2351.69	0	0	0	30.00	30.00	30.00
1794.17	0	-82.73	-1.37	0.00	3112.8	3307.6	2917.9	1989.8	2351.9	191.01	-10.35	278	1795.50	0.00	0.00	0.00	0.000	0.000	0.000	3111.81	3306.62	2917.00	1989.50	2352.06	0	0	0	30.00	30.00	30.00
2104.23	516	-82.73	-1.37	-60.00	3112.8	3307.2	2918.3	1989.6	2351.7	220.99	-9.05	309	2108.96	0.00	0.00	2.84	0.000	0.000	0.061	3113.81	3308.44	2919.19	1990.19	1209.44	0	0	0	30.00	30.00	16.14
2188	end dive: TARGET_DEPTH_EXCEEDED
state	2188	begin apogee
2192.52	10243	0.00	-0.28	0.00	3112.6	3307.2	2917.9	1989.9	2273.9	229.17	-9.70	326	2252.85	56.51	1.80	0.12	1.385	0.151	0.150	2774.50	2903.19	2645.81	2254.69	2187.12	0	0	0	12.83	16.07	15.82
2254	end apogee: CONTROL_FINISHED_OK
state	2254	begin climb
2254.98	10503	82.73	1.37	60.00	2773.9	2903.2	2644.7	2254.1	2166.6	231.27	0.00	332	2322.41	57.99	2.61	3.01	1.336	0.098	0.085	2434.91	2517.88	2351.94	2656.38	3346.31	0	0	0	12.82	15.85	15.62
2340.90	9254	136.63	1.47	0.00	2434.7	2519.1	2350.3	2656.2	3346.0	227.46	4.78	346	2386.72	39.67	0.00	2.68	1.297	0.000	0.022	2218.34	2278.75	2157.94	2656.06	2182.69	0	0	0	12.75	30.00	15.72
2690.57	516	136.63	1.47	-60.00	2210.2	2277.6	2142.8	2656.0	2182.8	201.06	8.03	386	2695.65	0.00	0.00	2.66	0.000	0.000	0.074	2211.03	2278.75	2143.31	2655.81	1132.75	0	0	0	30.00	30.00	15.87
2760.59	17414	136.63	1.47	0.00	2209.7	2277.5	2141.8	2656.0	1132.9	195.17	8.53	400	2765.68	0.00	0.00	2.68	0.000	0.000	0.029	2210.25	2278.06	2142.44	2654.62	2271.75	0	0	0	30.00	30.00	15.91
3070.84	16646	136.63	1.47	60.00	2209.1	2278.3	2139.9	2656.1	2271.9	170.07	8.10	432	3075.82	0.00	0.00	2.72	0.000	0.000	0.088	2209.19	2278.00	2140.38	2655.44	3345.56	0	0	0	30.00	30.00	15.99
3120.67	17414	136.63	1.47	0.00	2208.8	2278.6	2139.0	2655.9	3345.7	165.57	9.21	442	3125.76	0.00	0.00	2.65	0.000	0.000	0.023	2209.69	2279.31	2140.06	2655.69	2186.31	0	0	0	30.00	30.00	15.98
3430.74	16386	136.63	1.47	0.00	2208.4	2278.4	2138.4	2655.1	2186.1	139.89	8.04	474	3432.07	0.00	0.00	0.00	0.000	0.000	0.000	2207.34	2277.88	2136.81	2655.69	2186.38	0	0	0	30.00	30.00	30.00
3741.19	16386	136.63	1.47	0.00	2207.8	2278.3	2137.4	2655.4	2185.7	114.32	8.03	505	3742.52	0.00	0.00	0.00	0.000	0.000	0.000	2207.06	2277.75	2136.38	2655.62	2185.75	0	0	0	30.00	30.00	30.00
4045.90	10791	171.37	1.54	-60.00	2208.0	2278.7	2137.4	2655.8	2185.1	92.50	6.09	547	4077.37	25.08	0.23	2.66	1.201	0.081	0.076	2074.34	2130.94	2017.75	2707.44	1131.19	0	0	0	12.90	16.07	15.94
4245.95	1028	171.37	1.54	0.00	2071.3	2130.8	2011.9	2706.9	1131.4	75.91	8.84	587	4251.50	0.00	0.00	2.65	0.000	0.000	0.029	2073.38	2132.81	2013.94	2707.88	2274.25	0	0	0	30.00	30.00	16.04
4436.39	8486	206.10	1.61	60.00	2070.4	2130.8	2010.1	2707.1	2274.1	62.98	6.09	625	4467.44	26.33	0.00	2.73	1.172	0.000	0.091	1934.34	1983.81	1884.88	2707.19	3347.25	0	0	0	12.90	30.00	15.86
4696.06	1092	206.10	1.65	0.00	1929.1	1983.1	1875.1	2707.4	3347.1	45.13	6.56	677	4701.77	0.00	0.00	2.66	0.000	0.000	0.023	1929.03	1983.25	1874.81	2707.12	2184.81	0	0	0	30.00	30.00	16.02
4886.60	10791	275.54	1.79	-60.00	1927.7	1983.8	1871.5	2707.4	2184.9	36.41	3.72	715	4943.38	50.49	0.29	2.69	1.168	0.075	0.076	1651.88	1686.44	1617.31	2769.19	1131.38	0	0	0	12.82	16.01	15.78
5171.45	9254	329.12	1.90	0.00	1641.8	1684.4	1599.3	2768.7	1130.9	18.78	4.80	772	5218.10	39.98	0.00	2.68	1.126	0.000	0.028	1433.12	1459.06	1407.19	2768.81	2275.06	0	0	0	12.76	30.00	15.93
5401.54	10535	364.87	1.97	60.00	1425.0	1459.1	1390.9	2768.9	2275.4	4.72	6.02	818	5434.05	27.52	0.17	2.74	1.082	0.090	0.089	1287.28	1308.69	1265.88	2809.94	3346.44	0	0	0	12.75	15.87	15.75
5442	end climb: SURFACE_DEPTH_REACHED
state	5442	begin surface coast
5477	end surface coast: CONTROL_FINISHED_OK
state	5477	begin surface