Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 281 * 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 281 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 28.413698 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 73.148056 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 32772 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 28.413698 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 73.148056 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 32772 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 281 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 050823,225008,4752.552,-12514.533,32,1.0,32,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050823,225524,4752.529,-12514.598,4,0.9,6,15.8 MHEAD_RNG_PITCHd_Wd 85.9,5491,-17.1,-8.049,-21.16,2007,0.285

SPEED_LIMITS 0.139,0.208 D_GRID 220

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 0.3,1.023460 FG_AHR_24Vo 73.294

SURF forcing FG_AHR_10Vo 28.459

SM_CCo 5148.79,85.53,0.934,0,1083.6,1100.2,1067.1,474.99 MEM0 60116,1,0,0

SM_GC 1.44,85.53,20.52,3.32,0.934,0.040,0.045,1083.6,1100.2,1067.1,188.1,2134.4,0,0,0,12.53,15.95,15.92 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 970728,24,76220,57

IRIDIUM_FIX 4752.95,-12515.83,050823,204615 DATA_FILE_SIZE 22531,794

TCM_TEMP 259.23 CAP_FILE_SIZE 351291,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,3917600

SC_FREEKB 3771648 SDFILEDIR 1721,282

HUMID 50.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.15 IMPLIED_C_PITCH 2377,11.96,495,0.0,0.00

INTERNAL_PRESSURE 8.94513 IMPLIED_C_VBD 3264,43.197392,401,0

_24V_AH 14.99,108.466 GPS 060823,002209,4752.754,-12514.131,23,0.8,23,15.8

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 591 1167 10355.75 nil 0 0 0.00

Pitch_motor 44 239 158.91 nil 0 0 0.00

Roll_motor 81 150 184.35 nil 0 0 0.00

Iridium 228 210 720.78 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.37 nil 0 0 0.00

Core 3014 6 307.52 SciCon 5030 22 1692.04

Fast 6 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2312 2 69.36

Compass 1674 5 125.59

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

9.02 16386 -107.06 -1.56 0.00 1085.5 1093.1 1077.9 182.4 2136.4 0.00 0.00 0 70.79 60.24 0.00 0.00 0.005 0.000 0.000 2383.75 2372.06 2395.44 182.12 2138.00 0 0 0 15.68 30.00 30.00

71.23 18983 -107.06 -1.56 -80.00 2383.1 2371.6 2394.6 181.9 2137.5 3.53 -3.57 12 128.25 25.18 16.29 3.79 0.006 0.239 0.107 3456.84 3439.25 3474.44 1960.25 687.81 0 0 0 15.73 15.72 15.65

201.78 1028 -107.06 -1.56 0.00 3457.4 3439.8 3475.0 1959.9 687.6 28.54 -20.58 37 208.33 0.00 0.00 3.35 0.000 0.000 0.042 3458.12 3440.50 3475.75 1960.25 2133.25 0 0 0 30.00 30.00 15.89

391.81 516 -107.06 -1.56 -80.00 3458.7 3440.4 3476.9 1960.1 2134.1 55.76 -12.37 75 398.57 0.00 0.00 3.74 0.000 0.000 0.101 3460.22 3442.25 3478.19 1958.69 687.69 0 0 0 30.00 30.00 15.91

497.00 1028 -107.06 -1.56 0.00 3458.7 3440.2 3477.2 1959.6 687.7 69.15 -11.57 96 503.54 0.00 0.00 3.34 0.000 0.000 0.040 3460.19 3441.50 3478.88 1959.75 2138.56 0 0 0 30.00 30.00 15.96

687.08 516 -107.06 -1.56 -80.00 3460.7 3441.6 3479.8 1959.8 2138.4 85.87 -8.06 134 694.04 0.00 0.00 3.77 0.000 0.000 0.101 3461.12 3442.38 3479.88 1960.19 688.75 0 0 0 30.00 30.00 15.95

787.64 1028 -107.06 -1.56 0.00 3461.3 3442.0 3480.6 1960.1 688.9 94.82 -9.13 154 794.36 0.00 0.00 3.33 0.000 0.000 0.041 3463.25 3443.75 3482.75 1959.94 2137.19 0 0 0 30.00 30.00 16.01

982.80 260 -107.06 -1.56 80.00 3461.6 3442.6 3480.6 1959.8 2137.1 110.78 -7.81 180 988.61 0.00 0.00 3.05 0.000 0.000 0.088 3462.53 3442.62 3482.44 1960.31 3363.69 0 0 0 30.00 30.00 15.98

1052.81 1028 -107.06 -1.56 0.00 3462.5 3443.6 3481.4 1959.1 3363.9 116.42 -8.61 194 1058.57 0.00 0.00 3.00 0.000 0.000 0.036 3463.88 3445.50 3482.25 1959.38 2064.69 0 0 0 30.00 30.00 16.02

1362.83 516 -107.06 -1.56 -80.00 3462.9 3444.4 3481.4 1960.0 2064.8 147.37 -10.53 226 1368.92 0.00 0.00 3.58 0.000 0.000 0.108 3462.69 3443.69 3481.69 1960.56 689.12 0 0 0 30.00 30.00 16.00

1412.83 1028 -107.06 -1.56 0.00 3462.8 3444.3 3481.2 1959.9 688.8 153.23 -11.65 236 1418.79 0.00 0.00 3.33 0.000 0.000 0.041 3463.84 3445.88 3481.81 1961.19 2136.62 0 0 0 30.00 30.00 16.05

1722.85 0 -107.06 -1.56 0.00 3462.5 3444.1 3480.9 1960.5 2136.4 182.92 -9.79 268 1724.42 0.00 0.00 0.00 0.000 0.000 0.000 3461.94 3442.94 3480.94 1959.69 2136.44 0 0 0 30.00 30.00 30.00

2032.87 260 -107.06 -1.56 80.00 3462.8 3444.2 3481.3 1959.6 2136.1 211.81 -9.91 299 2038.92 0.00 0.00 3.08 0.000 0.000 0.091 3463.22 3443.75 3482.69 1959.75 3362.75 0 0 0 30.00 30.00 16.04

2077.11 1028 -107.06 -1.56 0.00 3462.6 3444.8 3480.4 1960.3 3362.8 216.61 -10.62 308 2084.42 0.00 0.00 3.01 0.000 0.000 0.038 3463.75 3444.75 3482.75 1959.62 2065.00 0 0 0 30.00 30.00 16.04

2122 end dive: TARGET_DEPTH_EXCEEDED

state 2123 begin apogee

2124.67 10243 0.00 -0.42 0.00 3462.7 3443.9 3481.5 1959.2 2195.0 220.87 -9.46 313 2212.40 80.43 2.26 0.14 1.167 0.116 0.150 3018.12 2987.56 3048.69 2241.44 2109.75 0 0 0 12.48 16.03 15.76

2224 end apogee: CONTROL_FINISHED_OK

state 2224 begin climb

2226.72 10759 107.06 1.56 -80.00 3017.4 2987.0 3047.9 2242.4 2109.6 222.90 0.00 321 2329.34 84.09 3.64 3.77 1.132 0.066 0.103 2578.84 2550.00 2607.69 2727.19 689.31 0 0 0 12.78 15.87 15.60

2347.98 11303 201.01 1.69 0.00 2576.8 2549.8 2603.9 2727.4 689.1 220.06 3.24 343 2433.73 73.38 0.17 3.52 1.111 0.058 0.043 2200.66 2165.31 2236.00 2764.50 2188.75 0 0 0 12.68 15.76 15.74

2737.93 20743 201.01 1.69 80.00 2187.4 2151.2 2223.6 2764.2 2188.6 176.91 12.92 390 2743.93 0.00 0.29 2.98 0.000 0.130 0.089 2187.75 2151.31 2224.19 2743.31 3361.62 0 0 0 30.00 15.87 15.84

2912.19 17414 201.01 1.69 0.00 2185.8 2148.1 2223.6 2743.1 3361.3 155.27 12.09 425 2919.74 0.00 0.00 2.90 0.000 0.000 0.037 2186.03 2148.94 2223.12 2743.06 2114.56 0 0 0 30.00 30.00 15.97

3227.98 16646 201.01 1.69 80.00 2184.1 2146.9 2221.3 2742.8 2114.2 123.42 9.75 457 3233.88 0.00 0.00 3.12 0.000 0.000 0.086 2184.19 2147.31 2221.06 2744.44 3363.81 0 0 0 30.00 30.00 15.96

3272.24 17414 201.01 1.69 0.00 2183.9 2146.7 2221.2 2743.5 3363.6 118.51 11.13 466 3279.46 0.00 0.00 2.88 0.000 0.000 0.036 2184.06 2146.56 2221.56 2743.19 2113.12 0 0 0 30.00 30.00 16.02

3583.31 16386 201.01 1.69 0.00 2183.0 2144.9 2221.1 2743.1 2112.9 87.10 10.09 510 3587.97 0.00 0.00 0.00 0.000 0.000 0.000 2183.81 2145.38 2222.25 2743.06 2112.69 0 0 0 30.00 30.00 30.00

3773.16 19015 201.01 1.77 -80.00 2182.7 2144.5 2220.9 2743.6 2112.9 73.15 5.17 548 3780.20 0.00 0.28 3.65 0.000 0.047 0.103 2183.41 2145.50 2221.31 2782.44 689.00 0 0 0 30.00 15.98 15.95

4008.85 17478 201.01 1.86 0.00 2181.6 2144.6 2218.6 2783.5 689.0 55.12 5.19 595 4015.57 0.00 0.00 3.47 0.000 0.000 0.045 2182.03 2144.81 2219.25 2782.94 2189.50 0 0 0 30.00 30.00 16.00

4199.09 10791 306.32 2.00 -80.00 2181.3 2144.5 2218.2 2783.6 2189.8 49.43 2.66 633 4316.72 104.64 0.32 3.92 0.969 0.044 0.098 1770.16 1744.44 1795.88 2837.19 687.62 0 0 0 12.39 16.07 15.74

4545.33 5125 306.32 2.00 0.00 1769.7 1744.1 1795.3 2837.3 687.8 23.57 9.93 701 4552.38 0.00 0.25 3.51 0.000 0.142 0.045 1770.53 1744.94 1796.12 2817.69 2183.12 0 0 0 30.00 15.85 15.91

4735.99 10791 384.28 2.10 -80.00 1768.4 1742.4 1794.4 2817.8 2182.9 14.41 4.06 739 4827.56 78.43 0.31 3.92 0.924 0.045 0.099 1453.03 1436.56 1469.50 2860.81 687.94 0 0 0 12.50 16.00 15.72

4981 end climb: SURFACE_DEPTH_REACHED

state 4981 begin surface coast

5016 end surface coast: CONTROL_FINISHED_OK

state 5016 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	281	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	28.413698	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	73.148056	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	32772	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	050823,225008,4752.552,-12514.533,32,1.0,32,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050823,225524,4752.529,-12514.598,4,0.9,6,15.8	MHEAD_RNG_PITCHd_Wd	85.9,5491,-17.1,-8.049,-21.16,2007,0.285
SPEED_LIMITS	0.139,0.208	D_GRID	220
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	0.3,1.023460	FG_AHR_24Vo	73.294
SURF	forcing	FG_AHR_10Vo	28.459
SM_CCo	5148.79,85.53,0.934,0,1083.6,1100.2,1067.1,474.99	MEM0	60116,1,0,0
SM_GC	1.44,85.53,20.52,3.32,0.934,0.040,0.045,1083.6,1100.2,1067.1,188.1,2134.4,0,0,0,12.53,15.95,15.92	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	970728,24,76220,57
IRIDIUM_FIX	4752.95,-12515.83,050823,204615	DATA_FILE_SIZE	22531,794
TCM_TEMP	259.23	CAP_FILE_SIZE	351291,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,3917600
SC_FREEKB	3771648	SDFILEDIR	1721,282
HUMID	50.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.15	IMPLIED_C_PITCH	2377,11.96,495,0.0,0.00
INTERNAL_PRESSURE	8.94513	IMPLIED_C_VBD	3264,43.197392,401,0
_24V_AH	14.99,108.466	GPS	060823,002209,4752.754,-12514.131,23,0.8,23,15.8
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	591	1167	10355.75	nil	0	0	0.00
Pitch_motor	44	239	158.91	nil	0	0	0.00
Roll_motor	81	150	184.35	nil	0	0	0.00
Iridium	228	210	720.78	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.37	nil	0	0	0.00
Core	3014	6	307.52	SciCon	5030	22	1692.04
Fast	6	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2312	2	69.36
Compass	1674	5	125.59
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
9.02	16386	-107.06	-1.56	0.00	1085.5	1093.1	1077.9	182.4	2136.4	0.00	0.00	0	70.79	60.24	0.00	0.00	0.005	0.000	0.000	2383.75	2372.06	2395.44	182.12	2138.00	0	0	0	15.68	30.00	30.00
71.23	18983	-107.06	-1.56	-80.00	2383.1	2371.6	2394.6	181.9	2137.5	3.53	-3.57	12	128.25	25.18	16.29	3.79	0.006	0.239	0.107	3456.84	3439.25	3474.44	1960.25	687.81	0	0	0	15.73	15.72	15.65
201.78	1028	-107.06	-1.56	0.00	3457.4	3439.8	3475.0	1959.9	687.6	28.54	-20.58	37	208.33	0.00	0.00	3.35	0.000	0.000	0.042	3458.12	3440.50	3475.75	1960.25	2133.25	0	0	0	30.00	30.00	15.89
391.81	516	-107.06	-1.56	-80.00	3458.7	3440.4	3476.9	1960.1	2134.1	55.76	-12.37	75	398.57	0.00	0.00	3.74	0.000	0.000	0.101	3460.22	3442.25	3478.19	1958.69	687.69	0	0	0	30.00	30.00	15.91
497.00	1028	-107.06	-1.56	0.00	3458.7	3440.2	3477.2	1959.6	687.7	69.15	-11.57	96	503.54	0.00	0.00	3.34	0.000	0.000	0.040	3460.19	3441.50	3478.88	1959.75	2138.56	0	0	0	30.00	30.00	15.96
687.08	516	-107.06	-1.56	-80.00	3460.7	3441.6	3479.8	1959.8	2138.4	85.87	-8.06	134	694.04	0.00	0.00	3.77	0.000	0.000	0.101	3461.12	3442.38	3479.88	1960.19	688.75	0	0	0	30.00	30.00	15.95
787.64	1028	-107.06	-1.56	0.00	3461.3	3442.0	3480.6	1960.1	688.9	94.82	-9.13	154	794.36	0.00	0.00	3.33	0.000	0.000	0.041	3463.25	3443.75	3482.75	1959.94	2137.19	0	0	0	30.00	30.00	16.01
982.80	260	-107.06	-1.56	80.00	3461.6	3442.6	3480.6	1959.8	2137.1	110.78	-7.81	180	988.61	0.00	0.00	3.05	0.000	0.000	0.088	3462.53	3442.62	3482.44	1960.31	3363.69	0	0	0	30.00	30.00	15.98
1052.81	1028	-107.06	-1.56	0.00	3462.5	3443.6	3481.4	1959.1	3363.9	116.42	-8.61	194	1058.57	0.00	0.00	3.00	0.000	0.000	0.036	3463.88	3445.50	3482.25	1959.38	2064.69	0	0	0	30.00	30.00	16.02
1362.83	516	-107.06	-1.56	-80.00	3462.9	3444.4	3481.4	1960.0	2064.8	147.37	-10.53	226	1368.92	0.00	0.00	3.58	0.000	0.000	0.108	3462.69	3443.69	3481.69	1960.56	689.12	0	0	0	30.00	30.00	16.00
1412.83	1028	-107.06	-1.56	0.00	3462.8	3444.3	3481.2	1959.9	688.8	153.23	-11.65	236	1418.79	0.00	0.00	3.33	0.000	0.000	0.041	3463.84	3445.88	3481.81	1961.19	2136.62	0	0	0	30.00	30.00	16.05
1722.85	0	-107.06	-1.56	0.00	3462.5	3444.1	3480.9	1960.5	2136.4	182.92	-9.79	268	1724.42	0.00	0.00	0.00	0.000	0.000	0.000	3461.94	3442.94	3480.94	1959.69	2136.44	0	0	0	30.00	30.00	30.00
2032.87	260	-107.06	-1.56	80.00	3462.8	3444.2	3481.3	1959.6	2136.1	211.81	-9.91	299	2038.92	0.00	0.00	3.08	0.000	0.000	0.091	3463.22	3443.75	3482.69	1959.75	3362.75	0	0	0	30.00	30.00	16.04
2077.11	1028	-107.06	-1.56	0.00	3462.6	3444.8	3480.4	1960.3	3362.8	216.61	-10.62	308	2084.42	0.00	0.00	3.01	0.000	0.000	0.038	3463.75	3444.75	3482.75	1959.62	2065.00	0	0	0	30.00	30.00	16.04
2122	end dive: TARGET_DEPTH_EXCEEDED
state	2123	begin apogee
2124.67	10243	0.00	-0.42	0.00	3462.7	3443.9	3481.5	1959.2	2195.0	220.87	-9.46	313	2212.40	80.43	2.26	0.14	1.167	0.116	0.150	3018.12	2987.56	3048.69	2241.44	2109.75	0	0	0	12.48	16.03	15.76
2224	end apogee: CONTROL_FINISHED_OK
state	2224	begin climb
2226.72	10759	107.06	1.56	-80.00	3017.4	2987.0	3047.9	2242.4	2109.6	222.90	0.00	321	2329.34	84.09	3.64	3.77	1.132	0.066	0.103	2578.84	2550.00	2607.69	2727.19	689.31	0	0	0	12.78	15.87	15.60
2347.98	11303	201.01	1.69	0.00	2576.8	2549.8	2603.9	2727.4	689.1	220.06	3.24	343	2433.73	73.38	0.17	3.52	1.111	0.058	0.043	2200.66	2165.31	2236.00	2764.50	2188.75	0	0	0	12.68	15.76	15.74
2737.93	20743	201.01	1.69	80.00	2187.4	2151.2	2223.6	2764.2	2188.6	176.91	12.92	390	2743.93	0.00	0.29	2.98	0.000	0.130	0.089	2187.75	2151.31	2224.19	2743.31	3361.62	0	0	0	30.00	15.87	15.84
2912.19	17414	201.01	1.69	0.00	2185.8	2148.1	2223.6	2743.1	3361.3	155.27	12.09	425	2919.74	0.00	0.00	2.90	0.000	0.000	0.037	2186.03	2148.94	2223.12	2743.06	2114.56	0	0	0	30.00	30.00	15.97
3227.98	16646	201.01	1.69	80.00	2184.1	2146.9	2221.3	2742.8	2114.2	123.42	9.75	457	3233.88	0.00	0.00	3.12	0.000	0.000	0.086	2184.19	2147.31	2221.06	2744.44	3363.81	0	0	0	30.00	30.00	15.96
3272.24	17414	201.01	1.69	0.00	2183.9	2146.7	2221.2	2743.5	3363.6	118.51	11.13	466	3279.46	0.00	0.00	2.88	0.000	0.000	0.036	2184.06	2146.56	2221.56	2743.19	2113.12	0	0	0	30.00	30.00	16.02
3583.31	16386	201.01	1.69	0.00	2183.0	2144.9	2221.1	2743.1	2112.9	87.10	10.09	510	3587.97	0.00	0.00	0.00	0.000	0.000	0.000	2183.81	2145.38	2222.25	2743.06	2112.69	0	0	0	30.00	30.00	30.00
3773.16	19015	201.01	1.77	-80.00	2182.7	2144.5	2220.9	2743.6	2112.9	73.15	5.17	548	3780.20	0.00	0.28	3.65	0.000	0.047	0.103	2183.41	2145.50	2221.31	2782.44	689.00	0	0	0	30.00	15.98	15.95
4008.85	17478	201.01	1.86	0.00	2181.6	2144.6	2218.6	2783.5	689.0	55.12	5.19	595	4015.57	0.00	0.00	3.47	0.000	0.000	0.045	2182.03	2144.81	2219.25	2782.94	2189.50	0	0	0	30.00	30.00	16.00
4199.09	10791	306.32	2.00	-80.00	2181.3	2144.5	2218.2	2783.6	2189.8	49.43	2.66	633	4316.72	104.64	0.32	3.92	0.969	0.044	0.098	1770.16	1744.44	1795.88	2837.19	687.62	0	0	0	12.39	16.07	15.74
4545.33	5125	306.32	2.00	0.00	1769.7	1744.1	1795.3	2837.3	687.8	23.57	9.93	701	4552.38	0.00	0.25	3.51	0.000	0.142	0.045	1770.53	1744.94	1796.12	2817.69	2183.12	0	0	0	30.00	15.85	15.91
4735.99	10791	384.28	2.10	-80.00	1768.4	1742.4	1794.4	2817.8	2182.9	14.41	4.06	739	4827.56	78.43	0.31	3.92	0.924	0.045	0.099	1453.03	1436.56	1469.50	2860.81	687.94	0	0	0	12.50	16.00	15.72
4981	end climb: SURFACE_DEPTH_REACHED
state	4981	begin surface coast
5016	end surface coast: CONTROL_FINISHED_OK
state	5016	begin surface