Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 282 * 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 282 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 28.460211 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 73.305641 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 28.460211 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 73.305641 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 282 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 060823,002209,4752.754,-12514.131,23,0.8,23,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060823,002732,4752.748,-12514.181,3,0.8,7,15.8 MHEAD_RNG_PITCHd_Wd 91.5,5090,-17.1,-8.049,-21.16,2007,0.277

SPEED_LIMITS 0.139,0.208 D_GRID 191

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 0.1,1.022097 FG_AHR_24Vo 73.444

SURF forcing FG_AHR_10Vo 28.499

SM_CCo 4272.55,4.19,0.454,0,1083.0,1079.1,1086.9,475.15 MEM0 60116,1,0,0

SM_GC 2.46,4.19,20.17,3.03,0.454,0.042,0.036,1083.0,1079.1,1086.9,181.9,2072.7,0,0,0,12.58,15.86,15.82 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 970812,18,76256,57

IRIDIUM_FIX 4751.64,-12513.98,050823,225136 DATA_FILE_SIZE 19319,707

TCM_TEMP 260.05 CAP_FILE_SIZE 318964,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,3917344

SC_FREEKB 3771264 SDFILEDIR 1727,283

HUMID 50.80 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 2385,11.92,406,0.0,0.00

INTERNAL_PRESSURE 8.94148 IMPLIED_C_VBD 3232,53.755360,308,0

_24V_AH 15.08,108.658 GPS 060823,014020,4752.859,-12513.751,59,0.8,60,15.8

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 592 1112 9950.02 nil 0 0 0.00

Pitch_motor 43 235 154.13 nil 0 0 0.00

Roll_motor 73 141 156.90 nil 0 0 0.00

Iridium 239 184 667.86 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 16 15 3.72 nil 0 0 0.00

Core 2787 6 284.35 SciCon 4238 24 1538.97

Fast 5 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1760 2 52.80

Compass 1485 5 111.44

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

9.03 16386 -107.06 -1.56 0.00 1085.3 1093.0 1077.6 182.9 2061.6 0.00 0.00 0 65.61 55.15 0.00 0.00 0.005 0.000 0.000 2262.19 2245.75 2278.62 183.12 2060.69 0 0 0 15.69 30.00 30.00

66.04 18983 -107.06 -1.56 -80.00 2261.6 2244.9 2278.4 182.9 2060.9 3.12 -3.23 11 127.95 30.45 15.95 3.60 0.006 0.236 0.112 3456.59 3439.62 3473.56 1960.81 688.94 0 0 0 15.71 15.74 15.65

356.51 1028 -107.06 -1.56 0.00 3457.7 3440.0 3475.4 1960.8 688.9 52.39 -14.44 68 363.09 0.00 0.00 3.35 0.000 0.000 0.042 3458.16 3440.31 3476.00 1960.75 2135.56 0 0 0 30.00 30.00 15.92

546.52 516 -107.06 -1.56 -80.00 3458.5 3440.4 3476.6 1961.2 2135.1 74.88 -10.28 106 553.59 0.00 0.00 3.76 0.000 0.000 0.102 3459.03 3440.94 3477.12 1961.31 687.81 0 0 0 30.00 30.00 15.95

612.01 1028 -107.06 -1.56 0.00 3458.2 3440.1 3476.3 1960.9 687.8 82.01 -11.00 119 619.00 0.00 0.00 3.31 0.000 0.000 0.040 3458.94 3440.69 3477.19 1961.31 2135.44 0 0 0 30.00 30.00 15.97

802.57 516 -107.06 -1.56 -80.00 3459.7 3441.2 3478.1 1961.3 2136.0 100.37 -8.82 157 809.75 0.00 0.00 3.74 0.000 0.000 0.101 3460.03 3440.56 3479.50 1959.69 688.88 0 0 0 30.00 30.00 15.98

882.47 1028 -107.06 -1.56 0.00 3459.9 3441.4 3478.4 1960.3 688.9 108.73 -10.96 173 889.95 0.00 0.00 3.34 0.000 0.000 0.040 3460.22 3441.75 3478.69 1961.25 2136.19 0 0 0 30.00 30.00 16.02

1198.25 260 -107.06 -1.56 80.00 3461.1 3442.5 3479.6 1960.9 2136.8 139.13 -10.07 205 1204.04 0.00 0.00 3.07 0.000 0.000 0.091 3462.16 3443.12 3481.19 1960.00 3363.00 0 0 0 30.00 30.00 16.04

1412.51 1028 -107.06 -1.56 0.00 3461.8 3443.4 3480.1 1961.0 3362.1 165.21 -12.72 248 1419.83 0.00 0.00 3.01 0.000 0.000 0.037 3461.84 3443.56 3480.12 1961.00 2063.31 0 0 0 30.00 30.00 16.07

1648 end dive: TARGET_DEPTH_EXCEEDED

state 1648 begin apogee

1650.08 10243 0.00 -0.42 0.00 3462.2 3444.0 3480.4 1961.2 2196.7 191.85 -10.85 272 1736.72 79.40 2.18 0.14 1.113 0.119 0.141 3017.44 2987.38 3047.50 2241.25 2106.12 0 0 0 12.44 16.01 15.78

1740 end apogee: CONTROL_FINISHED_OK

state 1740 begin climb

1743.04 10759 107.06 1.56 -80.00 3018.5 2988.3 3048.6 2241.4 2106.4 194.98 0.00 280 1841.17 83.11 3.39 3.72 1.080 0.067 0.102 2578.25 2548.38 2608.12 2728.19 687.75 0 0 0 12.79 15.87 15.63

1844.04 11303 202.64 1.69 0.00 2578.5 2550.5 2606.4 2728.4 687.6 193.17 3.16 295 1928.98 73.74 0.15 3.54 1.061 0.061 0.043 2193.16 2159.19 2227.12 2765.19 2188.25 0 0 0 12.72 15.75 15.72

2232.41 20743 202.64 1.69 80.00 2181.0 2145.0 2217.1 2765.6 2188.6 148.75 11.47 342 2238.46 0.00 0.31 2.97 0.000 0.131 0.089 2181.38 2145.62 2217.12 2743.00 3362.25 0 0 0 30.00 15.91 15.86

2332.44 17414 202.64 1.69 0.00 2179.8 2142.6 2217.1 2743.0 3362.0 138.12 10.40 362 2338.14 0.00 0.00 2.89 0.000 0.000 0.036 2179.84 2142.50 2217.19 2743.06 2114.25 0 0 0 30.00 30.00 15.96

2642.46 16646 202.64 1.69 80.00 2178.5 2140.4 2216.6 2743.5 2114.5 108.81 9.97 394 2648.32 0.00 0.00 3.13 0.000 0.000 0.087 2178.59 2140.62 2216.56 2743.12 3363.38 0 0 0 30.00 30.00 16.00

2737.49 17414 202.64 1.69 0.00 2178.4 2140.5 2216.3 2743.9 3363.8 97.57 11.47 413 2743.97 0.00 0.00 2.89 0.000 0.000 0.036 2178.06 2140.19 2215.94 2743.12 2114.94 0 0 0 30.00 30.00 16.02

2927.51 16646 202.64 1.69 80.00 2177.4 2139.4 2215.4 2743.0 2114.6 81.72 8.76 451 2934.37 0.00 0.00 3.12 0.000 0.000 0.085 2178.75 2140.88 2216.62 2742.69 3363.25 0 0 0 30.00 30.00 16.02

3047.95 17414 202.64 1.69 0.00 2177.5 2139.4 2215.6 2743.5 3363.4 69.00 11.05 475 3054.42 0.00 0.00 2.89 0.000 0.000 0.036 2177.88 2139.62 2216.12 2743.38 2112.81 0 0 0 30.00 30.00 16.03

3238.01 10791 284.77 1.80 -80.00 2176.7 2138.1 2215.2 2743.5 2113.2 57.40 3.84 513 3329.33 80.76 0.32 3.72 0.952 0.045 0.102 1858.88 1829.62 1888.12 2790.19 687.88 0 0 0 12.48 16.07 15.79

3557.82 5125 284.77 1.80 0.00 1855.6 1828.5 1882.8 2790.1 687.6 34.58 9.59 576 3564.78 0.00 0.25 3.49 0.000 0.131 0.044 1856.12 1828.69 1883.56 2769.12 2184.75 0 0 0 30.00 15.90 15.94

3748.38 10791 369.31 1.91 -80.00 1853.0 1823.2 1882.8 2769.4 2184.4 24.37 3.72 614 3845.22 84.21 0.31 3.94 0.919 0.045 0.097 1513.88 1494.94 1532.81 2814.44 689.00 0 0 0 12.59 16.02 15.73

3873.84 1092 369.31 1.98 0.00 1514.7 1494.2 1535.1 2816.2 688.6 18.59 5.53 638 3880.61 0.00 0.00 3.53 0.000 0.000 0.043 1515.69 1495.00 1536.38 2815.44 2184.25 0 0 0 30.00 30.00 15.80

4064.21 10535 473.89 2.12 80.00 1514.8 1494.0 1535.5 2815.8 2184.2 11.87 2.69 676 4176.41 101.82 0.29 3.04 0.896 0.046 0.088 1087.97 1073.19 1102.75 2866.31 3361.69 0 0 0 12.53 15.90 15.64

4200 end climb: SURFACE_DEPTH_REACHED

state 4200 begin surface coast

4225 end surface coast: CONTROL_FINISHED_OK

state 4225 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	282	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	28.460211	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	73.305641	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	060823,002209,4752.754,-12514.131,23,0.8,23,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060823,002732,4752.748,-12514.181,3,0.8,7,15.8	MHEAD_RNG_PITCHd_Wd	91.5,5090,-17.1,-8.049,-21.16,2007,0.277
SPEED_LIMITS	0.139,0.208	D_GRID	191
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	0.1,1.022097	FG_AHR_24Vo	73.444
SURF	forcing	FG_AHR_10Vo	28.499
SM_CCo	4272.55,4.19,0.454,0,1083.0,1079.1,1086.9,475.15	MEM0	60116,1,0,0
SM_GC	2.46,4.19,20.17,3.03,0.454,0.042,0.036,1083.0,1079.1,1086.9,181.9,2072.7,0,0,0,12.58,15.86,15.82	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	970812,18,76256,57
IRIDIUM_FIX	4751.64,-12513.98,050823,225136	DATA_FILE_SIZE	19319,707
TCM_TEMP	260.05	CAP_FILE_SIZE	318964,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,3917344
SC_FREEKB	3771264	SDFILEDIR	1727,283
HUMID	50.80	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	2385,11.92,406,0.0,0.00
INTERNAL_PRESSURE	8.94148	IMPLIED_C_VBD	3232,53.755360,308,0
_24V_AH	15.08,108.658	GPS	060823,014020,4752.859,-12513.751,59,0.8,60,15.8
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	592	1112	9950.02	nil	0	0	0.00
Pitch_motor	43	235	154.13	nil	0	0	0.00
Roll_motor	73	141	156.90	nil	0	0	0.00
Iridium	239	184	667.86	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	16	15	3.72	nil	0	0	0.00
Core	2787	6	284.35	SciCon	4238	24	1538.97
Fast	5	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1760	2	52.80
Compass	1485	5	111.44
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
9.03	16386	-107.06	-1.56	0.00	1085.3	1093.0	1077.6	182.9	2061.6	0.00	0.00	0	65.61	55.15	0.00	0.00	0.005	0.000	0.000	2262.19	2245.75	2278.62	183.12	2060.69	0	0	0	15.69	30.00	30.00
66.04	18983	-107.06	-1.56	-80.00	2261.6	2244.9	2278.4	182.9	2060.9	3.12	-3.23	11	127.95	30.45	15.95	3.60	0.006	0.236	0.112	3456.59	3439.62	3473.56	1960.81	688.94	0	0	0	15.71	15.74	15.65
356.51	1028	-107.06	-1.56	0.00	3457.7	3440.0	3475.4	1960.8	688.9	52.39	-14.44	68	363.09	0.00	0.00	3.35	0.000	0.000	0.042	3458.16	3440.31	3476.00	1960.75	2135.56	0	0	0	30.00	30.00	15.92
546.52	516	-107.06	-1.56	-80.00	3458.5	3440.4	3476.6	1961.2	2135.1	74.88	-10.28	106	553.59	0.00	0.00	3.76	0.000	0.000	0.102	3459.03	3440.94	3477.12	1961.31	687.81	0	0	0	30.00	30.00	15.95
612.01	1028	-107.06	-1.56	0.00	3458.2	3440.1	3476.3	1960.9	687.8	82.01	-11.00	119	619.00	0.00	0.00	3.31	0.000	0.000	0.040	3458.94	3440.69	3477.19	1961.31	2135.44	0	0	0	30.00	30.00	15.97
802.57	516	-107.06	-1.56	-80.00	3459.7	3441.2	3478.1	1961.3	2136.0	100.37	-8.82	157	809.75	0.00	0.00	3.74	0.000	0.000	0.101	3460.03	3440.56	3479.50	1959.69	688.88	0	0	0	30.00	30.00	15.98
882.47	1028	-107.06	-1.56	0.00	3459.9	3441.4	3478.4	1960.3	688.9	108.73	-10.96	173	889.95	0.00	0.00	3.34	0.000	0.000	0.040	3460.22	3441.75	3478.69	1961.25	2136.19	0	0	0	30.00	30.00	16.02
1198.25	260	-107.06	-1.56	80.00	3461.1	3442.5	3479.6	1960.9	2136.8	139.13	-10.07	205	1204.04	0.00	0.00	3.07	0.000	0.000	0.091	3462.16	3443.12	3481.19	1960.00	3363.00	0	0	0	30.00	30.00	16.04
1412.51	1028	-107.06	-1.56	0.00	3461.8	3443.4	3480.1	1961.0	3362.1	165.21	-12.72	248	1419.83	0.00	0.00	3.01	0.000	0.000	0.037	3461.84	3443.56	3480.12	1961.00	2063.31	0	0	0	30.00	30.00	16.07
1648	end dive: TARGET_DEPTH_EXCEEDED
state	1648	begin apogee
1650.08	10243	0.00	-0.42	0.00	3462.2	3444.0	3480.4	1961.2	2196.7	191.85	-10.85	272	1736.72	79.40	2.18	0.14	1.113	0.119	0.141	3017.44	2987.38	3047.50	2241.25	2106.12	0	0	0	12.44	16.01	15.78
1740	end apogee: CONTROL_FINISHED_OK
state	1740	begin climb
1743.04	10759	107.06	1.56	-80.00	3018.5	2988.3	3048.6	2241.4	2106.4	194.98	0.00	280	1841.17	83.11	3.39	3.72	1.080	0.067	0.102	2578.25	2548.38	2608.12	2728.19	687.75	0	0	0	12.79	15.87	15.63
1844.04	11303	202.64	1.69	0.00	2578.5	2550.5	2606.4	2728.4	687.6	193.17	3.16	295	1928.98	73.74	0.15	3.54	1.061	0.061	0.043	2193.16	2159.19	2227.12	2765.19	2188.25	0	0	0	12.72	15.75	15.72
2232.41	20743	202.64	1.69	80.00	2181.0	2145.0	2217.1	2765.6	2188.6	148.75	11.47	342	2238.46	0.00	0.31	2.97	0.000	0.131	0.089	2181.38	2145.62	2217.12	2743.00	3362.25	0	0	0	30.00	15.91	15.86
2332.44	17414	202.64	1.69	0.00	2179.8	2142.6	2217.1	2743.0	3362.0	138.12	10.40	362	2338.14	0.00	0.00	2.89	0.000	0.000	0.036	2179.84	2142.50	2217.19	2743.06	2114.25	0	0	0	30.00	30.00	15.96
2642.46	16646	202.64	1.69	80.00	2178.5	2140.4	2216.6	2743.5	2114.5	108.81	9.97	394	2648.32	0.00	0.00	3.13	0.000	0.000	0.087	2178.59	2140.62	2216.56	2743.12	3363.38	0	0	0	30.00	30.00	16.00
2737.49	17414	202.64	1.69	0.00	2178.4	2140.5	2216.3	2743.9	3363.8	97.57	11.47	413	2743.97	0.00	0.00	2.89	0.000	0.000	0.036	2178.06	2140.19	2215.94	2743.12	2114.94	0	0	0	30.00	30.00	16.02
2927.51	16646	202.64	1.69	80.00	2177.4	2139.4	2215.4	2743.0	2114.6	81.72	8.76	451	2934.37	0.00	0.00	3.12	0.000	0.000	0.085	2178.75	2140.88	2216.62	2742.69	3363.25	0	0	0	30.00	30.00	16.02
3047.95	17414	202.64	1.69	0.00	2177.5	2139.4	2215.6	2743.5	3363.4	69.00	11.05	475	3054.42	0.00	0.00	2.89	0.000	0.000	0.036	2177.88	2139.62	2216.12	2743.38	2112.81	0	0	0	30.00	30.00	16.03
3238.01	10791	284.77	1.80	-80.00	2176.7	2138.1	2215.2	2743.5	2113.2	57.40	3.84	513	3329.33	80.76	0.32	3.72	0.952	0.045	0.102	1858.88	1829.62	1888.12	2790.19	687.88	0	0	0	12.48	16.07	15.79
3557.82	5125	284.77	1.80	0.00	1855.6	1828.5	1882.8	2790.1	687.6	34.58	9.59	576	3564.78	0.00	0.25	3.49	0.000	0.131	0.044	1856.12	1828.69	1883.56	2769.12	2184.75	0	0	0	30.00	15.90	15.94
3748.38	10791	369.31	1.91	-80.00	1853.0	1823.2	1882.8	2769.4	2184.4	24.37	3.72	614	3845.22	84.21	0.31	3.94	0.919	0.045	0.097	1513.88	1494.94	1532.81	2814.44	689.00	0	0	0	12.59	16.02	15.73
3873.84	1092	369.31	1.98	0.00	1514.7	1494.2	1535.1	2816.2	688.6	18.59	5.53	638	3880.61	0.00	0.00	3.53	0.000	0.000	0.043	1515.69	1495.00	1536.38	2815.44	2184.25	0	0	0	30.00	30.00	15.80
4064.21	10535	473.89	2.12	80.00	1514.8	1494.0	1535.5	2815.8	2184.2	11.87	2.69	676	4176.41	101.82	0.29	3.04	0.896	0.046	0.088	1087.97	1073.19	1102.75	2866.31	3361.69	0	0	0	12.53	15.90	15.64
4200	end climb: SURFACE_DEPTH_REACHED
state	4200	begin surface coast
4225	end surface coast: CONTROL_FINISHED_OK
state	4225	begin surface