Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 282 * 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 282 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 38.060757 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 80.748344 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 38.060757 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 80.748344 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 282 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 030721,043457,4751.002,-12512.467,14,1.4,17,16.0 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 -66.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030721,044111,4750.965,-12512.489,3,1.4,5,16.0 MHEAD_RNG_PITCHd_Wd 43.4,3287,-21.6,-8.462,-23.21

SPEED_LIMITS 0.147,0.197 D_GRID 220

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 -0.1,1.023391 FG_AHR_10Vo 38.095

SM_CCo 5642.91,10.68,0.954,0,1042.3,1021.1,1063.5,425.04 MEM0 60876,1,0,0

SM_GC 3.84,10.68,16.50,0.11,0.954,0.046,0.126,1042.3,1021.1,1063.5,183.0,2364.0,0,0,0,12.76,15.81,15.83 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971776,18,75332,55

IRIDIUM_FIX 4750.34,-12512.13,030721,024507 DATA_FILE_SIZE 22519,858

TCM_TEMP 268.17 CAP_FILE_SIZE 165269,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3948608

SC_FREEKB 3752352 SDFILEDIR 1446,1

HUMID 49.39 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.26 CURRENT 0.065,176.5,1

INTERNAL_PRESSURE 8.87428 IMPLIED_C_PITCH 2363,13.58,546

_24V_AH 15.02,90.630 IMPLIED_C_VBD 2943,24.749062,262

_10V_AH 15.00,0.000 GPS 030721,061739,4751.060,-12511.915,116,1.5,117,16.0

FG_AHR_24Vo 80.882

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 438 1358 8935.08 nil 0 0 0.00

Pitch_motor 35 252 134.69 nil 0 0 0.00

Roll_motor 53 126 101.44 nil 0 0 0.00

Iridium 218 217 712.29 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 2634 11 466.27 SciCon 5632 15 1294.15

LPSleep 3283 2 137.92 nil 0 0 0.00

Compass 1305 5 97.89 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

6.83 16386 -82.73 -1.37 0.00 1035.5 1010.5 1060.5 180.6 2256.9 0.00 0.00 0 56.44 48.37 0.00 0.00 0.005 0.000 0.000 2258.72 2402.75 2114.69 180.62 2256.75 0 0 0 15.73 30.00 30.00

57.18 18983 -82.73 -1.37 -60.00 2258.7 2401.9 2115.5 180.6 2256.9 3.48 -3.80 9 100.39 19.28 13.74 2.51 0.006 0.253 0.066 3112.62 3310.50 2914.75 1988.56 1208.50 0 0 0 15.76 15.72 15.72

328.40 1028 -82.73 -1.37 0.00 3113.1 3309.2 2917.0 1988.7 1208.8 53.01 -16.01 63 333.95 0.00 0.00 2.64 0.000 0.000 0.029 3113.22 3309.00 2917.44 1988.56 2353.38 0 0 0 30.00 30.00 15.95

518.82 516 -82.73 -1.37 -60.00 3113.4 3309.2 2917.6 1988.4 2353.8 75.01 -10.89 101 524.21 0.00 0.00 2.73 0.000 0.000 0.060 3113.25 3308.62 2917.88 1988.81 1207.38 0 0 0 30.00 30.00 15.98

718.50 1028 -82.73 -1.37 0.00 3113.5 3309.1 2917.9 1988.3 1207.4 97.42 -10.06 141 724.04 0.00 0.00 2.62 0.000 0.000 0.029 3115.38 3310.56 2920.19 1987.50 2352.88 0 0 0 30.00 30.00 16.02

908.53 516 -82.73 -1.37 -60.00 3113.4 3308.6 2918.2 1988.9 2353.2 114.18 -8.48 163 913.63 0.00 0.00 2.72 0.000 0.000 0.060 3114.06 3309.62 2918.50 1988.38 1206.62 0 0 0 30.00 30.00 16.04

1143.11 1028 -82.73 -1.37 0.00 3113.6 3308.6 2918.6 1988.6 1207.6 137.67 -8.45 210 1149.12 0.00 0.00 2.62 0.000 0.000 0.028 3114.12 3308.94 2919.31 1988.69 2356.31 0 0 0 30.00 30.00 16.02

1458.62 516 -82.73 -1.37 -60.00 3114.1 3309.0 2919.2 1989.2 2355.1 164.03 -8.79 242 1463.71 0.00 0.00 2.72 0.000 0.000 0.060 3114.81 3309.06 2920.56 1988.19 1208.38 0 0 0 30.00 30.00 16.07

1538.64 1028 -82.73 -1.37 0.00 3113.8 3308.6 2919.1 1988.8 1207.9 171.42 -9.53 258 1543.72 0.00 0.00 2.61 0.000 0.000 0.028 3114.97 3309.62 2920.31 1988.94 2354.69 0 0 0 30.00 30.00 16.08

1848.71 0 -82.73 -1.37 0.00 3114.2 3309.1 2919.4 1988.9 2354.7 200.97 -9.48 290 1850.04 0.00 0.00 0.00 0.000 0.000 0.000 3112.97 3308.25 2917.69 1988.75 2354.62 0 0 0 30.00 30.00 30.00

2058 end dive: TARGET_DEPTH_EXCEEDED

state 2058 begin apogee

2060.58 10243 0.00 -0.28 0.00 3113.7 3308.8 2918.6 1988.9 2149.2 220.88 -9.59 311 2121.01 56.67 1.77 0.23 1.358 0.148 0.100 2776.38 2905.81 2646.94 2252.06 2269.44 0 0 0 12.72 16.03 15.82

2122 end apogee: CONTROL_FINISHED_OK

state 2122 begin climb

2123.20 10243 82.73 1.37 0.00 2773.7 2903.3 2644.1 2253.4 2286.0 222.92 0.00 317 2186.28 57.89 2.59 0.00 1.308 0.099 0.000 2437.25 2519.75 2354.75 2654.31 2285.94 0 0 0 12.92 15.86 30.00

2489.41 8226 117.99 1.44 0.00 2432.7 2519.2 2346.2 2655.8 2286.1 202.64 6.05 354 2519.22 26.25 0.00 0.00 1.250 0.000 0.000 2293.19 2369.56 2216.81 2655.12 2286.06 0 0 0 12.63 30.00 30.00

2830.01 64 117.99 1.45 0.00 2289.4 2369.7 2209.2 2655.4 2286.0 176.50 7.94 388 2831.34 0.00 0.00 0.00 0.000 0.000 0.000 2288.94 2369.06 2208.81 2654.56 2286.38 0 0 0 30.00 30.00 30.00

3139.87 2373 117.99 1.49 60.00 2288.4 2369.1 2207.8 2655.3 2286.5 154.57 6.56 419 3144.61 0.00 0.14 2.63 0.000 0.097 0.086 2290.44 2370.62 2210.25 2696.75 3347.31 0 0 0 30.00 15.98 15.97

3194.02 1028 117.99 1.49 0.00 2288.3 2369.2 2207.4 2697.6 3347.4 149.75 9.06 430 3200.01 0.00 0.00 2.58 0.000 0.000 0.023 2288.59 2369.88 2207.31 2698.44 2183.00 0 0 0 30.00 30.00 16.01

3509.53 580 117.99 1.50 -60.00 2287.8 2369.4 2206.2 2698.9 2183.6 125.52 7.57 462 3514.59 0.00 0.00 2.53 0.000 0.000 0.075 2288.62 2370.81 2206.44 2698.31 1130.19 0 0 0 30.00 30.00 16.00

3639.55 9254 157.03 1.58 0.00 2288.2 2370.1 2206.2 2698.6 1130.3 116.80 5.80 488 3674.82 28.71 0.00 2.61 1.219 0.000 0.028 2133.16 2194.00 2072.31 2698.81 2276.81 0 0 0 12.74 30.00 16.05

3979.77 8742 196.24 1.66 -60.00 2129.3 2193.9 2064.7 2698.4 2276.3 95.79 5.79 533 4016.13 29.29 0.00 2.78 1.198 0.000 0.072 1973.69 2019.69 1927.69 2698.25 1130.50 0 0 0 12.74 30.00 15.86

4104.62 3141 196.24 1.68 0.00 1969.9 2018.9 1920.9 2698.2 1130.0 86.96 7.54 558 4110.21 0.00 0.17 2.62 0.000 0.087 0.029 1971.78 2020.62 1922.94 2741.06 2276.75 0 0 0 30.00 15.91 15.93

4294.69 64 196.24 1.70 0.00 1968.7 2018.8 1918.5 2742.2 2277.2 71.27 7.25 596 4296.02 0.00 0.00 0.00 0.000 0.000 0.000 1968.62 2019.25 1918.00 2742.00 2277.06 0 0 0 30.00 30.00 30.00

4479.77 580 196.24 1.74 -60.00 1967.8 2018.9 1916.8 2740.9 2277.2 57.50 6.73 633 4485.32 0.00 0.00 2.76 0.000 0.000 0.069 1967.91 2018.88 1916.94 2741.31 1130.00 0 0 0 30.00 30.00 16.01

4570.02 9254 228.45 1.80 0.00 1967.3 2018.6 1916.0 2741.8 1130.2 51.84 6.26 651 4601.19 24.43 0.00 2.61 1.137 0.000 0.027 1843.72 1883.06 1804.38 2741.50 2278.00 0 0 0 12.71 30.00 16.01

4784.88 10535 263.73 1.87 60.00 1838.3 1882.1 1794.6 2741.2 2278.5 38.14 6.05 694 4816.37 26.95 0.19 2.65 1.125 0.082 0.086 1699.03 1733.25 1664.81 2789.75 3348.44 0 0 0 12.67 15.96 15.82

4969.95 9254 327.35 2.00 0.00 1694.5 1732.9 1656.1 2789.4 3348.6 28.89 4.12 731 5021.97 47.28 0.00 2.61 1.132 0.000 0.022 1439.97 1457.25 1422.69 2789.69 2181.69 0 0 0 12.76 30.00 15.94

5205.90 580 327.35 2.03 -60.00 1432.5 1458.4 1406.6 2789.6 2182.1 16.87 7.05 778 5211.02 0.00 0.00 2.56 0.000 0.000 0.075 1432.53 1458.88 1406.19 2789.88 1130.12 0 0 0 30.00 30.00 15.87

5440.55 11303 412.92 2.20 0.00 1428.7 1459.6 1397.8 2789.4 1130.4 5.09 2.62 825 5508.08 62.27 0.39 2.62 1.110 0.064 0.027 1091.72 1087.25 1096.19 2870.06 2280.88 0 0 0 12.71 15.90 15.95

5541 end climb: SURFACE_DEPTH_REACHED

state 5541 begin surface coast

5605 end surface coast: CONTROL_FINISHED_OK

state 5606 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	282	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	38.060757	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	80.748344	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	030721,043457,4751.002,-12512.467,14,1.4,17,16.0	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	-66.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030721,044111,4750.965,-12512.489,3,1.4,5,16.0	MHEAD_RNG_PITCHd_Wd	43.4,3287,-21.6,-8.462,-23.21
SPEED_LIMITS	0.147,0.197	D_GRID	220
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	-0.1,1.023391	FG_AHR_10Vo	38.095
SM_CCo	5642.91,10.68,0.954,0,1042.3,1021.1,1063.5,425.04	MEM0	60876,1,0,0
SM_GC	3.84,10.68,16.50,0.11,0.954,0.046,0.126,1042.3,1021.1,1063.5,183.0,2364.0,0,0,0,12.76,15.81,15.83	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971776,18,75332,55
IRIDIUM_FIX	4750.34,-12512.13,030721,024507	DATA_FILE_SIZE	22519,858
TCM_TEMP	268.17	CAP_FILE_SIZE	165269,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3948608
SC_FREEKB	3752352	SDFILEDIR	1446,1
HUMID	49.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.26	CURRENT	0.065,176.5,1
INTERNAL_PRESSURE	8.87428	IMPLIED_C_PITCH	2363,13.58,546
_24V_AH	15.02,90.630	IMPLIED_C_VBD	2943,24.749062,262
_10V_AH	15.00,0.000	GPS	030721,061739,4751.060,-12511.915,116,1.5,117,16.0
FG_AHR_24Vo	80.882

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	438	1358	8935.08	nil	0	0	0.00
Pitch_motor	35	252	134.69	nil	0	0	0.00
Roll_motor	53	126	101.44	nil	0	0	0.00
Iridium	218	217	712.29	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	2634	11	466.27	SciCon	5632	15	1294.15
LPSleep	3283	2	137.92	nil	0	0	0.00
Compass	1305	5	97.89	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
6.83	16386	-82.73	-1.37	0.00	1035.5	1010.5	1060.5	180.6	2256.9	0.00	0.00	0	56.44	48.37	0.00	0.00	0.005	0.000	0.000	2258.72	2402.75	2114.69	180.62	2256.75	0	0	0	15.73	30.00	30.00
57.18	18983	-82.73	-1.37	-60.00	2258.7	2401.9	2115.5	180.6	2256.9	3.48	-3.80	9	100.39	19.28	13.74	2.51	0.006	0.253	0.066	3112.62	3310.50	2914.75	1988.56	1208.50	0	0	0	15.76	15.72	15.72
328.40	1028	-82.73	-1.37	0.00	3113.1	3309.2	2917.0	1988.7	1208.8	53.01	-16.01	63	333.95	0.00	0.00	2.64	0.000	0.000	0.029	3113.22	3309.00	2917.44	1988.56	2353.38	0	0	0	30.00	30.00	15.95
518.82	516	-82.73	-1.37	-60.00	3113.4	3309.2	2917.6	1988.4	2353.8	75.01	-10.89	101	524.21	0.00	0.00	2.73	0.000	0.000	0.060	3113.25	3308.62	2917.88	1988.81	1207.38	0	0	0	30.00	30.00	15.98
718.50	1028	-82.73	-1.37	0.00	3113.5	3309.1	2917.9	1988.3	1207.4	97.42	-10.06	141	724.04	0.00	0.00	2.62	0.000	0.000	0.029	3115.38	3310.56	2920.19	1987.50	2352.88	0	0	0	30.00	30.00	16.02
908.53	516	-82.73	-1.37	-60.00	3113.4	3308.6	2918.2	1988.9	2353.2	114.18	-8.48	163	913.63	0.00	0.00	2.72	0.000	0.000	0.060	3114.06	3309.62	2918.50	1988.38	1206.62	0	0	0	30.00	30.00	16.04
1143.11	1028	-82.73	-1.37	0.00	3113.6	3308.6	2918.6	1988.6	1207.6	137.67	-8.45	210	1149.12	0.00	0.00	2.62	0.000	0.000	0.028	3114.12	3308.94	2919.31	1988.69	2356.31	0	0	0	30.00	30.00	16.02
1458.62	516	-82.73	-1.37	-60.00	3114.1	3309.0	2919.2	1989.2	2355.1	164.03	-8.79	242	1463.71	0.00	0.00	2.72	0.000	0.000	0.060	3114.81	3309.06	2920.56	1988.19	1208.38	0	0	0	30.00	30.00	16.07
1538.64	1028	-82.73	-1.37	0.00	3113.8	3308.6	2919.1	1988.8	1207.9	171.42	-9.53	258	1543.72	0.00	0.00	2.61	0.000	0.000	0.028	3114.97	3309.62	2920.31	1988.94	2354.69	0	0	0	30.00	30.00	16.08
1848.71	0	-82.73	-1.37	0.00	3114.2	3309.1	2919.4	1988.9	2354.7	200.97	-9.48	290	1850.04	0.00	0.00	0.00	0.000	0.000	0.000	3112.97	3308.25	2917.69	1988.75	2354.62	0	0	0	30.00	30.00	30.00
2058	end dive: TARGET_DEPTH_EXCEEDED
state	2058	begin apogee
2060.58	10243	0.00	-0.28	0.00	3113.7	3308.8	2918.6	1988.9	2149.2	220.88	-9.59	311	2121.01	56.67	1.77	0.23	1.358	0.148	0.100	2776.38	2905.81	2646.94	2252.06	2269.44	0	0	0	12.72	16.03	15.82
2122	end apogee: CONTROL_FINISHED_OK
state	2122	begin climb
2123.20	10243	82.73	1.37	0.00	2773.7	2903.3	2644.1	2253.4	2286.0	222.92	0.00	317	2186.28	57.89	2.59	0.00	1.308	0.099	0.000	2437.25	2519.75	2354.75	2654.31	2285.94	0	0	0	12.92	15.86	30.00
2489.41	8226	117.99	1.44	0.00	2432.7	2519.2	2346.2	2655.8	2286.1	202.64	6.05	354	2519.22	26.25	0.00	0.00	1.250	0.000	0.000	2293.19	2369.56	2216.81	2655.12	2286.06	0	0	0	12.63	30.00	30.00
2830.01	64	117.99	1.45	0.00	2289.4	2369.7	2209.2	2655.4	2286.0	176.50	7.94	388	2831.34	0.00	0.00	0.00	0.000	0.000	0.000	2288.94	2369.06	2208.81	2654.56	2286.38	0	0	0	30.00	30.00	30.00
3139.87	2373	117.99	1.49	60.00	2288.4	2369.1	2207.8	2655.3	2286.5	154.57	6.56	419	3144.61	0.00	0.14	2.63	0.000	0.097	0.086	2290.44	2370.62	2210.25	2696.75	3347.31	0	0	0	30.00	15.98	15.97
3194.02	1028	117.99	1.49	0.00	2288.3	2369.2	2207.4	2697.6	3347.4	149.75	9.06	430	3200.01	0.00	0.00	2.58	0.000	0.000	0.023	2288.59	2369.88	2207.31	2698.44	2183.00	0	0	0	30.00	30.00	16.01
3509.53	580	117.99	1.50	-60.00	2287.8	2369.4	2206.2	2698.9	2183.6	125.52	7.57	462	3514.59	0.00	0.00	2.53	0.000	0.000	0.075	2288.62	2370.81	2206.44	2698.31	1130.19	0	0	0	30.00	30.00	16.00
3639.55	9254	157.03	1.58	0.00	2288.2	2370.1	2206.2	2698.6	1130.3	116.80	5.80	488	3674.82	28.71	0.00	2.61	1.219	0.000	0.028	2133.16	2194.00	2072.31	2698.81	2276.81	0	0	0	12.74	30.00	16.05
3979.77	8742	196.24	1.66	-60.00	2129.3	2193.9	2064.7	2698.4	2276.3	95.79	5.79	533	4016.13	29.29	0.00	2.78	1.198	0.000	0.072	1973.69	2019.69	1927.69	2698.25	1130.50	0	0	0	12.74	30.00	15.86
4104.62	3141	196.24	1.68	0.00	1969.9	2018.9	1920.9	2698.2	1130.0	86.96	7.54	558	4110.21	0.00	0.17	2.62	0.000	0.087	0.029	1971.78	2020.62	1922.94	2741.06	2276.75	0	0	0	30.00	15.91	15.93
4294.69	64	196.24	1.70	0.00	1968.7	2018.8	1918.5	2742.2	2277.2	71.27	7.25	596	4296.02	0.00	0.00	0.00	0.000	0.000	0.000	1968.62	2019.25	1918.00	2742.00	2277.06	0	0	0	30.00	30.00	30.00
4479.77	580	196.24	1.74	-60.00	1967.8	2018.9	1916.8	2740.9	2277.2	57.50	6.73	633	4485.32	0.00	0.00	2.76	0.000	0.000	0.069	1967.91	2018.88	1916.94	2741.31	1130.00	0	0	0	30.00	30.00	16.01
4570.02	9254	228.45	1.80	0.00	1967.3	2018.6	1916.0	2741.8	1130.2	51.84	6.26	651	4601.19	24.43	0.00	2.61	1.137	0.000	0.027	1843.72	1883.06	1804.38	2741.50	2278.00	0	0	0	12.71	30.00	16.01
4784.88	10535	263.73	1.87	60.00	1838.3	1882.1	1794.6	2741.2	2278.5	38.14	6.05	694	4816.37	26.95	0.19	2.65	1.125	0.082	0.086	1699.03	1733.25	1664.81	2789.75	3348.44	0	0	0	12.67	15.96	15.82
4969.95	9254	327.35	2.00	0.00	1694.5	1732.9	1656.1	2789.4	3348.6	28.89	4.12	731	5021.97	47.28	0.00	2.61	1.132	0.000	0.022	1439.97	1457.25	1422.69	2789.69	2181.69	0	0	0	12.76	30.00	15.94
5205.90	580	327.35	2.03	-60.00	1432.5	1458.4	1406.6	2789.6	2182.1	16.87	7.05	778	5211.02	0.00	0.00	2.56	0.000	0.000	0.075	1432.53	1458.88	1406.19	2789.88	1130.12	0	0	0	30.00	30.00	15.87
5440.55	11303	412.92	2.20	0.00	1428.7	1459.6	1397.8	2789.4	1130.4	5.09	2.62	825	5508.08	62.27	0.39	2.62	1.110	0.064	0.027	1091.72	1087.25	1096.19	2870.06	2280.88	0	0	0	12.71	15.90	15.95
5541	end climb: SURFACE_DEPTH_REACHED
state	5541	begin surface coast
5605	end surface coast: CONTROL_FINISHED_OK
state	5606	begin surface