Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 283 * 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 283 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 38.096245 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 80.89325 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 38.096245 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 80.89325 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 283 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 030721,061739,4751.060,-12511.915,116,1.5,117,16.0 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030721,062326,4751.031,-12511.889,6,1.5,9,16.0 MHEAD_RNG_PITCHd_Wd 19.0,2611,-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 0.1,1.023349 FG_AHR_10Vo 38.130

SM_CCo 5441.85,17.70,1.040,0,1042.6,1012.6,1072.7,424.95 MEM0 60876,1,0,0

SM_GC 3.66,17.70,16.18,0.12,1.040,0.048,0.122,1042.6,1012.6,1072.7,183.1,2372.8,0,0,0,12.72,15.83,15.84 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971652,22,75376,55

IRIDIUM_FIX 4751.64,-12513.98,030721,043747 DATA_FILE_SIZE 25721,862

TCM_TEMP 267.26 CAP_FILE_SIZE 172917,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3948416

SC_FREEKB 3751904 SDFILEDIR 1451,1

HUMID 49.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.30 CURRENT 0.078,174.9,1

INTERNAL_PRESSURE 8.8697 MAGCAL 1.000000,-0.010554,0.075564,-0.028357,1.009450,-0.034677,-0.043684,-0.097112,0.994566,585.1,-329.9,99.5,31,0.0294,0

_24V_AH 15.02,90.804 IMPLIED_C_PITCH 2362,13.69,540

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2933,34.630474,244

FG_AHR_24Vo 81.028 GPS 030721,075635,4751.230,-12511.492,117,1.2,118,16.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 437 1341 8814.74 nil 0 0 0.00

Pitch_motor 34 250 131.15 nil 0 0 0.00

Roll_motor 64 121 117.99 nil 0 0 0.00

Iridium 193 208 605.73 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 17 15 4.02 nil 0 0 0.00

Core 2607 11 461.50 SciCon 5423 15 1246.94

LPSleep 3081 2 129.40 nil 0 0 0.00

Compass 1297 5 97.30 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.52 16386 -82.73 -1.37 0.00 1037.8 1019.4 1056.3 181.9 2263.6 0.00 0.00 0 50.70 43.38 0.00 0.00 0.005 0.000 0.000 2130.94 2268.94 1992.94 181.56 2264.12 0 0 0 15.78 30.00 30.00

51.81 18983 -82.73 -1.37 -60.00 2129.8 2267.1 1992.5 181.9 2264.2 3.14 -3.52 8 100.07 24.55 13.62 2.53 0.006 0.250 0.069 3112.97 3308.75 2917.19 1988.69 1209.00 0 0 0 15.79 15.81 15.75

293.08 1028 -82.73 -1.37 0.00 3113.1 3308.2 2917.9 1988.3 1208.9 44.13 -15.03 56 298.62 0.00 0.00 2.63 0.000 0.000 0.029 3113.31 3308.06 2918.56 1988.56 2354.06 0 0 0 30.00 30.00 15.97

483.51 0 -82.73 -1.37 0.00 3113.0 3307.2 2918.8 1989.2 2354.3 70.95 -12.43 94 487.10 0.00 0.00 0.00 0.000 0.000 0.000 3113.47 3308.69 2918.25 1988.69 2354.12 0 0 0 30.00 30.00 30.00

668.85 516 -82.73 -1.37 -60.00 3113.4 3307.8 2919.0 1988.6 2354.2 92.34 -12.04 131 673.79 0.00 0.00 2.72 0.000 0.000 0.059 3113.41 3307.81 2919.00 1988.44 1207.94 0 0 0 30.00 30.00 16.02

902.85 1028 -82.73 -1.37 0.00 3113.7 3307.5 2919.9 1988.6 1207.7 119.45 -11.99 178 908.86 0.00 0.00 2.61 0.000 0.000 0.028 3114.50 3308.00 2921.00 1988.81 2354.75 0 0 0 30.00 30.00 16.04

1218.38 516 -82.73 -1.37 -60.00 3114.2 3307.7 2920.8 1988.8 2354.9 146.56 -6.74 210 1223.47 0.00 0.00 2.72 0.000 0.000 0.059 3114.91 3308.25 2921.56 1988.31 1208.81 0 0 0 30.00 30.00 16.07

1452.98 1028 -82.73 -1.37 0.00 3114.3 3307.4 2921.2 1988.7 1208.6 164.29 -7.74 257 1458.99 0.00 0.00 2.61 0.000 0.000 0.028 3114.91 3308.31 2921.50 1988.19 2355.69 0 0 0 30.00 30.00 16.10

1768.51 516 -82.73 -1.37 -60.00 3114.2 3308.1 2920.4 1988.6 2355.8 193.07 -9.40 289 1773.60 0.00 0.00 2.73 0.000 0.000 0.060 3115.19 3309.12 2921.25 1988.06 1207.62 0 0 0 30.00 30.00 16.10

1838.52 1028 -82.73 -1.37 0.00 3114.2 3307.9 2920.4 1988.6 1207.9 200.14 -10.08 303 1843.62 0.00 0.00 2.61 0.000 0.000 0.029 3116.19 3309.25 2923.12 1987.69 2354.62 0 0 0 30.00 30.00 16.11

2038 end dive: TARGET_DEPTH_EXCEEDED

state 2038 begin apogee

2040.39 10243 0.00 -0.28 0.00 3114.5 3307.7 2921.3 1988.6 2150.4 220.55 -9.88 324 2101.83 56.78 1.76 0.23 1.341 0.145 0.100 2772.53 2902.75 2642.31 2254.31 2287.62 0 0 0 12.76 16.05 15.82

2103 end apogee: CONTROL_FINISHED_OK

state 2104 begin climb

2104.03 10243 82.73 1.37 0.00 2773.5 2903.1 2643.9 2254.2 2287.4 222.96 0.00 330 2167.11 57.81 2.59 0.00 1.297 0.099 0.000 2434.94 2518.12 2351.75 2656.00 2288.06 0 0 0 12.86 15.86 30.00

2470.27 8742 129.10 1.46 -60.00 2432.7 2519.8 2345.6 2656.3 2287.6 204.79 5.30 367 2508.39 33.70 0.00 2.84 1.260 0.000 0.071 2248.19 2315.81 2180.56 2655.50 1131.06 0 0 0 12.74 30.00 15.73

2576.97 1092 129.10 1.49 0.00 2244.7 2315.1 2174.2 2656.4 1131.6 197.78 7.13 388 2581.49 0.00 0.00 2.65 0.000 0.000 0.027 2244.97 2315.88 2174.06 2656.12 2276.75 0 0 0 30.00 30.00 15.84

2886.86 2373 129.10 1.51 60.00 2243.4 2315.4 2171.4 2656.1 2276.9 175.45 7.29 420 2891.60 0.00 0.17 2.64 0.000 0.088 0.083 2243.19 2315.50 2170.88 2701.75 3347.50 0 0 0 30.00 15.93 15.93

2956.48 1028 129.10 1.51 0.00 2243.2 2315.4 2171.1 2701.8 3347.4 168.80 9.81 434 2961.55 0.00 0.00 2.60 0.000 0.000 0.022 2244.75 2316.44 2173.06 2701.62 2184.62 0 0 0 30.00 30.00 15.94

3266.55 516 129.10 1.51 -60.00 2242.2 2315.2 2169.3 2702.2 2185.0 140.80 9.22 466 3271.61 0.00 0.00 2.53 0.000 0.000 0.074 2243.25 2316.06 2170.44 2701.38 1129.50 0 0 0 30.00 30.00 16.00

3286.55 1028 129.10 1.51 0.00 2242.4 2315.8 2169.1 2701.6 1130.2 139.11 8.93 470 3291.64 0.00 0.00 2.62 0.000 0.000 0.027 2243.06 2316.56 2169.56 2701.62 2279.50 0 0 0 30.00 30.00 16.00

3597.26 580 129.10 1.53 -60.00 2241.6 2315.3 2167.8 2702.2 2278.6 113.31 7.66 502 3601.71 0.00 0.00 2.77 0.000 0.000 0.069 2243.19 2316.75 2169.62 2701.69 1129.94 0 0 0 30.00 30.00 16.06

3796.70 9254 168.20 1.60 0.00 2241.4 2315.8 2167.1 2701.9 1130.1 98.78 5.79 542 3832.43 28.31 0.00 2.61 1.198 0.000 0.028 2089.09 2145.31 2032.88 2701.19 2276.56 0 0 0 12.73 30.00 16.05

4016.78 580 168.20 1.63 -60.00 2084.2 2143.6 2024.8 2701.9 2276.2 84.83 7.17 586 4022.32 0.00 0.00 2.78 0.000 0.000 0.069 2084.56 2144.25 2024.88 2702.12 1128.81 0 0 0 30.00 30.00 16.00

4141.87 1092 168.20 1.67 0.00 2083.6 2144.1 2023.1 2702.2 1129.0 75.98 6.47 611 4147.36 0.00 0.00 2.62 0.000 0.000 0.028 2084.97 2145.62 2024.31 2701.31 2276.56 0 0 0 30.00 30.00 15.96

4332.26 10791 224.26 1.78 -60.00 2083.1 2143.9 2022.3 2702.2 2276.6 65.54 4.64 649 4378.65 40.74 0.31 2.79 1.177 0.071 0.072 1859.88 1898.06 1821.69 2766.56 1130.75 0 0 0 12.73 15.98 15.82

4457.04 1028 224.26 1.78 0.00 1855.9 1897.7 1814.1 2766.8 1131.0 56.09 8.80 674 4462.58 0.00 0.00 2.63 0.000 0.000 0.028 1856.25 1898.00 1814.50 2766.38 2275.81 0 0 0 30.00 30.00 15.91

4647.47 8486 271.46 1.88 60.00 1853.7 1897.6 1809.8 2766.8 2276.0 44.29 5.24 712 4688.88 34.81 0.00 2.67 1.140 0.000 0.086 1668.44 1700.19 1636.69 2766.25 3347.12 0 0 0 12.74 30.00 15.78

4757.66 9254 302.37 1.94 0.00 1663.9 1700.1 1627.8 2766.9 3346.4 37.93 6.35 734 4788.47 24.12 0.00 2.60 1.093 0.000 0.022 1541.88 1568.88 1514.88 2767.56 2184.25 0 0 0 12.69 30.00 15.89

4972.55 10791 336.25 2.01 -60.00 1535.3 1569.3 1501.4 2767.6 2185.0 25.09 6.15 777 5003.63 26.02 0.24 2.58 1.085 0.077 0.077 1404.53 1427.38 1381.69 2819.19 1129.88 0 0 0 12.67 15.86 15.77

5232.26 9254 403.06 2.14 0.00 1397.6 1427.8 1367.4 2819.4 1130.2 7.47 3.90 829 5288.75 49.62 0.00 2.64 1.100 0.000 0.027 1131.72 1132.94 1130.50 2819.62 2278.38 0 0 0 12.72 30.00 15.91

5352 end climb: SURFACE_DEPTH_REACHED

state 5352 begin surface coast

5397 end surface coast: CONTROL_FINISHED_OK

state 5397 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	283	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	38.096245	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	80.89325	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	030721,061739,4751.060,-12511.915,116,1.5,117,16.0	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030721,062326,4751.031,-12511.889,6,1.5,9,16.0	MHEAD_RNG_PITCHd_Wd	19.0,2611,-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	0.1,1.023349	FG_AHR_10Vo	38.130
SM_CCo	5441.85,17.70,1.040,0,1042.6,1012.6,1072.7,424.95	MEM0	60876,1,0,0
SM_GC	3.66,17.70,16.18,0.12,1.040,0.048,0.122,1042.6,1012.6,1072.7,183.1,2372.8,0,0,0,12.72,15.83,15.84	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971652,22,75376,55
IRIDIUM_FIX	4751.64,-12513.98,030721,043747	DATA_FILE_SIZE	25721,862
TCM_TEMP	267.26	CAP_FILE_SIZE	172917,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3948416
SC_FREEKB	3751904	SDFILEDIR	1451,1
HUMID	49.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.30	CURRENT	0.078,174.9,1
INTERNAL_PRESSURE	8.8697	MAGCAL	1.000000,-0.010554,0.075564,-0.028357,1.009450,-0.034677,-0.043684,-0.097112,0.994566,585.1,-329.9,99.5,31,0.0294,0
_24V_AH	15.02,90.804	IMPLIED_C_PITCH	2362,13.69,540
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2933,34.630474,244
FG_AHR_24Vo	81.028	GPS	030721,075635,4751.230,-12511.492,117,1.2,118,16.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	437	1341	8814.74	nil	0	0	0.00
Pitch_motor	34	250	131.15	nil	0	0	0.00
Roll_motor	64	121	117.99	nil	0	0	0.00
Iridium	193	208	605.73	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	17	15	4.02	nil	0	0	0.00
Core	2607	11	461.50	SciCon	5423	15	1246.94
LPSleep	3081	2	129.40	nil	0	0	0.00
Compass	1297	5	97.30	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.52	16386	-82.73	-1.37	0.00	1037.8	1019.4	1056.3	181.9	2263.6	0.00	0.00	0	50.70	43.38	0.00	0.00	0.005	0.000	0.000	2130.94	2268.94	1992.94	181.56	2264.12	0	0	0	15.78	30.00	30.00
51.81	18983	-82.73	-1.37	-60.00	2129.8	2267.1	1992.5	181.9	2264.2	3.14	-3.52	8	100.07	24.55	13.62	2.53	0.006	0.250	0.069	3112.97	3308.75	2917.19	1988.69	1209.00	0	0	0	15.79	15.81	15.75
293.08	1028	-82.73	-1.37	0.00	3113.1	3308.2	2917.9	1988.3	1208.9	44.13	-15.03	56	298.62	0.00	0.00	2.63	0.000	0.000	0.029	3113.31	3308.06	2918.56	1988.56	2354.06	0	0	0	30.00	30.00	15.97
483.51	0	-82.73	-1.37	0.00	3113.0	3307.2	2918.8	1989.2	2354.3	70.95	-12.43	94	487.10	0.00	0.00	0.00	0.000	0.000	0.000	3113.47	3308.69	2918.25	1988.69	2354.12	0	0	0	30.00	30.00	30.00
668.85	516	-82.73	-1.37	-60.00	3113.4	3307.8	2919.0	1988.6	2354.2	92.34	-12.04	131	673.79	0.00	0.00	2.72	0.000	0.000	0.059	3113.41	3307.81	2919.00	1988.44	1207.94	0	0	0	30.00	30.00	16.02
902.85	1028	-82.73	-1.37	0.00	3113.7	3307.5	2919.9	1988.6	1207.7	119.45	-11.99	178	908.86	0.00	0.00	2.61	0.000	0.000	0.028	3114.50	3308.00	2921.00	1988.81	2354.75	0	0	0	30.00	30.00	16.04
1218.38	516	-82.73	-1.37	-60.00	3114.2	3307.7	2920.8	1988.8	2354.9	146.56	-6.74	210	1223.47	0.00	0.00	2.72	0.000	0.000	0.059	3114.91	3308.25	2921.56	1988.31	1208.81	0	0	0	30.00	30.00	16.07
1452.98	1028	-82.73	-1.37	0.00	3114.3	3307.4	2921.2	1988.7	1208.6	164.29	-7.74	257	1458.99	0.00	0.00	2.61	0.000	0.000	0.028	3114.91	3308.31	2921.50	1988.19	2355.69	0	0	0	30.00	30.00	16.10
1768.51	516	-82.73	-1.37	-60.00	3114.2	3308.1	2920.4	1988.6	2355.8	193.07	-9.40	289	1773.60	0.00	0.00	2.73	0.000	0.000	0.060	3115.19	3309.12	2921.25	1988.06	1207.62	0	0	0	30.00	30.00	16.10
1838.52	1028	-82.73	-1.37	0.00	3114.2	3307.9	2920.4	1988.6	1207.9	200.14	-10.08	303	1843.62	0.00	0.00	2.61	0.000	0.000	0.029	3116.19	3309.25	2923.12	1987.69	2354.62	0	0	0	30.00	30.00	16.11
2038	end dive: TARGET_DEPTH_EXCEEDED
state	2038	begin apogee
2040.39	10243	0.00	-0.28	0.00	3114.5	3307.7	2921.3	1988.6	2150.4	220.55	-9.88	324	2101.83	56.78	1.76	0.23	1.341	0.145	0.100	2772.53	2902.75	2642.31	2254.31	2287.62	0	0	0	12.76	16.05	15.82
2103	end apogee: CONTROL_FINISHED_OK
state	2104	begin climb
2104.03	10243	82.73	1.37	0.00	2773.5	2903.1	2643.9	2254.2	2287.4	222.96	0.00	330	2167.11	57.81	2.59	0.00	1.297	0.099	0.000	2434.94	2518.12	2351.75	2656.00	2288.06	0	0	0	12.86	15.86	30.00
2470.27	8742	129.10	1.46	-60.00	2432.7	2519.8	2345.6	2656.3	2287.6	204.79	5.30	367	2508.39	33.70	0.00	2.84	1.260	0.000	0.071	2248.19	2315.81	2180.56	2655.50	1131.06	0	0	0	12.74	30.00	15.73
2576.97	1092	129.10	1.49	0.00	2244.7	2315.1	2174.2	2656.4	1131.6	197.78	7.13	388	2581.49	0.00	0.00	2.65	0.000	0.000	0.027	2244.97	2315.88	2174.06	2656.12	2276.75	0	0	0	30.00	30.00	15.84
2886.86	2373	129.10	1.51	60.00	2243.4	2315.4	2171.4	2656.1	2276.9	175.45	7.29	420	2891.60	0.00	0.17	2.64	0.000	0.088	0.083	2243.19	2315.50	2170.88	2701.75	3347.50	0	0	0	30.00	15.93	15.93
2956.48	1028	129.10	1.51	0.00	2243.2	2315.4	2171.1	2701.8	3347.4	168.80	9.81	434	2961.55	0.00	0.00	2.60	0.000	0.000	0.022	2244.75	2316.44	2173.06	2701.62	2184.62	0	0	0	30.00	30.00	15.94
3266.55	516	129.10	1.51	-60.00	2242.2	2315.2	2169.3	2702.2	2185.0	140.80	9.22	466	3271.61	0.00	0.00	2.53	0.000	0.000	0.074	2243.25	2316.06	2170.44	2701.38	1129.50	0	0	0	30.00	30.00	16.00
3286.55	1028	129.10	1.51	0.00	2242.4	2315.8	2169.1	2701.6	1130.2	139.11	8.93	470	3291.64	0.00	0.00	2.62	0.000	0.000	0.027	2243.06	2316.56	2169.56	2701.62	2279.50	0	0	0	30.00	30.00	16.00
3597.26	580	129.10	1.53	-60.00	2241.6	2315.3	2167.8	2702.2	2278.6	113.31	7.66	502	3601.71	0.00	0.00	2.77	0.000	0.000	0.069	2243.19	2316.75	2169.62	2701.69	1129.94	0	0	0	30.00	30.00	16.06
3796.70	9254	168.20	1.60	0.00	2241.4	2315.8	2167.1	2701.9	1130.1	98.78	5.79	542	3832.43	28.31	0.00	2.61	1.198	0.000	0.028	2089.09	2145.31	2032.88	2701.19	2276.56	0	0	0	12.73	30.00	16.05
4016.78	580	168.20	1.63	-60.00	2084.2	2143.6	2024.8	2701.9	2276.2	84.83	7.17	586	4022.32	0.00	0.00	2.78	0.000	0.000	0.069	2084.56	2144.25	2024.88	2702.12	1128.81	0	0	0	30.00	30.00	16.00
4141.87	1092	168.20	1.67	0.00	2083.6	2144.1	2023.1	2702.2	1129.0	75.98	6.47	611	4147.36	0.00	0.00	2.62	0.000	0.000	0.028	2084.97	2145.62	2024.31	2701.31	2276.56	0	0	0	30.00	30.00	15.96
4332.26	10791	224.26	1.78	-60.00	2083.1	2143.9	2022.3	2702.2	2276.6	65.54	4.64	649	4378.65	40.74	0.31	2.79	1.177	0.071	0.072	1859.88	1898.06	1821.69	2766.56	1130.75	0	0	0	12.73	15.98	15.82
4457.04	1028	224.26	1.78	0.00	1855.9	1897.7	1814.1	2766.8	1131.0	56.09	8.80	674	4462.58	0.00	0.00	2.63	0.000	0.000	0.028	1856.25	1898.00	1814.50	2766.38	2275.81	0	0	0	30.00	30.00	15.91
4647.47	8486	271.46	1.88	60.00	1853.7	1897.6	1809.8	2766.8	2276.0	44.29	5.24	712	4688.88	34.81	0.00	2.67	1.140	0.000	0.086	1668.44	1700.19	1636.69	2766.25	3347.12	0	0	0	12.74	30.00	15.78
4757.66	9254	302.37	1.94	0.00	1663.9	1700.1	1627.8	2766.9	3346.4	37.93	6.35	734	4788.47	24.12	0.00	2.60	1.093	0.000	0.022	1541.88	1568.88	1514.88	2767.56	2184.25	0	0	0	12.69	30.00	15.89
4972.55	10791	336.25	2.01	-60.00	1535.3	1569.3	1501.4	2767.6	2185.0	25.09	6.15	777	5003.63	26.02	0.24	2.58	1.085	0.077	0.077	1404.53	1427.38	1381.69	2819.19	1129.88	0	0	0	12.67	15.86	15.77
5232.26	9254	403.06	2.14	0.00	1397.6	1427.8	1367.4	2819.4	1130.2	7.47	3.90	829	5288.75	49.62	0.00	2.64	1.100	0.000	0.027	1131.72	1132.94	1130.50	2819.62	2278.38	0	0	0	12.72	30.00	15.91
5352	end climb: SURFACE_DEPTH_REACHED
state	5352	begin surface coast
5397	end surface coast: CONTROL_FINISHED_OK
state	5397	begin surface