Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 8 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054949999 XPDR_VALID 6

DIVE 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 4 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 450 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 4 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 270 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 500 COMM_SEQ 7 C_VBD 2968 DEEPGLIDERMB 0

D_NO_BLEED 200 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0020000001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 20000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 90 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 120 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_EPIRB 0 PITCH_MIN 200 AH0_24V 506 NAV_DEVICE -1

USE_BATHY -1 PITCH_MAX 3000 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2600 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 14.686597 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 8.3310528 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 12.932866 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_YINT -179.54233 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

MASS 72955 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 2 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.0039810701 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 60 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2400 ALTIM_PULSE 1

AH0_10V 0 D_OFFGRID 1000 N_DIVES 4 SEABIRD_C_I -0.0020000001

AH0_24V 506 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 4 N_NOCOMM 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 270 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 1 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 450

ALTIM_SENSITIVITY 3 FG_AHR_10V 8.3310528 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 12.932866 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 14.686597 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.0039810701 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3000 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 20000 HD_C 5.7000002e-06 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 200 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0020000001 T_DIVE 90

COMPASS2_DEVICE -1 ID 249 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 2 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -3 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2600 KALMAN_USE 2 PRESSURE_SLOPE 0.00021665409 T_MISSION 120

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -179.54233 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2200 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2968 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72955 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054949999 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 60 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 120 ROLL_MAX 3825 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 0

DIVE 4 MISSION 8 ROLL_TIMEOUT 25 XPDR_DEVICE 21

D_ABORT 500 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 7.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10

D_NO_BLEED 200 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 120722,211700,4723.629,-12526.046,89,0.8,89,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120722,212212,4723.585,-12526.010,2,0.7,4,15.8 MHEAD_RNG_PITCHd_Wd 237.7,126496,-20.4,-10.000,-22.92,1795,0.234

SPEED_LIMITS 0.173,0.237 D_GRID 1000

TGT_NAME OFFSHORE IRON 1.000000,0.044580,0.034000,-0.033773,1.037950,-0.052709,-0.054190,-0.002890,1.086935,445.672791,-166.618210,-48.209198

TGT_LATLONG 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH 2.1,1.022798 FG_AHR_10Vo 8.381

SM_CCo 5867.93,0.00,0.000,0,909.3,929.3,889.4,504.99 MEM0 60108,1,0,0

SM_GC 1.24,0.00,17.93,3.15,0.000,0.056,0.041,909.3,929.3,889.4,178.1,2160.6,0,0,0,30.00,15.78,15.80 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 968956,21,78052,57

IRIDIUM_FIX 4724.81,-12523.76,120722,193441 DATA_FILE_SIZE 19290,730

TCM_TEMP 268.95 CAP_FILE_SIZE 176306,0

XPDR_PINGS 12,13.0,10.5 SDSIZE 4028416,4017120

SC_FREEKB 3877280 SDFILEDIR 55,1

HUMID 57.44 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 84.09 CURRENT 0.068,162.7,1

INTERNAL_PRESSURE 8.59054 MAGCAL 1.000000,-0.009701,-0.195508,-0.051651,1.080468,-0.192229,0.067554,-0.015989,1.036983,720.0,-43.8,40.5,22,0.0433,0

_24V_AH 15.15,2.456 IMPLIED_C_PITCH 2551,12.97,499,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2974,37.592987,379,0

FG_AHR_24Vo 13.120 GPS 120722,230051,4723.285,-12526.901,1,1.8,6,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 538 1540 12578.52 nil 0 0 0.00

Pitch_motor 40 217 133.43 nil 0 0 0.00

Roll_motor 51 191 149.80 nil 0 0 0.00

Iridium 207 232 729.38 nil 0 0 0.00

Transponder_ping 3 420 19.09 nil 0 0 0.00

GPS 16 15 3.73 nil 0 0 0.00

Core 3554 6 362.54 SciCon 5705 24 2054.23

Fast 5 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2512 2 75.37

Compass 1476 5 110.77

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

10 end surface: CONTROL_FINISHED_OK

state 11 begin dive

18.56 16386 -116.79 -1.62 0.00 1135.0 1171.7 1098.2 173.6 2235.6 0.00 0.00 0 82.88 44.71 0.00 0.00 0.005 0.000 0.000 2258.56 2405.62 2111.50 173.62 2235.31 0 0 0 15.08 30.00 30.00

85.08 18727 -116.79 -1.62 60.00 2259.4 2403.9 2114.9 173.4 2235.2 3.27 -4.92 9 204.90 19.89 15.29 2.78 0.006 0.218 0.097 3446.31 3646.06 3246.56 2206.00 3306.94 0 0 0 15.78 15.79 15.70

236.68 1156 -116.79 -1.54 0.00 3447.4 3645.0 3249.8 2206.0 3306.1 40.33 -19.21 23 253.61 0.00 0.00 2.69 0.000 0.000 0.042 3447.31 3644.94 3249.69 2205.81 2161.62 0 0 0 30.00 30.00 15.99

439.34 0 -116.79 -1.54 0.00 3448.9 3645.1 3252.7 2206.1 2159.1 73.47 -14.68 61 445.77 0.00 0.00 0.00 0.000 0.000 0.000 3449.38 3645.50 3253.25 2206.19 2159.06 0 0 0 30.00 30.00 30.00

631.57 516 -116.79 -1.54 -60.00 3449.4 3644.9 3254.0 2206.1 2158.9 97.05 -11.94 99 648.91 0.00 0.00 2.67 0.000 0.000 0.091 3451.44 3646.88 3256.00 2206.19 1092.75 0 0 0 30.00 30.00 16.01

695.36 1028 -116.79 -1.54 0.00 3449.5 3645.2 3253.8 2206.1 1092.9 105.10 -12.54 109 712.38 0.00 0.00 2.76 0.000 0.000 0.042 3451.50 3646.94 3256.06 2205.44 2228.81 0 0 0 30.00 30.00 16.04

1018.94 128 -116.79 -1.61 0.00 3450.2 3644.7 3255.6 2206.5 2229.2 141.95 -10.48 141 1022.94 0.00 0.00 0.00 0.000 0.000 0.000 3449.41 3643.62 3255.19 2205.06 2229.50 0 0 0 30.00 30.00 30.00

1329.49 644 -116.79 -1.69 -60.00 3450.0 3644.4 3255.6 2206.0 2229.5 172.86 -10.78 172 1346.89 0.00 0.00 2.88 0.000 0.000 0.091 3449.19 3642.81 3255.56 2206.00 1092.75 0 0 0 30.00 30.00 16.00

1403.03 1028 -116.79 -1.69 0.00 3450.7 3645.2 3256.1 2206.0 1093.2 181.71 -12.20 184 1420.04 0.00 0.00 2.74 0.000 0.000 0.043 3452.53 3646.56 3258.50 2206.25 2226.56 0 0 0 30.00 30.00 15.98

1726.81 4225 -116.79 -1.78 0.00 3450.3 3644.4 3256.1 2206.0 2226.8 217.89 -10.94 216 1732.08 0.00 0.30 0.00 0.000 0.071 0.000 3451.78 3645.69 3257.88 2150.50 2226.69 0 0 0 30.00 16.05 30.00

2037.88 0 -116.79 -1.78 0.00 3450.2 3644.6 3255.9 2149.5 2227.1 260.18 -14.09 247 2041.87 0.00 0.00 0.00 0.000 0.000 0.000 3450.12 3643.62 3256.62 2149.38 2226.69 0 0 0 30.00 30.00 30.00

2107 end dive: TARGET_DEPTH_EXCEEDED

state 2107 begin apogee

2113.55 10243 0.00 -0.34 0.00 3450.0 3644.3 3255.6 2149.8 2423.2 270.21 -14.20 254 2248.79 84.68 2.61 0.09 1.541 0.142 0.191 2969.06 3071.12 2867.00 2516.81 2358.81 0 0 0 12.08 16.02 15.66

2253 end apogee: CONTROL_FINISHED_OK

state 2254 begin climb

2256.83 10243 116.79 1.62 0.00 2965.2 3068.6 2861.8 2518.3 2359.1 274.66 0.00 263 2397.70 87.32 3.12 0.00 1.503 0.073 0.000 2489.34 2555.44 2423.25 3001.81 2358.94 0 0 0 12.46 15.83 30.00

2704.75 12451 129.08 1.45 0.00 2482.4 2555.5 2409.4 3001.8 2358.9 247.96 9.30 303 2728.82 10.54 0.41 0.00 1.206 0.163 0.000 2441.66 2517.88 2365.44 2945.44 2359.31 0 0 0 12.24 15.83 30.00

3035.90 8614 156.26 1.41 60.00 2438.7 2516.9 2360.5 2945.1 2359.1 219.46 8.44 336 3089.40 22.79 0.00 3.06 1.384 0.000 0.110 2330.28 2408.88 2251.69 2945.25 3502.31 0 0 0 12.23 30.00 15.81

3101.29 5253 156.26 1.27 0.00 2328.1 2407.9 2248.2 2945.3 3502.2 213.10 10.47 342 3119.51 0.00 0.29 2.68 0.000 0.162 0.041 2330.84 2411.19 2250.50 2899.94 2347.44 0 0 0 30.00 15.87 15.94

3425.69 10791 196.13 1.35 -60.00 2324.5 2408.2 2240.7 2899.9 2348.1 185.18 7.72 374 3492.03 31.78 0.19 2.68 1.393 0.080 0.089 2169.53 2249.19 2089.88 2941.56 1292.44 0 0 0 12.33 15.93 15.80

3513.26 1028 196.13 1.35 0.00 2164.0 2246.1 2081.9 2941.9 1292.4 176.87 10.56 386 3530.67 0.00 0.00 2.82 0.000 0.000 0.052 2162.06 2244.50 2079.62 2941.44 2421.25 0 0 0 30.00 30.00 15.92

3836.85 8742 201.22 1.36 -60.00 2160.7 2246.3 2075.1 2942.2 2421.2 142.68 9.71 418 3862.41 5.41 0.00 2.88 0.809 0.000 0.085 2145.25 2233.38 2057.12 2941.56 1292.50 0 0 0 12.32 30.00 15.89

4093.56 1028 201.22 1.36 0.00 2145.8 2233.7 2057.8 2941.6 1292.3 116.12 10.59 466 4110.56 0.00 0.00 2.80 0.000 0.000 0.053 2148.28 2236.31 2060.25 2941.38 2420.62 0 0 0 30.00 30.00 16.01

4416.76 8742 271.63 1.50 -60.00 2144.6 2233.6 2055.6 2941.4 2420.8 92.56 5.97 509 4512.18 54.45 0.00 2.91 1.336 0.000 0.085 1858.44 1940.50 1776.38 2942.00 1292.25 0 0 0 12.23 30.00 15.73

4744.54 11431 299.68 1.64 0.00 1850.4 1939.9 1761.0 2940.8 1292.6 66.70 8.39 567 4799.22 22.11 0.34 2.85 1.225 0.063 0.052 1745.66 1827.31 1664.00 3013.31 2419.31 0 0 0 12.32 15.91 15.90

4985.82 8742 350.31 1.74 -60.00 1740.6 1827.4 1653.8 3013.1 2418.9 48.56 7.10 610 5059.89 39.42 0.00 2.90 1.252 0.000 0.085 1539.16 1607.88 1470.44 3012.75 1293.31 0 0 0 12.37 30.00 15.72

5291.58 11303 406.54 1.85 0.00 1532.9 1608.0 1457.8 3013.1 1293.6 24.47 6.78 665 5372.24 43.01 0.00 2.82 1.232 0.000 0.051 1310.72 1368.25 1253.19 3012.88 2420.50 0 0 0 12.28 30.00 15.91

5559.19 10663 503.98 2.18 60.00 1305.6 1368.6 1242.5 3013.4 2420.0 8.55 4.42 712 5680.89 72.78 0.00 2.92 1.219 0.000 0.111 914.00 936.69 891.31 3013.00 3502.06 0 0 0 12.31 30.00 15.58

5686 end climb: SURFACE_DEPTH_REACHED

state 5687 begin surface coast

5692 end surface coast: CONTROL_FINISHED_OK

state 5692 begin surface

ID	249	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	8	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054949999	XPDR_VALID	6
DIVE	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	4	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	450	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	4	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	270	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	500	COMM_SEQ	7	C_VBD	2968	DEEPGLIDERMB	0
D_NO_BLEED	200	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0020000001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	20000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	90	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	120	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_EPIRB	0	PITCH_MIN	200	AH0_24V	506	NAV_DEVICE	-1
USE_BATHY	-1	PITCH_MAX	3000	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2600	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	14.686597	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	8.3310528	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	12.932866	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-179.54233	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
MASS	72955	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	2	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.0039810701	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	60	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2400	ALTIM_PULSE	1

GPS1	120722,211700,4723.629,-12526.046,89,0.8,89,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120722,212212,4723.585,-12526.010,2,0.7,4,15.8	MHEAD_RNG_PITCHd_Wd	237.7,126496,-20.4,-10.000,-22.92,1795,0.234
SPEED_LIMITS	0.173,0.237	D_GRID	1000
TGT_NAME	OFFSHORE	IRON	1.000000,0.044580,0.034000,-0.033773,1.037950,-0.052709,-0.054190,-0.002890,1.086935,445.672791,-166.618210,-48.209198
TGT_LATLONG	4700.000,-12700.000

FINISH	2.1,1.022798	FG_AHR_10Vo	8.381
SM_CCo	5867.93,0.00,0.000,0,909.3,929.3,889.4,504.99	MEM0	60108,1,0,0
SM_GC	1.24,0.00,17.93,3.15,0.000,0.056,0.041,909.3,929.3,889.4,178.1,2160.6,0,0,0,30.00,15.78,15.80	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	968956,21,78052,57
IRIDIUM_FIX	4724.81,-12523.76,120722,193441	DATA_FILE_SIZE	19290,730
TCM_TEMP	268.95	CAP_FILE_SIZE	176306,0
XPDR_PINGS	12,13.0,10.5	SDSIZE	4028416,4017120
SC_FREEKB	3877280	SDFILEDIR	55,1
HUMID	57.44	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	84.09	CURRENT	0.068,162.7,1
INTERNAL_PRESSURE	8.59054	MAGCAL	1.000000,-0.009701,-0.195508,-0.051651,1.080468,-0.192229,0.067554,-0.015989,1.036983,720.0,-43.8,40.5,22,0.0433,0
_24V_AH	15.15,2.456	IMPLIED_C_PITCH	2551,12.97,499,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2974,37.592987,379,0
FG_AHR_24Vo	13.120	GPS	120722,230051,4723.285,-12526.901,1,1.8,6,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	538	1540	12578.52	nil	0	0	0.00
Pitch_motor	40	217	133.43	nil	0	0	0.00
Roll_motor	51	191	149.80	nil	0	0	0.00
Iridium	207	232	729.38	nil	0	0	0.00
Transponder_ping	3	420	19.09	nil	0	0	0.00
GPS	16	15	3.73	nil	0	0	0.00
Core	3554	6	362.54	SciCon	5705	24	2054.23
Fast	5	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2512	2	75.37
Compass	1476	5	110.77
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
10	end surface: CONTROL_FINISHED_OK
state	11	begin dive
18.56	16386	-116.79	-1.62	0.00	1135.0	1171.7	1098.2	173.6	2235.6	0.00	0.00	0	82.88	44.71	0.00	0.00	0.005	0.000	0.000	2258.56	2405.62	2111.50	173.62	2235.31	0	0	0	15.08	30.00	30.00
85.08	18727	-116.79	-1.62	60.00	2259.4	2403.9	2114.9	173.4	2235.2	3.27	-4.92	9	204.90	19.89	15.29	2.78	0.006	0.218	0.097	3446.31	3646.06	3246.56	2206.00	3306.94	0	0	0	15.78	15.79	15.70
236.68	1156	-116.79	-1.54	0.00	3447.4	3645.0	3249.8	2206.0	3306.1	40.33	-19.21	23	253.61	0.00	0.00	2.69	0.000	0.000	0.042	3447.31	3644.94	3249.69	2205.81	2161.62	0	0	0	30.00	30.00	15.99
439.34	0	-116.79	-1.54	0.00	3448.9	3645.1	3252.7	2206.1	2159.1	73.47	-14.68	61	445.77	0.00	0.00	0.00	0.000	0.000	0.000	3449.38	3645.50	3253.25	2206.19	2159.06	0	0	0	30.00	30.00	30.00
631.57	516	-116.79	-1.54	-60.00	3449.4	3644.9	3254.0	2206.1	2158.9	97.05	-11.94	99	648.91	0.00	0.00	2.67	0.000	0.000	0.091	3451.44	3646.88	3256.00	2206.19	1092.75	0	0	0	30.00	30.00	16.01
695.36	1028	-116.79	-1.54	0.00	3449.5	3645.2	3253.8	2206.1	1092.9	105.10	-12.54	109	712.38	0.00	0.00	2.76	0.000	0.000	0.042	3451.50	3646.94	3256.06	2205.44	2228.81	0	0	0	30.00	30.00	16.04
1018.94	128	-116.79	-1.61	0.00	3450.2	3644.7	3255.6	2206.5	2229.2	141.95	-10.48	141	1022.94	0.00	0.00	0.00	0.000	0.000	0.000	3449.41	3643.62	3255.19	2205.06	2229.50	0	0	0	30.00	30.00	30.00
1329.49	644	-116.79	-1.69	-60.00	3450.0	3644.4	3255.6	2206.0	2229.5	172.86	-10.78	172	1346.89	0.00	0.00	2.88	0.000	0.000	0.091	3449.19	3642.81	3255.56	2206.00	1092.75	0	0	0	30.00	30.00	16.00
1403.03	1028	-116.79	-1.69	0.00	3450.7	3645.2	3256.1	2206.0	1093.2	181.71	-12.20	184	1420.04	0.00	0.00	2.74	0.000	0.000	0.043	3452.53	3646.56	3258.50	2206.25	2226.56	0	0	0	30.00	30.00	15.98
1726.81	4225	-116.79	-1.78	0.00	3450.3	3644.4	3256.1	2206.0	2226.8	217.89	-10.94	216	1732.08	0.00	0.30	0.00	0.000	0.071	0.000	3451.78	3645.69	3257.88	2150.50	2226.69	0	0	0	30.00	16.05	30.00
2037.88	0	-116.79	-1.78	0.00	3450.2	3644.6	3255.9	2149.5	2227.1	260.18	-14.09	247	2041.87	0.00	0.00	0.00	0.000	0.000	0.000	3450.12	3643.62	3256.62	2149.38	2226.69	0	0	0	30.00	30.00	30.00
2107	end dive: TARGET_DEPTH_EXCEEDED
state	2107	begin apogee
2113.55	10243	0.00	-0.34	0.00	3450.0	3644.3	3255.6	2149.8	2423.2	270.21	-14.20	254	2248.79	84.68	2.61	0.09	1.541	0.142	0.191	2969.06	3071.12	2867.00	2516.81	2358.81	0	0	0	12.08	16.02	15.66
2253	end apogee: CONTROL_FINISHED_OK
state	2254	begin climb
2256.83	10243	116.79	1.62	0.00	2965.2	3068.6	2861.8	2518.3	2359.1	274.66	0.00	263	2397.70	87.32	3.12	0.00	1.503	0.073	0.000	2489.34	2555.44	2423.25	3001.81	2358.94	0	0	0	12.46	15.83	30.00
2704.75	12451	129.08	1.45	0.00	2482.4	2555.5	2409.4	3001.8	2358.9	247.96	9.30	303	2728.82	10.54	0.41	0.00	1.206	0.163	0.000	2441.66	2517.88	2365.44	2945.44	2359.31	0	0	0	12.24	15.83	30.00
3035.90	8614	156.26	1.41	60.00	2438.7	2516.9	2360.5	2945.1	2359.1	219.46	8.44	336	3089.40	22.79	0.00	3.06	1.384	0.000	0.110	2330.28	2408.88	2251.69	2945.25	3502.31	0	0	0	12.23	30.00	15.81
3101.29	5253	156.26	1.27	0.00	2328.1	2407.9	2248.2	2945.3	3502.2	213.10	10.47	342	3119.51	0.00	0.29	2.68	0.000	0.162	0.041	2330.84	2411.19	2250.50	2899.94	2347.44	0	0	0	30.00	15.87	15.94
3425.69	10791	196.13	1.35	-60.00	2324.5	2408.2	2240.7	2899.9	2348.1	185.18	7.72	374	3492.03	31.78	0.19	2.68	1.393	0.080	0.089	2169.53	2249.19	2089.88	2941.56	1292.44	0	0	0	12.33	15.93	15.80
3513.26	1028	196.13	1.35	0.00	2164.0	2246.1	2081.9	2941.9	1292.4	176.87	10.56	386	3530.67	0.00	0.00	2.82	0.000	0.000	0.052	2162.06	2244.50	2079.62	2941.44	2421.25	0	0	0	30.00	30.00	15.92
3836.85	8742	201.22	1.36	-60.00	2160.7	2246.3	2075.1	2942.2	2421.2	142.68	9.71	418	3862.41	5.41	0.00	2.88	0.809	0.000	0.085	2145.25	2233.38	2057.12	2941.56	1292.50	0	0	0	12.32	30.00	15.89
4093.56	1028	201.22	1.36	0.00	2145.8	2233.7	2057.8	2941.6	1292.3	116.12	10.59	466	4110.56	0.00	0.00	2.80	0.000	0.000	0.053	2148.28	2236.31	2060.25	2941.38	2420.62	0	0	0	30.00	30.00	16.01
4416.76	8742	271.63	1.50	-60.00	2144.6	2233.6	2055.6	2941.4	2420.8	92.56	5.97	509	4512.18	54.45	0.00	2.91	1.336	0.000	0.085	1858.44	1940.50	1776.38	2942.00	1292.25	0	0	0	12.23	30.00	15.73
4744.54	11431	299.68	1.64	0.00	1850.4	1939.9	1761.0	2940.8	1292.6	66.70	8.39	567	4799.22	22.11	0.34	2.85	1.225	0.063	0.052	1745.66	1827.31	1664.00	3013.31	2419.31	0	0	0	12.32	15.91	15.90
4985.82	8742	350.31	1.74	-60.00	1740.6	1827.4	1653.8	3013.1	2418.9	48.56	7.10	610	5059.89	39.42	0.00	2.90	1.252	0.000	0.085	1539.16	1607.88	1470.44	3012.75	1293.31	0	0	0	12.37	30.00	15.72
5291.58	11303	406.54	1.85	0.00	1532.9	1608.0	1457.8	3013.1	1293.6	24.47	6.78	665	5372.24	43.01	0.00	2.82	1.232	0.000	0.051	1310.72	1368.25	1253.19	3012.88	2420.50	0	0	0	12.28	30.00	15.91
5559.19	10663	503.98	2.18	60.00	1305.6	1368.6	1242.5	3013.4	2420.0	8.55	4.42	712	5680.89	72.78	0.00	2.92	1.219	0.000	0.111	914.00	936.69	891.31	3013.00	3502.06	0	0	0	12.31	30.00	15.58
5686	end climb: SURFACE_DEPTH_REACHED
state	5687	begin surface coast
5692	end surface coast: CONTROL_FINISHED_OK
state	5692	begin surface