Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 455 * 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 455 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 SM_CC 430 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 4 N_FILEKB 4 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 COMM_SEQ 7 C_VBD 2890 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 3 LOGGERDEVICE2 -1

T_DIVE 410 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 520 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 2515 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 16 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 70.7705 SEABIRD_T_G 0.0043000001

MAX_BUOY 80 PITCH_MAXERRORS 1 FG_AHR_24V 134.63644 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 0 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 16388 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 6 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.00177828 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.020747701 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 2250 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2250 ALTIM_PULSE 1

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 506 D_PITCH 0 N_FILEKB 4 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 990 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 430

ALTIM_SENSITIVITY 3 FG_AHR_10V 70.7705 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 134.63644 PITCH_ADJ_GAIN 0 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 16 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.00177828 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.020747701 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 410

COMPASS2_DEVICE -1 ID 249 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 6 T_GPS 5

COMPASS_USE 16388 INT_PRESSURE_YINT -3 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2515 KALMAN_USE 2 PRESSURE_SLOPE 0.00021665409 T_MISSION 520

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 2250 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2250 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2890 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 80 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 3

DIVE 455 MISSION 8 ROLL_TIMEOUT 25 XPDR_DEVICE 21

D_ABORT 1010 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 7.0 XPDR_INT -1

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 241122,171853,4751.863,-12512.671,1,1.9,5,15.8 TGT_RADIUS 2500.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 241122,173232,4751.987,-12512.673,3,0.8,29,15.8 MHEAD_RNG_PITCHd_Wd 121.2,2988,-16.4,-8.049,-28.31,2124,0.260

SPEED_LIMITS 0.139,0.149 D_GRID 188

TGT_NAME SHELF 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 4751.930,-12510.270

Post-dive calculations and measurements:

FINISH -0.1,1.024519 FG_AHR_24Vo 134.771

SM_CCo 5428.86,54.83,1.051,0,1136.1,1132.3,1139.9,430.23 FG_AHR_10Vo 70.823

SM_GC 1.25,54.83,19.37,0.15,1.051,0.043,0.090,1136.1,1132.3,1139.9,176.2,2292.9,0,0,0,11.51,15.82,15.87 MEM0 60108,1,0,0

SUPER 19,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4751.64,-12513.98,241122,172406 MEM2 964292,239,78196,65

TCM_TEMP 267.39 DATA_FILE_SIZE 19268,723

XPDR_PINGS 0,13.0,10.5 CAP_FILE_SIZE 185725,0

SC_FREEKB 3704064 SDSIZE 4028416,3879360

HUMID 54.18 SDFILEDIR 2761,1

TEMP 84.26 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.56772 CURRENT 0.213,352.3,1

_24V_AH 14.97,158.594 IMPLIED_C_PITCH 2568,12.59,507,0.0,0.00

_10V_AH 15.00,0.000 GPS 241122,190409,4752.408,-12512.454,0,0.7,22,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 457 1273 8723.68 nil 0 0 0.00

Pitch_motor 41 217 135.17 nil 0 0 0.00

Roll_motor 66 109 108.15 nil 0 0 0.00

Iridium 493 223 1654.17 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 40 15 9.03 nil 0 0 0.00

Core 3810 6 388.64 SciCon 5279 27 2198.57

Fast 55 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2196 2 65.90

Compass 1451 5 108.85

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

19.03 16386 -77.86 -1.18 0.00 1125.2 1129.7 1120.8 178.3 2296.9 0.00 0.00 0 118.75 70.21 0.00 0.00 0.005 0.000 0.000 2893.25 3069.12 2717.38 178.38 2299.06 0 0 0 14.96 30.00 30.00

120.97 18727 -77.86 -1.18 60.00 2893.8 3068.1 2719.5 178.2 2298.5 3.59 -4.00 14 234.43 4.51 17.15 3.05 0.009 0.218 0.080 3210.97 3414.81 3007.12 2228.19 3353.31 0 0 0 15.17 15.46 15.11

335.72 1028 -77.86 -1.18 0.00 3212.4 3413.5 3011.4 2228.0 3353.6 56.55 -17.10 40 354.08 0.00 0.00 2.82 0.000 0.000 0.017 3212.25 3413.44 3011.06 2227.94 2198.00 0 0 0 30.00 30.00 15.77

539.89 516 -77.86 -1.18 -60.00 3212.8 3413.4 3012.2 2228.6 2196.1 79.99 -10.13 78 559.45 0.00 0.00 3.01 0.000 0.000 0.066 3214.91 3415.31 3014.50 2228.19 1143.94 0 0 0 30.00 30.00 15.76

665.63 1028 -77.86 -1.18 0.00 3213.2 3413.6 3012.9 2227.9 1143.8 92.13 -9.43 100 683.99 0.00 0.00 2.76 0.000 0.000 0.024 3214.16 3414.69 3013.62 2227.69 2281.31 0 0 0 30.00 30.00 15.79

874.76 0 -77.86 -1.18 0.00 3213.1 3413.3 3012.9 2227.6 2280.9 108.63 -7.76 128 878.78 0.00 0.00 0.00 0.000 0.000 0.000 3213.00 3414.44 3011.56 2227.94 2280.69 0 0 0 30.00 30.00 30.00

1184.78 516 -77.86 -1.18 -60.00 3213.1 3413.2 3013.0 2227.8 2281.1 133.95 -7.80 159 1204.03 0.00 0.00 3.21 0.000 0.000 0.061 3215.25 3415.12 3015.38 2226.19 1144.00 0 0 0 30.00 30.00 15.75

1360.23 1028 -77.86 -1.18 0.00 3213.8 3413.5 3014.1 2227.8 1143.6 148.15 -8.15 191 1377.48 0.00 0.00 2.76 0.000 0.000 0.024 3215.31 3415.25 3015.38 2227.31 2280.19 0 0 0 30.00 30.00 15.93

1683.29 260 -77.86 -1.18 60.00 3213.5 3413.2 3013.9 2228.3 2280.1 171.44 -6.84 223 1702.15 0.00 0.00 3.12 0.000 0.000 0.079 3212.69 3411.75 3013.62 2227.69 3353.75 0 0 0 30.00 30.00 15.77

1722.58 1028 -77.86 -1.18 0.00 3213.4 3413.2 3013.6 2228.1 3352.8 174.45 -7.63 228 1741.34 0.00 0.00 2.81 0.000 0.000 0.017 3213.66 3413.44 3013.88 2228.19 2190.00 0 0 0 30.00 30.00 15.92

1917 end dive: TARGET_DEPTH_EXCEEDED

state 1918 begin apogee

1922.38 10243 0.00 -0.31 0.00 3213.7 3413.4 3014.0 2228.4 2295.4 188.41 -7.29 247 2020.44 58.81 1.55 0.16 1.273 0.132 0.109 2890.16 3031.50 2748.81 2440.50 2167.75 0 0 0 11.13 15.72 15.59

2025 end apogee: CONTROL_FINISHED_OK

state 2026 begin climb

2028.56 10243 77.86 1.18 0.00 2887.4 3030.6 2744.2 2440.9 2168.1 190.62 0.00 254 2127.18 58.88 2.52 0.00 1.242 0.090 0.000 2570.59 2673.00 2468.19 2805.88 2167.00 0 0 0 11.88 15.71 30.00

2433.56 2373 77.86 1.35 60.00 2565.7 2673.7 2457.8 2806.4 2167.2 174.56 5.18 296 2456.90 0.00 0.24 3.43 0.000 0.075 0.078 2563.94 2672.88 2455.00 2859.31 3352.69 0 0 0 30.00 15.69 15.68

2518.51 1092 77.86 1.43 0.00 2565.2 2673.1 2457.2 2859.4 3352.5 168.99 6.75 309 2536.38 0.00 0.00 2.81 0.000 0.000 0.018 2566.59 2674.75 2458.44 2859.75 2193.12 0 0 0 30.00 30.00 15.70

2842.62 10535 145.52 1.57 60.00 2564.9 2673.6 2456.1 2859.7 2191.9 151.09 4.78 341 2940.74 51.81 0.22 3.36 1.220 0.070 0.080 2296.12 2384.19 2208.06 2910.94 3354.00 0 0 0 11.38 15.84 15.55

2946.96 1028 145.52 1.57 0.00 2293.1 2382.5 2203.6 2911.4 3353.3 144.37 7.87 354 2965.56 0.00 0.00 2.84 0.000 0.000 0.018 2293.44 2383.31 2203.56 2911.19 2199.81 0 0 0 30.00 30.00 15.76

3271.93 16966 145.52 1.60 -60.00 2288.1 2382.8 2193.4 2910.6 2198.2 119.92 7.53 386 3290.63 0.00 0.00 3.01 0.000 0.000 0.070 2288.50 2383.38 2193.62 2911.00 1145.25 0 0 0 30.00 30.00 15.80

3406.83 17414 145.52 1.60 0.00 2286.8 2382.5 2191.2 2911.1 1145.2 109.40 7.63 410 3424.68 0.00 0.00 2.78 0.000 0.000 0.025 2287.03 2382.44 2191.62 2910.94 2280.62 0 0 0 30.00 30.00 15.84

3730.97 16710 145.52 1.73 60.00 2286.2 2382.6 2189.8 2910.8 2280.5 88.64 5.85 460 3750.77 0.00 0.00 3.11 0.000 0.000 0.082 2287.47 2383.75 2191.19 2911.31 3353.38 0 0 0 30.00 30.00 15.72

3767.36 19527 145.52 1.88 0.00 2286.6 2382.7 2190.5 2910.9 3353.9 86.66 5.57 464 3787.82 0.00 0.38 2.80 0.000 0.053 0.018 2286.06 2382.06 2190.06 2986.44 2193.06 0 0 0 30.00 15.78 15.89

3974.29 16966 145.52 2.01 -60.00 2286.2 2382.8 2189.7 2986.8 2191.9 73.91 5.92 502 3993.70 0.00 0.00 3.00 0.000 0.000 0.068 2286.00 2383.06 2188.94 2986.69 1145.38 0 0 0 30.00 30.00 15.81

4105.32 11303 233.10 2.18 0.00 2285.7 2382.8 2188.6 2986.7 1145.4 68.47 3.81 525 4217.20 66.36 0.08 2.74 1.148 0.125 0.024 1939.41 2006.19 1872.62 3019.62 2282.25 0 0 0 11.36 15.70 15.91

4403.59 19015 233.10 2.34 -60.00 1930.6 2006.0 1855.2 3018.9 2282.3 50.47 5.50 576 4423.83 0.00 0.00 3.29 0.000 0.000 0.064 1930.91 2006.69 1855.12 3018.69 1145.81 0 0 0 30.00 30.00 15.69

4465.44 19527 233.10 2.49 0.00 1929.0 2005.8 1852.2 3019.6 1145.6 47.02 5.40 585 4483.65 0.00 0.00 2.79 0.000 0.000 0.024 1929.47 2006.31 1852.62 3019.19 2279.62 0 0 0 30.00 30.00 15.81

4669.92 10535 356.97 2.74 60.00 1927.7 2006.0 1849.4 3019.8 2279.9 41.58 2.06 623 4817.56 92.32 0.00 3.16 1.105 0.000 0.083 1435.59 1474.00 1397.19 3019.06 3351.44 0 0 0 11.49 30.00 15.48

5048.77 19463 356.97 2.74 0.00 1425.8 1472.8 1378.8 3020.1 3351.9 14.39 10.67 688 5068.00 0.00 0.00 2.83 0.000 0.000 0.019 1427.06 1473.88 1380.25 3019.88 2203.62 0 0 0 30.00 30.00 15.66

5178 end climb: SURFACE_DEPTH_REACHED

state 5179 begin surface coast

5240 end surface coast: CONTROL_FINISHED_OK

state 5240 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	455	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	SM_CC	430	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	4	N_FILEKB	4	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	COMM_SEQ	7	C_VBD	2890	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	3	LOGGERDEVICE2	-1
T_DIVE	410	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	520	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	2515	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	16	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	70.7705	SEABIRD_T_G	0.0043000001
MAX_BUOY	80	PITCH_MAXERRORS	1	FG_AHR_24V	134.63644	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	0	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	16388	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	6	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.00177828	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.020747701	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	2250	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2250	ALTIM_PULSE	1

GPS1	241122,171853,4751.863,-12512.671,1,1.9,5,15.8	TGT_RADIUS	2500.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	241122,173232,4751.987,-12512.673,3,0.8,29,15.8	MHEAD_RNG_PITCHd_Wd	121.2,2988,-16.4,-8.049,-28.31,2124,0.260
SPEED_LIMITS	0.139,0.149	D_GRID	188
TGT_NAME	SHELF	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	4751.930,-12510.270

FINISH	-0.1,1.024519	FG_AHR_24Vo	134.771
SM_CCo	5428.86,54.83,1.051,0,1136.1,1132.3,1139.9,430.23	FG_AHR_10Vo	70.823
SM_GC	1.25,54.83,19.37,0.15,1.051,0.043,0.090,1136.1,1132.3,1139.9,176.2,2292.9,0,0,0,11.51,15.82,15.87	MEM0	60108,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4751.64,-12513.98,241122,172406	MEM2	964292,239,78196,65
TCM_TEMP	267.39	DATA_FILE_SIZE	19268,723
XPDR_PINGS	0,13.0,10.5	CAP_FILE_SIZE	185725,0
SC_FREEKB	3704064	SDSIZE	4028416,3879360
HUMID	54.18	SDFILEDIR	2761,1
TEMP	84.26	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.56772	CURRENT	0.213,352.3,1
_24V_AH	14.97,158.594	IMPLIED_C_PITCH	2568,12.59,507,0.0,0.00
_10V_AH	15.00,0.000	GPS	241122,190409,4752.408,-12512.454,0,0.7,22,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	457	1273	8723.68	nil	0	0	0.00
Pitch_motor	41	217	135.17	nil	0	0	0.00
Roll_motor	66	109	108.15	nil	0	0	0.00
Iridium	493	223	1654.17	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	40	15	9.03	nil	0	0	0.00
Core	3810	6	388.64	SciCon	5279	27	2198.57
Fast	55	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2196	2	65.90
Compass	1451	5	108.85
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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
19.03	16386	-77.86	-1.18	0.00	1125.2	1129.7	1120.8	178.3	2296.9	0.00	0.00	0	118.75	70.21	0.00	0.00	0.005	0.000	0.000	2893.25	3069.12	2717.38	178.38	2299.06	0	0	0	14.96	30.00	30.00
120.97	18727	-77.86	-1.18	60.00	2893.8	3068.1	2719.5	178.2	2298.5	3.59	-4.00	14	234.43	4.51	17.15	3.05	0.009	0.218	0.080	3210.97	3414.81	3007.12	2228.19	3353.31	0	0	0	15.17	15.46	15.11
335.72	1028	-77.86	-1.18	0.00	3212.4	3413.5	3011.4	2228.0	3353.6	56.55	-17.10	40	354.08	0.00	0.00	2.82	0.000	0.000	0.017	3212.25	3413.44	3011.06	2227.94	2198.00	0	0	0	30.00	30.00	15.77
539.89	516	-77.86	-1.18	-60.00	3212.8	3413.4	3012.2	2228.6	2196.1	79.99	-10.13	78	559.45	0.00	0.00	3.01	0.000	0.000	0.066	3214.91	3415.31	3014.50	2228.19	1143.94	0	0	0	30.00	30.00	15.76
665.63	1028	-77.86	-1.18	0.00	3213.2	3413.6	3012.9	2227.9	1143.8	92.13	-9.43	100	683.99	0.00	0.00	2.76	0.000	0.000	0.024	3214.16	3414.69	3013.62	2227.69	2281.31	0	0	0	30.00	30.00	15.79
874.76	0	-77.86	-1.18	0.00	3213.1	3413.3	3012.9	2227.6	2280.9	108.63	-7.76	128	878.78	0.00	0.00	0.00	0.000	0.000	0.000	3213.00	3414.44	3011.56	2227.94	2280.69	0	0	0	30.00	30.00	30.00
1184.78	516	-77.86	-1.18	-60.00	3213.1	3413.2	3013.0	2227.8	2281.1	133.95	-7.80	159	1204.03	0.00	0.00	3.21	0.000	0.000	0.061	3215.25	3415.12	3015.38	2226.19	1144.00	0	0	0	30.00	30.00	15.75
1360.23	1028	-77.86	-1.18	0.00	3213.8	3413.5	3014.1	2227.8	1143.6	148.15	-8.15	191	1377.48	0.00	0.00	2.76	0.000	0.000	0.024	3215.31	3415.25	3015.38	2227.31	2280.19	0	0	0	30.00	30.00	15.93
1683.29	260	-77.86	-1.18	60.00	3213.5	3413.2	3013.9	2228.3	2280.1	171.44	-6.84	223	1702.15	0.00	0.00	3.12	0.000	0.000	0.079	3212.69	3411.75	3013.62	2227.69	3353.75	0	0	0	30.00	30.00	15.77
1722.58	1028	-77.86	-1.18	0.00	3213.4	3413.2	3013.6	2228.1	3352.8	174.45	-7.63	228	1741.34	0.00	0.00	2.81	0.000	0.000	0.017	3213.66	3413.44	3013.88	2228.19	2190.00	0	0	0	30.00	30.00	15.92
1917	end dive: TARGET_DEPTH_EXCEEDED
state	1918	begin apogee
1922.38	10243	0.00	-0.31	0.00	3213.7	3413.4	3014.0	2228.4	2295.4	188.41	-7.29	247	2020.44	58.81	1.55	0.16	1.273	0.132	0.109	2890.16	3031.50	2748.81	2440.50	2167.75	0	0	0	11.13	15.72	15.59
2025	end apogee: CONTROL_FINISHED_OK
state	2026	begin climb
2028.56	10243	77.86	1.18	0.00	2887.4	3030.6	2744.2	2440.9	2168.1	190.62	0.00	254	2127.18	58.88	2.52	0.00	1.242	0.090	0.000	2570.59	2673.00	2468.19	2805.88	2167.00	0	0	0	11.88	15.71	30.00
2433.56	2373	77.86	1.35	60.00	2565.7	2673.7	2457.8	2806.4	2167.2	174.56	5.18	296	2456.90	0.00	0.24	3.43	0.000	0.075	0.078	2563.94	2672.88	2455.00	2859.31	3352.69	0	0	0	30.00	15.69	15.68
2518.51	1092	77.86	1.43	0.00	2565.2	2673.1	2457.2	2859.4	3352.5	168.99	6.75	309	2536.38	0.00	0.00	2.81	0.000	0.000	0.018	2566.59	2674.75	2458.44	2859.75	2193.12	0	0	0	30.00	30.00	15.70
2842.62	10535	145.52	1.57	60.00	2564.9	2673.6	2456.1	2859.7	2191.9	151.09	4.78	341	2940.74	51.81	0.22	3.36	1.220	0.070	0.080	2296.12	2384.19	2208.06	2910.94	3354.00	0	0	0	11.38	15.84	15.55
2946.96	1028	145.52	1.57	0.00	2293.1	2382.5	2203.6	2911.4	3353.3	144.37	7.87	354	2965.56	0.00	0.00	2.84	0.000	0.000	0.018	2293.44	2383.31	2203.56	2911.19	2199.81	0	0	0	30.00	30.00	15.76
3271.93	16966	145.52	1.60	-60.00	2288.1	2382.8	2193.4	2910.6	2198.2	119.92	7.53	386	3290.63	0.00	0.00	3.01	0.000	0.000	0.070	2288.50	2383.38	2193.62	2911.00	1145.25	0	0	0	30.00	30.00	15.80
3406.83	17414	145.52	1.60	0.00	2286.8	2382.5	2191.2	2911.1	1145.2	109.40	7.63	410	3424.68	0.00	0.00	2.78	0.000	0.000	0.025	2287.03	2382.44	2191.62	2910.94	2280.62	0	0	0	30.00	30.00	15.84
3730.97	16710	145.52	1.73	60.00	2286.2	2382.6	2189.8	2910.8	2280.5	88.64	5.85	460	3750.77	0.00	0.00	3.11	0.000	0.000	0.082	2287.47	2383.75	2191.19	2911.31	3353.38	0	0	0	30.00	30.00	15.72
3767.36	19527	145.52	1.88	0.00	2286.6	2382.7	2190.5	2910.9	3353.9	86.66	5.57	464	3787.82	0.00	0.38	2.80	0.000	0.053	0.018	2286.06	2382.06	2190.06	2986.44	2193.06	0	0	0	30.00	15.78	15.89
3974.29	16966	145.52	2.01	-60.00	2286.2	2382.8	2189.7	2986.8	2191.9	73.91	5.92	502	3993.70	0.00	0.00	3.00	0.000	0.000	0.068	2286.00	2383.06	2188.94	2986.69	1145.38	0	0	0	30.00	30.00	15.81
4105.32	11303	233.10	2.18	0.00	2285.7	2382.8	2188.6	2986.7	1145.4	68.47	3.81	525	4217.20	66.36	0.08	2.74	1.148	0.125	0.024	1939.41	2006.19	1872.62	3019.62	2282.25	0	0	0	11.36	15.70	15.91
4403.59	19015	233.10	2.34	-60.00	1930.6	2006.0	1855.2	3018.9	2282.3	50.47	5.50	576	4423.83	0.00	0.00	3.29	0.000	0.000	0.064	1930.91	2006.69	1855.12	3018.69	1145.81	0	0	0	30.00	30.00	15.69
4465.44	19527	233.10	2.49	0.00	1929.0	2005.8	1852.2	3019.6	1145.6	47.02	5.40	585	4483.65	0.00	0.00	2.79	0.000	0.000	0.024	1929.47	2006.31	1852.62	3019.19	2279.62	0	0	0	30.00	30.00	15.81
4669.92	10535	356.97	2.74	60.00	1927.7	2006.0	1849.4	3019.8	2279.9	41.58	2.06	623	4817.56	92.32	0.00	3.16	1.105	0.000	0.083	1435.59	1474.00	1397.19	3019.06	3351.44	0	0	0	11.49	30.00	15.48
5048.77	19463	356.97	2.74	0.00	1425.8	1472.8	1378.8	3020.1	3351.9	14.39	10.67	688	5068.00	0.00	0.00	2.83	0.000	0.000	0.019	1427.06	1473.88	1380.25	3019.88	2203.62	0	0	0	30.00	30.00	15.66
5178	end climb: SURFACE_DEPTH_REACHED
state	5179	begin surface coast
5240	end surface coast: CONTROL_FINISHED_OK
state	5240	begin surface