Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 49 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 ESCAPE_HEADING 0 HEAD_ERRBAND 180 ALTIM_SENSITIVITY 2

MISSION 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 49 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

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 0

D_TGT 500 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 FILEMGR 0 C_VBD 2500 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 120

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 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 150 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 180 T_GPS 5 LOITER_D_TOP 150 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 250 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 1 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 180 RAFOS_PEAK_OFFSET 0 AH0_24V 350 GPS_DEVICE 48

T_LOITER 7200 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 0 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 190 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3920 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 990 C_PITCH 2140 FG_AHR_10V 8.7426186 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 19.196804 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 100 PITCH_GAIN 20 PRESSURE_YINT -170.66119 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00022638284 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72660 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 0 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 7.0

KALMAN_USE 2 ROLL_MIN 670 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 7.0

HD_A 0.0039810701 ROLL_MAX 3465 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0094307503 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 700 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 700 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 350 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 500 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 8.7426186 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 19.196804 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3920 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0039810701 PITCH_MIN 190 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 0.003 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 180 PITCH_W_GAIN 2 T_DIVE 150

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 236 PRESSURE_SLOPE 0.00022638284 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -170.66119 T_LOITER 7200

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 PROTOCOL 9 T_MISSION 180

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 180

COMPASS_USE 4 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 1

C_PITCH 2140 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 700 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 700 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2500 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY 0

DEEPGLIDER 0 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 150 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054945 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72660 ROLL_MAX 3465 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 670 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 100 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 49 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1010 MINV_24V 11 SC_PROFILE 7.0 XPDR_DEVICE 21

D_BOOST 2 MISSION 2 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 7.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 0 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 990 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 081020,002831,4707.713,-12645.652,90,0.9,91,15.8 TGT_LATLONG 4751.930,-12510.270

_CALLS 1 TGT_RADIUS 2500.000

_SM_DEPTHo 1.32 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -70.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 081020,003252,4707.707,-12645.688,2,0.6,4,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.230 MHEAD_RNG_PITCHd_Wd 39.6,144093,-23.8,-11.111,-25.81

TGT_NAME SHELF D_GRID 500

Post-dive calculations and measurements:

SM_CCo 8053.00,0.00,0.000,0,767.5,768.0,767.0,424.98 _10V_AH 15.00,0.000

SM_GC 3.04,0.00,16.97,0.04,0.000,0.119,0.239,767.5,768.0,767.0,181.4,734.9,0,0,0,30.00,15.70,15.75 FG_AHR_24Vo 19.363

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 8.786

IRIDIUM_FIX 4706.43,-12643.97,071020,221336 MEM 1104512,26,72936,53

TCM_TEMP 195.07 DATA_FILE_SIZE 35461,948

XPDR_PINGS 2,14.0,11.5 CAP_FILE_SIZE 152355,0

SC_FREEKB 3858592 SDSIZE 3918848,3896128

HUMID 56.63 SDFILEDIR 271,1

TEMP 9.23 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.87077 GPS 081020,024750,4707.551,-12645.511,14,1.2,19,15.8

_24V_AH 15.01,18.766

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 491 1610 11883.95 legato 0 0 0.00

Pitch_motor 36 303 164.22 nil 0 0 0.00

Roll_motor 0 332 1.50 nil 0 0 0.00

Iridium 194 210 613.45 nil 0 0 0.00

Transponder_ping 0 420 3.15 nil 0 0 0.00

GPS 13 15 3.01 nil 0 0 0.00

Core 2966 11 525.03 SciCon 8021 12 1539.91

LPSleep 5292 2 222.28 nil 0 0 0.00

Compass 1673 5 125.52 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.33 16386 -97.32 -1.48 0.00 763.6 763.2 764.0 179.1 689.9 0.00 0.00 0 60.19 53.33 0.00 0.00 0.005 0.000 0.000 2022.00 2016.00 2028.00 178.94 689.62 0 0 0 15.76 30.00 30.00

60.42 18467 -97.32 -1.48 0.00 2021.7 2015.2 2028.2 178.9 689.9 3.03 -4.45 10 100.65 21.47 12.86 0.00 0.006 0.303 0.000 2895.78 2891.62 2899.94 1780.00 689.75 0 0 0 15.77 15.67 30.00

278.37 0 -97.32 -1.48 0.00 2895.7 2893.1 2898.4 1780.9 689.7 63.94 -20.21 54 279.69 0.00 0.00 0.00 0.000 0.000 0.000 2896.53 2894.19 2898.88 1780.50 689.75 0 0 0 30.00 30.00 30.00

458.40 0 -97.32 -1.48 0.00 2896.1 2893.6 2898.6 1781.1 689.6 98.79 -19.55 90 459.73 0.00 0.00 0.00 0.000 0.000 0.000 2896.53 2894.50 2898.56 1780.31 689.75 0 0 0 30.00 30.00 30.00

638.43 0 -97.32 -1.48 0.00 2896.8 2895.2 2898.4 1780.7 689.9 131.07 -16.84 109 639.76 0.00 0.00 0.00 0.000 0.000 0.000 2897.34 2895.62 2899.06 1780.12 689.75 0 0 0 30.00 30.00 30.00

938.48 0 -97.32 -1.48 0.00 2897.7 2897.2 2898.2 1779.9 689.8 173.47 -14.73 139 939.80 0.00 0.00 0.00 0.000 0.000 0.000 2898.34 2897.50 2899.19 1780.50 689.75 0 0 0 30.00 30.00 30.00

1238.50 0 -97.32 -1.48 0.00 2898.2 2898.1 2898.2 1780.9 689.7 221.29 -15.83 169 1239.83 0.00 0.00 0.00 0.000 0.000 0.000 2899.22 2899.19 2899.25 1780.88 689.56 0 0 0 30.00 30.00 30.00

1538.54 0 -97.32 -1.48 0.00 2898.5 2898.8 2898.3 1780.2 689.8 269.55 -16.53 199 1539.87 0.00 0.00 0.00 0.000 0.000 0.000 2899.19 2899.56 2898.81 1780.75 689.69 0 0 0 30.00 30.00 30.00

1838.57 0 -97.32 -1.48 0.00 2898.0 2898.0 2898.1 1780.2 689.4 319.45 -17.01 229 1839.90 0.00 0.00 0.00 0.000 0.000 0.000 2898.81 2899.00 2898.62 1780.44 689.75 0 0 0 30.00 30.00 30.00

2138.61 0 -97.32 -1.48 0.00 2898.1 2898.2 2898.0 1780.9 689.2 368.72 -15.63 259 2139.93 0.00 0.00 0.00 0.000 0.000 0.000 2898.94 2899.06 2898.81 1780.81 689.50 0 0 0 30.00 30.00 30.00

2438.65 0 -97.32 -1.48 0.00 2897.7 2898.4 2896.9 1780.6 689.4 414.45 -13.72 289 2439.98 0.00 0.00 0.00 0.000 0.000 0.000 2897.88 2898.25 2897.50 1780.81 689.88 0 0 0 30.00 30.00 30.00

2738.68 0 -97.32 -1.48 0.00 2897.1 2898.5 2895.7 1780.8 689.8 457.52 -14.00 319 2740.01 0.00 0.00 0.00 0.000 0.000 0.000 2897.47 2898.75 2896.19 1780.88 689.75 0 0 0 30.00 30.00 30.00

3039 end dive: TARGET_DEPTH_EXCEEDED

state 3039 begin apogee

3039.86 10243 0.00 -0.25 0.00 2896.2 2897.8 2894.6 1780.7 727.9 500.52 -14.61 349 3120.74 77.08 2.11 0.10 1.611 0.211 0.332 2497.84 2508.75 2486.94 2079.06 692.94 0 0 0 13.29 16.06 15.65

3122 end apogee: CONTROL_FINISHED_OK

state 3122 begin climb

3121.85 10243 97.32 1.48 0.00 2497.2 2508.3 2486.0 2078.8 692.8 503.80 0.00 357 3211.00 83.53 2.86 0.00 1.565 0.137 0.000 2101.75 2123.88 2079.62 2500.75 692.69 0 0 0 13.09 15.69 30.00

3508.79 16386 97.32 1.48 0.00 2088.5 2112.2 2064.9 2500.6 692.8 462.34 11.78 396 3510.12 0.00 0.00 0.00 0.000 0.000 0.000 2089.41 2113.06 2065.75 2500.12 692.88 0 0 0 30.00 30.00 30.00

3808.85 16386 97.32 1.48 0.00 2086.1 2109.9 2062.4 2500.3 692.7 425.34 12.19 426 3810.18 0.00 0.00 0.00 0.000 0.000 0.000 2086.41 2109.75 2063.06 2500.12 692.88 0 0 0 30.00 30.00 30.00

4108.91 16386 97.32 1.48 0.00 2084.8 2109.2 2060.5 2501.1 692.7 390.52 11.68 456 4110.25 0.00 0.00 0.00 0.000 0.000 0.000 2085.59 2109.94 2061.25 2500.81 692.69 0 0 0 30.00 30.00 30.00

4408.99 16450 97.32 1.49 0.00 2083.0 2107.7 2058.4 2500.1 692.9 356.92 10.52 486 4410.32 0.00 0.00 0.00 0.000 0.000 0.000 2083.62 2108.50 2058.75 2500.81 692.62 0 0 0 30.00 30.00 30.00

4709.06 16450 97.32 1.51 0.00 2082.1 2106.9 2057.2 2500.3 692.9 327.34 10.24 516 4710.39 0.00 0.00 0.00 0.000 0.000 0.000 2082.25 2107.19 2057.31 2500.56 693.00 0 0 0 30.00 30.00 30.00

5009.12 16450 97.32 1.54 0.00 2080.6 2105.1 2056.1 2500.4 692.9 299.91 9.61 546 5010.45 0.00 0.00 0.00 0.000 0.000 0.000 2080.22 2104.81 2055.62 2500.31 692.88 0 0 0 30.00 30.00 30.00

5309.17 10275 124.70 1.62 0.00 2080.0 2104.8 2055.2 2500.9 693.0 271.29 9.02 576 5331.71 21.13 0.19 0.00 1.332 0.114 0.000 1990.78 2018.31 1963.25 2538.00 692.88 0 0 0 13.25 16.05 30.00

5629.22 0 124.70 1.62 0.00 1984.8 2013.0 1956.6 2539.0 692.6 231.53 12.81 608 5630.55 0.00 0.00 0.00 0.000 0.000 0.000 1985.00 2013.00 1957.00 2538.31 693.00 0 0 0 30.00 30.00 30.00

5929.28 64 124.70 1.64 0.00 1983.6 2011.7 1955.4 2539.1 692.8 196.57 10.42 638 5930.60 0.00 0.00 0.00 0.000 0.000 0.000 1983.78 2012.19 1955.38 2539.00 692.69 0 0 0 30.00 30.00 30.00

6229.31 16450 124.70 1.66 0.00 1982.3 2010.4 1954.2 2539.0 692.8 164.90 9.65 668 6230.64 0.00 0.00 0.00 0.000 0.000 0.000 1980.97 2009.56 1952.38 2538.56 692.88 0 0 0 30.00 30.00 30.00

6529.34 10275 180.10 1.83 0.00 1981.5 2010.0 1953.0 2538.3 692.4 139.99 6.89 698 6575.48 44.56 0.26 0.00 1.256 0.111 0.000 1762.75 1799.75 1725.75 2588.56 692.81 0 0 0 13.29 16.04 30.00

6869.44 16450 180.10 1.87 0.00 1756.2 1795.3 1717.1 2588.9 692.8 106.80 9.36 732 6870.77 0.00 0.00 0.00 0.000 0.000 0.000 1756.50 1795.75 1717.25 2588.62 692.62 0 0 0 30.00 30.00 30.00

7169.44 10275 280.23 2.17 0.00 1755.2 1794.9 1715.4 2588.6 692.8 91.26 3.47 781 7247.52 76.81 0.49 0.00 1.199 0.095 0.000 1357.28 1400.12 1314.44 2670.12 692.81 0 0 0 13.13 15.95 30.00

7425.27 0 280.23 2.17 0.00 1350.5 1395.6 1305.3 2671.3 692.9 57.65 15.60 832 7426.59 0.00 0.00 0.00 0.000 0.000 0.000 1350.59 1395.81 1305.38 2670.62 693.19 0 0 0 30.00 30.00 30.00

7605.32 10275 357.94 2.40 0.00 1348.8 1394.9 1302.8 2670.4 692.8 39.16 5.19 868 7666.58 59.40 0.31 0.00 1.112 0.100 0.000 1040.97 1079.69 1002.25 2728.44 692.94 0 0 0 13.09 15.84 30.00

7845.54 8226 399.47 2.52 0.00 1036.7 1076.8 996.6 2728.6 692.8 22.77 7.94 916 7881.00 33.61 0.00 0.00 1.050 0.000 0.000 871.72 907.56 835.88 2727.88 692.81 0 0 0 12.99 30.00 30.00

7996 end climb: SURFACE_DEPTH_REACHED

state 7996 begin surface coast

8006 end surface coast: CONTROL_FINISHED_OK

state 8006 begin surface

ID	236	ESCAPE_HEADING	0	HEAD_ERRBAND	180	ALTIM_SENSITIVITY	2
MISSION	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	49	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
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	0
D_TGT	500	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	FILEMGR	0	C_VBD	2500	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	120
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	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	150	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	180	T_GPS	5	LOITER_D_TOP	150	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	250	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	1	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	180	RAFOS_PEAK_OFFSET	0	AH0_24V	350	GPS_DEVICE	48
T_LOITER	7200	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	0	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	190	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3920	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	990	C_PITCH	2140	FG_AHR_10V	8.7426186	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	19.196804	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	100	PITCH_GAIN	20	PRESSURE_YINT	-170.66119	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00022638284	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72660	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	0	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	7.0
KALMAN_USE	2	ROLL_MIN	670	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	7.0
HD_A	0.0039810701	ROLL_MAX	3465	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0094307503	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	700	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	700	ALTIM_PULSE	3

GPS1	081020,002831,4707.713,-12645.652,90,0.9,91,15.8	TGT_LATLONG	4751.930,-12510.270
_CALLS	1	TGT_RADIUS	2500.000
_SM_DEPTHo	1.32	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-70.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	081020,003252,4707.707,-12645.688,2,0.6,4,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.230	MHEAD_RNG_PITCHd_Wd	39.6,144093,-23.8,-11.111,-25.81
TGT_NAME	SHELF	D_GRID	500

SM_CCo	8053.00,0.00,0.000,0,767.5,768.0,767.0,424.98	_10V_AH	15.00,0.000
SM_GC	3.04,0.00,16.97,0.04,0.000,0.119,0.239,767.5,768.0,767.0,181.4,734.9,0,0,0,30.00,15.70,15.75	FG_AHR_24Vo	19.363
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	8.786
IRIDIUM_FIX	4706.43,-12643.97,071020,221336	MEM	1104512,26,72936,53
TCM_TEMP	195.07	DATA_FILE_SIZE	35461,948
XPDR_PINGS	2,14.0,11.5	CAP_FILE_SIZE	152355,0
SC_FREEKB	3858592	SDSIZE	3918848,3896128
HUMID	56.63	SDFILEDIR	271,1
TEMP	9.23	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.87077	GPS	081020,024750,4707.551,-12645.511,14,1.2,19,15.8
_24V_AH	15.01,18.766

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	491	1610	11883.95	legato	0	0	0.00
Pitch_motor	36	303	164.22	nil	0	0	0.00
Roll_motor	0	332	1.50	nil	0	0	0.00
Iridium	194	210	613.45	nil	0	0	0.00
Transponder_ping	0	420	3.15	nil	0	0	0.00
GPS	13	15	3.01	nil	0	0	0.00
Core	2966	11	525.03	SciCon	8021	12	1539.91
LPSleep	5292	2	222.28	nil	0	0	0.00
Compass	1673	5	125.52	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.33	16386	-97.32	-1.48	0.00	763.6	763.2	764.0	179.1	689.9	0.00	0.00	0	60.19	53.33	0.00	0.00	0.005	0.000	0.000	2022.00	2016.00	2028.00	178.94	689.62	0	0	0	15.76	30.00	30.00
60.42	18467	-97.32	-1.48	0.00	2021.7	2015.2	2028.2	178.9	689.9	3.03	-4.45	10	100.65	21.47	12.86	0.00	0.006	0.303	0.000	2895.78	2891.62	2899.94	1780.00	689.75	0	0	0	15.77	15.67	30.00
278.37	0	-97.32	-1.48	0.00	2895.7	2893.1	2898.4	1780.9	689.7	63.94	-20.21	54	279.69	0.00	0.00	0.00	0.000	0.000	0.000	2896.53	2894.19	2898.88	1780.50	689.75	0	0	0	30.00	30.00	30.00
458.40	0	-97.32	-1.48	0.00	2896.1	2893.6	2898.6	1781.1	689.6	98.79	-19.55	90	459.73	0.00	0.00	0.00	0.000	0.000	0.000	2896.53	2894.50	2898.56	1780.31	689.75	0	0	0	30.00	30.00	30.00
638.43	0	-97.32	-1.48	0.00	2896.8	2895.2	2898.4	1780.7	689.9	131.07	-16.84	109	639.76	0.00	0.00	0.00	0.000	0.000	0.000	2897.34	2895.62	2899.06	1780.12	689.75	0	0	0	30.00	30.00	30.00
938.48	0	-97.32	-1.48	0.00	2897.7	2897.2	2898.2	1779.9	689.8	173.47	-14.73	139	939.80	0.00	0.00	0.00	0.000	0.000	0.000	2898.34	2897.50	2899.19	1780.50	689.75	0	0	0	30.00	30.00	30.00
1238.50	0	-97.32	-1.48	0.00	2898.2	2898.1	2898.2	1780.9	689.7	221.29	-15.83	169	1239.83	0.00	0.00	0.00	0.000	0.000	0.000	2899.22	2899.19	2899.25	1780.88	689.56	0	0	0	30.00	30.00	30.00
1538.54	0	-97.32	-1.48	0.00	2898.5	2898.8	2898.3	1780.2	689.8	269.55	-16.53	199	1539.87	0.00	0.00	0.00	0.000	0.000	0.000	2899.19	2899.56	2898.81	1780.75	689.69	0	0	0	30.00	30.00	30.00
1838.57	0	-97.32	-1.48	0.00	2898.0	2898.0	2898.1	1780.2	689.4	319.45	-17.01	229	1839.90	0.00	0.00	0.00	0.000	0.000	0.000	2898.81	2899.00	2898.62	1780.44	689.75	0	0	0	30.00	30.00	30.00
2138.61	0	-97.32	-1.48	0.00	2898.1	2898.2	2898.0	1780.9	689.2	368.72	-15.63	259	2139.93	0.00	0.00	0.00	0.000	0.000	0.000	2898.94	2899.06	2898.81	1780.81	689.50	0	0	0	30.00	30.00	30.00
2438.65	0	-97.32	-1.48	0.00	2897.7	2898.4	2896.9	1780.6	689.4	414.45	-13.72	289	2439.98	0.00	0.00	0.00	0.000	0.000	0.000	2897.88	2898.25	2897.50	1780.81	689.88	0	0	0	30.00	30.00	30.00
2738.68	0	-97.32	-1.48	0.00	2897.1	2898.5	2895.7	1780.8	689.8	457.52	-14.00	319	2740.01	0.00	0.00	0.00	0.000	0.000	0.000	2897.47	2898.75	2896.19	1780.88	689.75	0	0	0	30.00	30.00	30.00
3039	end dive: TARGET_DEPTH_EXCEEDED
state	3039	begin apogee
3039.86	10243	0.00	-0.25	0.00	2896.2	2897.8	2894.6	1780.7	727.9	500.52	-14.61	349	3120.74	77.08	2.11	0.10	1.611	0.211	0.332	2497.84	2508.75	2486.94	2079.06	692.94	0	0	0	13.29	16.06	15.65
3122	end apogee: CONTROL_FINISHED_OK
state	3122	begin climb
3121.85	10243	97.32	1.48	0.00	2497.2	2508.3	2486.0	2078.8	692.8	503.80	0.00	357	3211.00	83.53	2.86	0.00	1.565	0.137	0.000	2101.75	2123.88	2079.62	2500.75	692.69	0	0	0	13.09	15.69	30.00
3508.79	16386	97.32	1.48	0.00	2088.5	2112.2	2064.9	2500.6	692.8	462.34	11.78	396	3510.12	0.00	0.00	0.00	0.000	0.000	0.000	2089.41	2113.06	2065.75	2500.12	692.88	0	0	0	30.00	30.00	30.00
3808.85	16386	97.32	1.48	0.00	2086.1	2109.9	2062.4	2500.3	692.7	425.34	12.19	426	3810.18	0.00	0.00	0.00	0.000	0.000	0.000	2086.41	2109.75	2063.06	2500.12	692.88	0	0	0	30.00	30.00	30.00
4108.91	16386	97.32	1.48	0.00	2084.8	2109.2	2060.5	2501.1	692.7	390.52	11.68	456	4110.25	0.00	0.00	0.00	0.000	0.000	0.000	2085.59	2109.94	2061.25	2500.81	692.69	0	0	0	30.00	30.00	30.00
4408.99	16450	97.32	1.49	0.00	2083.0	2107.7	2058.4	2500.1	692.9	356.92	10.52	486	4410.32	0.00	0.00	0.00	0.000	0.000	0.000	2083.62	2108.50	2058.75	2500.81	692.62	0	0	0	30.00	30.00	30.00
4709.06	16450	97.32	1.51	0.00	2082.1	2106.9	2057.2	2500.3	692.9	327.34	10.24	516	4710.39	0.00	0.00	0.00	0.000	0.000	0.000	2082.25	2107.19	2057.31	2500.56	693.00	0	0	0	30.00	30.00	30.00
5009.12	16450	97.32	1.54	0.00	2080.6	2105.1	2056.1	2500.4	692.9	299.91	9.61	546	5010.45	0.00	0.00	0.00	0.000	0.000	0.000	2080.22	2104.81	2055.62	2500.31	692.88	0	0	0	30.00	30.00	30.00
5309.17	10275	124.70	1.62	0.00	2080.0	2104.8	2055.2	2500.9	693.0	271.29	9.02	576	5331.71	21.13	0.19	0.00	1.332	0.114	0.000	1990.78	2018.31	1963.25	2538.00	692.88	0	0	0	13.25	16.05	30.00
5629.22	0	124.70	1.62	0.00	1984.8	2013.0	1956.6	2539.0	692.6	231.53	12.81	608	5630.55	0.00	0.00	0.00	0.000	0.000	0.000	1985.00	2013.00	1957.00	2538.31	693.00	0	0	0	30.00	30.00	30.00
5929.28	64	124.70	1.64	0.00	1983.6	2011.7	1955.4	2539.1	692.8	196.57	10.42	638	5930.60	0.00	0.00	0.00	0.000	0.000	0.000	1983.78	2012.19	1955.38	2539.00	692.69	0	0	0	30.00	30.00	30.00
6229.31	16450	124.70	1.66	0.00	1982.3	2010.4	1954.2	2539.0	692.8	164.90	9.65	668	6230.64	0.00	0.00	0.00	0.000	0.000	0.000	1980.97	2009.56	1952.38	2538.56	692.88	0	0	0	30.00	30.00	30.00
6529.34	10275	180.10	1.83	0.00	1981.5	2010.0	1953.0	2538.3	692.4	139.99	6.89	698	6575.48	44.56	0.26	0.00	1.256	0.111	0.000	1762.75	1799.75	1725.75	2588.56	692.81	0	0	0	13.29	16.04	30.00
6869.44	16450	180.10	1.87	0.00	1756.2	1795.3	1717.1	2588.9	692.8	106.80	9.36	732	6870.77	0.00	0.00	0.00	0.000	0.000	0.000	1756.50	1795.75	1717.25	2588.62	692.62	0	0	0	30.00	30.00	30.00
7169.44	10275	280.23	2.17	0.00	1755.2	1794.9	1715.4	2588.6	692.8	91.26	3.47	781	7247.52	76.81	0.49	0.00	1.199	0.095	0.000	1357.28	1400.12	1314.44	2670.12	692.81	0	0	0	13.13	15.95	30.00
7425.27	0	280.23	2.17	0.00	1350.5	1395.6	1305.3	2671.3	692.9	57.65	15.60	832	7426.59	0.00	0.00	0.00	0.000	0.000	0.000	1350.59	1395.81	1305.38	2670.62	693.19	0	0	0	30.00	30.00	30.00
7605.32	10275	357.94	2.40	0.00	1348.8	1394.9	1302.8	2670.4	692.8	39.16	5.19	868	7666.58	59.40	0.31	0.00	1.112	0.100	0.000	1040.97	1079.69	1002.25	2728.44	692.94	0	0	0	13.09	15.84	30.00
7845.54	8226	399.47	2.52	0.00	1036.7	1076.8	996.6	2728.6	692.8	22.77	7.94	916	7881.00	33.61	0.00	0.00	1.050	0.000	0.000	871.72	907.56	835.88	2727.88	692.81	0	0	0	12.99	30.00	30.00
7996	end climb: SURFACE_DEPTH_REACHED
state	7996	begin surface coast
8006	end surface coast: CONTROL_FINISHED_OK
state	8006	begin surface