Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 563 * 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 563 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 4 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 120

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 4 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 0

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 56

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 2330 FG_AHR_10V 58.166008 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 147.69931 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 -14.5 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.0014504 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 0.00223872 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.018861501 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 4 N_NOCOMM 4 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 58.166008 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 147.69931 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 0.00223872 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.018861501 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 56 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.0014504 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -14.5 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 2330 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 0 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 120 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 563 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 120921,102255,4751.230,-12512.061,13,1.2,16,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120921,102835,4751.223,-12512.134,2,1.2,5,15.9 MHEAD_RNG_PITCHd_Wd 65.7,2661,-20.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 210

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 0.2,1.023614 FG_AHR_10Vo 58.183

SM_CCo 5335.94,27.21,1.076,0,1042.6,1005.0,1080.2,424.96 MEM0 60876,1,0,0

SM_GC 1.62,27.21,16.22,0.11,1.076,0.043,0.141,1042.6,1005.0,1080.2,177.1,2357.9,0,0,0,12.04,15.74,15.76 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971400,29,75448,57

IRIDIUM_FIX 4750.34,-12512.13,120921,083310 DATA_FILE_SIZE 45028,1053

TCM_TEMP 267.17 CAP_FILE_SIZE 175453,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3886976

HUMID 50.08 SDFILEDIR 2447,1

TEMP 82.19 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.88438 CURRENT 0.099, 2.4,1

_24V_AH 14.99,184.285 IMPLIED_C_PITCH 2356,13.28,779

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2842,25.265890,637

FG_AHR_24Vo 147.834 GPS 120921,115841,4751.563,-12511.542,49,0.9,50,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 437 1361 8920.00 legato 34 20 10.34

Pitch_motor 35 247 132.16 nil 0 0 0.00

Roll_motor 58 335 293.32 nil 0 0 0.00

Iridium 167 225 566.15 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.12 nil 0 0 0.00

Core 2196 11 388.82 SciCon 0 0 0.00

LPSleep 3379 2 141.95 nil 0 0 0.00

Compass 692 5 51.91 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

2 end surface: CONTROL_FINISHED_OK

state 3 begin dive

5.23 16386 -82.73 -1.29 0.00 1034.1 1007.6 1060.6 178.3 2242.1 0.00 0.00 0 61.85 55.47 0.00 0.00 0.005 0.000 0.000 2440.41 2600.50 2280.31 178.50 2242.38 0 0 0 15.35 30.00 30.00

62.59 18983 -82.73 -1.29 -60.00 2439.7 2599.6 2279.8 178.2 2242.0 3.18 -5.58 10 100.61 14.99 14.56 2.50 0.006 0.247 0.064 3112.19 3322.62 2901.75 2016.88 1206.31 0 0 0 15.43 15.58 15.33

317.71 1028 -82.73 -1.29 0.00 3112.8 3322.1 2903.4 2017.2 1206.8 41.83 -12.84 61 323.27 0.00 0.00 2.63 0.000 0.000 0.029 3112.47 3321.56 2903.38 2017.38 2352.06 0 0 0 30.00 30.00 15.84

508.12 260 -82.73 -1.29 60.00 3113.0 3322.0 2904.1 2017.1 2352.7 61.52 -10.13 99 513.29 0.00 0.00 2.64 0.000 0.000 0.086 3112.53 3321.19 2903.88 2017.38 3428.81 0 0 0 30.00 30.00 15.85

572.94 1028 -82.73 -1.29 0.00 3112.8 3320.8 2904.8 2017.3 3428.2 68.48 -11.02 112 578.35 0.00 0.00 2.57 0.000 0.000 0.020 3114.94 3322.62 2907.25 2017.56 2241.19 0 0 0 30.00 30.00 15.89

763.21 516 -82.73 -1.29 -60.00 3113.2 3321.3 2905.1 2017.4 2239.9 86.89 -9.13 150 767.93 0.00 0.00 2.46 0.000 0.000 0.065 3113.03 3321.25 2904.81 2017.56 1208.50 0 0 0 30.00 30.00 15.90

968.26 1028 -82.73 -1.29 0.00 3113.3 3321.2 2905.4 2017.5 1208.5 103.77 -8.14 191 973.41 0.00 0.00 2.60 0.000 0.000 0.029 3114.12 3322.00 2906.25 2017.69 2353.56 0 0 0 30.00 30.00 15.93

1277.98 0 -82.73 -1.29 0.00 3113.4 3321.0 2905.8 2017.5 2353.3 127.89 -8.02 253 1279.31 0.00 0.00 0.00 0.000 0.000 0.000 3113.06 3321.25 2904.88 2017.56 2353.25 0 0 0 30.00 30.00 30.00

1583.08 516 -82.73 -1.29 -60.00 3113.3 3320.6 2905.9 2017.2 2353.9 155.14 -9.35 314 1588.65 0.00 0.00 2.73 0.000 0.000 0.061 3113.53 3320.56 2906.50 2017.19 1207.31 0 0 0 30.00 30.00 15.98

1648.09 1028 -82.73 -1.29 0.00 3113.3 3320.3 2906.2 2016.9 1207.2 161.30 -9.47 327 1653.62 0.00 0.00 2.60 0.000 0.000 0.029 3113.38 3321.25 2905.50 2017.44 2353.50 0 0 0 30.00 30.00 15.97

1958.19 260 -82.73 -1.29 60.00 3113.6 3321.2 2905.9 2017.0 2353.9 189.80 -9.44 389 1963.74 0.00 0.00 2.63 0.000 0.000 0.088 3114.75 3322.62 2906.88 2016.81 3428.12 0 0 0 30.00 30.00 15.96

1983.19 1028 -82.73 -1.29 0.00 3113.3 3320.8 2905.9 2017.1 3427.0 192.39 -10.06 394 1988.73 0.00 0.00 2.54 0.000 0.000 0.021 3113.53 3320.62 2906.44 2017.12 2241.06 0 0 0 30.00 30.00 15.98

2163 end dive: TARGET_DEPTH_EXCEEDED

state 2163 begin apogee

2165.92 10243 0.00 -0.28 0.00 3113.8 3321.3 2906.3 2017.1 2197.9 210.00 -9.74 430 2226.49 56.86 1.67 0.12 1.362 0.136 0.166 2774.00 2912.44 2635.56 2264.62 2290.31 0 0 0 11.59 15.90 15.78

2227 end apogee: CONTROL_FINISHED_OK

state 2227 begin climb

2228.51 10243 82.73 1.29 0.00 2774.4 2913.4 2635.4 2264.4 2290.5 212.63 0.00 442 2293.15 58.62 2.47 0.00 1.308 0.089 0.000 2437.53 2526.25 2348.81 2649.19 2290.50 0 0 0 12.54 15.82 30.00

2596.07 10791 171.81 1.47 -60.00 2433.4 2525.8 2341.0 2649.1 2291.0 200.32 3.71 516 2667.63 64.96 0.22 2.86 1.300 0.072 0.071 2072.88 2117.19 2028.56 2704.44 1131.06 0 0 0 11.92 15.75 15.58

2715.68 1028 171.81 1.47 0.00 2068.7 2115.2 2022.2 2704.3 1131.2 192.34 8.56 540 2721.23 0.00 0.00 2.64 0.000 0.000 0.028 2069.44 2116.06 2022.81 2705.00 2275.38 0 0 0 30.00 30.00 15.67

3025.92 16646 171.81 1.47 60.00 2065.2 2115.4 2015.1 2703.8 2275.0 166.73 8.06 602 3031.33 0.00 0.00 2.65 0.000 0.000 0.086 2065.34 2115.44 2015.25 2703.69 3346.19 0 0 0 30.00 30.00 15.79

3110.74 17414 171.81 1.47 0.00 2065.0 2115.1 2014.9 2704.1 3346.3 159.06 9.18 619 3116.28 0.00 0.00 2.58 0.000 0.000 0.022 2065.34 2115.75 2014.94 2704.69 2186.31 0 0 0 30.00 30.00 15.83

3420.79 16386 171.81 1.47 0.00 2064.0 2115.3 2012.6 2704.2 2186.6 134.10 8.08 681 3422.12 0.00 0.00 0.00 0.000 0.000 0.000 2062.75 2114.19 2011.31 2705.00 2186.38 0 0 0 30.00 30.00 30.00

3725.88 16902 171.81 1.47 -60.00 2063.5 2115.6 2011.4 2704.8 2186.2 106.16 9.57 742 3731.40 0.00 0.00 2.57 0.000 0.000 0.074 2063.25 2115.56 2010.94 2704.25 1129.88 0 0 0 30.00 30.00 15.91

3830.91 17414 171.81 1.47 0.00 2062.9 2115.2 2010.6 2704.6 1129.9 95.40 10.82 763 3836.44 0.00 0.00 2.60 0.000 0.000 0.028 2063.97 2117.00 2010.94 2704.88 2274.38 0 0 0 30.00 30.00 15.93

4021.36 16966 171.81 1.50 -60.00 2062.7 2115.7 2009.8 2705.0 2274.1 79.02 7.30 801 4027.29 0.00 0.00 2.75 0.000 0.000 0.069 2063.66 2116.56 2010.75 2704.75 1130.00 0 0 0 30.00 30.00 15.94

4131.01 17478 171.81 1.52 0.00 2062.7 2116.2 2009.1 2704.7 1129.9 70.82 7.01 823 4136.53 0.00 0.00 2.58 0.000 0.000 0.028 2062.78 2116.25 2009.31 2705.00 2277.88 0 0 0 30.00 30.00 15.95

4321.46 8742 228.49 1.64 -60.00 2062.2 2115.8 2008.7 2704.1 2277.6 59.87 5.44 861 4367.94 40.93 0.00 2.75 1.177 0.000 0.071 1844.09 1879.62 1808.56 2704.25 1128.62 0 0 0 11.65 30.00 15.83

4371.25 11303 281.29 1.74 0.00 1842.0 1877.6 1806.4 2705.1 1128.6 57.04 5.65 871 4417.17 39.84 0.31 2.60 1.142 0.067 0.027 1628.44 1651.38 1605.50 2770.81 2278.94 0 0 0 12.64 15.86 15.91

4601.12 16386 281.29 1.74 0.00 1618.9 1651.6 1586.2 2770.8 2278.3 36.23 9.44 917 4602.45 0.00 0.00 0.00 0.000 0.000 0.000 1618.69 1651.69 1585.69 2770.88 2278.88 0 0 0 30.00 30.00 30.00

4786.19 16966 281.29 1.76 -60.00 1617.4 1652.3 1582.5 2771.6 2279.0 20.46 7.41 954 4791.74 0.00 0.00 2.79 0.000 0.000 0.069 1617.25 1652.19 1582.31 2771.88 1130.12 0 0 0 30.00 30.00 15.85

5021.26 11303 389.07 1.98 0.00 1615.0 1652.2 1577.7 2771.1 1129.7 9.27 2.72 1001 5105.44 78.15 0.24 2.59 1.114 0.074 0.027 1188.06 1187.62 1188.50 2824.31 2279.88 0 0 0 11.85 15.80 15.89

5187 end climb: SURFACE_DEPTH_REACHED

state 5187 begin surface coast

5282 end surface coast: CONTROL_FINISHED_OK

state 5282 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	563	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	4	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	120
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	4	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	0
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	56
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	2330	FG_AHR_10V	58.166008	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	147.69931	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	-14.5	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.0014504	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	0.00223872	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.018861501	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	120921,102255,4751.230,-12512.061,13,1.2,16,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120921,102835,4751.223,-12512.134,2,1.2,5,15.9	MHEAD_RNG_PITCHd_Wd	65.7,2661,-20.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	210
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	0.2,1.023614	FG_AHR_10Vo	58.183
SM_CCo	5335.94,27.21,1.076,0,1042.6,1005.0,1080.2,424.96	MEM0	60876,1,0,0
SM_GC	1.62,27.21,16.22,0.11,1.076,0.043,0.141,1042.6,1005.0,1080.2,177.1,2357.9,0,0,0,12.04,15.74,15.76	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971400,29,75448,57
IRIDIUM_FIX	4750.34,-12512.13,120921,083310	DATA_FILE_SIZE	45028,1053
TCM_TEMP	267.17	CAP_FILE_SIZE	175453,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3886976
HUMID	50.08	SDFILEDIR	2447,1
TEMP	82.19	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.88438	CURRENT	0.099, 2.4,1
_24V_AH	14.99,184.285	IMPLIED_C_PITCH	2356,13.28,779
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2842,25.265890,637
FG_AHR_24Vo	147.834	GPS	120921,115841,4751.563,-12511.542,49,0.9,50,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	437	1361	8920.00	legato	34	20	10.34
Pitch_motor	35	247	132.16	nil	0	0	0.00
Roll_motor	58	335	293.32	nil	0	0	0.00
Iridium	167	225	566.15	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.12	nil	0	0	0.00
Core	2196	11	388.82	SciCon	0	0	0.00
LPSleep	3379	2	141.95	nil	0	0	0.00
Compass	692	5	51.91	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
2	end surface: CONTROL_FINISHED_OK
state	3	begin dive
5.23	16386	-82.73	-1.29	0.00	1034.1	1007.6	1060.6	178.3	2242.1	0.00	0.00	0	61.85	55.47	0.00	0.00	0.005	0.000	0.000	2440.41	2600.50	2280.31	178.50	2242.38	0	0	0	15.35	30.00	30.00
62.59	18983	-82.73	-1.29	-60.00	2439.7	2599.6	2279.8	178.2	2242.0	3.18	-5.58	10	100.61	14.99	14.56	2.50	0.006	0.247	0.064	3112.19	3322.62	2901.75	2016.88	1206.31	0	0	0	15.43	15.58	15.33
317.71	1028	-82.73	-1.29	0.00	3112.8	3322.1	2903.4	2017.2	1206.8	41.83	-12.84	61	323.27	0.00	0.00	2.63	0.000	0.000	0.029	3112.47	3321.56	2903.38	2017.38	2352.06	0	0	0	30.00	30.00	15.84
508.12	260	-82.73	-1.29	60.00	3113.0	3322.0	2904.1	2017.1	2352.7	61.52	-10.13	99	513.29	0.00	0.00	2.64	0.000	0.000	0.086	3112.53	3321.19	2903.88	2017.38	3428.81	0	0	0	30.00	30.00	15.85
572.94	1028	-82.73	-1.29	0.00	3112.8	3320.8	2904.8	2017.3	3428.2	68.48	-11.02	112	578.35	0.00	0.00	2.57	0.000	0.000	0.020	3114.94	3322.62	2907.25	2017.56	2241.19	0	0	0	30.00	30.00	15.89
763.21	516	-82.73	-1.29	-60.00	3113.2	3321.3	2905.1	2017.4	2239.9	86.89	-9.13	150	767.93	0.00	0.00	2.46	0.000	0.000	0.065	3113.03	3321.25	2904.81	2017.56	1208.50	0	0	0	30.00	30.00	15.90
968.26	1028	-82.73	-1.29	0.00	3113.3	3321.2	2905.4	2017.5	1208.5	103.77	-8.14	191	973.41	0.00	0.00	2.60	0.000	0.000	0.029	3114.12	3322.00	2906.25	2017.69	2353.56	0	0	0	30.00	30.00	15.93
1277.98	0	-82.73	-1.29	0.00	3113.4	3321.0	2905.8	2017.5	2353.3	127.89	-8.02	253	1279.31	0.00	0.00	0.00	0.000	0.000	0.000	3113.06	3321.25	2904.88	2017.56	2353.25	0	0	0	30.00	30.00	30.00
1583.08	516	-82.73	-1.29	-60.00	3113.3	3320.6	2905.9	2017.2	2353.9	155.14	-9.35	314	1588.65	0.00	0.00	2.73	0.000	0.000	0.061	3113.53	3320.56	2906.50	2017.19	1207.31	0	0	0	30.00	30.00	15.98
1648.09	1028	-82.73	-1.29	0.00	3113.3	3320.3	2906.2	2016.9	1207.2	161.30	-9.47	327	1653.62	0.00	0.00	2.60	0.000	0.000	0.029	3113.38	3321.25	2905.50	2017.44	2353.50	0	0	0	30.00	30.00	15.97
1958.19	260	-82.73	-1.29	60.00	3113.6	3321.2	2905.9	2017.0	2353.9	189.80	-9.44	389	1963.74	0.00	0.00	2.63	0.000	0.000	0.088	3114.75	3322.62	2906.88	2016.81	3428.12	0	0	0	30.00	30.00	15.96
1983.19	1028	-82.73	-1.29	0.00	3113.3	3320.8	2905.9	2017.1	3427.0	192.39	-10.06	394	1988.73	0.00	0.00	2.54	0.000	0.000	0.021	3113.53	3320.62	2906.44	2017.12	2241.06	0	0	0	30.00	30.00	15.98
2163	end dive: TARGET_DEPTH_EXCEEDED
state	2163	begin apogee
2165.92	10243	0.00	-0.28	0.00	3113.8	3321.3	2906.3	2017.1	2197.9	210.00	-9.74	430	2226.49	56.86	1.67	0.12	1.362	0.136	0.166	2774.00	2912.44	2635.56	2264.62	2290.31	0	0	0	11.59	15.90	15.78
2227	end apogee: CONTROL_FINISHED_OK
state	2227	begin climb
2228.51	10243	82.73	1.29	0.00	2774.4	2913.4	2635.4	2264.4	2290.5	212.63	0.00	442	2293.15	58.62	2.47	0.00	1.308	0.089	0.000	2437.53	2526.25	2348.81	2649.19	2290.50	0	0	0	12.54	15.82	30.00
2596.07	10791	171.81	1.47	-60.00	2433.4	2525.8	2341.0	2649.1	2291.0	200.32	3.71	516	2667.63	64.96	0.22	2.86	1.300	0.072	0.071	2072.88	2117.19	2028.56	2704.44	1131.06	0	0	0	11.92	15.75	15.58
2715.68	1028	171.81	1.47	0.00	2068.7	2115.2	2022.2	2704.3	1131.2	192.34	8.56	540	2721.23	0.00	0.00	2.64	0.000	0.000	0.028	2069.44	2116.06	2022.81	2705.00	2275.38	0	0	0	30.00	30.00	15.67
3025.92	16646	171.81	1.47	60.00	2065.2	2115.4	2015.1	2703.8	2275.0	166.73	8.06	602	3031.33	0.00	0.00	2.65	0.000	0.000	0.086	2065.34	2115.44	2015.25	2703.69	3346.19	0	0	0	30.00	30.00	15.79
3110.74	17414	171.81	1.47	0.00	2065.0	2115.1	2014.9	2704.1	3346.3	159.06	9.18	619	3116.28	0.00	0.00	2.58	0.000	0.000	0.022	2065.34	2115.75	2014.94	2704.69	2186.31	0	0	0	30.00	30.00	15.83
3420.79	16386	171.81	1.47	0.00	2064.0	2115.3	2012.6	2704.2	2186.6	134.10	8.08	681	3422.12	0.00	0.00	0.00	0.000	0.000	0.000	2062.75	2114.19	2011.31	2705.00	2186.38	0	0	0	30.00	30.00	30.00
3725.88	16902	171.81	1.47	-60.00	2063.5	2115.6	2011.4	2704.8	2186.2	106.16	9.57	742	3731.40	0.00	0.00	2.57	0.000	0.000	0.074	2063.25	2115.56	2010.94	2704.25	1129.88	0	0	0	30.00	30.00	15.91
3830.91	17414	171.81	1.47	0.00	2062.9	2115.2	2010.6	2704.6	1129.9	95.40	10.82	763	3836.44	0.00	0.00	2.60	0.000	0.000	0.028	2063.97	2117.00	2010.94	2704.88	2274.38	0	0	0	30.00	30.00	15.93
4021.36	16966	171.81	1.50	-60.00	2062.7	2115.7	2009.8	2705.0	2274.1	79.02	7.30	801	4027.29	0.00	0.00	2.75	0.000	0.000	0.069	2063.66	2116.56	2010.75	2704.75	1130.00	0	0	0	30.00	30.00	15.94
4131.01	17478	171.81	1.52	0.00	2062.7	2116.2	2009.1	2704.7	1129.9	70.82	7.01	823	4136.53	0.00	0.00	2.58	0.000	0.000	0.028	2062.78	2116.25	2009.31	2705.00	2277.88	0	0	0	30.00	30.00	15.95
4321.46	8742	228.49	1.64	-60.00	2062.2	2115.8	2008.7	2704.1	2277.6	59.87	5.44	861	4367.94	40.93	0.00	2.75	1.177	0.000	0.071	1844.09	1879.62	1808.56	2704.25	1128.62	0	0	0	11.65	30.00	15.83
4371.25	11303	281.29	1.74	0.00	1842.0	1877.6	1806.4	2705.1	1128.6	57.04	5.65	871	4417.17	39.84	0.31	2.60	1.142	0.067	0.027	1628.44	1651.38	1605.50	2770.81	2278.94	0	0	0	12.64	15.86	15.91
4601.12	16386	281.29	1.74	0.00	1618.9	1651.6	1586.2	2770.8	2278.3	36.23	9.44	917	4602.45	0.00	0.00	0.00	0.000	0.000	0.000	1618.69	1651.69	1585.69	2770.88	2278.88	0	0	0	30.00	30.00	30.00
4786.19	16966	281.29	1.76	-60.00	1617.4	1652.3	1582.5	2771.6	2279.0	20.46	7.41	954	4791.74	0.00	0.00	2.79	0.000	0.000	0.069	1617.25	1652.19	1582.31	2771.88	1130.12	0	0	0	30.00	30.00	15.85
5021.26	11303	389.07	1.98	0.00	1615.0	1652.2	1577.7	2771.1	1129.7	9.27	2.72	1001	5105.44	78.15	0.24	2.59	1.114	0.074	0.027	1188.06	1187.62	1188.50	2824.31	2279.88	0	0	0	11.85	15.80	15.89
5187	end climb: SURFACE_DEPTH_REACHED
state	5187	begin surface coast
5282	end surface coast: CONTROL_FINISHED_OK
state	5282	begin surface