Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 660 * 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 660 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 97.879326 SEABIRD_T_G 0.0043000001

MAX_BUOY 80 PITCH_MAXERRORS 1 FG_AHR_24V 186.97971 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 97.879326 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 186.97971 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 660 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 210123,223438,4752.521,-12514.332,48,1.0,51,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210123,224354,4752.597,-12514.348,5,0.9,12,15.8 MHEAD_RNG_PITCHd_Wd 132.9,5215,-16.4,-8.049,-28.31,2124,0.257

SPEED_LIMITS 0.139,0.149 D_GRID 218

TGT_NAME SHELF IRON 1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000

TGT_LATLONG 4751.930,-12510.270

Post-dive calculations and measurements:

FINISH -0.1,1.024944 FG_AHR_10Vo 97.933

SM_CCo 5955.05,104.93,1.030,0,1137.6,1134.9,1140.2,429.87 MEM0 60108,1,0,0

SM_GC 1.17,104.93,19.52,0.12,1.030,0.045,0.081,1137.6,1134.9,1140.2,183.5,2176.3,0,0,0,11.04,15.87,15.94 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 959632,468,78236,67

IRIDIUM_FIX 4752.95,-12515.83,210123,202308 DATA_FILE_SIZE 22483,773

TCM_TEMP 268.66 CAP_FILE_SIZE 182797,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3817152

SC_FREEKB 3625312 SDFILEDIR 3991,1

HUMID 54.36 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 84.24 CURRENT 0.127,326.8,1

INTERNAL_PRESSURE 8.57108 IMPLIED_C_PITCH 2579,12.24,523,0.0,0.00

_24V_AH 14.82,225.658 IMPLIED_C_VBD 2976,40.339668,276,0

_10V_AH 15.00,0.000 GPS 220123,002442,4752.673,-12514.390,42,1.1,46,15.8

FG_AHR_24Vo 187.116

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 471 1259 8795.97 nil 0 0 0.00

Pitch_motor 41 206 128.30 nil 0 0 0.00

Roll_motor 59 95 83.61 nil 0 0 0.00

Iridium 316 233 1096.38 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 23 15 5.21 nil 0 0 0.00

Core 3905 6 398.34 SciCon 5748 26 2266.98

Fast 92 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2255 2 67.67

Compass 1712 5 128.44

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

19.30 16386 -77.86 -1.18 0.00 1122.8 1131.8 1113.8 178.6 2292.7 0.00 0.00 0 133.29 80.65 0.00 0.00 0.005 0.000 0.000 3121.09 3288.12 2954.06 178.12 2293.44 0 0 0 14.80 30.00 30.00

135.52 18983 -77.86 -1.18 -60.00 3122.4 3286.7 2958.2 178.1 2292.5 3.65 -3.46 16 244.27 1.11 17.29 3.18 0.023 0.207 0.064 3211.25 3385.19 3037.31 2226.69 1141.81 0 0 0 15.02 15.37 15.05

250.58 1028 -77.86 -1.18 0.00 3210.9 3386.4 3035.4 2227.6 1141.7 40.94 -16.81 22 269.38 0.00 0.00 2.79 0.000 0.000 0.024 3212.19 3388.12 3036.25 2226.88 2279.88 0 0 0 30.00 30.00 15.65

455.54 516 -77.86 -1.18 -60.00 3211.1 3386.8 3035.4 2227.8 2279.8 70.36 -13.47 60 475.89 0.00 0.00 3.12 0.000 0.000 0.061 3211.91 3387.44 3036.38 2227.69 1143.88 0 0 0 30.00 30.00 15.68

592.30 1028 -77.86 -1.18 0.00 3211.3 3387.2 3035.4 2227.8 1143.7 87.50 -11.52 84 611.60 0.00 0.00 2.76 0.000 0.000 0.023 3211.81 3387.75 3035.88 2227.88 2279.50 0 0 0 30.00 30.00 15.78

797.65 0 -77.86 -1.18 0.00 3211.8 3387.9 3035.8 2227.7 2279.9 108.29 -9.66 114 801.67 0.00 0.00 0.00 0.000 0.000 0.000 3211.91 3387.19 3036.62 2228.50 2280.38 0 0 0 30.00 30.00 30.00

1107.74 0 -77.86 -1.18 0.00 3211.8 3387.2 3036.4 2227.8 2279.9 135.88 -9.51 145 1111.76 0.00 0.00 0.00 0.000 0.000 0.000 3210.94 3385.75 3036.12 2227.81 2280.12 0 0 0 30.00 30.00 30.00

1417.82 516 -77.86 -1.18 -60.00 3211.6 3386.9 3036.2 2227.6 2280.2 161.51 -8.17 176 1436.82 0.00 0.00 3.13 0.000 0.000 0.061 3212.91 3387.50 3038.31 2226.62 1144.94 0 0 0 30.00 30.00 15.77

1507.26 1028 -77.86 -1.18 0.00 3211.6 3386.2 3036.9 2227.9 1144.9 169.58 -8.85 191 1525.62 0.00 0.00 2.72 0.000 0.000 0.023 3212.38 3387.25 3037.50 2227.56 2281.06 0 0 0 30.00 30.00 15.92

1831.69 0 -77.86 -1.18 0.00 3211.9 3387.1 3036.8 2227.8 2281.1 196.79 -7.90 223 1836.10 0.00 0.00 0.00 0.000 0.000 0.000 3211.09 3387.69 3034.50 2228.12 2281.06 0 0 0 30.00 30.00 30.00

2091 end dive: TARGET_DEPTH_EXCEEDED

state 2092 begin apogee

2096.91 10243 0.00 -0.31 0.00 3211.5 3386.4 3036.6 2227.7 2172.0 218.47 -8.07 249 2197.35 60.16 1.59 0.23 1.259 0.128 0.096 2890.34 3024.19 2756.50 2441.00 2289.62 0 0 0 10.87 15.78 15.45

2202 end apogee: CONTROL_FINISHED_OK

state 2203 begin climb

2205.65 10759 77.86 1.18 -60.00 2888.0 3023.2 2752.8 2440.6 2289.8 221.10 0.00 256 2326.62 59.69 2.58 3.21 1.236 0.093 0.063 2571.22 2671.94 2470.50 2804.88 1143.62 0 0 0 11.50 15.71 15.33

2388.58 11303 160.18 1.35 0.00 2566.8 2669.3 2464.2 2805.4 1143.1 215.84 4.07 280 2501.00 64.27 0.24 2.77 1.223 0.073 0.023 2236.66 2318.50 2154.81 2856.88 2285.06 0 0 0 11.44 15.61 15.73

2807.52 16710 160.18 1.44 60.00 2227.1 2317.9 2136.2 2856.2 2284.8 189.27 6.43 325 2826.34 0.00 0.00 3.08 0.000 0.000 0.081 2225.97 2316.56 2135.38 2856.62 3352.56 0 0 0 30.00 30.00 15.71

2997.29 19527 160.18 1.52 0.00 2226.8 2318.0 2135.7 2856.6 3352.6 176.17 6.83 360 3017.48 0.00 0.17 2.71 0.000 0.082 0.017 2226.72 2318.31 2135.12 2895.50 2192.00 0 0 0 30.00 15.74 15.75

3323.97 16966 160.18 1.63 -60.00 2224.8 2317.9 2131.6 2895.2 2189.4 156.05 6.15 392 3341.99 0.00 0.00 2.88 0.000 0.000 0.068 2224.44 2318.38 2130.50 2895.38 1144.94 0 0 0 30.00 30.00 15.70

3438.97 19527 160.18 1.71 0.00 2224.3 2317.9 2130.7 2895.8 1144.4 148.39 6.68 412 3458.21 0.00 0.22 2.71 0.000 0.071 0.024 2224.91 2318.19 2131.62 2945.69 2281.38 0 0 0 30.00 15.69 15.90

3764.68 8486 222.93 1.84 60.00 2224.2 2318.2 2130.1 2946.7 2281.3 126.65 5.01 444 3853.83 49.24 0.00 3.08 1.147 0.000 0.081 1981.00 2055.94 1906.06 2946.88 3354.56 0 0 0 11.08 30.00 15.49

3910.27 1028 222.93 1.84 0.00 1976.5 2055.3 1897.6 2946.6 3353.8 116.89 8.10 466 3927.88 0.00 0.00 2.74 0.000 0.000 0.017 1977.41 2056.19 1898.62 2945.50 2194.38 0 0 0 30.00 30.00 15.80

4234.41 19015 222.93 1.96 -60.00 1972.3 2055.1 1889.6 2946.7 2192.4 94.60 6.11 506 4255.45 0.00 0.27 2.91 0.000 0.069 0.068 1973.12 2056.06 1890.19 3006.50 1142.69 0 0 0 30.00 15.82 15.70

4487.40 17478 222.93 2.03 0.00 1971.1 2055.1 1887.1 3006.6 1141.9 77.90 6.87 553 4506.01 0.00 0.00 2.75 0.000 0.000 0.024 1971.22 2055.31 1887.12 3007.00 2282.56 0 0 0 30.00 30.00 15.79

4692.51 10275 288.45 2.16 0.00 1970.8 2055.3 1886.2 3006.6 2282.4 67.52 4.88 591 4770.45 51.27 0.00 0.00 1.086 0.000 0.000 1713.22 1774.62 1651.81 3006.69 2282.44 0 0 0 11.18 30.00 30.00

4957.42 2629 288.45 2.20 -60.00 1706.3 1773.9 1638.6 3006.2 2282.4 49.40 7.36 639 4978.02 0.00 0.00 3.15 0.000 0.000 0.065 1706.72 1774.94 1638.50 3006.62 1144.88 0 0 0 30.00 30.00 15.73

5009.46 19463 288.45 2.20 0.00 1705.1 1774.2 1635.9 3006.6 1144.7 45.28 7.97 646 5028.03 0.00 0.00 2.76 0.000 0.000 0.024 1705.62 1774.81 1636.44 3007.00 2281.44 0 0 0 30.00 30.00 15.77

5214.54 18499 288.45 2.35 0.00 1704.3 1774.2 1634.4 3006.8 2281.4 32.00 5.51 684 5221.80 0.00 0.00 0.00 0.000 0.000 0.000 1704.38 1774.81 1633.94 3006.69 2281.62 0 0 0 30.00 30.00 30.00

5407.92 18951 288.45 2.35 -60.00 1703.2 1774.1 1632.4 3006.9 2281.6 17.58 8.13 722 5428.52 0.00 0.00 3.14 0.000 0.000 0.065 1704.34 1775.25 1633.44 3006.69 1143.38 0 0 0 30.00 30.00 15.74

5454.97 19463 288.45 2.35 0.00 1702.8 1774.3 1631.4 3007.2 1143.4 14.15 7.82 728 5473.54 0.00 0.00 2.77 0.000 0.000 0.023 1703.28 1774.94 1631.62 3006.88 2280.50 0 0 0 30.00 30.00 15.83

5619 end climb: SURFACE_DEPTH_REACHED

state 5619 begin surface coast

5695 end surface coast: CONTROL_FINISHED_OK

state 5696 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	660	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	97.879326	SEABIRD_T_G	0.0043000001
MAX_BUOY	80	PITCH_MAXERRORS	1	FG_AHR_24V	186.97971	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	210123,223438,4752.521,-12514.332,48,1.0,51,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210123,224354,4752.597,-12514.348,5,0.9,12,15.8	MHEAD_RNG_PITCHd_Wd	132.9,5215,-16.4,-8.049,-28.31,2124,0.257
SPEED_LIMITS	0.139,0.149	D_GRID	218
TGT_NAME	SHELF	IRON	1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
TGT_LATLONG	4751.930,-12510.270

FINISH	-0.1,1.024944	FG_AHR_10Vo	97.933
SM_CCo	5955.05,104.93,1.030,0,1137.6,1134.9,1140.2,429.87	MEM0	60108,1,0,0
SM_GC	1.17,104.93,19.52,0.12,1.030,0.045,0.081,1137.6,1134.9,1140.2,183.5,2176.3,0,0,0,11.04,15.87,15.94	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	959632,468,78236,67
IRIDIUM_FIX	4752.95,-12515.83,210123,202308	DATA_FILE_SIZE	22483,773
TCM_TEMP	268.66	CAP_FILE_SIZE	182797,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3817152
SC_FREEKB	3625312	SDFILEDIR	3991,1
HUMID	54.36	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	84.24	CURRENT	0.127,326.8,1
INTERNAL_PRESSURE	8.57108	IMPLIED_C_PITCH	2579,12.24,523,0.0,0.00
_24V_AH	14.82,225.658	IMPLIED_C_VBD	2976,40.339668,276,0
_10V_AH	15.00,0.000	GPS	220123,002442,4752.673,-12514.390,42,1.1,46,15.8
FG_AHR_24Vo	187.116

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	471	1259	8795.97	nil	0	0	0.00
Pitch_motor	41	206	128.30	nil	0	0	0.00
Roll_motor	59	95	83.61	nil	0	0	0.00
Iridium	316	233	1096.38	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	23	15	5.21	nil	0	0	0.00
Core	3905	6	398.34	SciCon	5748	26	2266.98
Fast	92	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2255	2	67.67
Compass	1712	5	128.44
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
19.30	16386	-77.86	-1.18	0.00	1122.8	1131.8	1113.8	178.6	2292.7	0.00	0.00	0	133.29	80.65	0.00	0.00	0.005	0.000	0.000	3121.09	3288.12	2954.06	178.12	2293.44	0	0	0	14.80	30.00	30.00
135.52	18983	-77.86	-1.18	-60.00	3122.4	3286.7	2958.2	178.1	2292.5	3.65	-3.46	16	244.27	1.11	17.29	3.18	0.023	0.207	0.064	3211.25	3385.19	3037.31	2226.69	1141.81	0	0	0	15.02	15.37	15.05
250.58	1028	-77.86	-1.18	0.00	3210.9	3386.4	3035.4	2227.6	1141.7	40.94	-16.81	22	269.38	0.00	0.00	2.79	0.000	0.000	0.024	3212.19	3388.12	3036.25	2226.88	2279.88	0	0	0	30.00	30.00	15.65
455.54	516	-77.86	-1.18	-60.00	3211.1	3386.8	3035.4	2227.8	2279.8	70.36	-13.47	60	475.89	0.00	0.00	3.12	0.000	0.000	0.061	3211.91	3387.44	3036.38	2227.69	1143.88	0	0	0	30.00	30.00	15.68
592.30	1028	-77.86	-1.18	0.00	3211.3	3387.2	3035.4	2227.8	1143.7	87.50	-11.52	84	611.60	0.00	0.00	2.76	0.000	0.000	0.023	3211.81	3387.75	3035.88	2227.88	2279.50	0	0	0	30.00	30.00	15.78
797.65	0	-77.86	-1.18	0.00	3211.8	3387.9	3035.8	2227.7	2279.9	108.29	-9.66	114	801.67	0.00	0.00	0.00	0.000	0.000	0.000	3211.91	3387.19	3036.62	2228.50	2280.38	0	0	0	30.00	30.00	30.00
1107.74	0	-77.86	-1.18	0.00	3211.8	3387.2	3036.4	2227.8	2279.9	135.88	-9.51	145	1111.76	0.00	0.00	0.00	0.000	0.000	0.000	3210.94	3385.75	3036.12	2227.81	2280.12	0	0	0	30.00	30.00	30.00
1417.82	516	-77.86	-1.18	-60.00	3211.6	3386.9	3036.2	2227.6	2280.2	161.51	-8.17	176	1436.82	0.00	0.00	3.13	0.000	0.000	0.061	3212.91	3387.50	3038.31	2226.62	1144.94	0	0	0	30.00	30.00	15.77
1507.26	1028	-77.86	-1.18	0.00	3211.6	3386.2	3036.9	2227.9	1144.9	169.58	-8.85	191	1525.62	0.00	0.00	2.72	0.000	0.000	0.023	3212.38	3387.25	3037.50	2227.56	2281.06	0	0	0	30.00	30.00	15.92
1831.69	0	-77.86	-1.18	0.00	3211.9	3387.1	3036.8	2227.8	2281.1	196.79	-7.90	223	1836.10	0.00	0.00	0.00	0.000	0.000	0.000	3211.09	3387.69	3034.50	2228.12	2281.06	0	0	0	30.00	30.00	30.00
2091	end dive: TARGET_DEPTH_EXCEEDED
state	2092	begin apogee
2096.91	10243	0.00	-0.31	0.00	3211.5	3386.4	3036.6	2227.7	2172.0	218.47	-8.07	249	2197.35	60.16	1.59	0.23	1.259	0.128	0.096	2890.34	3024.19	2756.50	2441.00	2289.62	0	0	0	10.87	15.78	15.45
2202	end apogee: CONTROL_FINISHED_OK
state	2203	begin climb
2205.65	10759	77.86	1.18	-60.00	2888.0	3023.2	2752.8	2440.6	2289.8	221.10	0.00	256	2326.62	59.69	2.58	3.21	1.236	0.093	0.063	2571.22	2671.94	2470.50	2804.88	1143.62	0	0	0	11.50	15.71	15.33
2388.58	11303	160.18	1.35	0.00	2566.8	2669.3	2464.2	2805.4	1143.1	215.84	4.07	280	2501.00	64.27	0.24	2.77	1.223	0.073	0.023	2236.66	2318.50	2154.81	2856.88	2285.06	0	0	0	11.44	15.61	15.73
2807.52	16710	160.18	1.44	60.00	2227.1	2317.9	2136.2	2856.2	2284.8	189.27	6.43	325	2826.34	0.00	0.00	3.08	0.000	0.000	0.081	2225.97	2316.56	2135.38	2856.62	3352.56	0	0	0	30.00	30.00	15.71
2997.29	19527	160.18	1.52	0.00	2226.8	2318.0	2135.7	2856.6	3352.6	176.17	6.83	360	3017.48	0.00	0.17	2.71	0.000	0.082	0.017	2226.72	2318.31	2135.12	2895.50	2192.00	0	0	0	30.00	15.74	15.75
3323.97	16966	160.18	1.63	-60.00	2224.8	2317.9	2131.6	2895.2	2189.4	156.05	6.15	392	3341.99	0.00	0.00	2.88	0.000	0.000	0.068	2224.44	2318.38	2130.50	2895.38	1144.94	0	0	0	30.00	30.00	15.70
3438.97	19527	160.18	1.71	0.00	2224.3	2317.9	2130.7	2895.8	1144.4	148.39	6.68	412	3458.21	0.00	0.22	2.71	0.000	0.071	0.024	2224.91	2318.19	2131.62	2945.69	2281.38	0	0	0	30.00	15.69	15.90
3764.68	8486	222.93	1.84	60.00	2224.2	2318.2	2130.1	2946.7	2281.3	126.65	5.01	444	3853.83	49.24	0.00	3.08	1.147	0.000	0.081	1981.00	2055.94	1906.06	2946.88	3354.56	0	0	0	11.08	30.00	15.49
3910.27	1028	222.93	1.84	0.00	1976.5	2055.3	1897.6	2946.6	3353.8	116.89	8.10	466	3927.88	0.00	0.00	2.74	0.000	0.000	0.017	1977.41	2056.19	1898.62	2945.50	2194.38	0	0	0	30.00	30.00	15.80
4234.41	19015	222.93	1.96	-60.00	1972.3	2055.1	1889.6	2946.7	2192.4	94.60	6.11	506	4255.45	0.00	0.27	2.91	0.000	0.069	0.068	1973.12	2056.06	1890.19	3006.50	1142.69	0	0	0	30.00	15.82	15.70
4487.40	17478	222.93	2.03	0.00	1971.1	2055.1	1887.1	3006.6	1141.9	77.90	6.87	553	4506.01	0.00	0.00	2.75	0.000	0.000	0.024	1971.22	2055.31	1887.12	3007.00	2282.56	0	0	0	30.00	30.00	15.79
4692.51	10275	288.45	2.16	0.00	1970.8	2055.3	1886.2	3006.6	2282.4	67.52	4.88	591	4770.45	51.27	0.00	0.00	1.086	0.000	0.000	1713.22	1774.62	1651.81	3006.69	2282.44	0	0	0	11.18	30.00	30.00
4957.42	2629	288.45	2.20	-60.00	1706.3	1773.9	1638.6	3006.2	2282.4	49.40	7.36	639	4978.02	0.00	0.00	3.15	0.000	0.000	0.065	1706.72	1774.94	1638.50	3006.62	1144.88	0	0	0	30.00	30.00	15.73
5009.46	19463	288.45	2.20	0.00	1705.1	1774.2	1635.9	3006.6	1144.7	45.28	7.97	646	5028.03	0.00	0.00	2.76	0.000	0.000	0.024	1705.62	1774.81	1636.44	3007.00	2281.44	0	0	0	30.00	30.00	15.77
5214.54	18499	288.45	2.35	0.00	1704.3	1774.2	1634.4	3006.8	2281.4	32.00	5.51	684	5221.80	0.00	0.00	0.00	0.000	0.000	0.000	1704.38	1774.81	1633.94	3006.69	2281.62	0	0	0	30.00	30.00	30.00
5407.92	18951	288.45	2.35	-60.00	1703.2	1774.1	1632.4	3006.9	2281.6	17.58	8.13	722	5428.52	0.00	0.00	3.14	0.000	0.000	0.065	1704.34	1775.25	1633.44	3006.69	1143.38	0	0	0	30.00	30.00	15.74
5454.97	19463	288.45	2.35	0.00	1702.8	1774.3	1631.4	3007.2	1143.4	14.15	7.82	728	5473.54	0.00	0.00	2.77	0.000	0.000	0.023	1703.28	1774.94	1631.62	3006.88	2280.50	0	0	0	30.00	30.00	15.83
5619	end climb: SURFACE_DEPTH_REACHED
state	5619	begin surface coast
5695	end surface coast: CONTROL_FINISHED_OK
state	5696	begin surface