Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 69 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

MISSION 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 69 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 13.5

STOP_T 0 SM_CC 605.40039 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 180 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 COMM_SEQ 7 C_VBD 2968 DEEPGLIDERMB 0

D_NO_BLEED 50 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 N_NOCOMM 20 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 163 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 0.003 DEVICE4 -1

D_SAFE 0 CALL_TRIES 2 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 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 60 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 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 150 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 250 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 190 AH0_24V 575 NAV_DEVICE -1

USE_BATHY -2 PITCH_MAX 3920 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2440 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 20 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 13.435496 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 24.296221 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_YINT -166.76357 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022638284 SEABIRD_C_G -10

MASS 72604 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099900002 ROLL_MIN 810 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 1.6e-05 ROLL_MAX 3630 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 7.0

HEADING 225 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2500 ALTIM_PULSE 2

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 20 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 180 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 2 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 605.40039

ALTIM_SENSITIVITY 4 FG_AHR_10V 13.435496 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 24.296221 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 2 HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099900002 PITCH_MAX 3920 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING 225 PITCH_MIN 190 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 0.003 T_DIVE 60

COMPASS2_DEVICE -1 ID 236 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT 0 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2440 KALMAN_USE 2 PRESSURE_SLOPE 0.00022638284 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -166.76357 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2500 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2500 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2968 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 250 RAFOS_PEAK_OFFSET 0 USE_BATHY -2

DBDW 0 LOITER_D_TOP 150 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 72604 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 120 ROLL_MAX 3630 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 810 W_ADJ_DBAND 0

DIVE 69 MISSION 4 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 1000 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 2 NAV2_DEVICE -1 SC_PROFILE 7.0 XPDR_INT 13.5

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 7.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 270322,080734,4645.238,-12451.502,6,1.3,25,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.92 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 270322,081050,4645.238,-12451.490,3,1.3,14,15.6 MHEAD_RNG_PITCHd_Wd 221.2,20000,-19.9,-10.000,-23.24,1773,0.523

SPEED_LIMITS 0.173,0.233 D_GRID 329

TGT_NAME HEADING IRON 1.000000,-0.070697,-0.073739,-0.037418,1.070137,-0.018118,0.021715,-0.020855,1.041310,-557.200989,-559.408813,-276.885132

TGT_LATLONG 4637.602,-12502.609

Post-dive calculations and measurements:

FINISH -0.4,1.024696 FG_AHR_10Vo 13.450

SM_CCo 4041.70,319.70,0.954,0,501.2,498.9,503.4,605.12 MEM0 60148,1,0,0

SM_GC 0.88,319.70,17.07,2.82,0.954,0.050,0.062,501.2,498.9,503.4,167.6,2466.6,0,0,0,12.90,15.85,15.84 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 989828,24,57000,63

IRIDIUM_FIX 4648.68,-12453.85,270322,043559 DATA_FILE_SIZE 12959,487

TCM_TEMP 176.03 CAP_FILE_SIZE 184946,0

XPDR_PINGS 11,13.5,11.5 SDSIZE 3918848,3892640

SC_FREEKB 3852288 SDFILEDIR 444,1

HUMID 50.19 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.97 CURRENT 0.050,167.9,1

INTERNAL_PRESSURE 8.48357 MAGCAL 1.000000,-0.070537,-0.106096,-0.033753,1.064113,0.058621,0.066053,-0.012709,1.093669,-556.6,-614.0,-344.9,26,0.0290,0

_24V_AH 14.70,15.469 IMPLIED_C_PITCH 2445,14.17,268,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3331,17.791767,136,0

FG_AHR_24Vo 24.482 GPS 270322,091856,4644.887,-12451.885,8,1.0,18,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 744 1199 13136.01 nil 0 0 0.00

Pitch_motor 39 252 146.40 nil 0 0 0.00

Roll_motor 67 212 211.06 nil 0 0 0.00

Iridium 81 56 67.67 nil 0 0 0.00

Transponder_ping 2 420 16.98 nil 0 0 0.00

GPS 23 15 5.20 nil 0 0 0.00

Core 1888 6 189.06 SciCon 3705 6 376.91

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1999 2 58.87

Compass 1007 5 74.13

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8.43 16386 -116.79 -1.34 0.00 497.1 495.1 499.1 167.8 2474.0 0.00 0.00 0 130.71 121.96 0.00 0.00 0.005 0.000 0.000 2896.38 2874.56 2918.19 167.81 2473.88 0 0 0 14.48 30.00 30.00

130.91 18727 -116.79 -1.34 80.00 2895.0 2873.7 2916.3 168.0 2473.8 3.04 -1.91 12 173.12 15.47 16.26 3.10 0.006 0.253 0.117 3444.84 3436.38 3453.31 2113.12 3639.44 0 0 0 15.67 15.65 15.63

351.33 1156 -116.79 -1.26 0.00 3445.2 3435.9 3454.6 2113.5 3639.9 39.99 -16.27 56 356.10 0.00 0.00 2.82 0.000 0.000 0.062 3445.88 3436.38 3455.38 2113.06 2471.19 0 0 0 30.00 30.00 15.78

541.30 516 -116.79 -1.26 -80.00 3445.1 3435.7 3454.5 2113.8 2471.1 68.44 -13.90 76 546.29 0.00 0.00 3.88 0.000 0.000 0.155 3446.88 3436.88 3456.88 2113.12 1034.44 0 0 0 30.00 30.00 15.83

585.53 1028 -116.79 -1.26 0.00 3445.2 3435.3 3455.0 2112.8 1034.4 74.08 -13.24 85 592.05 0.00 0.00 3.66 0.000 0.000 0.072 3447.19 3437.81 3456.56 2113.25 2520.00 0 0 0 30.00 30.00 15.85

781.38 32 -116.79 -1.26 0.00 3445.2 3436.1 3454.3 2113.2 2519.9 93.33 -8.62 105 782.71 0.00 0.00 0.00 0.000 0.000 0.000 3445.75 3435.56 3455.94 2112.88 2519.31 0 0 0 30.00 30.00 30.00

971.36 32 -116.79 -1.26 0.00 3445.2 3435.8 3454.6 2113.4 2520.5 109.68 -8.54 124 972.70 0.00 0.00 0.00 0.000 0.000 0.000 3446.41 3436.19 3456.62 2113.44 2520.38 0 0 0 30.00 30.00 30.00

1161.38 548 -116.79 -1.26 -80.00 3445.4 3436.0 3454.8 2113.1 2520.0 128.01 -9.61 143 1167.39 0.00 0.00 4.00 0.000 0.000 0.150 3445.19 3435.62 3454.75 2113.12 1036.88 0 0 0 30.00 30.00 15.93

1196.38 1028 -116.79 -1.26 0.00 3445.6 3436.6 3454.7 2112.7 1036.6 131.84 -10.95 150 1201.33 0.00 0.00 3.65 0.000 0.000 0.070 3446.88 3437.62 3456.12 2113.00 2521.06 0 0 0 30.00 30.00 15.95

1386.44 548 -116.79 -1.26 -80.00 3445.9 3436.4 3455.4 2112.9 2520.6 149.28 -9.53 170 1392.42 0.00 0.00 3.99 0.000 0.000 0.149 3446.22 3436.94 3455.50 2112.44 1034.19 0 0 0 30.00 30.00 15.95

1465.62 1028 -116.79 -1.26 0.00 3445.8 3436.4 3455.2 2113.2 1034.2 157.73 -10.54 186 1472.15 0.00 0.00 3.64 0.000 0.000 0.071 3445.72 3436.06 3455.38 2113.00 2520.19 0 0 0 30.00 30.00 15.97

1661.50 548 -116.79 -1.26 -80.00 3445.8 3436.4 3455.2 2113.2 2520.5 175.30 -8.57 206 1667.44 0.00 0.00 3.98 0.000 0.000 0.149 3444.84 3435.00 3454.69 2113.25 1034.19 0 0 0 30.00 30.00 15.97

1696.45 1060 -116.79 -1.26 0.00 3445.8 3436.6 3455.1 2113.1 1034.2 178.73 -9.43 213 1701.40 0.00 0.00 3.67 0.000 0.000 0.072 3447.38 3438.56 3456.19 2111.88 2520.12 0 0 0 30.00 30.00 15.98

1717 end dive: TARGET_DEPTH_EXCEEDED

state 1717 begin apogee

1717.54 10243 0.00 -0.25 0.00 3445.7 3436.1 3455.2 2113.1 2470.1 180.45 -9.60 216 1808.54 86.03 1.88 0.09 1.200 0.126 0.212 2966.53 2973.06 2960.00 2379.06 2519.56 0 0 0 12.98 15.96 15.59

1812 end apogee: CONTROL_FINISHED_OK

state 1812 begin climb

1814.03 10243 116.79 1.34 0.00 2964.5 2971.6 2957.4 2380.6 2519.6 181.14 0.00 225 1910.68 93.10 2.57 0.00 1.157 0.063 0.000 2490.94 2498.19 2483.69 2774.56 2519.50 0 0 0 12.82 15.65 30.00

2097.38 16646 116.79 1.34 80.00 2479.9 2490.5 2469.2 2774.4 2519.5 150.89 13.32 260 2102.24 0.00 0.00 3.01 0.000 0.000 0.116 2481.16 2491.75 2470.56 2773.88 3640.56 0 0 0 30.00 30.00 15.64

2177.43 21639 116.79 1.25 0.00 2479.0 2489.2 2468.7 2774.1 3641.0 140.05 13.74 276 2182.29 0.00 0.36 2.80 0.000 0.170 0.061 2481.78 2492.06 2471.50 2736.25 2467.44 0 0 0 30.00 15.65 15.70

2367.47 16774 116.79 1.32 80.00 2476.7 2489.6 2463.8 2736.1 2468.2 119.10 10.19 296 2372.28 0.00 0.00 3.11 0.000 0.000 0.113 2476.25 2488.81 2463.69 2736.00 3639.81 0 0 0 30.00 30.00 15.78

2437.43 17414 116.79 1.32 0.00 2476.0 2488.6 2463.4 2736.6 3640.7 112.25 10.14 310 2442.23 0.00 0.00 2.78 0.000 0.000 0.062 2475.78 2488.25 2463.31 2736.19 2466.81 0 0 0 30.00 30.00 15.81

2627.48 10663 136.97 1.47 80.00 2475.3 2488.4 2462.2 2736.4 2467.1 96.49 8.83 330 2652.73 17.59 0.44 3.12 1.021 0.055 0.113 2408.66 2419.62 2397.69 2810.31 3638.94 0 0 0 12.93 15.85 15.74

2831.73 5253 136.97 1.40 0.00 2403.5 2416.4 2390.6 2811.3 3639.0 74.02 12.47 371 2838.18 0.00 0.31 2.77 0.000 0.176 0.061 2403.72 2416.88 2390.56 2773.19 2465.94 0 0 0 30.00 15.79 15.85

3027.58 10403 201.80 1.66 0.00 2401.9 2416.6 2387.2 2773.2 2465.9 60.38 6.24 391 3093.08 63.28 0.49 0.00 1.029 0.056 0.000 2145.19 2162.69 2127.69 2856.62 2465.94 0 0 0 12.88 15.89 30.00

3277.54 8742 230.23 1.75 -80.00 2136.2 2156.7 2115.6 2856.1 2466.3 43.68 8.35 422 3313.02 27.81 0.00 3.88 0.981 0.000 0.138 2026.72 2049.00 2004.44 2857.38 1035.69 0 0 0 12.83 30.00 15.64

3397.57 1156 230.23 1.68 0.00 2023.4 2045.4 2001.3 2856.0 1035.5 31.08 11.73 446 3402.53 0.00 0.00 3.72 0.000 0.000 0.063 2023.75 2046.00 2001.50 2856.62 2521.31 0 0 0 30.00 30.00 15.74

3587.58 292 230.46 1.68 80.00 2020.8 2045.0 1996.5 2856.4 2520.8 10.47 9.99 466 3592.40 0.00 0.00 2.98 0.000 0.000 0.115 2020.91 2045.19 1996.62 2855.94 3638.69 0 0 0 30.00 30.00 15.81

3668 end climb: SURFACE_DEPTH_REACHED

state 3668 begin surface coast

3692 end surface coast: CONTROL_FINISHED_OK

state 3692 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	69	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	13.5
STOP_T	0	SM_CC	605.40039	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	180	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	COMM_SEQ	7	C_VBD	2968	DEEPGLIDERMB	0
D_NO_BLEED	50	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	N_NOCOMM	20	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	163	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	0.003	DEVICE4	-1
D_SAFE	0	CALL_TRIES	2	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	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	60	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	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	150	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	250	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	190	AH0_24V	575	NAV_DEVICE	-1
USE_BATHY	-2	PITCH_MAX	3920	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2440	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	20	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	13.435496	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	24.296221	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-166.76357	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022638284	SEABIRD_C_G	-10
MASS	72604	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099900002	ROLL_MIN	810	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	1.6e-05	ROLL_MAX	3630	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	7.0
HEADING	225	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2500	ALTIM_PULSE	2

GPS1	270322,080734,4645.238,-12451.502,6,1.3,25,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.92	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	270322,081050,4645.238,-12451.490,3,1.3,14,15.6	MHEAD_RNG_PITCHd_Wd	221.2,20000,-19.9,-10.000,-23.24,1773,0.523
SPEED_LIMITS	0.173,0.233	D_GRID	329
TGT_NAME	HEADING	IRON	1.000000,-0.070697,-0.073739,-0.037418,1.070137,-0.018118,0.021715,-0.020855,1.041310,-557.200989,-559.408813,-276.885132
TGT_LATLONG	4637.602,-12502.609

FINISH	-0.4,1.024696	FG_AHR_10Vo	13.450
SM_CCo	4041.70,319.70,0.954,0,501.2,498.9,503.4,605.12	MEM0	60148,1,0,0
SM_GC	0.88,319.70,17.07,2.82,0.954,0.050,0.062,501.2,498.9,503.4,167.6,2466.6,0,0,0,12.90,15.85,15.84	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	989828,24,57000,63
IRIDIUM_FIX	4648.68,-12453.85,270322,043559	DATA_FILE_SIZE	12959,487
TCM_TEMP	176.03	CAP_FILE_SIZE	184946,0
XPDR_PINGS	11,13.5,11.5	SDSIZE	3918848,3892640
SC_FREEKB	3852288	SDFILEDIR	444,1
HUMID	50.19	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.97	CURRENT	0.050,167.9,1
INTERNAL_PRESSURE	8.48357	MAGCAL	1.000000,-0.070537,-0.106096,-0.033753,1.064113,0.058621,0.066053,-0.012709,1.093669,-556.6,-614.0,-344.9,26,0.0290,0
_24V_AH	14.70,15.469	IMPLIED_C_PITCH	2445,14.17,268,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3331,17.791767,136,0
FG_AHR_24Vo	24.482	GPS	270322,091856,4644.887,-12451.885,8,1.0,18,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	744	1199	13136.01	nil	0	0	0.00
Pitch_motor	39	252	146.40	nil	0	0	0.00
Roll_motor	67	212	211.06	nil	0	0	0.00
Iridium	81	56	67.67	nil	0	0	0.00
Transponder_ping	2	420	16.98	nil	0	0	0.00
GPS	23	15	5.20	nil	0	0	0.00
Core	1888	6	189.06	SciCon	3705	6	376.91
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1999	2	58.87
Compass	1007	5	74.13
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8.43	16386	-116.79	-1.34	0.00	497.1	495.1	499.1	167.8	2474.0	0.00	0.00	0	130.71	121.96	0.00	0.00	0.005	0.000	0.000	2896.38	2874.56	2918.19	167.81	2473.88	0	0	0	14.48	30.00	30.00
130.91	18727	-116.79	-1.34	80.00	2895.0	2873.7	2916.3	168.0	2473.8	3.04	-1.91	12	173.12	15.47	16.26	3.10	0.006	0.253	0.117	3444.84	3436.38	3453.31	2113.12	3639.44	0	0	0	15.67	15.65	15.63
351.33	1156	-116.79	-1.26	0.00	3445.2	3435.9	3454.6	2113.5	3639.9	39.99	-16.27	56	356.10	0.00	0.00	2.82	0.000	0.000	0.062	3445.88	3436.38	3455.38	2113.06	2471.19	0	0	0	30.00	30.00	15.78
541.30	516	-116.79	-1.26	-80.00	3445.1	3435.7	3454.5	2113.8	2471.1	68.44	-13.90	76	546.29	0.00	0.00	3.88	0.000	0.000	0.155	3446.88	3436.88	3456.88	2113.12	1034.44	0	0	0	30.00	30.00	15.83
585.53	1028	-116.79	-1.26	0.00	3445.2	3435.3	3455.0	2112.8	1034.4	74.08	-13.24	85	592.05	0.00	0.00	3.66	0.000	0.000	0.072	3447.19	3437.81	3456.56	2113.25	2520.00	0	0	0	30.00	30.00	15.85
781.38	32	-116.79	-1.26	0.00	3445.2	3436.1	3454.3	2113.2	2519.9	93.33	-8.62	105	782.71	0.00	0.00	0.00	0.000	0.000	0.000	3445.75	3435.56	3455.94	2112.88	2519.31	0	0	0	30.00	30.00	30.00
971.36	32	-116.79	-1.26	0.00	3445.2	3435.8	3454.6	2113.4	2520.5	109.68	-8.54	124	972.70	0.00	0.00	0.00	0.000	0.000	0.000	3446.41	3436.19	3456.62	2113.44	2520.38	0	0	0	30.00	30.00	30.00
1161.38	548	-116.79	-1.26	-80.00	3445.4	3436.0	3454.8	2113.1	2520.0	128.01	-9.61	143	1167.39	0.00	0.00	4.00	0.000	0.000	0.150	3445.19	3435.62	3454.75	2113.12	1036.88	0	0	0	30.00	30.00	15.93
1196.38	1028	-116.79	-1.26	0.00	3445.6	3436.6	3454.7	2112.7	1036.6	131.84	-10.95	150	1201.33	0.00	0.00	3.65	0.000	0.000	0.070	3446.88	3437.62	3456.12	2113.00	2521.06	0	0	0	30.00	30.00	15.95
1386.44	548	-116.79	-1.26	-80.00	3445.9	3436.4	3455.4	2112.9	2520.6	149.28	-9.53	170	1392.42	0.00	0.00	3.99	0.000	0.000	0.149	3446.22	3436.94	3455.50	2112.44	1034.19	0	0	0	30.00	30.00	15.95
1465.62	1028	-116.79	-1.26	0.00	3445.8	3436.4	3455.2	2113.2	1034.2	157.73	-10.54	186	1472.15	0.00	0.00	3.64	0.000	0.000	0.071	3445.72	3436.06	3455.38	2113.00	2520.19	0	0	0	30.00	30.00	15.97
1661.50	548	-116.79	-1.26	-80.00	3445.8	3436.4	3455.2	2113.2	2520.5	175.30	-8.57	206	1667.44	0.00	0.00	3.98	0.000	0.000	0.149	3444.84	3435.00	3454.69	2113.25	1034.19	0	0	0	30.00	30.00	15.97
1696.45	1060	-116.79	-1.26	0.00	3445.8	3436.6	3455.1	2113.1	1034.2	178.73	-9.43	213	1701.40	0.00	0.00	3.67	0.000	0.000	0.072	3447.38	3438.56	3456.19	2111.88	2520.12	0	0	0	30.00	30.00	15.98
1717	end dive: TARGET_DEPTH_EXCEEDED
state	1717	begin apogee
1717.54	10243	0.00	-0.25	0.00	3445.7	3436.1	3455.2	2113.1	2470.1	180.45	-9.60	216	1808.54	86.03	1.88	0.09	1.200	0.126	0.212	2966.53	2973.06	2960.00	2379.06	2519.56	0	0	0	12.98	15.96	15.59
1812	end apogee: CONTROL_FINISHED_OK
state	1812	begin climb
1814.03	10243	116.79	1.34	0.00	2964.5	2971.6	2957.4	2380.6	2519.6	181.14	0.00	225	1910.68	93.10	2.57	0.00	1.157	0.063	0.000	2490.94	2498.19	2483.69	2774.56	2519.50	0	0	0	12.82	15.65	30.00
2097.38	16646	116.79	1.34	80.00	2479.9	2490.5	2469.2	2774.4	2519.5	150.89	13.32	260	2102.24	0.00	0.00	3.01	0.000	0.000	0.116	2481.16	2491.75	2470.56	2773.88	3640.56	0	0	0	30.00	30.00	15.64
2177.43	21639	116.79	1.25	0.00	2479.0	2489.2	2468.7	2774.1	3641.0	140.05	13.74	276	2182.29	0.00	0.36	2.80	0.000	0.170	0.061	2481.78	2492.06	2471.50	2736.25	2467.44	0	0	0	30.00	15.65	15.70
2367.47	16774	116.79	1.32	80.00	2476.7	2489.6	2463.8	2736.1	2468.2	119.10	10.19	296	2372.28	0.00	0.00	3.11	0.000	0.000	0.113	2476.25	2488.81	2463.69	2736.00	3639.81	0	0	0	30.00	30.00	15.78
2437.43	17414	116.79	1.32	0.00	2476.0	2488.6	2463.4	2736.6	3640.7	112.25	10.14	310	2442.23	0.00	0.00	2.78	0.000	0.000	0.062	2475.78	2488.25	2463.31	2736.19	2466.81	0	0	0	30.00	30.00	15.81
2627.48	10663	136.97	1.47	80.00	2475.3	2488.4	2462.2	2736.4	2467.1	96.49	8.83	330	2652.73	17.59	0.44	3.12	1.021	0.055	0.113	2408.66	2419.62	2397.69	2810.31	3638.94	0	0	0	12.93	15.85	15.74
2831.73	5253	136.97	1.40	0.00	2403.5	2416.4	2390.6	2811.3	3639.0	74.02	12.47	371	2838.18	0.00	0.31	2.77	0.000	0.176	0.061	2403.72	2416.88	2390.56	2773.19	2465.94	0	0	0	30.00	15.79	15.85
3027.58	10403	201.80	1.66	0.00	2401.9	2416.6	2387.2	2773.2	2465.9	60.38	6.24	391	3093.08	63.28	0.49	0.00	1.029	0.056	0.000	2145.19	2162.69	2127.69	2856.62	2465.94	0	0	0	12.88	15.89	30.00
3277.54	8742	230.23	1.75	-80.00	2136.2	2156.7	2115.6	2856.1	2466.3	43.68	8.35	422	3313.02	27.81	0.00	3.88	0.981	0.000	0.138	2026.72	2049.00	2004.44	2857.38	1035.69	0	0	0	12.83	30.00	15.64
3397.57	1156	230.23	1.68	0.00	2023.4	2045.4	2001.3	2856.0	1035.5	31.08	11.73	446	3402.53	0.00	0.00	3.72	0.000	0.000	0.063	2023.75	2046.00	2001.50	2856.62	2521.31	0	0	0	30.00	30.00	15.74
3587.58	292	230.46	1.68	80.00	2020.8	2045.0	1996.5	2856.4	2520.8	10.47	9.99	466	3592.40	0.00	0.00	2.98	0.000	0.000	0.115	2020.91	2045.19	1996.62	2855.94	3638.69	0	0	0	30.00	30.00	15.81
3668	end climb: SURFACE_DEPTH_REACHED
state	3668	begin surface coast
3692	end surface coast: CONTROL_FINISHED_OK
state	3692	begin surface