Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 701 * 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 701 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 67.323479 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 183.20102 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 0.0025118899 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 67.323479 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 183.20102 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 0.0025118899 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 701 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 191021,130340,4750.255,-12510.466,2,1.1,5,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 191021,130922,4750.266,-12510.421,2,1.1,5,15.9 MHEAD_RNG_PITCHd_Wd 342.1,3088,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 201

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 0.1,1.016182 MEM0 60876,1,0,0

SM_CCo 4949.58,36.01,1.087,0,1043.1,1015.6,1070.6,424.84 MEM1 65508,1,0,0

SM_GC 0.78,36.01,16.24,0.13,1.087,0.048,0.112,1043.1,1015.6,1070.6,183.2,2377.9,0,0,0,11.68,15.82,15.83 MEM2 971340,30,75488,57

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 41831,973

IRIDIUM_FIX 4750.34,-12512.13,191021,112618 CAP_FILE_SIZE 178395,0

TCM_TEMP 267.66 SDSIZE 4028416,3856512

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 2861,1

HUMID 50.43 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.17 CURRENT 0.095,194.7,1

INTERNAL_PRESSURE 8.88917 MAGCAL 1.000000,-0.043453,0.170030,0.009195,1.039076,-0.044524,0.097743,-0.121939,1.485421,467.5,-321.8,-132.6,32,0.0740,0

_24V_AH 14.97,236.647 IMPLIED_C_PITCH 2359,13.02,729

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2748,30.702864,427

FG_AHR_24Vo 183.337 GPS 191021,143249,4750.278,-12510.370,35,0.9,36,15.9

FG_AHR_10Vo 67.339

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 451 1336 9029.74 legato 34 20 10.30

Pitch_motor 35 242 129.59 nil 0 0 0.00

Roll_motor 64 112 108.61 nil 0 0 0.00

Iridium 165 208 516.81 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 2106 11 372.86 SciCon 0 0 0.00

LPSleep 3085 2 129.60 nil 0 0 0.00

Compass 642 5 48.17 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

5.39 16386 -82.73 -1.35 0.00 1037.3 1021.1 1053.5 182.0 2251.9 0.00 0.00 0 72.02 65.49 0.00 0.00 0.005 0.000 0.000 2668.72 2833.38 2504.06 182.00 2251.75 0 0 0 15.18 30.00 30.00

72.76 18727 -82.73 -1.35 60.00 2667.3 2831.1 2503.4 181.8 2252.0 3.70 -5.75 12 105.59 9.52 14.44 2.95 0.007 0.242 0.085 3111.84 3320.25 2903.44 2004.19 3428.06 0 0 0 15.29 15.59 15.19

332.69 1028 -82.73 -1.35 0.00 3112.6 3319.9 2905.4 2003.5 3428.1 49.05 -14.14 64 338.23 0.00 0.00 2.56 0.000 0.000 0.020 3112.69 3320.44 2904.94 2004.25 2248.19 0 0 0 30.00 30.00 15.86

523.10 260 -82.73 -1.35 60.00 3112.5 3319.9 2905.1 2004.1 2246.5 71.86 -10.95 102 528.51 0.00 0.00 2.95 0.000 0.000 0.079 3113.12 3320.81 2905.44 2003.56 3426.81 0 0 0 30.00 30.00 15.88

757.76 1028 -82.73 -1.35 0.00 3112.8 3319.9 2905.7 2003.6 3426.1 99.80 -11.43 149 763.30 0.00 0.00 2.55 0.000 0.000 0.019 3113.38 3319.62 2907.12 2004.25 2246.75 0 0 0 30.00 30.00 15.92

948.21 516 -82.73 -1.35 -60.00 3112.6 3319.4 2905.8 2003.9 2244.8 116.40 -7.48 187 952.94 0.00 0.00 2.45 0.000 0.000 0.064 3113.66 3320.06 2907.25 2003.69 1207.12 0 0 0 30.00 30.00 15.93

1017.84 1028 -82.73 -1.35 0.00 3112.6 3319.5 2905.8 2004.4 1207.2 122.08 -8.26 201 1023.40 0.00 0.00 2.62 0.000 0.000 0.027 3113.06 3320.19 2905.94 2004.19 2355.31 0 0 0 30.00 30.00 15.95

1327.95 260 -82.73 -1.35 60.00 3113.1 3319.8 2906.5 2004.1 2355.4 150.00 -10.34 263 1333.50 0.00 0.00 2.67 0.000 0.000 0.085 3113.03 3319.81 2906.25 2004.06 3426.62 0 0 0 30.00 30.00 15.94

1417.97 1028 -82.73 -1.35 0.00 3113.2 3319.7 2906.8 2003.5 3426.4 159.57 -10.60 281 1423.52 0.00 0.00 2.54 0.000 0.000 0.020 3113.38 3318.81 2907.94 2003.94 2244.50 0 0 0 30.00 30.00 15.96

1728.08 516 -82.73 -1.35 -60.00 3113.2 3319.1 2907.2 2004.1 2242.8 189.47 -9.99 343 1733.20 0.00 0.00 2.44 0.000 0.000 0.064 3113.75 3319.81 2907.69 2003.62 1208.44 0 0 0 30.00 30.00 15.98

1763.09 1028 -82.73 -1.35 0.00 3113.0 3319.2 2906.8 2003.9 1208.3 193.08 -10.31 350 1768.63 0.00 0.00 2.61 0.000 0.000 0.027 3114.28 3320.69 2907.88 2003.00 2353.25 0 0 0 30.00 30.00 15.98

1847 end dive: TARGET_DEPTH_EXCEEDED

state 1847 begin apogee

1849.94 10243 0.00 -0.28 0.00 3113.2 3319.6 2906.9 2004.0 2147.0 201.31 -9.56 367 1912.77 58.31 1.78 0.25 1.336 0.134 0.096 2773.59 2912.50 2634.69 2262.31 2286.25 0 0 0 11.36 15.89 15.68

1914 end apogee: CONTROL_FINISHED_OK

state 1914 begin climb

1915.07 10759 82.73 1.35 -60.00 2773.1 2912.1 2634.2 2264.6 2287.6 203.86 0.00 379 1982.67 59.05 2.58 2.83 1.287 0.090 0.068 2435.53 2525.44 2345.62 2661.00 1128.25 0 0 0 12.44 15.76 15.53

2054.88 11303 164.48 1.51 0.00 2434.8 2524.6 2344.9 2661.8 1128.6 199.55 4.08 407 2121.75 60.58 0.21 2.65 1.265 0.076 0.025 2104.16 2150.06 2058.25 2713.00 2275.31 0 0 0 11.78 15.61 15.67

2424.97 516 164.48 1.51 -60.00 2097.3 2149.5 2045.2 2713.4 2274.9 169.10 8.72 481 2430.55 0.00 0.00 2.77 0.000 0.000 0.067 2097.25 2150.00 2044.50 2714.12 1128.25 0 0 0 30.00 30.00 15.77

2515.00 17414 164.48 1.51 0.00 2096.0 2149.4 2042.5 2714.4 1128.7 161.11 8.64 499 2520.75 0.00 0.00 2.62 0.000 0.000 0.026 2096.25 2149.88 2042.62 2714.31 2275.38 0 0 0 30.00 30.00 15.82

2825.12 16966 164.48 1.54 -60.00 2095.0 2149.7 2040.2 2714.2 2275.4 138.12 6.82 561 2830.68 0.00 0.00 2.76 0.000 0.000 0.066 2095.91 2150.94 2040.88 2714.12 1129.81 0 0 0 30.00 30.00 15.88

2865.13 17478 164.48 1.56 0.00 2094.9 2149.5 2040.3 2714.1 1129.8 135.00 7.70 569 2870.68 0.00 0.00 2.62 0.000 0.000 0.027 2096.81 2151.88 2041.75 2712.56 2276.19 0 0 0 30.00 30.00 15.88

3175.23 16646 164.48 1.56 60.00 2094.8 2149.2 2040.3 2714.2 2275.9 109.78 8.13 631 3180.78 0.00 0.00 2.67 0.000 0.000 0.084 2095.72 2150.56 2040.88 2713.75 3345.69 0 0 0 30.00 30.00 15.90

3360.29 17478 164.48 1.59 0.00 2094.5 2149.4 2039.6 2714.9 3346.2 97.10 6.72 668 3365.82 0.00 0.00 2.56 0.000 0.000 0.021 2095.12 2149.94 2040.31 2713.31 2179.06 0 0 0 30.00 30.00 15.94

3550.75 10791 244.32 1.75 -60.00 2094.4 2149.8 2039.1 2714.8 2178.9 88.78 4.18 706 3615.02 59.14 0.26 2.54 1.194 0.076 0.074 1778.34 1807.88 1748.81 2771.25 1129.81 0 0 0 11.51 15.91 15.67

3762.16 1092 244.32 1.77 0.00 1772.0 1807.2 1736.8 2771.0 1130.1 73.37 7.55 748 3767.88 0.00 0.00 2.62 0.000 0.000 0.026 1772.38 1807.75 1737.00 2769.88 2276.62 0 0 0 30.00 30.00 15.82

3952.74 8742 285.99 1.85 -60.00 1770.2 1807.0 1733.5 2770.6 2276.2 61.82 6.23 786 3989.93 31.95 0.00 2.79 1.123 0.000 0.069 1607.22 1637.12 1577.31 2770.56 1129.56 0 0 0 11.58 30.00 15.67

4102.26 1092 285.99 1.88 0.00 1603.6 1637.6 1569.5 2771.1 1129.5 51.63 7.13 816 4107.81 0.00 0.00 2.64 0.000 0.000 0.026 1603.53 1637.31 1569.75 2771.19 2276.00 0 0 0 30.00 30.00 15.82

4292.73 10275 332.34 1.97 0.00 1601.6 1637.9 1565.4 2771.4 2276.3 40.03 5.98 854 4330.14 36.19 0.23 0.00 1.108 0.075 0.000 1419.97 1441.06 1398.88 2822.12 2277.06 0 0 0 11.62 15.83 30.00

4512.40 8742 377.11 2.06 -60.00 1414.2 1441.9 1386.4 2822.9 2276.3 22.94 6.06 898 4553.39 35.12 0.00 2.81 1.075 0.000 0.069 1237.56 1244.62 1230.50 2823.69 1128.38 0 0 0 11.84 30.00 15.63

4662.42 1092 377.11 2.09 0.00 1233.4 1245.1 1221.8 2823.2 1128.4 13.13 7.05 928 4667.96 0.00 0.00 2.65 0.000 0.000 0.026 1233.50 1245.50 1221.50 2824.06 2273.94 0 0 0 30.00 30.00 15.79

4807 end climb: SURFACE_DEPTH_REACHED

state 4807 begin surface coast

4887 end surface coast: CONTROL_FINISHED_OK

state 4887 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	701	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	67.323479	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	183.20102	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	0.0025118899	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	191021,130340,4750.255,-12510.466,2,1.1,5,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	191021,130922,4750.266,-12510.421,2,1.1,5,15.9	MHEAD_RNG_PITCHd_Wd	342.1,3088,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	201
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	0.1,1.016182	MEM0	60876,1,0,0
SM_CCo	4949.58,36.01,1.087,0,1043.1,1015.6,1070.6,424.84	MEM1	65508,1,0,0
SM_GC	0.78,36.01,16.24,0.13,1.087,0.048,0.112,1043.1,1015.6,1070.6,183.2,2377.9,0,0,0,11.68,15.82,15.83	MEM2	971340,30,75488,57
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	41831,973
IRIDIUM_FIX	4750.34,-12512.13,191021,112618	CAP_FILE_SIZE	178395,0
TCM_TEMP	267.66	SDSIZE	4028416,3856512
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	2861,1
HUMID	50.43	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.17	CURRENT	0.095,194.7,1
INTERNAL_PRESSURE	8.88917	MAGCAL	1.000000,-0.043453,0.170030,0.009195,1.039076,-0.044524,0.097743,-0.121939,1.485421,467.5,-321.8,-132.6,32,0.0740,0
_24V_AH	14.97,236.647	IMPLIED_C_PITCH	2359,13.02,729
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2748,30.702864,427
FG_AHR_24Vo	183.337	GPS	191021,143249,4750.278,-12510.370,35,0.9,36,15.9
FG_AHR_10Vo	67.339

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	451	1336	9029.74	legato	34	20	10.30
Pitch_motor	35	242	129.59	nil	0	0	0.00
Roll_motor	64	112	108.61	nil	0	0	0.00
Iridium	165	208	516.81	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	2106	11	372.86	SciCon	0	0	0.00
LPSleep	3085	2	129.60	nil	0	0	0.00
Compass	642	5	48.17	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
5.39	16386	-82.73	-1.35	0.00	1037.3	1021.1	1053.5	182.0	2251.9	0.00	0.00	0	72.02	65.49	0.00	0.00	0.005	0.000	0.000	2668.72	2833.38	2504.06	182.00	2251.75	0	0	0	15.18	30.00	30.00
72.76	18727	-82.73	-1.35	60.00	2667.3	2831.1	2503.4	181.8	2252.0	3.70	-5.75	12	105.59	9.52	14.44	2.95	0.007	0.242	0.085	3111.84	3320.25	2903.44	2004.19	3428.06	0	0	0	15.29	15.59	15.19
332.69	1028	-82.73	-1.35	0.00	3112.6	3319.9	2905.4	2003.5	3428.1	49.05	-14.14	64	338.23	0.00	0.00	2.56	0.000	0.000	0.020	3112.69	3320.44	2904.94	2004.25	2248.19	0	0	0	30.00	30.00	15.86
523.10	260	-82.73	-1.35	60.00	3112.5	3319.9	2905.1	2004.1	2246.5	71.86	-10.95	102	528.51	0.00	0.00	2.95	0.000	0.000	0.079	3113.12	3320.81	2905.44	2003.56	3426.81	0	0	0	30.00	30.00	15.88
757.76	1028	-82.73	-1.35	0.00	3112.8	3319.9	2905.7	2003.6	3426.1	99.80	-11.43	149	763.30	0.00	0.00	2.55	0.000	0.000	0.019	3113.38	3319.62	2907.12	2004.25	2246.75	0	0	0	30.00	30.00	15.92
948.21	516	-82.73	-1.35	-60.00	3112.6	3319.4	2905.8	2003.9	2244.8	116.40	-7.48	187	952.94	0.00	0.00	2.45	0.000	0.000	0.064	3113.66	3320.06	2907.25	2003.69	1207.12	0	0	0	30.00	30.00	15.93
1017.84	1028	-82.73	-1.35	0.00	3112.6	3319.5	2905.8	2004.4	1207.2	122.08	-8.26	201	1023.40	0.00	0.00	2.62	0.000	0.000	0.027	3113.06	3320.19	2905.94	2004.19	2355.31	0	0	0	30.00	30.00	15.95
1327.95	260	-82.73	-1.35	60.00	3113.1	3319.8	2906.5	2004.1	2355.4	150.00	-10.34	263	1333.50	0.00	0.00	2.67	0.000	0.000	0.085	3113.03	3319.81	2906.25	2004.06	3426.62	0	0	0	30.00	30.00	15.94
1417.97	1028	-82.73	-1.35	0.00	3113.2	3319.7	2906.8	2003.5	3426.4	159.57	-10.60	281	1423.52	0.00	0.00	2.54	0.000	0.000	0.020	3113.38	3318.81	2907.94	2003.94	2244.50	0	0	0	30.00	30.00	15.96
1728.08	516	-82.73	-1.35	-60.00	3113.2	3319.1	2907.2	2004.1	2242.8	189.47	-9.99	343	1733.20	0.00	0.00	2.44	0.000	0.000	0.064	3113.75	3319.81	2907.69	2003.62	1208.44	0	0	0	30.00	30.00	15.98
1763.09	1028	-82.73	-1.35	0.00	3113.0	3319.2	2906.8	2003.9	1208.3	193.08	-10.31	350	1768.63	0.00	0.00	2.61	0.000	0.000	0.027	3114.28	3320.69	2907.88	2003.00	2353.25	0	0	0	30.00	30.00	15.98
1847	end dive: TARGET_DEPTH_EXCEEDED
state	1847	begin apogee
1849.94	10243	0.00	-0.28	0.00	3113.2	3319.6	2906.9	2004.0	2147.0	201.31	-9.56	367	1912.77	58.31	1.78	0.25	1.336	0.134	0.096	2773.59	2912.50	2634.69	2262.31	2286.25	0	0	0	11.36	15.89	15.68
1914	end apogee: CONTROL_FINISHED_OK
state	1914	begin climb
1915.07	10759	82.73	1.35	-60.00	2773.1	2912.1	2634.2	2264.6	2287.6	203.86	0.00	379	1982.67	59.05	2.58	2.83	1.287	0.090	0.068	2435.53	2525.44	2345.62	2661.00	1128.25	0	0	0	12.44	15.76	15.53
2054.88	11303	164.48	1.51	0.00	2434.8	2524.6	2344.9	2661.8	1128.6	199.55	4.08	407	2121.75	60.58	0.21	2.65	1.265	0.076	0.025	2104.16	2150.06	2058.25	2713.00	2275.31	0	0	0	11.78	15.61	15.67
2424.97	516	164.48	1.51	-60.00	2097.3	2149.5	2045.2	2713.4	2274.9	169.10	8.72	481	2430.55	0.00	0.00	2.77	0.000	0.000	0.067	2097.25	2150.00	2044.50	2714.12	1128.25	0	0	0	30.00	30.00	15.77
2515.00	17414	164.48	1.51	0.00	2096.0	2149.4	2042.5	2714.4	1128.7	161.11	8.64	499	2520.75	0.00	0.00	2.62	0.000	0.000	0.026	2096.25	2149.88	2042.62	2714.31	2275.38	0	0	0	30.00	30.00	15.82
2825.12	16966	164.48	1.54	-60.00	2095.0	2149.7	2040.2	2714.2	2275.4	138.12	6.82	561	2830.68	0.00	0.00	2.76	0.000	0.000	0.066	2095.91	2150.94	2040.88	2714.12	1129.81	0	0	0	30.00	30.00	15.88
2865.13	17478	164.48	1.56	0.00	2094.9	2149.5	2040.3	2714.1	1129.8	135.00	7.70	569	2870.68	0.00	0.00	2.62	0.000	0.000	0.027	2096.81	2151.88	2041.75	2712.56	2276.19	0	0	0	30.00	30.00	15.88
3175.23	16646	164.48	1.56	60.00	2094.8	2149.2	2040.3	2714.2	2275.9	109.78	8.13	631	3180.78	0.00	0.00	2.67	0.000	0.000	0.084	2095.72	2150.56	2040.88	2713.75	3345.69	0	0	0	30.00	30.00	15.90
3360.29	17478	164.48	1.59	0.00	2094.5	2149.4	2039.6	2714.9	3346.2	97.10	6.72	668	3365.82	0.00	0.00	2.56	0.000	0.000	0.021	2095.12	2149.94	2040.31	2713.31	2179.06	0	0	0	30.00	30.00	15.94
3550.75	10791	244.32	1.75	-60.00	2094.4	2149.8	2039.1	2714.8	2178.9	88.78	4.18	706	3615.02	59.14	0.26	2.54	1.194	0.076	0.074	1778.34	1807.88	1748.81	2771.25	1129.81	0	0	0	11.51	15.91	15.67
3762.16	1092	244.32	1.77	0.00	1772.0	1807.2	1736.8	2771.0	1130.1	73.37	7.55	748	3767.88	0.00	0.00	2.62	0.000	0.000	0.026	1772.38	1807.75	1737.00	2769.88	2276.62	0	0	0	30.00	30.00	15.82
3952.74	8742	285.99	1.85	-60.00	1770.2	1807.0	1733.5	2770.6	2276.2	61.82	6.23	786	3989.93	31.95	0.00	2.79	1.123	0.000	0.069	1607.22	1637.12	1577.31	2770.56	1129.56	0	0	0	11.58	30.00	15.67
4102.26	1092	285.99	1.88	0.00	1603.6	1637.6	1569.5	2771.1	1129.5	51.63	7.13	816	4107.81	0.00	0.00	2.64	0.000	0.000	0.026	1603.53	1637.31	1569.75	2771.19	2276.00	0	0	0	30.00	30.00	15.82
4292.73	10275	332.34	1.97	0.00	1601.6	1637.9	1565.4	2771.4	2276.3	40.03	5.98	854	4330.14	36.19	0.23	0.00	1.108	0.075	0.000	1419.97	1441.06	1398.88	2822.12	2277.06	0	0	0	11.62	15.83	30.00
4512.40	8742	377.11	2.06	-60.00	1414.2	1441.9	1386.4	2822.9	2276.3	22.94	6.06	898	4553.39	35.12	0.00	2.81	1.075	0.000	0.069	1237.56	1244.62	1230.50	2823.69	1128.38	0	0	0	11.84	30.00	15.63
4662.42	1092	377.11	2.09	0.00	1233.4	1245.1	1221.8	2823.2	1128.4	13.13	7.05	928	4667.96	0.00	0.00	2.65	0.000	0.000	0.026	1233.50	1245.50	1221.50	2824.06	2273.94	0	0	0	30.00	30.00	15.79
4807	end climb: SURFACE_DEPTH_REACHED
state	4807	begin surface coast
4887	end surface coast: CONTROL_FINISHED_OK
state	4887	begin surface