Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 71 * 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 71 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 13.4671 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 24.672703 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 13.4671 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 24.672703 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 71 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 270322,103010,4644.461,-12452.062,6,1.3,13,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.03 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270322,103400,4644.464,-12452.048,5,1.5,15,15.6 MHEAD_RNG_PITCHd_Wd 227.0,20000,-19.9,-10.000,-23.24,1773,0.597

SPEED_LIMITS 0.173,0.233 D_GRID 386

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 4636.828,-12503.164

Post-dive calculations and measurements:

FINISH -0.2,1.024671 FG_AHR_10Vo 13.483

SM_CCo 4134.73,299.46,0.963,0,501.2,500.4,501.9,605.11 MEM0 60148,1,0,0

SM_GC 1.03,299.46,17.25,3.62,0.963,0.047,0.065,501.2,500.4,501.9,168.9,2521.9,0,0,0,12.81,15.78,15.79 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 989808,25,57000,63

IRIDIUM_FIX 4648.68,-12453.85,270322,043559 DATA_FILE_SIZE 16115,537

TCM_TEMP 176.08 CAP_FILE_SIZE 198877,0

XPDR_PINGS 11,13.5,11.5 SDSIZE 3918848,3892160

SC_FREEKB 3851520 SDFILEDIR 456,1

HUMID 50.12 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.97 CURRENT 0.071,161.2,1

INTERNAL_PRESSURE 8.47956 MAGCAL 1.000000,-0.058668,-0.035545,-0.027710,1.067248,0.018796,0.034499,-0.027413,1.054371,-613.3,-597.3,-313.5,34,0.0256,0

_24V_AH 14.69,15.859 IMPLIED_C_PITCH 2454,14.57,269,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3406,20.464062,158,0

FG_AHR_24Vo 24.861 GPS 270322,114328,4644.259,-12452.324,1,0.9,7,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 749 1208 13302.39 nil 0 0 0.00

Pitch_motor 39 251 147.08 nil 0 0 0.00

Roll_motor 80 210 249.45 nil 0 0 0.00

Iridium 81 53 64.39 nil 0 0 0.00

Transponder_ping 2 420 16.97 nil 0 0 0.00

GPS 23 15 5.28 nil 0 0 0.00

Core 2036 6 203.83 SciCon 3818 6 387.51

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1998 2 58.83

Compass 1091 5 80.33

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 0.00 496.2 493.0 499.4 167.8 2527.2 0.00 0.00 0 140.89 132.21 0.00 0.00 0.005 0.000 0.000 3123.88 3101.06 3146.69 167.75 2527.25 0 0 0 14.56 30.00 30.00

141.12 18727 -116.79 -1.34 80.00 3123.3 3099.9 3146.7 167.8 2527.3 4.01 -2.52 13 173.16 7.49 16.24 2.96 0.008 0.251 0.118 3444.62 3434.38 3454.88 2113.06 3639.06 0 0 0 15.69 15.67 15.64

175.49 3205 -116.79 -0.80 0.00 3444.1 3433.0 3455.1 2112.6 3638.8 12.90 -22.74 20 182.09 0.00 0.96 2.84 0.000 0.164 0.061 3444.41 3433.75 3455.06 2245.62 2472.56 0 0 0 30.00 15.68 15.73

371.32 4517 -116.79 -0.96 80.00 3445.4 3435.2 3455.6 2245.4 2472.5 34.41 -9.67 40 376.23 0.00 0.36 3.10 0.000 0.062 0.114 3446.66 3436.56 3456.75 2188.19 3638.75 0 0 0 30.00 15.80 15.79

585.58 1156 -116.79 -1.05 0.00 3444.9 3434.9 3454.9 2188.2 3638.1 59.59 -10.59 83 591.96 0.00 0.00 2.82 0.000 0.000 0.061 3446.28 3436.69 3455.88 2188.56 2469.44 0 0 0 30.00 30.00 15.86

781.40 4773 -116.79 -1.16 -80.00 3445.6 3436.0 3455.2 2188.2 2470.1 77.46 -9.63 103 787.44 0.00 0.22 3.84 0.000 0.077 0.152 3444.81 3434.69 3454.94 2138.31 1034.12 0 0 0 30.00 15.89 15.88

926.41 1060 -116.79 -1.16 0.00 3445.2 3434.9 3455.4 2138.1 1034.2 92.16 -9.37 132 931.35 0.00 0.00 3.67 0.000 0.000 0.070 3446.22 3436.25 3456.19 2139.06 2520.69 0 0 0 30.00 30.00 15.92

1116.46 292 -116.79 -1.16 80.00 3445.4 3435.4 3455.4 2138.8 2520.2 109.55 -9.26 152 1121.25 0.00 0.00 2.92 0.000 0.000 0.118 3445.34 3435.12 3455.56 2138.62 3641.12 0 0 0 30.00 30.00 15.93

1206.43 1028 -116.79 -1.16 0.00 3444.9 3435.1 3454.7 2138.3 3641.1 119.72 -11.08 170 1211.23 0.00 0.00 2.78 0.000 0.000 0.061 3445.22 3434.75 3455.69 2138.56 2470.50 0 0 0 30.00 30.00 15.96

1396.48 676 -116.79 -1.23 -80.00 3445.6 3435.9 3455.3 2138.6 2470.3 134.94 -7.80 190 1402.47 0.00 0.00 3.86 0.000 0.000 0.153 3446.34 3436.81 3455.88 2137.75 1035.69 0 0 0 30.00 30.00 15.95

1445.72 1060 -116.79 -1.23 0.00 3445.2 3435.4 3454.9 2139.4 1035.7 139.53 -8.97 200 1452.21 0.00 0.00 3.64 0.000 0.000 0.071 3445.28 3435.25 3455.31 2139.00 2519.62 0 0 0 30.00 30.00 15.97

1641.52 548 -116.79 -1.23 -80.00 3445.3 3435.7 3455.0 2138.2 2519.8 154.45 -7.52 220 1647.49 0.00 0.00 3.97 0.000 0.000 0.148 3444.81 3434.94 3454.69 2138.25 1035.31 0 0 0 30.00 30.00 15.98

1726.50 1060 -116.79 -1.23 0.00 3445.0 3435.1 3455.0 2138.6 1035.8 161.72 -8.10 237 1731.45 0.00 0.00 3.64 0.000 0.000 0.071 3447.06 3437.06 3457.06 2138.44 2519.56 0 0 0 30.00 30.00 16.00

1916.56 548 -116.79 -1.23 -80.00 3445.1 3434.9 3455.2 2139.0 2519.6 173.56 -6.09 257 1922.53 0.00 0.00 3.96 0.000 0.000 0.149 3446.00 3436.19 3455.81 2138.50 1035.62 0 0 0 30.00 30.00 15.99

1955.78 1060 -116.79 -1.23 0.00 3445.0 3435.2 3454.9 2138.5 1035.4 176.48 -7.10 265 1962.26 0.00 0.00 3.63 0.000 0.000 0.072 3446.25 3436.19 3456.31 2138.50 2521.38 0 0 0 30.00 30.00 16.01

2012 end dive: TARGET_DEPTH_EXCEEDED

state 2012 begin apogee

2012.62 10243 0.00 -0.25 0.00 3445.5 3435.2 3455.9 2138.5 2470.8 180.05 -6.40 271 2103.62 86.00 1.80 0.09 1.208 0.127 0.210 2967.72 2974.31 2961.12 2379.69 2520.00 0 0 0 12.98 15.98 15.60

2107 end apogee: CONTROL_FINISHED_OK

state 2107 begin climb

2109.14 10759 116.79 1.34 -80.00 2964.4 2971.1 2957.6 2380.5 2520.5 179.82 0.00 280 2210.39 93.00 2.61 4.07 1.164 0.067 0.130 2488.03 2495.00 2481.06 2772.81 1033.38 0 0 0 12.79 15.66 15.38

2212.81 9254 142.59 1.42 0.00 2487.8 2493.8 2481.8 2773.1 1033.6 172.32 8.50 295 2240.74 22.52 0.00 3.74 1.069 0.000 0.062 2383.16 2394.56 2371.75 2773.56 2520.25 0 0 0 12.58 30.00 15.45

2423.85 16646 142.59 1.42 80.00 2375.4 2389.7 2361.1 2772.9 2520.4 143.90 14.21 319 2428.69 0.00 0.00 2.97 0.000 0.000 0.116 2375.72 2390.50 2360.94 2773.25 3639.94 0 0 0 30.00 30.00 15.63

2593.91 17542 142.59 1.36 0.00 2373.2 2387.2 2359.1 2773.4 3638.9 117.37 14.32 353 2598.72 0.00 0.00 2.86 0.000 0.000 0.060 2376.16 2390.19 2362.12 2773.19 2467.88 0 0 0 30.00 30.00 15.74

2783.92 16646 142.59 1.36 80.00 2372.0 2387.2 2356.8 2773.8 2468.8 96.31 10.24 373 2788.78 0.00 0.00 3.05 0.000 0.000 0.112 2371.88 2387.31 2356.44 2774.19 3639.56 0 0 0 30.00 30.00 15.81

2888.18 17414 142.59 1.36 0.00 2371.3 2386.1 2356.5 2773.9 3640.4 83.71 13.98 394 2894.53 0.00 0.00 2.79 0.000 0.000 0.062 2371.78 2386.88 2356.69 2773.69 2466.56 0 0 0 30.00 30.00 15.85

3083.97 10535 203.12 1.54 80.00 2370.8 2386.9 2354.7 2773.2 2466.6 67.28 6.49 414 3146.78 57.64 0.23 3.10 1.040 0.072 0.113 2136.75 2155.25 2118.25 2829.56 3638.62 0 0 0 12.87 15.89 15.63

3374.18 9254 224.76 1.61 0.00 2130.3 2150.9 2109.8 2829.3 3639.0 40.92 8.75 470 3400.99 21.74 0.00 2.81 0.967 0.000 0.061 2050.59 2074.19 2027.00 2829.06 2466.25 0 0 0 12.88 30.00 15.80

3590.00 10919 254.40 1.76 -80.00 2044.9 2069.8 2020.0 2829.1 2466.8 23.55 8.28 494 3625.61 29.50 0.22 3.83 0.968 0.074 0.137 1929.72 1954.69 1904.75 2878.88 1034.25 0 0 0 12.87 15.80 15.67

3790 end climb: SURFACE_DEPTH_REACHED

state 3790 begin surface coast

3805 end surface coast: CONTROL_FINISHED_OK

state 3805 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	71	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	13.4671	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	24.672703	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	270322,103010,4644.461,-12452.062,6,1.3,13,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.03	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270322,103400,4644.464,-12452.048,5,1.5,15,15.6	MHEAD_RNG_PITCHd_Wd	227.0,20000,-19.9,-10.000,-23.24,1773,0.597
SPEED_LIMITS	0.173,0.233	D_GRID	386
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	4636.828,-12503.164

FINISH	-0.2,1.024671	FG_AHR_10Vo	13.483
SM_CCo	4134.73,299.46,0.963,0,501.2,500.4,501.9,605.11	MEM0	60148,1,0,0
SM_GC	1.03,299.46,17.25,3.62,0.963,0.047,0.065,501.2,500.4,501.9,168.9,2521.9,0,0,0,12.81,15.78,15.79	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	989808,25,57000,63
IRIDIUM_FIX	4648.68,-12453.85,270322,043559	DATA_FILE_SIZE	16115,537
TCM_TEMP	176.08	CAP_FILE_SIZE	198877,0
XPDR_PINGS	11,13.5,11.5	SDSIZE	3918848,3892160
SC_FREEKB	3851520	SDFILEDIR	456,1
HUMID	50.12	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.97	CURRENT	0.071,161.2,1
INTERNAL_PRESSURE	8.47956	MAGCAL	1.000000,-0.058668,-0.035545,-0.027710,1.067248,0.018796,0.034499,-0.027413,1.054371,-613.3,-597.3,-313.5,34,0.0256,0
_24V_AH	14.69,15.859	IMPLIED_C_PITCH	2454,14.57,269,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3406,20.464062,158,0
FG_AHR_24Vo	24.861	GPS	270322,114328,4644.259,-12452.324,1,0.9,7,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	749	1208	13302.39	nil	0	0	0.00
Pitch_motor	39	251	147.08	nil	0	0	0.00
Roll_motor	80	210	249.45	nil	0	0	0.00
Iridium	81	53	64.39	nil	0	0	0.00
Transponder_ping	2	420	16.97	nil	0	0	0.00
GPS	23	15	5.28	nil	0	0	0.00
Core	2036	6	203.83	SciCon	3818	6	387.51
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1998	2	58.83
Compass	1091	5	80.33
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	496.2	493.0	499.4	167.8	2527.2	0.00	0.00	0	140.89	132.21	0.00	0.00	0.005	0.000	0.000	3123.88	3101.06	3146.69	167.75	2527.25	0	0	0	14.56	30.00	30.00
141.12	18727	-116.79	-1.34	80.00	3123.3	3099.9	3146.7	167.8	2527.3	4.01	-2.52	13	173.16	7.49	16.24	2.96	0.008	0.251	0.118	3444.62	3434.38	3454.88	2113.06	3639.06	0	0	0	15.69	15.67	15.64
175.49	3205	-116.79	-0.80	0.00	3444.1	3433.0	3455.1	2112.6	3638.8	12.90	-22.74	20	182.09	0.00	0.96	2.84	0.000	0.164	0.061	3444.41	3433.75	3455.06	2245.62	2472.56	0	0	0	30.00	15.68	15.73
371.32	4517	-116.79	-0.96	80.00	3445.4	3435.2	3455.6	2245.4	2472.5	34.41	-9.67	40	376.23	0.00	0.36	3.10	0.000	0.062	0.114	3446.66	3436.56	3456.75	2188.19	3638.75	0	0	0	30.00	15.80	15.79
585.58	1156	-116.79	-1.05	0.00	3444.9	3434.9	3454.9	2188.2	3638.1	59.59	-10.59	83	591.96	0.00	0.00	2.82	0.000	0.000	0.061	3446.28	3436.69	3455.88	2188.56	2469.44	0	0	0	30.00	30.00	15.86
781.40	4773	-116.79	-1.16	-80.00	3445.6	3436.0	3455.2	2188.2	2470.1	77.46	-9.63	103	787.44	0.00	0.22	3.84	0.000	0.077	0.152	3444.81	3434.69	3454.94	2138.31	1034.12	0	0	0	30.00	15.89	15.88
926.41	1060	-116.79	-1.16	0.00	3445.2	3434.9	3455.4	2138.1	1034.2	92.16	-9.37	132	931.35	0.00	0.00	3.67	0.000	0.000	0.070	3446.22	3436.25	3456.19	2139.06	2520.69	0	0	0	30.00	30.00	15.92
1116.46	292	-116.79	-1.16	80.00	3445.4	3435.4	3455.4	2138.8	2520.2	109.55	-9.26	152	1121.25	0.00	0.00	2.92	0.000	0.000	0.118	3445.34	3435.12	3455.56	2138.62	3641.12	0	0	0	30.00	30.00	15.93
1206.43	1028	-116.79	-1.16	0.00	3444.9	3435.1	3454.7	2138.3	3641.1	119.72	-11.08	170	1211.23	0.00	0.00	2.78	0.000	0.000	0.061	3445.22	3434.75	3455.69	2138.56	2470.50	0	0	0	30.00	30.00	15.96
1396.48	676	-116.79	-1.23	-80.00	3445.6	3435.9	3455.3	2138.6	2470.3	134.94	-7.80	190	1402.47	0.00	0.00	3.86	0.000	0.000	0.153	3446.34	3436.81	3455.88	2137.75	1035.69	0	0	0	30.00	30.00	15.95
1445.72	1060	-116.79	-1.23	0.00	3445.2	3435.4	3454.9	2139.4	1035.7	139.53	-8.97	200	1452.21	0.00	0.00	3.64	0.000	0.000	0.071	3445.28	3435.25	3455.31	2139.00	2519.62	0	0	0	30.00	30.00	15.97
1641.52	548	-116.79	-1.23	-80.00	3445.3	3435.7	3455.0	2138.2	2519.8	154.45	-7.52	220	1647.49	0.00	0.00	3.97	0.000	0.000	0.148	3444.81	3434.94	3454.69	2138.25	1035.31	0	0	0	30.00	30.00	15.98
1726.50	1060	-116.79	-1.23	0.00	3445.0	3435.1	3455.0	2138.6	1035.8	161.72	-8.10	237	1731.45	0.00	0.00	3.64	0.000	0.000	0.071	3447.06	3437.06	3457.06	2138.44	2519.56	0	0	0	30.00	30.00	16.00
1916.56	548	-116.79	-1.23	-80.00	3445.1	3434.9	3455.2	2139.0	2519.6	173.56	-6.09	257	1922.53	0.00	0.00	3.96	0.000	0.000	0.149	3446.00	3436.19	3455.81	2138.50	1035.62	0	0	0	30.00	30.00	15.99
1955.78	1060	-116.79	-1.23	0.00	3445.0	3435.2	3454.9	2138.5	1035.4	176.48	-7.10	265	1962.26	0.00	0.00	3.63	0.000	0.000	0.072	3446.25	3436.19	3456.31	2138.50	2521.38	0	0	0	30.00	30.00	16.01
2012	end dive: TARGET_DEPTH_EXCEEDED
state	2012	begin apogee
2012.62	10243	0.00	-0.25	0.00	3445.5	3435.2	3455.9	2138.5	2470.8	180.05	-6.40	271	2103.62	86.00	1.80	0.09	1.208	0.127	0.210	2967.72	2974.31	2961.12	2379.69	2520.00	0	0	0	12.98	15.98	15.60
2107	end apogee: CONTROL_FINISHED_OK
state	2107	begin climb
2109.14	10759	116.79	1.34	-80.00	2964.4	2971.1	2957.6	2380.5	2520.5	179.82	0.00	280	2210.39	93.00	2.61	4.07	1.164	0.067	0.130	2488.03	2495.00	2481.06	2772.81	1033.38	0	0	0	12.79	15.66	15.38
2212.81	9254	142.59	1.42	0.00	2487.8	2493.8	2481.8	2773.1	1033.6	172.32	8.50	295	2240.74	22.52	0.00	3.74	1.069	0.000	0.062	2383.16	2394.56	2371.75	2773.56	2520.25	0	0	0	12.58	30.00	15.45
2423.85	16646	142.59	1.42	80.00	2375.4	2389.7	2361.1	2772.9	2520.4	143.90	14.21	319	2428.69	0.00	0.00	2.97	0.000	0.000	0.116	2375.72	2390.50	2360.94	2773.25	3639.94	0	0	0	30.00	30.00	15.63
2593.91	17542	142.59	1.36	0.00	2373.2	2387.2	2359.1	2773.4	3638.9	117.37	14.32	353	2598.72	0.00	0.00	2.86	0.000	0.000	0.060	2376.16	2390.19	2362.12	2773.19	2467.88	0	0	0	30.00	30.00	15.74
2783.92	16646	142.59	1.36	80.00	2372.0	2387.2	2356.8	2773.8	2468.8	96.31	10.24	373	2788.78	0.00	0.00	3.05	0.000	0.000	0.112	2371.88	2387.31	2356.44	2774.19	3639.56	0	0	0	30.00	30.00	15.81
2888.18	17414	142.59	1.36	0.00	2371.3	2386.1	2356.5	2773.9	3640.4	83.71	13.98	394	2894.53	0.00	0.00	2.79	0.000	0.000	0.062	2371.78	2386.88	2356.69	2773.69	2466.56	0	0	0	30.00	30.00	15.85
3083.97	10535	203.12	1.54	80.00	2370.8	2386.9	2354.7	2773.2	2466.6	67.28	6.49	414	3146.78	57.64	0.23	3.10	1.040	0.072	0.113	2136.75	2155.25	2118.25	2829.56	3638.62	0	0	0	12.87	15.89	15.63
3374.18	9254	224.76	1.61	0.00	2130.3	2150.9	2109.8	2829.3	3639.0	40.92	8.75	470	3400.99	21.74	0.00	2.81	0.967	0.000	0.061	2050.59	2074.19	2027.00	2829.06	2466.25	0	0	0	12.88	30.00	15.80
3590.00	10919	254.40	1.76	-80.00	2044.9	2069.8	2020.0	2829.1	2466.8	23.55	8.28	494	3625.61	29.50	0.22	3.83	0.968	0.074	0.137	1929.72	1954.69	1904.75	2878.88	1034.25	0	0	0	12.87	15.80	15.67
3790	end climb: SURFACE_DEPTH_REACHED
state	3790	begin surface coast
3805	end surface coast: CONTROL_FINISHED_OK
state	3805	begin surface