Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 73 * 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 73 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 2 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 2 PITCH_VBD_SHIFT 0.003 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 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 13.50774 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 25.153217 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 -1 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 2 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 13.50774 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 25.153217 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 5 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 -1 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 2

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 73 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 270322,134001,4644.354,-12452.249,26,1.0,26,15.6 TGT_RADIUS 2500.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270322,135842,4644.271,-12452.004,3,0.8,7,15.6 MHEAD_RNG_PITCHd_Wd 271.1,164271,-19.9,-10.000,-23.24,1773,0.491

SPEED_LIMITS 0.173,0.233 D_GRID 364

TGT_NAME OFFSHORE 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 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH -0.3,1.024698 FG_AHR_10Vo 13.523

SM_CCo 4150.02,300.57,0.962,0,500.7,500.2,501.2,605.22 MEM0 60148,1,0,0

SM_GC 0.95,300.57,16.97,0.09,0.962,0.044,0.137,500.7,500.2,501.2,169.1,2519.6,0,0,0,12.82,15.78,15.79 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 990212,26,56696,57

IRIDIUM_FIX 4644.61,-12450.25,270322,135310 DATA_FILE_SIZE 12929,495

TCM_TEMP 176.53 CAP_FILE_SIZE 190840,0

XPDR_PINGS 16,13.5,11.5 SDSIZE 3918848,3891744

SC_FREEKB 3850752 SDFILEDIR 468,1

HUMID 50.16 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.02 CURRENT 0.030,131.5,1

INTERNAL_PRESSURE 8.4853 MAGCAL 1.000000,-0.054933,-0.005286,-0.032177,1.046387,0.043171,0.004317,-0.038907,1.001687,-640.0,-611.7,-272.3,30,0.0252,0

_24V_AH 14.69,16.354 IMPLIED_C_PITCH 2449,14.26,284,0.0,0.00

_10V_AH 14.73,0.000 IMPLIED_C_VBD 3420,18.954342,156,0

FG_AHR_24Vo 25.341 GPS 270322,150852,4644.222,-12452.523,22,1.8,34,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 750 1209 13344.53 nil 0 0 0.00

Pitch_motor 39 251 146.99 nil 0 0 0.00

Roll_motor 59 211 185.06 nil 0 0 0.00

Iridium 796 234 2747.50 nil 0 0 0.00

Transponder_ping 4 420 24.68 nil 0 0 0.00

GPS 16 15 3.60 nil 0 0 0.00

Core 2639 6 264.37 SciCon 3837 6 393.49

Fast 9 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2298 2 67.70

Compass 1028 5 75.73

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

8.45 16386 -116.79 -1.34 0.00 496.5 494.4 498.6 166.5 2474.0 0.00 0.00 0 140.91 132.19 0.00 0.00 0.005 0.000 0.000 3067.50 3042.12 3092.88 166.75 2474.00 0 0 0 14.46 30.00 30.00

141.12 18983 -116.79 -1.34 -80.00 3067.2 3043.0 3091.5 166.6 2473.7 3.64 -2.25 13 177.57 9.40 16.18 3.89 0.007 0.251 0.156 3444.44 3436.38 3452.50 2113.38 1035.56 0 0 0 15.74 15.73 15.70

310.72 3205 -116.79 -1.23 0.00 3445.5 3435.8 3455.2 2113.0 1036.1 33.58 -16.74 47 315.74 0.00 0.21 3.63 0.000 0.163 0.073 3445.81 3436.00 3455.62 2144.38 2520.69 0 0 0 30.00 15.79 15.83

500.72 260 -116.79 -1.23 80.00 3446.2 3437.3 3455.0 2144.1 2520.3 59.91 -11.79 67 505.55 0.00 0.00 2.93 0.000 0.000 0.117 3446.91 3436.88 3456.94 2144.06 3641.88 0 0 0 30.00 30.00 15.86

530.73 1028 -116.79 -1.23 0.00 3445.5 3436.2 3454.8 2144.8 3641.8 63.54 -12.10 73 535.54 0.00 0.00 2.81 0.000 0.000 0.060 3446.31 3437.38 3455.25 2144.12 2469.12 0 0 0 30.00 30.00 15.88

720.75 0 -116.79 -1.23 0.00 3445.7 3436.1 3455.2 2143.9 2469.2 82.33 -10.68 93 722.09 0.00 0.00 0.00 0.000 0.000 0.000 3446.09 3437.25 3454.94 2144.44 2469.19 0 0 0 30.00 30.00 30.00

910.80 676 -116.79 -1.29 -80.00 3445.9 3436.8 3455.0 2143.9 2469.3 100.39 -8.06 112 915.75 0.00 0.00 3.84 0.000 0.000 0.152 3447.22 3437.19 3457.25 2143.56 1033.38 0 0 0 30.00 30.00 15.92

955.01 1060 -116.79 -1.29 0.00 3445.7 3436.2 3455.2 2144.2 1033.1 104.40 -9.07 121 961.51 0.00 0.00 3.61 0.000 0.000 0.070 3446.75 3437.12 3456.38 2144.19 2519.75 0 0 0 30.00 30.00 15.94

1150.86 4257 -116.79 -1.38 0.00 3446.3 3437.2 3455.4 2144.4 2519.9 118.05 -6.66 141 1152.35 0.00 0.34 0.00 0.000 0.059 0.000 3445.25 3435.88 3454.62 2086.69 2519.69 0 0 0 30.00 15.96 30.00

1340.87 548 -116.79 -1.38 -80.00 3445.1 3436.1 3454.1 2086.1 2520.2 135.27 -8.84 160 1346.82 0.00 0.00 3.96 0.000 0.000 0.149 3444.88 3435.75 3454.00 2086.88 1034.94 0 0 0 30.00 30.00 15.96

1405.88 3205 -116.79 -1.28 0.00 3446.1 3437.2 3455.0 2086.9 1034.8 142.05 -10.81 173 1411.85 0.00 0.38 3.60 0.000 0.158 0.074 3445.50 3435.88 3455.12 2129.19 2521.25 0 0 0 30.00 15.94 15.98

1600.85 548 -116.79 -1.28 -80.00 3445.7 3436.2 3455.2 2129.4 2521.3 156.57 -7.10 193 1606.85 0.00 0.00 3.94 0.000 0.000 0.147 3445.28 3436.38 3454.19 2129.38 1034.12 0 0 0 30.00 30.00 15.99

1680.08 1060 -116.79 -1.28 0.00 3445.3 3435.7 3455.0 2129.3 1034.2 162.82 -7.90 209 1686.58 0.00 0.00 3.60 0.000 0.000 0.071 3445.59 3436.44 3454.75 2129.12 2520.06 0 0 0 30.00 30.00 16.00

1875.93 160 -116.79 -1.35 0.00 3445.3 3435.8 3454.9 2129.7 2520.4 177.31 -8.01 229 1877.27 0.00 0.00 0.00 0.000 0.000 0.000 3446.34 3436.81 3455.88 2128.81 2520.19 0 0 0 30.00 30.00 30.00

1916 end dive: TARGET_DEPTH_EXCEEDED

state 1916 begin apogee

1916.96 10243 0.00 -0.25 0.00 3445.7 3435.9 3455.5 2129.1 2470.0 180.40 -8.17 233 2007.94 86.65 1.79 0.09 1.210 0.123 0.212 2966.53 2973.56 2959.50 2381.38 2520.69 0 0 0 13.00 15.99 15.61

2011 end apogee: CONTROL_FINISHED_OK

state 2011 begin climb

2013.44 10243 116.79 1.34 0.00 2964.4 2971.6 2957.2 2381.4 2520.8 182.09 0.00 242 2110.62 93.65 2.57 0.00 1.171 0.063 0.000 2490.19 2497.75 2482.62 2773.81 2520.50 0 0 0 12.79 15.67 30.00

2296.78 16646 116.79 1.34 80.00 2479.9 2490.5 2469.4 2774.4 2520.8 154.02 12.99 271 2301.62 0.00 0.00 2.93 0.000 0.000 0.116 2482.62 2493.25 2472.00 2774.25 3637.75 0 0 0 30.00 30.00 15.65

2371.03 21639 116.79 1.25 0.00 2478.6 2488.6 2468.6 2774.6 3638.1 141.52 15.95 286 2377.49 0.00 0.35 2.84 0.000 0.169 0.061 2479.50 2489.94 2469.06 2735.88 2468.38 0 0 0 30.00 15.65 15.71

2566.87 16774 116.79 1.32 80.00 2476.9 2489.6 2464.2 2737.4 2468.9 118.77 10.31 306 2571.67 0.00 0.00 3.03 0.000 0.000 0.113 2476.97 2489.94 2464.00 2735.75 3637.81 0 0 0 30.00 30.00 15.78

2601.04 17414 116.79 1.32 0.00 2476.2 2488.9 2463.6 2737.5 3638.7 114.68 11.67 313 2607.40 0.00 0.00 2.80 0.000 0.000 0.060 2478.50 2490.75 2466.25 2737.19 2466.50 0 0 0 30.00 30.00 15.81

2796.87 10403 151.27 1.52 0.00 2474.6 2487.4 2461.8 2736.9 2466.6 98.16 8.00 333 2831.82 31.06 0.50 0.00 1.055 0.050 0.000 2348.03 2360.31 2335.75 2825.38 2465.88 0 0 0 12.91 15.86 30.00

3016.85 260 151.27 1.52 80.00 2343.3 2357.3 2329.4 2825.3 2465.8 73.59 10.89 357 3021.70 0.00 0.00 3.05 0.000 0.000 0.113 2343.75 2358.38 2329.12 2823.44 3640.31 0 0 0 30.00 30.00 15.81

3246.94 9382 197.63 1.59 0.00 2341.5 2355.3 2327.8 2825.0 3640.0 54.56 7.31 403 3298.46 45.46 0.00 2.78 1.024 0.000 0.061 2161.19 2179.81 2142.56 2823.81 2465.19 0 0 0 12.95 30.00 15.88

3486.95 10535 251.74 1.75 80.00 2153.7 2174.4 2132.9 2824.9 2465.1 39.39 6.86 432 3543.87 51.94 0.25 3.12 1.003 0.069 0.113 1937.84 1961.19 1914.50 2878.25 3637.75 0 0 0 12.85 15.80 15.59

3772.06 21639 251.74 1.69 0.00 1932.6 1958.4 1906.8 2878.0 3637.9 4.79 13.97 489 3776.95 0.00 0.32 2.82 0.000 0.173 0.063 1933.81 1959.69 1907.94 2840.94 2468.50 0 0 0 30.00 15.72 15.77

3802 end climb: SURFACE_DEPTH_REACHED

state 3802 begin surface coast

3822 end surface coast: CONTROL_FINISHED_OK

state 3822 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	73	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	2	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	2	PITCH_VBD_SHIFT	0.003	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	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	13.50774	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	25.153217	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	-1	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	270322,134001,4644.354,-12452.249,26,1.0,26,15.6	TGT_RADIUS	2500.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270322,135842,4644.271,-12452.004,3,0.8,7,15.6	MHEAD_RNG_PITCHd_Wd	271.1,164271,-19.9,-10.000,-23.24,1773,0.491
SPEED_LIMITS	0.173,0.233	D_GRID	364
TGT_NAME	OFFSHORE	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	4700.000,-12700.000

FINISH	-0.3,1.024698	FG_AHR_10Vo	13.523
SM_CCo	4150.02,300.57,0.962,0,500.7,500.2,501.2,605.22	MEM0	60148,1,0,0
SM_GC	0.95,300.57,16.97,0.09,0.962,0.044,0.137,500.7,500.2,501.2,169.1,2519.6,0,0,0,12.82,15.78,15.79	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	990212,26,56696,57
IRIDIUM_FIX	4644.61,-12450.25,270322,135310	DATA_FILE_SIZE	12929,495
TCM_TEMP	176.53	CAP_FILE_SIZE	190840,0
XPDR_PINGS	16,13.5,11.5	SDSIZE	3918848,3891744
SC_FREEKB	3850752	SDFILEDIR	468,1
HUMID	50.16	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.02	CURRENT	0.030,131.5,1
INTERNAL_PRESSURE	8.4853	MAGCAL	1.000000,-0.054933,-0.005286,-0.032177,1.046387,0.043171,0.004317,-0.038907,1.001687,-640.0,-611.7,-272.3,30,0.0252,0
_24V_AH	14.69,16.354	IMPLIED_C_PITCH	2449,14.26,284,0.0,0.00
_10V_AH	14.73,0.000	IMPLIED_C_VBD	3420,18.954342,156,0
FG_AHR_24Vo	25.341	GPS	270322,150852,4644.222,-12452.523,22,1.8,34,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	750	1209	13344.53	nil	0	0	0.00
Pitch_motor	39	251	146.99	nil	0	0	0.00
Roll_motor	59	211	185.06	nil	0	0	0.00
Iridium	796	234	2747.50	nil	0	0	0.00
Transponder_ping	4	420	24.68	nil	0	0	0.00
GPS	16	15	3.60	nil	0	0	0.00
Core	2639	6	264.37	SciCon	3837	6	393.49
Fast	9	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2298	2	67.70
Compass	1028	5	75.73
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
8.45	16386	-116.79	-1.34	0.00	496.5	494.4	498.6	166.5	2474.0	0.00	0.00	0	140.91	132.19	0.00	0.00	0.005	0.000	0.000	3067.50	3042.12	3092.88	166.75	2474.00	0	0	0	14.46	30.00	30.00
141.12	18983	-116.79	-1.34	-80.00	3067.2	3043.0	3091.5	166.6	2473.7	3.64	-2.25	13	177.57	9.40	16.18	3.89	0.007	0.251	0.156	3444.44	3436.38	3452.50	2113.38	1035.56	0	0	0	15.74	15.73	15.70
310.72	3205	-116.79	-1.23	0.00	3445.5	3435.8	3455.2	2113.0	1036.1	33.58	-16.74	47	315.74	0.00	0.21	3.63	0.000	0.163	0.073	3445.81	3436.00	3455.62	2144.38	2520.69	0	0	0	30.00	15.79	15.83
500.72	260	-116.79	-1.23	80.00	3446.2	3437.3	3455.0	2144.1	2520.3	59.91	-11.79	67	505.55	0.00	0.00	2.93	0.000	0.000	0.117	3446.91	3436.88	3456.94	2144.06	3641.88	0	0	0	30.00	30.00	15.86
530.73	1028	-116.79	-1.23	0.00	3445.5	3436.2	3454.8	2144.8	3641.8	63.54	-12.10	73	535.54	0.00	0.00	2.81	0.000	0.000	0.060	3446.31	3437.38	3455.25	2144.12	2469.12	0	0	0	30.00	30.00	15.88
720.75	0	-116.79	-1.23	0.00	3445.7	3436.1	3455.2	2143.9	2469.2	82.33	-10.68	93	722.09	0.00	0.00	0.00	0.000	0.000	0.000	3446.09	3437.25	3454.94	2144.44	2469.19	0	0	0	30.00	30.00	30.00
910.80	676	-116.79	-1.29	-80.00	3445.9	3436.8	3455.0	2143.9	2469.3	100.39	-8.06	112	915.75	0.00	0.00	3.84	0.000	0.000	0.152	3447.22	3437.19	3457.25	2143.56	1033.38	0	0	0	30.00	30.00	15.92
955.01	1060	-116.79	-1.29	0.00	3445.7	3436.2	3455.2	2144.2	1033.1	104.40	-9.07	121	961.51	0.00	0.00	3.61	0.000	0.000	0.070	3446.75	3437.12	3456.38	2144.19	2519.75	0	0	0	30.00	30.00	15.94
1150.86	4257	-116.79	-1.38	0.00	3446.3	3437.2	3455.4	2144.4	2519.9	118.05	-6.66	141	1152.35	0.00	0.34	0.00	0.000	0.059	0.000	3445.25	3435.88	3454.62	2086.69	2519.69	0	0	0	30.00	15.96	30.00
1340.87	548	-116.79	-1.38	-80.00	3445.1	3436.1	3454.1	2086.1	2520.2	135.27	-8.84	160	1346.82	0.00	0.00	3.96	0.000	0.000	0.149	3444.88	3435.75	3454.00	2086.88	1034.94	0	0	0	30.00	30.00	15.96
1405.88	3205	-116.79	-1.28	0.00	3446.1	3437.2	3455.0	2086.9	1034.8	142.05	-10.81	173	1411.85	0.00	0.38	3.60	0.000	0.158	0.074	3445.50	3435.88	3455.12	2129.19	2521.25	0	0	0	30.00	15.94	15.98
1600.85	548	-116.79	-1.28	-80.00	3445.7	3436.2	3455.2	2129.4	2521.3	156.57	-7.10	193	1606.85	0.00	0.00	3.94	0.000	0.000	0.147	3445.28	3436.38	3454.19	2129.38	1034.12	0	0	0	30.00	30.00	15.99
1680.08	1060	-116.79	-1.28	0.00	3445.3	3435.7	3455.0	2129.3	1034.2	162.82	-7.90	209	1686.58	0.00	0.00	3.60	0.000	0.000	0.071	3445.59	3436.44	3454.75	2129.12	2520.06	0	0	0	30.00	30.00	16.00
1875.93	160	-116.79	-1.35	0.00	3445.3	3435.8	3454.9	2129.7	2520.4	177.31	-8.01	229	1877.27	0.00	0.00	0.00	0.000	0.000	0.000	3446.34	3436.81	3455.88	2128.81	2520.19	0	0	0	30.00	30.00	30.00
1916	end dive: TARGET_DEPTH_EXCEEDED
state	1916	begin apogee
1916.96	10243	0.00	-0.25	0.00	3445.7	3435.9	3455.5	2129.1	2470.0	180.40	-8.17	233	2007.94	86.65	1.79	0.09	1.210	0.123	0.212	2966.53	2973.56	2959.50	2381.38	2520.69	0	0	0	13.00	15.99	15.61
2011	end apogee: CONTROL_FINISHED_OK
state	2011	begin climb
2013.44	10243	116.79	1.34	0.00	2964.4	2971.6	2957.2	2381.4	2520.8	182.09	0.00	242	2110.62	93.65	2.57	0.00	1.171	0.063	0.000	2490.19	2497.75	2482.62	2773.81	2520.50	0	0	0	12.79	15.67	30.00
2296.78	16646	116.79	1.34	80.00	2479.9	2490.5	2469.4	2774.4	2520.8	154.02	12.99	271	2301.62	0.00	0.00	2.93	0.000	0.000	0.116	2482.62	2493.25	2472.00	2774.25	3637.75	0	0	0	30.00	30.00	15.65
2371.03	21639	116.79	1.25	0.00	2478.6	2488.6	2468.6	2774.6	3638.1	141.52	15.95	286	2377.49	0.00	0.35	2.84	0.000	0.169	0.061	2479.50	2489.94	2469.06	2735.88	2468.38	0	0	0	30.00	15.65	15.71
2566.87	16774	116.79	1.32	80.00	2476.9	2489.6	2464.2	2737.4	2468.9	118.77	10.31	306	2571.67	0.00	0.00	3.03	0.000	0.000	0.113	2476.97	2489.94	2464.00	2735.75	3637.81	0	0	0	30.00	30.00	15.78
2601.04	17414	116.79	1.32	0.00	2476.2	2488.9	2463.6	2737.5	3638.7	114.68	11.67	313	2607.40	0.00	0.00	2.80	0.000	0.000	0.060	2478.50	2490.75	2466.25	2737.19	2466.50	0	0	0	30.00	30.00	15.81
2796.87	10403	151.27	1.52	0.00	2474.6	2487.4	2461.8	2736.9	2466.6	98.16	8.00	333	2831.82	31.06	0.50	0.00	1.055	0.050	0.000	2348.03	2360.31	2335.75	2825.38	2465.88	0	0	0	12.91	15.86	30.00
3016.85	260	151.27	1.52	80.00	2343.3	2357.3	2329.4	2825.3	2465.8	73.59	10.89	357	3021.70	0.00	0.00	3.05	0.000	0.000	0.113	2343.75	2358.38	2329.12	2823.44	3640.31	0	0	0	30.00	30.00	15.81
3246.94	9382	197.63	1.59	0.00	2341.5	2355.3	2327.8	2825.0	3640.0	54.56	7.31	403	3298.46	45.46	0.00	2.78	1.024	0.000	0.061	2161.19	2179.81	2142.56	2823.81	2465.19	0	0	0	12.95	30.00	15.88
3486.95	10535	251.74	1.75	80.00	2153.7	2174.4	2132.9	2824.9	2465.1	39.39	6.86	432	3543.87	51.94	0.25	3.12	1.003	0.069	0.113	1937.84	1961.19	1914.50	2878.25	3637.75	0	0	0	12.85	15.80	15.59
3772.06	21639	251.74	1.69	0.00	1932.6	1958.4	1906.8	2878.0	3637.9	4.79	13.97	489	3776.95	0.00	0.32	2.82	0.000	0.173	0.063	1933.81	1959.69	1907.94	2840.94	2468.50	0	0	0	30.00	15.72	15.77
3802	end climb: SURFACE_DEPTH_REACHED
state	3802	begin surface coast
3822	end surface coast: CONTROL_FINISHED_OK
state	3822	begin surface