Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 79 * 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 79 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 1 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 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 80 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 13.784062 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 26.955301 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 2800 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2200 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 1 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 13.784062 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 26.955301 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 80

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 2200 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2800 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 79 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 280322,124048,4643.146,-12501.785,3,1.5,14,15.6 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280322,124538,4643.134,-12501.821,5,1.5,14,15.6 MHEAD_RNG_PITCHd_Wd 266.6,152500,-19.9,-10.000,-23.24,1773,1.255

SPEED_LIMITS 0.173,0.233 D_GRID 774

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 -0.4,1.024686 FG_AHR_10Vo 13.800

SM_CCo 4272.45,306.04,0.907,0,500.7,506.0,495.4,605.22 MEM0 60148,1,0,0

SM_GC 0.86,306.04,16.69,1.56,0.907,0.048,0.074,500.7,506.0,495.4,170.5,2817.8,0,0,0,12.92,15.84,15.87 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 990136,31,56672,57

IRIDIUM_FIX 4648.43,-12642.12,280322,124154 DATA_FILE_SIZE 16182,533

TCM_TEMP 176.61 CAP_FILE_SIZE 271868,0

XPDR_PINGS 124,13.5,11.5 SDSIZE 3918848,3890016

SC_FREEKB 3848448 SDFILEDIR 505,1

HUMID 50.04 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.13 CURRENT 0.053,249.2,1

INTERNAL_PRESSURE 8.48844 MAGCAL 1.000000,-0.159518,-0.736513,-0.079921,1.128209,-0.043148,0.246410,-0.163419,0.980047,153.1,-415.4,-241.2,17,0.0644,0

_24V_AH 14.73,18.255 IMPLIED_C_PITCH 2420,16.66,275,0.0,0.00

_10V_AH 14.76,0.000 IMPLIED_C_VBD 3422,18.009117,157,0

FG_AHR_24Vo 27.133 GPS 280322,135738,4643.067,-12502.632,4,1.3,21,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 750 1152 12744.59 nil 0 0 0.00

Pitch_motor 40 260 154.34 nil 0 0 0.00

Roll_motor 75 193 215.27 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 31 420 191.78 nil 0 0 0.00

GPS 23 15 5.10 nil 0 0 0.00

Core 1894 6 190.19 SciCon 3936 6 393.36

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2101 2 62.05

Compass 1091 5 80.52

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

8.42 16386 -116.79 -1.34 0.00 501.1 499.9 502.2 191.2 2826.3 0.00 0.00 0 140.91 132.15 0.00 0.00 0.005 0.000 0.000 3067.69 3039.69 3095.69 191.25 2826.81 0 0 0 14.62 30.00 30.00

141.16 18983 -116.79 -1.34 -80.00 3066.9 3039.8 3094.1 191.5 2826.3 3.36 -2.11 13 175.47 9.62 15.89 3.94 0.007 0.260 0.110 3445.34 3435.00 3455.69 2113.19 1331.94 0 0 0 15.91 15.88 15.89

177.80 3205 -116.79 -0.68 0.00 3444.9 3435.5 3454.4 2113.3 1332.0 11.00 -18.73 19 184.54 0.00 1.16 3.65 0.000 0.157 0.068 3446.28 3436.19 3456.38 2275.38 2817.94 0 0 0 30.00 15.90 15.95

373.62 4773 -116.79 -0.90 -80.00 3446.0 3437.6 3454.3 2275.8 2817.4 27.12 -7.64 39 379.69 0.00 0.45 3.89 0.000 0.060 0.103 3445.47 3436.12 3454.81 2204.00 1332.69 0 0 0 30.00 15.95 15.97

502.84 1028 -116.79 -0.90 0.00 3445.8 3437.2 3454.5 2203.6 1332.6 41.03 -10.09 65 509.36 0.00 0.00 3.62 0.000 0.000 0.069 3446.94 3437.94 3455.94 2203.69 2817.12 0 0 0 30.00 30.00 15.98

698.69 644 -116.79 -0.99 -80.00 3446.4 3437.7 3455.1 2203.6 2817.0 61.68 -10.22 85 704.64 0.00 0.00 3.87 0.000 0.000 0.102 3445.19 3436.25 3454.12 2204.12 1331.75 0 0 0 30.00 30.00 16.00

843.71 5285 -116.79 -1.09 0.00 3445.8 3437.4 3454.2 2203.7 1331.5 75.14 -8.46 114 848.87 0.00 0.20 3.61 0.000 0.084 0.068 3446.16 3437.75 3454.56 2163.81 2817.88 0 0 0 30.00 15.98 16.01

1033.72 160 -116.79 -1.16 0.00 3445.7 3436.8 3454.6 2157.4 2817.0 91.01 -7.68 134 1035.06 0.00 0.00 0.00 0.000 0.000 0.000 3446.41 3438.06 3454.75 2157.88 2816.81 0 0 0 30.00 30.00 30.00

1223.74 676 -116.79 -1.24 -80.00 3445.6 3436.9 3454.2 2157.4 2816.9 106.91 -8.47 153 1229.71 0.00 0.00 3.87 0.000 0.000 0.103 3444.97 3436.19 3453.75 2156.94 1330.12 0 0 0 30.00 30.00 16.03

1448.78 1060 -116.79 -1.24 0.00 3445.8 3437.0 3454.6 2157.6 1330.8 126.95 -8.09 198 1453.71 0.00 0.00 3.64 0.000 0.000 0.069 3446.97 3438.12 3455.81 2157.38 2818.19 0 0 0 30.00 30.00 16.04

1638.85 4773 -116.79 -1.33 -80.00 3446.1 3436.8 3455.5 2157.6 2818.0 140.49 -7.23 218 1644.85 0.00 0.28 3.85 0.000 0.075 0.102 3446.75 3438.00 3455.50 2101.75 1332.12 0 0 0 30.00 16.04 16.05

1793.81 1028 -116.79 -1.33 0.00 3445.8 3437.1 3454.6 2102.4 1332.1 156.39 -10.59 249 1798.76 0.00 0.00 3.66 0.000 0.000 0.068 3446.31 3437.75 3454.88 2101.81 2818.31 0 0 0 30.00 30.00 16.06

1983.88 548 -116.79 -1.33 -80.00 3445.5 3436.9 3454.0 2101.8 2817.9 173.66 -8.70 269 1989.82 0.00 0.00 3.85 0.000 0.000 0.104 3446.72 3438.75 3454.69 2101.06 1331.75 0 0 0 30.00 30.00 16.06

2049 end dive: TARGET_DEPTH_EXCEEDED

state 2049 begin apogee

2052.34 10243 0.00 -0.25 0.00 3445.8 3437.2 3454.3 2101.5 2231.2 180.06 -10.02 282 2143.01 86.93 2.05 0.10 1.153 0.141 0.193 2964.56 2972.31 2956.81 2380.44 2177.81 0 0 0 13.01 16.03 15.69

2146 end apogee: CONTROL_FINISHED_OK

state 2146 begin climb

2148.51 10503 116.79 1.34 80.00 2964.4 2972.2 2956.6 2380.1 2177.8 181.68 0.00 291 2254.29 94.36 2.54 3.94 1.109 0.072 0.099 2489.69 2496.12 2483.25 2773.00 3638.88 0 0 0 12.81 15.72 15.43

2362.44 21639 116.79 1.10 0.00 2481.1 2488.8 2473.3 2772.6 3639.3 155.22 17.17 333 2368.56 0.00 0.65 3.75 0.000 0.201 0.061 2478.94 2487.25 2470.62 2700.06 2181.06 0 0 0 30.00 15.57 15.63

2557.45 16646 116.79 1.10 80.00 2477.7 2489.1 2466.3 2700.0 2181.2 129.39 12.39 353 2562.43 0.00 0.00 3.87 0.000 0.000 0.100 2476.28 2487.75 2464.81 2700.38 3639.44 0 0 0 30.00 30.00 15.75

2647.48 17542 116.79 1.02 0.00 2475.7 2486.6 2464.8 2699.8 3639.8 117.34 12.20 371 2652.45 0.00 0.00 3.71 0.000 0.000 0.062 2476.28 2487.06 2465.50 2700.50 2179.44 0 0 0 30.00 30.00 15.79

2837.50 16418 118.98 1.03 0.00 2474.0 2486.2 2461.8 2700.1 2179.4 97.38 9.87 391 2838.83 0.00 0.00 0.00 0.000 0.000 0.000 2474.72 2486.88 2462.56 2700.25 2179.31 0 0 0 30.00 30.00 30.00

3027.52 8486 167.15 1.17 80.00 2473.7 2486.2 2461.2 2700.1 2179.4 81.58 7.21 410 3083.43 48.95 0.00 3.83 1.000 0.000 0.101 2284.72 2299.50 2269.94 2700.19 3637.94 0 0 0 12.95 30.00 15.68

3201.76 11303 198.96 1.27 0.00 2277.8 2293.9 2261.7 2700.4 3638.6 69.15 8.16 445 3240.04 32.06 0.37 3.66 0.962 0.068 0.062 2155.75 2175.31 2136.19 2759.38 2179.19 0 0 0 12.90 15.76 15.78

3423.19 8226 240.31 1.39 0.00 2147.9 2169.1 2126.7 2759.2 2179.3 48.73 7.60 471 3465.00 40.51 0.00 0.00 0.953 0.000 0.000 1987.38 2012.25 1962.50 2757.12 2179.69 0 0 0 12.84 30.00 30.00

3648.21 16646 240.31 1.39 80.00 1979.5 2006.8 1952.2 2759.1 2179.9 27.10 11.14 495 3653.20 0.00 0.00 3.82 0.000 0.000 0.101 1979.44 2006.94 1951.94 2759.62 3638.56 0 0 0 30.00 30.00 15.77

3732.45 17414 240.31 1.39 0.00 1977.9 2004.8 1951.1 2759.2 3638.3 17.89 10.59 512 3738.97 0.00 0.00 3.70 0.000 0.000 0.061 1979.12 2006.00 1952.25 2758.75 2178.81 0 0 0 30.00 30.00 15.80

3909 end climb: SURFACE_DEPTH_REACHED

state 3909 begin surface coast

3939 end surface coast: CONTROL_FINISHED_OK

state 3939 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	79	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	1	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	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	80	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	13.784062	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	26.955301	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	2800	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2200	ALTIM_PULSE	2

GPS1	280322,124048,4643.146,-12501.785,3,1.5,14,15.6	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280322,124538,4643.134,-12501.821,5,1.5,14,15.6	MHEAD_RNG_PITCHd_Wd	266.6,152500,-19.9,-10.000,-23.24,1773,1.255
SPEED_LIMITS	0.173,0.233	D_GRID	774
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	-0.4,1.024686	FG_AHR_10Vo	13.800
SM_CCo	4272.45,306.04,0.907,0,500.7,506.0,495.4,605.22	MEM0	60148,1,0,0
SM_GC	0.86,306.04,16.69,1.56,0.907,0.048,0.074,500.7,506.0,495.4,170.5,2817.8,0,0,0,12.92,15.84,15.87	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	990136,31,56672,57
IRIDIUM_FIX	4648.43,-12642.12,280322,124154	DATA_FILE_SIZE	16182,533
TCM_TEMP	176.61	CAP_FILE_SIZE	271868,0
XPDR_PINGS	124,13.5,11.5	SDSIZE	3918848,3890016
SC_FREEKB	3848448	SDFILEDIR	505,1
HUMID	50.04	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.13	CURRENT	0.053,249.2,1
INTERNAL_PRESSURE	8.48844	MAGCAL	1.000000,-0.159518,-0.736513,-0.079921,1.128209,-0.043148,0.246410,-0.163419,0.980047,153.1,-415.4,-241.2,17,0.0644,0
_24V_AH	14.73,18.255	IMPLIED_C_PITCH	2420,16.66,275,0.0,0.00
_10V_AH	14.76,0.000	IMPLIED_C_VBD	3422,18.009117,157,0
FG_AHR_24Vo	27.133	GPS	280322,135738,4643.067,-12502.632,4,1.3,21,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	750	1152	12744.59	nil	0	0	0.00
Pitch_motor	40	260	154.34	nil	0	0	0.00
Roll_motor	75	193	215.27	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	31	420	191.78	nil	0	0	0.00
GPS	23	15	5.10	nil	0	0	0.00
Core	1894	6	190.19	SciCon	3936	6	393.36
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2101	2	62.05
Compass	1091	5	80.52
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
8.42	16386	-116.79	-1.34	0.00	501.1	499.9	502.2	191.2	2826.3	0.00	0.00	0	140.91	132.15	0.00	0.00	0.005	0.000	0.000	3067.69	3039.69	3095.69	191.25	2826.81	0	0	0	14.62	30.00	30.00
141.16	18983	-116.79	-1.34	-80.00	3066.9	3039.8	3094.1	191.5	2826.3	3.36	-2.11	13	175.47	9.62	15.89	3.94	0.007	0.260	0.110	3445.34	3435.00	3455.69	2113.19	1331.94	0	0	0	15.91	15.88	15.89
177.80	3205	-116.79	-0.68	0.00	3444.9	3435.5	3454.4	2113.3	1332.0	11.00	-18.73	19	184.54	0.00	1.16	3.65	0.000	0.157	0.068	3446.28	3436.19	3456.38	2275.38	2817.94	0	0	0	30.00	15.90	15.95
373.62	4773	-116.79	-0.90	-80.00	3446.0	3437.6	3454.3	2275.8	2817.4	27.12	-7.64	39	379.69	0.00	0.45	3.89	0.000	0.060	0.103	3445.47	3436.12	3454.81	2204.00	1332.69	0	0	0	30.00	15.95	15.97
502.84	1028	-116.79	-0.90	0.00	3445.8	3437.2	3454.5	2203.6	1332.6	41.03	-10.09	65	509.36	0.00	0.00	3.62	0.000	0.000	0.069	3446.94	3437.94	3455.94	2203.69	2817.12	0	0	0	30.00	30.00	15.98
698.69	644	-116.79	-0.99	-80.00	3446.4	3437.7	3455.1	2203.6	2817.0	61.68	-10.22	85	704.64	0.00	0.00	3.87	0.000	0.000	0.102	3445.19	3436.25	3454.12	2204.12	1331.75	0	0	0	30.00	30.00	16.00
843.71	5285	-116.79	-1.09	0.00	3445.8	3437.4	3454.2	2203.7	1331.5	75.14	-8.46	114	848.87	0.00	0.20	3.61	0.000	0.084	0.068	3446.16	3437.75	3454.56	2163.81	2817.88	0	0	0	30.00	15.98	16.01
1033.72	160	-116.79	-1.16	0.00	3445.7	3436.8	3454.6	2157.4	2817.0	91.01	-7.68	134	1035.06	0.00	0.00	0.00	0.000	0.000	0.000	3446.41	3438.06	3454.75	2157.88	2816.81	0	0	0	30.00	30.00	30.00
1223.74	676	-116.79	-1.24	-80.00	3445.6	3436.9	3454.2	2157.4	2816.9	106.91	-8.47	153	1229.71	0.00	0.00	3.87	0.000	0.000	0.103	3444.97	3436.19	3453.75	2156.94	1330.12	0	0	0	30.00	30.00	16.03
1448.78	1060	-116.79	-1.24	0.00	3445.8	3437.0	3454.6	2157.6	1330.8	126.95	-8.09	198	1453.71	0.00	0.00	3.64	0.000	0.000	0.069	3446.97	3438.12	3455.81	2157.38	2818.19	0	0	0	30.00	30.00	16.04
1638.85	4773	-116.79	-1.33	-80.00	3446.1	3436.8	3455.5	2157.6	2818.0	140.49	-7.23	218	1644.85	0.00	0.28	3.85	0.000	0.075	0.102	3446.75	3438.00	3455.50	2101.75	1332.12	0	0	0	30.00	16.04	16.05
1793.81	1028	-116.79	-1.33	0.00	3445.8	3437.1	3454.6	2102.4	1332.1	156.39	-10.59	249	1798.76	0.00	0.00	3.66	0.000	0.000	0.068	3446.31	3437.75	3454.88	2101.81	2818.31	0	0	0	30.00	30.00	16.06
1983.88	548	-116.79	-1.33	-80.00	3445.5	3436.9	3454.0	2101.8	2817.9	173.66	-8.70	269	1989.82	0.00	0.00	3.85	0.000	0.000	0.104	3446.72	3438.75	3454.69	2101.06	1331.75	0	0	0	30.00	30.00	16.06
2049	end dive: TARGET_DEPTH_EXCEEDED
state	2049	begin apogee
2052.34	10243	0.00	-0.25	0.00	3445.8	3437.2	3454.3	2101.5	2231.2	180.06	-10.02	282	2143.01	86.93	2.05	0.10	1.153	0.141	0.193	2964.56	2972.31	2956.81	2380.44	2177.81	0	0	0	13.01	16.03	15.69
2146	end apogee: CONTROL_FINISHED_OK
state	2146	begin climb
2148.51	10503	116.79	1.34	80.00	2964.4	2972.2	2956.6	2380.1	2177.8	181.68	0.00	291	2254.29	94.36	2.54	3.94	1.109	0.072	0.099	2489.69	2496.12	2483.25	2773.00	3638.88	0	0	0	12.81	15.72	15.43
2362.44	21639	116.79	1.10	0.00	2481.1	2488.8	2473.3	2772.6	3639.3	155.22	17.17	333	2368.56	0.00	0.65	3.75	0.000	0.201	0.061	2478.94	2487.25	2470.62	2700.06	2181.06	0	0	0	30.00	15.57	15.63
2557.45	16646	116.79	1.10	80.00	2477.7	2489.1	2466.3	2700.0	2181.2	129.39	12.39	353	2562.43	0.00	0.00	3.87	0.000	0.000	0.100	2476.28	2487.75	2464.81	2700.38	3639.44	0	0	0	30.00	30.00	15.75
2647.48	17542	116.79	1.02	0.00	2475.7	2486.6	2464.8	2699.8	3639.8	117.34	12.20	371	2652.45	0.00	0.00	3.71	0.000	0.000	0.062	2476.28	2487.06	2465.50	2700.50	2179.44	0	0	0	30.00	30.00	15.79
2837.50	16418	118.98	1.03	0.00	2474.0	2486.2	2461.8	2700.1	2179.4	97.38	9.87	391	2838.83	0.00	0.00	0.00	0.000	0.000	0.000	2474.72	2486.88	2462.56	2700.25	2179.31	0	0	0	30.00	30.00	30.00
3027.52	8486	167.15	1.17	80.00	2473.7	2486.2	2461.2	2700.1	2179.4	81.58	7.21	410	3083.43	48.95	0.00	3.83	1.000	0.000	0.101	2284.72	2299.50	2269.94	2700.19	3637.94	0	0	0	12.95	30.00	15.68
3201.76	11303	198.96	1.27	0.00	2277.8	2293.9	2261.7	2700.4	3638.6	69.15	8.16	445	3240.04	32.06	0.37	3.66	0.962	0.068	0.062	2155.75	2175.31	2136.19	2759.38	2179.19	0	0	0	12.90	15.76	15.78
3423.19	8226	240.31	1.39	0.00	2147.9	2169.1	2126.7	2759.2	2179.3	48.73	7.60	471	3465.00	40.51	0.00	0.00	0.953	0.000	0.000	1987.38	2012.25	1962.50	2757.12	2179.69	0	0	0	12.84	30.00	30.00
3648.21	16646	240.31	1.39	80.00	1979.5	2006.8	1952.2	2759.1	2179.9	27.10	11.14	495	3653.20	0.00	0.00	3.82	0.000	0.000	0.101	1979.44	2006.94	1951.94	2759.62	3638.56	0	0	0	30.00	30.00	15.77
3732.45	17414	240.31	1.39	0.00	1977.9	2004.8	1951.1	2759.2	3638.3	17.89	10.59	512	3738.97	0.00	0.00	3.70	0.000	0.000	0.061	1979.12	2006.00	1952.25	2758.75	2178.81	0	0	0	30.00	30.00	15.80
3909	end climb: SURFACE_DEPTH_REACHED
state	3909	begin surface coast
3939	end surface coast: CONTROL_FINISHED_OK
state	3939	begin surface