Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 794 * 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 794 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 2 XPDR_REP -1

D_SURF 4 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.029999999 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 2320 FG_AHR_10V 73.657059 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 207.49875 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 2100 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 73.657059 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 207.49875 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 2320 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 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 0.029999999 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 2 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 794 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 141121,055933,4751.687,-12511.513,5,1.0,7,15.9 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.51 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 141121,060726,4751.749,-12511.346,3,1.2,4,15.9 MHEAD_RNG_PITCHd_Wd 206.0,167389,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 210

TGT_NAME OFFSHORE 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 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH 1.3,1.024227 FG_AHR_10Vo 73.673

SM_CCo 5242.46,0.00,0.000,0,912.0,904.9,919.1,457.00 MEM0 60876,1,0,0

SM_GC 0.48,0.00,16.45,0.60,0.000,0.056,0.051,912.0,904.9,919.1,180.6,2349.2,0,0,0,30.00,15.75,15.84 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971236,36,75472,57

IRIDIUM_FIX 4752.57,-12511.36,141121,060232 DATA_FILE_SIZE 44969,1027

TCM_TEMP 270.98 CAP_FILE_SIZE 188952,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3834784

HUMID 50.01 SDFILEDIR 3140,1

TEMP 82.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.90349 CURRENT 0.010, 46.8,1

_24V_AH 14.98,272.508 IMPLIED_C_PITCH 2368,12.55,777

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2818,52.561909,488

FG_AHR_24Vo 207.640 GPS 141121,073602,4751.433,-12511.622,52,0.9,53,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 478 1309 9382.46 legato 34 20 10.28

Pitch_motor 36 242 131.15 nil 0 0 0.00

Roll_motor 70 114 120.51 nil 0 0 0.00

Iridium 237 199 710.08 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.89 nil 0 0 0.00

Core 2273 11 402.43 SciCon 0 0 0.00

LPSleep 3341 2 140.34 nil 0 0 0.00

Compass 675 5 50.70 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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

5.67 16386 -82.73 -1.35 0.00 1042.0 1039.7 1044.4 177.9 2275.5 0.00 0.00 0 77.23 70.44 0.00 0.00 0.005 0.000 0.000 2832.19 3005.00 2659.38 178.12 2276.06 0 0 0 15.15 30.00 30.00

78.35 18983 -82.73 -1.35 -60.00 2831.4 3004.2 2658.6 178.2 2275.2 3.74 -5.54 13 107.56 5.89 14.27 2.60 0.008 0.242 0.062 3110.06 3314.38 2905.75 1993.44 1207.00 0 0 0 15.25 15.61 15.17

194.65 1028 -82.73 -1.35 0.00 3111.4 3314.7 2908.1 1993.2 1207.2 27.67 -19.23 36 200.21 0.00 0.00 2.65 0.000 0.000 0.028 3112.12 3315.31 2908.94 1993.81 2350.44 0 0 0 30.00 30.00 15.89

385.11 260 -82.73 -1.35 60.00 3111.9 3315.1 2908.8 1993.0 2350.8 57.04 -15.32 74 390.26 0.00 0.00 2.69 0.000 0.000 0.081 3113.62 3316.81 2910.44 1992.62 3426.56 0 0 0 30.00 30.00 15.90

409.91 1028 -82.73 -1.35 0.24 3112.0 3314.6 2909.3 1993.4 3426.1 60.88 -15.33 79 415.34 0.00 0.00 2.59 0.000 0.000 0.018 3112.53 3315.19 2909.88 1993.81 2247.00 0 0 0 30.00 30.00 15.92

600.19 260 -82.73 -1.35 60.00 3112.2 3315.1 2909.3 1993.6 2244.2 85.62 -11.84 117 605.40 0.00 0.00 2.95 0.000 0.000 0.077 3113.22 3315.88 2910.56 1993.62 3428.81 0 0 0 30.00 30.00 15.93

755.23 1028 -82.73 -1.35 0.74 3112.3 3314.8 2909.9 1992.9 3428.1 103.55 -10.29 148 760.39 0.00 0.00 2.55 0.000 0.000 0.018 3112.28 3314.62 2909.94 1993.94 2254.56 0 0 0 30.00 30.00 15.95

1064.96 516 -82.73 -1.35 -60.00 3112.8 3315.5 2910.0 1993.5 2251.8 130.05 -7.59 210 1070.49 0.00 0.00 2.53 0.000 0.000 0.060 3112.56 3314.75 2910.38 1993.19 1207.12 0 0 0 30.00 30.00 15.97

1255.37 1028 -82.73 -1.35 0.40 3112.4 3314.5 2910.4 1993.8 1207.1 146.43 -8.86 248 1260.54 0.00 0.00 2.63 0.000 0.000 0.026 3113.00 3315.12 2910.88 1993.31 2362.75 0 0 0 30.00 30.00 15.99

1565.04 516 -82.73 -1.35 -60.00 3112.5 3314.3 2910.8 1993.9 2362.2 174.32 -10.15 310 1570.60 0.00 0.00 2.78 0.000 0.000 0.055 3114.38 3315.44 2913.31 1992.69 1207.94 0 0 0 30.00 30.00 16.00

1620.04 1028 -82.73 -1.35 0.40 3112.6 3314.8 2910.4 1993.6 1207.9 178.76 -7.87 321 1625.60 0.00 0.00 2.63 0.000 0.000 0.025 3112.97 3314.56 2911.38 1993.38 2363.00 0 0 0 30.00 30.00 16.01

1930.28 516 -82.73 -1.35 -60.00 3112.8 3314.8 2910.9 1993.8 2362.6 206.47 -9.00 383 1935.71 0.00 0.00 2.80 0.000 0.000 0.056 3115.12 3316.69 2913.56 1993.12 1207.06 0 0 0 30.00 30.00 16.01

1970 end dive: TARGET_DEPTH_EXCEEDED

state 1970 begin apogee

1973.75 10243 0.00 -0.28 0.00 3112.6 3314.3 2910.9 1993.9 2151.4 210.21 -9.37 391 2035.13 57.58 1.77 0.17 1.309 0.132 0.115 2773.47 2911.50 2635.44 2254.06 2036.19 0 0 0 11.25 15.91 15.65

2037 end apogee: CONTROL_FINISHED_OK

state 2037 begin climb

2037.43 10503 82.73 1.35 60.00 2774.3 2912.7 2636.0 2254.4 2026.9 213.09 0.00 403 2107.45 59.71 2.71 2.94 1.259 0.131 0.069 2437.41 2527.06 2347.75 2648.75 3208.56 0 0 0 12.29 15.73 15.83

2224.70 11303 163.63 1.51 0.00 2434.2 2526.2 2342.1 2648.3 3208.4 207.64 4.13 441 2291.58 60.15 0.22 2.65 1.244 0.077 0.021 2108.91 2157.50 2060.31 2699.25 2051.50 0 0 0 11.80 15.67 15.74

2594.86 516 163.63 1.51 -60.00 2100.5 2154.3 2046.8 2699.9 2051.2 180.82 9.05 515 2600.35 0.00 0.00 2.63 0.000 0.000 0.076 2101.03 2155.44 2046.62 2699.88 991.31 0 0 0 30.00 30.00 15.80

2634.80 17414 163.63 1.51 0.00 2099.8 2154.2 2045.4 2699.2 991.6 176.97 9.64 523 2640.36 0.00 0.00 2.62 0.000 0.000 0.022 2101.44 2155.38 2047.50 2699.88 2140.81 0 0 0 30.00 30.00 15.82

2944.92 16710 163.63 1.54 60.00 2098.5 2154.8 2042.3 2699.4 2141.1 152.67 7.10 585 2950.46 0.00 0.00 2.64 0.000 0.000 0.076 2098.91 2155.00 2042.81 2699.62 3208.25 0 0 0 30.00 30.00 15.87

3004.93 17478 163.63 1.56 0.00 2098.2 2154.0 2042.4 2699.2 3208.2 148.26 7.46 597 3010.48 0.00 0.00 2.61 0.000 0.000 0.022 2100.06 2156.56 2043.56 2699.69 2052.38 0 0 0 30.00 30.00 15.91

3315.00 8486 204.91 1.64 60.00 2097.6 2154.9 2040.2 2700.1 2052.7 126.94 6.25 659 3351.54 31.65 0.00 2.89 1.177 0.000 0.074 1940.44 1983.75 1897.12 2699.31 3207.62 0 0 0 11.45 30.00 15.67

3405.01 1092 204.91 1.66 0.26 1936.3 1981.8 1890.9 2700.2 3207.1 120.85 7.34 677 3410.54 0.00 0.00 2.60 0.000 0.000 0.022 1937.56 1983.19 1891.94 2699.88 2056.31 0 0 0 30.00 30.00 15.86

3715.05 10791 286.05 1.82 -60.00 1932.8 1982.2 1883.2 2699.9 2056.4 102.53 4.11 739 3782.80 61.29 0.40 2.67 1.178 0.069 0.079 1609.00 1634.56 1583.44 2776.12 992.75 0 0 0 11.56 15.88 15.60

3875.05 1028 286.05 1.82 0.04 1602.1 1633.2 1570.9 2776.0 992.8 91.37 8.13 771 3880.60 0.00 0.00 2.64 0.000 0.000 0.022 1603.19 1634.19 1572.19 2775.75 2144.06 0 0 0 30.00 30.00 15.78

4065.67 16710 286.05 1.83 60.00 1599.6 1634.2 1564.9 2775.9 2143.9 76.73 7.91 809 4070.64 0.00 0.00 2.66 0.000 0.000 0.076 1600.66 1635.50 1565.81 2774.69 3207.06 0 0 0 30.00 30.00 15.84

4165.11 9254 329.38 1.92 0.21 1599.0 1634.6 1563.4 2775.9 3207.2 70.21 6.14 829 4203.66 33.81 0.00 2.61 1.114 0.000 0.021 1431.94 1457.19 1406.69 2776.19 2058.19 0 0 0 11.53 30.00 15.88

4385.82 10535 412.23 2.09 60.00 1426.3 1457.9 1394.6 2775.6 2057.8 59.60 4.02 873 4455.42 63.96 0.32 2.91 1.115 0.072 0.073 1094.47 1089.19 1099.75 2840.06 3207.06 0 0 0 11.69 15.81 15.55

4668.02 1092 412.23 2.10 0.93 1089.4 1089.8 1089.0 2839.4 3206.8 38.15 7.58 929 4673.50 0.00 0.00 2.60 0.000 0.000 0.023 1089.81 1090.19 1089.44 2839.62 2073.38 0 0 0 30.00 30.00 15.80

4858.37 0 412.23 2.10 0.93 1088.0 1092.6 1083.4 2839.6 2073.3 18.74 9.02 967 4859.70 0.00 0.00 0.00 0.000 0.000 0.000 1087.53 1091.94 1083.12 2839.69 2073.56 0 0 0 30.00 30.00 30.00

5043.01 8226 455.96 2.19 0.93 1086.9 1094.4 1079.5 2839.5 2073.3 7.04 6.12 1004 5078.68 33.85 0.00 0.00 1.039 0.000 0.000 916.44 905.94 926.94 2839.94 2074.25 0 0 0 11.56 30.00 30.00

5093 end climb: SURFACE_DEPTH_REACHED

state 5093 begin surface coast

5158 end surface coast: CONTROL_FINISHED_OK

state 5158 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	794	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	2	XPDR_REP	-1
D_SURF	4	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.029999999	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	2320	FG_AHR_10V	73.657059	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	207.49875	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	2100	ALTIM_PULSE	1

GPS1	141121,055933,4751.687,-12511.513,5,1.0,7,15.9	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.51	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	141121,060726,4751.749,-12511.346,3,1.2,4,15.9	MHEAD_RNG_PITCHd_Wd	206.0,167389,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	210
TGT_NAME	OFFSHORE	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	4700.000,-12700.000

FINISH	1.3,1.024227	FG_AHR_10Vo	73.673
SM_CCo	5242.46,0.00,0.000,0,912.0,904.9,919.1,457.00	MEM0	60876,1,0,0
SM_GC	0.48,0.00,16.45,0.60,0.000,0.056,0.051,912.0,904.9,919.1,180.6,2349.2,0,0,0,30.00,15.75,15.84	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971236,36,75472,57
IRIDIUM_FIX	4752.57,-12511.36,141121,060232	DATA_FILE_SIZE	44969,1027
TCM_TEMP	270.98	CAP_FILE_SIZE	188952,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3834784
HUMID	50.01	SDFILEDIR	3140,1
TEMP	82.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.90349	CURRENT	0.010, 46.8,1
_24V_AH	14.98,272.508	IMPLIED_C_PITCH	2368,12.55,777
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2818,52.561909,488
FG_AHR_24Vo	207.640	GPS	141121,073602,4751.433,-12511.622,52,0.9,53,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	478	1309	9382.46	legato	34	20	10.28
Pitch_motor	36	242	131.15	nil	0	0	0.00
Roll_motor	70	114	120.51	nil	0	0	0.00
Iridium	237	199	710.08	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.89	nil	0	0	0.00
Core	2273	11	402.43	SciCon	0	0	0.00
LPSleep	3341	2	140.34	nil	0	0	0.00
Compass	675	5	50.70	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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
5.67	16386	-82.73	-1.35	0.00	1042.0	1039.7	1044.4	177.9	2275.5	0.00	0.00	0	77.23	70.44	0.00	0.00	0.005	0.000	0.000	2832.19	3005.00	2659.38	178.12	2276.06	0	0	0	15.15	30.00	30.00
78.35	18983	-82.73	-1.35	-60.00	2831.4	3004.2	2658.6	178.2	2275.2	3.74	-5.54	13	107.56	5.89	14.27	2.60	0.008	0.242	0.062	3110.06	3314.38	2905.75	1993.44	1207.00	0	0	0	15.25	15.61	15.17
194.65	1028	-82.73	-1.35	0.00	3111.4	3314.7	2908.1	1993.2	1207.2	27.67	-19.23	36	200.21	0.00	0.00	2.65	0.000	0.000	0.028	3112.12	3315.31	2908.94	1993.81	2350.44	0	0	0	30.00	30.00	15.89
385.11	260	-82.73	-1.35	60.00	3111.9	3315.1	2908.8	1993.0	2350.8	57.04	-15.32	74	390.26	0.00	0.00	2.69	0.000	0.000	0.081	3113.62	3316.81	2910.44	1992.62	3426.56	0	0	0	30.00	30.00	15.90
409.91	1028	-82.73	-1.35	0.24	3112.0	3314.6	2909.3	1993.4	3426.1	60.88	-15.33	79	415.34	0.00	0.00	2.59	0.000	0.000	0.018	3112.53	3315.19	2909.88	1993.81	2247.00	0	0	0	30.00	30.00	15.92
600.19	260	-82.73	-1.35	60.00	3112.2	3315.1	2909.3	1993.6	2244.2	85.62	-11.84	117	605.40	0.00	0.00	2.95	0.000	0.000	0.077	3113.22	3315.88	2910.56	1993.62	3428.81	0	0	0	30.00	30.00	15.93
755.23	1028	-82.73	-1.35	0.74	3112.3	3314.8	2909.9	1992.9	3428.1	103.55	-10.29	148	760.39	0.00	0.00	2.55	0.000	0.000	0.018	3112.28	3314.62	2909.94	1993.94	2254.56	0	0	0	30.00	30.00	15.95
1064.96	516	-82.73	-1.35	-60.00	3112.8	3315.5	2910.0	1993.5	2251.8	130.05	-7.59	210	1070.49	0.00	0.00	2.53	0.000	0.000	0.060	3112.56	3314.75	2910.38	1993.19	1207.12	0	0	0	30.00	30.00	15.97
1255.37	1028	-82.73	-1.35	0.40	3112.4	3314.5	2910.4	1993.8	1207.1	146.43	-8.86	248	1260.54	0.00	0.00	2.63	0.000	0.000	0.026	3113.00	3315.12	2910.88	1993.31	2362.75	0	0	0	30.00	30.00	15.99
1565.04	516	-82.73	-1.35	-60.00	3112.5	3314.3	2910.8	1993.9	2362.2	174.32	-10.15	310	1570.60	0.00	0.00	2.78	0.000	0.000	0.055	3114.38	3315.44	2913.31	1992.69	1207.94	0	0	0	30.00	30.00	16.00
1620.04	1028	-82.73	-1.35	0.40	3112.6	3314.8	2910.4	1993.6	1207.9	178.76	-7.87	321	1625.60	0.00	0.00	2.63	0.000	0.000	0.025	3112.97	3314.56	2911.38	1993.38	2363.00	0	0	0	30.00	30.00	16.01
1930.28	516	-82.73	-1.35	-60.00	3112.8	3314.8	2910.9	1993.8	2362.6	206.47	-9.00	383	1935.71	0.00	0.00	2.80	0.000	0.000	0.056	3115.12	3316.69	2913.56	1993.12	1207.06	0	0	0	30.00	30.00	16.01
1970	end dive: TARGET_DEPTH_EXCEEDED
state	1970	begin apogee
1973.75	10243	0.00	-0.28	0.00	3112.6	3314.3	2910.9	1993.9	2151.4	210.21	-9.37	391	2035.13	57.58	1.77	0.17	1.309	0.132	0.115	2773.47	2911.50	2635.44	2254.06	2036.19	0	0	0	11.25	15.91	15.65
2037	end apogee: CONTROL_FINISHED_OK
state	2037	begin climb
2037.43	10503	82.73	1.35	60.00	2774.3	2912.7	2636.0	2254.4	2026.9	213.09	0.00	403	2107.45	59.71	2.71	2.94	1.259	0.131	0.069	2437.41	2527.06	2347.75	2648.75	3208.56	0	0	0	12.29	15.73	15.83
2224.70	11303	163.63	1.51	0.00	2434.2	2526.2	2342.1	2648.3	3208.4	207.64	4.13	441	2291.58	60.15	0.22	2.65	1.244	0.077	0.021	2108.91	2157.50	2060.31	2699.25	2051.50	0	0	0	11.80	15.67	15.74
2594.86	516	163.63	1.51	-60.00	2100.5	2154.3	2046.8	2699.9	2051.2	180.82	9.05	515	2600.35	0.00	0.00	2.63	0.000	0.000	0.076	2101.03	2155.44	2046.62	2699.88	991.31	0	0	0	30.00	30.00	15.80
2634.80	17414	163.63	1.51	0.00	2099.8	2154.2	2045.4	2699.2	991.6	176.97	9.64	523	2640.36	0.00	0.00	2.62	0.000	0.000	0.022	2101.44	2155.38	2047.50	2699.88	2140.81	0	0	0	30.00	30.00	15.82
2944.92	16710	163.63	1.54	60.00	2098.5	2154.8	2042.3	2699.4	2141.1	152.67	7.10	585	2950.46	0.00	0.00	2.64	0.000	0.000	0.076	2098.91	2155.00	2042.81	2699.62	3208.25	0	0	0	30.00	30.00	15.87
3004.93	17478	163.63	1.56	0.00	2098.2	2154.0	2042.4	2699.2	3208.2	148.26	7.46	597	3010.48	0.00	0.00	2.61	0.000	0.000	0.022	2100.06	2156.56	2043.56	2699.69	2052.38	0	0	0	30.00	30.00	15.91
3315.00	8486	204.91	1.64	60.00	2097.6	2154.9	2040.2	2700.1	2052.7	126.94	6.25	659	3351.54	31.65	0.00	2.89	1.177	0.000	0.074	1940.44	1983.75	1897.12	2699.31	3207.62	0	0	0	11.45	30.00	15.67
3405.01	1092	204.91	1.66	0.26	1936.3	1981.8	1890.9	2700.2	3207.1	120.85	7.34	677	3410.54	0.00	0.00	2.60	0.000	0.000	0.022	1937.56	1983.19	1891.94	2699.88	2056.31	0	0	0	30.00	30.00	15.86
3715.05	10791	286.05	1.82	-60.00	1932.8	1982.2	1883.2	2699.9	2056.4	102.53	4.11	739	3782.80	61.29	0.40	2.67	1.178	0.069	0.079	1609.00	1634.56	1583.44	2776.12	992.75	0	0	0	11.56	15.88	15.60
3875.05	1028	286.05	1.82	0.04	1602.1	1633.2	1570.9	2776.0	992.8	91.37	8.13	771	3880.60	0.00	0.00	2.64	0.000	0.000	0.022	1603.19	1634.19	1572.19	2775.75	2144.06	0	0	0	30.00	30.00	15.78
4065.67	16710	286.05	1.83	60.00	1599.6	1634.2	1564.9	2775.9	2143.9	76.73	7.91	809	4070.64	0.00	0.00	2.66	0.000	0.000	0.076	1600.66	1635.50	1565.81	2774.69	3207.06	0	0	0	30.00	30.00	15.84
4165.11	9254	329.38	1.92	0.21	1599.0	1634.6	1563.4	2775.9	3207.2	70.21	6.14	829	4203.66	33.81	0.00	2.61	1.114	0.000	0.021	1431.94	1457.19	1406.69	2776.19	2058.19	0	0	0	11.53	30.00	15.88
4385.82	10535	412.23	2.09	60.00	1426.3	1457.9	1394.6	2775.6	2057.8	59.60	4.02	873	4455.42	63.96	0.32	2.91	1.115	0.072	0.073	1094.47	1089.19	1099.75	2840.06	3207.06	0	0	0	11.69	15.81	15.55
4668.02	1092	412.23	2.10	0.93	1089.4	1089.8	1089.0	2839.4	3206.8	38.15	7.58	929	4673.50	0.00	0.00	2.60	0.000	0.000	0.023	1089.81	1090.19	1089.44	2839.62	2073.38	0	0	0	30.00	30.00	15.80
4858.37	0	412.23	2.10	0.93	1088.0	1092.6	1083.4	2839.6	2073.3	18.74	9.02	967	4859.70	0.00	0.00	0.00	0.000	0.000	0.000	1087.53	1091.94	1083.12	2839.69	2073.56	0	0	0	30.00	30.00	30.00
5043.01	8226	455.96	2.19	0.93	1086.9	1094.4	1079.5	2839.5	2073.3	7.04	6.12	1004	5078.68	33.85	0.00	0.00	1.039	0.000	0.000	916.44	905.94	926.94	2839.94	2074.25	0	0	0	11.56	30.00	30.00
5093	end climb: SURFACE_DEPTH_REACHED
state	5093	begin surface coast
5158	end surface coast: CONTROL_FINISHED_OK
state	5158	begin surface