Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 874 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 8 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054949999 XPDR_VALID 6

DIVE 874 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 SM_CC 400 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 4 N_FILEKB 4 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 COMM_SEQ 7 C_VBD 2890 DEEPGLIDERMB 0

D_NO_BLEED 200 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 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 0.0020000001 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 20000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 3 LOGGERDEVICE2 -1

T_DIVE 390 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 470 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 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 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 200 AH0_24V 506 NAV_DEVICE -1

USE_BATHY -1 PITCH_MAX 3000 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2515 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 16 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 126.80824 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 243.17929 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 0 PRESSURE_YINT -179.54233 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

MASS 72955 C_PITCH_AUTO_MAX 0 COMPASS_USE 16388 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 6 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.00177828 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.020747701 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 60 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2260 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_PULSE 1

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 506 D_PITCH 0 N_FILEKB 4 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 4 N_NOCOMM 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 990 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 1 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 400

ALTIM_SENSITIVITY 3 FG_AHR_10V 126.80824 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 243.17929 PITCH_ADJ_GAIN 0 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 16 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.00177828 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.020747701 PITCH_MAX 3000 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 20000 HD_C 5.7000002e-06 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 200 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 0.0020000001 T_DIVE 390

COMPASS2_DEVICE -1 ID 249 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 6 T_GPS 5

COMPASS_USE 16388 INT_PRESSURE_YINT -3 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2515 KALMAN_USE 2 PRESSURE_SLOPE 0.00021665409 T_MISSION 470

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -179.54233 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2025 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2260 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2890 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 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 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 72955 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054949999 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 60 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 120 ROLL_MAX 3825 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 3

DIVE 874 MISSION 8 ROLL_TIMEOUT 25 XPDR_DEVICE 21

D_ABORT 1010 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 7.0 XPDR_INT -1

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10

D_NO_BLEED 200 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 230323,223502,4752.053,-12512.648,25,0.8,27,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230323,224445,4752.017,-12512.545,3,0.8,8,15.8 MHEAD_RNG_PITCHd_Wd 98.5,2832,-17.5,-8.462,-28.88,2074,0.227

SPEED_LIMITS 0.147,0.153 D_GRID 173

TGT_NAME SHELF IRON 1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000

TGT_LATLONG 4751.930,-12510.270

Post-dive calculations and measurements:

FINISH 0.8,1.024854 FG_AHR_10Vo 126.857

SM_CCo 5076.17,76.50,1.013,0,1259.3,1272.9,1245.8,400.00 MEM0 60108,1,0,0

SM_GC 0.98,76.50,19.80,0.50,1.013,0.058,0.054,1259.3,1272.9,1245.8,180.5,2293.4,0,0,0,10.89,15.66,15.90 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 955348,683,78220,67

IRIDIUM_FIX 4751.64,-12513.98,230323,205055 DATA_FILE_SIZE 19324,666

TCM_TEMP 266.45 CAP_FILE_SIZE 182470,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3751904

SC_FREEKB 3543104 SDFILEDIR 5275,1

HUMID 55.08 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 84.20 CURRENT 0.079,100.0,1

INTERNAL_PRESSURE 8.57659 MAGCAL 1.000000,-0.009688,-0.000242,0.000810,1.017938,-0.074913,0.056061,0.052369,0.909136,530.2,-218.9,90.3,29,0.0313,0

_24V_AH 14.70,297.737 IMPLIED_C_PITCH 2565,11.98,449,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 3038,69.685379,283,0

FG_AHR_24Vo 243.311 GPS 240323,001015,4751.853,-12511.884,2,1.4,6,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 472 1202 8350.34 nil 0 0 0.00

Pitch_motor 42 200 125.51 nil 0 0 0.00

Roll_motor 67 113 113.67 nil 0 0 0.00

Iridium 278 211 867.21 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 20 15 4.53 nil 0 0 0.00

Core 3620 6 369.29 SciCon 4919 28 2084.13

Fast 146 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1673 2 50.20

Compass 1514 5 113.60

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

19.67 16386 -116.79 -1.33 0.00 1249.7 1274.2 1225.1 180.6 2190.7 0.00 0.00 0 121.80 71.64 0.00 0.00 0.005 0.000 0.000 2987.12 3163.25 2811.00 180.62 2190.81 0 0 0 14.60 30.00 30.00

124.02 18727 -116.79 -1.33 60.00 2988.2 3162.1 2814.2 180.6 2190.8 3.59 -4.01 14 240.59 5.75 17.23 3.46 0.008 0.200 0.081 3368.66 3580.25 3157.06 2191.25 3362.38 0 0 0 14.99 15.24 14.85

436.98 1028 -116.79 -1.33 0.00 3370.6 3579.5 3161.8 2192.0 3362.4 61.66 -14.32 59 456.23 0.00 0.00 2.79 0.000 0.000 0.018 3372.09 3580.50 3163.69 2191.94 2204.69 0 0 0 30.00 30.00 15.80

642.40 516 -116.79 -1.33 -60.00 3370.4 3578.8 3161.9 2192.0 2201.8 86.29 -11.24 97 661.68 0.00 0.00 2.96 0.000 0.000 0.064 3371.03 3579.88 3162.19 2191.12 1154.06 0 0 0 30.00 30.00 15.72

668.10 1028 -116.79 -1.33 0.00 3370.9 3579.5 3162.3 2192.3 1153.8 89.12 -10.99 99 686.98 0.00 0.00 2.77 0.000 0.000 0.024 3371.59 3580.19 3163.00 2192.12 2288.62 0 0 0 30.00 30.00 15.72

873.06 260 -116.79 -1.33 60.00 3370.6 3579.1 3162.1 2192.3 2288.2 106.99 -8.70 129 892.46 0.00 0.00 3.12 0.000 0.000 0.080 3373.12 3581.50 3164.75 2192.25 3359.75 0 0 0 30.00 30.00 15.63

988.67 1028 -116.79 -1.33 0.00 3370.3 3579.2 3161.4 2192.5 3361.0 117.09 -8.91 149 1006.82 0.00 0.00 2.79 0.000 0.000 0.017 3371.69 3580.50 3162.88 2192.12 2198.75 0 0 0 30.00 30.00 15.78

1312.89 0 -116.79 -1.33 0.00 3370.8 3579.3 3162.2 2192.8 2197.4 142.35 -7.37 181 1316.91 0.00 0.00 0.00 0.000 0.000 0.000 3369.94 3579.38 3160.50 2192.38 2197.56 0 0 0 30.00 30.00 30.00

1622.99 0 -116.79 -1.33 0.00 3370.4 3579.2 3161.5 2192.1 2197.4 165.75 -7.41 212 1627.01 0.00 0.00 0.00 0.000 0.000 0.000 3369.62 3579.00 3160.25 2191.88 2197.12 0 0 0 30.00 30.00 30.00

1722 end dive: TARGET_DEPTH_EXCEEDED

state 1723 begin apogee

1729.11 10243 0.00 -0.31 0.00 3371.0 3580.2 3161.9 2192.3 1981.2 173.09 -7.47 222 1865.63 87.38 1.87 0.15 1.203 0.122 0.114 2889.84 3016.00 2763.69 2439.50 2092.38 0 0 0 10.84 15.48 15.27

1870 end apogee: CONTROL_FINISHED_OK

state 1871 begin climb

1874.23 10759 116.79 1.33 -60.00 2886.8 3014.4 2759.1 2439.5 2091.9 176.18 0.00 231 2035.15 88.88 2.83 3.52 1.170 0.089 0.078 2412.84 2496.94 2328.75 2839.50 923.69 0 0 0 11.50 15.62 15.20

2042.85 1092 116.79 1.43 0.00 2406.9 2494.4 2319.5 2839.8 923.8 169.10 6.75 249 2061.23 0.00 0.00 2.77 0.000 0.000 0.018 2408.12 2495.50 2320.75 2839.19 2069.06 0 0 0 30.00 30.00 15.63

2367.86 18759 116.79 1.57 60.00 2403.5 2494.2 2312.9 2840.0 2069.4 148.06 6.13 281 2389.10 0.00 0.37 3.04 0.000 0.064 0.071 2405.72 2496.56 2314.88 2909.12 3126.75 0 0 0 30.00 15.73 15.63

2450.25 17478 116.79 1.65 0.00 2403.4 2494.6 2312.2 2909.9 3125.8 142.13 7.15 294 2469.35 0.00 0.00 2.82 0.000 0.000 0.021 2404.22 2495.38 2313.06 2909.00 1986.56 0 0 0 30.00 30.00 15.82

2775.82 10535 207.48 1.83 60.00 2402.6 2494.2 2310.9 2909.2 1986.6 124.83 3.97 326 2897.00 70.21 0.33 3.29 1.119 0.058 0.069 2043.12 2108.94 1977.31 2972.75 3127.25 0 0 0 11.09 15.59 15.33

2903.97 1092 207.48 1.93 0.00 2038.8 2108.1 1969.4 2972.8 3126.4 117.55 6.83 342 2922.35 0.00 0.00 2.88 0.000 0.000 0.021 2037.94 2108.19 1967.69 2972.75 1988.69 0 0 0 30.00 30.00 15.65

3228.85 18759 207.48 2.02 60.00 2033.6 2108.4 1958.7 2972.5 1988.5 94.81 6.87 381 3250.80 0.00 0.17 3.28 0.000 0.080 0.067 2033.78 2108.62 1958.94 3016.75 3127.44 0 0 0 30.00 15.74 15.57

3282.67 17478 207.48 2.08 0.00 2033.2 2108.2 1958.1 3016.0 3127.7 90.89 7.52 388 3302.16 0.00 0.00 2.84 0.000 0.000 0.022 2033.91 2109.00 1958.81 3016.75 1989.94 0 0 0 30.00 30.00 15.77

3488.70 18759 207.48 2.24 60.00 2032.0 2107.9 1956.2 3016.5 1989.8 77.27 5.84 426 3510.04 0.00 0.00 3.26 0.000 0.000 0.066 2033.03 2109.00 1957.06 3016.56 3127.25 0 0 0 30.00 30.00 15.57

3596.92 19527 207.48 2.39 0.00 2031.8 2107.6 1956.1 3016.6 3127.1 71.15 5.92 444 3616.44 0.00 0.00 2.84 0.000 0.000 0.021 2032.50 2108.81 1956.19 3016.94 1989.19 0 0 0 30.00 30.00 15.72

3802.95 10535 301.04 2.58 60.00 2031.1 2108.2 1953.9 3016.2 1988.9 61.62 3.83 482 3923.86 72.02 0.00 3.29 1.059 0.000 0.068 1662.72 1717.12 1608.31 3016.81 3127.12 0 0 0 11.05 30.00 15.34

4020.86 3141 301.04 2.65 0.00 1656.6 1716.6 1596.6 3017.0 3126.5 47.85 7.22 516 4040.39 0.00 0.00 2.90 0.000 0.000 0.022 1656.16 1716.75 1595.56 3015.94 1990.81 0 0 0 30.00 30.00 15.57

4226.98 19015 301.04 2.80 -60.00 1653.3 1716.3 1590.2 3015.9 1990.0 34.82 5.94 554 4247.55 0.00 0.00 3.14 0.000 0.000 0.082 1653.53 1716.50 1590.56 3016.38 924.94 0 0 0 30.00 30.00 15.67

4294.43 19527 301.04 2.91 0.00 1652.7 1716.3 1589.0 3017.1 925.1 30.30 6.74 564 4313.13 0.00 0.00 2.74 0.000 0.000 0.019 1653.94 1717.62 1590.25 3016.69 2067.38 0 0 0 30.00 30.00 15.74

4499.65 19015 301.04 3.08 -60.00 1651.3 1716.8 1585.8 3017.5 2068.0 17.35 5.66 602 4520.81 0.00 0.00 3.40 0.000 0.000 0.077 1651.22 1717.00 1585.44 3016.88 923.50 0 0 0 30.00 30.00 15.60

4577.68 19527 301.04 3.16 0.00 1651.0 1717.0 1585.1 3016.8 923.6 11.43 7.05 614 4596.39 0.00 0.00 2.74 0.000 0.000 0.019 1651.06 1716.88 1585.25 3016.69 2068.50 0 0 0 30.00 30.00 15.80

4751 end climb: SURFACE_DEPTH_REACHED

state 4752 begin surface coast

4853 end surface coast: CONTROL_FINISHED_OK

state 4853 begin surface

ID	249	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	8	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054949999	XPDR_VALID	6
DIVE	874	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	SM_CC	400	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	4	N_FILEKB	4	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	COMM_SEQ	7	C_VBD	2890	DEEPGLIDERMB	0
D_NO_BLEED	200	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	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	0.0020000001	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	20000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	3	LOGGERDEVICE2	-1
T_DIVE	390	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	470	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	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	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	200	AH0_24V	506	NAV_DEVICE	-1
USE_BATHY	-1	PITCH_MAX	3000	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2515	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	16	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	126.80824	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	243.17929	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-179.54233	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
MASS	72955	C_PITCH_AUTO_MAX	0	COMPASS_USE	16388	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	6	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.00177828	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.020747701	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	60	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2260	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_PULSE	1

GPS1	230323,223502,4752.053,-12512.648,25,0.8,27,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230323,224445,4752.017,-12512.545,3,0.8,8,15.8	MHEAD_RNG_PITCHd_Wd	98.5,2832,-17.5,-8.462,-28.88,2074,0.227
SPEED_LIMITS	0.147,0.153	D_GRID	173
TGT_NAME	SHELF	IRON	1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
TGT_LATLONG	4751.930,-12510.270

FINISH	0.8,1.024854	FG_AHR_10Vo	126.857
SM_CCo	5076.17,76.50,1.013,0,1259.3,1272.9,1245.8,400.00	MEM0	60108,1,0,0
SM_GC	0.98,76.50,19.80,0.50,1.013,0.058,0.054,1259.3,1272.9,1245.8,180.5,2293.4,0,0,0,10.89,15.66,15.90	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	955348,683,78220,67
IRIDIUM_FIX	4751.64,-12513.98,230323,205055	DATA_FILE_SIZE	19324,666
TCM_TEMP	266.45	CAP_FILE_SIZE	182470,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3751904
SC_FREEKB	3543104	SDFILEDIR	5275,1
HUMID	55.08	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	84.20	CURRENT	0.079,100.0,1
INTERNAL_PRESSURE	8.57659	MAGCAL	1.000000,-0.009688,-0.000242,0.000810,1.017938,-0.074913,0.056061,0.052369,0.909136,530.2,-218.9,90.3,29,0.0313,0
_24V_AH	14.70,297.737	IMPLIED_C_PITCH	2565,11.98,449,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	3038,69.685379,283,0
FG_AHR_24Vo	243.311	GPS	240323,001015,4751.853,-12511.884,2,1.4,6,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	472	1202	8350.34	nil	0	0	0.00
Pitch_motor	42	200	125.51	nil	0	0	0.00
Roll_motor	67	113	113.67	nil	0	0	0.00
Iridium	278	211	867.21	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	20	15	4.53	nil	0	0	0.00
Core	3620	6	369.29	SciCon	4919	28	2084.13
Fast	146	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1673	2	50.20
Compass	1514	5	113.60
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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
19.67	16386	-116.79	-1.33	0.00	1249.7	1274.2	1225.1	180.6	2190.7	0.00	0.00	0	121.80	71.64	0.00	0.00	0.005	0.000	0.000	2987.12	3163.25	2811.00	180.62	2190.81	0	0	0	14.60	30.00	30.00
124.02	18727	-116.79	-1.33	60.00	2988.2	3162.1	2814.2	180.6	2190.8	3.59	-4.01	14	240.59	5.75	17.23	3.46	0.008	0.200	0.081	3368.66	3580.25	3157.06	2191.25	3362.38	0	0	0	14.99	15.24	14.85
436.98	1028	-116.79	-1.33	0.00	3370.6	3579.5	3161.8	2192.0	3362.4	61.66	-14.32	59	456.23	0.00	0.00	2.79	0.000	0.000	0.018	3372.09	3580.50	3163.69	2191.94	2204.69	0	0	0	30.00	30.00	15.80
642.40	516	-116.79	-1.33	-60.00	3370.4	3578.8	3161.9	2192.0	2201.8	86.29	-11.24	97	661.68	0.00	0.00	2.96	0.000	0.000	0.064	3371.03	3579.88	3162.19	2191.12	1154.06	0	0	0	30.00	30.00	15.72
668.10	1028	-116.79	-1.33	0.00	3370.9	3579.5	3162.3	2192.3	1153.8	89.12	-10.99	99	686.98	0.00	0.00	2.77	0.000	0.000	0.024	3371.59	3580.19	3163.00	2192.12	2288.62	0	0	0	30.00	30.00	15.72
873.06	260	-116.79	-1.33	60.00	3370.6	3579.1	3162.1	2192.3	2288.2	106.99	-8.70	129	892.46	0.00	0.00	3.12	0.000	0.000	0.080	3373.12	3581.50	3164.75	2192.25	3359.75	0	0	0	30.00	30.00	15.63
988.67	1028	-116.79	-1.33	0.00	3370.3	3579.2	3161.4	2192.5	3361.0	117.09	-8.91	149	1006.82	0.00	0.00	2.79	0.000	0.000	0.017	3371.69	3580.50	3162.88	2192.12	2198.75	0	0	0	30.00	30.00	15.78
1312.89	0	-116.79	-1.33	0.00	3370.8	3579.3	3162.2	2192.8	2197.4	142.35	-7.37	181	1316.91	0.00	0.00	0.00	0.000	0.000	0.000	3369.94	3579.38	3160.50	2192.38	2197.56	0	0	0	30.00	30.00	30.00
1622.99	0	-116.79	-1.33	0.00	3370.4	3579.2	3161.5	2192.1	2197.4	165.75	-7.41	212	1627.01	0.00	0.00	0.00	0.000	0.000	0.000	3369.62	3579.00	3160.25	2191.88	2197.12	0	0	0	30.00	30.00	30.00
1722	end dive: TARGET_DEPTH_EXCEEDED
state	1723	begin apogee
1729.11	10243	0.00	-0.31	0.00	3371.0	3580.2	3161.9	2192.3	1981.2	173.09	-7.47	222	1865.63	87.38	1.87	0.15	1.203	0.122	0.114	2889.84	3016.00	2763.69	2439.50	2092.38	0	0	0	10.84	15.48	15.27
1870	end apogee: CONTROL_FINISHED_OK
state	1871	begin climb
1874.23	10759	116.79	1.33	-60.00	2886.8	3014.4	2759.1	2439.5	2091.9	176.18	0.00	231	2035.15	88.88	2.83	3.52	1.170	0.089	0.078	2412.84	2496.94	2328.75	2839.50	923.69	0	0	0	11.50	15.62	15.20
2042.85	1092	116.79	1.43	0.00	2406.9	2494.4	2319.5	2839.8	923.8	169.10	6.75	249	2061.23	0.00	0.00	2.77	0.000	0.000	0.018	2408.12	2495.50	2320.75	2839.19	2069.06	0	0	0	30.00	30.00	15.63
2367.86	18759	116.79	1.57	60.00	2403.5	2494.2	2312.9	2840.0	2069.4	148.06	6.13	281	2389.10	0.00	0.37	3.04	0.000	0.064	0.071	2405.72	2496.56	2314.88	2909.12	3126.75	0	0	0	30.00	15.73	15.63
2450.25	17478	116.79	1.65	0.00	2403.4	2494.6	2312.2	2909.9	3125.8	142.13	7.15	294	2469.35	0.00	0.00	2.82	0.000	0.000	0.021	2404.22	2495.38	2313.06	2909.00	1986.56	0	0	0	30.00	30.00	15.82
2775.82	10535	207.48	1.83	60.00	2402.6	2494.2	2310.9	2909.2	1986.6	124.83	3.97	326	2897.00	70.21	0.33	3.29	1.119	0.058	0.069	2043.12	2108.94	1977.31	2972.75	3127.25	0	0	0	11.09	15.59	15.33
2903.97	1092	207.48	1.93	0.00	2038.8	2108.1	1969.4	2972.8	3126.4	117.55	6.83	342	2922.35	0.00	0.00	2.88	0.000	0.000	0.021	2037.94	2108.19	1967.69	2972.75	1988.69	0	0	0	30.00	30.00	15.65
3228.85	18759	207.48	2.02	60.00	2033.6	2108.4	1958.7	2972.5	1988.5	94.81	6.87	381	3250.80	0.00	0.17	3.28	0.000	0.080	0.067	2033.78	2108.62	1958.94	3016.75	3127.44	0	0	0	30.00	15.74	15.57
3282.67	17478	207.48	2.08	0.00	2033.2	2108.2	1958.1	3016.0	3127.7	90.89	7.52	388	3302.16	0.00	0.00	2.84	0.000	0.000	0.022	2033.91	2109.00	1958.81	3016.75	1989.94	0	0	0	30.00	30.00	15.77
3488.70	18759	207.48	2.24	60.00	2032.0	2107.9	1956.2	3016.5	1989.8	77.27	5.84	426	3510.04	0.00	0.00	3.26	0.000	0.000	0.066	2033.03	2109.00	1957.06	3016.56	3127.25	0	0	0	30.00	30.00	15.57
3596.92	19527	207.48	2.39	0.00	2031.8	2107.6	1956.1	3016.6	3127.1	71.15	5.92	444	3616.44	0.00	0.00	2.84	0.000	0.000	0.021	2032.50	2108.81	1956.19	3016.94	1989.19	0	0	0	30.00	30.00	15.72
3802.95	10535	301.04	2.58	60.00	2031.1	2108.2	1953.9	3016.2	1988.9	61.62	3.83	482	3923.86	72.02	0.00	3.29	1.059	0.000	0.068	1662.72	1717.12	1608.31	3016.81	3127.12	0	0	0	11.05	30.00	15.34
4020.86	3141	301.04	2.65	0.00	1656.6	1716.6	1596.6	3017.0	3126.5	47.85	7.22	516	4040.39	0.00	0.00	2.90	0.000	0.000	0.022	1656.16	1716.75	1595.56	3015.94	1990.81	0	0	0	30.00	30.00	15.57
4226.98	19015	301.04	2.80	-60.00	1653.3	1716.3	1590.2	3015.9	1990.0	34.82	5.94	554	4247.55	0.00	0.00	3.14	0.000	0.000	0.082	1653.53	1716.50	1590.56	3016.38	924.94	0	0	0	30.00	30.00	15.67
4294.43	19527	301.04	2.91	0.00	1652.7	1716.3	1589.0	3017.1	925.1	30.30	6.74	564	4313.13	0.00	0.00	2.74	0.000	0.000	0.019	1653.94	1717.62	1590.25	3016.69	2067.38	0	0	0	30.00	30.00	15.74
4499.65	19015	301.04	3.08	-60.00	1651.3	1716.8	1585.8	3017.5	2068.0	17.35	5.66	602	4520.81	0.00	0.00	3.40	0.000	0.000	0.077	1651.22	1717.00	1585.44	3016.88	923.50	0	0	0	30.00	30.00	15.60
4577.68	19527	301.04	3.16	0.00	1651.0	1717.0	1585.1	3016.8	923.6	11.43	7.05	614	4596.39	0.00	0.00	2.74	0.000	0.000	0.019	1651.06	1716.88	1585.25	3016.69	2068.50	0	0	0	30.00	30.00	15.80
4751	end climb: SURFACE_DEPTH_REACHED
state	4752	begin surface coast
4853	end surface coast: CONTROL_FINISHED_OK
state	4853	begin surface