Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 91 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

MISSION 2 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 91 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 475 ROLL_MAXERRORS 1 XPDR_INT -1

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP -1

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 990 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -3.0999999

D_ABORT 1000 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3020 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 2 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0013 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 410 T_GPS 5 W_ADJ_DBAND 3 LOGGERDEVICE2 -1

T_MISSION 470 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_BATHY -1 PITCH_MIN 200 AH0_24V 575 NAV_DEVICE -1

USE_ICE 0 PITCH_MAX 3920 AH0_10V 0 NAV2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2340 MINV_24V 0 NETWORK_DEVICE -1

D_OFFGRID 1000 PITCH_DBAND 0.050000001 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 0 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

APOGEE_PITCH -5 PITCH_GAIN 12 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 110 PITCH_TIMEOUT 30 FG_AHR_10V 10.188725 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 29.68948 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.0275 PITCH_ADJ_DBAND 0 PRESSURE_YINT -170.23515 SEABIRD_T_J 4.3e-06

MASS 72293 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022672296 SEABIRD_C_G -10

NAV_MODE 0 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 3 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 700 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 3350 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 1000 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 0 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 990 N_NOCOMM 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 10.188725 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.68948 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.050000001 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 12 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3920 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 236 PITCH_VBD_SHIFT 0.0013 T_DIVE 410

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_USE 49156 INT_PRESSURE_YINT -3.0999999 PITCH_W_GAIN 3 T_GPS 5

C_PITCH 2340 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022672296 T_MISSION 470

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -170.23515 T_NO_W 120

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3020 LOGGERS 1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.0275 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72293 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 110 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 0 ROLL_MAX 3350 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 91 MISSION 2 ROLL_MIN 700 W_ADJ_DBAND 3

D_ABORT 1000 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_BOOST 0 NAV2_DEVICE -1 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE -1 SC_PROFILE 7.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 0 SC_RECORDABOVE 2000.0 XPDR_REP -1

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE -1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 210623,205639,4751.716,-12513.278,12,1.0,13,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,210127,4751.683,-12513.248,4,1.1,7,15.8 MHEAD_RNG_PITCHd_Wd 67.1,3729,-17.1,-8.049,-21.16,2007,0.223

SPEED_LIMITS 0.139,0.208 D_GRID 210

TGT_NAME SHELF IRON 1.000000,0.012365,-0.020217,-0.006574,1.058376,-0.013526,0.014318,-0.082354,0.958026,246.701447,-566.079041,-545.060486

TGT_LATLONG 4751.930,-12510.270 OSC 8000225

Post-dive calculations and measurements:

FINISH 0.4,1.024165 FG_AHR_24Vo 29.840

SURF forcing FG_AHR_10Vo 10.235

SM_CCo 5244.82,160.76,0.917,0,1084.2,1104.4,1063.9,474.85 MEM0 60116,1,0,0

SM_GC 1.34,160.76,19.52,3.44,0.917,0.058,0.056,1084.2,1104.4,1063.9,191.6,2131.0,0,0,0,12.74,15.95,15.95 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 970764,22,76224,57

IRIDIUM_FIX 4751.10,-12521.07,210623,185357 DATA_FILE_SIZE 22508,771

TCM_TEMP 257.54 CAP_FILE_SIZE 189387,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,3987648

SC_FREEKB 3844224 SDFILEDIR 581,92

HUMID 49.97 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.33 IMPLIED_C_PITCH 2364,12.43,504,0.0,0.00

INTERNAL_PRESSURE 8.92125 IMPLIED_C_VBD 3273,24.415062,273,0

_24V_AH 14.90,47.422 GPS 210623,222939,4751.915,-12512.542,17,1.1,17,15.8

_10V_AH 14.99,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 623 1150 10695.70 nil 0 0 0.00

Pitch_motor 43 238 155.32 nil 0 0 0.00

Roll_motor 62 194 180.57 nil 0 0 0.00

Iridium 204 215 655.97 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 16 15 3.65 nil 0 0 0.00

Core 2855 6 291.03 SciCon 5046 22 1675.26

Fast 3 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2464 2 73.90

Compass 1617 5 121.22

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8.93 16386 -107.06 -1.56 0.00 1097.2 1104.9 1089.4 190.4 2136.1 0.00 0.00 0 80.82 70.29 0.00 0.00 0.005 0.000 0.000 2566.84 2568.19 2565.50 190.62 2135.88 0 0 0 15.76 30.00 30.00

81.26 18983 -107.06 -1.56 -80.00 2566.3 2566.9 2565.7 190.6 2136.5 3.02 -2.41 14 133.31 23.99 16.30 3.88 0.006 0.239 0.120 3458.88 3442.88 3474.88 1960.69 691.12 0 0 0 15.77 15.70 15.73

351.62 1028 -107.06 -1.56 0.00 3458.7 3443.9 3473.4 1960.5 690.9 52.39 -14.59 67 358.29 0.00 0.00 3.44 0.000 0.000 0.054 3460.56 3445.50 3475.62 1960.69 2126.94 0 0 0 30.00 30.00 15.93

541.78 0 -107.06 -1.56 0.00 3459.1 3444.0 3474.1 1960.8 2127.1 72.96 -10.04 105 546.15 0.00 0.00 0.00 0.000 0.000 0.000 3459.28 3444.56 3474.00 1960.69 2127.19 0 0 0 30.00 30.00 30.00

726.79 0 -107.06 -1.56 0.00 3459.4 3443.8 3475.1 1959.9 2126.9 92.63 -10.76 142 731.17 0.00 0.00 0.00 0.000 0.000 0.000 3459.44 3444.25 3474.62 1961.00 2126.88 0 0 0 30.00 30.00 30.00

916.81 0 -107.06 -1.56 0.00 3459.4 3443.8 3475.0 1960.7 2126.8 110.87 -9.74 169 918.34 0.00 0.00 0.00 0.000 0.000 0.000 3458.78 3443.75 3473.81 1960.56 2127.38 0 0 0 30.00 30.00 30.00

1226.84 516 -107.06 -1.56 -80.00 3459.6 3443.8 3475.3 1960.8 2126.8 142.59 -10.10 200 1233.82 0.00 0.00 3.79 0.000 0.000 0.117 3459.25 3443.38 3475.12 1960.69 690.56 0 0 0 30.00 30.00 16.03

1362.24 1028 -107.06 -1.56 0.00 3459.6 3444.4 3474.9 1961.2 690.6 157.66 -11.33 227 1368.05 0.00 0.00 3.41 0.000 0.000 0.056 3461.25 3445.94 3476.56 1959.62 2129.00 0 0 0 30.00 30.00 16.05

1672.27 516 -107.06 -1.56 -80.00 3459.8 3444.2 3475.3 1961.1 2128.5 187.42 -9.39 259 1679.25 0.00 0.00 3.79 0.000 0.000 0.116 3460.44 3444.00 3476.88 1961.25 689.75 0 0 0 30.00 30.00 16.06

1701.87 1028 -107.06 -1.56 0.00 3459.8 3443.9 3475.8 1960.6 689.7 190.69 -9.97 265 1709.21 0.00 0.00 3.42 0.000 0.000 0.055 3460.75 3445.44 3476.06 1960.62 2128.12 0 0 0 30.00 30.00 16.07

1907 end dive: TARGET_DEPTH_EXCEEDED

state 1907 begin apogee

1909.29 10243 0.00 -0.42 0.00 3459.7 3444.1 3475.3 1961.2 2178.4 210.45 -10.05 286 1996.29 79.88 2.35 0.09 1.151 0.122 0.194 3017.50 2988.88 3046.12 2240.12 2118.00 0 0 0 12.86 16.04 15.75

2001 end apogee: CONTROL_FINISHED_OK

state 2001 begin climb

2004.36 10243 107.06 1.56 0.00 3016.5 2988.2 3044.9 2239.6 2119.4 212.97 0.00 294 2098.29 84.34 3.72 0.00 1.119 0.063 0.000 2579.53 2552.56 2606.50 2727.69 2118.44 0 0 0 12.74 15.84 30.00

2401.84 16450 107.06 1.62 0.00 2570.3 2540.8 2599.8 2727.1 2118.4 193.50 6.20 334 2403.41 0.00 0.00 0.00 0.000 0.000 0.000 2569.66 2540.19 2599.12 2727.50 2117.81 0 0 0 30.00 30.00 30.00

2711.88 18759 107.06 1.68 80.00 2568.7 2538.8 2598.7 2727.6 2118.4 174.97 6.07 365 2717.88 0.00 0.15 3.19 0.000 0.063 0.097 2571.69 2541.62 2601.75 2763.62 3359.50 0 0 0 30.00 16.04 15.98

2882.41 21575 107.06 1.70 0.00 2569.0 2539.2 2598.7 2764.0 3359.9 162.70 7.37 399 2888.87 0.00 0.25 2.97 0.000 0.157 0.050 2568.53 2538.12 2598.94 2746.00 2118.81 0 0 0 30.00 15.97 16.01

3196.92 10535 184.50 1.80 80.00 2567.0 2536.1 2597.8 2746.9 2118.6 147.30 4.08 431 3277.00 70.69 0.28 3.23 1.045 0.047 0.096 2265.94 2232.75 2299.12 2794.38 3360.94 0 0 0 12.81 16.08 15.75

3380.55 5125 184.50 1.80 0.00 2260.5 2224.0 2297.0 2794.9 3361.1 129.21 13.42 467 3386.57 0.00 0.27 3.01 0.000 0.158 0.050 2263.00 2226.12 2299.88 2769.50 2120.50 0 0 0 30.00 15.84 15.86

3690.58 16902 184.50 1.80 -80.00 2256.3 2219.9 2292.8 2770.0 2120.8 94.33 10.98 504 3697.50 0.00 0.00 3.76 0.000 0.000 0.112 2257.31 2220.75 2293.88 2770.56 689.75 0 0 0 30.00 30.00 15.94

3760.93 17414 184.50 1.80 0.00 2255.4 2219.9 2290.9 2770.0 689.6 85.80 12.11 518 3767.74 0.00 0.00 3.59 0.000 0.000 0.059 2256.16 2221.06 2291.25 2770.31 2180.25 0 0 0 30.00 30.00 15.98

3951.16 16646 184.50 1.80 80.00 2254.7 2218.3 2291.1 2770.5 2180.2 67.42 9.62 556 3957.71 0.00 0.00 3.03 0.000 0.000 0.100 2255.38 2219.31 2291.44 2770.56 3361.88 0 0 0 30.00 30.00 15.99

4081.17 17414 184.50 1.80 0.00 2254.5 2217.9 2291.1 2770.6 3361.9 56.14 7.80 582 4087.69 0.00 0.00 2.96 0.000 0.000 0.050 2254.94 2218.75 2291.12 2770.50 2119.12 0 0 0 30.00 30.00 16.01

4271.26 19015 184.50 1.89 -80.00 2254.1 2217.1 2291.2 2770.8 2119.4 45.19 5.08 620 4278.61 0.00 0.28 3.71 0.000 0.045 0.110 2253.88 2216.81 2290.94 2815.56 689.62 0 0 0 30.00 16.08 15.98

4507.25 11303 305.95 2.05 0.00 2252.6 2216.8 2288.4 2816.1 689.9 38.40 1.83 667 4652.09 133.88 0.25 3.54 0.941 0.038 0.058 1770.75 1747.25 1794.25 2850.38 2184.75 0 0 0 12.86 16.08 16.04

4835.49 4613 305.95 2.05 -80.00 1769.4 1743.6 1795.2 2850.4 2184.7 19.15 9.58 731 4842.75 0.00 0.26 3.96 0.000 0.149 0.108 1770.53 1744.69 1796.38 2831.62 689.69 0 0 0 30.00 15.82 15.83

5006 end climb: SURFACE_DEPTH_REACHED

state 5006 begin surface coast

5036 end surface coast: CONTROL_FINISHED_OK

state 5036 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
MISSION	2	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	91	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	475	ROLL_MAXERRORS	1	XPDR_INT	-1
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	-1
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	990	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-3.0999999
D_ABORT	1000	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3020	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	2	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0013	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	410	T_GPS	5	W_ADJ_DBAND	3	LOGGERDEVICE2	-1
T_MISSION	470	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_BATHY	-1	PITCH_MIN	200	AH0_24V	575	NAV_DEVICE	-1
USE_ICE	0	PITCH_MAX	3920	AH0_10V	0	NAV2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2340	MINV_24V	0	NETWORK_DEVICE	-1
D_OFFGRID	1000	PITCH_DBAND	0.050000001	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	0	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
APOGEE_PITCH	-5	PITCH_GAIN	12	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	110	PITCH_TIMEOUT	30	FG_AHR_10V	10.188725	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	29.68948	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.0275	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-170.23515	SEABIRD_T_J	4.3e-06
MASS	72293	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022672296	SEABIRD_C_G	-10
NAV_MODE	0	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	3	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	700	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	3350	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13

GPS1	210623,205639,4751.716,-12513.278,12,1.0,13,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,210127,4751.683,-12513.248,4,1.1,7,15.8	MHEAD_RNG_PITCHd_Wd	67.1,3729,-17.1,-8.049,-21.16,2007,0.223
SPEED_LIMITS	0.139,0.208	D_GRID	210
TGT_NAME	SHELF	IRON	1.000000,0.012365,-0.020217,-0.006574,1.058376,-0.013526,0.014318,-0.082354,0.958026,246.701447,-566.079041,-545.060486
TGT_LATLONG	4751.930,-12510.270	OSC	8000225

FINISH	0.4,1.024165	FG_AHR_24Vo	29.840
SURF	forcing	FG_AHR_10Vo	10.235
SM_CCo	5244.82,160.76,0.917,0,1084.2,1104.4,1063.9,474.85	MEM0	60116,1,0,0
SM_GC	1.34,160.76,19.52,3.44,0.917,0.058,0.056,1084.2,1104.4,1063.9,191.6,2131.0,0,0,0,12.74,15.95,15.95	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	970764,22,76224,57
IRIDIUM_FIX	4751.10,-12521.07,210623,185357	DATA_FILE_SIZE	22508,771
TCM_TEMP	257.54	CAP_FILE_SIZE	189387,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,3987648
SC_FREEKB	3844224	SDFILEDIR	581,92
HUMID	49.97	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.33	IMPLIED_C_PITCH	2364,12.43,504,0.0,0.00
INTERNAL_PRESSURE	8.92125	IMPLIED_C_VBD	3273,24.415062,273,0
_24V_AH	14.90,47.422	GPS	210623,222939,4751.915,-12512.542,17,1.1,17,15.8
_10V_AH	14.99,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	623	1150	10695.70	nil	0	0	0.00
Pitch_motor	43	238	155.32	nil	0	0	0.00
Roll_motor	62	194	180.57	nil	0	0	0.00
Iridium	204	215	655.97	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	16	15	3.65	nil	0	0	0.00
Core	2855	6	291.03	SciCon	5046	22	1675.26
Fast	3	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2464	2	73.90
Compass	1617	5	121.22
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8.93	16386	-107.06	-1.56	0.00	1097.2	1104.9	1089.4	190.4	2136.1	0.00	0.00	0	80.82	70.29	0.00	0.00	0.005	0.000	0.000	2566.84	2568.19	2565.50	190.62	2135.88	0	0	0	15.76	30.00	30.00
81.26	18983	-107.06	-1.56	-80.00	2566.3	2566.9	2565.7	190.6	2136.5	3.02	-2.41	14	133.31	23.99	16.30	3.88	0.006	0.239	0.120	3458.88	3442.88	3474.88	1960.69	691.12	0	0	0	15.77	15.70	15.73
351.62	1028	-107.06	-1.56	0.00	3458.7	3443.9	3473.4	1960.5	690.9	52.39	-14.59	67	358.29	0.00	0.00	3.44	0.000	0.000	0.054	3460.56	3445.50	3475.62	1960.69	2126.94	0	0	0	30.00	30.00	15.93
541.78	0	-107.06	-1.56	0.00	3459.1	3444.0	3474.1	1960.8	2127.1	72.96	-10.04	105	546.15	0.00	0.00	0.00	0.000	0.000	0.000	3459.28	3444.56	3474.00	1960.69	2127.19	0	0	0	30.00	30.00	30.00
726.79	0	-107.06	-1.56	0.00	3459.4	3443.8	3475.1	1959.9	2126.9	92.63	-10.76	142	731.17	0.00	0.00	0.00	0.000	0.000	0.000	3459.44	3444.25	3474.62	1961.00	2126.88	0	0	0	30.00	30.00	30.00
916.81	0	-107.06	-1.56	0.00	3459.4	3443.8	3475.0	1960.7	2126.8	110.87	-9.74	169	918.34	0.00	0.00	0.00	0.000	0.000	0.000	3458.78	3443.75	3473.81	1960.56	2127.38	0	0	0	30.00	30.00	30.00
1226.84	516	-107.06	-1.56	-80.00	3459.6	3443.8	3475.3	1960.8	2126.8	142.59	-10.10	200	1233.82	0.00	0.00	3.79	0.000	0.000	0.117	3459.25	3443.38	3475.12	1960.69	690.56	0	0	0	30.00	30.00	16.03
1362.24	1028	-107.06	-1.56	0.00	3459.6	3444.4	3474.9	1961.2	690.6	157.66	-11.33	227	1368.05	0.00	0.00	3.41	0.000	0.000	0.056	3461.25	3445.94	3476.56	1959.62	2129.00	0	0	0	30.00	30.00	16.05
1672.27	516	-107.06	-1.56	-80.00	3459.8	3444.2	3475.3	1961.1	2128.5	187.42	-9.39	259	1679.25	0.00	0.00	3.79	0.000	0.000	0.116	3460.44	3444.00	3476.88	1961.25	689.75	0	0	0	30.00	30.00	16.06
1701.87	1028	-107.06	-1.56	0.00	3459.8	3443.9	3475.8	1960.6	689.7	190.69	-9.97	265	1709.21	0.00	0.00	3.42	0.000	0.000	0.055	3460.75	3445.44	3476.06	1960.62	2128.12	0	0	0	30.00	30.00	16.07
1907	end dive: TARGET_DEPTH_EXCEEDED
state	1907	begin apogee
1909.29	10243	0.00	-0.42	0.00	3459.7	3444.1	3475.3	1961.2	2178.4	210.45	-10.05	286	1996.29	79.88	2.35	0.09	1.151	0.122	0.194	3017.50	2988.88	3046.12	2240.12	2118.00	0	0	0	12.86	16.04	15.75
2001	end apogee: CONTROL_FINISHED_OK
state	2001	begin climb
2004.36	10243	107.06	1.56	0.00	3016.5	2988.2	3044.9	2239.6	2119.4	212.97	0.00	294	2098.29	84.34	3.72	0.00	1.119	0.063	0.000	2579.53	2552.56	2606.50	2727.69	2118.44	0	0	0	12.74	15.84	30.00
2401.84	16450	107.06	1.62	0.00	2570.3	2540.8	2599.8	2727.1	2118.4	193.50	6.20	334	2403.41	0.00	0.00	0.00	0.000	0.000	0.000	2569.66	2540.19	2599.12	2727.50	2117.81	0	0	0	30.00	30.00	30.00
2711.88	18759	107.06	1.68	80.00	2568.7	2538.8	2598.7	2727.6	2118.4	174.97	6.07	365	2717.88	0.00	0.15	3.19	0.000	0.063	0.097	2571.69	2541.62	2601.75	2763.62	3359.50	0	0	0	30.00	16.04	15.98
2882.41	21575	107.06	1.70	0.00	2569.0	2539.2	2598.7	2764.0	3359.9	162.70	7.37	399	2888.87	0.00	0.25	2.97	0.000	0.157	0.050	2568.53	2538.12	2598.94	2746.00	2118.81	0	0	0	30.00	15.97	16.01
3196.92	10535	184.50	1.80	80.00	2567.0	2536.1	2597.8	2746.9	2118.6	147.30	4.08	431	3277.00	70.69	0.28	3.23	1.045	0.047	0.096	2265.94	2232.75	2299.12	2794.38	3360.94	0	0	0	12.81	16.08	15.75
3380.55	5125	184.50	1.80	0.00	2260.5	2224.0	2297.0	2794.9	3361.1	129.21	13.42	467	3386.57	0.00	0.27	3.01	0.000	0.158	0.050	2263.00	2226.12	2299.88	2769.50	2120.50	0	0	0	30.00	15.84	15.86
3690.58	16902	184.50	1.80	-80.00	2256.3	2219.9	2292.8	2770.0	2120.8	94.33	10.98	504	3697.50	0.00	0.00	3.76	0.000	0.000	0.112	2257.31	2220.75	2293.88	2770.56	689.75	0	0	0	30.00	30.00	15.94
3760.93	17414	184.50	1.80	0.00	2255.4	2219.9	2290.9	2770.0	689.6	85.80	12.11	518	3767.74	0.00	0.00	3.59	0.000	0.000	0.059	2256.16	2221.06	2291.25	2770.31	2180.25	0	0	0	30.00	30.00	15.98
3951.16	16646	184.50	1.80	80.00	2254.7	2218.3	2291.1	2770.5	2180.2	67.42	9.62	556	3957.71	0.00	0.00	3.03	0.000	0.000	0.100	2255.38	2219.31	2291.44	2770.56	3361.88	0	0	0	30.00	30.00	15.99
4081.17	17414	184.50	1.80	0.00	2254.5	2217.9	2291.1	2770.6	3361.9	56.14	7.80	582	4087.69	0.00	0.00	2.96	0.000	0.000	0.050	2254.94	2218.75	2291.12	2770.50	2119.12	0	0	0	30.00	30.00	16.01
4271.26	19015	184.50	1.89	-80.00	2254.1	2217.1	2291.2	2770.8	2119.4	45.19	5.08	620	4278.61	0.00	0.28	3.71	0.000	0.045	0.110	2253.88	2216.81	2290.94	2815.56	689.62	0	0	0	30.00	16.08	15.98
4507.25	11303	305.95	2.05	0.00	2252.6	2216.8	2288.4	2816.1	689.9	38.40	1.83	667	4652.09	133.88	0.25	3.54	0.941	0.038	0.058	1770.75	1747.25	1794.25	2850.38	2184.75	0	0	0	12.86	16.08	16.04
4835.49	4613	305.95	2.05	-80.00	1769.4	1743.6	1795.2	2850.4	2184.7	19.15	9.58	731	4842.75	0.00	0.26	3.96	0.000	0.149	0.108	1770.53	1744.69	1796.38	2831.62	689.69	0	0	0	30.00	15.82	15.83
5006	end climb: SURFACE_DEPTH_REACHED
state	5006	begin surface coast
5036	end surface coast: CONTROL_FINISHED_OK
state	5036	begin surface