Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 92 * 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 92 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 10.236268 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 29.850992 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 10.236268 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.850992 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 92 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 210623,222939,4751.915,-12512.542,17,1.1,17,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,223408,4751.878,-12512.513,4,1.1,6,15.8 MHEAD_RNG_PITCHd_Wd 72.2,2789,-17.1,-8.049,-21.16,2007,0.227

SPEED_LIMITS 0.139,0.208 D_GRID 189

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 0.2,1.024203 FG_AHR_24Vo 30.001

SURF forcing FG_AHR_10Vo 10.279

SM_CCo 4756.89,107.74,0.904,0,1084.8,1102.7,1066.8,474.72 MEM0 60116,1,0,0

SM_GC 1.34,107.74,20.14,0.06,0.904,0.045,0.169,1084.8,1102.7,1066.8,187.9,2072.5,0,0,0,12.80,15.85,15.84 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 970676,26,76232,57

IRIDIUM_FIX 4751.26,-12509.51,210623,205756 DATA_FILE_SIZE 19323,737

TCM_TEMP 258.39 CAP_FILE_SIZE 183098,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,3987392

SC_FREEKB 3843840 SDFILEDIR 587,93

HUMID 50.31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.28 MAGCAL 1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.6,-595.4,-574.2,30,0.0232,1

INTERNAL_PRESSURE 8.92829 IMPLIED_C_PITCH 2364,12.60,461,0.0,0.00

_24V_AH 14.91,47.622 GPS 210623,235426,4752.035,-12511.829,14,0.9,31,15.8

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 628 1123 10527.78 nil 0 0 0.00

Pitch_motor 45 266 179.44 nil 0 0 0.00

Roll_motor 55 189 158.04 nil 0 0 0.00

Iridium 184 219 603.95 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.48 nil 0 0 0.00

Core 2756 6 281.15 SciCon 4615 23 1597.51

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2114 2 63.43

Compass 1543 5 115.78

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

8.89 16386 -107.06 -1.56 0.00 1097.4 1105.1 1089.7 190.7 2066.8 0.00 0.00 0 80.79 70.25 0.00 0.00 0.005 0.000 0.000 2583.22 2580.00 2586.44 190.69 2066.94 0 0 0 15.77 30.00 30.00

81.23 18983 -107.06 -1.56 -80.00 2582.2 2579.1 2585.3 190.8 2066.8 3.25 -2.83 14 133.55 22.85 17.33 3.64 0.006 0.266 0.121 3457.34 3442.81 3471.88 1960.88 690.00 0 0 0 15.80 15.70 15.74

361.92 1028 -107.06 -1.56 0.00 3458.6 3443.6 3473.6 1960.8 689.8 51.40 -14.50 69 368.54 0.00 0.00 3.41 0.000 0.000 0.055 3459.03 3444.06 3474.00 1960.69 2129.38 0 0 0 30.00 30.00 15.94

552.07 0 -107.06 -1.56 0.00 3458.3 3443.3 3473.3 1960.9 2129.2 74.04 -9.74 107 556.76 0.00 0.00 0.00 0.000 0.000 0.000 3458.47 3443.88 3473.06 1961.12 2129.31 0 0 0 30.00 30.00 30.00

742.12 516 -107.06 -1.56 -80.00 3458.7 3443.0 3474.3 1961.1 2129.2 93.58 -10.78 145 748.86 0.00 0.00 3.79 0.000 0.000 0.117 3459.25 3444.00 3474.50 1961.00 689.69 0 0 0 30.00 30.00 15.96

892.27 1028 -107.06 -1.56 0.00 3458.6 3443.7 3473.6 1961.3 689.7 111.94 -12.30 175 898.04 0.00 0.00 3.39 0.000 0.000 0.055 3458.78 3443.94 3473.62 1961.50 2130.00 0 0 0 30.00 30.00 16.01

1202.29 516 -107.06 -1.56 -80.00 3459.3 3444.1 3474.5 1961.2 2130.2 142.67 -8.84 207 1209.27 0.00 0.00 3.77 0.000 0.000 0.117 3459.41 3445.00 3473.81 1961.25 688.88 0 0 0 30.00 30.00 16.02

1267.67 1028 -107.06 -1.56 0.00 3458.9 3443.2 3474.6 1961.1 688.9 149.64 -11.11 220 1273.46 0.00 0.00 3.38 0.000 0.000 0.055 3460.56 3445.94 3475.19 1960.81 2132.19 0 0 0 30.00 30.00 16.06

1577.68 516 -107.06 -1.56 -80.00 3459.1 3443.4 3474.8 1961.3 2131.1 177.96 -9.23 252 1584.67 0.00 0.00 3.74 0.000 0.000 0.116 3459.25 3444.38 3474.12 1960.75 690.12 0 0 0 30.00 30.00 16.07

1627.30 1028 -107.06 -1.56 0.00 3458.8 3442.5 3475.1 1961.1 689.6 183.34 -10.95 262 1634.92 0.00 0.00 3.38 0.000 0.000 0.055 3459.47 3444.19 3474.75 1960.56 2130.31 0 0 0 30.00 30.00 16.09

1693 end dive: TARGET_DEPTH_EXCEEDED

state 1693 begin apogee

1694.79 10243 0.00 -0.42 0.00 3459.2 3443.8 3474.7 1961.1 2176.6 189.93 -9.98 269 1781.62 79.62 2.49 0.09 1.124 0.121 0.190 3020.56 2992.44 3048.69 2239.94 2116.88 0 0 0 12.93 16.05 15.73

1784 end apogee: CONTROL_FINISHED_OK

state 1785 begin climb

1787.62 10243 107.06 1.56 0.00 3016.9 2988.6 3045.2 2240.1 2117.7 192.23 0.00 277 1881.50 84.25 3.64 0.00 1.096 0.064 0.000 2583.41 2555.38 2611.44 2727.06 2116.75 0 0 0 12.81 15.83 30.00

2185.02 16386 107.06 1.56 0.00 2570.3 2540.9 2599.6 2726.6 2117.1 168.38 7.82 317 2186.59 0.00 0.00 0.00 0.000 0.000 0.000 2569.91 2540.19 2599.62 2727.00 2116.75 0 0 0 30.00 30.00 30.00

2495.11 16710 107.06 1.60 80.00 2568.9 2539.1 2598.8 2727.2 2117.2 145.19 6.84 348 2500.93 0.00 0.00 3.16 0.000 0.000 0.097 2569.75 2540.50 2599.00 2726.75 3361.69 0 0 0 30.00 30.00 15.98

2615.14 17478 107.06 1.63 0.00 2569.1 2539.4 2598.9 2727.0 3362.1 136.68 7.05 372 2620.87 0.00 0.00 2.93 0.000 0.000 0.050 2569.62 2540.00 2599.25 2726.81 2117.62 0 0 0 30.00 30.00 16.02

2925.19 10791 181.57 1.73 -80.00 2567.0 2535.6 2598.3 2726.9 2117.6 120.03 4.23 404 3012.29 76.99 0.25 3.77 1.002 0.048 0.111 2276.16 2243.44 2308.88 2774.38 690.00 0 0 0 12.81 16.09 15.74

3205.87 21511 181.57 1.73 0.00 2270.8 2241.0 2300.7 2773.9 689.8 89.51 12.87 459 3212.93 0.00 0.33 3.58 0.000 0.152 0.058 2271.94 2242.25 2301.62 2753.94 2178.12 0 0 0 30.00 15.89 15.93

3396.44 16386 181.57 1.73 0.00 2267.6 2234.8 2300.4 2753.5 2178.4 71.19 9.50 497 3400.83 0.00 0.00 0.00 0.000 0.000 0.000 2267.94 2235.50 2300.38 2754.19 2178.38 0 0 0 30.00 30.00 30.00

3581.51 19015 181.57 1.78 -80.00 2266.6 2233.1 2300.1 2754.1 2178.5 56.97 6.16 534 3588.68 0.00 0.22 3.88 0.000 0.048 0.108 2266.78 2233.25 2300.31 2786.00 687.88 0 0 0 30.00 16.04 15.97

3727.18 17478 181.57 1.84 0.00 2266.6 2232.8 2300.3 2786.1 687.9 47.10 6.19 563 3733.99 0.00 0.00 3.54 0.000 0.000 0.058 2266.97 2234.00 2299.94 2785.69 2181.44 0 0 0 30.00 30.00 16.02

3917.44 10535 299.49 1.99 80.00 2265.8 2231.6 2300.1 2785.9 2181.0 42.24 2.01 601 4055.66 126.29 0.28 3.10 0.939 0.042 0.100 1797.38 1772.31 1822.44 2836.19 3359.56 0 0 0 12.84 16.05 15.64

4284.22 5125 299.49 1.99 0.00 1794.9 1766.9 1823.0 2836.0 3360.0 14.08 9.64 673 4290.94 0.00 0.25 2.98 0.000 0.148 0.050 1797.22 1769.38 1825.06 2815.94 2119.06 0 0 0 30.00 15.87 15.87

4474.48 10791 384.92 2.10 -80.00 1794.5 1766.4 1822.7 2817.9 2118.8 4.03 3.68 711 4537.82 60.30 0.31 0.00 0.893 0.042 0.000 1547.16 1529.81 1564.50 2862.00 2119.56 0 0 0 12.76 15.96 30.00

4538 end climb: SURFACE_DEPTH_REACHED

state 4538 begin surface coast

4606 end surface coast: CONTROL_FINISHED_OK

state 4607 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	92	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	10.236268	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	29.850992	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	210623,222939,4751.915,-12512.542,17,1.1,17,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,223408,4751.878,-12512.513,4,1.1,6,15.8	MHEAD_RNG_PITCHd_Wd	72.2,2789,-17.1,-8.049,-21.16,2007,0.227
SPEED_LIMITS	0.139,0.208	D_GRID	189
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	0.2,1.024203	FG_AHR_24Vo	30.001
SURF	forcing	FG_AHR_10Vo	10.279
SM_CCo	4756.89,107.74,0.904,0,1084.8,1102.7,1066.8,474.72	MEM0	60116,1,0,0
SM_GC	1.34,107.74,20.14,0.06,0.904,0.045,0.169,1084.8,1102.7,1066.8,187.9,2072.5,0,0,0,12.80,15.85,15.84	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	970676,26,76232,57
IRIDIUM_FIX	4751.26,-12509.51,210623,205756	DATA_FILE_SIZE	19323,737
TCM_TEMP	258.39	CAP_FILE_SIZE	183098,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,3987392
SC_FREEKB	3843840	SDFILEDIR	587,93
HUMID	50.31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.28	MAGCAL	1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.6,-595.4,-574.2,30,0.0232,1
INTERNAL_PRESSURE	8.92829	IMPLIED_C_PITCH	2364,12.60,461,0.0,0.00
_24V_AH	14.91,47.622	GPS	210623,235426,4752.035,-12511.829,14,0.9,31,15.8
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	628	1123	10527.78	nil	0	0	0.00
Pitch_motor	45	266	179.44	nil	0	0	0.00
Roll_motor	55	189	158.04	nil	0	0	0.00
Iridium	184	219	603.95	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.48	nil	0	0	0.00
Core	2756	6	281.15	SciCon	4615	23	1597.51
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2114	2	63.43
Compass	1543	5	115.78
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
8.89	16386	-107.06	-1.56	0.00	1097.4	1105.1	1089.7	190.7	2066.8	0.00	0.00	0	80.79	70.25	0.00	0.00	0.005	0.000	0.000	2583.22	2580.00	2586.44	190.69	2066.94	0	0	0	15.77	30.00	30.00
81.23	18983	-107.06	-1.56	-80.00	2582.2	2579.1	2585.3	190.8	2066.8	3.25	-2.83	14	133.55	22.85	17.33	3.64	0.006	0.266	0.121	3457.34	3442.81	3471.88	1960.88	690.00	0	0	0	15.80	15.70	15.74
361.92	1028	-107.06	-1.56	0.00	3458.6	3443.6	3473.6	1960.8	689.8	51.40	-14.50	69	368.54	0.00	0.00	3.41	0.000	0.000	0.055	3459.03	3444.06	3474.00	1960.69	2129.38	0	0	0	30.00	30.00	15.94
552.07	0	-107.06	-1.56	0.00	3458.3	3443.3	3473.3	1960.9	2129.2	74.04	-9.74	107	556.76	0.00	0.00	0.00	0.000	0.000	0.000	3458.47	3443.88	3473.06	1961.12	2129.31	0	0	0	30.00	30.00	30.00
742.12	516	-107.06	-1.56	-80.00	3458.7	3443.0	3474.3	1961.1	2129.2	93.58	-10.78	145	748.86	0.00	0.00	3.79	0.000	0.000	0.117	3459.25	3444.00	3474.50	1961.00	689.69	0	0	0	30.00	30.00	15.96
892.27	1028	-107.06	-1.56	0.00	3458.6	3443.7	3473.6	1961.3	689.7	111.94	-12.30	175	898.04	0.00	0.00	3.39	0.000	0.000	0.055	3458.78	3443.94	3473.62	1961.50	2130.00	0	0	0	30.00	30.00	16.01
1202.29	516	-107.06	-1.56	-80.00	3459.3	3444.1	3474.5	1961.2	2130.2	142.67	-8.84	207	1209.27	0.00	0.00	3.77	0.000	0.000	0.117	3459.41	3445.00	3473.81	1961.25	688.88	0	0	0	30.00	30.00	16.02
1267.67	1028	-107.06	-1.56	0.00	3458.9	3443.2	3474.6	1961.1	688.9	149.64	-11.11	220	1273.46	0.00	0.00	3.38	0.000	0.000	0.055	3460.56	3445.94	3475.19	1960.81	2132.19	0	0	0	30.00	30.00	16.06
1577.68	516	-107.06	-1.56	-80.00	3459.1	3443.4	3474.8	1961.3	2131.1	177.96	-9.23	252	1584.67	0.00	0.00	3.74	0.000	0.000	0.116	3459.25	3444.38	3474.12	1960.75	690.12	0	0	0	30.00	30.00	16.07
1627.30	1028	-107.06	-1.56	0.00	3458.8	3442.5	3475.1	1961.1	689.6	183.34	-10.95	262	1634.92	0.00	0.00	3.38	0.000	0.000	0.055	3459.47	3444.19	3474.75	1960.56	2130.31	0	0	0	30.00	30.00	16.09
1693	end dive: TARGET_DEPTH_EXCEEDED
state	1693	begin apogee
1694.79	10243	0.00	-0.42	0.00	3459.2	3443.8	3474.7	1961.1	2176.6	189.93	-9.98	269	1781.62	79.62	2.49	0.09	1.124	0.121	0.190	3020.56	2992.44	3048.69	2239.94	2116.88	0	0	0	12.93	16.05	15.73
1784	end apogee: CONTROL_FINISHED_OK
state	1785	begin climb
1787.62	10243	107.06	1.56	0.00	3016.9	2988.6	3045.2	2240.1	2117.7	192.23	0.00	277	1881.50	84.25	3.64	0.00	1.096	0.064	0.000	2583.41	2555.38	2611.44	2727.06	2116.75	0	0	0	12.81	15.83	30.00
2185.02	16386	107.06	1.56	0.00	2570.3	2540.9	2599.6	2726.6	2117.1	168.38	7.82	317	2186.59	0.00	0.00	0.00	0.000	0.000	0.000	2569.91	2540.19	2599.62	2727.00	2116.75	0	0	0	30.00	30.00	30.00
2495.11	16710	107.06	1.60	80.00	2568.9	2539.1	2598.8	2727.2	2117.2	145.19	6.84	348	2500.93	0.00	0.00	3.16	0.000	0.000	0.097	2569.75	2540.50	2599.00	2726.75	3361.69	0	0	0	30.00	30.00	15.98
2615.14	17478	107.06	1.63	0.00	2569.1	2539.4	2598.9	2727.0	3362.1	136.68	7.05	372	2620.87	0.00	0.00	2.93	0.000	0.000	0.050	2569.62	2540.00	2599.25	2726.81	2117.62	0	0	0	30.00	30.00	16.02
2925.19	10791	181.57	1.73	-80.00	2567.0	2535.6	2598.3	2726.9	2117.6	120.03	4.23	404	3012.29	76.99	0.25	3.77	1.002	0.048	0.111	2276.16	2243.44	2308.88	2774.38	690.00	0	0	0	12.81	16.09	15.74
3205.87	21511	181.57	1.73	0.00	2270.8	2241.0	2300.7	2773.9	689.8	89.51	12.87	459	3212.93	0.00	0.33	3.58	0.000	0.152	0.058	2271.94	2242.25	2301.62	2753.94	2178.12	0	0	0	30.00	15.89	15.93
3396.44	16386	181.57	1.73	0.00	2267.6	2234.8	2300.4	2753.5	2178.4	71.19	9.50	497	3400.83	0.00	0.00	0.00	0.000	0.000	0.000	2267.94	2235.50	2300.38	2754.19	2178.38	0	0	0	30.00	30.00	30.00
3581.51	19015	181.57	1.78	-80.00	2266.6	2233.1	2300.1	2754.1	2178.5	56.97	6.16	534	3588.68	0.00	0.22	3.88	0.000	0.048	0.108	2266.78	2233.25	2300.31	2786.00	687.88	0	0	0	30.00	16.04	15.97
3727.18	17478	181.57	1.84	0.00	2266.6	2232.8	2300.3	2786.1	687.9	47.10	6.19	563	3733.99	0.00	0.00	3.54	0.000	0.000	0.058	2266.97	2234.00	2299.94	2785.69	2181.44	0	0	0	30.00	30.00	16.02
3917.44	10535	299.49	1.99	80.00	2265.8	2231.6	2300.1	2785.9	2181.0	42.24	2.01	601	4055.66	126.29	0.28	3.10	0.939	0.042	0.100	1797.38	1772.31	1822.44	2836.19	3359.56	0	0	0	12.84	16.05	15.64
4284.22	5125	299.49	1.99	0.00	1794.9	1766.9	1823.0	2836.0	3360.0	14.08	9.64	673	4290.94	0.00	0.25	2.98	0.000	0.148	0.050	1797.22	1769.38	1825.06	2815.94	2119.06	0	0	0	30.00	15.87	15.87
4474.48	10791	384.92	2.10	-80.00	1794.5	1766.4	1822.7	2817.9	2118.8	4.03	3.68	711	4537.82	60.30	0.31	0.00	0.893	0.042	0.000	1547.16	1529.81	1564.50	2862.00	2119.56	0	0	0	12.76	15.96	30.00
4538	end climb: SURFACE_DEPTH_REACHED
state	4538	begin surface coast
4606	end surface coast: CONTROL_FINISHED_OK
state	4607	begin surface