Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 93 * 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 93 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 10.279834 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 30.012259 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 10.279834 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 30.012259 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 93 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 210623,235426,4752.035,-12511.829,14,0.9,31,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,235906,4751.986,-12511.802,3,0.9,5,15.8 MHEAD_RNG_PITCHd_Wd 219.0,167170,-17.1,-8.049,-21.16,2007,0.238

SPEED_LIMITS 0.139,0.208 D_GRID 210

TGT_NAME OFFSHORE IRON 1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.572571,-595.407471,-574.239685

TGT_LATLONG 4700.000,-12700.000 OSC 8000225

Post-dive calculations and measurements:

WARN HSCICON missed fuel gauge read _10V_AH 15.00,0.000

FINISH 0.1,1.024304 FG_AHR_24Vo 30.165

SURF forcing FG_AHR_10Vo 10.328

SM_CCo 5394.31,135.99,0.923,0,1083.6,1103.0,1064.2,474.99 MEM0 60116,1,0,0

SM_GC 1.28,135.99,20.25,3.08,0.923,0.045,0.051,1083.6,1103.0,1064.2,190.3,2074.9,0,0,0,12.83,15.92,15.92 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 970844,18,76224,57

IRIDIUM_FIX 4752.57,-12511.36,210623,223059 DATA_FILE_SIZE 22535,811

TCM_TEMP 258.01 CAP_FILE_SIZE 190375,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,3987136

SC_FREEKB 3843456 SDFILEDIR 593,94

HUMID 50.39 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.31 IMPLIED_C_PITCH 2364,12.42,524,0.0,0.00

INTERNAL_PRESSURE 8.92712 GPS 220623,012937,4751.767,-12512.264,3,1.2,6,15.8

_24V_AH 14.90,47.821

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 630 1147 10778.22 nil 0 0 0.00

Pitch_motor 44 251 166.34 nil 0 0 0.00

Roll_motor 58 166 145.11 nil 0 0 0.00

Iridium 200 200 596.57 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 2964 6 302.41 SciCon 5220 17 1371.66

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2523 2 75.71

Compass 1687 5 126.58

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

8.77 16386 -107.06 -1.56 0.00 1094.8 1101.2 1088.4 187.7 2131.4 0.00 0.00 0 80.67 70.28 0.00 0.00 0.005 0.000 0.000 2583.91 2582.19 2585.62 188.00 2130.94 0 0 0 15.78 30.00 30.00

81.11 18727 -107.06 -1.56 80.00 2584.6 2583.2 2585.9 187.8 2130.4 3.19 -2.75 14 132.08 23.00 16.83 3.20 0.006 0.252 0.103 3459.03 3444.06 3474.00 1961.00 3360.25 0 0 0 15.80 15.75 15.75

300.38 1028 -107.06 -1.56 0.00 3458.9 3445.3 3472.5 1961.3 3360.9 42.93 -18.62 57 307.12 0.00 0.00 3.08 0.000 0.000 0.051 3458.75 3445.12 3472.38 1961.31 2070.38 0 0 0 30.00 30.00 15.93

490.61 0 -107.06 -1.56 0.00 3458.8 3445.2 3472.2 1961.2 2070.0 67.57 -11.63 95 494.98 0.00 0.00 0.00 0.000 0.000 0.000 3459.00 3445.88 3472.12 1961.06 2070.56 0 0 0 30.00 30.00 30.00

675.62 0 -107.06 -1.56 0.00 3458.9 3445.5 3472.4 1961.1 2069.9 87.65 -9.29 132 679.98 0.00 0.00 0.00 0.000 0.000 0.000 3459.56 3446.12 3473.00 1960.88 2069.75 0 0 0 30.00 30.00 30.00

865.63 260 -107.06 -1.56 80.00 3459.1 3444.8 3473.4 1961.0 2070.2 105.81 -9.30 164 871.39 0.00 0.00 3.32 0.000 0.000 0.098 3459.34 3445.56 3473.12 1960.50 3361.25 0 0 0 30.00 30.00 15.99

935.64 1028 -107.06 -1.56 0.00 3459.0 3445.2 3472.8 1961.1 3361.6 113.07 -10.30 178 941.27 0.00 0.00 3.06 0.000 0.000 0.049 3460.66 3446.44 3474.88 1960.56 2068.06 0 0 0 30.00 30.00 16.02

1245.65 260 -107.06 -1.56 80.00 3459.2 3444.7 3473.7 1961.1 2068.3 144.20 -9.92 210 1251.40 0.00 0.00 3.30 0.000 0.000 0.099 3459.88 3446.00 3473.75 1960.69 3360.00 0 0 0 30.00 30.00 16.04

1335.66 1028 -107.06 -1.56 0.00 3459.0 3444.8 3473.2 1961.4 3359.9 154.57 -11.73 228 1341.29 0.00 0.00 3.04 0.000 0.000 0.050 3460.34 3446.25 3474.44 1961.44 2070.19 0 0 0 30.00 30.00 16.04

1645.67 0 -107.06 -1.56 0.00 3459.4 3445.4 3473.4 1961.0 2070.2 185.80 -9.36 260 1647.21 0.00 0.00 0.00 0.000 0.000 0.000 3458.50 3443.69 3473.31 1960.75 2070.44 0 0 0 30.00 30.00 30.00

1915 end dive: TARGET_DEPTH_EXCEEDED

state 1916 begin apogee

1917.43 10243 0.00 -0.42 0.00 3459.6 3444.9 3474.4 1961.0 2187.9 210.19 -9.32 287 2004.26 79.84 2.33 0.12 1.147 0.123 0.166 3017.09 2989.25 3044.94 2240.50 2113.62 0 0 0 12.82 16.07 15.75

2015 end apogee: CONTROL_FINISHED_OK

state 2016 begin climb

2018.54 10243 107.06 1.56 0.00 3016.8 2989.0 3044.5 2239.9 2114.6 211.55 0.00 295 2112.45 84.38 3.79 0.00 1.115 0.063 0.000 2583.53 2556.25 2610.81 2726.81 2115.06 0 0 0 12.81 15.86 30.00

2416.01 16966 107.06 1.60 -80.00 2570.5 2541.1 2600.0 2726.5 2115.8 189.90 6.86 335 2423.16 0.00 0.00 3.72 0.000 0.000 0.113 2568.88 2539.44 2598.31 2726.50 689.19 0 0 0 30.00 30.00 15.89

2575.88 17414 107.06 1.60 0.00 2568.7 2540.2 2597.1 2726.8 689.3 176.95 7.89 367 2583.43 0.00 0.00 3.57 0.000 0.000 0.058 2569.88 2542.12 2597.62 2726.69 2179.06 0 0 0 30.00 30.00 15.94

2891.69 16710 107.06 1.64 80.00 2567.7 2539.2 2596.1 2726.4 2179.5 156.06 6.83 399 2897.48 0.00 0.00 3.06 0.000 0.000 0.099 2568.81 2539.75 2597.88 2727.12 3362.69 0 0 0 30.00 30.00 16.00

2935.94 19527 107.06 1.67 0.00 2567.9 2539.4 2596.4 2727.8 3361.9 152.80 7.04 408 2943.59 0.00 0.14 2.95 0.000 0.064 0.051 2570.56 2542.06 2599.06 2759.44 2118.88 0 0 0 30.00 16.06 16.01

3251.71 16710 107.06 1.74 80.00 2567.4 2538.2 2596.5 2758.9 2118.6 132.08 5.49 440 3257.51 0.00 0.00 3.18 0.000 0.000 0.096 2567.56 2539.25 2595.88 2758.94 3362.50 0 0 0 30.00 30.00 16.04

3471.73 11303 170.89 1.83 0.00 2567.1 2538.6 2595.6 2759.7 3362.5 121.77 4.78 484 3546.83 67.14 0.19 2.94 1.012 0.052 0.050 2324.72 2293.75 2355.69 2799.88 2118.62 0 0 0 12.86 16.09 16.09

3851.91 20743 170.89 1.83 80.00 2313.2 2279.4 2346.9 2801.0 2119.0 87.61 10.98 541 3858.58 0.00 0.31 3.20 0.000 0.149 0.095 2313.19 2279.50 2346.88 2777.56 3361.56 0 0 0 30.00 15.94 15.94

4087.05 17478 170.89 1.86 0.00 2311.4 2276.6 2346.3 2777.6 3361.9 66.69 7.07 588 4093.52 0.00 0.00 2.96 0.000 0.000 0.049 2312.16 2277.06 2347.25 2778.19 2119.00 0 0 0 30.00 30.00 16.00

4277.07 10275 240.12 1.95 0.00 2310.8 2274.6 2347.0 2777.6 2118.6 56.00 4.50 626 4356.31 74.26 0.31 0.00 0.961 0.044 0.000 2040.75 2009.12 2072.38 2828.19 2118.62 0 0 0 12.86 16.07 30.00

4539.92 580 240.12 2.03 -80.00 2034.3 2000.8 2067.9 2828.6 2118.2 45.69 5.11 678 4546.80 0.00 0.00 3.74 0.000 0.000 0.110 2035.50 2002.12 2068.88 2828.06 689.44 0 0 0 30.00 30.00 15.88

4675.40 19527 240.12 2.08 0.00 2032.6 2000.9 2064.3 2828.4 689.8 36.01 6.60 705 4682.32 0.00 0.12 3.57 0.000 0.071 0.057 2032.50 2001.31 2063.69 2859.44 2180.75 0 0 0 30.00 15.96 15.93

4865.76 10535 331.42 2.20 80.00 2031.7 1999.3 2064.0 2858.9 2180.8 28.11 3.37 743 4972.39 95.55 0.11 3.12 0.936 0.077 0.100 1667.78 1647.12 1688.44 2889.44 3360.81 0 0 0 12.83 16.01 15.65

5171 end climb: SURFACE_DEPTH_REACHED

state 5171 begin surface coast

5211 end surface coast: CONTROL_FINISHED_OK

state 5211 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	93	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	10.279834	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	30.012259	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	210623,235426,4752.035,-12511.829,14,0.9,31,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,235906,4751.986,-12511.802,3,0.9,5,15.8	MHEAD_RNG_PITCHd_Wd	219.0,167170,-17.1,-8.049,-21.16,2007,0.238
SPEED_LIMITS	0.139,0.208	D_GRID	210
TGT_NAME	OFFSHORE	IRON	1.000000,-0.005554,0.018402,-0.002179,1.047510,0.018697,0.018104,-0.092506,1.006389,219.572571,-595.407471,-574.239685
TGT_LATLONG	4700.000,-12700.000	OSC	8000225

WARN	HSCICON missed fuel gauge read	_10V_AH	15.00,0.000
FINISH	0.1,1.024304	FG_AHR_24Vo	30.165
SURF	forcing	FG_AHR_10Vo	10.328
SM_CCo	5394.31,135.99,0.923,0,1083.6,1103.0,1064.2,474.99	MEM0	60116,1,0,0
SM_GC	1.28,135.99,20.25,3.08,0.923,0.045,0.051,1083.6,1103.0,1064.2,190.3,2074.9,0,0,0,12.83,15.92,15.92	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	970844,18,76224,57
IRIDIUM_FIX	4752.57,-12511.36,210623,223059	DATA_FILE_SIZE	22535,811
TCM_TEMP	258.01	CAP_FILE_SIZE	190375,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,3987136
SC_FREEKB	3843456	SDFILEDIR	593,94
HUMID	50.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.31	IMPLIED_C_PITCH	2364,12.42,524,0.0,0.00
INTERNAL_PRESSURE	8.92712	GPS	220623,012937,4751.767,-12512.264,3,1.2,6,15.8
_24V_AH	14.90,47.821

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	630	1147	10778.22	nil	0	0	0.00
Pitch_motor	44	251	166.34	nil	0	0	0.00
Roll_motor	58	166	145.11	nil	0	0	0.00
Iridium	200	200	596.57	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	2964	6	302.41	SciCon	5220	17	1371.66
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2523	2	75.71
Compass	1687	5	126.58
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
8.77	16386	-107.06	-1.56	0.00	1094.8	1101.2	1088.4	187.7	2131.4	0.00	0.00	0	80.67	70.28	0.00	0.00	0.005	0.000	0.000	2583.91	2582.19	2585.62	188.00	2130.94	0	0	0	15.78	30.00	30.00
81.11	18727	-107.06	-1.56	80.00	2584.6	2583.2	2585.9	187.8	2130.4	3.19	-2.75	14	132.08	23.00	16.83	3.20	0.006	0.252	0.103	3459.03	3444.06	3474.00	1961.00	3360.25	0	0	0	15.80	15.75	15.75
300.38	1028	-107.06	-1.56	0.00	3458.9	3445.3	3472.5	1961.3	3360.9	42.93	-18.62	57	307.12	0.00	0.00	3.08	0.000	0.000	0.051	3458.75	3445.12	3472.38	1961.31	2070.38	0	0	0	30.00	30.00	15.93
490.61	0	-107.06	-1.56	0.00	3458.8	3445.2	3472.2	1961.2	2070.0	67.57	-11.63	95	494.98	0.00	0.00	0.00	0.000	0.000	0.000	3459.00	3445.88	3472.12	1961.06	2070.56	0	0	0	30.00	30.00	30.00
675.62	0	-107.06	-1.56	0.00	3458.9	3445.5	3472.4	1961.1	2069.9	87.65	-9.29	132	679.98	0.00	0.00	0.00	0.000	0.000	0.000	3459.56	3446.12	3473.00	1960.88	2069.75	0	0	0	30.00	30.00	30.00
865.63	260	-107.06	-1.56	80.00	3459.1	3444.8	3473.4	1961.0	2070.2	105.81	-9.30	164	871.39	0.00	0.00	3.32	0.000	0.000	0.098	3459.34	3445.56	3473.12	1960.50	3361.25	0	0	0	30.00	30.00	15.99
935.64	1028	-107.06	-1.56	0.00	3459.0	3445.2	3472.8	1961.1	3361.6	113.07	-10.30	178	941.27	0.00	0.00	3.06	0.000	0.000	0.049	3460.66	3446.44	3474.88	1960.56	2068.06	0	0	0	30.00	30.00	16.02
1245.65	260	-107.06	-1.56	80.00	3459.2	3444.7	3473.7	1961.1	2068.3	144.20	-9.92	210	1251.40	0.00	0.00	3.30	0.000	0.000	0.099	3459.88	3446.00	3473.75	1960.69	3360.00	0	0	0	30.00	30.00	16.04
1335.66	1028	-107.06	-1.56	0.00	3459.0	3444.8	3473.2	1961.4	3359.9	154.57	-11.73	228	1341.29	0.00	0.00	3.04	0.000	0.000	0.050	3460.34	3446.25	3474.44	1961.44	2070.19	0	0	0	30.00	30.00	16.04
1645.67	0	-107.06	-1.56	0.00	3459.4	3445.4	3473.4	1961.0	2070.2	185.80	-9.36	260	1647.21	0.00	0.00	0.00	0.000	0.000	0.000	3458.50	3443.69	3473.31	1960.75	2070.44	0	0	0	30.00	30.00	30.00
1915	end dive: TARGET_DEPTH_EXCEEDED
state	1916	begin apogee
1917.43	10243	0.00	-0.42	0.00	3459.6	3444.9	3474.4	1961.0	2187.9	210.19	-9.32	287	2004.26	79.84	2.33	0.12	1.147	0.123	0.166	3017.09	2989.25	3044.94	2240.50	2113.62	0	0	0	12.82	16.07	15.75
2015	end apogee: CONTROL_FINISHED_OK
state	2016	begin climb
2018.54	10243	107.06	1.56	0.00	3016.8	2989.0	3044.5	2239.9	2114.6	211.55	0.00	295	2112.45	84.38	3.79	0.00	1.115	0.063	0.000	2583.53	2556.25	2610.81	2726.81	2115.06	0	0	0	12.81	15.86	30.00
2416.01	16966	107.06	1.60	-80.00	2570.5	2541.1	2600.0	2726.5	2115.8	189.90	6.86	335	2423.16	0.00	0.00	3.72	0.000	0.000	0.113	2568.88	2539.44	2598.31	2726.50	689.19	0	0	0	30.00	30.00	15.89
2575.88	17414	107.06	1.60	0.00	2568.7	2540.2	2597.1	2726.8	689.3	176.95	7.89	367	2583.43	0.00	0.00	3.57	0.000	0.000	0.058	2569.88	2542.12	2597.62	2726.69	2179.06	0	0	0	30.00	30.00	15.94
2891.69	16710	107.06	1.64	80.00	2567.7	2539.2	2596.1	2726.4	2179.5	156.06	6.83	399	2897.48	0.00	0.00	3.06	0.000	0.000	0.099	2568.81	2539.75	2597.88	2727.12	3362.69	0	0	0	30.00	30.00	16.00
2935.94	19527	107.06	1.67	0.00	2567.9	2539.4	2596.4	2727.8	3361.9	152.80	7.04	408	2943.59	0.00	0.14	2.95	0.000	0.064	0.051	2570.56	2542.06	2599.06	2759.44	2118.88	0	0	0	30.00	16.06	16.01
3251.71	16710	107.06	1.74	80.00	2567.4	2538.2	2596.5	2758.9	2118.6	132.08	5.49	440	3257.51	0.00	0.00	3.18	0.000	0.000	0.096	2567.56	2539.25	2595.88	2758.94	3362.50	0	0	0	30.00	30.00	16.04
3471.73	11303	170.89	1.83	0.00	2567.1	2538.6	2595.6	2759.7	3362.5	121.77	4.78	484	3546.83	67.14	0.19	2.94	1.012	0.052	0.050	2324.72	2293.75	2355.69	2799.88	2118.62	0	0	0	12.86	16.09	16.09
3851.91	20743	170.89	1.83	80.00	2313.2	2279.4	2346.9	2801.0	2119.0	87.61	10.98	541	3858.58	0.00	0.31	3.20	0.000	0.149	0.095	2313.19	2279.50	2346.88	2777.56	3361.56	0	0	0	30.00	15.94	15.94
4087.05	17478	170.89	1.86	0.00	2311.4	2276.6	2346.3	2777.6	3361.9	66.69	7.07	588	4093.52	0.00	0.00	2.96	0.000	0.000	0.049	2312.16	2277.06	2347.25	2778.19	2119.00	0	0	0	30.00	30.00	16.00
4277.07	10275	240.12	1.95	0.00	2310.8	2274.6	2347.0	2777.6	2118.6	56.00	4.50	626	4356.31	74.26	0.31	0.00	0.961	0.044	0.000	2040.75	2009.12	2072.38	2828.19	2118.62	0	0	0	12.86	16.07	30.00
4539.92	580	240.12	2.03	-80.00	2034.3	2000.8	2067.9	2828.6	2118.2	45.69	5.11	678	4546.80	0.00	0.00	3.74	0.000	0.000	0.110	2035.50	2002.12	2068.88	2828.06	689.44	0	0	0	30.00	30.00	15.88
4675.40	19527	240.12	2.08	0.00	2032.6	2000.9	2064.3	2828.4	689.8	36.01	6.60	705	4682.32	0.00	0.12	3.57	0.000	0.071	0.057	2032.50	2001.31	2063.69	2859.44	2180.75	0	0	0	30.00	15.96	15.93
4865.76	10535	331.42	2.20	80.00	2031.7	1999.3	2064.0	2858.9	2180.8	28.11	3.37	743	4972.39	95.55	0.11	3.12	0.936	0.077	0.100	1667.78	1647.12	1688.44	2889.44	3360.81	0	0	0	12.83	16.01	15.65
5171	end climb: SURFACE_DEPTH_REACHED
state	5171	begin surface coast
5211	end surface coast: CONTROL_FINISHED_OK
state	5211	begin surface