Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 97 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 6 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054949999 XPDR_VALID 6

DIVE 97 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP -1

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 375 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 FILEMGR 0 C_VBD 2775 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0020000001 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERS 1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 390 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 450 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 3 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 550 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -1 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3000 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2320 FG_AHR_10V 20.534279 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 38.458248 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 85 PITCH_GAIN 18 PRESSURE_YINT -180.00272 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.0063095698 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0094307503 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2240 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 2 N_NOCOMM 2 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 375

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 20.534279 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 38.458248 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 18 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3000 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0063095698 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0094307503 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0020000001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 390

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.00021665409 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -180.00272 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 450

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 3

C_PITCH 2320 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2240 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2320 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2775 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 60 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72946 ROLL_MAX 3825 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 215 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 85 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 97 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1000 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 6 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP -1

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 6

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 160521,205209,4751.061,-12511.387,15,1.6,45,16.0 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 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 160521,205723,4751.025,-12511.347,4,1.6,8,16.0 MHEAD_RNG_PITCHd_Wd 255.5,166624,-21.6,-8.462,-23.21

SPEED_LIMITS 0.147,0.197 D_GRID 250

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

TGT_LATLONG 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH 0.0,1.024542 FG_AHR_10Vo 20.571

SM_CCo 5956.59,16.83,1.056,0,1247.4,1236.4,1258.4,374.73 MEM0 60876,1,0,0

SM_GC 1.41,16.83,16.11,0.12,1.056,0.043,0.123,1247.4,1236.4,1258.4,192.8,2361.2,0,0,0,12.83,15.83,15.83 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971732,18,75376,55

IRIDIUM_FIX 4751.26,-12509.51,160521,190527 DATA_FILE_SIZE 25758,879

TCM_TEMP 266.07 CAP_FILE_SIZE 168476,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3994944

SC_FREEKB 3835264 SDFILEDIR 521,1

HUMID 48.74 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.41 CURRENT 0.125,107.2,1

INTERNAL_PRESSURE 8.85243 MAGCAL 1.000000,-0.006391,-0.000788,-0.016105,1.061786,-0.063103,-0.003238,-0.082355,0.996509,670.5,-295.3,93.4,23,0.0237,0

_24V_AH 14.98,37.728 IMPLIED_C_PITCH 2354,13.67,599

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2889,12.358975,245

FG_AHR_24Vo 38.586 GPS 160521,223741,4750.992,-12511.695,31,1.8,33,16.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 404 1425 8644.23 nil 0 0 0.00

Pitch_motor 34 256 133.37 nil 0 0 0.00

Roll_motor 59 193 172.86 nil 0 0 0.00

Iridium 199 203 608.05 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 17 15 3.91 nil 0 0 0.00

Core 2621 11 464.06 SciCon 5927 14 1325.22

LPSleep 3561 2 149.58 nil 0 0 0.00

Compass 1331 5 99.89 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

4 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.43 16386 -82.73 -1.37 0.00 1236.8 1233.9 1239.6 181.8 2254.6 0.00 0.00 0 64.65 57.03 0.00 0.00 0.005 0.000 0.000 2612.12 2738.88 2485.38 181.94 2254.69 0 0 0 15.81 30.00 30.00

65.39 18727 -82.73 -1.37 60.00 2611.5 2738.2 2484.8 181.8 2254.7 3.50 -4.11 11 102.77 12.60 13.56 3.00 0.007 0.257 0.089 3111.47 3277.00 2945.94 1989.31 3424.56 0 0 0 15.84 15.77 15.79

295.81 1028 -82.73 -1.37 0.00 3112.4 3277.1 2947.8 1988.9 3424.8 49.12 -15.32 57 301.36 0.00 0.00 2.61 0.000 0.000 0.023 3112.06 3276.19 2947.94 1989.31 2256.88 0 0 0 30.00 30.00 15.94

486.27 260 -82.73 -1.37 60.00 3112.2 3276.3 2948.1 1989.4 2254.6 73.26 -11.44 95 491.67 0.00 0.00 2.98 0.000 0.000 0.085 3113.31 3277.50 2949.12 1989.75 3426.19 0 0 0 30.00 30.00 15.96

556.04 1028 -82.73 -1.37 0.00 3112.2 3275.9 2948.5 1989.8 3426.2 81.46 -11.94 109 561.46 0.00 0.00 2.59 0.000 0.000 0.024 3112.59 3276.94 2948.25 1990.12 2251.69 0 0 0 30.00 30.00 15.98

746.39 0 -82.73 -1.37 0.00 3112.3 3276.0 2948.6 1989.3 2250.7 100.52 -9.92 147 747.73 0.00 0.00 0.00 0.000 0.000 0.000 3111.44 3275.44 2947.44 1989.50 2250.56 0 0 0 30.00 30.00 30.00

1056.46 260 -82.73 -1.37 60.00 3112.4 3276.1 2948.8 1989.6 2250.3 132.12 -9.82 178 1061.21 0.00 0.00 2.96 0.000 0.000 0.085 3114.16 3277.50 2950.81 1989.44 3426.25 0 0 0 30.00 30.00 16.05

1100.62 1028 -82.73 -1.37 0.00 3112.7 3276.8 2948.6 1989.2 3426.8 137.25 -11.81 187 1106.62 0.00 0.00 2.58 0.000 0.000 0.024 3113.28 3276.19 2950.38 1989.56 2249.25 0 0 0 30.00 30.00 16.06

1416.16 516 -82.73 -1.37 -60.00 3112.3 3276.1 2948.6 1990.1 2249.0 169.33 -10.22 219 1420.81 0.00 0.00 2.48 0.000 0.000 0.069 3113.44 3276.69 2950.19 1989.50 1208.62 0 0 0 30.00 30.00 16.08

1550.73 1028 -82.73 -1.37 0.00 3112.4 3275.9 2948.9 1989.8 1208.6 184.89 -11.19 246 1556.73 0.00 0.00 2.64 0.000 0.000 0.032 3112.56 3276.00 2949.12 1989.50 2352.25 0 0 0 30.00 30.00 16.09

1866.26 260 -82.73 -1.37 60.00 3112.9 3276.9 2948.9 1989.9 2352.9 215.20 -10.08 278 1871.34 0.00 0.00 2.67 0.000 0.000 0.091 3113.25 3276.62 2949.88 1989.19 3425.62 0 0 0 30.00 30.00 16.10

2020.85 1028 -82.73 -1.37 0.00 3112.2 3275.8 2948.6 1989.2 3424.2 231.23 -9.76 309 2026.83 0.00 0.00 2.58 0.000 0.000 0.024 3114.34 3278.06 2950.62 1989.00 2248.88 0 0 0 30.00 30.00 16.14

2246 end dive: TARGET_DEPTH_EXCEEDED

state 2246 begin apogee

2248.13 10243 0.00 -0.28 0.00 3112.8 3276.4 2949.1 1989.6 2186.4 250.31 -8.79 332 2308.81 56.76 1.75 0.15 1.425 0.154 0.142 2774.41 2892.25 2656.56 2254.12 2280.00 0 0 0 13.02 16.10 15.82

2310 end apogee: CONTROL_FINISHED_OK

state 2310 begin climb

2310.76 10243 82.73 1.37 0.00 2773.1 2891.2 2654.9 2253.8 2287.7 251.87 0.00 338 2373.87 57.88 2.56 0.00 1.377 0.101 0.000 2439.09 2515.56 2362.62 2653.50 2287.56 0 0 0 12.79 15.85 30.00

2677.03 64 82.73 1.40 0.00 2432.2 2512.6 2351.7 2654.4 2287.9 228.54 6.91 375 2678.36 0.00 0.00 0.00 0.000 0.000 0.000 2431.28 2512.19 2350.38 2654.38 2287.88 0 0 0 30.00 30.00 30.00

2987.49 8226 116.30 1.47 0.00 2431.5 2512.7 2350.2 2654.8 2287.6 208.63 6.17 406 3013.62 24.89 0.00 0.00 1.309 0.000 0.000 2299.59 2374.69 2224.50 2654.44 2287.88 0 0 0 12.93 30.00 30.00

3317.66 64 116.30 1.48 0.00 2296.2 2374.9 2217.6 2654.9 2287.4 184.77 7.81 439 3318.99 0.00 0.00 0.00 0.000 0.000 0.000 2295.41 2373.62 2217.19 2654.69 2288.38 0 0 0 30.00 30.00 30.00

3627.61 10535 152.37 1.55 60.00 2296.0 2374.9 2217.1 2654.6 2288.6 164.41 6.00 470 3659.73 26.83 0.24 2.70 1.287 0.072 0.091 2150.88 2213.50 2088.25 2713.88 3344.12 0 0 0 12.98 16.03 15.85

3722.74 1028 152.37 1.55 0.00 2150.0 2214.6 2085.4 2712.9 3344.6 157.03 8.59 489 3727.83 0.00 0.00 2.61 0.000 0.000 0.026 2150.06 2214.94 2085.19 2712.94 2190.31 0 0 0 30.00 30.00 15.96

4032.98 516 152.37 1.55 -60.00 2147.7 2214.2 2081.1 2713.1 2190.2 131.84 7.98 521 4037.92 0.00 0.00 2.57 0.000 0.000 0.078 2148.94 2214.44 2083.44 2712.00 1130.00 0 0 0 30.00 30.00 16.01

4182.85 1028 152.37 1.55 0.00 2146.8 2213.6 2080.0 2712.7 1130.2 117.36 9.36 551 4187.93 0.00 0.00 2.64 0.000 0.000 0.031 2148.47 2214.94 2082.00 2713.12 2272.44 0 0 0 30.00 30.00 16.04

4492.94 516 152.37 1.55 -60.00 2146.3 2213.8 2078.9 2712.9 2272.5 89.26 8.65 595 4498.50 0.00 0.00 2.78 0.000 0.000 0.072 2148.31 2215.62 2081.00 2713.25 1130.81 0 0 0 30.00 30.00 16.09

4542.96 1028 152.37 1.55 0.00 2146.5 2214.2 2078.7 2713.8 1131.6 84.75 9.17 605 4548.50 0.00 0.00 2.62 0.000 0.000 0.031 2145.72 2212.25 2079.19 2712.75 2272.44 0 0 0 30.00 30.00 16.09

4733.45 324 152.37 1.58 60.00 2146.2 2214.0 2078.4 2713.8 2272.9 70.22 7.19 643 4738.58 0.00 0.00 2.68 0.000 0.000 0.090 2147.25 2215.38 2079.12 2712.81 3346.06 0 0 0 30.00 30.00 16.08

4968.15 9254 204.51 1.68 0.00 2145.9 2214.2 2077.6 2713.2 3345.9 56.51 4.90 690 5010.75 37.65 0.00 2.60 1.210 0.000 0.025 1938.88 1986.00 1891.75 2713.44 2183.69 0 0 0 12.99 30.00 16.11

5193.82 10791 235.89 1.74 -60.00 1934.6 1987.8 1881.4 2713.5 2184.1 43.64 6.32 735 5224.68 23.95 0.18 2.60 1.153 0.088 0.080 1813.25 1854.88 1771.62 2756.44 1132.69 0 0 0 12.99 15.99 15.85

5453.91 9254 273.86 1.82 0.00 1806.2 1853.1 1759.4 2756.9 1132.9 27.63 5.87 787 5489.64 28.64 0.00 2.64 1.146 0.000 0.030 1658.41 1693.44 1623.38 2757.06 2275.06 0 0 0 12.91 30.00 16.00

5673.99 8742 307.31 1.89 -60.00 1651.2 1692.4 1609.9 2757.6 2275.1 14.57 6.18 831 5705.42 26.00 0.00 2.86 1.110 0.000 0.074 1521.31 1553.12 1489.50 2758.06 1132.38 0 0 0 12.91 30.00 15.79

5794.02 11303 354.15 1.98 0.00 1515.8 1551.4 1480.2 2758.1 1132.4 8.21 5.26 855 5835.67 35.81 0.25 2.66 1.111 0.073 0.029 1331.34 1349.31 1313.38 2815.75 2275.25 0 0 0 12.90 15.87 15.90

5884 end climb: SURFACE_DEPTH_REACHED

state 5884 begin surface coast

5913 end surface coast: CONTROL_FINISHED_OK

state 5914 begin surface

ID	249	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	6	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054949999	XPDR_VALID	6
DIVE	97	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	-1
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	375	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	FILEMGR	0	C_VBD	2775	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0020000001	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERS	1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	390	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	450	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	3	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	550	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-1	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3000	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2320	FG_AHR_10V	20.534279	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	38.458248	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	85	PITCH_GAIN	18	PRESSURE_YINT	-180.00272	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.0063095698	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0094307503	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2240	ALTIM_PULSE	1

GPS1	160521,205209,4751.061,-12511.387,15,1.6,45,16.0	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	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	160521,205723,4751.025,-12511.347,4,1.6,8,16.0	MHEAD_RNG_PITCHd_Wd	255.5,166624,-21.6,-8.462,-23.21
SPEED_LIMITS	0.147,0.197	D_GRID	250
TGT_NAME	OFFSHORE	IRON	1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
TGT_LATLONG	4700.000,-12700.000

FINISH	0.0,1.024542	FG_AHR_10Vo	20.571
SM_CCo	5956.59,16.83,1.056,0,1247.4,1236.4,1258.4,374.73	MEM0	60876,1,0,0
SM_GC	1.41,16.83,16.11,0.12,1.056,0.043,0.123,1247.4,1236.4,1258.4,192.8,2361.2,0,0,0,12.83,15.83,15.83	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971732,18,75376,55
IRIDIUM_FIX	4751.26,-12509.51,160521,190527	DATA_FILE_SIZE	25758,879
TCM_TEMP	266.07	CAP_FILE_SIZE	168476,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3994944
SC_FREEKB	3835264	SDFILEDIR	521,1
HUMID	48.74	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.41	CURRENT	0.125,107.2,1
INTERNAL_PRESSURE	8.85243	MAGCAL	1.000000,-0.006391,-0.000788,-0.016105,1.061786,-0.063103,-0.003238,-0.082355,0.996509,670.5,-295.3,93.4,23,0.0237,0
_24V_AH	14.98,37.728	IMPLIED_C_PITCH	2354,13.67,599
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2889,12.358975,245
FG_AHR_24Vo	38.586	GPS	160521,223741,4750.992,-12511.695,31,1.8,33,16.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	404	1425	8644.23	nil	0	0	0.00
Pitch_motor	34	256	133.37	nil	0	0	0.00
Roll_motor	59	193	172.86	nil	0	0	0.00
Iridium	199	203	608.05	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	17	15	3.91	nil	0	0	0.00
Core	2621	11	464.06	SciCon	5927	14	1325.22
LPSleep	3561	2	149.58	nil	0	0	0.00
Compass	1331	5	99.89	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
4	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.43	16386	-82.73	-1.37	0.00	1236.8	1233.9	1239.6	181.8	2254.6	0.00	0.00	0	64.65	57.03	0.00	0.00	0.005	0.000	0.000	2612.12	2738.88	2485.38	181.94	2254.69	0	0	0	15.81	30.00	30.00
65.39	18727	-82.73	-1.37	60.00	2611.5	2738.2	2484.8	181.8	2254.7	3.50	-4.11	11	102.77	12.60	13.56	3.00	0.007	0.257	0.089	3111.47	3277.00	2945.94	1989.31	3424.56	0	0	0	15.84	15.77	15.79
295.81	1028	-82.73	-1.37	0.00	3112.4	3277.1	2947.8	1988.9	3424.8	49.12	-15.32	57	301.36	0.00	0.00	2.61	0.000	0.000	0.023	3112.06	3276.19	2947.94	1989.31	2256.88	0	0	0	30.00	30.00	15.94
486.27	260	-82.73	-1.37	60.00	3112.2	3276.3	2948.1	1989.4	2254.6	73.26	-11.44	95	491.67	0.00	0.00	2.98	0.000	0.000	0.085	3113.31	3277.50	2949.12	1989.75	3426.19	0	0	0	30.00	30.00	15.96
556.04	1028	-82.73	-1.37	0.00	3112.2	3275.9	2948.5	1989.8	3426.2	81.46	-11.94	109	561.46	0.00	0.00	2.59	0.000	0.000	0.024	3112.59	3276.94	2948.25	1990.12	2251.69	0	0	0	30.00	30.00	15.98
746.39	0	-82.73	-1.37	0.00	3112.3	3276.0	2948.6	1989.3	2250.7	100.52	-9.92	147	747.73	0.00	0.00	0.00	0.000	0.000	0.000	3111.44	3275.44	2947.44	1989.50	2250.56	0	0	0	30.00	30.00	30.00
1056.46	260	-82.73	-1.37	60.00	3112.4	3276.1	2948.8	1989.6	2250.3	132.12	-9.82	178	1061.21	0.00	0.00	2.96	0.000	0.000	0.085	3114.16	3277.50	2950.81	1989.44	3426.25	0	0	0	30.00	30.00	16.05
1100.62	1028	-82.73	-1.37	0.00	3112.7	3276.8	2948.6	1989.2	3426.8	137.25	-11.81	187	1106.62	0.00	0.00	2.58	0.000	0.000	0.024	3113.28	3276.19	2950.38	1989.56	2249.25	0	0	0	30.00	30.00	16.06
1416.16	516	-82.73	-1.37	-60.00	3112.3	3276.1	2948.6	1990.1	2249.0	169.33	-10.22	219	1420.81	0.00	0.00	2.48	0.000	0.000	0.069	3113.44	3276.69	2950.19	1989.50	1208.62	0	0	0	30.00	30.00	16.08
1550.73	1028	-82.73	-1.37	0.00	3112.4	3275.9	2948.9	1989.8	1208.6	184.89	-11.19	246	1556.73	0.00	0.00	2.64	0.000	0.000	0.032	3112.56	3276.00	2949.12	1989.50	2352.25	0	0	0	30.00	30.00	16.09
1866.26	260	-82.73	-1.37	60.00	3112.9	3276.9	2948.9	1989.9	2352.9	215.20	-10.08	278	1871.34	0.00	0.00	2.67	0.000	0.000	0.091	3113.25	3276.62	2949.88	1989.19	3425.62	0	0	0	30.00	30.00	16.10
2020.85	1028	-82.73	-1.37	0.00	3112.2	3275.8	2948.6	1989.2	3424.2	231.23	-9.76	309	2026.83	0.00	0.00	2.58	0.000	0.000	0.024	3114.34	3278.06	2950.62	1989.00	2248.88	0	0	0	30.00	30.00	16.14
2246	end dive: TARGET_DEPTH_EXCEEDED
state	2246	begin apogee
2248.13	10243	0.00	-0.28	0.00	3112.8	3276.4	2949.1	1989.6	2186.4	250.31	-8.79	332	2308.81	56.76	1.75	0.15	1.425	0.154	0.142	2774.41	2892.25	2656.56	2254.12	2280.00	0	0	0	13.02	16.10	15.82
2310	end apogee: CONTROL_FINISHED_OK
state	2310	begin climb
2310.76	10243	82.73	1.37	0.00	2773.1	2891.2	2654.9	2253.8	2287.7	251.87	0.00	338	2373.87	57.88	2.56	0.00	1.377	0.101	0.000	2439.09	2515.56	2362.62	2653.50	2287.56	0	0	0	12.79	15.85	30.00
2677.03	64	82.73	1.40	0.00	2432.2	2512.6	2351.7	2654.4	2287.9	228.54	6.91	375	2678.36	0.00	0.00	0.00	0.000	0.000	0.000	2431.28	2512.19	2350.38	2654.38	2287.88	0	0	0	30.00	30.00	30.00
2987.49	8226	116.30	1.47	0.00	2431.5	2512.7	2350.2	2654.8	2287.6	208.63	6.17	406	3013.62	24.89	0.00	0.00	1.309	0.000	0.000	2299.59	2374.69	2224.50	2654.44	2287.88	0	0	0	12.93	30.00	30.00
3317.66	64	116.30	1.48	0.00	2296.2	2374.9	2217.6	2654.9	2287.4	184.77	7.81	439	3318.99	0.00	0.00	0.00	0.000	0.000	0.000	2295.41	2373.62	2217.19	2654.69	2288.38	0	0	0	30.00	30.00	30.00
3627.61	10535	152.37	1.55	60.00	2296.0	2374.9	2217.1	2654.6	2288.6	164.41	6.00	470	3659.73	26.83	0.24	2.70	1.287	0.072	0.091	2150.88	2213.50	2088.25	2713.88	3344.12	0	0	0	12.98	16.03	15.85
3722.74	1028	152.37	1.55	0.00	2150.0	2214.6	2085.4	2712.9	3344.6	157.03	8.59	489	3727.83	0.00	0.00	2.61	0.000	0.000	0.026	2150.06	2214.94	2085.19	2712.94	2190.31	0	0	0	30.00	30.00	15.96
4032.98	516	152.37	1.55	-60.00	2147.7	2214.2	2081.1	2713.1	2190.2	131.84	7.98	521	4037.92	0.00	0.00	2.57	0.000	0.000	0.078	2148.94	2214.44	2083.44	2712.00	1130.00	0	0	0	30.00	30.00	16.01
4182.85	1028	152.37	1.55	0.00	2146.8	2213.6	2080.0	2712.7	1130.2	117.36	9.36	551	4187.93	0.00	0.00	2.64	0.000	0.000	0.031	2148.47	2214.94	2082.00	2713.12	2272.44	0	0	0	30.00	30.00	16.04
4492.94	516	152.37	1.55	-60.00	2146.3	2213.8	2078.9	2712.9	2272.5	89.26	8.65	595	4498.50	0.00	0.00	2.78	0.000	0.000	0.072	2148.31	2215.62	2081.00	2713.25	1130.81	0	0	0	30.00	30.00	16.09
4542.96	1028	152.37	1.55	0.00	2146.5	2214.2	2078.7	2713.8	1131.6	84.75	9.17	605	4548.50	0.00	0.00	2.62	0.000	0.000	0.031	2145.72	2212.25	2079.19	2712.75	2272.44	0	0	0	30.00	30.00	16.09
4733.45	324	152.37	1.58	60.00	2146.2	2214.0	2078.4	2713.8	2272.9	70.22	7.19	643	4738.58	0.00	0.00	2.68	0.000	0.000	0.090	2147.25	2215.38	2079.12	2712.81	3346.06	0	0	0	30.00	30.00	16.08
4968.15	9254	204.51	1.68	0.00	2145.9	2214.2	2077.6	2713.2	3345.9	56.51	4.90	690	5010.75	37.65	0.00	2.60	1.210	0.000	0.025	1938.88	1986.00	1891.75	2713.44	2183.69	0	0	0	12.99	30.00	16.11
5193.82	10791	235.89	1.74	-60.00	1934.6	1987.8	1881.4	2713.5	2184.1	43.64	6.32	735	5224.68	23.95	0.18	2.60	1.153	0.088	0.080	1813.25	1854.88	1771.62	2756.44	1132.69	0	0	0	12.99	15.99	15.85
5453.91	9254	273.86	1.82	0.00	1806.2	1853.1	1759.4	2756.9	1132.9	27.63	5.87	787	5489.64	28.64	0.00	2.64	1.146	0.000	0.030	1658.41	1693.44	1623.38	2757.06	2275.06	0	0	0	12.91	30.00	16.00
5673.99	8742	307.31	1.89	-60.00	1651.2	1692.4	1609.9	2757.6	2275.1	14.57	6.18	831	5705.42	26.00	0.00	2.86	1.110	0.000	0.074	1521.31	1553.12	1489.50	2758.06	1132.38	0	0	0	12.91	30.00	15.79
5794.02	11303	354.15	1.98	0.00	1515.8	1551.4	1480.2	2758.1	1132.4	8.21	5.26	855	5835.67	35.81	0.25	2.66	1.111	0.073	0.029	1331.34	1349.31	1313.38	2815.75	2275.25	0	0	0	12.90	15.87	15.90
5884	end climb: SURFACE_DEPTH_REACHED
state	5884	begin surface coast
5913	end surface coast: CONTROL_FINISHED_OK
state	5914	begin surface