Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1200 * 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 1200 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 2 XPDR_REP -1

D_SURF 4 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 400 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 120

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 4 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 0

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 300 CAPMAXSIZE 5000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 510 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 2 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 56

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 100.05053 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 313.82562 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 200 PITCH_GAIN 18 PRESSURE_YINT -14.5 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.0014504 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 0 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 0.0039810701 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.029864 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 4 N_NOCOMM 4 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 400

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 100.05053 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 313.82562 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 0.0039810701 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.029864 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 5000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 300

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 56 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.0014504 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -14.5 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 510

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 2

C_PITCH 2320 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 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 0 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 0.029999999 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 2 VBD_CNV -0.24529999

DEVICE1 120 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 200 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 1200 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 0 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 280222,221340,4755.833,-12515.700,25,1.2,26,15.9 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,222035,4755.888,-12515.670,2,0.7,4,15.9 MHEAD_RNG_PITCHd_Wd 215.9,167565,-22.6,-11.000,-28.75

SPEED_LIMITS 0.191,0.201 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 0.2,1.024580 FG_AHR_10Vo 100.066

SM_CCo 5059.82,0.00,0.000,0,903.9,912.3,895.4,458.99 MEM0 60876,1,0,0

SM_GC 0.32,0.00,16.62,3.17,0.000,0.048,0.026,903.9,912.3,895.4,189.1,2346.0,0,0,0,30.00,15.84,15.90 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971340,32,75448,57

IRIDIUM_FIX 4755.71,-12517.69,280222,221626 DATA_FILE_SIZE 45052,988

TCM_TEMP 267.22 CAP_FILE_SIZE 194933,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3741888

HUMID 51.50 SDFILEDIR 4358,1

TEMP 82.07 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.90091 MAGCAL 1.000000,0.003992,0.019887,-0.015416,1.075429,-0.072085,-0.003880,-0.016090,1.031427,579.5,-308.4,52.4,36,0.0347,0

_24V_AH 14.62,427.064 IMPLIED_C_PITCH 2367,11.56,737

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2745,44.602547,737

FG_AHR_24Vo 314.009 GPS 280222,234557,4755.935,-12516.591,3,2.1,42,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 590 1404 12133.35 legato 34 20 10.03

Pitch_motor 36 233 123.90 nil 0 0 0.00

Roll_motor 72 109 116.12 nil 0 0 0.00

Iridium 190 199 552.99 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 2267 11 401.26 SciCon 0 0 0.00

LPSleep 3129 2 131.46 nil 0 0 0.00

Compass 651 5 48.87 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

2 end surface: CONTROL_FINISHED_OK

state 3 begin dive

5.95 16386 -194.65 -1.65 0.00 689.6 674.1 705.0 175.1 2244.3 0.00 0.00 0 97.82 90.39 0.00 0.00 0.005 0.000 0.000 2874.16 3045.38 2702.94 175.12 2245.06 0 0 0 14.88 30.00 30.00

98.56 18983 -194.65 -1.65 -60.00 2873.5 3044.1 2702.8 175.1 2244.4 3.23 -3.69 17 136.76 15.91 13.40 2.62 0.006 0.234 0.065 3567.00 3800.50 3333.50 1920.44 1209.06 0 0 0 14.93 15.53 14.92

208.85 1028 -194.65 -1.65 0.00 3568.2 3799.8 3336.7 1920.4 1209.2 21.96 -14.73 39 214.40 0.00 0.00 2.68 0.000 0.000 0.025 3568.22 3799.69 3336.75 1920.06 2351.31 0 0 0 30.00 30.00 15.91

399.29 0 -194.65 -1.65 0.00 3568.1 3799.7 3336.4 1920.2 2351.6 51.29 -15.19 77 400.62 0.00 0.00 0.00 0.000 0.000 0.000 3567.47 3799.06 3335.88 1920.12 2351.81 0 0 0 30.00 30.00 30.00

584.05 260 -194.65 -1.65 60.00 3567.8 3799.2 3336.2 1920.6 2351.8 76.14 -14.39 114 589.55 0.00 0.00 2.78 0.000 0.000 0.083 3568.66 3799.31 3338.00 1920.19 3427.31 0 0 0 30.00 30.00 15.91

654.06 1028 -194.65 -1.65 -0.22 3567.9 3799.3 3336.4 1919.9 3426.8 87.39 -15.69 128 659.57 0.00 0.00 2.63 0.000 0.000 0.018 3568.66 3800.62 3336.69 1919.88 2246.50 0 0 0 30.00 30.00 15.94

844.07 516 -194.65 -1.65 -60.00 3567.6 3799.1 3336.2 1920.5 2246.1 111.33 -11.07 166 849.60 0.00 0.00 2.58 0.000 0.000 0.061 3567.88 3799.06 3336.69 1920.31 1208.06 0 0 0 30.00 30.00 15.95

864.07 1028 -194.65 -1.65 0.25 3567.9 3799.2 3336.6 1920.4 1208.4 113.59 -11.15 170 869.62 0.00 0.00 2.68 0.000 0.000 0.025 3568.88 3800.06 3337.69 1920.31 2357.25 0 0 0 30.00 30.00 15.96

1174.18 260 -194.65 -1.65 60.00 3568.1 3799.3 3336.9 1920.2 2356.9 148.71 -11.67 232 1179.74 0.00 0.00 2.76 0.000 0.000 0.084 3568.09 3799.56 3336.62 1920.56 3426.56 0 0 0 30.00 30.00 15.92

1299.21 1028 -194.65 -1.65 0.67 3568.3 3799.4 3337.2 1920.4 3426.4 164.11 -12.01 257 1304.74 0.00 0.00 2.58 0.000 0.000 0.018 3568.56 3799.12 3338.00 1919.62 2254.50 0 0 0 30.00 30.00 15.97

1609.31 260 -194.65 -1.65 60.00 3567.8 3799.1 3336.6 1920.7 2253.2 200.22 -12.11 319 1614.93 0.00 0.00 3.03 0.000 0.000 0.078 3568.75 3800.00 3337.50 1920.44 3426.19 0 0 0 30.00 30.00 15.92

1634.31 1028 -194.65 -1.65 0.67 3568.3 3799.9 3336.7 1920.0 3426.3 203.43 -12.75 324 1639.85 0.00 0.00 2.59 0.000 0.000 0.018 3568.00 3799.19 3336.81 1921.31 2255.25 0 0 0 30.00 30.00 15.98

1944.43 260 -194.65 -1.65 60.00 3568.0 3799.1 3336.9 1920.9 2253.9 237.19 -9.36 386 1949.98 0.00 0.00 3.01 0.000 0.000 0.078 3568.69 3799.56 3337.81 1920.56 3426.06 0 0 0 30.00 30.00 15.92

1984.37 1028 -194.65 -1.65 1.13 3567.8 3798.8 3336.9 1920.3 3425.5 241.57 -11.22 394 1989.90 0.00 0.00 2.55 0.000 0.000 0.018 3568.72 3799.38 3338.06 1921.25 2259.19 0 0 0 30.00 30.00 15.97

2064 end dive: TARGET_DEPTH_EXCEEDED

state 2064 begin apogee

2066.24 10243 0.00 -0.28 0.00 3567.9 3799.3 3336.6 1920.8 2040.6 250.29 -10.60 410 2211.31 138.99 2.29 0.18 1.405 0.141 0.110 2773.91 2876.62 2671.19 2254.12 2168.62 0 0 0 10.97 15.84 15.25

2213 end apogee: CONTROL_FINISHED_OK

state 2213 begin climb

2214.05 10759 194.65 1.65 -60.00 2773.9 2876.0 2671.8 2254.4 2168.5 257.21 0.00 438 2368.83 143.78 3.13 3.04 1.345 0.107 0.073 1980.97 2014.69 1947.25 2719.62 993.19 0 0 0 11.82 15.44 15.55

2396.22 11303 314.74 1.89 0.00 1976.9 2013.6 1940.2 2721.9 993.4 251.05 7.30 474 2494.48 91.89 0.34 2.71 1.307 0.059 0.021 1491.69 1529.62 1453.75 2794.56 2142.06 0 0 0 11.77 15.47 15.54

2796.78 16450 314.74 1.90 0.00 1483.1 1531.1 1435.0 2794.4 2142.2 206.47 10.21 554 2798.11 0.00 0.00 0.00 0.000 0.000 0.000 1482.81 1531.06 1434.56 2794.31 2142.00 0 0 0 30.00 30.00 30.00

3101.89 16966 314.74 1.94 -60.00 1481.8 1531.9 1431.6 2793.8 2142.1 179.98 9.31 615 3107.47 0.00 0.00 2.94 0.000 0.000 0.074 1482.25 1532.12 1432.38 2793.81 993.25 0 0 0 30.00 30.00 15.86

3136.89 17478 314.74 1.96 0.22 1480.8 1531.8 1429.9 2793.8 993.5 176.46 10.04 622 3142.43 0.00 0.00 2.65 0.000 0.000 0.021 1480.84 1531.94 1429.75 2793.94 2146.50 0 0 0 30.00 30.00 15.89

3447.05 16966 314.74 1.99 -60.00 1480.2 1532.1 1428.2 2794.5 2146.2 148.77 9.42 684 3452.57 0.00 0.00 2.94 0.000 0.000 0.075 1480.31 1532.56 1428.06 2794.44 993.19 0 0 0 30.00 30.00 15.89

3491.99 17478 314.74 2.01 -0.00 1479.8 1532.4 1427.1 2794.0 993.4 144.37 9.99 693 3497.53 0.00 0.00 2.64 0.000 0.000 0.021 1479.94 1532.38 1427.50 2794.06 2144.06 0 0 0 30.00 30.00 15.94

3802.08 16646 314.74 2.01 60.00 1479.9 1533.0 1426.8 2794.2 2143.9 115.35 10.66 755 3807.63 0.00 0.00 2.71 0.000 0.000 0.076 1480.28 1533.06 1427.50 2794.69 3206.81 0 0 0 30.00 30.00 15.92

3902.10 17414 314.74 2.01 0.21 1480.1 1533.6 1426.7 2794.4 3205.9 104.01 11.42 775 3907.66 0.00 0.00 2.62 0.000 0.000 0.023 1480.28 1534.19 1426.38 2793.88 2062.56 0 0 0 30.00 30.00 15.95

4212.22 10791 457.03 2.29 -60.00 1479.5 1533.2 1425.9 2794.1 2063.1 78.44 6.61 837 4328.37 109.90 0.50 2.80 1.188 0.055 0.081 912.19 901.31 923.06 2892.31 994.69 0 0 0 11.10 15.92 15.34

4381.15 1092 457.03 2.31 -0.81 909.6 902.0 917.2 2892.4 994.6 63.34 10.33 870 4386.13 0.00 0.00 2.65 0.000 0.000 0.021 909.41 902.19 916.62 2894.06 2127.88 0 0 0 30.00 30.00 15.71

4571.00 324 457.03 2.32 60.00 907.4 906.9 907.9 2892.9 2127.5 44.88 10.23 908 4576.14 0.00 0.00 2.78 0.000 0.000 0.075 907.75 907.25 908.25 2893.38 3205.62 0 0 0 30.00 30.00 15.79

4675.59 1028 457.03 2.32 -0.06 906.7 907.3 906.0 2892.6 3206.2 33.05 11.42 929 4681.15 0.00 0.00 2.65 0.000 0.000 0.023 906.62 907.31 905.94 2893.25 2059.19 0 0 0 30.00 30.00 15.85

4866.01 516 457.03 2.32 -60.00 905.8 910.2 901.4 2893.2 2059.1 12.53 10.97 967 4871.19 0.00 0.00 2.73 0.000 0.000 0.079 905.69 909.94 901.44 2893.12 993.50 0 0 0 30.00 30.00 15.85

4945 end climb: SURFACE_DEPTH_REACHED

state 4945 begin surface coast

4970 end surface coast: CONTROL_FINISHED_OK

state 4970 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	1200	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	2	XPDR_REP	-1
D_SURF	4	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	400	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	120
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	4	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	0
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	300	CAPMAXSIZE	5000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	510	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	2	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	56
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	100.05053	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	313.82562	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	200	PITCH_GAIN	18	PRESSURE_YINT	-14.5	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.0014504	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	0	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	0.0039810701	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.029864	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	280222,221340,4755.833,-12515.700,25,1.2,26,15.9	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,222035,4755.888,-12515.670,2,0.7,4,15.9	MHEAD_RNG_PITCHd_Wd	215.9,167565,-22.6,-11.000,-28.75
SPEED_LIMITS	0.191,0.201	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	0.2,1.024580	FG_AHR_10Vo	100.066
SM_CCo	5059.82,0.00,0.000,0,903.9,912.3,895.4,458.99	MEM0	60876,1,0,0
SM_GC	0.32,0.00,16.62,3.17,0.000,0.048,0.026,903.9,912.3,895.4,189.1,2346.0,0,0,0,30.00,15.84,15.90	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971340,32,75448,57
IRIDIUM_FIX	4755.71,-12517.69,280222,221626	DATA_FILE_SIZE	45052,988
TCM_TEMP	267.22	CAP_FILE_SIZE	194933,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3741888
HUMID	51.50	SDFILEDIR	4358,1
TEMP	82.07	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.90091	MAGCAL	1.000000,0.003992,0.019887,-0.015416,1.075429,-0.072085,-0.003880,-0.016090,1.031427,579.5,-308.4,52.4,36,0.0347,0
_24V_AH	14.62,427.064	IMPLIED_C_PITCH	2367,11.56,737
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2745,44.602547,737
FG_AHR_24Vo	314.009	GPS	280222,234557,4755.935,-12516.591,3,2.1,42,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	590	1404	12133.35	legato	34	20	10.03
Pitch_motor	36	233	123.90	nil	0	0	0.00
Roll_motor	72	109	116.12	nil	0	0	0.00
Iridium	190	199	552.99	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	2267	11	401.26	SciCon	0	0	0.00
LPSleep	3129	2	131.46	nil	0	0	0.00
Compass	651	5	48.87	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
2	end surface: CONTROL_FINISHED_OK
state	3	begin dive
5.95	16386	-194.65	-1.65	0.00	689.6	674.1	705.0	175.1	2244.3	0.00	0.00	0	97.82	90.39	0.00	0.00	0.005	0.000	0.000	2874.16	3045.38	2702.94	175.12	2245.06	0	0	0	14.88	30.00	30.00
98.56	18983	-194.65	-1.65	-60.00	2873.5	3044.1	2702.8	175.1	2244.4	3.23	-3.69	17	136.76	15.91	13.40	2.62	0.006	0.234	0.065	3567.00	3800.50	3333.50	1920.44	1209.06	0	0	0	14.93	15.53	14.92
208.85	1028	-194.65	-1.65	0.00	3568.2	3799.8	3336.7	1920.4	1209.2	21.96	-14.73	39	214.40	0.00	0.00	2.68	0.000	0.000	0.025	3568.22	3799.69	3336.75	1920.06	2351.31	0	0	0	30.00	30.00	15.91
399.29	0	-194.65	-1.65	0.00	3568.1	3799.7	3336.4	1920.2	2351.6	51.29	-15.19	77	400.62	0.00	0.00	0.00	0.000	0.000	0.000	3567.47	3799.06	3335.88	1920.12	2351.81	0	0	0	30.00	30.00	30.00
584.05	260	-194.65	-1.65	60.00	3567.8	3799.2	3336.2	1920.6	2351.8	76.14	-14.39	114	589.55	0.00	0.00	2.78	0.000	0.000	0.083	3568.66	3799.31	3338.00	1920.19	3427.31	0	0	0	30.00	30.00	15.91
654.06	1028	-194.65	-1.65	-0.22	3567.9	3799.3	3336.4	1919.9	3426.8	87.39	-15.69	128	659.57	0.00	0.00	2.63	0.000	0.000	0.018	3568.66	3800.62	3336.69	1919.88	2246.50	0	0	0	30.00	30.00	15.94
844.07	516	-194.65	-1.65	-60.00	3567.6	3799.1	3336.2	1920.5	2246.1	111.33	-11.07	166	849.60	0.00	0.00	2.58	0.000	0.000	0.061	3567.88	3799.06	3336.69	1920.31	1208.06	0	0	0	30.00	30.00	15.95
864.07	1028	-194.65	-1.65	0.25	3567.9	3799.2	3336.6	1920.4	1208.4	113.59	-11.15	170	869.62	0.00	0.00	2.68	0.000	0.000	0.025	3568.88	3800.06	3337.69	1920.31	2357.25	0	0	0	30.00	30.00	15.96
1174.18	260	-194.65	-1.65	60.00	3568.1	3799.3	3336.9	1920.2	2356.9	148.71	-11.67	232	1179.74	0.00	0.00	2.76	0.000	0.000	0.084	3568.09	3799.56	3336.62	1920.56	3426.56	0	0	0	30.00	30.00	15.92
1299.21	1028	-194.65	-1.65	0.67	3568.3	3799.4	3337.2	1920.4	3426.4	164.11	-12.01	257	1304.74	0.00	0.00	2.58	0.000	0.000	0.018	3568.56	3799.12	3338.00	1919.62	2254.50	0	0	0	30.00	30.00	15.97
1609.31	260	-194.65	-1.65	60.00	3567.8	3799.1	3336.6	1920.7	2253.2	200.22	-12.11	319	1614.93	0.00	0.00	3.03	0.000	0.000	0.078	3568.75	3800.00	3337.50	1920.44	3426.19	0	0	0	30.00	30.00	15.92
1634.31	1028	-194.65	-1.65	0.67	3568.3	3799.9	3336.7	1920.0	3426.3	203.43	-12.75	324	1639.85	0.00	0.00	2.59	0.000	0.000	0.018	3568.00	3799.19	3336.81	1921.31	2255.25	0	0	0	30.00	30.00	15.98
1944.43	260	-194.65	-1.65	60.00	3568.0	3799.1	3336.9	1920.9	2253.9	237.19	-9.36	386	1949.98	0.00	0.00	3.01	0.000	0.000	0.078	3568.69	3799.56	3337.81	1920.56	3426.06	0	0	0	30.00	30.00	15.92
1984.37	1028	-194.65	-1.65	1.13	3567.8	3798.8	3336.9	1920.3	3425.5	241.57	-11.22	394	1989.90	0.00	0.00	2.55	0.000	0.000	0.018	3568.72	3799.38	3338.06	1921.25	2259.19	0	0	0	30.00	30.00	15.97
2064	end dive: TARGET_DEPTH_EXCEEDED
state	2064	begin apogee
2066.24	10243	0.00	-0.28	0.00	3567.9	3799.3	3336.6	1920.8	2040.6	250.29	-10.60	410	2211.31	138.99	2.29	0.18	1.405	0.141	0.110	2773.91	2876.62	2671.19	2254.12	2168.62	0	0	0	10.97	15.84	15.25
2213	end apogee: CONTROL_FINISHED_OK
state	2213	begin climb
2214.05	10759	194.65	1.65	-60.00	2773.9	2876.0	2671.8	2254.4	2168.5	257.21	0.00	438	2368.83	143.78	3.13	3.04	1.345	0.107	0.073	1980.97	2014.69	1947.25	2719.62	993.19	0	0	0	11.82	15.44	15.55
2396.22	11303	314.74	1.89	0.00	1976.9	2013.6	1940.2	2721.9	993.4	251.05	7.30	474	2494.48	91.89	0.34	2.71	1.307	0.059	0.021	1491.69	1529.62	1453.75	2794.56	2142.06	0	0	0	11.77	15.47	15.54
2796.78	16450	314.74	1.90	0.00	1483.1	1531.1	1435.0	2794.4	2142.2	206.47	10.21	554	2798.11	0.00	0.00	0.00	0.000	0.000	0.000	1482.81	1531.06	1434.56	2794.31	2142.00	0	0	0	30.00	30.00	30.00
3101.89	16966	314.74	1.94	-60.00	1481.8	1531.9	1431.6	2793.8	2142.1	179.98	9.31	615	3107.47	0.00	0.00	2.94	0.000	0.000	0.074	1482.25	1532.12	1432.38	2793.81	993.25	0	0	0	30.00	30.00	15.86
3136.89	17478	314.74	1.96	0.22	1480.8	1531.8	1429.9	2793.8	993.5	176.46	10.04	622	3142.43	0.00	0.00	2.65	0.000	0.000	0.021	1480.84	1531.94	1429.75	2793.94	2146.50	0	0	0	30.00	30.00	15.89
3447.05	16966	314.74	1.99	-60.00	1480.2	1532.1	1428.2	2794.5	2146.2	148.77	9.42	684	3452.57	0.00	0.00	2.94	0.000	0.000	0.075	1480.31	1532.56	1428.06	2794.44	993.19	0	0	0	30.00	30.00	15.89
3491.99	17478	314.74	2.01	-0.00	1479.8	1532.4	1427.1	2794.0	993.4	144.37	9.99	693	3497.53	0.00	0.00	2.64	0.000	0.000	0.021	1479.94	1532.38	1427.50	2794.06	2144.06	0	0	0	30.00	30.00	15.94
3802.08	16646	314.74	2.01	60.00	1479.9	1533.0	1426.8	2794.2	2143.9	115.35	10.66	755	3807.63	0.00	0.00	2.71	0.000	0.000	0.076	1480.28	1533.06	1427.50	2794.69	3206.81	0	0	0	30.00	30.00	15.92
3902.10	17414	314.74	2.01	0.21	1480.1	1533.6	1426.7	2794.4	3205.9	104.01	11.42	775	3907.66	0.00	0.00	2.62	0.000	0.000	0.023	1480.28	1534.19	1426.38	2793.88	2062.56	0	0	0	30.00	30.00	15.95
4212.22	10791	457.03	2.29	-60.00	1479.5	1533.2	1425.9	2794.1	2063.1	78.44	6.61	837	4328.37	109.90	0.50	2.80	1.188	0.055	0.081	912.19	901.31	923.06	2892.31	994.69	0	0	0	11.10	15.92	15.34
4381.15	1092	457.03	2.31	-0.81	909.6	902.0	917.2	2892.4	994.6	63.34	10.33	870	4386.13	0.00	0.00	2.65	0.000	0.000	0.021	909.41	902.19	916.62	2894.06	2127.88	0	0	0	30.00	30.00	15.71
4571.00	324	457.03	2.32	60.00	907.4	906.9	907.9	2892.9	2127.5	44.88	10.23	908	4576.14	0.00	0.00	2.78	0.000	0.000	0.075	907.75	907.25	908.25	2893.38	3205.62	0	0	0	30.00	30.00	15.79
4675.59	1028	457.03	2.32	-0.06	906.7	907.3	906.0	2892.6	3206.2	33.05	11.42	929	4681.15	0.00	0.00	2.65	0.000	0.000	0.023	906.62	907.31	905.94	2893.25	2059.19	0	0	0	30.00	30.00	15.85
4866.01	516	457.03	2.32	-60.00	905.8	910.2	901.4	2893.2	2059.1	12.53	10.97	967	4871.19	0.00	0.00	2.73	0.000	0.000	0.079	905.69	909.94	901.44	2893.12	993.50	0	0	0	30.00	30.00	15.85
4945	end climb: SURFACE_DEPTH_REACHED
state	4945	begin surface coast
4970	end surface coast: CONTROL_FINISHED_OK
state	4970	begin surface