Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 47 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 ESCAPE_HEADING 0 HEAD_ERRBAND 180 ALTIM_SENSITIVITY 2

MISSION 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 47 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 425 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 500 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 FILEMGR 0 C_VBD 2500 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 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 1 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 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 150 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 180 T_GPS 5 LOITER_D_TOP 150 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 250 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 1 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 180 RAFOS_PEAK_OFFSET 0 AH0_24V 350 GPS_DEVICE 48

T_LOITER 7200 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 0 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 190 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3920 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 990 C_PITCH 2140 FG_AHR_10V 8.6525517 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 18.833771 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 100 PITCH_GAIN 20 PRESSURE_YINT -170.66119 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00022638284 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72660 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 7.0

KALMAN_USE 2 ROLL_MIN 670 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 7.0

HD_A 0.0039810701 ROLL_MAX 3465 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0094307503 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 3400 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 3400 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 350 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 500 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 425

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 8.6525517 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 18.833771 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3920 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 190 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 0.003 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 180 PITCH_W_GAIN 2 T_DIVE 150

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 236 PRESSURE_SLOPE 0.00022638284 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -170.66119 T_LOITER 7200

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 PROTOCOL 9 T_MISSION 180

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 180

COMPASS_USE 4 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 1

C_PITCH 2140 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 3400 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 3400 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2500 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY 0

DEEPGLIDER 0 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 150 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054945 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72660 ROLL_MAX 3465 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 670 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 100 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 47 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1010 MINV_24V 11 SC_PROFILE 7.0 XPDR_DEVICE 21

D_BOOST 2 MISSION 2 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 7.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 0 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 990 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 071020,194852,4707.791,-12645.604,0,0.9,3,15.8 TGT_LATLONG 4751.930,-12510.270

_CALLS 2 TGT_RADIUS 2500.000

_SM_DEPTHo 1.17 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -64.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 071020,195314,4707.732,-12645.601,2,0.9,4,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.230 MHEAD_RNG_PITCHd_Wd 39.5,143977,-23.8,-11.111,-25.81

TGT_NAME SHELF D_GRID 500

Post-dive calculations and measurements:

SM_CCo 8295.97,0.00,0.017,0,767.7,765.7,769.6,424.94 _10V_AH 15.00,0.000

SM_GC 1.32,0.00,16.35,0.10,0.017,0.089,0.222,767.7,765.7,769.6,179.2,3410.5,0,0,0,30.36,15.77,15.78 FG_AHR_24Vo 19.003

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 8.698

IRIDIUM_FIX 4707.38,-12641.43,071020,194714 MEM 1104496,26,72952,53

TCM_TEMP 195.52 DATA_FILE_SIZE 35379,970

XPDR_PINGS 0,14.0,11.5 CAP_FILE_SIZE 169207,0

SC_FREEKB 3859360 SDSIZE 3918848,3896480

HUMID 56.32 SDFILEDIR 261,1

TEMP 9.48 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.88115 GPS 071020,221209,4707.691,-12645.718,14,1.0,15,15.8

_24V_AH 15.04,18.341

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 488 1604 11795.75 legato 0 0 0.00

Pitch_motor 35 289 153.07 nil 0 0 0.00

Roll_motor 0 239 1.33 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.05 nil 0 0 0.00

Core 2869 11 507.83 SciCon 8246 12 1583.36

LPSleep 5410 2 227.26 nil 0 0 0.00

Compass 1760 5 132.07 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.31 16386 -97.32 -1.48 0.00 762.7 766.4 759.0 179.0 3363.5 0.00 0.00 0 69.34 62.50 0.00 0.00 0.005 0.000 0.000 2357.66 2338.06 2377.25 178.88 3363.94 0 0 0 15.93 30.00 30.00

69.58 18467 -97.32 -1.48 0.00 2356.2 2336.7 2375.6 179.0 3363.9 3.79 -5.33 12 100.25 11.86 12.62 0.00 0.007 0.289 0.000 2896.41 2890.25 2902.56 1779.06 3364.06 0 0 0 15.92 15.81 30.00

278.15 0 -97.32 -1.48 0.00 2894.9 2889.8 2900.0 1780.1 3363.8 61.75 -19.71 54 279.48 0.00 0.00 0.00 0.000 0.000 0.000 2895.97 2890.50 2901.44 1779.81 3363.62 0 0 0 30.00 30.00 30.00

458.23 0 -97.32 -1.48 0.00 2895.1 2890.8 2899.5 1780.0 3364.1 93.92 -19.55 90 459.55 0.00 0.00 0.00 0.000 0.000 0.000 2895.84 2891.38 2900.31 1779.88 3363.38 0 0 0 30.00 30.00 30.00

643.30 0 -97.32 -1.48 0.00 2896.0 2891.4 2900.7 1779.7 3363.2 127.48 -16.69 112 644.63 0.00 0.00 0.00 0.000 0.000 0.000 2896.25 2891.44 2901.06 1780.25 3363.25 0 0 0 30.00 30.00 30.00

943.28 0 -97.32 -1.48 0.00 2895.5 2891.1 2899.9 1780.0 3364.5 167.70 -13.29 142 944.61 0.00 0.00 0.00 0.000 0.000 0.000 2896.66 2891.94 2901.38 1779.56 3363.56 0 0 0 30.00 30.00 30.00

1243.31 0 -97.32 -1.48 0.00 2895.8 2891.1 2900.5 1779.9 3364.0 208.23 -12.66 172 1244.64 0.00 0.00 0.00 0.000 0.000 0.000 2896.25 2891.81 2900.69 1779.94 3363.81 0 0 0 30.00 30.00 30.00

1543.34 0 -97.32 -1.48 0.00 2895.1 2891.0 2899.2 1779.9 3363.7 249.84 -14.05 202 1544.67 0.00 0.00 0.00 0.000 0.000 0.000 2896.06 2891.81 2900.31 1779.81 3363.50 0 0 0 30.00 30.00 30.00

1843.41 0 -97.32 -1.48 0.00 2894.2 2890.7 2897.8 1779.9 3363.5 292.75 -14.36 232 1844.74 0.00 0.00 0.00 0.000 0.000 0.000 2894.91 2891.81 2898.00 1779.69 3363.19 0 0 0 30.00 30.00 30.00

2143.41 0 -97.32 -1.48 0.00 2893.7 2891.4 2896.0 1779.8 3363.3 335.53 -14.40 262 2144.74 0.00 0.00 0.00 0.000 0.000 0.000 2894.06 2891.88 2896.25 1780.00 3362.50 0 0 0 30.00 30.00 30.00

2443.44 0 -97.32 -1.48 0.00 2892.5 2890.8 2894.2 1780.1 3362.6 379.90 -14.81 292 2444.77 0.00 0.00 0.00 0.000 0.000 0.000 2892.94 2891.12 2894.75 1780.25 3362.69 0 0 0 30.00 30.00 30.00

2743.47 0 -97.32 -1.48 0.00 2890.9 2889.8 2892.0 1779.9 3362.3 422.82 -13.77 322 2744.80 0.00 0.00 0.00 0.000 0.000 0.000 2891.97 2891.56 2892.38 1780.06 3362.69 0 0 0 30.00 30.00 30.00

3043.51 0 -97.32 -1.48 0.00 2890.3 2889.9 2890.6 1779.6 3362.8 465.85 -14.04 352 3044.84 0.00 0.00 0.00 0.000 0.000 0.000 2890.94 2890.69 2891.19 1780.00 3362.81 0 0 0 30.00 30.00 30.00

3284 end dive: TARGET_DEPTH_EXCEEDED

state 3284 begin apogee

3284.73 10243 0.00 -0.25 0.00 2889.2 2889.7 2888.6 1780.1 3417.1 500.14 -14.41 376 3365.51 75.89 2.13 0.08 1.604 0.200 0.239 2497.69 2509.06 2486.31 2079.19 3370.50 0 0 0 13.38 16.09 15.71

3373 end apogee: CONTROL_FINISHED_OK

state 3373 begin climb

3372.76 10243 97.32 1.48 0.00 2496.4 2508.4 2484.4 2079.1 3369.9 503.99 0.00 384 3459.89 82.74 2.84 0.00 1.567 0.124 0.000 2101.97 2123.94 2080.00 2501.06 3370.25 0 0 0 13.13 15.73 30.00

3755.68 16386 97.32 1.48 0.00 2090.8 2116.2 2065.2 2502.0 3370.5 467.44 11.57 423 3757.01 0.00 0.00 0.00 0.000 0.000 0.000 2091.19 2116.62 2065.75 2501.06 3370.81 0 0 0 30.00 30.00 30.00

4055.72 16386 97.32 1.48 0.00 2087.4 2112.5 2062.2 2500.7 3370.9 433.43 10.81 453 4057.05 0.00 0.00 0.00 0.000 0.000 0.000 2088.41 2114.25 2062.56 2500.69 3370.75 0 0 0 30.00 30.00 30.00

4355.78 16386 97.32 1.48 0.00 2086.1 2111.7 2060.5 2500.9 3370.2 401.36 10.98 483 4357.11 0.00 0.00 0.00 0.000 0.000 0.000 2086.88 2112.75 2061.00 2501.12 3370.31 0 0 0 30.00 30.00 30.00

4655.85 16450 97.32 1.50 0.00 2085.2 2112.0 2058.3 2501.2 3370.4 372.30 9.93 513 4657.18 0.00 0.00 0.00 0.000 0.000 0.000 2085.47 2111.88 2059.06 2501.81 3370.19 0 0 0 30.00 30.00 30.00

4955.92 10275 129.79 1.60 0.00 2083.8 2110.6 2057.0 2501.4 3370.4 345.54 8.64 543 4982.84 25.96 0.16 0.00 1.425 0.110 0.000 1968.41 1997.50 1939.31 2535.69 3370.81 0 0 0 13.27 16.01 30.00

5275.97 16386 129.79 1.60 0.00 1962.7 1993.2 1932.1 2535.5 3371.0 306.20 13.27 575 5277.30 0.00 0.00 0.00 0.000 0.000 0.000 1963.25 1993.62 1932.88 2536.00 3370.62 0 0 0 30.00 30.00 30.00

5576.03 16386 129.79 1.60 0.00 1961.6 1991.9 1931.4 2535.8 3370.5 269.14 11.74 605 5577.36 0.00 0.00 0.00 0.000 0.000 0.000 1961.09 1991.56 1930.62 2536.19 3370.19 0 0 0 30.00 30.00 30.00

5876.09 16386 129.79 1.60 0.00 1960.7 1990.9 1930.6 2536.0 3371.1 235.39 10.77 635 5877.42 0.00 0.00 0.00 0.000 0.000 0.000 1961.00 1991.62 1930.38 2535.69 3370.56 0 0 0 30.00 30.00 30.00

6176.17 16450 129.79 1.61 0.00 1959.9 1990.6 1929.2 2536.3 3371.5 204.54 10.49 665 6177.51 0.00 0.00 0.00 0.000 0.000 0.000 1958.91 1990.06 1927.75 2536.38 3370.25 0 0 0 30.00 30.00 30.00

6476.23 8226 159.87 1.70 0.00 1959.8 1990.8 1928.8 2536.2 3371.0 175.61 8.82 695 6501.67 24.47 0.00 0.00 1.265 0.000 0.000 1845.75 1881.56 1809.94 2536.50 3370.12 0 0 0 13.33 30.00 30.00

6796.25 0 159.87 1.70 0.00 1841.6 1879.9 1803.2 2535.9 3370.9 138.62 11.62 727 6797.58 0.00 0.00 0.00 0.000 0.000 0.000 1842.00 1880.69 1803.31 2536.50 3370.62 0 0 0 30.00 30.00 30.00

7096.30 10275 241.69 1.95 0.00 1840.7 1880.0 1801.3 2535.9 3371.1 115.48 4.87 757 7162.02 63.99 0.47 0.00 1.239 0.081 0.000 1513.34 1544.88 1481.81 2619.62 3370.31 0 0 0 13.27 16.02 30.00

7456.34 16386 241.69 1.95 0.00 1506.2 1539.0 1473.4 2620.8 3371.1 72.78 12.95 813 7457.67 0.00 0.00 0.00 0.000 0.000 0.000 1506.53 1539.56 1473.50 2619.88 3370.19 0 0 0 30.00 30.00 30.00

7636.40 8226 281.86 2.07 0.00 1505.4 1538.5 1472.2 2620.2 3370.4 53.82 8.05 849 7671.87 31.58 0.00 0.00 1.121 0.000 0.000 1351.22 1383.69 1318.75 2619.75 3370.31 0 0 0 13.19 30.00 30.00

7851.45 10275 387.91 2.39 0.00 1345.1 1378.8 1311.3 2620.4 3370.6 44.10 3.02 892 7934.33 80.93 0.62 0.00 1.126 0.073 0.000 918.94 948.81 889.06 2725.75 3370.81 0 0 0 13.18 15.86 30.00

8113.36 0 387.91 2.39 0.00 914.2 947.9 880.6 2726.2 3369.8 17.42 13.24 944 8118.28 0.00 0.00 0.00 0.000 0.000 0.000 914.44 947.94 880.94 2726.81 3370.00 0 0 0 30.00 30.00 30.00

8227 end climb: SURFACE_DEPTH_REACHED

state 8227 begin surface coast

8242 end surface coast: CONTROL_FINISHED_OK

state 8242 begin surface

ID	236	ESCAPE_HEADING	0	HEAD_ERRBAND	180	ALTIM_SENSITIVITY	2
MISSION	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	47	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	425	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	500	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	FILEMGR	0	C_VBD	2500	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	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	1	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	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	150	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	180	T_GPS	5	LOITER_D_TOP	150	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	250	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	1	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	180	RAFOS_PEAK_OFFSET	0	AH0_24V	350	GPS_DEVICE	48
T_LOITER	7200	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	0	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	190	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3920	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	990	C_PITCH	2140	FG_AHR_10V	8.6525517	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	18.833771	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	100	PITCH_GAIN	20	PRESSURE_YINT	-170.66119	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00022638284	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72660	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	7.0
KALMAN_USE	2	ROLL_MIN	670	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	7.0
HD_A	0.0039810701	ROLL_MAX	3465	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0094307503	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	3400	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	3400	ALTIM_PULSE	3

GPS1	071020,194852,4707.791,-12645.604,0,0.9,3,15.8	TGT_LATLONG	4751.930,-12510.270
_CALLS	2	TGT_RADIUS	2500.000
_SM_DEPTHo	1.17	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-64.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	071020,195314,4707.732,-12645.601,2,0.9,4,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.230	MHEAD_RNG_PITCHd_Wd	39.5,143977,-23.8,-11.111,-25.81
TGT_NAME	SHELF	D_GRID	500

SM_CCo	8295.97,0.00,0.017,0,767.7,765.7,769.6,424.94	_10V_AH	15.00,0.000
SM_GC	1.32,0.00,16.35,0.10,0.017,0.089,0.222,767.7,765.7,769.6,179.2,3410.5,0,0,0,30.36,15.77,15.78	FG_AHR_24Vo	19.003
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	8.698
IRIDIUM_FIX	4707.38,-12641.43,071020,194714	MEM	1104496,26,72952,53
TCM_TEMP	195.52	DATA_FILE_SIZE	35379,970
XPDR_PINGS	0,14.0,11.5	CAP_FILE_SIZE	169207,0
SC_FREEKB	3859360	SDSIZE	3918848,3896480
HUMID	56.32	SDFILEDIR	261,1
TEMP	9.48	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.88115	GPS	071020,221209,4707.691,-12645.718,14,1.0,15,15.8
_24V_AH	15.04,18.341

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	488	1604	11795.75	legato	0	0	0.00
Pitch_motor	35	289	153.07	nil	0	0	0.00
Roll_motor	0	239	1.33	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.05	nil	0	0	0.00
Core	2869	11	507.83	SciCon	8246	12	1583.36
LPSleep	5410	2	227.26	nil	0	0	0.00
Compass	1760	5	132.07	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.31	16386	-97.32	-1.48	0.00	762.7	766.4	759.0	179.0	3363.5	0.00	0.00	0	69.34	62.50	0.00	0.00	0.005	0.000	0.000	2357.66	2338.06	2377.25	178.88	3363.94	0	0	0	15.93	30.00	30.00
69.58	18467	-97.32	-1.48	0.00	2356.2	2336.7	2375.6	179.0	3363.9	3.79	-5.33	12	100.25	11.86	12.62	0.00	0.007	0.289	0.000	2896.41	2890.25	2902.56	1779.06	3364.06	0	0	0	15.92	15.81	30.00
278.15	0	-97.32	-1.48	0.00	2894.9	2889.8	2900.0	1780.1	3363.8	61.75	-19.71	54	279.48	0.00	0.00	0.00	0.000	0.000	0.000	2895.97	2890.50	2901.44	1779.81	3363.62	0	0	0	30.00	30.00	30.00
458.23	0	-97.32	-1.48	0.00	2895.1	2890.8	2899.5	1780.0	3364.1	93.92	-19.55	90	459.55	0.00	0.00	0.00	0.000	0.000	0.000	2895.84	2891.38	2900.31	1779.88	3363.38	0	0	0	30.00	30.00	30.00
643.30	0	-97.32	-1.48	0.00	2896.0	2891.4	2900.7	1779.7	3363.2	127.48	-16.69	112	644.63	0.00	0.00	0.00	0.000	0.000	0.000	2896.25	2891.44	2901.06	1780.25	3363.25	0	0	0	30.00	30.00	30.00
943.28	0	-97.32	-1.48	0.00	2895.5	2891.1	2899.9	1780.0	3364.5	167.70	-13.29	142	944.61	0.00	0.00	0.00	0.000	0.000	0.000	2896.66	2891.94	2901.38	1779.56	3363.56	0	0	0	30.00	30.00	30.00
1243.31	0	-97.32	-1.48	0.00	2895.8	2891.1	2900.5	1779.9	3364.0	208.23	-12.66	172	1244.64	0.00	0.00	0.00	0.000	0.000	0.000	2896.25	2891.81	2900.69	1779.94	3363.81	0	0	0	30.00	30.00	30.00
1543.34	0	-97.32	-1.48	0.00	2895.1	2891.0	2899.2	1779.9	3363.7	249.84	-14.05	202	1544.67	0.00	0.00	0.00	0.000	0.000	0.000	2896.06	2891.81	2900.31	1779.81	3363.50	0	0	0	30.00	30.00	30.00
1843.41	0	-97.32	-1.48	0.00	2894.2	2890.7	2897.8	1779.9	3363.5	292.75	-14.36	232	1844.74	0.00	0.00	0.00	0.000	0.000	0.000	2894.91	2891.81	2898.00	1779.69	3363.19	0	0	0	30.00	30.00	30.00
2143.41	0	-97.32	-1.48	0.00	2893.7	2891.4	2896.0	1779.8	3363.3	335.53	-14.40	262	2144.74	0.00	0.00	0.00	0.000	0.000	0.000	2894.06	2891.88	2896.25	1780.00	3362.50	0	0	0	30.00	30.00	30.00
2443.44	0	-97.32	-1.48	0.00	2892.5	2890.8	2894.2	1780.1	3362.6	379.90	-14.81	292	2444.77	0.00	0.00	0.00	0.000	0.000	0.000	2892.94	2891.12	2894.75	1780.25	3362.69	0	0	0	30.00	30.00	30.00
2743.47	0	-97.32	-1.48	0.00	2890.9	2889.8	2892.0	1779.9	3362.3	422.82	-13.77	322	2744.80	0.00	0.00	0.00	0.000	0.000	0.000	2891.97	2891.56	2892.38	1780.06	3362.69	0	0	0	30.00	30.00	30.00
3043.51	0	-97.32	-1.48	0.00	2890.3	2889.9	2890.6	1779.6	3362.8	465.85	-14.04	352	3044.84	0.00	0.00	0.00	0.000	0.000	0.000	2890.94	2890.69	2891.19	1780.00	3362.81	0	0	0	30.00	30.00	30.00
3284	end dive: TARGET_DEPTH_EXCEEDED
state	3284	begin apogee
3284.73	10243	0.00	-0.25	0.00	2889.2	2889.7	2888.6	1780.1	3417.1	500.14	-14.41	376	3365.51	75.89	2.13	0.08	1.604	0.200	0.239	2497.69	2509.06	2486.31	2079.19	3370.50	0	0	0	13.38	16.09	15.71
3373	end apogee: CONTROL_FINISHED_OK
state	3373	begin climb
3372.76	10243	97.32	1.48	0.00	2496.4	2508.4	2484.4	2079.1	3369.9	503.99	0.00	384	3459.89	82.74	2.84	0.00	1.567	0.124	0.000	2101.97	2123.94	2080.00	2501.06	3370.25	0	0	0	13.13	15.73	30.00
3755.68	16386	97.32	1.48	0.00	2090.8	2116.2	2065.2	2502.0	3370.5	467.44	11.57	423	3757.01	0.00	0.00	0.00	0.000	0.000	0.000	2091.19	2116.62	2065.75	2501.06	3370.81	0	0	0	30.00	30.00	30.00
4055.72	16386	97.32	1.48	0.00	2087.4	2112.5	2062.2	2500.7	3370.9	433.43	10.81	453	4057.05	0.00	0.00	0.00	0.000	0.000	0.000	2088.41	2114.25	2062.56	2500.69	3370.75	0	0	0	30.00	30.00	30.00
4355.78	16386	97.32	1.48	0.00	2086.1	2111.7	2060.5	2500.9	3370.2	401.36	10.98	483	4357.11	0.00	0.00	0.00	0.000	0.000	0.000	2086.88	2112.75	2061.00	2501.12	3370.31	0	0	0	30.00	30.00	30.00
4655.85	16450	97.32	1.50	0.00	2085.2	2112.0	2058.3	2501.2	3370.4	372.30	9.93	513	4657.18	0.00	0.00	0.00	0.000	0.000	0.000	2085.47	2111.88	2059.06	2501.81	3370.19	0	0	0	30.00	30.00	30.00
4955.92	10275	129.79	1.60	0.00	2083.8	2110.6	2057.0	2501.4	3370.4	345.54	8.64	543	4982.84	25.96	0.16	0.00	1.425	0.110	0.000	1968.41	1997.50	1939.31	2535.69	3370.81	0	0	0	13.27	16.01	30.00
5275.97	16386	129.79	1.60	0.00	1962.7	1993.2	1932.1	2535.5	3371.0	306.20	13.27	575	5277.30	0.00	0.00	0.00	0.000	0.000	0.000	1963.25	1993.62	1932.88	2536.00	3370.62	0	0	0	30.00	30.00	30.00
5576.03	16386	129.79	1.60	0.00	1961.6	1991.9	1931.4	2535.8	3370.5	269.14	11.74	605	5577.36	0.00	0.00	0.00	0.000	0.000	0.000	1961.09	1991.56	1930.62	2536.19	3370.19	0	0	0	30.00	30.00	30.00
5876.09	16386	129.79	1.60	0.00	1960.7	1990.9	1930.6	2536.0	3371.1	235.39	10.77	635	5877.42	0.00	0.00	0.00	0.000	0.000	0.000	1961.00	1991.62	1930.38	2535.69	3370.56	0	0	0	30.00	30.00	30.00
6176.17	16450	129.79	1.61	0.00	1959.9	1990.6	1929.2	2536.3	3371.5	204.54	10.49	665	6177.51	0.00	0.00	0.00	0.000	0.000	0.000	1958.91	1990.06	1927.75	2536.38	3370.25	0	0	0	30.00	30.00	30.00
6476.23	8226	159.87	1.70	0.00	1959.8	1990.8	1928.8	2536.2	3371.0	175.61	8.82	695	6501.67	24.47	0.00	0.00	1.265	0.000	0.000	1845.75	1881.56	1809.94	2536.50	3370.12	0	0	0	13.33	30.00	30.00
6796.25	0	159.87	1.70	0.00	1841.6	1879.9	1803.2	2535.9	3370.9	138.62	11.62	727	6797.58	0.00	0.00	0.00	0.000	0.000	0.000	1842.00	1880.69	1803.31	2536.50	3370.62	0	0	0	30.00	30.00	30.00
7096.30	10275	241.69	1.95	0.00	1840.7	1880.0	1801.3	2535.9	3371.1	115.48	4.87	757	7162.02	63.99	0.47	0.00	1.239	0.081	0.000	1513.34	1544.88	1481.81	2619.62	3370.31	0	0	0	13.27	16.02	30.00
7456.34	16386	241.69	1.95	0.00	1506.2	1539.0	1473.4	2620.8	3371.1	72.78	12.95	813	7457.67	0.00	0.00	0.00	0.000	0.000	0.000	1506.53	1539.56	1473.50	2619.88	3370.19	0	0	0	30.00	30.00	30.00
7636.40	8226	281.86	2.07	0.00	1505.4	1538.5	1472.2	2620.2	3370.4	53.82	8.05	849	7671.87	31.58	0.00	0.00	1.121	0.000	0.000	1351.22	1383.69	1318.75	2619.75	3370.31	0	0	0	13.19	30.00	30.00
7851.45	10275	387.91	2.39	0.00	1345.1	1378.8	1311.3	2620.4	3370.6	44.10	3.02	892	7934.33	80.93	0.62	0.00	1.126	0.073	0.000	918.94	948.81	889.06	2725.75	3370.81	0	0	0	13.18	15.86	30.00
8113.36	0	387.91	2.39	0.00	914.2	947.9	880.6	2726.2	3369.8	17.42	13.24	944	8118.28	0.00	0.00	0.00	0.000	0.000	0.000	914.44	947.94	880.94	2726.81	3370.00	0	0	0	30.00	30.00	30.00
8227	end climb: SURFACE_DEPTH_REACHED
state	8227	begin surface coast
8242	end surface coast: CONTROL_FINISHED_OK
state	8242	begin surface