Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 64 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

MISSION 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 64 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 13.5

STOP_T 0 SM_CC 605.40039 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 180 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 COMM_SEQ 7 C_VBD 2968 DEEPGLIDERMB 0

D_NO_BLEED 50 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 N_NOCOMM 20 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.003 DEVICE4 -1

D_SAFE 0 CALL_TRIES 2 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 60 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 150 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 250 PHONE_DEVICE 33

T_NO_W 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_EPIRB 0 PITCH_MIN 190 AH0_24V 575 NAV_DEVICE -1

USE_BATHY -1 PITCH_MAX 3920 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2440 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 20 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 13.358545 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 23.349159 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_YINT -166.76357 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022638284 SEABIRD_C_G -10

MASS 72604 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099900002 ROLL_MIN 810 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 1.6e-05 ROLL_MAX 3630 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 7.0

HEADING 225 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2500 ALTIM_PULSE 2

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 20 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 180 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 2 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 605.40039

ALTIM_SENSITIVITY 4 FG_AHR_10V 13.358545 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 23.349159 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 2 HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099900002 PITCH_MAX 3920 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING 225 PITCH_MIN 190 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.003 T_DIVE 60

COMPASS2_DEVICE -1 ID 236 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT 0 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2440 KALMAN_USE 2 PRESSURE_SLOPE 0.00022638284 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -166.76357 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2500 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2500 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2968 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 250 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 150 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72604 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 120 ROLL_MAX 3630 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 810 W_ADJ_DBAND 0

DIVE 64 MISSION 4 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 1000 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 2 NAV2_DEVICE -1 SC_PROFILE 7.0 XPDR_INT 13.5

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 7.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 270322,021801,4647.015,-12449.736,2,0.7,6,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270322,022332,4646.982,-12449.720,3,0.9,7,15.6 MHEAD_RNG_PITCHd_Wd 222.8,20000,-19.9,-10.000,-23.24,1773,0.553

SPEED_LIMITS 0.173,0.233 D_GRID 163

TGT_NAME HEADING IRON 1.000000,-0.070697,-0.073739,-0.037418,1.070137,-0.018118,0.021715,-0.020855,1.041310,-557.200989,-559.408813,-276.885132

TGT_LATLONG 4639.346,-12500.845

Post-dive calculations and measurements:

FINISH 0.9,1.024774 FG_AHR_10Vo 13.372

SM_CCo 3595.33,291.23,0.971,0,500.9,501.5,500.4,605.17 MEM0 60148,1,0,0

SM_GC 1.01,291.23,17.47,2.74,0.971,0.056,0.061,500.9,501.5,500.4,166.5,2470.2,0,0,0,12.84,15.75,15.78 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 968532,22,78336,63

IRIDIUM_FIX 4647.26,-12503.38,270322,021931 DATA_FILE_SIZE 12958,432

TCM_TEMP 176.49 CAP_FILE_SIZE 186375,0

XPDR_PINGS 13,13.5,11.5 SDSIZE 3918848,3893760

SC_FREEKB 3854208 SDFILEDIR 414,1

HUMID 49.98 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.03 CURRENT 0.060,118.2,1

INTERNAL_PRESSURE 8.48557 MAGCAL 1.000000,-0.088493,-0.169385,-0.033524,1.089510,-0.002361,0.045632,-0.007965,1.008291,-455.1,-560.7,-241.7,17,0.0317,0

_24V_AH 14.69,14.493 IMPLIED_C_PITCH 2456,14.15,229,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3387,20.528639,130,0

FG_AHR_24Vo 23.535 GPS 270322,032404,4646.680,-12450.016,2,1.4,10,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 750 1191 13133.66 nil 0 0 0.00

Pitch_motor 40 255 153.08 nil 0 0 0.00

Roll_motor 70 224 233.87 nil 0 0 0.00

Iridium 210 119 368.44 nil 0 0 0.00

Transponder_ping 3 420 20.05 nil 0 0 0.00

GPS 16 15 3.64 nil 0 0 0.00

Core 1884 6 188.65 SciCon 3287 6 332.69

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1721 2 50.67

Compass 899 5 66.23

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8.44 16386 -116.79 -1.34 0.00 497.0 495.4 498.6 166.5 2521.2 0.00 0.00 0 140.89 132.21 0.00 0.00 0.005 0.000 0.000 3112.84 3087.75 3137.94 166.62 2521.62 0 0 0 14.41 30.00 30.00

141.11 18983 -116.79 -1.34 -80.00 3112.6 3088.3 3136.9 166.3 2521.8 3.75 -2.27 13 173.37 8.02 16.33 3.93 0.008 0.256 0.142 3443.94 3433.81 3454.06 2112.94 1034.94 0 0 0 15.70 15.68 15.66

325.77 3205 -116.79 -1.25 0.00 3445.2 3435.0 3455.5 2113.1 1034.8 39.12 -16.43 50 332.31 0.00 0.17 3.65 0.000 0.173 0.068 3444.94 3434.69 3455.19 2139.12 2520.25 0 0 0 30.00 15.75 15.79

521.53 260 -116.79 -1.25 80.00 3444.8 3434.8 3454.8 2138.2 2519.9 65.16 -12.03 70 526.37 0.00 0.00 2.92 0.000 0.000 0.118 3444.72 3434.50 3454.94 2138.56 3641.94 0 0 0 30.00 30.00 15.84

581.55 1028 -116.79 -1.25 0.00 3445.2 3435.1 3455.4 2138.9 3641.6 73.54 -14.60 82 586.35 0.00 0.00 2.79 0.000 0.000 0.061 3446.69 3436.44 3456.94 2139.19 2471.50 0 0 0 30.00 30.00 15.86

771.58 32 -116.79 -1.25 0.00 3445.3 3435.1 3455.6 2138.7 2471.6 91.54 -7.66 102 772.91 0.00 0.00 0.00 0.000 0.000 0.000 3445.69 3436.25 3455.12 2138.62 2471.81 0 0 0 30.00 30.00 30.00

961.61 676 -116.79 -1.32 -80.00 3445.5 3435.6 3455.3 2138.6 2471.7 108.13 -9.44 121 966.57 0.00 0.00 3.82 0.000 0.000 0.153 3445.66 3436.19 3455.12 2139.00 1035.50 0 0 0 30.00 30.00 15.91

1015.81 1028 -116.79 -1.32 0.00 3445.3 3434.9 3455.7 2138.4 1035.7 113.86 -10.45 132 1022.33 0.00 0.00 3.63 0.000 0.000 0.071 3446.97 3437.19 3456.75 2138.12 2520.75 0 0 0 30.00 30.00 15.94

1211.67 4773 -116.79 -1.40 -80.00 3445.8 3436.6 3455.1 2138.6 2520.4 129.12 -7.61 152 1217.71 0.00 0.36 3.97 0.000 0.059 0.147 3447.22 3438.19 3456.25 2079.50 1034.25 0 0 0 30.00 15.96 15.94

1316.64 3205 -116.79 -1.30 0.00 3445.6 3435.9 3455.2 2079.9 1034.1 139.79 -11.20 173 1322.69 0.00 0.40 3.63 0.000 0.156 0.074 3444.75 3435.56 3453.94 2125.12 2518.81 0 0 0 30.00 15.93 15.97

1511.68 420 -116.79 -1.36 80.00 3446.4 3436.8 3455.9 2125.5 2518.4 155.04 -6.73 193 1516.48 0.00 0.00 2.91 0.000 0.000 0.119 3446.59 3437.44 3455.75 2126.00 3640.06 0 0 0 30.00 30.00 15.97

1585.90 1060 -116.79 -1.36 0.00 3445.8 3436.5 3455.2 2125.4 3639.9 161.01 -8.43 208 1592.25 0.00 0.00 2.77 0.000 0.000 0.062 3446.56 3437.75 3455.38 2125.88 2470.69 0 0 0 30.00 30.00 15.99

1622 end dive: TARGET_DEPTH_EXCEEDED

state 1622 begin apogee

1622.75 10243 0.00 -0.25 0.00 3446.1 3436.8 3455.4 2125.5 2519.1 163.43 -7.07 212 1713.76 86.51 1.83 0.08 1.191 0.126 0.224 2965.72 2972.69 2958.75 2381.06 2474.50 0 0 0 12.92 15.97 15.60

1717 end apogee: CONTROL_FINISHED_OK

state 1717 begin climb

1719.27 10503 116.79 1.34 80.00 2963.8 2970.8 2956.9 2380.6 2474.3 164.63 0.00 221 1820.36 93.24 2.57 3.10 1.150 0.064 0.112 2492.34 2499.38 2485.31 2773.94 3637.19 0 0 0 12.79 15.65 15.37

1822.82 9254 144.70 1.43 0.00 2487.9 2494.5 2481.2 2775.0 3637.9 158.07 8.38 235 1853.50 24.18 0.00 2.83 1.056 0.000 0.059 2376.53 2387.88 2365.19 2774.94 2468.38 0 0 0 12.61 30.00 15.45

2038.53 16646 144.70 1.43 80.00 2366.2 2380.6 2351.9 2774.3 2468.7 130.29 12.86 260 2043.37 0.00 0.00 3.10 0.000 0.000 0.111 2366.47 2381.31 2351.62 2774.25 3639.44 0 0 0 30.00 30.00 15.64

2112.76 17414 144.70 1.43 0.00 2365.4 2379.3 2351.5 2774.2 3639.9 118.58 16.79 275 2119.13 0.00 0.00 2.78 0.000 0.000 0.061 2365.72 2379.56 2351.88 2774.25 2467.94 0 0 0 30.00 30.00 15.70

2308.56 16902 144.70 1.43 -80.00 2364.0 2378.8 2349.2 2774.2 2467.5 92.28 12.62 295 2313.53 0.00 0.00 3.79 0.000 0.000 0.140 2364.81 2380.12 2349.50 2774.50 1033.69 0 0 0 30.00 30.00 15.77

2422.81 9254 161.82 1.48 0.00 2363.6 2378.1 2349.0 2774.1 1033.7 80.10 9.01 318 2444.90 16.72 0.00 3.64 0.980 0.000 0.064 2305.53 2320.94 2290.12 2774.12 2519.56 0 0 0 12.86 30.00 15.82

2633.63 10663 205.78 1.68 80.00 2301.8 2319.2 2284.3 2774.5 2519.4 63.03 7.45 341 2685.18 43.90 0.45 2.92 1.022 0.057 0.117 2127.00 2146.75 2107.25 2861.88 3639.38 0 0 0 12.81 15.82 15.63

2737.85 5253 205.78 1.59 0.00 2122.0 2142.2 2101.8 2862.9 3638.6 52.20 10.79 362 2744.30 0.00 0.38 2.79 0.000 0.175 0.061 2122.47 2142.56 2102.38 2819.62 2466.31 0 0 0 30.00 15.67 15.72

2933.71 10663 263.15 1.85 80.00 2119.4 2142.3 2096.6 2819.2 2465.8 37.42 6.67 382 2995.42 54.62 0.48 3.10 1.001 0.056 0.114 1894.22 1920.06 1868.38 2901.56 3639.81 0 0 0 12.90 15.80 15.58

3033.70 5253 263.15 1.77 0.00 1889.3 1915.4 1863.2 2901.6 3639.9 26.81 12.53 402 3038.53 0.00 0.34 2.79 0.000 0.178 0.062 1890.97 1917.00 1864.94 2864.12 2468.62 0 0 0 30.00 15.62 15.67

3223.69 16646 263.15 1.77 80.00 1886.3 1914.9 1857.7 2863.8 2468.8 6.92 10.60 422 3228.51 0.00 0.00 3.08 0.000 0.000 0.113 1886.50 1914.56 1858.44 2863.12 3639.31 0 0 0 30.00 30.00 15.76

3268 end climb: SURFACE_DEPTH_REACHED

state 3268 begin surface coast

3274 end surface coast: CONTROL_FINISHED_OK

state 3274 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	64	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	13.5
STOP_T	0	SM_CC	605.40039	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	180	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	COMM_SEQ	7	C_VBD	2968	DEEPGLIDERMB	0
D_NO_BLEED	50	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	N_NOCOMM	20	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.003	DEVICE4	-1
D_SAFE	0	CALL_TRIES	2	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	60	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	150	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	250	PHONE_DEVICE	33
T_NO_W	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_EPIRB	0	PITCH_MIN	190	AH0_24V	575	NAV_DEVICE	-1
USE_BATHY	-1	PITCH_MAX	3920	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2440	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	20	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	13.358545	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	23.349159	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-166.76357	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022638284	SEABIRD_C_G	-10
MASS	72604	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099900002	ROLL_MIN	810	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	1.6e-05	ROLL_MAX	3630	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	7.0
HEADING	225	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2500	ALTIM_PULSE	2

GPS1	270322,021801,4647.015,-12449.736,2,0.7,6,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270322,022332,4646.982,-12449.720,3,0.9,7,15.6	MHEAD_RNG_PITCHd_Wd	222.8,20000,-19.9,-10.000,-23.24,1773,0.553
SPEED_LIMITS	0.173,0.233	D_GRID	163
TGT_NAME	HEADING	IRON	1.000000,-0.070697,-0.073739,-0.037418,1.070137,-0.018118,0.021715,-0.020855,1.041310,-557.200989,-559.408813,-276.885132
TGT_LATLONG	4639.346,-12500.845

FINISH	0.9,1.024774	FG_AHR_10Vo	13.372
SM_CCo	3595.33,291.23,0.971,0,500.9,501.5,500.4,605.17	MEM0	60148,1,0,0
SM_GC	1.01,291.23,17.47,2.74,0.971,0.056,0.061,500.9,501.5,500.4,166.5,2470.2,0,0,0,12.84,15.75,15.78	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	968532,22,78336,63
IRIDIUM_FIX	4647.26,-12503.38,270322,021931	DATA_FILE_SIZE	12958,432
TCM_TEMP	176.49	CAP_FILE_SIZE	186375,0
XPDR_PINGS	13,13.5,11.5	SDSIZE	3918848,3893760
SC_FREEKB	3854208	SDFILEDIR	414,1
HUMID	49.98	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.03	CURRENT	0.060,118.2,1
INTERNAL_PRESSURE	8.48557	MAGCAL	1.000000,-0.088493,-0.169385,-0.033524,1.089510,-0.002361,0.045632,-0.007965,1.008291,-455.1,-560.7,-241.7,17,0.0317,0
_24V_AH	14.69,14.493	IMPLIED_C_PITCH	2456,14.15,229,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3387,20.528639,130,0
FG_AHR_24Vo	23.535	GPS	270322,032404,4646.680,-12450.016,2,1.4,10,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	750	1191	13133.66	nil	0	0	0.00
Pitch_motor	40	255	153.08	nil	0	0	0.00
Roll_motor	70	224	233.87	nil	0	0	0.00
Iridium	210	119	368.44	nil	0	0	0.00
Transponder_ping	3	420	20.05	nil	0	0	0.00
GPS	16	15	3.64	nil	0	0	0.00
Core	1884	6	188.65	SciCon	3287	6	332.69
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1721	2	50.67
Compass	899	5	66.23
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8.44	16386	-116.79	-1.34	0.00	497.0	495.4	498.6	166.5	2521.2	0.00	0.00	0	140.89	132.21	0.00	0.00	0.005	0.000	0.000	3112.84	3087.75	3137.94	166.62	2521.62	0	0	0	14.41	30.00	30.00
141.11	18983	-116.79	-1.34	-80.00	3112.6	3088.3	3136.9	166.3	2521.8	3.75	-2.27	13	173.37	8.02	16.33	3.93	0.008	0.256	0.142	3443.94	3433.81	3454.06	2112.94	1034.94	0	0	0	15.70	15.68	15.66
325.77	3205	-116.79	-1.25	0.00	3445.2	3435.0	3455.5	2113.1	1034.8	39.12	-16.43	50	332.31	0.00	0.17	3.65	0.000	0.173	0.068	3444.94	3434.69	3455.19	2139.12	2520.25	0	0	0	30.00	15.75	15.79
521.53	260	-116.79	-1.25	80.00	3444.8	3434.8	3454.8	2138.2	2519.9	65.16	-12.03	70	526.37	0.00	0.00	2.92	0.000	0.000	0.118	3444.72	3434.50	3454.94	2138.56	3641.94	0	0	0	30.00	30.00	15.84
581.55	1028	-116.79	-1.25	0.00	3445.2	3435.1	3455.4	2138.9	3641.6	73.54	-14.60	82	586.35	0.00	0.00	2.79	0.000	0.000	0.061	3446.69	3436.44	3456.94	2139.19	2471.50	0	0	0	30.00	30.00	15.86
771.58	32	-116.79	-1.25	0.00	3445.3	3435.1	3455.6	2138.7	2471.6	91.54	-7.66	102	772.91	0.00	0.00	0.00	0.000	0.000	0.000	3445.69	3436.25	3455.12	2138.62	2471.81	0	0	0	30.00	30.00	30.00
961.61	676	-116.79	-1.32	-80.00	3445.5	3435.6	3455.3	2138.6	2471.7	108.13	-9.44	121	966.57	0.00	0.00	3.82	0.000	0.000	0.153	3445.66	3436.19	3455.12	2139.00	1035.50	0	0	0	30.00	30.00	15.91
1015.81	1028	-116.79	-1.32	0.00	3445.3	3434.9	3455.7	2138.4	1035.7	113.86	-10.45	132	1022.33	0.00	0.00	3.63	0.000	0.000	0.071	3446.97	3437.19	3456.75	2138.12	2520.75	0	0	0	30.00	30.00	15.94
1211.67	4773	-116.79	-1.40	-80.00	3445.8	3436.6	3455.1	2138.6	2520.4	129.12	-7.61	152	1217.71	0.00	0.36	3.97	0.000	0.059	0.147	3447.22	3438.19	3456.25	2079.50	1034.25	0	0	0	30.00	15.96	15.94
1316.64	3205	-116.79	-1.30	0.00	3445.6	3435.9	3455.2	2079.9	1034.1	139.79	-11.20	173	1322.69	0.00	0.40	3.63	0.000	0.156	0.074	3444.75	3435.56	3453.94	2125.12	2518.81	0	0	0	30.00	15.93	15.97
1511.68	420	-116.79	-1.36	80.00	3446.4	3436.8	3455.9	2125.5	2518.4	155.04	-6.73	193	1516.48	0.00	0.00	2.91	0.000	0.000	0.119	3446.59	3437.44	3455.75	2126.00	3640.06	0	0	0	30.00	30.00	15.97
1585.90	1060	-116.79	-1.36	0.00	3445.8	3436.5	3455.2	2125.4	3639.9	161.01	-8.43	208	1592.25	0.00	0.00	2.77	0.000	0.000	0.062	3446.56	3437.75	3455.38	2125.88	2470.69	0	0	0	30.00	30.00	15.99
1622	end dive: TARGET_DEPTH_EXCEEDED
state	1622	begin apogee
1622.75	10243	0.00	-0.25	0.00	3446.1	3436.8	3455.4	2125.5	2519.1	163.43	-7.07	212	1713.76	86.51	1.83	0.08	1.191	0.126	0.224	2965.72	2972.69	2958.75	2381.06	2474.50	0	0	0	12.92	15.97	15.60
1717	end apogee: CONTROL_FINISHED_OK
state	1717	begin climb
1719.27	10503	116.79	1.34	80.00	2963.8	2970.8	2956.9	2380.6	2474.3	164.63	0.00	221	1820.36	93.24	2.57	3.10	1.150	0.064	0.112	2492.34	2499.38	2485.31	2773.94	3637.19	0	0	0	12.79	15.65	15.37
1822.82	9254	144.70	1.43	0.00	2487.9	2494.5	2481.2	2775.0	3637.9	158.07	8.38	235	1853.50	24.18	0.00	2.83	1.056	0.000	0.059	2376.53	2387.88	2365.19	2774.94	2468.38	0	0	0	12.61	30.00	15.45
2038.53	16646	144.70	1.43	80.00	2366.2	2380.6	2351.9	2774.3	2468.7	130.29	12.86	260	2043.37	0.00	0.00	3.10	0.000	0.000	0.111	2366.47	2381.31	2351.62	2774.25	3639.44	0	0	0	30.00	30.00	15.64
2112.76	17414	144.70	1.43	0.00	2365.4	2379.3	2351.5	2774.2	3639.9	118.58	16.79	275	2119.13	0.00	0.00	2.78	0.000	0.000	0.061	2365.72	2379.56	2351.88	2774.25	2467.94	0	0	0	30.00	30.00	15.70
2308.56	16902	144.70	1.43	-80.00	2364.0	2378.8	2349.2	2774.2	2467.5	92.28	12.62	295	2313.53	0.00	0.00	3.79	0.000	0.000	0.140	2364.81	2380.12	2349.50	2774.50	1033.69	0	0	0	30.00	30.00	15.77
2422.81	9254	161.82	1.48	0.00	2363.6	2378.1	2349.0	2774.1	1033.7	80.10	9.01	318	2444.90	16.72	0.00	3.64	0.980	0.000	0.064	2305.53	2320.94	2290.12	2774.12	2519.56	0	0	0	12.86	30.00	15.82
2633.63	10663	205.78	1.68	80.00	2301.8	2319.2	2284.3	2774.5	2519.4	63.03	7.45	341	2685.18	43.90	0.45	2.92	1.022	0.057	0.117	2127.00	2146.75	2107.25	2861.88	3639.38	0	0	0	12.81	15.82	15.63
2737.85	5253	205.78	1.59	0.00	2122.0	2142.2	2101.8	2862.9	3638.6	52.20	10.79	362	2744.30	0.00	0.38	2.79	0.000	0.175	0.061	2122.47	2142.56	2102.38	2819.62	2466.31	0	0	0	30.00	15.67	15.72
2933.71	10663	263.15	1.85	80.00	2119.4	2142.3	2096.6	2819.2	2465.8	37.42	6.67	382	2995.42	54.62	0.48	3.10	1.001	0.056	0.114	1894.22	1920.06	1868.38	2901.56	3639.81	0	0	0	12.90	15.80	15.58
3033.70	5253	263.15	1.77	0.00	1889.3	1915.4	1863.2	2901.6	3639.9	26.81	12.53	402	3038.53	0.00	0.34	2.79	0.000	0.178	0.062	1890.97	1917.00	1864.94	2864.12	2468.62	0	0	0	30.00	15.62	15.67
3223.69	16646	263.15	1.77	80.00	1886.3	1914.9	1857.7	2863.8	2468.8	6.92	10.60	422	3228.51	0.00	0.00	3.08	0.000	0.000	0.113	1886.50	1914.56	1858.44	2863.12	3639.31	0	0	0	30.00	30.00	15.76
3268	end climb: SURFACE_DEPTH_REACHED
state	3268	begin surface coast
3274	end surface coast: CONTROL_FINISHED_OK
state	3274	begin surface