Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 793 * 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 793 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 425 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 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 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 73.641083 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 207.35388 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 -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 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 0.0025118899 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.018861501 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 425

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 73.641083 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 207.35388 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 0.0025118899 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.018861501 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 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 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 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 85 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 793 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 141121,043500,4751.549,-12512.359,27,1.1,27,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -47.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 141121,044120,4751.614,-12512.251,3,1.0,5,15.9 MHEAD_RNG_PITCHd_Wd 105.7,2531,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 189

TGT_NAME SHELF 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 4751.930,-12510.270

Post-dive calculations and measurements:

FINISH 0.1,1.022971 FG_AHR_10Vo 73.656

SM_CCo 4665.40,3.10,0.253,0,1042.3,1042.4,1042.3,425.02 MEM0 60876,1,0,0

SM_GC 1.10,3.10,16.41,0.57,0.253,0.046,0.052,1042.3,1042.4,1042.3,178.3,2355.5,0,0,0,11.57,15.85,15.90 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971304,32,75484,57

IRIDIUM_FIX 4750.34,-12512.13,141121,024443 DATA_FILE_SIZE 41784,923

TCM_TEMP 270.88 CAP_FILE_SIZE 173514,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3834912

HUMID 50.24 SDFILEDIR 3137,1

TEMP 82.08 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.90517 CURRENT 0.138, 40.1,1

_24V_AH 15.07,272.323 IMPLIED_C_PITCH 2372,12.36,700

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2717,50.383965,484

FG_AHR_24Vo 207.487 GPS 141121,055933,4751.687,-12511.513,5,1.0,7,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 463 1280 8955.17 legato 34 20 10.43

Pitch_motor 36 240 130.62 nil 0 0 0.00

Roll_motor 60 111 100.66 nil 0 0 0.00

Iridium 196 212 628.31 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 2064 11 365.34 SciCon 0 0 0.00

LPSleep 2876 2 120.81 nil 0 0 0.00

Compass 611 5 45.83 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

5.49 16386 -82.73 -1.35 0.00 923.2 914.5 931.9 175.9 2235.4 0.00 0.00 0 82.57 75.58 0.00 0.00 0.005 0.000 0.000 2823.16 2999.69 2646.62 175.94 2234.62 0 0 0 15.09 30.00 30.00

83.29 18695 -82.73 -1.35 60.00 2822.4 2998.1 2646.8 175.8 2234.9 3.90 -7.27 14 112.56 5.99 14.33 3.02 0.008 0.241 0.081 3111.34 3316.62 2906.06 1993.19 3428.75 0 0 0 15.21 15.57 15.16

210.02 1028 -82.73 -1.35 0.00 3111.2 3315.5 2906.9 1993.4 3428.8 29.72 -16.56 39 215.17 0.00 0.00 2.60 0.000 0.000 0.018 3110.81 3315.56 2906.06 1993.69 2244.31 0 0 0 30.00 30.00 15.86

400.04 260 -82.73 -1.35 60.00 3110.8 3314.9 2906.8 1993.6 2242.8 58.56 -14.62 77 405.45 0.00 0.00 2.98 0.000 0.000 0.078 3112.22 3315.94 2908.50 1993.44 3427.75 0 0 0 30.00 30.00 15.88

589.69 1028 -82.73 -1.35 0.86 3111.4 3315.7 2907.1 1993.3 3427.2 85.32 -13.72 115 595.23 0.00 0.00 2.55 0.000 0.000 0.018 3112.56 3316.56 2908.56 1992.62 2257.81 0 0 0 30.00 30.00 15.91

780.11 516 -82.73 -1.35 -60.00 3111.6 3315.8 2907.4 1993.4 2256.9 106.08 -9.08 153 785.26 0.00 0.00 2.55 0.000 0.000 0.059 3111.16 3315.31 2907.00 1993.31 1206.81 0 0 0 30.00 30.00 15.94

914.74 1028 -82.73 -1.35 0.86 3111.5 3315.7 2907.2 1993.4 1207.0 118.50 -9.65 180 920.29 0.00 0.00 2.66 0.000 0.000 0.026 3111.56 3315.38 2907.75 1993.50 2369.38 0 0 0 30.00 30.00 15.95

1224.83 260 -82.73 -1.35 60.00 3112.2 3316.1 2908.3 1993.8 2369.2 147.00 -9.77 242 1230.40 0.00 0.00 2.62 0.000 0.000 0.083 3112.16 3315.50 2908.81 1993.75 3429.31 0 0 0 30.00 30.00 15.94

1354.87 1028 -82.73 -1.35 0.86 3112.0 3315.2 2908.8 1993.6 3428.9 161.42 -11.61 268 1360.39 0.00 0.00 2.56 0.000 0.000 0.018 3112.62 3316.69 2908.56 1993.31 2251.31 0 0 0 30.00 30.00 15.98

1634 end dive: TARGET_DEPTH_EXCEEDED

state 1634 begin apogee

1636.80 10243 0.00 -0.28 0.00 3112.4 3315.4 2909.4 1993.4 2038.6 189.13 -8.71 324 1699.24 58.60 1.77 0.17 1.281 0.129 0.111 2775.53 2916.81 2634.25 2254.50 2167.69 0 0 0 11.23 15.90 15.64

1700 end apogee: CONTROL_FINISHED_OK

state 1700 begin climb

1701.70 11271 82.73 1.35 0.00 2773.0 2914.0 2632.1 2254.4 2171.4 191.59 0.00 336 1766.37 59.65 2.57 0.20 1.236 0.091 0.071 2436.31 2526.56 2346.06 2651.31 2028.38 0 0 0 12.25 15.73 15.81

2068.95 64 82.73 1.38 0.00 2432.7 2526.4 2338.9 2651.6 2028.4 172.62 6.65 410 2070.27 0.00 0.00 0.00 0.000 0.000 0.000 2431.44 2525.69 2337.19 2651.38 2028.25 0 0 0 30.00 30.00 30.00

2374.04 10791 158.59 1.53 -60.00 2432.4 2527.0 2337.9 2651.2 2028.4 157.54 4.40 471 2436.44 55.81 0.24 2.61 1.219 0.078 0.078 2127.09 2182.25 2071.94 2705.38 992.44 0 0 0 11.51 15.84 15.58

2454.23 1092 158.59 1.56 0.43 2124.8 2181.5 2068.0 2705.2 992.8 152.48 7.09 487 2459.58 0.00 0.00 2.65 0.000 0.000 0.022 2125.56 2182.56 2068.56 2704.56 2151.88 0 0 0 30.00 30.00 15.73

2764.16 8486 208.34 1.66 60.00 2121.3 2181.1 2061.6 2704.5 2151.4 131.86 5.80 549 2806.97 38.17 0.00 2.65 1.177 0.000 0.078 1924.72 1968.25 1881.19 2704.12 3208.56 0 0 0 11.62 30.00 15.59

2964.22 11303 254.13 1.75 0.54 1920.3 1967.8 1872.8 2705.2 3208.1 118.86 6.01 589 3005.85 35.70 0.25 2.60 1.149 0.078 0.021 1740.47 1770.25 1710.69 2754.94 2060.38 0 0 0 11.71 15.73 15.81

3309.33 580 254.13 1.79 -60.00 1731.9 1769.2 1694.6 2756.3 2060.4 96.08 6.47 658 3314.86 0.00 0.00 2.65 0.000 0.000 0.076 1731.59 1769.31 1693.88 2757.00 992.81 0 0 0 30.00 30.00 15.82

3444.36 9254 297.66 1.88 0.82 1730.2 1767.9 1692.5 2756.9 992.4 86.71 6.13 685 3482.92 33.81 0.00 2.65 1.126 0.000 0.022 1561.47 1593.31 1529.62 2756.06 2157.94 0 0 0 11.55 30.00 15.87

3665.07 10535 365.95 2.02 60.00 1555.9 1593.9 1518.0 2757.3 2158.0 76.12 4.80 729 3723.44 53.31 0.31 2.65 1.124 0.068 0.079 1282.81 1293.25 1272.38 2820.50 3206.75 0 0 0 11.70 15.81 15.56

3760.64 1028 365.95 2.02 0.75 1280.6 1292.8 1268.3 2821.3 3206.7 69.14 8.33 748 3766.38 0.00 0.00 2.62 0.000 0.000 0.021 1280.81 1293.88 1267.75 2820.69 2068.00 0 0 0 30.00 30.00 15.72

3951.26 8486 422.78 2.13 60.00 1276.5 1293.3 1259.8 2821.1 2067.2 57.05 5.42 786 4001.84 44.17 0.00 2.89 1.091 0.000 0.075 1051.47 1046.31 1056.62 2820.88 3205.50 0 0 0 11.72 30.00 15.55

4085.88 1092 422.78 2.15 1.40 1048.1 1046.6 1049.6 2820.4 3204.9 47.91 7.59 813 4091.28 0.00 0.00 2.57 0.000 0.000 0.022 1048.44 1046.94 1049.94 2821.31 2080.94 0 0 0 30.00 30.00 15.75

4276.14 2629 422.78 2.17 -60.00 1046.8 1049.1 1044.4 2821.2 2081.1 33.68 7.29 851 4281.35 0.00 0.16 2.70 0.000 0.093 0.076 1046.56 1049.00 1044.12 2861.69 992.38 0 0 0 30.00 15.79 15.76

4300.72 1028 422.78 2.17 1.21 1046.5 1049.7 1043.2 2860.9 992.9 31.30 9.03 856 4306.28 0.00 0.00 2.67 0.000 0.000 0.023 1046.44 1049.94 1042.94 2861.50 2164.00 0 0 0 30.00 30.00 15.83

4491.14 260 422.78 2.17 60.00 1045.4 1051.7 1039.1 2862.1 2163.6 14.10 8.29 894 4496.28 0.00 0.00 2.60 0.000 0.000 0.078 1046.16 1052.31 1040.00 2862.25 3205.81 0 0 0 30.00 30.00 15.86

4545.75 1028 422.78 2.17 1.53 1045.2 1051.6 1038.8 2861.9 3205.8 9.46 8.51 905 4551.29 0.00 0.00 2.54 0.000 0.000 0.022 1045.19 1051.62 1038.75 2861.50 2080.00 0 0 0 30.00 30.00 15.89

4595 end climb: SURFACE_DEPTH_REACHED

state 4595 begin surface coast

4635 end surface coast: CONTROL_FINISHED_OK

state 4635 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	793	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	425	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	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	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	73.641083	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	207.35388	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	-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	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	0.0025118899	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.018861501	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	141121,043500,4751.549,-12512.359,27,1.1,27,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-47.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	141121,044120,4751.614,-12512.251,3,1.0,5,15.9	MHEAD_RNG_PITCHd_Wd	105.7,2531,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	189
TGT_NAME	SHELF	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	4751.930,-12510.270

FINISH	0.1,1.022971	FG_AHR_10Vo	73.656
SM_CCo	4665.40,3.10,0.253,0,1042.3,1042.4,1042.3,425.02	MEM0	60876,1,0,0
SM_GC	1.10,3.10,16.41,0.57,0.253,0.046,0.052,1042.3,1042.4,1042.3,178.3,2355.5,0,0,0,11.57,15.85,15.90	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971304,32,75484,57
IRIDIUM_FIX	4750.34,-12512.13,141121,024443	DATA_FILE_SIZE	41784,923
TCM_TEMP	270.88	CAP_FILE_SIZE	173514,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3834912
HUMID	50.24	SDFILEDIR	3137,1
TEMP	82.08	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.90517	CURRENT	0.138, 40.1,1
_24V_AH	15.07,272.323	IMPLIED_C_PITCH	2372,12.36,700
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2717,50.383965,484
FG_AHR_24Vo	207.487	GPS	141121,055933,4751.687,-12511.513,5,1.0,7,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	463	1280	8955.17	legato	34	20	10.43
Pitch_motor	36	240	130.62	nil	0	0	0.00
Roll_motor	60	111	100.66	nil	0	0	0.00
Iridium	196	212	628.31	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	2064	11	365.34	SciCon	0	0	0.00
LPSleep	2876	2	120.81	nil	0	0	0.00
Compass	611	5	45.83	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
5.49	16386	-82.73	-1.35	0.00	923.2	914.5	931.9	175.9	2235.4	0.00	0.00	0	82.57	75.58	0.00	0.00	0.005	0.000	0.000	2823.16	2999.69	2646.62	175.94	2234.62	0	0	0	15.09	30.00	30.00
83.29	18695	-82.73	-1.35	60.00	2822.4	2998.1	2646.8	175.8	2234.9	3.90	-7.27	14	112.56	5.99	14.33	3.02	0.008	0.241	0.081	3111.34	3316.62	2906.06	1993.19	3428.75	0	0	0	15.21	15.57	15.16
210.02	1028	-82.73	-1.35	0.00	3111.2	3315.5	2906.9	1993.4	3428.8	29.72	-16.56	39	215.17	0.00	0.00	2.60	0.000	0.000	0.018	3110.81	3315.56	2906.06	1993.69	2244.31	0	0	0	30.00	30.00	15.86
400.04	260	-82.73	-1.35	60.00	3110.8	3314.9	2906.8	1993.6	2242.8	58.56	-14.62	77	405.45	0.00	0.00	2.98	0.000	0.000	0.078	3112.22	3315.94	2908.50	1993.44	3427.75	0	0	0	30.00	30.00	15.88
589.69	1028	-82.73	-1.35	0.86	3111.4	3315.7	2907.1	1993.3	3427.2	85.32	-13.72	115	595.23	0.00	0.00	2.55	0.000	0.000	0.018	3112.56	3316.56	2908.56	1992.62	2257.81	0	0	0	30.00	30.00	15.91
780.11	516	-82.73	-1.35	-60.00	3111.6	3315.8	2907.4	1993.4	2256.9	106.08	-9.08	153	785.26	0.00	0.00	2.55	0.000	0.000	0.059	3111.16	3315.31	2907.00	1993.31	1206.81	0	0	0	30.00	30.00	15.94
914.74	1028	-82.73	-1.35	0.86	3111.5	3315.7	2907.2	1993.4	1207.0	118.50	-9.65	180	920.29	0.00	0.00	2.66	0.000	0.000	0.026	3111.56	3315.38	2907.75	1993.50	2369.38	0	0	0	30.00	30.00	15.95
1224.83	260	-82.73	-1.35	60.00	3112.2	3316.1	2908.3	1993.8	2369.2	147.00	-9.77	242	1230.40	0.00	0.00	2.62	0.000	0.000	0.083	3112.16	3315.50	2908.81	1993.75	3429.31	0	0	0	30.00	30.00	15.94
1354.87	1028	-82.73	-1.35	0.86	3112.0	3315.2	2908.8	1993.6	3428.9	161.42	-11.61	268	1360.39	0.00	0.00	2.56	0.000	0.000	0.018	3112.62	3316.69	2908.56	1993.31	2251.31	0	0	0	30.00	30.00	15.98
1634	end dive: TARGET_DEPTH_EXCEEDED
state	1634	begin apogee
1636.80	10243	0.00	-0.28	0.00	3112.4	3315.4	2909.4	1993.4	2038.6	189.13	-8.71	324	1699.24	58.60	1.77	0.17	1.281	0.129	0.111	2775.53	2916.81	2634.25	2254.50	2167.69	0	0	0	11.23	15.90	15.64
1700	end apogee: CONTROL_FINISHED_OK
state	1700	begin climb
1701.70	11271	82.73	1.35	0.00	2773.0	2914.0	2632.1	2254.4	2171.4	191.59	0.00	336	1766.37	59.65	2.57	0.20	1.236	0.091	0.071	2436.31	2526.56	2346.06	2651.31	2028.38	0	0	0	12.25	15.73	15.81
2068.95	64	82.73	1.38	0.00	2432.7	2526.4	2338.9	2651.6	2028.4	172.62	6.65	410	2070.27	0.00	0.00	0.00	0.000	0.000	0.000	2431.44	2525.69	2337.19	2651.38	2028.25	0	0	0	30.00	30.00	30.00
2374.04	10791	158.59	1.53	-60.00	2432.4	2527.0	2337.9	2651.2	2028.4	157.54	4.40	471	2436.44	55.81	0.24	2.61	1.219	0.078	0.078	2127.09	2182.25	2071.94	2705.38	992.44	0	0	0	11.51	15.84	15.58
2454.23	1092	158.59	1.56	0.43	2124.8	2181.5	2068.0	2705.2	992.8	152.48	7.09	487	2459.58	0.00	0.00	2.65	0.000	0.000	0.022	2125.56	2182.56	2068.56	2704.56	2151.88	0	0	0	30.00	30.00	15.73
2764.16	8486	208.34	1.66	60.00	2121.3	2181.1	2061.6	2704.5	2151.4	131.86	5.80	549	2806.97	38.17	0.00	2.65	1.177	0.000	0.078	1924.72	1968.25	1881.19	2704.12	3208.56	0	0	0	11.62	30.00	15.59
2964.22	11303	254.13	1.75	0.54	1920.3	1967.8	1872.8	2705.2	3208.1	118.86	6.01	589	3005.85	35.70	0.25	2.60	1.149	0.078	0.021	1740.47	1770.25	1710.69	2754.94	2060.38	0	0	0	11.71	15.73	15.81
3309.33	580	254.13	1.79	-60.00	1731.9	1769.2	1694.6	2756.3	2060.4	96.08	6.47	658	3314.86	0.00	0.00	2.65	0.000	0.000	0.076	1731.59	1769.31	1693.88	2757.00	992.81	0	0	0	30.00	30.00	15.82
3444.36	9254	297.66	1.88	0.82	1730.2	1767.9	1692.5	2756.9	992.4	86.71	6.13	685	3482.92	33.81	0.00	2.65	1.126	0.000	0.022	1561.47	1593.31	1529.62	2756.06	2157.94	0	0	0	11.55	30.00	15.87
3665.07	10535	365.95	2.02	60.00	1555.9	1593.9	1518.0	2757.3	2158.0	76.12	4.80	729	3723.44	53.31	0.31	2.65	1.124	0.068	0.079	1282.81	1293.25	1272.38	2820.50	3206.75	0	0	0	11.70	15.81	15.56
3760.64	1028	365.95	2.02	0.75	1280.6	1292.8	1268.3	2821.3	3206.7	69.14	8.33	748	3766.38	0.00	0.00	2.62	0.000	0.000	0.021	1280.81	1293.88	1267.75	2820.69	2068.00	0	0	0	30.00	30.00	15.72
3951.26	8486	422.78	2.13	60.00	1276.5	1293.3	1259.8	2821.1	2067.2	57.05	5.42	786	4001.84	44.17	0.00	2.89	1.091	0.000	0.075	1051.47	1046.31	1056.62	2820.88	3205.50	0	0	0	11.72	30.00	15.55
4085.88	1092	422.78	2.15	1.40	1048.1	1046.6	1049.6	2820.4	3204.9	47.91	7.59	813	4091.28	0.00	0.00	2.57	0.000	0.000	0.022	1048.44	1046.94	1049.94	2821.31	2080.94	0	0	0	30.00	30.00	15.75
4276.14	2629	422.78	2.17	-60.00	1046.8	1049.1	1044.4	2821.2	2081.1	33.68	7.29	851	4281.35	0.00	0.16	2.70	0.000	0.093	0.076	1046.56	1049.00	1044.12	2861.69	992.38	0	0	0	30.00	15.79	15.76
4300.72	1028	422.78	2.17	1.21	1046.5	1049.7	1043.2	2860.9	992.9	31.30	9.03	856	4306.28	0.00	0.00	2.67	0.000	0.000	0.023	1046.44	1049.94	1042.94	2861.50	2164.00	0	0	0	30.00	30.00	15.83
4491.14	260	422.78	2.17	60.00	1045.4	1051.7	1039.1	2862.1	2163.6	14.10	8.29	894	4496.28	0.00	0.00	2.60	0.000	0.000	0.078	1046.16	1052.31	1040.00	2862.25	3205.81	0	0	0	30.00	30.00	15.86
4545.75	1028	422.78	2.17	1.53	1045.2	1051.6	1038.8	2861.9	3205.8	9.46	8.51	905	4551.29	0.00	0.00	2.54	0.000	0.000	0.022	1045.19	1051.62	1038.75	2861.50	2080.00	0	0	0	30.00	30.00	15.89
4595	end climb: SURFACE_DEPTH_REACHED
state	4595	begin surface coast
4635	end surface coast: CONTROL_FINISHED_OK
state	4635	begin surface