Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 914 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

MISSION 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 914 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 475 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 2 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 195 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 575 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -1 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 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 69.917442 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 221.47818 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 160 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 3 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 0.003 ROLL_MAX 3465 ALTIM_PING_DEPTH 110 SC_NDIVE 1.0

HD_B 0.0099900002 ROLL_DEG 80 ALTIM_PING_DELTA 10

HD_C 1.6e-05 C_ROLL_DIVE 2100 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 575 D_SURF 2 N_NOCOMM 2 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 10 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 475

ALTIM_PING_DEPTH 110 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 69.917442 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 221.47818 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 4 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 0.003 PITCH_MIN 190 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099900002 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 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 10 PITCH_W_GAIN 3 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 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 PROTOCOL 9 T_MISSION 195

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 2100 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2100 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 -1

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 160 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 914 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 230321,200353,4707.202,-12455.114,0,1.2,3,15.5 TGT_LATLONG 4708.000,-12500.600

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.48 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -62.4 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 230321,200952,4707.177,-12455.125,2,1.2,5,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.275 MHEAD_RNG_PITCHd_Wd 266.9,7064,-18.7,-11.111,-22.02

TGT_NAME HOLD D_GRID 139

Post-dive calculations and measurements:

SM_CCo 2639.33,0.00,0.009,0,564.2,562.6,565.8,474.85 _24V_AH 14.51,257.358

SM_GC -0.83,0.00,16.41,0.10,0.009,0.079,0.132,564.2,562.6,565.8,182.7,2074.0,0,0,0,30.36,15.61,15.72 _10V_AH 14.88,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 221.645

IRIDIUM_FIX 4707.22,-12448.11,230321,191733 FG_AHR_10Vo 69.928

TCM_TEMP 176.02 MEM 1103672,38,73476,56

XPDR_PINGS 2,14.0,11.5 DATA_FILE_SIZE 16196,494

ALTIM_BOTTOM_PING 130.4,22.0 CAP_FILE_SIZE 257545,0

SC_FREEKB 3509120 SDSIZE 3918848,3668000

HUMID 58.61 SDFILEDIR 4596,1

TEMP 9.00 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.82631 GPS 230321,205429,4707.297,-12455.415,1,1.2,4,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 649 1147 10813.94 legato 0 0 0.00

Pitch_motor 35 248 129.77 nil 0 0 0.00

Roll_motor 65 192 183.01 nil 0 0 0.00

Iridium 176 184 471.44 nil 0 0 0.00

Transponder_ping 1 420 9.14 nil 0 0 0.00

GPS 13 15 3.12 nil 0 0 0.00

Core 2182 11 383.29 SciCon 2551 7 279.30

LPSleep 657 2 27.39 nil 0 0 0.00

Compass 1184 5 88.13 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 4 30 1.79

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7.40 16386 -155.72 -1.40 0.00 558.8 565.9 551.8 167.9 2079.7 0.00 0.00 0 103.39 95.52 0.00 0.00 0.005 0.000 0.000 2801.31 2780.38 2822.25 167.81 2080.00 0 0 0 14.70 30.00 30.00

103.61 18695 -155.72 -1.40 80.00 2800.4 2779.6 2821.2 168.0 2080.1 4.18 -14.60 18 135.68 6.80 14.04 3.77 0.008 0.249 0.108 3134.72 3124.44 3145.00 1800.38 3476.56 0 0 0 14.77 15.31 14.73

158.91 1028 -155.72 -1.40 0.00 3133.8 3123.9 3143.6 1800.1 3476.2 19.46 -22.45 29 164.59 0.00 0.00 3.40 0.000 0.000 0.056 3134.16 3124.69 3143.62 1799.81 2081.75 0 0 0 30.00 30.00 15.65

223.92 0 -155.72 -1.40 0.00 3133.7 3123.8 3143.7 1799.9 2082.2 32.36 -19.88 42 228.24 0.00 0.00 0.00 0.000 0.000 0.000 3135.06 3125.12 3145.00 1800.06 2082.19 0 0 0 30.00 30.00 30.00

288.92 260 -155.72 -1.40 80.00 3134.0 3124.2 3143.8 1800.0 2082.2 45.19 -19.91 55 294.69 0.00 0.00 3.73 0.000 0.000 0.107 3134.34 3124.62 3144.06 1800.12 3475.19 0 0 0 30.00 30.00 15.60

324.37 1028 -155.72 -1.40 0.00 3133.9 3124.1 3143.7 1799.8 3475.4 51.46 -17.85 62 330.06 0.00 0.00 3.36 0.000 0.000 0.054 3135.19 3125.38 3145.00 1799.88 2080.25 0 0 0 30.00 30.00 15.69

388.95 260 -155.72 -1.40 80.00 3133.7 3123.9 3143.5 1799.9 2080.3 61.97 -16.61 75 394.70 0.00 0.00 3.70 0.000 0.000 0.104 3134.34 3124.75 3143.94 1800.31 3475.62 0 0 0 30.00 30.00 15.61

519.41 1028 -155.72 -1.40 0.00 3133.8 3123.9 3143.7 1799.1 3476.4 83.40 -13.96 101 525.12 0.00 0.00 3.36 0.000 0.000 0.054 3136.22 3126.19 3146.25 1800.12 2081.56 0 0 0 30.00 30.00 15.71

584.00 0 -155.72 -1.40 0.00 3133.9 3124.0 3143.9 1799.5 2081.4 92.17 -13.42 114 588.32 0.00 0.00 0.00 0.000 0.000 0.000 3134.78 3125.50 3144.06 1800.19 2081.38 0 0 0 30.00 30.00 30.00

649.00 0 -155.72 -1.40 0.00 3133.8 3123.8 3143.9 1800.2 2081.3 100.52 -13.45 127 653.33 0.00 0.00 0.00 0.000 0.000 0.000 3134.91 3125.12 3144.69 1800.00 2081.69 0 0 0 30.00 30.00 30.00

714.02 0 -155.72 -1.40 0.00 3133.3 3123.3 3143.2 1800.0 2081.2 108.93 -12.40 140 718.34 0.00 0.00 0.00 0.000 0.000 0.000 3134.97 3125.19 3144.75 1799.88 2081.44 0 0 0 30.00 30.00 30.00

779.03 0 -155.72 -1.40 0.00 3133.4 3124.0 3142.9 1800.2 2081.4 116.96 -12.03 153 783.35 0.00 0.00 0.00 0.000 0.000 0.000 3135.09 3125.25 3144.94 1800.19 2081.12 0 0 0 30.00 30.00 30.00

844.03 516 -155.72 -1.40 -80.00 3133.9 3124.2 3143.7 1799.9 2081.1 124.26 -10.29 166 850.26 0.00 0.00 3.96 0.000 0.000 0.147 3134.00 3124.31 3143.69 1799.88 662.81 0 0 0 30.00 30.00 15.54

884.48 1028 -155.72 -1.40 0.00 3133.9 3124.0 3143.8 1799.8 662.9 129.16 -12.13 174 890.18 0.00 0.00 3.45 0.000 0.000 0.048 3135.97 3126.25 3145.69 1799.94 2123.94 0 0 0 30.00 30.00 15.78

949.38 260 -155.72 -1.40 80.00 3133.9 3124.6 3143.3 1800.5 2124.2 137.04 -12.25 187 955.53 0.00 0.00 3.55 0.000 0.000 0.107 3134.09 3125.19 3143.00 1799.38 3475.75 0 0 0 30.00 30.00 15.64

970 end dive: TARGET_DEPTH_EXCEEDED

state 970 begin apogee

974.61 10243 0.00 -0.25 0.00 3133.9 3124.1 3143.8 1800.0 2080.1 139.57 -12.36 191 1100.98 119.54 2.08 0.08 1.147 0.140 0.193 2499.31 2509.12 2489.50 2078.81 2127.56 0 0 0 11.00 15.64 15.03

1104 end apogee: CONTROL_FINISHED_OK

state 1104 begin climb

1103.74 10243 155.72 1.40 0.00 2497.2 2507.7 2486.7 2080.6 2127.7 144.36 0.00 216 1235.46 126.88 2.72 0.00 1.105 0.082 0.000 1863.62 1893.94 1833.31 2484.88 2127.81 0 0 0 11.67 15.29 30.00

1293.76 10275 214.37 1.58 80.00 1857.9 1890.1 1825.8 2484.5 2128.1 133.84 8.28 253 1344.77 48.84 0.22 0.00 1.060 0.066 0.000 1625.75 1659.88 1591.62 2538.75 2128.19 0 0 0 11.58 15.41 30.00

1403.69 516 214.37 1.58 -80.00 1619.5 1654.9 1584.1 2538.6 2128.2 121.55 11.62 275 1409.94 0.00 0.00 4.08 0.000 0.000 0.131 1619.50 1654.81 1584.19 2539.56 662.00 0 0 0 30.00 30.00 15.37

1509.18 1028 214.37 1.58 0.00 1618.6 1652.8 1584.5 2539.4 661.8 106.88 13.68 296 1514.88 0.00 0.00 3.49 0.000 0.000 0.044 1618.44 1652.75 1584.12 2538.75 2128.69 0 0 0 30.00 30.00 15.60

1573.75 16386 214.37 1.58 0.00 1617.7 1652.6 1582.8 2539.1 2128.5 99.13 11.48 309 1578.07 0.00 0.00 0.00 0.000 0.000 0.000 1618.28 1653.06 1583.50 2538.75 2128.44 0 0 0 30.00 30.00 30.00

1638.77 16386 214.37 1.58 0.00 1617.3 1652.5 1582.1 2539.2 2128.2 91.74 11.35 322 1643.10 0.00 0.00 0.00 0.000 0.000 0.000 1617.97 1653.12 1582.81 2539.06 2127.94 0 0 0 30.00 30.00 30.00

1703.79 16450 214.37 1.61 0.00 1617.1 1652.3 1581.9 2538.9 2127.8 85.06 10.00 335 1708.11 0.00 0.00 0.00 0.000 0.000 0.000 1617.75 1653.12 1582.38 2538.31 2128.31 0 0 0 30.00 30.00 30.00

1768.79 16966 214.37 1.65 -80.00 1616.8 1652.4 1581.2 2538.8 2127.8 78.79 9.98 348 1775.03 0.00 0.00 4.01 0.000 0.000 0.128 1617.06 1652.69 1581.44 2539.12 662.00 0 0 0 30.00 30.00 15.54

1869.27 11303 256.85 1.77 0.00 1616.8 1652.4 1581.3 2539.1 661.8 68.92 9.06 368 1920.39 42.62 0.19 3.47 1.005 0.072 0.045 1452.00 1487.69 1416.31 2588.19 2129.44 0 0 0 11.20 15.59 15.73

1978.83 8226 305.13 1.92 0.00 1449.7 1486.0 1413.4 2588.6 2129.4 59.44 8.78 390 2029.79 50.15 0.00 0.00 0.987 0.000 0.000 1256.25 1292.38 1220.12 2588.12 2129.38 0 0 0 11.51 30.00 30.00

2088.84 10535 349.15 2.05 80.00 1253.3 1291.2 1215.5 2588.0 2128.8 49.66 8.98 412 2141.06 46.24 0.31 3.67 0.959 0.063 0.109 1076.38 1111.69 1041.06 2649.81 3474.19 0 0 0 11.53 15.49 15.10

2239.28 1028 349.15 2.05 0.00 1073.9 1108.5 1039.4 2650.8 3473.2 31.63 12.45 442 2244.98 0.00 0.00 3.39 0.000 0.000 0.054 1074.12 1108.81 1039.44 2650.50 2077.12 0 0 0 30.00 30.00 15.55

2304.30 516 349.15 2.05 -80.00 1073.7 1108.6 1038.8 2650.3 2076.9 23.79 11.58 455 2310.09 0.00 0.00 3.91 0.000 0.000 0.132 1073.91 1109.06 1038.75 2650.00 662.00 0 0 0 30.00 30.00 15.47

2334.74 1028 349.15 2.05 0.00 1073.5 1108.9 1038.1 2650.6 661.8 19.77 13.40 461 2340.01 0.00 0.00 3.47 0.000 0.000 0.046 1074.00 1109.25 1038.75 2650.50 2128.25 0 0 0 30.00 30.00 15.62

2399.34 0 349.15 2.05 0.00 1073.1 1108.8 1037.4 2650.1 2127.9 11.93 11.28 474 2403.66 0.00 0.00 0.00 0.000 0.000 0.000 1073.16 1108.88 1037.44 2650.31 2127.81 0 0 0 30.00 30.00 30.00

2464.33 0 349.15 2.05 0.00 1072.8 1108.6 1036.9 2650.4 2127.6 4.21 11.97 487 2468.66 0.00 0.00 0.00 0.000 0.000 0.000 1072.91 1109.12 1036.69 2650.00 2127.88 0 0 0 30.00 30.00 30.00

2484 end climb: SURFACE_DEPTH_REACHED

state 2484 begin surface coast

2499 end surface coast: CONTROL_FINISHED_OK

state 2499 begin surface

ID	236	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
MISSION	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	914	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	475	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	2	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	195	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	575	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-1	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	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	69.917442	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	221.47818	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	160	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	3	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	0.003	ROLL_MAX	3465	ALTIM_PING_DEPTH	110	SC_NDIVE	1.0
HD_B	0.0099900002	ROLL_DEG	80	ALTIM_PING_DELTA	10
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	230321,200353,4707.202,-12455.114,0,1.2,3,15.5	TGT_LATLONG	4708.000,-12500.600
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.48	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-62.4	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	230321,200952,4707.177,-12455.125,2,1.2,5,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.275	MHEAD_RNG_PITCHd_Wd	266.9,7064,-18.7,-11.111,-22.02
TGT_NAME	HOLD	D_GRID	139

SM_CCo	2639.33,0.00,0.009,0,564.2,562.6,565.8,474.85	_24V_AH	14.51,257.358
SM_GC	-0.83,0.00,16.41,0.10,0.009,0.079,0.132,564.2,562.6,565.8,182.7,2074.0,0,0,0,30.36,15.61,15.72	_10V_AH	14.88,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	221.645
IRIDIUM_FIX	4707.22,-12448.11,230321,191733	FG_AHR_10Vo	69.928
TCM_TEMP	176.02	MEM	1103672,38,73476,56
XPDR_PINGS	2,14.0,11.5	DATA_FILE_SIZE	16196,494
ALTIM_BOTTOM_PING	130.4,22.0	CAP_FILE_SIZE	257545,0
SC_FREEKB	3509120	SDSIZE	3918848,3668000
HUMID	58.61	SDFILEDIR	4596,1
TEMP	9.00	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.82631	GPS	230321,205429,4707.297,-12455.415,1,1.2,4,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	649	1147	10813.94	legato	0	0	0.00
Pitch_motor	35	248	129.77	nil	0	0	0.00
Roll_motor	65	192	183.01	nil	0	0	0.00
Iridium	176	184	471.44	nil	0	0	0.00
Transponder_ping	1	420	9.14	nil	0	0	0.00
GPS	13	15	3.12	nil	0	0	0.00
Core	2182	11	383.29	SciCon	2551	7	279.30
LPSleep	657	2	27.39	nil	0	0	0.00
Compass	1184	5	88.13	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	4	30	1.79

		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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7.40	16386	-155.72	-1.40	0.00	558.8	565.9	551.8	167.9	2079.7	0.00	0.00	0	103.39	95.52	0.00	0.00	0.005	0.000	0.000	2801.31	2780.38	2822.25	167.81	2080.00	0	0	0	14.70	30.00	30.00
103.61	18695	-155.72	-1.40	80.00	2800.4	2779.6	2821.2	168.0	2080.1	4.18	-14.60	18	135.68	6.80	14.04	3.77	0.008	0.249	0.108	3134.72	3124.44	3145.00	1800.38	3476.56	0	0	0	14.77	15.31	14.73
158.91	1028	-155.72	-1.40	0.00	3133.8	3123.9	3143.6	1800.1	3476.2	19.46	-22.45	29	164.59	0.00	0.00	3.40	0.000	0.000	0.056	3134.16	3124.69	3143.62	1799.81	2081.75	0	0	0	30.00	30.00	15.65
223.92	0	-155.72	-1.40	0.00	3133.7	3123.8	3143.7	1799.9	2082.2	32.36	-19.88	42	228.24	0.00	0.00	0.00	0.000	0.000	0.000	3135.06	3125.12	3145.00	1800.06	2082.19	0	0	0	30.00	30.00	30.00
288.92	260	-155.72	-1.40	80.00	3134.0	3124.2	3143.8	1800.0	2082.2	45.19	-19.91	55	294.69	0.00	0.00	3.73	0.000	0.000	0.107	3134.34	3124.62	3144.06	1800.12	3475.19	0	0	0	30.00	30.00	15.60
324.37	1028	-155.72	-1.40	0.00	3133.9	3124.1	3143.7	1799.8	3475.4	51.46	-17.85	62	330.06	0.00	0.00	3.36	0.000	0.000	0.054	3135.19	3125.38	3145.00	1799.88	2080.25	0	0	0	30.00	30.00	15.69
388.95	260	-155.72	-1.40	80.00	3133.7	3123.9	3143.5	1799.9	2080.3	61.97	-16.61	75	394.70	0.00	0.00	3.70	0.000	0.000	0.104	3134.34	3124.75	3143.94	1800.31	3475.62	0	0	0	30.00	30.00	15.61
519.41	1028	-155.72	-1.40	0.00	3133.8	3123.9	3143.7	1799.1	3476.4	83.40	-13.96	101	525.12	0.00	0.00	3.36	0.000	0.000	0.054	3136.22	3126.19	3146.25	1800.12	2081.56	0	0	0	30.00	30.00	15.71
584.00	0	-155.72	-1.40	0.00	3133.9	3124.0	3143.9	1799.5	2081.4	92.17	-13.42	114	588.32	0.00	0.00	0.00	0.000	0.000	0.000	3134.78	3125.50	3144.06	1800.19	2081.38	0	0	0	30.00	30.00	30.00
649.00	0	-155.72	-1.40	0.00	3133.8	3123.8	3143.9	1800.2	2081.3	100.52	-13.45	127	653.33	0.00	0.00	0.00	0.000	0.000	0.000	3134.91	3125.12	3144.69	1800.00	2081.69	0	0	0	30.00	30.00	30.00
714.02	0	-155.72	-1.40	0.00	3133.3	3123.3	3143.2	1800.0	2081.2	108.93	-12.40	140	718.34	0.00	0.00	0.00	0.000	0.000	0.000	3134.97	3125.19	3144.75	1799.88	2081.44	0	0	0	30.00	30.00	30.00
779.03	0	-155.72	-1.40	0.00	3133.4	3124.0	3142.9	1800.2	2081.4	116.96	-12.03	153	783.35	0.00	0.00	0.00	0.000	0.000	0.000	3135.09	3125.25	3144.94	1800.19	2081.12	0	0	0	30.00	30.00	30.00
844.03	516	-155.72	-1.40	-80.00	3133.9	3124.2	3143.7	1799.9	2081.1	124.26	-10.29	166	850.26	0.00	0.00	3.96	0.000	0.000	0.147	3134.00	3124.31	3143.69	1799.88	662.81	0	0	0	30.00	30.00	15.54
884.48	1028	-155.72	-1.40	0.00	3133.9	3124.0	3143.8	1799.8	662.9	129.16	-12.13	174	890.18	0.00	0.00	3.45	0.000	0.000	0.048	3135.97	3126.25	3145.69	1799.94	2123.94	0	0	0	30.00	30.00	15.78
949.38	260	-155.72	-1.40	80.00	3133.9	3124.6	3143.3	1800.5	2124.2	137.04	-12.25	187	955.53	0.00	0.00	3.55	0.000	0.000	0.107	3134.09	3125.19	3143.00	1799.38	3475.75	0	0	0	30.00	30.00	15.64
970	end dive: TARGET_DEPTH_EXCEEDED
state	970	begin apogee
974.61	10243	0.00	-0.25	0.00	3133.9	3124.1	3143.8	1800.0	2080.1	139.57	-12.36	191	1100.98	119.54	2.08	0.08	1.147	0.140	0.193	2499.31	2509.12	2489.50	2078.81	2127.56	0	0	0	11.00	15.64	15.03
1104	end apogee: CONTROL_FINISHED_OK
state	1104	begin climb
1103.74	10243	155.72	1.40	0.00	2497.2	2507.7	2486.7	2080.6	2127.7	144.36	0.00	216	1235.46	126.88	2.72	0.00	1.105	0.082	0.000	1863.62	1893.94	1833.31	2484.88	2127.81	0	0	0	11.67	15.29	30.00
1293.76	10275	214.37	1.58	80.00	1857.9	1890.1	1825.8	2484.5	2128.1	133.84	8.28	253	1344.77	48.84	0.22	0.00	1.060	0.066	0.000	1625.75	1659.88	1591.62	2538.75	2128.19	0	0	0	11.58	15.41	30.00
1403.69	516	214.37	1.58	-80.00	1619.5	1654.9	1584.1	2538.6	2128.2	121.55	11.62	275	1409.94	0.00	0.00	4.08	0.000	0.000	0.131	1619.50	1654.81	1584.19	2539.56	662.00	0	0	0	30.00	30.00	15.37
1509.18	1028	214.37	1.58	0.00	1618.6	1652.8	1584.5	2539.4	661.8	106.88	13.68	296	1514.88	0.00	0.00	3.49	0.000	0.000	0.044	1618.44	1652.75	1584.12	2538.75	2128.69	0	0	0	30.00	30.00	15.60
1573.75	16386	214.37	1.58	0.00	1617.7	1652.6	1582.8	2539.1	2128.5	99.13	11.48	309	1578.07	0.00	0.00	0.00	0.000	0.000	0.000	1618.28	1653.06	1583.50	2538.75	2128.44	0	0	0	30.00	30.00	30.00
1638.77	16386	214.37	1.58	0.00	1617.3	1652.5	1582.1	2539.2	2128.2	91.74	11.35	322	1643.10	0.00	0.00	0.00	0.000	0.000	0.000	1617.97	1653.12	1582.81	2539.06	2127.94	0	0	0	30.00	30.00	30.00
1703.79	16450	214.37	1.61	0.00	1617.1	1652.3	1581.9	2538.9	2127.8	85.06	10.00	335	1708.11	0.00	0.00	0.00	0.000	0.000	0.000	1617.75	1653.12	1582.38	2538.31	2128.31	0	0	0	30.00	30.00	30.00
1768.79	16966	214.37	1.65	-80.00	1616.8	1652.4	1581.2	2538.8	2127.8	78.79	9.98	348	1775.03	0.00	0.00	4.01	0.000	0.000	0.128	1617.06	1652.69	1581.44	2539.12	662.00	0	0	0	30.00	30.00	15.54
1869.27	11303	256.85	1.77	0.00	1616.8	1652.4	1581.3	2539.1	661.8	68.92	9.06	368	1920.39	42.62	0.19	3.47	1.005	0.072	0.045	1452.00	1487.69	1416.31	2588.19	2129.44	0	0	0	11.20	15.59	15.73
1978.83	8226	305.13	1.92	0.00	1449.7	1486.0	1413.4	2588.6	2129.4	59.44	8.78	390	2029.79	50.15	0.00	0.00	0.987	0.000	0.000	1256.25	1292.38	1220.12	2588.12	2129.38	0	0	0	11.51	30.00	30.00
2088.84	10535	349.15	2.05	80.00	1253.3	1291.2	1215.5	2588.0	2128.8	49.66	8.98	412	2141.06	46.24	0.31	3.67	0.959	0.063	0.109	1076.38	1111.69	1041.06	2649.81	3474.19	0	0	0	11.53	15.49	15.10
2239.28	1028	349.15	2.05	0.00	1073.9	1108.5	1039.4	2650.8	3473.2	31.63	12.45	442	2244.98	0.00	0.00	3.39	0.000	0.000	0.054	1074.12	1108.81	1039.44	2650.50	2077.12	0	0	0	30.00	30.00	15.55
2304.30	516	349.15	2.05	-80.00	1073.7	1108.6	1038.8	2650.3	2076.9	23.79	11.58	455	2310.09	0.00	0.00	3.91	0.000	0.000	0.132	1073.91	1109.06	1038.75	2650.00	662.00	0	0	0	30.00	30.00	15.47
2334.74	1028	349.15	2.05	0.00	1073.5	1108.9	1038.1	2650.6	661.8	19.77	13.40	461	2340.01	0.00	0.00	3.47	0.000	0.000	0.046	1074.00	1109.25	1038.75	2650.50	2128.25	0	0	0	30.00	30.00	15.62
2399.34	0	349.15	2.05	0.00	1073.1	1108.8	1037.4	2650.1	2127.9	11.93	11.28	474	2403.66	0.00	0.00	0.00	0.000	0.000	0.000	1073.16	1108.88	1037.44	2650.31	2127.81	0	0	0	30.00	30.00	30.00
2464.33	0	349.15	2.05	0.00	1072.8	1108.6	1036.9	2650.4	2127.6	4.21	11.97	487	2468.66	0.00	0.00	0.00	0.000	0.000	0.000	1072.91	1109.12	1036.69	2650.00	2127.88	0	0	0	30.00	30.00	30.00
2484	end climb: SURFACE_DEPTH_REACHED
state	2484	begin surface coast
2499	end surface coast: CONTROL_FINISHED_OK
state	2499	begin surface