Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 916 * 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 916 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 69.941681 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 221.83102 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 69.941681 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 221.83102 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 916 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 230321,214402,4707.383,-12455.739,2,1.3,7,15.5 TGT_LATLONG 4708.000,-12500.600

_CALLS 2 TGT_RADIUS 3000.000

_SM_DEPTHo -1.42 KALMAN_CONTROL 0.000,0.000

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

GPS2 230321,215119,4707.384,-12455.750,3,0.8,6,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.275 MHEAD_RNG_PITCHd_Wd 265.0,6216,-18.7,-11.111,-22.02

TGT_NAME HOLD D_GRID 140

Post-dive calculations and measurements:

SM_CCo 2714.86,0.00,0.010,0,564.7,564.6,564.8,474.73 _10V_AH 14.82,0.000

SM_GC -0.50,0.00,16.23,0.09,0.010,0.074,0.135,564.7,564.6,564.8,167.1,2075.7,0,0,0,30.36,15.57,15.70 FG_AHR_24Vo 222.000

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 69.953

IRIDIUM_FIX 4706.71,-12455.12,230321,214713 MEM 1103772,35,73436,56

TCM_TEMP 176.00 DATA_FILE_SIZE 19402,506

XPDR_PINGS 4,14.0,11.5 CAP_FILE_SIZE 274487,0

SC_FREEKB 3508352 SDSIZE 3918848,3667520

HUMID 58.67 SDFILEDIR 4606,1

TEMP 8.94 ERRORS 0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.82704 GPS 230321,223711,4707.419,-12455.955,2,1.8,10,15.5

_24V_AH 13.81,257.732

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 644 2589 23064.82 legato 0 0 0.00

Pitch_motor 35 244 120.54 nil 0 0 0.00

Roll_motor 87 196 237.37 nil 0 0 0.00

Iridium 195 185 499.26 nil 0 0 0.00

Transponder_ping 2 420 11.60 nil 0 0 0.00

GPS 15 15 3.35 nil 0 0 0.00

Core 2250 11 393.52 SciCon 2609 7 281.60

LPSleep 722 2 29.99 nil 0 0 0.00

Compass 1235 5 91.54 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 4 30 1.78

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

7.48 16386 -155.72 -1.40 0.00 558.5 566.6 550.5 165.3 2118.6 0.00 0.00 0 103.44 95.53 0.00 0.00 0.005 0.000 0.000 2781.59 2762.38 2800.81 165.19 2119.06 0 0 0 14.64 30.00 30.00

103.66 18435 -155.72 -1.40 0.00 2780.8 2761.6 2800.1 165.1 2119.5 3.79 -14.01 18 129.92 7.32 13.97 0.00 0.008 0.244 0.000 3133.72 3124.56 3142.88 1800.19 2118.44 0 0 0 14.77 15.31 30.00

188.19 516 -155.72 -1.40 -80.00 3133.6 3124.2 3142.9 1800.1 2118.7 24.40 -20.28 35 194.40 0.00 0.00 4.13 0.000 0.000 0.147 3135.09 3126.12 3144.06 1800.31 662.06 0 0 0 30.00 30.00 15.46

208.64 1028 -155.72 -1.40 0.00 3133.5 3124.1 3142.9 1800.1 662.1 28.48 -20.68 39 214.30 0.00 0.00 3.53 0.000 0.000 0.052 3134.91 3125.38 3144.44 1799.56 2120.06 0 0 0 30.00 30.00 15.68

273.16 0 -155.72 -1.40 0.00 3133.8 3124.7 3142.8 1800.3 2120.4 41.31 -19.86 52 277.48 0.00 0.00 0.00 0.000 0.000 0.000 3134.41 3124.88 3143.94 1799.62 2120.62 0 0 0 30.00 30.00 30.00

338.16 260 -155.72 -1.40 80.00 3133.4 3124.5 3142.3 1800.4 2120.1 52.85 -16.06 65 343.89 0.00 0.00 3.59 0.000 0.000 0.108 3134.19 3125.06 3143.31 1800.06 3474.81 0 0 0 30.00 30.00 15.60

433.63 1028 -155.72 -1.40 0.00 3133.5 3124.4 3142.7 1800.4 3475.1 70.86 -18.38 84 439.30 0.00 0.00 3.37 0.000 0.000 0.056 3135.38 3126.31 3144.44 1799.19 2082.06 0 0 0 30.00 30.00 15.71

498.19 516 -155.72 -1.40 -80.00 3133.6 3124.4 3142.8 1800.6 2082.1 80.42 -14.39 97 504.42 0.00 0.00 3.96 0.000 0.000 0.148 3134.62 3125.69 3143.56 1800.56 663.25 0 0 0 30.00 30.00 15.52

513.64 1028 -155.72 -1.40 0.00 3133.6 3124.1 3143.1 1800.4 662.8 82.64 -14.06 100 519.35 0.00 0.00 3.47 0.000 0.000 0.047 3135.00 3125.88 3144.12 1800.25 2122.00 0 0 0 30.00 30.00 15.74

578.21 260 -155.72 -1.40 80.00 3133.4 3124.1 3142.7 1800.3 2121.8 91.33 -12.78 113 583.92 0.00 0.00 3.57 0.000 0.000 0.108 3133.59 3124.62 3142.56 1800.19 3475.62 0 0 0 30.00 30.00 15.63

613.65 1028 -155.72 -1.40 0.00 3133.3 3123.8 3142.8 1800.2 3475.6 96.30 -14.39 120 619.34 0.00 0.00 3.34 0.000 0.000 0.056 3134.44 3124.69 3144.19 1800.31 2078.88 0 0 0 30.00 30.00 15.72

678.22 0 -155.72 -1.40 0.00 3133.3 3123.9 3142.8 1800.6 2079.2 105.39 -13.69 133 682.55 0.00 0.00 0.00 0.000 0.000 0.000 3134.62 3126.00 3143.25 1800.00 2079.38 0 0 0 30.00 30.00 30.00

743.23 516 -155.72 -1.40 -80.00 3133.2 3123.8 3142.7 1800.3 2079.2 113.70 -12.65 146 749.46 0.00 0.00 3.93 0.000 0.000 0.148 3134.53 3125.06 3144.00 1799.69 662.94 0 0 0 30.00 30.00 15.53

773.67 1028 -155.72 -1.40 0.00 3133.1 3123.8 3142.4 1800.0 662.8 117.95 -14.15 152 779.38 0.00 0.00 3.47 0.000 0.000 0.048 3134.59 3125.06 3144.12 1800.25 2122.88 0 0 0 30.00 30.00 15.77

838.25 516 -155.72 -1.40 -80.00 3133.1 3123.8 3142.3 1800.6 2123.3 125.69 -11.31 165 844.49 0.00 0.00 4.05 0.000 0.000 0.145 3133.19 3123.81 3142.56 1800.38 663.06 0 0 0 30.00 30.00 15.53

863.68 1028 -155.72 -1.40 0.00 3133.6 3124.3 3142.9 1800.6 663.0 128.82 -12.33 170 869.38 0.00 0.00 3.45 0.000 0.000 0.048 3134.25 3125.00 3143.50 1800.50 2122.81 0 0 0 30.00 30.00 15.78

928.66 260 -155.72 -1.40 80.00 3133.2 3124.1 3142.3 1800.6 2122.6 136.89 -12.08 183 934.38 0.00 0.00 3.55 0.000 0.000 0.108 3134.75 3125.88 3143.62 1799.75 3475.00 0 0 0 30.00 30.00 15.64

954 end dive: TARGET_DEPTH_EXCEEDED

state 954 begin apogee

958.93 10243 0.00 -0.25 0.00 3133.2 3124.2 3142.2 1800.7 2080.2 140.29 -13.11 188 1085.19 120.52 2.08 0.08 1.151 0.145 0.197 2497.38 2506.75 2488.00 2080.12 2126.88 0 0 0 11.06 15.62 15.02

1088 end apogee: CONTROL_FINISHED_OK

state 1088 begin climb

1087.96 10759 155.72 1.40 -80.00 2496.8 2506.5 2487.1 2080.2 2127.2 145.31 0.00 213 1225.92 127.80 2.72 4.13 1.104 0.082 0.133 1862.12 1891.38 1832.88 2484.88 662.94 0 0 0 11.67 15.27 14.96

1449.69 17478 155.72 1.46 0.00 1855.1 1884.1 1826.1 2484.7 663.0 116.52 9.28 284 1454.94 0.00 0.00 3.49 0.000 0.000 0.047 1854.50 1884.19 1824.81 2484.81 2128.44 0 0 0 30.00 30.00 15.63

1514.25 10535 232.41 1.69 80.00 1852.8 1883.8 1821.9 2484.2 2128.5 111.77 7.40 297 1585.34 62.65 0.40 3.64 1.068 0.054 0.110 1551.12 1584.31 1517.94 2563.75 3474.50 0 0 0 11.28 15.64 15.12

1809.71 1028 232.41 1.69 0.00 1544.6 1579.5 1509.6 2564.6 3474.4 76.87 11.92 356 1814.97 0.00 0.00 3.38 0.000 0.000 0.055 1544.81 1579.88 1509.75 2564.50 2077.81 0 0 0 30.00 30.00 15.64

1874.29 16966 232.41 1.72 -80.00 1544.2 1579.2 1509.2 2564.0 2078.3 69.93 10.00 369 1880.49 0.00 0.00 3.89 0.000 0.000 0.133 1544.62 1579.75 1509.50 2564.25 661.81 0 0 0 30.00 30.00 15.51

1964.75 11303 283.89 1.88 0.00 1544.1 1579.2 1509.0 2563.6 661.9 62.08 8.62 387 2025.11 52.36 0.19 3.48 1.001 0.072 0.046 1342.28 1376.81 1307.75 2611.56 2130.19 0 0 0 11.21 15.56 15.69

2084.32 324 283.89 1.93 80.00 1339.8 1376.6 1303.1 2612.3 2130.5 51.75 9.38 411 2090.04 0.00 0.00 3.62 0.000 0.000 0.108 1339.88 1376.56 1303.19 2611.38 3473.00 0 0 0 30.00 30.00 15.47

2239.34 11303 332.70 2.07 0.00 1337.6 1375.2 1300.0 2612.5 3473.3 37.58 8.75 442 2296.11 50.56 0.19 3.38 0.975 0.083 0.053 1143.53 1179.31 1107.75 2657.81 2075.94 0 0 0 11.30 15.49 15.65

2354.35 516 332.70 2.07 -80.00 1142.0 1179.2 1104.8 2657.5 2075.6 25.74 11.20 465 2360.12 0.00 0.00 3.92 0.000 0.000 0.133 1142.41 1179.56 1105.25 2656.81 662.00 0 0 0 30.00 30.00 15.41

2424.84 1028 332.70 2.07 0.00 1141.3 1177.8 1104.9 2657.8 661.9 16.77 13.58 479 2430.07 0.00 0.00 3.51 0.000 0.000 0.046 1141.47 1177.75 1105.19 2658.69 2126.44 0 0 0 30.00 30.00 15.60

2489.37 0 332.70 2.07 0.00 1140.5 1177.8 1103.3 2658.6 2126.4 8.76 13.22 492 2493.68 0.00 0.00 0.00 0.000 0.000 0.000 1140.75 1177.94 1103.56 2658.38 2126.69 0 0 0 30.00 30.00 30.00

2544 end climb: SURFACE_DEPTH_REACHED

state 2544 begin surface coast

2559 end surface coast: CONTROL_FINISHED_OK

state 2559 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	916	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	69.941681	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	221.83102	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	230321,214402,4707.383,-12455.739,2,1.3,7,15.5	TGT_LATLONG	4708.000,-12500.600
_CALLS	2	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.42	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-62.4	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	230321,215119,4707.384,-12455.750,3,0.8,6,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.275	MHEAD_RNG_PITCHd_Wd	265.0,6216,-18.7,-11.111,-22.02
TGT_NAME	HOLD	D_GRID	140

SM_CCo	2714.86,0.00,0.010,0,564.7,564.6,564.8,474.73	_10V_AH	14.82,0.000
SM_GC	-0.50,0.00,16.23,0.09,0.010,0.074,0.135,564.7,564.6,564.8,167.1,2075.7,0,0,0,30.36,15.57,15.70	FG_AHR_24Vo	222.000
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	69.953
IRIDIUM_FIX	4706.71,-12455.12,230321,214713	MEM	1103772,35,73436,56
TCM_TEMP	176.00	DATA_FILE_SIZE	19402,506
XPDR_PINGS	4,14.0,11.5	CAP_FILE_SIZE	274487,0
SC_FREEKB	3508352	SDSIZE	3918848,3667520
HUMID	58.67	SDFILEDIR	4606,1
TEMP	8.94	ERRORS	0,0,0,0,0,1,0,1,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.82704	GPS	230321,223711,4707.419,-12455.955,2,1.8,10,15.5
_24V_AH	13.81,257.732

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	644	2589	23064.82	legato	0	0	0.00
Pitch_motor	35	244	120.54	nil	0	0	0.00
Roll_motor	87	196	237.37	nil	0	0	0.00
Iridium	195	185	499.26	nil	0	0	0.00
Transponder_ping	2	420	11.60	nil	0	0	0.00
GPS	15	15	3.35	nil	0	0	0.00
Core	2250	11	393.52	SciCon	2609	7	281.60
LPSleep	722	2	29.99	nil	0	0	0.00
Compass	1235	5	91.54	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	4	30	1.78

		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
7.48	16386	-155.72	-1.40	0.00	558.5	566.6	550.5	165.3	2118.6	0.00	0.00	0	103.44	95.53	0.00	0.00	0.005	0.000	0.000	2781.59	2762.38	2800.81	165.19	2119.06	0	0	0	14.64	30.00	30.00
103.66	18435	-155.72	-1.40	0.00	2780.8	2761.6	2800.1	165.1	2119.5	3.79	-14.01	18	129.92	7.32	13.97	0.00	0.008	0.244	0.000	3133.72	3124.56	3142.88	1800.19	2118.44	0	0	0	14.77	15.31	30.00
188.19	516	-155.72	-1.40	-80.00	3133.6	3124.2	3142.9	1800.1	2118.7	24.40	-20.28	35	194.40	0.00	0.00	4.13	0.000	0.000	0.147	3135.09	3126.12	3144.06	1800.31	662.06	0	0	0	30.00	30.00	15.46
208.64	1028	-155.72	-1.40	0.00	3133.5	3124.1	3142.9	1800.1	662.1	28.48	-20.68	39	214.30	0.00	0.00	3.53	0.000	0.000	0.052	3134.91	3125.38	3144.44	1799.56	2120.06	0	0	0	30.00	30.00	15.68
273.16	0	-155.72	-1.40	0.00	3133.8	3124.7	3142.8	1800.3	2120.4	41.31	-19.86	52	277.48	0.00	0.00	0.00	0.000	0.000	0.000	3134.41	3124.88	3143.94	1799.62	2120.62	0	0	0	30.00	30.00	30.00
338.16	260	-155.72	-1.40	80.00	3133.4	3124.5	3142.3	1800.4	2120.1	52.85	-16.06	65	343.89	0.00	0.00	3.59	0.000	0.000	0.108	3134.19	3125.06	3143.31	1800.06	3474.81	0	0	0	30.00	30.00	15.60
433.63	1028	-155.72	-1.40	0.00	3133.5	3124.4	3142.7	1800.4	3475.1	70.86	-18.38	84	439.30	0.00	0.00	3.37	0.000	0.000	0.056	3135.38	3126.31	3144.44	1799.19	2082.06	0	0	0	30.00	30.00	15.71
498.19	516	-155.72	-1.40	-80.00	3133.6	3124.4	3142.8	1800.6	2082.1	80.42	-14.39	97	504.42	0.00	0.00	3.96	0.000	0.000	0.148	3134.62	3125.69	3143.56	1800.56	663.25	0	0	0	30.00	30.00	15.52
513.64	1028	-155.72	-1.40	0.00	3133.6	3124.1	3143.1	1800.4	662.8	82.64	-14.06	100	519.35	0.00	0.00	3.47	0.000	0.000	0.047	3135.00	3125.88	3144.12	1800.25	2122.00	0	0	0	30.00	30.00	15.74
578.21	260	-155.72	-1.40	80.00	3133.4	3124.1	3142.7	1800.3	2121.8	91.33	-12.78	113	583.92	0.00	0.00	3.57	0.000	0.000	0.108	3133.59	3124.62	3142.56	1800.19	3475.62	0	0	0	30.00	30.00	15.63
613.65	1028	-155.72	-1.40	0.00	3133.3	3123.8	3142.8	1800.2	3475.6	96.30	-14.39	120	619.34	0.00	0.00	3.34	0.000	0.000	0.056	3134.44	3124.69	3144.19	1800.31	2078.88	0	0	0	30.00	30.00	15.72
678.22	0	-155.72	-1.40	0.00	3133.3	3123.9	3142.8	1800.6	2079.2	105.39	-13.69	133	682.55	0.00	0.00	0.00	0.000	0.000	0.000	3134.62	3126.00	3143.25	1800.00	2079.38	0	0	0	30.00	30.00	30.00
743.23	516	-155.72	-1.40	-80.00	3133.2	3123.8	3142.7	1800.3	2079.2	113.70	-12.65	146	749.46	0.00	0.00	3.93	0.000	0.000	0.148	3134.53	3125.06	3144.00	1799.69	662.94	0	0	0	30.00	30.00	15.53
773.67	1028	-155.72	-1.40	0.00	3133.1	3123.8	3142.4	1800.0	662.8	117.95	-14.15	152	779.38	0.00	0.00	3.47	0.000	0.000	0.048	3134.59	3125.06	3144.12	1800.25	2122.88	0	0	0	30.00	30.00	15.77
838.25	516	-155.72	-1.40	-80.00	3133.1	3123.8	3142.3	1800.6	2123.3	125.69	-11.31	165	844.49	0.00	0.00	4.05	0.000	0.000	0.145	3133.19	3123.81	3142.56	1800.38	663.06	0	0	0	30.00	30.00	15.53
863.68	1028	-155.72	-1.40	0.00	3133.6	3124.3	3142.9	1800.6	663.0	128.82	-12.33	170	869.38	0.00	0.00	3.45	0.000	0.000	0.048	3134.25	3125.00	3143.50	1800.50	2122.81	0	0	0	30.00	30.00	15.78
928.66	260	-155.72	-1.40	80.00	3133.2	3124.1	3142.3	1800.6	2122.6	136.89	-12.08	183	934.38	0.00	0.00	3.55	0.000	0.000	0.108	3134.75	3125.88	3143.62	1799.75	3475.00	0	0	0	30.00	30.00	15.64
954	end dive: TARGET_DEPTH_EXCEEDED
state	954	begin apogee
958.93	10243	0.00	-0.25	0.00	3133.2	3124.2	3142.2	1800.7	2080.2	140.29	-13.11	188	1085.19	120.52	2.08	0.08	1.151	0.145	0.197	2497.38	2506.75	2488.00	2080.12	2126.88	0	0	0	11.06	15.62	15.02
1088	end apogee: CONTROL_FINISHED_OK
state	1088	begin climb
1087.96	10759	155.72	1.40	-80.00	2496.8	2506.5	2487.1	2080.2	2127.2	145.31	0.00	213	1225.92	127.80	2.72	4.13	1.104	0.082	0.133	1862.12	1891.38	1832.88	2484.88	662.94	0	0	0	11.67	15.27	14.96
1449.69	17478	155.72	1.46	0.00	1855.1	1884.1	1826.1	2484.7	663.0	116.52	9.28	284	1454.94	0.00	0.00	3.49	0.000	0.000	0.047	1854.50	1884.19	1824.81	2484.81	2128.44	0	0	0	30.00	30.00	15.63
1514.25	10535	232.41	1.69	80.00	1852.8	1883.8	1821.9	2484.2	2128.5	111.77	7.40	297	1585.34	62.65	0.40	3.64	1.068	0.054	0.110	1551.12	1584.31	1517.94	2563.75	3474.50	0	0	0	11.28	15.64	15.12
1809.71	1028	232.41	1.69	0.00	1544.6	1579.5	1509.6	2564.6	3474.4	76.87	11.92	356	1814.97	0.00	0.00	3.38	0.000	0.000	0.055	1544.81	1579.88	1509.75	2564.50	2077.81	0	0	0	30.00	30.00	15.64
1874.29	16966	232.41	1.72	-80.00	1544.2	1579.2	1509.2	2564.0	2078.3	69.93	10.00	369	1880.49	0.00	0.00	3.89	0.000	0.000	0.133	1544.62	1579.75	1509.50	2564.25	661.81	0	0	0	30.00	30.00	15.51
1964.75	11303	283.89	1.88	0.00	1544.1	1579.2	1509.0	2563.6	661.9	62.08	8.62	387	2025.11	52.36	0.19	3.48	1.001	0.072	0.046	1342.28	1376.81	1307.75	2611.56	2130.19	0	0	0	11.21	15.56	15.69
2084.32	324	283.89	1.93	80.00	1339.8	1376.6	1303.1	2612.3	2130.5	51.75	9.38	411	2090.04	0.00	0.00	3.62	0.000	0.000	0.108	1339.88	1376.56	1303.19	2611.38	3473.00	0	0	0	30.00	30.00	15.47
2239.34	11303	332.70	2.07	0.00	1337.6	1375.2	1300.0	2612.5	3473.3	37.58	8.75	442	2296.11	50.56	0.19	3.38	0.975	0.083	0.053	1143.53	1179.31	1107.75	2657.81	2075.94	0	0	0	11.30	15.49	15.65
2354.35	516	332.70	2.07	-80.00	1142.0	1179.2	1104.8	2657.5	2075.6	25.74	11.20	465	2360.12	0.00	0.00	3.92	0.000	0.000	0.133	1142.41	1179.56	1105.25	2656.81	662.00	0	0	0	30.00	30.00	15.41
2424.84	1028	332.70	2.07	0.00	1141.3	1177.8	1104.9	2657.8	661.9	16.77	13.58	479	2430.07	0.00	0.00	3.51	0.000	0.000	0.046	1141.47	1177.75	1105.19	2658.69	2126.44	0	0	0	30.00	30.00	15.60
2489.37	0	332.70	2.07	0.00	1140.5	1177.8	1103.3	2658.6	2126.4	8.76	13.22	492	2493.68	0.00	0.00	0.00	0.000	0.000	0.000	1140.75	1177.94	1103.56	2658.38	2126.69	0	0	0	30.00	30.00	30.00
2544	end climb: SURFACE_DEPTH_REACHED
state	2544	begin surface coast
2559	end surface coast: CONTROL_FINISHED_OK
state	2559	begin surface