Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 96 * 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 96 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 0 XPDR_REP -1

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 375 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 -1

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 0.0020000001 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 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 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 3 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 34

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 20.49585 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 38.317707 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 -180.00272 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00021665409 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 0.0063095698 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0094307503 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2240 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 2 N_NOCOMM 2 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 375

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 20.49585 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 38.317707 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 0.0063095698 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0094307503 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0020000001 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 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.00021665409 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -180.00272 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 3

C_PITCH 2320 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2240 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 1 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 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 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 96 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 160521,190305,4751.146,-12511.093,36,1.1,37,16.0 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160521,190815,4751.108,-12511.064,3,1.0,6,16.0 MHEAD_RNG_PITCHd_Wd 264.5,167005,-21.6,-8.462,-23.21

SPEED_LIMITS 0.147,0.197 D_GRID 253

TGT_NAME OFFSHORE 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 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH -0.0,1.024515 FG_AHR_10Vo 20.533

SM_CCo 6159.23,62.58,1.151,0,1247.3,1222.1,1272.5,374.74 MEM0 60876,1,0,0

SM_GC 1.79,62.58,16.04,0.13,1.151,0.051,0.116,1247.3,1222.1,1272.5,185.4,2361.2,0,0,0,12.99,15.96,15.97 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971748,20,75320,55

IRIDIUM_FIX 4751.64,-12513.98,160521,173421 DATA_FILE_SIZE 25704,894

TCM_TEMP 266.00 CAP_FILE_SIZE 164322,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3995136

SC_FREEKB 3835712 SDFILEDIR 516,1

HUMID 48.65 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.37 CURRENT 0.124,125.1,1

INTERNAL_PRESSURE 8.85529 MAGCAL 1.000000,0.028113,0.224349,0.083933,0.757983,-0.090884,-0.417155,-0.051639,1.400209,474.8,-11.8,-231.3,30,0.0937,0

_24V_AH 14.96,37.559 IMPLIED_C_PITCH 2357,13.55,629

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2893,28.731682,258

FG_AHR_24Vo 38.447 GPS 160521,205209,4751.061,-12511.387,15,1.6,45,16.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 394 1424 8412.17 nil 0 0 0.00

Pitch_motor 34 256 132.48 nil 0 0 0.00

Roll_motor 54 115 94.25 nil 0 0 0.00

Iridium 190 218 623.17 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.34 nil 0 0 0.00

Core 2609 11 461.80 SciCon 6083 14 1354.90

LPSleep 3718 2 156.18 nil 0 0 0.00

Compass 1355 5 101.68 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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

6.12 16386 -82.73 -1.37 0.00 1235.8 1235.7 1235.9 183.1 2374.2 0.00 0.00 0 59.24 51.94 0.00 0.00 0.005 0.000 0.000 2482.59 2607.25 2357.94 183.06 2376.00 0 0 0 15.84 30.00 30.00

59.98 18727 -82.73 -1.37 60.00 2481.9 2606.1 2357.6 183.1 2376.2 3.07 -3.57 10 99.14 17.10 13.56 2.69 0.006 0.256 0.091 3109.72 3276.12 2943.31 1988.31 3425.88 0 0 0 15.84 15.76 15.80

327.20 1028 -82.73 -1.37 0.00 3111.1 3276.1 2946.1 1988.6 3425.8 53.41 -17.95 63 332.73 0.00 0.00 2.60 0.000 0.000 0.024 3112.22 3277.31 2947.12 1988.25 2253.94 0 0 0 30.00 30.00 15.95

517.65 260 -82.73 -1.37 60.00 3111.2 3276.1 2946.2 1988.1 2252.1 76.91 -9.29 101 523.07 0.00 0.00 2.97 0.000 0.000 0.083 3111.47 3276.06 2946.88 1988.62 3427.19 0 0 0 30.00 30.00 15.99

562.42 1028 -82.73 -1.37 0.00 3111.5 3276.0 2947.1 1988.4 3426.9 81.93 -11.97 110 567.83 0.00 0.00 2.59 0.000 0.000 0.024 3112.62 3277.00 2948.25 1988.12 2253.00 0 0 0 30.00 30.00 16.01

757.76 516 -82.73 -1.37 -60.00 3111.6 3276.3 2946.9 1988.9 2251.4 102.03 -9.69 147 762.03 0.00 0.00 2.49 0.000 0.000 0.069 3111.56 3276.00 2947.12 1988.75 1209.69 0 0 0 30.00 30.00 16.04

891.96 1028 -82.73 -1.37 0.00 3111.8 3276.3 2947.2 1988.2 1209.4 115.15 -10.02 174 897.97 0.00 0.00 2.64 0.000 0.000 0.032 3111.91 3276.38 2947.44 1988.38 2352.12 0 0 0 30.00 30.00 16.05

1207.48 516 -82.73 -1.37 -60.00 3111.9 3275.9 2947.8 1988.8 2352.1 143.28 -10.01 206 1212.57 0.00 0.00 2.74 0.000 0.000 0.063 3111.69 3276.12 2947.25 1988.44 1208.38 0 0 0 30.00 30.00 16.08

1292.03 1028 -82.73 -1.37 0.00 3112.0 3276.1 2947.9 1988.4 1208.6 153.19 -12.30 223 1298.04 0.00 0.00 2.63 0.000 0.000 0.031 3112.09 3275.88 2948.31 1988.69 2351.88 0 0 0 30.00 30.00 16.10

1607.91 0 -82.73 -1.37 0.00 3112.0 3276.2 2947.8 1988.5 2351.9 188.97 -11.03 255 1609.24 0.00 0.00 0.00 0.000 0.000 0.000 3111.12 3275.81 2946.44 1988.62 2351.88 0 0 0 30.00 30.00 30.00

1917.94 0 -82.73 -1.37 0.00 3111.8 3276.0 2947.7 1988.9 2351.4 219.02 -8.94 286 1919.27 0.00 0.00 0.00 0.000 0.000 0.000 3111.38 3276.19 2946.56 1988.94 2351.81 0 0 0 30.00 30.00 30.00

2227.99 0 -82.73 -1.37 0.00 3111.4 3275.7 2947.1 1988.7 2352.1 246.02 -8.57 317 2229.31 0.00 0.00 0.00 0.000 0.000 0.000 3111.16 3276.00 2946.31 1988.25 2351.69 0 0 0 30.00 30.00 30.00

2317 end dive: TARGET_DEPTH_EXCEEDED

state 2317 begin apogee

2319.42 10243 0.00 -0.28 0.00 3112.0 3276.4 2947.6 1988.8 2162.6 253.61 -8.35 326 2380.04 56.55 1.75 0.21 1.424 0.152 0.112 2773.72 2891.69 2655.75 2254.69 2283.06 0 0 0 13.10 16.10 15.83

2381 end apogee: CONTROL_FINISHED_OK

state 2381 begin climb

2382.16 10243 82.73 1.37 0.00 2773.1 2891.2 2654.9 2254.6 2283.4 254.96 0.00 332 2445.12 57.85 2.57 0.00 1.378 0.104 0.000 2437.09 2512.44 2361.75 2655.00 2283.62 0 0 0 12.95 15.86 30.00

2748.28 8226 126.70 1.45 0.00 2432.2 2512.1 2352.3 2654.2 2283.2 233.61 5.46 369 2781.92 31.96 0.00 0.00 1.334 0.000 0.000 2255.59 2323.06 2188.12 2655.25 2283.50 0 0 0 12.83 30.00 30.00

3088.34 64 126.70 1.47 0.00 2253.2 2324.9 2181.5 2655.2 2282.8 208.40 7.78 403 3089.67 0.00 0.00 0.00 0.000 0.000 0.000 2252.31 2324.62 2180.00 2654.50 2283.25 0 0 0 30.00 30.00 30.00

3398.80 2373 126.70 1.50 60.00 2252.7 2325.5 2179.9 2655.0 2283.0 187.03 6.83 434 3403.54 0.00 0.17 2.69 0.000 0.094 0.090 2252.50 2325.44 2179.56 2698.81 3346.38 0 0 0 30.00 15.99 15.99

3562.99 1028 126.70 1.50 0.00 2252.2 2324.8 2179.7 2699.5 3346.4 172.57 8.66 467 3568.99 0.00 0.00 2.60 0.000 0.000 0.026 2252.00 2324.81 2179.19 2700.12 2188.81 0 0 0 30.00 30.00 16.04

3878.91 580 126.70 1.54 -60.00 2251.8 2325.1 2178.4 2700.1 2189.4 149.13 6.51 499 3883.57 0.00 0.00 2.57 0.000 0.000 0.078 2251.75 2324.75 2178.75 2699.62 1131.56 0 0 0 30.00 30.00 16.07

3988.53 1028 126.70 1.54 0.00 2251.4 2324.8 2178.1 2699.5 1131.4 140.48 8.12 521 3993.62 0.00 0.00 2.65 0.000 0.000 0.031 2251.78 2325.44 2178.12 2699.38 2273.50 0 0 0 30.00 30.00 16.08

4298.75 516 126.70 1.54 -60.00 2251.1 2324.7 2177.5 2699.6 2273.7 115.16 7.97 553 4303.72 0.00 0.00 2.77 0.000 0.000 0.072 2251.19 2324.19 2178.19 2700.06 1131.38 0 0 0 30.00 30.00 16.10

4388.65 1092 126.70 1.57 0.00 2250.9 2324.9 2176.9 2699.1 1131.5 108.52 7.10 571 4393.68 0.00 0.00 2.65 0.000 0.000 0.031 2251.47 2325.31 2177.62 2699.75 2273.69 0 0 0 30.00 30.00 16.11

4698.64 64 126.70 1.60 0.00 2250.7 2324.5 2176.9 2700.0 2273.8 88.19 6.92 620 4699.97 0.00 0.00 0.00 0.000 0.000 0.000 2250.03 2324.31 2175.75 2699.75 2273.75 0 0 0 30.00 30.00 30.00

4883.68 10791 198.78 1.74 -60.00 2250.3 2324.7 2175.9 2699.9 2273.8 79.96 3.54 657 4941.01 50.70 0.26 2.81 1.248 0.077 0.074 1963.91 2007.06 1920.75 2756.69 1130.06 0 0 0 13.09 16.12 15.87

5094.05 1028 198.78 1.74 0.00 1956.8 2005.1 1908.4 2756.8 1130.1 64.40 9.25 699 5099.59 0.00 0.00 2.67 0.000 0.000 0.031 1958.19 2006.25 1910.12 2756.12 2271.56 0 0 0 30.00 30.00 15.99

5284.53 16966 198.78 1.77 -60.00 1955.0 2005.6 1904.4 2755.8 2271.1 50.53 6.96 737 5289.69 0.00 0.00 2.80 0.000 0.000 0.071 1955.78 2006.50 1905.06 2756.00 1130.25 0 0 0 30.00 30.00 16.02

5519.23 9254 258.09 1.89 0.00 1954.2 2005.4 1902.9 2756.5 1129.9 37.67 4.41 784 5567.12 42.76 0.00 2.65 1.182 0.000 0.030 1723.69 1757.50 1689.88 2755.56 2274.12 0 0 0 13.00 30.00 16.05

5750.36 10791 288.58 1.95 -60.00 1714.3 1756.3 1672.4 2756.8 2274.0 24.52 6.38 830 5781.09 23.36 0.22 2.83 1.119 0.083 0.074 1599.41 1632.25 1566.56 2806.75 1132.50 0 0 0 12.89 15.93 15.82

6005.45 1092 288.58 1.98 0.00 1590.6 1629.7 1551.6 2808.0 1132.8 4.30 7.17 881 6010.98 0.00 0.00 2.67 0.000 0.000 0.030 1590.84 1630.19 1551.50 2807.94 2272.62 0 0 0 30.00 30.00 15.96

6039 end climb: SURFACE_DEPTH_REACHED

state 6040 begin surface coast

6070 end surface coast: CONTROL_FINISHED_OK

state 6070 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	96	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	0	XPDR_REP	-1
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	375	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	-1
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	0.0020000001	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	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	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	3	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	34
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	20.49585	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	38.317707	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	-180.00272	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00021665409	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	0.0063095698	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0094307503	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2240	ALTIM_PULSE	1

GPS1	160521,190305,4751.146,-12511.093,36,1.1,37,16.0	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160521,190815,4751.108,-12511.064,3,1.0,6,16.0	MHEAD_RNG_PITCHd_Wd	264.5,167005,-21.6,-8.462,-23.21
SPEED_LIMITS	0.147,0.197	D_GRID	253
TGT_NAME	OFFSHORE	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	4700.000,-12700.000

FINISH	-0.0,1.024515	FG_AHR_10Vo	20.533
SM_CCo	6159.23,62.58,1.151,0,1247.3,1222.1,1272.5,374.74	MEM0	60876,1,0,0
SM_GC	1.79,62.58,16.04,0.13,1.151,0.051,0.116,1247.3,1222.1,1272.5,185.4,2361.2,0,0,0,12.99,15.96,15.97	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971748,20,75320,55
IRIDIUM_FIX	4751.64,-12513.98,160521,173421	DATA_FILE_SIZE	25704,894
TCM_TEMP	266.00	CAP_FILE_SIZE	164322,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3995136
SC_FREEKB	3835712	SDFILEDIR	516,1
HUMID	48.65	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.37	CURRENT	0.124,125.1,1
INTERNAL_PRESSURE	8.85529	MAGCAL	1.000000,0.028113,0.224349,0.083933,0.757983,-0.090884,-0.417155,-0.051639,1.400209,474.8,-11.8,-231.3,30,0.0937,0
_24V_AH	14.96,37.559	IMPLIED_C_PITCH	2357,13.55,629
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2893,28.731682,258
FG_AHR_24Vo	38.447	GPS	160521,205209,4751.061,-12511.387,15,1.6,45,16.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	394	1424	8412.17	nil	0	0	0.00
Pitch_motor	34	256	132.48	nil	0	0	0.00
Roll_motor	54	115	94.25	nil	0	0	0.00
Iridium	190	218	623.17	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.34	nil	0	0	0.00
Core	2609	11	461.80	SciCon	6083	14	1354.90
LPSleep	3718	2	156.18	nil	0	0	0.00
Compass	1355	5	101.68	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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
6.12	16386	-82.73	-1.37	0.00	1235.8	1235.7	1235.9	183.1	2374.2	0.00	0.00	0	59.24	51.94	0.00	0.00	0.005	0.000	0.000	2482.59	2607.25	2357.94	183.06	2376.00	0	0	0	15.84	30.00	30.00
59.98	18727	-82.73	-1.37	60.00	2481.9	2606.1	2357.6	183.1	2376.2	3.07	-3.57	10	99.14	17.10	13.56	2.69	0.006	0.256	0.091	3109.72	3276.12	2943.31	1988.31	3425.88	0	0	0	15.84	15.76	15.80
327.20	1028	-82.73	-1.37	0.00	3111.1	3276.1	2946.1	1988.6	3425.8	53.41	-17.95	63	332.73	0.00	0.00	2.60	0.000	0.000	0.024	3112.22	3277.31	2947.12	1988.25	2253.94	0	0	0	30.00	30.00	15.95
517.65	260	-82.73	-1.37	60.00	3111.2	3276.1	2946.2	1988.1	2252.1	76.91	-9.29	101	523.07	0.00	0.00	2.97	0.000	0.000	0.083	3111.47	3276.06	2946.88	1988.62	3427.19	0	0	0	30.00	30.00	15.99
562.42	1028	-82.73	-1.37	0.00	3111.5	3276.0	2947.1	1988.4	3426.9	81.93	-11.97	110	567.83	0.00	0.00	2.59	0.000	0.000	0.024	3112.62	3277.00	2948.25	1988.12	2253.00	0	0	0	30.00	30.00	16.01
757.76	516	-82.73	-1.37	-60.00	3111.6	3276.3	2946.9	1988.9	2251.4	102.03	-9.69	147	762.03	0.00	0.00	2.49	0.000	0.000	0.069	3111.56	3276.00	2947.12	1988.75	1209.69	0	0	0	30.00	30.00	16.04
891.96	1028	-82.73	-1.37	0.00	3111.8	3276.3	2947.2	1988.2	1209.4	115.15	-10.02	174	897.97	0.00	0.00	2.64	0.000	0.000	0.032	3111.91	3276.38	2947.44	1988.38	2352.12	0	0	0	30.00	30.00	16.05
1207.48	516	-82.73	-1.37	-60.00	3111.9	3275.9	2947.8	1988.8	2352.1	143.28	-10.01	206	1212.57	0.00	0.00	2.74	0.000	0.000	0.063	3111.69	3276.12	2947.25	1988.44	1208.38	0	0	0	30.00	30.00	16.08
1292.03	1028	-82.73	-1.37	0.00	3112.0	3276.1	2947.9	1988.4	1208.6	153.19	-12.30	223	1298.04	0.00	0.00	2.63	0.000	0.000	0.031	3112.09	3275.88	2948.31	1988.69	2351.88	0	0	0	30.00	30.00	16.10
1607.91	0	-82.73	-1.37	0.00	3112.0	3276.2	2947.8	1988.5	2351.9	188.97	-11.03	255	1609.24	0.00	0.00	0.00	0.000	0.000	0.000	3111.12	3275.81	2946.44	1988.62	2351.88	0	0	0	30.00	30.00	30.00
1917.94	0	-82.73	-1.37	0.00	3111.8	3276.0	2947.7	1988.9	2351.4	219.02	-8.94	286	1919.27	0.00	0.00	0.00	0.000	0.000	0.000	3111.38	3276.19	2946.56	1988.94	2351.81	0	0	0	30.00	30.00	30.00
2227.99	0	-82.73	-1.37	0.00	3111.4	3275.7	2947.1	1988.7	2352.1	246.02	-8.57	317	2229.31	0.00	0.00	0.00	0.000	0.000	0.000	3111.16	3276.00	2946.31	1988.25	2351.69	0	0	0	30.00	30.00	30.00
2317	end dive: TARGET_DEPTH_EXCEEDED
state	2317	begin apogee
2319.42	10243	0.00	-0.28	0.00	3112.0	3276.4	2947.6	1988.8	2162.6	253.61	-8.35	326	2380.04	56.55	1.75	0.21	1.424	0.152	0.112	2773.72	2891.69	2655.75	2254.69	2283.06	0	0	0	13.10	16.10	15.83
2381	end apogee: CONTROL_FINISHED_OK
state	2381	begin climb
2382.16	10243	82.73	1.37	0.00	2773.1	2891.2	2654.9	2254.6	2283.4	254.96	0.00	332	2445.12	57.85	2.57	0.00	1.378	0.104	0.000	2437.09	2512.44	2361.75	2655.00	2283.62	0	0	0	12.95	15.86	30.00
2748.28	8226	126.70	1.45	0.00	2432.2	2512.1	2352.3	2654.2	2283.2	233.61	5.46	369	2781.92	31.96	0.00	0.00	1.334	0.000	0.000	2255.59	2323.06	2188.12	2655.25	2283.50	0	0	0	12.83	30.00	30.00
3088.34	64	126.70	1.47	0.00	2253.2	2324.9	2181.5	2655.2	2282.8	208.40	7.78	403	3089.67	0.00	0.00	0.00	0.000	0.000	0.000	2252.31	2324.62	2180.00	2654.50	2283.25	0	0	0	30.00	30.00	30.00
3398.80	2373	126.70	1.50	60.00	2252.7	2325.5	2179.9	2655.0	2283.0	187.03	6.83	434	3403.54	0.00	0.17	2.69	0.000	0.094	0.090	2252.50	2325.44	2179.56	2698.81	3346.38	0	0	0	30.00	15.99	15.99
3562.99	1028	126.70	1.50	0.00	2252.2	2324.8	2179.7	2699.5	3346.4	172.57	8.66	467	3568.99	0.00	0.00	2.60	0.000	0.000	0.026	2252.00	2324.81	2179.19	2700.12	2188.81	0	0	0	30.00	30.00	16.04
3878.91	580	126.70	1.54	-60.00	2251.8	2325.1	2178.4	2700.1	2189.4	149.13	6.51	499	3883.57	0.00	0.00	2.57	0.000	0.000	0.078	2251.75	2324.75	2178.75	2699.62	1131.56	0	0	0	30.00	30.00	16.07
3988.53	1028	126.70	1.54	0.00	2251.4	2324.8	2178.1	2699.5	1131.4	140.48	8.12	521	3993.62	0.00	0.00	2.65	0.000	0.000	0.031	2251.78	2325.44	2178.12	2699.38	2273.50	0	0	0	30.00	30.00	16.08
4298.75	516	126.70	1.54	-60.00	2251.1	2324.7	2177.5	2699.6	2273.7	115.16	7.97	553	4303.72	0.00	0.00	2.77	0.000	0.000	0.072	2251.19	2324.19	2178.19	2700.06	1131.38	0	0	0	30.00	30.00	16.10
4388.65	1092	126.70	1.57	0.00	2250.9	2324.9	2176.9	2699.1	1131.5	108.52	7.10	571	4393.68	0.00	0.00	2.65	0.000	0.000	0.031	2251.47	2325.31	2177.62	2699.75	2273.69	0	0	0	30.00	30.00	16.11
4698.64	64	126.70	1.60	0.00	2250.7	2324.5	2176.9	2700.0	2273.8	88.19	6.92	620	4699.97	0.00	0.00	0.00	0.000	0.000	0.000	2250.03	2324.31	2175.75	2699.75	2273.75	0	0	0	30.00	30.00	30.00
4883.68	10791	198.78	1.74	-60.00	2250.3	2324.7	2175.9	2699.9	2273.8	79.96	3.54	657	4941.01	50.70	0.26	2.81	1.248	0.077	0.074	1963.91	2007.06	1920.75	2756.69	1130.06	0	0	0	13.09	16.12	15.87
5094.05	1028	198.78	1.74	0.00	1956.8	2005.1	1908.4	2756.8	1130.1	64.40	9.25	699	5099.59	0.00	0.00	2.67	0.000	0.000	0.031	1958.19	2006.25	1910.12	2756.12	2271.56	0	0	0	30.00	30.00	15.99
5284.53	16966	198.78	1.77	-60.00	1955.0	2005.6	1904.4	2755.8	2271.1	50.53	6.96	737	5289.69	0.00	0.00	2.80	0.000	0.000	0.071	1955.78	2006.50	1905.06	2756.00	1130.25	0	0	0	30.00	30.00	16.02
5519.23	9254	258.09	1.89	0.00	1954.2	2005.4	1902.9	2756.5	1129.9	37.67	4.41	784	5567.12	42.76	0.00	2.65	1.182	0.000	0.030	1723.69	1757.50	1689.88	2755.56	2274.12	0	0	0	13.00	30.00	16.05
5750.36	10791	288.58	1.95	-60.00	1714.3	1756.3	1672.4	2756.8	2274.0	24.52	6.38	830	5781.09	23.36	0.22	2.83	1.119	0.083	0.074	1599.41	1632.25	1566.56	2806.75	1132.50	0	0	0	12.89	15.93	15.82
6005.45	1092	288.58	1.98	0.00	1590.6	1629.7	1551.6	2808.0	1132.8	4.30	7.17	881	6010.98	0.00	0.00	2.67	0.000	0.000	0.030	1590.84	1630.19	1551.50	2807.94	2272.62	0	0	0	30.00	30.00	15.96
6039	end climb: SURFACE_DEPTH_REACHED
state	6040	begin surface coast
6070	end surface coast: CONTROL_FINISHED_OK
state	6070	begin surface