Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 10 * 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 4

DIVE 10 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 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 550 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 360 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 FILEMGR 0 C_VBD 2968 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 0.0012300001 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 0 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 120 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 140 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 3600 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2300 FG_AHR_10V 13.017635 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 18.154396 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 150 PITCH_GAIN 25 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 0.045000002 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 5 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 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 0.003 ROLL_MAX 3825 ALTIM_PING_DEPTH 100 SC_NDIVE 1.0

HD_B 0.0099999998 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 550 D_SURF 2 N_NOCOMM 2 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 5 D_TGT 360 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 550

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 13.017635 PITCH_ADJ_GAIN 0.045000002 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 18.154396 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 25 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3600 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 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 120

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 140

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 2300 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 2968 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 80 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 150 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 10 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

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 0

D_FINISH 0 NAV_MODE 2 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 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 270421,021409,4705.070,-12454.591,22,1.3,23,15.8 TGT_RADIUS 2500.000

_CALLS 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270421,022329,4705.088,-12454.550,2,0.7,3,15.8 MHEAD_RNG_PITCHd_Wd 246.8,158731,-17.6,-10.000,-21.24

SPEED_LIMITS 0.173,0.257 D_GRID 139

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 0.1,1.024302 FG_AHR_10Vo 13.040

SM_CCo 3146.01,103.01,1.134,0,726.2,698.1,754.4,549.90 MEM0 60876,1,0,0

SM_GC 1.26,103.01,16.15,0.10,1.134,0.057,0.124,726.2,698.1,754.4,192.6,2146.4,0,0,0,12.79,15.92,15.94 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971756,19,75332,55

IRIDIUM_FIX 4703.79,-12414.72,270421,021920 DATA_FILE_SIZE 12913,528

TCM_TEMP 266.51 CAP_FILE_SIZE 158467,0

XPDR_PINGS 15,13.0,10.5 SDSIZE 4028416,4016128

ALTIM_BOTTOM_PING 100.1,57.4 SDFILEDIR 86,1

SC_FREEKB 3874304 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.25 CURRENT 0.052, 94.4,1

TEMP 82.58 MAGCAL 1.000000,-0.043820,-0.113585,-0.018136,1.035444,-0.058462,-0.017020,-0.055337,1.029825,773.7,-267.7,68.6,16,0.0223,0

INTERNAL_PRESSURE 8.82473 IMPLIED_C_PITCH 2365,11.65,323

_24V_AH 14.82,12.729 IMPLIED_C_VBD 2933,41.144966,314

_10V_AH 14.93,0.000 GPS 270421,031627,4705.031,-12454.982,2,0.8,3,15.8

FG_AHR_24Vo 18.327

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 597 1314 11649.04 nil 0 0 0.00

Pitch_motor 35 255 135.55 nil 0 0 0.00

Roll_motor 56 161 133.89 nil 0 0 0.00

Iridium 302 198 891.41 nil 0 0 0.00

Transponder_ping 4 420 26.45 nil 0 0 0.00

GPS 12 15 2.83 nil 0 0 0.00

Core 2084 11 367.23 SciCon 3025 18 825.67

LPSleep 1595 2 66.68 nil 0 0 0.00

Compass 809 5 60.46 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.90

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.07 16386 -145.99 -0.88 0.00 719.9 715.7 724.2 184.2 2058.4 0.00 0.00 0 89.41 81.88 0.00 0.00 0.005 0.000 0.000 2654.41 2782.75 2526.06 184.25 2057.25 0 0 0 15.39 30.00 30.00

90.14 18983 -145.99 -0.88 -80.00 2653.8 2781.6 2526.1 184.4 2056.4 3.22 -2.37 16 139.04 22.73 14.58 3.49 0.006 0.256 0.115 3563.16 3750.50 3375.81 2084.81 633.19 0 0 0 15.40 15.80 15.82

152.00 1028 -145.99 -0.88 0.00 3562.8 3749.8 3375.9 2084.4 633.3 12.06 -14.23 28 157.67 0.00 0.00 3.39 0.000 0.000 0.041 3563.81 3750.69 3376.94 2085.25 2132.56 0 0 0 30.00 30.00 15.91

342.18 4485 -145.99 -1.04 80.00 3563.1 3749.8 3376.3 2085.1 2132.5 38.08 -12.67 66 347.86 0.00 0.31 3.46 0.000 0.073 0.106 3562.91 3749.62 3376.19 2027.31 3567.94 0 0 0 30.00 15.95 15.94

417.12 1028 -145.99 -1.04 0.00 3563.5 3750.0 3376.9 2027.1 3567.9 50.80 -17.32 81 422.79 0.00 0.00 3.39 0.000 0.000 0.040 3562.88 3749.00 3376.75 2027.06 2063.44 0 0 0 30.00 30.00 15.98

607.19 516 -145.99 -1.04 -80.00 3563.1 3749.3 3376.9 2027.1 2064.2 74.17 -10.68 119 612.87 0.00 0.00 3.48 0.000 0.000 0.110 3563.41 3749.81 3377.00 2027.12 631.88 0 0 0 30.00 30.00 16.00

657.21 1028 -145.99 -1.04 0.00 3563.3 3749.8 3376.8 2027.1 632.1 80.41 -13.17 129 662.88 0.00 0.00 3.37 0.000 0.000 0.040 3563.06 3749.19 3376.94 2026.44 2132.69 0 0 0 30.00 30.00 16.02

852.27 260 -145.99 -1.04 80.00 3563.3 3749.6 3377.1 2026.9 2132.9 103.12 -10.14 165 857.50 0.00 0.00 3.43 0.000 0.000 0.104 3563.53 3749.94 3377.12 2026.50 3567.81 0 0 0 30.00 30.00 16.02

932.30 1028 -145.99 -1.04 0.00 3563.2 3749.5 3377.0 2026.9 3567.8 112.02 -11.66 181 937.50 0.00 0.00 3.38 0.000 0.000 0.040 3563.75 3749.94 3377.56 2026.94 2064.19 0 0 0 30.00 30.00 16.05

1203 end dive: TARGET_DEPTH_EXCEEDED

state 1203 begin apogee

1204.54 10243 0.00 -0.20 0.00 3563.1 3749.8 3376.4 2026.8 2143.9 139.48 -9.19 209 1306.91 98.13 1.55 0.14 1.315 0.150 0.161 2967.31 3060.00 2874.62 2252.12 2051.44 0 0 0 12.81 16.03 15.66

1308 end apogee: CONTROL_FINISHED_OK

state 1308 begin climb

1308.84 10759 145.99 0.88 -80.00 2965.8 3058.4 2873.3 2252.6 2051.2 142.26 0.00 219 1420.37 100.73 1.78 3.59 1.260 0.112 0.115 2369.91 2435.81 2304.00 2515.88 633.25 0 0 0 12.69 15.67 15.40

1508.62 11431 245.86 1.30 0.00 2367.1 2435.6 2298.6 2516.2 633.3 134.41 5.35 258 1586.74 70.50 0.63 3.45 1.234 0.071 0.038 1966.88 2043.94 1889.81 2625.00 2133.94 0 0 0 12.60 15.62 15.64

1893.57 18823 245.86 1.49 80.00 1955.9 2041.3 1870.5 2624.6 2134.1 101.74 10.36 304 1899.02 0.00 0.22 3.50 0.000 0.094 0.108 1957.22 2042.88 1871.56 2669.12 3568.50 0 0 0 30.00 15.80 15.80

2028.60 17414 245.86 1.49 0.00 1955.4 2042.1 1868.8 2669.6 3568.5 86.30 10.25 331 2034.30 0.00 0.00 3.42 0.000 0.000 0.040 1955.22 2041.81 1868.62 2669.75 2064.00 0 0 0 30.00 30.00 15.87

2218.70 8486 326.40 1.59 80.00 1955.0 2042.0 1868.0 2670.2 2063.8 72.98 6.25 369 2282.21 56.97 0.00 3.71 1.207 0.000 0.104 1637.62 1714.31 1560.94 2668.50 3568.31 0 0 0 12.72 30.00 15.68

2370.24 11431 394.00 1.77 0.00 1631.2 1714.0 1548.5 2670.4 3568.1 62.05 6.86 399 2427.66 49.93 0.37 3.42 1.176 0.077 0.038 1362.12 1429.19 1295.06 2736.50 2063.94 0 0 0 12.72 15.78 15.81

2610.81 10403 402.11 1.95 0.00 1353.7 1428.7 1278.7 2736.0 2063.8 39.18 9.62 447 2620.69 7.59 0.22 0.00 0.900 0.094 0.000 1329.19 1405.94 1252.44 2781.12 2063.75 0 0 0 12.69 15.79 30.00

2805.84 8486 407.61 1.95 80.00 1325.6 1405.6 1245.5 2780.4 2064.2 19.32 9.74 486 2817.88 6.41 0.00 3.66 0.831 0.000 0.104 1305.78 1386.56 1225.00 2780.50 3567.88 0 0 0 12.70 30.00 15.80

2850.96 1028 407.61 1.95 0.00 1305.8 1386.6 1224.9 2780.5 3568.4 14.76 10.26 495 2856.65 0.00 0.00 3.41 0.000 0.000 0.041 1305.91 1386.88 1224.94 2781.88 2064.19 0 0 0 30.00 30.00 15.87

2991 end climb: SURFACE_DEPTH_REACHED

state 2991 begin surface coast

3016 end surface coast: CONTROL_FINISHED_OK

state 3016 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	4
DIVE	10	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	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	550	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	360	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	FILEMGR	0	C_VBD	2968	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	0.0012300001	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	0	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	120	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	140	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	3600	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2300	FG_AHR_10V	13.017635	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	18.154396	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	150	PITCH_GAIN	25	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	0.045000002	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	5	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	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	0.003	ROLL_MAX	3825	ALTIM_PING_DEPTH	100	SC_NDIVE	1.0
HD_B	0.0099999998	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	270421,021409,4705.070,-12454.591,22,1.3,23,15.8	TGT_RADIUS	2500.000
_CALLS	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270421,022329,4705.088,-12454.550,2,0.7,3,15.8	MHEAD_RNG_PITCHd_Wd	246.8,158731,-17.6,-10.000,-21.24
SPEED_LIMITS	0.173,0.257	D_GRID	139
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	0.1,1.024302	FG_AHR_10Vo	13.040
SM_CCo	3146.01,103.01,1.134,0,726.2,698.1,754.4,549.90	MEM0	60876,1,0,0
SM_GC	1.26,103.01,16.15,0.10,1.134,0.057,0.124,726.2,698.1,754.4,192.6,2146.4,0,0,0,12.79,15.92,15.94	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971756,19,75332,55
IRIDIUM_FIX	4703.79,-12414.72,270421,021920	DATA_FILE_SIZE	12913,528
TCM_TEMP	266.51	CAP_FILE_SIZE	158467,0
XPDR_PINGS	15,13.0,10.5	SDSIZE	4028416,4016128
ALTIM_BOTTOM_PING	100.1,57.4	SDFILEDIR	86,1
SC_FREEKB	3874304	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.25	CURRENT	0.052, 94.4,1
TEMP	82.58	MAGCAL	1.000000,-0.043820,-0.113585,-0.018136,1.035444,-0.058462,-0.017020,-0.055337,1.029825,773.7,-267.7,68.6,16,0.0223,0
INTERNAL_PRESSURE	8.82473	IMPLIED_C_PITCH	2365,11.65,323
_24V_AH	14.82,12.729	IMPLIED_C_VBD	2933,41.144966,314
_10V_AH	14.93,0.000	GPS	270421,031627,4705.031,-12454.982,2,0.8,3,15.8
FG_AHR_24Vo	18.327

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	597	1314	11649.04	nil	0	0	0.00
Pitch_motor	35	255	135.55	nil	0	0	0.00
Roll_motor	56	161	133.89	nil	0	0	0.00
Iridium	302	198	891.41	nil	0	0	0.00
Transponder_ping	4	420	26.45	nil	0	0	0.00
GPS	12	15	2.83	nil	0	0	0.00
Core	2084	11	367.23	SciCon	3025	18	825.67
LPSleep	1595	2	66.68	nil	0	0	0.00
Compass	809	5	60.46	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.90
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.07	16386	-145.99	-0.88	0.00	719.9	715.7	724.2	184.2	2058.4	0.00	0.00	0	89.41	81.88	0.00	0.00	0.005	0.000	0.000	2654.41	2782.75	2526.06	184.25	2057.25	0	0	0	15.39	30.00	30.00
90.14	18983	-145.99	-0.88	-80.00	2653.8	2781.6	2526.1	184.4	2056.4	3.22	-2.37	16	139.04	22.73	14.58	3.49	0.006	0.256	0.115	3563.16	3750.50	3375.81	2084.81	633.19	0	0	0	15.40	15.80	15.82
152.00	1028	-145.99	-0.88	0.00	3562.8	3749.8	3375.9	2084.4	633.3	12.06	-14.23	28	157.67	0.00	0.00	3.39	0.000	0.000	0.041	3563.81	3750.69	3376.94	2085.25	2132.56	0	0	0	30.00	30.00	15.91
342.18	4485	-145.99	-1.04	80.00	3563.1	3749.8	3376.3	2085.1	2132.5	38.08	-12.67	66	347.86	0.00	0.31	3.46	0.000	0.073	0.106	3562.91	3749.62	3376.19	2027.31	3567.94	0	0	0	30.00	15.95	15.94
417.12	1028	-145.99	-1.04	0.00	3563.5	3750.0	3376.9	2027.1	3567.9	50.80	-17.32	81	422.79	0.00	0.00	3.39	0.000	0.000	0.040	3562.88	3749.00	3376.75	2027.06	2063.44	0	0	0	30.00	30.00	15.98
607.19	516	-145.99	-1.04	-80.00	3563.1	3749.3	3376.9	2027.1	2064.2	74.17	-10.68	119	612.87	0.00	0.00	3.48	0.000	0.000	0.110	3563.41	3749.81	3377.00	2027.12	631.88	0	0	0	30.00	30.00	16.00
657.21	1028	-145.99	-1.04	0.00	3563.3	3749.8	3376.8	2027.1	632.1	80.41	-13.17	129	662.88	0.00	0.00	3.37	0.000	0.000	0.040	3563.06	3749.19	3376.94	2026.44	2132.69	0	0	0	30.00	30.00	16.02
852.27	260	-145.99	-1.04	80.00	3563.3	3749.6	3377.1	2026.9	2132.9	103.12	-10.14	165	857.50	0.00	0.00	3.43	0.000	0.000	0.104	3563.53	3749.94	3377.12	2026.50	3567.81	0	0	0	30.00	30.00	16.02
932.30	1028	-145.99	-1.04	0.00	3563.2	3749.5	3377.0	2026.9	3567.8	112.02	-11.66	181	937.50	0.00	0.00	3.38	0.000	0.000	0.040	3563.75	3749.94	3377.56	2026.94	2064.19	0	0	0	30.00	30.00	16.05
1203	end dive: TARGET_DEPTH_EXCEEDED
state	1203	begin apogee
1204.54	10243	0.00	-0.20	0.00	3563.1	3749.8	3376.4	2026.8	2143.9	139.48	-9.19	209	1306.91	98.13	1.55	0.14	1.315	0.150	0.161	2967.31	3060.00	2874.62	2252.12	2051.44	0	0	0	12.81	16.03	15.66
1308	end apogee: CONTROL_FINISHED_OK
state	1308	begin climb
1308.84	10759	145.99	0.88	-80.00	2965.8	3058.4	2873.3	2252.6	2051.2	142.26	0.00	219	1420.37	100.73	1.78	3.59	1.260	0.112	0.115	2369.91	2435.81	2304.00	2515.88	633.25	0	0	0	12.69	15.67	15.40
1508.62	11431	245.86	1.30	0.00	2367.1	2435.6	2298.6	2516.2	633.3	134.41	5.35	258	1586.74	70.50	0.63	3.45	1.234	0.071	0.038	1966.88	2043.94	1889.81	2625.00	2133.94	0	0	0	12.60	15.62	15.64
1893.57	18823	245.86	1.49	80.00	1955.9	2041.3	1870.5	2624.6	2134.1	101.74	10.36	304	1899.02	0.00	0.22	3.50	0.000	0.094	0.108	1957.22	2042.88	1871.56	2669.12	3568.50	0	0	0	30.00	15.80	15.80
2028.60	17414	245.86	1.49	0.00	1955.4	2042.1	1868.8	2669.6	3568.5	86.30	10.25	331	2034.30	0.00	0.00	3.42	0.000	0.000	0.040	1955.22	2041.81	1868.62	2669.75	2064.00	0	0	0	30.00	30.00	15.87
2218.70	8486	326.40	1.59	80.00	1955.0	2042.0	1868.0	2670.2	2063.8	72.98	6.25	369	2282.21	56.97	0.00	3.71	1.207	0.000	0.104	1637.62	1714.31	1560.94	2668.50	3568.31	0	0	0	12.72	30.00	15.68
2370.24	11431	394.00	1.77	0.00	1631.2	1714.0	1548.5	2670.4	3568.1	62.05	6.86	399	2427.66	49.93	0.37	3.42	1.176	0.077	0.038	1362.12	1429.19	1295.06	2736.50	2063.94	0	0	0	12.72	15.78	15.81
2610.81	10403	402.11	1.95	0.00	1353.7	1428.7	1278.7	2736.0	2063.8	39.18	9.62	447	2620.69	7.59	0.22	0.00	0.900	0.094	0.000	1329.19	1405.94	1252.44	2781.12	2063.75	0	0	0	12.69	15.79	30.00
2805.84	8486	407.61	1.95	80.00	1325.6	1405.6	1245.5	2780.4	2064.2	19.32	9.74	486	2817.88	6.41	0.00	3.66	0.831	0.000	0.104	1305.78	1386.56	1225.00	2780.50	3567.88	0	0	0	12.70	30.00	15.80
2850.96	1028	407.61	1.95	0.00	1305.8	1386.6	1224.9	2780.5	3568.4	14.76	10.26	495	2856.65	0.00	0.00	3.41	0.000	0.000	0.041	1305.91	1386.88	1224.94	2781.88	2064.19	0	0	0	30.00	30.00	15.87
2991	end climb: SURFACE_DEPTH_REACHED
state	2991	begin surface coast
3016	end surface coast: CONTROL_FINISHED_OK
state	3016	begin surface