Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1196 * 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 1196 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 2 XPDR_REP -1

D_SURF 4 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 400 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 FILEMGR 0 C_VBD 2775 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 120

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 4 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0020000001 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERS 0

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 300 CAPMAXSIZE 5000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 510 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 2 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 550 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -1 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 56

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3000 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2320 FG_AHR_10V 99.992836 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 313.03992 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 200 PITCH_GAIN 18 PRESSURE_YINT -14.5 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.0014504 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.0039810701 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.029864 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 4 N_NOCOMM 4 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 400

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 99.992836 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 313.03992 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 0.0039810701 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.029864 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 5000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 300

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 56 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.0014504 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -14.5 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 510

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 2

C_PITCH 2320 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2320 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2775 LOGGERS 0 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0.029999999 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 2 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 60 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72946 ROLL_MAX 3825 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 215 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 200 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 1196 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 280222,170438,4754.949,-12514.544,1,1.5,3,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,170957,4754.991,-12514.549,3,1.4,5,15.9 MHEAD_RNG_PITCHd_Wd 171.7,167666,-22.6,-11.000,-28.75

SPEED_LIMITS 0.191,0.201 D_GRID 207

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 0.2,1.024675 MEM0 60876,1,0,0

SM_CCo 4241.90,0.00,0.000,0,648.5,637.2,659.8,521.64 MEM1 65508,1,0,0

SM_GC 0.56,0.00,16.70,0.34,0.000,0.045,0.052,648.5,637.2,659.8,178.2,2359.9,0,0,0,30.00,15.83,15.87 MEM2 971284,34,75464,57

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 35384,826

IRIDIUM_FIX 4755.33,-12513.21,280222,154421 CAP_FILE_SIZE 169985,0

TCM_TEMP 267.14 SDSIZE 4028416,3742400

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4346,1

HUMID 51.43 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.16 CURRENT 0.280,355.4,1

INTERNAL_PRESSURE 8.8927 MAGCAL 1.000000,0.004651,0.022631,-0.010169,1.049403,-0.073817,0.023876,-0.017337,0.913732,563.3,-298.0,154.7,36,0.0379,0

_24V_AH 14.65,426.160 IMPLIED_C_PITCH 2382,11.19,572

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2860,39.198364,572

FG_AHR_24Vo 313.229 GPS 280222,182131,4755.222,-12514.804,31,0.9,32,15.9

FG_AHR_10Vo 100.006

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 616 1341 12112.62 legato 34 20 10.06

Pitch_motor 36 234 126.67 nil 0 0 0.00

Roll_motor 50 109 81.93 nil 0 0 0.00

Iridium 149 203 446.10 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.19 nil 0 0 0.00

Core 1991 11 352.47 SciCon 0 0 0.00

LPSleep 2487 2 104.47 nil 0 0 0.00

Compass 550 5 41.28 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

2 end surface: CONTROL_FINISHED_OK

state 3 begin dive

5.95 16386 -194.65 -1.65 0.00 1140.0 1132.2 1147.8 175.7 2250.3 0.00 0.00 0 77.10 69.97 0.00 0.00 0.005 0.000 0.000 2849.72 3028.12 2671.31 175.81 2251.00 0 0 0 14.91 30.00 30.00

77.84 18983 -194.65 -1.65 -60.00 2849.2 3027.2 2671.1 175.8 2250.4 3.46 -5.25 13 116.53 16.39 13.74 2.60 0.006 0.235 0.062 3567.91 3812.38 3323.44 1919.31 1207.69 0 0 0 15.03 15.49 14.91

143.60 1028 -194.65 -1.65 0.00 3568.7 3811.6 3325.9 1921.4 1207.7 15.27 -14.85 26 149.15 0.00 0.00 2.69 0.000 0.000 0.025 3568.91 3811.56 3326.25 1920.69 2353.75 0 0 0 30.00 30.00 15.86

334.01 0 -194.65 -1.65 0.00 3568.6 3811.1 3326.0 1921.1 2353.6 43.78 -14.92 64 335.34 0.00 0.00 0.00 0.000 0.000 0.000 3568.31 3811.12 3325.50 1920.56 2353.50 0 0 0 30.00 30.00 30.00

518.64 260 -194.65 -1.65 60.00 3568.4 3811.1 3325.8 1921.0 2353.8 69.77 -13.96 101 524.42 0.00 0.00 2.76 0.000 0.000 0.080 3570.50 3811.81 3329.19 1921.25 3425.75 0 0 0 30.00 30.00 15.88

628.85 1028 -194.65 -1.65 -0.20 3568.4 3810.8 3325.9 1921.8 3425.8 86.23 -15.13 123 634.23 0.00 0.00 2.62 0.000 0.000 0.017 3569.16 3810.69 3327.62 1920.69 2247.12 0 0 0 30.00 30.00 15.93

818.71 0 -194.65 -1.65 -0.20 3568.5 3810.9 3326.0 1921.6 2246.2 107.21 -10.30 161 820.04 0.00 0.00 0.00 0.000 0.000 0.000 3568.81 3811.56 3326.06 1921.38 2245.75 0 0 0 30.00 30.00 30.00

1123.78 260 -194.65 -1.65 60.00 3569.2 3811.4 3327.0 1921.2 2246.4 138.89 -9.66 222 1129.40 0.00 0.00 3.04 0.000 0.000 0.075 3569.28 3811.69 3326.88 1921.38 3426.88 0 0 0 30.00 30.00 15.91

1279.21 1028 -194.65 -1.65 0.35 3568.8 3811.2 3326.4 1921.6 3427.0 157.15 -12.78 253 1284.37 0.00 0.00 2.60 0.000 0.000 0.017 3569.41 3811.69 3327.12 1921.94 2256.62 0 0 0 30.00 30.00 15.96

1588.93 516 -194.65 -1.65 -60.00 3568.6 3810.5 3326.6 1921.7 2255.4 191.98 -11.38 315 1594.46 0.00 0.00 2.60 0.000 0.000 0.063 3568.66 3811.06 3326.25 1922.19 1208.94 0 0 0 30.00 30.00 15.95

1608.92 1028 -194.65 -1.65 0.35 3568.5 3810.6 3326.4 1921.4 1208.9 194.28 -11.37 319 1614.48 0.00 0.00 2.69 0.000 0.000 0.025 3568.56 3810.00 3327.12 1921.50 2359.31 0 0 0 30.00 30.00 15.98

1723 end dive: TARGET_DEPTH_EXCEEDED

state 1723 begin apogee

1725.89 10243 0.00 -0.28 0.00 3568.3 3810.8 3325.9 1921.2 2041.4 207.30 -11.28 342 1869.13 137.84 2.31 0.17 1.341 0.136 0.110 2774.38 2885.75 2663.00 2255.06 2139.75 0 0 0 10.88 15.83 15.26

1871 end apogee: CONTROL_FINISHED_OK

state 1871 begin climb

1871.99 10759 194.65 1.65 -60.00 2773.1 2885.1 2661.0 2254.4 2165.9 214.62 0.00 370 2025.35 142.71 3.19 3.06 1.283 0.109 0.071 1980.75 2015.19 1946.31 2721.94 994.75 0 0 0 11.75 15.44 15.57

2063.13 11303 315.80 1.89 0.00 1976.6 2015.4 1937.8 2722.3 994.7 209.86 7.26 408 2161.43 92.38 0.35 2.72 1.248 0.063 0.020 1488.19 1517.25 1459.12 2794.25 2143.50 0 0 0 11.65 15.49 15.57

2463.68 516 315.80 1.89 -60.00 1480.0 1517.7 1442.3 2793.8 2143.4 167.73 11.28 488 2469.27 0.00 0.00 2.98 0.000 0.000 0.073 1479.62 1517.31 1441.94 2794.00 993.19 0 0 0 30.00 30.00 15.78

2523.68 17414 315.80 1.89 -0.37 1478.6 1517.5 1439.8 2794.5 993.2 160.28 12.93 500 2529.22 0.00 0.00 2.65 0.000 0.000 0.020 1478.78 1518.19 1439.38 2794.69 2136.12 0 0 0 30.00 30.00 15.83

2833.76 16450 315.80 1.92 -0.37 1477.8 1518.2 1437.3 2794.3 2135.9 128.98 9.42 562 2835.09 0.00 0.00 0.00 0.000 0.000 0.000 1477.56 1518.44 1436.69 2794.12 2136.25 0 0 0 30.00 30.00 30.00

3138.83 16646 315.80 1.92 60.00 1477.6 1518.6 1436.6 2794.8 2136.2 98.13 10.69 623 3144.39 0.00 0.00 2.72 0.000 0.000 0.073 1478.00 1518.81 1437.19 2794.56 3206.62 0 0 0 30.00 30.00 15.91

3198.84 17414 315.80 1.92 -0.46 1477.8 1519.1 1436.4 2794.2 3206.5 91.66 10.97 635 3204.39 0.00 0.00 2.65 0.000 0.000 0.022 1478.06 1519.75 1436.38 2794.31 2050.88 0 0 0 30.00 30.00 15.93

3389.32 10791 446.57 2.18 -60.00 1476.9 1519.6 1434.2 2794.5 2050.5 75.89 6.97 673 3498.15 100.90 0.34 2.76 1.161 0.065 0.080 954.69 942.00 967.38 2864.88 994.75 0 0 0 11.07 15.89 15.35

3500.96 9254 519.97 2.33 -0.09 953.6 941.8 965.4 2864.1 994.6 66.39 8.74 695 3562.70 56.24 0.00 2.68 1.102 0.000 0.020 656.19 622.38 690.00 2864.88 2144.44 0 0 0 11.77 30.00 15.68

3745.42 2629 519.97 2.36 -60.00 650.8 629.4 672.2 2864.7 2144.4 43.92 9.23 744 3751.05 0.00 0.17 3.00 0.000 0.090 0.075 650.69 629.81 671.56 2905.81 994.75 0 0 0 30.00 15.72 15.69

3800.40 1028 519.97 2.36 2.27 650.1 630.5 669.8 2905.7 994.9 38.26 10.71 755 3805.98 0.00 0.00 2.77 0.000 0.000 0.021 649.75 631.06 668.44 2906.69 2183.50 0 0 0 30.00 30.00 15.79

3990.43 0 519.97 2.36 2.27 649.7 634.7 664.7 2905.8 2183.3 18.04 10.65 793 3991.76 0.00 0.00 0.00 0.000 0.000 0.000 649.53 634.56 664.50 2906.19 2183.06 0 0 0 30.00 30.00 30.00

4115 end climb: SURFACE_DEPTH_REACHED

state 4115 begin surface coast

4155 end surface coast: CONTROL_FINISHED_OK

state 4155 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	1196	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	2	XPDR_REP	-1
D_SURF	4	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	400	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	FILEMGR	0	C_VBD	2775	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	120
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	4	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0020000001	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERS	0
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	300	CAPMAXSIZE	5000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	510	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	2	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	550	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-1	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	56
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3000	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2320	FG_AHR_10V	99.992836	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	313.03992	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	200	PITCH_GAIN	18	PRESSURE_YINT	-14.5	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.0014504	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.0039810701	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.029864	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	280222,170438,4754.949,-12514.544,1,1.5,3,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,170957,4754.991,-12514.549,3,1.4,5,15.9	MHEAD_RNG_PITCHd_Wd	171.7,167666,-22.6,-11.000,-28.75
SPEED_LIMITS	0.191,0.201	D_GRID	207
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	0.2,1.024675	MEM0	60876,1,0,0
SM_CCo	4241.90,0.00,0.000,0,648.5,637.2,659.8,521.64	MEM1	65508,1,0,0
SM_GC	0.56,0.00,16.70,0.34,0.000,0.045,0.052,648.5,637.2,659.8,178.2,2359.9,0,0,0,30.00,15.83,15.87	MEM2	971284,34,75464,57
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	35384,826
IRIDIUM_FIX	4755.33,-12513.21,280222,154421	CAP_FILE_SIZE	169985,0
TCM_TEMP	267.14	SDSIZE	4028416,3742400
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4346,1
HUMID	51.43	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.16	CURRENT	0.280,355.4,1
INTERNAL_PRESSURE	8.8927	MAGCAL	1.000000,0.004651,0.022631,-0.010169,1.049403,-0.073817,0.023876,-0.017337,0.913732,563.3,-298.0,154.7,36,0.0379,0
_24V_AH	14.65,426.160	IMPLIED_C_PITCH	2382,11.19,572
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2860,39.198364,572
FG_AHR_24Vo	313.229	GPS	280222,182131,4755.222,-12514.804,31,0.9,32,15.9
FG_AHR_10Vo	100.006

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	616	1341	12112.62	legato	34	20	10.06
Pitch_motor	36	234	126.67	nil	0	0	0.00
Roll_motor	50	109	81.93	nil	0	0	0.00
Iridium	149	203	446.10	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.19	nil	0	0	0.00
Core	1991	11	352.47	SciCon	0	0	0.00
LPSleep	2487	2	104.47	nil	0	0	0.00
Compass	550	5	41.28	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
2	end surface: CONTROL_FINISHED_OK
state	3	begin dive
5.95	16386	-194.65	-1.65	0.00	1140.0	1132.2	1147.8	175.7	2250.3	0.00	0.00	0	77.10	69.97	0.00	0.00	0.005	0.000	0.000	2849.72	3028.12	2671.31	175.81	2251.00	0	0	0	14.91	30.00	30.00
77.84	18983	-194.65	-1.65	-60.00	2849.2	3027.2	2671.1	175.8	2250.4	3.46	-5.25	13	116.53	16.39	13.74	2.60	0.006	0.235	0.062	3567.91	3812.38	3323.44	1919.31	1207.69	0	0	0	15.03	15.49	14.91
143.60	1028	-194.65	-1.65	0.00	3568.7	3811.6	3325.9	1921.4	1207.7	15.27	-14.85	26	149.15	0.00	0.00	2.69	0.000	0.000	0.025	3568.91	3811.56	3326.25	1920.69	2353.75	0	0	0	30.00	30.00	15.86
334.01	0	-194.65	-1.65	0.00	3568.6	3811.1	3326.0	1921.1	2353.6	43.78	-14.92	64	335.34	0.00	0.00	0.00	0.000	0.000	0.000	3568.31	3811.12	3325.50	1920.56	2353.50	0	0	0	30.00	30.00	30.00
518.64	260	-194.65	-1.65	60.00	3568.4	3811.1	3325.8	1921.0	2353.8	69.77	-13.96	101	524.42	0.00	0.00	2.76	0.000	0.000	0.080	3570.50	3811.81	3329.19	1921.25	3425.75	0	0	0	30.00	30.00	15.88
628.85	1028	-194.65	-1.65	-0.20	3568.4	3810.8	3325.9	1921.8	3425.8	86.23	-15.13	123	634.23	0.00	0.00	2.62	0.000	0.000	0.017	3569.16	3810.69	3327.62	1920.69	2247.12	0	0	0	30.00	30.00	15.93
818.71	0	-194.65	-1.65	-0.20	3568.5	3810.9	3326.0	1921.6	2246.2	107.21	-10.30	161	820.04	0.00	0.00	0.00	0.000	0.000	0.000	3568.81	3811.56	3326.06	1921.38	2245.75	0	0	0	30.00	30.00	30.00
1123.78	260	-194.65	-1.65	60.00	3569.2	3811.4	3327.0	1921.2	2246.4	138.89	-9.66	222	1129.40	0.00	0.00	3.04	0.000	0.000	0.075	3569.28	3811.69	3326.88	1921.38	3426.88	0	0	0	30.00	30.00	15.91
1279.21	1028	-194.65	-1.65	0.35	3568.8	3811.2	3326.4	1921.6	3427.0	157.15	-12.78	253	1284.37	0.00	0.00	2.60	0.000	0.000	0.017	3569.41	3811.69	3327.12	1921.94	2256.62	0	0	0	30.00	30.00	15.96
1588.93	516	-194.65	-1.65	-60.00	3568.6	3810.5	3326.6	1921.7	2255.4	191.98	-11.38	315	1594.46	0.00	0.00	2.60	0.000	0.000	0.063	3568.66	3811.06	3326.25	1922.19	1208.94	0	0	0	30.00	30.00	15.95
1608.92	1028	-194.65	-1.65	0.35	3568.5	3810.6	3326.4	1921.4	1208.9	194.28	-11.37	319	1614.48	0.00	0.00	2.69	0.000	0.000	0.025	3568.56	3810.00	3327.12	1921.50	2359.31	0	0	0	30.00	30.00	15.98
1723	end dive: TARGET_DEPTH_EXCEEDED
state	1723	begin apogee
1725.89	10243	0.00	-0.28	0.00	3568.3	3810.8	3325.9	1921.2	2041.4	207.30	-11.28	342	1869.13	137.84	2.31	0.17	1.341	0.136	0.110	2774.38	2885.75	2663.00	2255.06	2139.75	0	0	0	10.88	15.83	15.26
1871	end apogee: CONTROL_FINISHED_OK
state	1871	begin climb
1871.99	10759	194.65	1.65	-60.00	2773.1	2885.1	2661.0	2254.4	2165.9	214.62	0.00	370	2025.35	142.71	3.19	3.06	1.283	0.109	0.071	1980.75	2015.19	1946.31	2721.94	994.75	0	0	0	11.75	15.44	15.57
2063.13	11303	315.80	1.89	0.00	1976.6	2015.4	1937.8	2722.3	994.7	209.86	7.26	408	2161.43	92.38	0.35	2.72	1.248	0.063	0.020	1488.19	1517.25	1459.12	2794.25	2143.50	0	0	0	11.65	15.49	15.57
2463.68	516	315.80	1.89	-60.00	1480.0	1517.7	1442.3	2793.8	2143.4	167.73	11.28	488	2469.27	0.00	0.00	2.98	0.000	0.000	0.073	1479.62	1517.31	1441.94	2794.00	993.19	0	0	0	30.00	30.00	15.78
2523.68	17414	315.80	1.89	-0.37	1478.6	1517.5	1439.8	2794.5	993.2	160.28	12.93	500	2529.22	0.00	0.00	2.65	0.000	0.000	0.020	1478.78	1518.19	1439.38	2794.69	2136.12	0	0	0	30.00	30.00	15.83
2833.76	16450	315.80	1.92	-0.37	1477.8	1518.2	1437.3	2794.3	2135.9	128.98	9.42	562	2835.09	0.00	0.00	0.00	0.000	0.000	0.000	1477.56	1518.44	1436.69	2794.12	2136.25	0	0	0	30.00	30.00	30.00
3138.83	16646	315.80	1.92	60.00	1477.6	1518.6	1436.6	2794.8	2136.2	98.13	10.69	623	3144.39	0.00	0.00	2.72	0.000	0.000	0.073	1478.00	1518.81	1437.19	2794.56	3206.62	0	0	0	30.00	30.00	15.91
3198.84	17414	315.80	1.92	-0.46	1477.8	1519.1	1436.4	2794.2	3206.5	91.66	10.97	635	3204.39	0.00	0.00	2.65	0.000	0.000	0.022	1478.06	1519.75	1436.38	2794.31	2050.88	0	0	0	30.00	30.00	15.93
3389.32	10791	446.57	2.18	-60.00	1476.9	1519.6	1434.2	2794.5	2050.5	75.89	6.97	673	3498.15	100.90	0.34	2.76	1.161	0.065	0.080	954.69	942.00	967.38	2864.88	994.75	0	0	0	11.07	15.89	15.35
3500.96	9254	519.97	2.33	-0.09	953.6	941.8	965.4	2864.1	994.6	66.39	8.74	695	3562.70	56.24	0.00	2.68	1.102	0.000	0.020	656.19	622.38	690.00	2864.88	2144.44	0	0	0	11.77	30.00	15.68
3745.42	2629	519.97	2.36	-60.00	650.8	629.4	672.2	2864.7	2144.4	43.92	9.23	744	3751.05	0.00	0.17	3.00	0.000	0.090	0.075	650.69	629.81	671.56	2905.81	994.75	0	0	0	30.00	15.72	15.69
3800.40	1028	519.97	2.36	2.27	650.1	630.5	669.8	2905.7	994.9	38.26	10.71	755	3805.98	0.00	0.00	2.77	0.000	0.000	0.021	649.75	631.06	668.44	2906.69	2183.50	0	0	0	30.00	30.00	15.79
3990.43	0	519.97	2.36	2.27	649.7	634.7	664.7	2905.8	2183.3	18.04	10.65	793	3991.76	0.00	0.00	0.00	0.000	0.000	0.000	649.53	634.56	664.50	2906.19	2183.06	0	0	0	30.00	30.00	30.00
4115	end climb: SURFACE_DEPTH_REACHED
state	4115	begin surface coast
4155	end surface coast: CONTROL_FINISHED_OK
state	4155	begin surface