Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1198 * 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 1198 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 100.02197 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 313.43341 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 100.02197 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 313.43341 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 1198 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 280222,193909,4755.495,-12514.952,2,1.5,5,15.9 TGT_RADIUS 2500.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,194734,4755.570,-12514.979,3,1.4,7,15.9 MHEAD_RNG_PITCHd_Wd 171.3,167890,-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 0.1,1.024620 MEM0 60876,1,0,0

SM_CCo 4140.42,0.00,0.000,0,751.5,754.2,748.8,496.36 MEM1 65508,1,0,0

SM_GC 0.32,0.00,16.58,0.38,0.000,0.050,0.054,751.5,754.2,748.8,186.8,2358.9,0,0,0,30.00,15.85,15.89 MEM2 971292,32,75496,57

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 35387,806

IRIDIUM_FIX 4754.40,-12515.83,280222,194331 CAP_FILE_SIZE 168914,0

TCM_TEMP 267.17 SDSIZE 4028416,3742144

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4352,1

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

TEMP 82.11 CURRENT 0.211, 6.6,1

INTERNAL_PRESSURE 8.90216 MAGCAL 1.000000,0.008930,-0.041909,-0.008794,1.072403,-0.057479,0.048891,-0.015141,0.984194,632.7,-316.6,97.7,36,0.0386,0

_24V_AH 14.65,426.612 IMPLIED_C_PITCH 2381,11.28,549

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2806,54.316730,549

FG_AHR_24Vo 313.619 GPS 280222,205710,4755.691,-12515.140,1,0.9,14,15.9

FG_AHR_10Vo 100.035

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 614 1352 12184.01 legato 34 20 10.16

Pitch_motor 36 228 122.26 nil 0 0 0.00

Roll_motor 50 110 81.84 nil 0 0 0.00

Iridium 215 201 637.14 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.53 nil 0 0 0.00

Core 2032 11 359.77 SciCon 0 0 0.00

LPSleep 2535 2 106.47 nil 0 0 0.00

Compass 538 5 40.37 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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

5.96 16386 -194.65 -1.65 0.00 747.7 732.2 763.2 176.0 2247.2 0.00 0.00 0 92.75 85.30 0.00 0.00 0.005 0.000 0.000 2831.16 3007.19 2655.12 175.88 2246.31 0 0 0 14.87 30.00 30.00

93.48 18983 -194.65 -1.65 -60.00 2829.9 3004.8 2654.9 175.8 2247.1 3.72 -6.91 16 131.76 16.62 13.68 2.62 0.006 0.229 0.065 3568.59 3804.38 3332.81 1920.38 1210.62 0 0 0 14.92 15.53 14.90

148.83 1028 -194.65 -1.65 0.00 3569.6 3803.9 3335.2 1922.0 1210.4 13.85 -14.80 27 154.39 0.00 0.00 2.67 0.000 0.000 0.025 3569.50 3804.44 3334.56 1922.00 2351.62 0 0 0 30.00 30.00 15.89

339.27 0 -194.65 -1.65 0.00 3569.7 3803.9 3335.4 1921.4 2351.6 42.85 -15.79 65 340.61 0.00 0.00 0.00 0.000 0.000 0.000 3568.91 3803.81 3334.00 1922.00 2351.25 0 0 0 30.00 30.00 30.00

524.00 260 -194.65 -1.65 60.00 3569.9 3804.4 3335.4 1921.7 2352.1 71.84 -15.51 102 529.50 0.00 0.00 2.76 0.000 0.000 0.081 3570.22 3804.62 3335.81 1921.88 3428.81 0 0 0 30.00 30.00 15.90

608.95 1028 -194.65 -1.65 -0.07 3569.2 3803.1 3335.2 1922.1 3428.0 85.33 -14.46 119 614.51 0.00 0.00 2.62 0.000 0.000 0.017 3569.12 3803.25 3335.00 1922.56 2251.75 0 0 0 30.00 30.00 15.94

798.99 0 -194.65 -1.65 -0.07 3569.4 3802.9 3335.8 1922.1 2249.8 106.31 -10.29 157 800.31 0.00 0.00 0.00 0.000 0.000 0.000 3569.75 3802.94 3336.56 1922.25 2249.88 0 0 0 30.00 30.00 30.00

1104.06 292 -194.65 -1.65 60.00 3569.3 3803.7 3335.0 1922.3 2249.6 138.18 -8.78 218 1109.65 0.00 0.00 3.01 0.000 0.000 0.075 3569.22 3803.50 3334.94 1922.19 3425.62 0 0 0 30.00 30.00 15.92

1234.06 1028 -194.65 -1.65 0.52 3569.2 3803.2 3335.2 1922.6 3426.1 152.29 -12.10 244 1239.59 0.00 0.00 2.60 0.000 0.000 0.017 3570.09 3804.94 3335.25 1922.56 2256.81 0 0 0 30.00 30.00 15.97

1544.12 516 -194.65 -1.65 -60.00 3569.5 3803.5 3335.6 1922.4 2255.2 189.51 -12.81 306 1549.65 0.00 0.00 2.61 0.000 0.000 0.062 3569.41 3803.44 3335.38 1921.75 1208.88 0 0 0 30.00 30.00 15.96

1574.11 1028 -194.65 -1.65 0.67 3569.0 3802.8 3335.2 1922.4 1209.3 193.57 -13.50 312 1579.66 0.00 0.00 2.69 0.000 0.000 0.025 3569.19 3803.25 3335.12 1921.06 2366.50 0 0 0 30.00 30.00 15.97

1679 end dive: TARGET_DEPTH_EXCEEDED

state 1679 begin apogee

1681.03 10243 0.00 -0.28 0.00 3568.8 3802.8 3334.9 1922.6 2042.6 207.42 -13.40 333 1825.30 138.31 2.31 0.17 1.352 0.137 0.111 2773.03 2878.00 2668.06 2254.44 2166.38 0 0 0 10.95 15.84 15.27

1827 end apogee: CONTROL_FINISHED_OK

state 1828 begin climb

1828.16 10759 194.65 1.65 -60.00 2773.4 2879.9 2666.9 2255.1 2166.2 217.62 0.00 361 1981.54 142.61 3.15 3.08 1.295 0.105 0.072 1982.22 2012.69 1951.75 2722.19 993.62 0 0 0 11.81 15.44 15.57

2019.32 11303 347.55 1.95 0.00 1976.6 2011.4 1941.7 2722.4 993.4 215.02 6.29 399 2142.82 116.04 0.44 2.72 1.263 0.056 0.021 1358.69 1389.38 1328.00 2810.81 2143.62 0 0 0 11.62 15.49 15.56

2445.05 260 347.55 1.95 60.00 1350.8 1390.2 1311.4 2811.1 2143.2 167.41 12.77 484 2450.61 0.00 0.00 2.71 0.000 0.000 0.073 1350.88 1390.31 1311.44 2810.56 3207.00 0 0 0 30.00 30.00 15.79

2475.04 1028 347.55 1.95 -0.15 1350.8 1389.9 1311.6 2810.8 3207.1 163.35 13.54 490 2480.60 0.00 0.00 2.66 0.000 0.000 0.022 1351.00 1390.69 1311.31 2810.88 2056.81 0 0 0 30.00 30.00 15.81

2785.09 16902 347.55 1.95 -60.00 1349.4 1391.5 1307.2 2810.8 2056.6 127.81 10.98 552 2790.66 0.00 0.00 2.73 0.000 0.000 0.080 1350.25 1392.06 1308.44 2811.62 993.38 0 0 0 30.00 30.00 15.86

2825.09 17414 347.55 1.95 -0.15 1348.5 1391.4 1305.6 2811.2 993.6 123.06 11.93 560 2830.65 0.00 0.00 2.65 0.000 0.000 0.021 1348.97 1391.62 1306.31 2811.62 2142.12 0 0 0 30.00 30.00 15.89

3135.15 8486 430.09 2.12 60.00 1348.3 1391.9 1304.7 2811.2 2142.0 92.62 8.46 622 3207.27 65.28 0.00 2.73 1.171 0.000 0.076 1021.94 1026.38 1017.50 2811.44 3203.06 0 0 0 11.25 30.00 15.40

3245.52 1028 430.09 2.12 0.97 1019.9 1026.4 1013.4 2811.1 3202.5 82.13 10.57 644 3250.69 0.00 0.00 2.62 0.000 0.000 0.021 1019.81 1026.69 1012.94 2810.88 2075.44 0 0 0 30.00 30.00 15.76

3435.58 10791 494.96 2.25 -60.00 1017.4 1027.4 1007.4 2810.9 2074.9 64.72 9.00 682 3492.52 50.79 0.34 2.82 1.125 0.068 0.082 757.50 741.88 773.12 2879.25 993.62 0 0 0 11.39 15.80 15.38

3690.19 1028 494.96 2.25 1.49 753.4 745.7 761.1 2879.4 993.7 37.48 10.60 733 3695.76 0.00 0.00 2.74 0.000 0.000 0.022 753.59 745.75 761.44 2879.44 2168.25 0 0 0 30.00 30.00 15.82

3880.24 64 494.96 2.26 1.49 752.2 749.1 755.2 2879.1 2168.9 18.26 10.25 771 3881.57 0.00 0.00 0.00 0.000 0.000 0.000 751.91 748.88 754.94 2879.50 2168.94 0 0 0 30.00 30.00 30.00

4015 end climb: SURFACE_DEPTH_REACHED

state 4015 begin surface coast

4055 end surface coast: CONTROL_FINISHED_OK

state 4055 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	1198	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	100.02197	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	313.43341	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	280222,193909,4755.495,-12514.952,2,1.5,5,15.9	TGT_RADIUS	2500.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,194734,4755.570,-12514.979,3,1.4,7,15.9	MHEAD_RNG_PITCHd_Wd	171.3,167890,-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	0.1,1.024620	MEM0	60876,1,0,0
SM_CCo	4140.42,0.00,0.000,0,751.5,754.2,748.8,496.36	MEM1	65508,1,0,0
SM_GC	0.32,0.00,16.58,0.38,0.000,0.050,0.054,751.5,754.2,748.8,186.8,2358.9,0,0,0,30.00,15.85,15.89	MEM2	971292,32,75496,57
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	35387,806
IRIDIUM_FIX	4754.40,-12515.83,280222,194331	CAP_FILE_SIZE	168914,0
TCM_TEMP	267.17	SDSIZE	4028416,3742144
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4352,1
HUMID	51.43	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.11	CURRENT	0.211, 6.6,1
INTERNAL_PRESSURE	8.90216	MAGCAL	1.000000,0.008930,-0.041909,-0.008794,1.072403,-0.057479,0.048891,-0.015141,0.984194,632.7,-316.6,97.7,36,0.0386,0
_24V_AH	14.65,426.612	IMPLIED_C_PITCH	2381,11.28,549
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2806,54.316730,549
FG_AHR_24Vo	313.619	GPS	280222,205710,4755.691,-12515.140,1,0.9,14,15.9
FG_AHR_10Vo	100.035

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	614	1352	12184.01	legato	34	20	10.16
Pitch_motor	36	228	122.26	nil	0	0	0.00
Roll_motor	50	110	81.84	nil	0	0	0.00
Iridium	215	201	637.14	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.53	nil	0	0	0.00
Core	2032	11	359.77	SciCon	0	0	0.00
LPSleep	2535	2	106.47	nil	0	0	0.00
Compass	538	5	40.37	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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
5.96	16386	-194.65	-1.65	0.00	747.7	732.2	763.2	176.0	2247.2	0.00	0.00	0	92.75	85.30	0.00	0.00	0.005	0.000	0.000	2831.16	3007.19	2655.12	175.88	2246.31	0	0	0	14.87	30.00	30.00
93.48	18983	-194.65	-1.65	-60.00	2829.9	3004.8	2654.9	175.8	2247.1	3.72	-6.91	16	131.76	16.62	13.68	2.62	0.006	0.229	0.065	3568.59	3804.38	3332.81	1920.38	1210.62	0	0	0	14.92	15.53	14.90
148.83	1028	-194.65	-1.65	0.00	3569.6	3803.9	3335.2	1922.0	1210.4	13.85	-14.80	27	154.39	0.00	0.00	2.67	0.000	0.000	0.025	3569.50	3804.44	3334.56	1922.00	2351.62	0	0	0	30.00	30.00	15.89
339.27	0	-194.65	-1.65	0.00	3569.7	3803.9	3335.4	1921.4	2351.6	42.85	-15.79	65	340.61	0.00	0.00	0.00	0.000	0.000	0.000	3568.91	3803.81	3334.00	1922.00	2351.25	0	0	0	30.00	30.00	30.00
524.00	260	-194.65	-1.65	60.00	3569.9	3804.4	3335.4	1921.7	2352.1	71.84	-15.51	102	529.50	0.00	0.00	2.76	0.000	0.000	0.081	3570.22	3804.62	3335.81	1921.88	3428.81	0	0	0	30.00	30.00	15.90
608.95	1028	-194.65	-1.65	-0.07	3569.2	3803.1	3335.2	1922.1	3428.0	85.33	-14.46	119	614.51	0.00	0.00	2.62	0.000	0.000	0.017	3569.12	3803.25	3335.00	1922.56	2251.75	0	0	0	30.00	30.00	15.94
798.99	0	-194.65	-1.65	-0.07	3569.4	3802.9	3335.8	1922.1	2249.8	106.31	-10.29	157	800.31	0.00	0.00	0.00	0.000	0.000	0.000	3569.75	3802.94	3336.56	1922.25	2249.88	0	0	0	30.00	30.00	30.00
1104.06	292	-194.65	-1.65	60.00	3569.3	3803.7	3335.0	1922.3	2249.6	138.18	-8.78	218	1109.65	0.00	0.00	3.01	0.000	0.000	0.075	3569.22	3803.50	3334.94	1922.19	3425.62	0	0	0	30.00	30.00	15.92
1234.06	1028	-194.65	-1.65	0.52	3569.2	3803.2	3335.2	1922.6	3426.1	152.29	-12.10	244	1239.59	0.00	0.00	2.60	0.000	0.000	0.017	3570.09	3804.94	3335.25	1922.56	2256.81	0	0	0	30.00	30.00	15.97
1544.12	516	-194.65	-1.65	-60.00	3569.5	3803.5	3335.6	1922.4	2255.2	189.51	-12.81	306	1549.65	0.00	0.00	2.61	0.000	0.000	0.062	3569.41	3803.44	3335.38	1921.75	1208.88	0	0	0	30.00	30.00	15.96
1574.11	1028	-194.65	-1.65	0.67	3569.0	3802.8	3335.2	1922.4	1209.3	193.57	-13.50	312	1579.66	0.00	0.00	2.69	0.000	0.000	0.025	3569.19	3803.25	3335.12	1921.06	2366.50	0	0	0	30.00	30.00	15.97
1679	end dive: TARGET_DEPTH_EXCEEDED
state	1679	begin apogee
1681.03	10243	0.00	-0.28	0.00	3568.8	3802.8	3334.9	1922.6	2042.6	207.42	-13.40	333	1825.30	138.31	2.31	0.17	1.352	0.137	0.111	2773.03	2878.00	2668.06	2254.44	2166.38	0	0	0	10.95	15.84	15.27
1827	end apogee: CONTROL_FINISHED_OK
state	1828	begin climb
1828.16	10759	194.65	1.65	-60.00	2773.4	2879.9	2666.9	2255.1	2166.2	217.62	0.00	361	1981.54	142.61	3.15	3.08	1.295	0.105	0.072	1982.22	2012.69	1951.75	2722.19	993.62	0	0	0	11.81	15.44	15.57
2019.32	11303	347.55	1.95	0.00	1976.6	2011.4	1941.7	2722.4	993.4	215.02	6.29	399	2142.82	116.04	0.44	2.72	1.263	0.056	0.021	1358.69	1389.38	1328.00	2810.81	2143.62	0	0	0	11.62	15.49	15.56
2445.05	260	347.55	1.95	60.00	1350.8	1390.2	1311.4	2811.1	2143.2	167.41	12.77	484	2450.61	0.00	0.00	2.71	0.000	0.000	0.073	1350.88	1390.31	1311.44	2810.56	3207.00	0	0	0	30.00	30.00	15.79
2475.04	1028	347.55	1.95	-0.15	1350.8	1389.9	1311.6	2810.8	3207.1	163.35	13.54	490	2480.60	0.00	0.00	2.66	0.000	0.000	0.022	1351.00	1390.69	1311.31	2810.88	2056.81	0	0	0	30.00	30.00	15.81
2785.09	16902	347.55	1.95	-60.00	1349.4	1391.5	1307.2	2810.8	2056.6	127.81	10.98	552	2790.66	0.00	0.00	2.73	0.000	0.000	0.080	1350.25	1392.06	1308.44	2811.62	993.38	0	0	0	30.00	30.00	15.86
2825.09	17414	347.55	1.95	-0.15	1348.5	1391.4	1305.6	2811.2	993.6	123.06	11.93	560	2830.65	0.00	0.00	2.65	0.000	0.000	0.021	1348.97	1391.62	1306.31	2811.62	2142.12	0	0	0	30.00	30.00	15.89
3135.15	8486	430.09	2.12	60.00	1348.3	1391.9	1304.7	2811.2	2142.0	92.62	8.46	622	3207.27	65.28	0.00	2.73	1.171	0.000	0.076	1021.94	1026.38	1017.50	2811.44	3203.06	0	0	0	11.25	30.00	15.40
3245.52	1028	430.09	2.12	0.97	1019.9	1026.4	1013.4	2811.1	3202.5	82.13	10.57	644	3250.69	0.00	0.00	2.62	0.000	0.000	0.021	1019.81	1026.69	1012.94	2810.88	2075.44	0	0	0	30.00	30.00	15.76
3435.58	10791	494.96	2.25	-60.00	1017.4	1027.4	1007.4	2810.9	2074.9	64.72	9.00	682	3492.52	50.79	0.34	2.82	1.125	0.068	0.082	757.50	741.88	773.12	2879.25	993.62	0	0	0	11.39	15.80	15.38
3690.19	1028	494.96	2.25	1.49	753.4	745.7	761.1	2879.4	993.7	37.48	10.60	733	3695.76	0.00	0.00	2.74	0.000	0.000	0.022	753.59	745.75	761.44	2879.44	2168.25	0	0	0	30.00	30.00	15.82
3880.24	64	494.96	2.26	1.49	752.2	749.1	755.2	2879.1	2168.9	18.26	10.25	771	3881.57	0.00	0.00	0.00	0.000	0.000	0.000	751.91	748.88	754.94	2879.50	2168.94	0	0	0	30.00	30.00	30.00
4015	end climb: SURFACE_DEPTH_REACHED
state	4015	begin surface coast
4055	end surface coast: CONTROL_FINISHED_OK
state	4055	begin surface