Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1199 * 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 1199 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 100.03594 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 313.62723 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 0 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 100.03594 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 313.62723 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 1199 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 0 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 280222,205710,4755.691,-12515.140,1,0.9,14,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,210221,4755.732,-12515.145,2,0.9,5,15.9 MHEAD_RNG_PITCHd_Wd 216.1,167909,-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 0.0,1.018827 FG_AHR_10Vo 100.049

SM_CCo 4232.93,0.00,0.000,0,689.9,683.9,695.9,511.47 MEM0 60876,1,0,0

SM_GC 0.45,0.00,16.76,0.40,0.000,0.052,0.059,689.9,683.9,695.9,175.9,2356.7,0,0,0,30.00,15.80,15.85 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971344,31,75464,57

IRIDIUM_FIX 4758.08,-12515.07,280222,194509 DATA_FILE_SIZE 35358,824

TCM_TEMP 267.26 CAP_FILE_SIZE 174504,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3742016

HUMID 51.41 SDFILEDIR 4355,1

TEMP 82.12 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.89336 MAGCAL 1.000000,0.016934,0.005917,-0.014023,1.074516,-0.063095,0.016379,-0.008100,1.030274,588.8,-316.2,50.1,36,0.0317,0

_24V_AH 14.66,426.839 IMPLIED_C_PITCH 2371,11.51,572

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2893,41.962044,572

FG_AHR_24Vo 313.816 GPS 280222,221340,4755.833,-12515.700,25,1.2,26,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 628 1349 12434.67 legato 34 20 10.12

Pitch_motor 36 233 124.42 nil 0 0 0.00

Roll_motor 55 112 92.57 nil 0 0 0.00

Iridium 146 199 427.41 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.28 nil 0 0 0.00

Core 1998 11 353.68 SciCon 0 0 0.00

LPSleep 2468 2 103.69 nil 0 0 0.00

Compass 549 5 41.20 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 0.00 751.8 742.1 761.6 175.7 2259.2 0.00 0.00 0 92.74 85.23 0.00 0.00 0.005 0.000 0.000 2812.72 2981.62 2643.81 175.88 2259.81 0 0 0 14.88 30.00 30.00

93.48 18983 -194.65 -1.65 -60.00 2811.5 2979.7 2643.2 175.9 2259.6 3.23 -4.01 16 132.73 17.42 13.47 2.65 0.006 0.233 0.066 3568.38 3799.94 3336.81 1920.62 1209.19 0 0 0 14.89 15.53 14.91

209.82 1028 -194.65 -1.65 0.00 3568.9 3799.6 3338.1 1922.3 1209.4 22.52 -15.10 39 215.37 0.00 0.00 2.69 0.000 0.000 0.026 3569.31 3800.25 3338.38 1922.31 2351.69 0 0 0 30.00 30.00 15.92

400.27 0 -194.65 -1.65 0.00 3569.3 3800.2 3338.4 1922.2 2351.7 51.84 -15.89 77 401.59 0.00 0.00 0.00 0.000 0.000 0.000 3568.75 3800.12 3337.38 1922.06 2351.69 0 0 0 30.00 30.00 30.00

585.01 260 -194.65 -1.65 60.00 3569.2 3799.9 3338.4 1922.6 2351.5 78.33 -13.38 114 590.52 0.00 0.00 2.78 0.000 0.000 0.081 3569.22 3799.94 3338.50 1922.31 3426.38 0 0 0 30.00 30.00 15.91

659.98 1028 -194.65 -1.65 -0.11 3568.9 3799.4 3338.4 1922.2 3425.3 89.19 -14.01 129 665.53 0.00 0.00 2.62 0.000 0.000 0.018 3570.84 3799.81 3341.88 1922.75 2251.56 0 0 0 30.00 30.00 15.95

850.03 516 -194.65 -1.65 -60.00 3569.1 3799.4 3338.7 1923.0 2250.1 111.19 -11.33 167 855.57 0.00 0.00 2.60 0.000 0.000 0.063 3569.94 3800.19 3339.69 1923.00 1209.31 0 0 0 30.00 30.00 15.95

880.04 1028 -194.65 -1.65 0.48 3569.0 3799.2 3338.8 1923.0 1209.1 114.75 -11.86 173 885.59 0.00 0.00 2.70 0.000 0.000 0.025 3569.22 3799.75 3338.69 1922.88 2361.50 0 0 0 30.00 30.00 15.96

1190.15 260 -194.65 -1.65 60.00 3569.0 3798.9 3339.0 1922.7 2361.5 145.30 -9.14 235 1195.70 0.00 0.00 2.74 0.000 0.000 0.081 3569.84 3800.38 3339.31 1922.62 3426.31 0 0 0 30.00 30.00 15.93

1340.18 1028 -194.65 -1.65 1.34 3568.9 3799.0 3338.8 1922.8 3425.8 161.97 -11.57 265 1345.72 0.00 0.00 2.56 0.000 0.000 0.017 3569.16 3799.62 3338.69 1922.81 2268.56 0 0 0 30.00 30.00 15.98

1650.30 0 -194.65 -1.65 1.34 3568.9 3799.6 3338.3 1922.9 2266.5 195.39 -10.89 327 1651.63 0.00 0.00 0.00 0.000 0.000 0.000 3568.47 3799.31 3337.62 1922.50 2267.19 0 0 0 30.00 30.00 30.00

1754 end dive: TARGET_DEPTH_EXCEEDED

state 1755 begin apogee

1757.20 10243 0.00 -0.28 0.00 3568.6 3798.6 3338.6 1922.9 2042.2 207.20 -11.75 348 1901.50 138.46 2.24 0.17 1.349 0.136 0.113 2772.38 2874.25 2670.50 2254.56 2168.06 0 0 0 10.94 15.85 15.25

1903 end apogee: CONTROL_FINISHED_OK

state 1903 begin climb

1904.36 10759 194.65 1.65 -60.00 2772.8 2876.0 2669.7 2254.4 2168.3 213.34 0.00 376 2057.72 142.37 3.13 3.06 1.285 0.109 0.072 1980.34 2013.81 1946.88 2722.69 992.06 0 0 0 11.82 15.45 15.56

2090.50 11303 259.77 1.78 0.00 1976.4 2013.2 1939.5 2722.0 992.1 204.08 8.99 413 2147.65 50.49 0.17 2.70 1.229 0.081 0.020 1715.59 1747.88 1683.31 2768.69 2142.19 0 0 0 11.70 15.48 15.56

2450.41 16646 259.77 1.78 60.00 1706.9 1748.2 1665.6 2768.6 2142.1 165.20 10.69 485 2455.96 0.00 0.00 2.71 0.000 0.000 0.074 1707.44 1748.81 1666.06 2768.31 3206.94 0 0 0 30.00 30.00 15.78

2490.41 17414 259.77 1.78 -0.12 1706.9 1748.2 1665.6 2768.9 3206.5 160.86 10.93 493 2495.96 0.00 0.00 2.67 0.000 0.000 0.022 1707.84 1749.44 1666.25 2768.44 2055.94 0 0 0 30.00 30.00 15.81

2800.47 8486 345.81 1.95 60.00 1703.3 1758.2 1648.5 2768.7 2055.8 134.23 8.35 555 2873.02 66.70 0.00 2.97 1.207 0.000 0.073 1366.44 1398.06 1334.81 2769.88 3206.50 0 0 0 11.21 30.00 15.39

2900.45 1028 345.81 1.95 0.23 1363.3 1396.8 1329.9 2768.9 3206.5 123.97 11.91 575 2906.01 0.00 0.00 2.67 0.000 0.000 0.021 1364.16 1397.69 1330.62 2769.25 2062.62 0 0 0 30.00 30.00 15.71

3210.52 10535 442.74 2.14 60.00 1358.5 1397.3 1319.6 2769.2 2062.2 94.96 8.01 637 3293.98 75.78 0.44 2.99 1.164 0.062 0.073 970.00 966.38 973.62 2856.06 3204.44 0 0 0 11.36 15.81 15.37

3326.18 1028 442.74 2.14 0.46 968.0 966.6 969.4 2856.6 3204.2 83.16 10.81 660 3331.73 0.00 0.00 2.65 0.000 0.000 0.022 968.22 967.00 969.44 2855.81 2068.31 0 0 0 30.00 30.00 15.68

3516.65 324 442.74 2.17 60.00 965.2 970.1 960.2 2855.9 2068.2 64.54 9.80 698 3521.84 0.00 0.00 2.91 0.000 0.000 0.070 965.41 970.44 960.38 2855.94 3206.56 0 0 0 30.00 30.00 15.79

3621.27 1028 442.74 2.17 1.49 964.3 970.1 958.6 2855.6 3206.4 52.77 11.45 719 3626.80 0.00 0.00 2.58 0.000 0.000 0.022 964.62 970.62 958.62 2855.88 2082.94 0 0 0 30.00 30.00 15.84

3811.73 8742 510.49 2.30 -60.00 963.5 972.6 954.5 2855.7 2082.9 34.19 8.91 757 3868.63 52.11 0.00 2.82 1.100 0.000 0.081 694.25 673.75 714.75 2856.56 994.81 0 0 0 11.30 30.00 15.41

3926.59 3141 510.49 2.32 1.16 692.1 676.6 707.7 2856.0 994.8 23.40 9.98 780 3931.97 0.00 0.16 2.72 0.000 0.085 0.021 691.97 676.44 707.50 2898.38 2162.38 0 0 0 30.00 15.67 15.78

4105 end climb: SURFACE_DEPTH_REACHED

state 4106 begin surface coast

4146 end surface coast: CONTROL_FINISHED_OK

state 4146 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	1199	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	100.03594	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	313.62723	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	0	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	280222,205710,4755.691,-12515.140,1,0.9,14,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,210221,4755.732,-12515.145,2,0.9,5,15.9	MHEAD_RNG_PITCHd_Wd	216.1,167909,-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	0.0,1.018827	FG_AHR_10Vo	100.049
SM_CCo	4232.93,0.00,0.000,0,689.9,683.9,695.9,511.47	MEM0	60876,1,0,0
SM_GC	0.45,0.00,16.76,0.40,0.000,0.052,0.059,689.9,683.9,695.9,175.9,2356.7,0,0,0,30.00,15.80,15.85	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971344,31,75464,57
IRIDIUM_FIX	4758.08,-12515.07,280222,194509	DATA_FILE_SIZE	35358,824
TCM_TEMP	267.26	CAP_FILE_SIZE	174504,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3742016
HUMID	51.41	SDFILEDIR	4355,1
TEMP	82.12	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.89336	MAGCAL	1.000000,0.016934,0.005917,-0.014023,1.074516,-0.063095,0.016379,-0.008100,1.030274,588.8,-316.2,50.1,36,0.0317,0
_24V_AH	14.66,426.839	IMPLIED_C_PITCH	2371,11.51,572
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2893,41.962044,572
FG_AHR_24Vo	313.816	GPS	280222,221340,4755.833,-12515.700,25,1.2,26,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	628	1349	12434.67	legato	34	20	10.12
Pitch_motor	36	233	124.42	nil	0	0	0.00
Roll_motor	55	112	92.57	nil	0	0	0.00
Iridium	146	199	427.41	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.28	nil	0	0	0.00
Core	1998	11	353.68	SciCon	0	0	0.00
LPSleep	2468	2	103.69	nil	0	0	0.00
Compass	549	5	41.20	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	751.8	742.1	761.6	175.7	2259.2	0.00	0.00	0	92.74	85.23	0.00	0.00	0.005	0.000	0.000	2812.72	2981.62	2643.81	175.88	2259.81	0	0	0	14.88	30.00	30.00
93.48	18983	-194.65	-1.65	-60.00	2811.5	2979.7	2643.2	175.9	2259.6	3.23	-4.01	16	132.73	17.42	13.47	2.65	0.006	0.233	0.066	3568.38	3799.94	3336.81	1920.62	1209.19	0	0	0	14.89	15.53	14.91
209.82	1028	-194.65	-1.65	0.00	3568.9	3799.6	3338.1	1922.3	1209.4	22.52	-15.10	39	215.37	0.00	0.00	2.69	0.000	0.000	0.026	3569.31	3800.25	3338.38	1922.31	2351.69	0	0	0	30.00	30.00	15.92
400.27	0	-194.65	-1.65	0.00	3569.3	3800.2	3338.4	1922.2	2351.7	51.84	-15.89	77	401.59	0.00	0.00	0.00	0.000	0.000	0.000	3568.75	3800.12	3337.38	1922.06	2351.69	0	0	0	30.00	30.00	30.00
585.01	260	-194.65	-1.65	60.00	3569.2	3799.9	3338.4	1922.6	2351.5	78.33	-13.38	114	590.52	0.00	0.00	2.78	0.000	0.000	0.081	3569.22	3799.94	3338.50	1922.31	3426.38	0	0	0	30.00	30.00	15.91
659.98	1028	-194.65	-1.65	-0.11	3568.9	3799.4	3338.4	1922.2	3425.3	89.19	-14.01	129	665.53	0.00	0.00	2.62	0.000	0.000	0.018	3570.84	3799.81	3341.88	1922.75	2251.56	0	0	0	30.00	30.00	15.95
850.03	516	-194.65	-1.65	-60.00	3569.1	3799.4	3338.7	1923.0	2250.1	111.19	-11.33	167	855.57	0.00	0.00	2.60	0.000	0.000	0.063	3569.94	3800.19	3339.69	1923.00	1209.31	0	0	0	30.00	30.00	15.95
880.04	1028	-194.65	-1.65	0.48	3569.0	3799.2	3338.8	1923.0	1209.1	114.75	-11.86	173	885.59	0.00	0.00	2.70	0.000	0.000	0.025	3569.22	3799.75	3338.69	1922.88	2361.50	0	0	0	30.00	30.00	15.96
1190.15	260	-194.65	-1.65	60.00	3569.0	3798.9	3339.0	1922.7	2361.5	145.30	-9.14	235	1195.70	0.00	0.00	2.74	0.000	0.000	0.081	3569.84	3800.38	3339.31	1922.62	3426.31	0	0	0	30.00	30.00	15.93
1340.18	1028	-194.65	-1.65	1.34	3568.9	3799.0	3338.8	1922.8	3425.8	161.97	-11.57	265	1345.72	0.00	0.00	2.56	0.000	0.000	0.017	3569.16	3799.62	3338.69	1922.81	2268.56	0	0	0	30.00	30.00	15.98
1650.30	0	-194.65	-1.65	1.34	3568.9	3799.6	3338.3	1922.9	2266.5	195.39	-10.89	327	1651.63	0.00	0.00	0.00	0.000	0.000	0.000	3568.47	3799.31	3337.62	1922.50	2267.19	0	0	0	30.00	30.00	30.00
1754	end dive: TARGET_DEPTH_EXCEEDED
state	1755	begin apogee
1757.20	10243	0.00	-0.28	0.00	3568.6	3798.6	3338.6	1922.9	2042.2	207.20	-11.75	348	1901.50	138.46	2.24	0.17	1.349	0.136	0.113	2772.38	2874.25	2670.50	2254.56	2168.06	0	0	0	10.94	15.85	15.25
1903	end apogee: CONTROL_FINISHED_OK
state	1903	begin climb
1904.36	10759	194.65	1.65	-60.00	2772.8	2876.0	2669.7	2254.4	2168.3	213.34	0.00	376	2057.72	142.37	3.13	3.06	1.285	0.109	0.072	1980.34	2013.81	1946.88	2722.69	992.06	0	0	0	11.82	15.45	15.56
2090.50	11303	259.77	1.78	0.00	1976.4	2013.2	1939.5	2722.0	992.1	204.08	8.99	413	2147.65	50.49	0.17	2.70	1.229	0.081	0.020	1715.59	1747.88	1683.31	2768.69	2142.19	0	0	0	11.70	15.48	15.56
2450.41	16646	259.77	1.78	60.00	1706.9	1748.2	1665.6	2768.6	2142.1	165.20	10.69	485	2455.96	0.00	0.00	2.71	0.000	0.000	0.074	1707.44	1748.81	1666.06	2768.31	3206.94	0	0	0	30.00	30.00	15.78
2490.41	17414	259.77	1.78	-0.12	1706.9	1748.2	1665.6	2768.9	3206.5	160.86	10.93	493	2495.96	0.00	0.00	2.67	0.000	0.000	0.022	1707.84	1749.44	1666.25	2768.44	2055.94	0	0	0	30.00	30.00	15.81
2800.47	8486	345.81	1.95	60.00	1703.3	1758.2	1648.5	2768.7	2055.8	134.23	8.35	555	2873.02	66.70	0.00	2.97	1.207	0.000	0.073	1366.44	1398.06	1334.81	2769.88	3206.50	0	0	0	11.21	30.00	15.39
2900.45	1028	345.81	1.95	0.23	1363.3	1396.8	1329.9	2768.9	3206.5	123.97	11.91	575	2906.01	0.00	0.00	2.67	0.000	0.000	0.021	1364.16	1397.69	1330.62	2769.25	2062.62	0	0	0	30.00	30.00	15.71
3210.52	10535	442.74	2.14	60.00	1358.5	1397.3	1319.6	2769.2	2062.2	94.96	8.01	637	3293.98	75.78	0.44	2.99	1.164	0.062	0.073	970.00	966.38	973.62	2856.06	3204.44	0	0	0	11.36	15.81	15.37
3326.18	1028	442.74	2.14	0.46	968.0	966.6	969.4	2856.6	3204.2	83.16	10.81	660	3331.73	0.00	0.00	2.65	0.000	0.000	0.022	968.22	967.00	969.44	2855.81	2068.31	0	0	0	30.00	30.00	15.68
3516.65	324	442.74	2.17	60.00	965.2	970.1	960.2	2855.9	2068.2	64.54	9.80	698	3521.84	0.00	0.00	2.91	0.000	0.000	0.070	965.41	970.44	960.38	2855.94	3206.56	0	0	0	30.00	30.00	15.79
3621.27	1028	442.74	2.17	1.49	964.3	970.1	958.6	2855.6	3206.4	52.77	11.45	719	3626.80	0.00	0.00	2.58	0.000	0.000	0.022	964.62	970.62	958.62	2855.88	2082.94	0	0	0	30.00	30.00	15.84
3811.73	8742	510.49	2.30	-60.00	963.5	972.6	954.5	2855.7	2082.9	34.19	8.91	757	3868.63	52.11	0.00	2.82	1.100	0.000	0.081	694.25	673.75	714.75	2856.56	994.81	0	0	0	11.30	30.00	15.41
3926.59	3141	510.49	2.32	1.16	692.1	676.6	707.7	2856.0	994.8	23.40	9.98	780	3931.97	0.00	0.16	2.72	0.000	0.085	0.021	691.97	676.44	707.50	2898.38	2162.38	0	0	0	30.00	15.67	15.78
4105	end climb: SURFACE_DEPTH_REACHED
state	4106	begin surface coast
4146	end surface coast: CONTROL_FINISHED_OK
state	4146	begin surface