Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1280 * 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 1280 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 360 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 104.94592 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 337.52823 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 120 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 104.94592 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 337.52823 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 360

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 120 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 1280 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 200322,155114,4704.920,-12459.007,4,1.4,7,15.7 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200322,155851,4704.900,-12458.899,3,1.4,4,15.7 MHEAD_RNG_PITCHd_Wd 85.0,24419,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 174

TGT_NAME PICKUP 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 4702.180,-12439.970

Post-dive calculations and measurements:

FINISH 0.2,1.023298 FG_AHR_10Vo 104.959

SM_CCo 4250.91,0.00,0.000,0,1036.9,1045.3,1028.4,426.36 MEM0 60876,1,0,0

SM_GC 0.55,0.00,16.60,0.38,0.000,0.050,0.061,1036.9,1045.3,1028.4,189.2,2353.7,0,0,0,30.00,15.81,15.86 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971220,30,75548,60

IRIDIUM_FIX 4705.80,-12457.71,200322,155429 DATA_FILE_SIZE 35473,829

TCM_TEMP 266.83 CAP_FILE_SIZE 166704,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3723808

HUMID 51.28 SDFILEDIR 4598,1

TEMP 82.03 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.90677 CURRENT 0.046,121.9,1

_24V_AH 14.65,459.637 IMPLIED_C_PITCH 2385,11.91,595

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2899,31.076719,572

FG_AHR_24Vo 337.673 GPS 200322,171032,4704.762,-12458.358,29,0.9,30,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 490 1313 9443.24 legato 34 20 10.17

Pitch_motor 36 230 123.97 nil 0 0 0.00

Roll_motor 56 108 90.80 nil 0 0 0.00

Iridium 202 199 592.41 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.89 nil 0 0 0.00

Core 1965 11 347.92 SciCon 0 0 0.00

LPSleep 2635 2 110.71 nil 0 0 0.00

Compass 552 5 41.44 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

6.04 16386 -116.79 -1.44 0.00 1047.2 1044.8 1049.6 176.8 2239.0 0.00 0.00 0 82.59 75.04 0.00 0.00 0.005 0.000 0.000 2908.84 3093.00 2724.69 177.06 2239.25 0 0 0 14.84 30.00 30.00

83.32 18727 -116.79 -1.44 60.00 2908.1 3091.8 2724.3 177.1 2238.9 3.94 -5.77 14 115.67 7.53 14.45 3.11 0.008 0.230 0.081 3250.28 3467.00 3033.56 1970.94 3424.75 0 0 0 15.03 15.41 14.85

212.74 1028 -116.79 -1.44 0.00 3250.9 3467.2 3034.6 1970.8 3424.1 25.69 -14.08 40 218.30 0.00 0.00 2.64 0.000 0.000 0.016 3251.38 3468.12 3034.62 1970.81 2252.00 0 0 0 30.00 30.00 15.88

403.18 516 -116.79 -1.44 -60.00 3251.0 3467.3 3034.7 1970.9 2249.9 50.82 -13.74 78 408.54 0.00 0.00 2.62 0.000 0.000 0.063 3251.19 3467.50 3034.88 1970.62 1210.25 0 0 0 30.00 30.00 15.85

412.92 1028 -116.79 -1.44 0.00 3250.7 3466.6 3034.7 1970.9 1210.4 52.12 -13.26 80 418.37 0.00 0.00 2.67 0.000 0.000 0.024 3251.28 3467.69 3034.88 1970.62 2354.12 0 0 0 30.00 30.00 15.91

603.27 260 -116.79 -1.44 60.00 3250.6 3467.0 3034.2 1970.8 2354.5 75.37 -11.65 118 608.44 0.00 0.00 2.78 0.000 0.000 0.080 3250.69 3467.00 3034.38 1970.94 3428.75 0 0 0 30.00 30.00 15.82

697.91 1028 -116.79 -1.44 0.00 3250.8 3466.5 3035.1 1971.1 3428.4 86.15 -10.56 137 703.46 0.00 0.00 2.62 0.000 0.000 0.016 3251.44 3467.50 3035.38 1970.62 2242.12 0 0 0 30.00 30.00 15.92

887.97 516 -116.79 -1.44 -60.00 3250.6 3466.9 3034.3 1970.8 2241.0 104.04 -9.23 175 893.49 0.00 0.00 2.60 0.000 0.000 0.063 3252.09 3468.19 3036.00 1970.25 1208.88 0 0 0 30.00 30.00 15.88

927.97 1028 -116.79 -1.44 0.00 3250.5 3466.2 3034.8 1971.0 1209.1 107.75 -9.28 183 933.53 0.00 0.00 2.67 0.000 0.000 0.024 3251.91 3467.00 3036.81 1971.19 2355.50 0 0 0 30.00 30.00 15.93

1238.09 0 -116.79 -1.44 0.00 3250.7 3467.0 3034.4 1970.8 2355.8 132.52 -7.28 245 1239.42 0.00 0.00 0.00 0.000 0.000 0.000 3250.47 3467.19 3033.75 1970.75 2355.62 0 0 0 30.00 30.00 30.00

1543.20 516 -116.79 -1.44 -60.00 3250.4 3466.4 3034.4 1970.9 2355.4 157.13 -8.46 306 1548.77 0.00 0.00 2.88 0.000 0.000 0.057 3251.78 3468.31 3035.25 1970.56 1210.12 0 0 0 30.00 30.00 15.89

1568.19 1028 -116.79 -1.44 -0.23 3250.8 3466.7 3035.0 1970.9 1210.6 159.30 -8.59 311 1573.74 0.00 0.00 2.66 0.000 0.000 0.024 3251.44 3467.69 3035.19 1971.12 2352.75 0 0 0 30.00 30.00 15.95

1748 end dive: TARGET_DEPTH_EXCEEDED

state 1748 begin apogee

1750.73 10243 0.00 -0.28 0.00 3250.8 3466.9 3034.7 1971.1 2043.4 174.08 -8.15 347 1840.89 83.93 1.99 0.17 1.314 0.133 0.109 2774.28 2903.38 2645.19 2254.19 2166.50 0 0 0 10.67 15.77 15.33

1843 end apogee: CONTROL_FINISHED_OK

state 1843 begin climb

1843.83 10759 116.79 1.44 -60.00 2774.0 2903.9 2644.1 2253.9 2166.3 177.07 0.00 365 1940.39 86.53 2.85 3.05 1.256 0.108 0.073 2298.03 2355.06 2241.00 2673.12 993.19 0 0 0 11.74 15.54 15.68

1977.59 11303 244.52 1.70 0.00 2295.4 2355.0 2235.9 2672.6 993.2 173.12 4.94 392 2081.52 96.96 0.37 2.69 1.228 0.059 0.020 1779.66 1812.69 1746.62 2747.38 2146.56 0 0 0 11.47 15.50 15.59

2383.78 16450 244.52 1.71 0.00 1768.6 1812.1 1725.1 2747.2 2146.2 137.98 8.60 473 2385.11 0.00 0.00 0.00 0.000 0.000 0.000 1768.00 1811.38 1724.62 2746.62 2146.50 0 0 0 30.00 30.00 30.00

2688.86 16966 244.52 1.74 -60.00 1767.6 1813.6 1721.6 2747.7 2147.1 113.74 7.79 534 2694.45 0.00 0.00 2.99 0.000 0.000 0.074 1767.84 1814.00 1721.69 2747.38 993.31 0 0 0 30.00 30.00 15.79

2708.86 17478 244.52 1.76 -0.18 1766.9 1813.2 1720.6 2747.2 993.4 112.09 7.99 538 2714.41 0.00 0.00 2.64 0.000 0.000 0.021 1767.38 1813.81 1720.94 2747.75 2141.44 0 0 0 30.00 30.00 15.87

3018.97 16966 244.52 1.80 -60.00 1766.3 1814.2 1718.4 2747.7 2140.9 87.98 7.20 600 3024.55 0.00 0.00 2.97 0.000 0.000 0.074 1766.31 1814.62 1718.00 2747.75 993.44 0 0 0 30.00 30.00 15.83

3094.00 17478 244.52 1.82 -0.41 1766.0 1814.4 1717.6 2747.9 993.6 82.00 8.09 615 3099.52 0.00 0.00 2.63 0.000 0.000 0.021 1765.97 1814.44 1717.50 2747.94 2135.69 0 0 0 30.00 30.00 15.91

3284.43 10275 345.03 2.02 -0.41 1766.4 1815.8 1717.1 2747.3 2135.9 70.59 5.84 653 3365.73 78.11 0.38 0.00 1.153 0.059 0.000 1368.84 1389.38 1348.31 2825.81 2136.12 0 0 0 10.82 15.88 30.00

3549.65 8742 424.43 2.18 -60.00 1362.3 1389.2 1335.4 2825.8 2136.0 52.57 6.54 706 3617.62 62.56 0.00 3.03 1.110 0.000 0.077 1044.69 1040.75 1048.62 2826.50 994.50 0 0 0 11.29 30.00 15.33

3634.85 3141 424.43 2.19 -0.95 1044.2 1041.3 1047.0 2826.0 994.8 45.70 8.60 723 3640.43 0.00 0.16 2.65 0.000 0.087 0.020 1043.59 1041.06 1046.12 2867.06 2131.62 0 0 0 30.00 15.59 15.68

3824.89 516 424.43 2.19 -60.00 1040.4 1041.6 1039.1 2866.1 2131.2 29.31 8.69 761 3830.49 0.00 0.00 2.97 0.000 0.000 0.075 1040.84 1042.19 1039.50 2867.25 993.31 0 0 0 30.00 30.00 15.74

3980.51 1092 424.43 2.20 1.35 1038.8 1043.1 1034.6 2866.9 993.5 15.59 8.63 792 3985.51 0.00 0.00 2.71 0.000 0.000 0.021 1039.91 1043.75 1036.06 2866.88 2167.56 0 0 0 30.00 30.00 15.83

4114 end climb: SURFACE_DEPTH_REACHED

state 4114 begin surface coast

4164 end surface coast: CONTROL_FINISHED_OK

state 4165 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	1280	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	360	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	104.94592	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	337.52823	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	120	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	200322,155114,4704.920,-12459.007,4,1.4,7,15.7	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200322,155851,4704.900,-12458.899,3,1.4,4,15.7	MHEAD_RNG_PITCHd_Wd	85.0,24419,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	174
TGT_NAME	PICKUP	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	4702.180,-12439.970

FINISH	0.2,1.023298	FG_AHR_10Vo	104.959
SM_CCo	4250.91,0.00,0.000,0,1036.9,1045.3,1028.4,426.36	MEM0	60876,1,0,0
SM_GC	0.55,0.00,16.60,0.38,0.000,0.050,0.061,1036.9,1045.3,1028.4,189.2,2353.7,0,0,0,30.00,15.81,15.86	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971220,30,75548,60
IRIDIUM_FIX	4705.80,-12457.71,200322,155429	DATA_FILE_SIZE	35473,829
TCM_TEMP	266.83	CAP_FILE_SIZE	166704,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3723808
HUMID	51.28	SDFILEDIR	4598,1
TEMP	82.03	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.90677	CURRENT	0.046,121.9,1
_24V_AH	14.65,459.637	IMPLIED_C_PITCH	2385,11.91,595
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2899,31.076719,572
FG_AHR_24Vo	337.673	GPS	200322,171032,4704.762,-12458.358,29,0.9,30,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	490	1313	9443.24	legato	34	20	10.17
Pitch_motor	36	230	123.97	nil	0	0	0.00
Roll_motor	56	108	90.80	nil	0	0	0.00
Iridium	202	199	592.41	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.89	nil	0	0	0.00
Core	1965	11	347.92	SciCon	0	0	0.00
LPSleep	2635	2	110.71	nil	0	0	0.00
Compass	552	5	41.44	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
6.04	16386	-116.79	-1.44	0.00	1047.2	1044.8	1049.6	176.8	2239.0	0.00	0.00	0	82.59	75.04	0.00	0.00	0.005	0.000	0.000	2908.84	3093.00	2724.69	177.06	2239.25	0	0	0	14.84	30.00	30.00
83.32	18727	-116.79	-1.44	60.00	2908.1	3091.8	2724.3	177.1	2238.9	3.94	-5.77	14	115.67	7.53	14.45	3.11	0.008	0.230	0.081	3250.28	3467.00	3033.56	1970.94	3424.75	0	0	0	15.03	15.41	14.85
212.74	1028	-116.79	-1.44	0.00	3250.9	3467.2	3034.6	1970.8	3424.1	25.69	-14.08	40	218.30	0.00	0.00	2.64	0.000	0.000	0.016	3251.38	3468.12	3034.62	1970.81	2252.00	0	0	0	30.00	30.00	15.88
403.18	516	-116.79	-1.44	-60.00	3251.0	3467.3	3034.7	1970.9	2249.9	50.82	-13.74	78	408.54	0.00	0.00	2.62	0.000	0.000	0.063	3251.19	3467.50	3034.88	1970.62	1210.25	0	0	0	30.00	30.00	15.85
412.92	1028	-116.79	-1.44	0.00	3250.7	3466.6	3034.7	1970.9	1210.4	52.12	-13.26	80	418.37	0.00	0.00	2.67	0.000	0.000	0.024	3251.28	3467.69	3034.88	1970.62	2354.12	0	0	0	30.00	30.00	15.91
603.27	260	-116.79	-1.44	60.00	3250.6	3467.0	3034.2	1970.8	2354.5	75.37	-11.65	118	608.44	0.00	0.00	2.78	0.000	0.000	0.080	3250.69	3467.00	3034.38	1970.94	3428.75	0	0	0	30.00	30.00	15.82
697.91	1028	-116.79	-1.44	0.00	3250.8	3466.5	3035.1	1971.1	3428.4	86.15	-10.56	137	703.46	0.00	0.00	2.62	0.000	0.000	0.016	3251.44	3467.50	3035.38	1970.62	2242.12	0	0	0	30.00	30.00	15.92
887.97	516	-116.79	-1.44	-60.00	3250.6	3466.9	3034.3	1970.8	2241.0	104.04	-9.23	175	893.49	0.00	0.00	2.60	0.000	0.000	0.063	3252.09	3468.19	3036.00	1970.25	1208.88	0	0	0	30.00	30.00	15.88
927.97	1028	-116.79	-1.44	0.00	3250.5	3466.2	3034.8	1971.0	1209.1	107.75	-9.28	183	933.53	0.00	0.00	2.67	0.000	0.000	0.024	3251.91	3467.00	3036.81	1971.19	2355.50	0	0	0	30.00	30.00	15.93
1238.09	0	-116.79	-1.44	0.00	3250.7	3467.0	3034.4	1970.8	2355.8	132.52	-7.28	245	1239.42	0.00	0.00	0.00	0.000	0.000	0.000	3250.47	3467.19	3033.75	1970.75	2355.62	0	0	0	30.00	30.00	30.00
1543.20	516	-116.79	-1.44	-60.00	3250.4	3466.4	3034.4	1970.9	2355.4	157.13	-8.46	306	1548.77	0.00	0.00	2.88	0.000	0.000	0.057	3251.78	3468.31	3035.25	1970.56	1210.12	0	0	0	30.00	30.00	15.89
1568.19	1028	-116.79	-1.44	-0.23	3250.8	3466.7	3035.0	1970.9	1210.6	159.30	-8.59	311	1573.74	0.00	0.00	2.66	0.000	0.000	0.024	3251.44	3467.69	3035.19	1971.12	2352.75	0	0	0	30.00	30.00	15.95
1748	end dive: TARGET_DEPTH_EXCEEDED
state	1748	begin apogee
1750.73	10243	0.00	-0.28	0.00	3250.8	3466.9	3034.7	1971.1	2043.4	174.08	-8.15	347	1840.89	83.93	1.99	0.17	1.314	0.133	0.109	2774.28	2903.38	2645.19	2254.19	2166.50	0	0	0	10.67	15.77	15.33
1843	end apogee: CONTROL_FINISHED_OK
state	1843	begin climb
1843.83	10759	116.79	1.44	-60.00	2774.0	2903.9	2644.1	2253.9	2166.3	177.07	0.00	365	1940.39	86.53	2.85	3.05	1.256	0.108	0.073	2298.03	2355.06	2241.00	2673.12	993.19	0	0	0	11.74	15.54	15.68
1977.59	11303	244.52	1.70	0.00	2295.4	2355.0	2235.9	2672.6	993.2	173.12	4.94	392	2081.52	96.96	0.37	2.69	1.228	0.059	0.020	1779.66	1812.69	1746.62	2747.38	2146.56	0	0	0	11.47	15.50	15.59
2383.78	16450	244.52	1.71	0.00	1768.6	1812.1	1725.1	2747.2	2146.2	137.98	8.60	473	2385.11	0.00	0.00	0.00	0.000	0.000	0.000	1768.00	1811.38	1724.62	2746.62	2146.50	0	0	0	30.00	30.00	30.00
2688.86	16966	244.52	1.74	-60.00	1767.6	1813.6	1721.6	2747.7	2147.1	113.74	7.79	534	2694.45	0.00	0.00	2.99	0.000	0.000	0.074	1767.84	1814.00	1721.69	2747.38	993.31	0	0	0	30.00	30.00	15.79
2708.86	17478	244.52	1.76	-0.18	1766.9	1813.2	1720.6	2747.2	993.4	112.09	7.99	538	2714.41	0.00	0.00	2.64	0.000	0.000	0.021	1767.38	1813.81	1720.94	2747.75	2141.44	0	0	0	30.00	30.00	15.87
3018.97	16966	244.52	1.80	-60.00	1766.3	1814.2	1718.4	2747.7	2140.9	87.98	7.20	600	3024.55	0.00	0.00	2.97	0.000	0.000	0.074	1766.31	1814.62	1718.00	2747.75	993.44	0	0	0	30.00	30.00	15.83
3094.00	17478	244.52	1.82	-0.41	1766.0	1814.4	1717.6	2747.9	993.6	82.00	8.09	615	3099.52	0.00	0.00	2.63	0.000	0.000	0.021	1765.97	1814.44	1717.50	2747.94	2135.69	0	0	0	30.00	30.00	15.91
3284.43	10275	345.03	2.02	-0.41	1766.4	1815.8	1717.1	2747.3	2135.9	70.59	5.84	653	3365.73	78.11	0.38	0.00	1.153	0.059	0.000	1368.84	1389.38	1348.31	2825.81	2136.12	0	0	0	10.82	15.88	30.00
3549.65	8742	424.43	2.18	-60.00	1362.3	1389.2	1335.4	2825.8	2136.0	52.57	6.54	706	3617.62	62.56	0.00	3.03	1.110	0.000	0.077	1044.69	1040.75	1048.62	2826.50	994.50	0	0	0	11.29	30.00	15.33
3634.85	3141	424.43	2.19	-0.95	1044.2	1041.3	1047.0	2826.0	994.8	45.70	8.60	723	3640.43	0.00	0.16	2.65	0.000	0.087	0.020	1043.59	1041.06	1046.12	2867.06	2131.62	0	0	0	30.00	15.59	15.68
3824.89	516	424.43	2.19	-60.00	1040.4	1041.6	1039.1	2866.1	2131.2	29.31	8.69	761	3830.49	0.00	0.00	2.97	0.000	0.000	0.075	1040.84	1042.19	1039.50	2867.25	993.31	0	0	0	30.00	30.00	15.74
3980.51	1092	424.43	2.20	1.35	1038.8	1043.1	1034.6	2866.9	993.5	15.59	8.63	792	3985.51	0.00	0.00	2.71	0.000	0.000	0.021	1039.91	1043.75	1036.06	2866.88	2167.56	0	0	0	30.00	30.00	15.83
4114	end climb: SURFACE_DEPTH_REACHED
state	4114	begin surface coast
4164	end surface coast: CONTROL_FINISHED_OK
state	4165	begin surface