Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1281 * 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 1281 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 104.9612 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 337.68945 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 104.9612 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 337.68945 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 1281 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 200322,171032,4704.762,-12458.358,29,0.9,30,15.7 TGT_RADIUS 2500.000

_CALLS 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200322,172231,4704.715,-12458.225,2,0.6,5,15.7 MHEAD_RNG_PITCHd_Wd 80.4,23515,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 152

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 0.2,1.024316 FG_AHR_10Vo 104.973

SM_CCo 3780.91,0.00,0.000,0,1055.7,1066.8,1044.7,421.74 MEM0 60876,1,0,0

SM_GC 0.72,0.00,16.56,0.50,0.000,0.052,0.056,1055.7,1066.8,1044.7,183.2,2360.8,0,0,0,30.00,15.79,15.84 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971192,28,75616,60

IRIDIUM_FIX 4706.31,-12450.71,200322,171658 DATA_FILE_SIZE 32150,734

TCM_TEMP 266.98 CAP_FILE_SIZE 167883,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3723712

HUMID 51.30 SDFILEDIR 4601,1

TEMP 82.01 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.91188 CURRENT 0.048,117.3,1

_24V_AH 14.65,459.824 IMPLIED_C_PITCH 2394,11.75,523

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2962,28.917406,519

FG_AHR_24Vo 337.829 GPS 200322,182557,4704.639,-12457.701,1,0.8,4,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 484 1285 9131.79 legato 34 20 10.17

Pitch_motor 36 230 123.24 nil 0 0 0.00

Roll_motor 62 123 112.84 nil 0 0 0.00

Iridium 353 196 1020.41 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.14 nil 0 0 0.00

Core 1990 11 352.23 SciCon 0 0 0.00

LPSleep 2414 2 101.39 nil 0 0 0.00

Compass 493 5 36.99 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 1035.8 1031.9 1039.6 177.0 2267.9 0.00 0.00 0 77.09 69.89 0.00 0.00 0.005 0.000 0.000 2762.44 2937.56 2587.31 177.06 2268.50 0 0 0 14.72 30.00 30.00

77.84 18727 -116.79 -1.44 60.00 2761.6 2936.2 2586.9 177.0 2268.9 3.34 -4.79 13 112.64 11.61 14.35 3.02 0.007 0.230 0.081 3251.72 3470.88 3032.56 1970.94 3425.88 0 0 0 14.90 15.39 14.78

199.71 1028 -116.79 -1.44 0.00 3251.7 3470.1 3033.3 1971.0 3426.2 22.71 -14.05 37 205.27 0.00 0.00 2.62 0.000 0.000 0.017 3251.69 3469.94 3033.44 1971.06 2251.75 0 0 0 30.00 30.00 15.87

390.12 260 -116.79 -1.44 60.00 3251.7 3469.9 3033.4 1971.2 2250.0 47.63 -13.11 75 395.56 0.00 0.00 3.05 0.000 0.000 0.076 3252.25 3470.94 3033.56 1970.94 3426.19 0 0 0 30.00 30.00 15.82

404.87 1028 -116.79 -1.44 0.43 3251.8 3470.2 3033.4 1970.9 3426.3 49.74 -13.56 78 410.31 0.00 0.00 2.62 0.000 0.000 0.017 3253.00 3470.44 3035.56 1971.12 2256.12 0 0 0 30.00 30.00 15.89

595.20 516 -116.79 -1.44 -60.00 3251.5 3469.6 3033.4 1970.2 2255.0 71.45 -9.89 116 600.36 0.00 0.00 2.62 0.000 0.000 0.062 3252.09 3470.69 3033.50 1971.00 1208.88 0 0 0 30.00 30.00 15.87

684.84 1028 -116.79 -1.44 -0.66 3251.8 3470.3 3033.3 1971.1 1208.8 79.95 -8.95 134 690.39 0.00 0.00 2.64 0.000 0.000 0.024 3251.69 3470.44 3032.94 1970.94 2342.38 0 0 0 30.00 30.00 15.93

875.29 516 -116.79 -1.44 -60.00 3251.8 3470.2 3033.4 1971.0 2342.7 96.54 -8.60 172 880.47 0.00 0.00 2.87 0.000 0.000 0.057 3252.94 3470.62 3035.25 1969.69 1208.81 0 0 0 30.00 30.00 15.88

914.90 1028 -116.79 -1.44 -1.08 3252.0 3469.9 3034.0 1970.9 1208.9 100.07 -8.83 180 920.45 0.00 0.00 2.62 0.000 0.000 0.024 3252.03 3470.56 3033.50 1970.62 2336.06 0 0 0 30.00 30.00 15.94

1225.04 548 -116.79 -1.44 -60.00 3251.7 3470.0 3033.3 1970.9 2336.6 123.83 -6.38 242 1230.60 0.00 0.00 2.84 0.000 0.000 0.058 3252.53 3470.75 3034.31 1971.06 1210.38 0 0 0 30.00 30.00 15.90

1265.04 1060 -116.79 -1.44 -1.39 3251.3 3469.6 3033.1 1971.1 1210.2 126.65 -6.88 250 1270.57 0.00 0.00 2.62 0.000 0.000 0.024 3252.44 3471.06 3033.81 1971.06 2329.50 0 0 0 30.00 30.00 15.95

1575.16 292 -116.79 -1.44 60.00 3251.7 3469.8 3033.6 1970.8 2329.6 148.97 -7.03 312 1580.90 0.00 0.00 2.84 0.000 0.000 0.080 3252.09 3470.38 3033.81 1971.00 3426.00 0 0 0 30.00 30.00 15.86

1614 end dive: TARGET_DEPTH_EXCEEDED

state 1614 begin apogee

1620.49 10243 0.00 -0.28 0.00 3251.6 3467.1 3036.1 1970.9 2050.8 152.17 -7.90 320 1710.11 83.58 2.00 0.15 1.286 0.137 0.123 2774.41 2905.19 2643.62 2253.00 2166.94 0 0 0 10.73 15.76 15.32

1712 end apogee: CONTROL_FINISHED_OK

state 1712 begin climb

1712.94 10759 116.79 1.44 -60.00 2774.1 2905.2 2643.0 2253.5 2167.1 154.98 0.00 338 1809.48 86.22 2.86 3.07 1.228 0.110 0.072 2298.38 2356.44 2240.31 2672.31 993.50 0 0 0 11.76 15.53 15.68

1827.19 11303 278.98 1.77 0.00 2296.0 2355.6 2236.5 2671.6 993.4 151.87 3.80 361 1956.70 121.57 0.48 2.73 1.199 0.055 0.020 1637.38 1669.31 1605.44 2765.50 2147.75 0 0 0 11.59 15.47 15.57

2259.01 16450 278.98 1.79 0.00 1627.7 1670.6 1584.8 2765.4 2147.1 113.87 8.28 447 2260.34 0.00 0.00 0.00 0.000 0.000 0.000 1627.28 1670.06 1584.50 2765.56 2147.50 0 0 0 30.00 30.00 30.00

2564.10 16966 278.98 1.80 -60.00 1626.7 1671.1 1582.3 2765.1 2147.2 87.25 8.61 508 2569.70 0.00 0.00 3.01 0.000 0.000 0.073 1627.06 1671.56 1582.56 2765.12 994.31 0 0 0 30.00 30.00 15.80

2669.11 17414 278.98 1.80 -0.39 1624.9 1671.1 1578.8 2765.8 994.6 77.63 9.33 529 2674.68 0.00 0.00 2.65 0.000 0.000 0.021 1625.44 1671.81 1579.06 2765.12 2138.31 0 0 0 30.00 30.00 15.88

2859.59 10791 354.45 1.95 -60.00 1624.8 1671.9 1577.8 2765.8 2137.6 64.52 6.67 567 2926.07 59.41 0.15 3.02 1.126 0.088 0.075 1329.62 1352.00 1307.25 2809.25 994.81 0 0 0 10.97 15.86 15.37

2939.58 1092 354.45 1.97 -0.82 1328.2 1352.0 1304.4 2808.8 994.6 58.36 8.14 583 2944.91 0.00 0.00 2.65 0.000 0.000 0.020 1328.94 1352.56 1305.31 2808.62 2131.81 0 0 0 30.00 30.00 15.76

3129.83 64 354.45 2.01 -0.82 1324.2 1352.2 1296.2 2808.5 2131.9 43.93 7.27 621 3131.16 0.00 0.00 0.00 0.000 0.000 0.000 1323.91 1351.88 1295.94 2809.00 2132.12 0 0 0 30.00 30.00 30.00

3314.33 10791 420.28 2.14 -60.00 1323.8 1352.8 1294.9 2808.6 2131.6 30.69 6.99 658 3372.72 52.48 0.18 3.01 1.089 0.082 0.076 1062.22 1059.81 1064.62 2853.31 994.81 0 0 0 11.13 15.83 15.37

3399.98 1028 420.28 2.14 -1.28 1060.4 1059.8 1061.0 2854.0 994.9 23.58 8.81 675 3405.41 0.00 0.00 2.62 0.000 0.000 0.020 1060.22 1059.94 1060.50 2854.69 2119.88 0 0 0 30.00 30.00 15.75

3590.28 580 420.28 2.17 -60.00 1057.2 1061.6 1052.9 2854.2 2119.6 8.14 7.44 713 3595.47 0.00 0.00 2.97 0.000 0.000 0.075 1057.72 1062.12 1053.31 2854.69 993.31 0 0 0 30.00 30.00 15.77

3614.89 1092 420.28 2.18 -1.77 1057.0 1061.8 1052.2 2854.6 993.4 5.87 8.67 718 3620.40 0.00 0.00 2.59 0.000 0.000 0.020 1057.59 1062.25 1052.94 2854.56 2111.56 0 0 0 30.00 30.00 15.83

3639 end climb: SURFACE_DEPTH_REACHED

state 3639 begin surface coast

3694 end surface coast: CONTROL_FINISHED_OK

state 3694 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	1281	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	104.9612	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	337.68945	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	200322,171032,4704.762,-12458.358,29,0.9,30,15.7	TGT_RADIUS	2500.000
_CALLS	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200322,172231,4704.715,-12458.225,2,0.6,5,15.7	MHEAD_RNG_PITCHd_Wd	80.4,23515,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	152
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	0.2,1.024316	FG_AHR_10Vo	104.973
SM_CCo	3780.91,0.00,0.000,0,1055.7,1066.8,1044.7,421.74	MEM0	60876,1,0,0
SM_GC	0.72,0.00,16.56,0.50,0.000,0.052,0.056,1055.7,1066.8,1044.7,183.2,2360.8,0,0,0,30.00,15.79,15.84	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971192,28,75616,60
IRIDIUM_FIX	4706.31,-12450.71,200322,171658	DATA_FILE_SIZE	32150,734
TCM_TEMP	266.98	CAP_FILE_SIZE	167883,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3723712
HUMID	51.30	SDFILEDIR	4601,1
TEMP	82.01	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.91188	CURRENT	0.048,117.3,1
_24V_AH	14.65,459.824	IMPLIED_C_PITCH	2394,11.75,523
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2962,28.917406,519
FG_AHR_24Vo	337.829	GPS	200322,182557,4704.639,-12457.701,1,0.8,4,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	484	1285	9131.79	legato	34	20	10.17
Pitch_motor	36	230	123.24	nil	0	0	0.00
Roll_motor	62	123	112.84	nil	0	0	0.00
Iridium	353	196	1020.41	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.14	nil	0	0	0.00
Core	1990	11	352.23	SciCon	0	0	0.00
LPSleep	2414	2	101.39	nil	0	0	0.00
Compass	493	5	36.99	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	1035.8	1031.9	1039.6	177.0	2267.9	0.00	0.00	0	77.09	69.89	0.00	0.00	0.005	0.000	0.000	2762.44	2937.56	2587.31	177.06	2268.50	0	0	0	14.72	30.00	30.00
77.84	18727	-116.79	-1.44	60.00	2761.6	2936.2	2586.9	177.0	2268.9	3.34	-4.79	13	112.64	11.61	14.35	3.02	0.007	0.230	0.081	3251.72	3470.88	3032.56	1970.94	3425.88	0	0	0	14.90	15.39	14.78
199.71	1028	-116.79	-1.44	0.00	3251.7	3470.1	3033.3	1971.0	3426.2	22.71	-14.05	37	205.27	0.00	0.00	2.62	0.000	0.000	0.017	3251.69	3469.94	3033.44	1971.06	2251.75	0	0	0	30.00	30.00	15.87
390.12	260	-116.79	-1.44	60.00	3251.7	3469.9	3033.4	1971.2	2250.0	47.63	-13.11	75	395.56	0.00	0.00	3.05	0.000	0.000	0.076	3252.25	3470.94	3033.56	1970.94	3426.19	0	0	0	30.00	30.00	15.82
404.87	1028	-116.79	-1.44	0.43	3251.8	3470.2	3033.4	1970.9	3426.3	49.74	-13.56	78	410.31	0.00	0.00	2.62	0.000	0.000	0.017	3253.00	3470.44	3035.56	1971.12	2256.12	0	0	0	30.00	30.00	15.89
595.20	516	-116.79	-1.44	-60.00	3251.5	3469.6	3033.4	1970.2	2255.0	71.45	-9.89	116	600.36	0.00	0.00	2.62	0.000	0.000	0.062	3252.09	3470.69	3033.50	1971.00	1208.88	0	0	0	30.00	30.00	15.87
684.84	1028	-116.79	-1.44	-0.66	3251.8	3470.3	3033.3	1971.1	1208.8	79.95	-8.95	134	690.39	0.00	0.00	2.64	0.000	0.000	0.024	3251.69	3470.44	3032.94	1970.94	2342.38	0	0	0	30.00	30.00	15.93
875.29	516	-116.79	-1.44	-60.00	3251.8	3470.2	3033.4	1971.0	2342.7	96.54	-8.60	172	880.47	0.00	0.00	2.87	0.000	0.000	0.057	3252.94	3470.62	3035.25	1969.69	1208.81	0	0	0	30.00	30.00	15.88
914.90	1028	-116.79	-1.44	-1.08	3252.0	3469.9	3034.0	1970.9	1208.9	100.07	-8.83	180	920.45	0.00	0.00	2.62	0.000	0.000	0.024	3252.03	3470.56	3033.50	1970.62	2336.06	0	0	0	30.00	30.00	15.94
1225.04	548	-116.79	-1.44	-60.00	3251.7	3470.0	3033.3	1970.9	2336.6	123.83	-6.38	242	1230.60	0.00	0.00	2.84	0.000	0.000	0.058	3252.53	3470.75	3034.31	1971.06	1210.38	0	0	0	30.00	30.00	15.90
1265.04	1060	-116.79	-1.44	-1.39	3251.3	3469.6	3033.1	1971.1	1210.2	126.65	-6.88	250	1270.57	0.00	0.00	2.62	0.000	0.000	0.024	3252.44	3471.06	3033.81	1971.06	2329.50	0	0	0	30.00	30.00	15.95
1575.16	292	-116.79	-1.44	60.00	3251.7	3469.8	3033.6	1970.8	2329.6	148.97	-7.03	312	1580.90	0.00	0.00	2.84	0.000	0.000	0.080	3252.09	3470.38	3033.81	1971.00	3426.00	0	0	0	30.00	30.00	15.86
1614	end dive: TARGET_DEPTH_EXCEEDED
state	1614	begin apogee
1620.49	10243	0.00	-0.28	0.00	3251.6	3467.1	3036.1	1970.9	2050.8	152.17	-7.90	320	1710.11	83.58	2.00	0.15	1.286	0.137	0.123	2774.41	2905.19	2643.62	2253.00	2166.94	0	0	0	10.73	15.76	15.32
1712	end apogee: CONTROL_FINISHED_OK
state	1712	begin climb
1712.94	10759	116.79	1.44	-60.00	2774.1	2905.2	2643.0	2253.5	2167.1	154.98	0.00	338	1809.48	86.22	2.86	3.07	1.228	0.110	0.072	2298.38	2356.44	2240.31	2672.31	993.50	0	0	0	11.76	15.53	15.68
1827.19	11303	278.98	1.77	0.00	2296.0	2355.6	2236.5	2671.6	993.4	151.87	3.80	361	1956.70	121.57	0.48	2.73	1.199	0.055	0.020	1637.38	1669.31	1605.44	2765.50	2147.75	0	0	0	11.59	15.47	15.57
2259.01	16450	278.98	1.79	0.00	1627.7	1670.6	1584.8	2765.4	2147.1	113.87	8.28	447	2260.34	0.00	0.00	0.00	0.000	0.000	0.000	1627.28	1670.06	1584.50	2765.56	2147.50	0	0	0	30.00	30.00	30.00
2564.10	16966	278.98	1.80	-60.00	1626.7	1671.1	1582.3	2765.1	2147.2	87.25	8.61	508	2569.70	0.00	0.00	3.01	0.000	0.000	0.073	1627.06	1671.56	1582.56	2765.12	994.31	0	0	0	30.00	30.00	15.80
2669.11	17414	278.98	1.80	-0.39	1624.9	1671.1	1578.8	2765.8	994.6	77.63	9.33	529	2674.68	0.00	0.00	2.65	0.000	0.000	0.021	1625.44	1671.81	1579.06	2765.12	2138.31	0	0	0	30.00	30.00	15.88
2859.59	10791	354.45	1.95	-60.00	1624.8	1671.9	1577.8	2765.8	2137.6	64.52	6.67	567	2926.07	59.41	0.15	3.02	1.126	0.088	0.075	1329.62	1352.00	1307.25	2809.25	994.81	0	0	0	10.97	15.86	15.37
2939.58	1092	354.45	1.97	-0.82	1328.2	1352.0	1304.4	2808.8	994.6	58.36	8.14	583	2944.91	0.00	0.00	2.65	0.000	0.000	0.020	1328.94	1352.56	1305.31	2808.62	2131.81	0	0	0	30.00	30.00	15.76
3129.83	64	354.45	2.01	-0.82	1324.2	1352.2	1296.2	2808.5	2131.9	43.93	7.27	621	3131.16	0.00	0.00	0.00	0.000	0.000	0.000	1323.91	1351.88	1295.94	2809.00	2132.12	0	0	0	30.00	30.00	30.00
3314.33	10791	420.28	2.14	-60.00	1323.8	1352.8	1294.9	2808.6	2131.6	30.69	6.99	658	3372.72	52.48	0.18	3.01	1.089	0.082	0.076	1062.22	1059.81	1064.62	2853.31	994.81	0	0	0	11.13	15.83	15.37
3399.98	1028	420.28	2.14	-1.28	1060.4	1059.8	1061.0	2854.0	994.9	23.58	8.81	675	3405.41	0.00	0.00	2.62	0.000	0.000	0.020	1060.22	1059.94	1060.50	2854.69	2119.88	0	0	0	30.00	30.00	15.75
3590.28	580	420.28	2.17	-60.00	1057.2	1061.6	1052.9	2854.2	2119.6	8.14	7.44	713	3595.47	0.00	0.00	2.97	0.000	0.000	0.075	1057.72	1062.12	1053.31	2854.69	993.31	0	0	0	30.00	30.00	15.77
3614.89	1092	420.28	2.18	-1.77	1057.0	1061.8	1052.2	2854.6	993.4	5.87	8.67	718	3620.40	0.00	0.00	2.59	0.000	0.000	0.020	1057.59	1062.25	1052.94	2854.56	2111.56	0	0	0	30.00	30.00	15.83
3639	end climb: SURFACE_DEPTH_REACHED
state	3639	begin surface coast
3694	end surface coast: CONTROL_FINISHED_OK
state	3694	begin surface