Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1284 * 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 1284 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 104.99852 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 338.13058 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 104.99852 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 338.13058 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 1284 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 200322,203645,4704.587,-12456.749,10,1.0,16,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200322,204145,4704.576,-12456.719,5,1.0,9,15.7 MHEAD_RNG_PITCHd_Wd 95.0,21601,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 142

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 0.2,1.024414 MEM0 60876,1,0,0

SM_CCo 3521.43,8.49,0.892,0,1145.5,1142.9,1148.0,399.72 MEM1 65508,1,0,0

SM_GC 1.67,8.49,16.47,0.41,0.892,0.054,0.056,1145.5,1142.9,1148.0,177.0,2361.8,0,0,0,11.18,15.81,15.87 MEM2 971212,27,75616,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 29022,693

IRIDIUM_FIX 4703.94,-12453.31,200322,193452 CAP_FILE_SIZE 156590,0

TCM_TEMP 266.95 SDSIZE 4028416,3723360

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4610,1

HUMID 51.45 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.99 CURRENT 0.034, 52.3,1

INTERNAL_PRESSURE 8.921 MAGCAL 1.000000,-0.020291,0.045952,-0.003638,1.030732,-0.047457,0.032221,-0.073269,0.928575,540.8,-311.8,143.0,36,0.0282,0

_24V_AH 14.70,460.335 IMPLIED_C_PITCH 2383,12.07,485

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2902,22.688276,475

FG_AHR_24Vo 338.264 GPS 200322,214112,4704.502,-12456.285,22,1.2,25,15.7

FG_AHR_10Vo 105.010

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 465 1271 8710.52 legato 34 20 10.20

Pitch_motor 36 230 122.83 nil 0 0 0.00

Roll_motor 56 107 89.03 nil 0 0 0.00

Iridium 134 192 379.13 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 18 15 4.10 nil 0 0 0.00

Core 1693 11 299.74 SciCon 0 0 0.00

LPSleep 2056 2 86.36 nil 0 0 0.00

Compass 467 5 35.07 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 1142.8 1145.2 1140.4 175.8 2269.9 0.00 0.00 0 77.09 69.88 0.00 0.00 0.005 0.000 0.000 2888.38 3065.50 2711.25 175.94 2269.75 0 0 0 14.88 30.00 30.00

77.83 18727 -116.79 -1.44 60.00 2887.5 3064.3 2710.8 176.0 2269.8 3.77 -5.16 13 110.54 8.27 14.23 3.04 0.007 0.231 0.082 3251.34 3463.50 3039.19 1970.19 3427.50 0 0 0 15.08 15.47 14.92

177.61 1028 -116.79 -1.44 0.00 3250.8 3462.4 3039.1 1970.0 3427.2 20.39 -14.33 33 183.17 0.00 0.00 2.66 0.000 0.000 0.017 3251.47 3463.69 3039.25 1970.38 2251.06 0 0 0 30.00 30.00 15.88

368.02 516 -116.79 -1.44 -60.00 3250.5 3461.9 3039.0 1970.4 2250.1 45.16 -13.20 71 373.19 0.00 0.00 2.62 0.000 0.000 0.061 3251.03 3462.62 3039.44 1970.31 1209.06 0 0 0 30.00 30.00 15.88

387.63 1028 -116.79 -1.44 -0.07 3250.6 3462.2 3038.9 1969.9 1208.9 47.85 -13.20 75 393.51 0.00 0.00 2.70 0.000 0.000 0.025 3252.09 3463.56 3040.62 1970.62 2353.12 0 0 0 30.00 30.00 15.92

578.25 516 -116.79 -1.44 -60.00 3251.0 3462.4 3039.6 1970.2 2353.1 69.76 -10.31 113 583.27 0.00 0.00 2.91 0.000 0.000 0.057 3251.19 3462.81 3039.56 1970.31 1209.19 0 0 0 30.00 30.00 15.88

662.69 1028 -116.79 -1.44 -1.58 3251.0 3462.2 3039.7 1970.4 1208.9 78.06 -9.78 130 668.23 0.00 0.00 2.63 0.000 0.000 0.024 3250.84 3462.38 3039.31 1970.25 2325.62 0 0 0 30.00 30.00 15.94

853.12 260 -116.79 -1.44 60.00 3251.0 3462.4 3039.6 1970.2 2325.6 95.57 -8.83 168 858.31 0.00 0.00 2.87 0.000 0.000 0.081 3252.78 3464.19 3041.38 1969.62 3424.94 0 0 0 30.00 30.00 15.86

912.73 1028 -116.79 -1.44 -1.30 3250.7 3461.8 3039.6 1970.9 3425.0 101.27 -9.47 180 918.29 0.00 0.00 2.70 0.000 0.000 0.017 3251.56 3461.81 3041.31 1970.56 2224.12 0 0 0 30.00 30.00 15.95

1222.81 0 -116.79 -1.44 -1.30 3250.7 3462.0 3039.4 1970.6 2222.2 126.40 -8.02 242 1224.14 0.00 0.00 0.00 0.000 0.000 0.000 3249.81 3460.88 3038.75 1970.62 2222.44 0 0 0 30.00 30.00 30.00

1412 end dive: TARGET_DEPTH_EXCEEDED

state 1412 begin apogee

1414.72 10243 0.00 -0.28 0.00 3250.9 3462.2 3039.6 1970.6 2042.3 142.16 -8.21 280 1503.02 83.25 1.97 0.17 1.272 0.135 0.107 2776.66 2903.56 2649.75 2253.12 2167.06 0 0 0 10.82 15.79 15.34

1505 end apogee: CONTROL_FINISHED_OK

state 1505 begin climb

1506.04 10759 116.79 1.44 -60.00 2773.7 2902.8 2644.6 2254.5 2167.1 145.27 0.00 297 1602.52 85.69 2.80 3.08 1.213 0.106 0.072 2298.25 2356.88 2239.62 2672.38 994.69 0 0 0 11.78 15.55 15.69

1649.72 11303 231.14 1.67 0.00 2294.9 2356.2 2233.6 2671.7 994.8 140.96 5.38 326 1742.45 85.99 0.32 2.71 1.186 0.060 0.020 1832.44 1870.94 1793.94 2740.88 2146.69 0 0 0 11.42 15.54 15.63

2044.78 16966 231.14 1.70 -60.00 1823.8 1870.9 1776.7 2740.2 2146.6 110.60 7.61 405 2050.38 0.00 0.00 3.05 0.000 0.000 0.073 1824.09 1870.81 1777.38 2740.88 993.69 0 0 0 30.00 30.00 15.75

2099.78 17414 231.14 1.70 -0.43 1823.0 1870.9 1775.1 2740.9 993.5 105.87 8.88 416 2105.33 0.00 0.00 2.67 0.000 0.000 0.020 1823.28 1871.44 1775.12 2741.00 2134.25 0 0 0 30.00 30.00 15.81

2409.96 10535 326.37 1.89 60.00 1822.3 1871.4 1773.2 2740.9 2134.9 83.68 6.01 478 2489.02 73.24 0.22 2.81 1.146 0.072 0.075 1443.75 1469.56 1417.94 2794.44 3207.12 0 0 0 10.99 15.84 15.35

2556.25 1028 326.37 1.89 0.26 1440.8 1471.0 1410.7 2794.1 3206.8 72.16 8.89 507 2561.79 0.00 0.00 2.69 0.000 0.000 0.021 1440.22 1469.88 1410.56 2794.75 2062.12 0 0 0 30.00 30.00 15.74

2746.71 580 326.37 1.93 -60.00 1436.7 1470.6 1402.8 2793.9 2062.7 57.89 7.31 545 2751.88 0.00 0.00 2.81 0.000 0.000 0.078 1436.78 1470.25 1403.31 2793.69 994.44 0 0 0 30.00 30.00 15.77

2776.32 17478 326.37 1.97 0.53 1436.0 1470.9 1401.1 2793.8 994.9 55.64 7.27 551 2781.86 0.00 0.00 2.70 0.000 0.000 0.021 1436.12 1470.50 1401.75 2794.19 2152.19 0 0 0 30.00 30.00 15.83

2966.78 10535 390.87 2.10 60.00 1435.5 1470.9 1400.1 2794.4 2152.1 41.81 7.03 589 3023.72 51.14 0.20 2.74 1.099 0.080 0.077 1181.97 1191.38 1172.56 2843.44 3205.12 0 0 0 11.10 15.83 15.39

3026.99 1092 390.87 2.12 0.84 1181.6 1191.3 1171.9 2843.1 3205.0 37.21 7.79 601 3031.94 0.00 0.00 2.65 0.000 0.000 0.021 1181.69 1191.56 1171.81 2843.12 2072.31 0 0 0 30.00 30.00 15.75

3216.95 580 390.87 2.16 -60.00 1177.8 1191.7 1163.8 2843.2 2071.9 22.33 7.43 639 3222.00 0.00 0.00 2.83 0.000 0.000 0.078 1178.06 1191.88 1164.25 2842.31 994.69 0 0 0 30.00 30.00 15.77

3261.43 1092 390.87 2.19 0.64 1176.8 1191.9 1161.8 2843.6 994.4 18.79 7.86 648 3266.99 0.00 0.00 2.72 0.000 0.000 0.021 1177.06 1191.88 1162.25 2842.94 2156.19 0 0 0 30.00 30.00 15.84

3436 end climb: SURFACE_DEPTH_REACHED

state 3436 begin surface coast

3486 end surface coast: CONTROL_FINISHED_OK

state 3486 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	1284	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	104.99852	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	338.13058	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	200322,203645,4704.587,-12456.749,10,1.0,16,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200322,204145,4704.576,-12456.719,5,1.0,9,15.7	MHEAD_RNG_PITCHd_Wd	95.0,21601,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	142
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	0.2,1.024414	MEM0	60876,1,0,0
SM_CCo	3521.43,8.49,0.892,0,1145.5,1142.9,1148.0,399.72	MEM1	65508,1,0,0
SM_GC	1.67,8.49,16.47,0.41,0.892,0.054,0.056,1145.5,1142.9,1148.0,177.0,2361.8,0,0,0,11.18,15.81,15.87	MEM2	971212,27,75616,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	29022,693
IRIDIUM_FIX	4703.94,-12453.31,200322,193452	CAP_FILE_SIZE	156590,0
TCM_TEMP	266.95	SDSIZE	4028416,3723360
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4610,1
HUMID	51.45	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.99	CURRENT	0.034, 52.3,1
INTERNAL_PRESSURE	8.921	MAGCAL	1.000000,-0.020291,0.045952,-0.003638,1.030732,-0.047457,0.032221,-0.073269,0.928575,540.8,-311.8,143.0,36,0.0282,0
_24V_AH	14.70,460.335	IMPLIED_C_PITCH	2383,12.07,485
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2902,22.688276,475
FG_AHR_24Vo	338.264	GPS	200322,214112,4704.502,-12456.285,22,1.2,25,15.7
FG_AHR_10Vo	105.010

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	465	1271	8710.52	legato	34	20	10.20
Pitch_motor	36	230	122.83	nil	0	0	0.00
Roll_motor	56	107	89.03	nil	0	0	0.00
Iridium	134	192	379.13	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	18	15	4.10	nil	0	0	0.00
Core	1693	11	299.74	SciCon	0	0	0.00
LPSleep	2056	2	86.36	nil	0	0	0.00
Compass	467	5	35.07	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	1142.8	1145.2	1140.4	175.8	2269.9	0.00	0.00	0	77.09	69.88	0.00	0.00	0.005	0.000	0.000	2888.38	3065.50	2711.25	175.94	2269.75	0	0	0	14.88	30.00	30.00
77.83	18727	-116.79	-1.44	60.00	2887.5	3064.3	2710.8	176.0	2269.8	3.77	-5.16	13	110.54	8.27	14.23	3.04	0.007	0.231	0.082	3251.34	3463.50	3039.19	1970.19	3427.50	0	0	0	15.08	15.47	14.92
177.61	1028	-116.79	-1.44	0.00	3250.8	3462.4	3039.1	1970.0	3427.2	20.39	-14.33	33	183.17	0.00	0.00	2.66	0.000	0.000	0.017	3251.47	3463.69	3039.25	1970.38	2251.06	0	0	0	30.00	30.00	15.88
368.02	516	-116.79	-1.44	-60.00	3250.5	3461.9	3039.0	1970.4	2250.1	45.16	-13.20	71	373.19	0.00	0.00	2.62	0.000	0.000	0.061	3251.03	3462.62	3039.44	1970.31	1209.06	0	0	0	30.00	30.00	15.88
387.63	1028	-116.79	-1.44	-0.07	3250.6	3462.2	3038.9	1969.9	1208.9	47.85	-13.20	75	393.51	0.00	0.00	2.70	0.000	0.000	0.025	3252.09	3463.56	3040.62	1970.62	2353.12	0	0	0	30.00	30.00	15.92
578.25	516	-116.79	-1.44	-60.00	3251.0	3462.4	3039.6	1970.2	2353.1	69.76	-10.31	113	583.27	0.00	0.00	2.91	0.000	0.000	0.057	3251.19	3462.81	3039.56	1970.31	1209.19	0	0	0	30.00	30.00	15.88
662.69	1028	-116.79	-1.44	-1.58	3251.0	3462.2	3039.7	1970.4	1208.9	78.06	-9.78	130	668.23	0.00	0.00	2.63	0.000	0.000	0.024	3250.84	3462.38	3039.31	1970.25	2325.62	0	0	0	30.00	30.00	15.94
853.12	260	-116.79	-1.44	60.00	3251.0	3462.4	3039.6	1970.2	2325.6	95.57	-8.83	168	858.31	0.00	0.00	2.87	0.000	0.000	0.081	3252.78	3464.19	3041.38	1969.62	3424.94	0	0	0	30.00	30.00	15.86
912.73	1028	-116.79	-1.44	-1.30	3250.7	3461.8	3039.6	1970.9	3425.0	101.27	-9.47	180	918.29	0.00	0.00	2.70	0.000	0.000	0.017	3251.56	3461.81	3041.31	1970.56	2224.12	0	0	0	30.00	30.00	15.95
1222.81	0	-116.79	-1.44	-1.30	3250.7	3462.0	3039.4	1970.6	2222.2	126.40	-8.02	242	1224.14	0.00	0.00	0.00	0.000	0.000	0.000	3249.81	3460.88	3038.75	1970.62	2222.44	0	0	0	30.00	30.00	30.00
1412	end dive: TARGET_DEPTH_EXCEEDED
state	1412	begin apogee
1414.72	10243	0.00	-0.28	0.00	3250.9	3462.2	3039.6	1970.6	2042.3	142.16	-8.21	280	1503.02	83.25	1.97	0.17	1.272	0.135	0.107	2776.66	2903.56	2649.75	2253.12	2167.06	0	0	0	10.82	15.79	15.34
1505	end apogee: CONTROL_FINISHED_OK
state	1505	begin climb
1506.04	10759	116.79	1.44	-60.00	2773.7	2902.8	2644.6	2254.5	2167.1	145.27	0.00	297	1602.52	85.69	2.80	3.08	1.213	0.106	0.072	2298.25	2356.88	2239.62	2672.38	994.69	0	0	0	11.78	15.55	15.69
1649.72	11303	231.14	1.67	0.00	2294.9	2356.2	2233.6	2671.7	994.8	140.96	5.38	326	1742.45	85.99	0.32	2.71	1.186	0.060	0.020	1832.44	1870.94	1793.94	2740.88	2146.69	0	0	0	11.42	15.54	15.63
2044.78	16966	231.14	1.70	-60.00	1823.8	1870.9	1776.7	2740.2	2146.6	110.60	7.61	405	2050.38	0.00	0.00	3.05	0.000	0.000	0.073	1824.09	1870.81	1777.38	2740.88	993.69	0	0	0	30.00	30.00	15.75
2099.78	17414	231.14	1.70	-0.43	1823.0	1870.9	1775.1	2740.9	993.5	105.87	8.88	416	2105.33	0.00	0.00	2.67	0.000	0.000	0.020	1823.28	1871.44	1775.12	2741.00	2134.25	0	0	0	30.00	30.00	15.81
2409.96	10535	326.37	1.89	60.00	1822.3	1871.4	1773.2	2740.9	2134.9	83.68	6.01	478	2489.02	73.24	0.22	2.81	1.146	0.072	0.075	1443.75	1469.56	1417.94	2794.44	3207.12	0	0	0	10.99	15.84	15.35
2556.25	1028	326.37	1.89	0.26	1440.8	1471.0	1410.7	2794.1	3206.8	72.16	8.89	507	2561.79	0.00	0.00	2.69	0.000	0.000	0.021	1440.22	1469.88	1410.56	2794.75	2062.12	0	0	0	30.00	30.00	15.74
2746.71	580	326.37	1.93	-60.00	1436.7	1470.6	1402.8	2793.9	2062.7	57.89	7.31	545	2751.88	0.00	0.00	2.81	0.000	0.000	0.078	1436.78	1470.25	1403.31	2793.69	994.44	0	0	0	30.00	30.00	15.77
2776.32	17478	326.37	1.97	0.53	1436.0	1470.9	1401.1	2793.8	994.9	55.64	7.27	551	2781.86	0.00	0.00	2.70	0.000	0.000	0.021	1436.12	1470.50	1401.75	2794.19	2152.19	0	0	0	30.00	30.00	15.83
2966.78	10535	390.87	2.10	60.00	1435.5	1470.9	1400.1	2794.4	2152.1	41.81	7.03	589	3023.72	51.14	0.20	2.74	1.099	0.080	0.077	1181.97	1191.38	1172.56	2843.44	3205.12	0	0	0	11.10	15.83	15.39
3026.99	1092	390.87	2.12	0.84	1181.6	1191.3	1171.9	2843.1	3205.0	37.21	7.79	601	3031.94	0.00	0.00	2.65	0.000	0.000	0.021	1181.69	1191.56	1171.81	2843.12	2072.31	0	0	0	30.00	30.00	15.75
3216.95	580	390.87	2.16	-60.00	1177.8	1191.7	1163.8	2843.2	2071.9	22.33	7.43	639	3222.00	0.00	0.00	2.83	0.000	0.000	0.078	1178.06	1191.88	1164.25	2842.31	994.69	0	0	0	30.00	30.00	15.77
3261.43	1092	390.87	2.19	0.64	1176.8	1191.9	1161.8	2843.6	994.4	18.79	7.86	648	3266.99	0.00	0.00	2.72	0.000	0.000	0.021	1177.06	1191.88	1162.25	2842.94	2156.19	0	0	0	30.00	30.00	15.84
3436	end climb: SURFACE_DEPTH_REACHED
state	3436	begin surface coast
3486	end surface coast: CONTROL_FINISHED_OK
state	3486	begin surface