Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1285 * 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 1285 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 105.0111 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 338.27512 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 105.0111 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 338.27512 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 1285 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 200322,214112,4704.502,-12456.285,22,1.2,25,15.7 TGT_RADIUS 2500.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200322,214950,4704.497,-12456.227,3,1.2,8,15.7 MHEAD_RNG_PITCHd_Wd 94.9,20963,-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 3.4,1.024466 MEM0 60876,1,0,0

SM_CCo 3650.57,20.26,1.049,0,1144.7,1132.7,1156.7,399.92 MEM1 65508,1,0,0

SM_GC 0.72,20.26,16.91,0.65,1.049,0.066,0.047,1144.7,1132.7,1156.7,175.9,2357.0,0,0,0,11.70,15.78,15.86 MEM2 971228,29,75560,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 32237,716

IRIDIUM_FIX 4706.31,-12450.71,200322,214543 CAP_FILE_SIZE 160637,0

TCM_TEMP 266.88 SDSIZE 4028416,3723232

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4613,1

HUMID 51.48 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.00 CURRENT 0.037, 38.6,1

INTERNAL_PRESSURE 8.91764 MAGCAL 1.000000,-0.011752,0.031134,0.000245,1.027632,-0.013764,0.028603,-0.084200,0.967823,553.5,-342.3,104.2,35,0.0267,0

_24V_AH 14.74,460.505 IMPLIED_C_PITCH 2385,12.02,514

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2913,23.671801,453

FG_AHR_24Vo 338.409 GPS 200322,225107,4704.506,-12455.915,2,1.8,6,15.7

FG_AHR_10Vo 105.022

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 465 1268 8702.26 legato 34 20 10.11

Pitch_motor 36 226 122.87 nil 0 0 0.00

Roll_motor 57 109 92.25 nil 0 0 0.00

Iridium 231 190 651.90 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 17 15 3.91 nil 0 0 0.00

Core 1829 11 323.90 SciCon 0 0 0.00

LPSleep 2267 2 95.21 nil 0 0 0.00

Compass 481 5 36.12 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

6.04 16386 -116.79 -1.44 0.00 1142.0 1143.9 1140.2 174.9 2235.3 0.00 0.00 0 77.09 69.91 0.00 0.00 0.005 0.000 0.000 2888.72 3072.44 2705.00 174.75 2236.06 0 0 0 14.90 30.00 30.00

78.20 18727 -116.79 -1.44 60.00 2888.4 3071.7 2705.2 174.8 2235.1 3.89 -5.79 13 110.56 8.08 14.22 3.11 0.007 0.226 0.078 3250.47 3467.19 3033.75 1970.56 3428.81 0 0 0 15.05 15.49 14.91

237.66 1028 -116.79 -1.44 0.00 3251.0 3466.9 3035.1 1970.9 3428.6 28.93 -14.30 45 243.22 0.00 0.00 2.67 0.000 0.000 0.017 3251.91 3468.19 3035.62 1970.81 2254.00 0 0 0 30.00 30.00 15.89

428.11 0 -116.79 -1.44 0.00 3251.2 3466.9 3035.6 1971.0 2252.1 52.50 -11.82 83 429.43 0.00 0.00 0.00 0.000 0.000 0.000 3250.25 3466.38 3034.12 1970.44 2251.31 0 0 0 30.00 30.00 30.00

613.42 516 -116.79 -1.44 -60.00 3251.2 3467.3 3035.1 1971.2 2251.5 72.57 -9.74 120 618.34 0.00 0.00 2.65 0.000 0.000 0.061 3252.69 3468.12 3037.25 1970.44 1210.00 0 0 0 30.00 30.00 15.90

667.81 1028 -116.79 -1.44 0.50 3251.2 3467.1 3035.3 1970.9 1210.1 77.76 -9.47 131 673.37 0.00 0.00 2.71 0.000 0.000 0.024 3252.41 3467.12 3037.69 1969.69 2362.88 0 0 0 30.00 30.00 15.94

858.27 260 -116.79 -1.44 60.00 3251.2 3466.8 3035.6 1971.1 2363.2 94.43 -8.80 169 863.45 0.00 0.00 2.77 0.000 0.000 0.082 3251.25 3467.31 3035.19 1971.19 3426.31 0 0 0 30.00 30.00 15.87

932.89 1028 -116.79 -1.44 1.20 3251.2 3466.2 3036.3 1970.7 3425.6 101.37 -9.48 184 938.43 0.00 0.00 2.59 0.000 0.000 0.017 3251.66 3466.50 3036.81 1971.06 2259.69 0 0 0 30.00 30.00 15.95

1242.96 260 -116.79 -1.44 60.00 3251.2 3466.1 3036.4 1970.6 2260.1 127.87 -7.96 246 1248.57 0.00 0.00 3.03 0.000 0.000 0.077 3251.91 3467.00 3036.81 1970.75 3426.12 0 0 0 30.00 30.00 15.87

1287.95 1028 -116.79 -1.44 1.66 3251.4 3466.1 3036.8 1971.3 3426.0 131.67 -8.44 255 1293.49 0.00 0.00 2.57 0.000 0.000 0.017 3251.62 3466.94 3036.31 1971.12 2264.69 0 0 0 30.00 30.00 15.96

1428 end dive: TARGET_DEPTH_EXCEEDED

state 1428 begin apogee

1429.84 10243 0.00 -0.28 0.00 3251.3 3466.7 3036.0 1971.1 2045.1 142.14 -7.48 283 1518.30 83.22 1.95 0.17 1.269 0.132 0.109 2773.41 2903.19 2643.62 2254.38 2167.56 0 0 0 10.77 15.81 15.36

1521 end apogee: CONTROL_FINISHED_OK

state 1521 begin climb

1521.43 11271 116.79 1.44 0.00 2773.7 2903.6 2643.8 2254.5 2167.4 144.96 0.00 300 1613.06 85.75 2.77 0.20 1.212 0.090 0.068 2300.38 2361.94 2238.81 2672.88 2035.50 0 0 0 11.72 15.59 15.70

1915.30 10535 280.00 1.77 60.00 2292.7 2360.0 2225.4 2674.4 2035.5 131.19 3.77 379 2045.12 121.50 0.46 3.08 1.194 0.056 0.070 1633.12 1665.44 1600.81 2766.62 3204.12 0 0 0 11.18 15.76 15.25

2057.50 1092 280.00 1.79 0.61 1631.1 1665.2 1597.0 2766.4 3204.1 121.79 8.23 407 2062.87 0.00 0.00 2.69 0.000 0.000 0.020 1631.06 1665.50 1596.62 2766.88 2070.50 0 0 0 30.00 30.00 15.59

2367.51 16710 280.00 1.81 60.00 1624.0 1666.1 1581.9 2766.9 2070.6 96.75 8.17 469 2373.03 0.00 0.00 2.94 0.000 0.000 0.070 1624.91 1666.88 1582.94 2766.12 3205.06 0 0 0 30.00 30.00 15.79

2467.47 17478 280.00 1.82 0.30 1623.9 1666.4 1581.4 2766.5 3205.5 88.52 8.33 489 2473.01 0.00 0.00 2.66 0.000 0.000 0.021 1623.56 1666.75 1580.38 2767.06 2064.75 0 0 0 30.00 30.00 15.84

2657.93 16710 280.00 1.84 60.00 1622.0 1666.9 1577.1 2766.0 2064.5 73.03 8.36 527 2663.12 0.00 0.00 2.94 0.000 0.000 0.069 1622.38 1667.38 1577.38 2766.44 3205.56 0 0 0 30.00 30.00 15.84

2707.55 17478 280.00 1.85 0.99 1622.3 1667.0 1577.6 2767.1 3205.1 68.77 8.61 537 2713.09 0.00 0.00 2.62 0.000 0.000 0.021 1622.84 1668.19 1577.50 2765.81 2074.75 0 0 0 30.00 30.00 15.89

2898.01 10791 356.62 2.01 -60.00 1621.5 1668.1 1575.0 2766.7 2075.1 54.22 6.63 575 2964.49 59.87 0.22 2.85 1.119 0.076 0.080 1320.59 1341.12 1300.06 2817.81 993.38 0 0 0 10.96 15.87 15.39

3072.65 1092 356.62 2.03 0.23 1316.4 1341.4 1291.5 2817.9 993.4 41.30 8.04 610 3078.19 0.00 0.00 2.70 0.000 0.000 0.021 1316.56 1341.50 1291.62 2817.62 2146.88 0 0 0 30.00 30.00 15.80

3263.11 580 356.62 2.06 -60.00 1314.2 1341.4 1287.1 2818.8 2147.1 26.89 7.72 648 3268.51 0.00 0.00 3.03 0.000 0.000 0.073 1314.19 1341.44 1286.94 2817.75 993.06 0 0 0 30.00 30.00 15.80

3307.90 1092 356.62 2.07 -0.40 1314.0 1341.6 1286.3 2818.1 993.4 23.10 8.49 657 3313.27 0.00 0.00 2.65 0.000 0.000 0.020 1314.25 1341.94 1286.56 2818.31 2135.12 0 0 0 30.00 30.00 15.87

3498.18 324 356.62 2.10 60.00 1313.5 1343.6 1283.4 2817.6 2136.1 10.72 7.58 695 3503.34 0.00 0.00 2.76 0.000 0.000 0.074 1313.81 1343.75 1283.88 2818.12 3205.19 0 0 0 30.00 30.00 15.85

3577.81 11303 428.64 2.25 0.31 1313.2 1344.0 1282.4 2818.6 3205.2 5.18 6.78 711 3598.76 16.73 0.29 2.63 1.004 0.063 0.021 1242.00 1263.75 1220.25 2883.62 2058.69 0 0 0 11.10 15.78 15.90

3599 end climb: SURFACE_DEPTH_REACHED

state 3600 begin surface coast

3603 end surface coast: CONTROL_FINISHED_OK

state 3603 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	1285	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	105.0111	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	338.27512	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	200322,214112,4704.502,-12456.285,22,1.2,25,15.7	TGT_RADIUS	2500.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200322,214950,4704.497,-12456.227,3,1.2,8,15.7	MHEAD_RNG_PITCHd_Wd	94.9,20963,-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	3.4,1.024466	MEM0	60876,1,0,0
SM_CCo	3650.57,20.26,1.049,0,1144.7,1132.7,1156.7,399.92	MEM1	65508,1,0,0
SM_GC	0.72,20.26,16.91,0.65,1.049,0.066,0.047,1144.7,1132.7,1156.7,175.9,2357.0,0,0,0,11.70,15.78,15.86	MEM2	971228,29,75560,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	32237,716
IRIDIUM_FIX	4706.31,-12450.71,200322,214543	CAP_FILE_SIZE	160637,0
TCM_TEMP	266.88	SDSIZE	4028416,3723232
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4613,1
HUMID	51.48	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.00	CURRENT	0.037, 38.6,1
INTERNAL_PRESSURE	8.91764	MAGCAL	1.000000,-0.011752,0.031134,0.000245,1.027632,-0.013764,0.028603,-0.084200,0.967823,553.5,-342.3,104.2,35,0.0267,0
_24V_AH	14.74,460.505	IMPLIED_C_PITCH	2385,12.02,514
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2913,23.671801,453
FG_AHR_24Vo	338.409	GPS	200322,225107,4704.506,-12455.915,2,1.8,6,15.7
FG_AHR_10Vo	105.022

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	465	1268	8702.26	legato	34	20	10.11
Pitch_motor	36	226	122.87	nil	0	0	0.00
Roll_motor	57	109	92.25	nil	0	0	0.00
Iridium	231	190	651.90	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	17	15	3.91	nil	0	0	0.00
Core	1829	11	323.90	SciCon	0	0	0.00
LPSleep	2267	2	95.21	nil	0	0	0.00
Compass	481	5	36.12	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
6.04	16386	-116.79	-1.44	0.00	1142.0	1143.9	1140.2	174.9	2235.3	0.00	0.00	0	77.09	69.91	0.00	0.00	0.005	0.000	0.000	2888.72	3072.44	2705.00	174.75	2236.06	0	0	0	14.90	30.00	30.00
78.20	18727	-116.79	-1.44	60.00	2888.4	3071.7	2705.2	174.8	2235.1	3.89	-5.79	13	110.56	8.08	14.22	3.11	0.007	0.226	0.078	3250.47	3467.19	3033.75	1970.56	3428.81	0	0	0	15.05	15.49	14.91
237.66	1028	-116.79	-1.44	0.00	3251.0	3466.9	3035.1	1970.9	3428.6	28.93	-14.30	45	243.22	0.00	0.00	2.67	0.000	0.000	0.017	3251.91	3468.19	3035.62	1970.81	2254.00	0	0	0	30.00	30.00	15.89
428.11	0	-116.79	-1.44	0.00	3251.2	3466.9	3035.6	1971.0	2252.1	52.50	-11.82	83	429.43	0.00	0.00	0.00	0.000	0.000	0.000	3250.25	3466.38	3034.12	1970.44	2251.31	0	0	0	30.00	30.00	30.00
613.42	516	-116.79	-1.44	-60.00	3251.2	3467.3	3035.1	1971.2	2251.5	72.57	-9.74	120	618.34	0.00	0.00	2.65	0.000	0.000	0.061	3252.69	3468.12	3037.25	1970.44	1210.00	0	0	0	30.00	30.00	15.90
667.81	1028	-116.79	-1.44	0.50	3251.2	3467.1	3035.3	1970.9	1210.1	77.76	-9.47	131	673.37	0.00	0.00	2.71	0.000	0.000	0.024	3252.41	3467.12	3037.69	1969.69	2362.88	0	0	0	30.00	30.00	15.94
858.27	260	-116.79	-1.44	60.00	3251.2	3466.8	3035.6	1971.1	2363.2	94.43	-8.80	169	863.45	0.00	0.00	2.77	0.000	0.000	0.082	3251.25	3467.31	3035.19	1971.19	3426.31	0	0	0	30.00	30.00	15.87
932.89	1028	-116.79	-1.44	1.20	3251.2	3466.2	3036.3	1970.7	3425.6	101.37	-9.48	184	938.43	0.00	0.00	2.59	0.000	0.000	0.017	3251.66	3466.50	3036.81	1971.06	2259.69	0	0	0	30.00	30.00	15.95
1242.96	260	-116.79	-1.44	60.00	3251.2	3466.1	3036.4	1970.6	2260.1	127.87	-7.96	246	1248.57	0.00	0.00	3.03	0.000	0.000	0.077	3251.91	3467.00	3036.81	1970.75	3426.12	0	0	0	30.00	30.00	15.87
1287.95	1028	-116.79	-1.44	1.66	3251.4	3466.1	3036.8	1971.3	3426.0	131.67	-8.44	255	1293.49	0.00	0.00	2.57	0.000	0.000	0.017	3251.62	3466.94	3036.31	1971.12	2264.69	0	0	0	30.00	30.00	15.96
1428	end dive: TARGET_DEPTH_EXCEEDED
state	1428	begin apogee
1429.84	10243	0.00	-0.28	0.00	3251.3	3466.7	3036.0	1971.1	2045.1	142.14	-7.48	283	1518.30	83.22	1.95	0.17	1.269	0.132	0.109	2773.41	2903.19	2643.62	2254.38	2167.56	0	0	0	10.77	15.81	15.36
1521	end apogee: CONTROL_FINISHED_OK
state	1521	begin climb
1521.43	11271	116.79	1.44	0.00	2773.7	2903.6	2643.8	2254.5	2167.4	144.96	0.00	300	1613.06	85.75	2.77	0.20	1.212	0.090	0.068	2300.38	2361.94	2238.81	2672.88	2035.50	0	0	0	11.72	15.59	15.70
1915.30	10535	280.00	1.77	60.00	2292.7	2360.0	2225.4	2674.4	2035.5	131.19	3.77	379	2045.12	121.50	0.46	3.08	1.194	0.056	0.070	1633.12	1665.44	1600.81	2766.62	3204.12	0	0	0	11.18	15.76	15.25
2057.50	1092	280.00	1.79	0.61	1631.1	1665.2	1597.0	2766.4	3204.1	121.79	8.23	407	2062.87	0.00	0.00	2.69	0.000	0.000	0.020	1631.06	1665.50	1596.62	2766.88	2070.50	0	0	0	30.00	30.00	15.59
2367.51	16710	280.00	1.81	60.00	1624.0	1666.1	1581.9	2766.9	2070.6	96.75	8.17	469	2373.03	0.00	0.00	2.94	0.000	0.000	0.070	1624.91	1666.88	1582.94	2766.12	3205.06	0	0	0	30.00	30.00	15.79
2467.47	17478	280.00	1.82	0.30	1623.9	1666.4	1581.4	2766.5	3205.5	88.52	8.33	489	2473.01	0.00	0.00	2.66	0.000	0.000	0.021	1623.56	1666.75	1580.38	2767.06	2064.75	0	0	0	30.00	30.00	15.84
2657.93	16710	280.00	1.84	60.00	1622.0	1666.9	1577.1	2766.0	2064.5	73.03	8.36	527	2663.12	0.00	0.00	2.94	0.000	0.000	0.069	1622.38	1667.38	1577.38	2766.44	3205.56	0	0	0	30.00	30.00	15.84
2707.55	17478	280.00	1.85	0.99	1622.3	1667.0	1577.6	2767.1	3205.1	68.77	8.61	537	2713.09	0.00	0.00	2.62	0.000	0.000	0.021	1622.84	1668.19	1577.50	2765.81	2074.75	0	0	0	30.00	30.00	15.89
2898.01	10791	356.62	2.01	-60.00	1621.5	1668.1	1575.0	2766.7	2075.1	54.22	6.63	575	2964.49	59.87	0.22	2.85	1.119	0.076	0.080	1320.59	1341.12	1300.06	2817.81	993.38	0	0	0	10.96	15.87	15.39
3072.65	1092	356.62	2.03	0.23	1316.4	1341.4	1291.5	2817.9	993.4	41.30	8.04	610	3078.19	0.00	0.00	2.70	0.000	0.000	0.021	1316.56	1341.50	1291.62	2817.62	2146.88	0	0	0	30.00	30.00	15.80
3263.11	580	356.62	2.06	-60.00	1314.2	1341.4	1287.1	2818.8	2147.1	26.89	7.72	648	3268.51	0.00	0.00	3.03	0.000	0.000	0.073	1314.19	1341.44	1286.94	2817.75	993.06	0	0	0	30.00	30.00	15.80
3307.90	1092	356.62	2.07	-0.40	1314.0	1341.6	1286.3	2818.1	993.4	23.10	8.49	657	3313.27	0.00	0.00	2.65	0.000	0.000	0.020	1314.25	1341.94	1286.56	2818.31	2135.12	0	0	0	30.00	30.00	15.87
3498.18	324	356.62	2.10	60.00	1313.5	1343.6	1283.4	2817.6	2136.1	10.72	7.58	695	3503.34	0.00	0.00	2.76	0.000	0.000	0.074	1313.81	1343.75	1283.88	2818.12	3205.19	0	0	0	30.00	30.00	15.85
3577.81	11303	428.64	2.25	0.31	1313.2	1344.0	1282.4	2818.6	3205.2	5.18	6.78	711	3598.76	16.73	0.29	2.63	1.004	0.063	0.021	1242.00	1263.75	1220.25	2883.62	2058.69	0	0	0	11.10	15.78	15.90
3599	end climb: SURFACE_DEPTH_REACHED
state	3600	begin surface coast
3603	end surface coast: CONTROL_FINISHED_OK
state	3603	begin surface