Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1286 * 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 1286 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 558.0575 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 105.02417 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 338.41507 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 558.0575

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 105.02417 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 338.41507 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 1286 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 200322,225107,4704.506,-12455.915,2,1.8,6,15.7 TGT_RADIUS 2500.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.56 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200322,230201,4704.506,-12455.883,2,1.1,33,15.7 MHEAD_RNG_PITCHd_Wd 97.7,20543,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 143

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 0.3,1.024452 MEM0 60876,1,0,0

SM_CCo 3637.72,90.47,1.092,0,500.1,428.7,571.4,558.04 MEM1 65508,1,0,0

SM_GC 0.50,90.47,16.47,0.50,1.092,0.050,0.053,500.1,428.7,571.4,176.0,2367.8,0,0,0,11.25,15.79,15.83 MEM2 971228,28,75580,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 29090,699

IRIDIUM_FIX 4703.94,-12453.31,200322,225902 CAP_FILE_SIZE 166066,0

TCM_TEMP 266.86 SDSIZE 4028416,3722976

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4619,1

HUMID 51.49 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.19 CURRENT 0.050, 60.0,1

INTERNAL_PRESSURE 8.88552 MAGCAL 1.000000,-0.015024,0.004924,0.007952,1.019025,-0.007077,0.052477,-0.069713,0.922210,580.1,-350.8,148.6,32,0.0291,0

_24V_AH 14.69,460.705 IMPLIED_C_PITCH 2388,12.03,494

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2936,29.845873,487

FG_AHR_24Vo 338.585 GPS 210322,000304,4704.417,-12455.411,1,0.8,4,15.7

FG_AHR_10Vo 105.036

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 578 1274 10825.04 legato 34 20 10.06

Pitch_motor 36 231 123.40 nil 0 0 0.00

Roll_motor 56 110 92.10 nil 0 0 0.00

Iridium 218 90 291.23 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 42 15 9.65 nil 0 0 0.00

Core 1925 11 340.74 SciCon 0 0 0.00

LPSleep 2294 2 96.36 nil 0 0 0.00

Compass 470 5 35.31 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

6.05 16386 -116.79 -1.44 0.00 1138.2 1135.8 1140.5 174.6 2259.3 0.00 0.00 0 72.44 65.22 0.00 0.00 0.005 0.000 0.000 2743.16 2912.38 2573.94 174.56 2259.75 0 0 0 14.72 30.00 30.00

73.18 18727 -116.79 -1.44 60.00 2742.1 2910.8 2573.4 174.8 2260.1 3.17 -4.94 12 110.43 12.28 14.29 3.04 0.006 0.231 0.078 3250.47 3466.06 3034.88 1971.44 3424.44 0 0 0 15.01 15.47 14.84

242.53 1028 -116.79 -1.44 0.00 3251.4 3466.9 3035.9 1971.1 3424.6 27.83 -13.85 46 248.09 0.00 0.00 2.63 0.000 0.000 0.017 3251.53 3467.12 3035.94 1971.25 2252.94 0 0 0 30.00 30.00 15.92

432.98 516 -116.79 -1.44 -60.00 3250.9 3466.6 3035.2 1971.1 2251.2 50.33 -11.12 84 438.33 0.00 0.00 2.63 0.000 0.000 0.062 3251.16 3466.69 3035.62 1970.88 1208.94 0 0 0 30.00 30.00 15.90

472.78 1028 -116.79 -1.44 0.07 3251.1 3466.8 3035.4 1971.0 1208.9 54.56 -10.59 92 478.16 0.00 0.00 2.68 0.000 0.000 0.024 3250.97 3466.31 3035.62 1971.25 2353.00 0 0 0 30.00 30.00 15.94

663.08 516 -116.79 -1.44 -60.00 3251.4 3466.9 3035.9 1970.8 2352.9 71.30 -8.61 130 668.25 0.00 0.00 2.90 0.000 0.000 0.057 3252.53 3467.81 3037.25 1970.00 1208.94 0 0 0 30.00 30.00 15.90

687.68 1028 -116.79 -1.44 -0.10 3250.5 3465.8 3035.2 1971.1 1209.3 73.64 -9.13 135 693.22 0.00 0.00 2.69 0.000 0.000 0.024 3250.53 3465.56 3035.50 1971.38 2351.56 0 0 0 30.00 30.00 15.96

878.13 260 -116.79 -1.44 60.00 3251.5 3467.3 3035.7 1971.1 2351.5 91.65 -10.08 173 883.31 0.00 0.00 2.79 0.000 0.000 0.082 3251.41 3467.19 3035.62 1970.81 3426.00 0 0 0 30.00 30.00 15.87

932.75 1028 -116.79 -1.44 0.34 3250.9 3465.8 3036.1 1971.0 3425.9 97.68 -11.12 184 938.30 0.00 0.00 2.63 0.000 0.000 0.017 3251.81 3465.81 3037.81 1970.75 2251.56 0 0 0 30.00 30.00 15.96

1122.83 260 -116.79 -1.44 60.00 3250.8 3465.3 3036.3 1970.9 2250.2 114.42 -7.71 222 1128.43 0.00 0.00 3.05 0.000 0.000 0.077 3251.16 3464.81 3037.50 1970.75 3425.19 0 0 0 30.00 30.00 15.87

1177.84 1028 -116.79 -1.44 0.56 3251.0 3466.2 3035.8 1970.9 3425.7 118.77 -7.93 233 1183.39 0.00 0.00 2.62 0.000 0.000 0.017 3251.44 3465.56 3037.31 1970.81 2251.50 0 0 0 30.00 30.00 15.96

1487.94 0 -116.79 -1.44 0.56 3251.1 3465.9 3036.4 1971.1 2250.1 141.11 -7.92 295 1489.27 0.00 0.00 0.00 0.000 0.000 0.000 3250.09 3464.56 3035.62 1970.81 2250.06 0 0 0 30.00 30.00 30.00

1512 end dive: TARGET_DEPTH_EXCEEDED

state 1513 begin apogee

1514.80 10243 0.00 -0.28 0.00 3251.0 3465.6 3036.4 1971.1 2045.8 143.08 -7.97 300 1603.34 83.22 1.97 0.17 1.274 0.133 0.110 2773.09 2902.69 2643.50 2255.00 2167.06 0 0 0 10.80 15.80 15.34

1605 end apogee: CONTROL_FINISHED_OK

state 1606 begin climb

1606.30 10759 116.79 1.44 -60.00 2774.1 2903.9 2644.2 2254.9 2167.2 146.03 0.00 317 1702.82 85.64 2.83 3.09 1.215 0.106 0.072 2298.75 2356.38 2241.12 2672.44 993.50 0 0 0 11.75 15.55 15.70

1735.60 11303 262.54 1.73 0.00 2295.6 2355.9 2235.2 2673.1 993.3 142.71 4.34 343 1851.20 109.24 0.43 2.73 1.187 0.053 0.020 1703.62 1729.44 1677.81 2757.38 2145.62 0 0 0 11.51 15.52 15.61

2153.48 16646 262.54 1.73 60.00 1695.2 1730.9 1659.6 2757.0 2146.0 109.40 8.77 426 2159.04 0.00 0.00 2.75 0.000 0.000 0.074 1695.50 1730.44 1660.56 2757.00 3204.94 0 0 0 30.00 30.00 15.78

2188.49 17414 262.54 1.73 0.26 1693.8 1734.4 1653.2 2757.1 3205.1 106.19 9.15 433 2194.04 0.00 0.00 2.66 0.000 0.000 0.021 1694.06 1735.44 1652.69 2757.69 2062.44 0 0 0 30.00 30.00 15.80

2498.61 10535 348.82 1.91 60.00 1691.7 1737.1 1646.3 2756.9 2062.3 82.28 6.31 495 2571.22 67.03 0.14 3.00 1.141 0.093 0.071 1353.12 1374.69 1331.56 2796.25 3203.88 0 0 0 11.06 15.85 15.36

2623.72 1028 348.82 1.91 0.26 1350.4 1375.4 1325.4 2797.1 3205.1 71.81 9.60 520 2629.27 0.00 0.00 2.67 0.000 0.000 0.022 1350.53 1374.94 1326.12 2795.62 2065.69 0 0 0 30.00 30.00 15.73

2814.17 516 348.82 1.91 -60.00 1347.4 1375.4 1319.4 2796.4 2065.9 54.26 9.14 558 2819.36 0.00 0.00 2.82 0.000 0.000 0.079 1347.25 1375.56 1318.94 2796.69 994.62 0 0 0 30.00 30.00 15.77

2984.24 1092 348.82 1.94 -0.85 1345.6 1375.9 1315.4 2797.2 994.3 40.09 7.75 592 2989.38 0.00 0.00 2.65 0.000 0.000 0.020 1346.09 1376.50 1315.69 2796.81 2128.69 0 0 0 30.00 30.00 15.87

3174.55 10791 432.21 2.10 -60.00 1344.9 1375.8 1314.0 2796.4 2128.9 27.48 6.41 630 3246.50 65.16 0.19 2.99 1.091 0.082 0.075 1013.56 1007.00 1020.12 2840.69 994.75 0 0 0 11.03 15.86 15.38

3288.91 1028 432.21 2.10 -1.66 1011.0 1007.4 1014.6 2840.5 994.6 18.15 9.04 653 3294.46 0.00 0.00 2.62 0.000 0.000 0.020 1010.97 1007.19 1014.75 2840.69 2114.88 0 0 0 30.00 30.00 15.75

3463 end climb: SURFACE_DEPTH_REACHED

state 3464 begin surface coast

3519 end surface coast: CONTROL_FINISHED_OK

state 3519 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	1286	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	558.0575	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	105.02417	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	338.41507	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	200322,225107,4704.506,-12455.915,2,1.8,6,15.7	TGT_RADIUS	2500.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200322,230201,4704.506,-12455.883,2,1.1,33,15.7	MHEAD_RNG_PITCHd_Wd	97.7,20543,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	143
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	0.3,1.024452	MEM0	60876,1,0,0
SM_CCo	3637.72,90.47,1.092,0,500.1,428.7,571.4,558.04	MEM1	65508,1,0,0
SM_GC	0.50,90.47,16.47,0.50,1.092,0.050,0.053,500.1,428.7,571.4,176.0,2367.8,0,0,0,11.25,15.79,15.83	MEM2	971228,28,75580,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	29090,699
IRIDIUM_FIX	4703.94,-12453.31,200322,225902	CAP_FILE_SIZE	166066,0
TCM_TEMP	266.86	SDSIZE	4028416,3722976
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4619,1
HUMID	51.49	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.19	CURRENT	0.050, 60.0,1
INTERNAL_PRESSURE	8.88552	MAGCAL	1.000000,-0.015024,0.004924,0.007952,1.019025,-0.007077,0.052477,-0.069713,0.922210,580.1,-350.8,148.6,32,0.0291,0
_24V_AH	14.69,460.705	IMPLIED_C_PITCH	2388,12.03,494
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2936,29.845873,487
FG_AHR_24Vo	338.585	GPS	210322,000304,4704.417,-12455.411,1,0.8,4,15.7
FG_AHR_10Vo	105.036

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	578	1274	10825.04	legato	34	20	10.06
Pitch_motor	36	231	123.40	nil	0	0	0.00
Roll_motor	56	110	92.10	nil	0	0	0.00
Iridium	218	90	291.23	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	42	15	9.65	nil	0	0	0.00
Core	1925	11	340.74	SciCon	0	0	0.00
LPSleep	2294	2	96.36	nil	0	0	0.00
Compass	470	5	35.31	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
6.05	16386	-116.79	-1.44	0.00	1138.2	1135.8	1140.5	174.6	2259.3	0.00	0.00	0	72.44	65.22	0.00	0.00	0.005	0.000	0.000	2743.16	2912.38	2573.94	174.56	2259.75	0	0	0	14.72	30.00	30.00
73.18	18727	-116.79	-1.44	60.00	2742.1	2910.8	2573.4	174.8	2260.1	3.17	-4.94	12	110.43	12.28	14.29	3.04	0.006	0.231	0.078	3250.47	3466.06	3034.88	1971.44	3424.44	0	0	0	15.01	15.47	14.84
242.53	1028	-116.79	-1.44	0.00	3251.4	3466.9	3035.9	1971.1	3424.6	27.83	-13.85	46	248.09	0.00	0.00	2.63	0.000	0.000	0.017	3251.53	3467.12	3035.94	1971.25	2252.94	0	0	0	30.00	30.00	15.92
432.98	516	-116.79	-1.44	-60.00	3250.9	3466.6	3035.2	1971.1	2251.2	50.33	-11.12	84	438.33	0.00	0.00	2.63	0.000	0.000	0.062	3251.16	3466.69	3035.62	1970.88	1208.94	0	0	0	30.00	30.00	15.90
472.78	1028	-116.79	-1.44	0.07	3251.1	3466.8	3035.4	1971.0	1208.9	54.56	-10.59	92	478.16	0.00	0.00	2.68	0.000	0.000	0.024	3250.97	3466.31	3035.62	1971.25	2353.00	0	0	0	30.00	30.00	15.94
663.08	516	-116.79	-1.44	-60.00	3251.4	3466.9	3035.9	1970.8	2352.9	71.30	-8.61	130	668.25	0.00	0.00	2.90	0.000	0.000	0.057	3252.53	3467.81	3037.25	1970.00	1208.94	0	0	0	30.00	30.00	15.90
687.68	1028	-116.79	-1.44	-0.10	3250.5	3465.8	3035.2	1971.1	1209.3	73.64	-9.13	135	693.22	0.00	0.00	2.69	0.000	0.000	0.024	3250.53	3465.56	3035.50	1971.38	2351.56	0	0	0	30.00	30.00	15.96
878.13	260	-116.79	-1.44	60.00	3251.5	3467.3	3035.7	1971.1	2351.5	91.65	-10.08	173	883.31	0.00	0.00	2.79	0.000	0.000	0.082	3251.41	3467.19	3035.62	1970.81	3426.00	0	0	0	30.00	30.00	15.87
932.75	1028	-116.79	-1.44	0.34	3250.9	3465.8	3036.1	1971.0	3425.9	97.68	-11.12	184	938.30	0.00	0.00	2.63	0.000	0.000	0.017	3251.81	3465.81	3037.81	1970.75	2251.56	0	0	0	30.00	30.00	15.96
1122.83	260	-116.79	-1.44	60.00	3250.8	3465.3	3036.3	1970.9	2250.2	114.42	-7.71	222	1128.43	0.00	0.00	3.05	0.000	0.000	0.077	3251.16	3464.81	3037.50	1970.75	3425.19	0	0	0	30.00	30.00	15.87
1177.84	1028	-116.79	-1.44	0.56	3251.0	3466.2	3035.8	1970.9	3425.7	118.77	-7.93	233	1183.39	0.00	0.00	2.62	0.000	0.000	0.017	3251.44	3465.56	3037.31	1970.81	2251.50	0	0	0	30.00	30.00	15.96
1487.94	0	-116.79	-1.44	0.56	3251.1	3465.9	3036.4	1971.1	2250.1	141.11	-7.92	295	1489.27	0.00	0.00	0.00	0.000	0.000	0.000	3250.09	3464.56	3035.62	1970.81	2250.06	0	0	0	30.00	30.00	30.00
1512	end dive: TARGET_DEPTH_EXCEEDED
state	1513	begin apogee
1514.80	10243	0.00	-0.28	0.00	3251.0	3465.6	3036.4	1971.1	2045.8	143.08	-7.97	300	1603.34	83.22	1.97	0.17	1.274	0.133	0.110	2773.09	2902.69	2643.50	2255.00	2167.06	0	0	0	10.80	15.80	15.34
1605	end apogee: CONTROL_FINISHED_OK
state	1606	begin climb
1606.30	10759	116.79	1.44	-60.00	2774.1	2903.9	2644.2	2254.9	2167.2	146.03	0.00	317	1702.82	85.64	2.83	3.09	1.215	0.106	0.072	2298.75	2356.38	2241.12	2672.44	993.50	0	0	0	11.75	15.55	15.70
1735.60	11303	262.54	1.73	0.00	2295.6	2355.9	2235.2	2673.1	993.3	142.71	4.34	343	1851.20	109.24	0.43	2.73	1.187	0.053	0.020	1703.62	1729.44	1677.81	2757.38	2145.62	0	0	0	11.51	15.52	15.61
2153.48	16646	262.54	1.73	60.00	1695.2	1730.9	1659.6	2757.0	2146.0	109.40	8.77	426	2159.04	0.00	0.00	2.75	0.000	0.000	0.074	1695.50	1730.44	1660.56	2757.00	3204.94	0	0	0	30.00	30.00	15.78
2188.49	17414	262.54	1.73	0.26	1693.8	1734.4	1653.2	2757.1	3205.1	106.19	9.15	433	2194.04	0.00	0.00	2.66	0.000	0.000	0.021	1694.06	1735.44	1652.69	2757.69	2062.44	0	0	0	30.00	30.00	15.80
2498.61	10535	348.82	1.91	60.00	1691.7	1737.1	1646.3	2756.9	2062.3	82.28	6.31	495	2571.22	67.03	0.14	3.00	1.141	0.093	0.071	1353.12	1374.69	1331.56	2796.25	3203.88	0	0	0	11.06	15.85	15.36
2623.72	1028	348.82	1.91	0.26	1350.4	1375.4	1325.4	2797.1	3205.1	71.81	9.60	520	2629.27	0.00	0.00	2.67	0.000	0.000	0.022	1350.53	1374.94	1326.12	2795.62	2065.69	0	0	0	30.00	30.00	15.73
2814.17	516	348.82	1.91	-60.00	1347.4	1375.4	1319.4	2796.4	2065.9	54.26	9.14	558	2819.36	0.00	0.00	2.82	0.000	0.000	0.079	1347.25	1375.56	1318.94	2796.69	994.62	0	0	0	30.00	30.00	15.77
2984.24	1092	348.82	1.94	-0.85	1345.6	1375.9	1315.4	2797.2	994.3	40.09	7.75	592	2989.38	0.00	0.00	2.65	0.000	0.000	0.020	1346.09	1376.50	1315.69	2796.81	2128.69	0	0	0	30.00	30.00	15.87
3174.55	10791	432.21	2.10	-60.00	1344.9	1375.8	1314.0	2796.4	2128.9	27.48	6.41	630	3246.50	65.16	0.19	2.99	1.091	0.082	0.075	1013.56	1007.00	1020.12	2840.69	994.75	0	0	0	11.03	15.86	15.38
3288.91	1028	432.21	2.10	-1.66	1011.0	1007.4	1014.6	2840.5	994.6	18.15	9.04	653	3294.46	0.00	0.00	2.62	0.000	0.000	0.020	1010.97	1007.19	1014.75	2840.69	2114.88	0	0	0	30.00	30.00	15.75
3463	end climb: SURFACE_DEPTH_REACHED
state	3464	begin surface coast
3519	end surface coast: CONTROL_FINISHED_OK
state	3519	begin surface