Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1287 * 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 1287 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 105.03704 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 338.60126 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 105.03704 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 338.60126 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 1287 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 210322,000304,4704.417,-12455.411,1,0.8,4,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,001039,4704.437,-12455.374,2,0.8,5,15.7 MHEAD_RNG_PITCHd_Wd 97.9,19887,-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 0.2,1.024196 MEM0 60876,1,0,0

SM_CCo 3645.91,0.00,0.000,0,1095.8,1113.9,1077.6,411.92 MEM1 65508,1,0,0

SM_GC 0.57,0.00,16.61,2.11,0.000,0.050,0.017,1095.8,1113.9,1077.6,188.1,2236.6,0,0,0,30.00,15.79,15.83 MEM2 971192,31,75556,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 32179,707

IRIDIUM_FIX 4703.94,-12453.31,200322,230055 CAP_FILE_SIZE 162064,0

TCM_TEMP 266.85 SDSIZE 4028416,3722976

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4619,1

HUMID 51.53 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.99 CURRENT 0.052, 97.2,1

INTERNAL_PRESSURE 8.91639 MAGCAL 1.000000,-0.026263,0.005161,0.012585,1.022688,-0.012751,0.069289,-0.042609,0.891606,582.5,-346.7,184.8,32,0.0352,0

_24V_AH 14.70,460.882 IMPLIED_C_PITCH 2373,12.51,490

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2955,21.967190,405

FG_AHR_24Vo 338.735 GPS 210322,011149,4704.344,-12454.884,1,1.8,5,15.7

FG_AHR_10Vo 105.048

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 491 1269 9165.05 legato 34 20 10.20

Pitch_motor 36 230 124.80 nil 0 0 0.00

Roll_motor 60 125 111.21 nil 0 0 0.00

Iridium 289 201 856.59 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.27 nil 0 0 0.00

Core 1889 11 334.35 SciCon 0 0 0.00

LPSleep 2138 2 89.82 nil 0 0 0.00

Compass 476 5 35.73 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 0.00 493.3 445.5 541.2 173.2 2260.8 0.00 0.00 0 97.82 90.26 0.00 0.00 0.005 0.000 0.000 2744.78 2922.81 2566.75 173.44 2261.31 0 0 0 14.82 30.00 30.00

98.56 18727 -116.79 -1.44 60.00 2744.3 2921.4 2567.2 173.5 2260.8 3.17 -3.42 17 135.32 12.25 14.39 3.07 0.006 0.231 0.083 3250.72 3479.62 3021.81 1971.06 3425.62 0 0 0 14.91 15.46 14.83

242.41 1028 -116.79 -1.44 0.00 3250.8 3475.1 3026.4 1970.9 3426.1 24.42 -14.12 46 247.96 0.00 0.00 2.65 0.000 0.000 0.017 3250.97 3475.38 3026.56 1971.00 2251.62 0 0 0 30.00 30.00 15.84

433.08 516 -116.79 -1.44 -60.00 3251.0 3475.4 3026.6 1970.8 2250.1 46.45 -11.47 84 438.00 0.00 0.00 2.62 0.000 0.000 0.062 3250.97 3474.75 3027.19 1970.62 1208.69 0 0 0 30.00 30.00 15.86

457.44 1028 -116.79 -1.44 -0.25 3250.8 3475.2 3026.5 1971.1 1208.7 49.19 -11.08 89 463.01 0.00 0.00 2.68 0.000 0.000 0.024 3251.28 3476.00 3026.56 1970.94 2350.50 0 0 0 30.00 30.00 15.90

647.86 0 -116.79 -1.44 -0.25 3250.6 3475.2 3025.9 1970.7 2350.8 67.55 -9.28 127 649.19 0.00 0.00 0.00 0.000 0.000 0.000 3250.69 3476.25 3025.12 1970.69 2350.69 0 0 0 30.00 30.00 30.00

832.49 260 -116.79 -1.44 60.00 3250.6 3475.0 3026.2 1970.8 2350.1 83.95 -8.35 164 838.06 0.00 0.00 2.80 0.000 0.000 0.082 3251.06 3475.69 3026.44 1971.25 3426.56 0 0 0 30.00 30.00 15.87

867.49 1028 -116.79 -1.44 0.20 3250.6 3471.7 3029.5 1971.5 3426.3 87.57 -10.34 171 873.05 0.00 0.00 2.64 0.000 0.000 0.017 3251.50 3472.12 3030.88 1970.75 2250.69 0 0 0 30.00 30.00 15.94

1057.53 516 -116.79 -1.44 -60.00 3250.3 3471.2 3029.5 1971.1 2249.0 105.94 -9.71 209 1063.08 0.00 0.00 2.62 0.000 0.000 0.062 3250.91 3471.00 3030.81 1970.88 1208.94 0 0 0 30.00 30.00 15.92

1092.52 1028 -116.79 -1.44 0.60 3250.4 3471.1 3029.8 1971.0 1209.1 109.42 -9.85 216 1098.10 0.00 0.00 2.71 0.000 0.000 0.025 3250.72 3471.50 3029.94 1970.81 2364.62 0 0 0 30.00 30.00 15.96

1402.59 260 -116.79 -1.44 60.00 3250.6 3471.4 3029.9 1970.9 2364.8 137.32 -8.25 278 1408.14 0.00 0.00 2.74 0.000 0.000 0.083 3250.75 3471.75 3029.75 1970.69 3426.19 0 0 0 30.00 30.00 15.89

1457 end dive: TARGET_DEPTH_EXCEEDED

state 1457 begin apogee

1462.82 10243 0.00 -0.28 0.00 3250.2 3470.8 3029.5 1970.9 2052.5 142.12 -8.97 289 1552.68 83.17 1.98 0.14 1.269 0.136 0.125 2774.72 2911.12 2638.31 2253.31 2165.69 0 0 0 10.85 15.80 15.35

1554 end apogee: CONTROL_FINISHED_OK

state 1555 begin climb

1555.64 10759 116.79 1.44 -60.00 2774.0 2910.4 2637.6 2253.6 2165.6 145.49 0.00 307 1651.56 85.06 2.85 3.06 1.216 0.108 0.072 2298.69 2357.88 2239.50 2672.06 994.56 0 0 0 11.78 15.55 15.69

1689.34 11303 246.80 1.70 0.00 2296.1 2358.7 2233.4 2672.6 994.6 141.83 4.86 334 1792.72 97.14 0.37 2.71 1.189 0.053 0.020 1768.25 1809.50 1727.00 2752.06 2143.50 0 0 0 11.48 15.52 15.62

2095.11 16710 246.80 1.72 60.00 1757.7 1815.1 1700.4 2751.5 2143.4 107.61 8.54 415 2100.59 0.00 0.00 2.76 0.000 0.000 0.075 1757.91 1815.44 1700.38 2752.12 3204.88 0 0 0 30.00 30.00 15.78

2145.03 17414 246.80 1.72 -0.28 1757.5 1815.8 1699.1 2752.0 3205.2 103.08 9.25 425 2150.59 0.00 0.00 2.66 0.000 0.000 0.021 1758.44 1816.81 1700.06 2751.62 2052.19 0 0 0 30.00 30.00 15.81

2455.17 16966 246.80 1.75 -60.00 1755.5 1817.3 1693.8 2752.4 2051.8 78.93 7.30 487 2460.71 0.00 0.00 2.73 0.000 0.000 0.077 1756.41 1817.88 1694.94 2752.75 992.06 0 0 0 30.00 30.00 15.84

2500.17 17478 246.80 1.76 -0.77 1754.7 1817.2 1692.2 2752.2 992.2 75.12 8.59 496 2505.70 0.00 0.00 2.64 0.000 0.000 0.020 1754.81 1817.31 1692.31 2752.81 2132.38 0 0 0 30.00 30.00 15.89

2690.63 16710 246.80 1.80 60.00 1754.7 1817.6 1691.8 2752.1 2131.6 60.78 7.21 534 2695.78 0.00 0.00 2.76 0.000 0.000 0.074 1755.06 1818.25 1691.88 2752.12 3205.75 0 0 0 30.00 30.00 15.86

2885.28 17478 246.80 1.84 -0.17 1754.4 1818.3 1690.6 2752.1 3205.5 45.93 7.54 573 2890.84 0.00 0.00 2.65 0.000 0.000 0.021 1755.62 1819.19 1692.06 2751.69 2053.25 0 0 0 30.00 30.00 15.93

3075.75 10791 409.68 2.16 -60.00 1753.7 1818.5 1688.9 2752.2 2053.5 36.97 3.78 611 3206.43 123.26 0.56 2.81 1.110 0.048 0.081 1104.47 1107.12 1101.81 2862.94 995.94 0 0 0 10.90 15.90 15.30

3288.76 1092 409.68 2.18 -0.94 1100.5 1108.0 1093.1 2862.6 995.6 21.70 8.49 653 3294.19 0.00 0.00 2.67 0.000 0.000 0.020 1100.16 1108.50 1091.81 2863.00 2125.38 0 0 0 30.00 30.00 15.73

3479.06 324 409.68 2.21 60.00 1097.5 1110.1 1085.0 2862.9 2125.2 6.25 7.25 691 3484.22 0.00 0.00 2.80 0.000 0.000 0.074 1098.25 1110.50 1086.00 2861.50 3205.62 0 0 0 30.00 30.00 15.78

3508 end climb: SURFACE_DEPTH_REACHED

state 3508 begin surface coast

3558 end surface coast: CONTROL_FINISHED_OK

state 3558 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	1287	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	105.03704	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	338.60126	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	210322,000304,4704.417,-12455.411,1,0.8,4,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,001039,4704.437,-12455.374,2,0.8,5,15.7	MHEAD_RNG_PITCHd_Wd	97.9,19887,-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	0.2,1.024196	MEM0	60876,1,0,0
SM_CCo	3645.91,0.00,0.000,0,1095.8,1113.9,1077.6,411.92	MEM1	65508,1,0,0
SM_GC	0.57,0.00,16.61,2.11,0.000,0.050,0.017,1095.8,1113.9,1077.6,188.1,2236.6,0,0,0,30.00,15.79,15.83	MEM2	971192,31,75556,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	32179,707
IRIDIUM_FIX	4703.94,-12453.31,200322,230055	CAP_FILE_SIZE	162064,0
TCM_TEMP	266.85	SDSIZE	4028416,3722976
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4619,1
HUMID	51.53	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.99	CURRENT	0.052, 97.2,1
INTERNAL_PRESSURE	8.91639	MAGCAL	1.000000,-0.026263,0.005161,0.012585,1.022688,-0.012751,0.069289,-0.042609,0.891606,582.5,-346.7,184.8,32,0.0352,0
_24V_AH	14.70,460.882	IMPLIED_C_PITCH	2373,12.51,490
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2955,21.967190,405
FG_AHR_24Vo	338.735	GPS	210322,011149,4704.344,-12454.884,1,1.8,5,15.7
FG_AHR_10Vo	105.048

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	491	1269	9165.05	legato	34	20	10.20
Pitch_motor	36	230	124.80	nil	0	0	0.00
Roll_motor	60	125	111.21	nil	0	0	0.00
Iridium	289	201	856.59	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.27	nil	0	0	0.00
Core	1889	11	334.35	SciCon	0	0	0.00
LPSleep	2138	2	89.82	nil	0	0	0.00
Compass	476	5	35.73	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	493.3	445.5	541.2	173.2	2260.8	0.00	0.00	0	97.82	90.26	0.00	0.00	0.005	0.000	0.000	2744.78	2922.81	2566.75	173.44	2261.31	0	0	0	14.82	30.00	30.00
98.56	18727	-116.79	-1.44	60.00	2744.3	2921.4	2567.2	173.5	2260.8	3.17	-3.42	17	135.32	12.25	14.39	3.07	0.006	0.231	0.083	3250.72	3479.62	3021.81	1971.06	3425.62	0	0	0	14.91	15.46	14.83
242.41	1028	-116.79	-1.44	0.00	3250.8	3475.1	3026.4	1970.9	3426.1	24.42	-14.12	46	247.96	0.00	0.00	2.65	0.000	0.000	0.017	3250.97	3475.38	3026.56	1971.00	2251.62	0	0	0	30.00	30.00	15.84
433.08	516	-116.79	-1.44	-60.00	3251.0	3475.4	3026.6	1970.8	2250.1	46.45	-11.47	84	438.00	0.00	0.00	2.62	0.000	0.000	0.062	3250.97	3474.75	3027.19	1970.62	1208.69	0	0	0	30.00	30.00	15.86
457.44	1028	-116.79	-1.44	-0.25	3250.8	3475.2	3026.5	1971.1	1208.7	49.19	-11.08	89	463.01	0.00	0.00	2.68	0.000	0.000	0.024	3251.28	3476.00	3026.56	1970.94	2350.50	0	0	0	30.00	30.00	15.90
647.86	0	-116.79	-1.44	-0.25	3250.6	3475.2	3025.9	1970.7	2350.8	67.55	-9.28	127	649.19	0.00	0.00	0.00	0.000	0.000	0.000	3250.69	3476.25	3025.12	1970.69	2350.69	0	0	0	30.00	30.00	30.00
832.49	260	-116.79	-1.44	60.00	3250.6	3475.0	3026.2	1970.8	2350.1	83.95	-8.35	164	838.06	0.00	0.00	2.80	0.000	0.000	0.082	3251.06	3475.69	3026.44	1971.25	3426.56	0	0	0	30.00	30.00	15.87
867.49	1028	-116.79	-1.44	0.20	3250.6	3471.7	3029.5	1971.5	3426.3	87.57	-10.34	171	873.05	0.00	0.00	2.64	0.000	0.000	0.017	3251.50	3472.12	3030.88	1970.75	2250.69	0	0	0	30.00	30.00	15.94
1057.53	516	-116.79	-1.44	-60.00	3250.3	3471.2	3029.5	1971.1	2249.0	105.94	-9.71	209	1063.08	0.00	0.00	2.62	0.000	0.000	0.062	3250.91	3471.00	3030.81	1970.88	1208.94	0	0	0	30.00	30.00	15.92
1092.52	1028	-116.79	-1.44	0.60	3250.4	3471.1	3029.8	1971.0	1209.1	109.42	-9.85	216	1098.10	0.00	0.00	2.71	0.000	0.000	0.025	3250.72	3471.50	3029.94	1970.81	2364.62	0	0	0	30.00	30.00	15.96
1402.59	260	-116.79	-1.44	60.00	3250.6	3471.4	3029.9	1970.9	2364.8	137.32	-8.25	278	1408.14	0.00	0.00	2.74	0.000	0.000	0.083	3250.75	3471.75	3029.75	1970.69	3426.19	0	0	0	30.00	30.00	15.89
1457	end dive: TARGET_DEPTH_EXCEEDED
state	1457	begin apogee
1462.82	10243	0.00	-0.28	0.00	3250.2	3470.8	3029.5	1970.9	2052.5	142.12	-8.97	289	1552.68	83.17	1.98	0.14	1.269	0.136	0.125	2774.72	2911.12	2638.31	2253.31	2165.69	0	0	0	10.85	15.80	15.35
1554	end apogee: CONTROL_FINISHED_OK
state	1555	begin climb
1555.64	10759	116.79	1.44	-60.00	2774.0	2910.4	2637.6	2253.6	2165.6	145.49	0.00	307	1651.56	85.06	2.85	3.06	1.216	0.108	0.072	2298.69	2357.88	2239.50	2672.06	994.56	0	0	0	11.78	15.55	15.69
1689.34	11303	246.80	1.70	0.00	2296.1	2358.7	2233.4	2672.6	994.6	141.83	4.86	334	1792.72	97.14	0.37	2.71	1.189	0.053	0.020	1768.25	1809.50	1727.00	2752.06	2143.50	0	0	0	11.48	15.52	15.62
2095.11	16710	246.80	1.72	60.00	1757.7	1815.1	1700.4	2751.5	2143.4	107.61	8.54	415	2100.59	0.00	0.00	2.76	0.000	0.000	0.075	1757.91	1815.44	1700.38	2752.12	3204.88	0	0	0	30.00	30.00	15.78
2145.03	17414	246.80	1.72	-0.28	1757.5	1815.8	1699.1	2752.0	3205.2	103.08	9.25	425	2150.59	0.00	0.00	2.66	0.000	0.000	0.021	1758.44	1816.81	1700.06	2751.62	2052.19	0	0	0	30.00	30.00	15.81
2455.17	16966	246.80	1.75	-60.00	1755.5	1817.3	1693.8	2752.4	2051.8	78.93	7.30	487	2460.71	0.00	0.00	2.73	0.000	0.000	0.077	1756.41	1817.88	1694.94	2752.75	992.06	0	0	0	30.00	30.00	15.84
2500.17	17478	246.80	1.76	-0.77	1754.7	1817.2	1692.2	2752.2	992.2	75.12	8.59	496	2505.70	0.00	0.00	2.64	0.000	0.000	0.020	1754.81	1817.31	1692.31	2752.81	2132.38	0	0	0	30.00	30.00	15.89
2690.63	16710	246.80	1.80	60.00	1754.7	1817.6	1691.8	2752.1	2131.6	60.78	7.21	534	2695.78	0.00	0.00	2.76	0.000	0.000	0.074	1755.06	1818.25	1691.88	2752.12	3205.75	0	0	0	30.00	30.00	15.86
2885.28	17478	246.80	1.84	-0.17	1754.4	1818.3	1690.6	2752.1	3205.5	45.93	7.54	573	2890.84	0.00	0.00	2.65	0.000	0.000	0.021	1755.62	1819.19	1692.06	2751.69	2053.25	0	0	0	30.00	30.00	15.93
3075.75	10791	409.68	2.16	-60.00	1753.7	1818.5	1688.9	2752.2	2053.5	36.97	3.78	611	3206.43	123.26	0.56	2.81	1.110	0.048	0.081	1104.47	1107.12	1101.81	2862.94	995.94	0	0	0	10.90	15.90	15.30
3288.76	1092	409.68	2.18	-0.94	1100.5	1108.0	1093.1	2862.6	995.6	21.70	8.49	653	3294.19	0.00	0.00	2.67	0.000	0.000	0.020	1100.16	1108.50	1091.81	2863.00	2125.38	0	0	0	30.00	30.00	15.73
3479.06	324	409.68	2.21	60.00	1097.5	1110.1	1085.0	2862.9	2125.2	6.25	7.25	691	3484.22	0.00	0.00	2.80	0.000	0.000	0.074	1098.25	1110.50	1086.00	2861.50	3205.62	0	0	0	30.00	30.00	15.78
3508	end climb: SURFACE_DEPTH_REACHED
state	3508	begin surface coast
3558	end surface coast: CONTROL_FINISHED_OK
state	3558	begin surface