Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1289 * 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 1289 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 105.06178 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 338.90335 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 105.06178 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 338.90335 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 1289 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 210322,021843,4704.292,-12454.361,17,1.9,21,15.7 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 -60.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,022402,4704.326,-12454.330,4,0.7,23,15.7 MHEAD_RNG_PITCHd_Wd 82.8,18556,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 140

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 0.3,1.024499 MEM0 60876,1,0,0

SM_CCo 3504.92,0.00,0.000,0,899.1,897.1,901.0,460.17 MEM1 65508,1,0,0

SM_GC 0.56,0.00,16.63,0.40,0.000,0.045,0.056,899.1,897.1,901.0,191.1,2359.1,0,0,0,30.00,15.72,15.77 MEM2 971160,32,75568,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 29036,679

IRIDIUM_FIX 4703.94,-12453.31,210322,011926 CAP_FILE_SIZE 164137,0

TCM_TEMP 266.72 SDSIZE 4028416,3722688

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4625,1

HUMID 51.56 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.07 CURRENT 0.091,126.6,1

INTERNAL_PRESSURE 8.90372 MAGCAL 1.000000,-0.007531,-0.039411,0.012025,1.028316,0.000335,0.059443,-0.067791,0.873948,630.9,-354.1,202.5,35,0.0330,0

_24V_AH 14.70,461.248 IMPLIED_C_PITCH 2389,11.91,469

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2946,28.635117,458

FG_AHR_24Vo 339.048 GPS 210322,032252,4704.224,-12453.771,1,0.7,5,15.7

FG_AHR_10Vo 105.073

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 521 1268 9722.18 legato 34 20 10.10

Pitch_motor 36 228 123.09 nil 0 0 0.00

Roll_motor 61 103 93.62 nil 0 0 0.00

Iridium 139 194 397.55 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 32 15 7.36 nil 0 0 0.00

Core 1741 11 308.28 SciCon 0 0 0.00

LPSleep 2010 2 84.44 nil 0 0 0.00

Compass 458 5 34.39 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 0.00 810.6 801.5 819.8 173.8 2372.9 0.00 0.00 0 82.99 75.43 0.00 0.00 0.005 0.000 0.000 2676.28 2847.81 2504.75 173.56 2374.50 0 0 0 14.77 30.00 30.00

83.72 18727 -116.79 -1.44 60.00 2674.7 2845.6 2503.8 173.5 2374.2 3.08 -3.91 14 121.06 13.85 14.24 2.74 0.006 0.228 0.082 3250.34 3472.81 3027.88 1970.19 3428.31 0 0 0 14.79 15.48 14.80

203.15 1028 -116.79 -1.44 0.00 3250.3 3471.3 3029.3 1970.1 3427.5 21.30 -14.45 38 208.71 0.00 0.00 2.62 0.000 0.000 0.016 3250.84 3471.06 3030.62 1969.12 2250.38 0 0 0 30.00 30.00 15.89

393.60 516 -116.79 -1.44 -60.00 3250.2 3471.2 3029.2 1969.2 2248.2 45.61 -11.46 76 398.96 0.00 0.00 2.61 0.000 0.000 0.062 3250.38 3471.50 3029.25 1969.94 1210.25 0 0 0 30.00 30.00 15.89

413.34 1028 -116.79 -1.44 0.46 3250.3 3470.6 3030.1 1969.7 1210.2 47.90 -11.46 80 418.78 0.00 0.00 2.70 0.000 0.000 0.024 3250.28 3470.94 3029.62 1969.94 2361.25 0 0 0 30.00 30.00 15.92

603.69 260 -116.79 -1.44 60.00 3250.7 3471.6 3029.8 1969.9 2361.5 63.83 -7.72 118 608.85 0.00 0.00 2.75 0.000 0.000 0.080 3251.06 3471.88 3030.25 1969.75 3426.94 0 0 0 30.00 30.00 15.87

658.30 1028 -116.79 -1.44 0.67 3250.4 3468.2 3032.6 1970.0 3426.9 69.07 -9.73 129 663.86 0.00 0.00 2.61 0.000 0.000 0.016 3250.38 3467.75 3033.00 1969.81 2251.25 0 0 0 30.00 30.00 15.93

848.76 516 -116.79 -1.44 -60.00 3250.0 3468.1 3031.9 1969.6 2251.6 86.36 -8.97 167 853.91 0.00 0.00 2.62 0.000 0.000 0.061 3251.00 3468.94 3033.06 1969.94 1209.06 0 0 0 30.00 30.00 15.91

893.38 1028 -116.79 -1.44 0.79 3250.2 3468.3 3032.1 1969.9 1209.3 90.30 -8.74 176 898.95 0.00 0.00 2.70 0.000 0.000 0.025 3250.44 3467.19 3033.69 1970.00 2366.94 0 0 0 30.00 30.00 15.95

1083.43 260 -116.79 -1.44 60.00 3250.2 3468.6 3031.9 1969.6 2367.8 105.95 -7.96 214 1088.99 0.00 0.00 2.72 0.000 0.000 0.081 3250.56 3468.00 3033.12 1969.31 3427.00 0 0 0 30.00 30.00 15.89

1118.42 1028 -116.79 -1.44 1.17 3250.2 3467.9 3032.6 1969.7 3426.2 109.23 -9.30 221 1123.97 0.00 0.00 2.59 0.000 0.000 0.017 3251.19 3468.56 3033.81 1969.31 2259.88 0 0 0 30.00 30.00 15.95

1428.48 516 -116.79 -1.44 -60.00 3250.0 3467.8 3032.3 1969.8 2259.1 134.60 -7.98 283 1434.01 0.00 0.00 2.62 0.000 0.000 0.061 3250.56 3468.12 3033.00 1970.06 1209.00 0 0 0 30.00 30.00 15.93

1483.48 1028 -116.79 -1.44 1.58 3249.7 3467.4 3031.9 1969.8 1209.0 139.14 -8.26 294 1489.23 0.00 0.00 2.73 0.000 0.000 0.025 3250.22 3467.81 3032.62 1969.00 2382.88 0 0 0 30.00 30.00 15.96

1498 end dive: TARGET_DEPTH_EXCEEDED

state 1498 begin apogee

1500.56 10243 0.00 -0.28 0.00 3250.1 3467.5 3032.7 1969.6 2040.4 140.29 -8.08 297 1588.63 83.31 1.99 0.18 1.269 0.134 0.104 2773.69 2904.88 2642.50 2253.94 2167.38 0 0 0 10.82 15.81 15.33

1590 end apogee: CONTROL_FINISHED_OK

state 1590 begin climb

1591.47 10759 116.79 1.44 -60.00 2774.3 2906.2 2642.4 2255.0 2168.1 143.27 0.00 314 1688.01 85.60 2.85 3.03 1.212 0.106 0.071 2298.12 2357.44 2238.81 2673.06 993.38 0 0 0 11.76 15.55 15.69

1740.23 11303 248.53 1.71 0.00 2295.4 2358.1 2232.8 2672.8 993.3 139.17 4.81 344 1845.43 98.64 0.38 2.70 1.185 0.060 0.020 1762.69 1801.88 1723.50 2747.31 2146.56 0 0 0 11.48 15.54 15.63

2147.68 16902 248.53 1.71 -60.00 1752.2 1802.0 1702.4 2747.9 2147.2 106.36 8.90 425 2153.26 0.00 0.00 2.98 0.000 0.000 0.071 1751.72 1802.06 1701.38 2747.44 993.19 0 0 0 30.00 30.00 15.77

2197.67 17414 248.53 1.71 -0.86 1749.6 1805.2 1693.9 2747.5 993.4 101.44 10.16 435 2203.23 0.00 0.00 2.62 0.000 0.000 0.020 1751.06 1806.69 1695.44 2746.88 2128.31 0 0 0 30.00 30.00 15.82

2507.74 8486 326.64 1.86 60.00 1748.8 1808.8 1688.9 2747.1 2128.6 76.99 6.58 497 2574.53 60.23 0.00 2.78 1.140 0.000 0.075 1443.75 1479.19 1408.31 2747.56 3206.06 0 0 0 11.03 30.00 15.38

2577.74 11303 387.76 1.98 -0.86 1442.6 1478.4 1406.8 2747.6 3205.9 72.15 7.14 511 2632.07 49.08 0.33 2.72 1.100 0.065 0.021 1194.03 1204.94 1183.12 2813.88 2040.06 0 0 0 11.75 15.65 15.73

2814.22 260 387.76 1.98 60.00 1188.0 1205.9 1170.0 2814.4 2040.8 49.57 8.79 558 2819.84 0.00 0.00 3.01 0.000 0.000 0.069 1188.03 1206.00 1170.06 2816.75 3205.94 0 0 0 30.00 30.00 15.76

2889.35 1028 387.76 1.98 1.21 1187.3 1206.1 1168.6 2815.6 3205.6 42.90 9.01 573 2894.77 0.00 0.00 2.60 0.000 0.000 0.021 1187.34 1206.19 1168.50 2816.00 2076.69 0 0 0 30.00 30.00 15.81

3079.71 16966 387.76 2.00 -60.00 1186.0 1206.2 1165.7 2815.6 2076.9 27.49 8.60 611 3084.88 0.00 0.00 2.80 0.000 0.000 0.078 1186.09 1206.56 1165.62 2815.88 994.50 0 0 0 30.00 30.00 15.80

3129.31 17414 387.76 2.00 1.14 1185.8 1206.6 1164.9 2816.0 994.6 22.88 9.28 621 3134.88 0.00 0.00 2.71 0.000 0.000 0.020 1185.72 1206.94 1164.50 2815.94 2165.50 0 0 0 30.00 30.00 15.87

3319.39 10535 509.75 2.24 60.00 1184.7 1208.4 1161.0 2816.2 2165.0 9.00 5.13 659 3375.91 55.13 0.30 0.00 1.067 0.067 0.000 904.09 896.31 911.88 2878.94 2165.44 0 0 0 11.04 15.86 30.00

3376 end climb: SURFACE_DEPTH_REACHED

state 3376 begin surface coast

3419 end surface coast: CONTROL_FINISHED_OK

state 3419 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	1289	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	105.06178	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	338.90335	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	210322,021843,4704.292,-12454.361,17,1.9,21,15.7	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	-60.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,022402,4704.326,-12454.330,4,0.7,23,15.7	MHEAD_RNG_PITCHd_Wd	82.8,18556,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	140
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	0.3,1.024499	MEM0	60876,1,0,0
SM_CCo	3504.92,0.00,0.000,0,899.1,897.1,901.0,460.17	MEM1	65508,1,0,0
SM_GC	0.56,0.00,16.63,0.40,0.000,0.045,0.056,899.1,897.1,901.0,191.1,2359.1,0,0,0,30.00,15.72,15.77	MEM2	971160,32,75568,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	29036,679
IRIDIUM_FIX	4703.94,-12453.31,210322,011926	CAP_FILE_SIZE	164137,0
TCM_TEMP	266.72	SDSIZE	4028416,3722688
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4625,1
HUMID	51.56	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.07	CURRENT	0.091,126.6,1
INTERNAL_PRESSURE	8.90372	MAGCAL	1.000000,-0.007531,-0.039411,0.012025,1.028316,0.000335,0.059443,-0.067791,0.873948,630.9,-354.1,202.5,35,0.0330,0
_24V_AH	14.70,461.248	IMPLIED_C_PITCH	2389,11.91,469
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2946,28.635117,458
FG_AHR_24Vo	339.048	GPS	210322,032252,4704.224,-12453.771,1,0.7,5,15.7
FG_AHR_10Vo	105.073

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	521	1268	9722.18	legato	34	20	10.10
Pitch_motor	36	228	123.09	nil	0	0	0.00
Roll_motor	61	103	93.62	nil	0	0	0.00
Iridium	139	194	397.55	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	32	15	7.36	nil	0	0	0.00
Core	1741	11	308.28	SciCon	0	0	0.00
LPSleep	2010	2	84.44	nil	0	0	0.00
Compass	458	5	34.39	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	810.6	801.5	819.8	173.8	2372.9	0.00	0.00	0	82.99	75.43	0.00	0.00	0.005	0.000	0.000	2676.28	2847.81	2504.75	173.56	2374.50	0	0	0	14.77	30.00	30.00
83.72	18727	-116.79	-1.44	60.00	2674.7	2845.6	2503.8	173.5	2374.2	3.08	-3.91	14	121.06	13.85	14.24	2.74	0.006	0.228	0.082	3250.34	3472.81	3027.88	1970.19	3428.31	0	0	0	14.79	15.48	14.80
203.15	1028	-116.79	-1.44	0.00	3250.3	3471.3	3029.3	1970.1	3427.5	21.30	-14.45	38	208.71	0.00	0.00	2.62	0.000	0.000	0.016	3250.84	3471.06	3030.62	1969.12	2250.38	0	0	0	30.00	30.00	15.89
393.60	516	-116.79	-1.44	-60.00	3250.2	3471.2	3029.2	1969.2	2248.2	45.61	-11.46	76	398.96	0.00	0.00	2.61	0.000	0.000	0.062	3250.38	3471.50	3029.25	1969.94	1210.25	0	0	0	30.00	30.00	15.89
413.34	1028	-116.79	-1.44	0.46	3250.3	3470.6	3030.1	1969.7	1210.2	47.90	-11.46	80	418.78	0.00	0.00	2.70	0.000	0.000	0.024	3250.28	3470.94	3029.62	1969.94	2361.25	0	0	0	30.00	30.00	15.92
603.69	260	-116.79	-1.44	60.00	3250.7	3471.6	3029.8	1969.9	2361.5	63.83	-7.72	118	608.85	0.00	0.00	2.75	0.000	0.000	0.080	3251.06	3471.88	3030.25	1969.75	3426.94	0	0	0	30.00	30.00	15.87
658.30	1028	-116.79	-1.44	0.67	3250.4	3468.2	3032.6	1970.0	3426.9	69.07	-9.73	129	663.86	0.00	0.00	2.61	0.000	0.000	0.016	3250.38	3467.75	3033.00	1969.81	2251.25	0	0	0	30.00	30.00	15.93
848.76	516	-116.79	-1.44	-60.00	3250.0	3468.1	3031.9	1969.6	2251.6	86.36	-8.97	167	853.91	0.00	0.00	2.62	0.000	0.000	0.061	3251.00	3468.94	3033.06	1969.94	1209.06	0	0	0	30.00	30.00	15.91
893.38	1028	-116.79	-1.44	0.79	3250.2	3468.3	3032.1	1969.9	1209.3	90.30	-8.74	176	898.95	0.00	0.00	2.70	0.000	0.000	0.025	3250.44	3467.19	3033.69	1970.00	2366.94	0	0	0	30.00	30.00	15.95
1083.43	260	-116.79	-1.44	60.00	3250.2	3468.6	3031.9	1969.6	2367.8	105.95	-7.96	214	1088.99	0.00	0.00	2.72	0.000	0.000	0.081	3250.56	3468.00	3033.12	1969.31	3427.00	0	0	0	30.00	30.00	15.89
1118.42	1028	-116.79	-1.44	1.17	3250.2	3467.9	3032.6	1969.7	3426.2	109.23	-9.30	221	1123.97	0.00	0.00	2.59	0.000	0.000	0.017	3251.19	3468.56	3033.81	1969.31	2259.88	0	0	0	30.00	30.00	15.95
1428.48	516	-116.79	-1.44	-60.00	3250.0	3467.8	3032.3	1969.8	2259.1	134.60	-7.98	283	1434.01	0.00	0.00	2.62	0.000	0.000	0.061	3250.56	3468.12	3033.00	1970.06	1209.00	0	0	0	30.00	30.00	15.93
1483.48	1028	-116.79	-1.44	1.58	3249.7	3467.4	3031.9	1969.8	1209.0	139.14	-8.26	294	1489.23	0.00	0.00	2.73	0.000	0.000	0.025	3250.22	3467.81	3032.62	1969.00	2382.88	0	0	0	30.00	30.00	15.96
1498	end dive: TARGET_DEPTH_EXCEEDED
state	1498	begin apogee
1500.56	10243	0.00	-0.28	0.00	3250.1	3467.5	3032.7	1969.6	2040.4	140.29	-8.08	297	1588.63	83.31	1.99	0.18	1.269	0.134	0.104	2773.69	2904.88	2642.50	2253.94	2167.38	0	0	0	10.82	15.81	15.33
1590	end apogee: CONTROL_FINISHED_OK
state	1590	begin climb
1591.47	10759	116.79	1.44	-60.00	2774.3	2906.2	2642.4	2255.0	2168.1	143.27	0.00	314	1688.01	85.60	2.85	3.03	1.212	0.106	0.071	2298.12	2357.44	2238.81	2673.06	993.38	0	0	0	11.76	15.55	15.69
1740.23	11303	248.53	1.71	0.00	2295.4	2358.1	2232.8	2672.8	993.3	139.17	4.81	344	1845.43	98.64	0.38	2.70	1.185	0.060	0.020	1762.69	1801.88	1723.50	2747.31	2146.56	0	0	0	11.48	15.54	15.63
2147.68	16902	248.53	1.71	-60.00	1752.2	1802.0	1702.4	2747.9	2147.2	106.36	8.90	425	2153.26	0.00	0.00	2.98	0.000	0.000	0.071	1751.72	1802.06	1701.38	2747.44	993.19	0	0	0	30.00	30.00	15.77
2197.67	17414	248.53	1.71	-0.86	1749.6	1805.2	1693.9	2747.5	993.4	101.44	10.16	435	2203.23	0.00	0.00	2.62	0.000	0.000	0.020	1751.06	1806.69	1695.44	2746.88	2128.31	0	0	0	30.00	30.00	15.82
2507.74	8486	326.64	1.86	60.00	1748.8	1808.8	1688.9	2747.1	2128.6	76.99	6.58	497	2574.53	60.23	0.00	2.78	1.140	0.000	0.075	1443.75	1479.19	1408.31	2747.56	3206.06	0	0	0	11.03	30.00	15.38
2577.74	11303	387.76	1.98	-0.86	1442.6	1478.4	1406.8	2747.6	3205.9	72.15	7.14	511	2632.07	49.08	0.33	2.72	1.100	0.065	0.021	1194.03	1204.94	1183.12	2813.88	2040.06	0	0	0	11.75	15.65	15.73
2814.22	260	387.76	1.98	60.00	1188.0	1205.9	1170.0	2814.4	2040.8	49.57	8.79	558	2819.84	0.00	0.00	3.01	0.000	0.000	0.069	1188.03	1206.00	1170.06	2816.75	3205.94	0	0	0	30.00	30.00	15.76
2889.35	1028	387.76	1.98	1.21	1187.3	1206.1	1168.6	2815.6	3205.6	42.90	9.01	573	2894.77	0.00	0.00	2.60	0.000	0.000	0.021	1187.34	1206.19	1168.50	2816.00	2076.69	0	0	0	30.00	30.00	15.81
3079.71	16966	387.76	2.00	-60.00	1186.0	1206.2	1165.7	2815.6	2076.9	27.49	8.60	611	3084.88	0.00	0.00	2.80	0.000	0.000	0.078	1186.09	1206.56	1165.62	2815.88	994.50	0	0	0	30.00	30.00	15.80
3129.31	17414	387.76	2.00	1.14	1185.8	1206.6	1164.9	2816.0	994.6	22.88	9.28	621	3134.88	0.00	0.00	2.71	0.000	0.000	0.020	1185.72	1206.94	1164.50	2815.94	2165.50	0	0	0	30.00	30.00	15.87
3319.39	10535	509.75	2.24	60.00	1184.7	1208.4	1161.0	2816.2	2165.0	9.00	5.13	659	3375.91	55.13	0.30	0.00	1.067	0.067	0.000	904.09	896.31	911.88	2878.94	2165.44	0	0	0	11.04	15.86	30.00
3376	end climb: SURFACE_DEPTH_REACHED
state	3376	begin surface coast
3419	end surface coast: CONTROL_FINISHED_OK
state	3419	begin surface