Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1293 * 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 1293 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 105.10969 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 339.54498 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 105.10969 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 339.54498 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 1293 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 210322,063406,4704.285,-12452.063,4,1.7,18,15.7 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -58.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,064106,4704.339,-12451.940,3,1.8,8,15.7 MHEAD_RNG_PITCHd_Wd 102.3,15630,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 129

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 0.2,1.017043 MEM0 60876,1,0,0

SM_CCo 3217.90,0.00,0.000,0,1058.1,1079.0,1037.2,421.16 MEM1 65508,1,0,0

SM_GC 0.72,0.00,16.24,0.68,0.000,0.044,0.045,1058.1,1079.0,1037.2,178.1,2358.1,0,0,0,30.00,15.85,15.91 MEM2 971200,31,75548,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 25833,622

IRIDIUM_FIX 4703.94,-12453.31,210322,053528 CAP_FILE_SIZE 149997,0

TCM_TEMP 266.91 SDSIZE 4028416,3722208

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4637,1

HUMID 51.58 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.01 CURRENT 0.117, 75.3,1

INTERNAL_PRESSURE 8.9142 MAGCAL 1.000000,-0.006025,-0.037128,0.005960,1.027870,-0.071084,0.039826,-0.036632,0.949980,633.7,-298.9,114.7,35,0.0330,0

_24V_AH 14.74,461.981 IMPLIED_C_PITCH 2409,11.50,423

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2866,47.867096,407

FG_AHR_24Vo 339.680 GPS 210322,073532,4704.287,-12451.390,27,0.7,28,15.7

FG_AHR_10Vo 105.120

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 493 1254 9126.91 legato 34 20 10.11

Pitch_motor 36 231 122.99 nil 0 0 0.00

Roll_motor 51 110 84.25 nil 0 0 0.00

Iridium 187 202 560.05 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 17 15 3.97 nil 0 0 0.00

Core 1657 11 293.45 SciCon 0 0 0.00

LPSleep 1901 2 79.86 nil 0 0 0.00

Compass 422 5 31.71 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

6.10 16386 -116.79 -1.44 0.00 687.6 667.4 707.8 176.0 2349.1 0.00 0.00 0 87.72 80.11 0.00 0.00 0.005 0.000 0.000 2646.19 2817.62 2474.75 175.94 2352.19 0 0 0 14.83 30.00 30.00

88.45 18727 -116.79 -1.44 60.00 2645.8 2816.7 2474.9 176.0 2352.1 3.03 -3.72 15 125.82 14.67 14.27 2.83 0.006 0.231 0.087 3250.62 3476.00 3025.25 1971.12 3426.94 0 0 0 14.88 15.49 14.85

192.90 1028 -116.79 -1.44 0.00 3250.7 3473.8 3027.6 1970.9 3427.4 18.94 -12.86 36 198.46 0.00 0.00 2.65 0.000 0.000 0.018 3251.44 3474.12 3028.75 1970.62 2252.38 0 0 0 30.00 30.00 15.86

383.36 260 -116.79 -1.44 60.00 3250.6 3473.4 3027.8 1971.2 2250.2 42.91 -13.59 74 388.79 0.00 0.00 3.06 0.000 0.000 0.079 3251.16 3474.31 3028.00 1970.94 3427.75 0 0 0 30.00 30.00 15.84

448.12 1028 -116.79 -1.44 1.03 3250.8 3468.8 3032.7 1971.1 3427.6 52.08 -13.78 87 453.54 0.00 0.00 2.58 0.000 0.000 0.018 3251.31 3468.25 3034.38 1970.81 2265.31 0 0 0 30.00 30.00 15.90

638.46 260 -116.79 -1.44 60.00 3251.0 3469.0 3033.1 1971.0 2264.2 72.68 -8.79 125 643.68 0.00 0.00 3.02 0.000 0.000 0.079 3250.47 3468.38 3032.56 1971.25 3426.81 0 0 0 30.00 30.00 15.87

733.09 1028 -116.79 -1.44 2.52 3250.5 3468.1 3032.8 1971.1 3427.4 82.93 -11.77 144 738.63 0.00 0.00 2.52 0.000 0.000 0.018 3251.34 3468.00 3034.69 1970.44 2283.50 0 0 0 30.00 30.00 15.92

923.55 516 -116.79 -1.44 -60.00 3250.7 3468.4 3033.0 1971.1 2283.4 100.38 -8.83 182 928.70 0.00 0.00 2.66 0.000 0.000 0.060 3252.59 3470.69 3034.50 1970.00 1208.75 0 0 0 30.00 30.00 15.92

998.17 1028 -116.79 -1.44 2.31 3250.7 3468.4 3033.0 1971.4 1209.2 107.28 -9.33 197 1003.74 0.00 0.00 2.77 0.000 0.000 0.026 3251.09 3468.12 3034.06 1971.00 2393.94 0 0 0 30.00 30.00 15.95

1267 end dive: TARGET_DEPTH_EXCEEDED

state 1268 begin apogee

1270.19 10243 0.00 -0.28 0.00 3250.5 3468.3 3032.6 1970.9 2043.9 129.18 -7.82 251 1357.40 82.75 1.96 0.17 1.254 0.131 0.110 2773.22 2904.69 2641.75 2254.81 2165.94 0 0 0 10.97 15.83 15.35

1359 end apogee: CONTROL_FINISHED_OK

state 1359 begin climb

1360.43 10759 116.79 1.44 -60.00 2774.7 2906.2 2643.2 2254.1 2166.0 132.12 0.00 268 1456.92 85.43 2.82 3.02 1.195 0.106 0.070 2298.91 2359.94 2237.88 2673.25 990.50 0 0 0 11.78 15.56 15.69

1534.14 11303 246.80 1.70 0.00 2295.2 2359.4 2231.1 2672.9 990.8 127.07 4.86 303 1638.08 97.12 0.37 2.68 1.168 0.054 0.020 1768.75 1812.00 1725.50 2752.12 2143.12 0 0 0 11.47 15.57 15.67

1940.40 16966 246.80 1.73 -60.00 1758.6 1812.4 1704.8 2752.7 2143.4 97.54 8.00 384 1945.97 0.00 0.00 2.95 0.000 0.000 0.071 1758.44 1811.25 1705.62 2752.25 993.62 0 0 0 30.00 30.00 15.79

1995.39 17414 246.80 1.73 -0.77 1757.1 1814.3 1699.8 2752.4 993.7 92.55 9.32 395 2001.12 0.00 0.00 2.63 0.000 0.000 0.020 1757.12 1816.44 1697.81 2752.50 2128.94 0 0 0 30.00 30.00 15.82

2185.99 8742 312.59 1.86 -60.00 1755.8 1818.8 1692.7 2752.1 2129.1 77.35 6.99 433 2242.71 50.47 0.00 2.94 1.124 0.000 0.073 1500.91 1544.00 1457.81 2752.81 993.44 0 0 0 11.13 30.00 15.38

2245.43 11303 418.81 2.07 -0.90 1500.5 1543.9 1457.2 2752.0 993.5 73.96 5.65 445 2334.74 83.21 0.43 2.64 1.106 0.056 0.019 1068.00 1069.81 1066.19 2839.94 2132.81 0 0 0 11.77 15.66 15.75

2516.90 516 418.81 2.07 -60.00 1061.8 1070.4 1053.2 2840.1 2133.5 53.66 8.80 499 2522.48 0.00 0.00 2.95 0.000 0.000 0.073 1062.53 1071.19 1053.88 2839.50 994.75 0 0 0 30.00 30.00 15.75

2561.89 1028 418.81 2.07 1.21 1061.2 1071.0 1051.4 2840.1 994.8 49.30 9.72 508 2567.46 0.00 0.00 2.72 0.000 0.000 0.020 1061.19 1071.31 1051.06 2839.81 2164.81 0 0 0 30.00 30.00 15.79

2751.97 64 418.81 2.08 1.21 1059.9 1071.6 1048.2 2840.0 2164.6 31.46 8.46 546 2753.30 0.00 0.00 0.00 0.000 0.000 0.000 1059.88 1071.56 1048.19 2840.06 2165.44 0 0 0 30.00 30.00 30.00

2937.03 324 418.81 2.11 60.00 1059.8 1072.8 1046.8 2839.9 2165.1 18.97 7.94 583 2942.74 0.00 0.00 2.67 0.000 0.000 0.077 1060.06 1073.00 1047.12 2840.06 3207.62 0 0 0 30.00 30.00 15.85

2947.20 1092 418.81 2.12 -0.63 1059.8 1072.8 1046.7 2839.7 3207.6 17.95 8.58 585 2952.57 0.00 0.00 2.67 0.000 0.000 0.022 1059.81 1072.94 1046.69 2839.50 2044.62 0 0 0 30.00 30.00 15.89

3091 end climb: SURFACE_DEPTH_REACHED

state 3091 begin surface coast

3131 end surface coast: CONTROL_FINISHED_OK

state 3132 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	1293	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	105.10969	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	339.54498	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	210322,063406,4704.285,-12452.063,4,1.7,18,15.7	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.56	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,064106,4704.339,-12451.940,3,1.8,8,15.7	MHEAD_RNG_PITCHd_Wd	102.3,15630,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	129
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	0.2,1.017043	MEM0	60876,1,0,0
SM_CCo	3217.90,0.00,0.000,0,1058.1,1079.0,1037.2,421.16	MEM1	65508,1,0,0
SM_GC	0.72,0.00,16.24,0.68,0.000,0.044,0.045,1058.1,1079.0,1037.2,178.1,2358.1,0,0,0,30.00,15.85,15.91	MEM2	971200,31,75548,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	25833,622
IRIDIUM_FIX	4703.94,-12453.31,210322,053528	CAP_FILE_SIZE	149997,0
TCM_TEMP	266.91	SDSIZE	4028416,3722208
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4637,1
HUMID	51.58	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.01	CURRENT	0.117, 75.3,1
INTERNAL_PRESSURE	8.9142	MAGCAL	1.000000,-0.006025,-0.037128,0.005960,1.027870,-0.071084,0.039826,-0.036632,0.949980,633.7,-298.9,114.7,35,0.0330,0
_24V_AH	14.74,461.981	IMPLIED_C_PITCH	2409,11.50,423
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2866,47.867096,407
FG_AHR_24Vo	339.680	GPS	210322,073532,4704.287,-12451.390,27,0.7,28,15.7
FG_AHR_10Vo	105.120

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	493	1254	9126.91	legato	34	20	10.11
Pitch_motor	36	231	122.99	nil	0	0	0.00
Roll_motor	51	110	84.25	nil	0	0	0.00
Iridium	187	202	560.05	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	17	15	3.97	nil	0	0	0.00
Core	1657	11	293.45	SciCon	0	0	0.00
LPSleep	1901	2	79.86	nil	0	0	0.00
Compass	422	5	31.71	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
6.10	16386	-116.79	-1.44	0.00	687.6	667.4	707.8	176.0	2349.1	0.00	0.00	0	87.72	80.11	0.00	0.00	0.005	0.000	0.000	2646.19	2817.62	2474.75	175.94	2352.19	0	0	0	14.83	30.00	30.00
88.45	18727	-116.79	-1.44	60.00	2645.8	2816.7	2474.9	176.0	2352.1	3.03	-3.72	15	125.82	14.67	14.27	2.83	0.006	0.231	0.087	3250.62	3476.00	3025.25	1971.12	3426.94	0	0	0	14.88	15.49	14.85
192.90	1028	-116.79	-1.44	0.00	3250.7	3473.8	3027.6	1970.9	3427.4	18.94	-12.86	36	198.46	0.00	0.00	2.65	0.000	0.000	0.018	3251.44	3474.12	3028.75	1970.62	2252.38	0	0	0	30.00	30.00	15.86
383.36	260	-116.79	-1.44	60.00	3250.6	3473.4	3027.8	1971.2	2250.2	42.91	-13.59	74	388.79	0.00	0.00	3.06	0.000	0.000	0.079	3251.16	3474.31	3028.00	1970.94	3427.75	0	0	0	30.00	30.00	15.84
448.12	1028	-116.79	-1.44	1.03	3250.8	3468.8	3032.7	1971.1	3427.6	52.08	-13.78	87	453.54	0.00	0.00	2.58	0.000	0.000	0.018	3251.31	3468.25	3034.38	1970.81	2265.31	0	0	0	30.00	30.00	15.90
638.46	260	-116.79	-1.44	60.00	3251.0	3469.0	3033.1	1971.0	2264.2	72.68	-8.79	125	643.68	0.00	0.00	3.02	0.000	0.000	0.079	3250.47	3468.38	3032.56	1971.25	3426.81	0	0	0	30.00	30.00	15.87
733.09	1028	-116.79	-1.44	2.52	3250.5	3468.1	3032.8	1971.1	3427.4	82.93	-11.77	144	738.63	0.00	0.00	2.52	0.000	0.000	0.018	3251.34	3468.00	3034.69	1970.44	2283.50	0	0	0	30.00	30.00	15.92
923.55	516	-116.79	-1.44	-60.00	3250.7	3468.4	3033.0	1971.1	2283.4	100.38	-8.83	182	928.70	0.00	0.00	2.66	0.000	0.000	0.060	3252.59	3470.69	3034.50	1970.00	1208.75	0	0	0	30.00	30.00	15.92
998.17	1028	-116.79	-1.44	2.31	3250.7	3468.4	3033.0	1971.4	1209.2	107.28	-9.33	197	1003.74	0.00	0.00	2.77	0.000	0.000	0.026	3251.09	3468.12	3034.06	1971.00	2393.94	0	0	0	30.00	30.00	15.95
1267	end dive: TARGET_DEPTH_EXCEEDED
state	1268	begin apogee
1270.19	10243	0.00	-0.28	0.00	3250.5	3468.3	3032.6	1970.9	2043.9	129.18	-7.82	251	1357.40	82.75	1.96	0.17	1.254	0.131	0.110	2773.22	2904.69	2641.75	2254.81	2165.94	0	0	0	10.97	15.83	15.35
1359	end apogee: CONTROL_FINISHED_OK
state	1359	begin climb
1360.43	10759	116.79	1.44	-60.00	2774.7	2906.2	2643.2	2254.1	2166.0	132.12	0.00	268	1456.92	85.43	2.82	3.02	1.195	0.106	0.070	2298.91	2359.94	2237.88	2673.25	990.50	0	0	0	11.78	15.56	15.69
1534.14	11303	246.80	1.70	0.00	2295.2	2359.4	2231.1	2672.9	990.8	127.07	4.86	303	1638.08	97.12	0.37	2.68	1.168	0.054	0.020	1768.75	1812.00	1725.50	2752.12	2143.12	0	0	0	11.47	15.57	15.67
1940.40	16966	246.80	1.73	-60.00	1758.6	1812.4	1704.8	2752.7	2143.4	97.54	8.00	384	1945.97	0.00	0.00	2.95	0.000	0.000	0.071	1758.44	1811.25	1705.62	2752.25	993.62	0	0	0	30.00	30.00	15.79
1995.39	17414	246.80	1.73	-0.77	1757.1	1814.3	1699.8	2752.4	993.7	92.55	9.32	395	2001.12	0.00	0.00	2.63	0.000	0.000	0.020	1757.12	1816.44	1697.81	2752.50	2128.94	0	0	0	30.00	30.00	15.82
2185.99	8742	312.59	1.86	-60.00	1755.8	1818.8	1692.7	2752.1	2129.1	77.35	6.99	433	2242.71	50.47	0.00	2.94	1.124	0.000	0.073	1500.91	1544.00	1457.81	2752.81	993.44	0	0	0	11.13	30.00	15.38
2245.43	11303	418.81	2.07	-0.90	1500.5	1543.9	1457.2	2752.0	993.5	73.96	5.65	445	2334.74	83.21	0.43	2.64	1.106	0.056	0.019	1068.00	1069.81	1066.19	2839.94	2132.81	0	0	0	11.77	15.66	15.75
2516.90	516	418.81	2.07	-60.00	1061.8	1070.4	1053.2	2840.1	2133.5	53.66	8.80	499	2522.48	0.00	0.00	2.95	0.000	0.000	0.073	1062.53	1071.19	1053.88	2839.50	994.75	0	0	0	30.00	30.00	15.75
2561.89	1028	418.81	2.07	1.21	1061.2	1071.0	1051.4	2840.1	994.8	49.30	9.72	508	2567.46	0.00	0.00	2.72	0.000	0.000	0.020	1061.19	1071.31	1051.06	2839.81	2164.81	0	0	0	30.00	30.00	15.79
2751.97	64	418.81	2.08	1.21	1059.9	1071.6	1048.2	2840.0	2164.6	31.46	8.46	546	2753.30	0.00	0.00	0.00	0.000	0.000	0.000	1059.88	1071.56	1048.19	2840.06	2165.44	0	0	0	30.00	30.00	30.00
2937.03	324	418.81	2.11	60.00	1059.8	1072.8	1046.8	2839.9	2165.1	18.97	7.94	583	2942.74	0.00	0.00	2.67	0.000	0.000	0.077	1060.06	1073.00	1047.12	2840.06	3207.62	0	0	0	30.00	30.00	15.85
2947.20	1092	418.81	2.12	-0.63	1059.8	1072.8	1046.7	2839.7	3207.6	17.95	8.58	585	2952.57	0.00	0.00	2.67	0.000	0.000	0.022	1059.81	1072.94	1046.69	2839.50	2044.62	0	0	0	30.00	30.00	15.89
3091	end climb: SURFACE_DEPTH_REACHED
state	3091	begin surface coast
3131	end surface coast: CONTROL_FINISHED_OK
state	3132	begin surface