Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1295 * 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 1295 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 105.13304 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 339.87189 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 105.13304 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 339.87189 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 1295 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 210322,083735,4704.257,-12450.678,1,0.8,3,15.7 TGT_RADIUS 2500.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,084902,4704.269,-12450.430,3,0.8,5,15.7 MHEAD_RNG_PITCHd_Wd 107.5,13758,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 122

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 0.2,1.018699 MEM0 60876,1,0,0

SM_CCo 3033.41,0.00,0.000,0,1033.3,1056.2,1010.4,427.24 MEM1 65508,1,0,0

SM_GC 0.73,0.00,16.32,0.54,0.000,0.044,0.056,1033.3,1056.2,1010.4,177.1,2350.2,0,0,0,30.00,15.83,15.90 MEM2 971192,28,75616,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 25823,585

IRIDIUM_FIX 4704.84,-12450.71,210322,084224 CAP_FILE_SIZE 154687,0

TCM_TEMP 267.01 SDSIZE 4028416,3721952

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4643,1

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

TEMP 81.99 CURRENT 0.098, 81.8,1

INTERNAL_PRESSURE 8.91385 MAGCAL 1.000000,0.000922,-0.077949,0.013011,1.024023,-0.024985,0.054586,-0.058590,0.958289,666.6,-336.2,111.0,36,0.0340,0

_24V_AH 14.72,462.352 IMPLIED_C_PITCH 2407,11.63,376

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2892,39.203892,365

FG_AHR_24Vo 340.005 GPS 210322,094038,4704.193,-12449.936,2,4.7,42,15.7

FG_AHR_10Vo 105.143

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 506 1242 9267.30 legato 34 20 10.20

Pitch_motor 36 229 121.89 nil 0 0 0.00

Roll_motor 56 101 84.83 nil 0 0 0.00

Iridium 406 199 1192.21 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.33 nil 0 0 0.00

Core 1840 11 325.78 SciCon 0 0 0.00

LPSleep 1811 2 76.10 nil 0 0 0.00

Compass 400 5 30.01 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 0.00 491.8 451.2 532.4 173.4 2243.1 0.00 0.00 0 102.91 95.40 0.00 0.00 0.005 0.000 0.000 2862.38 3051.25 2673.50 173.44 2243.81 0 0 0 14.85 30.00 30.00

103.65 18727 -116.79 -1.44 60.00 2861.7 3049.9 2673.5 173.4 2243.4 3.40 -3.36 18 135.94 8.89 14.27 3.10 0.007 0.229 0.080 3250.78 3475.12 3026.44 1971.56 3426.44 0 0 0 14.86 15.47 14.85

208.39 1028 -116.79 -1.44 0.00 3250.9 3474.0 3027.9 1970.9 3427.1 20.82 -14.83 39 213.57 0.00 0.00 2.62 0.000 0.000 0.017 3252.47 3474.94 3030.00 1970.25 2239.50 0 0 0 30.00 30.00 15.85

398.70 260 -116.79 -1.44 60.00 3251.1 3473.9 3028.3 1971.0 2239.0 46.11 -14.04 77 403.68 0.00 0.00 3.08 0.000 0.000 0.076 3251.66 3473.94 3029.38 1971.06 3426.69 0 0 0 30.00 30.00 15.84

413.05 1028 -116.79 -1.44 0.41 3250.9 3471.5 3030.4 1970.6 3426.8 48.22 -14.10 80 418.60 0.00 0.00 2.60 0.000 0.000 0.017 3251.00 3471.38 3030.62 1971.12 2253.75 0 0 0 30.00 30.00 15.90

603.49 260 -116.79 -1.44 60.00 3250.6 3471.1 3030.1 1971.5 2253.0 70.50 -10.88 118 608.70 0.00 0.00 3.05 0.000 0.000 0.077 3250.94 3471.25 3030.62 1971.00 3427.69 0 0 0 30.00 30.00 15.86

653.09 1028 -116.79 -1.44 1.15 3250.8 3470.7 3030.8 1971.2 3427.8 76.25 -11.75 128 658.63 0.00 0.00 2.57 0.000 0.000 0.017 3251.12 3470.88 3031.38 1971.31 2264.12 0 0 0 30.00 30.00 15.93

843.51 516 -116.79 -1.44 -60.00 3250.6 3470.6 3030.6 1970.9 2262.8 93.49 -8.60 166 848.64 0.00 0.00 2.60 0.000 0.000 0.062 3250.31 3470.19 3030.44 1971.25 1208.06 0 0 0 30.00 30.00 15.92

888.11 1028 -116.79 -1.44 0.83 3250.9 3470.9 3030.9 1970.9 1208.4 97.60 -9.08 175 893.69 0.00 0.00 2.71 0.000 0.000 0.025 3251.44 3471.25 3031.62 1971.06 2367.00 0 0 0 30.00 30.00 15.94

1078.14 516 -116.79 -1.44 -60.00 3250.7 3471.1 3030.2 1971.0 2367.4 114.46 -8.92 213 1083.73 0.00 0.00 2.87 0.000 0.000 0.057 3250.47 3470.19 3030.75 1971.06 1209.19 0 0 0 30.00 30.00 15.93

1148.15 1028 -116.79 -1.44 -0.23 3251.1 3470.9 3031.2 1971.4 1209.1 120.55 -8.61 227 1153.70 0.00 0.00 2.65 0.000 0.000 0.025 3250.66 3470.25 3031.06 1970.56 2349.94 0 0 0 30.00 30.00 15.95

1168 end dive: TARGET_DEPTH_EXCEEDED

state 1168 begin apogee

1170.04 10243 0.00 -0.28 0.00 3250.8 3470.6 3031.1 1970.9 2037.8 122.29 -8.51 231 1257.53 82.97 1.96 0.19 1.243 0.131 0.102 2775.34 2910.12 2640.56 2254.31 2149.62 0 0 0 10.91 15.83 15.35

1260 end apogee: CONTROL_FINISHED_OK

state 1260 begin climb

1260.49 10759 116.79 1.44 -60.00 2774.0 2908.5 2639.4 2255.2 2168.0 125.08 0.00 248 1356.39 85.18 2.81 3.00 1.182 0.106 0.071 2300.12 2363.00 2237.25 2672.69 991.62 0 0 0 11.79 15.55 15.69

1379.16 11303 257.09 1.72 0.00 2296.3 2361.5 2231.1 2672.9 992.0 121.78 4.52 272 1489.66 104.11 0.40 2.69 1.157 0.051 0.020 1724.72 1769.56 1679.88 2758.12 2145.69 0 0 0 11.54 15.51 15.60

1792.91 16966 257.09 1.74 -60.00 1715.8 1771.4 1660.2 2757.8 2146.1 86.89 8.57 354 1797.53 0.00 0.00 2.95 0.000 0.000 0.072 1715.47 1771.31 1659.62 2758.06 993.81 0 0 0 30.00 30.00 15.77

1911.95 17414 257.09 1.74 -0.60 1713.5 1771.9 1655.1 2757.6 993.8 75.20 10.00 378 1917.50 0.00 0.00 2.63 0.000 0.000 0.020 1714.38 1771.75 1657.00 2756.94 2135.44 0 0 0 30.00 30.00 15.84

2102.38 10535 351.42 1.92 60.00 1713.3 1772.9 1653.6 2758.0 2135.9 61.73 6.04 416 2180.06 72.24 0.17 2.77 1.113 0.080 0.075 1342.66 1374.94 1310.38 2803.38 3206.75 0 0 0 11.13 15.85 15.34

2237.16 9254 425.08 2.07 0.09 1339.4 1375.2 1303.5 2803.8 3207.1 53.38 6.73 443 2300.52 57.90 0.00 2.66 1.078 0.000 0.021 1041.25 1046.62 1035.88 2802.94 2056.31 0 0 0 11.40 30.00 15.74

2483.01 580 425.08 2.09 -60.00 1036.4 1048.7 1024.2 2803.2 2056.1 34.88 8.00 492 2488.23 0.00 0.00 2.72 0.000 0.000 0.077 1036.59 1049.06 1024.12 2803.56 993.31 0 0 0 30.00 30.00 15.75

2542.69 3141 425.08 2.12 3.01 1035.8 1049.4 1022.2 2803.4 993.3 29.93 8.09 504 2548.49 0.00 0.19 2.79 0.000 0.080 0.021 1035.88 1049.50 1022.25 2849.12 2196.88 0 0 0 30.00 15.69 15.80

2732.77 324 425.08 2.14 60.00 1035.1 1050.1 1020.1 2850.0 2196.7 14.91 7.85 542 2738.27 0.00 0.00 2.60 0.000 0.000 0.077 1035.06 1049.81 1020.31 2850.12 3205.00 0 0 0 30.00 30.00 15.84

2802.78 1092 425.08 2.18 2.81 1034.6 1050.1 1019.1 2850.2 3205.8 9.56 7.46 556 2808.30 0.00 0.00 2.52 0.000 0.000 0.020 1034.97 1050.50 1019.44 2850.56 2098.12 0 0 0 30.00 30.00 15.88

2882 end climb: SURFACE_DEPTH_REACHED

state 2883 begin surface coast

2948 end surface coast: CONTROL_FINISHED_OK

state 2948 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	1295	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	105.13304	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	339.87189	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	210322,083735,4704.257,-12450.678,1,0.8,3,15.7	TGT_RADIUS	2500.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,084902,4704.269,-12450.430,3,0.8,5,15.7	MHEAD_RNG_PITCHd_Wd	107.5,13758,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	122
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	0.2,1.018699	MEM0	60876,1,0,0
SM_CCo	3033.41,0.00,0.000,0,1033.3,1056.2,1010.4,427.24	MEM1	65508,1,0,0
SM_GC	0.73,0.00,16.32,0.54,0.000,0.044,0.056,1033.3,1056.2,1010.4,177.1,2350.2,0,0,0,30.00,15.83,15.90	MEM2	971192,28,75616,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	25823,585
IRIDIUM_FIX	4704.84,-12450.71,210322,084224	CAP_FILE_SIZE	154687,0
TCM_TEMP	267.01	SDSIZE	4028416,3721952
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4643,1
HUMID	51.56	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.99	CURRENT	0.098, 81.8,1
INTERNAL_PRESSURE	8.91385	MAGCAL	1.000000,0.000922,-0.077949,0.013011,1.024023,-0.024985,0.054586,-0.058590,0.958289,666.6,-336.2,111.0,36,0.0340,0
_24V_AH	14.72,462.352	IMPLIED_C_PITCH	2407,11.63,376
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2892,39.203892,365
FG_AHR_24Vo	340.005	GPS	210322,094038,4704.193,-12449.936,2,4.7,42,15.7
FG_AHR_10Vo	105.143

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	506	1242	9267.30	legato	34	20	10.20
Pitch_motor	36	229	121.89	nil	0	0	0.00
Roll_motor	56	101	84.83	nil	0	0	0.00
Iridium	406	199	1192.21	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.33	nil	0	0	0.00
Core	1840	11	325.78	SciCon	0	0	0.00
LPSleep	1811	2	76.10	nil	0	0	0.00
Compass	400	5	30.01	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	491.8	451.2	532.4	173.4	2243.1	0.00	0.00	0	102.91	95.40	0.00	0.00	0.005	0.000	0.000	2862.38	3051.25	2673.50	173.44	2243.81	0	0	0	14.85	30.00	30.00
103.65	18727	-116.79	-1.44	60.00	2861.7	3049.9	2673.5	173.4	2243.4	3.40	-3.36	18	135.94	8.89	14.27	3.10	0.007	0.229	0.080	3250.78	3475.12	3026.44	1971.56	3426.44	0	0	0	14.86	15.47	14.85
208.39	1028	-116.79	-1.44	0.00	3250.9	3474.0	3027.9	1970.9	3427.1	20.82	-14.83	39	213.57	0.00	0.00	2.62	0.000	0.000	0.017	3252.47	3474.94	3030.00	1970.25	2239.50	0	0	0	30.00	30.00	15.85
398.70	260	-116.79	-1.44	60.00	3251.1	3473.9	3028.3	1971.0	2239.0	46.11	-14.04	77	403.68	0.00	0.00	3.08	0.000	0.000	0.076	3251.66	3473.94	3029.38	1971.06	3426.69	0	0	0	30.00	30.00	15.84
413.05	1028	-116.79	-1.44	0.41	3250.9	3471.5	3030.4	1970.6	3426.8	48.22	-14.10	80	418.60	0.00	0.00	2.60	0.000	0.000	0.017	3251.00	3471.38	3030.62	1971.12	2253.75	0	0	0	30.00	30.00	15.90
603.49	260	-116.79	-1.44	60.00	3250.6	3471.1	3030.1	1971.5	2253.0	70.50	-10.88	118	608.70	0.00	0.00	3.05	0.000	0.000	0.077	3250.94	3471.25	3030.62	1971.00	3427.69	0	0	0	30.00	30.00	15.86
653.09	1028	-116.79	-1.44	1.15	3250.8	3470.7	3030.8	1971.2	3427.8	76.25	-11.75	128	658.63	0.00	0.00	2.57	0.000	0.000	0.017	3251.12	3470.88	3031.38	1971.31	2264.12	0	0	0	30.00	30.00	15.93
843.51	516	-116.79	-1.44	-60.00	3250.6	3470.6	3030.6	1970.9	2262.8	93.49	-8.60	166	848.64	0.00	0.00	2.60	0.000	0.000	0.062	3250.31	3470.19	3030.44	1971.25	1208.06	0	0	0	30.00	30.00	15.92
888.11	1028	-116.79	-1.44	0.83	3250.9	3470.9	3030.9	1970.9	1208.4	97.60	-9.08	175	893.69	0.00	0.00	2.71	0.000	0.000	0.025	3251.44	3471.25	3031.62	1971.06	2367.00	0	0	0	30.00	30.00	15.94
1078.14	516	-116.79	-1.44	-60.00	3250.7	3471.1	3030.2	1971.0	2367.4	114.46	-8.92	213	1083.73	0.00	0.00	2.87	0.000	0.000	0.057	3250.47	3470.19	3030.75	1971.06	1209.19	0	0	0	30.00	30.00	15.93
1148.15	1028	-116.79	-1.44	-0.23	3251.1	3470.9	3031.2	1971.4	1209.1	120.55	-8.61	227	1153.70	0.00	0.00	2.65	0.000	0.000	0.025	3250.66	3470.25	3031.06	1970.56	2349.94	0	0	0	30.00	30.00	15.95
1168	end dive: TARGET_DEPTH_EXCEEDED
state	1168	begin apogee
1170.04	10243	0.00	-0.28	0.00	3250.8	3470.6	3031.1	1970.9	2037.8	122.29	-8.51	231	1257.53	82.97	1.96	0.19	1.243	0.131	0.102	2775.34	2910.12	2640.56	2254.31	2149.62	0	0	0	10.91	15.83	15.35
1260	end apogee: CONTROL_FINISHED_OK
state	1260	begin climb
1260.49	10759	116.79	1.44	-60.00	2774.0	2908.5	2639.4	2255.2	2168.0	125.08	0.00	248	1356.39	85.18	2.81	3.00	1.182	0.106	0.071	2300.12	2363.00	2237.25	2672.69	991.62	0	0	0	11.79	15.55	15.69
1379.16	11303	257.09	1.72	0.00	2296.3	2361.5	2231.1	2672.9	992.0	121.78	4.52	272	1489.66	104.11	0.40	2.69	1.157	0.051	0.020	1724.72	1769.56	1679.88	2758.12	2145.69	0	0	0	11.54	15.51	15.60
1792.91	16966	257.09	1.74	-60.00	1715.8	1771.4	1660.2	2757.8	2146.1	86.89	8.57	354	1797.53	0.00	0.00	2.95	0.000	0.000	0.072	1715.47	1771.31	1659.62	2758.06	993.81	0	0	0	30.00	30.00	15.77
1911.95	17414	257.09	1.74	-0.60	1713.5	1771.9	1655.1	2757.6	993.8	75.20	10.00	378	1917.50	0.00	0.00	2.63	0.000	0.000	0.020	1714.38	1771.75	1657.00	2756.94	2135.44	0	0	0	30.00	30.00	15.84
2102.38	10535	351.42	1.92	60.00	1713.3	1772.9	1653.6	2758.0	2135.9	61.73	6.04	416	2180.06	72.24	0.17	2.77	1.113	0.080	0.075	1342.66	1374.94	1310.38	2803.38	3206.75	0	0	0	11.13	15.85	15.34
2237.16	9254	425.08	2.07	0.09	1339.4	1375.2	1303.5	2803.8	3207.1	53.38	6.73	443	2300.52	57.90	0.00	2.66	1.078	0.000	0.021	1041.25	1046.62	1035.88	2802.94	2056.31	0	0	0	11.40	30.00	15.74
2483.01	580	425.08	2.09	-60.00	1036.4	1048.7	1024.2	2803.2	2056.1	34.88	8.00	492	2488.23	0.00	0.00	2.72	0.000	0.000	0.077	1036.59	1049.06	1024.12	2803.56	993.31	0	0	0	30.00	30.00	15.75
2542.69	3141	425.08	2.12	3.01	1035.8	1049.4	1022.2	2803.4	993.3	29.93	8.09	504	2548.49	0.00	0.19	2.79	0.000	0.080	0.021	1035.88	1049.50	1022.25	2849.12	2196.88	0	0	0	30.00	15.69	15.80
2732.77	324	425.08	2.14	60.00	1035.1	1050.1	1020.1	2850.0	2196.7	14.91	7.85	542	2738.27	0.00	0.00	2.60	0.000	0.000	0.077	1035.06	1049.81	1020.31	2850.12	3205.00	0	0	0	30.00	30.00	15.84
2802.78	1092	425.08	2.18	2.81	1034.6	1050.1	1019.1	2850.2	3205.8	9.56	7.46	556	2808.30	0.00	0.00	2.52	0.000	0.000	0.020	1034.97	1050.50	1019.44	2850.56	2098.12	0	0	0	30.00	30.00	15.88
2882	end climb: SURFACE_DEPTH_REACHED
state	2883	begin surface coast
2948	end surface coast: CONTROL_FINISHED_OK
state	2948	begin surface