Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1303 * 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 1303 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 105.21566 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 341.0336 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 105.21566 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 341.0336 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 1303 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 210322,160410,4703.646,-12447.422,33,1.0,34,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,160936,4703.663,-12447.461,4,1.0,5,15.7 MHEAD_RNG_PITCHd_Wd 87.4,9846,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 109

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 0.2,1.024284 MEM0 60876,1,0,0

SM_CCo 2748.83,34.94,1.088,0,1145.6,1140.2,1150.9,399.70 MEM1 65508,1,0,0

SM_GC 0.75,34.94,16.15,0.43,1.088,0.047,0.062,1145.6,1140.2,1150.9,174.2,2356.6,0,0,0,11.15,15.87,15.91 MEM2 971108,36,75540,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 22655,533

IRIDIUM_FIX 4658.40,-12233.11,210322,151453 CAP_FILE_SIZE 144856,0

TCM_TEMP 266.97 SDSIZE 4028416,3720928

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4667,1

HUMID 51.66 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.99 CURRENT 0.017, 8.4,1

INTERNAL_PRESSURE 8.91582 MAGCAL 1.000000,-0.007242,-0.060884,0.025215,1.035054,-0.067479,0.060063,-0.023802,0.965951,647.4,-302.9,104.5,29,0.0376,0

_24V_AH 14.73,463.685 IMPLIED_C_PITCH 2409,11.76,349

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2886,35.690022,342

FG_AHR_24Vo 341.161 GPS 210322,165552,4703.633,-12447.190,3,2.0,7,15.7

FG_AHR_10Vo 105.224

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 469 1227 8495.91 legato 34 20 10.22

Pitch_motor 35 225 119.03 nil 0 0 0.00

Roll_motor 51 110 82.88 nil 0 0 0.00

Iridium 172 179 455.65 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.12 nil 0 0 0.00

Core 1510 11 267.36 SciCon 0 0 0.00

LPSleep 1499 2 63.00 nil 0 0 0.00

Compass 367 5 27.57 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

6.06 16386 -116.79 -1.44 0.00 895.9 891.1 900.8 173.4 2231.1 0.00 0.00 0 87.66 80.07 0.00 0.00 0.005 0.000 0.000 2889.31 3063.50 2715.12 173.50 2231.31 0 0 0 14.87 30.00 30.00

88.39 18467 -116.79 -1.44 0.00 2888.2 3062.1 2714.3 173.6 2231.4 3.82 -6.41 15 115.74 8.11 14.20 0.00 0.007 0.226 0.000 3249.47 3460.50 3038.44 1971.12 2232.00 0 0 0 14.89 15.51 30.00

237.84 260 -116.79 -1.44 60.00 3251.2 3462.7 3039.8 1971.1 2231.9 26.16 -13.90 45 243.47 0.00 0.00 3.10 0.000 0.000 0.077 3251.62 3461.94 3041.31 1970.56 3426.38 0 0 0 30.00 30.00 15.84

282.86 1028 -116.79 -1.44 0.00 3251.0 3462.2 3039.8 1971.1 3426.9 32.25 -13.57 54 288.41 0.00 0.00 2.62 0.000 0.000 0.018 3251.09 3462.00 3040.19 1971.00 2246.06 0 0 0 30.00 30.00 15.88

412.91 0 -116.79 -1.44 0.00 3250.8 3461.9 3039.8 1970.9 2244.9 48.78 -12.34 80 414.24 0.00 0.00 0.00 0.000 0.000 0.000 3250.31 3460.69 3039.94 1971.06 2244.94 0 0 0 30.00 30.00 30.00

538.14 260 -116.79 -1.44 60.00 3251.1 3462.1 3040.1 1970.9 2245.1 62.89 -10.29 105 543.64 0.00 0.00 3.05 0.000 0.000 0.077 3251.22 3462.38 3040.06 1971.38 3426.12 0 0 0 30.00 30.00 15.87

582.97 1028 -116.79 -1.44 0.19 3250.7 3461.6 3039.8 1970.9 3425.4 67.35 -9.94 114 588.52 0.00 0.00 2.62 0.000 0.000 0.017 3253.56 3463.31 3043.81 1969.88 2247.50 0 0 0 30.00 30.00 15.92

713.02 0 -116.79 -1.44 0.19 3250.9 3461.6 3040.1 1970.8 2246.1 78.80 -8.49 140 714.35 0.00 0.00 0.00 0.000 0.000 0.000 3250.25 3461.38 3039.12 1971.31 2245.50 0 0 0 30.00 30.00 30.00

838.06 260 -116.79 -1.44 60.00 3251.0 3461.5 3040.4 1971.1 2245.7 88.87 -7.79 165 843.68 0.00 0.00 3.04 0.000 0.000 0.077 3251.12 3462.19 3040.06 1971.06 3425.50 0 0 0 30.00 30.00 15.89

933.09 1028 -116.79 -1.44 0.50 3250.8 3461.9 3039.8 1970.8 3425.7 97.43 -9.16 184 938.63 0.00 0.00 2.59 0.000 0.000 0.017 3251.41 3461.38 3041.44 1970.62 2247.19 0 0 0 30.00 30.00 15.94

1063.15 0 -116.79 -1.44 0.50 3251.0 3461.8 3040.2 1970.4 2247.9 107.98 -7.62 210 1064.48 0.00 0.00 0.00 0.000 0.000 0.000 3250.00 3461.25 3038.75 1970.81 2247.56 0 0 0 30.00 30.00 30.00

1077 end dive: TARGET_DEPTH_EXCEEDED

state 1077 begin apogee

1080.00 10243 0.00 -0.28 0.00 3251.1 3461.9 3040.2 1971.0 2044.9 109.04 -7.44 213 1167.28 82.81 1.97 0.17 1.228 0.133 0.110 2773.69 2905.75 2641.62 2254.44 2167.44 0 0 0 10.96 15.84 15.35

1169 end apogee: CONTROL_FINISHED_OK

state 1169 begin climb

1170.15 10759 116.79 1.44 -60.00 2773.5 2905.6 2641.4 2254.2 2167.7 111.38 0.00 230 1266.03 84.99 2.81 3.00 1.168 0.104 0.072 2298.81 2361.50 2236.12 2672.38 994.31 0 0 0 11.86 15.57 15.69

1298.80 11303 283.69 1.78 0.00 2295.4 2361.1 2229.8 2673.4 994.4 108.05 3.64 256 1429.04 123.25 0.49 2.69 1.142 0.048 0.020 1618.47 1658.19 1578.75 2772.31 2149.69 0 0 0 11.47 15.53 15.62

1551.40 260 283.69 1.78 60.00 1610.9 1658.6 1563.2 2771.9 2149.3 86.58 8.70 306 1556.84 0.00 0.00 2.73 0.000 0.000 0.074 1610.81 1658.31 1563.31 2772.62 3206.31 0 0 0 30.00 30.00 15.69

1661.33 17478 283.69 1.81 1.20 1609.6 1658.9 1560.2 2772.4 3207.3 77.51 7.75 328 1666.85 0.00 0.00 2.60 0.000 0.000 0.021 1610.16 1659.00 1561.31 2771.75 2074.56 0 0 0 30.00 30.00 15.77

1791.38 8742 354.74 1.95 -60.00 1608.8 1659.5 1558.1 2772.6 2075.2 68.81 6.82 354 1853.33 55.60 0.00 2.80 1.098 0.000 0.079 1328.56 1358.94 1298.19 2772.44 992.25 0 0 0 11.29 30.00 15.34

1856.38 3141 354.74 1.99 1.34 1328.1 1358.8 1297.4 2772.4 992.2 64.20 7.18 367 1861.99 0.00 0.17 2.76 0.000 0.081 0.020 1328.28 1358.75 1297.81 2816.00 2168.62 0 0 0 30.00 15.62 15.69

1986.81 324 354.74 2.01 60.00 1324.3 1359.0 1289.7 2817.2 2168.8 54.28 7.94 393 1991.95 0.00 0.00 2.66 0.000 0.000 0.075 1324.88 1359.12 1290.62 2817.81 3203.38 0 0 0 30.00 30.00 15.77

2046.40 1028 354.74 2.01 2.29 1323.7 1358.8 1288.7 2818.2 3203.5 49.02 8.96 405 2051.95 0.00 0.00 2.53 0.000 0.000 0.021 1324.38 1359.19 1289.56 2817.88 2093.44 0 0 0 30.00 30.00 15.80

2176.45 580 354.74 2.04 -60.00 1322.8 1359.2 1286.2 2819.2 2094.3 38.88 7.82 431 2182.00 0.00 0.00 2.80 0.000 0.000 0.076 1322.59 1359.19 1286.00 2818.50 993.62 0 0 0 30.00 30.00 15.82

2326.85 1092 354.74 2.06 0.95 1321.8 1359.1 1284.6 2818.0 993.6 26.65 8.02 461 2332.01 0.00 0.00 2.69 0.000 0.000 0.021 1321.94 1359.50 1284.38 2818.06 2159.81 0 0 0 30.00 30.00 15.89

2456.49 580 354.74 2.09 -60.00 1321.5 1359.6 1283.5 2817.5 2160.2 16.28 7.70 487 2462.07 0.00 0.00 2.98 0.000 0.000 0.071 1321.72 1359.75 1283.69 2818.38 992.69 0 0 0 30.00 30.00 15.87

2496.49 1092 354.74 2.12 0.23 1321.1 1359.6 1282.6 2817.8 993.5 13.09 7.86 495 2502.24 0.00 0.00 2.66 0.000 0.000 0.021 1321.47 1359.56 1283.38 2818.38 2149.31 0 0 0 30.00 30.00 15.91

2626 end climb: SURFACE_DEPTH_REACHED

state 2626 begin surface coast

2686 end surface coast: CONTROL_FINISHED_OK

state 2686 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	1303	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	105.21566	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	341.0336	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	210322,160410,4703.646,-12447.422,33,1.0,34,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,160936,4703.663,-12447.461,4,1.0,5,15.7	MHEAD_RNG_PITCHd_Wd	87.4,9846,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	109
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	0.2,1.024284	MEM0	60876,1,0,0
SM_CCo	2748.83,34.94,1.088,0,1145.6,1140.2,1150.9,399.70	MEM1	65508,1,0,0
SM_GC	0.75,34.94,16.15,0.43,1.088,0.047,0.062,1145.6,1140.2,1150.9,174.2,2356.6,0,0,0,11.15,15.87,15.91	MEM2	971108,36,75540,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	22655,533
IRIDIUM_FIX	4658.40,-12233.11,210322,151453	CAP_FILE_SIZE	144856,0
TCM_TEMP	266.97	SDSIZE	4028416,3720928
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4667,1
HUMID	51.66	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.99	CURRENT	0.017, 8.4,1
INTERNAL_PRESSURE	8.91582	MAGCAL	1.000000,-0.007242,-0.060884,0.025215,1.035054,-0.067479,0.060063,-0.023802,0.965951,647.4,-302.9,104.5,29,0.0376,0
_24V_AH	14.73,463.685	IMPLIED_C_PITCH	2409,11.76,349
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2886,35.690022,342
FG_AHR_24Vo	341.161	GPS	210322,165552,4703.633,-12447.190,3,2.0,7,15.7
FG_AHR_10Vo	105.224

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	469	1227	8495.91	legato	34	20	10.22
Pitch_motor	35	225	119.03	nil	0	0	0.00
Roll_motor	51	110	82.88	nil	0	0	0.00
Iridium	172	179	455.65	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.12	nil	0	0	0.00
Core	1510	11	267.36	SciCon	0	0	0.00
LPSleep	1499	2	63.00	nil	0	0	0.00
Compass	367	5	27.57	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
6.06	16386	-116.79	-1.44	0.00	895.9	891.1	900.8	173.4	2231.1	0.00	0.00	0	87.66	80.07	0.00	0.00	0.005	0.000	0.000	2889.31	3063.50	2715.12	173.50	2231.31	0	0	0	14.87	30.00	30.00
88.39	18467	-116.79	-1.44	0.00	2888.2	3062.1	2714.3	173.6	2231.4	3.82	-6.41	15	115.74	8.11	14.20	0.00	0.007	0.226	0.000	3249.47	3460.50	3038.44	1971.12	2232.00	0	0	0	14.89	15.51	30.00
237.84	260	-116.79	-1.44	60.00	3251.2	3462.7	3039.8	1971.1	2231.9	26.16	-13.90	45	243.47	0.00	0.00	3.10	0.000	0.000	0.077	3251.62	3461.94	3041.31	1970.56	3426.38	0	0	0	30.00	30.00	15.84
282.86	1028	-116.79	-1.44	0.00	3251.0	3462.2	3039.8	1971.1	3426.9	32.25	-13.57	54	288.41	0.00	0.00	2.62	0.000	0.000	0.018	3251.09	3462.00	3040.19	1971.00	2246.06	0	0	0	30.00	30.00	15.88
412.91	0	-116.79	-1.44	0.00	3250.8	3461.9	3039.8	1970.9	2244.9	48.78	-12.34	80	414.24	0.00	0.00	0.00	0.000	0.000	0.000	3250.31	3460.69	3039.94	1971.06	2244.94	0	0	0	30.00	30.00	30.00
538.14	260	-116.79	-1.44	60.00	3251.1	3462.1	3040.1	1970.9	2245.1	62.89	-10.29	105	543.64	0.00	0.00	3.05	0.000	0.000	0.077	3251.22	3462.38	3040.06	1971.38	3426.12	0	0	0	30.00	30.00	15.87
582.97	1028	-116.79	-1.44	0.19	3250.7	3461.6	3039.8	1970.9	3425.4	67.35	-9.94	114	588.52	0.00	0.00	2.62	0.000	0.000	0.017	3253.56	3463.31	3043.81	1969.88	2247.50	0	0	0	30.00	30.00	15.92
713.02	0	-116.79	-1.44	0.19	3250.9	3461.6	3040.1	1970.8	2246.1	78.80	-8.49	140	714.35	0.00	0.00	0.00	0.000	0.000	0.000	3250.25	3461.38	3039.12	1971.31	2245.50	0	0	0	30.00	30.00	30.00
838.06	260	-116.79	-1.44	60.00	3251.0	3461.5	3040.4	1971.1	2245.7	88.87	-7.79	165	843.68	0.00	0.00	3.04	0.000	0.000	0.077	3251.12	3462.19	3040.06	1971.06	3425.50	0	0	0	30.00	30.00	15.89
933.09	1028	-116.79	-1.44	0.50	3250.8	3461.9	3039.8	1970.8	3425.7	97.43	-9.16	184	938.63	0.00	0.00	2.59	0.000	0.000	0.017	3251.41	3461.38	3041.44	1970.62	2247.19	0	0	0	30.00	30.00	15.94
1063.15	0	-116.79	-1.44	0.50	3251.0	3461.8	3040.2	1970.4	2247.9	107.98	-7.62	210	1064.48	0.00	0.00	0.00	0.000	0.000	0.000	3250.00	3461.25	3038.75	1970.81	2247.56	0	0	0	30.00	30.00	30.00
1077	end dive: TARGET_DEPTH_EXCEEDED
state	1077	begin apogee
1080.00	10243	0.00	-0.28	0.00	3251.1	3461.9	3040.2	1971.0	2044.9	109.04	-7.44	213	1167.28	82.81	1.97	0.17	1.228	0.133	0.110	2773.69	2905.75	2641.62	2254.44	2167.44	0	0	0	10.96	15.84	15.35
1169	end apogee: CONTROL_FINISHED_OK
state	1169	begin climb
1170.15	10759	116.79	1.44	-60.00	2773.5	2905.6	2641.4	2254.2	2167.7	111.38	0.00	230	1266.03	84.99	2.81	3.00	1.168	0.104	0.072	2298.81	2361.50	2236.12	2672.38	994.31	0	0	0	11.86	15.57	15.69
1298.80	11303	283.69	1.78	0.00	2295.4	2361.1	2229.8	2673.4	994.4	108.05	3.64	256	1429.04	123.25	0.49	2.69	1.142	0.048	0.020	1618.47	1658.19	1578.75	2772.31	2149.69	0	0	0	11.47	15.53	15.62
1551.40	260	283.69	1.78	60.00	1610.9	1658.6	1563.2	2771.9	2149.3	86.58	8.70	306	1556.84	0.00	0.00	2.73	0.000	0.000	0.074	1610.81	1658.31	1563.31	2772.62	3206.31	0	0	0	30.00	30.00	15.69
1661.33	17478	283.69	1.81	1.20	1609.6	1658.9	1560.2	2772.4	3207.3	77.51	7.75	328	1666.85	0.00	0.00	2.60	0.000	0.000	0.021	1610.16	1659.00	1561.31	2771.75	2074.56	0	0	0	30.00	30.00	15.77
1791.38	8742	354.74	1.95	-60.00	1608.8	1659.5	1558.1	2772.6	2075.2	68.81	6.82	354	1853.33	55.60	0.00	2.80	1.098	0.000	0.079	1328.56	1358.94	1298.19	2772.44	992.25	0	0	0	11.29	30.00	15.34
1856.38	3141	354.74	1.99	1.34	1328.1	1358.8	1297.4	2772.4	992.2	64.20	7.18	367	1861.99	0.00	0.17	2.76	0.000	0.081	0.020	1328.28	1358.75	1297.81	2816.00	2168.62	0	0	0	30.00	15.62	15.69
1986.81	324	354.74	2.01	60.00	1324.3	1359.0	1289.7	2817.2	2168.8	54.28	7.94	393	1991.95	0.00	0.00	2.66	0.000	0.000	0.075	1324.88	1359.12	1290.62	2817.81	3203.38	0	0	0	30.00	30.00	15.77
2046.40	1028	354.74	2.01	2.29	1323.7	1358.8	1288.7	2818.2	3203.5	49.02	8.96	405	2051.95	0.00	0.00	2.53	0.000	0.000	0.021	1324.38	1359.19	1289.56	2817.88	2093.44	0	0	0	30.00	30.00	15.80
2176.45	580	354.74	2.04	-60.00	1322.8	1359.2	1286.2	2819.2	2094.3	38.88	7.82	431	2182.00	0.00	0.00	2.80	0.000	0.000	0.076	1322.59	1359.19	1286.00	2818.50	993.62	0	0	0	30.00	30.00	15.82
2326.85	1092	354.74	2.06	0.95	1321.8	1359.1	1284.6	2818.0	993.6	26.65	8.02	461	2332.01	0.00	0.00	2.69	0.000	0.000	0.021	1321.94	1359.50	1284.38	2818.06	2159.81	0	0	0	30.00	30.00	15.89
2456.49	580	354.74	2.09	-60.00	1321.5	1359.6	1283.5	2817.5	2160.2	16.28	7.70	487	2462.07	0.00	0.00	2.98	0.000	0.000	0.071	1321.72	1359.75	1283.69	2818.38	992.69	0	0	0	30.00	30.00	15.87
2496.49	1092	354.74	2.12	0.23	1321.1	1359.6	1282.6	2817.8	993.5	13.09	7.86	495	2502.24	0.00	0.00	2.66	0.000	0.000	0.021	1321.47	1359.56	1283.38	2818.38	2149.31	0	0	0	30.00	30.00	15.91
2626	end climb: SURFACE_DEPTH_REACHED
state	2626	begin surface coast
2686	end surface coast: CONTROL_FINISHED_OK
state	2686	begin surface