Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1307 * 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 1307 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 105.25457 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 341.57504 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 105.25457 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 341.57504 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 1307 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 210322,193039,4703.725,-12446.437,4,1.4,9,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.70 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 210322,193548,4703.776,-12446.441,4,1.3,11,15.7 MHEAD_RNG_PITCHd_Wd 116.4,8687,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 105

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 0.2,1.021333 MEM0 60876,1,0,0

SM_CCo 2610.91,0.00,0.000,0,1046.1,1059.2,1032.9,424.10 MEM1 65508,1,0,0

SM_GC 0.69,0.00,16.22,0.36,0.000,0.038,0.066,1046.1,1059.2,1032.9,174.6,2357.5,0,0,0,30.00,15.83,15.86 MEM2 971200,30,75568,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 22531,501

IRIDIUM_FIX 4703.15,-12444.51,210322,184128 CAP_FILE_SIZE 144314,0

TCM_TEMP 267.04 SDSIZE 4028416,3720416

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4679,1

HUMID 51.63 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.01 CURRENT 0.088, 22.6,1

INTERNAL_PRESSURE 8.91506 MAGCAL 1.000000,0.009795,-0.085710,0.013925,1.006868,-0.102630,0.032508,-0.040681,0.938723,680.5,-287.4,109.1,20,0.0370,0

_24V_AH 14.74,464.312 IMPLIED_C_PITCH 2412,11.68,318

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2828,30.340788,308

FG_AHR_24Vo 341.707 GPS 210322,202001,4703.775,-12446.126,21,0.8,22,15.7

FG_AHR_10Vo 105.263

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 483 1222 8717.90 legato 34 20 10.16

Pitch_motor 35 224 117.92 nil 0 0 0.00

Roll_motor 51 109 82.92 nil 0 0 0.00

Iridium 148 178 390.12 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 20 15 4.62 nil 0 0 0.00

Core 1448 11 256.37 SciCon 0 0 0.00

LPSleep 1407 2 59.11 nil 0 0 0.00

Compass 347 5 26.06 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 1140.3 1136.7 1143.9 177.1 2270.4 0.00 0.00 0 77.08 69.86 0.00 0.00 0.005 0.000 0.000 2859.53 3039.94 2679.12 177.06 2268.50 0 0 0 14.88 30.00 30.00

78.20 18727 -116.79 -1.44 60.00 2858.9 3038.8 2678.9 177.1 2268.8 3.54 -4.98 13 110.52 9.18 13.91 3.01 0.007 0.224 0.081 3250.69 3467.62 3033.75 1970.94 3428.62 0 0 0 15.02 15.50 14.92

147.58 1028 -116.79 -1.44 0.00 3250.5 3467.4 3033.6 1970.8 3428.9 14.79 -13.66 27 153.13 0.00 0.00 2.63 0.000 0.000 0.018 3251.19 3466.94 3035.44 1970.75 2248.88 0 0 0 30.00 30.00 15.86

277.61 260 -116.79 -1.44 60.00 3250.4 3466.9 3033.9 1971.0 2247.6 30.62 -12.14 53 283.23 0.00 0.00 3.05 0.000 0.000 0.078 3250.91 3467.19 3034.62 1971.06 3427.50 0 0 0 30.00 30.00 15.85

297.60 1028 -116.79 -1.44 0.13 3250.7 3466.5 3034.8 1971.1 3426.7 33.12 -12.34 57 303.35 0.00 0.00 2.62 0.000 0.000 0.018 3251.38 3468.06 3034.69 1970.81 2250.31 0 0 0 30.00 30.00 15.89

427.75 260 -116.79 -1.44 60.00 3250.7 3466.9 3034.4 1971.2 2247.5 47.71 -10.69 83 433.25 0.00 0.00 3.04 0.000 0.000 0.079 3250.44 3466.56 3034.31 1970.69 3427.19 0 0 0 30.00 30.00 15.86

497.64 1028 -116.79 -1.44 0.99 3250.6 3466.6 3034.5 1970.7 3426.9 55.58 -11.32 97 503.19 0.00 0.00 2.58 0.000 0.000 0.018 3250.34 3465.38 3035.31 1970.88 2262.62 0 0 0 30.00 30.00 15.92

627.67 0 -116.79 -1.44 0.99 3250.4 3467.0 3033.9 1970.9 2261.4 69.49 -10.73 123 629.00 0.00 0.00 0.00 0.000 0.000 0.000 3250.22 3465.94 3034.50 1970.81 2261.88 0 0 0 30.00 30.00 30.00

752.68 260 -116.79 -1.44 60.00 3250.4 3466.4 3034.4 1970.7 2261.7 82.57 -10.06 148 758.29 0.00 0.00 2.99 0.000 0.000 0.079 3251.16 3466.69 3035.62 1970.94 3425.25 0 0 0 30.00 30.00 15.89

797.68 1028 -116.79 -1.44 1.10 3250.6 3466.6 3034.7 1971.3 3425.6 87.69 -11.65 157 803.22 0.00 0.00 2.56 0.000 0.000 0.018 3250.78 3466.81 3034.75 1970.94 2258.69 0 0 0 30.00 30.00 15.94

927.71 0 -116.79 -1.44 1.10 3250.6 3466.3 3034.9 1970.9 2259.1 100.62 -9.31 183 929.04 0.00 0.00 0.00 0.000 0.000 0.000 3249.22 3465.56 3032.88 1971.19 2259.25 0 0 0 30.00 30.00 30.00

977 end dive: TARGET_DEPTH_EXCEEDED

state 977 begin apogee

979.55 10243 0.00 -0.28 0.00 3250.8 3466.7 3034.9 1971.2 2044.6 105.10 -8.86 193 1066.84 82.86 1.93 0.17 1.222 0.130 0.110 2774.56 2907.06 2642.06 2254.88 2167.69 0 0 0 10.99 15.85 15.36

1068 end apogee: CONTROL_FINISHED_OK

state 1069 begin climb

1069.70 10759 116.79 1.44 -60.00 2774.3 2907.6 2641.0 2255.1 2167.5 108.34 0.00 210 1165.75 85.31 2.79 3.00 1.166 0.104 0.071 2298.09 2362.69 2233.50 2672.56 991.12 0 0 0 11.77 15.56 15.70

1213.53 11303 231.67 1.67 0.00 2295.2 2362.1 2228.4 2672.4 991.0 104.13 5.36 239 1306.29 85.90 0.33 2.69 1.137 0.057 0.020 1829.97 1872.50 1787.44 2743.00 2145.75 0 0 0 11.50 15.54 15.63

1428.53 8486 292.83 1.80 60.00 1823.6 1872.7 1774.4 2742.8 2145.9 88.35 7.14 282 1480.43 47.33 0.00 2.76 1.100 0.000 0.077 1581.47 1621.25 1541.69 2742.69 3204.12 0 0 0 11.45 30.00 15.29

1543.53 1092 292.83 1.82 -0.27 1577.9 1621.9 1533.9 2743.0 3204.2 79.83 7.85 305 1549.08 0.00 0.00 2.68 0.000 0.000 0.022 1577.69 1622.25 1533.12 2743.12 2051.44 0 0 0 30.00 30.00 15.69

1673.55 10275 354.82 1.95 -0.27 1574.9 1622.1 1527.6 2742.9 2050.9 70.53 7.12 331 1725.18 49.49 0.29 0.00 1.090 0.065 0.000 1329.72 1355.19 1304.25 2806.75 2050.88 0 0 0 11.33 15.74 30.00

1849.07 324 354.82 1.96 60.00 1324.3 1354.4 1294.2 2806.9 2051.0 55.90 8.35 366 1854.14 0.00 0.00 2.97 0.000 0.000 0.071 1324.38 1354.38 1294.38 2807.00 3205.75 0 0 0 30.00 30.00 15.75

1913.57 1092 354.82 1.99 0.24 1323.4 1354.2 1292.6 2807.4 3205.4 50.95 7.56 379 1919.11 0.00 0.00 2.63 0.000 0.000 0.022 1323.44 1354.62 1292.25 2807.38 2060.25 0 0 0 30.00 30.00 15.79

2043.60 10535 422.53 2.13 60.00 1322.2 1354.6 1289.7 2807.0 2059.4 42.01 6.93 405 2102.97 53.99 0.17 2.97 1.073 0.079 0.072 1052.19 1053.75 1050.62 2853.12 3206.31 0 0 0 11.26 15.81 15.37

2175.08 1028 422.53 2.13 1.80 1050.4 1054.2 1046.6 2853.4 3205.6 29.99 9.68 431 2180.61 0.00 0.00 2.57 0.000 0.000 0.021 1050.56 1054.25 1046.88 2852.75 2088.12 0 0 0 30.00 30.00 15.76

2305.12 516 422.53 2.13 -60.00 1048.3 1054.9 1041.7 2854.1 2088.6 18.20 8.91 457 2310.69 0.00 0.00 2.78 0.000 0.000 0.078 1048.22 1054.88 1041.56 2853.81 993.44 0 0 0 30.00 30.00 15.79

2325.12 1028 422.53 2.13 1.91 1048.0 1055.2 1040.8 2853.1 993.2 16.41 8.69 461 2330.70 0.00 0.00 2.74 0.000 0.000 0.021 1048.09 1055.25 1040.94 2853.62 2176.38 0 0 0 30.00 30.00 15.82

2455.17 0 422.53 2.13 1.91 1047.8 1058.0 1037.5 2852.9 2175.4 5.14 8.80 487 2456.49 0.00 0.00 0.00 0.000 0.000 0.000 1047.81 1058.06 1037.56 2853.69 2176.50 0 0 0 30.00 30.00 30.00

2469 end climb: SURFACE_DEPTH_REACHED

state 2469 begin surface coast

2525 end surface coast: CONTROL_FINISHED_OK

state 2525 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	1307	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	105.25457	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	341.57504	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	210322,193039,4703.725,-12446.437,4,1.4,9,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.70	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	210322,193548,4703.776,-12446.441,4,1.3,11,15.7	MHEAD_RNG_PITCHd_Wd	116.4,8687,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	105
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	0.2,1.021333	MEM0	60876,1,0,0
SM_CCo	2610.91,0.00,0.000,0,1046.1,1059.2,1032.9,424.10	MEM1	65508,1,0,0
SM_GC	0.69,0.00,16.22,0.36,0.000,0.038,0.066,1046.1,1059.2,1032.9,174.6,2357.5,0,0,0,30.00,15.83,15.86	MEM2	971200,30,75568,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	22531,501
IRIDIUM_FIX	4703.15,-12444.51,210322,184128	CAP_FILE_SIZE	144314,0
TCM_TEMP	267.04	SDSIZE	4028416,3720416
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4679,1
HUMID	51.63	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.01	CURRENT	0.088, 22.6,1
INTERNAL_PRESSURE	8.91506	MAGCAL	1.000000,0.009795,-0.085710,0.013925,1.006868,-0.102630,0.032508,-0.040681,0.938723,680.5,-287.4,109.1,20,0.0370,0
_24V_AH	14.74,464.312	IMPLIED_C_PITCH	2412,11.68,318
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2828,30.340788,308
FG_AHR_24Vo	341.707	GPS	210322,202001,4703.775,-12446.126,21,0.8,22,15.7
FG_AHR_10Vo	105.263

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	483	1222	8717.90	legato	34	20	10.16
Pitch_motor	35	224	117.92	nil	0	0	0.00
Roll_motor	51	109	82.92	nil	0	0	0.00
Iridium	148	178	390.12	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	20	15	4.62	nil	0	0	0.00
Core	1448	11	256.37	SciCon	0	0	0.00
LPSleep	1407	2	59.11	nil	0	0	0.00
Compass	347	5	26.06	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	1140.3	1136.7	1143.9	177.1	2270.4	0.00	0.00	0	77.08	69.86	0.00	0.00	0.005	0.000	0.000	2859.53	3039.94	2679.12	177.06	2268.50	0	0	0	14.88	30.00	30.00
78.20	18727	-116.79	-1.44	60.00	2858.9	3038.8	2678.9	177.1	2268.8	3.54	-4.98	13	110.52	9.18	13.91	3.01	0.007	0.224	0.081	3250.69	3467.62	3033.75	1970.94	3428.62	0	0	0	15.02	15.50	14.92
147.58	1028	-116.79	-1.44	0.00	3250.5	3467.4	3033.6	1970.8	3428.9	14.79	-13.66	27	153.13	0.00	0.00	2.63	0.000	0.000	0.018	3251.19	3466.94	3035.44	1970.75	2248.88	0	0	0	30.00	30.00	15.86
277.61	260	-116.79	-1.44	60.00	3250.4	3466.9	3033.9	1971.0	2247.6	30.62	-12.14	53	283.23	0.00	0.00	3.05	0.000	0.000	0.078	3250.91	3467.19	3034.62	1971.06	3427.50	0	0	0	30.00	30.00	15.85
297.60	1028	-116.79	-1.44	0.13	3250.7	3466.5	3034.8	1971.1	3426.7	33.12	-12.34	57	303.35	0.00	0.00	2.62	0.000	0.000	0.018	3251.38	3468.06	3034.69	1970.81	2250.31	0	0	0	30.00	30.00	15.89
427.75	260	-116.79	-1.44	60.00	3250.7	3466.9	3034.4	1971.2	2247.5	47.71	-10.69	83	433.25	0.00	0.00	3.04	0.000	0.000	0.079	3250.44	3466.56	3034.31	1970.69	3427.19	0	0	0	30.00	30.00	15.86
497.64	1028	-116.79	-1.44	0.99	3250.6	3466.6	3034.5	1970.7	3426.9	55.58	-11.32	97	503.19	0.00	0.00	2.58	0.000	0.000	0.018	3250.34	3465.38	3035.31	1970.88	2262.62	0	0	0	30.00	30.00	15.92
627.67	0	-116.79	-1.44	0.99	3250.4	3467.0	3033.9	1970.9	2261.4	69.49	-10.73	123	629.00	0.00	0.00	0.00	0.000	0.000	0.000	3250.22	3465.94	3034.50	1970.81	2261.88	0	0	0	30.00	30.00	30.00
752.68	260	-116.79	-1.44	60.00	3250.4	3466.4	3034.4	1970.7	2261.7	82.57	-10.06	148	758.29	0.00	0.00	2.99	0.000	0.000	0.079	3251.16	3466.69	3035.62	1970.94	3425.25	0	0	0	30.00	30.00	15.89
797.68	1028	-116.79	-1.44	1.10	3250.6	3466.6	3034.7	1971.3	3425.6	87.69	-11.65	157	803.22	0.00	0.00	2.56	0.000	0.000	0.018	3250.78	3466.81	3034.75	1970.94	2258.69	0	0	0	30.00	30.00	15.94
927.71	0	-116.79	-1.44	1.10	3250.6	3466.3	3034.9	1970.9	2259.1	100.62	-9.31	183	929.04	0.00	0.00	0.00	0.000	0.000	0.000	3249.22	3465.56	3032.88	1971.19	2259.25	0	0	0	30.00	30.00	30.00
977	end dive: TARGET_DEPTH_EXCEEDED
state	977	begin apogee
979.55	10243	0.00	-0.28	0.00	3250.8	3466.7	3034.9	1971.2	2044.6	105.10	-8.86	193	1066.84	82.86	1.93	0.17	1.222	0.130	0.110	2774.56	2907.06	2642.06	2254.88	2167.69	0	0	0	10.99	15.85	15.36
1068	end apogee: CONTROL_FINISHED_OK
state	1069	begin climb
1069.70	10759	116.79	1.44	-60.00	2774.3	2907.6	2641.0	2255.1	2167.5	108.34	0.00	210	1165.75	85.31	2.79	3.00	1.166	0.104	0.071	2298.09	2362.69	2233.50	2672.56	991.12	0	0	0	11.77	15.56	15.70
1213.53	11303	231.67	1.67	0.00	2295.2	2362.1	2228.4	2672.4	991.0	104.13	5.36	239	1306.29	85.90	0.33	2.69	1.137	0.057	0.020	1829.97	1872.50	1787.44	2743.00	2145.75	0	0	0	11.50	15.54	15.63
1428.53	8486	292.83	1.80	60.00	1823.6	1872.7	1774.4	2742.8	2145.9	88.35	7.14	282	1480.43	47.33	0.00	2.76	1.100	0.000	0.077	1581.47	1621.25	1541.69	2742.69	3204.12	0	0	0	11.45	30.00	15.29
1543.53	1092	292.83	1.82	-0.27	1577.9	1621.9	1533.9	2743.0	3204.2	79.83	7.85	305	1549.08	0.00	0.00	2.68	0.000	0.000	0.022	1577.69	1622.25	1533.12	2743.12	2051.44	0	0	0	30.00	30.00	15.69
1673.55	10275	354.82	1.95	-0.27	1574.9	1622.1	1527.6	2742.9	2050.9	70.53	7.12	331	1725.18	49.49	0.29	0.00	1.090	0.065	0.000	1329.72	1355.19	1304.25	2806.75	2050.88	0	0	0	11.33	15.74	30.00
1849.07	324	354.82	1.96	60.00	1324.3	1354.4	1294.2	2806.9	2051.0	55.90	8.35	366	1854.14	0.00	0.00	2.97	0.000	0.000	0.071	1324.38	1354.38	1294.38	2807.00	3205.75	0	0	0	30.00	30.00	15.75
1913.57	1092	354.82	1.99	0.24	1323.4	1354.2	1292.6	2807.4	3205.4	50.95	7.56	379	1919.11	0.00	0.00	2.63	0.000	0.000	0.022	1323.44	1354.62	1292.25	2807.38	2060.25	0	0	0	30.00	30.00	15.79
2043.60	10535	422.53	2.13	60.00	1322.2	1354.6	1289.7	2807.0	2059.4	42.01	6.93	405	2102.97	53.99	0.17	2.97	1.073	0.079	0.072	1052.19	1053.75	1050.62	2853.12	3206.31	0	0	0	11.26	15.81	15.37
2175.08	1028	422.53	2.13	1.80	1050.4	1054.2	1046.6	2853.4	3205.6	29.99	9.68	431	2180.61	0.00	0.00	2.57	0.000	0.000	0.021	1050.56	1054.25	1046.88	2852.75	2088.12	0	0	0	30.00	30.00	15.76
2305.12	516	422.53	2.13	-60.00	1048.3	1054.9	1041.7	2854.1	2088.6	18.20	8.91	457	2310.69	0.00	0.00	2.78	0.000	0.000	0.078	1048.22	1054.88	1041.56	2853.81	993.44	0	0	0	30.00	30.00	15.79
2325.12	1028	422.53	2.13	1.91	1048.0	1055.2	1040.8	2853.1	993.2	16.41	8.69	461	2330.70	0.00	0.00	2.74	0.000	0.000	0.021	1048.09	1055.25	1040.94	2853.62	2176.38	0	0	0	30.00	30.00	15.82
2455.17	0	422.53	2.13	1.91	1047.8	1058.0	1037.5	2852.9	2175.4	5.14	8.80	487	2456.49	0.00	0.00	0.00	0.000	0.000	0.000	1047.81	1058.06	1037.56	2853.69	2176.50	0	0	0	30.00	30.00	30.00
2469	end climb: SURFACE_DEPTH_REACHED
state	2469	begin surface coast
2525	end surface coast: CONTROL_FINISHED_OK
state	2525	begin surface