Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1308 * 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 1308 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 105.26387 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 341.71423 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 105.26387 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 341.71423 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 1308 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 210322,202001,4703.775,-12446.126,21,0.8,22,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,202503,4703.828,-12446.099,2,0.7,4,15.7 MHEAD_RNG_PITCHd_Wd 127.2,8316,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 102

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 0.3,1.024571 MEM0 60876,1,0,0

SM_CCo 2487.79,7.72,0.842,0,1145.6,1146.9,1144.3,399.69 MEM1 65508,1,0,0

SM_GC 1.49,7.72,16.18,0.37,0.842,0.046,0.063,1145.6,1146.9,1144.3,174.9,2355.3,0,0,0,11.18,15.84,15.88 MEM2 971180,29,75608,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19441,486

IRIDIUM_FIX 4706.56,-12600.95,210322,193329 CAP_FILE_SIZE 137253,0

TCM_TEMP 267.01 SDSIZE 4028416,3720288

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4682,1

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 0.091, 26.2,1

INTERNAL_PRESSURE 8.91721 MAGCAL 1.000000,-0.022055,0.021926,0.008526,1.024537,-0.031702,0.036371,-0.064396,1.020608,582.7,-329.3,55.0,26,0.0389,0

_24V_AH 14.72,464.465 IMPLIED_C_PITCH 2422,11.59,307

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2955,39.715157,302

FG_AHR_24Vo 341.840 GPS 210322,210656,4703.792,-12445.873,4,0.8,6,15.7

FG_AHR_10Vo 105.272

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 466 1223 8391.50 legato 34 20 10.17

Pitch_motor 35 229 120.71 nil 0 0 0.00

Roll_motor 45 108 71.98 nil 0 0 0.00

Iridium 149 181 397.78 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 1404 11 248.51 SciCon 0 0 0.00

LPSleep 1322 2 55.55 nil 0 0 0.00

Compass 338 5 25.37 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 1045.3 1043.8 1046.8 173.2 2235.4 0.00 0.00 0 82.58 75.00 0.00 0.00 0.005 0.000 0.000 2908.31 3087.38 2729.25 173.44 2235.94 0 0 0 14.87 30.00 30.00

83.31 18467 -116.79 -1.44 0.00 2906.9 3085.8 2728.1 173.4 2235.4 3.68 -5.09 14 110.62 7.88 14.10 0.00 0.007 0.229 0.000 3250.22 3464.81 3035.62 1970.81 2235.44 0 0 0 14.86 15.52 30.00

233.08 260 -116.79 -1.44 60.00 3251.1 3465.0 3037.1 1971.2 2235.3 24.80 -12.17 44 238.33 0.00 0.00 3.08 0.000 0.000 0.079 3251.53 3465.50 3037.56 1971.00 3427.44 0 0 0 30.00 30.00 15.85

277.71 1028 -116.79 -1.44 0.00 3251.2 3464.5 3037.9 1970.3 3427.1 30.55 -12.97 53 283.27 0.00 0.00 2.62 0.000 0.000 0.018 3251.03 3464.38 3037.69 1971.12 2246.00 0 0 0 30.00 30.00 15.90

407.74 0 -116.79 -1.44 0.00 3251.2 3464.4 3037.9 1970.2 2245.2 46.18 -12.41 79 409.07 0.00 0.00 0.00 0.000 0.000 0.000 3251.00 3465.19 3036.81 1971.25 2244.50 0 0 0 30.00 30.00 30.00

532.95 260 -116.79 -1.44 60.00 3251.1 3464.4 3037.7 1971.2 2245.2 59.42 -9.11 104 538.44 0.00 0.00 3.03 0.000 0.000 0.078 3251.31 3464.81 3037.81 1971.44 3427.19 0 0 0 30.00 30.00 15.88

612.77 1028 -116.79 -1.44 0.45 3251.0 3464.2 3037.8 1971.4 3427.2 67.11 -9.86 120 618.31 0.00 0.00 2.58 0.000 0.000 0.017 3251.97 3464.69 3039.25 1970.69 2251.44 0 0 0 30.00 30.00 15.94

742.82 0 -116.79 -1.44 0.45 3251.2 3463.9 3038.5 1970.9 2249.7 79.18 -9.97 146 744.15 0.00 0.00 0.00 0.000 0.000 0.000 3250.75 3464.62 3036.88 1971.19 2250.19 0 0 0 30.00 30.00 30.00

867.85 260 -116.79 -1.44 60.00 3251.5 3464.2 3038.8 1971.1 2250.2 91.62 -10.30 171 873.46 0.00 0.00 3.01 0.000 0.000 0.078 3252.16 3465.62 3038.69 1970.50 3427.12 0 0 0 30.00 30.00 15.90

957.88 1028 -116.79 -1.44 0.52 3250.8 3463.9 3037.6 1971.1 3427.2 101.16 -10.45 189 963.42 0.00 0.00 2.59 0.000 0.000 0.018 3250.78 3463.94 3037.62 1970.94 2248.88 0 0 0 30.00 30.00 15.94

967 end dive: TARGET_DEPTH_EXCEEDED

state 967 begin apogee

969.72 10243 0.00 -0.28 0.00 3250.7 3463.6 3037.8 1971.1 2041.4 102.03 -10.00 191 1057.00 83.00 1.94 0.17 1.223 0.133 0.108 2775.62 2908.88 2642.38 2253.00 2163.31 0 0 0 11.01 15.84 15.38

1059 end apogee: CONTROL_FINISHED_OK

state 1059 begin climb

1059.87 10503 116.79 1.44 60.00 2774.0 2908.2 2639.8 2254.2 2172.1 105.15 0.00 208 1155.90 85.05 2.86 2.65 1.162 0.122 0.073 2298.16 2367.38 2228.94 2671.31 3206.31 0 0 0 11.84 15.57 15.69

1178.28 11303 304.08 1.82 0.00 2295.9 2367.3 2224.5 2670.9 3206.8 102.39 2.97 232 1323.18 138.66 0.56 2.66 1.133 0.049 0.020 1536.44 1569.38 1503.50 2778.50 2051.31 0 0 0 11.61 15.52 15.60

1445.74 260 304.08 1.82 60.00 1527.7 1568.8 1486.7 2780.3 2051.8 80.07 9.68 285 1451.01 0.00 0.00 2.96 0.000 0.000 0.070 1528.59 1569.56 1487.62 2780.06 3205.38 0 0 0 30.00 30.00 15.69

1490.42 1028 304.08 1.82 1.50 1527.5 1568.9 1486.1 2779.8 3205.1 75.58 10.04 294 1495.95 0.00 0.00 2.58 0.000 0.000 0.021 1527.00 1568.19 1485.81 2779.81 2081.12 0 0 0 30.00 30.00 15.72

1620.45 16386 304.08 1.82 1.50 1526.2 1569.7 1482.8 2779.9 2080.7 62.80 9.99 320 1621.78 0.00 0.00 0.00 0.000 0.000 0.000 1525.72 1569.19 1482.25 2779.94 2080.94 0 0 0 30.00 30.00 30.00

1745.47 16450 304.08 1.84 1.50 1525.2 1570.5 1479.9 2780.4 2080.7 51.84 8.03 345 1746.80 0.00 0.00 0.00 0.000 0.000 0.000 1524.53 1569.75 1479.31 2779.81 2081.12 0 0 0 30.00 30.00 30.00

1870.49 10535 391.90 2.02 60.00 1524.8 1570.9 1478.8 2780.2 2080.6 43.57 6.26 370 1945.36 68.74 0.17 2.89 1.083 0.083 0.072 1177.44 1187.38 1167.50 2822.62 3202.44 0 0 0 11.15 15.84 15.36

1957.96 1092 391.90 2.05 1.76 1176.6 1187.6 1165.7 2823.6 3203.1 37.35 7.60 387 1963.49 0.00 0.00 2.57 0.000 0.000 0.021 1176.97 1188.06 1165.88 2823.56 2083.00 0 0 0 30.00 30.00 15.70

2088.02 324 391.90 2.08 60.00 1172.9 1188.1 1157.6 2823.2 2083.8 27.45 7.45 413 2093.59 0.00 0.00 2.86 0.000 0.000 0.070 1172.91 1187.50 1158.31 2823.94 3204.94 0 0 0 30.00 30.00 15.79

2228.05 1092 391.90 2.12 1.63 1172.5 1188.1 1156.9 2823.8 3205.8 16.80 7.44 441 2233.59 0.00 0.00 2.56 0.000 0.000 0.021 1172.41 1188.12 1156.69 2824.25 2081.81 0 0 0 30.00 30.00 15.84

2358.11 580 391.90 2.14 -60.00 1171.3 1188.9 1153.8 2823.9 2082.1 6.79 7.92 467 2363.66 0.00 0.00 2.76 0.000 0.000 0.077 1171.56 1190.56 1152.56 2823.94 992.25 0 0 0 30.00 30.00 15.86

2383.10 1092 391.90 2.17 1.48 1171.1 1190.4 1151.8 2823.2 992.3 4.79 7.97 472 2388.66 0.00 0.00 2.71 0.000 0.000 0.021 1171.19 1190.50 1151.88 2824.50 2173.56 0 0 0 30.00 30.00 15.88

2397 end climb: SURFACE_DEPTH_REACHED

state 2397 begin surface coast

2452 end surface coast: CONTROL_FINISHED_OK

state 2453 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	1308	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	105.26387	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	341.71423	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	210322,202001,4703.775,-12446.126,21,0.8,22,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,202503,4703.828,-12446.099,2,0.7,4,15.7	MHEAD_RNG_PITCHd_Wd	127.2,8316,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	102
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	0.3,1.024571	MEM0	60876,1,0,0
SM_CCo	2487.79,7.72,0.842,0,1145.6,1146.9,1144.3,399.69	MEM1	65508,1,0,0
SM_GC	1.49,7.72,16.18,0.37,0.842,0.046,0.063,1145.6,1146.9,1144.3,174.9,2355.3,0,0,0,11.18,15.84,15.88	MEM2	971180,29,75608,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19441,486
IRIDIUM_FIX	4706.56,-12600.95,210322,193329	CAP_FILE_SIZE	137253,0
TCM_TEMP	267.01	SDSIZE	4028416,3720288
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4682,1
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	0.091, 26.2,1
INTERNAL_PRESSURE	8.91721	MAGCAL	1.000000,-0.022055,0.021926,0.008526,1.024537,-0.031702,0.036371,-0.064396,1.020608,582.7,-329.3,55.0,26,0.0389,0
_24V_AH	14.72,464.465	IMPLIED_C_PITCH	2422,11.59,307
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2955,39.715157,302
FG_AHR_24Vo	341.840	GPS	210322,210656,4703.792,-12445.873,4,0.8,6,15.7
FG_AHR_10Vo	105.272

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	466	1223	8391.50	legato	34	20	10.17
Pitch_motor	35	229	120.71	nil	0	0	0.00
Roll_motor	45	108	71.98	nil	0	0	0.00
Iridium	149	181	397.78	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	1404	11	248.51	SciCon	0	0	0.00
LPSleep	1322	2	55.55	nil	0	0	0.00
Compass	338	5	25.37	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	1045.3	1043.8	1046.8	173.2	2235.4	0.00	0.00	0	82.58	75.00	0.00	0.00	0.005	0.000	0.000	2908.31	3087.38	2729.25	173.44	2235.94	0	0	0	14.87	30.00	30.00
83.31	18467	-116.79	-1.44	0.00	2906.9	3085.8	2728.1	173.4	2235.4	3.68	-5.09	14	110.62	7.88	14.10	0.00	0.007	0.229	0.000	3250.22	3464.81	3035.62	1970.81	2235.44	0	0	0	14.86	15.52	30.00
233.08	260	-116.79	-1.44	60.00	3251.1	3465.0	3037.1	1971.2	2235.3	24.80	-12.17	44	238.33	0.00	0.00	3.08	0.000	0.000	0.079	3251.53	3465.50	3037.56	1971.00	3427.44	0	0	0	30.00	30.00	15.85
277.71	1028	-116.79	-1.44	0.00	3251.2	3464.5	3037.9	1970.3	3427.1	30.55	-12.97	53	283.27	0.00	0.00	2.62	0.000	0.000	0.018	3251.03	3464.38	3037.69	1971.12	2246.00	0	0	0	30.00	30.00	15.90
407.74	0	-116.79	-1.44	0.00	3251.2	3464.4	3037.9	1970.2	2245.2	46.18	-12.41	79	409.07	0.00	0.00	0.00	0.000	0.000	0.000	3251.00	3465.19	3036.81	1971.25	2244.50	0	0	0	30.00	30.00	30.00
532.95	260	-116.79	-1.44	60.00	3251.1	3464.4	3037.7	1971.2	2245.2	59.42	-9.11	104	538.44	0.00	0.00	3.03	0.000	0.000	0.078	3251.31	3464.81	3037.81	1971.44	3427.19	0	0	0	30.00	30.00	15.88
612.77	1028	-116.79	-1.44	0.45	3251.0	3464.2	3037.8	1971.4	3427.2	67.11	-9.86	120	618.31	0.00	0.00	2.58	0.000	0.000	0.017	3251.97	3464.69	3039.25	1970.69	2251.44	0	0	0	30.00	30.00	15.94
742.82	0	-116.79	-1.44	0.45	3251.2	3463.9	3038.5	1970.9	2249.7	79.18	-9.97	146	744.15	0.00	0.00	0.00	0.000	0.000	0.000	3250.75	3464.62	3036.88	1971.19	2250.19	0	0	0	30.00	30.00	30.00
867.85	260	-116.79	-1.44	60.00	3251.5	3464.2	3038.8	1971.1	2250.2	91.62	-10.30	171	873.46	0.00	0.00	3.01	0.000	0.000	0.078	3252.16	3465.62	3038.69	1970.50	3427.12	0	0	0	30.00	30.00	15.90
957.88	1028	-116.79	-1.44	0.52	3250.8	3463.9	3037.6	1971.1	3427.2	101.16	-10.45	189	963.42	0.00	0.00	2.59	0.000	0.000	0.018	3250.78	3463.94	3037.62	1970.94	2248.88	0	0	0	30.00	30.00	15.94
967	end dive: TARGET_DEPTH_EXCEEDED
state	967	begin apogee
969.72	10243	0.00	-0.28	0.00	3250.7	3463.6	3037.8	1971.1	2041.4	102.03	-10.00	191	1057.00	83.00	1.94	0.17	1.223	0.133	0.108	2775.62	2908.88	2642.38	2253.00	2163.31	0	0	0	11.01	15.84	15.38
1059	end apogee: CONTROL_FINISHED_OK
state	1059	begin climb
1059.87	10503	116.79	1.44	60.00	2774.0	2908.2	2639.8	2254.2	2172.1	105.15	0.00	208	1155.90	85.05	2.86	2.65	1.162	0.122	0.073	2298.16	2367.38	2228.94	2671.31	3206.31	0	0	0	11.84	15.57	15.69
1178.28	11303	304.08	1.82	0.00	2295.9	2367.3	2224.5	2670.9	3206.8	102.39	2.97	232	1323.18	138.66	0.56	2.66	1.133	0.049	0.020	1536.44	1569.38	1503.50	2778.50	2051.31	0	0	0	11.61	15.52	15.60
1445.74	260	304.08	1.82	60.00	1527.7	1568.8	1486.7	2780.3	2051.8	80.07	9.68	285	1451.01	0.00	0.00	2.96	0.000	0.000	0.070	1528.59	1569.56	1487.62	2780.06	3205.38	0	0	0	30.00	30.00	15.69
1490.42	1028	304.08	1.82	1.50	1527.5	1568.9	1486.1	2779.8	3205.1	75.58	10.04	294	1495.95	0.00	0.00	2.58	0.000	0.000	0.021	1527.00	1568.19	1485.81	2779.81	2081.12	0	0	0	30.00	30.00	15.72
1620.45	16386	304.08	1.82	1.50	1526.2	1569.7	1482.8	2779.9	2080.7	62.80	9.99	320	1621.78	0.00	0.00	0.00	0.000	0.000	0.000	1525.72	1569.19	1482.25	2779.94	2080.94	0	0	0	30.00	30.00	30.00
1745.47	16450	304.08	1.84	1.50	1525.2	1570.5	1479.9	2780.4	2080.7	51.84	8.03	345	1746.80	0.00	0.00	0.00	0.000	0.000	0.000	1524.53	1569.75	1479.31	2779.81	2081.12	0	0	0	30.00	30.00	30.00
1870.49	10535	391.90	2.02	60.00	1524.8	1570.9	1478.8	2780.2	2080.6	43.57	6.26	370	1945.36	68.74	0.17	2.89	1.083	0.083	0.072	1177.44	1187.38	1167.50	2822.62	3202.44	0	0	0	11.15	15.84	15.36
1957.96	1092	391.90	2.05	1.76	1176.6	1187.6	1165.7	2823.6	3203.1	37.35	7.60	387	1963.49	0.00	0.00	2.57	0.000	0.000	0.021	1176.97	1188.06	1165.88	2823.56	2083.00	0	0	0	30.00	30.00	15.70
2088.02	324	391.90	2.08	60.00	1172.9	1188.1	1157.6	2823.2	2083.8	27.45	7.45	413	2093.59	0.00	0.00	2.86	0.000	0.000	0.070	1172.91	1187.50	1158.31	2823.94	3204.94	0	0	0	30.00	30.00	15.79
2228.05	1092	391.90	2.12	1.63	1172.5	1188.1	1156.9	2823.8	3205.8	16.80	7.44	441	2233.59	0.00	0.00	2.56	0.000	0.000	0.021	1172.41	1188.12	1156.69	2824.25	2081.81	0	0	0	30.00	30.00	15.84
2358.11	580	391.90	2.14	-60.00	1171.3	1188.9	1153.8	2823.9	2082.1	6.79	7.92	467	2363.66	0.00	0.00	2.76	0.000	0.000	0.077	1171.56	1190.56	1152.56	2823.94	992.25	0	0	0	30.00	30.00	15.86
2383.10	1092	391.90	2.17	1.48	1171.1	1190.4	1151.8	2823.2	992.3	4.79	7.97	472	2388.66	0.00	0.00	2.71	0.000	0.000	0.021	1171.19	1190.50	1151.88	2824.50	2173.56	0	0	0	30.00	30.00	15.88
2397	end climb: SURFACE_DEPTH_REACHED
state	2397	begin surface coast
2452	end surface coast: CONTROL_FINISHED_OK
state	2453	begin surface