Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1309 * 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 1309 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 105.27264 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 341.84698 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 105.27264 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 341.84698 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 1309 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 210322,210656,4703.792,-12445.873,4,0.8,6,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,211133,4703.823,-12445.837,2,0.8,4,15.7 MHEAD_RNG_PITCHd_Wd 129.2,8006,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 101

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 0.2,1.024067 MEM0 60876,1,0,0

SM_CCo 2562.81,0.00,0.000,0,1013.8,1026.2,1001.3,432.03 MEM1 65508,1,0,0

SM_GC 0.75,0.00,16.30,0.47,0.000,0.046,0.057,1013.8,1026.2,1001.3,173.2,2355.2,0,0,0,30.00,15.83,15.88 MEM2 971164,32,75564,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 22693,490

IRIDIUM_FIX 4703.15,-12444.51,210322,202233 CAP_FILE_SIZE 145258,0

TCM_TEMP 267.08 SDSIZE 4028416,3720160

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4685,1

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

TEMP 82.03 CURRENT 0.094, 40.1,1

INTERNAL_PRESSURE 8.9127 MAGCAL 1.000000,-0.012354,-0.024098,-0.007594,1.050166,-0.015353,0.030085,-0.075718,1.039012,623.1,-342.3,58.1,35,0.0400,0

_24V_AH 14.77,464.624 IMPLIED_C_PITCH 2412,11.69,313

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2815,31.096800,253

FG_AHR_24Vo 341.978 GPS 210322,215441,4703.812,-12445.643,2,1.6,4,15.7

FG_AHR_10Vo 105.281

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 483 1214 8672.38 legato 34 20 10.17

Pitch_motor 35 225 119.07 nil 0 0 0.00

Roll_motor 55 121 99.83 nil 0 0 0.00

Iridium 129 186 356.21 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.34 nil 0 0 0.00

Core 1408 11 249.39 SciCon 0 0 0.00

LPSleep 1371 2 57.60 nil 0 0 0.00

Compass 340 5 25.54 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

6.07 16386 -116.79 -1.44 0.00 1142.9 1147.1 1138.8 173.4 2269.9 0.00 0.00 0 72.00 64.76 0.00 0.00 0.005 0.000 0.000 2735.78 2913.31 2558.25 173.19 2268.44 0 0 0 14.92 30.00 30.00

72.73 18727 -116.79 -1.44 60.00 2734.9 2912.1 2557.8 173.4 2268.2 3.17 -4.73 12 109.95 12.57 14.03 2.99 0.006 0.225 0.085 3251.22 3469.31 3033.12 1970.25 3424.75 0 0 0 15.03 15.52 14.92

137.02 1028 -116.79 -1.44 0.00 3251.7 3469.0 3034.3 1970.1 3424.1 13.10 -13.45 25 142.58 0.00 0.00 2.61 0.000 0.000 0.018 3252.88 3470.31 3035.44 1970.75 2243.75 0 0 0 30.00 30.00 15.87

267.07 260 -116.79 -1.44 60.00 3251.1 3468.8 3033.5 1970.4 2241.8 29.86 -12.42 51 272.68 0.00 0.00 3.04 0.000 0.000 0.078 3251.53 3469.12 3033.94 1970.31 3427.38 0 0 0 30.00 30.00 15.86

302.07 1028 -116.79 -1.44 0.62 3250.8 3468.4 3033.2 1970.6 3427.2 34.44 -13.27 58 307.79 0.00 0.00 2.58 0.000 0.000 0.018 3251.88 3468.88 3034.88 1969.81 2257.06 0 0 0 30.00 30.00 15.89

432.24 260 -116.79 -1.44 60.00 3251.0 3468.4 3033.6 1970.6 2255.1 49.84 -11.92 84 437.72 0.00 0.00 3.00 0.000 0.000 0.078 3252.66 3469.12 3036.19 1969.62 3425.81 0 0 0 30.00 30.00 15.87

482.14 1028 -116.79 -1.44 2.09 3251.1 3468.1 3034.1 1970.5 3425.8 56.31 -12.95 94 487.68 0.00 0.00 2.52 0.000 0.000 0.018 3251.56 3468.12 3035.00 1970.25 2279.88 0 0 0 30.00 30.00 15.92

612.19 0 -116.79 -1.44 2.09 3251.2 3468.5 3033.9 1970.6 2278.8 70.92 -10.91 120 613.52 0.00 0.00 0.00 0.000 0.000 0.000 3250.44 3467.69 3033.19 1970.62 2279.25 0 0 0 30.00 30.00 30.00

737.23 260 -116.79 -1.44 60.00 3250.8 3467.8 3033.8 1970.4 2279.0 83.63 -9.97 145 742.83 0.00 0.00 2.93 0.000 0.000 0.079 3250.84 3468.00 3033.69 1970.88 3428.56 0 0 0 30.00 30.00 15.90

772.23 1028 -116.79 -1.44 2.29 3250.6 3467.7 3033.5 1970.1 3429.1 87.50 -11.07 152 777.77 0.00 0.00 2.51 0.000 0.000 0.018 3251.38 3468.62 3034.12 1970.50 2276.12 0 0 0 30.00 30.00 15.95

902.29 260 -116.79 -1.44 60.00 3251.0 3467.8 3034.2 1970.9 2275.9 100.08 -9.37 178 907.88 0.00 0.00 2.92 0.000 0.000 0.079 3250.78 3468.00 3033.56 1971.00 3427.06 0 0 0 30.00 30.00 15.90

917 end dive: TARGET_DEPTH_EXCEEDED

state 917 begin apogee

922.49 10243 0.00 -0.28 0.00 3250.8 3467.8 3033.8 1970.4 2052.2 101.49 -9.20 181 1009.73 82.76 1.95 0.14 1.214 0.134 0.121 2776.62 2909.25 2644.00 2254.12 2165.25 0 0 0 11.04 15.83 15.36

1011 end apogee: CONTROL_FINISHED_OK

state 1012 begin climb

1012.60 10759 116.79 1.44 -60.00 2774.2 2909.2 2639.3 2255.2 2166.3 104.71 0.00 198 1106.66 84.76 2.79 2.95 1.160 0.106 0.072 2297.31 2360.88 2233.75 2672.44 993.19 0 0 0 11.81 15.56 15.69

1228.90 11303 229.66 1.67 0.00 2294.2 2361.8 2226.7 2672.8 993.1 95.90 5.43 241 1318.21 84.01 0.32 2.65 1.130 0.061 0.020 1837.22 1880.88 1793.56 2738.50 2148.69 0 0 0 11.42 15.61 15.71

1440.44 580 229.66 1.69 -60.00 1832.1 1882.6 1781.7 2738.6 2148.9 81.17 7.90 283 1446.03 0.00 0.00 2.92 0.000 0.000 0.070 1832.53 1883.00 1782.06 2739.00 993.38 0 0 0 30.00 30.00 15.72

1620.45 11303 326.39 1.89 2.34 1829.8 1882.5 1777.1 2738.9 993.1 68.11 5.97 319 1699.83 73.80 0.23 2.75 1.105 0.070 0.021 1443.88 1474.12 1413.62 2795.94 2185.88 0 0 0 11.28 15.70 15.81

1822.20 10535 430.00 2.09 60.00 1438.1 1475.8 1400.4 2795.5 2185.9 56.45 5.74 359 1909.64 80.85 0.19 2.65 1.081 0.079 0.078 1022.38 1019.19 1025.56 2844.69 3204.25 0 0 0 11.48 15.71 15.29

1952.08 1028 430.00 2.09 4.59 1019.5 1018.9 1020.1 2844.8 3203.6 45.86 9.25 385 1957.21 0.00 0.00 2.43 0.000 0.000 0.020 1020.06 1019.75 1020.38 2844.69 2129.25 0 0 0 30.00 30.00 15.66

2082.15 324 430.00 2.11 60.00 1017.4 1019.3 1015.5 2844.7 2129.4 34.30 8.63 411 2087.69 0.00 0.00 2.77 0.000 0.000 0.073 1017.31 1019.19 1015.44 2844.38 3205.12 0 0 0 30.00 30.00 15.76

2187.16 1028 430.00 2.11 4.11 1016.4 1019.2 1013.5 2844.4 3204.8 24.67 9.14 432 2192.29 0.00 0.00 2.44 0.000 0.000 0.021 1016.38 1019.19 1013.56 2845.44 2121.69 0 0 0 30.00 30.00 15.81

2317.22 260 430.00 2.11 60.00 1015.7 1020.2 1011.1 2844.7 2122.1 13.75 8.68 458 2322.77 0.00 0.00 2.76 0.000 0.000 0.073 1015.84 1020.50 1011.19 2844.69 3205.12 0 0 0 30.00 30.00 15.84

2342.20 1028 430.00 2.11 4.86 1015.3 1020.2 1010.4 2844.5 3205.8 11.50 8.82 463 2347.33 0.00 0.00 2.40 0.000 0.000 0.020 1016.19 1021.81 1010.56 2843.88 2134.25 0 0 0 30.00 30.00 15.85

2426 end climb: SURFACE_DEPTH_REACHED

state 2427 begin surface coast

2477 end surface coast: CONTROL_FINISHED_OK

state 2477 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	1309	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	105.27264	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	341.84698	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	210322,210656,4703.792,-12445.873,4,0.8,6,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,211133,4703.823,-12445.837,2,0.8,4,15.7	MHEAD_RNG_PITCHd_Wd	129.2,8006,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	101
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	0.2,1.024067	MEM0	60876,1,0,0
SM_CCo	2562.81,0.00,0.000,0,1013.8,1026.2,1001.3,432.03	MEM1	65508,1,0,0
SM_GC	0.75,0.00,16.30,0.47,0.000,0.046,0.057,1013.8,1026.2,1001.3,173.2,2355.2,0,0,0,30.00,15.83,15.88	MEM2	971164,32,75564,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	22693,490
IRIDIUM_FIX	4703.15,-12444.51,210322,202233	CAP_FILE_SIZE	145258,0
TCM_TEMP	267.08	SDSIZE	4028416,3720160
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4685,1
HUMID	51.63	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.03	CURRENT	0.094, 40.1,1
INTERNAL_PRESSURE	8.9127	MAGCAL	1.000000,-0.012354,-0.024098,-0.007594,1.050166,-0.015353,0.030085,-0.075718,1.039012,623.1,-342.3,58.1,35,0.0400,0
_24V_AH	14.77,464.624	IMPLIED_C_PITCH	2412,11.69,313
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2815,31.096800,253
FG_AHR_24Vo	341.978	GPS	210322,215441,4703.812,-12445.643,2,1.6,4,15.7
FG_AHR_10Vo	105.281

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	483	1214	8672.38	legato	34	20	10.17
Pitch_motor	35	225	119.07	nil	0	0	0.00
Roll_motor	55	121	99.83	nil	0	0	0.00
Iridium	129	186	356.21	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.34	nil	0	0	0.00
Core	1408	11	249.39	SciCon	0	0	0.00
LPSleep	1371	2	57.60	nil	0	0	0.00
Compass	340	5	25.54	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
6.07	16386	-116.79	-1.44	0.00	1142.9	1147.1	1138.8	173.4	2269.9	0.00	0.00	0	72.00	64.76	0.00	0.00	0.005	0.000	0.000	2735.78	2913.31	2558.25	173.19	2268.44	0	0	0	14.92	30.00	30.00
72.73	18727	-116.79	-1.44	60.00	2734.9	2912.1	2557.8	173.4	2268.2	3.17	-4.73	12	109.95	12.57	14.03	2.99	0.006	0.225	0.085	3251.22	3469.31	3033.12	1970.25	3424.75	0	0	0	15.03	15.52	14.92
137.02	1028	-116.79	-1.44	0.00	3251.7	3469.0	3034.3	1970.1	3424.1	13.10	-13.45	25	142.58	0.00	0.00	2.61	0.000	0.000	0.018	3252.88	3470.31	3035.44	1970.75	2243.75	0	0	0	30.00	30.00	15.87
267.07	260	-116.79	-1.44	60.00	3251.1	3468.8	3033.5	1970.4	2241.8	29.86	-12.42	51	272.68	0.00	0.00	3.04	0.000	0.000	0.078	3251.53	3469.12	3033.94	1970.31	3427.38	0	0	0	30.00	30.00	15.86
302.07	1028	-116.79	-1.44	0.62	3250.8	3468.4	3033.2	1970.6	3427.2	34.44	-13.27	58	307.79	0.00	0.00	2.58	0.000	0.000	0.018	3251.88	3468.88	3034.88	1969.81	2257.06	0	0	0	30.00	30.00	15.89
432.24	260	-116.79	-1.44	60.00	3251.0	3468.4	3033.6	1970.6	2255.1	49.84	-11.92	84	437.72	0.00	0.00	3.00	0.000	0.000	0.078	3252.66	3469.12	3036.19	1969.62	3425.81	0	0	0	30.00	30.00	15.87
482.14	1028	-116.79	-1.44	2.09	3251.1	3468.1	3034.1	1970.5	3425.8	56.31	-12.95	94	487.68	0.00	0.00	2.52	0.000	0.000	0.018	3251.56	3468.12	3035.00	1970.25	2279.88	0	0	0	30.00	30.00	15.92
612.19	0	-116.79	-1.44	2.09	3251.2	3468.5	3033.9	1970.6	2278.8	70.92	-10.91	120	613.52	0.00	0.00	0.00	0.000	0.000	0.000	3250.44	3467.69	3033.19	1970.62	2279.25	0	0	0	30.00	30.00	30.00
737.23	260	-116.79	-1.44	60.00	3250.8	3467.8	3033.8	1970.4	2279.0	83.63	-9.97	145	742.83	0.00	0.00	2.93	0.000	0.000	0.079	3250.84	3468.00	3033.69	1970.88	3428.56	0	0	0	30.00	30.00	15.90
772.23	1028	-116.79	-1.44	2.29	3250.6	3467.7	3033.5	1970.1	3429.1	87.50	-11.07	152	777.77	0.00	0.00	2.51	0.000	0.000	0.018	3251.38	3468.62	3034.12	1970.50	2276.12	0	0	0	30.00	30.00	15.95
902.29	260	-116.79	-1.44	60.00	3251.0	3467.8	3034.2	1970.9	2275.9	100.08	-9.37	178	907.88	0.00	0.00	2.92	0.000	0.000	0.079	3250.78	3468.00	3033.56	1971.00	3427.06	0	0	0	30.00	30.00	15.90
917	end dive: TARGET_DEPTH_EXCEEDED
state	917	begin apogee
922.49	10243	0.00	-0.28	0.00	3250.8	3467.8	3033.8	1970.4	2052.2	101.49	-9.20	181	1009.73	82.76	1.95	0.14	1.214	0.134	0.121	2776.62	2909.25	2644.00	2254.12	2165.25	0	0	0	11.04	15.83	15.36
1011	end apogee: CONTROL_FINISHED_OK
state	1012	begin climb
1012.60	10759	116.79	1.44	-60.00	2774.2	2909.2	2639.3	2255.2	2166.3	104.71	0.00	198	1106.66	84.76	2.79	2.95	1.160	0.106	0.072	2297.31	2360.88	2233.75	2672.44	993.19	0	0	0	11.81	15.56	15.69
1228.90	11303	229.66	1.67	0.00	2294.2	2361.8	2226.7	2672.8	993.1	95.90	5.43	241	1318.21	84.01	0.32	2.65	1.130	0.061	0.020	1837.22	1880.88	1793.56	2738.50	2148.69	0	0	0	11.42	15.61	15.71
1440.44	580	229.66	1.69	-60.00	1832.1	1882.6	1781.7	2738.6	2148.9	81.17	7.90	283	1446.03	0.00	0.00	2.92	0.000	0.000	0.070	1832.53	1883.00	1782.06	2739.00	993.38	0	0	0	30.00	30.00	15.72
1620.45	11303	326.39	1.89	2.34	1829.8	1882.5	1777.1	2738.9	993.1	68.11	5.97	319	1699.83	73.80	0.23	2.75	1.105	0.070	0.021	1443.88	1474.12	1413.62	2795.94	2185.88	0	0	0	11.28	15.70	15.81
1822.20	10535	430.00	2.09	60.00	1438.1	1475.8	1400.4	2795.5	2185.9	56.45	5.74	359	1909.64	80.85	0.19	2.65	1.081	0.079	0.078	1022.38	1019.19	1025.56	2844.69	3204.25	0	0	0	11.48	15.71	15.29
1952.08	1028	430.00	2.09	4.59	1019.5	1018.9	1020.1	2844.8	3203.6	45.86	9.25	385	1957.21	0.00	0.00	2.43	0.000	0.000	0.020	1020.06	1019.75	1020.38	2844.69	2129.25	0	0	0	30.00	30.00	15.66
2082.15	324	430.00	2.11	60.00	1017.4	1019.3	1015.5	2844.7	2129.4	34.30	8.63	411	2087.69	0.00	0.00	2.77	0.000	0.000	0.073	1017.31	1019.19	1015.44	2844.38	3205.12	0	0	0	30.00	30.00	15.76
2187.16	1028	430.00	2.11	4.11	1016.4	1019.2	1013.5	2844.4	3204.8	24.67	9.14	432	2192.29	0.00	0.00	2.44	0.000	0.000	0.021	1016.38	1019.19	1013.56	2845.44	2121.69	0	0	0	30.00	30.00	15.81
2317.22	260	430.00	2.11	60.00	1015.7	1020.2	1011.1	2844.7	2122.1	13.75	8.68	458	2322.77	0.00	0.00	2.76	0.000	0.000	0.073	1015.84	1020.50	1011.19	2844.69	3205.12	0	0	0	30.00	30.00	15.84
2342.20	1028	430.00	2.11	4.86	1015.3	1020.2	1010.4	2844.5	3205.8	11.50	8.82	463	2347.33	0.00	0.00	2.40	0.000	0.000	0.020	1016.19	1021.81	1010.56	2843.88	2134.25	0	0	0	30.00	30.00	15.85
2426	end climb: SURFACE_DEPTH_REACHED
state	2427	begin surface coast
2477	end surface coast: CONTROL_FINISHED_OK
state	2477	begin surface