Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1310 * 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 1310 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 105.28178 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 341.98557 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 105.28178 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 341.98557 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 1310 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 210322,215441,4703.812,-12445.643,2,1.6,4,15.7 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,220045,4703.851,-12445.578,4,1.6,7,15.7 MHEAD_RNG_PITCHd_Wd 130.3,7726,-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 0.2,1.022680 MEM0 60876,1,0,0

SM_CCo 2553.92,0.00,0.000,0,1018.7,1026.9,1010.4,430.82 MEM1 65508,1,0,0

SM_GC 0.76,0.00,16.31,0.56,0.000,0.043,0.048,1018.7,1026.9,1010.4,174.7,2356.4,0,0,0,30.00,15.80,15.85 MEM2 971260,27,75568,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19472,489

IRIDIUM_FIX 4704.45,-12446.31,210322,215709 CAP_FILE_SIZE 142186,0

TCM_TEMP 267.10 SDSIZE 4028416,3720032

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4688,1

HUMID 51.62 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.99 CURRENT 0.078, 45.9,1

INTERNAL_PRESSURE 8.91655 MAGCAL 1.000000,0.000414,0.001511,-0.013074,1.048793,-0.049191,0.013019,-0.049708,0.990609,596.5,-317.9,84.7,35,0.0360,0

_24V_AH 14.74,464.783 IMPLIED_C_PITCH 2416,11.80,309

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2886,39.564518,298

FG_AHR_24Vo 342.118 GPS 210322,224401,4703.790,-12445.306,2,1.6,22,15.7

FG_AHR_10Vo 105.290

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 492 1218 8837.43 legato 34 20 10.16

Pitch_motor 35 221 117.67 nil 0 0 0.00

Roll_motor 49 119 87.96 nil 0 0 0.00

Iridium 151 194 434.78 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 16 15 3.69 nil 0 0 0.00

Core 1432 11 253.48 SciCon 0 0 0.00

LPSleep 1424 2 59.84 nil 0 0 0.00

Compass 339 5 25.50 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 1013.0 1012.5 1013.4 173.3 2242.6 0.00 0.00 0 82.54 74.98 0.00 0.00 0.005 0.000 0.000 2872.03 3050.19 2693.88 173.25 2240.50 0 0 0 14.84 30.00 30.00

83.28 18983 -116.79 -1.44 -60.00 2871.0 3048.8 2693.2 173.4 2240.7 3.33 -4.24 14 115.44 8.91 14.09 2.55 0.007 0.222 0.064 3251.31 3468.94 3033.69 1969.25 1207.75 0 0 0 14.79 15.55 14.89

147.51 1028 -116.79 -1.44 0.00 3250.5 3467.3 3033.7 1969.6 1207.8 14.21 -13.71 27 153.07 0.00 0.00 2.67 0.000 0.000 0.025 3251.06 3468.06 3034.06 1969.94 2353.12 0 0 0 30.00 30.00 15.90

277.54 260 -116.79 -1.44 60.00 3250.5 3467.2 3033.8 1969.4 2353.0 30.77 -12.90 53 283.11 0.00 0.00 2.74 0.000 0.000 0.082 3250.66 3467.06 3034.25 1970.75 3426.44 0 0 0 30.00 30.00 15.87

332.54 1028 -116.79 -1.44 0.62 3250.7 3467.2 3034.1 1970.6 3425.4 38.12 -13.31 64 338.27 0.00 0.00 2.59 0.000 0.000 0.018 3251.50 3467.88 3035.12 1970.75 2254.00 0 0 0 30.00 30.00 15.91

462.69 260 -116.79 -1.44 60.00 3250.5 3467.2 3033.9 1971.2 2253.3 54.58 -12.19 90 468.18 0.00 0.00 3.01 0.000 0.000 0.077 3251.12 3467.75 3034.50 1971.31 3427.38 0 0 0 30.00 30.00 15.88

537.58 1028 -116.79 -1.44 1.39 3250.6 3467.8 3033.4 1971.1 3427.9 64.58 -13.11 105 543.12 0.00 0.00 2.55 0.000 0.000 0.018 3250.03 3465.94 3034.12 1970.88 2267.69 0 0 0 30.00 30.00 15.93

667.60 516 -116.79 -1.44 -60.00 3250.5 3466.9 3034.2 1970.8 2266.8 78.06 -9.41 131 673.12 0.00 0.00 2.59 0.000 0.000 0.061 3251.28 3467.25 3035.31 1970.31 1208.81 0 0 0 30.00 30.00 15.93

732.60 1028 -116.79 -1.44 -0.30 3250.9 3467.6 3034.2 1971.2 1208.8 83.77 -8.52 144 738.15 0.00 0.00 2.64 0.000 0.000 0.025 3250.47 3467.19 3033.75 1970.62 2350.38 0 0 0 30.00 30.00 15.95

862.64 260 -116.79 -1.44 60.00 3250.8 3467.4 3034.2 1970.9 2350.1 93.87 -7.62 170 868.19 0.00 0.00 2.74 0.000 0.000 0.083 3250.78 3466.88 3034.69 1971.06 3427.00 0 0 0 30.00 30.00 15.90

947 end dive: TARGET_DEPTH_EXCEEDED

state 947 begin apogee

952.86 10243 0.00 -0.28 0.00 3250.8 3467.6 3033.9 1970.6 2050.8 101.46 -9.14 187 1040.08 82.68 1.98 0.16 1.218 0.136 0.119 2776.31 2909.12 2643.50 2253.38 2169.50 0 0 0 10.94 15.83 15.35

1042 end apogee: CONTROL_FINISHED_OK

state 1042 begin climb

1043.14 10759 116.79 1.44 -60.00 2773.8 2908.6 2639.0 2254.5 2169.5 105.13 0.00 204 1138.96 84.93 2.82 2.99 1.160 0.104 0.072 2297.66 2362.75 2232.56 2674.00 990.62 0 0 0 11.78 15.56 15.69

1191.75 11303 232.20 1.67 0.00 2295.1 2362.6 2227.5 2673.4 990.9 101.19 5.35 234 1284.51 85.81 0.32 2.68 1.135 0.058 0.019 1829.94 1874.75 1785.12 2741.06 2146.75 0 0 0 11.53 15.55 15.64

1406.73 324 232.20 1.71 60.00 1821.2 1872.8 1769.6 2741.7 2147.6 85.43 7.42 277 1412.28 0.00 0.00 2.71 0.000 0.000 0.075 1821.38 1872.44 1770.31 2742.38 3207.94 0 0 0 30.00 30.00 15.70

1461.84 9254 296.48 1.84 0.78 1820.4 1872.6 1768.3 2742.0 3207.9 81.60 7.04 288 1516.14 49.38 0.00 2.61 1.104 0.000 0.021 1566.06 1608.38 1523.75 2741.88 2065.50 0 0 0 11.38 30.00 15.75

1638.57 10275 356.98 1.96 0.78 1560.4 1608.7 1512.1 2742.1 2065.4 69.35 7.16 323 1689.79 48.08 0.32 0.00 1.085 0.066 0.000 1320.56 1346.62 1294.50 2808.44 2065.44 0 0 0 11.42 15.72 30.00

1813.92 260 356.98 1.96 60.00 1315.4 1346.9 1283.9 2809.2 2065.6 53.63 8.94 358 1819.01 0.00 0.00 2.92 0.000 0.000 0.071 1315.97 1347.00 1284.94 2808.81 3205.06 0 0 0 30.00 30.00 15.75

1963.84 1092 356.98 1.98 1.32 1314.4 1346.8 1282.1 2809.8 3205.8 40.89 8.04 388 1968.97 0.00 0.00 2.57 0.000 0.000 0.021 1315.03 1347.62 1282.44 2808.88 2076.06 0 0 0 30.00 30.00 15.82

2093.49 10535 429.44 2.13 60.00 1313.6 1347.0 1280.1 2809.4 2076.2 31.79 6.77 414 2155.93 57.38 0.15 2.91 1.066 0.095 0.073 1025.06 1025.12 1025.00 2849.94 3205.81 0 0 0 11.26 15.82 15.37

2183.47 1028 429.44 2.13 1.88 1023.2 1024.9 1021.6 2850.0 3205.7 24.48 8.80 432 2189.00 0.00 0.00 2.56 0.000 0.000 0.021 1023.28 1024.94 1021.62 2849.38 2087.31 0 0 0 30.00 30.00 15.73

2313.50 0 429.44 2.13 1.88 1021.4 1025.4 1017.4 2850.0 2086.9 13.38 8.71 458 2314.83 0.00 0.00 0.00 0.000 0.000 0.000 1020.97 1024.88 1017.06 2850.12 2086.88 0 0 0 30.00 30.00 30.00

2418 end climb: SURFACE_DEPTH_REACHED

state 2418 begin surface coast

2468 end surface coast: CONTROL_FINISHED_OK

state 2468 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	1310	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	105.28178	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	341.98557	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	210322,215441,4703.812,-12445.643,2,1.6,4,15.7	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,220045,4703.851,-12445.578,4,1.6,7,15.7	MHEAD_RNG_PITCHd_Wd	130.3,7726,-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	0.2,1.022680	MEM0	60876,1,0,0
SM_CCo	2553.92,0.00,0.000,0,1018.7,1026.9,1010.4,430.82	MEM1	65508,1,0,0
SM_GC	0.76,0.00,16.31,0.56,0.000,0.043,0.048,1018.7,1026.9,1010.4,174.7,2356.4,0,0,0,30.00,15.80,15.85	MEM2	971260,27,75568,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19472,489
IRIDIUM_FIX	4704.45,-12446.31,210322,215709	CAP_FILE_SIZE	142186,0
TCM_TEMP	267.10	SDSIZE	4028416,3720032
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4688,1
HUMID	51.62	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.99	CURRENT	0.078, 45.9,1
INTERNAL_PRESSURE	8.91655	MAGCAL	1.000000,0.000414,0.001511,-0.013074,1.048793,-0.049191,0.013019,-0.049708,0.990609,596.5,-317.9,84.7,35,0.0360,0
_24V_AH	14.74,464.783	IMPLIED_C_PITCH	2416,11.80,309
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2886,39.564518,298
FG_AHR_24Vo	342.118	GPS	210322,224401,4703.790,-12445.306,2,1.6,22,15.7
FG_AHR_10Vo	105.290

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	492	1218	8837.43	legato	34	20	10.16
Pitch_motor	35	221	117.67	nil	0	0	0.00
Roll_motor	49	119	87.96	nil	0	0	0.00
Iridium	151	194	434.78	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	16	15	3.69	nil	0	0	0.00
Core	1432	11	253.48	SciCon	0	0	0.00
LPSleep	1424	2	59.84	nil	0	0	0.00
Compass	339	5	25.50	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	1013.0	1012.5	1013.4	173.3	2242.6	0.00	0.00	0	82.54	74.98	0.00	0.00	0.005	0.000	0.000	2872.03	3050.19	2693.88	173.25	2240.50	0	0	0	14.84	30.00	30.00
83.28	18983	-116.79	-1.44	-60.00	2871.0	3048.8	2693.2	173.4	2240.7	3.33	-4.24	14	115.44	8.91	14.09	2.55	0.007	0.222	0.064	3251.31	3468.94	3033.69	1969.25	1207.75	0	0	0	14.79	15.55	14.89
147.51	1028	-116.79	-1.44	0.00	3250.5	3467.3	3033.7	1969.6	1207.8	14.21	-13.71	27	153.07	0.00	0.00	2.67	0.000	0.000	0.025	3251.06	3468.06	3034.06	1969.94	2353.12	0	0	0	30.00	30.00	15.90
277.54	260	-116.79	-1.44	60.00	3250.5	3467.2	3033.8	1969.4	2353.0	30.77	-12.90	53	283.11	0.00	0.00	2.74	0.000	0.000	0.082	3250.66	3467.06	3034.25	1970.75	3426.44	0	0	0	30.00	30.00	15.87
332.54	1028	-116.79	-1.44	0.62	3250.7	3467.2	3034.1	1970.6	3425.4	38.12	-13.31	64	338.27	0.00	0.00	2.59	0.000	0.000	0.018	3251.50	3467.88	3035.12	1970.75	2254.00	0	0	0	30.00	30.00	15.91
462.69	260	-116.79	-1.44	60.00	3250.5	3467.2	3033.9	1971.2	2253.3	54.58	-12.19	90	468.18	0.00	0.00	3.01	0.000	0.000	0.077	3251.12	3467.75	3034.50	1971.31	3427.38	0	0	0	30.00	30.00	15.88
537.58	1028	-116.79	-1.44	1.39	3250.6	3467.8	3033.4	1971.1	3427.9	64.58	-13.11	105	543.12	0.00	0.00	2.55	0.000	0.000	0.018	3250.03	3465.94	3034.12	1970.88	2267.69	0	0	0	30.00	30.00	15.93
667.60	516	-116.79	-1.44	-60.00	3250.5	3466.9	3034.2	1970.8	2266.8	78.06	-9.41	131	673.12	0.00	0.00	2.59	0.000	0.000	0.061	3251.28	3467.25	3035.31	1970.31	1208.81	0	0	0	30.00	30.00	15.93
732.60	1028	-116.79	-1.44	-0.30	3250.9	3467.6	3034.2	1971.2	1208.8	83.77	-8.52	144	738.15	0.00	0.00	2.64	0.000	0.000	0.025	3250.47	3467.19	3033.75	1970.62	2350.38	0	0	0	30.00	30.00	15.95
862.64	260	-116.79	-1.44	60.00	3250.8	3467.4	3034.2	1970.9	2350.1	93.87	-7.62	170	868.19	0.00	0.00	2.74	0.000	0.000	0.083	3250.78	3466.88	3034.69	1971.06	3427.00	0	0	0	30.00	30.00	15.90
947	end dive: TARGET_DEPTH_EXCEEDED
state	947	begin apogee
952.86	10243	0.00	-0.28	0.00	3250.8	3467.6	3033.9	1970.6	2050.8	101.46	-9.14	187	1040.08	82.68	1.98	0.16	1.218	0.136	0.119	2776.31	2909.12	2643.50	2253.38	2169.50	0	0	0	10.94	15.83	15.35
1042	end apogee: CONTROL_FINISHED_OK
state	1042	begin climb
1043.14	10759	116.79	1.44	-60.00	2773.8	2908.6	2639.0	2254.5	2169.5	105.13	0.00	204	1138.96	84.93	2.82	2.99	1.160	0.104	0.072	2297.66	2362.75	2232.56	2674.00	990.62	0	0	0	11.78	15.56	15.69
1191.75	11303	232.20	1.67	0.00	2295.1	2362.6	2227.5	2673.4	990.9	101.19	5.35	234	1284.51	85.81	0.32	2.68	1.135	0.058	0.019	1829.94	1874.75	1785.12	2741.06	2146.75	0	0	0	11.53	15.55	15.64
1406.73	324	232.20	1.71	60.00	1821.2	1872.8	1769.6	2741.7	2147.6	85.43	7.42	277	1412.28	0.00	0.00	2.71	0.000	0.000	0.075	1821.38	1872.44	1770.31	2742.38	3207.94	0	0	0	30.00	30.00	15.70
1461.84	9254	296.48	1.84	0.78	1820.4	1872.6	1768.3	2742.0	3207.9	81.60	7.04	288	1516.14	49.38	0.00	2.61	1.104	0.000	0.021	1566.06	1608.38	1523.75	2741.88	2065.50	0	0	0	11.38	30.00	15.75
1638.57	10275	356.98	1.96	0.78	1560.4	1608.7	1512.1	2742.1	2065.4	69.35	7.16	323	1689.79	48.08	0.32	0.00	1.085	0.066	0.000	1320.56	1346.62	1294.50	2808.44	2065.44	0	0	0	11.42	15.72	30.00
1813.92	260	356.98	1.96	60.00	1315.4	1346.9	1283.9	2809.2	2065.6	53.63	8.94	358	1819.01	0.00	0.00	2.92	0.000	0.000	0.071	1315.97	1347.00	1284.94	2808.81	3205.06	0	0	0	30.00	30.00	15.75
1963.84	1092	356.98	1.98	1.32	1314.4	1346.8	1282.1	2809.8	3205.8	40.89	8.04	388	1968.97	0.00	0.00	2.57	0.000	0.000	0.021	1315.03	1347.62	1282.44	2808.88	2076.06	0	0	0	30.00	30.00	15.82
2093.49	10535	429.44	2.13	60.00	1313.6	1347.0	1280.1	2809.4	2076.2	31.79	6.77	414	2155.93	57.38	0.15	2.91	1.066	0.095	0.073	1025.06	1025.12	1025.00	2849.94	3205.81	0	0	0	11.26	15.82	15.37
2183.47	1028	429.44	2.13	1.88	1023.2	1024.9	1021.6	2850.0	3205.7	24.48	8.80	432	2189.00	0.00	0.00	2.56	0.000	0.000	0.021	1023.28	1024.94	1021.62	2849.38	2087.31	0	0	0	30.00	30.00	15.73
2313.50	0	429.44	2.13	1.88	1021.4	1025.4	1017.4	2850.0	2086.9	13.38	8.71	458	2314.83	0.00	0.00	0.00	0.000	0.000	0.000	1020.97	1024.88	1017.06	2850.12	2086.88	0	0	0	30.00	30.00	30.00
2418	end climb: SURFACE_DEPTH_REACHED
state	2418	begin surface coast
2468	end surface coast: CONTROL_FINISHED_OK
state	2468	begin surface