Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1311 * 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 1311 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 105.29124 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 342.12589 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 105.29124 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 342.12589 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 1311 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 210322,224401,4703.790,-12445.306,2,1.6,22,15.7 TGT_RADIUS 2500.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,225151,4703.820,-12445.216,2,0.9,5,15.7 MHEAD_RNG_PITCHd_Wd 124.5,7285,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 98

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 0.4,1.024597 MEM0 60876,1,0,0

SM_CCo 2515.79,0.00,0.000,0,1124.5,1144.2,1104.8,404.88 MEM1 65508,1,0,0

SM_GC 0.83,0.00,16.16,0.41,0.000,0.037,0.056,1124.5,1144.2,1104.8,174.6,2362.9,0,0,0,30.00,15.83,15.87 MEM2 971200,30,75568,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19427,481

IRIDIUM_FIX 4704.45,-12446.31,210322,224630 CAP_FILE_SIZE 150721,0

TCM_TEMP 267.22 SDSIZE 4028416,3719904

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4691,1

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

TEMP 81.94 CURRENT 0.073, 59.3,1

INTERNAL_PRESSURE 8.92068 MAGCAL 1.000000,0.010681,-0.002101,-0.011582,1.053404,-0.067875,0.017662,-0.038157,0.965157,597.3,-304.8,101.2,35,0.0309,0

_24V_AH 14.74,464.937 IMPLIED_C_PITCH 2419,11.67,301

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2853,42.833099,280

FG_AHR_24Vo 342.251 GPS 210322,233415,4703.714,-12444.925,3,1.1,8,15.7

FG_AHR_10Vo 105.299

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 466 1213 8340.87 legato 34 20 10.23

Pitch_motor 35 228 120.66 nil 0 0 0.00

Roll_motor 61 117 107.55 nil 0 0 0.00

Iridium 200 186 551.08 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 1468 11 259.91 SciCon 0 0 0.00

LPSleep 1457 2 61.22 nil 0 0 0.00

Compass 335 5 25.14 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 1017.2 1016.1 1018.4 174.6 2236.8 0.00 0.00 0 82.55 74.94 0.00 0.00 0.005 0.000 0.000 2872.50 3051.19 2693.81 174.69 2236.88 0 0 0 14.86 30.00 30.00

83.28 18727 -116.79 -1.44 60.00 2871.8 3050.1 2693.4 174.7 2236.6 3.59 -4.59 14 115.56 8.78 14.11 3.08 0.007 0.228 0.083 3249.53 3463.25 3035.81 1971.31 3425.62 0 0 0 14.87 15.51 14.88

152.64 1028 -116.79 -1.44 0.00 3249.0 3462.0 3036.1 1970.9 3424.9 15.00 -14.24 28 158.19 0.00 0.00 2.61 0.000 0.000 0.018 3250.03 3463.50 3036.56 1970.88 2248.00 0 0 0 30.00 30.00 15.89

282.70 260 -116.79 -1.44 60.00 3249.2 3462.6 3035.9 1971.2 2246.7 32.03 -13.17 54 288.32 0.00 0.00 3.03 0.000 0.000 0.078 3249.59 3462.44 3036.75 1971.38 3427.62 0 0 0 30.00 30.00 15.87

332.89 1028 -116.79 -1.44 1.04 3249.3 3462.1 3036.5 1970.9 3427.8 38.98 -14.18 64 338.30 0.00 0.00 2.57 0.000 0.000 0.018 3249.59 3462.19 3037.00 1971.44 2263.00 0 0 0 30.00 30.00 15.91

462.76 260 -116.79 -1.44 60.00 3249.7 3462.6 3036.7 1971.1 2261.7 56.59 -13.30 90 468.36 0.00 0.00 2.99 0.000 0.000 0.078 3250.25 3463.06 3037.44 1971.25 3426.06 0 0 0 30.00 30.00 15.89

527.78 1028 -116.79 -1.44 1.91 3249.4 3462.7 3036.1 1971.3 3426.4 64.71 -11.74 103 533.31 0.00 0.00 2.52 0.000 0.000 0.018 3249.91 3462.50 3037.31 1971.25 2274.06 0 0 0 30.00 30.00 15.93

657.82 516 -116.79 -1.44 -60.00 3249.4 3462.1 3036.7 1971.1 2274.2 77.24 -9.02 129 663.36 0.00 0.00 2.61 0.000 0.000 0.061 3250.03 3463.06 3037.00 1971.25 1207.75 0 0 0 30.00 30.00 15.94

713.03 1028 -116.79 -1.44 1.34 3249.3 3462.4 3036.2 1970.9 1207.7 82.36 -9.38 140 718.39 0.00 0.00 2.73 0.000 0.000 0.026 3249.41 3462.69 3036.12 1970.88 2377.81 0 0 0 30.00 30.00 15.95

842.88 260 -116.79 -1.44 60.00 3249.5 3462.5 3036.6 1971.6 2377.1 93.87 -8.97 166 848.42 0.00 0.00 2.69 0.000 0.000 0.084 3249.97 3462.81 3037.12 1971.00 3426.81 0 0 0 30.00 30.00 15.91

882 end dive: TARGET_DEPTH_EXCEEDED

state 882 begin apogee

888.10 10243 0.00 -0.28 0.00 3249.3 3461.9 3036.7 1971.0 2051.0 98.12 -10.86 174 975.33 82.50 1.93 0.16 1.214 0.135 0.118 2773.91 2908.50 2639.31 2254.56 2169.81 0 0 0 10.96 15.83 15.35

977 end apogee: CONTROL_FINISHED_OK

state 977 begin climb

978.38 10759 116.79 1.44 -60.00 2773.4 2908.6 2638.2 2254.1 2169.4 101.99 0.00 191 1074.17 84.75 2.79 2.97 1.157 0.106 0.072 2298.97 2363.19 2234.75 2671.75 993.44 0 0 0 11.89 15.56 15.69

1116.77 11303 284.77 1.78 0.00 2295.5 2363.4 2227.6 2672.8 993.2 99.39 3.61 219 1247.36 124.00 0.49 2.67 1.131 0.051 0.019 1612.97 1653.12 1572.81 2770.88 2148.81 0 0 0 11.54 15.54 15.64

1369.77 580 284.77 1.80 -60.00 1606.6 1654.4 1558.8 2770.8 2148.4 80.50 8.15 269 1375.17 0.00 0.00 2.95 0.000 0.000 0.071 1606.62 1654.62 1558.62 2770.69 993.06 0 0 0 30.00 30.00 15.69

1394.59 17478 284.77 1.82 0.32 1605.9 1654.7 1557.1 2770.5 993.4 78.40 8.31 274 1400.13 0.00 0.00 2.69 0.000 0.000 0.020 1606.16 1654.50 1557.81 2770.38 2150.62 0 0 0 30.00 30.00 15.72

1524.80 16966 284.77 1.83 -60.00 1604.6 1654.8 1554.4 2770.9 2150.9 67.55 8.59 300 1530.26 0.00 0.00 2.94 0.000 0.000 0.071 1605.34 1655.56 1555.12 2771.00 993.06 0 0 0 30.00 30.00 15.78

1549.60 17414 284.77 1.83 -0.77 1604.2 1654.9 1553.6 2771.4 993.6 65.28 8.93 305 1555.14 0.00 0.00 2.62 0.000 0.000 0.019 1604.94 1655.75 1554.12 2771.06 2132.19 0 0 0 30.00 30.00 15.80

1679.65 16450 284.77 1.87 -0.77 1603.9 1655.8 1552.1 2771.2 2132.2 55.01 7.26 331 1680.98 0.00 0.00 0.00 0.000 0.000 0.000 1603.97 1655.50 1552.44 2771.19 2131.62 0 0 0 30.00 30.00 30.00

1804.64 10535 402.84 2.10 60.00 1604.0 1656.5 1551.4 2770.2 2131.5 47.93 5.26 356 1903.09 91.25 0.37 2.78 1.088 0.062 0.076 1132.53 1138.31 1126.75 2846.12 3206.56 0 0 0 11.16 15.84 15.33

1990.21 1092 402.84 2.12 -0.27 1129.3 1138.4 1120.2 2846.1 3206.5 33.83 8.49 393 1995.75 0.00 0.00 2.66 0.000 0.000 0.021 1129.25 1138.50 1120.00 2846.94 2050.75 0 0 0 30.00 30.00 15.73

2120.27 324 402.84 2.15 60.00 1127.3 1138.9 1115.8 2846.8 2050.7 24.08 7.36 419 2125.85 0.00 0.00 2.97 0.000 0.000 0.070 1127.62 1139.12 1116.12 2847.00 3209.06 0 0 0 30.00 30.00 15.80

2150.26 1092 402.84 2.18 0.86 1127.3 1138.8 1115.9 2846.3 3209.4 21.75 7.62 425 2155.80 0.00 0.00 2.61 0.000 0.000 0.021 1127.88 1139.31 1116.44 2847.06 2070.38 0 0 0 30.00 30.00 15.82

2280.49 580 402.84 2.21 -60.00 1126.5 1139.7 1113.2 2847.6 2070.6 11.54 7.97 451 2285.91 0.00 0.00 2.74 0.000 0.000 0.077 1127.25 1140.81 1113.69 2846.38 993.12 0 0 0 30.00 30.00 15.83

2295.29 1092 402.84 2.23 0.76 1126.3 1140.1 1112.6 2847.5 993.3 10.26 8.17 454 2300.84 0.00 0.00 2.69 0.000 0.000 0.020 1126.97 1140.31 1113.62 2846.25 2157.94 0 0 0 30.00 30.00 15.86

2375 end climb: SURFACE_DEPTH_REACHED

state 2375 begin surface coast

2430 end surface coast: CONTROL_FINISHED_OK

state 2430 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	1311	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	105.29124	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	342.12589	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	210322,224401,4703.790,-12445.306,2,1.6,22,15.7	TGT_RADIUS	2500.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,225151,4703.820,-12445.216,2,0.9,5,15.7	MHEAD_RNG_PITCHd_Wd	124.5,7285,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	98
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	0.4,1.024597	MEM0	60876,1,0,0
SM_CCo	2515.79,0.00,0.000,0,1124.5,1144.2,1104.8,404.88	MEM1	65508,1,0,0
SM_GC	0.83,0.00,16.16,0.41,0.000,0.037,0.056,1124.5,1144.2,1104.8,174.6,2362.9,0,0,0,30.00,15.83,15.87	MEM2	971200,30,75568,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19427,481
IRIDIUM_FIX	4704.45,-12446.31,210322,224630	CAP_FILE_SIZE	150721,0
TCM_TEMP	267.22	SDSIZE	4028416,3719904
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4691,1
HUMID	51.62	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.94	CURRENT	0.073, 59.3,1
INTERNAL_PRESSURE	8.92068	MAGCAL	1.000000,0.010681,-0.002101,-0.011582,1.053404,-0.067875,0.017662,-0.038157,0.965157,597.3,-304.8,101.2,35,0.0309,0
_24V_AH	14.74,464.937	IMPLIED_C_PITCH	2419,11.67,301
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2853,42.833099,280
FG_AHR_24Vo	342.251	GPS	210322,233415,4703.714,-12444.925,3,1.1,8,15.7
FG_AHR_10Vo	105.299

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	466	1213	8340.87	legato	34	20	10.23
Pitch_motor	35	228	120.66	nil	0	0	0.00
Roll_motor	61	117	107.55	nil	0	0	0.00
Iridium	200	186	551.08	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	1468	11	259.91	SciCon	0	0	0.00
LPSleep	1457	2	61.22	nil	0	0	0.00
Compass	335	5	25.14	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	1017.2	1016.1	1018.4	174.6	2236.8	0.00	0.00	0	82.55	74.94	0.00	0.00	0.005	0.000	0.000	2872.50	3051.19	2693.81	174.69	2236.88	0	0	0	14.86	30.00	30.00
83.28	18727	-116.79	-1.44	60.00	2871.8	3050.1	2693.4	174.7	2236.6	3.59	-4.59	14	115.56	8.78	14.11	3.08	0.007	0.228	0.083	3249.53	3463.25	3035.81	1971.31	3425.62	0	0	0	14.87	15.51	14.88
152.64	1028	-116.79	-1.44	0.00	3249.0	3462.0	3036.1	1970.9	3424.9	15.00	-14.24	28	158.19	0.00	0.00	2.61	0.000	0.000	0.018	3250.03	3463.50	3036.56	1970.88	2248.00	0	0	0	30.00	30.00	15.89
282.70	260	-116.79	-1.44	60.00	3249.2	3462.6	3035.9	1971.2	2246.7	32.03	-13.17	54	288.32	0.00	0.00	3.03	0.000	0.000	0.078	3249.59	3462.44	3036.75	1971.38	3427.62	0	0	0	30.00	30.00	15.87
332.89	1028	-116.79	-1.44	1.04	3249.3	3462.1	3036.5	1970.9	3427.8	38.98	-14.18	64	338.30	0.00	0.00	2.57	0.000	0.000	0.018	3249.59	3462.19	3037.00	1971.44	2263.00	0	0	0	30.00	30.00	15.91
462.76	260	-116.79	-1.44	60.00	3249.7	3462.6	3036.7	1971.1	2261.7	56.59	-13.30	90	468.36	0.00	0.00	2.99	0.000	0.000	0.078	3250.25	3463.06	3037.44	1971.25	3426.06	0	0	0	30.00	30.00	15.89
527.78	1028	-116.79	-1.44	1.91	3249.4	3462.7	3036.1	1971.3	3426.4	64.71	-11.74	103	533.31	0.00	0.00	2.52	0.000	0.000	0.018	3249.91	3462.50	3037.31	1971.25	2274.06	0	0	0	30.00	30.00	15.93
657.82	516	-116.79	-1.44	-60.00	3249.4	3462.1	3036.7	1971.1	2274.2	77.24	-9.02	129	663.36	0.00	0.00	2.61	0.000	0.000	0.061	3250.03	3463.06	3037.00	1971.25	1207.75	0	0	0	30.00	30.00	15.94
713.03	1028	-116.79	-1.44	1.34	3249.3	3462.4	3036.2	1970.9	1207.7	82.36	-9.38	140	718.39	0.00	0.00	2.73	0.000	0.000	0.026	3249.41	3462.69	3036.12	1970.88	2377.81	0	0	0	30.00	30.00	15.95
842.88	260	-116.79	-1.44	60.00	3249.5	3462.5	3036.6	1971.6	2377.1	93.87	-8.97	166	848.42	0.00	0.00	2.69	0.000	0.000	0.084	3249.97	3462.81	3037.12	1971.00	3426.81	0	0	0	30.00	30.00	15.91
882	end dive: TARGET_DEPTH_EXCEEDED
state	882	begin apogee
888.10	10243	0.00	-0.28	0.00	3249.3	3461.9	3036.7	1971.0	2051.0	98.12	-10.86	174	975.33	82.50	1.93	0.16	1.214	0.135	0.118	2773.91	2908.50	2639.31	2254.56	2169.81	0	0	0	10.96	15.83	15.35
977	end apogee: CONTROL_FINISHED_OK
state	977	begin climb
978.38	10759	116.79	1.44	-60.00	2773.4	2908.6	2638.2	2254.1	2169.4	101.99	0.00	191	1074.17	84.75	2.79	2.97	1.157	0.106	0.072	2298.97	2363.19	2234.75	2671.75	993.44	0	0	0	11.89	15.56	15.69
1116.77	11303	284.77	1.78	0.00	2295.5	2363.4	2227.6	2672.8	993.2	99.39	3.61	219	1247.36	124.00	0.49	2.67	1.131	0.051	0.019	1612.97	1653.12	1572.81	2770.88	2148.81	0	0	0	11.54	15.54	15.64
1369.77	580	284.77	1.80	-60.00	1606.6	1654.4	1558.8	2770.8	2148.4	80.50	8.15	269	1375.17	0.00	0.00	2.95	0.000	0.000	0.071	1606.62	1654.62	1558.62	2770.69	993.06	0	0	0	30.00	30.00	15.69
1394.59	17478	284.77	1.82	0.32	1605.9	1654.7	1557.1	2770.5	993.4	78.40	8.31	274	1400.13	0.00	0.00	2.69	0.000	0.000	0.020	1606.16	1654.50	1557.81	2770.38	2150.62	0	0	0	30.00	30.00	15.72
1524.80	16966	284.77	1.83	-60.00	1604.6	1654.8	1554.4	2770.9	2150.9	67.55	8.59	300	1530.26	0.00	0.00	2.94	0.000	0.000	0.071	1605.34	1655.56	1555.12	2771.00	993.06	0	0	0	30.00	30.00	15.78
1549.60	17414	284.77	1.83	-0.77	1604.2	1654.9	1553.6	2771.4	993.6	65.28	8.93	305	1555.14	0.00	0.00	2.62	0.000	0.000	0.019	1604.94	1655.75	1554.12	2771.06	2132.19	0	0	0	30.00	30.00	15.80
1679.65	16450	284.77	1.87	-0.77	1603.9	1655.8	1552.1	2771.2	2132.2	55.01	7.26	331	1680.98	0.00	0.00	0.00	0.000	0.000	0.000	1603.97	1655.50	1552.44	2771.19	2131.62	0	0	0	30.00	30.00	30.00
1804.64	10535	402.84	2.10	60.00	1604.0	1656.5	1551.4	2770.2	2131.5	47.93	5.26	356	1903.09	91.25	0.37	2.78	1.088	0.062	0.076	1132.53	1138.31	1126.75	2846.12	3206.56	0	0	0	11.16	15.84	15.33
1990.21	1092	402.84	2.12	-0.27	1129.3	1138.4	1120.2	2846.1	3206.5	33.83	8.49	393	1995.75	0.00	0.00	2.66	0.000	0.000	0.021	1129.25	1138.50	1120.00	2846.94	2050.75	0	0	0	30.00	30.00	15.73
2120.27	324	402.84	2.15	60.00	1127.3	1138.9	1115.8	2846.8	2050.7	24.08	7.36	419	2125.85	0.00	0.00	2.97	0.000	0.000	0.070	1127.62	1139.12	1116.12	2847.00	3209.06	0	0	0	30.00	30.00	15.80
2150.26	1092	402.84	2.18	0.86	1127.3	1138.8	1115.9	2846.3	3209.4	21.75	7.62	425	2155.80	0.00	0.00	2.61	0.000	0.000	0.021	1127.88	1139.31	1116.44	2847.06	2070.38	0	0	0	30.00	30.00	15.82
2280.49	580	402.84	2.21	-60.00	1126.5	1139.7	1113.2	2847.6	2070.6	11.54	7.97	451	2285.91	0.00	0.00	2.74	0.000	0.000	0.077	1127.25	1140.81	1113.69	2846.38	993.12	0	0	0	30.00	30.00	15.83
2295.29	1092	402.84	2.23	0.76	1126.3	1140.1	1112.6	2847.5	993.3	10.26	8.17	454	2300.84	0.00	0.00	2.69	0.000	0.000	0.020	1126.97	1140.31	1113.62	2846.25	2157.94	0	0	0	30.00	30.00	15.86
2375	end climb: SURFACE_DEPTH_REACHED
state	2375	begin surface coast
2430	end surface coast: CONTROL_FINISHED_OK
state	2430	begin surface