Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1315 * 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 1315 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 105.32778 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 342.69846 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 105.32778 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 342.69846 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 1315 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 220322,020413,4703.334,-12443.841,17,1.4,21,15.6 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220322,021008,4703.300,-12443.774,2,0.7,3,15.6 MHEAD_RNG_PITCHd_Wd 92.8,5231,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 92

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 0.3,1.024559 MEM0 60876,1,0,0

SM_CCo 2359.90,0.00,0.000,0,1047.6,1061.3,1033.9,423.73 MEM1 65508,1,0,0

SM_GC 0.73,0.00,16.47,0.41,0.000,0.041,0.055,1047.6,1061.3,1033.9,174.6,2361.6,0,0,0,30.00,15.77,15.81 MEM2 971124,33,75584,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 19420,449

IRIDIUM_FIX 4703.15,-12444.51,220322,020642 CAP_FILE_SIZE 143168,0

TCM_TEMP 267.26 SDSIZE 4028416,3719392

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4703,1

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

TEMP 81.98 CURRENT 0.073,128.2,1

INTERNAL_PRESSURE 8.91824 MAGCAL 1.000000,-0.004211,-0.020438,-0.002352,1.035174,-0.042272,0.019601,-0.098035,1.029968,616.4,-324.8,51.7,36,0.0279,0

_24V_AH 14.73,465.589 IMPLIED_C_PITCH 2435,11.36,289

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2969,26.029020,282

FG_AHR_24Vo 342.826 GPS 220322,024951,4703.197,-12443.477,1,0.7,3,15.6

FG_AHR_10Vo 105.335

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 478 1204 8489.56 legato 34 20 10.16

Pitch_motor 36 231 124.06 nil 0 0 0.00

Roll_motor 55 111 90.65 nil 0 0 0.00

Iridium 148 187 411.98 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.87 nil 0 0 0.00

Core 1367 11 242.08 SciCon 0 0 0.00

LPSleep 1288 2 54.13 nil 0 0 0.00

Compass 314 5 23.62 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

6.08 16386 -116.79 -1.44 0.00 1117.4 1127.8 1107.1 174.5 2358.1 0.00 0.00 0 82.56 75.00 0.00 0.00 0.005 0.000 0.000 2985.16 3163.62 2806.69 174.50 2359.12 0 0 0 14.85 30.00 30.00

83.29 18727 -116.79 -1.44 60.00 2984.8 3162.6 2807.0 174.6 2358.2 3.80 -5.20 14 112.47 5.89 14.15 2.75 0.008 0.231 0.082 3250.50 3458.69 3042.31 1968.75 3428.19 0 0 0 14.88 15.52 14.89

179.54 1028 -116.79 -1.44 0.00 3249.2 3456.8 3041.6 1969.4 3429.1 20.30 -14.29 33 185.10 0.00 0.00 2.62 0.000 0.000 0.018 3249.00 3456.94 3041.06 1969.94 2247.56 0 0 0 30.00 30.00 15.89

309.56 516 -116.79 -1.44 -60.00 3249.0 3456.8 3041.2 1970.1 2245.9 35.90 -11.78 59 315.08 0.00 0.00 2.56 0.000 0.000 0.061 3249.84 3456.88 3042.81 1969.38 1208.81 0 0 0 30.00 30.00 15.91

349.55 1028 -116.79 -1.44 -0.70 3248.9 3456.8 3041.0 1969.7 1209.1 40.92 -12.70 67 355.75 0.00 0.00 2.62 0.000 0.000 0.025 3249.75 3458.00 3041.50 1969.69 2342.12 0 0 0 30.00 30.00 15.93

479.77 260 -116.79 -1.44 60.00 3249.2 3457.4 3041.1 1969.7 2342.4 56.41 -11.76 93 485.17 0.00 0.00 2.77 0.000 0.000 0.081 3249.38 3456.75 3042.00 1969.75 3427.69 0 0 0 30.00 30.00 15.90

524.60 1028 -116.79 -1.44 -0.32 3248.7 3456.2 3041.1 1970.1 3427.9 61.63 -11.58 102 530.15 0.00 0.00 2.61 0.000 0.000 0.017 3250.66 3458.75 3042.56 1969.88 2241.38 0 0 0 30.00 30.00 15.94

654.63 516 -116.79 -1.44 -60.00 3248.9 3456.8 3041.0 1969.4 2239.8 73.31 -8.73 128 660.15 0.00 0.00 2.52 0.000 0.000 0.060 3248.84 3456.88 3040.81 1969.88 1207.69 0 0 0 30.00 30.00 15.94

709.62 1028 -116.79 -1.44 -0.56 3248.7 3456.2 3041.2 1969.9 1207.9 78.28 -9.15 139 715.51 0.00 0.00 2.62 0.000 0.000 0.024 3250.38 3457.62 3043.12 1970.19 2344.81 0 0 0 30.00 30.00 15.96

839.66 516 -116.79 -1.44 -60.00 3248.9 3456.9 3040.9 1969.6 2345.3 89.74 -8.90 165 845.22 0.00 0.00 2.79 0.000 0.000 0.056 3249.25 3456.56 3041.94 1969.44 1207.31 0 0 0 30.00 30.00 15.95

864 end dive: TARGET_DEPTH_EXCEEDED

state 864 begin apogee

868.31 10243 0.00 -0.28 0.00 3249.1 3456.6 3041.7 1970.2 2148.2 92.21 -9.50 170 955.54 82.61 1.96 0.16 1.204 0.137 0.112 2775.31 2907.06 2643.56 2252.75 2030.25 0 0 0 10.98 15.83 15.35

957 end apogee: CONTROL_FINISHED_OK

state 957 begin climb

958.41 10759 116.79 1.44 -60.00 2774.1 2905.9 2642.2 2253.5 2030.2 95.93 0.00 187 1054.26 85.25 2.80 2.67 1.146 0.102 0.076 2298.66 2366.06 2231.25 2672.38 993.12 0 0 0 11.81 15.57 15.69

1086.47 11303 346.86 1.90 0.00 2296.3 2365.3 2227.4 2672.1 993.3 94.24 1.55 213 1264.67 170.79 0.67 2.68 1.117 0.045 0.019 1360.28 1392.25 1328.31 2797.12 2149.38 0 0 0 11.55 15.54 15.62

1387.49 580 346.86 1.92 -60.00 1354.8 1393.4 1316.1 2797.2 2149.5 71.22 8.40 272 1392.91 0.00 0.00 2.99 0.000 0.000 0.071 1354.69 1393.62 1315.75 2797.19 993.44 0 0 0 30.00 30.00 15.69

1492.33 1028 346.86 1.92 1.88 1353.5 1393.6 1313.4 2796.6 993.2 61.16 10.00 293 1498.09 0.00 0.00 2.75 0.000 0.000 0.021 1353.56 1393.69 1313.44 2796.88 2175.25 0 0 0 30.00 30.00 15.77

1622.57 16966 346.86 1.94 -60.00 1352.6 1393.5 1311.8 2796.9 2174.9 49.48 8.28 319 1627.99 0.00 0.00 3.03 0.000 0.000 0.070 1353.53 1394.31 1312.75 2795.88 991.69 0 0 0 30.00 30.00 15.80

1647.39 17478 346.86 1.96 2.20 1352.6 1393.9 1311.2 2796.2 992.4 47.52 7.89 324 1652.95 0.00 0.00 2.75 0.000 0.000 0.021 1352.44 1393.62 1311.25 2797.25 2182.31 0 0 0 30.00 30.00 15.84

1777.43 16450 346.86 2.00 2.20 1352.5 1394.0 1310.9 2797.1 2182.4 37.94 7.32 350 1778.76 0.00 0.00 0.00 0.000 0.000 0.000 1351.50 1393.06 1309.94 2796.75 2181.94 0 0 0 30.00 30.00 30.00

1902.44 16966 346.86 2.04 -60.00 1352.1 1394.0 1310.2 2796.9 2182.1 28.69 7.33 375 1908.04 0.00 0.00 3.05 0.000 0.000 0.070 1352.09 1394.06 1310.12 2797.12 992.19 0 0 0 30.00 30.00 15.86

1952.45 17478 346.86 2.06 1.89 1351.8 1394.0 1309.7 2796.8 992.1 24.87 7.73 385 1958.01 0.00 0.00 2.73 0.000 0.000 0.021 1351.84 1394.69 1309.00 2797.69 2176.38 0 0 0 30.00 30.00 15.90

2082.47 10791 422.36 2.22 -60.00 1351.3 1394.5 1308.1 2797.2 2176.5 15.99 6.67 411 2147.02 59.08 0.37 3.06 1.057 0.058 0.073 1053.34 1059.62 1047.06 2874.56 994.38 0 0 0 11.20 15.87 15.38

2184.10 1028 422.36 2.22 0.91 1051.1 1059.6 1042.6 2874.2 994.7 7.31 9.23 431 2189.68 0.00 0.00 2.70 0.000 0.000 0.021 1051.19 1059.62 1042.75 2874.56 2159.19 0 0 0 30.00 30.00 15.78

2223 end climb: SURFACE_DEPTH_REACHED

state 2223 begin surface coast

2273 end surface coast: CONTROL_FINISHED_OK

state 2274 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	1315	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	105.32778	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	342.69846	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	220322,020413,4703.334,-12443.841,17,1.4,21,15.6	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220322,021008,4703.300,-12443.774,2,0.7,3,15.6	MHEAD_RNG_PITCHd_Wd	92.8,5231,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	92
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	0.3,1.024559	MEM0	60876,1,0,0
SM_CCo	2359.90,0.00,0.000,0,1047.6,1061.3,1033.9,423.73	MEM1	65508,1,0,0
SM_GC	0.73,0.00,16.47,0.41,0.000,0.041,0.055,1047.6,1061.3,1033.9,174.6,2361.6,0,0,0,30.00,15.77,15.81	MEM2	971124,33,75584,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	19420,449
IRIDIUM_FIX	4703.15,-12444.51,220322,020642	CAP_FILE_SIZE	143168,0
TCM_TEMP	267.26	SDSIZE	4028416,3719392
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4703,1
HUMID	51.62	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.98	CURRENT	0.073,128.2,1
INTERNAL_PRESSURE	8.91824	MAGCAL	1.000000,-0.004211,-0.020438,-0.002352,1.035174,-0.042272,0.019601,-0.098035,1.029968,616.4,-324.8,51.7,36,0.0279,0
_24V_AH	14.73,465.589	IMPLIED_C_PITCH	2435,11.36,289
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2969,26.029020,282
FG_AHR_24Vo	342.826	GPS	220322,024951,4703.197,-12443.477,1,0.7,3,15.6
FG_AHR_10Vo	105.335

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	478	1204	8489.56	legato	34	20	10.16
Pitch_motor	36	231	124.06	nil	0	0	0.00
Roll_motor	55	111	90.65	nil	0	0	0.00
Iridium	148	187	411.98	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.87	nil	0	0	0.00
Core	1367	11	242.08	SciCon	0	0	0.00
LPSleep	1288	2	54.13	nil	0	0	0.00
Compass	314	5	23.62	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
6.08	16386	-116.79	-1.44	0.00	1117.4	1127.8	1107.1	174.5	2358.1	0.00	0.00	0	82.56	75.00	0.00	0.00	0.005	0.000	0.000	2985.16	3163.62	2806.69	174.50	2359.12	0	0	0	14.85	30.00	30.00
83.29	18727	-116.79	-1.44	60.00	2984.8	3162.6	2807.0	174.6	2358.2	3.80	-5.20	14	112.47	5.89	14.15	2.75	0.008	0.231	0.082	3250.50	3458.69	3042.31	1968.75	3428.19	0	0	0	14.88	15.52	14.89
179.54	1028	-116.79	-1.44	0.00	3249.2	3456.8	3041.6	1969.4	3429.1	20.30	-14.29	33	185.10	0.00	0.00	2.62	0.000	0.000	0.018	3249.00	3456.94	3041.06	1969.94	2247.56	0	0	0	30.00	30.00	15.89
309.56	516	-116.79	-1.44	-60.00	3249.0	3456.8	3041.2	1970.1	2245.9	35.90	-11.78	59	315.08	0.00	0.00	2.56	0.000	0.000	0.061	3249.84	3456.88	3042.81	1969.38	1208.81	0	0	0	30.00	30.00	15.91
349.55	1028	-116.79	-1.44	-0.70	3248.9	3456.8	3041.0	1969.7	1209.1	40.92	-12.70	67	355.75	0.00	0.00	2.62	0.000	0.000	0.025	3249.75	3458.00	3041.50	1969.69	2342.12	0	0	0	30.00	30.00	15.93
479.77	260	-116.79	-1.44	60.00	3249.2	3457.4	3041.1	1969.7	2342.4	56.41	-11.76	93	485.17	0.00	0.00	2.77	0.000	0.000	0.081	3249.38	3456.75	3042.00	1969.75	3427.69	0	0	0	30.00	30.00	15.90
524.60	1028	-116.79	-1.44	-0.32	3248.7	3456.2	3041.1	1970.1	3427.9	61.63	-11.58	102	530.15	0.00	0.00	2.61	0.000	0.000	0.017	3250.66	3458.75	3042.56	1969.88	2241.38	0	0	0	30.00	30.00	15.94
654.63	516	-116.79	-1.44	-60.00	3248.9	3456.8	3041.0	1969.4	2239.8	73.31	-8.73	128	660.15	0.00	0.00	2.52	0.000	0.000	0.060	3248.84	3456.88	3040.81	1969.88	1207.69	0	0	0	30.00	30.00	15.94
709.62	1028	-116.79	-1.44	-0.56	3248.7	3456.2	3041.2	1969.9	1207.9	78.28	-9.15	139	715.51	0.00	0.00	2.62	0.000	0.000	0.024	3250.38	3457.62	3043.12	1970.19	2344.81	0	0	0	30.00	30.00	15.96
839.66	516	-116.79	-1.44	-60.00	3248.9	3456.9	3040.9	1969.6	2345.3	89.74	-8.90	165	845.22	0.00	0.00	2.79	0.000	0.000	0.056	3249.25	3456.56	3041.94	1969.44	1207.31	0	0	0	30.00	30.00	15.95
864	end dive: TARGET_DEPTH_EXCEEDED
state	864	begin apogee
868.31	10243	0.00	-0.28	0.00	3249.1	3456.6	3041.7	1970.2	2148.2	92.21	-9.50	170	955.54	82.61	1.96	0.16	1.204	0.137	0.112	2775.31	2907.06	2643.56	2252.75	2030.25	0	0	0	10.98	15.83	15.35
957	end apogee: CONTROL_FINISHED_OK
state	957	begin climb
958.41	10759	116.79	1.44	-60.00	2774.1	2905.9	2642.2	2253.5	2030.2	95.93	0.00	187	1054.26	85.25	2.80	2.67	1.146	0.102	0.076	2298.66	2366.06	2231.25	2672.38	993.12	0	0	0	11.81	15.57	15.69
1086.47	11303	346.86	1.90	0.00	2296.3	2365.3	2227.4	2672.1	993.3	94.24	1.55	213	1264.67	170.79	0.67	2.68	1.117	0.045	0.019	1360.28	1392.25	1328.31	2797.12	2149.38	0	0	0	11.55	15.54	15.62
1387.49	580	346.86	1.92	-60.00	1354.8	1393.4	1316.1	2797.2	2149.5	71.22	8.40	272	1392.91	0.00	0.00	2.99	0.000	0.000	0.071	1354.69	1393.62	1315.75	2797.19	993.44	0	0	0	30.00	30.00	15.69
1492.33	1028	346.86	1.92	1.88	1353.5	1393.6	1313.4	2796.6	993.2	61.16	10.00	293	1498.09	0.00	0.00	2.75	0.000	0.000	0.021	1353.56	1393.69	1313.44	2796.88	2175.25	0	0	0	30.00	30.00	15.77
1622.57	16966	346.86	1.94	-60.00	1352.6	1393.5	1311.8	2796.9	2174.9	49.48	8.28	319	1627.99	0.00	0.00	3.03	0.000	0.000	0.070	1353.53	1394.31	1312.75	2795.88	991.69	0	0	0	30.00	30.00	15.80
1647.39	17478	346.86	1.96	2.20	1352.6	1393.9	1311.2	2796.2	992.4	47.52	7.89	324	1652.95	0.00	0.00	2.75	0.000	0.000	0.021	1352.44	1393.62	1311.25	2797.25	2182.31	0	0	0	30.00	30.00	15.84
1777.43	16450	346.86	2.00	2.20	1352.5	1394.0	1310.9	2797.1	2182.4	37.94	7.32	350	1778.76	0.00	0.00	0.00	0.000	0.000	0.000	1351.50	1393.06	1309.94	2796.75	2181.94	0	0	0	30.00	30.00	30.00
1902.44	16966	346.86	2.04	-60.00	1352.1	1394.0	1310.2	2796.9	2182.1	28.69	7.33	375	1908.04	0.00	0.00	3.05	0.000	0.000	0.070	1352.09	1394.06	1310.12	2797.12	992.19	0	0	0	30.00	30.00	15.86
1952.45	17478	346.86	2.06	1.89	1351.8	1394.0	1309.7	2796.8	992.1	24.87	7.73	385	1958.01	0.00	0.00	2.73	0.000	0.000	0.021	1351.84	1394.69	1309.00	2797.69	2176.38	0	0	0	30.00	30.00	15.90
2082.47	10791	422.36	2.22	-60.00	1351.3	1394.5	1308.1	2797.2	2176.5	15.99	6.67	411	2147.02	59.08	0.37	3.06	1.057	0.058	0.073	1053.34	1059.62	1047.06	2874.56	994.38	0	0	0	11.20	15.87	15.38
2184.10	1028	422.36	2.22	0.91	1051.1	1059.6	1042.6	2874.2	994.7	7.31	9.23	431	2189.68	0.00	0.00	2.70	0.000	0.000	0.021	1051.19	1059.62	1042.75	2874.56	2159.19	0	0	0	30.00	30.00	15.78
2223	end climb: SURFACE_DEPTH_REACHED
state	2223	begin surface coast
2273	end surface coast: CONTROL_FINISHED_OK
state	2274	begin surface