Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1335 * 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 1335 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 105.4908 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 345.37207 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 2200 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 105.4908 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 345.37207 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 2200 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 1335 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 220322,163046,4702.423,-12440.269,2,0.9,5,15.6 TGT_RADIUS 500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220322,163715,4702.414,-12440.203,2,1.2,6,15.6 MHEAD_RNG_PITCHd_Wd 130.7,524,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 85

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 0.3,1.024575 MEM0 60876,1,0,0

SM_CCo 2090.20,19.92,1.033,0,1145.4,1142.9,1147.9,399.74 MEM1 65508,1,0,0

SM_GC 0.88,19.92,16.30,0.22,1.033,0.041,0.079,1145.4,1142.9,1147.9,174.7,2372.5,0,0,0,11.16,15.87,15.91 MEM2 971080,26,75708,63

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16166,403

IRIDIUM_FIX 4702.75,-12440.11,220322,163313 CAP_FILE_SIZE 135443,0

TCM_TEMP 267.32 SDSIZE 4028416,3716832

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4763,1

HUMID 51.68 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.97 CURRENT 0.006, 59.2,1

INTERNAL_PRESSURE 8.91866 MAGCAL 1.000000,0.009481,-0.012621,-0.001046,1.046507,-0.028184,0.005725,-0.070569,1.044945,603.4,-326.7,40.2,30,0.0316,0

_24V_AH 14.73,468.620 IMPLIED_C_PITCH 2466,11.05,237

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2869,42.758926,234

FG_AHR_24Vo 345.494 GPS 220322,171239,4702.308,-12440.111,1,0.9,13,15.6

FG_AHR_10Vo 105.497

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 472 1191 8301.72 legato 34 20 10.22

Pitch_motor 36 231 122.95 nil 0 0 0.00

Roll_motor 49 111 81.24 nil 0 0 0.00

Iridium 181 182 488.26 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.52 nil 0 0 0.00

Core 1330 11 235.54 SciCon 0 0 0.00

LPSleep 1090 2 45.80 nil 0 0 0.00

Compass 286 5 21.48 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

6.09 16386 -116.79 -1.44 0.00 741.9 724.1 759.8 173.2 2369.4 0.00 0.00 0 92.75 85.11 0.00 0.00 0.005 0.000 0.000 2866.72 3048.44 2685.00 173.31 2369.00 0 0 0 14.89 30.00 30.00

93.49 18467 -116.79 -1.44 0.00 2866.2 3047.4 2685.0 173.3 2369.2 3.39 -3.82 16 121.82 9.10 14.09 0.00 0.007 0.231 0.000 3250.22 3468.12 3032.31 1970.38 2369.56 0 0 0 14.87 15.56 30.00

244.31 260 -116.79 -1.44 60.00 3250.0 3467.1 3033.0 1970.8 2369.3 26.76 -13.88 46 249.49 0.00 0.00 2.72 0.000 0.000 0.080 3251.59 3468.31 3034.88 1970.88 3427.31 0 0 0 30.00 30.00 15.87

283.94 1028 -116.79 -1.44 0.00 3250.2 3467.1 3033.3 1971.0 3426.9 32.37 -14.24 54 289.50 0.00 0.00 2.63 0.000 0.000 0.017 3250.56 3467.81 3033.31 1971.19 2247.81 0 0 0 30.00 30.00 15.90

413.99 516 -116.79 -1.44 -60.00 3250.2 3467.4 3033.1 1971.2 2246.2 49.47 -12.60 80 419.70 0.00 0.00 2.56 0.000 0.000 0.062 3250.66 3467.69 3033.62 1970.50 1209.00 0 0 0 30.00 30.00 15.91

429.16 1028 -116.79 -1.44 0.30 3250.1 3467.5 3032.8 1971.0 1209.2 51.41 -12.93 83 434.54 0.00 0.00 2.67 0.000 0.000 0.025 3251.12 3467.88 3034.38 1971.44 2357.75 0 0 0 30.00 30.00 15.93

559.05 260 -116.79 -1.44 60.00 3250.0 3466.8 3033.2 1970.8 2358.2 67.58 -11.94 109 564.61 0.00 0.00 2.73 0.000 0.000 0.081 3251.19 3467.69 3034.69 1970.81 3426.00 0 0 0 30.00 30.00 15.90

724 end dive: TARGET_DEPTH_EXCEEDED

state 724 begin apogee

729.16 10243 0.00 -0.28 0.00 3249.9 3466.9 3032.9 1970.9 2142.1 85.38 -8.91 142 816.40 82.75 1.97 0.17 1.192 0.138 0.112 2777.56 2914.88 2640.25 2254.50 2258.19 0 0 0 11.08 15.83 15.35

818 end apogee: CONTROL_FINISHED_OK

state 818 begin climb

819.29 10759 116.79 1.44 -60.00 2774.3 2911.9 2636.8 2254.7 2257.9 88.42 0.00 159 915.20 84.76 2.80 2.97 1.138 0.107 0.066 2297.81 2365.75 2229.88 2673.25 1091.69 0 0 0 11.87 15.56 15.70

927.59 11303 375.63 1.96 0.00 2297.2 2365.9 2228.6 2673.4 1091.6 88.04 0.60 181 1125.83 191.29 0.75 2.71 1.105 0.039 0.021 1245.06 1267.25 1222.88 2814.75 2240.25 0 0 0 11.70 15.51 15.59

1248.08 324 375.63 1.98 60.00 1238.8 1265.8 1211.9 2815.3 2240.4 61.44 8.28 244 1253.62 0.00 0.00 2.78 0.000 0.000 0.078 1240.03 1267.00 1213.06 2815.44 3306.62 0 0 0 30.00 30.00 15.69

1258.08 1092 375.63 2.00 2.06 1238.8 1265.7 1211.9 2815.6 3305.7 60.64 8.25 246 1263.59 0.00 0.00 2.58 0.000 0.000 0.019 1238.88 1265.94 1211.81 2816.00 2178.94 0 0 0 30.00 30.00 15.71

1388.12 324 375.63 2.02 60.00 1237.3 1265.9 1208.6 2815.9 2178.6 50.06 8.13 272 1393.70 0.00 0.00 2.93 0.000 0.000 0.076 1238.09 1266.50 1209.69 2815.81 3305.38 0 0 0 30.00 30.00 15.79

1418.45 1092 375.63 2.04 -0.60 1237.4 1265.9 1208.8 2816.1 3305.3 47.61 8.09 278 1423.67 0.00 0.00 2.67 0.000 0.000 0.020 1238.38 1267.00 1209.75 2815.31 2134.62 0 0 0 30.00 30.00 15.80

1548.37 580 375.63 2.06 -60.00 1236.8 1266.2 1207.3 2815.8 2134.6 37.30 7.93 304 1553.77 0.00 0.00 2.65 0.000 0.000 0.073 1237.75 1266.31 1209.19 2815.62 1093.06 0 0 0 30.00 30.00 15.84

1628.20 1092 375.63 2.08 -1.31 1236.7 1266.8 1206.6 2815.8 1093.1 30.69 8.30 320 1633.72 0.00 0.00 2.60 0.000 0.000 0.022 1237.31 1267.00 1207.62 2815.88 2216.31 0 0 0 30.00 30.00 15.87

1758.26 324 375.63 2.11 60.00 1236.1 1266.7 1205.6 2815.8 2216.8 20.91 7.61 346 1763.81 0.00 0.00 2.81 0.000 0.000 0.079 1236.84 1267.12 1206.56 2815.94 3306.38 0 0 0 30.00 30.00 15.87

1823.26 1092 375.63 2.14 -0.30 1236.2 1266.6 1205.8 2815.4 3306.2 15.68 7.91 359 1828.80 0.00 0.00 2.66 0.000 0.000 0.020 1236.53 1267.25 1205.81 2815.50 2139.94 0 0 0 30.00 30.00 15.90

1953.31 2629 375.63 2.17 -60.00 1236.1 1267.3 1204.9 2815.7 2139.6 5.82 7.63 385 1958.90 0.00 0.18 2.66 0.000 0.078 0.073 1236.25 1267.38 1205.12 2864.19 1092.00 0 0 0 30.00 15.87 15.83

1973.30 1092 375.63 2.20 -0.12 1236.1 1267.4 1204.8 2863.9 1091.9 4.19 7.61 389 1978.85 0.00 0.00 2.64 0.000 0.000 0.022 1236.22 1267.38 1205.06 2863.81 2234.44 0 0 0 30.00 30.00 15.92

1982 end climb: SURFACE_DEPTH_REACHED

state 1983 begin surface coast

2043 end surface coast: CONTROL_FINISHED_OK

state 2043 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	1335	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	105.4908	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	345.37207	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	2200	ALTIM_PULSE	1

GPS1	220322,163046,4702.423,-12440.269,2,0.9,5,15.6	TGT_RADIUS	500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220322,163715,4702.414,-12440.203,2,1.2,6,15.6	MHEAD_RNG_PITCHd_Wd	130.7,524,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	85
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	0.3,1.024575	MEM0	60876,1,0,0
SM_CCo	2090.20,19.92,1.033,0,1145.4,1142.9,1147.9,399.74	MEM1	65508,1,0,0
SM_GC	0.88,19.92,16.30,0.22,1.033,0.041,0.079,1145.4,1142.9,1147.9,174.7,2372.5,0,0,0,11.16,15.87,15.91	MEM2	971080,26,75708,63
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16166,403
IRIDIUM_FIX	4702.75,-12440.11,220322,163313	CAP_FILE_SIZE	135443,0
TCM_TEMP	267.32	SDSIZE	4028416,3716832
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4763,1
HUMID	51.68	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.97	CURRENT	0.006, 59.2,1
INTERNAL_PRESSURE	8.91866	MAGCAL	1.000000,0.009481,-0.012621,-0.001046,1.046507,-0.028184,0.005725,-0.070569,1.044945,603.4,-326.7,40.2,30,0.0316,0
_24V_AH	14.73,468.620	IMPLIED_C_PITCH	2466,11.05,237
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2869,42.758926,234
FG_AHR_24Vo	345.494	GPS	220322,171239,4702.308,-12440.111,1,0.9,13,15.6
FG_AHR_10Vo	105.497

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	472	1191	8301.72	legato	34	20	10.22
Pitch_motor	36	231	122.95	nil	0	0	0.00
Roll_motor	49	111	81.24	nil	0	0	0.00
Iridium	181	182	488.26	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.52	nil	0	0	0.00
Core	1330	11	235.54	SciCon	0	0	0.00
LPSleep	1090	2	45.80	nil	0	0	0.00
Compass	286	5	21.48	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
6.09	16386	-116.79	-1.44	0.00	741.9	724.1	759.8	173.2	2369.4	0.00	0.00	0	92.75	85.11	0.00	0.00	0.005	0.000	0.000	2866.72	3048.44	2685.00	173.31	2369.00	0	0	0	14.89	30.00	30.00
93.49	18467	-116.79	-1.44	0.00	2866.2	3047.4	2685.0	173.3	2369.2	3.39	-3.82	16	121.82	9.10	14.09	0.00	0.007	0.231	0.000	3250.22	3468.12	3032.31	1970.38	2369.56	0	0	0	14.87	15.56	30.00
244.31	260	-116.79	-1.44	60.00	3250.0	3467.1	3033.0	1970.8	2369.3	26.76	-13.88	46	249.49	0.00	0.00	2.72	0.000	0.000	0.080	3251.59	3468.31	3034.88	1970.88	3427.31	0	0	0	30.00	30.00	15.87
283.94	1028	-116.79	-1.44	0.00	3250.2	3467.1	3033.3	1971.0	3426.9	32.37	-14.24	54	289.50	0.00	0.00	2.63	0.000	0.000	0.017	3250.56	3467.81	3033.31	1971.19	2247.81	0	0	0	30.00	30.00	15.90
413.99	516	-116.79	-1.44	-60.00	3250.2	3467.4	3033.1	1971.2	2246.2	49.47	-12.60	80	419.70	0.00	0.00	2.56	0.000	0.000	0.062	3250.66	3467.69	3033.62	1970.50	1209.00	0	0	0	30.00	30.00	15.91
429.16	1028	-116.79	-1.44	0.30	3250.1	3467.5	3032.8	1971.0	1209.2	51.41	-12.93	83	434.54	0.00	0.00	2.67	0.000	0.000	0.025	3251.12	3467.88	3034.38	1971.44	2357.75	0	0	0	30.00	30.00	15.93
559.05	260	-116.79	-1.44	60.00	3250.0	3466.8	3033.2	1970.8	2358.2	67.58	-11.94	109	564.61	0.00	0.00	2.73	0.000	0.000	0.081	3251.19	3467.69	3034.69	1970.81	3426.00	0	0	0	30.00	30.00	15.90
724	end dive: TARGET_DEPTH_EXCEEDED
state	724	begin apogee
729.16	10243	0.00	-0.28	0.00	3249.9	3466.9	3032.9	1970.9	2142.1	85.38	-8.91	142	816.40	82.75	1.97	0.17	1.192	0.138	0.112	2777.56	2914.88	2640.25	2254.50	2258.19	0	0	0	11.08	15.83	15.35
818	end apogee: CONTROL_FINISHED_OK
state	818	begin climb
819.29	10759	116.79	1.44	-60.00	2774.3	2911.9	2636.8	2254.7	2257.9	88.42	0.00	159	915.20	84.76	2.80	2.97	1.138	0.107	0.066	2297.81	2365.75	2229.88	2673.25	1091.69	0	0	0	11.87	15.56	15.70
927.59	11303	375.63	1.96	0.00	2297.2	2365.9	2228.6	2673.4	1091.6	88.04	0.60	181	1125.83	191.29	0.75	2.71	1.105	0.039	0.021	1245.06	1267.25	1222.88	2814.75	2240.25	0	0	0	11.70	15.51	15.59
1248.08	324	375.63	1.98	60.00	1238.8	1265.8	1211.9	2815.3	2240.4	61.44	8.28	244	1253.62	0.00	0.00	2.78	0.000	0.000	0.078	1240.03	1267.00	1213.06	2815.44	3306.62	0	0	0	30.00	30.00	15.69
1258.08	1092	375.63	2.00	2.06	1238.8	1265.7	1211.9	2815.6	3305.7	60.64	8.25	246	1263.59	0.00	0.00	2.58	0.000	0.000	0.019	1238.88	1265.94	1211.81	2816.00	2178.94	0	0	0	30.00	30.00	15.71
1388.12	324	375.63	2.02	60.00	1237.3	1265.9	1208.6	2815.9	2178.6	50.06	8.13	272	1393.70	0.00	0.00	2.93	0.000	0.000	0.076	1238.09	1266.50	1209.69	2815.81	3305.38	0	0	0	30.00	30.00	15.79
1418.45	1092	375.63	2.04	-0.60	1237.4	1265.9	1208.8	2816.1	3305.3	47.61	8.09	278	1423.67	0.00	0.00	2.67	0.000	0.000	0.020	1238.38	1267.00	1209.75	2815.31	2134.62	0	0	0	30.00	30.00	15.80
1548.37	580	375.63	2.06	-60.00	1236.8	1266.2	1207.3	2815.8	2134.6	37.30	7.93	304	1553.77	0.00	0.00	2.65	0.000	0.000	0.073	1237.75	1266.31	1209.19	2815.62	1093.06	0	0	0	30.00	30.00	15.84
1628.20	1092	375.63	2.08	-1.31	1236.7	1266.8	1206.6	2815.8	1093.1	30.69	8.30	320	1633.72	0.00	0.00	2.60	0.000	0.000	0.022	1237.31	1267.00	1207.62	2815.88	2216.31	0	0	0	30.00	30.00	15.87
1758.26	324	375.63	2.11	60.00	1236.1	1266.7	1205.6	2815.8	2216.8	20.91	7.61	346	1763.81	0.00	0.00	2.81	0.000	0.000	0.079	1236.84	1267.12	1206.56	2815.94	3306.38	0	0	0	30.00	30.00	15.87
1823.26	1092	375.63	2.14	-0.30	1236.2	1266.6	1205.8	2815.4	3306.2	15.68	7.91	359	1828.80	0.00	0.00	2.66	0.000	0.000	0.020	1236.53	1267.25	1205.81	2815.50	2139.94	0	0	0	30.00	30.00	15.90
1953.31	2629	375.63	2.17	-60.00	1236.1	1267.3	1204.9	2815.7	2139.6	5.82	7.63	385	1958.90	0.00	0.18	2.66	0.000	0.078	0.073	1236.25	1267.38	1205.12	2864.19	1092.00	0	0	0	30.00	15.87	15.83
1973.30	1092	375.63	2.20	-0.12	1236.1	1267.4	1204.8	2863.9	1091.9	4.19	7.61	389	1978.85	0.00	0.00	2.64	0.000	0.000	0.022	1236.22	1267.38	1205.06	2863.81	2234.44	0	0	0	30.00	30.00	15.92
1982	end climb: SURFACE_DEPTH_REACHED
state	1983	begin surface coast
2043	end surface coast: CONTROL_FINISHED_OK
state	2043	begin surface