Glider dive log

NANOOS May22 * SG236 * Dive index * Mission links * Dive 155 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

MISSION 6 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 155 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 13.5

STOP_T 0 SM_CC 400 ROLL_ADJ_GAIN 0.5 XPDR_REP 11.5

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 180 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 COMM_SEQ 7 C_VBD 2680 DEEPGLIDERMB 0

D_NO_BLEED 50 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 120

T_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.003 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 0

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_DIVE 60 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 150 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 250 PHONE_DEVICE 33

T_NO_W 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_EPIRB 0 PITCH_MIN 190 AH0_24V 575 NAV_DEVICE -1

USE_BATHY -1 PITCH_MAX 3920 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2370 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 20 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 31.99552 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 74.875404 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_YINT -166.44843 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022638284 SEABIRD_C_G -10

MASS 72604 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 3 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.0019952599 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.017708899 ROLL_MIN 810 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 3630 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 7.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2231.5645 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2426.4827 ALTIM_PULSE 2

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 180 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 2 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 400

ALTIM_SENSITIVITY 4 FG_AHR_10V 31.99552 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 74.875404 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.0019952599 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.017708899 PITCH_MAX 3920 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 190 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.003 T_DIVE 60

COMPASS2_DEVICE -1 ID 236 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 3 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT 0 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2370 KALMAN_USE 2 PRESSURE_SLOPE 0.00022638284 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -166.44843 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2426.4827 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2231.5645 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2680 LOGGERS 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 250 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 150 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0.029999999 VBD_DBAND 2

DEVICE1 120 MASS 72604 ROLL_ADJ_GAIN 0.5 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 120 ROLL_MAX 3630 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 810 W_ADJ_DBAND 2

DIVE 155 MISSION 6 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 1000 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 2 NAV2_DEVICE -1 SC_PROFILE 7.0 XPDR_INT 13.5

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 7.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10

D_NO_BLEED 50 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 270522,094916,4653.496,-12456.277,2,1.2,7,15.6 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270522,095250,4653.493,-12456.188,2,1.2,5,15.6 MHEAD_RNG_PITCHd_Wd 104.6,845,-22.1,-10.000,-29.69,1775,0.983

SPEED_LIMITS 0.173,0.175 D_GRID 431

TGT_NAME PICKUP IRON 1.000000,-0.077650,-0.025305,-0.049886,1.073007,0.026290,0.024267,-0.058455,1.030897,-523.402100,-542.123596,-273.818451

TGT_LATLONG 4653.360,-12455.550

Post-dive calculations and measurements:

FINISH 0.1,1.024147 MEM0 60148,1,0,0

SM_CCo 3230.93,30.40,0.944,0,1049.7,1040.3,1059.0,399.92 MEM1 65508,1,0,0

SM_GC 3.09,30.40,17.74,0.43,0.944,0.044,0.091,1049.7,1040.3,1059.0,169.0,2206.6,0,0,0,12.85,15.84,15.86 MEM2 968308,31,78340,65

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 29060,631

IRIDIUM_FIX 4653.82,-12453.07,270522,075207 CAP_FILE_SIZE 154994,0

TCM_TEMP 176.61 SDSIZE 3918848,3872000

XPDR_PINGS 3,13.5,11.5 SDFILEDIR 773,1

HUMID 50.03 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.71 CURRENT 0.206,134.6,1

INTERNAL_PRESSURE 8.5435 MAGCAL 1.000000,-0.061375,-0.069825,-0.050869,1.072927,-0.031720,0.013969,-0.018048,1.059255,-526.8,-516.6,-283.0,31,0.0306,0

_24V_AH 15.12,66.338 IMPLIED_C_PITCH 2500,14.91,423,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2707,56.022038,273,0

FG_AHR_24Vo 75.008 GPS 270522,104808,4653.085,-12455.483,66,1.3,69,15.6

FG_AHR_10Vo 32.008

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 524 1168 9272.24 legato 0 0 0.00

Pitch_motor 38 258 152.26 nil 0 0 0.00

Roll_motor 49 153 114.51 nil 0 0 0.00

Iridium 150 207 472.26 nil 0 0 0.00

Transponder_ping 0 420 4.76 nil 0 0 0.00

GPS 14 15 3.29 nil 0 0 0.00

Core 2194 6 223.84 SciCon 0 0 0.00

Fast 5 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1178 2 35.35

Compass 929 5 69.75

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

1 end surface: CONTROL_FINISHED_OK

state 1 begin dive

4.34 16386 -116.79 -1.46 0.00 1016.5 1016.9 1016.1 171.4 2261.6 0.00 0.00 0 70.01 65.21 0.00 0.00 0.005 0.000 0.000 2283.50 2269.62 2297.38 171.19 2261.62 0 0 0 15.76 30.00 30.00

70.22 18727 -116.79 -1.46 80.00 2282.5 2268.4 2296.6 171.5 2262.1 3.38 -3.60 12 117.65 23.70 15.27 3.58 0.006 0.259 0.101 3156.00 3148.19 3163.81 2016.56 3639.56 0 0 0 15.77 15.81 15.74

345.55 1028 -116.79 -1.46 0.00 3156.4 3147.9 3164.9 2016.2 3638.9 76.58 -24.04 67 351.26 0.00 0.00 3.46 0.000 0.000 0.056 3157.44 3148.94 3165.94 2015.62 2209.06 0 0 0 30.00 30.00 15.94

535.60 260 -116.79 -1.46 80.00 3156.0 3147.9 3164.0 2016.1 2209.9 116.28 -18.43 105 541.35 0.00 0.00 3.71 0.000 0.000 0.095 3157.00 3149.69 3164.31 2015.75 3640.56 0 0 0 30.00 30.00 15.98

725.63 1028 -116.79 -1.46 0.16 3155.8 3147.8 3163.8 2015.6 3640.6 150.89 -17.47 143 731.34 0.00 0.00 3.45 0.000 0.000 0.056 3157.25 3149.00 3165.50 2015.88 2212.56 0 0 0 30.00 30.00 16.00

901 end dive: TARGET_DEPTH_EXCEEDED

state 901 begin apogee

902.36 10243 0.00 -0.25 0.00 3155.6 3147.7 3163.6 2016.3 2459.8 180.71 -17.50 178 992.82 85.86 2.15 0.12 1.168 0.157 0.154 2678.69 2684.25 2673.12 2310.81 2390.25 0 0 0 12.88 15.96 15.65

995 end apogee: CONTROL_FINISHED_OK

state 995 begin climb

997.81 11271 116.79 1.46 0.00 2677.7 2683.0 2672.3 2310.7 2389.9 187.16 0.00 196 1094.35 91.92 2.91 0.11 1.109 0.105 0.118 2202.75 2214.56 2190.94 2726.00 2459.75 0 0 0 12.85 15.67 15.71

1397.29 10791 191.00 1.68 -80.00 2200.9 2213.9 2187.9 2726.6 2459.9 164.33 5.71 276 1459.27 54.78 0.32 4.09 1.060 0.049 0.125 1902.00 1921.75 1882.25 2795.50 963.44 0 0 0 12.79 15.83 15.61

1502.29 1028 191.00 1.68 0.00 1902.5 1922.0 1883.1 2795.2 963.2 154.28 13.91 297 1508.04 0.00 0.00 3.65 0.000 0.000 0.056 1902.62 1922.38 1882.88 2795.00 2451.38 0 0 0 30.00 30.00 15.73

1812.45 260 191.00 1.68 80.00 1902.3 1922.0 1882.6 2795.1 2451.8 117.41 12.09 359 1818.07 0.00 0.00 3.14 0.000 0.000 0.103 1903.25 1923.00 1883.50 2793.62 3638.69 0 0 0 30.00 30.00 15.87

1847.42 1028 191.00 1.68 -0.04 1902.2 1921.6 1882.7 2795.1 3638.7 113.56 10.99 366 1853.05 0.00 0.00 2.97 0.000 0.000 0.047 1902.59 1922.12 1883.06 2794.75 2394.25 0 0 0 30.00 30.00 15.89

2157.55 8742 227.46 1.79 -80.00 1902.2 1921.5 1882.9 2795.2 2394.8 85.19 7.89 428 2200.08 36.73 0.00 3.83 0.965 0.000 0.127 1751.00 1770.88 1731.12 2795.00 962.38 0 0 0 12.84 30.00 15.77

2212.94 11303 266.42 1.91 -0.16 1750.9 1770.3 1731.4 2795.3 962.5 80.79 7.75 439 2259.19 38.10 0.21 3.63 0.957 0.064 0.053 1593.56 1612.31 1574.81 2848.56 2452.94 0 0 0 12.83 15.83 15.85

2442.97 260 266.42 1.91 80.00 1590.9 1610.9 1570.9 2847.7 2452.8 60.33 10.03 485 2448.62 0.00 0.00 3.14 0.000 0.000 0.101 1591.28 1611.31 1571.25 2848.50 3640.44 0 0 0 30.00 30.00 15.85

2678.01 9254 310.19 2.04 -0.28 1590.7 1611.1 1570.4 2847.7 3639.9 36.81 7.47 532 2725.49 42.58 0.00 3.01 0.949 0.000 0.047 1414.03 1434.31 1393.75 2847.81 2388.50 0 0 0 12.82 30.00 15.93

2908.45 10535 366.29 2.21 80.00 1418.3 1442.3 1394.2 2848.2 2388.0 21.93 6.75 578 2970.26 55.58 0.34 3.35 0.931 0.054 0.099 1187.41 1203.62 1171.19 2922.50 3638.06 0 0 0 12.85 15.88 15.68

2973.54 1092 366.29 2.26 -0.22 1187.8 1203.9 1171.8 2924.2 3637.9 16.64 8.14 591 2979.04 0.00 0.00 3.02 0.000 0.000 0.045 1189.19 1205.75 1172.62 2922.38 2391.00 0 0 0 30.00 30.00 15.74

3148 end climb: SURFACE_DEPTH_REACHED

state 3148 begin surface coast

3174 end surface coast: CONTROL_FINISHED_OK

state 3174 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
MISSION	6	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	155	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	13.5
STOP_T	0	SM_CC	400	ROLL_ADJ_GAIN	0.5	XPDR_REP	11.5
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	180	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	COMM_SEQ	7	C_VBD	2680	DEEPGLIDERMB	0
D_NO_BLEED	50	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	120
T_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.003	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	0
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_DIVE	60	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	150	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	250	PHONE_DEVICE	33
T_NO_W	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_EPIRB	0	PITCH_MIN	190	AH0_24V	575	NAV_DEVICE	-1
USE_BATHY	-1	PITCH_MAX	3920	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2370	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	20	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	31.99552	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	74.875404	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-166.44843	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022638284	SEABIRD_C_G	-10
MASS	72604	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	3	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.0019952599	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.017708899	ROLL_MIN	810	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	3630	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	7.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2231.5645	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2426.4827	ALTIM_PULSE	2

GPS1	270522,094916,4653.496,-12456.277,2,1.2,7,15.6	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270522,095250,4653.493,-12456.188,2,1.2,5,15.6	MHEAD_RNG_PITCHd_Wd	104.6,845,-22.1,-10.000,-29.69,1775,0.983
SPEED_LIMITS	0.173,0.175	D_GRID	431
TGT_NAME	PICKUP	IRON	1.000000,-0.077650,-0.025305,-0.049886,1.073007,0.026290,0.024267,-0.058455,1.030897,-523.402100,-542.123596,-273.818451
TGT_LATLONG	4653.360,-12455.550

FINISH	0.1,1.024147	MEM0	60148,1,0,0
SM_CCo	3230.93,30.40,0.944,0,1049.7,1040.3,1059.0,399.92	MEM1	65508,1,0,0
SM_GC	3.09,30.40,17.74,0.43,0.944,0.044,0.091,1049.7,1040.3,1059.0,169.0,2206.6,0,0,0,12.85,15.84,15.86	MEM2	968308,31,78340,65
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	29060,631
IRIDIUM_FIX	4653.82,-12453.07,270522,075207	CAP_FILE_SIZE	154994,0
TCM_TEMP	176.61	SDSIZE	3918848,3872000
XPDR_PINGS	3,13.5,11.5	SDFILEDIR	773,1
HUMID	50.03	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.71	CURRENT	0.206,134.6,1
INTERNAL_PRESSURE	8.5435	MAGCAL	1.000000,-0.061375,-0.069825,-0.050869,1.072927,-0.031720,0.013969,-0.018048,1.059255,-526.8,-516.6,-283.0,31,0.0306,0
_24V_AH	15.12,66.338	IMPLIED_C_PITCH	2500,14.91,423,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2707,56.022038,273,0
FG_AHR_24Vo	75.008	GPS	270522,104808,4653.085,-12455.483,66,1.3,69,15.6
FG_AHR_10Vo	32.008

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	524	1168	9272.24	legato	0	0	0.00
Pitch_motor	38	258	152.26	nil	0	0	0.00
Roll_motor	49	153	114.51	nil	0	0	0.00
Iridium	150	207	472.26	nil	0	0	0.00
Transponder_ping	0	420	4.76	nil	0	0	0.00
GPS	14	15	3.29	nil	0	0	0.00
Core	2194	6	223.84	SciCon	0	0	0.00
Fast	5	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1178	2	35.35
Compass	929	5	69.75
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
1	end surface: CONTROL_FINISHED_OK
state	1	begin dive
4.34	16386	-116.79	-1.46	0.00	1016.5	1016.9	1016.1	171.4	2261.6	0.00	0.00	0	70.01	65.21	0.00	0.00	0.005	0.000	0.000	2283.50	2269.62	2297.38	171.19	2261.62	0	0	0	15.76	30.00	30.00
70.22	18727	-116.79	-1.46	80.00	2282.5	2268.4	2296.6	171.5	2262.1	3.38	-3.60	12	117.65	23.70	15.27	3.58	0.006	0.259	0.101	3156.00	3148.19	3163.81	2016.56	3639.56	0	0	0	15.77	15.81	15.74
345.55	1028	-116.79	-1.46	0.00	3156.4	3147.9	3164.9	2016.2	3638.9	76.58	-24.04	67	351.26	0.00	0.00	3.46	0.000	0.000	0.056	3157.44	3148.94	3165.94	2015.62	2209.06	0	0	0	30.00	30.00	15.94
535.60	260	-116.79	-1.46	80.00	3156.0	3147.9	3164.0	2016.1	2209.9	116.28	-18.43	105	541.35	0.00	0.00	3.71	0.000	0.000	0.095	3157.00	3149.69	3164.31	2015.75	3640.56	0	0	0	30.00	30.00	15.98
725.63	1028	-116.79	-1.46	0.16	3155.8	3147.8	3163.8	2015.6	3640.6	150.89	-17.47	143	731.34	0.00	0.00	3.45	0.000	0.000	0.056	3157.25	3149.00	3165.50	2015.88	2212.56	0	0	0	30.00	30.00	16.00
901	end dive: TARGET_DEPTH_EXCEEDED
state	901	begin apogee
902.36	10243	0.00	-0.25	0.00	3155.6	3147.7	3163.6	2016.3	2459.8	180.71	-17.50	178	992.82	85.86	2.15	0.12	1.168	0.157	0.154	2678.69	2684.25	2673.12	2310.81	2390.25	0	0	0	12.88	15.96	15.65
995	end apogee: CONTROL_FINISHED_OK
state	995	begin climb
997.81	11271	116.79	1.46	0.00	2677.7	2683.0	2672.3	2310.7	2389.9	187.16	0.00	196	1094.35	91.92	2.91	0.11	1.109	0.105	0.118	2202.75	2214.56	2190.94	2726.00	2459.75	0	0	0	12.85	15.67	15.71
1397.29	10791	191.00	1.68	-80.00	2200.9	2213.9	2187.9	2726.6	2459.9	164.33	5.71	276	1459.27	54.78	0.32	4.09	1.060	0.049	0.125	1902.00	1921.75	1882.25	2795.50	963.44	0	0	0	12.79	15.83	15.61
1502.29	1028	191.00	1.68	0.00	1902.5	1922.0	1883.1	2795.2	963.2	154.28	13.91	297	1508.04	0.00	0.00	3.65	0.000	0.000	0.056	1902.62	1922.38	1882.88	2795.00	2451.38	0	0	0	30.00	30.00	15.73
1812.45	260	191.00	1.68	80.00	1902.3	1922.0	1882.6	2795.1	2451.8	117.41	12.09	359	1818.07	0.00	0.00	3.14	0.000	0.000	0.103	1903.25	1923.00	1883.50	2793.62	3638.69	0	0	0	30.00	30.00	15.87
1847.42	1028	191.00	1.68	-0.04	1902.2	1921.6	1882.7	2795.1	3638.7	113.56	10.99	366	1853.05	0.00	0.00	2.97	0.000	0.000	0.047	1902.59	1922.12	1883.06	2794.75	2394.25	0	0	0	30.00	30.00	15.89
2157.55	8742	227.46	1.79	-80.00	1902.2	1921.5	1882.9	2795.2	2394.8	85.19	7.89	428	2200.08	36.73	0.00	3.83	0.965	0.000	0.127	1751.00	1770.88	1731.12	2795.00	962.38	0	0	0	12.84	30.00	15.77
2212.94	11303	266.42	1.91	-0.16	1750.9	1770.3	1731.4	2795.3	962.5	80.79	7.75	439	2259.19	38.10	0.21	3.63	0.957	0.064	0.053	1593.56	1612.31	1574.81	2848.56	2452.94	0	0	0	12.83	15.83	15.85
2442.97	260	266.42	1.91	80.00	1590.9	1610.9	1570.9	2847.7	2452.8	60.33	10.03	485	2448.62	0.00	0.00	3.14	0.000	0.000	0.101	1591.28	1611.31	1571.25	2848.50	3640.44	0	0	0	30.00	30.00	15.85
2678.01	9254	310.19	2.04	-0.28	1590.7	1611.1	1570.4	2847.7	3639.9	36.81	7.47	532	2725.49	42.58	0.00	3.01	0.949	0.000	0.047	1414.03	1434.31	1393.75	2847.81	2388.50	0	0	0	12.82	30.00	15.93
2908.45	10535	366.29	2.21	80.00	1418.3	1442.3	1394.2	2848.2	2388.0	21.93	6.75	578	2970.26	55.58	0.34	3.35	0.931	0.054	0.099	1187.41	1203.62	1171.19	2922.50	3638.06	0	0	0	12.85	15.88	15.68
2973.54	1092	366.29	2.26	-0.22	1187.8	1203.9	1171.8	2924.2	3637.9	16.64	8.14	591	2979.04	0.00	0.00	3.02	0.000	0.000	0.045	1189.19	1205.75	1172.62	2922.38	2391.00	0	0	0	30.00	30.00	15.74
3148	end climb: SURFACE_DEPTH_REACHED
state	3148	begin surface coast
3174	end surface coast: CONTROL_FINISHED_OK
state	3174	begin surface