Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 16 * 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 4

DIVE 16 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 500 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 360 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 FILEMGR 0 C_VBD 2968 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 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012300001 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 0 LOGGERS 1

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 120 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 140 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 3 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 34

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3600 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2300 FG_AHR_10V 13.154474 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 19.217314 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 150 PITCH_GAIN 25 PRESSURE_YINT -180.00272 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0.045000002 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 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 0.003 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 1.6e-05 C_ROLL_DIVE 2100 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 2 N_NOCOMM 2 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 360 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 500

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 13.154474 PITCH_ADJ_GAIN 0.045000002 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 19.217314 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 25 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3600 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 120

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.00021665409 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -180.00272 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 140

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 3

C_PITCH 2300 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 2100 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2968 LOGGERS 1 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 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 80 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 150 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 16 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

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 0

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

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 270421,080909,4705.014,-12458.005,22,1.1,23,15.8 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270421,081451,4704.995,-12458.013,3,0.9,5,15.8 MHEAD_RNG_PITCHd_Wd 246.8,154355,-17.6,-10.000,-21.24

SPEED_LIMITS 0.173,0.257 D_GRID 160

TGT_NAME OFFSHORE 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 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH 0.1,1.008014 FG_AHR_10Vo 13.177

SM_CCo 3354.18,36.74,1.127,0,929.7,921.1,938.4,499.99 MEM0 60876,1,0,0

SM_GC 1.89,36.74,16.36,0.11,1.127,0.057,0.131,929.7,921.1,938.4,187.9,2140.8,0,0,0,12.83,15.89,15.91 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971824,16,75324,55

IRIDIUM_FIX 4706.71,-12455.12,270421,081049 DATA_FILE_SIZE 16154,569

TCM_TEMP 266.41 CAP_FILE_SIZE 145449,0

XPDR_PINGS 7,13.0,10.5 SDSIZE 4028416,4014976

SC_FREEKB 3871616 SDFILEDIR 116,1

HUMID 49.02 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.55 CURRENT 0.042,288.4,1

INTERNAL_PRESSURE 8.83377 MAGCAL 1.000000,-0.042444,-0.099034,-0.020103,1.067062,-0.000683,-0.009489,-0.110701,0.985219,772.4,-319.6,109.4,17,0.0195,0

_24V_AH 14.98,13.910 IMPLIED_C_PITCH 2376,11.58,338

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2879,45.883396,330

FG_AHR_24Vo 19.382 GPS 270421,091118,4704.969,-12458.796,1,1.0,4,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 547 1347 11056.53 nil 0 0 0.00

Pitch_motor 36 263 145.79 nil 0 0 0.00

Roll_motor 42 173 110.01 nil 0 0 0.00

Iridium 198 221 656.32 nil 0 0 0.00

Transponder_ping 1 420 11.01 nil 0 0 0.00

GPS 14 15 3.20 nil 0 0 0.00

Core 1938 11 343.05 SciCon 3299 17 880.93

LPSleep 1667 2 70.03 nil 0 0 0.00

Compass 862 5 64.69 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

4 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.37 16386 -145.99 -0.88 0.00 924.6 928.3 920.9 186.8 2069.6 0.00 0.00 0 79.16 71.68 0.00 0.00 0.005 0.000 0.000 2627.66 2756.56 2498.75 186.75 2067.44 0 0 0 15.80 30.00 30.00

80.26 18983 -145.99 -0.88 -80.00 2626.3 2754.5 2498.2 187.0 2066.3 3.37 -2.95 14 129.23 22.10 14.80 3.52 0.006 0.263 0.111 3563.56 3753.25 3373.88 2085.00 632.12 0 0 0 15.83 15.75 15.78

142.20 1028 -145.99 -0.88 0.00 3563.3 3752.7 3374.0 2085.1 632.1 14.20 -16.46 26 147.87 0.00 0.00 3.39 0.000 0.000 0.038 3563.88 3753.06 3374.69 2084.19 2132.69 0 0 0 30.00 30.00 15.89

332.35 4225 -145.99 -1.02 0.00 3563.7 3752.9 3374.5 2085.3 2132.4 39.31 -12.52 64 336.06 0.00 0.27 0.00 0.000 0.076 0.000 3564.41 3753.25 3375.56 2034.25 2132.88 0 0 0 30.00 15.94 30.00

517.33 260 -145.99 -1.02 80.00 3563.7 3752.6 3374.9 2034.1 2132.9 64.66 -12.31 101 523.01 0.00 0.00 3.45 0.000 0.000 0.105 3565.09 3753.19 3377.00 2032.75 3569.38 0 0 0 30.00 30.00 15.98

657.35 1028 -145.99 -1.02 0.00 3563.7 3752.0 3375.4 2034.4 3569.4 84.82 -14.05 129 663.02 0.00 0.00 3.40 0.000 0.000 0.039 3564.78 3753.38 3376.19 2034.12 2062.44 0 0 0 30.00 30.00 16.01

847.40 128 -145.99 -1.12 0.00 3563.8 3752.2 3375.3 2034.1 2062.7 107.50 -12.14 161 848.73 0.00 0.00 0.00 0.000 0.000 0.000 3563.31 3752.44 3374.19 2034.06 2062.94 0 0 0 30.00 30.00 30.00

1157.82 4485 -145.99 -1.24 80.00 3564.2 3752.8 3375.6 2034.4 2062.9 140.51 -10.74 192 1163.76 0.00 0.25 3.61 0.000 0.081 0.100 3562.94 3752.44 3373.44 1979.81 3569.00 0 0 0 30.00 16.06 16.06

1292 end dive: TARGET_DEPTH_EXCEEDED

state 1292 begin apogee

1297.90 10243 0.00 -0.20 0.00 3563.9 3752.0 3375.8 1979.4 2061.1 160.47 -15.16 219 1398.79 96.85 1.91 0.12 1.348 0.161 0.174 2967.81 3060.62 2875.00 2252.00 2142.31 0 0 0 12.88 16.04 15.64

1399 end apogee: CONTROL_FINISHED_OK

state 1400 begin climb

1400.61 10759 145.99 0.88 -80.00 2965.7 3058.5 2872.8 2251.5 2149.1 166.13 0.00 229 1512.21 100.39 1.77 3.84 1.292 0.107 0.108 2369.84 2433.81 2305.88 2516.38 632.06 0 0 0 12.71 15.67 15.39

1590.44 11431 320.78 1.40 0.00 2367.1 2434.2 2299.9 2517.4 631.9 163.77 1.87 266 1720.24 121.31 0.79 3.45 1.271 0.063 0.036 1659.38 1733.06 1585.69 2650.19 2138.25 0 0 0 12.64 15.60 15.62

2025.36 18823 320.78 1.58 80.00 1650.3 1733.5 1567.1 2649.9 2138.4 124.67 10.18 322 2030.62 0.00 0.19 3.49 0.000 0.095 0.107 1652.03 1735.31 1568.75 2693.25 3566.00 0 0 0 30.00 15.77 15.76

2165.44 17414 320.78 1.58 0.00 1650.1 1734.0 1566.1 2693.1 3566.9 107.20 12.13 350 2170.60 0.00 0.00 3.40 0.000 0.000 0.038 1650.22 1734.12 1566.31 2692.94 2066.44 0 0 0 30.00 30.00 15.86

2475.46 10403 349.58 1.76 0.00 1648.8 1734.2 1563.3 2692.9 2066.5 76.77 8.66 406 2500.98 21.70 0.22 0.00 1.184 0.092 0.000 1541.75 1621.44 1462.06 2735.94 2066.38 0 0 0 12.83 15.94 30.00

2685.49 292 352.35 1.77 80.00 1537.8 1622.1 1453.6 2736.4 2066.4 53.64 9.87 448 2691.19 0.00 0.00 3.64 0.000 0.000 0.102 1538.19 1622.50 1453.88 2735.69 3566.38 0 0 0 30.00 30.00 15.90

2810.50 9254 423.87 1.86 0.00 1537.6 1622.2 1452.9 2736.4 3567.4 43.76 6.67 473 2872.93 55.17 0.00 3.39 1.186 0.000 0.038 1240.62 1291.62 1189.62 2736.31 2064.06 0 0 0 12.82 30.00 15.97

3056.00 10403 451.39 2.08 0.00 1233.6 1291.6 1175.6 2736.2 2064.0 24.04 8.72 522 3081.55 21.66 0.42 0.00 1.114 0.079 0.000 1127.75 1173.06 1082.44 2810.06 2064.75 0 0 0 12.87 15.86 30.00

3265 end climb: SURFACE_DEPTH_REACHED

state 3265 begin surface coast

3290 end surface coast: CONTROL_FINISHED_OK

state 3291 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	4
DIVE	16	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	500	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	360	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	FILEMGR	0	C_VBD	2968	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	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012300001	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	0	LOGGERS	1
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	120	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	140	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	3	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	34
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3600	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2300	FG_AHR_10V	13.154474	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	19.217314	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	150	PITCH_GAIN	25	PRESSURE_YINT	-180.00272	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0.045000002	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	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	0.003	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	270421,080909,4705.014,-12458.005,22,1.1,23,15.8	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270421,081451,4704.995,-12458.013,3,0.9,5,15.8	MHEAD_RNG_PITCHd_Wd	246.8,154355,-17.6,-10.000,-21.24
SPEED_LIMITS	0.173,0.257	D_GRID	160
TGT_NAME	OFFSHORE	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	4700.000,-12700.000

FINISH	0.1,1.008014	FG_AHR_10Vo	13.177
SM_CCo	3354.18,36.74,1.127,0,929.7,921.1,938.4,499.99	MEM0	60876,1,0,0
SM_GC	1.89,36.74,16.36,0.11,1.127,0.057,0.131,929.7,921.1,938.4,187.9,2140.8,0,0,0,12.83,15.89,15.91	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971824,16,75324,55
IRIDIUM_FIX	4706.71,-12455.12,270421,081049	DATA_FILE_SIZE	16154,569
TCM_TEMP	266.41	CAP_FILE_SIZE	145449,0
XPDR_PINGS	7,13.0,10.5	SDSIZE	4028416,4014976
SC_FREEKB	3871616	SDFILEDIR	116,1
HUMID	49.02	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.55	CURRENT	0.042,288.4,1
INTERNAL_PRESSURE	8.83377	MAGCAL	1.000000,-0.042444,-0.099034,-0.020103,1.067062,-0.000683,-0.009489,-0.110701,0.985219,772.4,-319.6,109.4,17,0.0195,0
_24V_AH	14.98,13.910	IMPLIED_C_PITCH	2376,11.58,338
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2879,45.883396,330
FG_AHR_24Vo	19.382	GPS	270421,091118,4704.969,-12458.796,1,1.0,4,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	547	1347	11056.53	nil	0	0	0.00
Pitch_motor	36	263	145.79	nil	0	0	0.00
Roll_motor	42	173	110.01	nil	0	0	0.00
Iridium	198	221	656.32	nil	0	0	0.00
Transponder_ping	1	420	11.01	nil	0	0	0.00
GPS	14	15	3.20	nil	0	0	0.00
Core	1938	11	343.05	SciCon	3299	17	880.93
LPSleep	1667	2	70.03	nil	0	0	0.00
Compass	862	5	64.69	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
4	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.37	16386	-145.99	-0.88	0.00	924.6	928.3	920.9	186.8	2069.6	0.00	0.00	0	79.16	71.68	0.00	0.00	0.005	0.000	0.000	2627.66	2756.56	2498.75	186.75	2067.44	0	0	0	15.80	30.00	30.00
80.26	18983	-145.99	-0.88	-80.00	2626.3	2754.5	2498.2	187.0	2066.3	3.37	-2.95	14	129.23	22.10	14.80	3.52	0.006	0.263	0.111	3563.56	3753.25	3373.88	2085.00	632.12	0	0	0	15.83	15.75	15.78
142.20	1028	-145.99	-0.88	0.00	3563.3	3752.7	3374.0	2085.1	632.1	14.20	-16.46	26	147.87	0.00	0.00	3.39	0.000	0.000	0.038	3563.88	3753.06	3374.69	2084.19	2132.69	0	0	0	30.00	30.00	15.89
332.35	4225	-145.99	-1.02	0.00	3563.7	3752.9	3374.5	2085.3	2132.4	39.31	-12.52	64	336.06	0.00	0.27	0.00	0.000	0.076	0.000	3564.41	3753.25	3375.56	2034.25	2132.88	0	0	0	30.00	15.94	30.00
517.33	260	-145.99	-1.02	80.00	3563.7	3752.6	3374.9	2034.1	2132.9	64.66	-12.31	101	523.01	0.00	0.00	3.45	0.000	0.000	0.105	3565.09	3753.19	3377.00	2032.75	3569.38	0	0	0	30.00	30.00	15.98
657.35	1028	-145.99	-1.02	0.00	3563.7	3752.0	3375.4	2034.4	3569.4	84.82	-14.05	129	663.02	0.00	0.00	3.40	0.000	0.000	0.039	3564.78	3753.38	3376.19	2034.12	2062.44	0	0	0	30.00	30.00	16.01
847.40	128	-145.99	-1.12	0.00	3563.8	3752.2	3375.3	2034.1	2062.7	107.50	-12.14	161	848.73	0.00	0.00	0.00	0.000	0.000	0.000	3563.31	3752.44	3374.19	2034.06	2062.94	0	0	0	30.00	30.00	30.00
1157.82	4485	-145.99	-1.24	80.00	3564.2	3752.8	3375.6	2034.4	2062.9	140.51	-10.74	192	1163.76	0.00	0.25	3.61	0.000	0.081	0.100	3562.94	3752.44	3373.44	1979.81	3569.00	0	0	0	30.00	16.06	16.06
1292	end dive: TARGET_DEPTH_EXCEEDED
state	1292	begin apogee
1297.90	10243	0.00	-0.20	0.00	3563.9	3752.0	3375.8	1979.4	2061.1	160.47	-15.16	219	1398.79	96.85	1.91	0.12	1.348	0.161	0.174	2967.81	3060.62	2875.00	2252.00	2142.31	0	0	0	12.88	16.04	15.64
1399	end apogee: CONTROL_FINISHED_OK
state	1400	begin climb
1400.61	10759	145.99	0.88	-80.00	2965.7	3058.5	2872.8	2251.5	2149.1	166.13	0.00	229	1512.21	100.39	1.77	3.84	1.292	0.107	0.108	2369.84	2433.81	2305.88	2516.38	632.06	0	0	0	12.71	15.67	15.39
1590.44	11431	320.78	1.40	0.00	2367.1	2434.2	2299.9	2517.4	631.9	163.77	1.87	266	1720.24	121.31	0.79	3.45	1.271	0.063	0.036	1659.38	1733.06	1585.69	2650.19	2138.25	0	0	0	12.64	15.60	15.62
2025.36	18823	320.78	1.58	80.00	1650.3	1733.5	1567.1	2649.9	2138.4	124.67	10.18	322	2030.62	0.00	0.19	3.49	0.000	0.095	0.107	1652.03	1735.31	1568.75	2693.25	3566.00	0	0	0	30.00	15.77	15.76
2165.44	17414	320.78	1.58	0.00	1650.1	1734.0	1566.1	2693.1	3566.9	107.20	12.13	350	2170.60	0.00	0.00	3.40	0.000	0.000	0.038	1650.22	1734.12	1566.31	2692.94	2066.44	0	0	0	30.00	30.00	15.86
2475.46	10403	349.58	1.76	0.00	1648.8	1734.2	1563.3	2692.9	2066.5	76.77	8.66	406	2500.98	21.70	0.22	0.00	1.184	0.092	0.000	1541.75	1621.44	1462.06	2735.94	2066.38	0	0	0	12.83	15.94	30.00
2685.49	292	352.35	1.77	80.00	1537.8	1622.1	1453.6	2736.4	2066.4	53.64	9.87	448	2691.19	0.00	0.00	3.64	0.000	0.000	0.102	1538.19	1622.50	1453.88	2735.69	3566.38	0	0	0	30.00	30.00	15.90
2810.50	9254	423.87	1.86	0.00	1537.6	1622.2	1452.9	2736.4	3567.4	43.76	6.67	473	2872.93	55.17	0.00	3.39	1.186	0.000	0.038	1240.62	1291.62	1189.62	2736.31	2064.06	0	0	0	12.82	30.00	15.97
3056.00	10403	451.39	2.08	0.00	1233.6	1291.6	1175.6	2736.2	2064.0	24.04	8.72	522	3081.55	21.66	0.42	0.00	1.114	0.079	0.000	1127.75	1173.06	1082.44	2810.06	2064.75	0	0	0	12.87	15.86	30.00
3265	end climb: SURFACE_DEPTH_REACHED
state	3265	begin surface coast
3290	end surface coast: CONTROL_FINISHED_OK
state	3291	begin surface