Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 32 * 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 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 32 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 637.77997 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 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 2968 DEEPGLIDERMB 0

D_NO_BLEED 50 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 163 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 1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 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 2440 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 12.940167 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 17.322594 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_YINT -166.76357 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 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099900002 ROLL_MIN 810 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 1.6e-05 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 2500 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2500 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 637.77997

ALTIM_SENSITIVITY 4 FG_AHR_10V 12.940167 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 17.322594 PITCH_ADJ_GAIN 0.029999999 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 0.003 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099900002 PITCH_MAX 3920 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 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 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT 0 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2440 KALMAN_USE 2 PRESSURE_SLOPE 0.00022638284 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -166.76357 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2500 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2500 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2968 LOGGERS 1 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 VBD_DBAND 2

DEVICE1 -1 MASS 72604 ROLL_ADJ_GAIN 0 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 0

DIVE 32 MISSION 4 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 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 250322,182329,4653.840,-12444.818,1,1.2,31,15.6 TGT_RADIUS 2500.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250322,182912,4653.840,-12444.824,2,0.7,4,15.6 MHEAD_RNG_PITCHd_Wd 260.5,19801,-19.9,-10.000,-23.24,1773,0.513

SPEED_LIMITS 0.173,0.233 D_GRID 124

TGT_NAME CANYON2 IRON 1.000000,-0.070697,-0.073739,-0.037418,1.070137,-0.018118,0.021715,-0.020855,1.041310,-557.200989,-559.408813,-276.885132

TGT_LATLONG 4651.270,-12500.000

Post-dive calculations and measurements:

FINISH -0.4,1.012780 FG_AHR_10Vo 12.951

SM_CCo 2957.39,267.55,0.976,0,500.8,509.9,491.6,605.22 MEM0 60148,1,0,0

SM_GC 1.03,267.55,17.27,0.08,0.976,0.046,0.157,500.8,509.9,491.6,171.5,2470.2,0,0,0,12.81,15.74,15.74 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 968524,23,78324,63

IRIDIUM_FIX 4657.10,-12447.89,250322,173244 DATA_FILE_SIZE 9717,363

TCM_TEMP 176.39 CAP_FILE_SIZE 164130,0

XPDR_PINGS 11,13.5,11.5 SDSIZE 3918848,3900928

SC_FREEKB 3866496 SDFILEDIR 222,1

HUMID 50.19 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.10 CURRENT 0.059,183.2,1

INTERNAL_PRESSURE 8.48733 MAGCAL 1.000000,-0.135714,-0.177107,-0.045756,1.070511,0.020340,0.023552,-0.101099,0.941915,-408.9,-544.9,-186.7,14,0.0293,0

_24V_AH 14.69,8.306 IMPLIED_C_PITCH 2449,14.07,179,0.0,0.00

_10V_AH 14.72,0.000 GPS 250322,191858,4653.720,-12445.255,1,0.8,2,15.6

FG_AHR_24Vo 17.504

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 740 1137 12369.00 nil 0 0 0.00

Pitch_motor 39 252 148.24 nil 0 0 0.00

Roll_motor 51 222 167.04 nil 0 0 0.00

Iridium 211 177 553.45 nil 0 0 0.00

Transponder_ping 2 420 16.97 nil 0 0 0.00

GPS 13 15 3.03 nil 0 0 0.00

Core 1657 6 165.88 SciCon 2673 6 272.47

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1352 2 39.82

Compass 747 5 55.04

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8.43 16386 -116.79 -1.34 0.00 495.8 504.1 487.5 170.1 2531.9 0.00 0.00 0 130.71 121.96 0.00 0.00 0.005 0.000 0.000 2953.84 2932.62 2975.06 170.44 2532.12 0 0 0 15.65 30.00 30.00

130.91 18983 -116.79 -1.34 -80.00 2952.9 2931.4 2974.4 170.0 2532.5 3.42 -2.31 12 168.42 12.83 16.08 3.81 0.007 0.253 0.159 3445.19 3435.62 3454.75 2113.00 1033.50 0 0 0 15.71 15.68 15.66

376.60 1156 -116.79 -1.27 0.00 3444.2 3434.2 3454.2 2113.8 1033.8 44.68 -15.21 61 381.51 0.00 0.00 3.48 0.000 0.000 0.077 3446.09 3435.94 3456.25 2112.56 2521.00 0 0 0 30.00 30.00 15.82

566.64 260 -116.79 -1.27 80.00 3444.7 3434.4 3454.9 2113.1 2521.1 68.36 -11.59 81 571.40 0.00 0.00 2.74 0.000 0.000 0.123 3444.91 3435.25 3454.56 2113.25 3639.94 0 0 0 30.00 30.00 15.85

606.61 1028 -116.79 -1.27 0.00 3444.7 3434.7 3454.6 2114.1 3640.2 72.83 -11.46 89 611.41 0.00 0.00 2.70 0.000 0.000 0.065 3445.78 3435.56 3456.00 2112.75 2470.62 0 0 0 30.00 30.00 15.87

796.64 548 -116.79 -1.27 -80.00 3445.1 3435.1 3455.1 2113.4 2470.4 91.66 -8.86 109 801.58 0.00 0.00 3.62 0.000 0.000 0.161 3446.97 3436.56 3457.38 2113.31 1033.88 0 0 0 30.00 30.00 15.89

880.90 1028 -116.79 -1.27 0.00 3444.7 3434.5 3454.9 2113.8 1033.9 100.58 -10.74 126 887.34 0.00 0.00 3.45 0.000 0.000 0.076 3446.19 3436.50 3455.88 2112.69 2521.69 0 0 0 30.00 30.00 15.92

1076.71 548 -116.79 -1.27 -80.00 3444.9 3434.9 3454.9 2113.8 2521.1 116.79 -7.96 146 1081.64 0.00 0.00 3.75 0.000 0.000 0.155 3445.19 3435.12 3455.25 2113.88 1033.69 0 0 0 30.00 30.00 15.93

1110.90 1060 -116.79 -1.27 0.00 3444.7 3434.6 3454.7 2113.4 1033.6 119.96 -8.91 153 1117.38 0.00 0.00 3.45 0.000 0.000 0.076 3445.06 3434.69 3455.44 2113.44 2522.81 0 0 0 30.00 30.00 15.96

1167 end dive: TARGET_DEPTH_EXCEEDED

state 1167 begin apogee

1167.77 10243 0.00 -0.25 0.00 3445.1 3435.2 3454.9 2113.9 2471.8 124.12 -7.70 159 1258.78 85.94 1.88 0.09 1.137 0.130 0.222 2968.12 2974.94 2961.31 2381.19 2521.62 0 0 0 12.91 15.93 15.58

1262 end apogee: CONTROL_FINISHED_OK

state 1262 begin climb

1264.28 10243 116.79 1.34 0.00 2964.4 2971.1 2957.6 2381.4 2521.4 125.38 0.00 168 1363.38 92.88 2.54 0.00 1.098 0.067 0.000 2492.88 2500.56 2485.19 2774.19 2521.06 0 0 0 12.75 15.65 30.00

1547.62 16646 116.79 1.34 80.00 2480.2 2491.5 2468.9 2774.0 2522.0 97.37 12.11 206 1552.42 0.00 0.00 2.76 0.000 0.000 0.120 2480.44 2492.25 2468.62 2773.50 3641.00 0 0 0 30.00 30.00 15.64

1697.70 21639 116.79 1.26 0.00 2479.1 2489.5 2468.7 2774.1 3641.0 79.29 11.25 236 1702.55 0.00 0.32 2.71 0.000 0.169 0.064 2479.62 2490.75 2468.50 2738.94 2467.75 0 0 0 30.00 15.69 15.75

1887.74 10663 168.56 1.50 80.00 2477.0 2489.9 2464.1 2739.2 2468.4 63.96 7.00 256 1943.51 49.05 0.46 2.89 1.026 0.057 0.118 2277.34 2292.00 2262.69 2820.00 3642.38 0 0 0 12.86 15.82 15.60

1957.69 9254 200.80 1.60 0.00 2275.9 2290.5 2261.2 2818.8 3642.0 58.76 8.13 270 1993.09 31.45 0.00 2.73 0.984 0.000 0.064 2148.38 2167.50 2129.25 2819.44 2466.00 0 0 0 12.82 30.00 15.66

2177.74 10535 250.82 1.75 80.00 2141.3 2163.6 2119.0 2819.9 2466.8 42.86 7.10 296 2229.32 47.06 0.28 2.90 0.995 0.069 0.118 1945.38 1969.25 1921.50 2877.38 3640.12 0 0 0 12.76 15.73 15.53

2277.73 5253 250.82 1.67 0.00 1939.5 1964.6 1914.4 2876.9 3640.6 34.29 10.61 316 2282.60 0.00 0.34 2.73 0.000 0.174 0.063 1939.50 1965.06 1913.94 2839.06 2467.38 0 0 0 30.00 15.58 15.63

2467.78 10919 285.13 1.84 -80.00 1936.5 1964.2 1908.8 2838.9 2467.2 19.29 8.01 336 2508.35 31.66 0.34 3.62 0.961 0.063 0.147 1806.19 1834.88 1777.50 2898.50 1033.44 0 0 0 12.81 15.74 15.59

2537.74 5253 285.13 1.73 0.00 1801.6 1828.6 1774.6 2899.1 1033.4 11.72 12.20 350 2543.74 0.00 0.38 3.49 0.000 0.182 0.068 1802.81 1829.19 1776.44 2854.88 2522.56 0 0 0 30.00 15.63 15.67

2633 end climb: SURFACE_DEPTH_REACHED

state 2633 begin surface coast

2663 end surface coast: CONTROL_FINISHED_OK

state 2663 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	32	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	637.77997	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	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	2968	DEEPGLIDERMB	0
D_NO_BLEED	50	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	163	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	1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	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	2440	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	12.940167	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	17.322594	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-166.76357	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	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099900002	ROLL_MIN	810	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	1.6e-05	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	2500	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2500	ALTIM_PULSE	2

GPS1	250322,182329,4653.840,-12444.818,1,1.2,31,15.6	TGT_RADIUS	2500.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250322,182912,4653.840,-12444.824,2,0.7,4,15.6	MHEAD_RNG_PITCHd_Wd	260.5,19801,-19.9,-10.000,-23.24,1773,0.513
SPEED_LIMITS	0.173,0.233	D_GRID	124
TGT_NAME	CANYON2	IRON	1.000000,-0.070697,-0.073739,-0.037418,1.070137,-0.018118,0.021715,-0.020855,1.041310,-557.200989,-559.408813,-276.885132
TGT_LATLONG	4651.270,-12500.000

FINISH	-0.4,1.012780	FG_AHR_10Vo	12.951
SM_CCo	2957.39,267.55,0.976,0,500.8,509.9,491.6,605.22	MEM0	60148,1,0,0
SM_GC	1.03,267.55,17.27,0.08,0.976,0.046,0.157,500.8,509.9,491.6,171.5,2470.2,0,0,0,12.81,15.74,15.74	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	968524,23,78324,63
IRIDIUM_FIX	4657.10,-12447.89,250322,173244	DATA_FILE_SIZE	9717,363
TCM_TEMP	176.39	CAP_FILE_SIZE	164130,0
XPDR_PINGS	11,13.5,11.5	SDSIZE	3918848,3900928
SC_FREEKB	3866496	SDFILEDIR	222,1
HUMID	50.19	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.10	CURRENT	0.059,183.2,1
INTERNAL_PRESSURE	8.48733	MAGCAL	1.000000,-0.135714,-0.177107,-0.045756,1.070511,0.020340,0.023552,-0.101099,0.941915,-408.9,-544.9,-186.7,14,0.0293,0
_24V_AH	14.69,8.306	IMPLIED_C_PITCH	2449,14.07,179,0.0,0.00
_10V_AH	14.72,0.000	GPS	250322,191858,4653.720,-12445.255,1,0.8,2,15.6
FG_AHR_24Vo	17.504

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	740	1137	12369.00	nil	0	0	0.00
Pitch_motor	39	252	148.24	nil	0	0	0.00
Roll_motor	51	222	167.04	nil	0	0	0.00
Iridium	211	177	553.45	nil	0	0	0.00
Transponder_ping	2	420	16.97	nil	0	0	0.00
GPS	13	15	3.03	nil	0	0	0.00
Core	1657	6	165.88	SciCon	2673	6	272.47
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1352	2	39.82
Compass	747	5	55.04
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8.43	16386	-116.79	-1.34	0.00	495.8	504.1	487.5	170.1	2531.9	0.00	0.00	0	130.71	121.96	0.00	0.00	0.005	0.000	0.000	2953.84	2932.62	2975.06	170.44	2532.12	0	0	0	15.65	30.00	30.00
130.91	18983	-116.79	-1.34	-80.00	2952.9	2931.4	2974.4	170.0	2532.5	3.42	-2.31	12	168.42	12.83	16.08	3.81	0.007	0.253	0.159	3445.19	3435.62	3454.75	2113.00	1033.50	0	0	0	15.71	15.68	15.66
376.60	1156	-116.79	-1.27	0.00	3444.2	3434.2	3454.2	2113.8	1033.8	44.68	-15.21	61	381.51	0.00	0.00	3.48	0.000	0.000	0.077	3446.09	3435.94	3456.25	2112.56	2521.00	0	0	0	30.00	30.00	15.82
566.64	260	-116.79	-1.27	80.00	3444.7	3434.4	3454.9	2113.1	2521.1	68.36	-11.59	81	571.40	0.00	0.00	2.74	0.000	0.000	0.123	3444.91	3435.25	3454.56	2113.25	3639.94	0	0	0	30.00	30.00	15.85
606.61	1028	-116.79	-1.27	0.00	3444.7	3434.7	3454.6	2114.1	3640.2	72.83	-11.46	89	611.41	0.00	0.00	2.70	0.000	0.000	0.065	3445.78	3435.56	3456.00	2112.75	2470.62	0	0	0	30.00	30.00	15.87
796.64	548	-116.79	-1.27	-80.00	3445.1	3435.1	3455.1	2113.4	2470.4	91.66	-8.86	109	801.58	0.00	0.00	3.62	0.000	0.000	0.161	3446.97	3436.56	3457.38	2113.31	1033.88	0	0	0	30.00	30.00	15.89
880.90	1028	-116.79	-1.27	0.00	3444.7	3434.5	3454.9	2113.8	1033.9	100.58	-10.74	126	887.34	0.00	0.00	3.45	0.000	0.000	0.076	3446.19	3436.50	3455.88	2112.69	2521.69	0	0	0	30.00	30.00	15.92
1076.71	548	-116.79	-1.27	-80.00	3444.9	3434.9	3454.9	2113.8	2521.1	116.79	-7.96	146	1081.64	0.00	0.00	3.75	0.000	0.000	0.155	3445.19	3435.12	3455.25	2113.88	1033.69	0	0	0	30.00	30.00	15.93
1110.90	1060	-116.79	-1.27	0.00	3444.7	3434.6	3454.7	2113.4	1033.6	119.96	-8.91	153	1117.38	0.00	0.00	3.45	0.000	0.000	0.076	3445.06	3434.69	3455.44	2113.44	2522.81	0	0	0	30.00	30.00	15.96
1167	end dive: TARGET_DEPTH_EXCEEDED
state	1167	begin apogee
1167.77	10243	0.00	-0.25	0.00	3445.1	3435.2	3454.9	2113.9	2471.8	124.12	-7.70	159	1258.78	85.94	1.88	0.09	1.137	0.130	0.222	2968.12	2974.94	2961.31	2381.19	2521.62	0	0	0	12.91	15.93	15.58
1262	end apogee: CONTROL_FINISHED_OK
state	1262	begin climb
1264.28	10243	116.79	1.34	0.00	2964.4	2971.1	2957.6	2381.4	2521.4	125.38	0.00	168	1363.38	92.88	2.54	0.00	1.098	0.067	0.000	2492.88	2500.56	2485.19	2774.19	2521.06	0	0	0	12.75	15.65	30.00
1547.62	16646	116.79	1.34	80.00	2480.2	2491.5	2468.9	2774.0	2522.0	97.37	12.11	206	1552.42	0.00	0.00	2.76	0.000	0.000	0.120	2480.44	2492.25	2468.62	2773.50	3641.00	0	0	0	30.00	30.00	15.64
1697.70	21639	116.79	1.26	0.00	2479.1	2489.5	2468.7	2774.1	3641.0	79.29	11.25	236	1702.55	0.00	0.32	2.71	0.000	0.169	0.064	2479.62	2490.75	2468.50	2738.94	2467.75	0	0	0	30.00	15.69	15.75
1887.74	10663	168.56	1.50	80.00	2477.0	2489.9	2464.1	2739.2	2468.4	63.96	7.00	256	1943.51	49.05	0.46	2.89	1.026	0.057	0.118	2277.34	2292.00	2262.69	2820.00	3642.38	0	0	0	12.86	15.82	15.60
1957.69	9254	200.80	1.60	0.00	2275.9	2290.5	2261.2	2818.8	3642.0	58.76	8.13	270	1993.09	31.45	0.00	2.73	0.984	0.000	0.064	2148.38	2167.50	2129.25	2819.44	2466.00	0	0	0	12.82	30.00	15.66
2177.74	10535	250.82	1.75	80.00	2141.3	2163.6	2119.0	2819.9	2466.8	42.86	7.10	296	2229.32	47.06	0.28	2.90	0.995	0.069	0.118	1945.38	1969.25	1921.50	2877.38	3640.12	0	0	0	12.76	15.73	15.53
2277.73	5253	250.82	1.67	0.00	1939.5	1964.6	1914.4	2876.9	3640.6	34.29	10.61	316	2282.60	0.00	0.34	2.73	0.000	0.174	0.063	1939.50	1965.06	1913.94	2839.06	2467.38	0	0	0	30.00	15.58	15.63
2467.78	10919	285.13	1.84	-80.00	1936.5	1964.2	1908.8	2838.9	2467.2	19.29	8.01	336	2508.35	31.66	0.34	3.62	0.961	0.063	0.147	1806.19	1834.88	1777.50	2898.50	1033.44	0	0	0	12.81	15.74	15.59
2537.74	5253	285.13	1.73	0.00	1801.6	1828.6	1774.6	2899.1	1033.4	11.72	12.20	350	2543.74	0.00	0.38	3.49	0.000	0.182	0.068	1802.81	1829.19	1776.44	2854.88	2522.56	0	0	0	30.00	15.63	15.67
2633	end climb: SURFACE_DEPTH_REACHED
state	2633	begin surface coast
2663	end surface coast: CONTROL_FINISHED_OK
state	2663	begin surface