Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 47 * 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 47 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 605.40039 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 20 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 2 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 13.125467 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 20.127199 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 225 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 20 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 605.40039

ALTIM_SENSITIVITY 4 FG_AHR_10V 13.125467 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 20.127199 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 2 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 225 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 47 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 260322,083444,4651.387,-12447.124,2,1.1,2,15.6 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -59.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260322,083825,4651.396,-12447.112,2,1.1,4,15.6 MHEAD_RNG_PITCHd_Wd 234.9,20000,-19.9,-10.000,-23.24,1773,0.600

SPEED_LIMITS 0.173,0.233 D_GRID 141

TGT_NAME HEADING 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 4643.760,-12458.253

Post-dive calculations and measurements:

FINISH -0.3,1.024752 FG_AHR_10Vo 13.138

SM_CCo 3313.30,304.50,0.971,0,500.6,504.8,496.5,605.25 MEM0 60148,1,0,0

SM_GC 1.20,304.50,17.34,0.09,0.971,0.048,0.143,500.6,504.8,496.5,176.8,2526.2,0,0,0,12.89,15.78,15.79 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 968612,18,78336,63

IRIDIUM_FIX 4650.66,-12446.89,260322,073919 DATA_FILE_SIZE 9720,410

TCM_TEMP 176.46 CAP_FILE_SIZE 172585,0

XPDR_PINGS 9,13.5,11.5 SDSIZE 3918848,3897568

SC_FREEKB 3860736 SDFILEDIR 312,1

HUMID 50.14 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.07 CURRENT 0.095,164.7,1

INTERNAL_PRESSURE 8.48237 MAGCAL 1.000000,-0.070727,-0.170996,-0.057551,1.065830,-0.068086,0.060923,-0.039665,0.954068,-455.2,-500.1,-195.6,21,0.0320,0

_24V_AH 14.69,11.183 IMPLIED_C_PITCH 2448,14.45,208,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3364,24.089346,110,0

FG_AHR_24Vo 20.309 GPS 260322,093432,4651.069,-12447.467,4,1.2,28,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 742 1166 12722.48 nil 0 0 0.00

Pitch_motor 39 255 147.73 nil 0 0 0.00

Roll_motor 59 215 188.19 nil 0 0 0.00

Iridium 134 177 349.53 nil 0 0 0.00

Transponder_ping 2 420 13.88 nil 0 0 0.00

GPS 13 15 3.01 nil 0 0 0.00

Core 1706 6 170.77 SciCon 2994 6 295.50

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1500 2 44.17

Compass 843 5 62.05

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

8.42 16386 -116.79 -1.34 0.00 496.9 498.8 495.1 168.1 2471.6 0.00 0.00 0 140.88 132.18 0.00 0.00 0.005 0.000 0.000 3147.75 3123.31 3172.19 167.88 2470.88 0 0 0 14.47 30.00 30.00

141.10 18983 -116.79 -1.34 -80.00 3147.7 3123.8 3171.6 167.8 2470.9 3.92 -2.33 13 173.32 6.95 16.25 3.75 0.008 0.256 0.159 3445.25 3435.06 3455.44 2113.62 1034.50 0 0 0 15.67 15.64 15.61

361.23 3205 -116.79 -1.24 0.00 3444.4 3434.1 3454.8 2113.8 1034.4 44.63 -15.67 57 366.48 0.00 0.19 3.54 0.000 0.175 0.076 3445.31 3434.75 3455.88 2140.31 2521.62 0 0 0 30.00 15.73 15.78

551.50 548 -116.79 -1.24 -80.00 3445.2 3434.9 3455.6 2140.9 2522.0 66.09 -9.94 77 556.48 0.00 0.00 3.85 0.000 0.000 0.149 3445.06 3435.88 3454.25 2141.00 1036.75 0 0 0 30.00 30.00 15.82

611.51 1028 -116.79 -1.24 0.00 3444.9 3434.2 3455.6 2141.2 1037.0 73.69 -12.49 89 616.58 0.00 0.00 3.49 0.000 0.000 0.072 3446.47 3436.06 3456.88 2141.50 2521.81 0 0 0 30.00 30.00 15.85

801.59 676 -116.79 -1.32 -80.00 3444.9 3434.7 3455.2 2140.8 2521.8 90.22 -7.65 109 807.52 0.00 0.00 3.83 0.000 0.000 0.150 3446.84 3436.81 3456.88 2140.81 1034.69 0 0 0 30.00 30.00 15.88

880.81 1060 -116.79 -1.32 0.00 3445.3 3435.8 3454.9 2140.7 1034.4 97.95 -9.74 125 887.26 0.00 0.00 3.49 0.000 0.000 0.074 3444.59 3434.25 3454.94 2140.31 2521.00 0 0 0 30.00 30.00 15.90

1076.62 4773 -116.79 -1.41 -80.00 3446.3 3436.1 3456.4 2140.8 2521.5 113.68 -7.72 145 1082.65 0.00 0.39 3.84 0.000 0.065 0.149 3445.06 3434.56 3455.56 2081.31 1034.62 0 0 0 30.00 15.93 15.91

1175.81 3205 -116.79 -1.31 0.00 3445.3 3435.4 3455.2 2081.6 1034.3 124.63 -11.96 165 1182.37 0.00 0.36 3.48 0.000 0.161 0.076 3445.28 3435.56 3455.00 2122.94 2522.25 0 0 0 30.00 15.90 15.94

1371.60 32 -116.79 -1.31 0.00 3445.1 3435.4 3454.8 2123.6 2523.1 140.17 -7.48 185 1372.94 0.00 0.00 0.00 0.000 0.000 0.000 3445.94 3435.38 3456.50 2123.00 2523.25 0 0 0 30.00 30.00 30.00

1392 end dive: TARGET_DEPTH_EXCEEDED

state 1392 begin apogee

1392.68 10243 0.00 -0.25 0.00 3445.6 3435.8 3455.4 2123.2 2469.8 141.53 -7.37 187 1483.68 86.04 1.85 0.09 1.166 0.130 0.216 2967.47 2973.94 2961.00 2379.38 2522.12 0 0 0 12.98 15.94 15.58

1487 end apogee: CONTROL_FINISHED_OK

state 1487 begin climb

1489.18 10503 116.79 1.34 80.00 2964.2 2971.2 2957.2 2380.2 2522.2 142.30 0.00 196 1589.12 92.78 2.58 2.86 1.127 0.068 0.120 2489.75 2497.38 2482.12 2770.56 3639.75 0 0 0 12.78 15.64 15.36

1591.58 9254 139.65 1.41 0.00 2487.9 2494.8 2481.0 2772.4 3640.2 135.24 8.67 212 1618.28 20.17 0.00 2.80 1.015 0.000 0.060 2396.38 2407.12 2385.62 2772.81 2468.62 0 0 0 12.67 30.00 15.44

1807.29 16646 139.65 1.41 80.00 2387.1 2401.3 2372.8 2773.4 2468.5 106.35 13.16 236 1812.12 0.00 0.00 2.96 0.000 0.000 0.116 2387.56 2401.75 2373.38 2773.25 3640.38 0 0 0 30.00 30.00 15.65

1857.31 17414 139.65 1.41 0.00 2386.0 2399.2 2372.8 2773.6 3641.3 99.88 13.02 246 1862.09 0.00 0.00 2.75 0.000 0.000 0.062 2386.22 2399.50 2372.94 2773.50 2468.12 0 0 0 30.00 30.00 15.68

2047.31 16902 139.65 1.41 -80.00 2384.4 2399.4 2369.5 2773.9 2468.6 80.07 10.25 266 2052.26 0.00 0.00 3.69 0.000 0.000 0.140 2386.09 2400.94 2371.25 2772.62 1033.56 0 0 0 30.00 30.00 15.76

2141.59 17414 139.65 1.41 0.00 2383.7 2397.7 2369.7 2773.6 1033.3 70.29 10.00 285 2148.03 0.00 0.00 3.48 0.000 0.000 0.066 2385.03 2399.12 2370.94 2772.31 2521.31 0 0 0 30.00 30.00 15.80

2337.40 10535 172.72 1.51 80.00 2383.0 2398.1 2367.9 2773.6 2521.6 54.92 8.08 305 2373.64 31.69 0.19 2.80 1.011 0.075 0.120 2261.81 2277.56 2246.06 2823.00 3639.69 0 0 0 12.90 15.85 15.69

2601.83 11303 231.24 1.69 0.00 2256.4 2273.4 2239.4 2824.2 3640.0 35.42 6.61 357 2663.52 55.94 0.14 2.71 1.003 0.094 0.063 2024.22 2046.75 2001.69 2861.62 2464.75 0 0 0 12.87 15.82 15.84

2851.84 8486 243.66 1.72 80.00 2016.1 2041.4 1990.8 2862.0 2464.7 14.78 9.28 388 2871.85 12.23 0.00 2.93 0.875 0.000 0.118 1974.06 1999.12 1949.00 2861.38 3638.56 0 0 0 12.85 30.00 15.68

2936.06 1028 243.66 1.72 0.00 1970.1 1994.7 1945.4 2861.5 3639.1 4.99 12.71 405 2942.43 0.00 0.00 2.73 0.000 0.000 0.064 1970.41 1995.38 1945.44 2861.06 2468.81 0 0 0 30.00 30.00 15.76

2962 end climb: SURFACE_DEPTH_REACHED

state 2962 begin surface coast

2982 end surface coast: CONTROL_FINISHED_OK

state 2982 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	47	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	605.40039	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	20	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	2	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	13.125467	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	20.127199	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	225	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	260322,083444,4651.387,-12447.124,2,1.1,2,15.6	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260322,083825,4651.396,-12447.112,2,1.1,4,15.6	MHEAD_RNG_PITCHd_Wd	234.9,20000,-19.9,-10.000,-23.24,1773,0.600
SPEED_LIMITS	0.173,0.233	D_GRID	141
TGT_NAME	HEADING	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	4643.760,-12458.253

FINISH	-0.3,1.024752	FG_AHR_10Vo	13.138
SM_CCo	3313.30,304.50,0.971,0,500.6,504.8,496.5,605.25	MEM0	60148,1,0,0
SM_GC	1.20,304.50,17.34,0.09,0.971,0.048,0.143,500.6,504.8,496.5,176.8,2526.2,0,0,0,12.89,15.78,15.79	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	968612,18,78336,63
IRIDIUM_FIX	4650.66,-12446.89,260322,073919	DATA_FILE_SIZE	9720,410
TCM_TEMP	176.46	CAP_FILE_SIZE	172585,0
XPDR_PINGS	9,13.5,11.5	SDSIZE	3918848,3897568
SC_FREEKB	3860736	SDFILEDIR	312,1
HUMID	50.14	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.07	CURRENT	0.095,164.7,1
INTERNAL_PRESSURE	8.48237	MAGCAL	1.000000,-0.070727,-0.170996,-0.057551,1.065830,-0.068086,0.060923,-0.039665,0.954068,-455.2,-500.1,-195.6,21,0.0320,0
_24V_AH	14.69,11.183	IMPLIED_C_PITCH	2448,14.45,208,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3364,24.089346,110,0
FG_AHR_24Vo	20.309	GPS	260322,093432,4651.069,-12447.467,4,1.2,28,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	742	1166	12722.48	nil	0	0	0.00
Pitch_motor	39	255	147.73	nil	0	0	0.00
Roll_motor	59	215	188.19	nil	0	0	0.00
Iridium	134	177	349.53	nil	0	0	0.00
Transponder_ping	2	420	13.88	nil	0	0	0.00
GPS	13	15	3.01	nil	0	0	0.00
Core	1706	6	170.77	SciCon	2994	6	295.50
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1500	2	44.17
Compass	843	5	62.05
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
8.42	16386	-116.79	-1.34	0.00	496.9	498.8	495.1	168.1	2471.6	0.00	0.00	0	140.88	132.18	0.00	0.00	0.005	0.000	0.000	3147.75	3123.31	3172.19	167.88	2470.88	0	0	0	14.47	30.00	30.00
141.10	18983	-116.79	-1.34	-80.00	3147.7	3123.8	3171.6	167.8	2470.9	3.92	-2.33	13	173.32	6.95	16.25	3.75	0.008	0.256	0.159	3445.25	3435.06	3455.44	2113.62	1034.50	0	0	0	15.67	15.64	15.61
361.23	3205	-116.79	-1.24	0.00	3444.4	3434.1	3454.8	2113.8	1034.4	44.63	-15.67	57	366.48	0.00	0.19	3.54	0.000	0.175	0.076	3445.31	3434.75	3455.88	2140.31	2521.62	0	0	0	30.00	15.73	15.78
551.50	548	-116.79	-1.24	-80.00	3445.2	3434.9	3455.6	2140.9	2522.0	66.09	-9.94	77	556.48	0.00	0.00	3.85	0.000	0.000	0.149	3445.06	3435.88	3454.25	2141.00	1036.75	0	0	0	30.00	30.00	15.82
611.51	1028	-116.79	-1.24	0.00	3444.9	3434.2	3455.6	2141.2	1037.0	73.69	-12.49	89	616.58	0.00	0.00	3.49	0.000	0.000	0.072	3446.47	3436.06	3456.88	2141.50	2521.81	0	0	0	30.00	30.00	15.85
801.59	676	-116.79	-1.32	-80.00	3444.9	3434.7	3455.2	2140.8	2521.8	90.22	-7.65	109	807.52	0.00	0.00	3.83	0.000	0.000	0.150	3446.84	3436.81	3456.88	2140.81	1034.69	0	0	0	30.00	30.00	15.88
880.81	1060	-116.79	-1.32	0.00	3445.3	3435.8	3454.9	2140.7	1034.4	97.95	-9.74	125	887.26	0.00	0.00	3.49	0.000	0.000	0.074	3444.59	3434.25	3454.94	2140.31	2521.00	0	0	0	30.00	30.00	15.90
1076.62	4773	-116.79	-1.41	-80.00	3446.3	3436.1	3456.4	2140.8	2521.5	113.68	-7.72	145	1082.65	0.00	0.39	3.84	0.000	0.065	0.149	3445.06	3434.56	3455.56	2081.31	1034.62	0	0	0	30.00	15.93	15.91
1175.81	3205	-116.79	-1.31	0.00	3445.3	3435.4	3455.2	2081.6	1034.3	124.63	-11.96	165	1182.37	0.00	0.36	3.48	0.000	0.161	0.076	3445.28	3435.56	3455.00	2122.94	2522.25	0	0	0	30.00	15.90	15.94
1371.60	32	-116.79	-1.31	0.00	3445.1	3435.4	3454.8	2123.6	2523.1	140.17	-7.48	185	1372.94	0.00	0.00	0.00	0.000	0.000	0.000	3445.94	3435.38	3456.50	2123.00	2523.25	0	0	0	30.00	30.00	30.00
1392	end dive: TARGET_DEPTH_EXCEEDED
state	1392	begin apogee
1392.68	10243	0.00	-0.25	0.00	3445.6	3435.8	3455.4	2123.2	2469.8	141.53	-7.37	187	1483.68	86.04	1.85	0.09	1.166	0.130	0.216	2967.47	2973.94	2961.00	2379.38	2522.12	0	0	0	12.98	15.94	15.58
1487	end apogee: CONTROL_FINISHED_OK
state	1487	begin climb
1489.18	10503	116.79	1.34	80.00	2964.2	2971.2	2957.2	2380.2	2522.2	142.30	0.00	196	1589.12	92.78	2.58	2.86	1.127	0.068	0.120	2489.75	2497.38	2482.12	2770.56	3639.75	0	0	0	12.78	15.64	15.36
1591.58	9254	139.65	1.41	0.00	2487.9	2494.8	2481.0	2772.4	3640.2	135.24	8.67	212	1618.28	20.17	0.00	2.80	1.015	0.000	0.060	2396.38	2407.12	2385.62	2772.81	2468.62	0	0	0	12.67	30.00	15.44
1807.29	16646	139.65	1.41	80.00	2387.1	2401.3	2372.8	2773.4	2468.5	106.35	13.16	236	1812.12	0.00	0.00	2.96	0.000	0.000	0.116	2387.56	2401.75	2373.38	2773.25	3640.38	0	0	0	30.00	30.00	15.65
1857.31	17414	139.65	1.41	0.00	2386.0	2399.2	2372.8	2773.6	3641.3	99.88	13.02	246	1862.09	0.00	0.00	2.75	0.000	0.000	0.062	2386.22	2399.50	2372.94	2773.50	2468.12	0	0	0	30.00	30.00	15.68
2047.31	16902	139.65	1.41	-80.00	2384.4	2399.4	2369.5	2773.9	2468.6	80.07	10.25	266	2052.26	0.00	0.00	3.69	0.000	0.000	0.140	2386.09	2400.94	2371.25	2772.62	1033.56	0	0	0	30.00	30.00	15.76
2141.59	17414	139.65	1.41	0.00	2383.7	2397.7	2369.7	2773.6	1033.3	70.29	10.00	285	2148.03	0.00	0.00	3.48	0.000	0.000	0.066	2385.03	2399.12	2370.94	2772.31	2521.31	0	0	0	30.00	30.00	15.80
2337.40	10535	172.72	1.51	80.00	2383.0	2398.1	2367.9	2773.6	2521.6	54.92	8.08	305	2373.64	31.69	0.19	2.80	1.011	0.075	0.120	2261.81	2277.56	2246.06	2823.00	3639.69	0	0	0	12.90	15.85	15.69
2601.83	11303	231.24	1.69	0.00	2256.4	2273.4	2239.4	2824.2	3640.0	35.42	6.61	357	2663.52	55.94	0.14	2.71	1.003	0.094	0.063	2024.22	2046.75	2001.69	2861.62	2464.75	0	0	0	12.87	15.82	15.84
2851.84	8486	243.66	1.72	80.00	2016.1	2041.4	1990.8	2862.0	2464.7	14.78	9.28	388	2871.85	12.23	0.00	2.93	0.875	0.000	0.118	1974.06	1999.12	1949.00	2861.38	3638.56	0	0	0	12.85	30.00	15.68
2936.06	1028	243.66	1.72	0.00	1970.1	1994.7	1945.4	2861.5	3639.1	4.99	12.71	405	2942.43	0.00	0.00	2.73	0.000	0.000	0.064	1970.41	1995.38	1945.44	2861.06	2468.81	0	0	0	30.00	30.00	15.76
2962	end climb: SURFACE_DEPTH_REACHED
state	2962	begin surface coast
2982	end surface coast: CONTROL_FINISHED_OK
state	2982	begin surface