Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 55 * 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 55 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 13.231318 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 21.641558 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 13.231318 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 21.641558 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 55 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 260322,163805,4649.429,-12448.370,29,0.9,33,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260322,164238,4649.441,-12448.316,2,0.8,7,15.6 MHEAD_RNG_PITCHd_Wd 217.1,20000,-19.9,-10.000,-23.24,1773,0.578

SPEED_LIMITS 0.173,0.233 D_GRID 145

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 4641.805,-12459.450

Post-dive calculations and measurements:

FINISH -0.2,1.024738 FG_AHR_10Vo 13.244

SM_CCo 3328.48,277.27,0.969,0,500.8,501.9,499.7,605.20 MEM0 60148,1,0,0

SM_GC 1.09,277.27,17.23,2.77,0.969,0.039,0.064,500.8,501.9,499.7,167.8,2463.6,0,0,0,12.84,15.76,15.75 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 968632,17,78336,63

IRIDIUM_FIX 4648.28,-12449.47,260322,153929 DATA_FILE_SIZE 9768,404

TCM_TEMP 176.05 CAP_FILE_SIZE 175398,0

XPDR_PINGS 16,13.5,11.5 SDSIZE 3918848,3895776

SC_FREEKB 3857664 SDFILEDIR 360,1

HUMID 50.26 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.06 CURRENT 0.040,206.4,1

INTERNAL_PRESSURE 8.48525 MAGCAL 1.000000,-0.092823,-0.237583,-0.010281,1.103680,0.049112,0.083052,0.009826,1.036226,-405.7,-612.7,-263.7,18,0.0374,0

_24V_AH 14.70,12.733 IMPLIED_C_PITCH 2449,14.42,213,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3414,24.065733,120,0

FG_AHR_24Vo 21.824 GPS 260322,173842,4649.124,-12448.667,2,1.5,9,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 738 1172 12721.31 nil 0 0 0.00

Pitch_motor 39 257 151.29 nil 0 0 0.00

Roll_motor 64 203 191.76 nil 0 0 0.00

Iridium 149 99 219.08 nil 0 0 0.00

Transponder_ping 4 420 24.70 nil 0 0 0.00

GPS 16 15 3.71 nil 0 0 0.00

Core 1736 6 173.80 SciCon 3033 6 306.89

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1560 2 45.94

Compass 841 5 61.92

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 0.00 496.0 498.8 493.3 166.4 2530.6 0.00 0.00 0 140.88 132.16 0.00 0.00 0.005 0.000 0.000 3169.88 3145.38 3194.38 166.56 2531.62 0 0 0 14.45 30.00 30.00

141.10 18983 -116.79 -1.34 -80.00 3168.8 3144.2 3193.5 166.5 2531.1 4.58 -5.40 13 173.34 6.18 16.26 3.99 0.008 0.258 0.159 3445.34 3434.56 3456.12 2111.69 1033.44 0 0 0 15.71 15.67 15.67

245.73 3205 -116.79 -1.23 0.00 3445.0 3434.4 3455.6 2113.4 1033.5 24.45 -14.56 34 252.26 0.00 0.21 3.60 0.000 0.163 0.074 3446.91 3436.19 3457.62 2143.19 2520.44 0 0 0 30.00 15.73 15.76

441.47 260 -116.79 -1.23 80.00 3445.9 3435.2 3456.6 2144.1 2520.0 49.71 -14.17 54 446.29 0.00 0.00 2.85 0.000 0.000 0.119 3446.09 3435.38 3456.81 2143.94 3639.06 0 0 0 30.00 30.00 15.81

501.49 1028 -116.79 -1.23 0.00 3445.3 3434.6 3456.0 2144.2 3639.6 58.06 -14.08 66 506.29 0.00 0.00 2.75 0.000 0.000 0.063 3445.47 3434.81 3456.12 2144.06 2471.81 0 0 0 30.00 30.00 15.84

691.52 548 -116.79 -1.23 -80.00 3445.2 3434.9 3455.6 2144.2 2471.4 75.47 -8.32 86 696.50 0.00 0.00 3.82 0.000 0.000 0.154 3446.25 3435.69 3456.81 2143.56 1033.62 0 0 0 30.00 30.00 15.87

771.57 1060 -116.79 -1.23 0.00 3445.6 3435.2 3455.9 2144.1 1034.1 82.80 -9.52 102 776.49 0.00 0.00 3.56 0.000 0.000 0.072 3445.47 3435.00 3455.94 2144.00 2521.69 0 0 0 30.00 30.00 15.90

961.60 160 -116.79 -1.30 0.00 3445.8 3436.0 3455.6 2143.7 2521.9 99.11 -7.24 122 962.94 0.00 0.00 0.00 0.000 0.000 0.000 3446.22 3436.00 3456.44 2144.56 2522.19 0 0 0 30.00 30.00 30.00

1151.59 4517 -116.79 -1.39 80.00 3445.3 3435.4 3455.2 2144.4 2521.9 113.46 -8.36 141 1156.46 0.00 0.37 2.83 0.000 0.058 0.119 3446.38 3435.94 3456.81 2085.81 3641.00 0 0 0 30.00 15.95 15.93

1231.62 3205 -116.79 -1.31 0.00 3445.6 3435.0 3456.1 2085.9 3641.4 121.93 -11.23 157 1236.46 0.00 0.34 2.73 0.000 0.160 0.063 3446.94 3436.75 3457.12 2124.12 2469.44 0 0 0 30.00 15.92 15.96

1421.64 548 -116.79 -1.31 -80.00 3446.0 3435.3 3456.6 2124.2 2469.1 138.82 -8.97 177 1426.59 0.00 0.00 3.76 0.000 0.000 0.156 3447.22 3437.44 3457.00 2124.50 1033.56 0 0 0 30.00 30.00 15.96

1482 end dive: TARGET_DEPTH_EXCEEDED

state 1482 begin apogee

1486.38 10243 0.00 -0.25 0.00 3446.2 3436.6 3455.8 2124.2 2522.1 145.03 -10.24 189 1575.72 86.03 1.86 0.09 1.172 0.135 0.204 2964.38 2970.62 2958.12 2379.56 2470.75 0 0 0 13.07 15.94 15.60

1579 end apogee: CONTROL_FINISHED_OK

state 1579 begin climb

1581.62 10503 116.79 1.34 80.00 2964.3 2971.4 2957.2 2379.9 2471.0 146.91 0.00 198 1682.18 92.89 2.60 3.07 1.131 0.066 0.113 2487.62 2494.44 2480.81 2774.31 3640.12 0 0 0 12.83 15.65 15.37

1690.36 9382 150.41 1.38 0.00 2486.6 2493.4 2479.9 2774.2 3639.9 139.98 8.05 213 1722.51 28.27 0.00 2.81 1.054 0.000 0.060 2352.53 2364.19 2340.88 2774.19 2469.88 0 0 0 12.63 30.00 15.46

1905.68 16646 150.41 1.38 80.00 2344.0 2358.9 2329.2 2774.2 2470.0 109.60 15.20 238 1910.46 0.00 0.00 2.98 0.000 0.000 0.114 2344.84 2359.44 2330.25 2774.06 3640.00 0 0 0 30.00 30.00 15.63

2135.69 17414 150.41 1.38 0.00 2341.2 2355.4 2326.9 2774.3 3639.8 78.84 11.28 284 2140.49 0.00 0.00 2.77 0.000 0.000 0.063 2341.91 2356.12 2327.69 2774.19 2467.94 0 0 0 30.00 30.00 15.76

2325.72 292 153.36 1.39 80.00 2340.4 2355.6 2325.1 2774.1 2468.4 60.65 9.83 304 2330.54 0.00 0.00 2.99 0.000 0.000 0.114 2340.16 2355.38 2324.94 2773.62 3643.62 0 0 0 30.00 30.00 15.82

2419.96 1060 153.97 1.39 0.00 2339.6 2354.7 2324.5 2773.9 3643.9 50.51 9.96 323 2426.32 0.00 0.00 2.78 0.000 0.000 0.062 2340.16 2355.75 2324.56 2773.88 2467.25 0 0 0 30.00 30.00 15.85

2615.78 10919 275.33 1.84 -80.00 2338.9 2354.6 2323.2 2774.2 2467.1 41.57 2.97 343 2738.85 115.36 0.68 3.79 1.016 0.049 0.141 1844.09 1869.44 1818.75 2901.00 1033.69 0 0 0 12.97 15.88 15.49

2781.38 5253 275.33 1.73 0.00 1839.8 1864.4 1815.2 2901.8 1033.5 26.99 14.34 375 2787.83 0.00 0.43 3.63 0.000 0.176 0.065 1840.72 1865.19 1816.25 2855.25 2519.69 0 0 0 30.00 15.55 15.59

2977.00 16774 275.33 1.80 80.00 1834.9 1863.3 1806.5 2854.7 2519.9 4.15 10.34 395 2981.79 0.00 0.00 2.84 0.000 0.000 0.117 1836.31 1864.69 1807.94 2853.69 3640.81 0 0 0 30.00 30.00 15.72

2997 end climb: SURFACE_DEPTH_REACHED

state 2997 begin surface coast

3022 end surface coast: CONTROL_FINISHED_OK

state 3022 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	55	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	13.231318	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	21.641558	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	260322,163805,4649.429,-12448.370,29,0.9,33,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260322,164238,4649.441,-12448.316,2,0.8,7,15.6	MHEAD_RNG_PITCHd_Wd	217.1,20000,-19.9,-10.000,-23.24,1773,0.578
SPEED_LIMITS	0.173,0.233	D_GRID	145
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	4641.805,-12459.450

FINISH	-0.2,1.024738	FG_AHR_10Vo	13.244
SM_CCo	3328.48,277.27,0.969,0,500.8,501.9,499.7,605.20	MEM0	60148,1,0,0
SM_GC	1.09,277.27,17.23,2.77,0.969,0.039,0.064,500.8,501.9,499.7,167.8,2463.6,0,0,0,12.84,15.76,15.75	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	968632,17,78336,63
IRIDIUM_FIX	4648.28,-12449.47,260322,153929	DATA_FILE_SIZE	9768,404
TCM_TEMP	176.05	CAP_FILE_SIZE	175398,0
XPDR_PINGS	16,13.5,11.5	SDSIZE	3918848,3895776
SC_FREEKB	3857664	SDFILEDIR	360,1
HUMID	50.26	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.06	CURRENT	0.040,206.4,1
INTERNAL_PRESSURE	8.48525	MAGCAL	1.000000,-0.092823,-0.237583,-0.010281,1.103680,0.049112,0.083052,0.009826,1.036226,-405.7,-612.7,-263.7,18,0.0374,0
_24V_AH	14.70,12.733	IMPLIED_C_PITCH	2449,14.42,213,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3414,24.065733,120,0
FG_AHR_24Vo	21.824	GPS	260322,173842,4649.124,-12448.667,2,1.5,9,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	738	1172	12721.31	nil	0	0	0.00
Pitch_motor	39	257	151.29	nil	0	0	0.00
Roll_motor	64	203	191.76	nil	0	0	0.00
Iridium	149	99	219.08	nil	0	0	0.00
Transponder_ping	4	420	24.70	nil	0	0	0.00
GPS	16	15	3.71	nil	0	0	0.00
Core	1736	6	173.80	SciCon	3033	6	306.89
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1560	2	45.94
Compass	841	5	61.92
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	496.0	498.8	493.3	166.4	2530.6	0.00	0.00	0	140.88	132.16	0.00	0.00	0.005	0.000	0.000	3169.88	3145.38	3194.38	166.56	2531.62	0	0	0	14.45	30.00	30.00
141.10	18983	-116.79	-1.34	-80.00	3168.8	3144.2	3193.5	166.5	2531.1	4.58	-5.40	13	173.34	6.18	16.26	3.99	0.008	0.258	0.159	3445.34	3434.56	3456.12	2111.69	1033.44	0	0	0	15.71	15.67	15.67
245.73	3205	-116.79	-1.23	0.00	3445.0	3434.4	3455.6	2113.4	1033.5	24.45	-14.56	34	252.26	0.00	0.21	3.60	0.000	0.163	0.074	3446.91	3436.19	3457.62	2143.19	2520.44	0	0	0	30.00	15.73	15.76
441.47	260	-116.79	-1.23	80.00	3445.9	3435.2	3456.6	2144.1	2520.0	49.71	-14.17	54	446.29	0.00	0.00	2.85	0.000	0.000	0.119	3446.09	3435.38	3456.81	2143.94	3639.06	0	0	0	30.00	30.00	15.81
501.49	1028	-116.79	-1.23	0.00	3445.3	3434.6	3456.0	2144.2	3639.6	58.06	-14.08	66	506.29	0.00	0.00	2.75	0.000	0.000	0.063	3445.47	3434.81	3456.12	2144.06	2471.81	0	0	0	30.00	30.00	15.84
691.52	548	-116.79	-1.23	-80.00	3445.2	3434.9	3455.6	2144.2	2471.4	75.47	-8.32	86	696.50	0.00	0.00	3.82	0.000	0.000	0.154	3446.25	3435.69	3456.81	2143.56	1033.62	0	0	0	30.00	30.00	15.87
771.57	1060	-116.79	-1.23	0.00	3445.6	3435.2	3455.9	2144.1	1034.1	82.80	-9.52	102	776.49	0.00	0.00	3.56	0.000	0.000	0.072	3445.47	3435.00	3455.94	2144.00	2521.69	0	0	0	30.00	30.00	15.90
961.60	160	-116.79	-1.30	0.00	3445.8	3436.0	3455.6	2143.7	2521.9	99.11	-7.24	122	962.94	0.00	0.00	0.00	0.000	0.000	0.000	3446.22	3436.00	3456.44	2144.56	2522.19	0	0	0	30.00	30.00	30.00
1151.59	4517	-116.79	-1.39	80.00	3445.3	3435.4	3455.2	2144.4	2521.9	113.46	-8.36	141	1156.46	0.00	0.37	2.83	0.000	0.058	0.119	3446.38	3435.94	3456.81	2085.81	3641.00	0	0	0	30.00	15.95	15.93
1231.62	3205	-116.79	-1.31	0.00	3445.6	3435.0	3456.1	2085.9	3641.4	121.93	-11.23	157	1236.46	0.00	0.34	2.73	0.000	0.160	0.063	3446.94	3436.75	3457.12	2124.12	2469.44	0	0	0	30.00	15.92	15.96
1421.64	548	-116.79	-1.31	-80.00	3446.0	3435.3	3456.6	2124.2	2469.1	138.82	-8.97	177	1426.59	0.00	0.00	3.76	0.000	0.000	0.156	3447.22	3437.44	3457.00	2124.50	1033.56	0	0	0	30.00	30.00	15.96
1482	end dive: TARGET_DEPTH_EXCEEDED
state	1482	begin apogee
1486.38	10243	0.00	-0.25	0.00	3446.2	3436.6	3455.8	2124.2	2522.1	145.03	-10.24	189	1575.72	86.03	1.86	0.09	1.172	0.135	0.204	2964.38	2970.62	2958.12	2379.56	2470.75	0	0	0	13.07	15.94	15.60
1579	end apogee: CONTROL_FINISHED_OK
state	1579	begin climb
1581.62	10503	116.79	1.34	80.00	2964.3	2971.4	2957.2	2379.9	2471.0	146.91	0.00	198	1682.18	92.89	2.60	3.07	1.131	0.066	0.113	2487.62	2494.44	2480.81	2774.31	3640.12	0	0	0	12.83	15.65	15.37
1690.36	9382	150.41	1.38	0.00	2486.6	2493.4	2479.9	2774.2	3639.9	139.98	8.05	213	1722.51	28.27	0.00	2.81	1.054	0.000	0.060	2352.53	2364.19	2340.88	2774.19	2469.88	0	0	0	12.63	30.00	15.46
1905.68	16646	150.41	1.38	80.00	2344.0	2358.9	2329.2	2774.2	2470.0	109.60	15.20	238	1910.46	0.00	0.00	2.98	0.000	0.000	0.114	2344.84	2359.44	2330.25	2774.06	3640.00	0	0	0	30.00	30.00	15.63
2135.69	17414	150.41	1.38	0.00	2341.2	2355.4	2326.9	2774.3	3639.8	78.84	11.28	284	2140.49	0.00	0.00	2.77	0.000	0.000	0.063	2341.91	2356.12	2327.69	2774.19	2467.94	0	0	0	30.00	30.00	15.76
2325.72	292	153.36	1.39	80.00	2340.4	2355.6	2325.1	2774.1	2468.4	60.65	9.83	304	2330.54	0.00	0.00	2.99	0.000	0.000	0.114	2340.16	2355.38	2324.94	2773.62	3643.62	0	0	0	30.00	30.00	15.82
2419.96	1060	153.97	1.39	0.00	2339.6	2354.7	2324.5	2773.9	3643.9	50.51	9.96	323	2426.32	0.00	0.00	2.78	0.000	0.000	0.062	2340.16	2355.75	2324.56	2773.88	2467.25	0	0	0	30.00	30.00	15.85
2615.78	10919	275.33	1.84	-80.00	2338.9	2354.6	2323.2	2774.2	2467.1	41.57	2.97	343	2738.85	115.36	0.68	3.79	1.016	0.049	0.141	1844.09	1869.44	1818.75	2901.00	1033.69	0	0	0	12.97	15.88	15.49
2781.38	5253	275.33	1.73	0.00	1839.8	1864.4	1815.2	2901.8	1033.5	26.99	14.34	375	2787.83	0.00	0.43	3.63	0.000	0.176	0.065	1840.72	1865.19	1816.25	2855.25	2519.69	0	0	0	30.00	15.55	15.59
2977.00	16774	275.33	1.80	80.00	1834.9	1863.3	1806.5	2854.7	2519.9	4.15	10.34	395	2981.79	0.00	0.00	2.84	0.000	0.000	0.117	1836.31	1864.69	1807.94	2853.69	3640.81	0	0	0	30.00	30.00	15.72
2997	end climb: SURFACE_DEPTH_REACHED
state	2997	begin surface coast
3022	end surface coast: CONTROL_FINISHED_OK
state	3022	begin surface