Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 56 * 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 56 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 13.244672 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 21.828209 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 13.244672 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 21.828209 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 56 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 260322,173842,4649.124,-12448.667,2,1.5,9,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260322,174318,4649.114,-12448.654,3,1.1,8,15.6 MHEAD_RNG_PITCHd_Wd 212.6,20000,-19.9,-10.000,-23.24,1773,0.586

SPEED_LIMITS 0.173,0.233 D_GRID 149

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 4641.478,-12459.787

Post-dive calculations and measurements:

FINISH -0.2,1.024740 FG_AHR_10Vo 13.258

SM_CCo 3486.74,283.73,0.978,0,501.2,504.6,497.8,605.12 MEM0 60148,1,0,0

SM_GC 0.89,283.73,17.17,2.74,0.978,0.039,0.063,501.2,504.6,497.8,168.9,2464.8,0,0,0,12.90,15.76,15.78 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 968612,18,78336,63

IRIDIUM_FIX 4649.18,-12446.89,260322,174007 DATA_FILE_SIZE 12889,422

TCM_TEMP 175.88 CAP_FILE_SIZE 168077,0

XPDR_PINGS 11,13.5,11.5 SDSIZE 3918848,3895552

SC_FREEKB 3857280 SDFILEDIR 366,1

HUMID 50.20 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.03 CURRENT 0.043,208.2,1

INTERNAL_PRESSURE 8.49158 MAGCAL 1.000000,-0.079980,-0.168956,-0.018010,1.096916,0.031061,0.048432,0.007919,1.063845,-467.9,-600.5,-296.7,18,0.0320,0

_24V_AH 14.68,12.927 IMPLIED_C_PITCH 2446,14.27,224,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3363,18.544573,122,0

FG_AHR_24Vo 22.012 GPS 260322,184210,4648.774,-12449.030,6,1.5,19,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 742 1172 12782.00 nil 0 0 0.00

Pitch_motor 40 255 152.30 nil 0 0 0.00

Roll_motor 51 226 170.28 nil 0 0 0.00

Iridium 150 118 260.68 nil 0 0 0.00

Transponder_ping 2 420 16.96 nil 0 0 0.00

GPS 17 15 3.84 nil 0 0 0.00

Core 1764 6 176.57 SciCon 3185 6 321.48

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1687 2 49.69

Compass 881 5 64.86

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

8.41 16386 -116.79 -1.34 0.00 496.7 496.6 496.8 166.4 2535.9 0.00 0.00 0 135.79 127.08 0.00 0.00 0.005 0.000 0.000 3018.69 2997.44 3039.94 165.81 2537.00 0 0 0 14.57 30.00 30.00

135.99 18983 -116.79 -1.34 -80.00 3018.5 2996.5 3040.5 165.8 2536.7 3.44 -1.98 13 172.49 10.77 16.11 3.94 0.007 0.256 0.140 3444.88 3436.06 3453.69 2113.19 1033.31 0 0 0 15.70 15.67 15.65

239.85 3205 -116.79 -1.25 0.00 3445.1 3435.5 3454.6 2113.5 1033.4 20.41 -15.73 34 246.40 0.00 0.17 3.59 0.000 0.169 0.068 3445.47 3435.81 3455.12 2138.56 2521.31 0 0 0 30.00 15.72 15.76

435.63 516 -116.79 -1.25 -80.00 3445.4 3435.8 3455.1 2138.4 2521.1 48.42 -13.68 54 441.63 0.00 0.00 3.89 0.000 0.000 0.132 3444.84 3435.00 3454.69 2139.06 1034.38 0 0 0 30.00 30.00 15.82

530.65 1028 -116.79 -1.25 0.00 3445.1 3435.2 3454.9 2138.6 1034.3 59.97 -11.81 73 535.59 0.00 0.00 3.55 0.000 0.000 0.068 3446.06 3436.50 3455.62 2138.50 2521.56 0 0 0 30.00 30.00 15.84

720.72 32 -116.79 -1.25 0.00 3444.8 3435.2 3454.3 2139.2 2521.6 78.13 -8.61 93 722.06 0.00 0.00 0.00 0.000 0.000 0.000 3445.84 3435.69 3456.00 2138.44 2521.38 0 0 0 30.00 30.00 30.00

910.73 160 -116.79 -1.32 0.00 3445.0 3435.1 3454.8 2139.1 2520.8 95.02 -9.09 112 912.06 0.00 0.00 0.00 0.000 0.000 0.000 3445.59 3436.19 3455.00 2138.38 2520.94 0 0 0 30.00 30.00 30.00

1100.75 4517 -116.79 -1.39 80.00 3445.1 3435.6 3454.6 2138.8 2521.3 111.97 -9.22 131 1105.62 0.00 0.34 2.81 0.000 0.066 0.120 3445.91 3436.56 3455.25 2086.25 3640.38 0 0 0 30.00 15.95 15.93

1150.74 3205 -116.79 -1.30 0.00 3446.0 3436.4 3455.6 2085.6 3640.2 117.68 -12.27 141 1155.61 0.00 0.35 2.72 0.000 0.162 0.063 3445.94 3436.19 3455.69 2124.88 2470.38 0 0 0 30.00 15.91 15.96

1340.79 32 -116.79 -1.30 0.00 3445.6 3436.1 3455.1 2126.6 2470.6 133.19 -7.92 161 1342.12 0.00 0.00 0.00 0.000 0.000 0.000 3445.88 3435.62 3456.12 2126.25 2470.50 0 0 0 30.00 30.00 30.00

1531 end dive: TARGET_DEPTH_EXCEEDED

state 1531 begin apogee

1531.86 10243 0.00 -0.25 0.00 3446.0 3436.3 3455.6 2126.9 2516.9 149.24 -8.06 180 1622.84 85.97 1.81 0.08 1.172 0.129 0.227 2966.12 2972.56 2959.69 2380.50 2472.75 0 0 0 12.99 15.96 15.61

1626 end apogee: CONTROL_FINISHED_OK

state 1626 begin climb

1628.35 10503 116.79 1.34 80.00 2964.2 2971.1 2957.2 2380.6 2472.8 150.66 0.00 189 1729.19 93.20 2.56 3.08 1.136 0.067 0.113 2488.59 2496.25 2480.94 2773.00 3641.81 0 0 0 12.78 15.65 15.37

1841.57 21639 116.79 1.24 0.00 2481.8 2491.1 2472.5 2773.2 3642.9 129.53 14.78 231 1848.00 0.00 0.36 2.80 0.000 0.171 0.062 2482.16 2492.19 2472.12 2736.25 2468.44 0 0 0 30.00 15.55 15.59

2037.41 10663 135.40 1.37 80.00 2478.3 2490.6 2466.0 2735.6 2468.2 108.22 8.92 251 2058.38 15.94 0.28 2.98 1.003 0.064 0.115 2413.25 2424.88 2401.62 2784.38 3642.69 0 0 0 12.84 15.73 15.62

2227.40 5253 135.40 1.30 0.00 2410.1 2421.9 2398.2 2785.2 3642.2 87.81 10.52 289 2232.26 0.00 0.30 2.76 0.000 0.169 0.062 2411.03 2422.44 2399.62 2750.50 2467.25 0 0 0 30.00 15.72 15.77

2417.49 10663 173.59 1.51 80.00 2407.1 2421.3 2392.9 2749.8 2468.1 72.04 7.79 309 2463.05 38.29 0.41 2.97 1.029 0.058 0.116 2258.38 2274.12 2242.62 2820.94 3638.75 0 0 0 12.77 15.83 15.65

2581.66 1028 173.59 1.51 0.00 2252.8 2269.0 2236.5 2822.0 3637.9 53.41 11.95 342 2588.02 0.00 0.00 2.76 0.000 0.000 0.062 2254.19 2270.44 2237.94 2821.75 2465.88 0 0 0 30.00 30.00 15.77

2777.47 10791 267.44 1.80 -80.00 2251.0 2269.1 2232.9 2822.3 2466.1 40.78 4.56 362 2871.00 87.92 0.33 3.80 1.020 0.063 0.139 1875.81 1901.75 1849.88 2886.75 1033.81 0 0 0 12.92 15.82 15.50

2954.15 5253 267.44 1.72 0.00 1871.3 1896.2 1846.5 2887.8 1033.5 24.36 13.81 397 2960.18 0.00 0.34 3.61 0.000 0.179 0.065 1872.50 1897.00 1848.00 2850.25 2517.44 0 0 0 30.00 15.60 15.64

3149.16 16774 267.44 1.79 80.00 1867.1 1895.5 1838.8 2850.4 2517.8 2.44 11.89 417 3153.95 0.00 0.00 2.90 0.000 0.000 0.118 1868.56 1897.12 1840.00 2850.31 3640.25 0 0 0 30.00 30.00 15.74

3159 end climb: SURFACE_DEPTH_REACHED

state 3159 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	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	56	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	13.244672	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	21.828209	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	260322,173842,4649.124,-12448.667,2,1.5,9,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260322,174318,4649.114,-12448.654,3,1.1,8,15.6	MHEAD_RNG_PITCHd_Wd	212.6,20000,-19.9,-10.000,-23.24,1773,0.586
SPEED_LIMITS	0.173,0.233	D_GRID	149
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	4641.478,-12459.787

FINISH	-0.2,1.024740	FG_AHR_10Vo	13.258
SM_CCo	3486.74,283.73,0.978,0,501.2,504.6,497.8,605.12	MEM0	60148,1,0,0
SM_GC	0.89,283.73,17.17,2.74,0.978,0.039,0.063,501.2,504.6,497.8,168.9,2464.8,0,0,0,12.90,15.76,15.78	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	968612,18,78336,63
IRIDIUM_FIX	4649.18,-12446.89,260322,174007	DATA_FILE_SIZE	12889,422
TCM_TEMP	175.88	CAP_FILE_SIZE	168077,0
XPDR_PINGS	11,13.5,11.5	SDSIZE	3918848,3895552
SC_FREEKB	3857280	SDFILEDIR	366,1
HUMID	50.20	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.03	CURRENT	0.043,208.2,1
INTERNAL_PRESSURE	8.49158	MAGCAL	1.000000,-0.079980,-0.168956,-0.018010,1.096916,0.031061,0.048432,0.007919,1.063845,-467.9,-600.5,-296.7,18,0.0320,0
_24V_AH	14.68,12.927	IMPLIED_C_PITCH	2446,14.27,224,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3363,18.544573,122,0
FG_AHR_24Vo	22.012	GPS	260322,184210,4648.774,-12449.030,6,1.5,19,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	742	1172	12782.00	nil	0	0	0.00
Pitch_motor	40	255	152.30	nil	0	0	0.00
Roll_motor	51	226	170.28	nil	0	0	0.00
Iridium	150	118	260.68	nil	0	0	0.00
Transponder_ping	2	420	16.96	nil	0	0	0.00
GPS	17	15	3.84	nil	0	0	0.00
Core	1764	6	176.57	SciCon	3185	6	321.48
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1687	2	49.69
Compass	881	5	64.86
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
8.41	16386	-116.79	-1.34	0.00	496.7	496.6	496.8	166.4	2535.9	0.00	0.00	0	135.79	127.08	0.00	0.00	0.005	0.000	0.000	3018.69	2997.44	3039.94	165.81	2537.00	0	0	0	14.57	30.00	30.00
135.99	18983	-116.79	-1.34	-80.00	3018.5	2996.5	3040.5	165.8	2536.7	3.44	-1.98	13	172.49	10.77	16.11	3.94	0.007	0.256	0.140	3444.88	3436.06	3453.69	2113.19	1033.31	0	0	0	15.70	15.67	15.65
239.85	3205	-116.79	-1.25	0.00	3445.1	3435.5	3454.6	2113.5	1033.4	20.41	-15.73	34	246.40	0.00	0.17	3.59	0.000	0.169	0.068	3445.47	3435.81	3455.12	2138.56	2521.31	0	0	0	30.00	15.72	15.76
435.63	516	-116.79	-1.25	-80.00	3445.4	3435.8	3455.1	2138.4	2521.1	48.42	-13.68	54	441.63	0.00	0.00	3.89	0.000	0.000	0.132	3444.84	3435.00	3454.69	2139.06	1034.38	0	0	0	30.00	30.00	15.82
530.65	1028	-116.79	-1.25	0.00	3445.1	3435.2	3454.9	2138.6	1034.3	59.97	-11.81	73	535.59	0.00	0.00	3.55	0.000	0.000	0.068	3446.06	3436.50	3455.62	2138.50	2521.56	0	0	0	30.00	30.00	15.84
720.72	32	-116.79	-1.25	0.00	3444.8	3435.2	3454.3	2139.2	2521.6	78.13	-8.61	93	722.06	0.00	0.00	0.00	0.000	0.000	0.000	3445.84	3435.69	3456.00	2138.44	2521.38	0	0	0	30.00	30.00	30.00
910.73	160	-116.79	-1.32	0.00	3445.0	3435.1	3454.8	2139.1	2520.8	95.02	-9.09	112	912.06	0.00	0.00	0.00	0.000	0.000	0.000	3445.59	3436.19	3455.00	2138.38	2520.94	0	0	0	30.00	30.00	30.00
1100.75	4517	-116.79	-1.39	80.00	3445.1	3435.6	3454.6	2138.8	2521.3	111.97	-9.22	131	1105.62	0.00	0.34	2.81	0.000	0.066	0.120	3445.91	3436.56	3455.25	2086.25	3640.38	0	0	0	30.00	15.95	15.93
1150.74	3205	-116.79	-1.30	0.00	3446.0	3436.4	3455.6	2085.6	3640.2	117.68	-12.27	141	1155.61	0.00	0.35	2.72	0.000	0.162	0.063	3445.94	3436.19	3455.69	2124.88	2470.38	0	0	0	30.00	15.91	15.96
1340.79	32	-116.79	-1.30	0.00	3445.6	3436.1	3455.1	2126.6	2470.6	133.19	-7.92	161	1342.12	0.00	0.00	0.00	0.000	0.000	0.000	3445.88	3435.62	3456.12	2126.25	2470.50	0	0	0	30.00	30.00	30.00
1531	end dive: TARGET_DEPTH_EXCEEDED
state	1531	begin apogee
1531.86	10243	0.00	-0.25	0.00	3446.0	3436.3	3455.6	2126.9	2516.9	149.24	-8.06	180	1622.84	85.97	1.81	0.08	1.172	0.129	0.227	2966.12	2972.56	2959.69	2380.50	2472.75	0	0	0	12.99	15.96	15.61
1626	end apogee: CONTROL_FINISHED_OK
state	1626	begin climb
1628.35	10503	116.79	1.34	80.00	2964.2	2971.1	2957.2	2380.6	2472.8	150.66	0.00	189	1729.19	93.20	2.56	3.08	1.136	0.067	0.113	2488.59	2496.25	2480.94	2773.00	3641.81	0	0	0	12.78	15.65	15.37
1841.57	21639	116.79	1.24	0.00	2481.8	2491.1	2472.5	2773.2	3642.9	129.53	14.78	231	1848.00	0.00	0.36	2.80	0.000	0.171	0.062	2482.16	2492.19	2472.12	2736.25	2468.44	0	0	0	30.00	15.55	15.59
2037.41	10663	135.40	1.37	80.00	2478.3	2490.6	2466.0	2735.6	2468.2	108.22	8.92	251	2058.38	15.94	0.28	2.98	1.003	0.064	0.115	2413.25	2424.88	2401.62	2784.38	3642.69	0	0	0	12.84	15.73	15.62
2227.40	5253	135.40	1.30	0.00	2410.1	2421.9	2398.2	2785.2	3642.2	87.81	10.52	289	2232.26	0.00	0.30	2.76	0.000	0.169	0.062	2411.03	2422.44	2399.62	2750.50	2467.25	0	0	0	30.00	15.72	15.77
2417.49	10663	173.59	1.51	80.00	2407.1	2421.3	2392.9	2749.8	2468.1	72.04	7.79	309	2463.05	38.29	0.41	2.97	1.029	0.058	0.116	2258.38	2274.12	2242.62	2820.94	3638.75	0	0	0	12.77	15.83	15.65
2581.66	1028	173.59	1.51	0.00	2252.8	2269.0	2236.5	2822.0	3637.9	53.41	11.95	342	2588.02	0.00	0.00	2.76	0.000	0.000	0.062	2254.19	2270.44	2237.94	2821.75	2465.88	0	0	0	30.00	30.00	15.77
2777.47	10791	267.44	1.80	-80.00	2251.0	2269.1	2232.9	2822.3	2466.1	40.78	4.56	362	2871.00	87.92	0.33	3.80	1.020	0.063	0.139	1875.81	1901.75	1849.88	2886.75	1033.81	0	0	0	12.92	15.82	15.50
2954.15	5253	267.44	1.72	0.00	1871.3	1896.2	1846.5	2887.8	1033.5	24.36	13.81	397	2960.18	0.00	0.34	3.61	0.000	0.179	0.065	1872.50	1897.00	1848.00	2850.25	2517.44	0	0	0	30.00	15.60	15.64
3149.16	16774	267.44	1.79	80.00	1867.1	1895.5	1838.8	2850.4	2517.8	2.44	11.89	417	3153.95	0.00	0.00	2.90	0.000	0.000	0.118	1868.56	1897.12	1840.00	2850.31	3640.25	0	0	0	30.00	30.00	15.74
3159	end climb: SURFACE_DEPTH_REACHED
state	3159	begin surface coast
3174	end surface coast: CONTROL_FINISHED_OK
state	3174	begin surface