Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 58 * 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 58 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 13.272733 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 22.205484 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 13.272733 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 22.205484 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 58 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 260322,194609,4648.516,-12449.004,10,0.8,24,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260322,195041,4648.536,-12448.994,3,0.7,8,15.6 MHEAD_RNG_PITCHd_Wd 209.9,20000,-19.9,-10.000,-23.24,1773,0.617

SPEED_LIMITS 0.173,0.233 D_GRID 153

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 4640.900,-12500.125

Post-dive calculations and measurements:

FINISH -0.3,1.024737 FG_AHR_10Vo 13.286

SM_CCo 3620.93,282.32,0.972,0,500.8,500.8,500.8,605.20 MEM0 60148,1,0,0

SM_GC 1.10,282.32,17.55,2.74,0.972,0.040,0.063,500.8,500.8,500.8,168.9,2470.5,0,0,0,12.81,15.73,15.73 MEM1 65508,1,0,0

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

IRIDIUM_FIX 4649.76,-12449.47,260322,194739 DATA_FILE_SIZE 12891,440

TCM_TEMP 176.39 CAP_FILE_SIZE 179379,0

XPDR_PINGS 10,13.5,11.5 SDSIZE 3918848,3895104

SC_FREEKB 3856512 SDFILEDIR 378,1

HUMID 50.18 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.03 CURRENT 0.012,267.6,1

INTERNAL_PRESSURE 8.48721 MAGCAL 1.000000,-0.057395,-0.188020,-0.003831,1.104244,-0.005301,0.055708,0.039209,1.072720,-448.5,-589.1,-295.4,22,0.0347,0

_24V_AH 14.69,13.317 IMPLIED_C_PITCH 2451,14.40,236,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3397,17.190819,125,0

FG_AHR_24Vo 22.390 GPS 260322,205135,4648.255,-12449.338,2,1.0,7,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 749 1183 13035.08 nil 0 0 0.00

Pitch_motor 40 256 152.28 nil 0 0 0.00

Roll_motor 63 218 205.37 nil 0 0 0.00

Iridium 148 114 250.62 nil 0 0 0.00

Transponder_ping 2 420 15.42 nil 0 0 0.00

GPS 17 15 3.84 nil 0 0 0.00

Core 1841 6 184.36 SciCon 3321 6 336.04

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1740 2 51.23

Compass 909 5 66.93

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 0.00 496.2 496.1 496.3 167.9 2529.6 0.00 0.00 0 140.88 132.24 0.00 0.00 0.005 0.000 0.000 3142.47 3117.69 3167.25 167.94 2528.88 0 0 0 14.47 30.00 30.00

141.10 18983 -116.79 -1.34 -80.00 3141.6 3117.4 3165.8 167.8 2529.2 3.90 -2.32 13 173.32 7.12 16.17 3.96 0.008 0.257 0.144 3445.06 3435.62 3454.50 2113.38 1034.25 0 0 0 15.70 15.67 15.65

225.66 3205 -116.79 -1.21 0.00 3444.8 3433.9 3455.8 2113.9 1034.2 21.19 -16.81 30 232.25 0.00 0.23 3.60 0.000 0.169 0.068 3445.34 3435.00 3455.69 2146.94 2521.75 0 0 0 30.00 15.71 15.75

421.45 260 -116.79 -1.21 80.00 3444.9 3435.2 3454.6 2146.4 2521.8 47.40 -13.59 50 426.27 0.00 0.00 2.88 0.000 0.000 0.119 3445.91 3435.44 3456.38 2146.38 3641.88 0 0 0 30.00 30.00 15.81

451.46 1028 -116.79 -1.21 0.00 3445.2 3434.7 3455.6 2146.4 3641.9 52.00 -15.37 56 456.27 0.00 0.00 2.76 0.000 0.000 0.063 3445.53 3435.62 3455.44 2146.50 2468.69 0 0 0 30.00 30.00 15.82

641.49 548 -116.79 -1.21 -80.00 3444.9 3434.9 3455.0 2146.9 2469.0 72.42 -9.45 76 646.46 0.00 0.00 3.77 0.000 0.000 0.154 3445.41 3434.94 3455.88 2146.75 1035.38 0 0 0 30.00 30.00 15.85

675.72 1060 -116.79 -1.21 0.00 3445.2 3434.8 3455.8 2147.0 1035.4 75.72 -9.13 83 682.21 0.00 0.00 3.58 0.000 0.000 0.072 3447.00 3437.12 3456.88 2146.69 2520.31 0 0 0 30.00 30.00 15.88

871.57 676 -116.79 -1.31 -80.00 3445.6 3435.6 3455.6 2146.8 2521.1 91.35 -8.14 103 877.52 0.00 0.00 3.94 0.000 0.000 0.148 3445.78 3436.00 3455.56 2146.81 1034.06 0 0 0 30.00 30.00 15.90

980.75 1060 -116.79 -1.31 0.00 3445.1 3434.7 3455.5 2146.8 1034.7 102.02 -9.49 125 987.25 0.00 0.00 3.56 0.000 0.000 0.072 3447.47 3437.50 3457.44 2146.38 2520.38 0 0 0 30.00 30.00 15.93

1176.61 4773 -116.79 -1.40 -80.00 3446.1 3436.3 3455.9 2146.4 2520.5 117.31 -7.40 145 1182.66 0.00 0.41 3.94 0.000 0.057 0.147 3446.31 3435.25 3457.38 2077.31 1034.12 0 0 0 30.00 15.95 15.93

1231.57 3205 -116.79 -1.29 0.00 3445.5 3435.5 3455.4 2079.6 1034.2 123.47 -11.92 156 1237.61 0.00 0.41 3.56 0.000 0.162 0.075 3445.09 3434.56 3455.62 2126.88 2521.25 0 0 0 30.00 15.91 15.95

1426.59 548 -116.79 -1.29 -80.00 3445.1 3434.9 3455.4 2127.7 2520.6 140.27 -7.70 176 1432.59 0.00 0.00 3.91 0.000 0.000 0.149 3444.00 3433.19 3454.81 2126.62 1034.56 0 0 0 30.00 30.00 15.96

1561.62 1060 -116.79 -1.29 0.00 3445.5 3434.7 3456.3 2126.9 1034.8 151.94 -8.61 203 1566.53 0.00 0.00 3.57 0.000 0.000 0.072 3446.06 3435.88 3456.25 2125.75 2522.06 0 0 0 30.00 30.00 15.99

1582 end dive: TARGET_DEPTH_EXCEEDED

state 1582 begin apogee

1582.70 10243 0.00 -0.25 0.00 3445.4 3435.6 3455.2 2126.3 2470.0 153.48 -8.44 206 1673.71 86.36 1.81 0.09 1.184 0.128 0.219 2966.59 2973.06 2960.12 2381.50 2522.56 0 0 0 13.04 15.96 15.59

1677 end apogee: CONTROL_FINISHED_OK

state 1677 begin climb

1679.21 10243 116.79 1.34 0.00 2964.5 2971.4 2957.6 2381.1 2522.8 154.16 0.00 215 1778.61 93.43 2.56 0.00 1.140 0.066 0.000 2491.00 2498.44 2483.56 2774.75 2521.69 0 0 0 12.73 15.65 30.00

1962.56 16386 116.79 1.34 80.00 2479.5 2490.2 2468.8 2773.8 2522.2 125.08 11.73 247 1963.90 0.00 0.00 0.00 0.000 0.000 0.000 2480.41 2490.50 2470.31 2773.88 2522.19 0 0 0 30.00 30.00 30.00

2152.58 16386 116.79 1.34 80.00 2477.7 2489.2 2466.1 2773.5 2523.1 103.77 10.72 266 2153.92 0.00 0.00 0.00 0.000 0.000 0.000 2478.38 2490.69 2466.06 2773.75 2522.94 0 0 0 30.00 30.00 30.00

2342.61 8742 140.83 1.42 -80.00 2476.4 2488.7 2464.2 2772.6 2522.4 86.68 8.61 285 2373.85 22.74 0.00 3.95 1.027 0.000 0.132 2390.75 2402.69 2378.81 2774.50 1033.31 0 0 0 12.90 30.00 15.69

2456.83 1028 140.83 1.42 0.00 2387.7 2398.9 2376.4 2774.2 1033.4 74.03 10.83 308 2463.37 0.00 0.00 3.58 0.000 0.000 0.065 2388.59 2400.56 2376.62 2773.56 2520.56 0 0 0 30.00 30.00 15.78

2652.69 10919 193.57 1.63 -80.00 2384.8 2398.6 2371.0 2774.2 2520.9 60.95 6.94 328 2709.72 51.53 0.38 3.90 1.031 0.057 0.130 2174.22 2191.62 2156.81 2852.94 1033.62 0 0 0 12.97 15.84 15.62

2877.89 13479 207.04 1.57 0.00 2170.7 2187.4 2153.9 2852.6 1033.7 39.65 9.22 373 2899.01 14.23 0.34 3.58 0.933 0.174 0.064 2123.31 2144.00 2102.62 2814.56 2521.12 0 0 0 12.83 15.72 15.76

3087.96 10663 270.63 1.85 80.00 2117.7 2140.9 2094.4 2815.2 2522.8 25.63 6.31 396 3153.97 59.79 0.51 2.90 0.995 0.051 0.121 1862.00 1887.88 1836.12 2902.69 3640.88 0 0 0 12.80 15.80 15.57

3292 end climb: SURFACE_DEPTH_REACHED

state 3292 begin surface coast

3308 end surface coast: CONTROL_FINISHED_OK

state 3308 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	58	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	13.272733	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	22.205484	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	260322,194609,4648.516,-12449.004,10,0.8,24,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260322,195041,4648.536,-12448.994,3,0.7,8,15.6	MHEAD_RNG_PITCHd_Wd	209.9,20000,-19.9,-10.000,-23.24,1773,0.617
SPEED_LIMITS	0.173,0.233	D_GRID	153
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	4640.900,-12500.125

FINISH	-0.3,1.024737	FG_AHR_10Vo	13.286
SM_CCo	3620.93,282.32,0.972,0,500.8,500.8,500.8,605.20	MEM0	60148,1,0,0
SM_GC	1.10,282.32,17.55,2.74,0.972,0.040,0.063,500.8,500.8,500.8,168.9,2470.5,0,0,0,12.81,15.73,15.73	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	968612,18,78336,63
IRIDIUM_FIX	4649.76,-12449.47,260322,194739	DATA_FILE_SIZE	12891,440
TCM_TEMP	176.39	CAP_FILE_SIZE	179379,0
XPDR_PINGS	10,13.5,11.5	SDSIZE	3918848,3895104
SC_FREEKB	3856512	SDFILEDIR	378,1
HUMID	50.18	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.03	CURRENT	0.012,267.6,1
INTERNAL_PRESSURE	8.48721	MAGCAL	1.000000,-0.057395,-0.188020,-0.003831,1.104244,-0.005301,0.055708,0.039209,1.072720,-448.5,-589.1,-295.4,22,0.0347,0
_24V_AH	14.69,13.317	IMPLIED_C_PITCH	2451,14.40,236,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3397,17.190819,125,0
FG_AHR_24Vo	22.390	GPS	260322,205135,4648.255,-12449.338,2,1.0,7,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	749	1183	13035.08	nil	0	0	0.00
Pitch_motor	40	256	152.28	nil	0	0	0.00
Roll_motor	63	218	205.37	nil	0	0	0.00
Iridium	148	114	250.62	nil	0	0	0.00
Transponder_ping	2	420	15.42	nil	0	0	0.00
GPS	17	15	3.84	nil	0	0	0.00
Core	1841	6	184.36	SciCon	3321	6	336.04
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1740	2	51.23
Compass	909	5	66.93
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	496.2	496.1	496.3	167.9	2529.6	0.00	0.00	0	140.88	132.24	0.00	0.00	0.005	0.000	0.000	3142.47	3117.69	3167.25	167.94	2528.88	0	0	0	14.47	30.00	30.00
141.10	18983	-116.79	-1.34	-80.00	3141.6	3117.4	3165.8	167.8	2529.2	3.90	-2.32	13	173.32	7.12	16.17	3.96	0.008	0.257	0.144	3445.06	3435.62	3454.50	2113.38	1034.25	0	0	0	15.70	15.67	15.65
225.66	3205	-116.79	-1.21	0.00	3444.8	3433.9	3455.8	2113.9	1034.2	21.19	-16.81	30	232.25	0.00	0.23	3.60	0.000	0.169	0.068	3445.34	3435.00	3455.69	2146.94	2521.75	0	0	0	30.00	15.71	15.75
421.45	260	-116.79	-1.21	80.00	3444.9	3435.2	3454.6	2146.4	2521.8	47.40	-13.59	50	426.27	0.00	0.00	2.88	0.000	0.000	0.119	3445.91	3435.44	3456.38	2146.38	3641.88	0	0	0	30.00	30.00	15.81
451.46	1028	-116.79	-1.21	0.00	3445.2	3434.7	3455.6	2146.4	3641.9	52.00	-15.37	56	456.27	0.00	0.00	2.76	0.000	0.000	0.063	3445.53	3435.62	3455.44	2146.50	2468.69	0	0	0	30.00	30.00	15.82
641.49	548	-116.79	-1.21	-80.00	3444.9	3434.9	3455.0	2146.9	2469.0	72.42	-9.45	76	646.46	0.00	0.00	3.77	0.000	0.000	0.154	3445.41	3434.94	3455.88	2146.75	1035.38	0	0	0	30.00	30.00	15.85
675.72	1060	-116.79	-1.21	0.00	3445.2	3434.8	3455.8	2147.0	1035.4	75.72	-9.13	83	682.21	0.00	0.00	3.58	0.000	0.000	0.072	3447.00	3437.12	3456.88	2146.69	2520.31	0	0	0	30.00	30.00	15.88
871.57	676	-116.79	-1.31	-80.00	3445.6	3435.6	3455.6	2146.8	2521.1	91.35	-8.14	103	877.52	0.00	0.00	3.94	0.000	0.000	0.148	3445.78	3436.00	3455.56	2146.81	1034.06	0	0	0	30.00	30.00	15.90
980.75	1060	-116.79	-1.31	0.00	3445.1	3434.7	3455.5	2146.8	1034.7	102.02	-9.49	125	987.25	0.00	0.00	3.56	0.000	0.000	0.072	3447.47	3437.50	3457.44	2146.38	2520.38	0	0	0	30.00	30.00	15.93
1176.61	4773	-116.79	-1.40	-80.00	3446.1	3436.3	3455.9	2146.4	2520.5	117.31	-7.40	145	1182.66	0.00	0.41	3.94	0.000	0.057	0.147	3446.31	3435.25	3457.38	2077.31	1034.12	0	0	0	30.00	15.95	15.93
1231.57	3205	-116.79	-1.29	0.00	3445.5	3435.5	3455.4	2079.6	1034.2	123.47	-11.92	156	1237.61	0.00	0.41	3.56	0.000	0.162	0.075	3445.09	3434.56	3455.62	2126.88	2521.25	0	0	0	30.00	15.91	15.95
1426.59	548	-116.79	-1.29	-80.00	3445.1	3434.9	3455.4	2127.7	2520.6	140.27	-7.70	176	1432.59	0.00	0.00	3.91	0.000	0.000	0.149	3444.00	3433.19	3454.81	2126.62	1034.56	0	0	0	30.00	30.00	15.96
1561.62	1060	-116.79	-1.29	0.00	3445.5	3434.7	3456.3	2126.9	1034.8	151.94	-8.61	203	1566.53	0.00	0.00	3.57	0.000	0.000	0.072	3446.06	3435.88	3456.25	2125.75	2522.06	0	0	0	30.00	30.00	15.99
1582	end dive: TARGET_DEPTH_EXCEEDED
state	1582	begin apogee
1582.70	10243	0.00	-0.25	0.00	3445.4	3435.6	3455.2	2126.3	2470.0	153.48	-8.44	206	1673.71	86.36	1.81	0.09	1.184	0.128	0.219	2966.59	2973.06	2960.12	2381.50	2522.56	0	0	0	13.04	15.96	15.59
1677	end apogee: CONTROL_FINISHED_OK
state	1677	begin climb
1679.21	10243	116.79	1.34	0.00	2964.5	2971.4	2957.6	2381.1	2522.8	154.16	0.00	215	1778.61	93.43	2.56	0.00	1.140	0.066	0.000	2491.00	2498.44	2483.56	2774.75	2521.69	0	0	0	12.73	15.65	30.00
1962.56	16386	116.79	1.34	80.00	2479.5	2490.2	2468.8	2773.8	2522.2	125.08	11.73	247	1963.90	0.00	0.00	0.00	0.000	0.000	0.000	2480.41	2490.50	2470.31	2773.88	2522.19	0	0	0	30.00	30.00	30.00
2152.58	16386	116.79	1.34	80.00	2477.7	2489.2	2466.1	2773.5	2523.1	103.77	10.72	266	2153.92	0.00	0.00	0.00	0.000	0.000	0.000	2478.38	2490.69	2466.06	2773.75	2522.94	0	0	0	30.00	30.00	30.00
2342.61	8742	140.83	1.42	-80.00	2476.4	2488.7	2464.2	2772.6	2522.4	86.68	8.61	285	2373.85	22.74	0.00	3.95	1.027	0.000	0.132	2390.75	2402.69	2378.81	2774.50	1033.31	0	0	0	12.90	30.00	15.69
2456.83	1028	140.83	1.42	0.00	2387.7	2398.9	2376.4	2774.2	1033.4	74.03	10.83	308	2463.37	0.00	0.00	3.58	0.000	0.000	0.065	2388.59	2400.56	2376.62	2773.56	2520.56	0	0	0	30.00	30.00	15.78
2652.69	10919	193.57	1.63	-80.00	2384.8	2398.6	2371.0	2774.2	2520.9	60.95	6.94	328	2709.72	51.53	0.38	3.90	1.031	0.057	0.130	2174.22	2191.62	2156.81	2852.94	1033.62	0	0	0	12.97	15.84	15.62
2877.89	13479	207.04	1.57	0.00	2170.7	2187.4	2153.9	2852.6	1033.7	39.65	9.22	373	2899.01	14.23	0.34	3.58	0.933	0.174	0.064	2123.31	2144.00	2102.62	2814.56	2521.12	0	0	0	12.83	15.72	15.76
3087.96	10663	270.63	1.85	80.00	2117.7	2140.9	2094.4	2815.2	2522.8	25.63	6.31	396	3153.97	59.79	0.51	2.90	0.995	0.051	0.121	1862.00	1887.88	1836.12	2902.69	3640.88	0	0	0	12.80	15.80	15.57
3292	end climb: SURFACE_DEPTH_REACHED
state	3292	begin surface coast
3308	end surface coast: CONTROL_FINISHED_OK
state	3308	begin surface