Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 61 * 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 61 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 13.315245 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 22.775747 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 13.315245 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 22.775747 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 61 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 260322,230011,4647.826,-12449.310,3,1.2,9,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260322,230532,4647.842,-12449.225,4,1.4,27,15.6 MHEAD_RNG_PITCHd_Wd 215.4,20000,-19.9,-10.000,-23.24,1773,0.576

SPEED_LIMITS 0.173,0.233 D_GRID 161

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 4640.206,-12500.353

Post-dive calculations and measurements:

FINISH -0.2,1.024783 FG_AHR_10Vo 13.329

SM_CCo 3640.26,297.33,0.973,0,501.3,500.8,501.8,605.09 MEM0 60148,1,0,0

SM_GC 1.08,297.33,17.19,2.77,0.973,0.046,0.062,501.3,500.8,501.8,169.4,2467.7,0,0,0,12.88,15.77,15.77 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 968572,20,78336,63

IRIDIUM_FIX 4646.99,-12447.67,260322,230143 DATA_FILE_SIZE 12937,426

TCM_TEMP 176.58 CAP_FILE_SIZE 161654,0

XPDR_PINGS 9,13.5,11.5 SDSIZE 3918848,3894464

SC_FREEKB 3855360 SDFILEDIR 396,1

HUMID 49.93 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.12 CURRENT 0.063, 84.7,1

INTERNAL_PRESSURE 8.48773 MAGCAL 1.000000,-0.057152,-0.147178,-0.022953,1.108258,0.039105,0.048060,-0.003802,1.058286,-484.9,-611.6,-281.9,20,0.0300,0

_24V_AH 14.69,13.903 IMPLIED_C_PITCH 2459,14.01,234,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3395,23.804955,133,0

FG_AHR_24Vo 22.961 GPS 270322,000645,4647.567,-12449.387,2,1.1,7,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 741 1192 12981.57 nil 0 0 0.00

Pitch_motor 39 247 141.82 nil 0 0 0.00

Roll_motor 45 226 152.47 nil 0 0 0.00

Iridium 145 128 274.77 nil 0 0 0.00

Transponder_ping 2 420 13.88 nil 0 0 0.00

GPS 36 15 7.98 nil 0 0 0.00

Core 1798 6 179.99 SciCon 3326 6 338.30

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1837 2 54.10

Compass 898 5 66.12

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

8.44 16386 -116.79 -1.34 0.00 496.8 496.1 497.5 167.8 2534.5 0.00 0.00 0 135.81 127.10 0.00 0.00 0.005 0.000 0.000 3022.62 2999.62 3045.62 167.81 2536.00 0 0 0 15.66 30.00 30.00

136.02 18983 -116.79 -1.34 -80.00 3021.6 2999.1 3044.1 167.8 2535.2 3.51 -2.06 13 172.51 10.89 16.01 4.01 0.007 0.247 0.152 3444.47 3436.00 3452.94 2113.06 1034.69 0 0 0 15.72 15.69 15.67

199.85 3205 -116.79 -1.22 0.00 3445.0 3436.1 3453.9 2112.4 1034.8 14.51 -16.23 26 206.44 0.00 0.22 3.60 0.000 0.163 0.073 3444.84 3435.56 3454.12 2145.75 2520.06 0 0 0 30.00 15.72 15.77

395.64 0 -116.79 -1.22 0.00 3445.2 3435.7 3454.8 2145.6 2520.5 42.96 -14.03 46 396.98 0.00 0.00 0.00 0.000 0.000 0.000 3445.81 3435.69 3455.94 2144.88 2519.88 0 0 0 30.00 30.00 30.00

585.66 0 -116.79 -1.22 0.00 3445.2 3435.6 3454.9 2145.0 2521.2 65.24 -12.00 65 587.00 0.00 0.00 0.00 0.000 0.000 0.000 3445.44 3435.44 3455.44 2144.94 2520.62 0 0 0 30.00 30.00 30.00

775.69 292 -116.79 -1.22 80.00 3444.9 3435.5 3454.4 2144.9 2520.1 86.69 -9.71 84 780.49 0.00 0.00 2.87 0.000 0.000 0.118 3446.72 3437.00 3456.44 2144.81 3638.69 0 0 0 30.00 30.00 15.90

875.72 1060 -116.79 -1.22 0.00 3445.3 3436.1 3454.6 2145.6 3637.9 96.64 -9.57 104 880.51 0.00 0.00 2.76 0.000 0.000 0.062 3445.84 3436.38 3455.31 2145.38 2468.81 0 0 0 30.00 30.00 15.92

1065.76 676 -116.79 -1.31 -80.00 3445.4 3436.1 3454.7 2145.1 2468.4 110.41 -7.73 124 1070.70 0.00 0.00 3.78 0.000 0.000 0.154 3445.97 3436.50 3455.44 2145.75 1036.06 0 0 0 30.00 30.00 15.93

1275.78 1060 -116.79 -1.31 0.00 3445.6 3436.4 3454.8 2145.5 1035.6 130.49 -9.59 166 1280.71 0.00 0.00 3.57 0.000 0.000 0.072 3445.78 3436.19 3455.38 2145.69 2520.50 0 0 0 30.00 30.00 15.97

1465.86 4257 -116.79 -1.40 0.00 3445.5 3436.4 3454.6 2145.8 2520.2 146.51 -8.06 186 1467.35 0.00 0.40 0.00 0.000 0.060 0.000 3445.91 3436.00 3455.81 2082.75 2521.12 0 0 0 30.00 15.98 30.00

1646 end dive: TARGET_DEPTH_EXCEEDED

state 1646 begin apogee

1646.92 10243 0.00 -0.25 0.00 3445.9 3436.6 3455.2 2082.8 2471.9 161.51 -8.69 204 1737.97 85.93 2.23 0.09 1.192 0.139 0.226 2966.62 2973.69 2959.56 2378.94 2518.94 0 0 0 12.98 15.97 15.60

1741 end apogee: CONTROL_FINISHED_OK

state 1741 begin climb

1743.47 10759 116.79 1.34 -80.00 2964.3 2971.5 2957.2 2380.5 2519.2 162.56 0.00 213 1844.77 92.82 2.57 4.01 1.151 0.068 0.133 2488.59 2496.06 2481.12 2774.06 1033.44 0 0 0 12.80 15.66 15.38

1847.20 9254 153.41 1.45 0.00 2488.0 2494.7 2481.2 2773.4 1033.6 155.55 7.88 228 1884.24 30.72 0.00 3.73 1.075 0.000 0.062 2341.09 2352.75 2329.44 2773.00 2522.00 0 0 0 12.65 30.00 15.44

2072.89 16646 153.41 1.45 80.00 2330.9 2346.9 2314.9 2772.8 2521.2 127.18 12.51 254 2077.72 0.00 0.00 2.95 0.000 0.000 0.116 2330.34 2346.56 2314.12 2772.38 3639.75 0 0 0 30.00 30.00 15.63

2112.91 17414 153.41 1.45 0.00 2330.2 2345.8 2314.5 2772.7 3639.2 121.15 15.35 262 2117.70 0.00 0.00 2.80 0.000 0.000 0.061 2329.69 2345.00 2314.38 2773.19 2470.62 0 0 0 30.00 30.00 15.67

2302.94 16386 153.41 1.45 0.00 2329.4 2345.5 2313.3 2773.2 2470.8 94.93 13.82 282 2304.28 0.00 0.00 0.00 0.000 0.000 0.000 2330.00 2346.62 2313.38 2773.12 2470.44 0 0 0 30.00 30.00 30.00

2492.97 10403 195.09 1.64 0.00 2327.9 2343.6 2312.3 2773.2 2471.1 76.96 7.58 301 2533.82 39.24 0.40 0.00 1.033 0.058 0.000 2170.81 2188.94 2152.69 2852.94 2470.56 0 0 0 12.91 15.83 30.00

2722.95 16646 195.09 1.64 80.00 2164.0 2185.4 2142.6 2852.6 2470.8 54.65 10.20 327 2727.78 0.00 0.00 2.99 0.000 0.000 0.114 2165.44 2186.81 2144.06 2852.69 3638.19 0 0 0 30.00 30.00 15.79

2953.03 9382 208.13 1.61 0.00 2162.6 2183.2 2142.0 2852.6 3637.5 31.13 9.24 373 2973.86 13.70 0.00 2.76 0.926 0.000 0.062 2118.91 2140.69 2097.12 2852.12 2466.75 0 0 0 12.91 30.00 15.85

3163.04 8486 253.84 1.75 80.00 2113.8 2137.6 2090.0 2852.4 2467.4 15.48 7.35 396 3213.67 43.60 0.00 3.05 0.996 0.000 0.114 1931.22 1955.69 1906.75 2852.56 3640.56 0 0 0 12.83 30.00 15.68

3298 end climb: SURFACE_DEPTH_REACHED

state 3298 begin surface coast

3313 end surface coast: CONTROL_FINISHED_OK

state 3313 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	61	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	13.315245	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	22.775747	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	260322,230011,4647.826,-12449.310,3,1.2,9,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260322,230532,4647.842,-12449.225,4,1.4,27,15.6	MHEAD_RNG_PITCHd_Wd	215.4,20000,-19.9,-10.000,-23.24,1773,0.576
SPEED_LIMITS	0.173,0.233	D_GRID	161
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	4640.206,-12500.353

FINISH	-0.2,1.024783	FG_AHR_10Vo	13.329
SM_CCo	3640.26,297.33,0.973,0,501.3,500.8,501.8,605.09	MEM0	60148,1,0,0
SM_GC	1.08,297.33,17.19,2.77,0.973,0.046,0.062,501.3,500.8,501.8,169.4,2467.7,0,0,0,12.88,15.77,15.77	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	968572,20,78336,63
IRIDIUM_FIX	4646.99,-12447.67,260322,230143	DATA_FILE_SIZE	12937,426
TCM_TEMP	176.58	CAP_FILE_SIZE	161654,0
XPDR_PINGS	9,13.5,11.5	SDSIZE	3918848,3894464
SC_FREEKB	3855360	SDFILEDIR	396,1
HUMID	49.93	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.12	CURRENT	0.063, 84.7,1
INTERNAL_PRESSURE	8.48773	MAGCAL	1.000000,-0.057152,-0.147178,-0.022953,1.108258,0.039105,0.048060,-0.003802,1.058286,-484.9,-611.6,-281.9,20,0.0300,0
_24V_AH	14.69,13.903	IMPLIED_C_PITCH	2459,14.01,234,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3395,23.804955,133,0
FG_AHR_24Vo	22.961	GPS	270322,000645,4647.567,-12449.387,2,1.1,7,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	741	1192	12981.57	nil	0	0	0.00
Pitch_motor	39	247	141.82	nil	0	0	0.00
Roll_motor	45	226	152.47	nil	0	0	0.00
Iridium	145	128	274.77	nil	0	0	0.00
Transponder_ping	2	420	13.88	nil	0	0	0.00
GPS	36	15	7.98	nil	0	0	0.00
Core	1798	6	179.99	SciCon	3326	6	338.30
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1837	2	54.10
Compass	898	5	66.12
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
8.44	16386	-116.79	-1.34	0.00	496.8	496.1	497.5	167.8	2534.5	0.00	0.00	0	135.81	127.10	0.00	0.00	0.005	0.000	0.000	3022.62	2999.62	3045.62	167.81	2536.00	0	0	0	15.66	30.00	30.00
136.02	18983	-116.79	-1.34	-80.00	3021.6	2999.1	3044.1	167.8	2535.2	3.51	-2.06	13	172.51	10.89	16.01	4.01	0.007	0.247	0.152	3444.47	3436.00	3452.94	2113.06	1034.69	0	0	0	15.72	15.69	15.67
199.85	3205	-116.79	-1.22	0.00	3445.0	3436.1	3453.9	2112.4	1034.8	14.51	-16.23	26	206.44	0.00	0.22	3.60	0.000	0.163	0.073	3444.84	3435.56	3454.12	2145.75	2520.06	0	0	0	30.00	15.72	15.77
395.64	0	-116.79	-1.22	0.00	3445.2	3435.7	3454.8	2145.6	2520.5	42.96	-14.03	46	396.98	0.00	0.00	0.00	0.000	0.000	0.000	3445.81	3435.69	3455.94	2144.88	2519.88	0	0	0	30.00	30.00	30.00
585.66	0	-116.79	-1.22	0.00	3445.2	3435.6	3454.9	2145.0	2521.2	65.24	-12.00	65	587.00	0.00	0.00	0.00	0.000	0.000	0.000	3445.44	3435.44	3455.44	2144.94	2520.62	0	0	0	30.00	30.00	30.00
775.69	292	-116.79	-1.22	80.00	3444.9	3435.5	3454.4	2144.9	2520.1	86.69	-9.71	84	780.49	0.00	0.00	2.87	0.000	0.000	0.118	3446.72	3437.00	3456.44	2144.81	3638.69	0	0	0	30.00	30.00	15.90
875.72	1060	-116.79	-1.22	0.00	3445.3	3436.1	3454.6	2145.6	3637.9	96.64	-9.57	104	880.51	0.00	0.00	2.76	0.000	0.000	0.062	3445.84	3436.38	3455.31	2145.38	2468.81	0	0	0	30.00	30.00	15.92
1065.76	676	-116.79	-1.31	-80.00	3445.4	3436.1	3454.7	2145.1	2468.4	110.41	-7.73	124	1070.70	0.00	0.00	3.78	0.000	0.000	0.154	3445.97	3436.50	3455.44	2145.75	1036.06	0	0	0	30.00	30.00	15.93
1275.78	1060	-116.79	-1.31	0.00	3445.6	3436.4	3454.8	2145.5	1035.6	130.49	-9.59	166	1280.71	0.00	0.00	3.57	0.000	0.000	0.072	3445.78	3436.19	3455.38	2145.69	2520.50	0	0	0	30.00	30.00	15.97
1465.86	4257	-116.79	-1.40	0.00	3445.5	3436.4	3454.6	2145.8	2520.2	146.51	-8.06	186	1467.35	0.00	0.40	0.00	0.000	0.060	0.000	3445.91	3436.00	3455.81	2082.75	2521.12	0	0	0	30.00	15.98	30.00
1646	end dive: TARGET_DEPTH_EXCEEDED
state	1646	begin apogee
1646.92	10243	0.00	-0.25	0.00	3445.9	3436.6	3455.2	2082.8	2471.9	161.51	-8.69	204	1737.97	85.93	2.23	0.09	1.192	0.139	0.226	2966.62	2973.69	2959.56	2378.94	2518.94	0	0	0	12.98	15.97	15.60
1741	end apogee: CONTROL_FINISHED_OK
state	1741	begin climb
1743.47	10759	116.79	1.34	-80.00	2964.3	2971.5	2957.2	2380.5	2519.2	162.56	0.00	213	1844.77	92.82	2.57	4.01	1.151	0.068	0.133	2488.59	2496.06	2481.12	2774.06	1033.44	0	0	0	12.80	15.66	15.38
1847.20	9254	153.41	1.45	0.00	2488.0	2494.7	2481.2	2773.4	1033.6	155.55	7.88	228	1884.24	30.72	0.00	3.73	1.075	0.000	0.062	2341.09	2352.75	2329.44	2773.00	2522.00	0	0	0	12.65	30.00	15.44
2072.89	16646	153.41	1.45	80.00	2330.9	2346.9	2314.9	2772.8	2521.2	127.18	12.51	254	2077.72	0.00	0.00	2.95	0.000	0.000	0.116	2330.34	2346.56	2314.12	2772.38	3639.75	0	0	0	30.00	30.00	15.63
2112.91	17414	153.41	1.45	0.00	2330.2	2345.8	2314.5	2772.7	3639.2	121.15	15.35	262	2117.70	0.00	0.00	2.80	0.000	0.000	0.061	2329.69	2345.00	2314.38	2773.19	2470.62	0	0	0	30.00	30.00	15.67
2302.94	16386	153.41	1.45	0.00	2329.4	2345.5	2313.3	2773.2	2470.8	94.93	13.82	282	2304.28	0.00	0.00	0.00	0.000	0.000	0.000	2330.00	2346.62	2313.38	2773.12	2470.44	0	0	0	30.00	30.00	30.00
2492.97	10403	195.09	1.64	0.00	2327.9	2343.6	2312.3	2773.2	2471.1	76.96	7.58	301	2533.82	39.24	0.40	0.00	1.033	0.058	0.000	2170.81	2188.94	2152.69	2852.94	2470.56	0	0	0	12.91	15.83	30.00
2722.95	16646	195.09	1.64	80.00	2164.0	2185.4	2142.6	2852.6	2470.8	54.65	10.20	327	2727.78	0.00	0.00	2.99	0.000	0.000	0.114	2165.44	2186.81	2144.06	2852.69	3638.19	0	0	0	30.00	30.00	15.79
2953.03	9382	208.13	1.61	0.00	2162.6	2183.2	2142.0	2852.6	3637.5	31.13	9.24	373	2973.86	13.70	0.00	2.76	0.926	0.000	0.062	2118.91	2140.69	2097.12	2852.12	2466.75	0	0	0	12.91	30.00	15.85
3163.04	8486	253.84	1.75	80.00	2113.8	2137.6	2090.0	2852.4	2467.4	15.48	7.35	396	3213.67	43.60	0.00	3.05	0.996	0.000	0.114	1931.22	1955.69	1906.75	2852.56	3640.56	0	0	0	12.83	30.00	15.68
3298	end climb: SURFACE_DEPTH_REACHED
state	3298	begin surface coast
3313	end surface coast: CONTROL_FINISHED_OK
state	3313	begin surface