Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 62 * 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 62 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 13.329726 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 22.965975 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 13.329726 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 22.965975 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 62 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 270322,000645,4647.567,-12449.387,2,1.1,7,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.01 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270322,001127,4647.555,-12449.341,4,1.2,10,15.6 MHEAD_RNG_PITCHd_Wd 219.4,20000,-19.9,-10.000,-23.24,1773,0.507

SPEED_LIMITS 0.173,0.233 D_GRID 163

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 4639.919,-12500.469

Post-dive calculations and measurements:

FINISH -0.0,1.024782 FG_AHR_10Vo 13.343

SM_CCo 3634.40,312.95,0.975,0,501.2,503.4,499.0,605.10 MEM0 60148,1,0,0

SM_GC 1.13,312.95,17.52,2.78,0.975,0.060,0.062,501.2,503.4,499.0,166.4,2469.5,0,0,0,12.90,15.84,15.85 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 968572,20,78336,63

IRIDIUM_FIX 4647.38,-12452.05,270322,000813 DATA_FILE_SIZE 12936,436

TCM_TEMP 176.47 CAP_FILE_SIZE 164982,0

XPDR_PINGS 14,13.5,11.5 SDSIZE 3918848,3894208

SC_FREEKB 3854976 SDFILEDIR 402,1

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

TEMP 9.06 CURRENT 0.061, 92.7,1

INTERNAL_PRESSURE 8.48689 MAGCAL 1.000000,-0.079457,-0.159422,-0.019437,1.116536,0.002226,0.059114,0.011139,1.020356,-464.1,-582.5,-247.8,23,0.0319,0

_24V_AH 14.69,14.098 IMPLIED_C_PITCH 2445,14.40,236,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3385,18.013189,128,0

FG_AHR_24Vo 23.152 GPS 270322,011301,4647.298,-12449.529,4,1.0,34,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 743 1194 13050.87 nil 0 0 0.00

Pitch_motor 39 251 146.49 nil 0 0 0.00

Roll_motor 49 202 147.23 nil 0 0 0.00

Iridium 144 120 254.32 nil 0 0 0.00

Transponder_ping 3 420 21.59 nil 0 0 0.00

GPS 19 15 4.28 nil 0 0 0.00

Core 1805 6 180.71 SciCon 3304 6 336.80

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1769 2 52.10

Compass 903 5 66.47

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 0.00 496.9 494.8 498.9 168.8 2529.5 0.00 0.00 0 140.88 132.21 0.00 0.00 0.005 0.000 0.000 3129.56 3103.94 3155.19 168.88 2529.94 0 0 0 14.54 30.00 30.00

141.10 18467 -116.79 -1.34 0.00 3129.8 3104.8 3154.7 168.9 2529.6 3.64 -2.30 13 171.44 7.66 16.09 0.00 0.008 0.251 0.000 3444.38 3434.75 3454.00 2114.38 2529.44 0 0 0 15.69 15.68 30.00

358.38 0 -116.79 -1.34 0.00 3445.0 3435.3 3454.7 2114.3 2530.4 40.70 -15.80 35 359.72 0.00 0.00 0.00 0.000 0.000 0.000 3445.59 3435.06 3456.12 2114.25 2529.25 0 0 0 30.00 30.00 30.00

548.41 260 -116.79 -1.34 80.00 3445.2 3435.2 3455.2 2114.5 2529.7 67.15 -13.59 54 553.24 0.00 0.00 2.88 0.000 0.000 0.117 3445.53 3435.75 3455.31 2114.50 3638.94 0 0 0 30.00 30.00 15.85

628.44 1028 -116.79 -1.34 0.00 3445.2 3435.2 3455.2 2114.1 3639.1 78.79 -14.10 70 633.24 0.00 0.00 2.77 0.000 0.000 0.062 3444.75 3434.44 3455.06 2114.62 2471.25 0 0 0 30.00 30.00 15.88

818.47 292 -116.79 -1.34 80.00 3445.2 3435.0 3455.5 2114.4 2471.7 98.00 -8.14 90 823.30 0.00 0.00 3.01 0.000 0.000 0.115 3445.12 3435.38 3454.88 2114.69 3638.88 0 0 0 30.00 30.00 15.91

838.47 1060 -116.79 -1.34 0.00 3445.4 3435.6 3455.2 2113.9 3638.6 99.96 -8.81 94 843.26 0.00 0.00 2.76 0.000 0.000 0.062 3445.38 3435.88 3454.88 2114.56 2468.69 0 0 0 30.00 30.00 15.91

1028.48 548 -116.79 -1.34 -80.00 3445.4 3435.2 3455.6 2114.6 2468.5 115.91 -7.84 114 1033.44 0.00 0.00 3.79 0.000 0.000 0.153 3446.53 3436.56 3456.50 2114.69 1034.62 0 0 0 30.00 30.00 15.92

1178.51 1060 -116.79 -1.34 0.00 3445.4 3435.4 3455.4 2114.3 1034.6 129.56 -9.95 144 1183.44 0.00 0.00 3.54 0.000 0.000 0.073 3445.94 3435.19 3456.69 2114.31 2520.12 0 0 0 30.00 30.00 15.95

1368.55 32 -116.79 -1.34 0.00 3445.1 3435.3 3454.8 2114.5 2520.8 145.99 -8.22 164 1369.89 0.00 0.00 0.00 0.000 0.000 0.000 3445.91 3435.94 3455.88 2114.25 2520.19 0 0 0 30.00 30.00 30.00

1558.55 292 -116.79 -1.34 80.00 3445.4 3435.8 3455.1 2114.4 2520.4 160.79 -7.51 183 1563.35 0.00 0.00 2.89 0.000 0.000 0.118 3445.72 3436.25 3455.19 2114.44 3638.31 0 0 0 30.00 30.00 15.98

1583 end dive: TARGET_DEPTH_EXCEEDED

state 1583 begin apogee

1586.85 10243 0.00 -0.25 0.00 3445.4 3436.1 3454.8 2114.2 2470.4 163.09 -7.84 188 1676.01 85.99 1.88 0.09 1.194 0.131 0.202 2965.22 2972.12 2958.31 2380.31 2523.19 0 0 0 12.89 15.96 15.60

1679 end apogee: CONTROL_FINISHED_OK

state 1679 begin climb

1681.62 10243 116.79 1.34 0.00 2965.1 2972.1 2958.1 2380.1 2522.9 164.14 0.00 197 1778.26 93.03 2.59 0.00 1.150 0.065 0.000 2488.41 2496.00 2480.81 2773.06 2521.62 0 0 0 12.79 15.65 30.00

1964.96 16646 116.79 1.34 80.00 2479.9 2490.9 2469.0 2772.6 2521.8 134.23 12.19 226 1969.79 0.00 0.00 2.94 0.000 0.000 0.113 2481.03 2491.75 2470.31 2773.50 3639.69 0 0 0 30.00 30.00 15.65

2095.04 21639 116.79 1.26 0.00 2478.5 2488.8 2468.2 2773.1 3640.3 116.18 11.21 252 2099.91 0.00 0.34 2.82 0.000 0.169 0.061 2480.56 2490.75 2470.38 2738.25 2468.75 0 0 0 30.00 15.68 15.73

2285.07 10919 139.48 1.41 -80.00 2476.0 2488.8 2463.2 2738.3 2468.0 98.36 8.68 272 2310.50 19.50 0.32 3.83 1.029 0.060 0.141 2398.47 2411.00 2385.94 2793.00 1034.38 0 0 0 12.93 15.80 15.68

2469.27 5253 139.48 1.33 0.00 2393.2 2404.2 2382.1 2794.0 1034.6 77.79 10.93 309 2475.87 0.00 0.31 3.68 0.000 0.176 0.063 2394.16 2405.69 2382.62 2756.75 2521.44 0 0 0 30.00 15.75 15.80

2665.08 10663 236.16 1.73 80.00 2390.2 2403.9 2376.6 2756.5 2521.6 68.00 4.40 329 2762.82 92.53 0.69 2.98 1.040 0.048 0.116 2003.59 2025.25 1981.94 2871.31 3638.81 0 0 0 12.92 15.86 15.51

2990.98 17414 236.16 1.73 0.00 1995.8 2020.8 1970.9 2871.4 3639.1 32.19 12.60 394 2995.81 0.00 0.00 2.83 0.000 0.000 0.061 1995.31 2020.38 1970.25 2871.19 2467.94 0 0 0 30.00 30.00 15.74

3181.01 16646 236.16 1.73 80.00 1994.1 2019.9 1968.2 2871.4 2468.1 12.93 10.39 414 3185.89 0.00 0.00 3.08 0.000 0.000 0.111 1995.19 2021.06 1969.31 2871.19 3639.56 0 0 0 30.00 30.00 15.81

3276 end climb: SURFACE_DEPTH_REACHED

state 3276 begin surface coast

3291 end surface coast: CONTROL_FINISHED_OK

state 3291 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	62	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	13.329726	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	22.965975	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	270322,000645,4647.567,-12449.387,2,1.1,7,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.01	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270322,001127,4647.555,-12449.341,4,1.2,10,15.6	MHEAD_RNG_PITCHd_Wd	219.4,20000,-19.9,-10.000,-23.24,1773,0.507
SPEED_LIMITS	0.173,0.233	D_GRID	163
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	4639.919,-12500.469

FINISH	-0.0,1.024782	FG_AHR_10Vo	13.343
SM_CCo	3634.40,312.95,0.975,0,501.2,503.4,499.0,605.10	MEM0	60148,1,0,0
SM_GC	1.13,312.95,17.52,2.78,0.975,0.060,0.062,501.2,503.4,499.0,166.4,2469.5,0,0,0,12.90,15.84,15.85	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	968572,20,78336,63
IRIDIUM_FIX	4647.38,-12452.05,270322,000813	DATA_FILE_SIZE	12936,436
TCM_TEMP	176.47	CAP_FILE_SIZE	164982,0
XPDR_PINGS	14,13.5,11.5	SDSIZE	3918848,3894208
SC_FREEKB	3854976	SDFILEDIR	402,1
HUMID	50.20	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.06	CURRENT	0.061, 92.7,1
INTERNAL_PRESSURE	8.48689	MAGCAL	1.000000,-0.079457,-0.159422,-0.019437,1.116536,0.002226,0.059114,0.011139,1.020356,-464.1,-582.5,-247.8,23,0.0319,0
_24V_AH	14.69,14.098	IMPLIED_C_PITCH	2445,14.40,236,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3385,18.013189,128,0
FG_AHR_24Vo	23.152	GPS	270322,011301,4647.298,-12449.529,4,1.0,34,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	743	1194	13050.87	nil	0	0	0.00
Pitch_motor	39	251	146.49	nil	0	0	0.00
Roll_motor	49	202	147.23	nil	0	0	0.00
Iridium	144	120	254.32	nil	0	0	0.00
Transponder_ping	3	420	21.59	nil	0	0	0.00
GPS	19	15	4.28	nil	0	0	0.00
Core	1805	6	180.71	SciCon	3304	6	336.80
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1769	2	52.10
Compass	903	5	66.47
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	494.8	498.9	168.8	2529.5	0.00	0.00	0	140.88	132.21	0.00	0.00	0.005	0.000	0.000	3129.56	3103.94	3155.19	168.88	2529.94	0	0	0	14.54	30.00	30.00
141.10	18467	-116.79	-1.34	0.00	3129.8	3104.8	3154.7	168.9	2529.6	3.64	-2.30	13	171.44	7.66	16.09	0.00	0.008	0.251	0.000	3444.38	3434.75	3454.00	2114.38	2529.44	0	0	0	15.69	15.68	30.00
358.38	0	-116.79	-1.34	0.00	3445.0	3435.3	3454.7	2114.3	2530.4	40.70	-15.80	35	359.72	0.00	0.00	0.00	0.000	0.000	0.000	3445.59	3435.06	3456.12	2114.25	2529.25	0	0	0	30.00	30.00	30.00
548.41	260	-116.79	-1.34	80.00	3445.2	3435.2	3455.2	2114.5	2529.7	67.15	-13.59	54	553.24	0.00	0.00	2.88	0.000	0.000	0.117	3445.53	3435.75	3455.31	2114.50	3638.94	0	0	0	30.00	30.00	15.85
628.44	1028	-116.79	-1.34	0.00	3445.2	3435.2	3455.2	2114.1	3639.1	78.79	-14.10	70	633.24	0.00	0.00	2.77	0.000	0.000	0.062	3444.75	3434.44	3455.06	2114.62	2471.25	0	0	0	30.00	30.00	15.88
818.47	292	-116.79	-1.34	80.00	3445.2	3435.0	3455.5	2114.4	2471.7	98.00	-8.14	90	823.30	0.00	0.00	3.01	0.000	0.000	0.115	3445.12	3435.38	3454.88	2114.69	3638.88	0	0	0	30.00	30.00	15.91
838.47	1060	-116.79	-1.34	0.00	3445.4	3435.6	3455.2	2113.9	3638.6	99.96	-8.81	94	843.26	0.00	0.00	2.76	0.000	0.000	0.062	3445.38	3435.88	3454.88	2114.56	2468.69	0	0	0	30.00	30.00	15.91
1028.48	548	-116.79	-1.34	-80.00	3445.4	3435.2	3455.6	2114.6	2468.5	115.91	-7.84	114	1033.44	0.00	0.00	3.79	0.000	0.000	0.153	3446.53	3436.56	3456.50	2114.69	1034.62	0	0	0	30.00	30.00	15.92
1178.51	1060	-116.79	-1.34	0.00	3445.4	3435.4	3455.4	2114.3	1034.6	129.56	-9.95	144	1183.44	0.00	0.00	3.54	0.000	0.000	0.073	3445.94	3435.19	3456.69	2114.31	2520.12	0	0	0	30.00	30.00	15.95
1368.55	32	-116.79	-1.34	0.00	3445.1	3435.3	3454.8	2114.5	2520.8	145.99	-8.22	164	1369.89	0.00	0.00	0.00	0.000	0.000	0.000	3445.91	3435.94	3455.88	2114.25	2520.19	0	0	0	30.00	30.00	30.00
1558.55	292	-116.79	-1.34	80.00	3445.4	3435.8	3455.1	2114.4	2520.4	160.79	-7.51	183	1563.35	0.00	0.00	2.89	0.000	0.000	0.118	3445.72	3436.25	3455.19	2114.44	3638.31	0	0	0	30.00	30.00	15.98
1583	end dive: TARGET_DEPTH_EXCEEDED
state	1583	begin apogee
1586.85	10243	0.00	-0.25	0.00	3445.4	3436.1	3454.8	2114.2	2470.4	163.09	-7.84	188	1676.01	85.99	1.88	0.09	1.194	0.131	0.202	2965.22	2972.12	2958.31	2380.31	2523.19	0	0	0	12.89	15.96	15.60
1679	end apogee: CONTROL_FINISHED_OK
state	1679	begin climb
1681.62	10243	116.79	1.34	0.00	2965.1	2972.1	2958.1	2380.1	2522.9	164.14	0.00	197	1778.26	93.03	2.59	0.00	1.150	0.065	0.000	2488.41	2496.00	2480.81	2773.06	2521.62	0	0	0	12.79	15.65	30.00
1964.96	16646	116.79	1.34	80.00	2479.9	2490.9	2469.0	2772.6	2521.8	134.23	12.19	226	1969.79	0.00	0.00	2.94	0.000	0.000	0.113	2481.03	2491.75	2470.31	2773.50	3639.69	0	0	0	30.00	30.00	15.65
2095.04	21639	116.79	1.26	0.00	2478.5	2488.8	2468.2	2773.1	3640.3	116.18	11.21	252	2099.91	0.00	0.34	2.82	0.000	0.169	0.061	2480.56	2490.75	2470.38	2738.25	2468.75	0	0	0	30.00	15.68	15.73
2285.07	10919	139.48	1.41	-80.00	2476.0	2488.8	2463.2	2738.3	2468.0	98.36	8.68	272	2310.50	19.50	0.32	3.83	1.029	0.060	0.141	2398.47	2411.00	2385.94	2793.00	1034.38	0	0	0	12.93	15.80	15.68
2469.27	5253	139.48	1.33	0.00	2393.2	2404.2	2382.1	2794.0	1034.6	77.79	10.93	309	2475.87	0.00	0.31	3.68	0.000	0.176	0.063	2394.16	2405.69	2382.62	2756.75	2521.44	0	0	0	30.00	15.75	15.80
2665.08	10663	236.16	1.73	80.00	2390.2	2403.9	2376.6	2756.5	2521.6	68.00	4.40	329	2762.82	92.53	0.69	2.98	1.040	0.048	0.116	2003.59	2025.25	1981.94	2871.31	3638.81	0	0	0	12.92	15.86	15.51
2990.98	17414	236.16	1.73	0.00	1995.8	2020.8	1970.9	2871.4	3639.1	32.19	12.60	394	2995.81	0.00	0.00	2.83	0.000	0.000	0.061	1995.31	2020.38	1970.25	2871.19	2467.94	0	0	0	30.00	30.00	15.74
3181.01	16646	236.16	1.73	80.00	1994.1	2019.9	1968.2	2871.4	2468.1	12.93	10.39	414	3185.89	0.00	0.00	3.08	0.000	0.000	0.111	1995.19	2021.06	1969.31	2871.19	3639.56	0	0	0	30.00	30.00	15.81
3276	end climb: SURFACE_DEPTH_REACHED
state	3276	begin surface coast
3291	end surface coast: CONTROL_FINISHED_OK
state	3291	begin surface