Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 63 * 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 63 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 13.344097 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 23.156569 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 13.344097 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 23.156569 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 63 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 270322,011301,4647.298,-12449.529,4,1.0,34,15.6 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 -59.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270322,011716,4647.273,-12449.498,3,0.6,7,15.6 MHEAD_RNG_PITCHd_Wd 220.7,20000,-19.9,-10.000,-23.24,1773,0.585

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 4639.637,-12500.624

Post-dive calculations and measurements:

FINISH -0.2,1.024781 FG_AHR_10Vo 13.358

SM_CCo 3612.85,305.33,0.974,0,501.2,502.2,500.2,605.10 MEM0 60148,1,0,0

SM_GC 0.82,305.33,17.20,2.75,0.974,0.040,0.062,501.2,502.2,500.2,169.1,2474.1,0,0,0,12.87,15.81,15.83 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 968552,21,78336,63

IRIDIUM_FIX 4649.76,-12449.47,270322,011436 DATA_FILE_SIZE 12896,454

TCM_TEMP 176.36 CAP_FILE_SIZE 185076,0

XPDR_PINGS 11,13.5,11.5 SDSIZE 3918848,3893984

SC_FREEKB 3854592 SDFILEDIR 408,1

HUMID 50.15 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.05 CURRENT 0.067, 97.6,1

INTERNAL_PRESSURE 8.48543 MAGCAL 1.000000,-0.080840,-0.158304,-0.033189,1.088771,-0.020000,0.060014,0.004820,1.006101,-469.8,-553.7,-243.1,17,0.0328,0

_24V_AH 14.69,14.293 IMPLIED_C_PITCH 2454,14.21,229,0.0,0.00

_10V_AH 14.73,0.000 IMPLIED_C_VBD 3387,20.944534,131,0

FG_AHR_24Vo 23.342 GPS 270322,021801,4647.015,-12449.736,2,0.7,6,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 742 1196 13048.89 nil 0 0 0.00

Pitch_motor 39 258 148.77 nil 0 0 0.00

Roll_motor 72 223 238.46 nil 0 0 0.00

Iridium 142 111 232.62 nil 0 0 0.00

Transponder_ping 2 420 16.97 nil 0 0 0.00

GPS 16 15 3.65 nil 0 0 0.00

Core 1846 6 184.93 SciCon 3291 6 333.86

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1688 2 49.74

Compass 931 5 68.58

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

8.45 16386 -116.79 -1.34 0.00 495.7 495.6 495.8 166.5 2529.5 0.00 0.00 0 140.91 132.20 0.00 0.00 0.005 0.000 0.000 3130.12 3106.81 3153.44 166.25 2529.38 0 0 0 14.41 30.00 30.00

141.13 18983 -116.79 -1.34 -80.00 3128.9 3104.8 3153.1 166.5 2529.9 3.66 -2.30 13 173.40 7.59 16.25 4.01 0.008 0.258 0.142 3444.53 3434.81 3454.25 2114.75 1034.19 0 0 0 15.70 15.67 15.65

221.52 3205 -116.79 -1.24 0.00 3444.6 3434.9 3454.4 2114.1 1034.1 19.45 -16.58 29 227.55 0.00 0.17 3.69 0.000 0.173 0.068 3444.44 3434.62 3454.25 2139.38 2520.94 0 0 0 30.00 15.72 15.76

416.53 516 -116.79 -1.24 -80.00 3444.6 3434.6 3454.6 2139.1 2520.6 47.51 -13.84 49 422.54 0.00 0.00 3.94 0.000 0.000 0.133 3445.25 3436.38 3454.12 2137.00 1034.94 0 0 0 30.00 30.00 15.81

441.54 1028 -116.79 -1.24 0.00 3444.6 3434.6 3454.6 2139.5 1035.6 50.88 -14.31 54 446.49 0.00 0.00 3.62 0.000 0.000 0.067 3446.34 3436.25 3456.44 2137.69 2519.50 0 0 0 30.00 30.00 15.83

631.58 260 -116.79 -1.24 80.00 3445.2 3435.4 3454.9 2138.8 2520.4 72.67 -10.09 74 636.38 0.00 0.00 2.90 0.000 0.000 0.118 3445.66 3436.00 3455.31 2139.00 3639.31 0 0 0 30.00 30.00 15.85

725.79 1028 -116.79 -1.24 0.00 3444.6 3434.4 3454.8 2139.1 3638.9 83.73 -11.75 93 732.15 0.00 0.00 2.74 0.000 0.000 0.062 3446.84 3436.38 3457.31 2138.69 2468.38 0 0 0 30.00 30.00 15.89

921.62 676 -116.79 -1.32 -80.00 3445.0 3435.3 3454.6 2139.1 2468.9 101.17 -7.79 113 926.55 0.00 0.00 3.78 0.000 0.000 0.155 3445.91 3436.06 3455.75 2139.19 1034.25 0 0 0 30.00 30.00 15.90

971.61 1060 -116.79 -1.32 0.00 3444.6 3434.7 3454.5 2139.4 1034.1 105.18 -7.89 123 976.53 0.00 0.00 3.57 0.000 0.000 0.072 3446.22 3436.62 3455.81 2140.12 2519.38 0 0 0 30.00 30.00 15.93

1161.68 4773 -116.79 -1.39 -80.00 3445.1 3435.1 3455.1 2139.4 2519.4 117.90 -6.64 143 1167.71 0.00 0.35 3.89 0.000 0.063 0.147 3446.75 3436.44 3457.06 2080.62 1034.12 0 0 0 30.00 15.95 15.93

1336.67 3205 -116.79 -1.30 0.00 3444.7 3434.8 3454.6 2081.1 1034.5 138.08 -12.24 178 1342.70 0.00 0.38 3.62 0.000 0.159 0.074 3444.00 3434.56 3453.44 2126.56 2520.00 0 0 0 30.00 15.93 15.97

1531.68 292 -116.79 -1.30 80.00 3444.7 3434.4 3454.9 2126.8 2520.4 153.95 -7.13 198 1536.49 0.00 0.00 2.88 0.000 0.000 0.118 3445.09 3434.75 3455.44 2126.44 3639.88 0 0 0 30.00 30.00 15.98

1591.70 1060 -116.79 -1.30 0.00 3444.7 3434.6 3454.9 2126.6 3639.2 158.92 -8.73 210 1596.48 0.00 0.00 2.74 0.000 0.000 0.062 3445.47 3435.38 3455.56 2126.75 2469.06 0 0 0 30.00 30.00 15.99

1642 end dive: TARGET_DEPTH_EXCEEDED

state 1642 begin apogee

1642.78 10243 0.00 -0.25 0.00 3445.4 3435.5 3455.2 2126.6 2521.9 163.24 -8.27 216 1733.76 85.99 1.82 0.08 1.197 0.124 0.224 2966.34 2972.50 2960.19 2379.62 2473.69 0 0 0 12.96 15.96 15.59

1737 end apogee: CONTROL_FINISHED_OK

state 1737 begin climb

1739.27 10503 116.79 1.34 80.00 2964.1 2971.3 2956.8 2380.9 2474.4 164.92 0.00 225 1839.42 92.91 2.57 3.14 1.154 0.065 0.111 2487.06 2494.00 2480.12 2774.31 3640.38 0 0 0 12.78 15.66 15.36

1841.89 9382 160.70 1.41 0.00 2487.9 2494.3 2481.4 2773.1 3640.0 158.05 7.45 240 1883.23 36.40 0.00 2.87 1.090 0.000 0.059 2310.50 2323.31 2297.69 2774.38 2468.00 0 0 0 12.66 30.00 15.44

2067.59 16646 160.70 1.41 80.00 2300.9 2317.8 2284.1 2774.3 2467.4 127.43 12.77 267 2072.45 0.00 0.00 3.12 0.000 0.000 0.113 2301.66 2318.50 2284.81 2773.88 3640.56 0 0 0 30.00 30.00 15.63

2137.60 17414 160.70 1.41 0.00 2300.3 2317.2 2283.4 2773.2 3640.3 117.08 14.51 281 2142.41 0.00 0.00 2.81 0.000 0.000 0.061 2301.38 2318.31 2284.44 2774.38 2468.44 0 0 0 30.00 30.00 15.68

2327.62 16902 160.70 1.41 -80.00 2298.9 2316.8 2281.0 2774.4 2468.4 92.02 12.77 301 2332.59 0.00 0.00 3.78 0.000 0.000 0.140 2299.56 2317.88 2281.25 2773.31 1033.75 0 0 0 30.00 30.00 15.76

2481.87 17414 160.70 1.41 0.00 2298.6 2316.1 2281.0 2774.0 1033.6 74.38 11.35 332 2488.39 0.00 0.00 3.63 0.000 0.000 0.065 2298.47 2315.38 2281.56 2773.31 2519.19 0 0 0 30.00 30.00 15.82

2677.70 10663 231.26 1.70 80.00 2297.2 2316.3 2278.2 2773.9 2520.1 60.96 5.91 352 2749.70 66.39 0.47 2.97 1.035 0.054 0.118 2022.38 2044.12 2000.62 2865.50 3641.25 0 0 0 12.97 15.87 15.60

2977.87 17414 231.26 1.70 0.00 2015.2 2039.7 1990.7 2865.7 3641.4 28.84 11.52 412 2982.71 0.00 0.00 2.79 0.000 0.000 0.062 2017.91 2042.56 1993.25 2865.75 2468.25 0 0 0 30.00 30.00 15.78

3167.90 8486 247.38 1.75 80.00 2014.3 2039.6 1989.0 2865.4 2468.8 12.14 9.07 432 3188.82 15.53 0.00 3.01 0.921 0.000 0.114 1957.19 1982.38 1932.00 2866.00 3639.81 0 0 0 12.83 30.00 15.73

3262 end climb: SURFACE_DEPTH_REACHED

state 3262 begin surface coast

3278 end surface coast: CONTROL_FINISHED_OK

state 3278 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	63	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	13.344097	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	23.156569	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	270322,011301,4647.298,-12449.529,4,1.0,34,15.6	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	-59.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270322,011716,4647.273,-12449.498,3,0.6,7,15.6	MHEAD_RNG_PITCHd_Wd	220.7,20000,-19.9,-10.000,-23.24,1773,0.585
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	4639.637,-12500.624

FINISH	-0.2,1.024781	FG_AHR_10Vo	13.358
SM_CCo	3612.85,305.33,0.974,0,501.2,502.2,500.2,605.10	MEM0	60148,1,0,0
SM_GC	0.82,305.33,17.20,2.75,0.974,0.040,0.062,501.2,502.2,500.2,169.1,2474.1,0,0,0,12.87,15.81,15.83	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	968552,21,78336,63
IRIDIUM_FIX	4649.76,-12449.47,270322,011436	DATA_FILE_SIZE	12896,454
TCM_TEMP	176.36	CAP_FILE_SIZE	185076,0
XPDR_PINGS	11,13.5,11.5	SDSIZE	3918848,3893984
SC_FREEKB	3854592	SDFILEDIR	408,1
HUMID	50.15	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.05	CURRENT	0.067, 97.6,1
INTERNAL_PRESSURE	8.48543	MAGCAL	1.000000,-0.080840,-0.158304,-0.033189,1.088771,-0.020000,0.060014,0.004820,1.006101,-469.8,-553.7,-243.1,17,0.0328,0
_24V_AH	14.69,14.293	IMPLIED_C_PITCH	2454,14.21,229,0.0,0.00
_10V_AH	14.73,0.000	IMPLIED_C_VBD	3387,20.944534,131,0
FG_AHR_24Vo	23.342	GPS	270322,021801,4647.015,-12449.736,2,0.7,6,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	742	1196	13048.89	nil	0	0	0.00
Pitch_motor	39	258	148.77	nil	0	0	0.00
Roll_motor	72	223	238.46	nil	0	0	0.00
Iridium	142	111	232.62	nil	0	0	0.00
Transponder_ping	2	420	16.97	nil	0	0	0.00
GPS	16	15	3.65	nil	0	0	0.00
Core	1846	6	184.93	SciCon	3291	6	333.86
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1688	2	49.74
Compass	931	5	68.58
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
8.45	16386	-116.79	-1.34	0.00	495.7	495.6	495.8	166.5	2529.5	0.00	0.00	0	140.91	132.20	0.00	0.00	0.005	0.000	0.000	3130.12	3106.81	3153.44	166.25	2529.38	0	0	0	14.41	30.00	30.00
141.13	18983	-116.79	-1.34	-80.00	3128.9	3104.8	3153.1	166.5	2529.9	3.66	-2.30	13	173.40	7.59	16.25	4.01	0.008	0.258	0.142	3444.53	3434.81	3454.25	2114.75	1034.19	0	0	0	15.70	15.67	15.65
221.52	3205	-116.79	-1.24	0.00	3444.6	3434.9	3454.4	2114.1	1034.1	19.45	-16.58	29	227.55	0.00	0.17	3.69	0.000	0.173	0.068	3444.44	3434.62	3454.25	2139.38	2520.94	0	0	0	30.00	15.72	15.76
416.53	516	-116.79	-1.24	-80.00	3444.6	3434.6	3454.6	2139.1	2520.6	47.51	-13.84	49	422.54	0.00	0.00	3.94	0.000	0.000	0.133	3445.25	3436.38	3454.12	2137.00	1034.94	0	0	0	30.00	30.00	15.81
441.54	1028	-116.79	-1.24	0.00	3444.6	3434.6	3454.6	2139.5	1035.6	50.88	-14.31	54	446.49	0.00	0.00	3.62	0.000	0.000	0.067	3446.34	3436.25	3456.44	2137.69	2519.50	0	0	0	30.00	30.00	15.83
631.58	260	-116.79	-1.24	80.00	3445.2	3435.4	3454.9	2138.8	2520.4	72.67	-10.09	74	636.38	0.00	0.00	2.90	0.000	0.000	0.118	3445.66	3436.00	3455.31	2139.00	3639.31	0	0	0	30.00	30.00	15.85
725.79	1028	-116.79	-1.24	0.00	3444.6	3434.4	3454.8	2139.1	3638.9	83.73	-11.75	93	732.15	0.00	0.00	2.74	0.000	0.000	0.062	3446.84	3436.38	3457.31	2138.69	2468.38	0	0	0	30.00	30.00	15.89
921.62	676	-116.79	-1.32	-80.00	3445.0	3435.3	3454.6	2139.1	2468.9	101.17	-7.79	113	926.55	0.00	0.00	3.78	0.000	0.000	0.155	3445.91	3436.06	3455.75	2139.19	1034.25	0	0	0	30.00	30.00	15.90
971.61	1060	-116.79	-1.32	0.00	3444.6	3434.7	3454.5	2139.4	1034.1	105.18	-7.89	123	976.53	0.00	0.00	3.57	0.000	0.000	0.072	3446.22	3436.62	3455.81	2140.12	2519.38	0	0	0	30.00	30.00	15.93
1161.68	4773	-116.79	-1.39	-80.00	3445.1	3435.1	3455.1	2139.4	2519.4	117.90	-6.64	143	1167.71	0.00	0.35	3.89	0.000	0.063	0.147	3446.75	3436.44	3457.06	2080.62	1034.12	0	0	0	30.00	15.95	15.93
1336.67	3205	-116.79	-1.30	0.00	3444.7	3434.8	3454.6	2081.1	1034.5	138.08	-12.24	178	1342.70	0.00	0.38	3.62	0.000	0.159	0.074	3444.00	3434.56	3453.44	2126.56	2520.00	0	0	0	30.00	15.93	15.97
1531.68	292	-116.79	-1.30	80.00	3444.7	3434.4	3454.9	2126.8	2520.4	153.95	-7.13	198	1536.49	0.00	0.00	2.88	0.000	0.000	0.118	3445.09	3434.75	3455.44	2126.44	3639.88	0	0	0	30.00	30.00	15.98
1591.70	1060	-116.79	-1.30	0.00	3444.7	3434.6	3454.9	2126.6	3639.2	158.92	-8.73	210	1596.48	0.00	0.00	2.74	0.000	0.000	0.062	3445.47	3435.38	3455.56	2126.75	2469.06	0	0	0	30.00	30.00	15.99
1642	end dive: TARGET_DEPTH_EXCEEDED
state	1642	begin apogee
1642.78	10243	0.00	-0.25	0.00	3445.4	3435.5	3455.2	2126.6	2521.9	163.24	-8.27	216	1733.76	85.99	1.82	0.08	1.197	0.124	0.224	2966.34	2972.50	2960.19	2379.62	2473.69	0	0	0	12.96	15.96	15.59
1737	end apogee: CONTROL_FINISHED_OK
state	1737	begin climb
1739.27	10503	116.79	1.34	80.00	2964.1	2971.3	2956.8	2380.9	2474.4	164.92	0.00	225	1839.42	92.91	2.57	3.14	1.154	0.065	0.111	2487.06	2494.00	2480.12	2774.31	3640.38	0	0	0	12.78	15.66	15.36
1841.89	9382	160.70	1.41	0.00	2487.9	2494.3	2481.4	2773.1	3640.0	158.05	7.45	240	1883.23	36.40	0.00	2.87	1.090	0.000	0.059	2310.50	2323.31	2297.69	2774.38	2468.00	0	0	0	12.66	30.00	15.44
2067.59	16646	160.70	1.41	80.00	2300.9	2317.8	2284.1	2774.3	2467.4	127.43	12.77	267	2072.45	0.00	0.00	3.12	0.000	0.000	0.113	2301.66	2318.50	2284.81	2773.88	3640.56	0	0	0	30.00	30.00	15.63
2137.60	17414	160.70	1.41	0.00	2300.3	2317.2	2283.4	2773.2	3640.3	117.08	14.51	281	2142.41	0.00	0.00	2.81	0.000	0.000	0.061	2301.38	2318.31	2284.44	2774.38	2468.44	0	0	0	30.00	30.00	15.68
2327.62	16902	160.70	1.41	-80.00	2298.9	2316.8	2281.0	2774.4	2468.4	92.02	12.77	301	2332.59	0.00	0.00	3.78	0.000	0.000	0.140	2299.56	2317.88	2281.25	2773.31	1033.75	0	0	0	30.00	30.00	15.76
2481.87	17414	160.70	1.41	0.00	2298.6	2316.1	2281.0	2774.0	1033.6	74.38	11.35	332	2488.39	0.00	0.00	3.63	0.000	0.000	0.065	2298.47	2315.38	2281.56	2773.31	2519.19	0	0	0	30.00	30.00	15.82
2677.70	10663	231.26	1.70	80.00	2297.2	2316.3	2278.2	2773.9	2520.1	60.96	5.91	352	2749.70	66.39	0.47	2.97	1.035	0.054	0.118	2022.38	2044.12	2000.62	2865.50	3641.25	0	0	0	12.97	15.87	15.60
2977.87	17414	231.26	1.70	0.00	2015.2	2039.7	1990.7	2865.7	3641.4	28.84	11.52	412	2982.71	0.00	0.00	2.79	0.000	0.000	0.062	2017.91	2042.56	1993.25	2865.75	2468.25	0	0	0	30.00	30.00	15.78
3167.90	8486	247.38	1.75	80.00	2014.3	2039.6	1989.0	2865.4	2468.8	12.14	9.07	432	3188.82	15.53	0.00	3.01	0.921	0.000	0.114	1957.19	1982.38	1932.00	2866.00	3639.81	0	0	0	12.83	30.00	15.73
3262	end climb: SURFACE_DEPTH_REACHED
state	3262	begin surface coast
3278	end surface coast: CONTROL_FINISHED_OK
state	3278	begin surface