Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 66 * 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 66 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 -2 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 13.38855 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 23.732048 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 13.38855 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 23.732048 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 -2

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 66 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 270322,043431,4646.285,-12450.259,2,1.0,26,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270322,043839,4646.272,-12450.278,3,0.9,5,15.6 MHEAD_RNG_PITCHd_Wd 224.3,20000,-19.9,-10.000,-23.24,1773,0.534

SPEED_LIMITS 0.173,0.233 D_GRID 185

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 4638.636,-12501.401

Post-dive calculations and measurements:

FINISH -0.1,1.024773 FG_AHR_10Vo 13.404

SM_CCo 4061.88,297.08,0.958,0,501.0,502.2,499.8,605.16 MEM0 60148,1,0,0

SM_GC 1.12,297.08,17.34,3.57,0.958,0.043,0.065,501.0,502.2,499.8,175.1,2526.1,0,0,0,12.87,15.81,15.82 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 989988,16,57000,63

IRIDIUM_FIX 4648.68,-12453.85,270322,043559 DATA_FILE_SIZE 12935,485

TCM_TEMP 176.10 CAP_FILE_SIZE 171178,0

XPDR_PINGS 14,13.5,11.5 SDSIZE 3918848,3893312

SC_FREEKB 3853440 SDFILEDIR 426,1

HUMID 50.23 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.87 CURRENT 0.063,166.7,1

INTERNAL_PRESSURE 8.47838 MAGCAL 1.000000,-0.071940,-0.246074,-0.006945,1.107870,0.050933,0.086825,0.013085,1.031912,-390.9,-619.7,-247.5,18,0.0404,0

_24V_AH 14.69,14.889 IMPLIED_C_PITCH 2442,14.40,272,0.0,0.00

_10V_AH 14.73,0.000 IMPLIED_C_VBD 3338,18.130184,146,0

FG_AHR_24Vo 23.918 GPS 270322,054659,4645.842,-12450.633,3,1.1,7,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 752 1199 13260.82 nil 0 0 0.00

Pitch_motor 40 252 151.43 nil 0 0 0.00

Roll_motor 49 229 167.59 nil 0 0 0.00

Iridium 147 118 257.37 nil 0 0 0.00

Transponder_ping 3 420 21.59 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 1961 6 196.43 SciCon 3747 6 384.31

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2026 2 59.70

Compass 1008 5 74.28

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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

6.38 16386 -116.79 -1.34 0.00 496.2 493.1 499.2 167.8 2464.1 0.00 0.00 0 138.87 132.17 0.00 0.00 0.005 0.000 0.000 3105.75 3080.38 3131.12 167.88 2464.56 0 0 0 14.50 30.00 30.00

139.09 18983 -116.79 -1.34 -80.00 3106.1 3081.8 3130.4 167.8 2463.8 3.74 -2.29 13 172.34 8.19 16.35 3.86 0.007 0.253 0.159 3443.62 3433.62 3453.62 2112.81 1035.44 0 0 0 15.69 15.67 15.63

399.74 3205 -116.79 -1.24 0.00 3445.0 3435.2 3454.8 2113.2 1035.9 51.11 -17.14 65 406.31 0.00 0.17 3.71 0.000 0.163 0.074 3445.72 3436.00 3455.44 2139.44 2517.62 0 0 0 30.00 15.77 15.81

595.52 516 -116.79 -1.24 -80.00 3445.3 3435.6 3455.1 2139.4 2518.1 74.54 -10.03 85 601.53 0.00 0.00 3.99 0.000 0.000 0.148 3444.88 3435.56 3454.19 2139.31 1034.38 0 0 0 30.00 30.00 15.84

760.58 1060 -116.79 -1.24 0.00 3445.4 3435.8 3455.1 2139.3 1034.2 90.64 -8.67 118 765.52 0.00 0.00 3.68 0.000 0.000 0.071 3446.97 3436.38 3457.56 2139.25 2519.75 0 0 0 30.00 30.00 15.89

950.65 160 -116.79 -1.32 0.00 3446.2 3437.1 3455.4 2138.9 2520.3 105.22 -7.15 138 951.98 0.00 0.00 0.00 0.000 0.000 0.000 3446.38 3436.44 3456.31 2139.12 2520.06 0 0 0 30.00 30.00 30.00

1140.63 4257 -116.79 -1.40 0.00 3446.6 3437.4 3455.7 2139.1 2520.1 120.31 -8.56 157 1142.12 0.00 0.37 0.00 0.000 0.060 0.000 3445.59 3436.50 3454.69 2081.56 2520.44 0 0 0 30.00 15.94 30.00

1330.64 516 -116.79 -1.40 -80.00 3445.8 3436.8 3454.9 2081.9 2520.1 139.87 -10.32 176 1336.62 0.00 0.00 3.98 0.000 0.000 0.151 3446.50 3436.62 3456.38 2081.06 1034.62 0 0 0 30.00 30.00 15.95

1409.86 3205 -116.79 -1.31 0.00 3445.6 3436.2 3455.1 2081.5 1034.4 149.11 -12.34 192 1416.46 0.00 0.38 3.62 0.000 0.156 0.074 3446.47 3437.31 3455.62 2124.06 2520.44 0 0 0 30.00 15.94 15.98

1605.66 32 -116.79 -1.31 0.00 3446.1 3437.2 3455.1 2124.6 2520.9 164.91 -8.33 212 1607.00 0.00 0.00 0.00 0.000 0.000 0.000 3447.00 3438.75 3455.25 2124.75 2520.88 0 0 0 30.00 30.00 30.00

1795 end dive: TARGET_DEPTH_EXCEEDED

state 1795 begin apogee

1796.76 10243 0.00 -0.25 0.00 3446.4 3438.1 3454.8 2124.6 2472.5 180.51 -7.84 231 1887.79 86.46 1.85 0.09 1.200 0.125 0.230 2965.16 2971.12 2959.19 2380.19 2518.06 0 0 0 13.01 15.98 15.60

1890 end apogee: CONTROL_FINISHED_OK

state 1890 begin climb

1893.29 10243 116.79 1.34 0.00 2964.6 2971.4 2957.8 2380.7 2517.8 181.50 0.00 240 1990.92 93.50 2.59 0.00 1.162 0.066 0.000 2488.84 2496.38 2481.31 2773.62 2517.75 0 0 0 12.73 15.66 30.00

2176.63 16646 116.79 1.34 80.00 2480.3 2490.8 2469.9 2773.6 2517.1 152.93 12.38 269 2181.46 0.00 0.00 2.95 0.000 0.000 0.116 2479.88 2490.75 2469.00 2773.69 3642.19 0 0 0 30.00 30.00 15.65

2360.91 21639 116.79 1.26 0.00 2478.2 2488.6 2467.8 2773.2 3642.3 128.27 13.38 306 2367.35 0.00 0.34 2.80 0.000 0.173 0.063 2477.59 2488.25 2466.94 2738.44 2467.94 0 0 0 30.00 15.70 15.76

2556.75 16514 116.79 1.33 0.00 2475.7 2488.2 2463.2 2737.9 2468.1 107.25 10.41 326 2558.09 0.00 0.00 0.00 0.000 0.000 0.000 2476.03 2488.19 2463.88 2738.44 2468.12 0 0 0 30.00 30.00 30.00

2746.74 10663 135.25 1.46 80.00 2474.9 2488.1 2461.7 2738.8 2467.4 89.53 8.93 345 2768.87 17.28 0.41 3.06 0.993 0.057 0.116 2415.84 2426.38 2405.31 2808.44 3638.56 0 0 0 12.87 15.87 15.76

2952.03 5253 135.25 1.39 0.00 2410.9 2422.6 2399.2 2808.4 3638.9 66.12 10.29 386 2956.90 0.00 0.31 2.78 0.000 0.175 0.063 2413.09 2424.88 2401.31 2772.12 2467.50 0 0 0 30.00 15.82 15.86

3142.09 10919 229.26 1.75 -80.00 2409.8 2423.5 2396.1 2772.2 2467.4 56.13 4.55 406 3239.91 91.34 0.63 3.85 1.023 0.054 0.138 2030.09 2049.94 2010.25 2876.12 1033.00 0 0 0 12.91 15.90 15.55

3298.09 9382 256.24 1.73 0.00 2026.1 2046.8 2005.3 2877.9 1033.2 46.17 8.44 437 3330.30 26.49 0.00 3.67 0.959 0.000 0.064 1920.41 1944.38 1896.44 2877.81 2522.00 0 0 0 12.75 30.00 15.66

3513.42 16386 256.24 1.73 0.00 1914.2 1941.1 1887.4 2877.6 2522.2 23.28 11.80 462 3514.75 0.00 0.00 0.00 0.000 0.000 0.000 1914.66 1941.62 1887.69 2878.19 2521.50 0 0 0 30.00 30.00 30.00

3703.44 16902 256.24 1.73 -80.00 1912.4 1939.6 1885.1 2877.9 2521.1 2.61 10.77 481 3708.46 0.00 0.00 3.88 0.000 0.000 0.130 1913.62 1940.38 1886.88 2877.19 1039.81 0 0 0 30.00 30.00 15.79

3708 end climb: SURFACE_DEPTH_REACHED

state 3708 begin surface coast

3733 end surface coast: CONTROL_FINISHED_OK

state 3733 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	66	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	-2	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	13.38855	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	23.732048	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	270322,043431,4646.285,-12450.259,2,1.0,26,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270322,043839,4646.272,-12450.278,3,0.9,5,15.6	MHEAD_RNG_PITCHd_Wd	224.3,20000,-19.9,-10.000,-23.24,1773,0.534
SPEED_LIMITS	0.173,0.233	D_GRID	185
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	4638.636,-12501.401

FINISH	-0.1,1.024773	FG_AHR_10Vo	13.404
SM_CCo	4061.88,297.08,0.958,0,501.0,502.2,499.8,605.16	MEM0	60148,1,0,0
SM_GC	1.12,297.08,17.34,3.57,0.958,0.043,0.065,501.0,502.2,499.8,175.1,2526.1,0,0,0,12.87,15.81,15.82	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	989988,16,57000,63
IRIDIUM_FIX	4648.68,-12453.85,270322,043559	DATA_FILE_SIZE	12935,485
TCM_TEMP	176.10	CAP_FILE_SIZE	171178,0
XPDR_PINGS	14,13.5,11.5	SDSIZE	3918848,3893312
SC_FREEKB	3853440	SDFILEDIR	426,1
HUMID	50.23	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.87	CURRENT	0.063,166.7,1
INTERNAL_PRESSURE	8.47838	MAGCAL	1.000000,-0.071940,-0.246074,-0.006945,1.107870,0.050933,0.086825,0.013085,1.031912,-390.9,-619.7,-247.5,18,0.0404,0
_24V_AH	14.69,14.889	IMPLIED_C_PITCH	2442,14.40,272,0.0,0.00
_10V_AH	14.73,0.000	IMPLIED_C_VBD	3338,18.130184,146,0
FG_AHR_24Vo	23.918	GPS	270322,054659,4645.842,-12450.633,3,1.1,7,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	752	1199	13260.82	nil	0	0	0.00
Pitch_motor	40	252	151.43	nil	0	0	0.00
Roll_motor	49	229	167.59	nil	0	0	0.00
Iridium	147	118	257.37	nil	0	0	0.00
Transponder_ping	3	420	21.59	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	1961	6	196.43	SciCon	3747	6	384.31
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2026	2	59.70
Compass	1008	5	74.28
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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
6.38	16386	-116.79	-1.34	0.00	496.2	493.1	499.2	167.8	2464.1	0.00	0.00	0	138.87	132.17	0.00	0.00	0.005	0.000	0.000	3105.75	3080.38	3131.12	167.88	2464.56	0	0	0	14.50	30.00	30.00
139.09	18983	-116.79	-1.34	-80.00	3106.1	3081.8	3130.4	167.8	2463.8	3.74	-2.29	13	172.34	8.19	16.35	3.86	0.007	0.253	0.159	3443.62	3433.62	3453.62	2112.81	1035.44	0	0	0	15.69	15.67	15.63
399.74	3205	-116.79	-1.24	0.00	3445.0	3435.2	3454.8	2113.2	1035.9	51.11	-17.14	65	406.31	0.00	0.17	3.71	0.000	0.163	0.074	3445.72	3436.00	3455.44	2139.44	2517.62	0	0	0	30.00	15.77	15.81
595.52	516	-116.79	-1.24	-80.00	3445.3	3435.6	3455.1	2139.4	2518.1	74.54	-10.03	85	601.53	0.00	0.00	3.99	0.000	0.000	0.148	3444.88	3435.56	3454.19	2139.31	1034.38	0	0	0	30.00	30.00	15.84
760.58	1060	-116.79	-1.24	0.00	3445.4	3435.8	3455.1	2139.3	1034.2	90.64	-8.67	118	765.52	0.00	0.00	3.68	0.000	0.000	0.071	3446.97	3436.38	3457.56	2139.25	2519.75	0	0	0	30.00	30.00	15.89
950.65	160	-116.79	-1.32	0.00	3446.2	3437.1	3455.4	2138.9	2520.3	105.22	-7.15	138	951.98	0.00	0.00	0.00	0.000	0.000	0.000	3446.38	3436.44	3456.31	2139.12	2520.06	0	0	0	30.00	30.00	30.00
1140.63	4257	-116.79	-1.40	0.00	3446.6	3437.4	3455.7	2139.1	2520.1	120.31	-8.56	157	1142.12	0.00	0.37	0.00	0.000	0.060	0.000	3445.59	3436.50	3454.69	2081.56	2520.44	0	0	0	30.00	15.94	30.00
1330.64	516	-116.79	-1.40	-80.00	3445.8	3436.8	3454.9	2081.9	2520.1	139.87	-10.32	176	1336.62	0.00	0.00	3.98	0.000	0.000	0.151	3446.50	3436.62	3456.38	2081.06	1034.62	0	0	0	30.00	30.00	15.95
1409.86	3205	-116.79	-1.31	0.00	3445.6	3436.2	3455.1	2081.5	1034.4	149.11	-12.34	192	1416.46	0.00	0.38	3.62	0.000	0.156	0.074	3446.47	3437.31	3455.62	2124.06	2520.44	0	0	0	30.00	15.94	15.98
1605.66	32	-116.79	-1.31	0.00	3446.1	3437.2	3455.1	2124.6	2520.9	164.91	-8.33	212	1607.00	0.00	0.00	0.00	0.000	0.000	0.000	3447.00	3438.75	3455.25	2124.75	2520.88	0	0	0	30.00	30.00	30.00
1795	end dive: TARGET_DEPTH_EXCEEDED
state	1795	begin apogee
1796.76	10243	0.00	-0.25	0.00	3446.4	3438.1	3454.8	2124.6	2472.5	180.51	-7.84	231	1887.79	86.46	1.85	0.09	1.200	0.125	0.230	2965.16	2971.12	2959.19	2380.19	2518.06	0	0	0	13.01	15.98	15.60
1890	end apogee: CONTROL_FINISHED_OK
state	1890	begin climb
1893.29	10243	116.79	1.34	0.00	2964.6	2971.4	2957.8	2380.7	2517.8	181.50	0.00	240	1990.92	93.50	2.59	0.00	1.162	0.066	0.000	2488.84	2496.38	2481.31	2773.62	2517.75	0	0	0	12.73	15.66	30.00
2176.63	16646	116.79	1.34	80.00	2480.3	2490.8	2469.9	2773.6	2517.1	152.93	12.38	269	2181.46	0.00	0.00	2.95	0.000	0.000	0.116	2479.88	2490.75	2469.00	2773.69	3642.19	0	0	0	30.00	30.00	15.65
2360.91	21639	116.79	1.26	0.00	2478.2	2488.6	2467.8	2773.2	3642.3	128.27	13.38	306	2367.35	0.00	0.34	2.80	0.000	0.173	0.063	2477.59	2488.25	2466.94	2738.44	2467.94	0	0	0	30.00	15.70	15.76
2556.75	16514	116.79	1.33	0.00	2475.7	2488.2	2463.2	2737.9	2468.1	107.25	10.41	326	2558.09	0.00	0.00	0.00	0.000	0.000	0.000	2476.03	2488.19	2463.88	2738.44	2468.12	0	0	0	30.00	30.00	30.00
2746.74	10663	135.25	1.46	80.00	2474.9	2488.1	2461.7	2738.8	2467.4	89.53	8.93	345	2768.87	17.28	0.41	3.06	0.993	0.057	0.116	2415.84	2426.38	2405.31	2808.44	3638.56	0	0	0	12.87	15.87	15.76
2952.03	5253	135.25	1.39	0.00	2410.9	2422.6	2399.2	2808.4	3638.9	66.12	10.29	386	2956.90	0.00	0.31	2.78	0.000	0.175	0.063	2413.09	2424.88	2401.31	2772.12	2467.50	0	0	0	30.00	15.82	15.86
3142.09	10919	229.26	1.75	-80.00	2409.8	2423.5	2396.1	2772.2	2467.4	56.13	4.55	406	3239.91	91.34	0.63	3.85	1.023	0.054	0.138	2030.09	2049.94	2010.25	2876.12	1033.00	0	0	0	12.91	15.90	15.55
3298.09	9382	256.24	1.73	0.00	2026.1	2046.8	2005.3	2877.9	1033.2	46.17	8.44	437	3330.30	26.49	0.00	3.67	0.959	0.000	0.064	1920.41	1944.38	1896.44	2877.81	2522.00	0	0	0	12.75	30.00	15.66
3513.42	16386	256.24	1.73	0.00	1914.2	1941.1	1887.4	2877.6	2522.2	23.28	11.80	462	3514.75	0.00	0.00	0.00	0.000	0.000	0.000	1914.66	1941.62	1887.69	2878.19	2521.50	0	0	0	30.00	30.00	30.00
3703.44	16902	256.24	1.73	-80.00	1912.4	1939.6	1885.1	2877.9	2521.1	2.61	10.77	481	3708.46	0.00	0.00	3.88	0.000	0.000	0.130	1913.62	1940.38	1886.88	2877.19	1039.81	0	0	0	30.00	30.00	15.79
3708	end climb: SURFACE_DEPTH_REACHED
state	3708	begin surface coast
3733	end surface coast: CONTROL_FINISHED_OK
state	3733	begin surface