Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 67 * 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 67 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 13.404445 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 23.919817 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 13.404445 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 23.919817 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 67 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 270322,054659,4645.842,-12450.633,3,1.1,7,15.6 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 -60.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270322,055039,4645.839,-12450.657,4,1.1,9,15.6 MHEAD_RNG_PITCHd_Wd 222.8,20000,-19.9,-10.000,-23.24,1773,0.548

SPEED_LIMITS 0.173,0.233 D_GRID 226

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 4638.203,-12501.778

Post-dive calculations and measurements:

FINISH -0.4,1.024714 FG_AHR_10Vo 13.419

SM_CCo 4003.07,295.67,0.961,0,500.6,500.9,500.4,605.25 MEM0 60148,1,0,0

SM_GC 1.04,295.67,17.00,0.10,0.961,0.045,0.145,500.6,500.9,500.4,166.6,2527.2,0,0,0,12.92,15.82,15.81 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 989768,27,57000,63

IRIDIUM_FIX 4648.68,-12453.85,270322,043559 DATA_FILE_SIZE 12933,503

TCM_TEMP 176.38 CAP_FILE_SIZE 182707,0

XPDR_PINGS 14,13.5,11.5 SDSIZE 3918848,3893088

SC_FREEKB 3853056 SDFILEDIR 432,1

HUMID 50.21 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.91 CURRENT 0.048,189.3,1

INTERNAL_PRESSURE 8.47931 MAGCAL 1.000000,-0.060222,-0.064803,-0.035131,1.075465,0.046222,0.065627,-0.026592,1.062772,-578.5,-616.0,-316.0,32,0.0306,0

_24V_AH 14.69,15.083 IMPLIED_C_PITCH 2442,14.28,263,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3314,17.561481,140,0

FG_AHR_24Vo 24.107 GPS 270322,065811,4645.573,-12451.128,4,1.7,23,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 752 1195 13212.72 nil 0 0 0.00

Pitch_motor 39 252 145.82 nil 0 0 0.00

Roll_motor 64 202 192.93 nil 0 0 0.00

Iridium 89 57 74.81 nil 0 0 0.00

Transponder_ping 3 420 21.59 nil 0 0 0.00

GPS 18 15 3.99 nil 0 0 0.00

Core 1952 6 195.48 SciCon 3693 6 375.69

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1948 2 57.35

Compass 1029 5 75.81

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 0.00 496.8 494.6 498.9 166.4 2477.2 0.00 0.00 0 141.04 132.19 0.00 0.00 0.005 0.000 0.000 3119.03 3095.25 3142.81 166.44 2476.94 0 0 0 14.51 30.00 30.00

141.26 18727 -116.79 -1.34 80.00 3118.1 3093.9 3142.2 166.6 2477.3 3.95 -2.48 13 173.36 7.66 16.33 3.10 0.008 0.253 0.119 3444.84 3435.38 3454.31 2114.31 3638.06 0 0 0 15.68 15.66 15.64

401.56 1156 -116.79 -1.25 0.00 3445.1 3434.0 3456.2 2113.8 3637.6 52.87 -15.28 65 406.33 0.00 0.00 2.79 0.000 0.000 0.062 3445.78 3434.88 3456.69 2114.12 2473.06 0 0 0 30.00 30.00 15.81

591.55 260 -116.79 -1.25 80.00 3445.2 3434.3 3456.1 2114.4 2472.6 77.15 -11.25 85 596.40 0.00 0.00 3.05 0.000 0.000 0.114 3445.03 3434.12 3455.94 2113.88 3638.12 0 0 0 30.00 30.00 15.85

765.80 1028 -116.79 -1.25 0.00 3444.9 3433.9 3455.8 2114.5 3638.8 96.37 -10.03 120 772.18 0.00 0.00 2.78 0.000 0.000 0.062 3445.31 3434.62 3456.00 2114.69 2470.44 0 0 0 30.00 30.00 15.89

961.62 32 -116.79 -1.25 0.00 3445.0 3434.5 3455.6 2114.4 2470.7 114.08 -8.22 140 962.96 0.00 0.00 0.00 0.000 0.000 0.000 3445.41 3435.38 3455.44 2114.38 2470.56 0 0 0 30.00 30.00 30.00

1151.65 548 -116.79 -1.25 -80.00 3444.8 3434.1 3455.4 2114.5 2469.6 129.44 -8.43 159 1156.62 0.00 0.00 3.83 0.000 0.000 0.155 3445.41 3434.75 3456.06 2114.31 1033.69 0 0 0 30.00 30.00 15.93

1251.64 1028 -116.79 -1.25 0.00 3445.4 3434.7 3456.1 2114.6 1033.8 140.00 -11.10 179 1256.61 0.00 0.00 3.64 0.000 0.000 0.072 3446.72 3435.88 3457.56 2113.50 2520.06 0 0 0 30.00 30.00 15.96

1441.68 548 -116.79 -1.25 -80.00 3445.5 3435.1 3455.9 2114.6 2519.9 157.13 -8.68 199 1447.68 0.00 0.00 3.93 0.000 0.000 0.150 3444.72 3433.94 3455.50 2114.62 1033.44 0 0 0 30.00 30.00 15.96

1486.72 1060 -116.79 -1.25 0.00 3445.1 3434.4 3455.8 2114.3 1033.8 161.52 -9.40 208 1491.64 0.00 0.00 3.63 0.000 0.000 0.073 3446.44 3436.00 3456.88 2114.31 2519.81 0 0 0 30.00 30.00 15.97

1676.76 292 -116.79 -1.25 80.00 3445.3 3434.9 3455.7 2114.2 2519.4 176.88 -7.61 228 1681.53 0.00 0.00 2.92 0.000 0.000 0.119 3445.06 3434.88 3455.25 2114.50 3639.25 0 0 0 30.00 30.00 15.98

1717 end dive: TARGET_DEPTH_EXCEEDED

state 1717 begin apogee

1720.80 10243 0.00 -0.25 0.00 3445.5 3434.9 3456.0 2114.8 2469.6 180.30 -8.46 236 1810.86 86.62 1.88 0.09 1.195 0.129 0.203 2969.06 2975.75 2962.38 2380.06 2520.75 0 0 0 13.02 15.96 15.59

1814 end apogee: CONTROL_FINISHED_OK

state 1815 begin climb

1816.67 10243 116.79 1.34 0.00 2964.5 2971.6 2957.4 2380.5 2520.4 181.69 0.00 245 1914.31 93.88 2.60 0.00 1.161 0.065 0.000 2488.28 2495.12 2481.44 2774.88 2519.88 0 0 0 12.84 15.65 30.00

2100.01 16646 116.79 1.34 80.00 2480.1 2490.5 2469.6 2774.2 2519.9 152.62 12.00 274 2104.85 0.00 0.00 2.91 0.000 0.000 0.112 2479.97 2491.31 2468.62 2774.25 3640.69 0 0 0 30.00 30.00 15.64

2194.26 21639 116.79 1.25 0.00 2478.9 2489.1 2468.8 2774.2 3640.8 139.29 15.25 293 2200.71 0.00 0.36 2.80 0.000 0.175 0.061 2479.94 2489.94 2469.94 2736.81 2469.50 0 0 0 30.00 15.66 15.71

2390.16 10919 131.99 1.36 -80.00 2476.4 2489.0 2463.9 2737.1 2468.7 120.14 9.12 313 2411.17 12.79 0.26 3.79 1.002 0.066 0.141 2427.06 2438.25 2415.88 2781.38 1033.69 0 0 0 12.83 15.79 15.68

2444.29 5253 131.99 1.28 0.00 2426.0 2437.2 2414.8 2781.5 1033.9 113.36 13.58 324 2450.89 0.00 0.32 3.67 0.000 0.185 0.064 2425.56 2435.88 2415.25 2742.56 2518.25 0 0 0 30.00 15.71 15.76

2640.10 10663 147.44 1.41 80.00 2423.1 2436.2 2409.9 2743.1 2518.5 95.13 9.10 344 2661.12 16.40 0.29 2.96 1.002 0.062 0.117 2365.06 2378.81 2351.31 2796.62 3639.31 0 0 0 12.83 15.82 15.71

2874.32 1028 147.44 1.41 0.00 2361.6 2375.1 2348.1 2797.1 3638.4 68.55 10.26 391 2880.69 0.00 0.00 2.77 0.000 0.000 0.061 2362.25 2375.94 2348.56 2797.12 2466.62 0 0 0 30.00 30.00 15.84

3070.14 10791 212.31 1.60 -80.00 2359.8 2374.9 2344.8 2796.9 2466.9 56.54 6.24 411 3142.21 64.02 0.19 3.84 1.027 0.078 0.138 2100.56 2119.12 2082.00 2841.00 1034.75 0 0 0 12.87 15.88 15.62

3200.38 9382 256.94 1.66 0.00 2096.6 2115.4 2077.8 2841.5 1034.7 47.61 7.41 437 3251.93 43.25 0.00 3.67 0.983 0.000 0.063 1919.06 1942.94 1895.19 2841.44 2523.56 0 0 0 12.77 30.00 15.71

3440.37 16774 256.94 1.74 80.00 1911.6 1939.4 1883.8 2842.3 2523.5 25.04 10.11 466 3445.16 0.00 0.00 2.89 0.000 0.000 0.116 1912.34 1940.19 1884.50 2841.44 3641.44 0 0 0 30.00 30.00 15.72

3560.38 17414 256.94 1.74 0.00 1909.4 1937.7 1881.1 2841.6 3641.4 10.94 11.93 490 3565.18 0.00 0.00 2.77 0.000 0.000 0.062 1909.28 1937.44 1881.12 2841.94 2466.38 0 0 0 30.00 30.00 15.77

3651 end climb: SURFACE_DEPTH_REACHED

state 3651 begin surface coast

3681 end surface coast: CONTROL_FINISHED_OK

state 3681 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	67	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	13.404445	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	23.919817	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	270322,054659,4645.842,-12450.633,3,1.1,7,15.6	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	-60.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270322,055039,4645.839,-12450.657,4,1.1,9,15.6	MHEAD_RNG_PITCHd_Wd	222.8,20000,-19.9,-10.000,-23.24,1773,0.548
SPEED_LIMITS	0.173,0.233	D_GRID	226
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	4638.203,-12501.778

FINISH	-0.4,1.024714	FG_AHR_10Vo	13.419
SM_CCo	4003.07,295.67,0.961,0,500.6,500.9,500.4,605.25	MEM0	60148,1,0,0
SM_GC	1.04,295.67,17.00,0.10,0.961,0.045,0.145,500.6,500.9,500.4,166.6,2527.2,0,0,0,12.92,15.82,15.81	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	989768,27,57000,63
IRIDIUM_FIX	4648.68,-12453.85,270322,043559	DATA_FILE_SIZE	12933,503
TCM_TEMP	176.38	CAP_FILE_SIZE	182707,0
XPDR_PINGS	14,13.5,11.5	SDSIZE	3918848,3893088
SC_FREEKB	3853056	SDFILEDIR	432,1
HUMID	50.21	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.91	CURRENT	0.048,189.3,1
INTERNAL_PRESSURE	8.47931	MAGCAL	1.000000,-0.060222,-0.064803,-0.035131,1.075465,0.046222,0.065627,-0.026592,1.062772,-578.5,-616.0,-316.0,32,0.0306,0
_24V_AH	14.69,15.083	IMPLIED_C_PITCH	2442,14.28,263,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3314,17.561481,140,0
FG_AHR_24Vo	24.107	GPS	270322,065811,4645.573,-12451.128,4,1.7,23,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	752	1195	13212.72	nil	0	0	0.00
Pitch_motor	39	252	145.82	nil	0	0	0.00
Roll_motor	64	202	192.93	nil	0	0	0.00
Iridium	89	57	74.81	nil	0	0	0.00
Transponder_ping	3	420	21.59	nil	0	0	0.00
GPS	18	15	3.99	nil	0	0	0.00
Core	1952	6	195.48	SciCon	3693	6	375.69
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1948	2	57.35
Compass	1029	5	75.81
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	494.6	498.9	166.4	2477.2	0.00	0.00	0	141.04	132.19	0.00	0.00	0.005	0.000	0.000	3119.03	3095.25	3142.81	166.44	2476.94	0	0	0	14.51	30.00	30.00
141.26	18727	-116.79	-1.34	80.00	3118.1	3093.9	3142.2	166.6	2477.3	3.95	-2.48	13	173.36	7.66	16.33	3.10	0.008	0.253	0.119	3444.84	3435.38	3454.31	2114.31	3638.06	0	0	0	15.68	15.66	15.64
401.56	1156	-116.79	-1.25	0.00	3445.1	3434.0	3456.2	2113.8	3637.6	52.87	-15.28	65	406.33	0.00	0.00	2.79	0.000	0.000	0.062	3445.78	3434.88	3456.69	2114.12	2473.06	0	0	0	30.00	30.00	15.81
591.55	260	-116.79	-1.25	80.00	3445.2	3434.3	3456.1	2114.4	2472.6	77.15	-11.25	85	596.40	0.00	0.00	3.05	0.000	0.000	0.114	3445.03	3434.12	3455.94	2113.88	3638.12	0	0	0	30.00	30.00	15.85
765.80	1028	-116.79	-1.25	0.00	3444.9	3433.9	3455.8	2114.5	3638.8	96.37	-10.03	120	772.18	0.00	0.00	2.78	0.000	0.000	0.062	3445.31	3434.62	3456.00	2114.69	2470.44	0	0	0	30.00	30.00	15.89
961.62	32	-116.79	-1.25	0.00	3445.0	3434.5	3455.6	2114.4	2470.7	114.08	-8.22	140	962.96	0.00	0.00	0.00	0.000	0.000	0.000	3445.41	3435.38	3455.44	2114.38	2470.56	0	0	0	30.00	30.00	30.00
1151.65	548	-116.79	-1.25	-80.00	3444.8	3434.1	3455.4	2114.5	2469.6	129.44	-8.43	159	1156.62	0.00	0.00	3.83	0.000	0.000	0.155	3445.41	3434.75	3456.06	2114.31	1033.69	0	0	0	30.00	30.00	15.93
1251.64	1028	-116.79	-1.25	0.00	3445.4	3434.7	3456.1	2114.6	1033.8	140.00	-11.10	179	1256.61	0.00	0.00	3.64	0.000	0.000	0.072	3446.72	3435.88	3457.56	2113.50	2520.06	0	0	0	30.00	30.00	15.96
1441.68	548	-116.79	-1.25	-80.00	3445.5	3435.1	3455.9	2114.6	2519.9	157.13	-8.68	199	1447.68	0.00	0.00	3.93	0.000	0.000	0.150	3444.72	3433.94	3455.50	2114.62	1033.44	0	0	0	30.00	30.00	15.96
1486.72	1060	-116.79	-1.25	0.00	3445.1	3434.4	3455.8	2114.3	1033.8	161.52	-9.40	208	1491.64	0.00	0.00	3.63	0.000	0.000	0.073	3446.44	3436.00	3456.88	2114.31	2519.81	0	0	0	30.00	30.00	15.97
1676.76	292	-116.79	-1.25	80.00	3445.3	3434.9	3455.7	2114.2	2519.4	176.88	-7.61	228	1681.53	0.00	0.00	2.92	0.000	0.000	0.119	3445.06	3434.88	3455.25	2114.50	3639.25	0	0	0	30.00	30.00	15.98
1717	end dive: TARGET_DEPTH_EXCEEDED
state	1717	begin apogee
1720.80	10243	0.00	-0.25	0.00	3445.5	3434.9	3456.0	2114.8	2469.6	180.30	-8.46	236	1810.86	86.62	1.88	0.09	1.195	0.129	0.203	2969.06	2975.75	2962.38	2380.06	2520.75	0	0	0	13.02	15.96	15.59
1814	end apogee: CONTROL_FINISHED_OK
state	1815	begin climb
1816.67	10243	116.79	1.34	0.00	2964.5	2971.6	2957.4	2380.5	2520.4	181.69	0.00	245	1914.31	93.88	2.60	0.00	1.161	0.065	0.000	2488.28	2495.12	2481.44	2774.88	2519.88	0	0	0	12.84	15.65	30.00
2100.01	16646	116.79	1.34	80.00	2480.1	2490.5	2469.6	2774.2	2519.9	152.62	12.00	274	2104.85	0.00	0.00	2.91	0.000	0.000	0.112	2479.97	2491.31	2468.62	2774.25	3640.69	0	0	0	30.00	30.00	15.64
2194.26	21639	116.79	1.25	0.00	2478.9	2489.1	2468.8	2774.2	3640.8	139.29	15.25	293	2200.71	0.00	0.36	2.80	0.000	0.175	0.061	2479.94	2489.94	2469.94	2736.81	2469.50	0	0	0	30.00	15.66	15.71
2390.16	10919	131.99	1.36	-80.00	2476.4	2489.0	2463.9	2737.1	2468.7	120.14	9.12	313	2411.17	12.79	0.26	3.79	1.002	0.066	0.141	2427.06	2438.25	2415.88	2781.38	1033.69	0	0	0	12.83	15.79	15.68
2444.29	5253	131.99	1.28	0.00	2426.0	2437.2	2414.8	2781.5	1033.9	113.36	13.58	324	2450.89	0.00	0.32	3.67	0.000	0.185	0.064	2425.56	2435.88	2415.25	2742.56	2518.25	0	0	0	30.00	15.71	15.76
2640.10	10663	147.44	1.41	80.00	2423.1	2436.2	2409.9	2743.1	2518.5	95.13	9.10	344	2661.12	16.40	0.29	2.96	1.002	0.062	0.117	2365.06	2378.81	2351.31	2796.62	3639.31	0	0	0	12.83	15.82	15.71
2874.32	1028	147.44	1.41	0.00	2361.6	2375.1	2348.1	2797.1	3638.4	68.55	10.26	391	2880.69	0.00	0.00	2.77	0.000	0.000	0.061	2362.25	2375.94	2348.56	2797.12	2466.62	0	0	0	30.00	30.00	15.84
3070.14	10791	212.31	1.60	-80.00	2359.8	2374.9	2344.8	2796.9	2466.9	56.54	6.24	411	3142.21	64.02	0.19	3.84	1.027	0.078	0.138	2100.56	2119.12	2082.00	2841.00	1034.75	0	0	0	12.87	15.88	15.62
3200.38	9382	256.94	1.66	0.00	2096.6	2115.4	2077.8	2841.5	1034.7	47.61	7.41	437	3251.93	43.25	0.00	3.67	0.983	0.000	0.063	1919.06	1942.94	1895.19	2841.44	2523.56	0	0	0	12.77	30.00	15.71
3440.37	16774	256.94	1.74	80.00	1911.6	1939.4	1883.8	2842.3	2523.5	25.04	10.11	466	3445.16	0.00	0.00	2.89	0.000	0.000	0.116	1912.34	1940.19	1884.50	2841.44	3641.44	0	0	0	30.00	30.00	15.72
3560.38	17414	256.94	1.74	0.00	1909.4	1937.7	1881.1	2841.6	3641.4	10.94	11.93	490	3565.18	0.00	0.00	2.77	0.000	0.000	0.062	1909.28	1937.44	1881.12	2841.94	2466.38	0	0	0	30.00	30.00	15.77
3651	end climb: SURFACE_DEPTH_REACHED
state	3651	begin surface coast
3681	end surface coast: CONTROL_FINISHED_OK
state	3681	begin surface