Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 6 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054949999 XPDR_VALID 4

DIVE 7 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 550 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 360 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 FILEMGR 0 C_VBD 2968 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 0 LOGGERS 1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 120 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 140 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 3 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 550 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -1 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3600 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2300 FG_AHR_10V 12.953568 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 17.606754 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 150 PITCH_GAIN 25 PRESSURE_YINT -180.00272 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0.045000002 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 5 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3825 ALTIM_PING_DEPTH 100 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PING_DELTA 10

HD_C 1.6e-05 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 2 N_NOCOMM 2 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 5 D_TGT 360 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 550

ALTIM_PING_DEPTH 100 FERRY_MAX 45 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 12.953568 PITCH_ADJ_GAIN 0.045000002 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 17.606754 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3600 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 120

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.00021665409 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -180.00272 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 140

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 3

C_PITCH 2300 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2968 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72946 ROLL_MAX 3825 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 215 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 7 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_ABORT 1000 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 6 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 260421,232928,4705.125,-12452.979,1,1.2,3,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260421,233231,4705.122,-12452.997,2,1.2,4,15.8 MHEAD_RNG_PITCHd_Wd 245.1,160693,-17.6,-10.000,-21.24

SPEED_LIMITS 0.173,0.257 D_GRID 137

TGT_NAME OFFSHORE IRON 1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000

TGT_LATLONG 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH 0.1,1.024343 FG_AHR_10Vo 12.974

SM_CCo 3078.18,91.37,1.121,0,726.5,699.3,753.8,549.83 MEM0 60876,1,0,0

SM_GC 1.48,91.37,16.38,3.39,1.121,0.059,0.041,726.5,699.3,753.8,185.4,2067.1,0,0,0,12.70,15.85,15.86 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971632,24,75356,55

IRIDIUM_FIX 4703.94,-12453.31,260421,232547 DATA_FILE_SIZE 12916,520

TCM_TEMP 266.77 CAP_FILE_SIZE 180583,0

XPDR_PINGS 24,13.0,10.5 SDSIZE 4028416,4016672

ALTIM_BOTTOM_PING 100.2,50.7 SDFILEDIR 71,1

SC_FREEKB 3875648 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.39 CURRENT 0.017,341.4,1

TEMP 82.57 MAGCAL 1.000000,-0.054082,-0.170456,-0.019494,1.083557,-0.028155,-0.004582,-0.085154,0.998717,851.8,-286.6,121.8,15,0.0244,0

INTERNAL_PRESSURE 8.82988 IMPLIED_C_PITCH 2366,11.86,316

_24V_AH 14.82,12.117 IMPLIED_C_VBD 2962,45.722988,308

_10V_AH 14.92,0.000 GPS 270421,002422,4705.099,-12453.554,1,1.2,3,15.8

FG_AHR_24Vo 17.778

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 606 1302 11715.63 nil 0 0 0.00

Pitch_motor 35 256 135.08 nil 0 0 0.00

Roll_motor 62 160 149.62 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 6 420 40.46 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 1660 11 292.34 SciCon 2957 18 806.13

LPSleep 1358 2 56.76 nil 0 0 0.00

Compass 798 5 59.56 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.90

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

6.07 16386 -145.99 -0.88 0.00 496.0 483.5 508.6 185.6 2057.2 0.00 0.00 0 104.69 97.13 0.00 0.00 0.005 0.000 0.000 2818.19 2950.69 2685.69 185.56 2054.38 0 0 0 15.47 30.00 30.00

105.62 18983 -145.99 -0.88 -80.00 2816.4 2948.6 2684.3 185.6 2054.4 3.10 -1.92 19 149.58 18.34 14.32 3.46 0.006 0.257 0.112 3562.59 3748.69 3376.50 2084.94 631.25 0 0 0 15.48 15.93 15.94

202.71 5253 -145.99 -0.99 0.00 3563.2 3748.7 3377.8 2084.8 631.1 17.51 -15.01 38 208.44 0.00 0.22 3.37 0.000 0.084 0.041 3564.75 3750.19 3379.31 2041.88 2132.62 0 0 0 30.00 16.01 16.05

392.77 260 -145.99 -0.99 80.00 3563.0 3748.3 3377.8 2040.6 2132.6 44.06 -10.63 76 398.45 0.00 0.00 3.44 0.000 0.000 0.105 3564.97 3749.88 3380.06 2040.81 3568.88 0 0 0 30.00 30.00 16.04

437.78 1028 -145.99 -0.99 0.00 3562.8 3747.5 3378.1 2040.8 3568.6 49.33 -12.57 85 443.46 0.00 0.00 3.38 0.000 0.000 0.040 3564.00 3749.00 3379.00 2040.56 2061.12 0 0 0 30.00 30.00 16.08

627.86 260 -145.99 -0.99 80.00 3563.0 3748.1 3377.9 2040.4 2061.1 75.32 -12.46 123 633.56 0.00 0.00 3.60 0.000 0.000 0.100 3563.84 3748.69 3379.00 2040.56 3567.38 0 0 0 30.00 30.00 16.08

738.09 1028 -145.99 -0.99 0.00 3563.0 3748.1 3377.9 2040.6 3567.2 90.52 -13.38 145 743.63 0.00 0.00 3.38 0.000 0.000 0.040 3564.69 3749.19 3380.19 2040.88 2060.88 0 0 0 30.00 30.00 16.10

927.98 420 -145.99 -1.10 80.00 3563.0 3748.3 3377.7 2040.9 2061.7 109.37 -8.74 173 933.19 0.00 0.00 3.60 0.000 0.000 0.100 3564.22 3749.06 3379.38 2040.81 3569.06 0 0 0 30.00 30.00 16.11

1017.99 1028 -145.99 -1.10 0.00 3562.6 3747.1 3378.1 2040.8 3569.1 119.48 -11.34 191 1023.19 0.00 0.00 3.38 0.000 0.000 0.040 3563.50 3748.50 3378.50 2040.62 2062.69 0 0 0 30.00 30.00 16.11

1197 end dive: TARGET_DEPTH_EXCEEDED

state 1198 begin apogee

1199.83 10243 0.00 -0.20 0.00 3562.6 3747.6 3377.7 2040.9 2144.5 137.20 -9.62 210 1301.29 97.49 1.45 0.14 1.303 0.147 0.160 2967.72 3060.19 2875.25 2252.94 2051.25 0 0 0 12.85 16.07 15.69

1302 end apogee: CONTROL_FINISHED_OK

state 1302 begin climb

1303.12 10759 145.99 0.88 -80.00 2965.8 3059.0 2872.6 2252.7 2051.1 140.44 0.00 220 1413.96 99.94 1.77 3.59 1.255 0.117 0.114 2370.69 2437.94 2303.44 2516.50 633.06 0 0 0 12.68 15.72 15.44

1487.27 11431 240.71 1.28 0.00 2367.3 2436.8 2297.9 2516.2 633.2 133.16 5.59 256 1561.27 67.02 0.59 3.44 1.224 0.069 0.038 1987.78 2066.00 1909.56 2618.50 2134.69 0 0 0 12.57 15.62 15.64

1864.42 10663 267.97 1.48 80.00 1976.6 2063.6 1889.6 2619.4 2134.9 98.38 8.73 302 1890.94 20.51 0.24 3.51 1.161 0.089 0.109 1874.47 1964.62 1784.31 2669.31 3567.81 0 0 0 12.64 15.82 15.70

2054.44 1060 270.62 1.48 0.00 1870.7 1964.4 1776.9 2669.3 3567.8 79.58 9.88 340 2060.11 0.00 0.00 3.42 0.000 0.000 0.041 1871.72 1964.81 1778.62 2667.69 2064.25 0 0 0 30.00 30.00 15.87

2244.55 10663 365.35 1.75 80.00 1868.8 1964.2 1773.3 2669.2 2064.0 66.37 5.59 378 2322.97 69.63 0.35 3.70 1.194 0.078 0.105 1477.88 1556.25 1399.50 2734.62 3567.00 0 0 0 12.71 15.91 15.64

2411.09 1028 365.35 1.75 0.00 1472.5 1556.1 1389.0 2734.9 3566.9 50.55 12.01 411 2416.78 0.00 0.00 3.45 0.000 0.000 0.042 1471.88 1556.38 1387.38 2735.38 2064.88 0 0 0 30.00 30.00 15.76

2601.19 10919 394.76 1.93 -80.00 1468.3 1556.8 1379.8 2735.0 2065.1 33.83 8.63 449 2632.11 22.54 0.20 3.53 1.123 0.094 0.113 1358.91 1440.38 1277.44 2778.88 633.12 0 0 0 12.73 15.85 15.74

2721.17 1028 394.76 1.93 0.00 1355.0 1439.5 1270.5 2778.9 633.3 20.20 10.86 473 2726.85 0.00 0.00 3.40 0.000 0.000 0.039 1355.06 1439.50 1270.62 2779.12 2132.62 0 0 0 30.00 30.00 15.84

2911.26 8614 423.94 2.06 80.00 1353.1 1439.6 1266.6 2779.2 2133.2 4.72 8.64 511 2941.99 22.93 0.00 3.48 1.103 0.000 0.110 1239.75 1315.12 1164.38 2779.50 3566.81 0 0 0 12.73 30.00 15.79

2946 end climb: SURFACE_DEPTH_REACHED

state 2946 begin surface coast

2956 end surface coast: CONTROL_FINISHED_OK

state 2956 begin surface

ID	249	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	6	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054949999	XPDR_VALID	4
DIVE	7	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	550	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	360	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	FILEMGR	0	C_VBD	2968	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	0	LOGGERS	1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	120	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	140	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	3	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	550	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-1	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3600	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2300	FG_AHR_10V	12.953568	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	17.606754	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	150	PITCH_GAIN	25	PRESSURE_YINT	-180.00272	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0.045000002	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	5	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3825	ALTIM_PING_DEPTH	100	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PING_DELTA	10
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	260421,232928,4705.125,-12452.979,1,1.2,3,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260421,233231,4705.122,-12452.997,2,1.2,4,15.8	MHEAD_RNG_PITCHd_Wd	245.1,160693,-17.6,-10.000,-21.24
SPEED_LIMITS	0.173,0.257	D_GRID	137
TGT_NAME	OFFSHORE	IRON	1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
TGT_LATLONG	4700.000,-12700.000

FINISH	0.1,1.024343	FG_AHR_10Vo	12.974
SM_CCo	3078.18,91.37,1.121,0,726.5,699.3,753.8,549.83	MEM0	60876,1,0,0
SM_GC	1.48,91.37,16.38,3.39,1.121,0.059,0.041,726.5,699.3,753.8,185.4,2067.1,0,0,0,12.70,15.85,15.86	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971632,24,75356,55
IRIDIUM_FIX	4703.94,-12453.31,260421,232547	DATA_FILE_SIZE	12916,520
TCM_TEMP	266.77	CAP_FILE_SIZE	180583,0
XPDR_PINGS	24,13.0,10.5	SDSIZE	4028416,4016672
ALTIM_BOTTOM_PING	100.2,50.7	SDFILEDIR	71,1
SC_FREEKB	3875648	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.39	CURRENT	0.017,341.4,1
TEMP	82.57	MAGCAL	1.000000,-0.054082,-0.170456,-0.019494,1.083557,-0.028155,-0.004582,-0.085154,0.998717,851.8,-286.6,121.8,15,0.0244,0
INTERNAL_PRESSURE	8.82988	IMPLIED_C_PITCH	2366,11.86,316
_24V_AH	14.82,12.117	IMPLIED_C_VBD	2962,45.722988,308
_10V_AH	14.92,0.000	GPS	270421,002422,4705.099,-12453.554,1,1.2,3,15.8
FG_AHR_24Vo	17.778

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	606	1302	11715.63	nil	0	0	0.00
Pitch_motor	35	256	135.08	nil	0	0	0.00
Roll_motor	62	160	149.62	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	6	420	40.46	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	1660	11	292.34	SciCon	2957	18	806.13
LPSleep	1358	2	56.76	nil	0	0	0.00
Compass	798	5	59.56	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.90
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
6.07	16386	-145.99	-0.88	0.00	496.0	483.5	508.6	185.6	2057.2	0.00	0.00	0	104.69	97.13	0.00	0.00	0.005	0.000	0.000	2818.19	2950.69	2685.69	185.56	2054.38	0	0	0	15.47	30.00	30.00
105.62	18983	-145.99	-0.88	-80.00	2816.4	2948.6	2684.3	185.6	2054.4	3.10	-1.92	19	149.58	18.34	14.32	3.46	0.006	0.257	0.112	3562.59	3748.69	3376.50	2084.94	631.25	0	0	0	15.48	15.93	15.94
202.71	5253	-145.99	-0.99	0.00	3563.2	3748.7	3377.8	2084.8	631.1	17.51	-15.01	38	208.44	0.00	0.22	3.37	0.000	0.084	0.041	3564.75	3750.19	3379.31	2041.88	2132.62	0	0	0	30.00	16.01	16.05
392.77	260	-145.99	-0.99	80.00	3563.0	3748.3	3377.8	2040.6	2132.6	44.06	-10.63	76	398.45	0.00	0.00	3.44	0.000	0.000	0.105	3564.97	3749.88	3380.06	2040.81	3568.88	0	0	0	30.00	30.00	16.04
437.78	1028	-145.99	-0.99	0.00	3562.8	3747.5	3378.1	2040.8	3568.6	49.33	-12.57	85	443.46	0.00	0.00	3.38	0.000	0.000	0.040	3564.00	3749.00	3379.00	2040.56	2061.12	0	0	0	30.00	30.00	16.08
627.86	260	-145.99	-0.99	80.00	3563.0	3748.1	3377.9	2040.4	2061.1	75.32	-12.46	123	633.56	0.00	0.00	3.60	0.000	0.000	0.100	3563.84	3748.69	3379.00	2040.56	3567.38	0	0	0	30.00	30.00	16.08
738.09	1028	-145.99	-0.99	0.00	3563.0	3748.1	3377.9	2040.6	3567.2	90.52	-13.38	145	743.63	0.00	0.00	3.38	0.000	0.000	0.040	3564.69	3749.19	3380.19	2040.88	2060.88	0	0	0	30.00	30.00	16.10
927.98	420	-145.99	-1.10	80.00	3563.0	3748.3	3377.7	2040.9	2061.7	109.37	-8.74	173	933.19	0.00	0.00	3.60	0.000	0.000	0.100	3564.22	3749.06	3379.38	2040.81	3569.06	0	0	0	30.00	30.00	16.11
1017.99	1028	-145.99	-1.10	0.00	3562.6	3747.1	3378.1	2040.8	3569.1	119.48	-11.34	191	1023.19	0.00	0.00	3.38	0.000	0.000	0.040	3563.50	3748.50	3378.50	2040.62	2062.69	0	0	0	30.00	30.00	16.11
1197	end dive: TARGET_DEPTH_EXCEEDED
state	1198	begin apogee
1199.83	10243	0.00	-0.20	0.00	3562.6	3747.6	3377.7	2040.9	2144.5	137.20	-9.62	210	1301.29	97.49	1.45	0.14	1.303	0.147	0.160	2967.72	3060.19	2875.25	2252.94	2051.25	0	0	0	12.85	16.07	15.69
1302	end apogee: CONTROL_FINISHED_OK
state	1302	begin climb
1303.12	10759	145.99	0.88	-80.00	2965.8	3059.0	2872.6	2252.7	2051.1	140.44	0.00	220	1413.96	99.94	1.77	3.59	1.255	0.117	0.114	2370.69	2437.94	2303.44	2516.50	633.06	0	0	0	12.68	15.72	15.44
1487.27	11431	240.71	1.28	0.00	2367.3	2436.8	2297.9	2516.2	633.2	133.16	5.59	256	1561.27	67.02	0.59	3.44	1.224	0.069	0.038	1987.78	2066.00	1909.56	2618.50	2134.69	0	0	0	12.57	15.62	15.64
1864.42	10663	267.97	1.48	80.00	1976.6	2063.6	1889.6	2619.4	2134.9	98.38	8.73	302	1890.94	20.51	0.24	3.51	1.161	0.089	0.109	1874.47	1964.62	1784.31	2669.31	3567.81	0	0	0	12.64	15.82	15.70
2054.44	1060	270.62	1.48	0.00	1870.7	1964.4	1776.9	2669.3	3567.8	79.58	9.88	340	2060.11	0.00	0.00	3.42	0.000	0.000	0.041	1871.72	1964.81	1778.62	2667.69	2064.25	0	0	0	30.00	30.00	15.87
2244.55	10663	365.35	1.75	80.00	1868.8	1964.2	1773.3	2669.2	2064.0	66.37	5.59	378	2322.97	69.63	0.35	3.70	1.194	0.078	0.105	1477.88	1556.25	1399.50	2734.62	3567.00	0	0	0	12.71	15.91	15.64
2411.09	1028	365.35	1.75	0.00	1472.5	1556.1	1389.0	2734.9	3566.9	50.55	12.01	411	2416.78	0.00	0.00	3.45	0.000	0.000	0.042	1471.88	1556.38	1387.38	2735.38	2064.88	0	0	0	30.00	30.00	15.76
2601.19	10919	394.76	1.93	-80.00	1468.3	1556.8	1379.8	2735.0	2065.1	33.83	8.63	449	2632.11	22.54	0.20	3.53	1.123	0.094	0.113	1358.91	1440.38	1277.44	2778.88	633.12	0	0	0	12.73	15.85	15.74
2721.17	1028	394.76	1.93	0.00	1355.0	1439.5	1270.5	2778.9	633.3	20.20	10.86	473	2726.85	0.00	0.00	3.40	0.000	0.000	0.039	1355.06	1439.50	1270.62	2779.12	2132.62	0	0	0	30.00	30.00	15.84
2911.26	8614	423.94	2.06	80.00	1353.1	1439.6	1266.6	2779.2	2133.2	4.72	8.64	511	2941.99	22.93	0.00	3.48	1.103	0.000	0.110	1239.75	1315.12	1164.38	2779.50	3566.81	0	0	0	12.73	30.00	15.79
2946	end climb: SURFACE_DEPTH_REACHED
state	2946	begin surface coast
2956	end surface coast: CONTROL_FINISHED_OK
state	2956	begin surface