Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 70 * 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 70 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 13.451252 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 24.483221 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 13.451252 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 24.483221 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 70 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 270322,091856,4644.887,-12451.885,8,1.0,18,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270322,092258,4644.894,-12451.874,5,1.0,14,15.6 MHEAD_RNG_PITCHd_Wd 219.8,20000,-19.9,-10.000,-23.24,1773,0.517

SPEED_LIMITS 0.173,0.233 D_GRID 355

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 4637.258,-12502.992

Post-dive calculations and measurements:

FINISH -0.0,1.024665 FG_AHR_10Vo 13.466

SM_CCo 3992.64,297.75,0.958,0,500.8,499.4,502.1,605.22 MEM0 60148,1,0,0

SM_GC 1.03,297.75,17.08,2.81,0.958,0.050,0.063,500.8,499.4,502.1,167.7,2468.0,0,0,0,12.78,15.79,15.81 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 989828,24,57000,63

IRIDIUM_FIX 4648.68,-12453.85,270322,043559 DATA_FILE_SIZE 16103,521

TCM_TEMP 176.38 CAP_FILE_SIZE 185331,0

XPDR_PINGS 11,13.5,11.5 SDSIZE 3918848,3892416

SC_FREEKB 3851904 SDFILEDIR 450,1

HUMID 50.18 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.97 CURRENT 0.071,145.8,1

INTERNAL_PRESSURE 8.48522 MAGCAL 1.000000,-0.069581,-0.080867,-0.025964,1.080296,0.009396,0.038110,-0.000674,1.123054,-578.3,-590.1,-358.3,35,0.0278,0

_24V_AH 14.70,15.663 IMPLIED_C_PITCH 2443,14.40,263,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3351,20.504930,137,0

FG_AHR_24Vo 24.671 GPS 270322,103010,4644.461,-12452.062,6,1.3,13,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 747 1201 13213.45 nil 0 0 0.00

Pitch_motor 39 253 147.73 nil 0 0 0.00

Roll_motor 67 214 213.96 nil 0 0 0.00

Iridium 81 53 64.67 nil 0 0 0.00

Transponder_ping 2 420 16.98 nil 0 0 0.00

GPS 23 15 5.11 nil 0 0 0.00

Core 1962 6 196.45 SciCon 3678 6 374.11

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1944 2 57.25

Compass 1059 5 77.97

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

8.41 16386 -116.79 -1.34 0.00 496.3 492.9 499.8 167.7 2519.8 0.00 0.00 0 135.80 127.14 0.00 0.00 0.005 0.000 0.000 3036.91 3015.38 3058.44 167.75 2520.62 0 0 0 14.42 30.00 30.00

136.00 18983 -116.79 -1.34 -80.00 3036.3 3014.0 3058.6 167.9 2520.1 3.93 -2.58 13 172.46 9.98 16.28 4.11 0.007 0.253 0.155 3443.56 3435.06 3452.06 2113.44 1036.94 0 0 0 15.69 15.67 15.65

400.01 1156 -116.79 -1.26 0.00 3445.0 3435.4 3454.6 2113.7 1036.9 50.45 -16.87 66 406.36 0.00 0.00 3.68 0.000 0.000 0.073 3445.53 3436.06 3455.00 2113.69 2518.06 0 0 0 30.00 30.00 15.82

595.67 516 -116.79 -1.26 -80.00 3445.2 3435.3 3455.0 2113.8 2518.5 74.88 -12.47 86 601.67 0.00 0.00 4.03 0.000 0.000 0.148 3445.75 3436.81 3454.69 2110.94 1034.19 0 0 0 30.00 30.00 15.84

764.91 1060 -116.79 -1.26 0.00 3445.5 3436.1 3455.0 2113.8 1034.1 92.44 -9.58 120 771.41 0.00 0.00 3.69 0.000 0.000 0.071 3447.28 3437.81 3456.75 2112.31 2520.25 0 0 0 30.00 30.00 15.89

960.74 292 -116.79 -1.26 80.00 3445.6 3436.3 3454.9 2113.2 2520.1 109.10 -8.68 140 965.53 0.00 0.00 2.97 0.000 0.000 0.118 3446.06 3437.06 3455.06 2113.56 3637.94 0 0 0 30.00 30.00 15.91

1050.74 1060 -116.79 -1.26 0.00 3446.1 3436.6 3455.6 2113.7 3638.8 117.57 -9.96 158 1055.53 0.00 0.00 2.81 0.000 0.000 0.062 3446.16 3437.31 3455.00 2113.88 2469.50 0 0 0 30.00 30.00 15.94

1240.75 548 -116.79 -1.26 -80.00 3446.2 3436.9 3455.5 2113.6 2469.5 135.69 -9.93 178 1246.73 0.00 0.00 3.89 0.000 0.000 0.153 3446.16 3436.56 3455.75 2113.31 1036.06 0 0 0 30.00 30.00 15.94

1295.75 1028 -116.79 -1.26 0.00 3446.1 3437.0 3455.2 2114.2 1035.9 141.33 -11.10 189 1300.70 0.00 0.00 3.64 0.000 0.000 0.071 3447.72 3439.00 3456.44 2113.75 2520.69 0 0 0 30.00 30.00 15.96

1485.81 32 -116.79 -1.26 0.00 3446.6 3437.7 3455.6 2113.5 2519.8 158.76 -9.66 209 1487.15 0.00 0.00 0.00 0.000 0.000 0.000 3446.78 3438.75 3454.81 2113.94 2520.81 0 0 0 30.00 30.00 30.00

1675.81 548 -116.79 -1.26 -80.00 3446.1 3436.8 3455.4 2113.8 2520.4 176.21 -9.19 228 1681.79 0.00 0.00 3.99 0.000 0.000 0.149 3445.56 3437.00 3454.12 2113.62 1034.19 0 0 0 30.00 30.00 15.98

1715 end dive: TARGET_DEPTH_EXCEEDED

state 1715 begin apogee

1720.30 10243 0.00 -0.25 0.00 3446.4 3437.8 3455.1 2113.8 2519.2 180.28 -10.24 236 1809.12 86.15 1.91 0.08 1.202 0.133 0.214 2966.72 2973.44 2960.00 2380.31 2471.12 0 0 0 13.00 15.96 15.60

1812 end apogee: CONTROL_FINISHED_OK

state 1812 begin climb

1814.62 10503 116.79 1.34 80.00 2964.4 2971.2 2957.5 2380.6 2470.8 182.22 0.00 245 1915.48 93.15 2.59 3.17 1.161 0.068 0.113 2488.75 2495.38 2482.12 2770.75 3638.19 0 0 0 12.70 15.65 15.37

2037.88 21639 116.79 1.25 0.00 2481.1 2490.3 2471.9 2773.2 3638.6 159.72 15.05 289 2044.33 0.00 0.37 2.85 0.000 0.170 0.060 2480.97 2490.94 2471.00 2735.62 2470.12 0 0 0 30.00 15.56 15.61

2233.68 16774 116.79 1.31 80.00 2477.9 2489.8 2465.9 2735.4 2469.7 138.61 10.60 309 2238.51 0.00 0.00 3.12 0.000 0.000 0.112 2480.94 2493.12 2468.75 2736.12 3640.44 0 0 0 30.00 30.00 15.73

2343.66 17414 116.79 1.31 0.00 2477.0 2488.6 2465.4 2736.7 3640.1 126.80 10.12 331 2348.48 0.00 0.00 2.85 0.000 0.000 0.061 2477.62 2489.06 2466.19 2736.12 2468.94 0 0 0 30.00 30.00 15.78

2533.71 2209 120.25 1.41 0.00 2475.8 2488.4 2463.2 2735.4 2468.6 109.21 9.80 351 2535.20 0.00 0.34 0.00 0.000 0.059 0.000 2474.50 2487.81 2461.19 2794.06 2468.50 0 0 0 30.00 15.83 30.00

2723.73 8486 142.41 1.47 80.00 2475.0 2487.3 2462.7 2794.1 2468.7 89.48 8.72 370 2754.81 23.94 0.00 3.08 1.028 0.000 0.113 2384.84 2397.50 2372.19 2794.62 3640.00 0 0 0 12.87 30.00 15.74

2983.76 9254 170.19 1.56 0.00 2380.4 2394.2 2366.5 2795.0 3640.1 61.68 8.39 422 3019.07 28.42 0.00 2.84 1.011 0.000 0.062 2271.75 2287.56 2255.94 2795.00 2467.88 0 0 0 12.86 30.00 15.87

3203.83 10919 255.05 1.88 -80.00 2266.1 2284.4 2247.8 2795.2 2468.3 48.40 5.08 448 3291.51 81.37 0.64 3.88 1.011 0.050 0.138 1924.75 1946.88 1902.62 2911.38 1033.31 0 0 0 12.89 15.83 15.53

3379.66 5253 255.05 1.75 0.00 1920.2 1942.3 1898.1 2911.8 1033.2 30.64 13.20 483 3385.73 0.00 0.47 3.71 0.000 0.184 0.063 1920.47 1942.94 1898.00 2857.88 2520.25 0 0 0 30.00 15.61 15.67

3574.67 16774 255.05 1.81 80.00 1916.3 1941.6 1891.0 2857.9 2520.2 10.43 10.61 503 3579.49 0.00 0.00 2.96 0.000 0.000 0.114 1918.28 1943.50 1893.06 2857.81 3638.19 0 0 0 30.00 30.00 15.76

3649 end climb: SURFACE_DEPTH_REACHED

state 3649 begin surface coast

3665 end surface coast: CONTROL_FINISHED_OK

state 3665 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	70	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	13.451252	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	24.483221	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	270322,091856,4644.887,-12451.885,8,1.0,18,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270322,092258,4644.894,-12451.874,5,1.0,14,15.6	MHEAD_RNG_PITCHd_Wd	219.8,20000,-19.9,-10.000,-23.24,1773,0.517
SPEED_LIMITS	0.173,0.233	D_GRID	355
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	4637.258,-12502.992

FINISH	-0.0,1.024665	FG_AHR_10Vo	13.466
SM_CCo	3992.64,297.75,0.958,0,500.8,499.4,502.1,605.22	MEM0	60148,1,0,0
SM_GC	1.03,297.75,17.08,2.81,0.958,0.050,0.063,500.8,499.4,502.1,167.7,2468.0,0,0,0,12.78,15.79,15.81	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	989828,24,57000,63
IRIDIUM_FIX	4648.68,-12453.85,270322,043559	DATA_FILE_SIZE	16103,521
TCM_TEMP	176.38	CAP_FILE_SIZE	185331,0
XPDR_PINGS	11,13.5,11.5	SDSIZE	3918848,3892416
SC_FREEKB	3851904	SDFILEDIR	450,1
HUMID	50.18	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.97	CURRENT	0.071,145.8,1
INTERNAL_PRESSURE	8.48522	MAGCAL	1.000000,-0.069581,-0.080867,-0.025964,1.080296,0.009396,0.038110,-0.000674,1.123054,-578.3,-590.1,-358.3,35,0.0278,0
_24V_AH	14.70,15.663	IMPLIED_C_PITCH	2443,14.40,263,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3351,20.504930,137,0
FG_AHR_24Vo	24.671	GPS	270322,103010,4644.461,-12452.062,6,1.3,13,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	747	1201	13213.45	nil	0	0	0.00
Pitch_motor	39	253	147.73	nil	0	0	0.00
Roll_motor	67	214	213.96	nil	0	0	0.00
Iridium	81	53	64.67	nil	0	0	0.00
Transponder_ping	2	420	16.98	nil	0	0	0.00
GPS	23	15	5.11	nil	0	0	0.00
Core	1962	6	196.45	SciCon	3678	6	374.11
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1944	2	57.25
Compass	1059	5	77.97
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
8.41	16386	-116.79	-1.34	0.00	496.3	492.9	499.8	167.7	2519.8	0.00	0.00	0	135.80	127.14	0.00	0.00	0.005	0.000	0.000	3036.91	3015.38	3058.44	167.75	2520.62	0	0	0	14.42	30.00	30.00
136.00	18983	-116.79	-1.34	-80.00	3036.3	3014.0	3058.6	167.9	2520.1	3.93	-2.58	13	172.46	9.98	16.28	4.11	0.007	0.253	0.155	3443.56	3435.06	3452.06	2113.44	1036.94	0	0	0	15.69	15.67	15.65
400.01	1156	-116.79	-1.26	0.00	3445.0	3435.4	3454.6	2113.7	1036.9	50.45	-16.87	66	406.36	0.00	0.00	3.68	0.000	0.000	0.073	3445.53	3436.06	3455.00	2113.69	2518.06	0	0	0	30.00	30.00	15.82
595.67	516	-116.79	-1.26	-80.00	3445.2	3435.3	3455.0	2113.8	2518.5	74.88	-12.47	86	601.67	0.00	0.00	4.03	0.000	0.000	0.148	3445.75	3436.81	3454.69	2110.94	1034.19	0	0	0	30.00	30.00	15.84
764.91	1060	-116.79	-1.26	0.00	3445.5	3436.1	3455.0	2113.8	1034.1	92.44	-9.58	120	771.41	0.00	0.00	3.69	0.000	0.000	0.071	3447.28	3437.81	3456.75	2112.31	2520.25	0	0	0	30.00	30.00	15.89
960.74	292	-116.79	-1.26	80.00	3445.6	3436.3	3454.9	2113.2	2520.1	109.10	-8.68	140	965.53	0.00	0.00	2.97	0.000	0.000	0.118	3446.06	3437.06	3455.06	2113.56	3637.94	0	0	0	30.00	30.00	15.91
1050.74	1060	-116.79	-1.26	0.00	3446.1	3436.6	3455.6	2113.7	3638.8	117.57	-9.96	158	1055.53	0.00	0.00	2.81	0.000	0.000	0.062	3446.16	3437.31	3455.00	2113.88	2469.50	0	0	0	30.00	30.00	15.94
1240.75	548	-116.79	-1.26	-80.00	3446.2	3436.9	3455.5	2113.6	2469.5	135.69	-9.93	178	1246.73	0.00	0.00	3.89	0.000	0.000	0.153	3446.16	3436.56	3455.75	2113.31	1036.06	0	0	0	30.00	30.00	15.94
1295.75	1028	-116.79	-1.26	0.00	3446.1	3437.0	3455.2	2114.2	1035.9	141.33	-11.10	189	1300.70	0.00	0.00	3.64	0.000	0.000	0.071	3447.72	3439.00	3456.44	2113.75	2520.69	0	0	0	30.00	30.00	15.96
1485.81	32	-116.79	-1.26	0.00	3446.6	3437.7	3455.6	2113.5	2519.8	158.76	-9.66	209	1487.15	0.00	0.00	0.00	0.000	0.000	0.000	3446.78	3438.75	3454.81	2113.94	2520.81	0	0	0	30.00	30.00	30.00
1675.81	548	-116.79	-1.26	-80.00	3446.1	3436.8	3455.4	2113.8	2520.4	176.21	-9.19	228	1681.79	0.00	0.00	3.99	0.000	0.000	0.149	3445.56	3437.00	3454.12	2113.62	1034.19	0	0	0	30.00	30.00	15.98
1715	end dive: TARGET_DEPTH_EXCEEDED
state	1715	begin apogee
1720.30	10243	0.00	-0.25	0.00	3446.4	3437.8	3455.1	2113.8	2519.2	180.28	-10.24	236	1809.12	86.15	1.91	0.08	1.202	0.133	0.214	2966.72	2973.44	2960.00	2380.31	2471.12	0	0	0	13.00	15.96	15.60
1812	end apogee: CONTROL_FINISHED_OK
state	1812	begin climb
1814.62	10503	116.79	1.34	80.00	2964.4	2971.2	2957.5	2380.6	2470.8	182.22	0.00	245	1915.48	93.15	2.59	3.17	1.161	0.068	0.113	2488.75	2495.38	2482.12	2770.75	3638.19	0	0	0	12.70	15.65	15.37
2037.88	21639	116.79	1.25	0.00	2481.1	2490.3	2471.9	2773.2	3638.6	159.72	15.05	289	2044.33	0.00	0.37	2.85	0.000	0.170	0.060	2480.97	2490.94	2471.00	2735.62	2470.12	0	0	0	30.00	15.56	15.61
2233.68	16774	116.79	1.31	80.00	2477.9	2489.8	2465.9	2735.4	2469.7	138.61	10.60	309	2238.51	0.00	0.00	3.12	0.000	0.000	0.112	2480.94	2493.12	2468.75	2736.12	3640.44	0	0	0	30.00	30.00	15.73
2343.66	17414	116.79	1.31	0.00	2477.0	2488.6	2465.4	2736.7	3640.1	126.80	10.12	331	2348.48	0.00	0.00	2.85	0.000	0.000	0.061	2477.62	2489.06	2466.19	2736.12	2468.94	0	0	0	30.00	30.00	15.78
2533.71	2209	120.25	1.41	0.00	2475.8	2488.4	2463.2	2735.4	2468.6	109.21	9.80	351	2535.20	0.00	0.34	0.00	0.000	0.059	0.000	2474.50	2487.81	2461.19	2794.06	2468.50	0	0	0	30.00	15.83	30.00
2723.73	8486	142.41	1.47	80.00	2475.0	2487.3	2462.7	2794.1	2468.7	89.48	8.72	370	2754.81	23.94	0.00	3.08	1.028	0.000	0.113	2384.84	2397.50	2372.19	2794.62	3640.00	0	0	0	12.87	30.00	15.74
2983.76	9254	170.19	1.56	0.00	2380.4	2394.2	2366.5	2795.0	3640.1	61.68	8.39	422	3019.07	28.42	0.00	2.84	1.011	0.000	0.062	2271.75	2287.56	2255.94	2795.00	2467.88	0	0	0	12.86	30.00	15.87
3203.83	10919	255.05	1.88	-80.00	2266.1	2284.4	2247.8	2795.2	2468.3	48.40	5.08	448	3291.51	81.37	0.64	3.88	1.011	0.050	0.138	1924.75	1946.88	1902.62	2911.38	1033.31	0	0	0	12.89	15.83	15.53
3379.66	5253	255.05	1.75	0.00	1920.2	1942.3	1898.1	2911.8	1033.2	30.64	13.20	483	3385.73	0.00	0.47	3.71	0.000	0.184	0.063	1920.47	1942.94	1898.00	2857.88	2520.25	0	0	0	30.00	15.61	15.67
3574.67	16774	255.05	1.81	80.00	1916.3	1941.6	1891.0	2857.9	2520.2	10.43	10.61	503	3579.49	0.00	0.00	2.96	0.000	0.000	0.114	1918.28	1943.50	1893.06	2857.81	3638.19	0	0	0	30.00	30.00	15.76
3649	end climb: SURFACE_DEPTH_REACHED
state	3649	begin surface coast
3665	end surface coast: CONTROL_FINISHED_OK
state	3665	begin surface