Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 8 * 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 8 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 12.975163 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 17.785896 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 12.975163 PITCH_ADJ_GAIN 0.045000002 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 17.785896 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 8 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 270421,002422,4705.099,-12453.554,1,1.2,3,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270421,002813,4705.103,-12453.573,2,1.1,4,15.8 MHEAD_RNG_PITCHd_Wd 247.2,159964,-17.6,-10.000,-21.24

SPEED_LIMITS 0.173,0.257 D_GRID 138

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 0.0,1.021187 FG_AHR_10Vo 12.995

SM_CCo 2996.79,98.75,1.134,0,726.2,696.5,755.8,549.92 MEM0 60876,1,0,0

SM_GC 1.23,98.75,16.25,0.11,1.134,0.062,0.130,726.2,696.5,755.8,184.2,2058.9,0,0,0,12.73,15.90,15.91 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971716,20,75352,55

IRIDIUM_FIX 4703.94,-12453.31,260421,233001 DATA_FILE_SIZE 12931,515

TCM_TEMP 266.57 CAP_FILE_SIZE 151851,0

XPDR_PINGS 13,13.0,10.5 SDSIZE 4028416,4016512

ALTIM_BOTTOM_PING 100.4,52.6 SDFILEDIR 76,1

SC_FREEKB 3875200 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.32 CURRENT 0.029, 39.9,1

TEMP 82.57 MAGCAL 1.000000,-0.063821,-0.151788,-0.017018,1.077046,-0.020078,-0.018529,-0.082377,1.021607,820.4,-302.1,91.3,15,0.0245,0

INTERNAL_PRESSURE 8.82712 IMPLIED_C_PITCH 2365,11.76,307

_24V_AH 14.84,12.318 IMPLIED_C_VBD 2900,37.872627,303

_10V_AH 14.93,0.000 GPS 270421,011843,4705.083,-12454.084,1,1.5,4,15.8

FG_AHR_24Vo 17.959

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 598 1315 11689.62 nil 0 0 0.00

Pitch_motor 36 262 142.02 nil 0 0 0.00

Roll_motor 49 156 114.75 nil 0 0 0.00

Iridium 146 205 445.00 nil 0 0 0.00

Transponder_ping 3 420 23.37 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 1769 11 311.71 SciCon 2879 18 792.14

LPSleep 1304 2 54.54 nil 0 0 0.00

Compass 787 5 58.76 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 0.00 720.8 715.2 726.2 184.2 2160.9 0.00 0.00 0 94.49 86.94 0.00 0.00 0.005 0.000 0.000 2787.62 2916.25 2659.00 184.19 2161.81 0 0 0 14.72 30.00 30.00

95.22 18983 -145.99 -0.88 -80.00 2787.1 2914.9 2659.3 184.2 2161.4 3.54 -2.83 17 139.15 18.16 14.65 3.74 0.006 0.262 0.107 3562.81 3749.19 3376.44 2085.06 632.50 0 0 0 15.34 15.72 15.75

207.13 1028 -145.99 -0.88 0.00 3563.2 3749.1 3377.2 2084.8 632.0 21.79 -16.02 39 212.81 0.00 0.00 3.41 0.000 0.000 0.041 3565.00 3750.50 3379.50 2085.38 2131.31 0 0 0 30.00 30.00 15.86

397.29 4225 -145.99 -1.04 0.00 3563.4 3748.8 3378.1 2084.2 2131.1 46.53 -11.18 77 401.02 0.00 0.31 0.00 0.000 0.072 0.000 3564.62 3749.56 3379.69 2026.94 2131.31 0 0 0 30.00 15.92 30.00

582.31 388 -145.99 -1.13 80.00 3563.6 3748.8 3378.4 2026.8 2130.9 70.29 -12.46 114 587.97 0.00 0.00 3.47 0.000 0.000 0.107 3565.12 3750.00 3380.25 2026.00 3567.62 0 0 0 30.00 30.00 15.95

632.31 1028 -145.99 -1.13 0.00 3563.8 3748.6 3378.9 2027.2 3567.9 76.73 -12.99 124 637.97 0.00 0.00 3.39 0.000 0.000 0.041 3563.84 3749.06 3378.62 2026.94 2062.56 0 0 0 30.00 30.00 15.99

824.78 4485 -145.99 -1.24 80.00 3563.6 3748.8 3378.4 2026.8 2062.6 100.38 -12.46 162 830.13 0.00 0.21 3.62 0.000 0.085 0.101 3563.38 3749.81 3376.94 1978.62 3568.00 0 0 0 30.00 15.97 15.98

988.18 3205 -145.99 -1.11 0.00 3563.7 3748.2 3379.1 1978.7 3567.6 124.88 -15.04 195 993.45 0.00 0.40 3.37 0.000 0.175 0.041 3564.03 3748.88 3379.19 2033.06 2062.81 0 0 0 30.00 16.00 16.05

1127 end dive: TARGET_DEPTH_EXCEEDED

state 1128 begin apogee

1130.37 10243 0.00 -0.20 0.00 3563.9 3748.9 3378.8 2033.1 2146.1 138.72 -9.13 210 1232.49 98.13 1.49 0.14 1.315 0.144 0.156 2964.94 3058.06 2871.81 2252.81 2051.25 0 0 0 12.78 16.02 15.62

1233 end apogee: CONTROL_FINISHED_OK

state 1233 begin climb

1234.51 10759 145.99 0.88 -80.00 2965.3 3058.2 2872.4 2252.9 2051.1 142.23 0.00 220 1345.83 100.81 1.77 3.59 1.266 0.113 0.114 2369.88 2436.62 2303.12 2516.00 633.31 0 0 0 12.61 15.66 15.39

1383.68 11431 258.38 1.33 0.00 2367.7 2436.1 2299.3 2516.8 633.5 137.13 4.77 249 1472.15 79.35 0.69 3.46 1.239 0.065 0.038 1913.19 1994.38 1832.00 2633.31 2134.88 0 0 0 12.48 15.54 15.55

1779.02 10663 299.72 1.54 80.00 1904.8 1994.5 1815.1 2633.3 2134.4 103.58 8.08 297 1815.25 30.09 0.24 3.53 1.203 0.088 0.110 1746.22 1835.06 1657.38 2684.62 3566.94 0 0 0 12.66 15.80 15.65

2014.26 1028 299.72 1.54 0.00 1740.5 1834.4 1646.6 2685.1 3566.9 76.45 12.49 344 2019.81 0.00 0.00 3.43 0.000 0.000 0.042 1740.84 1835.19 1646.50 2684.88 2066.81 0 0 0 30.00 30.00 15.85

2204.17 10663 360.26 1.76 80.00 1738.4 1834.4 1642.5 2685.4 2066.4 60.10 7.18 382 2256.53 44.34 0.25 3.67 1.190 0.083 0.104 1499.47 1579.06 1419.88 2735.88 3566.12 0 0 0 12.71 15.91 15.71

2319.52 1028 360.26 1.76 0.00 1495.3 1578.1 1412.6 2736.4 3566.8 48.72 10.77 405 2325.20 0.00 0.00 3.42 0.000 0.000 0.041 1495.31 1578.94 1411.69 2736.75 2064.00 0 0 0 30.00 30.00 15.81

2509.59 10919 405.93 1.94 -80.00 1491.1 1578.3 1403.9 2737.1 2064.1 32.86 7.88 443 2551.36 34.43 0.21 3.52 1.155 0.093 0.114 1313.59 1385.94 1241.25 2783.31 632.12 0 0 0 12.70 15.88 15.72

2644.94 9254 413.64 1.95 0.00 1309.4 1385.1 1233.7 2782.6 631.9 19.53 9.64 470 2659.88 7.86 0.00 3.41 0.911 0.000 0.039 1281.66 1357.75 1205.56 2782.88 2133.50 0 0 0 12.69 30.00 15.84

2844 end climb: SURFACE_DEPTH_REACHED

state 2844 begin surface coast

2870 end surface coast: CONTROL_FINISHED_OK

state 2870 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	8	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	12.975163	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	17.785896	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	270421,002422,4705.099,-12453.554,1,1.2,3,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270421,002813,4705.103,-12453.573,2,1.1,4,15.8	MHEAD_RNG_PITCHd_Wd	247.2,159964,-17.6,-10.000,-21.24
SPEED_LIMITS	0.173,0.257	D_GRID	138
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	0.0,1.021187	FG_AHR_10Vo	12.995
SM_CCo	2996.79,98.75,1.134,0,726.2,696.5,755.8,549.92	MEM0	60876,1,0,0
SM_GC	1.23,98.75,16.25,0.11,1.134,0.062,0.130,726.2,696.5,755.8,184.2,2058.9,0,0,0,12.73,15.90,15.91	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971716,20,75352,55
IRIDIUM_FIX	4703.94,-12453.31,260421,233001	DATA_FILE_SIZE	12931,515
TCM_TEMP	266.57	CAP_FILE_SIZE	151851,0
XPDR_PINGS	13,13.0,10.5	SDSIZE	4028416,4016512
ALTIM_BOTTOM_PING	100.4,52.6	SDFILEDIR	76,1
SC_FREEKB	3875200	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.32	CURRENT	0.029, 39.9,1
TEMP	82.57	MAGCAL	1.000000,-0.063821,-0.151788,-0.017018,1.077046,-0.020078,-0.018529,-0.082377,1.021607,820.4,-302.1,91.3,15,0.0245,0
INTERNAL_PRESSURE	8.82712	IMPLIED_C_PITCH	2365,11.76,307
_24V_AH	14.84,12.318	IMPLIED_C_VBD	2900,37.872627,303
_10V_AH	14.93,0.000	GPS	270421,011843,4705.083,-12454.084,1,1.5,4,15.8
FG_AHR_24Vo	17.959

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	598	1315	11689.62	nil	0	0	0.00
Pitch_motor	36	262	142.02	nil	0	0	0.00
Roll_motor	49	156	114.75	nil	0	0	0.00
Iridium	146	205	445.00	nil	0	0	0.00
Transponder_ping	3	420	23.37	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	1769	11	311.71	SciCon	2879	18	792.14
LPSleep	1304	2	54.54	nil	0	0	0.00
Compass	787	5	58.76	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	720.8	715.2	726.2	184.2	2160.9	0.00	0.00	0	94.49	86.94	0.00	0.00	0.005	0.000	0.000	2787.62	2916.25	2659.00	184.19	2161.81	0	0	0	14.72	30.00	30.00
95.22	18983	-145.99	-0.88	-80.00	2787.1	2914.9	2659.3	184.2	2161.4	3.54	-2.83	17	139.15	18.16	14.65	3.74	0.006	0.262	0.107	3562.81	3749.19	3376.44	2085.06	632.50	0	0	0	15.34	15.72	15.75
207.13	1028	-145.99	-0.88	0.00	3563.2	3749.1	3377.2	2084.8	632.0	21.79	-16.02	39	212.81	0.00	0.00	3.41	0.000	0.000	0.041	3565.00	3750.50	3379.50	2085.38	2131.31	0	0	0	30.00	30.00	15.86
397.29	4225	-145.99	-1.04	0.00	3563.4	3748.8	3378.1	2084.2	2131.1	46.53	-11.18	77	401.02	0.00	0.31	0.00	0.000	0.072	0.000	3564.62	3749.56	3379.69	2026.94	2131.31	0	0	0	30.00	15.92	30.00
582.31	388	-145.99	-1.13	80.00	3563.6	3748.8	3378.4	2026.8	2130.9	70.29	-12.46	114	587.97	0.00	0.00	3.47	0.000	0.000	0.107	3565.12	3750.00	3380.25	2026.00	3567.62	0	0	0	30.00	30.00	15.95
632.31	1028	-145.99	-1.13	0.00	3563.8	3748.6	3378.9	2027.2	3567.9	76.73	-12.99	124	637.97	0.00	0.00	3.39	0.000	0.000	0.041	3563.84	3749.06	3378.62	2026.94	2062.56	0	0	0	30.00	30.00	15.99
824.78	4485	-145.99	-1.24	80.00	3563.6	3748.8	3378.4	2026.8	2062.6	100.38	-12.46	162	830.13	0.00	0.21	3.62	0.000	0.085	0.101	3563.38	3749.81	3376.94	1978.62	3568.00	0	0	0	30.00	15.97	15.98
988.18	3205	-145.99	-1.11	0.00	3563.7	3748.2	3379.1	1978.7	3567.6	124.88	-15.04	195	993.45	0.00	0.40	3.37	0.000	0.175	0.041	3564.03	3748.88	3379.19	2033.06	2062.81	0	0	0	30.00	16.00	16.05
1127	end dive: TARGET_DEPTH_EXCEEDED
state	1128	begin apogee
1130.37	10243	0.00	-0.20	0.00	3563.9	3748.9	3378.8	2033.1	2146.1	138.72	-9.13	210	1232.49	98.13	1.49	0.14	1.315	0.144	0.156	2964.94	3058.06	2871.81	2252.81	2051.25	0	0	0	12.78	16.02	15.62
1233	end apogee: CONTROL_FINISHED_OK
state	1233	begin climb
1234.51	10759	145.99	0.88	-80.00	2965.3	3058.2	2872.4	2252.9	2051.1	142.23	0.00	220	1345.83	100.81	1.77	3.59	1.266	0.113	0.114	2369.88	2436.62	2303.12	2516.00	633.31	0	0	0	12.61	15.66	15.39
1383.68	11431	258.38	1.33	0.00	2367.7	2436.1	2299.3	2516.8	633.5	137.13	4.77	249	1472.15	79.35	0.69	3.46	1.239	0.065	0.038	1913.19	1994.38	1832.00	2633.31	2134.88	0	0	0	12.48	15.54	15.55
1779.02	10663	299.72	1.54	80.00	1904.8	1994.5	1815.1	2633.3	2134.4	103.58	8.08	297	1815.25	30.09	0.24	3.53	1.203	0.088	0.110	1746.22	1835.06	1657.38	2684.62	3566.94	0	0	0	12.66	15.80	15.65
2014.26	1028	299.72	1.54	0.00	1740.5	1834.4	1646.6	2685.1	3566.9	76.45	12.49	344	2019.81	0.00	0.00	3.43	0.000	0.000	0.042	1740.84	1835.19	1646.50	2684.88	2066.81	0	0	0	30.00	30.00	15.85
2204.17	10663	360.26	1.76	80.00	1738.4	1834.4	1642.5	2685.4	2066.4	60.10	7.18	382	2256.53	44.34	0.25	3.67	1.190	0.083	0.104	1499.47	1579.06	1419.88	2735.88	3566.12	0	0	0	12.71	15.91	15.71
2319.52	1028	360.26	1.76	0.00	1495.3	1578.1	1412.6	2736.4	3566.8	48.72	10.77	405	2325.20	0.00	0.00	3.42	0.000	0.000	0.041	1495.31	1578.94	1411.69	2736.75	2064.00	0	0	0	30.00	30.00	15.81
2509.59	10919	405.93	1.94	-80.00	1491.1	1578.3	1403.9	2737.1	2064.1	32.86	7.88	443	2551.36	34.43	0.21	3.52	1.155	0.093	0.114	1313.59	1385.94	1241.25	2783.31	632.12	0	0	0	12.70	15.88	15.72
2644.94	9254	413.64	1.95	0.00	1309.4	1385.1	1233.7	2782.6	631.9	19.53	9.64	470	2659.88	7.86	0.00	3.41	0.911	0.000	0.039	1281.66	1357.75	1205.56	2782.88	2133.50	0	0	0	12.69	30.00	15.84
2844	end climb: SURFACE_DEPTH_REACHED
state	2844	begin surface coast
2870	end surface coast: CONTROL_FINISHED_OK
state	2870	begin surface