Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 9 * 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 9 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 12.99579 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 17.96804 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 12.99579 PITCH_ADJ_GAIN 0.045000002 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 17.96804 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 9 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 270421,011843,4705.083,-12454.084,1,1.5,4,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270421,012236,4705.089,-12454.087,2,1.5,5,15.8 MHEAD_RNG_PITCHd_Wd 246.1,159315,-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 0.1,1.019733 FG_AHR_10Vo 13.016

SM_CCo 3040.09,76.61,1.126,0,726.7,699.9,753.4,549.80 MEM0 60876,1,0,0

SM_GC 1.30,76.61,16.26,0.10,1.126,0.058,0.123,726.7,699.9,753.4,185.1,2150.4,0,0,0,12.77,15.84,15.87 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971760,18,75348,55

IRIDIUM_FIX 4707.10,-12459.52,270421,002602 DATA_FILE_SIZE 12927,524

TCM_TEMP 266.54 CAP_FILE_SIZE 153554,0

XPDR_PINGS 19,13.0,10.5 SDSIZE 4028416,4016320

ALTIM_BOTTOM_PING 100.3,55.6 SDFILEDIR 81,1

SC_FREEKB 3874752 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.33 CURRENT 0.037, 56.4,1

TEMP 82.59 MAGCAL 1.000000,-0.045674,-0.118274,-0.017702,1.055958,-0.049424,-0.020107,-0.064525,1.051212,777.5,-279.9,62.5,17,0.0223,0

INTERNAL_PRESSURE 8.82831 IMPLIED_C_PITCH 2371,11.50,325

_24V_AH 14.84,12.521 IMPLIED_C_VBD 2899,40.732056,318

_10V_AH 14.95,0.000 GPS 270421,021409,4705.070,-12454.591,22,1.3,23,15.8

FG_AHR_24Vo 18.141

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 596 1314 11627.23 nil 0 0 0.00

Pitch_motor 37 265 146.35 nil 0 0 0.00

Roll_motor 49 161 119.12 nil 0 0 0.00

Iridium 151 208 468.14 nil 0 0 0.00

Transponder_ping 5 420 32.72 nil 0 0 0.00

GPS 14 15 3.21 nil 0 0 0.00

Core 1808 11 318.97 SciCon 2946 18 806.03

LPSleep 1337 2 55.98 nil 0 0 0.00

Compass 800 5 59.84 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 0.00 721.7 714.4 729.1 184.2 2164.4 0.00 0.00 0 89.41 81.83 0.00 0.00 0.005 0.000 0.000 2655.56 2785.56 2525.56 184.25 2166.06 0 0 0 15.33 30.00 30.00

90.14 18983 -145.99 -0.88 -80.00 2654.3 2783.8 2524.9 184.2 2165.3 3.13 -2.27 16 139.13 22.69 14.81 3.77 0.006 0.265 0.107 3563.91 3751.31 3376.50 2084.44 631.88 0 0 0 15.42 15.70 15.74

172.10 1028 -145.99 -0.88 0.00 3562.8 3749.8 3375.7 2084.8 632.0 15.07 -14.95 32 177.80 0.00 0.00 3.42 0.000 0.000 0.041 3563.19 3750.62 3375.75 2084.81 2131.25 0 0 0 30.00 30.00 15.85

362.27 4485 -145.99 -1.03 80.00 3562.9 3750.4 3375.4 2084.5 2131.6 41.87 -12.25 70 367.94 0.00 0.29 3.48 0.000 0.074 0.107 3564.66 3751.19 3378.12 2029.19 3566.75 0 0 0 30.00 15.92 15.88

402.21 1028 -145.99 -1.03 0.00 3563.2 3750.1 3376.3 2029.2 3566.9 47.61 -14.84 78 407.87 0.00 0.00 3.40 0.000 0.000 0.041 3563.16 3749.62 3376.69 2029.25 2065.88 0 0 0 30.00 30.00 15.94

592.29 388 -145.99 -1.12 80.00 3563.1 3750.1 3376.2 2029.4 2064.8 74.87 -13.84 116 597.99 0.00 0.00 3.63 0.000 0.000 0.102 3564.50 3750.44 3378.56 2027.81 3567.44 0 0 0 30.00 30.00 15.95

627.29 1028 -145.99 -1.12 0.00 3562.8 3749.6 3376.1 2029.2 3567.8 79.91 -14.83 123 632.96 0.00 0.00 3.39 0.000 0.000 0.040 3564.50 3750.69 3378.31 2029.62 2063.06 0 0 0 30.00 30.00 15.99

814.77 4485 -145.99 -1.23 80.00 3562.8 3749.6 3376.1 2029.2 2062.8 100.34 -10.41 160 820.11 0.00 0.20 3.62 0.000 0.089 0.100 3564.62 3750.69 3378.56 1983.25 3568.00 0 0 0 30.00 15.97 15.98

958.15 3205 -145.99 -1.12 0.00 3562.8 3749.2 3376.4 1983.1 3568.0 121.52 -14.57 189 963.43 0.00 0.34 3.37 0.000 0.178 0.040 3563.22 3750.44 3376.00 2029.62 2061.25 0 0 0 30.00 15.99 16.04

1138 end dive: TARGET_DEPTH_EXCEEDED

state 1138 begin apogee

1140.36 10243 0.00 -0.20 0.00 3562.9 3749.4 3376.4 2029.8 2144.9 138.75 -9.07 208 1242.73 98.25 1.50 0.14 1.314 0.147 0.161 2965.00 3057.50 2872.50 2253.12 2053.31 0 0 0 12.83 16.02 15.63

1243 end apogee: CONTROL_FINISHED_OK

state 1244 begin climb

1244.67 10759 145.99 0.88 -80.00 2965.5 3058.1 2873.0 2252.9 2053.4 142.19 0.00 218 1356.47 101.01 1.77 3.62 1.263 0.112 0.115 2371.50 2437.00 2306.00 2515.44 632.38 0 0 0 12.61 15.66 15.39

1424.21 11431 273.09 1.33 0.00 2367.0 2435.5 2298.5 2516.2 632.1 137.02 4.09 253 1523.24 89.36 0.68 3.46 1.239 0.068 0.039 1853.59 1936.69 1770.50 2632.31 2133.88 0 0 0 12.54 15.59 15.60

1830.10 10663 288.25 1.52 80.00 1844.7 1936.2 1753.1 2632.1 2133.8 101.33 9.29 303 1850.72 12.19 0.22 3.53 1.094 0.091 0.111 1792.06 1885.31 1698.81 2677.44 3567.38 0 0 0 12.73 15.80 15.71

2034.54 1028 288.25 1.52 0.00 1789.3 1885.2 1693.4 2678.1 3566.9 78.96 11.03 344 2040.21 0.00 0.00 3.42 0.000 0.000 0.042 1790.81 1886.62 1695.00 2677.62 2065.31 0 0 0 30.00 30.00 15.87

2224.61 10403 360.12 1.75 0.00 1787.5 1884.4 1690.7 2678.1 2065.2 62.68 6.66 382 2281.03 52.68 0.28 0.00 1.196 0.082 0.000 1499.06 1575.44 1422.69 2732.69 2065.06 0 0 0 12.80 15.93 30.00

2464.66 16514 360.12 1.88 80.00 1491.6 1575.2 1407.9 2732.8 2065.5 41.05 10.14 430 2466.00 0.00 0.00 0.00 0.000 0.000 0.000 1491.12 1574.81 1407.44 2732.56 2064.94 0 0 0 30.00 30.00 30.00

2649.75 10663 444.43 2.14 80.00 1490.2 1575.4 1404.9 2732.6 2065.1 27.40 6.08 467 2718.86 61.48 0.54 3.70 1.159 0.074 0.104 1156.16 1205.31 1107.00 2827.94 3568.19 0 0 0 12.79 15.91 15.67

2757.04 5253 444.43 2.04 0.00 1153.6 1205.1 1102.1 2827.8 3567.8 17.06 11.34 488 2762.63 0.00 0.31 3.44 0.000 0.176 0.042 1154.00 1205.62 1102.38 2789.12 2064.75 0 0 0 30.00 15.70 15.75

2911 end climb: SURFACE_DEPTH_REACHED

state 2911 begin surface coast

2936 end surface coast: CONTROL_FINISHED_OK

state 2937 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	9	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	12.99579	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	17.96804	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	270421,011843,4705.083,-12454.084,1,1.5,4,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270421,012236,4705.089,-12454.087,2,1.5,5,15.8	MHEAD_RNG_PITCHd_Wd	246.1,159315,-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	0.1,1.019733	FG_AHR_10Vo	13.016
SM_CCo	3040.09,76.61,1.126,0,726.7,699.9,753.4,549.80	MEM0	60876,1,0,0
SM_GC	1.30,76.61,16.26,0.10,1.126,0.058,0.123,726.7,699.9,753.4,185.1,2150.4,0,0,0,12.77,15.84,15.87	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971760,18,75348,55
IRIDIUM_FIX	4707.10,-12459.52,270421,002602	DATA_FILE_SIZE	12927,524
TCM_TEMP	266.54	CAP_FILE_SIZE	153554,0
XPDR_PINGS	19,13.0,10.5	SDSIZE	4028416,4016320
ALTIM_BOTTOM_PING	100.3,55.6	SDFILEDIR	81,1
SC_FREEKB	3874752	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.33	CURRENT	0.037, 56.4,1
TEMP	82.59	MAGCAL	1.000000,-0.045674,-0.118274,-0.017702,1.055958,-0.049424,-0.020107,-0.064525,1.051212,777.5,-279.9,62.5,17,0.0223,0
INTERNAL_PRESSURE	8.82831	IMPLIED_C_PITCH	2371,11.50,325
_24V_AH	14.84,12.521	IMPLIED_C_VBD	2899,40.732056,318
_10V_AH	14.95,0.000	GPS	270421,021409,4705.070,-12454.591,22,1.3,23,15.8
FG_AHR_24Vo	18.141

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	596	1314	11627.23	nil	0	0	0.00
Pitch_motor	37	265	146.35	nil	0	0	0.00
Roll_motor	49	161	119.12	nil	0	0	0.00
Iridium	151	208	468.14	nil	0	0	0.00
Transponder_ping	5	420	32.72	nil	0	0	0.00
GPS	14	15	3.21	nil	0	0	0.00
Core	1808	11	318.97	SciCon	2946	18	806.03
LPSleep	1337	2	55.98	nil	0	0	0.00
Compass	800	5	59.84	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	721.7	714.4	729.1	184.2	2164.4	0.00	0.00	0	89.41	81.83	0.00	0.00	0.005	0.000	0.000	2655.56	2785.56	2525.56	184.25	2166.06	0	0	0	15.33	30.00	30.00
90.14	18983	-145.99	-0.88	-80.00	2654.3	2783.8	2524.9	184.2	2165.3	3.13	-2.27	16	139.13	22.69	14.81	3.77	0.006	0.265	0.107	3563.91	3751.31	3376.50	2084.44	631.88	0	0	0	15.42	15.70	15.74
172.10	1028	-145.99	-0.88	0.00	3562.8	3749.8	3375.7	2084.8	632.0	15.07	-14.95	32	177.80	0.00	0.00	3.42	0.000	0.000	0.041	3563.19	3750.62	3375.75	2084.81	2131.25	0	0	0	30.00	30.00	15.85
362.27	4485	-145.99	-1.03	80.00	3562.9	3750.4	3375.4	2084.5	2131.6	41.87	-12.25	70	367.94	0.00	0.29	3.48	0.000	0.074	0.107	3564.66	3751.19	3378.12	2029.19	3566.75	0	0	0	30.00	15.92	15.88
402.21	1028	-145.99	-1.03	0.00	3563.2	3750.1	3376.3	2029.2	3566.9	47.61	-14.84	78	407.87	0.00	0.00	3.40	0.000	0.000	0.041	3563.16	3749.62	3376.69	2029.25	2065.88	0	0	0	30.00	30.00	15.94
592.29	388	-145.99	-1.12	80.00	3563.1	3750.1	3376.2	2029.4	2064.8	74.87	-13.84	116	597.99	0.00	0.00	3.63	0.000	0.000	0.102	3564.50	3750.44	3378.56	2027.81	3567.44	0	0	0	30.00	30.00	15.95
627.29	1028	-145.99	-1.12	0.00	3562.8	3749.6	3376.1	2029.2	3567.8	79.91	-14.83	123	632.96	0.00	0.00	3.39	0.000	0.000	0.040	3564.50	3750.69	3378.31	2029.62	2063.06	0	0	0	30.00	30.00	15.99
814.77	4485	-145.99	-1.23	80.00	3562.8	3749.6	3376.1	2029.2	2062.8	100.34	-10.41	160	820.11	0.00	0.20	3.62	0.000	0.089	0.100	3564.62	3750.69	3378.56	1983.25	3568.00	0	0	0	30.00	15.97	15.98
958.15	3205	-145.99	-1.12	0.00	3562.8	3749.2	3376.4	1983.1	3568.0	121.52	-14.57	189	963.43	0.00	0.34	3.37	0.000	0.178	0.040	3563.22	3750.44	3376.00	2029.62	2061.25	0	0	0	30.00	15.99	16.04
1138	end dive: TARGET_DEPTH_EXCEEDED
state	1138	begin apogee
1140.36	10243	0.00	-0.20	0.00	3562.9	3749.4	3376.4	2029.8	2144.9	138.75	-9.07	208	1242.73	98.25	1.50	0.14	1.314	0.147	0.161	2965.00	3057.50	2872.50	2253.12	2053.31	0	0	0	12.83	16.02	15.63
1243	end apogee: CONTROL_FINISHED_OK
state	1244	begin climb
1244.67	10759	145.99	0.88	-80.00	2965.5	3058.1	2873.0	2252.9	2053.4	142.19	0.00	218	1356.47	101.01	1.77	3.62	1.263	0.112	0.115	2371.50	2437.00	2306.00	2515.44	632.38	0	0	0	12.61	15.66	15.39
1424.21	11431	273.09	1.33	0.00	2367.0	2435.5	2298.5	2516.2	632.1	137.02	4.09	253	1523.24	89.36	0.68	3.46	1.239	0.068	0.039	1853.59	1936.69	1770.50	2632.31	2133.88	0	0	0	12.54	15.59	15.60
1830.10	10663	288.25	1.52	80.00	1844.7	1936.2	1753.1	2632.1	2133.8	101.33	9.29	303	1850.72	12.19	0.22	3.53	1.094	0.091	0.111	1792.06	1885.31	1698.81	2677.44	3567.38	0	0	0	12.73	15.80	15.71
2034.54	1028	288.25	1.52	0.00	1789.3	1885.2	1693.4	2678.1	3566.9	78.96	11.03	344	2040.21	0.00	0.00	3.42	0.000	0.000	0.042	1790.81	1886.62	1695.00	2677.62	2065.31	0	0	0	30.00	30.00	15.87
2224.61	10403	360.12	1.75	0.00	1787.5	1884.4	1690.7	2678.1	2065.2	62.68	6.66	382	2281.03	52.68	0.28	0.00	1.196	0.082	0.000	1499.06	1575.44	1422.69	2732.69	2065.06	0	0	0	12.80	15.93	30.00
2464.66	16514	360.12	1.88	80.00	1491.6	1575.2	1407.9	2732.8	2065.5	41.05	10.14	430	2466.00	0.00	0.00	0.00	0.000	0.000	0.000	1491.12	1574.81	1407.44	2732.56	2064.94	0	0	0	30.00	30.00	30.00
2649.75	10663	444.43	2.14	80.00	1490.2	1575.4	1404.9	2732.6	2065.1	27.40	6.08	467	2718.86	61.48	0.54	3.70	1.159	0.074	0.104	1156.16	1205.31	1107.00	2827.94	3568.19	0	0	0	12.79	15.91	15.67
2757.04	5253	444.43	2.04	0.00	1153.6	1205.1	1102.1	2827.8	3567.8	17.06	11.34	488	2762.63	0.00	0.31	3.44	0.000	0.176	0.042	1154.00	1205.62	1102.38	2789.12	2064.75	0	0	0	30.00	15.70	15.75
2911	end climb: SURFACE_DEPTH_REACHED
state	2911	begin surface coast
2936	end surface coast: CONTROL_FINISHED_OK
state	2937	begin surface