Glider dive log

NANOOS May22 * SG236 * Dive index * Mission links * Dive 11 * 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 6 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 11 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 595.40039 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 70 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 210 COMM_SEQ 7 C_VBD 2968 DEEPGLIDERMB 0

D_NO_BLEED 50 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 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 5 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 22 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 45 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 -1 PITCH_MAX 3920 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2400 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 100 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 25.185398 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 42.261803 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 -166.44843 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 -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2500 ALTIM_PULSE 2

AH0_10V 0 D_OFFGRID 100 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 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 70 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 595.40039

ALTIM_SENSITIVITY 4 FG_AHR_10V 25.185398 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 42.261803 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 5 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 -1 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 22

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 2400 KALMAN_USE 2 PRESSURE_SLOPE 0.00022638284 T_MISSION 45

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -166.44843 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 2400 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 -1

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 150 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 11 MISSION 6 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 210 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 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 050522,043702,4756.641,-12457.211,1,0.8,27,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.23 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050522,044030,4756.613,-12457.200,2,0.8,3,15.9 MHEAD_RNG_PITCHd_Wd 265.1,187217,-18.6,-10.606,-21.99,2086,0.642

SPEED_LIMITS 0.184,0.263 D_GRID 85

TGT_NAME OFFSHORE IRON 1.000000,-0.077650,-0.025305,-0.049886,1.073007,0.026290,0.024267,-0.058455,1.030897,-523.402100,-542.123596,-273.818451

TGT_LATLONG 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH -0.1,1.024140 FG_AHR_24Vo 42.430

SM_CCo 1767.42,223.84,0.887,0,541.6,540.9,542.4,595.19 FG_AHR_10Vo 25.197

SM_GC 1.24,223.84,17.64,3.21,0.887,0.049,0.063,541.6,540.9,542.4,171.6,2421.5,0,0,0,12.62,15.66,15.66 MEM0 60148,1,0,0

SUPER 19,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4755.99,-12454.52,050522,040246 MEM2 969044,18,78024,57

TCM_TEMP 176.55 DATA_FILE_SIZE 6562,212

XPDR_PINGS 10,13.5,11.5 CAP_FILE_SIZE 134461,0

SC_FREEKB 3874528 SDSIZE 3918848,3905504

HUMID 51.12 SDFILEDIR 100,1

TEMP 9.41 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.51396 CURRENT 0.232,175.6,1

_24V_AH 14.83,26.141 MAGCAL 1.000000,-0.059395,-0.257408,-0.057428,1.087341,0.013714,0.130219,-0.148365,0.923542,-293.5,-504.5,-132.6,20,0.0387,0

_10V_AH 14.86,0.000 GPS 050522,051026,4756.397,-12457.421,0,0.8,2,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 776 991 11422.82 nil 0 0 0.00

Pitch_motor 38 263 151.42 nil 0 0 0.00

Roll_motor 32 184 89.59 nil 0 0 0.00

Iridium 124 179 332.80 nil 0 0 0.00

Transponder_ping 2 420 15.57 nil 0 0 0.00

GPS 12 15 2.80 nil 0 0 0.00

Core 1186 6 119.91 SciCon 1522 19 433.16

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 539 2 16.02

Compass 448 5 33.31

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

8.46 16386 -145.99 -1.37 0.00 536.7 534.8 538.6 170.4 2434.5 0.00 0.00 0 130.72 121.99 0.00 0.00 0.005 0.000 0.000 2953.72 2927.62 2979.81 170.56 2435.50 0 0 0 15.65 30.00 30.00

130.92 18983 -145.99 -1.37 -80.00 2953.6 2927.6 2979.7 170.4 2435.0 3.79 -2.42 12 172.32 14.90 15.81 3.74 0.006 0.264 0.141 3564.16 3551.44 3576.88 2067.12 934.25 0 0 0 15.69 15.65 15.67

370.51 3205 -145.99 -1.26 0.00 3564.4 3550.2 3578.6 2067.3 934.1 48.48 -16.63 60 375.45 0.00 0.19 3.42 0.000 0.168 0.067 3565.53 3551.12 3579.94 2095.81 2424.75 0 0 0 30.00 15.81 15.86

560.50 548 -145.99 -1.26 -80.00 3564.3 3550.4 3578.3 2095.6 2424.5 68.53 -8.99 80 565.44 0.00 0.00 3.68 0.000 0.000 0.131 3566.47 3551.81 3581.12 2094.81 933.75 0 0 0 30.00 30.00 15.90

581 end dive: TARGET_DEPTH_EXCEEDED

state 581 begin apogee

585.76 10243 0.00 -0.25 0.00 3564.8 3550.6 3578.9 2095.6 2524.1 70.74 -10.00 84 714.30 125.61 1.73 0.09 0.992 0.136 0.184 2967.06 2971.31 2962.81 2339.88 2462.12 0 0 0 12.64 15.83 15.51

718 end apogee: CONTROL_FINISHED_OK

state 718 begin climb

719.79 10503 145.99 1.37 80.00 2965.2 2969.7 2960.8 2340.4 2462.1 73.72 0.00 97 862.12 135.15 2.65 2.95 0.956 0.081 0.115 2370.53 2383.06 2358.00 2737.00 3641.38 0 0 0 12.52 15.57 15.37

874.45 1028 145.99 1.37 0.00 2365.8 2378.4 2353.2 2737.2 3641.8 60.85 11.69 124 880.80 0.00 0.00 2.78 0.000 0.000 0.061 2368.50 2382.06 2354.94 2736.12 2464.88 0 0 0 30.00 30.00 15.49

1070.27 8486 175.59 1.46 80.00 2360.5 2377.6 2343.5 2737.1 2464.7 37.36 9.15 144 1102.40 27.60 0.00 2.89 0.898 0.000 0.114 2251.62 2270.25 2233.00 2736.31 3641.12 0 0 0 12.59 30.00 15.59

1135.53 11303 206.01 1.55 0.00 2246.0 2264.7 2227.2 2737.9 3641.2 31.66 9.11 157 1170.97 29.15 0.23 2.74 0.877 0.078 0.061 2127.44 2150.00 2104.88 2784.62 2460.81 0 0 0 12.63 15.68 15.66

1355.54 10791 321.33 1.89 -80.00 2118.8 2144.1 2093.4 2785.1 2461.0 15.72 4.93 183 1459.27 98.26 0.45 3.59 0.906 0.062 0.131 1655.56 1684.75 1626.38 2868.88 1033.38 0 0 0 12.63 15.74 15.48

1497 end climb: SURFACE_DEPTH_REACHED

state 1497 begin surface coast

1513 end surface coast: CONTROL_FINISHED_OK

state 1513 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
MISSION	6	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	11	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	595.40039	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	70	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	210	COMM_SEQ	7	C_VBD	2968	DEEPGLIDERMB	0
D_NO_BLEED	50	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	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	5	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	22	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	45	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	-1	PITCH_MAX	3920	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2400	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	100	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	25.185398	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	42.261803	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	-166.44843	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	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2500	ALTIM_PULSE	2

GPS1	050522,043702,4756.641,-12457.211,1,0.8,27,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.23	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050522,044030,4756.613,-12457.200,2,0.8,3,15.9	MHEAD_RNG_PITCHd_Wd	265.1,187217,-18.6,-10.606,-21.99,2086,0.642
SPEED_LIMITS	0.184,0.263	D_GRID	85
TGT_NAME	OFFSHORE	IRON	1.000000,-0.077650,-0.025305,-0.049886,1.073007,0.026290,0.024267,-0.058455,1.030897,-523.402100,-542.123596,-273.818451
TGT_LATLONG	4700.000,-12700.000

FINISH	-0.1,1.024140	FG_AHR_24Vo	42.430
SM_CCo	1767.42,223.84,0.887,0,541.6,540.9,542.4,595.19	FG_AHR_10Vo	25.197
SM_GC	1.24,223.84,17.64,3.21,0.887,0.049,0.063,541.6,540.9,542.4,171.6,2421.5,0,0,0,12.62,15.66,15.66	MEM0	60148,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4755.99,-12454.52,050522,040246	MEM2	969044,18,78024,57
TCM_TEMP	176.55	DATA_FILE_SIZE	6562,212
XPDR_PINGS	10,13.5,11.5	CAP_FILE_SIZE	134461,0
SC_FREEKB	3874528	SDSIZE	3918848,3905504
HUMID	51.12	SDFILEDIR	100,1
TEMP	9.41	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.51396	CURRENT	0.232,175.6,1
_24V_AH	14.83,26.141	MAGCAL	1.000000,-0.059395,-0.257408,-0.057428,1.087341,0.013714,0.130219,-0.148365,0.923542,-293.5,-504.5,-132.6,20,0.0387,0
_10V_AH	14.86,0.000	GPS	050522,051026,4756.397,-12457.421,0,0.8,2,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	776	991	11422.82	nil	0	0	0.00
Pitch_motor	38	263	151.42	nil	0	0	0.00
Roll_motor	32	184	89.59	nil	0	0	0.00
Iridium	124	179	332.80	nil	0	0	0.00
Transponder_ping	2	420	15.57	nil	0	0	0.00
GPS	12	15	2.80	nil	0	0	0.00
Core	1186	6	119.91	SciCon	1522	19	433.16
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	539	2	16.02
Compass	448	5	33.31
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
8.46	16386	-145.99	-1.37	0.00	536.7	534.8	538.6	170.4	2434.5	0.00	0.00	0	130.72	121.99	0.00	0.00	0.005	0.000	0.000	2953.72	2927.62	2979.81	170.56	2435.50	0	0	0	15.65	30.00	30.00
130.92	18983	-145.99	-1.37	-80.00	2953.6	2927.6	2979.7	170.4	2435.0	3.79	-2.42	12	172.32	14.90	15.81	3.74	0.006	0.264	0.141	3564.16	3551.44	3576.88	2067.12	934.25	0	0	0	15.69	15.65	15.67
370.51	3205	-145.99	-1.26	0.00	3564.4	3550.2	3578.6	2067.3	934.1	48.48	-16.63	60	375.45	0.00	0.19	3.42	0.000	0.168	0.067	3565.53	3551.12	3579.94	2095.81	2424.75	0	0	0	30.00	15.81	15.86
560.50	548	-145.99	-1.26	-80.00	3564.3	3550.4	3578.3	2095.6	2424.5	68.53	-8.99	80	565.44	0.00	0.00	3.68	0.000	0.000	0.131	3566.47	3551.81	3581.12	2094.81	933.75	0	0	0	30.00	30.00	15.90
581	end dive: TARGET_DEPTH_EXCEEDED
state	581	begin apogee
585.76	10243	0.00	-0.25	0.00	3564.8	3550.6	3578.9	2095.6	2524.1	70.74	-10.00	84	714.30	125.61	1.73	0.09	0.992	0.136	0.184	2967.06	2971.31	2962.81	2339.88	2462.12	0	0	0	12.64	15.83	15.51
718	end apogee: CONTROL_FINISHED_OK
state	718	begin climb
719.79	10503	145.99	1.37	80.00	2965.2	2969.7	2960.8	2340.4	2462.1	73.72	0.00	97	862.12	135.15	2.65	2.95	0.956	0.081	0.115	2370.53	2383.06	2358.00	2737.00	3641.38	0	0	0	12.52	15.57	15.37
874.45	1028	145.99	1.37	0.00	2365.8	2378.4	2353.2	2737.2	3641.8	60.85	11.69	124	880.80	0.00	0.00	2.78	0.000	0.000	0.061	2368.50	2382.06	2354.94	2736.12	2464.88	0	0	0	30.00	30.00	15.49
1070.27	8486	175.59	1.46	80.00	2360.5	2377.6	2343.5	2737.1	2464.7	37.36	9.15	144	1102.40	27.60	0.00	2.89	0.898	0.000	0.114	2251.62	2270.25	2233.00	2736.31	3641.12	0	0	0	12.59	30.00	15.59
1135.53	11303	206.01	1.55	0.00	2246.0	2264.7	2227.2	2737.9	3641.2	31.66	9.11	157	1170.97	29.15	0.23	2.74	0.877	0.078	0.061	2127.44	2150.00	2104.88	2784.62	2460.81	0	0	0	12.63	15.68	15.66
1355.54	10791	321.33	1.89	-80.00	2118.8	2144.1	2093.4	2785.1	2461.0	15.72	4.93	183	1459.27	98.26	0.45	3.59	0.906	0.062	0.131	1655.56	1684.75	1626.38	2868.88	1033.38	0	0	0	12.63	15.74	15.48
1497	end climb: SURFACE_DEPTH_REACHED
state	1497	begin surface coast
1513	end surface coast: CONTROL_FINISHED_OK
state	1513	begin surface