Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1283 * 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 6

DIVE 1283 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 2 XPDR_REP -1

D_SURF 4 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 400 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 FILEMGR 0 C_VBD 2775 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 120

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 4 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0020000001 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 2 LOGGERS 0

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 360 CAPMAXSIZE 5000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 510 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 2 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 56

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3000 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2320 FG_AHR_10V 104.98637 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 337.98917 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 120 PITCH_GAIN 18 PRESSURE_YINT -14.5 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.0014504 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 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 0.0039810701 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.029864 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 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 4 N_NOCOMM 4 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 400

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 104.98637 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 337.98917 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 18 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3000 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0039810701 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.029864 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0020000001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 5000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 360

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 56 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.0014504 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -14.5 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 510

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 2

C_PITCH 2320 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 2320 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2775 LOGGERS 0 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 0.029999999 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 2 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 60 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 120 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 1283 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

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 -1

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP -1

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 6

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 200322,193210,4704.615,-12457.223,4,0.7,16,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200322,193704,4704.605,-12457.188,3,0.7,5,15.7 MHEAD_RNG_PITCHd_Wd 91.1,22193,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 146

TGT_NAME PICKUP 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 4702.180,-12439.970

Post-dive calculations and measurements:

FINISH 0.2,1.024429 MEM0 60876,1,0,0

SM_CCo 3544.89,7.39,0.838,0,1144.7,1147.1,1142.2,399.92 MEM1 65508,1,0,0

SM_GC 1.64,7.39,16.37,0.36,0.838,0.054,0.068,1144.7,1147.1,1142.2,175.8,2348.9,0,0,0,11.12,15.83,15.88 MEM2 971204,31,75544,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 28947,697

IRIDIUM_FIX 4704.33,-12457.71,200322,182859 CAP_FILE_SIZE 152324,0

TCM_TEMP 267.10 SDSIZE 4028416,3723488

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4607,1

HUMID 51.46 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.00 CURRENT 0.045, 66.7,1

INTERNAL_PRESSURE 8.91498 MAGCAL 1.000000,-0.025007,0.027525,-0.001036,1.026479,-0.036108,0.047571,-0.055302,0.899509,557.1,-321.2,178.0,36,0.0287,0

_24V_AH 14.68,460.170 IMPLIED_C_PITCH 2390,11.85,491

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2914,33.759884,469

FG_AHR_24Vo 338.123 GPS 200322,203645,4704.587,-12456.749,10,1.0,16,15.7

FG_AHR_10Vo 104.997

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 469 1273 8768.87 legato 34 20 10.07

Pitch_motor 36 233 124.70 nil 0 0 0.00

Roll_motor 51 111 84.93 nil 0 0 0.00

Iridium 130 195 374.28 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.33 nil 0 0 0.00

Core 1686 11 298.58 SciCon 0 0 0.00

LPSleep 2078 2 87.31 nil 0 0 0.00

Compass 469 5 35.23 nil 0 0 0.00

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

2 end surface: CONTROL_FINISHED_OK

state 3 begin dive

6.04 16386 -116.79 -1.44 0.00 998.8 995.3 1002.2 176.3 2411.1 0.00 0.00 0 77.08 69.90 0.00 0.00 0.005 0.000 0.000 2709.88 2877.31 2542.44 176.19 2410.94 0 0 0 14.73 30.00 30.00

77.82 18727 -116.79 -1.44 60.00 2708.5 2875.2 2541.8 176.0 2411.6 3.02 -4.15 13 114.95 13.06 14.39 2.66 0.006 0.234 0.086 3251.31 3467.50 3035.12 1971.06 3425.81 0 0 0 14.85 15.43 14.79

212.04 1028 -116.79 -1.44 0.00 3250.9 3466.8 3035.1 1970.9 3426.4 23.77 -14.63 40 217.61 0.00 0.00 2.64 0.000 0.000 0.017 3250.91 3466.81 3035.00 1971.25 2254.00 0 0 0 30.00 30.00 15.89

402.51 0 -116.79 -1.44 0.00 3250.8 3466.7 3034.9 1971.1 2252.5 49.61 -13.21 78 403.83 0.00 0.00 0.00 0.000 0.000 0.000 3250.22 3466.25 3034.19 1971.06 2253.06 0 0 0 30.00 30.00 30.00

587.37 260 -116.79 -1.44 60.00 3250.8 3466.6 3035.0 1971.2 2252.5 71.01 -10.93 115 592.87 0.00 0.00 3.06 0.000 0.000 0.075 3251.88 3467.31 3036.44 1971.25 3426.88 0 0 0 30.00 30.00 15.85

607.19 1028 -116.79 -1.44 0.23 3250.6 3466.6 3034.7 1971.0 3427.4 73.23 -11.06 119 612.76 0.00 0.00 2.64 0.000 0.000 0.017 3251.25 3467.25 3035.25 1970.88 2252.75 0 0 0 30.00 30.00 15.93

797.65 516 -116.79 -1.44 -60.00 3250.7 3466.9 3034.6 1971.2 2251.2 89.68 -8.18 157 802.82 0.00 0.00 2.64 0.000 0.000 0.062 3251.19 3467.12 3035.25 1971.12 1210.38 0 0 0 30.00 30.00 15.89

822.26 1028 -116.79 -1.44 1.17 3250.7 3466.3 3035.0 1971.2 1210.2 91.80 -8.38 162 827.83 0.00 0.00 2.76 0.000 0.000 0.024 3251.25 3467.00 3035.50 1971.38 2373.94 0 0 0 30.00 30.00 15.95

1012.33 0 -116.79 -1.44 1.17 3250.4 3466.3 3034.6 1970.8 2373.4 107.73 -8.99 200 1013.66 0.00 0.00 0.00 0.000 0.000 0.000 3250.09 3466.31 3033.88 1971.50 2373.75 0 0 0 30.00 30.00 30.00

1317.40 516 -116.79 -1.44 -60.00 3250.8 3466.3 3035.2 1971.2 2373.7 133.82 -8.32 261 1323.00 0.00 0.00 2.96 0.000 0.000 0.057 3250.97 3466.75 3035.19 1970.88 1210.56 0 0 0 30.00 30.00 15.91

1387.41 1028 -116.79 -1.44 0.92 3250.8 3466.8 3034.8 1970.9 1210.7 139.76 -8.34 275 1392.98 0.00 0.00 2.74 0.000 0.000 0.025 3250.75 3466.94 3034.56 1970.94 2368.81 0 0 0 30.00 30.00 15.96

1472 end dive: TARGET_DEPTH_EXCEEDED

state 1472 begin apogee

1474.34 10243 0.00 -0.28 0.00 3250.9 3466.9 3034.9 1971.1 2044.6 146.37 -7.93 292 1562.75 83.61 1.98 0.17 1.273 0.133 0.112 2777.56 2907.12 2648.00 2254.06 2165.06 0 0 0 10.76 15.79 15.33

1564 end apogee: CONTROL_FINISHED_OK

state 1565 begin climb

1565.88 10759 116.79 1.44 -60.00 2774.0 2904.4 2643.7 2254.4 2164.9 149.19 0.00 309 1662.43 86.35 2.83 3.09 1.215 0.107 0.072 2297.56 2356.25 2238.88 2672.50 993.88 0 0 0 11.75 15.54 15.69

1695.20 11303 270.55 1.75 0.00 2295.7 2356.4 2235.0 2672.0 993.8 146.10 4.08 335 1816.23 115.03 0.46 2.73 1.192 0.058 0.020 1670.78 1703.75 1637.81 2760.19 2145.94 0 0 0 11.55 15.51 15.61

2118.48 16902 270.55 1.75 -60.00 1661.8 1706.2 1617.3 2759.7 2146.2 109.32 8.86 419 2124.38 0.00 0.00 3.05 0.000 0.000 0.074 1661.66 1705.94 1617.38 2760.56 994.38 0 0 0 30.00 30.00 15.74

2198.60 17414 270.55 1.75 -0.93 1660.7 1706.6 1614.8 2759.8 994.5 101.33 10.44 435 2204.04 0.00 0.00 2.63 0.000 0.000 0.020 1660.91 1707.06 1614.75 2760.81 2125.25 0 0 0 30.00 30.00 15.82

2508.55 16710 270.55 1.78 60.00 1660.5 1708.7 1612.4 2760.1 2125.7 74.34 7.88 497 2514.30 0.00 0.00 2.79 0.000 0.000 0.073 1660.84 1709.38 1612.31 2760.50 3206.56 0 0 0 30.00 30.00 15.85

2568.55 17478 270.55 1.81 -0.42 1660.7 1709.4 1611.9 2759.8 3207.1 69.79 7.56 509 2574.09 0.00 0.00 2.69 0.000 0.000 0.021 1660.62 1710.25 1611.00 2760.44 2048.38 0 0 0 30.00 30.00 15.90

2758.97 10791 391.76 2.05 -60.00 1659.5 1709.7 1609.3 2760.9 2048.9 59.51 5.16 547 2858.28 93.76 0.34 2.82 1.130 0.066 0.079 1177.59 1182.19 1173.00 2827.69 995.00 0 0 0 10.93 15.88 15.33

2935.97 1092 391.76 2.08 0.11 1173.9 1182.7 1165.1 2827.0 994.9 47.18 7.76 582 2941.35 0.00 0.00 2.71 0.000 0.000 0.021 1174.16 1182.69 1165.62 2826.88 2146.00 0 0 0 30.00 30.00 15.73

3125.86 580 391.76 2.11 -60.00 1171.1 1184.4 1157.8 2827.4 2146.3 32.23 7.76 620 3131.65 0.00 0.00 3.05 0.000 0.000 0.074 1171.31 1184.75 1157.88 2826.75 993.50 0 0 0 30.00 30.00 15.77

3271.39 1028 391.76 2.11 2.29 1171.0 1185.9 1156.2 2827.3 993.1 20.67 9.12 649 3276.46 0.00 0.00 2.80 0.000 0.000 0.021 1171.88 1186.94 1156.81 2827.25 2181.75 0 0 0 30.00 30.00 15.85

3460 end climb: SURFACE_DEPTH_REACHED

state 3460 begin surface coast

3510 end surface coast: CONTROL_FINISHED_OK

state 3511 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	6
DIVE	1283	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	2	XPDR_REP	-1
D_SURF	4	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	400	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	FILEMGR	0	C_VBD	2775	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	120
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	4	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0020000001	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	2	LOGGERS	0
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	360	CAPMAXSIZE	5000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	510	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	2	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	56
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3000	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2320	FG_AHR_10V	104.98637	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	337.98917	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	120	PITCH_GAIN	18	PRESSURE_YINT	-14.5	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.0014504	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	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	0.0039810701	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.029864	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	200322,193210,4704.615,-12457.223,4,0.7,16,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200322,193704,4704.605,-12457.188,3,0.7,5,15.7	MHEAD_RNG_PITCHd_Wd	91.1,22193,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	146
TGT_NAME	PICKUP	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	4702.180,-12439.970

FINISH	0.2,1.024429	MEM0	60876,1,0,0
SM_CCo	3544.89,7.39,0.838,0,1144.7,1147.1,1142.2,399.92	MEM1	65508,1,0,0
SM_GC	1.64,7.39,16.37,0.36,0.838,0.054,0.068,1144.7,1147.1,1142.2,175.8,2348.9,0,0,0,11.12,15.83,15.88	MEM2	971204,31,75544,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	28947,697
IRIDIUM_FIX	4704.33,-12457.71,200322,182859	CAP_FILE_SIZE	152324,0
TCM_TEMP	267.10	SDSIZE	4028416,3723488
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4607,1
HUMID	51.46	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.00	CURRENT	0.045, 66.7,1
INTERNAL_PRESSURE	8.91498	MAGCAL	1.000000,-0.025007,0.027525,-0.001036,1.026479,-0.036108,0.047571,-0.055302,0.899509,557.1,-321.2,178.0,36,0.0287,0
_24V_AH	14.68,460.170	IMPLIED_C_PITCH	2390,11.85,491
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2914,33.759884,469
FG_AHR_24Vo	338.123	GPS	200322,203645,4704.587,-12456.749,10,1.0,16,15.7
FG_AHR_10Vo	104.997

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	469	1273	8768.87	legato	34	20	10.07
Pitch_motor	36	233	124.70	nil	0	0	0.00
Roll_motor	51	111	84.93	nil	0	0	0.00
Iridium	130	195	374.28	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.33	nil	0	0	0.00
Core	1686	11	298.58	SciCon	0	0	0.00
LPSleep	2078	2	87.31	nil	0	0	0.00
Compass	469	5	35.23	nil	0	0	0.00
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
2	end surface: CONTROL_FINISHED_OK
state	3	begin dive
6.04	16386	-116.79	-1.44	0.00	998.8	995.3	1002.2	176.3	2411.1	0.00	0.00	0	77.08	69.90	0.00	0.00	0.005	0.000	0.000	2709.88	2877.31	2542.44	176.19	2410.94	0	0	0	14.73	30.00	30.00
77.82	18727	-116.79	-1.44	60.00	2708.5	2875.2	2541.8	176.0	2411.6	3.02	-4.15	13	114.95	13.06	14.39	2.66	0.006	0.234	0.086	3251.31	3467.50	3035.12	1971.06	3425.81	0	0	0	14.85	15.43	14.79
212.04	1028	-116.79	-1.44	0.00	3250.9	3466.8	3035.1	1970.9	3426.4	23.77	-14.63	40	217.61	0.00	0.00	2.64	0.000	0.000	0.017	3250.91	3466.81	3035.00	1971.25	2254.00	0	0	0	30.00	30.00	15.89
402.51	0	-116.79	-1.44	0.00	3250.8	3466.7	3034.9	1971.1	2252.5	49.61	-13.21	78	403.83	0.00	0.00	0.00	0.000	0.000	0.000	3250.22	3466.25	3034.19	1971.06	2253.06	0	0	0	30.00	30.00	30.00
587.37	260	-116.79	-1.44	60.00	3250.8	3466.6	3035.0	1971.2	2252.5	71.01	-10.93	115	592.87	0.00	0.00	3.06	0.000	0.000	0.075	3251.88	3467.31	3036.44	1971.25	3426.88	0	0	0	30.00	30.00	15.85
607.19	1028	-116.79	-1.44	0.23	3250.6	3466.6	3034.7	1971.0	3427.4	73.23	-11.06	119	612.76	0.00	0.00	2.64	0.000	0.000	0.017	3251.25	3467.25	3035.25	1970.88	2252.75	0	0	0	30.00	30.00	15.93
797.65	516	-116.79	-1.44	-60.00	3250.7	3466.9	3034.6	1971.2	2251.2	89.68	-8.18	157	802.82	0.00	0.00	2.64	0.000	0.000	0.062	3251.19	3467.12	3035.25	1971.12	1210.38	0	0	0	30.00	30.00	15.89
822.26	1028	-116.79	-1.44	1.17	3250.7	3466.3	3035.0	1971.2	1210.2	91.80	-8.38	162	827.83	0.00	0.00	2.76	0.000	0.000	0.024	3251.25	3467.00	3035.50	1971.38	2373.94	0	0	0	30.00	30.00	15.95
1012.33	0	-116.79	-1.44	1.17	3250.4	3466.3	3034.6	1970.8	2373.4	107.73	-8.99	200	1013.66	0.00	0.00	0.00	0.000	0.000	0.000	3250.09	3466.31	3033.88	1971.50	2373.75	0	0	0	30.00	30.00	30.00
1317.40	516	-116.79	-1.44	-60.00	3250.8	3466.3	3035.2	1971.2	2373.7	133.82	-8.32	261	1323.00	0.00	0.00	2.96	0.000	0.000	0.057	3250.97	3466.75	3035.19	1970.88	1210.56	0	0	0	30.00	30.00	15.91
1387.41	1028	-116.79	-1.44	0.92	3250.8	3466.8	3034.8	1970.9	1210.7	139.76	-8.34	275	1392.98	0.00	0.00	2.74	0.000	0.000	0.025	3250.75	3466.94	3034.56	1970.94	2368.81	0	0	0	30.00	30.00	15.96
1472	end dive: TARGET_DEPTH_EXCEEDED
state	1472	begin apogee
1474.34	10243	0.00	-0.28	0.00	3250.9	3466.9	3034.9	1971.1	2044.6	146.37	-7.93	292	1562.75	83.61	1.98	0.17	1.273	0.133	0.112	2777.56	2907.12	2648.00	2254.06	2165.06	0	0	0	10.76	15.79	15.33
1564	end apogee: CONTROL_FINISHED_OK
state	1565	begin climb
1565.88	10759	116.79	1.44	-60.00	2774.0	2904.4	2643.7	2254.4	2164.9	149.19	0.00	309	1662.43	86.35	2.83	3.09	1.215	0.107	0.072	2297.56	2356.25	2238.88	2672.50	993.88	0	0	0	11.75	15.54	15.69
1695.20	11303	270.55	1.75	0.00	2295.7	2356.4	2235.0	2672.0	993.8	146.10	4.08	335	1816.23	115.03	0.46	2.73	1.192	0.058	0.020	1670.78	1703.75	1637.81	2760.19	2145.94	0	0	0	11.55	15.51	15.61
2118.48	16902	270.55	1.75	-60.00	1661.8	1706.2	1617.3	2759.7	2146.2	109.32	8.86	419	2124.38	0.00	0.00	3.05	0.000	0.000	0.074	1661.66	1705.94	1617.38	2760.56	994.38	0	0	0	30.00	30.00	15.74
2198.60	17414	270.55	1.75	-0.93	1660.7	1706.6	1614.8	2759.8	994.5	101.33	10.44	435	2204.04	0.00	0.00	2.63	0.000	0.000	0.020	1660.91	1707.06	1614.75	2760.81	2125.25	0	0	0	30.00	30.00	15.82
2508.55	16710	270.55	1.78	60.00	1660.5	1708.7	1612.4	2760.1	2125.7	74.34	7.88	497	2514.30	0.00	0.00	2.79	0.000	0.000	0.073	1660.84	1709.38	1612.31	2760.50	3206.56	0	0	0	30.00	30.00	15.85
2568.55	17478	270.55	1.81	-0.42	1660.7	1709.4	1611.9	2759.8	3207.1	69.79	7.56	509	2574.09	0.00	0.00	2.69	0.000	0.000	0.021	1660.62	1710.25	1611.00	2760.44	2048.38	0	0	0	30.00	30.00	15.90
2758.97	10791	391.76	2.05	-60.00	1659.5	1709.7	1609.3	2760.9	2048.9	59.51	5.16	547	2858.28	93.76	0.34	2.82	1.130	0.066	0.079	1177.59	1182.19	1173.00	2827.69	995.00	0	0	0	10.93	15.88	15.33
2935.97	1092	391.76	2.08	0.11	1173.9	1182.7	1165.1	2827.0	994.9	47.18	7.76	582	2941.35	0.00	0.00	2.71	0.000	0.000	0.021	1174.16	1182.69	1165.62	2826.88	2146.00	0	0	0	30.00	30.00	15.73
3125.86	580	391.76	2.11	-60.00	1171.1	1184.4	1157.8	2827.4	2146.3	32.23	7.76	620	3131.65	0.00	0.00	3.05	0.000	0.000	0.074	1171.31	1184.75	1157.88	2826.75	993.50	0	0	0	30.00	30.00	15.77
3271.39	1028	391.76	2.11	2.29	1171.0	1185.9	1156.2	2827.3	993.1	20.67	9.12	649	3276.46	0.00	0.00	2.80	0.000	0.000	0.021	1171.88	1186.94	1156.81	2827.25	2181.75	0	0	0	30.00	30.00	15.85
3460	end climb: SURFACE_DEPTH_REACHED
state	3460	begin surface coast
3510	end surface coast: CONTROL_FINISHED_OK
state	3511	begin surface