Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1288 * 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 1288 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 105.05006 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 338.74591 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 105.05006 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 338.74591 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 1288 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 210322,011149,4704.344,-12454.884,1,1.8,5,15.7 TGT_RADIUS 2500.000

_CALLS 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,012140,4704.393,-12454.849,4,2.0,7,15.7 MHEAD_RNG_PITCHd_Wd 88.2,19223,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 140

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 0.6,1.024600 MEM0 60876,1,0,0

SM_CCo 3381.39,0.00,0.000,0,811.2,814.2,808.2,481.71 MEM1 65508,1,0,0

SM_GC 0.59,0.00,16.32,2.09,0.000,0.049,0.019,811.2,814.2,808.2,174.6,2258.9,0,0,0,30.00,15.80,15.86 MEM2 971136,31,75612,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 29053,654

IRIDIUM_FIX 4703.03,-12455.90,210322,011744 CAP_FILE_SIZE 157721,0

TCM_TEMP 266.76 SDSIZE 4028416,3722848

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4622,1

HUMID 51.27 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.07 CURRENT 0.084,110.1,1

INTERNAL_PRESSURE 8.90382 MAGCAL 1.000000,-0.023902,-0.017258,0.016748,1.023235,-0.030627,0.078783,-0.042284,0.840343,610.1,-327.0,236.0,35,0.0366,0

_24V_AH 14.68,461.070 IMPLIED_C_PITCH 2406,11.52,442

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2924,32.723011,435

FG_AHR_24Vo 338.896 GPS 210322,021843,4704.292,-12454.361,17,1.9,21,15.7

FG_AHR_10Vo 105.061

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 525 1268 9774.86 legato 34 20 10.18

Pitch_motor 36 230 122.13 nil 0 0 0.00

Roll_motor 54 110 88.30 nil 0 0 0.00

Iridium 241 200 709.45 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 17 15 3.87 nil 0 0 0.00

Core 1789 11 316.70 SciCon 0 0 0.00

LPSleep 2109 2 88.61 nil 0 0 0.00

Compass 443 5 33.24 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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

6.04 16386 -116.79 -1.44 0.00 1093.8 1098.7 1088.9 173.4 2375.0 0.00 0.00 0 77.08 69.88 0.00 0.00 0.005 0.000 0.000 2817.66 3000.56 2634.75 173.44 2377.25 0 0 0 14.77 30.00 30.00

77.82 18727 -116.79 -1.44 60.00 2817.2 2999.9 2634.4 173.4 2377.7 3.33 -4.62 13 111.55 10.17 14.34 2.76 0.007 0.230 0.084 3251.22 3471.88 3030.56 1970.56 3427.06 0 0 0 14.87 15.48 14.83

209.02 1028 -116.79 -1.44 0.00 3251.3 3470.4 3032.1 1970.7 3427.4 22.06 -13.61 39 214.20 0.00 0.00 2.65 0.000 0.000 0.016 3251.75 3470.50 3033.00 1971.44 2253.50 0 0 0 30.00 30.00 15.89

399.09 516 -116.79 -1.44 -60.00 3251.0 3469.8 3032.1 1970.4 2252.2 43.43 -11.11 77 404.46 0.00 0.00 2.62 0.000 0.000 0.061 3251.47 3470.06 3032.88 1971.00 1210.38 0 0 0 30.00 30.00 15.89

413.83 1028 -116.79 -1.44 0.17 3251.0 3469.8 3032.1 1971.2 1210.4 45.09 -11.13 80 419.28 0.00 0.00 2.69 0.000 0.000 0.024 3250.94 3469.69 3032.19 1971.00 2355.69 0 0 0 30.00 30.00 15.92

604.19 260 -116.79 -1.44 60.00 3251.0 3469.8 3032.2 1970.6 2355.1 63.44 -8.84 118 609.35 0.00 0.00 2.77 0.000 0.000 0.080 3251.81 3470.19 3033.44 1971.06 3426.00 0 0 0 30.00 30.00 15.87

643.80 1028 -116.79 -1.44 0.69 3250.3 3466.8 3033.8 1971.1 3426.1 67.48 -10.30 126 649.35 0.00 0.00 2.61 0.000 0.000 0.017 3250.44 3467.38 3033.50 1971.25 2254.38 0 0 0 30.00 30.00 15.93

834.26 516 -116.79 -1.44 -60.00 3250.6 3467.6 3033.5 1971.0 2254.0 84.63 -8.17 164 839.41 0.00 0.00 2.62 0.000 0.000 0.061 3250.72 3467.69 3033.75 1971.06 1209.00 0 0 0 30.00 30.00 15.91

868.87 1028 -116.79 -1.44 0.25 3250.5 3467.5 3033.4 1971.1 1208.9 87.54 -8.20 171 874.42 0.00 0.00 2.70 0.000 0.000 0.024 3251.34 3468.88 3033.81 1971.38 2357.88 0 0 0 30.00 30.00 15.96

1058.91 260 -116.79 -1.44 60.00 3250.3 3467.0 3033.7 1971.1 2357.8 104.14 -9.14 209 1064.48 0.00 0.00 2.76 0.000 0.000 0.080 3250.75 3467.44 3034.06 1971.50 3428.56 0 0 0 30.00 30.00 15.88

1118.92 1028 -116.79 -1.44 0.25 3250.3 3467.0 3033.7 1971.3 3428.9 110.11 -10.18 221 1124.47 0.00 0.00 2.62 0.000 0.000 0.017 3251.34 3467.38 3035.31 1970.25 2244.75 0 0 0 30.00 30.00 15.95

1428.98 0 -116.79 -1.44 0.25 3250.3 3467.2 3033.4 1971.4 2243.9 138.89 -8.30 283 1430.31 0.00 0.00 0.00 0.000 0.000 0.000 3249.38 3465.75 3033.00 1971.31 2244.38 0 0 0 30.00 30.00 30.00

1444 end dive: TARGET_DEPTH_EXCEEDED

state 1444 begin apogee

1445.83 10243 0.00 -0.28 0.00 3250.6 3466.8 3034.4 1971.4 2043.6 140.12 -8.20 286 1533.36 83.04 1.97 0.17 1.268 0.134 0.110 2776.62 2906.25 2647.00 2254.50 2142.69 0 0 0 10.78 15.81 15.33

1536 end apogee: CONTROL_FINISHED_OK

state 1536 begin climb

1536.32 10759 116.79 1.44 -60.00 2774.6 2906.2 2643.0 2254.3 2165.6 143.42 0.00 303 1632.85 85.65 2.82 3.05 1.212 0.106 0.071 2298.00 2357.81 2238.19 2672.12 991.81 0 0 0 11.76 15.55 15.70

1665.62 11303 302.35 1.81 0.00 2296.1 2358.9 2233.2 2672.8 992.1 140.64 3.03 329 1810.14 138.12 0.55 2.72 1.187 0.047 0.020 1543.47 1577.69 1509.25 2779.12 2147.00 0 0 0 11.45 15.52 15.61

2112.44 16386 302.35 1.81 0.00 1533.1 1577.3 1488.9 2779.8 2147.6 101.11 9.06 418 2113.77 0.00 0.00 0.00 0.000 0.000 0.000 1532.62 1576.62 1488.62 2779.44 2147.62 0 0 0 30.00 30.00 30.00

2417.54 16902 302.35 1.81 -60.00 1531.6 1577.4 1485.7 2779.8 2147.2 72.76 9.74 479 2423.13 0.00 0.00 2.99 0.000 0.000 0.072 1531.41 1577.00 1485.81 2780.44 994.50 0 0 0 30.00 30.00 15.83

2477.55 17414 302.35 1.81 -0.37 1530.8 1577.6 1484.1 2780.4 994.6 66.79 9.91 491 2483.11 0.00 0.00 2.64 0.000 0.000 0.020 1531.28 1578.62 1483.94 2780.12 2139.31 0 0 0 30.00 30.00 15.89

2668.03 10535 402.62 2.01 60.00 1530.9 1578.8 1483.0 2779.9 2139.9 53.64 5.85 529 2751.80 78.00 0.17 2.77 1.116 0.082 0.075 1134.78 1142.69 1126.88 2824.75 3205.88 0 0 0 10.97 15.88 15.35

2758.90 9254 480.05 2.17 1.53 1133.9 1142.1 1125.8 2824.6 3205.3 47.80 6.60 547 2825.68 60.22 0.00 2.62 1.075 0.000 0.020 818.25 801.25 835.25 2825.06 2081.62 0 0 0 11.64 30.00 15.72

3008.99 260 480.05 2.17 60.00 813.6 805.7 821.4 2825.0 2081.8 26.83 8.90 597 3014.53 0.00 0.00 2.92 0.000 0.000 0.070 813.47 805.81 821.12 2823.81 3205.81 0 0 0 30.00 30.00 15.76

3023.92 1028 480.05 2.17 5.30 813.4 805.7 821.1 2824.9 3206.7 25.51 8.88 600 3029.05 0.00 0.00 2.43 0.000 0.000 0.019 812.84 805.88 819.81 2825.12 2140.75 0 0 0 30.00 30.00 15.78

3214.68 324 480.05 2.18 60.00 812.1 809.6 814.6 2825.0 2140.9 9.09 8.64 638 3219.51 0.00 0.00 2.76 0.000 0.000 0.076 812.16 809.88 814.44 2824.81 3204.31 0 0 0 30.00 30.00 15.80

3269 end climb: SURFACE_DEPTH_REACHED

state 3269 begin surface coast

3294 end surface coast: CONTROL_FINISHED_OK

state 3294 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	1288	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	105.05006	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	338.74591	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	210322,011149,4704.344,-12454.884,1,1.8,5,15.7	TGT_RADIUS	2500.000
_CALLS	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,012140,4704.393,-12454.849,4,2.0,7,15.7	MHEAD_RNG_PITCHd_Wd	88.2,19223,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	140
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	0.6,1.024600	MEM0	60876,1,0,0
SM_CCo	3381.39,0.00,0.000,0,811.2,814.2,808.2,481.71	MEM1	65508,1,0,0
SM_GC	0.59,0.00,16.32,2.09,0.000,0.049,0.019,811.2,814.2,808.2,174.6,2258.9,0,0,0,30.00,15.80,15.86	MEM2	971136,31,75612,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	29053,654
IRIDIUM_FIX	4703.03,-12455.90,210322,011744	CAP_FILE_SIZE	157721,0
TCM_TEMP	266.76	SDSIZE	4028416,3722848
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4622,1
HUMID	51.27	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.07	CURRENT	0.084,110.1,1
INTERNAL_PRESSURE	8.90382	MAGCAL	1.000000,-0.023902,-0.017258,0.016748,1.023235,-0.030627,0.078783,-0.042284,0.840343,610.1,-327.0,236.0,35,0.0366,0
_24V_AH	14.68,461.070	IMPLIED_C_PITCH	2406,11.52,442
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2924,32.723011,435
FG_AHR_24Vo	338.896	GPS	210322,021843,4704.292,-12454.361,17,1.9,21,15.7
FG_AHR_10Vo	105.061

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	525	1268	9774.86	legato	34	20	10.18
Pitch_motor	36	230	122.13	nil	0	0	0.00
Roll_motor	54	110	88.30	nil	0	0	0.00
Iridium	241	200	709.45	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	17	15	3.87	nil	0	0	0.00
Core	1789	11	316.70	SciCon	0	0	0.00
LPSleep	2109	2	88.61	nil	0	0	0.00
Compass	443	5	33.24	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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
6.04	16386	-116.79	-1.44	0.00	1093.8	1098.7	1088.9	173.4	2375.0	0.00	0.00	0	77.08	69.88	0.00	0.00	0.005	0.000	0.000	2817.66	3000.56	2634.75	173.44	2377.25	0	0	0	14.77	30.00	30.00
77.82	18727	-116.79	-1.44	60.00	2817.2	2999.9	2634.4	173.4	2377.7	3.33	-4.62	13	111.55	10.17	14.34	2.76	0.007	0.230	0.084	3251.22	3471.88	3030.56	1970.56	3427.06	0	0	0	14.87	15.48	14.83
209.02	1028	-116.79	-1.44	0.00	3251.3	3470.4	3032.1	1970.7	3427.4	22.06	-13.61	39	214.20	0.00	0.00	2.65	0.000	0.000	0.016	3251.75	3470.50	3033.00	1971.44	2253.50	0	0	0	30.00	30.00	15.89
399.09	516	-116.79	-1.44	-60.00	3251.0	3469.8	3032.1	1970.4	2252.2	43.43	-11.11	77	404.46	0.00	0.00	2.62	0.000	0.000	0.061	3251.47	3470.06	3032.88	1971.00	1210.38	0	0	0	30.00	30.00	15.89
413.83	1028	-116.79	-1.44	0.17	3251.0	3469.8	3032.1	1971.2	1210.4	45.09	-11.13	80	419.28	0.00	0.00	2.69	0.000	0.000	0.024	3250.94	3469.69	3032.19	1971.00	2355.69	0	0	0	30.00	30.00	15.92
604.19	260	-116.79	-1.44	60.00	3251.0	3469.8	3032.2	1970.6	2355.1	63.44	-8.84	118	609.35	0.00	0.00	2.77	0.000	0.000	0.080	3251.81	3470.19	3033.44	1971.06	3426.00	0	0	0	30.00	30.00	15.87
643.80	1028	-116.79	-1.44	0.69	3250.3	3466.8	3033.8	1971.1	3426.1	67.48	-10.30	126	649.35	0.00	0.00	2.61	0.000	0.000	0.017	3250.44	3467.38	3033.50	1971.25	2254.38	0	0	0	30.00	30.00	15.93
834.26	516	-116.79	-1.44	-60.00	3250.6	3467.6	3033.5	1971.0	2254.0	84.63	-8.17	164	839.41	0.00	0.00	2.62	0.000	0.000	0.061	3250.72	3467.69	3033.75	1971.06	1209.00	0	0	0	30.00	30.00	15.91
868.87	1028	-116.79	-1.44	0.25	3250.5	3467.5	3033.4	1971.1	1208.9	87.54	-8.20	171	874.42	0.00	0.00	2.70	0.000	0.000	0.024	3251.34	3468.88	3033.81	1971.38	2357.88	0	0	0	30.00	30.00	15.96
1058.91	260	-116.79	-1.44	60.00	3250.3	3467.0	3033.7	1971.1	2357.8	104.14	-9.14	209	1064.48	0.00	0.00	2.76	0.000	0.000	0.080	3250.75	3467.44	3034.06	1971.50	3428.56	0	0	0	30.00	30.00	15.88
1118.92	1028	-116.79	-1.44	0.25	3250.3	3467.0	3033.7	1971.3	3428.9	110.11	-10.18	221	1124.47	0.00	0.00	2.62	0.000	0.000	0.017	3251.34	3467.38	3035.31	1970.25	2244.75	0	0	0	30.00	30.00	15.95
1428.98	0	-116.79	-1.44	0.25	3250.3	3467.2	3033.4	1971.4	2243.9	138.89	-8.30	283	1430.31	0.00	0.00	0.00	0.000	0.000	0.000	3249.38	3465.75	3033.00	1971.31	2244.38	0	0	0	30.00	30.00	30.00
1444	end dive: TARGET_DEPTH_EXCEEDED
state	1444	begin apogee
1445.83	10243	0.00	-0.28	0.00	3250.6	3466.8	3034.4	1971.4	2043.6	140.12	-8.20	286	1533.36	83.04	1.97	0.17	1.268	0.134	0.110	2776.62	2906.25	2647.00	2254.50	2142.69	0	0	0	10.78	15.81	15.33
1536	end apogee: CONTROL_FINISHED_OK
state	1536	begin climb
1536.32	10759	116.79	1.44	-60.00	2774.6	2906.2	2643.0	2254.3	2165.6	143.42	0.00	303	1632.85	85.65	2.82	3.05	1.212	0.106	0.071	2298.00	2357.81	2238.19	2672.12	991.81	0	0	0	11.76	15.55	15.70
1665.62	11303	302.35	1.81	0.00	2296.1	2358.9	2233.2	2672.8	992.1	140.64	3.03	329	1810.14	138.12	0.55	2.72	1.187	0.047	0.020	1543.47	1577.69	1509.25	2779.12	2147.00	0	0	0	11.45	15.52	15.61
2112.44	16386	302.35	1.81	0.00	1533.1	1577.3	1488.9	2779.8	2147.6	101.11	9.06	418	2113.77	0.00	0.00	0.00	0.000	0.000	0.000	1532.62	1576.62	1488.62	2779.44	2147.62	0	0	0	30.00	30.00	30.00
2417.54	16902	302.35	1.81	-60.00	1531.6	1577.4	1485.7	2779.8	2147.2	72.76	9.74	479	2423.13	0.00	0.00	2.99	0.000	0.000	0.072	1531.41	1577.00	1485.81	2780.44	994.50	0	0	0	30.00	30.00	15.83
2477.55	17414	302.35	1.81	-0.37	1530.8	1577.6	1484.1	2780.4	994.6	66.79	9.91	491	2483.11	0.00	0.00	2.64	0.000	0.000	0.020	1531.28	1578.62	1483.94	2780.12	2139.31	0	0	0	30.00	30.00	15.89
2668.03	10535	402.62	2.01	60.00	1530.9	1578.8	1483.0	2779.9	2139.9	53.64	5.85	529	2751.80	78.00	0.17	2.77	1.116	0.082	0.075	1134.78	1142.69	1126.88	2824.75	3205.88	0	0	0	10.97	15.88	15.35
2758.90	9254	480.05	2.17	1.53	1133.9	1142.1	1125.8	2824.6	3205.3	47.80	6.60	547	2825.68	60.22	0.00	2.62	1.075	0.000	0.020	818.25	801.25	835.25	2825.06	2081.62	0	0	0	11.64	30.00	15.72
3008.99	260	480.05	2.17	60.00	813.6	805.7	821.4	2825.0	2081.8	26.83	8.90	597	3014.53	0.00	0.00	2.92	0.000	0.000	0.070	813.47	805.81	821.12	2823.81	3205.81	0	0	0	30.00	30.00	15.76
3023.92	1028	480.05	2.17	5.30	813.4	805.7	821.1	2824.9	3206.7	25.51	8.88	600	3029.05	0.00	0.00	2.43	0.000	0.000	0.019	812.84	805.88	819.81	2825.12	2140.75	0	0	0	30.00	30.00	15.78
3214.68	324	480.05	2.18	60.00	812.1	809.6	814.6	2825.0	2140.9	9.09	8.64	638	3219.51	0.00	0.00	2.76	0.000	0.000	0.076	812.16	809.88	814.44	2824.81	3204.31	0	0	0	30.00	30.00	15.80
3269	end climb: SURFACE_DEPTH_REACHED
state	3269	begin surface coast
3294	end surface coast: CONTROL_FINISHED_OK
state	3294	begin surface