Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1292 * 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 1292 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 105.0979 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 339.38092 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 105.0979 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 339.38092 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 1292 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 210322,053240,4704.240,-12452.618,40,0.9,41,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,053755,4704.289,-12452.532,4,0.9,6,15.7 MHEAD_RNG_PITCHd_Wd 90.8,16330,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 131

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 0.3,1.024595 MEM0 60876,1,0,0

SM_CCo 3332.91,0.00,0.000,0,690.1,669.5,710.7,511.43 MEM1 65508,1,0,0

SM_GC 0.52,0.00,16.70,1.17,0.000,0.047,0.021,690.1,669.5,710.7,176.0,2225.9,0,0,0,30.00,15.65,15.72 MEM2 971180,31,75568,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 28999,645

IRIDIUM_FIX 4703.94,-12453.31,210322,043331 CAP_FILE_SIZE 159271,0

TCM_TEMP 266.86 SDSIZE 4028416,3722336

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4634,1

HUMID 51.55 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.13 CURRENT 0.098, 81.7,1

INTERNAL_PRESSURE 8.89714 MAGCAL 1.000000,-0.000034,-0.036052,0.004165,1.012673,-0.058980,0.031667,-0.071948,0.957925,634.0,-304.1,98.2,32,0.0311,0

_24V_AH 14.74,461.812 IMPLIED_C_PITCH 2392,11.99,442

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2823,34.904507,423

FG_AHR_24Vo 339.535 GPS 210322,063406,4704.285,-12452.063,4,1.7,18,15.7

FG_AHR_10Vo 105.108

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 570 1255 10551.52 legato 34 20 10.21

Pitch_motor 36 225 121.54 nil 0 0 0.00

Roll_motor 54 113 91.52 nil 0 0 0.00

Iridium 151 182 409.80 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.45 nil 0 0 0.00

Core 1707 11 302.29 SciCon 0 0 0.00

LPSleep 1868 2 78.46 nil 0 0 0.00

Compass 437 5 32.82 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

6.03 16386 -116.79 -1.44 0.00 616.1 590.0 642.2 177.0 2209.2 0.00 0.00 0 97.81 90.29 0.00 0.00 0.005 0.000 0.000 2877.28 3064.75 2689.81 177.00 2209.00 0 0 0 14.80 30.00 30.00

98.55 18727 -116.79 -1.44 60.00 2876.1 3063.1 2689.1 176.9 2208.9 3.85 -5.18 17 130.85 8.30 14.20 3.19 0.007 0.225 0.082 3251.41 3474.19 3028.62 1969.88 3427.12 0 0 0 14.85 15.50 14.84

223.32 1028 -116.79 -1.44 0.00 3250.4 3473.0 3027.8 1970.8 3427.5 21.68 -12.42 42 228.50 0.00 0.00 2.65 0.000 0.000 0.017 3250.84 3472.19 3029.50 1970.88 2247.06 0 0 0 30.00 30.00 15.87

413.39 260 -116.79 -1.44 60.00 3250.1 3472.2 3027.9 1970.9 2245.8 46.27 -13.65 80 418.81 0.00 0.00 3.07 0.000 0.000 0.077 3250.47 3473.12 3027.81 1971.00 3425.69 0 0 0 30.00 30.00 15.84

478.15 1028 -116.79 -1.44 0.73 3250.3 3471.2 3029.4 1970.9 3424.9 55.84 -14.27 93 483.60 0.00 0.00 2.62 0.000 0.000 0.018 3250.47 3470.62 3030.31 1970.75 2258.94 0 0 0 30.00 30.00 15.91

668.50 260 -116.79 -1.44 60.00 3250.1 3470.7 3029.4 1970.9 2258.1 77.27 -8.71 131 673.72 0.00 0.00 3.05 0.000 0.000 0.079 3251.62 3471.88 3031.38 1970.06 3425.81 0 0 0 30.00 30.00 15.86

738.12 1028 -116.79 -1.44 2.40 3250.1 3470.2 3029.9 1970.6 3426.5 83.57 -9.46 145 743.67 0.00 0.00 2.54 0.000 0.000 0.017 3250.25 3470.94 3029.56 1971.00 2278.81 0 0 0 30.00 30.00 15.94

928.58 516 -116.79 -1.44 -60.00 3249.8 3470.0 3029.7 1971.1 2279.0 100.63 -9.09 183 933.73 0.00 0.00 2.65 0.000 0.000 0.059 3250.34 3470.69 3030.00 1971.00 1207.94 0 0 0 30.00 30.00 15.92

1023.22 1028 -116.79 -1.44 2.71 3249.5 3469.8 3029.3 1970.5 1207.5 109.61 -9.80 202 1028.79 0.00 0.00 2.80 0.000 0.000 0.026 3250.88 3471.38 3030.38 1971.06 2399.25 0 0 0 30.00 30.00 15.95

1302 end dive: TARGET_DEPTH_EXCEEDED

state 1303 begin apogee

1305.24 10243 0.00 -0.28 0.00 3249.9 3470.3 3029.4 1971.1 2043.7 131.32 -7.51 258 1392.45 82.86 1.98 0.17 1.255 0.133 0.113 2773.81 2905.81 2641.81 2254.75 2161.50 0 0 0 10.90 15.81 15.34

1394 end apogee: CONTROL_FINISHED_OK

state 1394 begin climb

1395.47 10759 116.79 1.44 -60.00 2774.3 2906.8 2641.8 2254.8 2165.1 133.87 0.00 275 1491.34 85.11 2.84 3.03 1.196 0.108 0.070 2298.88 2360.00 2237.75 2672.50 993.44 0 0 0 11.81 15.55 15.69

1583.55 11303 225.63 1.66 0.00 2295.3 2360.1 2230.5 2673.1 993.1 126.94 5.56 313 1671.81 81.89 0.31 2.69 1.171 0.062 0.020 1855.50 1898.94 1812.06 2740.12 2143.81 0 0 0 11.44 15.57 15.68

1974.13 8742 293.98 1.80 -60.00 1845.7 1898.3 1793.0 2740.1 2143.4 98.90 6.90 391 2031.65 52.35 0.00 3.01 1.134 0.000 0.073 1577.53 1621.44 1533.62 2739.88 994.44 0 0 0 11.24 30.00 15.35

2039.25 1092 293.98 1.83 -1.21 1575.2 1620.8 1529.8 2740.9 994.9 94.10 7.61 404 2044.68 0.00 0.00 2.63 0.000 0.000 0.020 1574.84 1620.75 1528.94 2740.69 2124.62 0 0 0 30.00 30.00 15.68

2229.60 2629 293.98 1.86 -60.00 1570.2 1620.9 1519.6 2740.4 2125.0 79.94 7.57 442 2234.83 0.00 0.19 2.93 0.000 0.080 0.072 1570.44 1620.88 1520.00 2787.62 993.00 0 0 0 30.00 15.76 15.73

2304.22 1092 293.98 1.90 -2.56 1568.8 1620.8 1516.8 2788.3 993.2 74.31 7.37 457 2309.75 0.00 0.00 2.54 0.000 0.000 0.020 1568.78 1620.12 1517.44 2787.56 2100.00 0 0 0 30.00 30.00 15.83

2494.69 10535 375.47 2.06 60.00 1567.8 1621.0 1514.5 2788.2 2100.1 61.65 6.47 495 2563.86 64.13 0.18 2.85 1.116 0.080 0.076 1245.06 1265.19 1224.94 2832.31 3205.44 0 0 0 11.19 15.83 15.37

2580.96 1092 375.47 2.09 -1.12 1243.9 1265.2 1222.6 2832.4 3205.7 55.30 7.65 512 2586.53 0.00 0.00 2.72 0.000 0.000 0.021 1243.59 1265.38 1221.81 2832.19 2036.06 0 0 0 30.00 30.00 15.73

2771.03 324 375.47 2.10 60.00 1239.3 1265.3 1213.3 2832.2 2036.6 39.25 8.55 550 2776.64 0.00 0.00 3.01 0.000 0.000 0.071 1239.97 1265.62 1214.31 2831.62 3207.44 0 0 0 30.00 30.00 15.79

2916.47 11303 441.00 2.23 -1.12 1238.8 1265.4 1212.2 2832.2 3206.8 28.70 7.00 579 2973.64 51.82 0.17 2.70 1.076 0.081 0.022 977.91 977.50 978.31 2876.25 2036.69 0 0 0 11.24 15.73 15.86

3156.14 8486 511.02 2.37 60.00 972.8 979.8 965.9 2877.1 2036.7 9.26 6.85 627 3212.93 53.50 0.00 1.96 1.047 0.000 0.061 692.34 668.31 716.38 2876.50 2805.81 0 0 0 11.36 30.00 15.37

3213 end climb: SURFACE_DEPTH_REACHED

state 3213 begin surface coast

3246 end surface coast: CONTROL_FINISHED_OK

state 3246 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	1292	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	105.0979	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	339.38092	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	210322,053240,4704.240,-12452.618,40,0.9,41,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,053755,4704.289,-12452.532,4,0.9,6,15.7	MHEAD_RNG_PITCHd_Wd	90.8,16330,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	131
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	0.3,1.024595	MEM0	60876,1,0,0
SM_CCo	3332.91,0.00,0.000,0,690.1,669.5,710.7,511.43	MEM1	65508,1,0,0
SM_GC	0.52,0.00,16.70,1.17,0.000,0.047,0.021,690.1,669.5,710.7,176.0,2225.9,0,0,0,30.00,15.65,15.72	MEM2	971180,31,75568,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	28999,645
IRIDIUM_FIX	4703.94,-12453.31,210322,043331	CAP_FILE_SIZE	159271,0
TCM_TEMP	266.86	SDSIZE	4028416,3722336
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4634,1
HUMID	51.55	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.13	CURRENT	0.098, 81.7,1
INTERNAL_PRESSURE	8.89714	MAGCAL	1.000000,-0.000034,-0.036052,0.004165,1.012673,-0.058980,0.031667,-0.071948,0.957925,634.0,-304.1,98.2,32,0.0311,0
_24V_AH	14.74,461.812	IMPLIED_C_PITCH	2392,11.99,442
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2823,34.904507,423
FG_AHR_24Vo	339.535	GPS	210322,063406,4704.285,-12452.063,4,1.7,18,15.7
FG_AHR_10Vo	105.108

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	570	1255	10551.52	legato	34	20	10.21
Pitch_motor	36	225	121.54	nil	0	0	0.00
Roll_motor	54	113	91.52	nil	0	0	0.00
Iridium	151	182	409.80	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.45	nil	0	0	0.00
Core	1707	11	302.29	SciCon	0	0	0.00
LPSleep	1868	2	78.46	nil	0	0	0.00
Compass	437	5	32.82	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
6.03	16386	-116.79	-1.44	0.00	616.1	590.0	642.2	177.0	2209.2	0.00	0.00	0	97.81	90.29	0.00	0.00	0.005	0.000	0.000	2877.28	3064.75	2689.81	177.00	2209.00	0	0	0	14.80	30.00	30.00
98.55	18727	-116.79	-1.44	60.00	2876.1	3063.1	2689.1	176.9	2208.9	3.85	-5.18	17	130.85	8.30	14.20	3.19	0.007	0.225	0.082	3251.41	3474.19	3028.62	1969.88	3427.12	0	0	0	14.85	15.50	14.84
223.32	1028	-116.79	-1.44	0.00	3250.4	3473.0	3027.8	1970.8	3427.5	21.68	-12.42	42	228.50	0.00	0.00	2.65	0.000	0.000	0.017	3250.84	3472.19	3029.50	1970.88	2247.06	0	0	0	30.00	30.00	15.87
413.39	260	-116.79	-1.44	60.00	3250.1	3472.2	3027.9	1970.9	2245.8	46.27	-13.65	80	418.81	0.00	0.00	3.07	0.000	0.000	0.077	3250.47	3473.12	3027.81	1971.00	3425.69	0	0	0	30.00	30.00	15.84
478.15	1028	-116.79	-1.44	0.73	3250.3	3471.2	3029.4	1970.9	3424.9	55.84	-14.27	93	483.60	0.00	0.00	2.62	0.000	0.000	0.018	3250.47	3470.62	3030.31	1970.75	2258.94	0	0	0	30.00	30.00	15.91
668.50	260	-116.79	-1.44	60.00	3250.1	3470.7	3029.4	1970.9	2258.1	77.27	-8.71	131	673.72	0.00	0.00	3.05	0.000	0.000	0.079	3251.62	3471.88	3031.38	1970.06	3425.81	0	0	0	30.00	30.00	15.86
738.12	1028	-116.79	-1.44	2.40	3250.1	3470.2	3029.9	1970.6	3426.5	83.57	-9.46	145	743.67	0.00	0.00	2.54	0.000	0.000	0.017	3250.25	3470.94	3029.56	1971.00	2278.81	0	0	0	30.00	30.00	15.94
928.58	516	-116.79	-1.44	-60.00	3249.8	3470.0	3029.7	1971.1	2279.0	100.63	-9.09	183	933.73	0.00	0.00	2.65	0.000	0.000	0.059	3250.34	3470.69	3030.00	1971.00	1207.94	0	0	0	30.00	30.00	15.92
1023.22	1028	-116.79	-1.44	2.71	3249.5	3469.8	3029.3	1970.5	1207.5	109.61	-9.80	202	1028.79	0.00	0.00	2.80	0.000	0.000	0.026	3250.88	3471.38	3030.38	1971.06	2399.25	0	0	0	30.00	30.00	15.95
1302	end dive: TARGET_DEPTH_EXCEEDED
state	1303	begin apogee
1305.24	10243	0.00	-0.28	0.00	3249.9	3470.3	3029.4	1971.1	2043.7	131.32	-7.51	258	1392.45	82.86	1.98	0.17	1.255	0.133	0.113	2773.81	2905.81	2641.81	2254.75	2161.50	0	0	0	10.90	15.81	15.34
1394	end apogee: CONTROL_FINISHED_OK
state	1394	begin climb
1395.47	10759	116.79	1.44	-60.00	2774.3	2906.8	2641.8	2254.8	2165.1	133.87	0.00	275	1491.34	85.11	2.84	3.03	1.196	0.108	0.070	2298.88	2360.00	2237.75	2672.50	993.44	0	0	0	11.81	15.55	15.69
1583.55	11303	225.63	1.66	0.00	2295.3	2360.1	2230.5	2673.1	993.1	126.94	5.56	313	1671.81	81.89	0.31	2.69	1.171	0.062	0.020	1855.50	1898.94	1812.06	2740.12	2143.81	0	0	0	11.44	15.57	15.68
1974.13	8742	293.98	1.80	-60.00	1845.7	1898.3	1793.0	2740.1	2143.4	98.90	6.90	391	2031.65	52.35	0.00	3.01	1.134	0.000	0.073	1577.53	1621.44	1533.62	2739.88	994.44	0	0	0	11.24	30.00	15.35
2039.25	1092	293.98	1.83	-1.21	1575.2	1620.8	1529.8	2740.9	994.9	94.10	7.61	404	2044.68	0.00	0.00	2.63	0.000	0.000	0.020	1574.84	1620.75	1528.94	2740.69	2124.62	0	0	0	30.00	30.00	15.68
2229.60	2629	293.98	1.86	-60.00	1570.2	1620.9	1519.6	2740.4	2125.0	79.94	7.57	442	2234.83	0.00	0.19	2.93	0.000	0.080	0.072	1570.44	1620.88	1520.00	2787.62	993.00	0	0	0	30.00	15.76	15.73
2304.22	1092	293.98	1.90	-2.56	1568.8	1620.8	1516.8	2788.3	993.2	74.31	7.37	457	2309.75	0.00	0.00	2.54	0.000	0.000	0.020	1568.78	1620.12	1517.44	2787.56	2100.00	0	0	0	30.00	30.00	15.83
2494.69	10535	375.47	2.06	60.00	1567.8	1621.0	1514.5	2788.2	2100.1	61.65	6.47	495	2563.86	64.13	0.18	2.85	1.116	0.080	0.076	1245.06	1265.19	1224.94	2832.31	3205.44	0	0	0	11.19	15.83	15.37
2580.96	1092	375.47	2.09	-1.12	1243.9	1265.2	1222.6	2832.4	3205.7	55.30	7.65	512	2586.53	0.00	0.00	2.72	0.000	0.000	0.021	1243.59	1265.38	1221.81	2832.19	2036.06	0	0	0	30.00	30.00	15.73
2771.03	324	375.47	2.10	60.00	1239.3	1265.3	1213.3	2832.2	2036.6	39.25	8.55	550	2776.64	0.00	0.00	3.01	0.000	0.000	0.071	1239.97	1265.62	1214.31	2831.62	3207.44	0	0	0	30.00	30.00	15.79
2916.47	11303	441.00	2.23	-1.12	1238.8	1265.4	1212.2	2832.2	3206.8	28.70	7.00	579	2973.64	51.82	0.17	2.70	1.076	0.081	0.022	977.91	977.50	978.31	2876.25	2036.69	0	0	0	11.24	15.73	15.86
3156.14	8486	511.02	2.37	60.00	972.8	979.8	965.9	2877.1	2036.7	9.26	6.85	627	3212.93	53.50	0.00	1.96	1.047	0.000	0.061	692.34	668.31	716.38	2876.50	2805.81	0	0	0	11.36	30.00	15.37
3213	end climb: SURFACE_DEPTH_REACHED
state	3213	begin surface coast
3246	end surface coast: CONTROL_FINISHED_OK
state	3246	begin surface