Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1299 * 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 1299 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 105.17467 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 340.4657 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 105.17467 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 340.4657 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 1299 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 210322,122343,4703.990,-12448.619,1,0.8,4,15.7 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,123108,4703.955,-12448.565,2,0.8,4,15.7 MHEAD_RNG_PITCHd_Wd 85.6,11337,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 115

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 0.2,1.024605 MEM0 60876,1,0,0

SM_CCo 2862.89,8.66,0.884,0,1145.2,1152.9,1137.5,399.79 MEM1 65508,1,0,0

SM_GC 1.11,8.66,16.08,0.72,0.884,0.042,0.050,1145.2,1152.9,1137.5,181.9,2354.9,0,0,0,11.07,15.87,15.91 MEM2 971112,34,75576,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 22601,561

IRIDIUM_FIX 4703.54,-12448.91,210322,122621 CAP_FILE_SIZE 143837,0

TCM_TEMP 267.07 SDSIZE 4028416,3721440

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4655,1

HUMID 51.34 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.97 CURRENT 0.037,145.9,1

INTERNAL_PRESSURE 8.91757 MAGCAL 1.000000,-0.013294,-0.017402,0.007036,1.027368,-0.048057,0.039658,-0.050765,0.946706,601.0,-315.5,127.0,36,0.0367,0

_24V_AH 14.72,463.029 IMPLIED_C_PITCH 2411,11.59,370

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2892,45.767029,361

FG_AHR_24Vo 340.593 GPS 210322,131915,4703.879,-12448.218,1,1.6,4,15.7

FG_AHR_10Vo 105.184

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 463 1233 8420.74 legato 34 20 10.15

Pitch_motor 35 232 122.09 nil 0 0 0.00

Roll_motor 50 111 83.14 nil 0 0 0.00

Iridium 231 188 642.13 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 1591 11 281.68 SciCon 0 0 0.00

LPSleep 1651 2 69.38 nil 0 0 0.00

Compass 384 5 28.87 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

6.06 16386 -116.79 -1.44 0.00 1139.8 1145.1 1134.6 180.8 2215.8 0.00 0.00 0 77.09 69.92 0.00 0.00 0.005 0.000 0.000 2885.69 3070.19 2701.19 180.81 2214.50 0 0 0 14.86 30.00 30.00

77.83 18727 -116.79 -1.44 60.00 2884.4 3067.9 2700.9 180.9 2214.6 3.66 -5.49 13 110.54 8.36 14.19 3.14 0.007 0.232 0.079 3251.88 3466.62 3037.12 1970.75 3424.94 0 0 0 15.02 15.50 14.91

197.99 1028 -116.79 -1.44 0.00 3251.2 3465.6 3036.8 1971.1 3424.2 22.54 -13.81 37 203.16 0.00 0.00 2.60 0.000 0.000 0.017 3252.62 3466.56 3038.69 1970.44 2249.75 0 0 0 30.00 30.00 15.88

388.02 516 -116.79 -1.44 -60.00 3251.2 3465.6 3036.8 1970.6 2248.5 46.44 -12.58 75 393.17 0.00 0.00 2.58 0.000 0.000 0.061 3252.97 3466.19 3039.75 1970.69 1207.88 0 0 0 30.00 30.00 15.90

467.85 1028 -116.79 -1.44 0.08 3251.1 3465.1 3037.1 1971.4 1207.8 56.40 -12.63 91 473.28 0.00 0.00 2.67 0.000 0.000 0.025 3251.25 3464.56 3037.94 1970.56 2354.69 0 0 0 30.00 30.00 15.92

658.09 260 -116.79 -1.44 60.00 3251.1 3465.3 3036.8 1970.9 2354.8 78.04 -10.53 129 663.27 0.00 0.00 2.76 0.000 0.000 0.083 3252.03 3466.12 3037.94 1971.06 3427.69 0 0 0 30.00 30.00 15.88

692.70 1028 -116.79 -1.44 0.08 3251.5 3464.4 3038.6 1970.8 3426.7 81.98 -11.24 136 698.24 0.00 0.00 2.59 0.000 0.000 0.018 3251.34 3463.56 3039.12 1971.25 2242.19 0 0 0 30.00 30.00 15.94

883.14 0 -116.79 -1.44 0.08 3251.0 3464.0 3038.1 1970.9 2241.3 97.38 -7.24 174 884.46 0.00 0.00 0.00 0.000 0.000 0.000 3250.25 3463.69 3036.81 1971.00 2241.00 0 0 0 30.00 30.00 30.00

1067.78 548 -116.79 -1.44 -60.00 3251.4 3464.6 3038.1 1970.6 2241.1 110.14 -7.03 211 1073.30 0.00 0.00 2.54 0.000 0.000 0.061 3250.97 3464.25 3037.69 1970.94 1208.94 0 0 0 30.00 30.00 15.94

1097.76 1028 -116.79 -1.44 0.16 3250.8 3463.9 3037.7 1970.9 1208.8 112.33 -7.25 217 1103.32 0.00 0.00 2.65 0.000 0.000 0.025 3252.12 3463.88 3040.38 1971.38 2356.62 0 0 0 30.00 30.00 15.95

1132 end dive: TARGET_DEPTH_EXCEEDED

state 1132 begin apogee

1134.67 10243 0.00 -0.28 0.00 3250.9 3463.9 3037.9 1971.1 2041.1 115.04 -7.66 224 1221.90 82.86 1.95 0.17 1.234 0.133 0.112 2776.72 2907.94 2645.50 2253.19 2165.88 0 0 0 10.91 15.83 15.33

1223 end apogee: CONTROL_FINISHED_OK

state 1224 begin climb

1224.76 10759 116.79 1.44 -60.00 2774.2 2905.0 2643.4 2254.9 2166.8 117.97 0.00 241 1320.67 85.24 2.81 3.00 1.174 0.105 0.072 2299.22 2361.06 2237.38 2672.44 993.44 0 0 0 11.78 15.56 15.70

1363.45 11303 241.56 1.69 0.00 2295.2 2361.2 2229.3 2673.0 993.2 113.94 5.04 269 1462.35 92.96 0.36 2.69 1.148 0.054 0.020 1788.38 1831.12 1745.62 2750.38 2149.12 0 0 0 11.45 15.54 15.63

1765.05 8486 315.49 1.84 60.00 1780.3 1833.5 1727.2 2750.4 2148.4 82.16 6.72 349 1827.40 56.63 0.00 2.73 1.114 0.000 0.076 1488.78 1528.06 1449.50 2751.38 3206.88 0 0 0 11.24 30.00 15.34

1875.07 11303 390.09 1.99 0.00 1486.0 1528.5 1443.5 2750.9 3206.8 74.90 6.70 371 1939.80 59.08 0.31 2.66 1.095 0.058 0.021 1184.53 1197.69 1171.38 2820.56 2054.44 0 0 0 11.55 15.62 15.71

2122.07 580 390.09 2.02 -60.00 1179.0 1198.6 1159.4 2820.5 2054.8 56.06 7.54 420 2127.62 0.00 0.00 2.73 0.000 0.000 0.078 1178.78 1198.50 1159.06 2820.62 992.12 0 0 0 30.00 30.00 15.75

2177.08 1092 390.09 2.04 0.00 1178.0 1198.5 1157.6 2820.6 992.0 51.50 8.45 431 2182.61 0.00 0.00 2.65 0.000 0.000 0.020 1178.41 1199.06 1157.75 2820.69 2145.44 0 0 0 30.00 30.00 15.80

2367.53 516 390.09 2.04 -60.00 1177.3 1198.9 1155.8 2820.8 2145.5 35.07 8.68 469 2372.74 0.00 0.00 2.96 0.000 0.000 0.073 1177.59 1199.25 1155.94 2820.62 993.88 0 0 0 30.00 30.00 15.82

2457.19 1092 390.09 2.05 -1.10 1176.9 1199.6 1154.3 2820.6 993.4 27.26 8.42 487 2462.70 0.00 0.00 2.59 0.000 0.000 0.020 1176.81 1199.62 1154.00 2820.62 2126.62 0 0 0 30.00 30.00 15.88

2647.63 16710 390.09 2.09 60.00 1176.1 1200.9 1151.3 2821.2 2127.4 12.46 7.41 525 2652.79 0.00 0.00 2.72 0.000 0.000 0.074 1176.59 1201.38 1151.81 2820.38 3205.81 0 0 0 30.00 30.00 15.88

2702.25 17478 390.09 2.10 -1.37 1176.0 1201.2 1150.8 2821.6 3206.9 7.99 8.39 536 2707.80 0.00 0.00 2.69 0.000 0.000 0.023 1176.12 1201.38 1150.88 2821.69 2030.38 0 0 0 30.00 30.00 15.90

2761 end climb: SURFACE_DEPTH_REACHED

state 2762 begin surface coast

2827 end surface coast: CONTROL_FINISHED_OK

state 2827 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	1299	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	105.17467	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	340.4657	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	210322,122343,4703.990,-12448.619,1,0.8,4,15.7	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,123108,4703.955,-12448.565,2,0.8,4,15.7	MHEAD_RNG_PITCHd_Wd	85.6,11337,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	115
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	0.2,1.024605	MEM0	60876,1,0,0
SM_CCo	2862.89,8.66,0.884,0,1145.2,1152.9,1137.5,399.79	MEM1	65508,1,0,0
SM_GC	1.11,8.66,16.08,0.72,0.884,0.042,0.050,1145.2,1152.9,1137.5,181.9,2354.9,0,0,0,11.07,15.87,15.91	MEM2	971112,34,75576,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	22601,561
IRIDIUM_FIX	4703.54,-12448.91,210322,122621	CAP_FILE_SIZE	143837,0
TCM_TEMP	267.07	SDSIZE	4028416,3721440
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4655,1
HUMID	51.34	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.97	CURRENT	0.037,145.9,1
INTERNAL_PRESSURE	8.91757	MAGCAL	1.000000,-0.013294,-0.017402,0.007036,1.027368,-0.048057,0.039658,-0.050765,0.946706,601.0,-315.5,127.0,36,0.0367,0
_24V_AH	14.72,463.029	IMPLIED_C_PITCH	2411,11.59,370
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2892,45.767029,361
FG_AHR_24Vo	340.593	GPS	210322,131915,4703.879,-12448.218,1,1.6,4,15.7
FG_AHR_10Vo	105.184

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	463	1233	8420.74	legato	34	20	10.15
Pitch_motor	35	232	122.09	nil	0	0	0.00
Roll_motor	50	111	83.14	nil	0	0	0.00
Iridium	231	188	642.13	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	1591	11	281.68	SciCon	0	0	0.00
LPSleep	1651	2	69.38	nil	0	0	0.00
Compass	384	5	28.87	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
6.06	16386	-116.79	-1.44	0.00	1139.8	1145.1	1134.6	180.8	2215.8	0.00	0.00	0	77.09	69.92	0.00	0.00	0.005	0.000	0.000	2885.69	3070.19	2701.19	180.81	2214.50	0	0	0	14.86	30.00	30.00
77.83	18727	-116.79	-1.44	60.00	2884.4	3067.9	2700.9	180.9	2214.6	3.66	-5.49	13	110.54	8.36	14.19	3.14	0.007	0.232	0.079	3251.88	3466.62	3037.12	1970.75	3424.94	0	0	0	15.02	15.50	14.91
197.99	1028	-116.79	-1.44	0.00	3251.2	3465.6	3036.8	1971.1	3424.2	22.54	-13.81	37	203.16	0.00	0.00	2.60	0.000	0.000	0.017	3252.62	3466.56	3038.69	1970.44	2249.75	0	0	0	30.00	30.00	15.88
388.02	516	-116.79	-1.44	-60.00	3251.2	3465.6	3036.8	1970.6	2248.5	46.44	-12.58	75	393.17	0.00	0.00	2.58	0.000	0.000	0.061	3252.97	3466.19	3039.75	1970.69	1207.88	0	0	0	30.00	30.00	15.90
467.85	1028	-116.79	-1.44	0.08	3251.1	3465.1	3037.1	1971.4	1207.8	56.40	-12.63	91	473.28	0.00	0.00	2.67	0.000	0.000	0.025	3251.25	3464.56	3037.94	1970.56	2354.69	0	0	0	30.00	30.00	15.92
658.09	260	-116.79	-1.44	60.00	3251.1	3465.3	3036.8	1970.9	2354.8	78.04	-10.53	129	663.27	0.00	0.00	2.76	0.000	0.000	0.083	3252.03	3466.12	3037.94	1971.06	3427.69	0	0	0	30.00	30.00	15.88
692.70	1028	-116.79	-1.44	0.08	3251.5	3464.4	3038.6	1970.8	3426.7	81.98	-11.24	136	698.24	0.00	0.00	2.59	0.000	0.000	0.018	3251.34	3463.56	3039.12	1971.25	2242.19	0	0	0	30.00	30.00	15.94
883.14	0	-116.79	-1.44	0.08	3251.0	3464.0	3038.1	1970.9	2241.3	97.38	-7.24	174	884.46	0.00	0.00	0.00	0.000	0.000	0.000	3250.25	3463.69	3036.81	1971.00	2241.00	0	0	0	30.00	30.00	30.00
1067.78	548	-116.79	-1.44	-60.00	3251.4	3464.6	3038.1	1970.6	2241.1	110.14	-7.03	211	1073.30	0.00	0.00	2.54	0.000	0.000	0.061	3250.97	3464.25	3037.69	1970.94	1208.94	0	0	0	30.00	30.00	15.94
1097.76	1028	-116.79	-1.44	0.16	3250.8	3463.9	3037.7	1970.9	1208.8	112.33	-7.25	217	1103.32	0.00	0.00	2.65	0.000	0.000	0.025	3252.12	3463.88	3040.38	1971.38	2356.62	0	0	0	30.00	30.00	15.95
1132	end dive: TARGET_DEPTH_EXCEEDED
state	1132	begin apogee
1134.67	10243	0.00	-0.28	0.00	3250.9	3463.9	3037.9	1971.1	2041.1	115.04	-7.66	224	1221.90	82.86	1.95	0.17	1.234	0.133	0.112	2776.72	2907.94	2645.50	2253.19	2165.88	0	0	0	10.91	15.83	15.33
1223	end apogee: CONTROL_FINISHED_OK
state	1224	begin climb
1224.76	10759	116.79	1.44	-60.00	2774.2	2905.0	2643.4	2254.9	2166.8	117.97	0.00	241	1320.67	85.24	2.81	3.00	1.174	0.105	0.072	2299.22	2361.06	2237.38	2672.44	993.44	0	0	0	11.78	15.56	15.70
1363.45	11303	241.56	1.69	0.00	2295.2	2361.2	2229.3	2673.0	993.2	113.94	5.04	269	1462.35	92.96	0.36	2.69	1.148	0.054	0.020	1788.38	1831.12	1745.62	2750.38	2149.12	0	0	0	11.45	15.54	15.63
1765.05	8486	315.49	1.84	60.00	1780.3	1833.5	1727.2	2750.4	2148.4	82.16	6.72	349	1827.40	56.63	0.00	2.73	1.114	0.000	0.076	1488.78	1528.06	1449.50	2751.38	3206.88	0	0	0	11.24	30.00	15.34
1875.07	11303	390.09	1.99	0.00	1486.0	1528.5	1443.5	2750.9	3206.8	74.90	6.70	371	1939.80	59.08	0.31	2.66	1.095	0.058	0.021	1184.53	1197.69	1171.38	2820.56	2054.44	0	0	0	11.55	15.62	15.71
2122.07	580	390.09	2.02	-60.00	1179.0	1198.6	1159.4	2820.5	2054.8	56.06	7.54	420	2127.62	0.00	0.00	2.73	0.000	0.000	0.078	1178.78	1198.50	1159.06	2820.62	992.12	0	0	0	30.00	30.00	15.75
2177.08	1092	390.09	2.04	0.00	1178.0	1198.5	1157.6	2820.6	992.0	51.50	8.45	431	2182.61	0.00	0.00	2.65	0.000	0.000	0.020	1178.41	1199.06	1157.75	2820.69	2145.44	0	0	0	30.00	30.00	15.80
2367.53	516	390.09	2.04	-60.00	1177.3	1198.9	1155.8	2820.8	2145.5	35.07	8.68	469	2372.74	0.00	0.00	2.96	0.000	0.000	0.073	1177.59	1199.25	1155.94	2820.62	993.88	0	0	0	30.00	30.00	15.82
2457.19	1092	390.09	2.05	-1.10	1176.9	1199.6	1154.3	2820.6	993.4	27.26	8.42	487	2462.70	0.00	0.00	2.59	0.000	0.000	0.020	1176.81	1199.62	1154.00	2820.62	2126.62	0	0	0	30.00	30.00	15.88
2647.63	16710	390.09	2.09	60.00	1176.1	1200.9	1151.3	2821.2	2127.4	12.46	7.41	525	2652.79	0.00	0.00	2.72	0.000	0.000	0.074	1176.59	1201.38	1151.81	2820.38	3205.81	0	0	0	30.00	30.00	15.88
2702.25	17478	390.09	2.10	-1.37	1176.0	1201.2	1150.8	2821.6	3206.9	7.99	8.39	536	2707.80	0.00	0.00	2.69	0.000	0.000	0.023	1176.12	1201.38	1150.88	2821.69	2030.38	0	0	0	30.00	30.00	15.90
2761	end climb: SURFACE_DEPTH_REACHED
state	2762	begin surface coast
2827	end surface coast: CONTROL_FINISHED_OK
state	2827	begin surface