Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1300 * 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 1300 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 105.18497 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 340.60641 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 105.18497 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 340.60641 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 1300 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 210322,131915,4703.879,-12448.218,1,1.6,4,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,132558,4703.842,-12448.227,2,1.5,3,15.7 MHEAD_RNG_PITCHd_Wd 82.7,10867,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 113

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 0.2,1.023788 MEM0 60876,1,0,0

SM_CCo 2832.80,0.00,0.000,0,1025.3,1040.8,1009.9,429.19 MEM1 65508,1,0,0

SM_GC 0.70,0.00,16.42,0.33,0.000,0.045,0.072,1025.3,1040.8,1009.9,174.9,2356.2,0,0,0,30.00,15.82,15.85 MEM2 971176,31,75572,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 22658,545

IRIDIUM_FIX 4703.54,-12448.91,210322,122827 CAP_FILE_SIZE 159969,0

TCM_TEMP 267.05 SDSIZE 4028416,3721312

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4658,1

HUMID 51.62 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.00 CURRENT 0.029,175.3,1

INTERNAL_PRESSURE 8.91248 MAGCAL 1.000000,-0.008460,0.009143,0.005258,1.025802,-0.055977,0.029622,-0.058174,0.959140,580.9,-310.3,111.6,32,0.0372,0

_24V_AH 14.73,463.198 IMPLIED_C_PITCH 2404,11.79,358

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2977,34.021805,314

FG_AHR_24Vo 340.740 GPS 210322,141402,4703.777,-12447.963,30,0.9,31,15.7

FG_AHR_10Vo 105.194

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 483 1232 8783.62 legato 34 20 10.22

Pitch_motor 36 221 117.71 nil 0 0 0.00

Roll_motor 67 105 104.04 nil 0 0 0.00

Iridium 252 185 691.57 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.88 nil 0 0 0.00

Core 1626 11 287.82 SciCon 0 0 0.00

LPSleep 1546 2 64.94 nil 0 0 0.00

Compass 375 5 28.14 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 1143.0 1153.6 1132.4 180.6 2247.5 0.00 0.00 0 77.08 69.89 0.00 0.00 0.005 0.000 0.000 2870.12 3052.62 2687.62 180.81 2246.25 0 0 0 14.88 30.00 30.00

77.83 18727 -116.79 -1.44 60.00 2869.0 3050.5 2687.6 180.8 2246.9 3.68 -5.47 13 110.50 8.79 14.04 3.07 0.007 0.221 0.082 3250.16 3465.25 3035.06 1971.12 3425.25 0 0 0 15.01 15.52 14.91

182.58 1028 -116.79 -1.44 0.00 3249.9 3464.2 3035.5 1970.9 3426.3 20.50 -13.97 34 188.13 0.00 0.00 2.61 0.000 0.000 0.018 3250.88 3465.12 3036.62 1969.94 2253.31 0 0 0 30.00 30.00 15.88

312.61 516 -116.79 -1.44 -60.00 3249.6 3463.8 3035.4 1970.9 2251.5 36.63 -12.55 60 318.12 0.00 0.00 2.58 0.000 0.000 0.061 3249.62 3463.62 3035.62 1970.88 1209.00 0 0 0 30.00 30.00 15.90

353.23 1028 -116.79 -1.44 -0.07 3249.8 3464.0 3035.6 1970.8 1209.2 41.66 -12.60 68 358.23 0.00 0.00 2.66 0.000 0.000 0.025 3249.94 3464.06 3035.81 1971.06 2353.00 0 0 0 30.00 30.00 15.91

482.65 516 -116.79 -1.44 -60.00 3250.2 3464.2 3036.2 1970.7 2352.9 57.39 -11.84 94 488.21 0.00 0.00 2.80 0.000 0.000 0.057 3251.00 3464.62 3037.38 1970.75 1207.38 0 0 0 30.00 30.00 15.91

547.64 1028 -116.79 -1.44 -1.63 3250.2 3464.2 3036.3 1971.4 1208.1 64.74 -11.18 107 553.18 0.00 0.00 2.58 0.000 0.000 0.025 3250.03 3464.38 3035.69 1971.12 2326.00 0 0 0 30.00 30.00 15.93

677.69 260 -116.79 -1.44 60.00 3249.7 3463.5 3035.9 1971.2 2326.2 76.28 -8.30 133 683.26 0.00 0.00 2.80 0.000 0.000 0.083 3250.41 3464.62 3036.19 1971.12 3426.69 0 0 0 30.00 30.00 15.89

747.70 1028 -116.79 -1.44 -1.36 3249.9 3463.6 3036.3 1971.2 3426.9 83.07 -9.55 147 753.25 0.00 0.00 2.64 0.000 0.000 0.018 3249.56 3462.62 3036.50 1970.81 2223.88 0 0 0 30.00 30.00 15.93

877.75 260 -116.79 -1.44 60.00 3249.8 3463.2 3036.4 1970.8 2222.2 93.73 -8.32 173 883.37 0.00 0.00 3.10 0.000 0.000 0.078 3250.69 3463.38 3038.00 1970.12 3427.12 0 0 0 30.00 30.00 15.88

892.75 1028 -116.79 -1.44 -0.88 3250.0 3462.8 3037.2 1971.0 3427.2 94.96 -8.27 176 898.30 0.00 0.00 2.63 0.000 0.000 0.018 3249.94 3463.06 3036.81 1971.25 2227.56 0 0 0 30.00 30.00 15.94

1022.81 516 -116.79 -1.44 -60.00 3249.7 3462.8 3036.6 1971.2 2225.8 105.33 -8.21 202 1027.91 0.00 0.00 2.49 0.000 0.000 0.062 3250.47 3463.50 3037.44 1971.31 1209.19 0 0 0 30.00 30.00 15.94

1037.79 1028 -116.79 -1.44 -1.10 3249.8 3463.3 3036.4 1971.1 1209.0 106.60 -8.32 205 1043.36 0.00 0.00 2.61 0.000 0.000 0.024 3249.97 3463.06 3036.88 1970.62 2334.25 0 0 0 30.00 30.00 15.96

1117 end dive: TARGET_DEPTH_EXCEEDED

state 1117 begin apogee

1119.71 10243 0.00 -0.28 0.00 3249.9 3462.6 3037.1 1971.1 2040.2 113.29 -8.33 221 1207.20 82.81 1.97 0.18 1.233 0.134 0.105 2773.44 2903.88 2643.00 2255.00 2166.38 0 0 0 10.89 15.83 15.34

1209 end apogee: CONTROL_FINISHED_OK

state 1209 begin climb

1210.17 10759 116.79 1.44 -60.00 2773.8 2905.4 2642.2 2254.8 2166.4 116.43 0.00 238 1306.06 85.35 2.82 2.98 1.177 0.106 0.072 2298.97 2362.12 2235.81 2672.50 992.38 0 0 0 11.72 15.56 15.70

1353.27 11303 244.85 1.70 0.00 2294.6 2360.8 2228.4 2672.1 992.2 112.51 4.93 267 1454.51 95.61 0.37 2.68 1.147 0.054 0.020 1775.84 1816.62 1735.06 2748.56 2146.25 0 0 0 11.46 15.56 15.64

1636.78 16710 244.85 1.71 60.00 1768.0 1818.1 1718.0 2748.9 2146.2 90.39 8.44 323 1642.33 0.00 0.00 2.71 0.000 0.000 0.075 1768.06 1818.00 1718.12 2749.62 3205.56 0 0 0 30.00 30.00 15.73

1756.80 17414 244.85 1.71 1.04 1767.3 1818.4 1716.2 2749.5 3205.8 79.54 9.53 347 1762.33 0.00 0.00 2.58 0.000 0.000 0.021 1766.75 1818.50 1715.00 2750.12 2073.12 0 0 0 30.00 30.00 15.80

1886.87 16710 244.85 1.73 60.00 1765.5 1820.1 1710.9 2749.9 2072.8 68.73 8.22 373 1892.43 0.00 0.00 2.90 0.000 0.000 0.071 1765.94 1820.38 1711.50 2749.62 3206.56 0 0 0 30.00 30.00 15.83

1956.87 17478 244.85 1.76 2.42 1765.8 1820.4 1711.1 2749.6 3207.1 63.25 7.82 387 1962.39 0.00 0.00 2.52 0.000 0.000 0.021 1765.44 1820.12 1710.75 2750.06 2093.31 0 0 0 30.00 30.00 15.86

2086.92 10535 356.03 1.98 60.00 1765.3 1821.0 1709.7 2749.8 2093.2 55.54 5.49 413 2179.64 85.17 0.31 2.88 1.107 0.062 0.074 1323.50 1347.12 1299.88 2815.19 3203.88 0 0 0 11.17 15.85 15.34

2182.52 9254 426.91 2.12 3.24 1322.3 1347.1 1297.6 2815.8 3204.6 49.28 6.82 432 2244.23 56.12 0.00 2.51 1.060 0.000 0.021 1035.84 1033.38 1038.31 2815.06 2108.81 0 0 0 11.67 30.00 15.67

2367.59 580 426.91 2.14 -60.00 1029.6 1033.7 1025.4 2815.9 2109.3 34.38 8.33 469 2372.53 0.00 0.00 2.85 0.000 0.000 0.078 1029.66 1033.88 1025.44 2815.00 993.25 0 0 0 30.00 30.00 15.70

2426.98 3141 426.91 2.15 3.94 1028.3 1034.6 1022.0 2815.6 993.6 29.21 8.64 481 2432.61 0.00 0.17 2.82 0.000 0.086 0.021 1028.66 1035.31 1022.00 2859.31 2214.00 0 0 0 30.00 15.66 15.76

2557.40 516 426.91 2.15 -60.00 1027.7 1035.4 1020.0 2859.1 2214.3 17.92 8.91 507 2562.62 0.00 0.00 3.08 0.000 0.000 0.073 1027.78 1035.50 1020.06 2859.31 992.06 0 0 0 30.00 30.00 15.78

2592.01 1028 426.91 2.15 2.84 1027.3 1036.6 1018.1 2859.3 991.9 14.76 9.02 514 2597.58 0.00 0.00 2.77 0.000 0.000 0.021 1027.44 1036.62 1018.25 2859.38 2192.25 0 0 0 30.00 30.00 15.83

2701 end climb: SURFACE_DEPTH_REACHED

state 2701 begin surface coast

2747 end surface coast: CONTROL_FINISHED_OK

state 2747 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	1300	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	105.18497	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	340.60641	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	210322,131915,4703.879,-12448.218,1,1.6,4,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,132558,4703.842,-12448.227,2,1.5,3,15.7	MHEAD_RNG_PITCHd_Wd	82.7,10867,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	113
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	0.2,1.023788	MEM0	60876,1,0,0
SM_CCo	2832.80,0.00,0.000,0,1025.3,1040.8,1009.9,429.19	MEM1	65508,1,0,0
SM_GC	0.70,0.00,16.42,0.33,0.000,0.045,0.072,1025.3,1040.8,1009.9,174.9,2356.2,0,0,0,30.00,15.82,15.85	MEM2	971176,31,75572,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	22658,545
IRIDIUM_FIX	4703.54,-12448.91,210322,122827	CAP_FILE_SIZE	159969,0
TCM_TEMP	267.05	SDSIZE	4028416,3721312
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4658,1
HUMID	51.62	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.00	CURRENT	0.029,175.3,1
INTERNAL_PRESSURE	8.91248	MAGCAL	1.000000,-0.008460,0.009143,0.005258,1.025802,-0.055977,0.029622,-0.058174,0.959140,580.9,-310.3,111.6,32,0.0372,0
_24V_AH	14.73,463.198	IMPLIED_C_PITCH	2404,11.79,358
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2977,34.021805,314
FG_AHR_24Vo	340.740	GPS	210322,141402,4703.777,-12447.963,30,0.9,31,15.7
FG_AHR_10Vo	105.194

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	483	1232	8783.62	legato	34	20	10.22
Pitch_motor	36	221	117.71	nil	0	0	0.00
Roll_motor	67	105	104.04	nil	0	0	0.00
Iridium	252	185	691.57	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.88	nil	0	0	0.00
Core	1626	11	287.82	SciCon	0	0	0.00
LPSleep	1546	2	64.94	nil	0	0	0.00
Compass	375	5	28.14	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	1143.0	1153.6	1132.4	180.6	2247.5	0.00	0.00	0	77.08	69.89	0.00	0.00	0.005	0.000	0.000	2870.12	3052.62	2687.62	180.81	2246.25	0	0	0	14.88	30.00	30.00
77.83	18727	-116.79	-1.44	60.00	2869.0	3050.5	2687.6	180.8	2246.9	3.68	-5.47	13	110.50	8.79	14.04	3.07	0.007	0.221	0.082	3250.16	3465.25	3035.06	1971.12	3425.25	0	0	0	15.01	15.52	14.91
182.58	1028	-116.79	-1.44	0.00	3249.9	3464.2	3035.5	1970.9	3426.3	20.50	-13.97	34	188.13	0.00	0.00	2.61	0.000	0.000	0.018	3250.88	3465.12	3036.62	1969.94	2253.31	0	0	0	30.00	30.00	15.88
312.61	516	-116.79	-1.44	-60.00	3249.6	3463.8	3035.4	1970.9	2251.5	36.63	-12.55	60	318.12	0.00	0.00	2.58	0.000	0.000	0.061	3249.62	3463.62	3035.62	1970.88	1209.00	0	0	0	30.00	30.00	15.90
353.23	1028	-116.79	-1.44	-0.07	3249.8	3464.0	3035.6	1970.8	1209.2	41.66	-12.60	68	358.23	0.00	0.00	2.66	0.000	0.000	0.025	3249.94	3464.06	3035.81	1971.06	2353.00	0	0	0	30.00	30.00	15.91
482.65	516	-116.79	-1.44	-60.00	3250.2	3464.2	3036.2	1970.7	2352.9	57.39	-11.84	94	488.21	0.00	0.00	2.80	0.000	0.000	0.057	3251.00	3464.62	3037.38	1970.75	1207.38	0	0	0	30.00	30.00	15.91
547.64	1028	-116.79	-1.44	-1.63	3250.2	3464.2	3036.3	1971.4	1208.1	64.74	-11.18	107	553.18	0.00	0.00	2.58	0.000	0.000	0.025	3250.03	3464.38	3035.69	1971.12	2326.00	0	0	0	30.00	30.00	15.93
677.69	260	-116.79	-1.44	60.00	3249.7	3463.5	3035.9	1971.2	2326.2	76.28	-8.30	133	683.26	0.00	0.00	2.80	0.000	0.000	0.083	3250.41	3464.62	3036.19	1971.12	3426.69	0	0	0	30.00	30.00	15.89
747.70	1028	-116.79	-1.44	-1.36	3249.9	3463.6	3036.3	1971.2	3426.9	83.07	-9.55	147	753.25	0.00	0.00	2.64	0.000	0.000	0.018	3249.56	3462.62	3036.50	1970.81	2223.88	0	0	0	30.00	30.00	15.93
877.75	260	-116.79	-1.44	60.00	3249.8	3463.2	3036.4	1970.8	2222.2	93.73	-8.32	173	883.37	0.00	0.00	3.10	0.000	0.000	0.078	3250.69	3463.38	3038.00	1970.12	3427.12	0	0	0	30.00	30.00	15.88
892.75	1028	-116.79	-1.44	-0.88	3250.0	3462.8	3037.2	1971.0	3427.2	94.96	-8.27	176	898.30	0.00	0.00	2.63	0.000	0.000	0.018	3249.94	3463.06	3036.81	1971.25	2227.56	0	0	0	30.00	30.00	15.94
1022.81	516	-116.79	-1.44	-60.00	3249.7	3462.8	3036.6	1971.2	2225.8	105.33	-8.21	202	1027.91	0.00	0.00	2.49	0.000	0.000	0.062	3250.47	3463.50	3037.44	1971.31	1209.19	0	0	0	30.00	30.00	15.94
1037.79	1028	-116.79	-1.44	-1.10	3249.8	3463.3	3036.4	1971.1	1209.0	106.60	-8.32	205	1043.36	0.00	0.00	2.61	0.000	0.000	0.024	3249.97	3463.06	3036.88	1970.62	2334.25	0	0	0	30.00	30.00	15.96
1117	end dive: TARGET_DEPTH_EXCEEDED
state	1117	begin apogee
1119.71	10243	0.00	-0.28	0.00	3249.9	3462.6	3037.1	1971.1	2040.2	113.29	-8.33	221	1207.20	82.81	1.97	0.18	1.233	0.134	0.105	2773.44	2903.88	2643.00	2255.00	2166.38	0	0	0	10.89	15.83	15.34
1209	end apogee: CONTROL_FINISHED_OK
state	1209	begin climb
1210.17	10759	116.79	1.44	-60.00	2773.8	2905.4	2642.2	2254.8	2166.4	116.43	0.00	238	1306.06	85.35	2.82	2.98	1.177	0.106	0.072	2298.97	2362.12	2235.81	2672.50	992.38	0	0	0	11.72	15.56	15.70
1353.27	11303	244.85	1.70	0.00	2294.6	2360.8	2228.4	2672.1	992.2	112.51	4.93	267	1454.51	95.61	0.37	2.68	1.147	0.054	0.020	1775.84	1816.62	1735.06	2748.56	2146.25	0	0	0	11.46	15.56	15.64
1636.78	16710	244.85	1.71	60.00	1768.0	1818.1	1718.0	2748.9	2146.2	90.39	8.44	323	1642.33	0.00	0.00	2.71	0.000	0.000	0.075	1768.06	1818.00	1718.12	2749.62	3205.56	0	0	0	30.00	30.00	15.73
1756.80	17414	244.85	1.71	1.04	1767.3	1818.4	1716.2	2749.5	3205.8	79.54	9.53	347	1762.33	0.00	0.00	2.58	0.000	0.000	0.021	1766.75	1818.50	1715.00	2750.12	2073.12	0	0	0	30.00	30.00	15.80
1886.87	16710	244.85	1.73	60.00	1765.5	1820.1	1710.9	2749.9	2072.8	68.73	8.22	373	1892.43	0.00	0.00	2.90	0.000	0.000	0.071	1765.94	1820.38	1711.50	2749.62	3206.56	0	0	0	30.00	30.00	15.83
1956.87	17478	244.85	1.76	2.42	1765.8	1820.4	1711.1	2749.6	3207.1	63.25	7.82	387	1962.39	0.00	0.00	2.52	0.000	0.000	0.021	1765.44	1820.12	1710.75	2750.06	2093.31	0	0	0	30.00	30.00	15.86
2086.92	10535	356.03	1.98	60.00	1765.3	1821.0	1709.7	2749.8	2093.2	55.54	5.49	413	2179.64	85.17	0.31	2.88	1.107	0.062	0.074	1323.50	1347.12	1299.88	2815.19	3203.88	0	0	0	11.17	15.85	15.34
2182.52	9254	426.91	2.12	3.24	1322.3	1347.1	1297.6	2815.8	3204.6	49.28	6.82	432	2244.23	56.12	0.00	2.51	1.060	0.000	0.021	1035.84	1033.38	1038.31	2815.06	2108.81	0	0	0	11.67	30.00	15.67
2367.59	580	426.91	2.14	-60.00	1029.6	1033.7	1025.4	2815.9	2109.3	34.38	8.33	469	2372.53	0.00	0.00	2.85	0.000	0.000	0.078	1029.66	1033.88	1025.44	2815.00	993.25	0	0	0	30.00	30.00	15.70
2426.98	3141	426.91	2.15	3.94	1028.3	1034.6	1022.0	2815.6	993.6	29.21	8.64	481	2432.61	0.00	0.17	2.82	0.000	0.086	0.021	1028.66	1035.31	1022.00	2859.31	2214.00	0	0	0	30.00	15.66	15.76
2557.40	516	426.91	2.15	-60.00	1027.7	1035.4	1020.0	2859.1	2214.3	17.92	8.91	507	2562.62	0.00	0.00	3.08	0.000	0.000	0.073	1027.78	1035.50	1020.06	2859.31	992.06	0	0	0	30.00	30.00	15.78
2592.01	1028	426.91	2.15	2.84	1027.3	1036.6	1018.1	2859.3	991.9	14.76	9.02	514	2597.58	0.00	0.00	2.77	0.000	0.000	0.021	1027.44	1036.62	1018.25	2859.38	2192.25	0	0	0	30.00	30.00	15.83
2701	end climb: SURFACE_DEPTH_REACHED
state	2701	begin surface coast
2747	end surface coast: CONTROL_FINISHED_OK
state	2747	begin surface