Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1302 * 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 1302 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 105.20573 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 340.88593 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 105.20573 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 340.88593 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 1302 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 210322,151156,4703.696,-12447.629,2,1.4,5,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,151713,4703.693,-12447.665,4,1.4,5,15.7 MHEAD_RNG_PITCHd_Wd 84.8,10110,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 109

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 0.2,1.021920 MEM0 60876,1,0,0

SM_CCo 2762.92,0.00,0.000,0,897.6,897.9,897.2,460.53 MEM1 65508,1,0,0

SM_GC 0.78,0.00,16.33,0.52,0.000,0.041,0.039,897.6,897.9,897.2,174.6,2359.5,0,0,0,30.00,15.72,15.76 MEM2 971208,31,75540,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 22649,531

IRIDIUM_FIX 4704.45,-12446.31,210322,142012 CAP_FILE_SIZE 151400,0

TCM_TEMP 267.00 SDSIZE 4028416,3721056

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4664,1

HUMID 51.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.06 CURRENT 0.013,150.0,1

INTERNAL_PRESSURE 8.90402 MAGCAL 1.000000,-0.000026,-0.032983,0.013111,1.025556,-0.062586,0.036444,-0.042962,0.985471,620.3,-303.0,82.8,29,0.0355,0

_24V_AH 14.76,463.528 IMPLIED_C_PITCH 2398,12.00,349

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2981,45.202892,312

FG_AHR_24Vo 341.025 GPS 210322,160410,4703.646,-12447.422,33,1.0,34,15.7

FG_AHR_10Vo 105.214

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 506 1227 9178.10 legato 34 20 10.13

Pitch_motor 35 229 121.94 nil 0 0 0.00

Roll_motor 56 114 94.94 nil 0 0 0.00

Iridium 161 187 448.53 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.14 nil 0 0 0.00

Core 1521 11 269.31 SciCon 0 0 0.00

LPSleep 1492 2 62.68 nil 0 0 0.00

Compass 366 5 27.45 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 1140.9 1144.1 1137.8 175.8 2256.6 0.00 0.00 0 72.00 64.82 0.00 0.00 0.005 0.000 0.000 2752.91 2923.50 2582.31 175.88 2257.62 0 0 0 14.91 30.00 30.00

72.74 18727 -116.79 -1.44 60.00 2751.8 2922.3 2581.2 175.8 2257.7 3.33 -5.25 12 107.59 11.82 14.20 3.02 0.007 0.230 0.078 3250.66 3467.56 3033.75 1970.56 3428.94 0 0 0 15.05 15.51 14.91

175.04 1028 -116.79 -1.44 0.00 3250.6 3466.9 3034.3 1970.6 3428.6 20.26 -15.85 32 180.23 0.00 0.00 2.62 0.000 0.000 0.017 3250.97 3466.81 3035.12 1971.69 2251.38 0 0 0 30.00 30.00 15.88

304.70 516 -116.79 -1.44 -60.00 3250.5 3466.8 3034.2 1971.0 2249.1 37.00 -12.01 58 310.23 0.00 0.00 2.58 0.000 0.000 0.061 3250.94 3467.94 3033.94 1971.25 1208.94 0 0 0 30.00 30.00 15.90

334.69 1028 -116.79 -1.44 0.15 3250.7 3466.9 3034.5 1971.3 1208.6 40.76 -12.56 64 340.44 0.00 0.00 2.67 0.000 0.000 0.025 3250.91 3467.00 3034.81 1970.94 2353.88 0 0 0 30.00 30.00 15.90

464.85 516 -116.79 -1.44 -60.00 3250.8 3467.4 3034.2 1971.1 2354.3 56.74 -12.24 90 470.30 0.00 0.00 2.83 0.000 0.000 0.057 3250.78 3466.94 3034.62 1971.00 1208.88 0 0 0 30.00 30.00 15.92

484.72 1028 -116.79 -1.44 0.15 3250.6 3467.1 3034.1 1971.1 1208.9 59.09 -11.69 94 490.28 0.00 0.00 2.66 0.000 0.000 0.025 3250.53 3467.19 3033.88 1971.44 2354.50 0 0 0 30.00 30.00 15.93

614.75 260 -116.79 -1.44 60.00 3250.9 3467.4 3034.3 1971.3 2354.2 71.47 -8.91 120 620.31 0.00 0.00 2.74 0.000 0.000 0.083 3250.88 3467.12 3034.62 1971.38 3424.75 0 0 0 30.00 30.00 15.89

649.74 1028 -116.79 -1.44 0.46 3251.0 3466.8 3035.2 1970.8 3424.4 74.65 -9.01 127 655.28 0.00 0.00 2.58 0.000 0.000 0.018 3251.31 3466.50 3036.12 1970.94 2247.81 0 0 0 30.00 30.00 15.93

779.77 260 -116.79 -1.44 60.00 3251.0 3466.7 3035.2 1970.9 2247.1 85.02 -7.59 153 785.39 0.00 0.00 3.04 0.000 0.000 0.079 3250.97 3466.62 3035.31 1971.31 3428.56 0 0 0 30.00 30.00 15.89

819.77 1028 -116.79 -1.44 0.73 3250.8 3466.3 3035.2 1970.9 3427.9 88.53 -8.78 161 825.32 0.00 0.00 2.58 0.000 0.000 0.018 3250.84 3466.50 3035.19 1971.00 2251.81 0 0 0 30.00 30.00 15.95

949.83 260 -116.79 -1.44 60.00 3250.7 3466.1 3035.2 1971.1 2251.4 98.94 -8.12 187 955.44 0.00 0.00 3.02 0.000 0.000 0.079 3251.12 3466.75 3035.50 1971.19 3427.38 0 0 0 30.00 30.00 15.89

989.83 1028 -116.79 -1.44 0.96 3250.8 3466.4 3035.2 1971.6 3427.2 102.58 -9.09 195 995.37 0.00 0.00 2.56 0.000 0.000 0.018 3250.97 3466.00 3035.94 1970.44 2256.56 0 0 0 30.00 30.00 15.94

1069 end dive: TARGET_DEPTH_EXCEEDED

state 1069 begin apogee

1071.71 10243 0.00 -0.28 0.00 3250.7 3466.5 3034.9 1971.0 2045.6 109.36 -8.45 211 1159.23 82.58 1.97 0.17 1.227 0.133 0.115 2774.56 2906.81 2642.31 2253.44 2168.06 0 0 0 10.91 15.83 15.34

1161 end apogee: CONTROL_FINISHED_OK

state 1161 begin climb

1162.20 11271 116.79 1.44 0.00 2774.2 2907.3 2641.1 2254.8 2168.2 112.27 0.00 228 1252.81 85.29 2.76 0.19 1.170 0.088 0.070 2298.38 2360.94 2235.81 2672.75 2033.31 0 0 0 11.77 15.60 15.70

1435.08 10535 244.77 1.70 60.00 2292.1 2361.1 2223.1 2672.9 2032.8 102.12 4.93 283 1538.41 95.08 0.37 3.05 1.143 0.060 0.071 1777.38 1818.81 1735.94 2745.81 3208.19 0 0 0 11.35 15.71 15.26

1541.22 1092 244.77 1.73 1.60 1775.6 1818.1 1733.0 2746.2 3208.1 95.06 7.54 304 1546.13 0.00 0.00 2.60 0.000 0.000 0.020 1775.59 1818.50 1732.69 2745.69 2080.38 0 0 0 30.00 30.00 15.58

1670.83 10535 320.65 1.88 60.00 1769.2 1818.6 1719.7 2746.2 2080.5 86.04 6.66 330 1735.18 58.38 0.18 2.92 1.110 0.078 0.073 1466.81 1500.75 1432.88 2792.38 3204.25 0 0 0 11.37 15.69 15.31

1872.41 1028 320.65 1.88 1.29 1462.5 1501.5 1423.4 2792.8 3204.1 66.34 10.16 370 1877.94 0.00 0.00 2.58 0.000 0.000 0.022 1462.97 1502.06 1423.88 2792.06 2079.00 0 0 0 30.00 30.00 15.75

2002.44 0 320.65 1.88 1.29 1459.8 1501.6 1418.1 2792.6 2078.7 53.68 10.41 396 2003.77 0.00 0.00 0.00 0.000 0.000 0.000 1459.62 1501.62 1417.62 2792.44 2078.81 0 0 0 30.00 30.00 30.00

2127.45 16386 320.65 1.88 1.29 1459.3 1501.8 1416.8 2792.6 2078.6 41.45 9.00 421 2128.78 0.00 0.00 0.00 0.000 0.000 0.000 1459.12 1501.62 1416.62 2792.25 2079.44 0 0 0 30.00 30.00 30.00

2252.49 8742 392.68 2.03 -60.00 1458.8 1501.9 1415.8 2792.3 2078.8 32.19 6.78 446 2314.84 56.51 0.00 2.77 1.075 0.000 0.079 1174.53 1187.88 1161.19 2792.75 991.81 0 0 0 11.18 30.00 15.38

2418.05 3141 392.68 2.06 1.85 1170.5 1187.9 1153.1 2792.2 992.1 20.18 7.44 479 2423.11 0.00 0.17 2.76 0.000 0.087 0.021 1170.66 1188.00 1153.31 2836.25 2176.75 0 0 0 30.00 15.67 15.80

2547.91 8486 459.78 2.20 60.00 1169.4 1188.6 1150.3 2836.4 2176.6 10.88 6.95 505 2605.02 52.24 0.00 2.67 1.045 0.000 0.079 901.56 892.00 911.12 2836.06 3204.12 0 0 0 11.30 30.00 15.37

2607.49 1028 459.78 2.20 2.83 900.9 891.5 910.3 2836.5 3204.6 6.05 9.31 517 2613.04 0.00 0.00 2.53 0.000 0.000 0.020 900.94 891.94 909.94 2836.12 2104.56 0 0 0 30.00 30.00 15.72

2632 end climb: SURFACE_DEPTH_REACHED

state 2632 begin surface coast

2677 end surface coast: CONTROL_FINISHED_OK

state 2677 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	1302	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	105.20573	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	340.88593	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	210322,151156,4703.696,-12447.629,2,1.4,5,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,151713,4703.693,-12447.665,4,1.4,5,15.7	MHEAD_RNG_PITCHd_Wd	84.8,10110,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	109
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	0.2,1.021920	MEM0	60876,1,0,0
SM_CCo	2762.92,0.00,0.000,0,897.6,897.9,897.2,460.53	MEM1	65508,1,0,0
SM_GC	0.78,0.00,16.33,0.52,0.000,0.041,0.039,897.6,897.9,897.2,174.6,2359.5,0,0,0,30.00,15.72,15.76	MEM2	971208,31,75540,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	22649,531
IRIDIUM_FIX	4704.45,-12446.31,210322,142012	CAP_FILE_SIZE	151400,0
TCM_TEMP	267.00	SDSIZE	4028416,3721056
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4664,1
HUMID	51.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.06	CURRENT	0.013,150.0,1
INTERNAL_PRESSURE	8.90402	MAGCAL	1.000000,-0.000026,-0.032983,0.013111,1.025556,-0.062586,0.036444,-0.042962,0.985471,620.3,-303.0,82.8,29,0.0355,0
_24V_AH	14.76,463.528	IMPLIED_C_PITCH	2398,12.00,349
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2981,45.202892,312
FG_AHR_24Vo	341.025	GPS	210322,160410,4703.646,-12447.422,33,1.0,34,15.7
FG_AHR_10Vo	105.214

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	506	1227	9178.10	legato	34	20	10.13
Pitch_motor	35	229	121.94	nil	0	0	0.00
Roll_motor	56	114	94.94	nil	0	0	0.00
Iridium	161	187	448.53	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.14	nil	0	0	0.00
Core	1521	11	269.31	SciCon	0	0	0.00
LPSleep	1492	2	62.68	nil	0	0	0.00
Compass	366	5	27.45	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	1140.9	1144.1	1137.8	175.8	2256.6	0.00	0.00	0	72.00	64.82	0.00	0.00	0.005	0.000	0.000	2752.91	2923.50	2582.31	175.88	2257.62	0	0	0	14.91	30.00	30.00
72.74	18727	-116.79	-1.44	60.00	2751.8	2922.3	2581.2	175.8	2257.7	3.33	-5.25	12	107.59	11.82	14.20	3.02	0.007	0.230	0.078	3250.66	3467.56	3033.75	1970.56	3428.94	0	0	0	15.05	15.51	14.91
175.04	1028	-116.79	-1.44	0.00	3250.6	3466.9	3034.3	1970.6	3428.6	20.26	-15.85	32	180.23	0.00	0.00	2.62	0.000	0.000	0.017	3250.97	3466.81	3035.12	1971.69	2251.38	0	0	0	30.00	30.00	15.88
304.70	516	-116.79	-1.44	-60.00	3250.5	3466.8	3034.2	1971.0	2249.1	37.00	-12.01	58	310.23	0.00	0.00	2.58	0.000	0.000	0.061	3250.94	3467.94	3033.94	1971.25	1208.94	0	0	0	30.00	30.00	15.90
334.69	1028	-116.79	-1.44	0.15	3250.7	3466.9	3034.5	1971.3	1208.6	40.76	-12.56	64	340.44	0.00	0.00	2.67	0.000	0.000	0.025	3250.91	3467.00	3034.81	1970.94	2353.88	0	0	0	30.00	30.00	15.90
464.85	516	-116.79	-1.44	-60.00	3250.8	3467.4	3034.2	1971.1	2354.3	56.74	-12.24	90	470.30	0.00	0.00	2.83	0.000	0.000	0.057	3250.78	3466.94	3034.62	1971.00	1208.88	0	0	0	30.00	30.00	15.92
484.72	1028	-116.79	-1.44	0.15	3250.6	3467.1	3034.1	1971.1	1208.9	59.09	-11.69	94	490.28	0.00	0.00	2.66	0.000	0.000	0.025	3250.53	3467.19	3033.88	1971.44	2354.50	0	0	0	30.00	30.00	15.93
614.75	260	-116.79	-1.44	60.00	3250.9	3467.4	3034.3	1971.3	2354.2	71.47	-8.91	120	620.31	0.00	0.00	2.74	0.000	0.000	0.083	3250.88	3467.12	3034.62	1971.38	3424.75	0	0	0	30.00	30.00	15.89
649.74	1028	-116.79	-1.44	0.46	3251.0	3466.8	3035.2	1970.8	3424.4	74.65	-9.01	127	655.28	0.00	0.00	2.58	0.000	0.000	0.018	3251.31	3466.50	3036.12	1970.94	2247.81	0	0	0	30.00	30.00	15.93
779.77	260	-116.79	-1.44	60.00	3251.0	3466.7	3035.2	1970.9	2247.1	85.02	-7.59	153	785.39	0.00	0.00	3.04	0.000	0.000	0.079	3250.97	3466.62	3035.31	1971.31	3428.56	0	0	0	30.00	30.00	15.89
819.77	1028	-116.79	-1.44	0.73	3250.8	3466.3	3035.2	1970.9	3427.9	88.53	-8.78	161	825.32	0.00	0.00	2.58	0.000	0.000	0.018	3250.84	3466.50	3035.19	1971.00	2251.81	0	0	0	30.00	30.00	15.95
949.83	260	-116.79	-1.44	60.00	3250.7	3466.1	3035.2	1971.1	2251.4	98.94	-8.12	187	955.44	0.00	0.00	3.02	0.000	0.000	0.079	3251.12	3466.75	3035.50	1971.19	3427.38	0	0	0	30.00	30.00	15.89
989.83	1028	-116.79	-1.44	0.96	3250.8	3466.4	3035.2	1971.6	3427.2	102.58	-9.09	195	995.37	0.00	0.00	2.56	0.000	0.000	0.018	3250.97	3466.00	3035.94	1970.44	2256.56	0	0	0	30.00	30.00	15.94
1069	end dive: TARGET_DEPTH_EXCEEDED
state	1069	begin apogee
1071.71	10243	0.00	-0.28	0.00	3250.7	3466.5	3034.9	1971.0	2045.6	109.36	-8.45	211	1159.23	82.58	1.97	0.17	1.227	0.133	0.115	2774.56	2906.81	2642.31	2253.44	2168.06	0	0	0	10.91	15.83	15.34
1161	end apogee: CONTROL_FINISHED_OK
state	1161	begin climb
1162.20	11271	116.79	1.44	0.00	2774.2	2907.3	2641.1	2254.8	2168.2	112.27	0.00	228	1252.81	85.29	2.76	0.19	1.170	0.088	0.070	2298.38	2360.94	2235.81	2672.75	2033.31	0	0	0	11.77	15.60	15.70
1435.08	10535	244.77	1.70	60.00	2292.1	2361.1	2223.1	2672.9	2032.8	102.12	4.93	283	1538.41	95.08	0.37	3.05	1.143	0.060	0.071	1777.38	1818.81	1735.94	2745.81	3208.19	0	0	0	11.35	15.71	15.26
1541.22	1092	244.77	1.73	1.60	1775.6	1818.1	1733.0	2746.2	3208.1	95.06	7.54	304	1546.13	0.00	0.00	2.60	0.000	0.000	0.020	1775.59	1818.50	1732.69	2745.69	2080.38	0	0	0	30.00	30.00	15.58
1670.83	10535	320.65	1.88	60.00	1769.2	1818.6	1719.7	2746.2	2080.5	86.04	6.66	330	1735.18	58.38	0.18	2.92	1.110	0.078	0.073	1466.81	1500.75	1432.88	2792.38	3204.25	0	0	0	11.37	15.69	15.31
1872.41	1028	320.65	1.88	1.29	1462.5	1501.5	1423.4	2792.8	3204.1	66.34	10.16	370	1877.94	0.00	0.00	2.58	0.000	0.000	0.022	1462.97	1502.06	1423.88	2792.06	2079.00	0	0	0	30.00	30.00	15.75
2002.44	0	320.65	1.88	1.29	1459.8	1501.6	1418.1	2792.6	2078.7	53.68	10.41	396	2003.77	0.00	0.00	0.00	0.000	0.000	0.000	1459.62	1501.62	1417.62	2792.44	2078.81	0	0	0	30.00	30.00	30.00
2127.45	16386	320.65	1.88	1.29	1459.3	1501.8	1416.8	2792.6	2078.6	41.45	9.00	421	2128.78	0.00	0.00	0.00	0.000	0.000	0.000	1459.12	1501.62	1416.62	2792.25	2079.44	0	0	0	30.00	30.00	30.00
2252.49	8742	392.68	2.03	-60.00	1458.8	1501.9	1415.8	2792.3	2078.8	32.19	6.78	446	2314.84	56.51	0.00	2.77	1.075	0.000	0.079	1174.53	1187.88	1161.19	2792.75	991.81	0	0	0	11.18	30.00	15.38
2418.05	3141	392.68	2.06	1.85	1170.5	1187.9	1153.1	2792.2	992.1	20.18	7.44	479	2423.11	0.00	0.17	2.76	0.000	0.087	0.021	1170.66	1188.00	1153.31	2836.25	2176.75	0	0	0	30.00	15.67	15.80
2547.91	8486	459.78	2.20	60.00	1169.4	1188.6	1150.3	2836.4	2176.6	10.88	6.95	505	2605.02	52.24	0.00	2.67	1.045	0.000	0.079	901.56	892.00	911.12	2836.06	3204.12	0	0	0	11.30	30.00	15.37
2607.49	1028	459.78	2.20	2.83	900.9	891.5	910.3	2836.5	3204.6	6.05	9.31	517	2613.04	0.00	0.00	2.53	0.000	0.000	0.020	900.94	891.94	909.94	2836.12	2104.56	0	0	0	30.00	30.00	15.72
2632	end climb: SURFACE_DEPTH_REACHED
state	2632	begin surface coast
2677	end surface coast: CONTROL_FINISHED_OK
state	2677	begin surface