Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1304 * 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 1304 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 105.22535 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 341.16849 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 105.22535 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 341.16849 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 1304 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 210322,165552,4703.633,-12447.190,3,2.0,7,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,170058,4703.670,-12447.239,3,1.9,9,15.7 MHEAD_RNG_PITCHd_Wd 96.9,9582,-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 0.3,1.024646 MEM0 60876,1,0,0

SM_CCo 2783.71,27.69,1.070,0,1145.3,1142.3,1148.2,399.77 MEM1 65508,1,0,0

SM_GC 0.42,27.69,16.26,0.59,1.070,0.048,0.048,1145.3,1142.3,1148.2,173.6,2352.8,0,0,0,11.12,15.84,15.90 MEM2 971164,32,75564,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 22635,542

IRIDIUM_FIX 4704.45,-12446.31,210322,160659 CAP_FILE_SIZE 149954,0

TCM_TEMP 267.04 SDSIZE 4028416,3720800

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4670,1

HUMID 51.63 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.99 CURRENT 0.023, 18.4,1

INTERNAL_PRESSURE 8.91471 MAGCAL 1.000000,-0.018051,-0.031356,0.015270,1.028860,-0.050345,0.046881,-0.038540,0.958601,619.7,-312.4,114.1,29,0.0377,0

_24V_AH 14.76,463.841 IMPLIED_C_PITCH 2397,12.09,364

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2915,16.824486,327

FG_AHR_24Vo 341.297 GPS 210322,174747,4703.640,-12446.947,3,1.3,6,15.7

FG_AHR_10Vo 105.234

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 463 1231 8429.15 legato 34 20 10.25

Pitch_motor 35 222 117.66 nil 0 0 0.00

Roll_motor 56 102 85.20 nil 0 0 0.00

Iridium 147 186 405.20 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 18 15 4.22 nil 0 0 0.00

Core 1504 11 266.22 SciCon 0 0 0.00

LPSleep 1522 2 63.92 nil 0 0 0.00

Compass 373 5 27.99 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 1139.3 1137.5 1141.1 173.4 2225.1 0.00 0.00 0 77.09 69.92 0.00 0.00 0.005 0.000 0.000 2874.56 3050.50 2698.62 173.44 2225.00 0 0 0 14.89 30.00 30.00

78.20 18727 -116.79 -1.44 60.00 2874.2 3050.2 2698.3 173.3 2224.9 3.52 -5.07 13 110.53 8.70 14.11 3.14 0.007 0.223 0.083 3251.19 3466.94 3035.44 1970.75 3427.12 0 0 0 14.98 15.52 14.92

192.60 1028 -116.79 -1.44 0.00 3251.4 3465.7 3037.2 1970.9 3425.6 20.85 -13.10 36 198.16 0.00 0.00 2.63 0.000 0.000 0.017 3251.59 3466.25 3036.94 1970.88 2246.31 0 0 0 30.00 30.00 15.87

322.62 516 -116.79 -1.44 -60.00 3251.3 3465.8 3036.9 1971.1 2245.1 35.99 -11.60 62 328.14 0.00 0.00 2.59 0.000 0.000 0.060 3251.94 3465.44 3038.44 1970.50 1208.69 0 0 0 30.00 30.00 15.90

342.62 1028 -116.79 -1.44 0.00 3251.2 3465.6 3036.8 1971.1 1208.9 38.32 -11.69 66 348.36 0.00 0.00 2.68 0.000 0.000 0.025 3251.75 3466.06 3037.44 1970.88 2353.12 0 0 0 30.00 30.00 15.91

472.78 0 -116.79 -1.44 0.00 3251.4 3465.9 3036.9 1971.2 2352.6 52.91 -11.18 92 474.11 0.00 0.00 0.00 0.000 0.000 0.000 3251.50 3465.88 3037.12 1971.25 2352.94 0 0 0 30.00 30.00 30.00

597.67 260 -116.79 -1.44 60.00 3251.5 3466.2 3036.8 1970.9 2352.9 66.11 -10.59 117 603.24 0.00 0.00 2.78 0.000 0.000 0.083 3252.47 3467.44 3037.50 1971.00 3426.62 0 0 0 30.00 30.00 15.89

632.67 1028 -116.79 -1.44 0.20 3251.2 3465.8 3036.6 1971.0 3426.0 70.15 -11.54 124 638.22 0.00 0.00 2.62 0.000 0.000 0.018 3252.50 3466.94 3038.06 1971.44 2247.75 0 0 0 30.00 30.00 15.93

762.71 260 -116.79 -1.44 60.00 3251.2 3465.3 3037.2 1971.2 2246.9 83.34 -9.89 150 768.31 0.00 0.00 3.05 0.000 0.000 0.079 3252.75 3466.62 3038.88 1970.12 3426.94 0 0 0 30.00 30.00 15.88

817.70 1028 -116.79 -1.44 1.18 3250.5 3464.3 3036.7 1970.9 3426.8 89.07 -10.54 161 823.25 0.00 0.00 2.57 0.000 0.000 0.018 3250.97 3464.06 3037.88 1970.00 2257.62 0 0 0 30.00 30.00 15.94

947.73 260 -116.79 -1.44 60.00 3250.8 3464.7 3036.9 1971.1 2258.0 100.52 -8.32 187 953.33 0.00 0.00 3.02 0.000 0.000 0.078 3251.72 3465.12 3038.31 1971.00 3424.31 0 0 0 30.00 30.00 15.90

1002.73 1028 -116.79 -1.44 1.38 3250.8 3464.9 3036.6 1970.6 3424.8 105.82 -9.92 198 1008.27 0.00 0.00 2.56 0.000 0.000 0.018 3252.09 3466.75 3037.44 1971.00 2261.38 0 0 0 30.00 30.00 15.95

1042 end dive: TARGET_DEPTH_EXCEEDED

state 1042 begin apogee

1044.61 10243 0.00 -0.28 0.00 3251.2 3465.4 3037.0 1971.1 2043.1 109.47 -9.11 206 1132.04 82.75 1.97 0.17 1.232 0.132 0.102 2773.09 2905.25 2640.94 2254.81 2168.50 0 0 0 10.96 15.84 15.38

1134 end apogee: CONTROL_FINISHED_OK

state 1134 begin climb

1135.18 11271 116.79 1.44 0.00 2774.2 2905.8 2642.7 2254.5 2168.8 113.00 0.00 223 1225.79 85.25 2.79 0.20 1.173 0.089 0.070 2298.66 2361.62 2235.69 2675.00 2034.38 0 0 0 11.76 15.60 15.69

1408.07 10535 238.36 1.69 60.00 2292.2 2361.4 2223.0 2674.9 2034.4 103.05 5.14 278 1505.91 90.36 0.32 3.07 1.149 0.057 0.071 1801.94 1844.38 1759.50 2744.88 3206.25 0 0 0 11.26 15.71 15.27

1658.71 1092 238.36 1.71 1.42 1796.3 1844.8 1747.9 2744.7 3206.3 83.62 8.12 328 1664.06 0.00 0.00 2.60 0.000 0.000 0.021 1795.59 1845.25 1745.94 2745.00 2080.94 0 0 0 30.00 30.00 15.75

1788.57 8486 304.26 1.84 60.00 1793.2 1846.0 1740.4 2744.5 2080.6 74.20 6.99 354 1846.06 50.64 0.00 2.93 1.110 0.000 0.073 1534.94 1575.69 1494.19 2744.94 3204.25 0 0 0 11.21 30.00 15.35

1868.56 3141 304.26 1.87 2.02 1533.0 1575.2 1490.8 2745.6 3204.6 68.36 7.53 370 1874.13 0.00 0.17 2.57 0.000 0.079 0.021 1532.53 1574.19 1490.88 2788.81 2088.94 0 0 0 30.00 15.63 15.71

1998.59 64 304.26 1.91 2.02 1529.5 1575.5 1483.6 2789.3 2089.0 58.56 7.43 396 1999.92 0.00 0.00 0.00 0.000 0.000 0.000 1529.03 1574.69 1483.38 2789.38 2088.12 0 0 0 30.00 30.00 30.00

2123.61 8486 364.82 2.03 60.00 1528.1 1575.4 1480.8 2790.0 2089.1 49.33 7.16 421 2176.83 48.35 0.00 2.90 1.088 0.000 0.073 1288.53 1311.12 1265.94 2789.50 3206.19 0 0 0 11.21 30.00 15.37

2274.14 3141 364.82 2.05 2.08 1285.2 1311.6 1258.8 2789.4 3206.8 37.45 8.27 451 2279.59 0.00 0.16 2.57 0.000 0.090 0.021 1285.56 1312.19 1258.94 2829.25 2090.25 0 0 0 30.00 15.68 15.78

2404.01 580 364.82 2.06 -60.00 1283.2 1311.6 1254.8 2830.0 2089.7 26.71 8.28 477 2409.58 0.00 0.00 2.81 0.000 0.000 0.076 1283.25 1311.62 1254.88 2829.38 994.62 0 0 0 30.00 30.00 15.81

2504.03 1092 364.82 2.07 1.40 1282.5 1311.8 1253.1 2829.5 994.6 18.13 8.62 497 2509.60 0.00 0.00 2.73 0.000 0.000 0.021 1282.19 1311.56 1252.81 2830.19 2168.75 0 0 0 30.00 30.00 15.86

2634.09 324 364.82 2.09 60.00 1281.8 1312.9 1250.6 2829.2 2168.6 8.32 8.23 523 2639.80 0.00 0.00 2.67 0.000 0.000 0.077 1282.16 1313.12 1251.19 2828.56 3206.69 0 0 0 30.00 30.00 15.86

2664.24 1028 364.82 2.09 1.54 1281.5 1312.8 1250.2 2829.6 3207.9 5.56 9.10 529 2669.62 0.00 0.00 2.57 0.000 0.000 0.022 1281.75 1312.94 1250.56 2830.38 2080.69 0 0 0 30.00 30.00 15.88

2683 end climb: SURFACE_DEPTH_REACHED

state 2683 begin surface coast

2728 end surface coast: CONTROL_FINISHED_OK

state 2729 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	1304	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	105.22535	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	341.16849	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	210322,165552,4703.633,-12447.190,3,2.0,7,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,170058,4703.670,-12447.239,3,1.9,9,15.7	MHEAD_RNG_PITCHd_Wd	96.9,9582,-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	0.3,1.024646	MEM0	60876,1,0,0
SM_CCo	2783.71,27.69,1.070,0,1145.3,1142.3,1148.2,399.77	MEM1	65508,1,0,0
SM_GC	0.42,27.69,16.26,0.59,1.070,0.048,0.048,1145.3,1142.3,1148.2,173.6,2352.8,0,0,0,11.12,15.84,15.90	MEM2	971164,32,75564,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	22635,542
IRIDIUM_FIX	4704.45,-12446.31,210322,160659	CAP_FILE_SIZE	149954,0
TCM_TEMP	267.04	SDSIZE	4028416,3720800
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4670,1
HUMID	51.63	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.99	CURRENT	0.023, 18.4,1
INTERNAL_PRESSURE	8.91471	MAGCAL	1.000000,-0.018051,-0.031356,0.015270,1.028860,-0.050345,0.046881,-0.038540,0.958601,619.7,-312.4,114.1,29,0.0377,0
_24V_AH	14.76,463.841	IMPLIED_C_PITCH	2397,12.09,364
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2915,16.824486,327
FG_AHR_24Vo	341.297	GPS	210322,174747,4703.640,-12446.947,3,1.3,6,15.7
FG_AHR_10Vo	105.234

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	463	1231	8429.15	legato	34	20	10.25
Pitch_motor	35	222	117.66	nil	0	0	0.00
Roll_motor	56	102	85.20	nil	0	0	0.00
Iridium	147	186	405.20	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	18	15	4.22	nil	0	0	0.00
Core	1504	11	266.22	SciCon	0	0	0.00
LPSleep	1522	2	63.92	nil	0	0	0.00
Compass	373	5	27.99	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	1139.3	1137.5	1141.1	173.4	2225.1	0.00	0.00	0	77.09	69.92	0.00	0.00	0.005	0.000	0.000	2874.56	3050.50	2698.62	173.44	2225.00	0	0	0	14.89	30.00	30.00
78.20	18727	-116.79	-1.44	60.00	2874.2	3050.2	2698.3	173.3	2224.9	3.52	-5.07	13	110.53	8.70	14.11	3.14	0.007	0.223	0.083	3251.19	3466.94	3035.44	1970.75	3427.12	0	0	0	14.98	15.52	14.92
192.60	1028	-116.79	-1.44	0.00	3251.4	3465.7	3037.2	1970.9	3425.6	20.85	-13.10	36	198.16	0.00	0.00	2.63	0.000	0.000	0.017	3251.59	3466.25	3036.94	1970.88	2246.31	0	0	0	30.00	30.00	15.87
322.62	516	-116.79	-1.44	-60.00	3251.3	3465.8	3036.9	1971.1	2245.1	35.99	-11.60	62	328.14	0.00	0.00	2.59	0.000	0.000	0.060	3251.94	3465.44	3038.44	1970.50	1208.69	0	0	0	30.00	30.00	15.90
342.62	1028	-116.79	-1.44	0.00	3251.2	3465.6	3036.8	1971.1	1208.9	38.32	-11.69	66	348.36	0.00	0.00	2.68	0.000	0.000	0.025	3251.75	3466.06	3037.44	1970.88	2353.12	0	0	0	30.00	30.00	15.91
472.78	0	-116.79	-1.44	0.00	3251.4	3465.9	3036.9	1971.2	2352.6	52.91	-11.18	92	474.11	0.00	0.00	0.00	0.000	0.000	0.000	3251.50	3465.88	3037.12	1971.25	2352.94	0	0	0	30.00	30.00	30.00
597.67	260	-116.79	-1.44	60.00	3251.5	3466.2	3036.8	1970.9	2352.9	66.11	-10.59	117	603.24	0.00	0.00	2.78	0.000	0.000	0.083	3252.47	3467.44	3037.50	1971.00	3426.62	0	0	0	30.00	30.00	15.89
632.67	1028	-116.79	-1.44	0.20	3251.2	3465.8	3036.6	1971.0	3426.0	70.15	-11.54	124	638.22	0.00	0.00	2.62	0.000	0.000	0.018	3252.50	3466.94	3038.06	1971.44	2247.75	0	0	0	30.00	30.00	15.93
762.71	260	-116.79	-1.44	60.00	3251.2	3465.3	3037.2	1971.2	2246.9	83.34	-9.89	150	768.31	0.00	0.00	3.05	0.000	0.000	0.079	3252.75	3466.62	3038.88	1970.12	3426.94	0	0	0	30.00	30.00	15.88
817.70	1028	-116.79	-1.44	1.18	3250.5	3464.3	3036.7	1970.9	3426.8	89.07	-10.54	161	823.25	0.00	0.00	2.57	0.000	0.000	0.018	3250.97	3464.06	3037.88	1970.00	2257.62	0	0	0	30.00	30.00	15.94
947.73	260	-116.79	-1.44	60.00	3250.8	3464.7	3036.9	1971.1	2258.0	100.52	-8.32	187	953.33	0.00	0.00	3.02	0.000	0.000	0.078	3251.72	3465.12	3038.31	1971.00	3424.31	0	0	0	30.00	30.00	15.90
1002.73	1028	-116.79	-1.44	1.38	3250.8	3464.9	3036.6	1970.6	3424.8	105.82	-9.92	198	1008.27	0.00	0.00	2.56	0.000	0.000	0.018	3252.09	3466.75	3037.44	1971.00	2261.38	0	0	0	30.00	30.00	15.95
1042	end dive: TARGET_DEPTH_EXCEEDED
state	1042	begin apogee
1044.61	10243	0.00	-0.28	0.00	3251.2	3465.4	3037.0	1971.1	2043.1	109.47	-9.11	206	1132.04	82.75	1.97	0.17	1.232	0.132	0.102	2773.09	2905.25	2640.94	2254.81	2168.50	0	0	0	10.96	15.84	15.38
1134	end apogee: CONTROL_FINISHED_OK
state	1134	begin climb
1135.18	11271	116.79	1.44	0.00	2774.2	2905.8	2642.7	2254.5	2168.8	113.00	0.00	223	1225.79	85.25	2.79	0.20	1.173	0.089	0.070	2298.66	2361.62	2235.69	2675.00	2034.38	0	0	0	11.76	15.60	15.69
1408.07	10535	238.36	1.69	60.00	2292.2	2361.4	2223.0	2674.9	2034.4	103.05	5.14	278	1505.91	90.36	0.32	3.07	1.149	0.057	0.071	1801.94	1844.38	1759.50	2744.88	3206.25	0	0	0	11.26	15.71	15.27
1658.71	1092	238.36	1.71	1.42	1796.3	1844.8	1747.9	2744.7	3206.3	83.62	8.12	328	1664.06	0.00	0.00	2.60	0.000	0.000	0.021	1795.59	1845.25	1745.94	2745.00	2080.94	0	0	0	30.00	30.00	15.75
1788.57	8486	304.26	1.84	60.00	1793.2	1846.0	1740.4	2744.5	2080.6	74.20	6.99	354	1846.06	50.64	0.00	2.93	1.110	0.000	0.073	1534.94	1575.69	1494.19	2744.94	3204.25	0	0	0	11.21	30.00	15.35
1868.56	3141	304.26	1.87	2.02	1533.0	1575.2	1490.8	2745.6	3204.6	68.36	7.53	370	1874.13	0.00	0.17	2.57	0.000	0.079	0.021	1532.53	1574.19	1490.88	2788.81	2088.94	0	0	0	30.00	15.63	15.71
1998.59	64	304.26	1.91	2.02	1529.5	1575.5	1483.6	2789.3	2089.0	58.56	7.43	396	1999.92	0.00	0.00	0.00	0.000	0.000	0.000	1529.03	1574.69	1483.38	2789.38	2088.12	0	0	0	30.00	30.00	30.00
2123.61	8486	364.82	2.03	60.00	1528.1	1575.4	1480.8	2790.0	2089.1	49.33	7.16	421	2176.83	48.35	0.00	2.90	1.088	0.000	0.073	1288.53	1311.12	1265.94	2789.50	3206.19	0	0	0	11.21	30.00	15.37
2274.14	3141	364.82	2.05	2.08	1285.2	1311.6	1258.8	2789.4	3206.8	37.45	8.27	451	2279.59	0.00	0.16	2.57	0.000	0.090	0.021	1285.56	1312.19	1258.94	2829.25	2090.25	0	0	0	30.00	15.68	15.78
2404.01	580	364.82	2.06	-60.00	1283.2	1311.6	1254.8	2830.0	2089.7	26.71	8.28	477	2409.58	0.00	0.00	2.81	0.000	0.000	0.076	1283.25	1311.62	1254.88	2829.38	994.62	0	0	0	30.00	30.00	15.81
2504.03	1092	364.82	2.07	1.40	1282.5	1311.8	1253.1	2829.5	994.6	18.13	8.62	497	2509.60	0.00	0.00	2.73	0.000	0.000	0.021	1282.19	1311.56	1252.81	2830.19	2168.75	0	0	0	30.00	30.00	15.86
2634.09	324	364.82	2.09	60.00	1281.8	1312.9	1250.6	2829.2	2168.6	8.32	8.23	523	2639.80	0.00	0.00	2.67	0.000	0.000	0.077	1282.16	1313.12	1251.19	2828.56	3206.69	0	0	0	30.00	30.00	15.86
2664.24	1028	364.82	2.09	1.54	1281.5	1312.8	1250.2	2829.6	3207.9	5.56	9.10	529	2669.62	0.00	0.00	2.57	0.000	0.000	0.022	1281.75	1312.94	1250.56	2830.38	2080.69	0	0	0	30.00	30.00	15.88
2683	end climb: SURFACE_DEPTH_REACHED
state	2683	begin surface coast
2728	end surface coast: CONTROL_FINISHED_OK
state	2729	begin surface