Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1305 * 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 1305 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 105.23517 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 341.30475 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 105.23517 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 341.30475 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 1305 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 210322,174747,4703.640,-12446.947,3,1.3,6,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,175256,4703.683,-12446.983,4,1.2,7,15.7 MHEAD_RNG_PITCHd_Wd 99.7,9280,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 105

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 0.2,1.024511 FG_AHR_10Vo 105.243

SM_CCo 2576.05,11.93,0.957,0,1145.6,1139.9,1151.2,399.70 MEM0 60876,1,0,0

SM_GC 1.06,11.93,16.17,0.33,0.957,0.041,0.058,1145.6,1139.9,1151.2,173.4,2353.2,0,0,0,11.22,15.83,15.87 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971208,29,75580,60

IRIDIUM_FIX 4704.45,-12446.31,210322,165827 DATA_FILE_SIZE 22618,503

TCM_TEMP 267.00 CAP_FILE_SIZE 150640,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3720672

HUMID 51.63 SDFILEDIR 4673,1

TEMP 81.97 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.9153 CURRENT 0.057,356.6,1

_24V_AH 14.72,463.996 IMPLIED_C_PITCH 2412,11.70,320

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2957,23.702806,318

FG_AHR_24Vo 341.431 GPS 210322,183709,4703.681,-12446.692,55,0.9,56,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 463 1223 8345.11 legato 34 20 10.16

Pitch_motor 35 226 120.13 nil 0 0 0.00

Roll_motor 61 113 102.57 nil 0 0 0.00

Iridium 153 178 404.13 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 16 15 3.75 nil 0 0 0.00

Core 1456 11 257.88 SciCon 0 0 0.00

LPSleep 1365 2 57.35 nil 0 0 0.00

Compass 348 5 26.15 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 1138.4 1143.9 1132.9 173.4 2244.1 0.00 0.00 0 77.08 69.88 0.00 0.00 0.005 0.000 0.000 2842.84 3019.50 2666.19 173.44 2242.75 0 0 0 14.88 30.00 30.00

77.83 18727 -116.79 -1.44 60.00 2841.7 3017.6 2665.8 173.3 2242.6 3.00 -3.76 13 111.57 10.10 14.16 3.08 0.007 0.227 0.080 3250.56 3467.31 3033.81 1970.69 3426.62 0 0 0 14.99 15.51 14.91

184.03 1028 -116.79 -1.44 0.00 3251.5 3466.7 3036.2 1971.1 3425.9 17.92 -13.41 34 189.20 0.00 0.00 2.64 0.000 0.000 0.017 3251.22 3466.31 3036.12 1971.00 2248.88 0 0 0 30.00 30.00 15.87

313.67 516 -116.79 -1.44 -60.00 3251.1 3466.2 3035.9 1971.0 2247.8 33.69 -11.52 60 319.19 0.00 0.00 2.58 0.000 0.000 0.061 3251.69 3466.12 3037.25 1970.56 1209.44 0 0 0 30.00 30.00 15.89

328.66 1028 -116.79 -1.44 0.16 3251.0 3466.1 3035.9 1971.0 1208.6 35.41 -11.41 63 334.41 0.00 0.00 2.68 0.000 0.000 0.025 3251.38 3466.44 3036.31 1971.25 2355.62 0 0 0 30.00 30.00 15.91

458.82 260 -116.79 -1.44 60.00 3251.1 3465.6 3036.5 1971.0 2355.5 49.43 -10.47 89 464.26 0.00 0.00 2.76 0.000 0.000 0.081 3252.09 3467.56 3036.62 1971.31 3427.12 0 0 0 30.00 30.00 15.88

483.70 1028 -116.79 -1.44 0.30 3251.2 3466.1 3036.2 1971.1 3426.9 52.17 -10.83 94 489.25 0.00 0.00 2.61 0.000 0.000 0.018 3251.84 3467.12 3036.56 1971.06 2249.88 0 0 0 30.00 30.00 15.91

613.73 260 -116.79 -1.44 60.00 3251.1 3465.7 3036.5 1970.8 2248.8 65.47 -10.29 120 619.34 0.00 0.00 3.04 0.000 0.000 0.077 3252.41 3466.56 3038.25 1971.19 3427.19 0 0 0 30.00 30.00 15.88

653.72 1028 -116.79 -1.44 0.71 3251.0 3465.8 3036.2 1970.9 3428.1 69.93 -11.29 128 659.25 0.00 0.00 2.60 0.000 0.000 0.018 3251.56 3466.25 3036.88 1971.19 2256.69 0 0 0 30.00 30.00 15.93

783.75 0 -116.79 -1.44 0.71 3251.1 3465.5 3036.7 1970.8 2255.4 82.75 -9.42 154 785.08 0.00 0.00 0.00 0.000 0.000 0.000 3250.59 3465.12 3036.06 1970.50 2255.69 0 0 0 30.00 30.00 30.00

908.75 260 -116.79 -1.44 60.00 3251.2 3465.8 3036.8 1970.9 2255.9 92.84 -7.51 179 914.37 0.00 0.00 3.03 0.000 0.000 0.078 3251.69 3465.69 3037.69 1970.62 3425.94 0 0 0 30.00 30.00 15.90

978.77 1028 -116.79 -1.44 1.44 3250.7 3465.2 3036.1 1971.0 3425.4 98.28 -7.77 193 984.30 0.00 0.00 2.56 0.000 0.000 0.018 3252.19 3466.69 3037.69 1970.56 2262.94 0 0 0 30.00 30.00 15.94

1073 end dive: TARGET_DEPTH_EXCEEDED

state 1073 begin apogee

1075.67 10243 0.00 -0.28 0.00 3250.8 3465.2 3036.4 1971.0 2045.4 105.05 -7.37 212 1163.11 82.68 1.96 0.17 1.224 0.131 0.114 2773.47 2905.19 2641.75 2254.50 2168.38 0 0 0 10.96 15.84 15.36

1165 end apogee: CONTROL_FINISHED_OK

state 1165 begin climb

1166.26 10503 116.79 1.44 60.00 2774.4 2906.2 2642.5 2254.5 2168.9 107.66 0.00 229 1262.11 85.10 2.90 2.67 1.169 0.123 0.072 2299.16 2367.19 2231.12 2672.25 3208.00 0 0 0 11.78 15.57 15.70

1269.49 11303 320.49 1.85 0.00 2297.6 2366.8 2228.3 2672.2 3207.9 105.44 2.43 250 1429.38 151.13 0.61 2.68 1.135 0.047 0.020 1467.56 1496.19 1438.94 2787.88 2053.75 0 0 0 11.65 15.50 15.57

1552.09 260 320.49 1.85 60.00 1461.5 1497.1 1425.9 2787.3 2053.1 81.59 9.49 306 1557.37 0.00 0.00 2.98 0.000 0.000 0.069 1461.62 1496.44 1426.81 2787.62 3205.25 0 0 0 30.00 30.00 15.70

1611.77 1028 320.49 1.85 1.22 1461.0 1496.9 1425.1 2787.9 3205.9 75.53 10.20 318 1617.13 0.00 0.00 2.60 0.000 0.000 0.021 1462.06 1497.56 1426.56 2787.81 2076.88 0 0 0 30.00 30.00 15.73

1741.62 16902 320.49 1.85 -60.00 1459.6 1498.1 1421.1 2788.2 2077.3 63.40 9.18 344 1747.18 0.00 0.00 2.78 0.000 0.000 0.078 1459.97 1498.06 1421.88 2787.75 993.00 0 0 0 30.00 30.00 15.78

1761.61 17414 320.49 1.85 1.45 1459.2 1498.4 1420.0 2788.6 993.1 61.60 9.04 348 1767.18 0.00 0.00 2.73 0.000 0.000 0.021 1459.06 1497.94 1420.19 2788.38 2168.94 0 0 0 30.00 30.00 15.81

1891.65 16710 320.49 1.89 60.00 1458.9 1499.6 1418.2 2788.1 2168.8 51.21 7.37 374 1897.18 0.00 0.00 2.64 0.000 0.000 0.075 1459.38 1500.19 1418.56 2788.62 3205.88 0 0 0 30.00 30.00 15.83

1971.65 17478 320.49 1.93 2.24 1459.2 1500.1 1418.3 2788.2 3205.6 45.61 7.22 390 1977.18 0.00 0.00 2.53 0.000 0.000 0.021 1460.91 1502.25 1419.56 2787.56 2091.75 0 0 0 30.00 30.00 15.87

2101.68 10535 386.40 2.06 60.00 1458.7 1500.8 1416.6 2787.9 2091.6 36.40 6.99 416 2160.03 52.41 0.19 2.88 1.080 0.081 0.072 1199.47 1213.38 1185.56 2833.44 3205.75 0 0 0 11.13 15.85 15.38

2202.14 1028 386.40 2.06 2.69 1198.1 1214.1 1182.1 2833.2 3205.8 27.57 9.75 436 2207.67 0.00 0.00 2.53 0.000 0.000 0.021 1198.16 1214.56 1181.75 2833.94 2100.94 0 0 0 30.00 30.00 15.77

2332.20 580 386.40 2.09 -60.00 1196.2 1214.6 1177.8 2833.9 2100.9 17.04 7.55 462 2337.95 0.00 0.00 2.81 0.000 0.000 0.076 1196.19 1214.88 1177.50 2833.69 991.94 0 0 0 30.00 30.00 15.81

2382.36 1028 386.40 2.09 2.54 1195.5 1214.4 1176.7 2834.1 992.2 12.36 9.55 472 2387.75 0.00 0.00 2.78 0.000 0.000 0.022 1196.59 1215.44 1177.75 2832.75 2187.06 0 0 0 30.00 30.00 15.85

2481 end climb: SURFACE_DEPTH_REACHED

state 2482 begin surface coast

2537 end surface coast: CONTROL_FINISHED_OK

state 2537 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	1305	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	105.23517	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	341.30475	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	210322,174747,4703.640,-12446.947,3,1.3,6,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,175256,4703.683,-12446.983,4,1.2,7,15.7	MHEAD_RNG_PITCHd_Wd	99.7,9280,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	105
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	0.2,1.024511	FG_AHR_10Vo	105.243
SM_CCo	2576.05,11.93,0.957,0,1145.6,1139.9,1151.2,399.70	MEM0	60876,1,0,0
SM_GC	1.06,11.93,16.17,0.33,0.957,0.041,0.058,1145.6,1139.9,1151.2,173.4,2353.2,0,0,0,11.22,15.83,15.87	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971208,29,75580,60
IRIDIUM_FIX	4704.45,-12446.31,210322,165827	DATA_FILE_SIZE	22618,503
TCM_TEMP	267.00	CAP_FILE_SIZE	150640,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3720672
HUMID	51.63	SDFILEDIR	4673,1
TEMP	81.97	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.9153	CURRENT	0.057,356.6,1
_24V_AH	14.72,463.996	IMPLIED_C_PITCH	2412,11.70,320
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2957,23.702806,318
FG_AHR_24Vo	341.431	GPS	210322,183709,4703.681,-12446.692,55,0.9,56,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	463	1223	8345.11	legato	34	20	10.16
Pitch_motor	35	226	120.13	nil	0	0	0.00
Roll_motor	61	113	102.57	nil	0	0	0.00
Iridium	153	178	404.13	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	16	15	3.75	nil	0	0	0.00
Core	1456	11	257.88	SciCon	0	0	0.00
LPSleep	1365	2	57.35	nil	0	0	0.00
Compass	348	5	26.15	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	1138.4	1143.9	1132.9	173.4	2244.1	0.00	0.00	0	77.08	69.88	0.00	0.00	0.005	0.000	0.000	2842.84	3019.50	2666.19	173.44	2242.75	0	0	0	14.88	30.00	30.00
77.83	18727	-116.79	-1.44	60.00	2841.7	3017.6	2665.8	173.3	2242.6	3.00	-3.76	13	111.57	10.10	14.16	3.08	0.007	0.227	0.080	3250.56	3467.31	3033.81	1970.69	3426.62	0	0	0	14.99	15.51	14.91
184.03	1028	-116.79	-1.44	0.00	3251.5	3466.7	3036.2	1971.1	3425.9	17.92	-13.41	34	189.20	0.00	0.00	2.64	0.000	0.000	0.017	3251.22	3466.31	3036.12	1971.00	2248.88	0	0	0	30.00	30.00	15.87
313.67	516	-116.79	-1.44	-60.00	3251.1	3466.2	3035.9	1971.0	2247.8	33.69	-11.52	60	319.19	0.00	0.00	2.58	0.000	0.000	0.061	3251.69	3466.12	3037.25	1970.56	1209.44	0	0	0	30.00	30.00	15.89
328.66	1028	-116.79	-1.44	0.16	3251.0	3466.1	3035.9	1971.0	1208.6	35.41	-11.41	63	334.41	0.00	0.00	2.68	0.000	0.000	0.025	3251.38	3466.44	3036.31	1971.25	2355.62	0	0	0	30.00	30.00	15.91
458.82	260	-116.79	-1.44	60.00	3251.1	3465.6	3036.5	1971.0	2355.5	49.43	-10.47	89	464.26	0.00	0.00	2.76	0.000	0.000	0.081	3252.09	3467.56	3036.62	1971.31	3427.12	0	0	0	30.00	30.00	15.88
483.70	1028	-116.79	-1.44	0.30	3251.2	3466.1	3036.2	1971.1	3426.9	52.17	-10.83	94	489.25	0.00	0.00	2.61	0.000	0.000	0.018	3251.84	3467.12	3036.56	1971.06	2249.88	0	0	0	30.00	30.00	15.91
613.73	260	-116.79	-1.44	60.00	3251.1	3465.7	3036.5	1970.8	2248.8	65.47	-10.29	120	619.34	0.00	0.00	3.04	0.000	0.000	0.077	3252.41	3466.56	3038.25	1971.19	3427.19	0	0	0	30.00	30.00	15.88
653.72	1028	-116.79	-1.44	0.71	3251.0	3465.8	3036.2	1970.9	3428.1	69.93	-11.29	128	659.25	0.00	0.00	2.60	0.000	0.000	0.018	3251.56	3466.25	3036.88	1971.19	2256.69	0	0	0	30.00	30.00	15.93
783.75	0	-116.79	-1.44	0.71	3251.1	3465.5	3036.7	1970.8	2255.4	82.75	-9.42	154	785.08	0.00	0.00	0.00	0.000	0.000	0.000	3250.59	3465.12	3036.06	1970.50	2255.69	0	0	0	30.00	30.00	30.00
908.75	260	-116.79	-1.44	60.00	3251.2	3465.8	3036.8	1970.9	2255.9	92.84	-7.51	179	914.37	0.00	0.00	3.03	0.000	0.000	0.078	3251.69	3465.69	3037.69	1970.62	3425.94	0	0	0	30.00	30.00	15.90
978.77	1028	-116.79	-1.44	1.44	3250.7	3465.2	3036.1	1971.0	3425.4	98.28	-7.77	193	984.30	0.00	0.00	2.56	0.000	0.000	0.018	3252.19	3466.69	3037.69	1970.56	2262.94	0	0	0	30.00	30.00	15.94
1073	end dive: TARGET_DEPTH_EXCEEDED
state	1073	begin apogee
1075.67	10243	0.00	-0.28	0.00	3250.8	3465.2	3036.4	1971.0	2045.4	105.05	-7.37	212	1163.11	82.68	1.96	0.17	1.224	0.131	0.114	2773.47	2905.19	2641.75	2254.50	2168.38	0	0	0	10.96	15.84	15.36
1165	end apogee: CONTROL_FINISHED_OK
state	1165	begin climb
1166.26	10503	116.79	1.44	60.00	2774.4	2906.2	2642.5	2254.5	2168.9	107.66	0.00	229	1262.11	85.10	2.90	2.67	1.169	0.123	0.072	2299.16	2367.19	2231.12	2672.25	3208.00	0	0	0	11.78	15.57	15.70
1269.49	11303	320.49	1.85	0.00	2297.6	2366.8	2228.3	2672.2	3207.9	105.44	2.43	250	1429.38	151.13	0.61	2.68	1.135	0.047	0.020	1467.56	1496.19	1438.94	2787.88	2053.75	0	0	0	11.65	15.50	15.57
1552.09	260	320.49	1.85	60.00	1461.5	1497.1	1425.9	2787.3	2053.1	81.59	9.49	306	1557.37	0.00	0.00	2.98	0.000	0.000	0.069	1461.62	1496.44	1426.81	2787.62	3205.25	0	0	0	30.00	30.00	15.70
1611.77	1028	320.49	1.85	1.22	1461.0	1496.9	1425.1	2787.9	3205.9	75.53	10.20	318	1617.13	0.00	0.00	2.60	0.000	0.000	0.021	1462.06	1497.56	1426.56	2787.81	2076.88	0	0	0	30.00	30.00	15.73
1741.62	16902	320.49	1.85	-60.00	1459.6	1498.1	1421.1	2788.2	2077.3	63.40	9.18	344	1747.18	0.00	0.00	2.78	0.000	0.000	0.078	1459.97	1498.06	1421.88	2787.75	993.00	0	0	0	30.00	30.00	15.78
1761.61	17414	320.49	1.85	1.45	1459.2	1498.4	1420.0	2788.6	993.1	61.60	9.04	348	1767.18	0.00	0.00	2.73	0.000	0.000	0.021	1459.06	1497.94	1420.19	2788.38	2168.94	0	0	0	30.00	30.00	15.81
1891.65	16710	320.49	1.89	60.00	1458.9	1499.6	1418.2	2788.1	2168.8	51.21	7.37	374	1897.18	0.00	0.00	2.64	0.000	0.000	0.075	1459.38	1500.19	1418.56	2788.62	3205.88	0	0	0	30.00	30.00	15.83
1971.65	17478	320.49	1.93	2.24	1459.2	1500.1	1418.3	2788.2	3205.6	45.61	7.22	390	1977.18	0.00	0.00	2.53	0.000	0.000	0.021	1460.91	1502.25	1419.56	2787.56	2091.75	0	0	0	30.00	30.00	15.87
2101.68	10535	386.40	2.06	60.00	1458.7	1500.8	1416.6	2787.9	2091.6	36.40	6.99	416	2160.03	52.41	0.19	2.88	1.080	0.081	0.072	1199.47	1213.38	1185.56	2833.44	3205.75	0	0	0	11.13	15.85	15.38
2202.14	1028	386.40	2.06	2.69	1198.1	1214.1	1182.1	2833.2	3205.8	27.57	9.75	436	2207.67	0.00	0.00	2.53	0.000	0.000	0.021	1198.16	1214.56	1181.75	2833.94	2100.94	0	0	0	30.00	30.00	15.77
2332.20	580	386.40	2.09	-60.00	1196.2	1214.6	1177.8	2833.9	2100.9	17.04	7.55	462	2337.95	0.00	0.00	2.81	0.000	0.000	0.076	1196.19	1214.88	1177.50	2833.69	991.94	0	0	0	30.00	30.00	15.81
2382.36	1028	386.40	2.09	2.54	1195.5	1214.4	1176.7	2834.1	992.2	12.36	9.55	472	2387.75	0.00	0.00	2.78	0.000	0.000	0.022	1196.59	1215.44	1177.75	2832.75	2187.06	0	0	0	30.00	30.00	15.85
2481	end climb: SURFACE_DEPTH_REACHED
state	2482	begin surface coast
2537	end surface coast: CONTROL_FINISHED_OK
state	2537	begin surface