Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1306 * 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 1306 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 105.24473 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 341.43973 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 105.24473 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 341.43973 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 1306 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 210322,183709,4703.681,-12446.692,55,0.9,56,15.7 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210322,184343,4703.744,-12446.730,4,0.9,7,15.7 MHEAD_RNG_PITCHd_Wd 111.4,9012,-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 0.2,1.021230 MEM0 60876,1,0,0

SM_CCo 2786.86,24.61,1.062,0,1145.0,1143.2,1146.8,399.85 MEM1 65508,1,0,0

SM_GC 0.47,24.61,16.11,0.55,1.062,0.036,0.060,1145.0,1143.2,1146.8,190.4,2352.8,0,0,0,11.15,15.84,15.89 MEM2 971084,38,75524,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 22546,543

IRIDIUM_FIX 4703.15,-12444.51,210322,183950 CAP_FILE_SIZE 155046,0

TCM_TEMP 266.94 SDSIZE 4028416,3720544

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4676,1

HUMID 51.64 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.98 CURRENT 0.064, 21.5,1

INTERNAL_PRESSURE 8.91839 MAGCAL 1.000000,-0.019081,-0.142450,0.020043,1.023023,-0.064448,0.062845,-0.030306,0.921432,734.7,-310.0,144.4,24,0.0432,0

_24V_AH 14.76,464.151 IMPLIED_C_PITCH 2395,12.03,358

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2894,21.956766,321

FG_AHR_24Vo 341.567 GPS 210322,193039,4703.725,-12446.437,4,1.4,9,15.7

FG_AHR_10Vo 105.253

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 460 1228 8349.01 legato 34 20 10.06

Pitch_motor 35 223 117.83 nil 0 0 0.00

Roll_motor 62 116 106.47 nil 0 0 0.00

Iridium 169 184 461.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.52 nil 0 0 0.00

Core 1531 11 271.04 SciCon 0 0 0.00

LPSleep 1577 2 66.25 nil 0 0 0.00

Compass 373 5 28.00 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

6.07 16386 -116.79 -1.44 0.00 1142.0 1141.1 1142.9 173.2 2264.1 0.00 0.00 0 72.00 64.78 0.00 0.00 0.005 0.000 0.000 2741.06 2915.50 2566.62 173.38 2264.62 0 0 0 14.88 30.00 30.00

72.74 18727 -116.79 -1.44 60.00 2740.4 2914.8 2566.0 173.3 2264.7 3.04 -4.41 12 109.97 12.59 14.05 3.01 0.006 0.224 0.082 3250.34 3468.19 3032.50 1971.06 3424.88 0 0 0 15.01 15.53 14.90

172.43 1028 -116.79 -1.44 0.00 3250.7 3468.0 3033.3 1971.3 3424.6 17.02 -13.49 32 177.61 0.00 0.00 2.62 0.000 0.000 0.018 3250.56 3467.12 3034.00 1971.19 2249.94 0 0 0 30.00 30.00 15.88

302.11 0 -116.79 -1.44 0.00 3250.5 3468.0 3032.9 1970.6 2248.9 32.93 -12.25 58 303.44 0.00 0.00 0.00 0.000 0.000 0.000 3250.41 3466.75 3034.06 1970.81 2248.62 0 0 0 30.00 30.00 30.00

427.15 260 -116.79 -1.44 60.00 3250.4 3467.5 3033.4 1970.9 2248.8 47.32 -10.98 83 432.96 0.00 0.00 3.03 0.000 0.000 0.078 3250.56 3467.75 3033.38 1971.00 3428.38 0 0 0 30.00 30.00 15.87

457.33 1028 -116.79 -1.44 0.19 3250.5 3467.2 3033.8 1970.6 3427.6 50.87 -11.83 89 462.73 0.00 0.00 2.62 0.000 0.000 0.018 3250.22 3466.44 3034.00 1970.62 2252.44 0 0 0 30.00 30.00 15.92

587.22 260 -116.79 -1.44 60.00 3250.0 3466.4 3033.6 1971.0 2249.9 63.93 -9.55 115 592.82 0.00 0.00 3.03 0.000 0.000 0.079 3250.12 3465.81 3034.44 1970.56 3427.69 0 0 0 30.00 30.00 15.88

627.22 1028 -116.79 -1.44 0.57 3250.1 3466.2 3033.9 1970.8 3426.9 68.16 -10.73 123 632.76 0.00 0.00 2.59 0.000 0.000 0.018 3250.25 3466.44 3034.06 1971.44 2254.00 0 0 0 30.00 30.00 15.93

757.27 260 -116.79 -1.44 60.00 3250.3 3466.5 3034.1 1970.8 2252.6 80.02 -8.62 149 762.89 0.00 0.00 3.02 0.000 0.000 0.079 3250.19 3466.06 3034.31 1970.94 3426.12 0 0 0 30.00 30.00 15.89

792.27 1028 -116.79 -1.44 1.21 3250.4 3466.3 3034.5 1971.1 3425.6 83.28 -9.18 156 797.82 0.00 0.00 2.55 0.000 0.000 0.018 3250.12 3466.00 3034.25 1971.12 2260.25 0 0 0 30.00 30.00 15.94

922.33 260 -116.79 -1.44 60.00 3250.0 3466.1 3033.9 1970.8 2259.8 94.62 -8.30 182 927.94 0.00 0.00 3.01 0.000 0.000 0.078 3251.25 3466.75 3035.75 1970.31 3426.06 0 0 0 30.00 30.00 15.89

942.33 1028 -116.79 -1.44 1.21 3250.3 3466.4 3034.1 1971.2 3425.7 96.49 -8.77 186 947.86 0.00 0.00 2.56 0.000 0.000 0.018 3250.41 3466.69 3034.12 1971.25 2259.75 0 0 0 30.00 30.00 15.95

1036 end dive: TARGET_DEPTH_EXCEEDED

state 1037 begin apogee

1039.22 10243 0.00 -0.28 0.00 3250.8 3466.9 3034.6 1970.9 2044.6 105.17 -8.94 205 1126.67 83.00 1.95 0.17 1.229 0.132 0.116 2773.47 2905.50 2641.44 2254.38 2157.12 0 0 0 10.94 15.83 15.34

1128 end apogee: CONTROL_FINISHED_OK

state 1129 begin climb

1129.83 11271 116.79 1.44 0.00 2773.7 2907.6 2639.9 2255.3 2166.5 108.56 0.00 222 1221.44 85.36 2.74 0.19 1.170 0.087 0.072 2297.38 2362.50 2232.25 2674.56 2034.44 0 0 0 11.84 15.60 15.70

1403.69 10535 261.45 1.73 60.00 2292.3 2362.6 2222.1 2674.6 2034.2 98.96 4.38 277 1517.87 107.42 0.41 3.07 1.144 0.056 0.071 1709.50 1742.25 1676.75 2755.75 3204.12 0 0 0 11.30 15.71 15.25

1585.66 1092 261.45 1.76 0.90 1704.5 1741.4 1667.6 2756.2 3204.6 86.77 7.60 313 1590.64 0.00 0.00 2.62 0.000 0.000 0.021 1704.00 1743.19 1664.81 2756.31 2072.44 0 0 0 30.00 30.00 15.66

1715.15 16710 261.45 1.79 60.00 1699.1 1745.4 1652.8 2756.2 2072.6 76.70 7.92 339 1720.91 0.00 0.00 2.93 0.000 0.000 0.071 1699.88 1746.12 1653.62 2755.94 3207.06 0 0 0 30.00 30.00 15.76

1750.27 17478 261.45 1.80 1.92 1699.1 1746.4 1651.8 2756.3 3207.1 73.69 8.57 346 1755.68 0.00 0.00 2.57 0.000 0.000 0.021 1698.97 1746.19 1651.75 2755.88 2088.62 0 0 0 30.00 30.00 15.78

1880.20 16966 261.45 1.83 -60.00 1697.6 1747.0 1648.2 2755.9 2088.1 63.39 7.76 372 1885.76 0.00 0.00 2.76 0.000 0.000 0.077 1697.34 1747.06 1647.62 2756.31 993.25 0 0 0 30.00 30.00 15.81

1920.20 17478 261.45 1.87 1.41 1697.0 1747.0 1647.0 2755.9 993.4 60.44 7.30 380 1925.76 0.00 0.00 2.72 0.000 0.000 0.021 1698.16 1748.44 1647.88 2756.12 2170.25 0 0 0 30.00 30.00 15.84

2050.26 10535 368.58 2.08 60.00 1696.7 1748.0 1645.3 2756.6 2170.4 52.92 5.62 406 2138.54 82.59 0.41 2.68 1.103 0.058 0.077 1272.66 1288.38 1256.94 2839.88 3206.00 0 0 0 11.15 15.84 15.33

2240.65 1092 368.58 2.10 2.46 1269.0 1288.4 1249.6 2839.6 3205.6 38.91 8.07 444 2246.18 0.00 0.00 2.55 0.000 0.000 0.021 1268.75 1288.12 1249.38 2839.44 2098.50 0 0 0 30.00 30.00 15.74

2370.69 580 368.58 2.12 -60.00 1266.2 1288.2 1244.1 2840.1 2098.9 28.15 8.38 470 2376.24 0.00 0.00 2.82 0.000 0.000 0.076 1266.41 1288.69 1244.12 2839.50 992.25 0 0 0 30.00 30.00 15.79

2430.67 1028 368.58 2.12 2.20 1265.4 1288.7 1242.2 2839.7 992.1 22.97 8.70 482 2436.42 0.00 0.00 2.77 0.000 0.000 0.021 1265.53 1288.25 1242.81 2839.31 2180.25 0 0 0 30.00 30.00 15.83

2560.82 324 368.58 2.16 60.00 1265.0 1289.3 1240.8 2839.9 2180.2 12.83 7.23 508 2566.24 0.00 0.00 2.62 0.000 0.000 0.076 1265.03 1289.62 1240.44 2840.19 3205.50 0 0 0 30.00 30.00 15.84

2605.70 1092 368.58 2.18 2.70 1264.8 1289.3 1240.3 2840.1 3205.9 9.17 8.12 517 2611.23 0.00 0.00 2.53 0.000 0.000 0.021 1264.94 1289.62 1240.25 2839.81 2098.88 0 0 0 30.00 30.00 15.88

2675 end climb: SURFACE_DEPTH_REACHED

state 2675 begin surface coast

2735 end surface coast: CONTROL_FINISHED_OK

state 2735 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	1306	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	105.24473	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	341.43973	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	210322,183709,4703.681,-12446.692,55,0.9,56,15.7	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210322,184343,4703.744,-12446.730,4,0.9,7,15.7	MHEAD_RNG_PITCHd_Wd	111.4,9012,-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	0.2,1.021230	MEM0	60876,1,0,0
SM_CCo	2786.86,24.61,1.062,0,1145.0,1143.2,1146.8,399.85	MEM1	65508,1,0,0
SM_GC	0.47,24.61,16.11,0.55,1.062,0.036,0.060,1145.0,1143.2,1146.8,190.4,2352.8,0,0,0,11.15,15.84,15.89	MEM2	971084,38,75524,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	22546,543
IRIDIUM_FIX	4703.15,-12444.51,210322,183950	CAP_FILE_SIZE	155046,0
TCM_TEMP	266.94	SDSIZE	4028416,3720544
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4676,1
HUMID	51.64	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.98	CURRENT	0.064, 21.5,1
INTERNAL_PRESSURE	8.91839	MAGCAL	1.000000,-0.019081,-0.142450,0.020043,1.023023,-0.064448,0.062845,-0.030306,0.921432,734.7,-310.0,144.4,24,0.0432,0
_24V_AH	14.76,464.151	IMPLIED_C_PITCH	2395,12.03,358
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2894,21.956766,321
FG_AHR_24Vo	341.567	GPS	210322,193039,4703.725,-12446.437,4,1.4,9,15.7
FG_AHR_10Vo	105.253

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	460	1228	8349.01	legato	34	20	10.06
Pitch_motor	35	223	117.83	nil	0	0	0.00
Roll_motor	62	116	106.47	nil	0	0	0.00
Iridium	169	184	461.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.52	nil	0	0	0.00
Core	1531	11	271.04	SciCon	0	0	0.00
LPSleep	1577	2	66.25	nil	0	0	0.00
Compass	373	5	28.00	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
6.07	16386	-116.79	-1.44	0.00	1142.0	1141.1	1142.9	173.2	2264.1	0.00	0.00	0	72.00	64.78	0.00	0.00	0.005	0.000	0.000	2741.06	2915.50	2566.62	173.38	2264.62	0	0	0	14.88	30.00	30.00
72.74	18727	-116.79	-1.44	60.00	2740.4	2914.8	2566.0	173.3	2264.7	3.04	-4.41	12	109.97	12.59	14.05	3.01	0.006	0.224	0.082	3250.34	3468.19	3032.50	1971.06	3424.88	0	0	0	15.01	15.53	14.90
172.43	1028	-116.79	-1.44	0.00	3250.7	3468.0	3033.3	1971.3	3424.6	17.02	-13.49	32	177.61	0.00	0.00	2.62	0.000	0.000	0.018	3250.56	3467.12	3034.00	1971.19	2249.94	0	0	0	30.00	30.00	15.88
302.11	0	-116.79	-1.44	0.00	3250.5	3468.0	3032.9	1970.6	2248.9	32.93	-12.25	58	303.44	0.00	0.00	0.00	0.000	0.000	0.000	3250.41	3466.75	3034.06	1970.81	2248.62	0	0	0	30.00	30.00	30.00
427.15	260	-116.79	-1.44	60.00	3250.4	3467.5	3033.4	1970.9	2248.8	47.32	-10.98	83	432.96	0.00	0.00	3.03	0.000	0.000	0.078	3250.56	3467.75	3033.38	1971.00	3428.38	0	0	0	30.00	30.00	15.87
457.33	1028	-116.79	-1.44	0.19	3250.5	3467.2	3033.8	1970.6	3427.6	50.87	-11.83	89	462.73	0.00	0.00	2.62	0.000	0.000	0.018	3250.22	3466.44	3034.00	1970.62	2252.44	0	0	0	30.00	30.00	15.92
587.22	260	-116.79	-1.44	60.00	3250.0	3466.4	3033.6	1971.0	2249.9	63.93	-9.55	115	592.82	0.00	0.00	3.03	0.000	0.000	0.079	3250.12	3465.81	3034.44	1970.56	3427.69	0	0	0	30.00	30.00	15.88
627.22	1028	-116.79	-1.44	0.57	3250.1	3466.2	3033.9	1970.8	3426.9	68.16	-10.73	123	632.76	0.00	0.00	2.59	0.000	0.000	0.018	3250.25	3466.44	3034.06	1971.44	2254.00	0	0	0	30.00	30.00	15.93
757.27	260	-116.79	-1.44	60.00	3250.3	3466.5	3034.1	1970.8	2252.6	80.02	-8.62	149	762.89	0.00	0.00	3.02	0.000	0.000	0.079	3250.19	3466.06	3034.31	1970.94	3426.12	0	0	0	30.00	30.00	15.89
792.27	1028	-116.79	-1.44	1.21	3250.4	3466.3	3034.5	1971.1	3425.6	83.28	-9.18	156	797.82	0.00	0.00	2.55	0.000	0.000	0.018	3250.12	3466.00	3034.25	1971.12	2260.25	0	0	0	30.00	30.00	15.94
922.33	260	-116.79	-1.44	60.00	3250.0	3466.1	3033.9	1970.8	2259.8	94.62	-8.30	182	927.94	0.00	0.00	3.01	0.000	0.000	0.078	3251.25	3466.75	3035.75	1970.31	3426.06	0	0	0	30.00	30.00	15.89
942.33	1028	-116.79	-1.44	1.21	3250.3	3466.4	3034.1	1971.2	3425.7	96.49	-8.77	186	947.86	0.00	0.00	2.56	0.000	0.000	0.018	3250.41	3466.69	3034.12	1971.25	2259.75	0	0	0	30.00	30.00	15.95
1036	end dive: TARGET_DEPTH_EXCEEDED
state	1037	begin apogee
1039.22	10243	0.00	-0.28	0.00	3250.8	3466.9	3034.6	1970.9	2044.6	105.17	-8.94	205	1126.67	83.00	1.95	0.17	1.229	0.132	0.116	2773.47	2905.50	2641.44	2254.38	2157.12	0	0	0	10.94	15.83	15.34
1128	end apogee: CONTROL_FINISHED_OK
state	1129	begin climb
1129.83	11271	116.79	1.44	0.00	2773.7	2907.6	2639.9	2255.3	2166.5	108.56	0.00	222	1221.44	85.36	2.74	0.19	1.170	0.087	0.072	2297.38	2362.50	2232.25	2674.56	2034.44	0	0	0	11.84	15.60	15.70
1403.69	10535	261.45	1.73	60.00	2292.3	2362.6	2222.1	2674.6	2034.2	98.96	4.38	277	1517.87	107.42	0.41	3.07	1.144	0.056	0.071	1709.50	1742.25	1676.75	2755.75	3204.12	0	0	0	11.30	15.71	15.25
1585.66	1092	261.45	1.76	0.90	1704.5	1741.4	1667.6	2756.2	3204.6	86.77	7.60	313	1590.64	0.00	0.00	2.62	0.000	0.000	0.021	1704.00	1743.19	1664.81	2756.31	2072.44	0	0	0	30.00	30.00	15.66
1715.15	16710	261.45	1.79	60.00	1699.1	1745.4	1652.8	2756.2	2072.6	76.70	7.92	339	1720.91	0.00	0.00	2.93	0.000	0.000	0.071	1699.88	1746.12	1653.62	2755.94	3207.06	0	0	0	30.00	30.00	15.76
1750.27	17478	261.45	1.80	1.92	1699.1	1746.4	1651.8	2756.3	3207.1	73.69	8.57	346	1755.68	0.00	0.00	2.57	0.000	0.000	0.021	1698.97	1746.19	1651.75	2755.88	2088.62	0	0	0	30.00	30.00	15.78
1880.20	16966	261.45	1.83	-60.00	1697.6	1747.0	1648.2	2755.9	2088.1	63.39	7.76	372	1885.76	0.00	0.00	2.76	0.000	0.000	0.077	1697.34	1747.06	1647.62	2756.31	993.25	0	0	0	30.00	30.00	15.81
1920.20	17478	261.45	1.87	1.41	1697.0	1747.0	1647.0	2755.9	993.4	60.44	7.30	380	1925.76	0.00	0.00	2.72	0.000	0.000	0.021	1698.16	1748.44	1647.88	2756.12	2170.25	0	0	0	30.00	30.00	15.84
2050.26	10535	368.58	2.08	60.00	1696.7	1748.0	1645.3	2756.6	2170.4	52.92	5.62	406	2138.54	82.59	0.41	2.68	1.103	0.058	0.077	1272.66	1288.38	1256.94	2839.88	3206.00	0	0	0	11.15	15.84	15.33
2240.65	1092	368.58	2.10	2.46	1269.0	1288.4	1249.6	2839.6	3205.6	38.91	8.07	444	2246.18	0.00	0.00	2.55	0.000	0.000	0.021	1268.75	1288.12	1249.38	2839.44	2098.50	0	0	0	30.00	30.00	15.74
2370.69	580	368.58	2.12	-60.00	1266.2	1288.2	1244.1	2840.1	2098.9	28.15	8.38	470	2376.24	0.00	0.00	2.82	0.000	0.000	0.076	1266.41	1288.69	1244.12	2839.50	992.25	0	0	0	30.00	30.00	15.79
2430.67	1028	368.58	2.12	2.20	1265.4	1288.7	1242.2	2839.7	992.1	22.97	8.70	482	2436.42	0.00	0.00	2.77	0.000	0.000	0.021	1265.53	1288.25	1242.81	2839.31	2180.25	0	0	0	30.00	30.00	15.83
2560.82	324	368.58	2.16	60.00	1265.0	1289.3	1240.8	2839.9	2180.2	12.83	7.23	508	2566.24	0.00	0.00	2.62	0.000	0.000	0.076	1265.03	1289.62	1240.44	2840.19	3205.50	0	0	0	30.00	30.00	15.84
2605.70	1092	368.58	2.18	2.70	1264.8	1289.3	1240.3	2840.1	3205.9	9.17	8.12	517	2611.23	0.00	0.00	2.53	0.000	0.000	0.021	1264.94	1289.62	1240.25	2839.81	2098.88	0	0	0	30.00	30.00	15.88
2675	end climb: SURFACE_DEPTH_REACHED
state	2675	begin surface coast
2735	end surface coast: CONTROL_FINISHED_OK
state	2735	begin surface