Glider dive log

NANOOS May22 * SG236 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

MISSION 6 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 14 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 13.5

STOP_T 0 SM_CC 595.40039 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 80 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 210 COMM_SEQ 7 C_VBD 2968 DEEPGLIDERMB 0

D_NO_BLEED 50 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.003 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 25 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 50 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 150 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 250 PHONE_DEVICE 33

T_NO_W 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_EPIRB 0 PITCH_MIN 190 AH0_24V 575 NAV_DEVICE -1

USE_BATHY -1 PITCH_MAX 3920 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2400 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 20 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 25.226091 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 42.791416 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_YINT -166.44843 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022638284 SEABIRD_C_G -10

MASS 72604 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099900002 ROLL_MIN 810 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 1.6e-05 ROLL_MAX 3630 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 7.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2500 ALTIM_PULSE 2

AH0_10V 0 D_OFFGRID 100 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 80 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 2 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 595.40039

ALTIM_SENSITIVITY 4 FG_AHR_10V 25.226091 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 42.791416 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099900002 PITCH_MAX 3920 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 190 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.003 T_DIVE 25

COMPASS2_DEVICE -1 ID 236 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT 0 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2400 KALMAN_USE 2 PRESSURE_SLOPE 0.00022638284 T_MISSION 50

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -166.44843 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2500 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2400 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2968 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 250 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 150 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.0275 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72604 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3630 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 810 W_ADJ_DBAND 0

DIVE 14 MISSION 6 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 210 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 2 NAV2_DEVICE -1 SC_PROFILE 7.0 XPDR_INT 13.5

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 7.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10

D_NO_BLEED 50 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 050522,062639,4755.831,-12457.970,2,1.5,22,15.9 TGT_RADIUS 2500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050522,063122,4755.804,-12457.982,2,0.8,4,15.9 MHEAD_RNG_PITCHd_Wd 261.8,185560,-18.7,-10.667,-22.06,2075,0.667

SPEED_LIMITS 0.185,0.263 D_GRID 91

TGT_NAME OFFSHORE IRON 1.000000,-0.077650,-0.025305,-0.049886,1.073007,0.026290,0.024267,-0.058455,1.030897,-523.402100,-542.123596,-273.818451

TGT_LATLONG 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH -0.0,1.024134 FG_AHR_24Vo 42.961

SM_CCo 2048.08,260.42,0.902,0,541.1,541.6,540.5,595.33 FG_AHR_10Vo 25.240

SM_GC 1.28,260.42,17.19,0.32,0.902,0.051,0.081,541.1,541.6,540.5,170.4,2360.1,0,0,0,12.76,15.77,15.77 MEM0 60148,1,0,0

SUPER 27,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4757.44,-12454.52,050522,062806 MEM2 969004,20,78024,57

TCM_TEMP 176.41 DATA_FILE_SIZE 6547,256

XPDR_PINGS 14,13.5,11.5 CAP_FILE_SIZE 126420,0

SC_FREEKB 3873376 SDSIZE 3918848,3904864

HUMID 51.00 SDFILEDIR 118,1

TEMP 9.28 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.50519 CURRENT 0.206,172.5,1

_24V_AH 14.82,26.703 MAGCAL 1.000000,-0.072504,-0.103142,-0.038575,1.082711,0.016969,0.081514,-0.085660,0.969988,-459.5,-530.6,-184.9,23,0.0301,0

_10V_AH 14.86,0.000 GPS 050522,070559,4755.585,-12458.203,2,0.9,3,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 769 1012 11545.46 nil 0 0 0.00

Pitch_motor 37 255 144.01 nil 0 0 0.00

Roll_motor 20 164 50.02 nil 0 0 0.00

Iridium 170 186 470.58 nil 0 0 0.00

Transponder_ping 3 420 21.79 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 1316 6 133.05 SciCon 1772 18 495.25

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 732 2 21.77

Compass 530 5 39.41

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

8.50 16386 -145.99 -1.37 0.00 535.9 534.2 537.6 170.1 2427.2 0.00 0.00 0 130.75 121.90 0.00 0.00 0.005 0.000 0.000 2920.62 2896.38 2944.88 170.12 2428.00 0 0 0 15.68 30.00 30.00

130.96 18983 -145.99 -1.37 -80.00 2919.5 2894.0 2945.1 170.4 2427.3 3.23 -1.75 12 173.22 16.76 15.64 3.70 0.006 0.256 0.139 3563.41 3550.94 3575.88 2065.56 932.81 0 0 0 14.63 15.69 15.70

391.40 3205 -145.99 -1.26 0.00 3564.3 3550.7 3577.9 2066.2 932.5 52.65 -15.48 64 396.36 0.00 0.19 3.44 0.000 0.172 0.066 3565.25 3551.25 3579.25 2094.94 2426.81 0 0 0 30.00 15.83 15.88

581.41 32 -145.99 -1.26 0.00 3564.4 3550.9 3577.9 2094.3 2426.5 72.09 -8.70 84 582.75 0.00 0.00 0.00 0.000 0.000 0.000 3564.88 3551.44 3578.31 2094.12 2427.19 0 0 0 30.00 30.00 30.00

672 end dive: TARGET_DEPTH_EXCEEDED

state 672 begin apogee

672.51 10243 0.00 -0.25 0.00 3565.0 3551.6 3578.3 2094.4 2533.6 80.31 -9.39 93 797.16 121.54 1.73 0.11 1.013 0.130 0.164 2967.91 2971.81 2964.00 2339.25 2462.69 0 0 0 12.76 15.89 15.53

800 end apogee: CONTROL_FINISHED_OK

state 800 begin climb

802.66 10503 145.99 1.37 80.00 2964.5 2969.4 2959.5 2339.9 2462.9 83.24 0.00 105 942.52 132.74 2.66 2.95 0.980 0.078 0.116 2369.09 2381.88 2356.31 2738.75 3641.12 0 0 0 12.72 15.59 15.37

1040.64 17414 145.99 1.37 0.00 2362.8 2377.3 2348.2 2737.9 3641.1 56.29 13.16 147 1045.45 0.00 0.00 2.76 0.000 0.000 0.061 2362.50 2378.00 2347.00 2737.88 2461.88 0 0 0 30.00 30.00 15.64

1230.68 8742 165.97 1.43 -80.00 2359.8 2376.4 2343.1 2737.9 2461.8 36.25 9.68 167 1256.01 19.25 0.00 3.54 0.883 0.000 0.129 2291.56 2309.19 2273.94 2738.88 1032.00 0 0 0 12.68 30.00 15.64

1484.96 11303 276.50 1.76 0.00 2284.0 2301.6 2266.4 2737.9 1032.3 19.81 5.19 218 1587.63 96.72 0.56 3.44 0.928 0.062 0.064 1839.38 1867.56 1811.19 2840.81 2527.56 0 0 0 12.70 15.79 15.84

1731 end climb: SURFACE_DEPTH_REACHED

state 1731 begin surface coast

1761 end surface coast: CONTROL_FINISHED_OK

state 1761 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
MISSION	6	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	14	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	13.5
STOP_T	0	SM_CC	595.40039	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	80	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	210	COMM_SEQ	7	C_VBD	2968	DEEPGLIDERMB	0
D_NO_BLEED	50	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.003	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	25	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	50	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	150	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	250	PHONE_DEVICE	33
T_NO_W	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_EPIRB	0	PITCH_MIN	190	AH0_24V	575	NAV_DEVICE	-1
USE_BATHY	-1	PITCH_MAX	3920	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2400	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	20	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	25.226091	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	42.791416	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-166.44843	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022638284	SEABIRD_C_G	-10
MASS	72604	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099900002	ROLL_MIN	810	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	1.6e-05	ROLL_MAX	3630	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	7.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2500	ALTIM_PULSE	2

GPS1	050522,062639,4755.831,-12457.970,2,1.5,22,15.9	TGT_RADIUS	2500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050522,063122,4755.804,-12457.982,2,0.8,4,15.9	MHEAD_RNG_PITCHd_Wd	261.8,185560,-18.7,-10.667,-22.06,2075,0.667
SPEED_LIMITS	0.185,0.263	D_GRID	91
TGT_NAME	OFFSHORE	IRON	1.000000,-0.077650,-0.025305,-0.049886,1.073007,0.026290,0.024267,-0.058455,1.030897,-523.402100,-542.123596,-273.818451
TGT_LATLONG	4700.000,-12700.000

FINISH	-0.0,1.024134	FG_AHR_24Vo	42.961
SM_CCo	2048.08,260.42,0.902,0,541.1,541.6,540.5,595.33	FG_AHR_10Vo	25.240
SM_GC	1.28,260.42,17.19,0.32,0.902,0.051,0.081,541.1,541.6,540.5,170.4,2360.1,0,0,0,12.76,15.77,15.77	MEM0	60148,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4757.44,-12454.52,050522,062806	MEM2	969004,20,78024,57
TCM_TEMP	176.41	DATA_FILE_SIZE	6547,256
XPDR_PINGS	14,13.5,11.5	CAP_FILE_SIZE	126420,0
SC_FREEKB	3873376	SDSIZE	3918848,3904864
HUMID	51.00	SDFILEDIR	118,1
TEMP	9.28	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.50519	CURRENT	0.206,172.5,1
_24V_AH	14.82,26.703	MAGCAL	1.000000,-0.072504,-0.103142,-0.038575,1.082711,0.016969,0.081514,-0.085660,0.969988,-459.5,-530.6,-184.9,23,0.0301,0
_10V_AH	14.86,0.000	GPS	050522,070559,4755.585,-12458.203,2,0.9,3,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	769	1012	11545.46	nil	0	0	0.00
Pitch_motor	37	255	144.01	nil	0	0	0.00
Roll_motor	20	164	50.02	nil	0	0	0.00
Iridium	170	186	470.58	nil	0	0	0.00
Transponder_ping	3	420	21.79	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	1316	6	133.05	SciCon	1772	18	495.25
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	732	2	21.77
Compass	530	5	39.41
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
8.50	16386	-145.99	-1.37	0.00	535.9	534.2	537.6	170.1	2427.2	0.00	0.00	0	130.75	121.90	0.00	0.00	0.005	0.000	0.000	2920.62	2896.38	2944.88	170.12	2428.00	0	0	0	15.68	30.00	30.00
130.96	18983	-145.99	-1.37	-80.00	2919.5	2894.0	2945.1	170.4	2427.3	3.23	-1.75	12	173.22	16.76	15.64	3.70	0.006	0.256	0.139	3563.41	3550.94	3575.88	2065.56	932.81	0	0	0	14.63	15.69	15.70
391.40	3205	-145.99	-1.26	0.00	3564.3	3550.7	3577.9	2066.2	932.5	52.65	-15.48	64	396.36	0.00	0.19	3.44	0.000	0.172	0.066	3565.25	3551.25	3579.25	2094.94	2426.81	0	0	0	30.00	15.83	15.88
581.41	32	-145.99	-1.26	0.00	3564.4	3550.9	3577.9	2094.3	2426.5	72.09	-8.70	84	582.75	0.00	0.00	0.00	0.000	0.000	0.000	3564.88	3551.44	3578.31	2094.12	2427.19	0	0	0	30.00	30.00	30.00
672	end dive: TARGET_DEPTH_EXCEEDED
state	672	begin apogee
672.51	10243	0.00	-0.25	0.00	3565.0	3551.6	3578.3	2094.4	2533.6	80.31	-9.39	93	797.16	121.54	1.73	0.11	1.013	0.130	0.164	2967.91	2971.81	2964.00	2339.25	2462.69	0	0	0	12.76	15.89	15.53
800	end apogee: CONTROL_FINISHED_OK
state	800	begin climb
802.66	10503	145.99	1.37	80.00	2964.5	2969.4	2959.5	2339.9	2462.9	83.24	0.00	105	942.52	132.74	2.66	2.95	0.980	0.078	0.116	2369.09	2381.88	2356.31	2738.75	3641.12	0	0	0	12.72	15.59	15.37
1040.64	17414	145.99	1.37	0.00	2362.8	2377.3	2348.2	2737.9	3641.1	56.29	13.16	147	1045.45	0.00	0.00	2.76	0.000	0.000	0.061	2362.50	2378.00	2347.00	2737.88	2461.88	0	0	0	30.00	30.00	15.64
1230.68	8742	165.97	1.43	-80.00	2359.8	2376.4	2343.1	2737.9	2461.8	36.25	9.68	167	1256.01	19.25	0.00	3.54	0.883	0.000	0.129	2291.56	2309.19	2273.94	2738.88	1032.00	0	0	0	12.68	30.00	15.64
1484.96	11303	276.50	1.76	0.00	2284.0	2301.6	2266.4	2737.9	1032.3	19.81	5.19	218	1587.63	96.72	0.56	3.44	0.928	0.062	0.064	1839.38	1867.56	1811.19	2840.81	2527.56	0	0	0	12.70	15.79	15.84
1731	end climb: SURFACE_DEPTH_REACHED
state	1731	begin surface coast
1761	end surface coast: CONTROL_FINISHED_OK
state	1761	begin surface