Glider dive log

NANOOS May22 * SG236 * Dive index * Mission links * Dive 18 * 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 18 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 25.284025 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 43.500797 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 25.284025 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 43.500797 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 18 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 050522,090238,4754.913,-12458.805,1,1.1,4,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.22 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050522,090632,4754.911,-12458.795,3,1.0,33,15.9 MHEAD_RNG_PITCHd_Wd 265.5,183788,-18.7,-10.667,-22.06,2075,0.701

SPEED_LIMITS 0.185,0.263 D_GRID 96

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 -0.1,1.024079 FG_AHR_24Vo 43.671

SM_CCo 1971.65,280.77,0.903,0,541.2,540.1,542.4,595.28 FG_AHR_10Vo 25.297

SM_GC 1.12,280.77,17.12,2.96,0.903,0.047,0.062,541.2,540.1,542.4,170.2,2371.8,0,0,0,12.73,15.77,15.77 MEM0 60148,1,0,0

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

IRIDIUM_FIX 4754.16,-12459.79,050522,082500 MEM2 969028,18,78040,57

TCM_TEMP 175.78 DATA_FILE_SIZE 6538,236

XPDR_PINGS 8,13.5,11.5 CAP_FILE_SIZE 130434,0

SC_FREEKB 3871840 SDSIZE 3918848,3903968

HUMID 50.82 SDFILEDIR 142,1

TEMP 9.12 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.49903 CURRENT 0.204,158.3,1

_24V_AH 14.81,27.452 MAGCAL 1.000000,-0.049734,-0.068453,-0.040982,1.066400,0.018921,0.052527,-0.062911,1.003906,-508.4,-543.3,-240.5,23,0.0356,0

_10V_AH 14.85,0.000 GPS 050522,093952,4754.689,-12458.885,2,0.8,3,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 767 1011 11496.25 nil 0 0 0.00

Pitch_motor 37 253 142.41 nil 0 0 0.00

Roll_motor 27 159 65.01 nil 0 0 0.00

Iridium 119 176 313.02 nil 0 0 0.00

Transponder_ping 2 420 12.44 nil 0 0 0.00

GPS 42 15 9.53 nil 0 0 0.00

Core 1228 6 124.09 SciCon 1671 18 467.13

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 671 2 19.94

Compass 493 5 36.67

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

8.42 16386 -145.99 -1.37 0.00 536.6 534.1 539.2 169.0 2433.1 0.00 0.00 0 130.69 121.98 0.00 0.00 0.005 0.000 0.000 2947.31 2921.38 2973.25 169.00 2433.94 0 0 0 15.68 30.00 30.00

130.89 18983 -145.99 -1.37 -80.00 2945.6 2919.6 2971.6 169.0 2433.4 3.91 -2.59 12 173.13 15.35 15.61 3.73 0.006 0.254 0.139 3564.06 3551.19 3576.94 2067.25 932.75 0 0 0 15.71 15.65 15.69

361.31 3205 -145.99 -1.26 0.00 3565.0 3550.7 3579.3 2067.4 932.6 43.82 -15.95 58 366.26 0.00 0.19 3.42 0.000 0.177 0.068 3565.66 3551.56 3579.75 2096.00 2426.31 0 0 0 30.00 15.81 15.86

551.31 548 -145.99 -1.26 -80.00 3565.1 3551.2 3579.0 2095.5 2426.8 65.33 -9.93 78 556.25 0.00 0.00 3.67 0.000 0.000 0.132 3565.12 3551.69 3578.56 2095.75 932.62 0 0 0 30.00 30.00 15.89

585.53 1028 -145.99 -1.26 0.00 3564.7 3550.3 3579.1 2095.3 933.0 69.50 -11.91 85 592.01 0.00 0.00 3.41 0.000 0.000 0.066 3566.22 3552.06 3580.38 2095.94 2427.56 0 0 0 30.00 30.00 15.91

702 end dive: TARGET_DEPTH_EXCEEDED

state 702 begin apogee

702.43 10243 0.00 -0.25 0.00 3565.1 3551.2 3579.0 2095.5 2534.7 80.66 -9.19 97 826.04 120.74 1.73 0.12 1.012 0.131 0.160 2967.62 2971.88 2963.38 2340.38 2461.56 0 0 0 12.78 15.89 15.52

830 end apogee: CONTROL_FINISHED_OK

state 830 begin climb

831.71 10759 145.99 1.37 -80.00 2965.1 2970.6 2959.6 2340.6 2461.8 83.20 0.00 109 972.84 132.80 2.67 3.59 0.977 0.079 0.125 2369.19 2382.19 2356.19 2738.12 1031.62 0 0 0 12.66 15.59 15.40

990.21 1028 145.99 1.37 0.00 2365.5 2378.2 2352.8 2738.5 1031.8 68.71 13.35 140 996.65 0.00 0.00 3.50 0.000 0.000 0.063 2365.16 2378.75 2351.56 2737.88 2521.75 0 0 0 30.00 30.00 15.50

1186.01 8226 156.77 1.40 0.00 2360.1 2376.9 2343.3 2738.4 2521.8 47.35 10.13 160 1199.58 10.87 0.00 0.00 0.809 0.000 0.000 2325.72 2341.75 2309.69 2737.50 2521.88 0 0 0 12.67 30.00 30.00

1386.01 10663 250.37 1.75 80.00 2322.4 2340.7 2304.2 2738.2 2521.8 31.42 6.03 181 1478.29 84.56 0.54 2.77 0.932 0.061 0.118 1946.94 1972.94 1920.94 2835.75 3640.44 0 0 0 12.70 15.80 15.52

1647 end climb: SURFACE_DEPTH_REACHED

state 1647 begin surface coast

1661 end surface coast: CONTROL_FINISHED_OK

state 1661 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	18	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	25.284025	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	43.500797	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	050522,090238,4754.913,-12458.805,1,1.1,4,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.22	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050522,090632,4754.911,-12458.795,3,1.0,33,15.9	MHEAD_RNG_PITCHd_Wd	265.5,183788,-18.7,-10.667,-22.06,2075,0.701
SPEED_LIMITS	0.185,0.263	D_GRID	96
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	-0.1,1.024079	FG_AHR_24Vo	43.671
SM_CCo	1971.65,280.77,0.903,0,541.2,540.1,542.4,595.28	FG_AHR_10Vo	25.297
SM_GC	1.12,280.77,17.12,2.96,0.903,0.047,0.062,541.2,540.1,542.4,170.2,2371.8,0,0,0,12.73,15.77,15.77	MEM0	60148,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4754.16,-12459.79,050522,082500	MEM2	969028,18,78040,57
TCM_TEMP	175.78	DATA_FILE_SIZE	6538,236
XPDR_PINGS	8,13.5,11.5	CAP_FILE_SIZE	130434,0
SC_FREEKB	3871840	SDSIZE	3918848,3903968
HUMID	50.82	SDFILEDIR	142,1
TEMP	9.12	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.49903	CURRENT	0.204,158.3,1
_24V_AH	14.81,27.452	MAGCAL	1.000000,-0.049734,-0.068453,-0.040982,1.066400,0.018921,0.052527,-0.062911,1.003906,-508.4,-543.3,-240.5,23,0.0356,0
_10V_AH	14.85,0.000	GPS	050522,093952,4754.689,-12458.885,2,0.8,3,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	767	1011	11496.25	nil	0	0	0.00
Pitch_motor	37	253	142.41	nil	0	0	0.00
Roll_motor	27	159	65.01	nil	0	0	0.00
Iridium	119	176	313.02	nil	0	0	0.00
Transponder_ping	2	420	12.44	nil	0	0	0.00
GPS	42	15	9.53	nil	0	0	0.00
Core	1228	6	124.09	SciCon	1671	18	467.13
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	671	2	19.94
Compass	493	5	36.67
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
8.42	16386	-145.99	-1.37	0.00	536.6	534.1	539.2	169.0	2433.1	0.00	0.00	0	130.69	121.98	0.00	0.00	0.005	0.000	0.000	2947.31	2921.38	2973.25	169.00	2433.94	0	0	0	15.68	30.00	30.00
130.89	18983	-145.99	-1.37	-80.00	2945.6	2919.6	2971.6	169.0	2433.4	3.91	-2.59	12	173.13	15.35	15.61	3.73	0.006	0.254	0.139	3564.06	3551.19	3576.94	2067.25	932.75	0	0	0	15.71	15.65	15.69
361.31	3205	-145.99	-1.26	0.00	3565.0	3550.7	3579.3	2067.4	932.6	43.82	-15.95	58	366.26	0.00	0.19	3.42	0.000	0.177	0.068	3565.66	3551.56	3579.75	2096.00	2426.31	0	0	0	30.00	15.81	15.86
551.31	548	-145.99	-1.26	-80.00	3565.1	3551.2	3579.0	2095.5	2426.8	65.33	-9.93	78	556.25	0.00	0.00	3.67	0.000	0.000	0.132	3565.12	3551.69	3578.56	2095.75	932.62	0	0	0	30.00	30.00	15.89
585.53	1028	-145.99	-1.26	0.00	3564.7	3550.3	3579.1	2095.3	933.0	69.50	-11.91	85	592.01	0.00	0.00	3.41	0.000	0.000	0.066	3566.22	3552.06	3580.38	2095.94	2427.56	0	0	0	30.00	30.00	15.91
702	end dive: TARGET_DEPTH_EXCEEDED
state	702	begin apogee
702.43	10243	0.00	-0.25	0.00	3565.1	3551.2	3579.0	2095.5	2534.7	80.66	-9.19	97	826.04	120.74	1.73	0.12	1.012	0.131	0.160	2967.62	2971.88	2963.38	2340.38	2461.56	0	0	0	12.78	15.89	15.52
830	end apogee: CONTROL_FINISHED_OK
state	830	begin climb
831.71	10759	145.99	1.37	-80.00	2965.1	2970.6	2959.6	2340.6	2461.8	83.20	0.00	109	972.84	132.80	2.67	3.59	0.977	0.079	0.125	2369.19	2382.19	2356.19	2738.12	1031.62	0	0	0	12.66	15.59	15.40
990.21	1028	145.99	1.37	0.00	2365.5	2378.2	2352.8	2738.5	1031.8	68.71	13.35	140	996.65	0.00	0.00	3.50	0.000	0.000	0.063	2365.16	2378.75	2351.56	2737.88	2521.75	0	0	0	30.00	30.00	15.50
1186.01	8226	156.77	1.40	0.00	2360.1	2376.9	2343.3	2738.4	2521.8	47.35	10.13	160	1199.58	10.87	0.00	0.00	0.809	0.000	0.000	2325.72	2341.75	2309.69	2737.50	2521.88	0	0	0	12.67	30.00	30.00
1386.01	10663	250.37	1.75	80.00	2322.4	2340.7	2304.2	2738.2	2521.8	31.42	6.03	181	1478.29	84.56	0.54	2.77	0.932	0.061	0.118	1946.94	1972.94	1920.94	2835.75	3640.44	0	0	0	12.70	15.80	15.52
1647	end climb: SURFACE_DEPTH_REACHED
state	1647	begin surface coast
1661	end surface coast: CONTROL_FINISHED_OK
state	1661	begin surface