Glider dive log

NANOOS May22 * SG236 * Dive index * Mission links * Dive 3 * 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 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 4 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 66 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 22 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 45 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 25.077297 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 40.85117 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 4 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 66 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 25.077297 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 40.85117 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 22

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 45

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 3 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 040522,235137,4758.540,-12456.058,1,1.5,3,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.29 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 040522,235502,4758.524,-12456.030,2,0.7,23,15.9 MHEAD_RNG_PITCHd_Wd 241.6,190435,-17.6,-10.000,-21.23,2209,0.664

SPEED_LIMITS 0.173,0.257 D_GRID 73

TGT_NAME OFFSHORE IRON 1.000000,-0.060774,-0.114034,-0.057842,1.095912,0.014655,0.041313,-0.028019,1.030247,-432.182709,-536.840393,-243.368881

TGT_LATLONG 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH -0.0,1.024275 FG_AHR_24Vo 41.020

SM_CCo 1954.33,271.55,0.907,0,541.6,542.9,540.2,595.21 FG_AHR_10Vo 25.091

SM_GC 1.40,271.55,17.02,2.93,0.907,0.049,0.066,541.6,542.9,540.2,171.6,2372.2,0,0,0,12.46,15.78,15.78 MEM0 60148,1,0,0

SUPER 19,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4758.76,-12456.36,040522,234931 MEM2 968900,26,78008,57

TCM_TEMP 176.50 DATA_FILE_SIZE 6564,223

XPDR_PINGS 20,13.5,11.5 CAP_FILE_SIZE 148548,0

SC_FREEKB 3877600 SDSIZE 3918848,3907296

HUMID 52.01 SDFILEDIR 52,1

TEMP 9.97 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.53948 CURRENT 0.125,122.2,1

_24V_AH 14.86,24.650 MAGCAL 1.000000,-0.063836,-0.087021,-0.057721,1.095693,0.013154,0.041316,-0.035814,1.026920,-460.6,-534.9,-249.0,27,0.0290,0

_10V_AH 14.89,0.000 GPS 050522,002804,4758.367,-12456.051,0,0.7,1,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 769 1011 11571.91 nil 0 0 0.00

Pitch_motor 37 250 138.87 nil 0 0 0.00

Roll_motor 26 192 75.54 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 5 420 31.21 nil 0 0 0.00

GPS 32 15 7.27 nil 0 0 0.00

Core 1042 6 105.51 SciCon 1650 20 497.39

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 678 2 20.21

Compass 467 5 34.77

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

8.44 16386 -145.99 -1.32 0.00 537.5 538.1 536.9 175.0 2426.5 0.00 0.00 0 140.93 132.13 0.00 0.00 0.005 0.000 0.000 3097.09 3068.38 3125.81 175.00 2426.62 0 0 0 15.72 30.00 30.00

141.17 18983 -145.99 -1.32 -80.00 3096.7 3068.6 3124.8 175.2 2427.1 3.46 -1.76 13 177.63 11.86 15.52 3.78 0.007 0.250 0.138 3564.25 3550.94 3577.56 2079.56 933.50 0 0 0 15.72 15.72 15.70

210.76 3205 -145.99 -1.15 0.00 3563.9 3549.7 3578.1 2079.8 933.4 17.29 -20.00 27 215.74 0.00 0.28 3.46 0.000 0.154 0.065 3564.44 3550.06 3578.81 2121.69 2427.06 0 0 0 30.00 15.83 15.88

400.78 292 -145.99 -1.15 80.00 3564.1 3549.7 3578.4 2121.4 2426.7 40.04 -9.07 47 405.60 0.00 0.00 2.95 0.000 0.000 0.116 3566.03 3551.69 3580.38 2121.56 3640.50 0 0 0 30.00 30.00 15.91

455.01 1060 -145.99 -1.15 0.00 3563.8 3549.1 3578.4 2121.9 3640.9 45.03 -8.41 58 461.39 0.00 0.00 2.95 0.000 0.000 0.063 3565.94 3550.81 3581.06 2121.94 2371.75 0 0 0 30.00 30.00 15.92

650.81 548 -145.99 -1.15 -80.00 3563.9 3549.4 3578.4 2121.9 2371.9 60.51 -7.69 78 655.75 0.00 0.00 3.60 0.000 0.000 0.145 3566.38 3552.19 3580.56 2121.69 934.62 0 0 0 30.00 30.00 15.93

725 end dive: TARGET_DEPTH_EXCEEDED

state 725 begin apogee

730.50 10243 0.00 -0.25 0.00 3564.1 3549.8 3578.4 2121.8 2522.4 66.54 -7.73 93 858.57 125.11 1.51 0.09 1.012 0.121 0.192 2966.41 2971.19 2961.62 2341.25 2467.50 0 0 0 12.42 15.91 15.54

862 end apogee: CONTROL_FINISHED_OK

state 862 begin climb

864.07 10243 145.99 1.32 0.00 2964.9 2970.2 2959.6 2341.5 2467.0 68.44 0.00 106 1004.63 134.34 2.53 0.00 0.974 0.070 0.000 2371.69 2384.75 2358.62 2726.00 2466.50 0 0 0 12.40 15.62 30.00

1187.81 16386 145.99 1.32 80.00 2360.7 2378.2 2343.1 2726.0 2466.5 36.03 11.69 149 1189.15 0.00 0.00 0.00 0.000 0.000 0.000 2360.97 2378.44 2343.50 2725.38 2466.69 0 0 0 30.00 30.00 30.00

1377.79 10535 256.47 1.65 80.00 2359.2 2376.6 2341.8 2725.8 2466.8 23.67 4.86 168 1480.30 94.79 0.47 2.94 0.940 0.054 0.114 1918.66 1945.56 1891.75 2815.19 3641.81 0 0 0 12.40 15.83 15.51

1639 end climb: SURFACE_DEPTH_REACHED

state 1639 begin surface coast

1653 end surface coast: CONTROL_FINISHED_OK

state 1653 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	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	4	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	66	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	22	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	45	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	25.077297	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	40.85117	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	040522,235137,4758.540,-12456.058,1,1.5,3,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.29	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	040522,235502,4758.524,-12456.030,2,0.7,23,15.9	MHEAD_RNG_PITCHd_Wd	241.6,190435,-17.6,-10.000,-21.23,2209,0.664
SPEED_LIMITS	0.173,0.257	D_GRID	73
TGT_NAME	OFFSHORE	IRON	1.000000,-0.060774,-0.114034,-0.057842,1.095912,0.014655,0.041313,-0.028019,1.030247,-432.182709,-536.840393,-243.368881
TGT_LATLONG	4700.000,-12700.000

FINISH	-0.0,1.024275	FG_AHR_24Vo	41.020
SM_CCo	1954.33,271.55,0.907,0,541.6,542.9,540.2,595.21	FG_AHR_10Vo	25.091
SM_GC	1.40,271.55,17.02,2.93,0.907,0.049,0.066,541.6,542.9,540.2,171.6,2372.2,0,0,0,12.46,15.78,15.78	MEM0	60148,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4758.76,-12456.36,040522,234931	MEM2	968900,26,78008,57
TCM_TEMP	176.50	DATA_FILE_SIZE	6564,223
XPDR_PINGS	20,13.5,11.5	CAP_FILE_SIZE	148548,0
SC_FREEKB	3877600	SDSIZE	3918848,3907296
HUMID	52.01	SDFILEDIR	52,1
TEMP	9.97	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.53948	CURRENT	0.125,122.2,1
_24V_AH	14.86,24.650	MAGCAL	1.000000,-0.063836,-0.087021,-0.057721,1.095693,0.013154,0.041316,-0.035814,1.026920,-460.6,-534.9,-249.0,27,0.0290,0
_10V_AH	14.89,0.000	GPS	050522,002804,4758.367,-12456.051,0,0.7,1,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	769	1011	11571.91	nil	0	0	0.00
Pitch_motor	37	250	138.87	nil	0	0	0.00
Roll_motor	26	192	75.54	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	5	420	31.21	nil	0	0	0.00
GPS	32	15	7.27	nil	0	0	0.00
Core	1042	6	105.51	SciCon	1650	20	497.39
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	678	2	20.21
Compass	467	5	34.77
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
8.44	16386	-145.99	-1.32	0.00	537.5	538.1	536.9	175.0	2426.5	0.00	0.00	0	140.93	132.13	0.00	0.00	0.005	0.000	0.000	3097.09	3068.38	3125.81	175.00	2426.62	0	0	0	15.72	30.00	30.00
141.17	18983	-145.99	-1.32	-80.00	3096.7	3068.6	3124.8	175.2	2427.1	3.46	-1.76	13	177.63	11.86	15.52	3.78	0.007	0.250	0.138	3564.25	3550.94	3577.56	2079.56	933.50	0	0	0	15.72	15.72	15.70
210.76	3205	-145.99	-1.15	0.00	3563.9	3549.7	3578.1	2079.8	933.4	17.29	-20.00	27	215.74	0.00	0.28	3.46	0.000	0.154	0.065	3564.44	3550.06	3578.81	2121.69	2427.06	0	0	0	30.00	15.83	15.88
400.78	292	-145.99	-1.15	80.00	3564.1	3549.7	3578.4	2121.4	2426.7	40.04	-9.07	47	405.60	0.00	0.00	2.95	0.000	0.000	0.116	3566.03	3551.69	3580.38	2121.56	3640.50	0	0	0	30.00	30.00	15.91
455.01	1060	-145.99	-1.15	0.00	3563.8	3549.1	3578.4	2121.9	3640.9	45.03	-8.41	58	461.39	0.00	0.00	2.95	0.000	0.000	0.063	3565.94	3550.81	3581.06	2121.94	2371.75	0	0	0	30.00	30.00	15.92
650.81	548	-145.99	-1.15	-80.00	3563.9	3549.4	3578.4	2121.9	2371.9	60.51	-7.69	78	655.75	0.00	0.00	3.60	0.000	0.000	0.145	3566.38	3552.19	3580.56	2121.69	934.62	0	0	0	30.00	30.00	15.93
725	end dive: TARGET_DEPTH_EXCEEDED
state	725	begin apogee
730.50	10243	0.00	-0.25	0.00	3564.1	3549.8	3578.4	2121.8	2522.4	66.54	-7.73	93	858.57	125.11	1.51	0.09	1.012	0.121	0.192	2966.41	2971.19	2961.62	2341.25	2467.50	0	0	0	12.42	15.91	15.54
862	end apogee: CONTROL_FINISHED_OK
state	862	begin climb
864.07	10243	145.99	1.32	0.00	2964.9	2970.2	2959.6	2341.5	2467.0	68.44	0.00	106	1004.63	134.34	2.53	0.00	0.974	0.070	0.000	2371.69	2384.75	2358.62	2726.00	2466.50	0	0	0	12.40	15.62	30.00
1187.81	16386	145.99	1.32	80.00	2360.7	2378.2	2343.1	2726.0	2466.5	36.03	11.69	149	1189.15	0.00	0.00	0.00	0.000	0.000	0.000	2360.97	2378.44	2343.50	2725.38	2466.69	0	0	0	30.00	30.00	30.00
1377.79	10535	256.47	1.65	80.00	2359.2	2376.6	2341.8	2725.8	2466.8	23.67	4.86	168	1480.30	94.79	0.47	2.94	0.940	0.054	0.114	1918.66	1945.56	1891.75	2815.19	3641.81	0	0	0	12.40	15.83	15.51
1639	end climb: SURFACE_DEPTH_REACHED
state	1639	begin surface coast
1653	end surface coast: CONTROL_FINISHED_OK
state	1653	begin surface