Glider dive log

NANOOS May22 * SG236 * Dive index * Mission links * Dive 4 * 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 4 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 25.091227 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 41.027466 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 25.091227 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 41.027466 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 4 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 050522,002804,4758.367,-12456.051,0,0.7,1,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050522,003131,4758.340,-12456.024,2,0.9,3,15.9 MHEAD_RNG_PITCHd_Wd 246.0,190247,-17.6,-10.000,-21.23,2209,0.660

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 0.0,1.022930 FG_AHR_24Vo 41.196

SM_CCo 1895.57,240.16,0.903,0,540.5,543.6,537.3,595.47 FG_AHR_10Vo 25.104

SM_GC 1.18,240.16,17.30,0.16,0.903,0.048,0.124,540.5,543.6,537.3,174.1,2366.8,0,0,0,12.49,15.72,15.72 MEM0 60148,1,0,0

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

IRIDIUM_FIX 4800.20,-12456.36,040522,235223 MEM2 968964,23,78004,57

TCM_TEMP 176.72 DATA_FILE_SIZE 6519,226

XPDR_PINGS 12,13.5,11.5 CAP_FILE_SIZE 128110,0

SC_FREEKB 3877216 SDSIZE 3918848,3907104

HUMID 51.76 SDFILEDIR 58,1

TEMP 9.84 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.53757 CURRENT 0.146,138.1,1

_24V_AH 14.85,24.835 MAGCAL 1.000000,-0.077650,-0.025305,-0.049886,1.073007,0.026290,0.024267,-0.058455,1.030897,-523.4,-542.1,-273.8,19,0.0272,1

_10V_AH 14.89,0.000 GPS 050522,010336,4758.203,-12456.075,1,1.2,3,15.9

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 769 998 11415.71 nil 0 0 0.00

Pitch_motor 37 257 145.12 nil 0 0 0.00

Roll_motor 24 193 71.38 nil 0 0 0.00

Iridium 124 179 330.27 nil 0 0 0.00

Transponder_ping 3 420 18.71 nil 0 0 0.00

GPS 12 15 2.81 nil 0 0 0.00

Core 1204 6 121.96 SciCon 1638 20 493.38

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 636 2 18.95

Compass 479 5 35.73

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 0.00 537.9 538.9 537.0 171.3 2431.1 0.00 0.00 0 135.81 127.09 0.00 0.00 0.005 0.000 0.000 3028.97 3003.06 3054.88 171.69 2430.75 0 0 0 15.63 30.00 30.00

136.02 18467 -145.99 -1.32 0.00 3027.9 3000.4 3055.3 171.2 2430.5 3.69 -2.03 13 170.71 13.58 15.68 0.00 0.006 0.257 0.000 3562.94 3550.19 3575.69 2080.06 2431.38 0 0 0 15.69 15.63 30.00

353.86 388 -145.99 -1.26 80.00 3563.9 3549.6 3578.2 2079.5 2430.6 37.41 -12.58 36 358.68 0.00 0.00 2.98 0.000 0.000 0.115 3565.78 3551.62 3579.94 2079.50 3641.44 0 0 0 30.00 30.00 15.81

438.13 3205 -145.99 -1.19 0.00 3564.6 3550.4 3578.7 2080.4 3640.9 46.49 -10.78 53 444.57 0.00 0.22 2.93 0.000 0.155 0.065 3565.62 3551.31 3579.94 2113.19 2371.38 0 0 0 30.00 15.81 15.88

633.94 548 -145.99 -1.19 -80.00 3564.9 3550.6 3579.2 2113.3 2371.7 62.55 -9.51 73 638.84 0.00 0.00 3.55 0.000 0.000 0.146 3565.12 3550.69 3579.56 2113.00 933.62 0 0 0 30.00 30.00 15.86

674 end dive: TARGET_DEPTH_EXCEEDED

state 674 begin apogee

679.18 10243 0.00 -0.25 0.00 3564.1 3549.6 3578.6 2113.6 2522.6 66.32 -9.83 81 806.64 124.70 1.58 0.09 0.999 0.131 0.194 2969.25 2973.88 2964.62 2340.50 2466.06 0 0 0 12.48 15.88 15.51

810 end apogee: CONTROL_FINISHED_OK

state 810 begin climb

812.13 10503 145.99 1.32 80.00 2964.9 2969.9 2959.9 2340.2 2465.9 68.06 0.00 94 953.17 133.23 2.56 2.97 0.967 0.079 0.114 2368.25 2381.94 2354.56 2725.50 3640.94 0 0 0 12.40 15.60 15.38

1040.51 17414 145.99 1.32 0.00 2362.9 2377.9 2348.0 2725.1 3641.7 47.78 12.01 139 1046.89 0.00 0.00 2.73 0.000 0.000 0.062 2363.69 2378.94 2348.44 2725.62 2464.25 0 0 0 30.00 30.00 15.64

1236.34 8486 181.03 1.42 80.00 2360.1 2377.5 2342.8 2724.8 2463.5 28.16 8.37 159 1272.78 31.85 0.00 2.92 0.914 0.000 0.113 2228.78 2248.12 2209.44 2725.19 3641.44 0 0 0 12.40 30.00 15.61

1411.37 11303 297.66 1.77 0.00 2221.7 2242.6 2200.9 2725.9 3641.3 17.92 4.57 194 1514.96 99.26 0.65 2.69 0.928 0.058 0.062 1754.22 1784.31 1724.12 2842.94 2459.06 0 0 0 12.48 15.78 15.80

1608 end climb: SURFACE_DEPTH_REACHED

state 1608 begin surface coast

1628 end surface coast: CONTROL_FINISHED_OK

state 1628 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	4	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	25.091227	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	41.027466	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	050522,002804,4758.367,-12456.051,0,0.7,1,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050522,003131,4758.340,-12456.024,2,0.9,3,15.9	MHEAD_RNG_PITCHd_Wd	246.0,190247,-17.6,-10.000,-21.23,2209,0.660
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	0.0,1.022930	FG_AHR_24Vo	41.196
SM_CCo	1895.57,240.16,0.903,0,540.5,543.6,537.3,595.47	FG_AHR_10Vo	25.104
SM_GC	1.18,240.16,17.30,0.16,0.903,0.048,0.124,540.5,543.6,537.3,174.1,2366.8,0,0,0,12.49,15.72,15.72	MEM0	60148,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4800.20,-12456.36,040522,235223	MEM2	968964,23,78004,57
TCM_TEMP	176.72	DATA_FILE_SIZE	6519,226
XPDR_PINGS	12,13.5,11.5	CAP_FILE_SIZE	128110,0
SC_FREEKB	3877216	SDSIZE	3918848,3907104
HUMID	51.76	SDFILEDIR	58,1
TEMP	9.84	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.53757	CURRENT	0.146,138.1,1
_24V_AH	14.85,24.835	MAGCAL	1.000000,-0.077650,-0.025305,-0.049886,1.073007,0.026290,0.024267,-0.058455,1.030897,-523.4,-542.1,-273.8,19,0.0272,1
_10V_AH	14.89,0.000	GPS	050522,010336,4758.203,-12456.075,1,1.2,3,15.9

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	769	998	11415.71	nil	0	0	0.00
Pitch_motor	37	257	145.12	nil	0	0	0.00
Roll_motor	24	193	71.38	nil	0	0	0.00
Iridium	124	179	330.27	nil	0	0	0.00
Transponder_ping	3	420	18.71	nil	0	0	0.00
GPS	12	15	2.81	nil	0	0	0.00
Core	1204	6	121.96	SciCon	1638	20	493.38
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	636	2	18.95
Compass	479	5	35.73
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	537.9	538.9	537.0	171.3	2431.1	0.00	0.00	0	135.81	127.09	0.00	0.00	0.005	0.000	0.000	3028.97	3003.06	3054.88	171.69	2430.75	0	0	0	15.63	30.00	30.00
136.02	18467	-145.99	-1.32	0.00	3027.9	3000.4	3055.3	171.2	2430.5	3.69	-2.03	13	170.71	13.58	15.68	0.00	0.006	0.257	0.000	3562.94	3550.19	3575.69	2080.06	2431.38	0	0	0	15.69	15.63	30.00
353.86	388	-145.99	-1.26	80.00	3563.9	3549.6	3578.2	2079.5	2430.6	37.41	-12.58	36	358.68	0.00	0.00	2.98	0.000	0.000	0.115	3565.78	3551.62	3579.94	2079.50	3641.44	0	0	0	30.00	30.00	15.81
438.13	3205	-145.99	-1.19	0.00	3564.6	3550.4	3578.7	2080.4	3640.9	46.49	-10.78	53	444.57	0.00	0.22	2.93	0.000	0.155	0.065	3565.62	3551.31	3579.94	2113.19	2371.38	0	0	0	30.00	15.81	15.88
633.94	548	-145.99	-1.19	-80.00	3564.9	3550.6	3579.2	2113.3	2371.7	62.55	-9.51	73	638.84	0.00	0.00	3.55	0.000	0.000	0.146	3565.12	3550.69	3579.56	2113.00	933.62	0	0	0	30.00	30.00	15.86
674	end dive: TARGET_DEPTH_EXCEEDED
state	674	begin apogee
679.18	10243	0.00	-0.25	0.00	3564.1	3549.6	3578.6	2113.6	2522.6	66.32	-9.83	81	806.64	124.70	1.58	0.09	0.999	0.131	0.194	2969.25	2973.88	2964.62	2340.50	2466.06	0	0	0	12.48	15.88	15.51
810	end apogee: CONTROL_FINISHED_OK
state	810	begin climb
812.13	10503	145.99	1.32	80.00	2964.9	2969.9	2959.9	2340.2	2465.9	68.06	0.00	94	953.17	133.23	2.56	2.97	0.967	0.079	0.114	2368.25	2381.94	2354.56	2725.50	3640.94	0	0	0	12.40	15.60	15.38
1040.51	17414	145.99	1.32	0.00	2362.9	2377.9	2348.0	2725.1	3641.7	47.78	12.01	139	1046.89	0.00	0.00	2.73	0.000	0.000	0.062	2363.69	2378.94	2348.44	2725.62	2464.25	0	0	0	30.00	30.00	15.64
1236.34	8486	181.03	1.42	80.00	2360.1	2377.5	2342.8	2724.8	2463.5	28.16	8.37	159	1272.78	31.85	0.00	2.92	0.914	0.000	0.113	2228.78	2248.12	2209.44	2725.19	3641.44	0	0	0	12.40	30.00	15.61
1411.37	11303	297.66	1.77	0.00	2221.7	2242.6	2200.9	2725.9	3641.3	17.92	4.57	194	1514.96	99.26	0.65	2.69	0.928	0.058	0.062	1754.22	1784.31	1724.12	2842.94	2459.06	0	0	0	12.48	15.78	15.80
1608	end climb: SURFACE_DEPTH_REACHED
state	1608	begin surface coast
1628	end surface coast: CONTROL_FINISHED_OK
state	1628	begin surface