Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 53 * 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 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 53 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 605.40039 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 180 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 COMM_SEQ 7 C_VBD 2968 DEEPGLIDERMB 0

D_NO_BLEED 50 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 N_NOCOMM 20 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 163 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 2 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 60 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 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 2440 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 1000 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 13.20437 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 21.263855 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 -166.76357 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 225 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2500 ALTIM_PULSE 2

AH0_10V 0 D_OFFGRID 1000 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 20 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 180 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 605.40039

ALTIM_SENSITIVITY 4 FG_AHR_10V 13.20437 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 21.263855 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 2 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 225 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 60

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 2440 KALMAN_USE 2 PRESSURE_SLOPE 0.00022638284 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -166.76357 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 2500 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 120 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 53 MISSION 4 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 1000 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 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 260322,143302,4649.895,-12448.268,4,1.3,21,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260322,143856,4649.927,-12448.228,3,1.1,7,15.6 MHEAD_RNG_PITCHd_Wd 208.7,20000,-19.9,-10.000,-23.24,1773,0.534

SPEED_LIMITS 0.173,0.233 D_GRID 144

TGT_NAME HEADING IRON 1.000000,-0.070697,-0.073739,-0.037418,1.070137,-0.018118,0.021715,-0.020855,1.041310,-557.200989,-559.408813,-276.885132

TGT_LATLONG 4642.291,-12459.363

Post-dive calculations and measurements:

FINISH -0.1,1.024704 FG_AHR_10Vo 13.217

SM_CCo 3344.13,293.07,0.968,0,501.2,508.9,493.4,605.12 MEM0 60148,1,0,0

SM_GC 1.09,293.07,17.40,2.74,0.968,0.049,0.064,501.2,508.9,493.4,179.0,2468.9,0,0,0,12.90,15.77,15.78 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 968652,16,78336,63

IRIDIUM_FIX 4648.28,-12449.47,260322,143427 DATA_FILE_SIZE 9725,406

TCM_TEMP 176.00 CAP_FILE_SIZE 165346,0

XPDR_PINGS 13,13.5,11.5 SDSIZE 3918848,3896224

SC_FREEKB 3858432 SDFILEDIR 348,1

HUMID 50.18 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.06 CURRENT 0.026, 62.7,1

INTERNAL_PRESSURE 8.48683 MAGCAL 1.000000,-0.064906,-0.196891,-0.019743,1.132259,0.015569,0.078770,-0.016499,0.945430,-392.5,-594.2,-171.2,16,0.0382,0

_24V_AH 14.69,12.347 IMPLIED_C_PITCH 2449,14.36,211,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3344,22.367228,106,0

FG_AHR_24Vo 21.446 GPS 260322,153517,4649.680,-12448.312,4,1.8,11,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 745 1164 12749.09 nil 0 0 0.00

Pitch_motor 39 258 151.20 nil 0 0 0.00

Roll_motor 51 216 162.39 nil 0 0 0.00

Iridium 219 111 361.82 nil 0 0 0.00

Transponder_ping 3 420 20.05 nil 0 0 0.00

GPS 16 15 3.66 nil 0 0 0.00

Core 1791 6 179.32 SciCon 3034 6 298.51

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1587 2 46.73

Compass 843 5 62.05

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 -116.79 -1.34 0.00 496.2 498.0 494.5 166.4 2528.4 0.00 0.00 0 140.90 132.13 0.00 0.00 0.005 0.000 0.000 3147.78 3123.38 3172.19 166.44 2529.12 0 0 0 14.46 30.00 30.00

141.12 18983 -116.79 -1.34 -80.00 3147.0 3122.3 3171.6 166.4 2528.4 4.05 -2.60 13 173.35 6.91 16.22 3.95 0.008 0.258 0.158 3445.25 3434.94 3455.56 2113.38 1036.50 0 0 0 14.63 15.69 15.67

275.75 3205 -116.79 -1.23 0.00 3445.6 3435.4 3455.7 2113.6 1036.6 29.01 -16.24 40 282.26 0.00 0.20 3.56 0.000 0.165 0.074 3445.22 3434.62 3455.81 2142.50 2521.50 0 0 0 30.00 15.75 15.79

471.50 0 -116.79 -1.23 0.00 3445.4 3434.9 3455.9 2143.1 2522.4 57.16 -13.48 60 472.83 0.00 0.00 0.00 0.000 0.000 0.000 3446.16 3436.12 3456.19 2143.12 2521.56 0 0 0 30.00 30.00 30.00

661.53 644 -116.79 -1.30 -80.00 3445.1 3434.3 3455.8 2143.2 2521.8 78.84 -10.20 79 667.51 0.00 0.00 3.86 0.000 0.000 0.150 3445.34 3435.25 3455.44 2143.00 1034.25 0 0 0 30.00 30.00 15.87

720.75 1028 -116.79 -1.30 0.00 3445.5 3435.5 3455.4 2142.8 1034.1 85.44 -11.18 91 727.25 0.00 0.00 3.54 0.000 0.000 0.073 3446.00 3435.44 3456.56 2143.00 2521.00 0 0 0 30.00 30.00 15.89

916.61 4773 -116.79 -1.37 -80.00 3445.7 3435.5 3455.8 2142.8 2521.4 102.06 -7.65 111 922.63 0.00 0.34 3.85 0.000 0.062 0.149 3445.50 3435.12 3455.88 2087.44 1034.44 0 0 0 30.00 15.92 15.91

941.60 1060 -116.79 -1.37 0.00 3445.1 3435.0 3455.1 2087.7 1034.5 104.76 -8.69 116 946.49 0.00 0.00 3.51 0.000 0.000 0.073 3446.97 3437.00 3456.94 2087.31 2522.44 0 0 0 30.00 30.00 15.94

1131.62 292 -116.79 -1.37 80.00 3445.2 3435.0 3455.4 2087.6 2521.4 122.75 -9.55 136 1136.38 0.00 0.00 2.81 0.000 0.000 0.120 3446.62 3436.44 3456.81 2087.56 3639.75 0 0 0 30.00 30.00 15.94

1191.60 3205 -116.79 -1.30 0.00 3445.2 3435.1 3455.4 2087.4 3638.9 129.42 -10.85 148 1196.47 0.00 0.34 2.70 0.000 0.162 0.063 3447.09 3436.31 3457.88 2125.25 2470.62 0 0 0 30.00 15.92 15.96

1362 end dive: TARGET_DEPTH_EXCEEDED

state 1362 begin apogee

1362.71 10243 0.00 -0.25 0.00 3445.3 3435.4 3455.3 2124.9 2519.6 144.47 -8.83 166 1453.68 85.65 1.83 0.08 1.164 0.129 0.217 2967.31 2973.94 2960.69 2379.19 2472.12 0 0 0 12.99 15.95 15.60

1457 end apogee: CONTROL_FINISHED_OK

state 1457 begin climb

1459.18 10503 116.79 1.34 80.00 2964.5 2971.8 2957.2 2381.0 2471.7 145.35 0.00 175 1558.75 92.49 2.57 3.05 1.126 0.066 0.113 2490.12 2497.38 2482.88 2773.25 3640.75 0 0 0 12.81 15.65 15.36

1596.11 5253 116.79 1.25 0.00 2484.3 2492.8 2475.9 2773.6 3639.8 135.57 11.06 202 1602.56 0.00 0.37 2.81 0.000 0.173 0.061 2484.12 2492.56 2475.69 2736.50 2465.69 0 0 0 30.00 15.46 15.50

1791.93 16774 116.79 1.31 80.00 2479.6 2490.9 2468.3 2736.0 2466.5 114.88 11.29 222 1796.72 0.00 0.00 2.95 0.000 0.000 0.116 2480.75 2491.62 2469.88 2735.56 3641.50 0 0 0 30.00 30.00 15.68

2021.95 11303 133.13 1.36 0.00 2477.4 2488.5 2466.4 2735.2 3640.9 91.85 9.05 268 2042.94 14.90 0.26 2.76 0.984 0.068 0.063 2426.47 2438.62 2414.31 2782.25 2466.75 0 0 0 12.83 15.78 15.79

2231.97 8486 145.13 1.39 80.00 2418.7 2431.9 2405.5 2782.4 2466.7 72.67 9.30 291 2252.83 13.56 0.00 2.96 0.952 0.000 0.115 2373.72 2387.44 2360.00 2782.94 3640.56 0 0 0 12.90 30.00 15.72

2416.23 11303 186.38 1.51 0.00 2370.7 2384.6 2356.8 2781.8 3640.2 54.62 7.61 328 2463.43 41.42 0.14 2.74 1.015 0.097 0.062 2207.91 2225.00 2190.81 2822.00 2465.50 0 0 0 12.88 15.82 15.83

2652.03 10275 255.86 1.72 0.00 2199.1 2219.6 2178.6 2821.1 2466.0 40.44 5.97 356 2718.59 65.36 0.22 0.00 1.004 0.074 0.000 1921.72 1946.38 1897.06 2871.12 2466.69 0 0 0 12.85 15.79 30.00

2907.03 16646 255.86 1.72 80.00 1915.3 1943.1 1887.6 2871.0 2466.5 13.77 11.13 383 2911.86 0.00 0.00 3.00 0.000 0.000 0.117 1915.16 1943.12 1887.19 2871.88 3640.00 0 0 0 30.00 30.00 15.72

3007 end climb: SURFACE_DEPTH_REACHED

state 3007 begin surface coast

3022 end surface coast: CONTROL_FINISHED_OK

state 3022 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	53	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	605.40039	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	180	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	COMM_SEQ	7	C_VBD	2968	DEEPGLIDERMB	0
D_NO_BLEED	50	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	N_NOCOMM	20	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	163	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	2	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	60	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	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	2440	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	1000	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	13.20437	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	21.263855	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	-166.76357	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	225	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2500	ALTIM_PULSE	2

GPS1	260322,143302,4649.895,-12448.268,4,1.3,21,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260322,143856,4649.927,-12448.228,3,1.1,7,15.6	MHEAD_RNG_PITCHd_Wd	208.7,20000,-19.9,-10.000,-23.24,1773,0.534
SPEED_LIMITS	0.173,0.233	D_GRID	144
TGT_NAME	HEADING	IRON	1.000000,-0.070697,-0.073739,-0.037418,1.070137,-0.018118,0.021715,-0.020855,1.041310,-557.200989,-559.408813,-276.885132
TGT_LATLONG	4642.291,-12459.363

FINISH	-0.1,1.024704	FG_AHR_10Vo	13.217
SM_CCo	3344.13,293.07,0.968,0,501.2,508.9,493.4,605.12	MEM0	60148,1,0,0
SM_GC	1.09,293.07,17.40,2.74,0.968,0.049,0.064,501.2,508.9,493.4,179.0,2468.9,0,0,0,12.90,15.77,15.78	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	968652,16,78336,63
IRIDIUM_FIX	4648.28,-12449.47,260322,143427	DATA_FILE_SIZE	9725,406
TCM_TEMP	176.00	CAP_FILE_SIZE	165346,0
XPDR_PINGS	13,13.5,11.5	SDSIZE	3918848,3896224
SC_FREEKB	3858432	SDFILEDIR	348,1
HUMID	50.18	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.06	CURRENT	0.026, 62.7,1
INTERNAL_PRESSURE	8.48683	MAGCAL	1.000000,-0.064906,-0.196891,-0.019743,1.132259,0.015569,0.078770,-0.016499,0.945430,-392.5,-594.2,-171.2,16,0.0382,0
_24V_AH	14.69,12.347	IMPLIED_C_PITCH	2449,14.36,211,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3344,22.367228,106,0
FG_AHR_24Vo	21.446	GPS	260322,153517,4649.680,-12448.312,4,1.8,11,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	745	1164	12749.09	nil	0	0	0.00
Pitch_motor	39	258	151.20	nil	0	0	0.00
Roll_motor	51	216	162.39	nil	0	0	0.00
Iridium	219	111	361.82	nil	0	0	0.00
Transponder_ping	3	420	20.05	nil	0	0	0.00
GPS	16	15	3.66	nil	0	0	0.00
Core	1791	6	179.32	SciCon	3034	6	298.51
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1587	2	46.73
Compass	843	5	62.05
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	-116.79	-1.34	0.00	496.2	498.0	494.5	166.4	2528.4	0.00	0.00	0	140.90	132.13	0.00	0.00	0.005	0.000	0.000	3147.78	3123.38	3172.19	166.44	2529.12	0	0	0	14.46	30.00	30.00
141.12	18983	-116.79	-1.34	-80.00	3147.0	3122.3	3171.6	166.4	2528.4	4.05	-2.60	13	173.35	6.91	16.22	3.95	0.008	0.258	0.158	3445.25	3434.94	3455.56	2113.38	1036.50	0	0	0	14.63	15.69	15.67
275.75	3205	-116.79	-1.23	0.00	3445.6	3435.4	3455.7	2113.6	1036.6	29.01	-16.24	40	282.26	0.00	0.20	3.56	0.000	0.165	0.074	3445.22	3434.62	3455.81	2142.50	2521.50	0	0	0	30.00	15.75	15.79
471.50	0	-116.79	-1.23	0.00	3445.4	3434.9	3455.9	2143.1	2522.4	57.16	-13.48	60	472.83	0.00	0.00	0.00	0.000	0.000	0.000	3446.16	3436.12	3456.19	2143.12	2521.56	0	0	0	30.00	30.00	30.00
661.53	644	-116.79	-1.30	-80.00	3445.1	3434.3	3455.8	2143.2	2521.8	78.84	-10.20	79	667.51	0.00	0.00	3.86	0.000	0.000	0.150	3445.34	3435.25	3455.44	2143.00	1034.25	0	0	0	30.00	30.00	15.87
720.75	1028	-116.79	-1.30	0.00	3445.5	3435.5	3455.4	2142.8	1034.1	85.44	-11.18	91	727.25	0.00	0.00	3.54	0.000	0.000	0.073	3446.00	3435.44	3456.56	2143.00	2521.00	0	0	0	30.00	30.00	15.89
916.61	4773	-116.79	-1.37	-80.00	3445.7	3435.5	3455.8	2142.8	2521.4	102.06	-7.65	111	922.63	0.00	0.34	3.85	0.000	0.062	0.149	3445.50	3435.12	3455.88	2087.44	1034.44	0	0	0	30.00	15.92	15.91
941.60	1060	-116.79	-1.37	0.00	3445.1	3435.0	3455.1	2087.7	1034.5	104.76	-8.69	116	946.49	0.00	0.00	3.51	0.000	0.000	0.073	3446.97	3437.00	3456.94	2087.31	2522.44	0	0	0	30.00	30.00	15.94
1131.62	292	-116.79	-1.37	80.00	3445.2	3435.0	3455.4	2087.6	2521.4	122.75	-9.55	136	1136.38	0.00	0.00	2.81	0.000	0.000	0.120	3446.62	3436.44	3456.81	2087.56	3639.75	0	0	0	30.00	30.00	15.94
1191.60	3205	-116.79	-1.30	0.00	3445.2	3435.1	3455.4	2087.4	3638.9	129.42	-10.85	148	1196.47	0.00	0.34	2.70	0.000	0.162	0.063	3447.09	3436.31	3457.88	2125.25	2470.62	0	0	0	30.00	15.92	15.96
1362	end dive: TARGET_DEPTH_EXCEEDED
state	1362	begin apogee
1362.71	10243	0.00	-0.25	0.00	3445.3	3435.4	3455.3	2124.9	2519.6	144.47	-8.83	166	1453.68	85.65	1.83	0.08	1.164	0.129	0.217	2967.31	2973.94	2960.69	2379.19	2472.12	0	0	0	12.99	15.95	15.60
1457	end apogee: CONTROL_FINISHED_OK
state	1457	begin climb
1459.18	10503	116.79	1.34	80.00	2964.5	2971.8	2957.2	2381.0	2471.7	145.35	0.00	175	1558.75	92.49	2.57	3.05	1.126	0.066	0.113	2490.12	2497.38	2482.88	2773.25	3640.75	0	0	0	12.81	15.65	15.36
1596.11	5253	116.79	1.25	0.00	2484.3	2492.8	2475.9	2773.6	3639.8	135.57	11.06	202	1602.56	0.00	0.37	2.81	0.000	0.173	0.061	2484.12	2492.56	2475.69	2736.50	2465.69	0	0	0	30.00	15.46	15.50
1791.93	16774	116.79	1.31	80.00	2479.6	2490.9	2468.3	2736.0	2466.5	114.88	11.29	222	1796.72	0.00	0.00	2.95	0.000	0.000	0.116	2480.75	2491.62	2469.88	2735.56	3641.50	0	0	0	30.00	30.00	15.68
2021.95	11303	133.13	1.36	0.00	2477.4	2488.5	2466.4	2735.2	3640.9	91.85	9.05	268	2042.94	14.90	0.26	2.76	0.984	0.068	0.063	2426.47	2438.62	2414.31	2782.25	2466.75	0	0	0	12.83	15.78	15.79
2231.97	8486	145.13	1.39	80.00	2418.7	2431.9	2405.5	2782.4	2466.7	72.67	9.30	291	2252.83	13.56	0.00	2.96	0.952	0.000	0.115	2373.72	2387.44	2360.00	2782.94	3640.56	0	0	0	12.90	30.00	15.72
2416.23	11303	186.38	1.51	0.00	2370.7	2384.6	2356.8	2781.8	3640.2	54.62	7.61	328	2463.43	41.42	0.14	2.74	1.015	0.097	0.062	2207.91	2225.00	2190.81	2822.00	2465.50	0	0	0	12.88	15.82	15.83
2652.03	10275	255.86	1.72	0.00	2199.1	2219.6	2178.6	2821.1	2466.0	40.44	5.97	356	2718.59	65.36	0.22	0.00	1.004	0.074	0.000	1921.72	1946.38	1897.06	2871.12	2466.69	0	0	0	12.85	15.79	30.00
2907.03	16646	255.86	1.72	80.00	1915.3	1943.1	1887.6	2871.0	2466.5	13.77	11.13	383	2911.86	0.00	0.00	3.00	0.000	0.000	0.117	1915.16	1943.12	1887.19	2871.88	3640.00	0	0	0	30.00	30.00	15.72
3007	end climb: SURFACE_DEPTH_REACHED
state	3007	begin surface coast
3022	end surface coast: CONTROL_FINISHED_OK
state	3022	begin surface