Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 54 * 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 54 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 13.21788 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 21.453352 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 13.21788 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 21.453352 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 54 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 260322,153517,4649.680,-12448.312,4,1.8,11,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260322,154126,4649.717,-12448.267,3,1.2,12,15.6 MHEAD_RNG_PITCHd_Wd 211.3,20000,-19.9,-10.000,-23.24,1773,0.581

SPEED_LIMITS 0.173,0.233 D_GRID 145

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 4642.081,-12459.401

Post-dive calculations and measurements:

FINISH -0.4,1.024701 FG_AHR_10Vo 13.230

SM_CCo 3340.36,287.61,0.969,0,500.7,507.5,493.9,605.22 MEM0 60148,1,0,0

SM_GC 0.89,287.61,17.38,2.74,0.969,0.037,0.063,500.7,507.5,493.9,179.0,2461.8,0,0,0,12.88,15.77,15.77 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 968652,16,78336,63

IRIDIUM_FIX 4650.66,-12446.89,260322,153654 DATA_FILE_SIZE 9745,408

TCM_TEMP 176.42 CAP_FILE_SIZE 162995,0

XPDR_PINGS 12,13.5,11.5 SDSIZE 3918848,3896032

SC_FREEKB 3858048 SDFILEDIR 354,1

HUMID 50.23 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.08 CURRENT 0.038,100.2,1

INTERNAL_PRESSURE 8.48522 MAGCAL 1.000000,-0.105301,-0.276871,-0.002713,1.115383,0.038370,0.092545,0.041886,0.990514,-342.3,-610.8,-216.2,17,0.0408,0

_24V_AH 14.69,12.541 IMPLIED_C_PITCH 2454,14.19,214,0.0,0.00

_10V_AH 14.73,0.000 IMPLIED_C_VBD 3369,18.471960,109,0

FG_AHR_24Vo 21.637 GPS 260322,163805,4649.429,-12448.370,29,0.9,33,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 741 1168 12727.01 nil 0 0 0.00

Pitch_motor 40 254 149.83 nil 0 0 0.00

Roll_motor 49 219 158.85 nil 0 0 0.00

Iridium 210 115 355.76 nil 0 0 0.00

Transponder_ping 3 420 18.51 nil 0 0 0.00

GPS 21 15 4.76 nil 0 0 0.00

Core 1806 6 180.91 SciCon 3034 6 306.58

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1588 2 46.80

Compass 850 5 62.61

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

8.43 16386 -116.79 -1.34 0.00 496.3 498.4 494.1 167.2 2520.6 0.00 0.00 0 135.82 127.14 0.00 0.00 0.005 0.000 0.000 3029.00 3006.06 3051.94 167.81 2521.25 0 0 0 14.66 30.00 30.00

136.02 18983 -116.79 -1.34 -80.00 3027.5 3005.4 3049.7 167.8 2521.1 3.84 -2.32 13 172.46 10.25 16.20 3.93 0.007 0.255 0.156 3443.94 3435.69 3452.19 2112.50 1033.88 0 0 0 15.71 15.69 15.67

255.58 3205 -116.79 -1.23 0.00 3444.8 3435.1 3454.6 2113.9 1034.2 24.29 -15.74 37 260.64 0.00 0.20 3.57 0.000 0.161 0.074 3445.16 3435.44 3454.88 2144.69 2519.69 0 0 0 30.00 15.75 15.78

445.60 260 -116.79 -1.23 80.00 3444.4 3434.9 3453.9 2144.3 2519.4 50.19 -13.48 57 450.42 0.00 0.00 2.86 0.000 0.000 0.121 3445.25 3435.44 3455.06 2143.81 3638.56 0 0 0 30.00 30.00 15.84

479.83 1028 -116.79 -1.23 0.00 3444.6 3434.8 3454.4 2144.1 3639.5 54.66 -13.46 64 486.19 0.00 0.00 2.74 0.000 0.000 0.064 3444.59 3434.62 3454.56 2144.06 2471.56 0 0 0 30.00 30.00 15.84

675.66 676 -116.79 -1.29 -80.00 3444.8 3435.2 3454.4 2144.2 2470.8 76.46 -9.53 84 680.60 0.00 0.00 3.74 0.000 0.000 0.154 3444.97 3435.31 3454.62 2144.12 1034.38 0 0 0 30.00 30.00 15.87

785.66 1060 -116.79 -1.29 0.00 3445.0 3435.2 3454.8 2144.2 1034.2 87.26 -9.80 106 790.59 0.00 0.00 3.53 0.000 0.000 0.073 3446.38 3436.62 3456.12 2144.25 2521.81 0 0 0 30.00 30.00 15.90

975.74 4257 -116.79 -1.36 0.00 3444.8 3435.1 3454.4 2144.3 2520.9 104.64 -8.58 126 977.23 0.00 0.33 0.00 0.000 0.064 0.000 3444.53 3434.56 3454.50 2092.75 2521.69 0 0 0 30.00 15.93 30.00

1165.73 292 -116.79 -1.36 80.00 3444.7 3434.6 3454.8 2092.6 2521.6 122.22 -8.00 145 1170.51 0.00 0.00 2.83 0.000 0.000 0.119 3444.72 3434.94 3454.50 2092.62 3640.31 0 0 0 30.00 30.00 15.94

1265.71 1028 -116.79 -1.36 0.00 3445.1 3435.2 3454.9 2092.7 3640.6 132.62 -11.10 165 1270.50 0.00 0.00 2.73 0.000 0.000 0.063 3446.56 3436.88 3456.25 2092.56 2471.12 0 0 0 30.00 30.00 15.97

1386 end dive: TARGET_DEPTH_EXCEEDED

state 1386 begin apogee

1386.81 10243 0.00 -0.25 0.00 3444.8 3435.0 3454.7 2092.9 2521.1 145.39 -10.53 178 1478.02 85.75 2.14 0.08 1.169 0.137 0.219 2967.22 2973.56 2960.88 2378.31 2472.00 0 0 0 12.94 15.95 15.59

1481 end apogee: CONTROL_FINISHED_OK

state 1481 begin climb

1483.53 10503 116.79 1.34 80.00 2964.3 2971.2 2957.4 2379.8 2472.1 146.86 0.00 187 1584.26 92.94 2.59 3.07 1.130 0.068 0.113 2489.59 2496.50 2482.69 2772.88 3640.00 0 0 0 12.76 15.65 15.37

1612.43 5253 116.79 1.24 0.00 2485.0 2493.2 2476.8 2773.1 3640.5 136.31 12.12 207 1617.27 0.00 0.38 2.79 0.000 0.170 0.062 2484.84 2493.38 2476.31 2734.81 2466.88 0 0 0 30.00 15.45 15.49

1802.44 8486 129.20 1.28 80.00 2479.4 2490.7 2468.1 2734.1 2467.1 116.18 9.28 227 1817.46 10.85 0.00 3.05 0.940 0.000 0.116 2440.53 2452.31 2428.75 2735.50 3639.69 0 0 0 12.76 30.00 15.59

2046.70 1028 129.20 1.28 0.00 2435.2 2448.3 2422.1 2734.4 3639.1 91.75 10.00 276 2053.05 0.00 0.00 2.75 0.000 0.000 0.062 2436.47 2449.38 2423.56 2734.75 2467.19 0 0 0 30.00 30.00 15.77

2242.50 10663 173.14 1.53 80.00 2433.9 2447.6 2420.2 2735.0 2467.3 76.61 7.45 296 2294.09 43.48 0.54 2.95 1.042 0.052 0.116 2261.69 2276.94 2246.44 2829.06 3641.88 0 0 0 12.91 15.83 15.63

2432.51 1028 173.14 1.53 0.00 2254.2 2270.8 2237.6 2828.2 3641.3 56.58 10.88 334 2437.32 0.00 0.00 2.76 0.000 0.000 0.062 2255.34 2271.88 2238.81 2828.19 2465.62 0 0 0 30.00 30.00 15.76

2622.58 10275 262.23 1.80 0.00 2252.7 2270.6 2234.8 2827.7 2465.7 44.03 4.84 354 2708.45 83.28 0.30 0.00 1.017 0.065 0.000 1897.62 1922.69 1872.56 2887.94 2466.44 0 0 0 12.93 15.82 30.00

2892.59 16646 262.23 1.80 80.00 1889.8 1918.1 1861.6 2887.6 2466.2 17.27 11.43 382 2897.39 0.00 0.00 3.04 0.000 0.000 0.115 1889.59 1918.00 1861.19 2887.69 3639.94 0 0 0 30.00 30.00 15.71

3007 end climb: SURFACE_DEPTH_REACHED

state 3007 begin surface coast

3023 end surface coast: CONTROL_FINISHED_OK

state 3023 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	54	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	13.21788	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	21.453352	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	260322,153517,4649.680,-12448.312,4,1.8,11,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260322,154126,4649.717,-12448.267,3,1.2,12,15.6	MHEAD_RNG_PITCHd_Wd	211.3,20000,-19.9,-10.000,-23.24,1773,0.581
SPEED_LIMITS	0.173,0.233	D_GRID	145
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	4642.081,-12459.401

FINISH	-0.4,1.024701	FG_AHR_10Vo	13.230
SM_CCo	3340.36,287.61,0.969,0,500.7,507.5,493.9,605.22	MEM0	60148,1,0,0
SM_GC	0.89,287.61,17.38,2.74,0.969,0.037,0.063,500.7,507.5,493.9,179.0,2461.8,0,0,0,12.88,15.77,15.77	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	968652,16,78336,63
IRIDIUM_FIX	4650.66,-12446.89,260322,153654	DATA_FILE_SIZE	9745,408
TCM_TEMP	176.42	CAP_FILE_SIZE	162995,0
XPDR_PINGS	12,13.5,11.5	SDSIZE	3918848,3896032
SC_FREEKB	3858048	SDFILEDIR	354,1
HUMID	50.23	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.08	CURRENT	0.038,100.2,1
INTERNAL_PRESSURE	8.48522	MAGCAL	1.000000,-0.105301,-0.276871,-0.002713,1.115383,0.038370,0.092545,0.041886,0.990514,-342.3,-610.8,-216.2,17,0.0408,0
_24V_AH	14.69,12.541	IMPLIED_C_PITCH	2454,14.19,214,0.0,0.00
_10V_AH	14.73,0.000	IMPLIED_C_VBD	3369,18.471960,109,0
FG_AHR_24Vo	21.637	GPS	260322,163805,4649.429,-12448.370,29,0.9,33,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	741	1168	12727.01	nil	0	0	0.00
Pitch_motor	40	254	149.83	nil	0	0	0.00
Roll_motor	49	219	158.85	nil	0	0	0.00
Iridium	210	115	355.76	nil	0	0	0.00
Transponder_ping	3	420	18.51	nil	0	0	0.00
GPS	21	15	4.76	nil	0	0	0.00
Core	1806	6	180.91	SciCon	3034	6	306.58
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1588	2	46.80
Compass	850	5	62.61
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
8.43	16386	-116.79	-1.34	0.00	496.3	498.4	494.1	167.2	2520.6	0.00	0.00	0	135.82	127.14	0.00	0.00	0.005	0.000	0.000	3029.00	3006.06	3051.94	167.81	2521.25	0	0	0	14.66	30.00	30.00
136.02	18983	-116.79	-1.34	-80.00	3027.5	3005.4	3049.7	167.8	2521.1	3.84	-2.32	13	172.46	10.25	16.20	3.93	0.007	0.255	0.156	3443.94	3435.69	3452.19	2112.50	1033.88	0	0	0	15.71	15.69	15.67
255.58	3205	-116.79	-1.23	0.00	3444.8	3435.1	3454.6	2113.9	1034.2	24.29	-15.74	37	260.64	0.00	0.20	3.57	0.000	0.161	0.074	3445.16	3435.44	3454.88	2144.69	2519.69	0	0	0	30.00	15.75	15.78
445.60	260	-116.79	-1.23	80.00	3444.4	3434.9	3453.9	2144.3	2519.4	50.19	-13.48	57	450.42	0.00	0.00	2.86	0.000	0.000	0.121	3445.25	3435.44	3455.06	2143.81	3638.56	0	0	0	30.00	30.00	15.84
479.83	1028	-116.79	-1.23	0.00	3444.6	3434.8	3454.4	2144.1	3639.5	54.66	-13.46	64	486.19	0.00	0.00	2.74	0.000	0.000	0.064	3444.59	3434.62	3454.56	2144.06	2471.56	0	0	0	30.00	30.00	15.84
675.66	676	-116.79	-1.29	-80.00	3444.8	3435.2	3454.4	2144.2	2470.8	76.46	-9.53	84	680.60	0.00	0.00	3.74	0.000	0.000	0.154	3444.97	3435.31	3454.62	2144.12	1034.38	0	0	0	30.00	30.00	15.87
785.66	1060	-116.79	-1.29	0.00	3445.0	3435.2	3454.8	2144.2	1034.2	87.26	-9.80	106	790.59	0.00	0.00	3.53	0.000	0.000	0.073	3446.38	3436.62	3456.12	2144.25	2521.81	0	0	0	30.00	30.00	15.90
975.74	4257	-116.79	-1.36	0.00	3444.8	3435.1	3454.4	2144.3	2520.9	104.64	-8.58	126	977.23	0.00	0.33	0.00	0.000	0.064	0.000	3444.53	3434.56	3454.50	2092.75	2521.69	0	0	0	30.00	15.93	30.00
1165.73	292	-116.79	-1.36	80.00	3444.7	3434.6	3454.8	2092.6	2521.6	122.22	-8.00	145	1170.51	0.00	0.00	2.83	0.000	0.000	0.119	3444.72	3434.94	3454.50	2092.62	3640.31	0	0	0	30.00	30.00	15.94
1265.71	1028	-116.79	-1.36	0.00	3445.1	3435.2	3454.9	2092.7	3640.6	132.62	-11.10	165	1270.50	0.00	0.00	2.73	0.000	0.000	0.063	3446.56	3436.88	3456.25	2092.56	2471.12	0	0	0	30.00	30.00	15.97
1386	end dive: TARGET_DEPTH_EXCEEDED
state	1386	begin apogee
1386.81	10243	0.00	-0.25	0.00	3444.8	3435.0	3454.7	2092.9	2521.1	145.39	-10.53	178	1478.02	85.75	2.14	0.08	1.169	0.137	0.219	2967.22	2973.56	2960.88	2378.31	2472.00	0	0	0	12.94	15.95	15.59
1481	end apogee: CONTROL_FINISHED_OK
state	1481	begin climb
1483.53	10503	116.79	1.34	80.00	2964.3	2971.2	2957.4	2379.8	2472.1	146.86	0.00	187	1584.26	92.94	2.59	3.07	1.130	0.068	0.113	2489.59	2496.50	2482.69	2772.88	3640.00	0	0	0	12.76	15.65	15.37
1612.43	5253	116.79	1.24	0.00	2485.0	2493.2	2476.8	2773.1	3640.5	136.31	12.12	207	1617.27	0.00	0.38	2.79	0.000	0.170	0.062	2484.84	2493.38	2476.31	2734.81	2466.88	0	0	0	30.00	15.45	15.49
1802.44	8486	129.20	1.28	80.00	2479.4	2490.7	2468.1	2734.1	2467.1	116.18	9.28	227	1817.46	10.85	0.00	3.05	0.940	0.000	0.116	2440.53	2452.31	2428.75	2735.50	3639.69	0	0	0	12.76	30.00	15.59
2046.70	1028	129.20	1.28	0.00	2435.2	2448.3	2422.1	2734.4	3639.1	91.75	10.00	276	2053.05	0.00	0.00	2.75	0.000	0.000	0.062	2436.47	2449.38	2423.56	2734.75	2467.19	0	0	0	30.00	30.00	15.77
2242.50	10663	173.14	1.53	80.00	2433.9	2447.6	2420.2	2735.0	2467.3	76.61	7.45	296	2294.09	43.48	0.54	2.95	1.042	0.052	0.116	2261.69	2276.94	2246.44	2829.06	3641.88	0	0	0	12.91	15.83	15.63
2432.51	1028	173.14	1.53	0.00	2254.2	2270.8	2237.6	2828.2	3641.3	56.58	10.88	334	2437.32	0.00	0.00	2.76	0.000	0.000	0.062	2255.34	2271.88	2238.81	2828.19	2465.62	0	0	0	30.00	30.00	15.76
2622.58	10275	262.23	1.80	0.00	2252.7	2270.6	2234.8	2827.7	2465.7	44.03	4.84	354	2708.45	83.28	0.30	0.00	1.017	0.065	0.000	1897.62	1922.69	1872.56	2887.94	2466.44	0	0	0	12.93	15.82	30.00
2892.59	16646	262.23	1.80	80.00	1889.8	1918.1	1861.6	2887.6	2466.2	17.27	11.43	382	2897.39	0.00	0.00	3.04	0.000	0.000	0.115	1889.59	1918.00	1861.19	2887.69	3639.94	0	0	0	30.00	30.00	15.71
3007	end climb: SURFACE_DEPTH_REACHED
state	3007	begin surface coast
3023	end surface coast: CONTROL_FINISHED_OK
state	3023	begin surface