Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 68 * 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 68 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 -2 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 13.420128 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 24.109306 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 13.420128 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 24.109306 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 -2

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 68 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 270322,065811,4645.573,-12451.128,4,1.7,23,15.6 TGT_RADIUS 1852.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.05 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270322,070128,4645.564,-12451.128,4,1.4,11,15.6 MHEAD_RNG_PITCHd_Wd 216.4,20000,-19.9,-10.000,-23.24,1773,0.585

SPEED_LIMITS 0.173,0.233 D_GRID 256

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 4637.928,-12502.248

Post-dive calculations and measurements:

FINISH -0.2,1.024715 FG_AHR_10Vo 13.435

SM_CCo 3914.52,293.99,0.949,0,501.0,501.8,500.2,605.16 MEM0 60148,1,0,0

SM_GC 0.89,293.99,17.24,0.10,0.949,0.041,0.144,501.0,501.8,500.2,169.0,2521.5,0,0,0,12.86,15.79,15.78 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 989848,23,57000,63

IRIDIUM_FIX 4648.68,-12453.85,270322,043559 DATA_FILE_SIZE 12907,480

TCM_TEMP 176.41 CAP_FILE_SIZE 172683,0

XPDR_PINGS 11,13.5,11.5 SDSIZE 3918848,3892864

SC_FREEKB 3852672 SDFILEDIR 438,1

HUMID 50.17 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.93 CURRENT 0.050,154.7,1

INTERNAL_PRESSURE 8.48123 MAGCAL 1.000000,-0.071769,-0.116214,-0.033290,1.084870,0.065013,0.068403,-0.010606,1.100531,-548.3,-628.6,-341.5,33,0.0298,0

_24V_AH 14.69,15.276 IMPLIED_C_PITCH 2445,14.51,264,0.0,0.00

_10V_AH 14.72,0.000 IMPLIED_C_VBD 3329,17.451788,140,0

FG_AHR_24Vo 24.295 GPS 270322,080734,4645.238,-12451.502,6,1.3,25,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 749 1198 13195.10 nil 0 0 0.00

Pitch_motor 40 255 151.15 nil 0 0 0.00

Roll_motor 53 207 162.64 nil 0 0 0.00

Iridium 81 53 64.36 nil 0 0 0.00

Transponder_ping 2 420 16.97 nil 0 0 0.00

GPS 20 15 4.43 nil 0 0 0.00

Core 1883 6 188.55 SciCon 3608 6 366.14

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1907 2 56.14

Compass 989 5 72.82

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 0.00 496.5 493.9 499.0 166.6 2467.8 0.00 0.00 0 140.91 132.13 0.00 0.00 0.005 0.000 0.000 3116.06 3090.81 3141.31 166.56 2467.88 0 0 0 14.62 30.00 30.00

141.13 18727 -116.79 -1.34 80.00 3115.5 3091.6 3139.5 167.0 2467.8 3.84 -2.48 13 173.22 7.78 16.33 3.09 0.008 0.256 0.116 3444.00 3433.75 3454.25 2113.19 3638.25 0 0 0 15.68 15.65 15.63

401.43 3205 -116.79 -1.25 0.00 3445.6 3434.8 3456.4 2113.1 3638.1 52.97 -17.62 65 406.39 0.00 0.17 2.79 0.000 0.179 0.062 3446.03 3435.25 3456.81 2137.94 2472.06 0 0 0 30.00 15.76 15.80

591.59 644 -116.79 -1.31 -80.00 3444.9 3434.1 3455.8 2138.0 2472.1 75.27 -10.15 85 597.41 0.00 0.00 3.85 0.000 0.000 0.154 3445.31 3435.06 3455.56 2137.62 1034.44 0 0 0 30.00 30.00 15.83

660.68 1060 -116.79 -1.31 0.00 3445.7 3434.4 3457.0 2138.8 1034.2 82.21 -9.48 99 667.16 0.00 0.00 3.66 0.000 0.000 0.070 3446.94 3435.62 3458.25 2137.81 2519.56 0 0 0 30.00 30.00 15.87

856.50 4257 -116.79 -1.39 0.00 3445.3 3434.4 3456.2 2138.2 2519.8 98.80 -7.87 119 857.99 0.00 0.34 0.00 0.000 0.062 0.000 3444.56 3434.12 3455.00 2083.94 2519.12 0 0 0 30.00 15.90 30.00

1046.48 260 -116.79 -1.39 80.00 3445.5 3434.4 3456.6 2084.4 2519.5 119.92 -11.72 138 1051.29 0.00 0.00 2.93 0.000 0.000 0.117 3445.97 3434.75 3457.19 2084.25 3637.75 0 0 0 30.00 30.00 15.92

1136.49 3205 -116.79 -1.31 0.00 3445.3 3434.6 3456.1 2083.8 3638.3 129.66 -10.07 156 1141.36 0.00 0.35 2.76 0.000 0.162 0.062 3446.34 3435.50 3457.19 2123.94 2469.62 0 0 0 30.00 15.90 15.94

1326.53 548 -116.79 -1.31 -80.00 3445.6 3434.8 3456.4 2124.4 2469.4 145.75 -9.15 176 1331.50 0.00 0.00 3.74 0.000 0.000 0.154 3446.75 3436.00 3457.50 2124.69 1034.38 0 0 0 30.00 30.00 15.94

1386.50 1028 -116.79 -1.31 0.00 3446.0 3435.5 3456.4 2124.1 1034.6 151.88 -10.65 188 1391.46 0.00 0.00 3.62 0.000 0.000 0.071 3446.38 3435.94 3456.81 2124.56 2520.69 0 0 0 30.00 30.00 15.97

1576.63 676 -116.79 -1.37 -80.00 3446.2 3436.0 3456.4 2124.2 2521.0 167.92 -7.97 208 1582.51 0.00 0.00 3.90 0.000 0.000 0.149 3446.69 3436.12 3457.25 2124.44 1034.50 0 0 0 30.00 30.00 15.96

1701.56 1060 -116.79 -1.37 0.00 3446.1 3435.9 3456.2 2124.2 1034.6 179.74 -9.69 233 1706.49 0.00 0.00 3.59 0.000 0.000 0.073 3447.28 3437.00 3457.56 2124.38 2519.88 0 0 0 30.00 30.00 15.99

1712 end dive: TARGET_DEPTH_EXCEEDED

state 1712 begin apogee

1712.65 10243 0.00 -0.25 0.00 3445.8 3435.8 3455.9 2124.4 2470.6 180.49 -8.97 235 1803.65 86.38 1.85 0.09 1.199 0.129 0.208 2965.12 2971.50 2958.75 2380.44 2520.50 0 0 0 12.98 15.96 15.59

1807 end apogee: CONTROL_FINISHED_OK

state 1807 begin climb

1809.15 10243 116.79 1.34 0.00 2964.0 2970.9 2957.2 2380.1 2520.6 181.43 0.00 244 1905.78 92.90 2.58 0.00 1.163 0.063 0.000 2493.28 2500.94 2485.62 2774.38 2521.25 0 0 0 12.74 15.65 30.00

2092.49 16386 116.79 1.34 0.00 2480.0 2490.9 2469.1 2774.2 2521.4 152.32 13.22 273 2093.83 0.00 0.00 0.00 0.000 0.000 0.000 2480.38 2491.06 2469.69 2774.38 2521.12 0 0 0 30.00 30.00 30.00

2282.52 16386 116.79 1.34 0.00 2477.7 2489.3 2466.0 2774.5 2521.0 129.83 11.80 292 2283.86 0.00 0.00 0.00 0.000 0.000 0.000 2478.19 2490.25 2466.12 2774.00 2520.56 0 0 0 30.00 30.00 30.00

2472.58 16646 116.79 1.34 80.00 2477.0 2489.0 2465.0 2773.6 2520.9 108.09 10.61 311 2477.37 0.00 0.00 2.95 0.000 0.000 0.115 2477.94 2490.31 2465.56 2774.12 3637.88 0 0 0 30.00 30.00 15.82

2646.79 17414 116.79 1.34 0.00 2475.4 2486.8 2464.0 2774.1 3639.6 87.99 11.09 346 2653.17 0.00 0.00 2.79 0.000 0.000 0.062 2475.75 2487.44 2464.06 2774.31 2467.56 0 0 0 30.00 30.00 15.86

2842.61 10791 181.16 1.54 -80.00 2474.8 2487.2 2462.3 2774.2 2467.8 72.60 6.27 366 2909.87 61.68 0.23 3.87 1.040 0.074 0.138 2225.12 2240.38 2209.88 2828.25 1033.31 0 0 0 12.96 15.90 15.63

2988.01 5253 181.16 1.40 0.00 2222.5 2236.7 2208.2 2829.2 1033.6 59.49 11.92 393 2994.07 0.00 0.47 3.66 0.000 0.180 0.063 2222.78 2237.06 2208.50 2773.12 2522.25 0 0 0 30.00 15.69 15.73

3183.04 10663 260.18 1.78 80.00 2218.8 2236.5 2201.1 2772.6 2522.4 48.36 5.42 413 3265.21 74.55 0.65 2.95 1.013 0.048 0.116 1907.06 1930.81 1883.31 2882.56 3640.88 0 0 0 12.93 15.81 15.53

3433.36 17414 260.18 1.78 0.00 1898.3 1924.6 1871.9 2882.7 3640.4 18.90 14.31 463 3438.16 0.00 0.00 2.79 0.000 0.000 0.062 1900.03 1925.94 1874.12 2882.62 2467.88 0 0 0 30.00 30.00 15.71

3574 end climb: SURFACE_DEPTH_REACHED

state 3574 begin surface coast

3594 end surface coast: CONTROL_FINISHED_OK

state 3594 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	68	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	-2	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	13.420128	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	24.109306	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	270322,065811,4645.573,-12451.128,4,1.7,23,15.6	TGT_RADIUS	1852.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.05	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270322,070128,4645.564,-12451.128,4,1.4,11,15.6	MHEAD_RNG_PITCHd_Wd	216.4,20000,-19.9,-10.000,-23.24,1773,0.585
SPEED_LIMITS	0.173,0.233	D_GRID	256
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	4637.928,-12502.248

FINISH	-0.2,1.024715	FG_AHR_10Vo	13.435
SM_CCo	3914.52,293.99,0.949,0,501.0,501.8,500.2,605.16	MEM0	60148,1,0,0
SM_GC	0.89,293.99,17.24,0.10,0.949,0.041,0.144,501.0,501.8,500.2,169.0,2521.5,0,0,0,12.86,15.79,15.78	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	989848,23,57000,63
IRIDIUM_FIX	4648.68,-12453.85,270322,043559	DATA_FILE_SIZE	12907,480
TCM_TEMP	176.41	CAP_FILE_SIZE	172683,0
XPDR_PINGS	11,13.5,11.5	SDSIZE	3918848,3892864
SC_FREEKB	3852672	SDFILEDIR	438,1
HUMID	50.17	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.93	CURRENT	0.050,154.7,1
INTERNAL_PRESSURE	8.48123	MAGCAL	1.000000,-0.071769,-0.116214,-0.033290,1.084870,0.065013,0.068403,-0.010606,1.100531,-548.3,-628.6,-341.5,33,0.0298,0
_24V_AH	14.69,15.276	IMPLIED_C_PITCH	2445,14.51,264,0.0,0.00
_10V_AH	14.72,0.000	IMPLIED_C_VBD	3329,17.451788,140,0
FG_AHR_24Vo	24.295	GPS	270322,080734,4645.238,-12451.502,6,1.3,25,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	749	1198	13195.10	nil	0	0	0.00
Pitch_motor	40	255	151.15	nil	0	0	0.00
Roll_motor	53	207	162.64	nil	0	0	0.00
Iridium	81	53	64.36	nil	0	0	0.00
Transponder_ping	2	420	16.97	nil	0	0	0.00
GPS	20	15	4.43	nil	0	0	0.00
Core	1883	6	188.55	SciCon	3608	6	366.14
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1907	2	56.14
Compass	989	5	72.82
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	496.5	493.9	499.0	166.6	2467.8	0.00	0.00	0	140.91	132.13	0.00	0.00	0.005	0.000	0.000	3116.06	3090.81	3141.31	166.56	2467.88	0	0	0	14.62	30.00	30.00
141.13	18727	-116.79	-1.34	80.00	3115.5	3091.6	3139.5	167.0	2467.8	3.84	-2.48	13	173.22	7.78	16.33	3.09	0.008	0.256	0.116	3444.00	3433.75	3454.25	2113.19	3638.25	0	0	0	15.68	15.65	15.63
401.43	3205	-116.79	-1.25	0.00	3445.6	3434.8	3456.4	2113.1	3638.1	52.97	-17.62	65	406.39	0.00	0.17	2.79	0.000	0.179	0.062	3446.03	3435.25	3456.81	2137.94	2472.06	0	0	0	30.00	15.76	15.80
591.59	644	-116.79	-1.31	-80.00	3444.9	3434.1	3455.8	2138.0	2472.1	75.27	-10.15	85	597.41	0.00	0.00	3.85	0.000	0.000	0.154	3445.31	3435.06	3455.56	2137.62	1034.44	0	0	0	30.00	30.00	15.83
660.68	1060	-116.79	-1.31	0.00	3445.7	3434.4	3457.0	2138.8	1034.2	82.21	-9.48	99	667.16	0.00	0.00	3.66	0.000	0.000	0.070	3446.94	3435.62	3458.25	2137.81	2519.56	0	0	0	30.00	30.00	15.87
856.50	4257	-116.79	-1.39	0.00	3445.3	3434.4	3456.2	2138.2	2519.8	98.80	-7.87	119	857.99	0.00	0.34	0.00	0.000	0.062	0.000	3444.56	3434.12	3455.00	2083.94	2519.12	0	0	0	30.00	15.90	30.00
1046.48	260	-116.79	-1.39	80.00	3445.5	3434.4	3456.6	2084.4	2519.5	119.92	-11.72	138	1051.29	0.00	0.00	2.93	0.000	0.000	0.117	3445.97	3434.75	3457.19	2084.25	3637.75	0	0	0	30.00	30.00	15.92
1136.49	3205	-116.79	-1.31	0.00	3445.3	3434.6	3456.1	2083.8	3638.3	129.66	-10.07	156	1141.36	0.00	0.35	2.76	0.000	0.162	0.062	3446.34	3435.50	3457.19	2123.94	2469.62	0	0	0	30.00	15.90	15.94
1326.53	548	-116.79	-1.31	-80.00	3445.6	3434.8	3456.4	2124.4	2469.4	145.75	-9.15	176	1331.50	0.00	0.00	3.74	0.000	0.000	0.154	3446.75	3436.00	3457.50	2124.69	1034.38	0	0	0	30.00	30.00	15.94
1386.50	1028	-116.79	-1.31	0.00	3446.0	3435.5	3456.4	2124.1	1034.6	151.88	-10.65	188	1391.46	0.00	0.00	3.62	0.000	0.000	0.071	3446.38	3435.94	3456.81	2124.56	2520.69	0	0	0	30.00	30.00	15.97
1576.63	676	-116.79	-1.37	-80.00	3446.2	3436.0	3456.4	2124.2	2521.0	167.92	-7.97	208	1582.51	0.00	0.00	3.90	0.000	0.000	0.149	3446.69	3436.12	3457.25	2124.44	1034.50	0	0	0	30.00	30.00	15.96
1701.56	1060	-116.79	-1.37	0.00	3446.1	3435.9	3456.2	2124.2	1034.6	179.74	-9.69	233	1706.49	0.00	0.00	3.59	0.000	0.000	0.073	3447.28	3437.00	3457.56	2124.38	2519.88	0	0	0	30.00	30.00	15.99
1712	end dive: TARGET_DEPTH_EXCEEDED
state	1712	begin apogee
1712.65	10243	0.00	-0.25	0.00	3445.8	3435.8	3455.9	2124.4	2470.6	180.49	-8.97	235	1803.65	86.38	1.85	0.09	1.199	0.129	0.208	2965.12	2971.50	2958.75	2380.44	2520.50	0	0	0	12.98	15.96	15.59
1807	end apogee: CONTROL_FINISHED_OK
state	1807	begin climb
1809.15	10243	116.79	1.34	0.00	2964.0	2970.9	2957.2	2380.1	2520.6	181.43	0.00	244	1905.78	92.90	2.58	0.00	1.163	0.063	0.000	2493.28	2500.94	2485.62	2774.38	2521.25	0	0	0	12.74	15.65	30.00
2092.49	16386	116.79	1.34	0.00	2480.0	2490.9	2469.1	2774.2	2521.4	152.32	13.22	273	2093.83	0.00	0.00	0.00	0.000	0.000	0.000	2480.38	2491.06	2469.69	2774.38	2521.12	0	0	0	30.00	30.00	30.00
2282.52	16386	116.79	1.34	0.00	2477.7	2489.3	2466.0	2774.5	2521.0	129.83	11.80	292	2283.86	0.00	0.00	0.00	0.000	0.000	0.000	2478.19	2490.25	2466.12	2774.00	2520.56	0	0	0	30.00	30.00	30.00
2472.58	16646	116.79	1.34	80.00	2477.0	2489.0	2465.0	2773.6	2520.9	108.09	10.61	311	2477.37	0.00	0.00	2.95	0.000	0.000	0.115	2477.94	2490.31	2465.56	2774.12	3637.88	0	0	0	30.00	30.00	15.82
2646.79	17414	116.79	1.34	0.00	2475.4	2486.8	2464.0	2774.1	3639.6	87.99	11.09	346	2653.17	0.00	0.00	2.79	0.000	0.000	0.062	2475.75	2487.44	2464.06	2774.31	2467.56	0	0	0	30.00	30.00	15.86
2842.61	10791	181.16	1.54	-80.00	2474.8	2487.2	2462.3	2774.2	2467.8	72.60	6.27	366	2909.87	61.68	0.23	3.87	1.040	0.074	0.138	2225.12	2240.38	2209.88	2828.25	1033.31	0	0	0	12.96	15.90	15.63
2988.01	5253	181.16	1.40	0.00	2222.5	2236.7	2208.2	2829.2	1033.6	59.49	11.92	393	2994.07	0.00	0.47	3.66	0.000	0.180	0.063	2222.78	2237.06	2208.50	2773.12	2522.25	0	0	0	30.00	15.69	15.73
3183.04	10663	260.18	1.78	80.00	2218.8	2236.5	2201.1	2772.6	2522.4	48.36	5.42	413	3265.21	74.55	0.65	2.95	1.013	0.048	0.116	1907.06	1930.81	1883.31	2882.56	3640.88	0	0	0	12.93	15.81	15.53
3433.36	17414	260.18	1.78	0.00	1898.3	1924.6	1871.9	2882.7	3640.4	18.90	14.31	463	3438.16	0.00	0.00	2.79	0.000	0.000	0.062	1900.03	1925.94	1874.12	2882.62	2467.88	0	0	0	30.00	30.00	15.71
3574	end climb: SURFACE_DEPTH_REACHED
state	3574	begin surface coast
3594	end surface coast: CONTROL_FINISHED_OK
state	3594	begin surface