Glider dive log

NANOOS Mar22 * SG236 * Dive index * Mission links * Dive 72 * 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 72 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 2 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 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 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 32

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 13.489733 SEABIRD_T_G 0.0043000001

MAX_BUOY 120 PITCH_MAXERRORS 1 FG_AHR_24V 24.924318 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 -1 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 2 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 32 SIM_W 0

ALTIM_PULSE 2 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 605.40039

ALTIM_SENSITIVITY 4 FG_AHR_10V 13.489733 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 24.924318 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 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 72 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 270322,121810,4644.294,-12451.978,3,1.1,10,15.6 TGT_RADIUS 2500.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270322,123213,4644.308,-12451.799,4,1.4,19,15.6 MHEAD_RNG_PITCHd_Wd 280.1,164513,-19.9,-10.000,-23.24,1773,0.654

SPEED_LIMITS 0.173,0.233 D_GRID 364

TGT_NAME OFFSHORE 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 4700.000,-12700.000

Post-dive calculations and measurements:

FINISH -0.2,1.024668 FG_AHR_10Vo 13.505

SM_CCo 4015.60,311.49,0.962,0,501.0,501.3,500.7,605.16 MEM0 60148,1,0,0

SM_GC 1.04,311.49,17.23,3.61,0.962,0.044,0.064,501.0,501.3,500.7,167.4,2520.6,0,0,0,12.85,15.82,15.83 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 990216,26,56692,57

IRIDIUM_FIX 4644.61,-12450.25,270322,122359 DATA_FILE_SIZE 12937,470

TCM_TEMP 176.58 CAP_FILE_SIZE 197003,0

XPDR_PINGS 38,13.5,11.5 SDSIZE 3918848,3891936

SC_FREEKB 3851136 SDFILEDIR 462,1

HUMID 50.15 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.07 CURRENT 0.049,132.5,1

INTERNAL_PRESSURE 8.48619 MAGCAL 1.000000,-0.057982,-0.012083,-0.031508,1.057452,0.049047,0.005744,-0.044660,0.995783,-635.4,-617.4,-268.6,35,0.0247,0

_24V_AH 14.70,16.116 IMPLIED_C_PITCH 2453,14.39,266,0.0,0.00

_10V_AH 14.73,0.000 IMPLIED_C_VBD 3412,25.478224,143,0

FG_AHR_24Vo 25.111 GPS 270322,134001,4644.354,-12452.249,26,1.0,26,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 751 1199 13253.00 nil 0 0 0.00

Pitch_motor 40 250 147.88 nil 0 0 0.00

Roll_motor 49 202 147.42 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 9 420 58.65 nil 0 0 0.00

GPS 28 15 6.25 nil 0 0 0.00

Core 1737 6 174.00 SciCon 3671 6 372.14

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1999 2 58.90

Compass 978 5 72.07

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 0.00 496.6 493.8 499.4 167.7 2523.1 0.00 0.00 0 146.08 137.26 0.00 0.00 0.005 0.000 0.000 3153.97 3127.81 3180.12 167.75 2523.25 0 0 0 14.73 30.00 30.00

146.29 18983 -116.79 -1.34 -80.00 3153.5 3128.4 3178.6 167.8 2523.1 3.74 -2.17 14 178.54 6.97 15.98 3.95 0.008 0.250 0.141 3446.09 3435.62 3456.56 2113.00 1034.94 0 0 0 15.86 15.85 15.82

366.71 3205 -116.79 -1.21 0.00 3445.9 3435.7 3456.1 2112.9 1035.4 44.19 -17.32 58 371.73 0.00 0.23 3.61 0.000 0.159 0.068 3445.78 3435.94 3455.62 2148.31 2522.25 0 0 0 30.00 15.89 15.93

556.71 0 -116.79 -1.21 0.00 3445.8 3435.9 3455.8 2148.2 2521.2 68.53 -10.45 78 558.04 0.00 0.00 0.00 0.000 0.000 0.000 3446.09 3436.19 3456.00 2147.88 2521.06 0 0 0 30.00 30.00 30.00

746.79 548 -116.79 -1.21 -80.00 3445.6 3435.8 3455.4 2147.8 2521.7 84.56 -8.60 97 752.74 0.00 0.00 3.91 0.000 0.000 0.130 3447.34 3437.50 3457.19 2148.19 1033.38 0 0 0 30.00 30.00 15.97

916.00 1060 -116.79 -1.21 0.00 3445.4 3435.9 3454.8 2148.1 1033.4 100.58 -8.36 131 922.48 0.00 0.00 3.58 0.000 0.000 0.067 3446.84 3437.62 3456.06 2147.12 2521.94 0 0 0 30.00 30.00 15.98

1111.85 160 -116.79 -1.30 0.00 3446.0 3436.2 3455.8 2147.8 2522.4 115.88 -7.90 151 1113.19 0.00 0.00 0.00 0.000 0.000 0.000 3446.81 3437.75 3455.88 2147.50 2521.88 0 0 0 30.00 30.00 30.00

1301.84 4257 -116.79 -1.40 0.00 3445.8 3436.2 3455.4 2147.4 2522.1 131.42 -9.24 170 1303.33 0.00 0.40 0.00 0.000 0.056 0.000 3446.94 3437.31 3456.56 2081.75 2522.81 0 0 0 30.00 16.01 30.00

1491.86 32 -116.79 -1.40 0.00 3446.2 3436.6 3455.8 2081.3 2522.6 151.40 -9.95 189 1493.20 0.00 0.00 0.00 0.000 0.000 0.000 3446.75 3437.69 3455.81 2081.69 2522.25 0 0 0 30.00 30.00 30.00

1681.85 548 -116.79 -1.40 -80.00 3446.0 3436.6 3455.4 2081.8 2522.8 170.67 -9.64 208 1687.82 0.00 0.00 3.89 0.000 0.000 0.133 3447.59 3438.19 3457.00 2080.00 1033.69 0 0 0 30.00 30.00 16.03

1761.08 3205 -116.79 -1.30 0.00 3446.2 3436.8 3455.6 2081.5 1033.6 179.88 -11.15 224 1767.67 0.00 0.40 3.58 0.000 0.158 0.068 3446.62 3437.06 3456.19 2126.62 2522.94 0 0 0 30.00 16.00 16.04

1777 end dive: TARGET_DEPTH_EXCEEDED

state 1777 begin apogee

1777.95 10243 0.00 -0.25 0.00 3445.8 3436.3 3455.2 2126.8 2466.4 181.27 -9.87 226 1868.98 86.71 1.83 0.10 1.199 0.125 0.203 2965.91 2973.00 2958.81 2380.56 2524.94 0 0 0 12.97 16.01 15.63

1872 end apogee: CONTROL_FINISHED_OK

state 1872 begin climb

1874.49 10243 116.79 1.34 0.00 2964.4 2971.9 2956.9 2380.6 2523.9 182.29 0.00 235 1972.15 93.86 2.60 0.00 1.164 0.066 0.000 2492.97 2500.31 2485.62 2773.38 2523.81 0 0 0 12.78 15.68 30.00

2157.84 16386 116.79 1.34 0.00 2479.7 2490.4 2469.1 2772.8 2523.5 152.58 12.65 264 2159.17 0.00 0.00 0.00 0.000 0.000 0.000 2480.25 2491.00 2469.50 2772.81 2523.56 0 0 0 30.00 30.00 30.00

2347.86 16646 116.79 1.34 80.00 2477.4 2488.9 2466.0 2772.6 2523.9 130.18 11.55 283 2352.68 0.00 0.00 2.91 0.000 0.000 0.114 2480.03 2492.19 2467.88 2773.88 3639.50 0 0 0 30.00 30.00 15.76

2392.10 21639 116.79 1.27 0.00 2476.3 2487.2 2465.4 2773.8 3640.5 124.13 13.92 292 2398.55 0.00 0.31 2.85 0.000 0.171 0.060 2476.72 2487.62 2465.81 2742.44 2467.44 0 0 0 30.00 15.73 15.78

2587.95 10663 151.17 1.45 80.00 2474.7 2487.2 2462.2 2742.1 2467.1 106.77 8.01 312 2623.32 28.70 0.37 3.09 1.062 0.059 0.114 2348.69 2361.44 2335.94 2805.62 3639.25 0 0 0 12.89 15.84 15.69

2852.17 9254 168.03 1.50 0.00 2343.1 2356.4 2329.9 2805.6 3639.4 77.05 9.02 365 2874.45 17.98 0.00 2.82 0.981 0.000 0.060 2279.94 2296.19 2263.69 2805.06 2468.88 0 0 0 12.88 30.00 15.82

3063.11 10791 213.67 1.64 -80.00 2275.0 2292.9 2257.1 2805.2 2469.2 59.23 7.35 388 3114.68 45.06 0.19 3.87 1.015 0.076 0.138 2094.53 2114.94 2074.12 2849.44 1034.38 0 0 0 12.86 15.83 15.63

3212.99 5253 213.67 1.58 0.00 2090.0 2110.0 2069.9 2850.4 1034.5 44.84 10.22 418 3219.02 0.00 0.29 3.64 0.000 0.175 0.063 2088.25 2108.31 2068.19 2816.56 2521.56 0 0 0 30.00 15.69 15.74

3408.03 10403 237.91 1.75 0.00 2087.1 2110.0 2064.1 2816.2 2521.4 28.72 8.59 438 3432.88 23.74 0.35 0.00 0.968 0.058 0.000 1996.25 2020.06 1972.44 2878.75 2522.94 0 0 0 12.86 15.81 30.00

3618.02 516 237.91 1.75 -80.00 1990.7 2016.5 1964.8 2877.8 2522.4 6.20 10.08 459 3624.01 0.00 0.00 3.88 0.000 0.000 0.129 1989.91 2015.69 1964.12 2878.44 1034.31 0 0 0 30.00 30.00 15.80

3658 end climb: SURFACE_DEPTH_REACHED

state 3658 begin surface coast

3673 end surface coast: CONTROL_FINISHED_OK

state 3673 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	72	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	2	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	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	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	32
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	13.489733	SEABIRD_T_G	0.0043000001
MAX_BUOY	120	PITCH_MAXERRORS	1	FG_AHR_24V	24.924318	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	-1	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	270322,121810,4644.294,-12451.978,3,1.1,10,15.6	TGT_RADIUS	2500.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270322,123213,4644.308,-12451.799,4,1.4,19,15.6	MHEAD_RNG_PITCHd_Wd	280.1,164513,-19.9,-10.000,-23.24,1773,0.654
SPEED_LIMITS	0.173,0.233	D_GRID	364
TGT_NAME	OFFSHORE	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	4700.000,-12700.000

FINISH	-0.2,1.024668	FG_AHR_10Vo	13.505
SM_CCo	4015.60,311.49,0.962,0,501.0,501.3,500.7,605.16	MEM0	60148,1,0,0
SM_GC	1.04,311.49,17.23,3.61,0.962,0.044,0.064,501.0,501.3,500.7,167.4,2520.6,0,0,0,12.85,15.82,15.83	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	990216,26,56692,57
IRIDIUM_FIX	4644.61,-12450.25,270322,122359	DATA_FILE_SIZE	12937,470
TCM_TEMP	176.58	CAP_FILE_SIZE	197003,0
XPDR_PINGS	38,13.5,11.5	SDSIZE	3918848,3891936
SC_FREEKB	3851136	SDFILEDIR	462,1
HUMID	50.15	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.07	CURRENT	0.049,132.5,1
INTERNAL_PRESSURE	8.48619	MAGCAL	1.000000,-0.057982,-0.012083,-0.031508,1.057452,0.049047,0.005744,-0.044660,0.995783,-635.4,-617.4,-268.6,35,0.0247,0
_24V_AH	14.70,16.116	IMPLIED_C_PITCH	2453,14.39,266,0.0,0.00
_10V_AH	14.73,0.000	IMPLIED_C_VBD	3412,25.478224,143,0
FG_AHR_24Vo	25.111	GPS	270322,134001,4644.354,-12452.249,26,1.0,26,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	751	1199	13253.00	nil	0	0	0.00
Pitch_motor	40	250	147.88	nil	0	0	0.00
Roll_motor	49	202	147.42	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	9	420	58.65	nil	0	0	0.00
GPS	28	15	6.25	nil	0	0	0.00
Core	1737	6	174.00	SciCon	3671	6	372.14
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1999	2	58.90
Compass	978	5	72.07
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	496.6	493.8	499.4	167.7	2523.1	0.00	0.00	0	146.08	137.26	0.00	0.00	0.005	0.000	0.000	3153.97	3127.81	3180.12	167.75	2523.25	0	0	0	14.73	30.00	30.00
146.29	18983	-116.79	-1.34	-80.00	3153.5	3128.4	3178.6	167.8	2523.1	3.74	-2.17	14	178.54	6.97	15.98	3.95	0.008	0.250	0.141	3446.09	3435.62	3456.56	2113.00	1034.94	0	0	0	15.86	15.85	15.82
366.71	3205	-116.79	-1.21	0.00	3445.9	3435.7	3456.1	2112.9	1035.4	44.19	-17.32	58	371.73	0.00	0.23	3.61	0.000	0.159	0.068	3445.78	3435.94	3455.62	2148.31	2522.25	0	0	0	30.00	15.89	15.93
556.71	0	-116.79	-1.21	0.00	3445.8	3435.9	3455.8	2148.2	2521.2	68.53	-10.45	78	558.04	0.00	0.00	0.00	0.000	0.000	0.000	3446.09	3436.19	3456.00	2147.88	2521.06	0	0	0	30.00	30.00	30.00
746.79	548	-116.79	-1.21	-80.00	3445.6	3435.8	3455.4	2147.8	2521.7	84.56	-8.60	97	752.74	0.00	0.00	3.91	0.000	0.000	0.130	3447.34	3437.50	3457.19	2148.19	1033.38	0	0	0	30.00	30.00	15.97
916.00	1060	-116.79	-1.21	0.00	3445.4	3435.9	3454.8	2148.1	1033.4	100.58	-8.36	131	922.48	0.00	0.00	3.58	0.000	0.000	0.067	3446.84	3437.62	3456.06	2147.12	2521.94	0	0	0	30.00	30.00	15.98
1111.85	160	-116.79	-1.30	0.00	3446.0	3436.2	3455.8	2147.8	2522.4	115.88	-7.90	151	1113.19	0.00	0.00	0.00	0.000	0.000	0.000	3446.81	3437.75	3455.88	2147.50	2521.88	0	0	0	30.00	30.00	30.00
1301.84	4257	-116.79	-1.40	0.00	3445.8	3436.2	3455.4	2147.4	2522.1	131.42	-9.24	170	1303.33	0.00	0.40	0.00	0.000	0.056	0.000	3446.94	3437.31	3456.56	2081.75	2522.81	0	0	0	30.00	16.01	30.00
1491.86	32	-116.79	-1.40	0.00	3446.2	3436.6	3455.8	2081.3	2522.6	151.40	-9.95	189	1493.20	0.00	0.00	0.00	0.000	0.000	0.000	3446.75	3437.69	3455.81	2081.69	2522.25	0	0	0	30.00	30.00	30.00
1681.85	548	-116.79	-1.40	-80.00	3446.0	3436.6	3455.4	2081.8	2522.8	170.67	-9.64	208	1687.82	0.00	0.00	3.89	0.000	0.000	0.133	3447.59	3438.19	3457.00	2080.00	1033.69	0	0	0	30.00	30.00	16.03
1761.08	3205	-116.79	-1.30	0.00	3446.2	3436.8	3455.6	2081.5	1033.6	179.88	-11.15	224	1767.67	0.00	0.40	3.58	0.000	0.158	0.068	3446.62	3437.06	3456.19	2126.62	2522.94	0	0	0	30.00	16.00	16.04
1777	end dive: TARGET_DEPTH_EXCEEDED
state	1777	begin apogee
1777.95	10243	0.00	-0.25	0.00	3445.8	3436.3	3455.2	2126.8	2466.4	181.27	-9.87	226	1868.98	86.71	1.83	0.10	1.199	0.125	0.203	2965.91	2973.00	2958.81	2380.56	2524.94	0	0	0	12.97	16.01	15.63
1872	end apogee: CONTROL_FINISHED_OK
state	1872	begin climb
1874.49	10243	116.79	1.34	0.00	2964.4	2971.9	2956.9	2380.6	2523.9	182.29	0.00	235	1972.15	93.86	2.60	0.00	1.164	0.066	0.000	2492.97	2500.31	2485.62	2773.38	2523.81	0	0	0	12.78	15.68	30.00
2157.84	16386	116.79	1.34	0.00	2479.7	2490.4	2469.1	2772.8	2523.5	152.58	12.65	264	2159.17	0.00	0.00	0.00	0.000	0.000	0.000	2480.25	2491.00	2469.50	2772.81	2523.56	0	0	0	30.00	30.00	30.00
2347.86	16646	116.79	1.34	80.00	2477.4	2488.9	2466.0	2772.6	2523.9	130.18	11.55	283	2352.68	0.00	0.00	2.91	0.000	0.000	0.114	2480.03	2492.19	2467.88	2773.88	3639.50	0	0	0	30.00	30.00	15.76
2392.10	21639	116.79	1.27	0.00	2476.3	2487.2	2465.4	2773.8	3640.5	124.13	13.92	292	2398.55	0.00	0.31	2.85	0.000	0.171	0.060	2476.72	2487.62	2465.81	2742.44	2467.44	0	0	0	30.00	15.73	15.78
2587.95	10663	151.17	1.45	80.00	2474.7	2487.2	2462.2	2742.1	2467.1	106.77	8.01	312	2623.32	28.70	0.37	3.09	1.062	0.059	0.114	2348.69	2361.44	2335.94	2805.62	3639.25	0	0	0	12.89	15.84	15.69
2852.17	9254	168.03	1.50	0.00	2343.1	2356.4	2329.9	2805.6	3639.4	77.05	9.02	365	2874.45	17.98	0.00	2.82	0.981	0.000	0.060	2279.94	2296.19	2263.69	2805.06	2468.88	0	0	0	12.88	30.00	15.82
3063.11	10791	213.67	1.64	-80.00	2275.0	2292.9	2257.1	2805.2	2469.2	59.23	7.35	388	3114.68	45.06	0.19	3.87	1.015	0.076	0.138	2094.53	2114.94	2074.12	2849.44	1034.38	0	0	0	12.86	15.83	15.63
3212.99	5253	213.67	1.58	0.00	2090.0	2110.0	2069.9	2850.4	1034.5	44.84	10.22	418	3219.02	0.00	0.29	3.64	0.000	0.175	0.063	2088.25	2108.31	2068.19	2816.56	2521.56	0	0	0	30.00	15.69	15.74
3408.03	10403	237.91	1.75	0.00	2087.1	2110.0	2064.1	2816.2	2521.4	28.72	8.59	438	3432.88	23.74	0.35	0.00	0.968	0.058	0.000	1996.25	2020.06	1972.44	2878.75	2522.94	0	0	0	12.86	15.81	30.00
3618.02	516	237.91	1.75	-80.00	1990.7	2016.5	1964.8	2877.8	2522.4	6.20	10.08	459	3624.01	0.00	0.00	3.88	0.000	0.000	0.129	1989.91	2015.69	1964.12	2878.44	1034.31	0	0	0	30.00	30.00	15.80
3658	end climb: SURFACE_DEPTH_REACHED
state	3658	begin surface coast
3673	end surface coast: CONTROL_FINISHED_OK
state	3673	begin surface