Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1188 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 6 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054949999 XPDR_VALID 6

DIVE 1188 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 2 XPDR_REP -1

D_SURF 4 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 400 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 FILEMGR 0 C_VBD 2775 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 120

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 4 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0020000001 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERS 0

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 390 CAPMAXSIZE 5000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 510 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 2 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 550 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -1 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 56

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3000 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2320 FG_AHR_10V 99.866241 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 311.88663 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 85 PITCH_GAIN 18 PRESSURE_YINT -14.5 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.0014504 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.0039810701 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.029864 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 4 N_NOCOMM 4 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 400

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 99.866241 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 311.88663 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 18 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3000 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0039810701 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.029864 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0020000001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 5000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 390

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 56 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.0014504 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -14.5 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 510

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 2

C_PITCH 2320 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2320 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2775 LOGGERS 0 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0.029999999 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 2 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 60 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72946 ROLL_MAX 3825 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 215 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 85 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 1188 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1000 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 6 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP -1

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 6

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 280222,054401,4753.364,-12513.485,19,0.8,41,15.9 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 280222,054931,4753.429,-12513.440,2,0.6,4,15.9 MHEAD_RNG_PITCHd_Wd 154.3,4820,-21.3,-8.462,-28.39

SPEED_LIMITS 0.147,0.157 D_GRID 167

TGT_NAME SHELF IRON 1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000

TGT_LATLONG 4751.930,-12510.270

Post-dive calculations and measurements:

FINISH 0.1,1.024247 MEM0 60876,1,0,0

SM_CCo 4359.72,17.38,1.032,0,1144.2,1137.1,1151.2,400.05 MEM1 65508,1,0,0

SM_GC 0.64,17.38,16.30,0.68,1.032,0.047,0.060,1144.2,1137.1,1151.2,177.1,2350.2,0,0,0,11.13,15.85,15.89 MEM2 971272,33,75496,57

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 38587,859

IRIDIUM_FIX 4754.02,-12511.36,280222,042245 CAP_FILE_SIZE 162580,0

TCM_TEMP 267.75 SDSIZE 4028416,3743456

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4322,1

HUMID 51.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.99 CURRENT 0.253, 10.1,1

INTERNAL_PRESSURE 8.91969 MAGCAL 1.000000,0.008800,-0.006120,-0.005539,1.054224,-0.088119,0.022041,-0.022537,0.967788,603.1,-295.3,103.7,36,0.0353,0

_24V_AH 14.74,424.694 IMPLIED_C_PITCH 2391,12.36,628

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2891,32.982281,564

FG_AHR_24Vo 312.016 GPS 280222,070234,4753.777,-12513.196,1,0.8,3,15.9

FG_AHR_10Vo 99.880

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 439 1286 8332.83 legato 34 20 10.22

Pitch_motor 35 231 122.79 nil 0 0 0.00

Roll_motor 55 111 92.08 nil 0 0 0.00

Iridium 151 202 452.62 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 1914 11 338.89 SciCon 0 0 0.00

LPSleep 2683 2 112.69 nil 0 0 0.00

Compass 571 5 42.85 nil 0 0 0.00

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

2 end surface: CONTROL_FINISHED_OK

state 3 begin dive

5.94 16386 -82.73 -1.35 0.00 1139.1 1130.4 1147.8 178.2 2245.3 0.00 0.00 0 77.10 70.00 0.00 0.00 0.005 0.000 0.000 2880.97 3062.62 2699.31 178.25 2245.75 0 0 0 14.89 30.00 30.00

77.85 18727 -82.73 -1.35 60.00 2880.2 3061.4 2698.9 178.3 2245.1 3.66 -5.59 13 106.56 5.32 14.40 3.06 0.009 0.232 0.080 3110.69 3321.69 2899.69 1990.44 3427.31 0 0 0 15.08 15.50 14.94

163.64 1028 -82.73 -1.35 0.00 3111.0 3320.8 2901.2 1991.4 3427.4 19.12 -16.12 30 169.18 0.00 0.00 2.62 0.000 0.000 0.017 3110.88 3320.62 2901.12 1991.31 2250.06 0 0 0 30.00 30.00 15.86

354.36 260 -82.73 -1.35 60.00 3110.9 3320.6 2901.2 1990.9 2247.9 41.40 -11.26 68 359.27 0.00 0.00 3.04 0.000 0.000 0.077 3110.75 3320.56 2900.94 1991.31 3428.12 0 0 0 30.00 30.00 15.85

468.87 1028 -82.73 -1.35 0.64 3111.1 3320.8 2901.4 1991.4 3428.2 56.76 -12.88 91 474.29 0.00 0.00 2.58 0.000 0.000 0.017 3111.09 3319.94 2902.25 1991.25 2259.62 0 0 0 30.00 30.00 15.91

659.11 516 -82.73 -1.35 -60.00 3111.0 3320.5 2901.4 1991.2 2258.1 75.62 -9.18 129 664.25 0.00 0.00 2.56 0.000 0.000 0.061 3111.56 3321.12 2902.00 1989.94 1207.81 0 0 0 30.00 30.00 15.92

723.73 1028 -82.73 -1.35 0.18 3111.1 3320.9 2901.2 1991.0 1208.1 81.36 -8.77 142 729.27 0.00 0.00 2.66 0.000 0.000 0.024 3111.75 3320.69 2902.81 1990.88 2358.69 0 0 0 30.00 30.00 15.95

914.14 260 -82.73 -1.35 60.00 3110.7 3320.1 2901.2 1990.7 2359.1 96.80 -8.00 180 919.31 0.00 0.00 2.71 0.000 0.000 0.082 3112.03 3321.19 2902.88 1990.44 3426.81 0 0 0 30.00 30.00 15.89

1038.79 1028 -82.73 -1.35 0.68 3111.0 3320.1 2901.9 1991.8 3427.2 108.03 -9.06 205 1044.34 0.00 0.00 2.57 0.000 0.000 0.017 3110.97 3320.25 2901.69 1991.50 2250.50 0 0 0 30.00 30.00 15.95

1348.89 260 -82.73 -1.35 60.00 3111.0 3320.2 2901.8 1991.4 2250.1 130.92 -7.30 267 1354.49 0.00 0.00 2.97 0.000 0.000 0.077 3110.91 3320.50 2901.31 1992.12 3427.06 0 0 0 30.00 30.00 15.90

1509.33 1028 -82.73 -1.35 1.44 3110.8 3320.2 2901.3 1992.0 3426.6 145.17 -8.76 299 1514.48 0.00 0.00 2.53 0.000 0.000 0.017 3111.22 3321.06 2901.38 1991.88 2262.75 0 0 0 30.00 30.00 15.97

1798 end dive: TARGET_DEPTH_EXCEEDED

state 1798 begin apogee

1800.88 10243 0.00 -0.28 0.00 3111.0 3320.2 2901.9 1991.5 2044.4 167.09 -7.74 357 1866.61 59.90 1.82 0.17 1.287 0.132 0.112 2774.75 2919.25 2630.25 2254.88 2170.12 0 0 0 10.82 15.84 15.42

1868 end apogee: CONTROL_FINISHED_OK

state 1868 begin climb

1869.46 10759 82.73 1.35 -60.00 2773.8 2918.5 2629.1 2254.2 2170.3 169.56 0.00 370 1940.11 61.00 2.66 2.99 1.239 0.112 0.073 2437.19 2523.88 2350.50 2651.12 993.44 0 0 0 11.84 15.63 15.76

2027.34 11303 216.31 1.62 0.00 2434.4 2523.6 2345.1 2650.8 993.6 165.91 3.91 402 2133.33 100.14 0.38 2.66 1.225 0.059 0.020 1893.78 1928.00 1859.56 2729.62 2147.25 0 0 0 11.45 15.61 15.71

2435.47 16386 216.31 1.62 0.00 1884.2 1928.0 1840.4 2729.3 2146.6 134.59 8.71 483 2436.80 0.00 0.00 0.00 0.000 0.000 0.000 1883.75 1928.00 1839.50 2729.62 2146.81 0 0 0 30.00 30.00 30.00

2740.57 16710 216.31 1.65 60.00 1883.3 1928.1 1838.6 2729.9 2146.7 111.26 6.92 544 2746.05 0.00 0.00 2.68 0.000 0.000 0.074 1884.03 1929.06 1839.00 2729.38 3205.56 0 0 0 30.00 30.00 15.86

2780.52 17478 216.31 1.67 -0.55 1883.6 1928.5 1838.6 2729.6 3205.9 108.26 7.43 552 2786.05 0.00 0.00 2.64 0.000 0.000 0.021 1884.44 1929.06 1839.81 2730.69 2043.81 0 0 0 30.00 30.00 15.89

3090.57 10535 308.17 1.85 60.00 1882.2 1928.8 1835.7 2730.0 2043.7 88.68 5.33 614 3168.02 70.32 0.23 2.97 1.161 0.071 0.071 1518.59 1543.62 1493.56 2787.19 3205.38 0 0 0 11.00 15.88 15.40

3390.60 1092 308.17 1.87 0.41 1512.0 1544.4 1479.6 2787.2 3205.0 65.68 7.65 674 3396.16 0.00 0.00 2.62 0.000 0.000 0.022 1511.72 1544.50 1478.94 2787.31 2063.62 0 0 0 30.00 30.00 15.82

3581.03 16966 308.17 1.91 -60.00 1509.5 1544.6 1474.5 2786.9 2063.2 52.52 6.64 712 3586.19 0.00 0.00 2.71 0.000 0.000 0.079 1509.62 1544.75 1474.50 2788.00 993.31 0 0 0 30.00 30.00 15.83

3675.65 11303 378.56 2.05 -0.31 1508.5 1544.9 1472.1 2787.6 993.6 46.58 6.06 731 3737.64 55.26 0.17 2.64 1.106 0.085 0.020 1232.09 1241.56 1222.62 2832.31 2144.50 0 0 0 11.20 15.77 15.90

3920.85 324 378.56 2.06 60.00 1226.8 1241.8 1211.9 2832.5 2144.8 29.05 7.91 780 3926.24 0.00 0.00 2.72 0.000 0.000 0.074 1228.16 1242.62 1213.69 2832.12 3206.69 0 0 0 30.00 30.00 15.81

4065.69 1028 378.56 2.06 -0.31 1225.2 1241.8 1208.8 2832.7 3207.2 16.65 8.06 809 4071.25 0.00 0.00 2.66 0.000 0.000 0.022 1225.59 1241.75 1209.44 2832.56 2052.25 0 0 0 30.00 30.00 15.86

4245 end climb: SURFACE_DEPTH_REACHED

state 4245 begin surface coast

4315 end surface coast: CONTROL_FINISHED_OK

state 4315 begin surface

ID	249	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	6	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054949999	XPDR_VALID	6
DIVE	1188	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	2	XPDR_REP	-1
D_SURF	4	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	400	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	FILEMGR	0	C_VBD	2775	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	120
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	4	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0020000001	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERS	0
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	390	CAPMAXSIZE	5000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	510	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	2	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	550	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-1	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	56
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3000	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2320	FG_AHR_10V	99.866241	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	311.88663	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	85	PITCH_GAIN	18	PRESSURE_YINT	-14.5	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.0014504	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.0039810701	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.029864	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	280222,054401,4753.364,-12513.485,19,0.8,41,15.9	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	280222,054931,4753.429,-12513.440,2,0.6,4,15.9	MHEAD_RNG_PITCHd_Wd	154.3,4820,-21.3,-8.462,-28.39
SPEED_LIMITS	0.147,0.157	D_GRID	167
TGT_NAME	SHELF	IRON	1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
TGT_LATLONG	4751.930,-12510.270

FINISH	0.1,1.024247	MEM0	60876,1,0,0
SM_CCo	4359.72,17.38,1.032,0,1144.2,1137.1,1151.2,400.05	MEM1	65508,1,0,0
SM_GC	0.64,17.38,16.30,0.68,1.032,0.047,0.060,1144.2,1137.1,1151.2,177.1,2350.2,0,0,0,11.13,15.85,15.89	MEM2	971272,33,75496,57
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	38587,859
IRIDIUM_FIX	4754.02,-12511.36,280222,042245	CAP_FILE_SIZE	162580,0
TCM_TEMP	267.75	SDSIZE	4028416,3743456
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4322,1
HUMID	51.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.99	CURRENT	0.253, 10.1,1
INTERNAL_PRESSURE	8.91969	MAGCAL	1.000000,0.008800,-0.006120,-0.005539,1.054224,-0.088119,0.022041,-0.022537,0.967788,603.1,-295.3,103.7,36,0.0353,0
_24V_AH	14.74,424.694	IMPLIED_C_PITCH	2391,12.36,628
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2891,32.982281,564
FG_AHR_24Vo	312.016	GPS	280222,070234,4753.777,-12513.196,1,0.8,3,15.9
FG_AHR_10Vo	99.880

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	439	1286	8332.83	legato	34	20	10.22
Pitch_motor	35	231	122.79	nil	0	0	0.00
Roll_motor	55	111	92.08	nil	0	0	0.00
Iridium	151	202	452.62	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	1914	11	338.89	SciCon	0	0	0.00
LPSleep	2683	2	112.69	nil	0	0	0.00
Compass	571	5	42.85	nil	0	0	0.00
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
2	end surface: CONTROL_FINISHED_OK
state	3	begin dive
5.94	16386	-82.73	-1.35	0.00	1139.1	1130.4	1147.8	178.2	2245.3	0.00	0.00	0	77.10	70.00	0.00	0.00	0.005	0.000	0.000	2880.97	3062.62	2699.31	178.25	2245.75	0	0	0	14.89	30.00	30.00
77.85	18727	-82.73	-1.35	60.00	2880.2	3061.4	2698.9	178.3	2245.1	3.66	-5.59	13	106.56	5.32	14.40	3.06	0.009	0.232	0.080	3110.69	3321.69	2899.69	1990.44	3427.31	0	0	0	15.08	15.50	14.94
163.64	1028	-82.73	-1.35	0.00	3111.0	3320.8	2901.2	1991.4	3427.4	19.12	-16.12	30	169.18	0.00	0.00	2.62	0.000	0.000	0.017	3110.88	3320.62	2901.12	1991.31	2250.06	0	0	0	30.00	30.00	15.86
354.36	260	-82.73	-1.35	60.00	3110.9	3320.6	2901.2	1990.9	2247.9	41.40	-11.26	68	359.27	0.00	0.00	3.04	0.000	0.000	0.077	3110.75	3320.56	2900.94	1991.31	3428.12	0	0	0	30.00	30.00	15.85
468.87	1028	-82.73	-1.35	0.64	3111.1	3320.8	2901.4	1991.4	3428.2	56.76	-12.88	91	474.29	0.00	0.00	2.58	0.000	0.000	0.017	3111.09	3319.94	2902.25	1991.25	2259.62	0	0	0	30.00	30.00	15.91
659.11	516	-82.73	-1.35	-60.00	3111.0	3320.5	2901.4	1991.2	2258.1	75.62	-9.18	129	664.25	0.00	0.00	2.56	0.000	0.000	0.061	3111.56	3321.12	2902.00	1989.94	1207.81	0	0	0	30.00	30.00	15.92
723.73	1028	-82.73	-1.35	0.18	3111.1	3320.9	2901.2	1991.0	1208.1	81.36	-8.77	142	729.27	0.00	0.00	2.66	0.000	0.000	0.024	3111.75	3320.69	2902.81	1990.88	2358.69	0	0	0	30.00	30.00	15.95
914.14	260	-82.73	-1.35	60.00	3110.7	3320.1	2901.2	1990.7	2359.1	96.80	-8.00	180	919.31	0.00	0.00	2.71	0.000	0.000	0.082	3112.03	3321.19	2902.88	1990.44	3426.81	0	0	0	30.00	30.00	15.89
1038.79	1028	-82.73	-1.35	0.68	3111.0	3320.1	2901.9	1991.8	3427.2	108.03	-9.06	205	1044.34	0.00	0.00	2.57	0.000	0.000	0.017	3110.97	3320.25	2901.69	1991.50	2250.50	0	0	0	30.00	30.00	15.95
1348.89	260	-82.73	-1.35	60.00	3111.0	3320.2	2901.8	1991.4	2250.1	130.92	-7.30	267	1354.49	0.00	0.00	2.97	0.000	0.000	0.077	3110.91	3320.50	2901.31	1992.12	3427.06	0	0	0	30.00	30.00	15.90
1509.33	1028	-82.73	-1.35	1.44	3110.8	3320.2	2901.3	1992.0	3426.6	145.17	-8.76	299	1514.48	0.00	0.00	2.53	0.000	0.000	0.017	3111.22	3321.06	2901.38	1991.88	2262.75	0	0	0	30.00	30.00	15.97
1798	end dive: TARGET_DEPTH_EXCEEDED
state	1798	begin apogee
1800.88	10243	0.00	-0.28	0.00	3111.0	3320.2	2901.9	1991.5	2044.4	167.09	-7.74	357	1866.61	59.90	1.82	0.17	1.287	0.132	0.112	2774.75	2919.25	2630.25	2254.88	2170.12	0	0	0	10.82	15.84	15.42
1868	end apogee: CONTROL_FINISHED_OK
state	1868	begin climb
1869.46	10759	82.73	1.35	-60.00	2773.8	2918.5	2629.1	2254.2	2170.3	169.56	0.00	370	1940.11	61.00	2.66	2.99	1.239	0.112	0.073	2437.19	2523.88	2350.50	2651.12	993.44	0	0	0	11.84	15.63	15.76
2027.34	11303	216.31	1.62	0.00	2434.4	2523.6	2345.1	2650.8	993.6	165.91	3.91	402	2133.33	100.14	0.38	2.66	1.225	0.059	0.020	1893.78	1928.00	1859.56	2729.62	2147.25	0	0	0	11.45	15.61	15.71
2435.47	16386	216.31	1.62	0.00	1884.2	1928.0	1840.4	2729.3	2146.6	134.59	8.71	483	2436.80	0.00	0.00	0.00	0.000	0.000	0.000	1883.75	1928.00	1839.50	2729.62	2146.81	0	0	0	30.00	30.00	30.00
2740.57	16710	216.31	1.65	60.00	1883.3	1928.1	1838.6	2729.9	2146.7	111.26	6.92	544	2746.05	0.00	0.00	2.68	0.000	0.000	0.074	1884.03	1929.06	1839.00	2729.38	3205.56	0	0	0	30.00	30.00	15.86
2780.52	17478	216.31	1.67	-0.55	1883.6	1928.5	1838.6	2729.6	3205.9	108.26	7.43	552	2786.05	0.00	0.00	2.64	0.000	0.000	0.021	1884.44	1929.06	1839.81	2730.69	2043.81	0	0	0	30.00	30.00	15.89
3090.57	10535	308.17	1.85	60.00	1882.2	1928.8	1835.7	2730.0	2043.7	88.68	5.33	614	3168.02	70.32	0.23	2.97	1.161	0.071	0.071	1518.59	1543.62	1493.56	2787.19	3205.38	0	0	0	11.00	15.88	15.40
3390.60	1092	308.17	1.87	0.41	1512.0	1544.4	1479.6	2787.2	3205.0	65.68	7.65	674	3396.16	0.00	0.00	2.62	0.000	0.000	0.022	1511.72	1544.50	1478.94	2787.31	2063.62	0	0	0	30.00	30.00	15.82
3581.03	16966	308.17	1.91	-60.00	1509.5	1544.6	1474.5	2786.9	2063.2	52.52	6.64	712	3586.19	0.00	0.00	2.71	0.000	0.000	0.079	1509.62	1544.75	1474.50	2788.00	993.31	0	0	0	30.00	30.00	15.83
3675.65	11303	378.56	2.05	-0.31	1508.5	1544.9	1472.1	2787.6	993.6	46.58	6.06	731	3737.64	55.26	0.17	2.64	1.106	0.085	0.020	1232.09	1241.56	1222.62	2832.31	2144.50	0	0	0	11.20	15.77	15.90
3920.85	324	378.56	2.06	60.00	1226.8	1241.8	1211.9	2832.5	2144.8	29.05	7.91	780	3926.24	0.00	0.00	2.72	0.000	0.000	0.074	1228.16	1242.62	1213.69	2832.12	3206.69	0	0	0	30.00	30.00	15.81
4065.69	1028	378.56	2.06	-0.31	1225.2	1241.8	1208.8	2832.7	3207.2	16.65	8.06	809	4071.25	0.00	0.00	2.66	0.000	0.000	0.022	1225.59	1241.75	1209.44	2832.56	2052.25	0	0	0	30.00	30.00	15.86
4245	end climb: SURFACE_DEPTH_REACHED
state	4245	begin surface coast
4315	end surface coast: CONTROL_FINISHED_OK
state	4315	begin surface