Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 401 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 2 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 401 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 425 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 990 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 FILEMGR 0 C_VBD 2500 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 2 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 1 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 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 1

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 410 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 450 T_GPS 5 LOITER_D_TOP 150 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 250 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 1 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 180 RAFOS_PEAK_OFFSET 0 AH0_24V 575 GPS_DEVICE 48

T_LOITER 7200 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 34

USE_ICE 0 PITCH_MIN 190 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3920 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 990 C_PITCH 2140 FG_AHR_10V 40.639271 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 103.82702 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 80 PITCH_GAIN 20 PRESSURE_YINT -170.66119 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00022638284 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72660 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 0 PITCH_W_GAIN 3 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 7.0

KALMAN_USE 2 ROLL_MIN 670 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 7.0

HD_A 0.003 ROLL_MAX 3465 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0099900002 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 1.6e-05 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 575 D_SURF 2 N_NOCOMM 1 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 425

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 40.639271 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 103.82702 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3920 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 190 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099900002 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 3 T_DIVE 410

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 236 PRESSURE_SLOPE 0.00022638284 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -170.66119 T_LOITER 7200

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 PROTOCOL 9 T_MISSION 450

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 180

COMPASS_USE 4 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 1

C_PITCH 2140 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2200 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2500 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 250 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 150 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054945 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72660 ROLL_MAX 3465 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 670 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 80 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 401 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1010 MINV_24V 11 SC_PROFILE 7.0 XPDR_DEVICE 21

D_BOOST 2 MISSION 2 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 7.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 0 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 990 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 291220,214902,4752.244,-12514.033,26,1.1,27,15.8 TGT_LATLONG 4751.930,-12510.270

_CALLS 1 TGT_RADIUS 2500.000

_SM_DEPTHo 0.93 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -60.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 291220,215425,4752.270,-12514.056,2,0.7,5,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.139,0.180 MHEAD_RNG_PITCHd_Wd 81.8,4746,-20.4,-8.049,-24.07

TGT_NAME SHELF D_GRID 218

Post-dive calculations and measurements:

SM_CCo 4861.33,0.00,0.010,0,767.0,769.6,764.4,425.10 _10V_AH 14.74,0.000

SM_GC 0.69,0.00,16.18,3.39,0.010,0.070,0.050,767.0,769.6,764.4,174.0,2078.1,0,0,0,30.36,15.77,15.80 FG_AHR_24Vo 103.972

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 40.667

IRIDIUM_FIX 4751.64,-12513.98,291220,195721 MEM 1100144,46,75684,114

TCM_TEMP 193.25 DATA_FILE_SIZE 25836,735

XPDR_PINGS 1,14.0,11.5 CAP_FILE_SIZE 185481,0

SC_FREEKB 3710816 SDSIZE 3918848,3804224

HUMID 56.82 SDFILEDIR 2031,1

TEMP 8.88 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.83526 GPS 291220,231559,4752.429,-12513.455,2,1.8,6,15.8

_24V_AH 14.70,122.656

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 490 1296 9343.34 legato 0 0 0.00

Pitch_motor 34 256 130.37 nil 0 0 0.00

Roll_motor 78 199 230.13 nil 0 0 0.00

Iridium 204 202 607.94 nil 0 0 0.00

Transponder_ping 0 420 1.54 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 2402 11 417.88 SciCon 4751 13 924.18

LPSleep 2621 2 108.19 nil 0 0 0.00

Compass 1232 5 90.84 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 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

7.04 16386 -77.86 -1.25 0.00 761.7 766.4 756.9 171.5 2117.1 0.00 0.00 0 80.32 72.68 0.00 0.00 0.005 0.000 0.000 2385.50 2366.25 2404.75 171.62 2117.19 0 0 0 15.43 30.00 30.00

80.60 18467 -77.86 -1.25 0.00 2384.5 2365.0 2404.0 171.6 2117.4 3.21 -3.95 14 111.16 11.19 13.40 0.00 0.007 0.256 0.000 2815.72 2813.06 2818.38 1835.25 2117.06 0 0 0 15.47 15.54 30.00

288.97 260 -77.86 -1.25 80.00 2815.7 2812.9 2818.6 1835.8 2117.2 44.58 -21.85 56 294.76 0.00 0.00 3.70 0.000 0.000 0.113 2816.97 2813.69 2820.25 1835.88 3474.62 0 0 0 30.00 30.00 15.73

414.01 1028 -77.86 -1.25 0.00 2815.8 2812.9 2818.8 1835.6 3474.7 70.39 -19.16 81 419.87 0.00 0.00 3.48 0.000 0.000 0.059 2816.19 2813.12 2819.25 1836.19 2084.44 0 0 0 30.00 30.00 15.78

599.10 260 -77.86 -1.25 80.00 2815.9 2812.5 2819.2 1835.7 2085.1 95.24 -11.28 118 604.88 0.00 0.00 3.78 0.000 0.000 0.109 2816.56 2814.06 2819.06 1835.50 3474.69 0 0 0 30.00 30.00 15.84

629.12 1028 -77.86 -1.25 0.00 2816.6 2813.1 2820.1 1835.8 3474.4 98.91 -12.24 124 634.85 0.00 0.00 3.41 0.000 0.000 0.055 2817.00 2814.06 2819.94 1835.75 2082.75 0 0 0 30.00 30.00 15.84

819.22 516 -77.86 -1.25 -80.00 2815.9 2812.7 2819.1 1836.0 2082.6 119.41 -10.23 144 824.96 0.00 0.00 3.98 0.000 0.000 0.149 2815.72 2813.44 2818.00 1835.62 662.12 0 0 0 30.00 30.00 15.84

958.10 1028 -77.86 -1.25 0.00 2816.0 2812.7 2819.4 1835.6 661.9 136.39 -12.41 172 964.92 0.00 0.00 3.48 0.000 0.000 0.049 2818.31 2814.25 2822.38 1835.12 2118.19 0 0 0 30.00 30.00 15.88

1264.24 260 -77.86 -1.25 80.00 2816.3 2813.0 2819.7 1835.2 2119.1 168.72 -11.85 203 1269.99 0.00 0.00 3.63 0.000 0.000 0.111 2817.41 2814.00 2820.81 1835.38 3474.56 0 0 0 30.00 30.00 15.90

1419.26 1028 -77.86 -1.25 0.00 2817.0 2813.4 2820.6 1835.8 3475.2 188.49 -12.66 234 1423.83 0.00 0.00 3.39 0.000 0.000 0.056 2818.53 2815.00 2822.06 1835.38 2082.94 0 0 0 30.00 30.00 15.92

1690 end dive: TARGET_DEPTH_EXCEEDED

state 1690 begin apogee

1690.56 10243 0.00 -0.25 0.00 2816.7 2812.9 2820.4 1835.9 2224.9 219.16 -11.18 262 1754.03 60.14 1.75 0.09 1.296 0.150 0.200 2496.91 2504.00 2489.81 2080.62 2181.75 0 0 0 12.58 15.87 15.44

1756 end apogee: CONTROL_FINISHED_OK

state 1756 begin climb

1755.87 10243 77.86 1.25 0.00 2497.8 2505.0 2490.5 2080.8 2181.4 221.98 0.00 268 1823.16 63.94 2.46 0.00 1.260 0.090 0.000 2181.34 2195.94 2166.75 2447.88 2182.69 0 0 0 12.52 15.49 30.00

2119.35 10791 135.27 1.42 -80.00 2172.6 2192.3 2152.9 2448.0 2182.9 208.37 4.03 305 2174.76 47.93 0.23 4.11 1.238 0.077 0.130 1947.28 1971.19 1923.38 2501.00 737.06 0 0 0 12.50 15.67 15.31

2249.35 1028 135.27 1.42 0.00 1941.9 1966.0 1917.8 2501.2 736.7 197.87 10.03 331 2255.11 0.00 0.00 3.64 0.000 0.000 0.049 1942.12 1966.38 1917.88 2499.31 2221.12 0 0 0 30.00 30.00 15.53

2554.39 16646 135.27 1.42 80.00 1938.1 1966.1 1910.1 2500.4 2221.5 169.96 8.42 362 2558.96 0.00 0.00 3.45 0.000 0.000 0.115 1938.12 1966.38 1909.88 2500.88 3473.94 0 0 0 30.00 30.00 15.71

2668.33 17414 135.27 1.42 0.00 1937.4 1965.1 1909.7 2500.4 3474.0 160.27 8.38 385 2675.09 0.00 0.00 3.16 0.000 0.000 0.050 1938.34 1966.06 1910.62 2500.12 2179.38 0 0 0 30.00 30.00 15.78

2974.45 16710 135.27 1.46 80.00 1936.6 1964.8 1908.3 2500.8 2179.8 138.04 6.99 416 2980.04 0.00 0.00 3.53 0.000 0.000 0.110 1936.25 1964.50 1908.00 2500.44 3474.00 0 0 0 30.00 30.00 15.83

3113.30 17414 135.27 1.46 0.00 1936.5 1964.8 1908.2 2501.3 3474.1 125.67 8.97 444 3120.19 0.00 0.00 3.18 0.000 0.000 0.050 1936.88 1964.94 1908.81 2500.81 2179.81 0 0 0 30.00 30.00 15.82

3419.50 8742 170.93 1.56 -80.00 1935.4 1965.0 1905.9 2500.6 2179.8 103.44 5.55 475 3454.92 29.41 0.00 4.01 1.142 0.000 0.130 1803.12 1835.69 1770.56 2499.38 735.19 0 0 0 12.56 30.00 15.61

3644.54 3141 170.93 1.59 0.00 1797.2 1831.3 1763.1 2500.5 735.1 85.41 6.99 520 3650.34 0.00 0.16 3.58 0.000 0.094 0.048 1797.09 1831.62 1762.56 2539.88 2226.19 0 0 0 30.00 15.72 15.74

3829.59 8486 211.17 1.72 80.00 1795.4 1831.0 1759.8 2539.8 2226.2 74.32 5.23 557 3870.52 33.56 0.00 3.44 1.116 0.000 0.114 1637.38 1671.62 1603.12 2539.50 3473.69 0 0 0 12.50 30.00 15.51

4094.63 11303 283.44 1.93 0.00 1632.8 1666.8 1598.8 2539.1 3473.4 60.39 2.99 610 4161.12 58.49 0.43 3.17 1.111 0.063 0.048 1342.66 1378.44 1306.88 2619.00 2175.94 0 0 0 12.45 15.69 15.71

4339.73 260 283.44 1.93 80.00 1337.8 1376.5 1299.0 2619.4 2175.9 42.54 10.33 659 4345.40 0.00 0.00 3.57 0.000 0.000 0.109 1337.75 1376.12 1299.38 2619.25 3472.88 0 0 0 30.00 30.00 15.58

4474.71 17414 283.44 1.93 0.00 1336.2 1373.7 1298.8 2619.4 3474.1 27.04 11.96 686 4480.42 0.00 0.00 3.21 0.000 0.000 0.050 1337.00 1374.25 1299.75 2619.06 2180.50 0 0 0 30.00 30.00 15.68

4659.79 16646 283.44 1.93 80.00 1335.8 1373.6 1298.1 2619.7 2181.6 6.99 9.82 723 4665.54 0.00 0.00 3.51 0.000 0.000 0.105 1336.31 1374.25 1298.38 2618.44 3475.19 0 0 0 30.00 30.00 15.68

4705 end climb: SURFACE_DEPTH_REACHED

state 4705 begin surface coast

4720 end surface coast: CONTROL_FINISHED_OK

state 4720 begin surface

ID	236	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	2	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	401	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	425	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	990	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	FILEMGR	0	C_VBD	2500	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	2	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	1	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	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	1
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	410	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	450	T_GPS	5	LOITER_D_TOP	150	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	250	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	1	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	180	RAFOS_PEAK_OFFSET	0	AH0_24V	575	GPS_DEVICE	48
T_LOITER	7200	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	34
USE_ICE	0	PITCH_MIN	190	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3920	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	990	C_PITCH	2140	FG_AHR_10V	40.639271	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	103.82702	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	80	PITCH_GAIN	20	PRESSURE_YINT	-170.66119	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00022638284	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72660	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	0	PITCH_W_GAIN	3	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	7.0
KALMAN_USE	2	ROLL_MIN	670	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	7.0
HD_A	0.003	ROLL_MAX	3465	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0099900002	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_PULSE	3

GPS1	291220,214902,4752.244,-12514.033,26,1.1,27,15.8	TGT_LATLONG	4751.930,-12510.270
_CALLS	1	TGT_RADIUS	2500.000
_SM_DEPTHo	0.93	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-60.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	291220,215425,4752.270,-12514.056,2,0.7,5,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.139,0.180	MHEAD_RNG_PITCHd_Wd	81.8,4746,-20.4,-8.049,-24.07
TGT_NAME	SHELF	D_GRID	218

SM_CCo	4861.33,0.00,0.010,0,767.0,769.6,764.4,425.10	_10V_AH	14.74,0.000
SM_GC	0.69,0.00,16.18,3.39,0.010,0.070,0.050,767.0,769.6,764.4,174.0,2078.1,0,0,0,30.36,15.77,15.80	FG_AHR_24Vo	103.972
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	40.667
IRIDIUM_FIX	4751.64,-12513.98,291220,195721	MEM	1100144,46,75684,114
TCM_TEMP	193.25	DATA_FILE_SIZE	25836,735
XPDR_PINGS	1,14.0,11.5	CAP_FILE_SIZE	185481,0
SC_FREEKB	3710816	SDSIZE	3918848,3804224
HUMID	56.82	SDFILEDIR	2031,1
TEMP	8.88	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.83526	GPS	291220,231559,4752.429,-12513.455,2,1.8,6,15.8
_24V_AH	14.70,122.656

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	490	1296	9343.34	legato	0	0	0.00
Pitch_motor	34	256	130.37	nil	0	0	0.00
Roll_motor	78	199	230.13	nil	0	0	0.00
Iridium	204	202	607.94	nil	0	0	0.00
Transponder_ping	0	420	1.54	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	2402	11	417.88	SciCon	4751	13	924.18
LPSleep	2621	2	108.19	nil	0	0	0.00
Compass	1232	5	90.84	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	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
7.04	16386	-77.86	-1.25	0.00	761.7	766.4	756.9	171.5	2117.1	0.00	0.00	0	80.32	72.68	0.00	0.00	0.005	0.000	0.000	2385.50	2366.25	2404.75	171.62	2117.19	0	0	0	15.43	30.00	30.00
80.60	18467	-77.86	-1.25	0.00	2384.5	2365.0	2404.0	171.6	2117.4	3.21	-3.95	14	111.16	11.19	13.40	0.00	0.007	0.256	0.000	2815.72	2813.06	2818.38	1835.25	2117.06	0	0	0	15.47	15.54	30.00
288.97	260	-77.86	-1.25	80.00	2815.7	2812.9	2818.6	1835.8	2117.2	44.58	-21.85	56	294.76	0.00	0.00	3.70	0.000	0.000	0.113	2816.97	2813.69	2820.25	1835.88	3474.62	0	0	0	30.00	30.00	15.73
414.01	1028	-77.86	-1.25	0.00	2815.8	2812.9	2818.8	1835.6	3474.7	70.39	-19.16	81	419.87	0.00	0.00	3.48	0.000	0.000	0.059	2816.19	2813.12	2819.25	1836.19	2084.44	0	0	0	30.00	30.00	15.78
599.10	260	-77.86	-1.25	80.00	2815.9	2812.5	2819.2	1835.7	2085.1	95.24	-11.28	118	604.88	0.00	0.00	3.78	0.000	0.000	0.109	2816.56	2814.06	2819.06	1835.50	3474.69	0	0	0	30.00	30.00	15.84
629.12	1028	-77.86	-1.25	0.00	2816.6	2813.1	2820.1	1835.8	3474.4	98.91	-12.24	124	634.85	0.00	0.00	3.41	0.000	0.000	0.055	2817.00	2814.06	2819.94	1835.75	2082.75	0	0	0	30.00	30.00	15.84
819.22	516	-77.86	-1.25	-80.00	2815.9	2812.7	2819.1	1836.0	2082.6	119.41	-10.23	144	824.96	0.00	0.00	3.98	0.000	0.000	0.149	2815.72	2813.44	2818.00	1835.62	662.12	0	0	0	30.00	30.00	15.84
958.10	1028	-77.86	-1.25	0.00	2816.0	2812.7	2819.4	1835.6	661.9	136.39	-12.41	172	964.92	0.00	0.00	3.48	0.000	0.000	0.049	2818.31	2814.25	2822.38	1835.12	2118.19	0	0	0	30.00	30.00	15.88
1264.24	260	-77.86	-1.25	80.00	2816.3	2813.0	2819.7	1835.2	2119.1	168.72	-11.85	203	1269.99	0.00	0.00	3.63	0.000	0.000	0.111	2817.41	2814.00	2820.81	1835.38	3474.56	0	0	0	30.00	30.00	15.90
1419.26	1028	-77.86	-1.25	0.00	2817.0	2813.4	2820.6	1835.8	3475.2	188.49	-12.66	234	1423.83	0.00	0.00	3.39	0.000	0.000	0.056	2818.53	2815.00	2822.06	1835.38	2082.94	0	0	0	30.00	30.00	15.92
1690	end dive: TARGET_DEPTH_EXCEEDED
state	1690	begin apogee
1690.56	10243	0.00	-0.25	0.00	2816.7	2812.9	2820.4	1835.9	2224.9	219.16	-11.18	262	1754.03	60.14	1.75	0.09	1.296	0.150	0.200	2496.91	2504.00	2489.81	2080.62	2181.75	0	0	0	12.58	15.87	15.44
1756	end apogee: CONTROL_FINISHED_OK
state	1756	begin climb
1755.87	10243	77.86	1.25	0.00	2497.8	2505.0	2490.5	2080.8	2181.4	221.98	0.00	268	1823.16	63.94	2.46	0.00	1.260	0.090	0.000	2181.34	2195.94	2166.75	2447.88	2182.69	0	0	0	12.52	15.49	30.00
2119.35	10791	135.27	1.42	-80.00	2172.6	2192.3	2152.9	2448.0	2182.9	208.37	4.03	305	2174.76	47.93	0.23	4.11	1.238	0.077	0.130	1947.28	1971.19	1923.38	2501.00	737.06	0	0	0	12.50	15.67	15.31
2249.35	1028	135.27	1.42	0.00	1941.9	1966.0	1917.8	2501.2	736.7	197.87	10.03	331	2255.11	0.00	0.00	3.64	0.000	0.000	0.049	1942.12	1966.38	1917.88	2499.31	2221.12	0	0	0	30.00	30.00	15.53
2554.39	16646	135.27	1.42	80.00	1938.1	1966.1	1910.1	2500.4	2221.5	169.96	8.42	362	2558.96	0.00	0.00	3.45	0.000	0.000	0.115	1938.12	1966.38	1909.88	2500.88	3473.94	0	0	0	30.00	30.00	15.71
2668.33	17414	135.27	1.42	0.00	1937.4	1965.1	1909.7	2500.4	3474.0	160.27	8.38	385	2675.09	0.00	0.00	3.16	0.000	0.000	0.050	1938.34	1966.06	1910.62	2500.12	2179.38	0	0	0	30.00	30.00	15.78
2974.45	16710	135.27	1.46	80.00	1936.6	1964.8	1908.3	2500.8	2179.8	138.04	6.99	416	2980.04	0.00	0.00	3.53	0.000	0.000	0.110	1936.25	1964.50	1908.00	2500.44	3474.00	0	0	0	30.00	30.00	15.83
3113.30	17414	135.27	1.46	0.00	1936.5	1964.8	1908.2	2501.3	3474.1	125.67	8.97	444	3120.19	0.00	0.00	3.18	0.000	0.000	0.050	1936.88	1964.94	1908.81	2500.81	2179.81	0	0	0	30.00	30.00	15.82
3419.50	8742	170.93	1.56	-80.00	1935.4	1965.0	1905.9	2500.6	2179.8	103.44	5.55	475	3454.92	29.41	0.00	4.01	1.142	0.000	0.130	1803.12	1835.69	1770.56	2499.38	735.19	0	0	0	12.56	30.00	15.61
3644.54	3141	170.93	1.59	0.00	1797.2	1831.3	1763.1	2500.5	735.1	85.41	6.99	520	3650.34	0.00	0.16	3.58	0.000	0.094	0.048	1797.09	1831.62	1762.56	2539.88	2226.19	0	0	0	30.00	15.72	15.74
3829.59	8486	211.17	1.72	80.00	1795.4	1831.0	1759.8	2539.8	2226.2	74.32	5.23	557	3870.52	33.56	0.00	3.44	1.116	0.000	0.114	1637.38	1671.62	1603.12	2539.50	3473.69	0	0	0	12.50	30.00	15.51
4094.63	11303	283.44	1.93	0.00	1632.8	1666.8	1598.8	2539.1	3473.4	60.39	2.99	610	4161.12	58.49	0.43	3.17	1.111	0.063	0.048	1342.66	1378.44	1306.88	2619.00	2175.94	0	0	0	12.45	15.69	15.71
4339.73	260	283.44	1.93	80.00	1337.8	1376.5	1299.0	2619.4	2175.9	42.54	10.33	659	4345.40	0.00	0.00	3.57	0.000	0.000	0.109	1337.75	1376.12	1299.38	2619.25	3472.88	0	0	0	30.00	30.00	15.58
4474.71	17414	283.44	1.93	0.00	1336.2	1373.7	1298.8	2619.4	3474.1	27.04	11.96	686	4480.42	0.00	0.00	3.21	0.000	0.000	0.050	1337.00	1374.25	1299.75	2619.06	2180.50	0	0	0	30.00	30.00	15.68
4659.79	16646	283.44	1.93	80.00	1335.8	1373.6	1298.1	2619.7	2181.6	6.99	9.82	723	4665.54	0.00	0.00	3.51	0.000	0.000	0.105	1336.31	1374.25	1298.38	2618.44	3475.19	0	0	0	30.00	30.00	15.68
4705	end climb: SURFACE_DEPTH_REACHED
state	4705	begin surface coast
4720	end surface coast: CONTROL_FINISHED_OK
state	4720	begin surface