Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 402 * 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 402 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 40.668224 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 103.98307 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 40.668224 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 103.98307 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 402 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 291220,231559,4752.429,-12513.455,2,1.8,6,15.8 TGT_LATLONG 4751.930,-12510.270

_CALLS 2 TGT_RADIUS 2500.000

_SM_DEPTHo 0.37 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -58.2 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 291220,232240,4752.468,-12513.493,2,0.9,5,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.139,0.180 MHEAD_RNG_PITCHd_Wd 88.2,4127,-20.4,-8.049,-24.07

TGT_NAME SHELF D_GRID 188

Post-dive calculations and measurements:

SM_CCo 4224.07,0.38,0.142,0,768.6,773.5,763.7,424.71 _10V_AH 14.70,0.000

SM_GC 0.87,0.38,16.58,3.49,0.142,0.086,0.054,768.6,773.5,763.7,173.0,2077.8,0,0,0,15.20,15.63,15.67 FG_AHR_24Vo 104.124

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 40.694

IRIDIUM_FIX 4754.02,-12511.36,291220,231804 MEM 1100180,45,75668,114

TCM_TEMP 190.38 DATA_FILE_SIZE 25783,688

XPDR_PINGS 1,14.0,11.5 CAP_FILE_SIZE 190835,0

SC_FREEKB 3710432 SDSIZE 3918848,3804032

HUMID 56.66 SDFILEDIR 2036,1

TEMP 9.03 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.8356 GPS 301220,003407,4752.530,-12513.155,35,0.9,36,15.8

_24V_AH 14.23,122.825

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 492 2670 18698.23 legato 0 0 0.00

Pitch_motor 35 259 132.49 nil 0 0 0.00

Roll_motor 86 199 245.44 nil 0 0 0.00

Iridium 228 189 614.34 nil 0 0 0.00

Transponder_ping 0 420 1.49 nil 0 0 0.00

GPS 14 15 3.14 nil 0 0 0.00

Core 2303 11 399.49 SciCon 4104 14 863.67

LPSleep 2156 2 88.77 nil 0 0 0.00

Compass 1160 5 85.27 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

7.05 16386 -77.86 -1.25 0.00 761.1 764.7 757.4 173.9 2117.4 0.00 0.00 0 85.41 77.78 0.00 0.00 0.005 0.000 0.000 2497.75 2480.25 2515.25 174.31 2118.88 0 0 0 15.47 30.00 30.00

85.68 18727 -77.86 -1.25 80.00 2497.3 2479.9 2514.8 174.1 2118.1 3.36 -3.89 15 117.46 7.86 14.03 3.72 0.008 0.260 0.115 2816.75 2812.50 2821.00 1836.94 3472.38 0 0 0 15.52 15.56 15.47

200.20 1028 -77.86 -1.25 0.00 2816.7 2812.2 2821.2 1836.7 3472.3 27.88 -21.60 38 205.94 0.00 0.00 3.48 0.000 0.000 0.058 2818.75 2813.69 2823.81 1836.31 2082.69 0 0 0 30.00 30.00 15.72

385.25 260 -77.86 -1.25 80.00 2816.6 2811.9 2821.3 1837.1 2083.3 64.52 -19.66 75 391.04 0.00 0.00 3.78 0.000 0.000 0.108 2816.41 2811.94 2820.88 1836.31 3473.62 0 0 0 30.00 30.00 15.79

405.26 1028 -77.86 -1.25 0.00 2816.1 2811.7 2820.6 1837.6 3473.2 68.58 -19.87 79 411.00 0.00 0.00 3.44 0.000 0.000 0.056 2817.72 2812.94 2822.50 1836.94 2080.56 0 0 0 30.00 30.00 15.79

590.29 260 -77.86 -1.25 80.00 2816.7 2812.2 2821.1 1836.3 2081.1 93.41 -13.39 116 596.08 0.00 0.00 3.78 0.000 0.000 0.108 2816.59 2812.38 2820.81 1836.88 3474.19 0 0 0 30.00 30.00 15.84

700.31 1028 -77.86 -1.25 0.00 2816.5 2812.2 2820.8 1837.2 3474.2 106.69 -11.81 138 704.89 0.00 0.00 3.39 0.000 0.000 0.055 2817.25 2813.19 2821.31 1836.75 2080.62 0 0 0 30.00 30.00 15.85

1010.35 516 -77.86 -1.25 -80.00 2816.4 2811.9 2820.9 1837.2 2081.0 140.81 -10.93 170 1016.17 0.00 0.00 3.95 0.000 0.000 0.148 2815.44 2811.50 2819.38 1837.00 663.62 0 0 0 30.00 30.00 15.87

1115.37 1028 -77.86 -1.25 0.00 2816.6 2812.2 2821.1 1836.9 663.7 154.36 -13.64 191 1120.02 0.00 0.00 3.49 0.000 0.000 0.049 2817.81 2813.56 2822.06 1837.00 2119.81 0 0 0 30.00 30.00 15.91

1396 end dive: TARGET_DEPTH_EXCEEDED

state 1396 begin apogee

1396.64 10243 0.00 -0.25 0.00 2817.0 2812.3 2821.6 1837.1 2225.5 188.19 -12.53 220 1459.12 59.59 1.75 0.09 1.258 0.148 0.200 2498.97 2505.44 2492.50 2079.88 2182.31 0 0 0 12.60 15.87 15.45

1461 end apogee: CONTROL_FINISHED_OK

state 1461 begin climb

1460.97 10759 77.86 1.25 -80.00 2498.1 2505.1 2491.1 2079.9 2182.7 191.94 0.00 226 1535.43 63.14 2.53 4.08 1.225 0.093 0.126 2182.53 2197.81 2167.25 2447.44 736.75 0 0 0 12.52 15.50 15.18

1673.21 11303 138.09 1.43 0.00 2171.7 2188.6 2154.8 2447.9 736.5 184.86 3.83 268 1728.96 50.15 0.25 3.62 1.204 0.076 0.047 1936.09 1960.69 1911.50 2500.69 2226.81 0 0 0 12.44 15.53 15.56

2033.25 16646 138.09 1.43 80.00 1927.5 1957.2 1897.8 2500.8 2226.5 157.09 8.87 310 2037.82 0.00 0.00 3.42 0.000 0.000 0.114 1929.69 1959.56 1899.81 2499.62 3474.88 0 0 0 30.00 30.00 15.69

2133.34 17414 138.09 1.43 0.00 1926.9 1955.8 1898.1 2500.3 3474.1 147.23 10.37 330 2137.82 0.00 0.00 3.16 0.000 0.000 0.050 1927.72 1956.62 1898.81 2500.88 2178.56 0 0 0 30.00 30.00 15.73

2443.31 16902 138.09 1.43 -80.00 1925.1 1955.4 1894.8 2500.1 2178.9 115.81 9.04 362 2448.98 0.00 0.00 3.94 0.000 0.000 0.128 1924.16 1953.75 1894.56 2500.25 734.69 0 0 0 30.00 30.00 15.81

2613.35 17414 138.09 1.43 0.00 1924.0 1953.2 1894.8 2500.2 734.8 97.94 10.82 396 2619.11 0.00 0.00 3.55 0.000 0.000 0.047 1924.34 1953.75 1894.94 2500.25 2225.00 0 0 0 30.00 30.00 15.84

2798.39 16646 138.09 1.43 80.00 1923.6 1953.3 1893.8 2500.6 2225.0 80.29 9.11 433 2804.10 0.00 0.00 3.38 0.000 0.000 0.113 1923.78 1953.44 1894.12 2501.25 3475.38 0 0 0 30.00 30.00 15.82

2898.48 9254 187.00 1.58 0.00 1923.7 1953.2 1894.1 2500.9 3475.0 75.04 4.62 453 2944.87 39.31 0.00 3.16 1.114 0.000 0.047 1737.09 1770.88 1703.31 2499.88 2174.69 0 0 0 12.52 30.00 15.83

3123.54 10791 232.06 1.72 -80.00 1730.8 1767.2 1694.4 2500.7 2174.4 65.09 4.89 498 3169.72 37.24 0.34 4.05 1.089 0.069 0.127 1552.78 1588.88 1516.69 2566.19 735.62 0 0 0 12.49 15.71 15.42

3298.49 1092 232.06 1.77 0.00 1548.7 1586.5 1510.9 2566.5 735.6 53.19 6.24 533 3304.25 0.00 0.00 3.62 0.000 0.000 0.047 1550.28 1588.56 1512.00 2565.38 2225.56 0 0 0 30.00 30.00 15.62

3483.53 260 232.06 1.77 80.00 1547.0 1586.5 1507.5 2566.1 2226.1 40.33 7.62 570 3489.26 0.00 0.00 3.41 0.000 0.000 0.112 1547.28 1586.56 1508.00 2567.31 3475.19 0 0 0 30.00 30.00 15.73

3553.56 17478 232.06 1.80 0.00 1545.4 1584.1 1506.8 2566.9 3474.1 35.29 7.16 584 3559.23 0.00 0.00 3.17 0.000 0.000 0.048 1546.50 1585.38 1507.62 2567.00 2175.81 0 0 0 30.00 30.00 15.75

3738.61 16966 232.06 1.85 -80.00 1545.6 1584.8 1506.4 2566.9 2176.1 25.16 6.11 621 3744.42 0.00 0.00 3.96 0.000 0.000 0.124 1545.66 1585.19 1506.12 2566.88 734.62 0 0 0 30.00 30.00 15.75

3798.67 17414 232.06 1.85 0.00 1545.5 1584.8 1506.1 2566.9 734.7 20.69 7.81 633 3804.35 0.00 0.00 3.57 0.000 0.000 0.045 1546.50 1585.62 1507.38 2567.25 2225.81 0 0 0 30.00 30.00 15.76

3983.67 10535 275.12 1.98 80.00 1544.7 1584.2 1505.1 2567.8 2226.2 9.47 5.03 670 4026.32 36.79 0.34 3.44 1.038 0.072 0.113 1377.19 1415.56 1338.81 2631.38 3474.06 0 0 0 12.49 15.82 15.52

4059 end climb: SURFACE_DEPTH_REACHED

state 4059 begin surface coast

4074 end surface coast: CONTROL_FINISHED_OK

state 4074 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	402	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	40.668224	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	103.98307	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	291220,231559,4752.429,-12513.455,2,1.8,6,15.8	TGT_LATLONG	4751.930,-12510.270
_CALLS	2	TGT_RADIUS	2500.000
_SM_DEPTHo	0.37	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-58.2	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	291220,232240,4752.468,-12513.493,2,0.9,5,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.139,0.180	MHEAD_RNG_PITCHd_Wd	88.2,4127,-20.4,-8.049,-24.07
TGT_NAME	SHELF	D_GRID	188

SM_CCo	4224.07,0.38,0.142,0,768.6,773.5,763.7,424.71	_10V_AH	14.70,0.000
SM_GC	0.87,0.38,16.58,3.49,0.142,0.086,0.054,768.6,773.5,763.7,173.0,2077.8,0,0,0,15.20,15.63,15.67	FG_AHR_24Vo	104.124
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	40.694
IRIDIUM_FIX	4754.02,-12511.36,291220,231804	MEM	1100180,45,75668,114
TCM_TEMP	190.38	DATA_FILE_SIZE	25783,688
XPDR_PINGS	1,14.0,11.5	CAP_FILE_SIZE	190835,0
SC_FREEKB	3710432	SDSIZE	3918848,3804032
HUMID	56.66	SDFILEDIR	2036,1
TEMP	9.03	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.8356	GPS	301220,003407,4752.530,-12513.155,35,0.9,36,15.8
_24V_AH	14.23,122.825

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	492	2670	18698.23	legato	0	0	0.00
Pitch_motor	35	259	132.49	nil	0	0	0.00
Roll_motor	86	199	245.44	nil	0	0	0.00
Iridium	228	189	614.34	nil	0	0	0.00
Transponder_ping	0	420	1.49	nil	0	0	0.00
GPS	14	15	3.14	nil	0	0	0.00
Core	2303	11	399.49	SciCon	4104	14	863.67
LPSleep	2156	2	88.77	nil	0	0	0.00
Compass	1160	5	85.27	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
7.05	16386	-77.86	-1.25	0.00	761.1	764.7	757.4	173.9	2117.4	0.00	0.00	0	85.41	77.78	0.00	0.00	0.005	0.000	0.000	2497.75	2480.25	2515.25	174.31	2118.88	0	0	0	15.47	30.00	30.00
85.68	18727	-77.86	-1.25	80.00	2497.3	2479.9	2514.8	174.1	2118.1	3.36	-3.89	15	117.46	7.86	14.03	3.72	0.008	0.260	0.115	2816.75	2812.50	2821.00	1836.94	3472.38	0	0	0	15.52	15.56	15.47
200.20	1028	-77.86	-1.25	0.00	2816.7	2812.2	2821.2	1836.7	3472.3	27.88	-21.60	38	205.94	0.00	0.00	3.48	0.000	0.000	0.058	2818.75	2813.69	2823.81	1836.31	2082.69	0	0	0	30.00	30.00	15.72
385.25	260	-77.86	-1.25	80.00	2816.6	2811.9	2821.3	1837.1	2083.3	64.52	-19.66	75	391.04	0.00	0.00	3.78	0.000	0.000	0.108	2816.41	2811.94	2820.88	1836.31	3473.62	0	0	0	30.00	30.00	15.79
405.26	1028	-77.86	-1.25	0.00	2816.1	2811.7	2820.6	1837.6	3473.2	68.58	-19.87	79	411.00	0.00	0.00	3.44	0.000	0.000	0.056	2817.72	2812.94	2822.50	1836.94	2080.56	0	0	0	30.00	30.00	15.79
590.29	260	-77.86	-1.25	80.00	2816.7	2812.2	2821.1	1836.3	2081.1	93.41	-13.39	116	596.08	0.00	0.00	3.78	0.000	0.000	0.108	2816.59	2812.38	2820.81	1836.88	3474.19	0	0	0	30.00	30.00	15.84
700.31	1028	-77.86	-1.25	0.00	2816.5	2812.2	2820.8	1837.2	3474.2	106.69	-11.81	138	704.89	0.00	0.00	3.39	0.000	0.000	0.055	2817.25	2813.19	2821.31	1836.75	2080.62	0	0	0	30.00	30.00	15.85
1010.35	516	-77.86	-1.25	-80.00	2816.4	2811.9	2820.9	1837.2	2081.0	140.81	-10.93	170	1016.17	0.00	0.00	3.95	0.000	0.000	0.148	2815.44	2811.50	2819.38	1837.00	663.62	0	0	0	30.00	30.00	15.87
1115.37	1028	-77.86	-1.25	0.00	2816.6	2812.2	2821.1	1836.9	663.7	154.36	-13.64	191	1120.02	0.00	0.00	3.49	0.000	0.000	0.049	2817.81	2813.56	2822.06	1837.00	2119.81	0	0	0	30.00	30.00	15.91
1396	end dive: TARGET_DEPTH_EXCEEDED
state	1396	begin apogee
1396.64	10243	0.00	-0.25	0.00	2817.0	2812.3	2821.6	1837.1	2225.5	188.19	-12.53	220	1459.12	59.59	1.75	0.09	1.258	0.148	0.200	2498.97	2505.44	2492.50	2079.88	2182.31	0	0	0	12.60	15.87	15.45
1461	end apogee: CONTROL_FINISHED_OK
state	1461	begin climb
1460.97	10759	77.86	1.25	-80.00	2498.1	2505.1	2491.1	2079.9	2182.7	191.94	0.00	226	1535.43	63.14	2.53	4.08	1.225	0.093	0.126	2182.53	2197.81	2167.25	2447.44	736.75	0	0	0	12.52	15.50	15.18
1673.21	11303	138.09	1.43	0.00	2171.7	2188.6	2154.8	2447.9	736.5	184.86	3.83	268	1728.96	50.15	0.25	3.62	1.204	0.076	0.047	1936.09	1960.69	1911.50	2500.69	2226.81	0	0	0	12.44	15.53	15.56
2033.25	16646	138.09	1.43	80.00	1927.5	1957.2	1897.8	2500.8	2226.5	157.09	8.87	310	2037.82	0.00	0.00	3.42	0.000	0.000	0.114	1929.69	1959.56	1899.81	2499.62	3474.88	0	0	0	30.00	30.00	15.69
2133.34	17414	138.09	1.43	0.00	1926.9	1955.8	1898.1	2500.3	3474.1	147.23	10.37	330	2137.82	0.00	0.00	3.16	0.000	0.000	0.050	1927.72	1956.62	1898.81	2500.88	2178.56	0	0	0	30.00	30.00	15.73
2443.31	16902	138.09	1.43	-80.00	1925.1	1955.4	1894.8	2500.1	2178.9	115.81	9.04	362	2448.98	0.00	0.00	3.94	0.000	0.000	0.128	1924.16	1953.75	1894.56	2500.25	734.69	0	0	0	30.00	30.00	15.81
2613.35	17414	138.09	1.43	0.00	1924.0	1953.2	1894.8	2500.2	734.8	97.94	10.82	396	2619.11	0.00	0.00	3.55	0.000	0.000	0.047	1924.34	1953.75	1894.94	2500.25	2225.00	0	0	0	30.00	30.00	15.84
2798.39	16646	138.09	1.43	80.00	1923.6	1953.3	1893.8	2500.6	2225.0	80.29	9.11	433	2804.10	0.00	0.00	3.38	0.000	0.000	0.113	1923.78	1953.44	1894.12	2501.25	3475.38	0	0	0	30.00	30.00	15.82
2898.48	9254	187.00	1.58	0.00	1923.7	1953.2	1894.1	2500.9	3475.0	75.04	4.62	453	2944.87	39.31	0.00	3.16	1.114	0.000	0.047	1737.09	1770.88	1703.31	2499.88	2174.69	0	0	0	12.52	30.00	15.83
3123.54	10791	232.06	1.72	-80.00	1730.8	1767.2	1694.4	2500.7	2174.4	65.09	4.89	498	3169.72	37.24	0.34	4.05	1.089	0.069	0.127	1552.78	1588.88	1516.69	2566.19	735.62	0	0	0	12.49	15.71	15.42
3298.49	1092	232.06	1.77	0.00	1548.7	1586.5	1510.9	2566.5	735.6	53.19	6.24	533	3304.25	0.00	0.00	3.62	0.000	0.000	0.047	1550.28	1588.56	1512.00	2565.38	2225.56	0	0	0	30.00	30.00	15.62
3483.53	260	232.06	1.77	80.00	1547.0	1586.5	1507.5	2566.1	2226.1	40.33	7.62	570	3489.26	0.00	0.00	3.41	0.000	0.000	0.112	1547.28	1586.56	1508.00	2567.31	3475.19	0	0	0	30.00	30.00	15.73
3553.56	17478	232.06	1.80	0.00	1545.4	1584.1	1506.8	2566.9	3474.1	35.29	7.16	584	3559.23	0.00	0.00	3.17	0.000	0.000	0.048	1546.50	1585.38	1507.62	2567.00	2175.81	0	0	0	30.00	30.00	15.75
3738.61	16966	232.06	1.85	-80.00	1545.6	1584.8	1506.4	2566.9	2176.1	25.16	6.11	621	3744.42	0.00	0.00	3.96	0.000	0.000	0.124	1545.66	1585.19	1506.12	2566.88	734.62	0	0	0	30.00	30.00	15.75
3798.67	17414	232.06	1.85	0.00	1545.5	1584.8	1506.1	2566.9	734.7	20.69	7.81	633	3804.35	0.00	0.00	3.57	0.000	0.000	0.045	1546.50	1585.62	1507.38	2567.25	2225.81	0	0	0	30.00	30.00	15.76
3983.67	10535	275.12	1.98	80.00	1544.7	1584.2	1505.1	2567.8	2226.2	9.47	5.03	670	4026.32	36.79	0.34	3.44	1.038	0.072	0.113	1377.19	1415.56	1338.81	2631.38	3474.06	0	0	0	12.49	15.82	15.52
4059	end climb: SURFACE_DEPTH_REACHED
state	4059	begin surface coast
4074	end surface coast: CONTROL_FINISHED_OK
state	4074	begin surface