Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 456 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 8 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054949999 XPDR_VALID 6

DIVE 456 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 SM_CC 430 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 4 N_FILEKB 4 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 COMM_SEQ 7 C_VBD 2890 DEEPGLIDERMB 0

D_NO_BLEED 200 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 2 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 131 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 0.0020000001 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 20000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 3 LOGGERDEVICE2 -1

T_DIVE 410 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 520 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 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 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 200 AH0_24V 506 NAV_DEVICE -1

USE_BATHY -1 PITCH_MAX 3000 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2515 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 16 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 70.825226 SEABIRD_T_G 0.0043000001

MAX_BUOY 80 PITCH_MAXERRORS 1 FG_AHR_24V 134.7845 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 0 PRESSURE_YINT -179.54233 SEABIRD_T_J 4.3e-06

RHO 1.0275 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

MASS 72955 C_PITCH_AUTO_MAX 0 COMPASS_USE 16388 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 6 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.00177828 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.020747701 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HD_C 5.7000002e-06 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 60 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2250 ALTIM_PULSE 1

AH0_10V 0 D_OFFGRID 1000 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 506 D_PITCH 0 N_FILEKB 4 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 4 N_NOCOMM 2 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 990 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 1 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 430

ALTIM_SENSITIVITY 3 FG_AHR_10V 70.825226 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 134.7845 PITCH_ADJ_GAIN 0 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 16 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.00177828 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.020747701 PITCH_MAX 3000 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 20000 HD_C 5.7000002e-06 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 200 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 0.0020000001 T_DIVE 410

COMPASS2_DEVICE -1 ID 249 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 6 T_GPS 5

COMPASS_USE 16388 INT_PRESSURE_YINT -3 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 2515 KALMAN_USE 2 PRESSURE_SLOPE 0.00021665409 T_MISSION 520

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -179.54233 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2250 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2250 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 2890 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 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 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 72955 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054949999 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 60 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 80 ROLL_MAX 3825 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 3

DIVE 456 MISSION 8 ROLL_TIMEOUT 25 XPDR_DEVICE 21

D_ABORT 1010 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 7.0 XPDR_INT -1

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -10

D_NO_BLEED 200 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 241122,190409,4752.408,-12512.454,0,0.7,22,15.8 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 241122,191047,4752.500,-12512.405,2,0.7,6,15.8 MHEAD_RNG_PITCHd_Wd 140.9,2856,-16.4,-8.049,-28.31,2124,0.296

SPEED_LIMITS 0.139,0.149 D_GRID 173

TGT_NAME SHELF IRON 1.000000,0.044580,0.034000,-0.033773,1.037950,-0.052709,-0.054190,-0.002890,1.086935,445.672791,-166.618210,-48.209198

TGT_LATLONG 4751.930,-12510.270

Post-dive calculations and measurements:

FINISH -0.4,1.079410 FG_AHR_10Vo 70.872

SM_CCo 4862.19,86.92,1.061,0,1137.0,1129.3,1144.7,430.01 MEM0 60108,1,0,0

SM_GC 1.32,86.92,19.46,2.74,1.061,0.046,0.019,1137.0,1129.3,1144.7,178.1,2191.0,0,0,0,11.40,15.86,15.92 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 963920,257,78208,65

IRIDIUM_FIX 4751.26,-12509.51,241122,173030 DATA_FILE_SIZE 19350,637

TCM_TEMP 267.61 CAP_FILE_SIZE 171097,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3879136

SC_FREEKB 3703680 SDFILEDIR 2767,1

HUMID 54.15 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 84.21 CURRENT 0.198, 2.7,1

INTERNAL_PRESSURE 8.57413 MAGCAL 1.000000,0.027008,-0.017994,-0.010201,1.024378,-0.021698,0.018935,0.001078,1.028106,509.5,-237.5,-12.2,29,0.0316,0

_24V_AH 14.92,158.779 IMPLIED_C_PITCH 2580,12.33,445,0.0,0.00

_10V_AH 15.00,0.000 GPS 241122,203239,4752.823,-12512.266,2,1.0,4,15.8

FG_AHR_24Vo 134.916

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 456 1251 8515.61 nil 0 0 0.00

Pitch_motor 41 217 134.46 nil 0 0 0.00

Roll_motor 60 97 87.15 nil 0 0 0.00

Iridium 219 222 729.01 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 17 15 3.97 nil 0 0 0.00

Core 3202 6 326.63 SciCon 4655 28 1969.13

Fast 52 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1766 2 52.99

Compass 1320 5 99.06

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

19.04 16386 -77.86 -1.18 0.00 1126.6 1131.6 1121.6 175.5 2190.2 0.00 0.00 0 111.85 65.09 0.00 0.00 0.005 0.000 0.000 2740.62 2908.88 2572.38 175.88 2190.12 0 0 0 15.06 30.00 30.00

114.06 18727 -77.86 -1.18 60.00 2742.5 2907.2 2577.9 175.8 2190.4 3.06 -3.35 13 229.38 7.30 17.03 3.36 0.008 0.217 0.079 3210.19 3424.00 2996.38 2228.69 3353.69 0 0 0 15.22 15.46 15.12

235.46 1028 -77.86 -1.18 0.00 3211.7 3423.2 3000.2 2228.4 3353.6 35.51 -17.79 20 253.96 0.00 0.00 2.82 0.000 0.000 0.017 3211.47 3422.94 3000.00 2228.31 2198.31 0 0 0 30.00 30.00 15.76

439.86 260 -77.86 -1.18 60.00 3212.1 3423.9 3000.2 2228.4 2197.5 64.36 -11.79 58 460.25 0.00 0.00 3.32 0.000 0.000 0.075 3212.12 3423.69 3000.56 2228.69 3353.75 0 0 0 30.00 30.00 15.73

691.48 1028 -77.86 -1.18 0.00 3212.1 3422.4 3001.8 2228.8 3353.8 92.79 -10.34 105 710.09 0.00 0.00 2.81 0.000 0.000 0.017 3213.19 3423.56 3002.81 2228.38 2193.94 0 0 0 30.00 30.00 15.88

900.88 0 -77.86 -1.18 0.00 3212.6 3422.8 3002.4 2228.8 2192.3 111.26 -8.77 131 904.90 0.00 0.00 0.00 0.000 0.000 0.000 3211.81 3421.69 3001.94 2228.00 2191.88 0 0 0 30.00 30.00 30.00

1210.92 516 -77.86 -1.18 -60.00 3212.9 3422.8 3003.0 2228.1 2192.2 135.85 -7.45 162 1228.97 0.00 0.00 2.98 0.000 0.000 0.067 3213.88 3424.12 3003.62 2228.56 1144.06 0 0 0 30.00 30.00 15.87

1289.42 1028 -77.86 -1.18 0.00 3212.9 3422.6 3003.1 2227.8 1144.2 142.39 -8.58 175 1307.42 0.00 0.00 2.74 0.000 0.000 0.023 3213.66 3423.19 3004.12 2228.56 2282.25 0 0 0 30.00 30.00 15.78

1613.23 0 -77.86 -1.18 0.00 3213.3 3422.7 3003.9 2228.3 2281.8 165.87 -6.87 207 1617.25 0.00 0.00 0.00 0.000 0.000 0.000 3212.88 3421.38 3004.38 2227.88 2281.81 0 0 0 30.00 30.00 30.00

1723 end dive: TARGET_DEPTH_EXCEEDED

state 1723 begin apogee

1728.27 10243 0.00 -0.31 0.00 3212.9 3422.2 3003.6 2227.4 2170.9 173.49 -6.85 218 1826.29 58.35 1.56 0.23 1.251 0.127 0.097 2889.25 3033.75 2744.75 2440.25 2291.06 0 0 0 11.21 15.69 15.59

1831 end apogee: CONTROL_FINISHED_OK

state 1832 begin climb

1834.35 10759 77.86 1.18 -60.00 2887.3 3033.3 2741.3 2440.8 2290.9 176.01 0.00 225 1950.45 58.58 2.53 3.29 1.216 0.092 0.065 2572.28 2674.12 2470.44 2804.81 1145.06 0 0 0 11.89 15.72 15.43

1956.44 11303 164.33 1.36 0.00 2569.3 2672.8 2465.8 2805.6 1145.1 173.16 3.87 237 2069.58 66.79 0.25 2.80 1.203 0.070 0.024 2218.72 2295.25 2142.19 2859.81 2281.75 0 0 0 11.78 15.55 15.69

2376.06 16710 164.33 1.39 60.00 2208.4 2296.7 2120.1 2860.1 2281.8 144.14 7.43 282 2395.17 0.00 0.00 3.11 0.000 0.000 0.083 2209.34 2297.75 2120.94 2859.25 3351.94 0 0 0 30.00 30.00 15.74

2421.49 17414 164.33 1.39 0.00 2208.3 2296.2 2120.4 2860.9 3351.9 140.46 8.02 288 2439.36 0.00 0.00 2.80 0.000 0.000 0.018 2210.53 2299.06 2122.00 2859.75 2196.69 0 0 0 30.00 30.00 15.83

2745.82 16966 164.33 1.45 -60.00 2206.8 2296.8 2116.9 2860.3 2195.6 117.56 7.10 320 2764.11 0.00 0.00 2.99 0.000 0.000 0.070 2207.72 2296.38 2119.06 2859.25 1144.19 0 0 0 30.00 30.00 15.82

2804.99 19527 164.33 1.53 0.00 2206.4 2297.0 2115.9 2860.4 1144.5 113.64 6.70 329 2824.92 0.00 0.17 2.76 0.000 0.084 0.025 2207.06 2297.75 2116.38 2900.69 2279.81 0 0 0 30.00 15.77 15.80

3131.37 16966 164.33 1.64 -60.00 2206.5 2297.2 2115.9 2901.2 2280.2 92.86 6.24 372 3151.61 0.00 0.00 3.24 0.000 0.000 0.065 2206.66 2297.62 2115.69 2901.00 1145.75 0 0 0 30.00 30.00 15.77

3198.22 19527 164.33 1.77 0.00 2206.0 2297.0 2115.1 2901.3 1145.3 88.95 5.90 382 3218.05 0.00 0.26 2.80 0.000 0.060 0.025 2206.00 2297.19 2114.81 2962.44 2279.81 0 0 0 30.00 15.78 15.91

3404.31 16966 164.33 1.91 -60.00 2205.6 2296.6 2114.6 2961.8 2280.2 75.04 5.67 420 3424.12 0.00 0.00 3.15 0.000 0.000 0.064 2205.72 2296.88 2114.56 2962.44 1142.75 0 0 0 30.00 30.00 15.78

3570.76 11303 234.64 2.05 0.00 2205.4 2296.6 2114.2 2961.5 1142.9 66.45 4.65 450 3667.59 53.33 0.23 2.76 1.125 0.064 0.024 1931.94 1999.75 1864.12 3021.50 2281.88 0 0 0 11.43 15.80 15.86

3853.86 10791 312.92 2.21 -60.00 1924.9 2000.3 1849.5 3020.6 2281.6 50.16 4.26 499 3958.74 59.87 0.00 3.24 1.093 0.000 0.067 1612.94 1659.88 1566.00 3020.50 1145.38 0 0 0 11.63 30.00 15.52

4140.53 19527 312.92 2.29 0.00 1605.3 1659.1 1551.5 3021.1 1144.9 34.18 6.76 548 4158.76 0.00 0.00 2.79 0.000 0.000 0.025 1605.06 1659.00 1551.12 3021.25 2278.94 0 0 0 30.00 30.00 15.72

4345.01 18759 312.92 2.34 60.00 1603.0 1659.0 1547.0 3021.1 2278.5 20.59 7.18 586 4364.84 0.00 0.00 3.12 0.000 0.000 0.083 1603.53 1659.62 1547.44 3021.00 3352.69 0 0 0 30.00 30.00 15.74

4556 end climb: SURFACE_DEPTH_REACHED

state 4557 begin surface coast

4617 end surface coast: CONTROL_FINISHED_OK

state 4618 begin surface

ID	249	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	8	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054949999	XPDR_VALID	6
DIVE	456	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	SM_CC	430	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	4	N_FILEKB	4	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	COMM_SEQ	7	C_VBD	2890	DEEPGLIDERMB	0
D_NO_BLEED	200	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	2	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	131	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	0.0020000001	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	20000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	3	LOGGERDEVICE2	-1
T_DIVE	410	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	520	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	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	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	200	AH0_24V	506	NAV_DEVICE	-1
USE_BATHY	-1	PITCH_MAX	3000	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2515	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	16	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	70.825226	SEABIRD_T_G	0.0043000001
MAX_BUOY	80	PITCH_MAXERRORS	1	FG_AHR_24V	134.7845	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-179.54233	SEABIRD_T_J	4.3e-06
RHO	1.0275	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
MASS	72955	C_PITCH_AUTO_MAX	0	COMPASS_USE	16388	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	6	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.00177828	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.020747701	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HD_C	5.7000002e-06	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	60	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2250	ALTIM_PULSE	1

GPS1	241122,190409,4752.408,-12512.454,0,0.7,22,15.8	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	241122,191047,4752.500,-12512.405,2,0.7,6,15.8	MHEAD_RNG_PITCHd_Wd	140.9,2856,-16.4,-8.049,-28.31,2124,0.296
SPEED_LIMITS	0.139,0.149	D_GRID	173
TGT_NAME	SHELF	IRON	1.000000,0.044580,0.034000,-0.033773,1.037950,-0.052709,-0.054190,-0.002890,1.086935,445.672791,-166.618210,-48.209198
TGT_LATLONG	4751.930,-12510.270

FINISH	-0.4,1.079410	FG_AHR_10Vo	70.872
SM_CCo	4862.19,86.92,1.061,0,1137.0,1129.3,1144.7,430.01	MEM0	60108,1,0,0
SM_GC	1.32,86.92,19.46,2.74,1.061,0.046,0.019,1137.0,1129.3,1144.7,178.1,2191.0,0,0,0,11.40,15.86,15.92	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	963920,257,78208,65
IRIDIUM_FIX	4751.26,-12509.51,241122,173030	DATA_FILE_SIZE	19350,637
TCM_TEMP	267.61	CAP_FILE_SIZE	171097,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3879136
SC_FREEKB	3703680	SDFILEDIR	2767,1
HUMID	54.15	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	84.21	CURRENT	0.198, 2.7,1
INTERNAL_PRESSURE	8.57413	MAGCAL	1.000000,0.027008,-0.017994,-0.010201,1.024378,-0.021698,0.018935,0.001078,1.028106,509.5,-237.5,-12.2,29,0.0316,0
_24V_AH	14.92,158.779	IMPLIED_C_PITCH	2580,12.33,445,0.0,0.00
_10V_AH	15.00,0.000	GPS	241122,203239,4752.823,-12512.266,2,1.0,4,15.8
FG_AHR_24Vo	134.916

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	456	1251	8515.61	nil	0	0	0.00
Pitch_motor	41	217	134.46	nil	0	0	0.00
Roll_motor	60	97	87.15	nil	0	0	0.00
Iridium	219	222	729.01	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	17	15	3.97	nil	0	0	0.00
Core	3202	6	326.63	SciCon	4655	28	1969.13
Fast	52	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1766	2	52.99
Compass	1320	5	99.06
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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
19.04	16386	-77.86	-1.18	0.00	1126.6	1131.6	1121.6	175.5	2190.2	0.00	0.00	0	111.85	65.09	0.00	0.00	0.005	0.000	0.000	2740.62	2908.88	2572.38	175.88	2190.12	0	0	0	15.06	30.00	30.00
114.06	18727	-77.86	-1.18	60.00	2742.5	2907.2	2577.9	175.8	2190.4	3.06	-3.35	13	229.38	7.30	17.03	3.36	0.008	0.217	0.079	3210.19	3424.00	2996.38	2228.69	3353.69	0	0	0	15.22	15.46	15.12
235.46	1028	-77.86	-1.18	0.00	3211.7	3423.2	3000.2	2228.4	3353.6	35.51	-17.79	20	253.96	0.00	0.00	2.82	0.000	0.000	0.017	3211.47	3422.94	3000.00	2228.31	2198.31	0	0	0	30.00	30.00	15.76
439.86	260	-77.86	-1.18	60.00	3212.1	3423.9	3000.2	2228.4	2197.5	64.36	-11.79	58	460.25	0.00	0.00	3.32	0.000	0.000	0.075	3212.12	3423.69	3000.56	2228.69	3353.75	0	0	0	30.00	30.00	15.73
691.48	1028	-77.86	-1.18	0.00	3212.1	3422.4	3001.8	2228.8	3353.8	92.79	-10.34	105	710.09	0.00	0.00	2.81	0.000	0.000	0.017	3213.19	3423.56	3002.81	2228.38	2193.94	0	0	0	30.00	30.00	15.88
900.88	0	-77.86	-1.18	0.00	3212.6	3422.8	3002.4	2228.8	2192.3	111.26	-8.77	131	904.90	0.00	0.00	0.00	0.000	0.000	0.000	3211.81	3421.69	3001.94	2228.00	2191.88	0	0	0	30.00	30.00	30.00
1210.92	516	-77.86	-1.18	-60.00	3212.9	3422.8	3003.0	2228.1	2192.2	135.85	-7.45	162	1228.97	0.00	0.00	2.98	0.000	0.000	0.067	3213.88	3424.12	3003.62	2228.56	1144.06	0	0	0	30.00	30.00	15.87
1289.42	1028	-77.86	-1.18	0.00	3212.9	3422.6	3003.1	2227.8	1144.2	142.39	-8.58	175	1307.42	0.00	0.00	2.74	0.000	0.000	0.023	3213.66	3423.19	3004.12	2228.56	2282.25	0	0	0	30.00	30.00	15.78
1613.23	0	-77.86	-1.18	0.00	3213.3	3422.7	3003.9	2228.3	2281.8	165.87	-6.87	207	1617.25	0.00	0.00	0.00	0.000	0.000	0.000	3212.88	3421.38	3004.38	2227.88	2281.81	0	0	0	30.00	30.00	30.00
1723	end dive: TARGET_DEPTH_EXCEEDED
state	1723	begin apogee
1728.27	10243	0.00	-0.31	0.00	3212.9	3422.2	3003.6	2227.4	2170.9	173.49	-6.85	218	1826.29	58.35	1.56	0.23	1.251	0.127	0.097	2889.25	3033.75	2744.75	2440.25	2291.06	0	0	0	11.21	15.69	15.59
1831	end apogee: CONTROL_FINISHED_OK
state	1832	begin climb
1834.35	10759	77.86	1.18	-60.00	2887.3	3033.3	2741.3	2440.8	2290.9	176.01	0.00	225	1950.45	58.58	2.53	3.29	1.216	0.092	0.065	2572.28	2674.12	2470.44	2804.81	1145.06	0	0	0	11.89	15.72	15.43
1956.44	11303	164.33	1.36	0.00	2569.3	2672.8	2465.8	2805.6	1145.1	173.16	3.87	237	2069.58	66.79	0.25	2.80	1.203	0.070	0.024	2218.72	2295.25	2142.19	2859.81	2281.75	0	0	0	11.78	15.55	15.69
2376.06	16710	164.33	1.39	60.00	2208.4	2296.7	2120.1	2860.1	2281.8	144.14	7.43	282	2395.17	0.00	0.00	3.11	0.000	0.000	0.083	2209.34	2297.75	2120.94	2859.25	3351.94	0	0	0	30.00	30.00	15.74
2421.49	17414	164.33	1.39	0.00	2208.3	2296.2	2120.4	2860.9	3351.9	140.46	8.02	288	2439.36	0.00	0.00	2.80	0.000	0.000	0.018	2210.53	2299.06	2122.00	2859.75	2196.69	0	0	0	30.00	30.00	15.83
2745.82	16966	164.33	1.45	-60.00	2206.8	2296.8	2116.9	2860.3	2195.6	117.56	7.10	320	2764.11	0.00	0.00	2.99	0.000	0.000	0.070	2207.72	2296.38	2119.06	2859.25	1144.19	0	0	0	30.00	30.00	15.82
2804.99	19527	164.33	1.53	0.00	2206.4	2297.0	2115.9	2860.4	1144.5	113.64	6.70	329	2824.92	0.00	0.17	2.76	0.000	0.084	0.025	2207.06	2297.75	2116.38	2900.69	2279.81	0	0	0	30.00	15.77	15.80
3131.37	16966	164.33	1.64	-60.00	2206.5	2297.2	2115.9	2901.2	2280.2	92.86	6.24	372	3151.61	0.00	0.00	3.24	0.000	0.000	0.065	2206.66	2297.62	2115.69	2901.00	1145.75	0	0	0	30.00	30.00	15.77
3198.22	19527	164.33	1.77	0.00	2206.0	2297.0	2115.1	2901.3	1145.3	88.95	5.90	382	3218.05	0.00	0.26	2.80	0.000	0.060	0.025	2206.00	2297.19	2114.81	2962.44	2279.81	0	0	0	30.00	15.78	15.91
3404.31	16966	164.33	1.91	-60.00	2205.6	2296.6	2114.6	2961.8	2280.2	75.04	5.67	420	3424.12	0.00	0.00	3.15	0.000	0.000	0.064	2205.72	2296.88	2114.56	2962.44	1142.75	0	0	0	30.00	30.00	15.78
3570.76	11303	234.64	2.05	0.00	2205.4	2296.6	2114.2	2961.5	1142.9	66.45	4.65	450	3667.59	53.33	0.23	2.76	1.125	0.064	0.024	1931.94	1999.75	1864.12	3021.50	2281.88	0	0	0	11.43	15.80	15.86
3853.86	10791	312.92	2.21	-60.00	1924.9	2000.3	1849.5	3020.6	2281.6	50.16	4.26	499	3958.74	59.87	0.00	3.24	1.093	0.000	0.067	1612.94	1659.88	1566.00	3020.50	1145.38	0	0	0	11.63	30.00	15.52
4140.53	19527	312.92	2.29	0.00	1605.3	1659.1	1551.5	3021.1	1144.9	34.18	6.76	548	4158.76	0.00	0.00	2.79	0.000	0.000	0.025	1605.06	1659.00	1551.12	3021.25	2278.94	0	0	0	30.00	30.00	15.72
4345.01	18759	312.92	2.34	60.00	1603.0	1659.0	1547.0	3021.1	2278.5	20.59	7.18	586	4364.84	0.00	0.00	3.12	0.000	0.000	0.083	1603.53	1659.62	1547.44	3021.00	3352.69	0	0	0	30.00	30.00	15.74
4556	end climb: SURFACE_DEPTH_REACHED
state	4557	begin surface coast
4617	end surface coast: CONTROL_FINISHED_OK
state	4618	begin surface