Glider dive log

NANOOS Jul22 * SG249 * Dive index * Mission links * Dive 457 * 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 457 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 70.873444 SEABIRD_T_G 0.0043000001

MAX_BUOY 80 PITCH_MAXERRORS 1 FG_AHR_24V 134.92844 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 70.873444 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 134.92844 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 457 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 241122,203239,4752.823,-12512.266,2,1.0,4,15.8 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 -61.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 241122,203853,4752.884,-12512.228,2,1.4,4,15.8 MHEAD_RNG_PITCHd_Wd 155.2,3007,-16.4,-8.049,-28.31,2124,0.246

SPEED_LIMITS 0.139,0.149 D_GRID 164

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 -0.2,1.024528 FG_AHR_10Vo 70.917

SM_CCo 4526.07,99.52,1.067,0,1136.6,1120.9,1152.3,430.10 MEM0 60108,1,0,0

SM_GC 1.15,99.52,19.33,0.16,1.067,0.051,0.086,1136.6,1120.9,1152.3,176.9,2299.5,0,0,0,11.37,15.88,15.92 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 963868,261,78180,65

IRIDIUM_FIX 4751.64,-12513.98,241122,190704 DATA_FILE_SIZE 16107,604

TCM_TEMP 267.64 CAP_FILE_SIZE 158232,0

XPDR_PINGS 0,13.0,10.5 SDSIZE 4028416,3878944

SC_FREEKB 3703296 SDFILEDIR 2773,1

HUMID 54.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 84.23 CURRENT 0.108, 6.8,1

INTERNAL_PRESSURE 8.57284 MAGCAL 1.000000,0.023486,-0.147466,-0.017657,1.057231,-0.034866,0.065627,-0.038647,0.965996,639.5,-216.2,66.2,31,0.0376,0

_24V_AH 14.93,158.957 IMPLIED_C_PITCH 2582,12.31,410,0.0,0.00

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2995,40.464779,251,0

FG_AHR_24Vo 135.059 GPS 241122,215532,4752.887,-12512.160,3,0.8,27,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 455 1228 8355.19 nil 0 0 0.00

Pitch_motor 41 274 169.46 nil 0 0 0.00

Roll_motor 48 97 70.33 nil 0 0 0.00

Iridium 199 222 662.46 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.47 nil 0 0 0.00

Core 3018 6 307.86 SciCon 4312 28 1839.69

Fast 49 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1585 2 47.57

Compass 1258 5 94.39

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

19.05 16386 -77.86 -1.18 0.00 1126.0 1126.0 1125.9 177.1 2291.9 0.00 0.00 0 118.80 70.21 0.00 0.00 0.005 0.000 0.000 2886.25 3067.00 2705.50 177.12 2292.19 0 0 0 15.06 30.00 30.00

121.01 18727 -77.86 -1.18 60.00 2887.0 3065.4 2708.6 177.1 2292.2 3.40 -3.50 14 233.50 4.59 17.09 3.03 0.009 0.220 0.081 3210.28 3415.94 3004.62 2228.69 3354.38 0 0 0 15.21 15.48 15.14

239.58 1028 -77.86 -1.18 0.00 3212.1 3416.9 3007.3 2228.2 3354.1 40.52 -19.01 21 257.52 0.00 0.00 2.80 0.000 0.000 0.017 3213.16 3417.12 3009.19 2228.31 2195.94 0 0 0 30.00 30.00 15.69

443.34 260 -77.86 -1.18 60.00 3212.1 3416.2 3008.1 2228.6 2193.5 69.48 -11.76 59 463.75 0.00 0.00 3.34 0.000 0.000 0.075 3212.50 3416.56 3008.44 2228.50 3354.06 0 0 0 30.00 30.00 15.76

695.29 1028 -77.86 -1.18 0.00 3213.0 3416.4 3009.7 2228.4 3353.6 94.36 -9.44 106 713.92 0.00 0.00 2.81 0.000 0.000 0.017 3214.09 3417.12 3011.06 2227.88 2193.88 0 0 0 30.00 30.00 15.82

904.93 516 -77.86 -1.18 -60.00 3213.2 3416.7 3009.8 2228.2 2191.4 111.38 -8.07 131 923.00 0.00 0.00 2.98 0.000 0.000 0.066 3215.12 3418.06 3012.19 2227.50 1145.38 0 0 0 30.00 30.00 15.82

1033.47 1028 -77.86 -1.18 0.00 3213.5 3416.4 3010.6 2228.3 1145.3 121.39 -7.47 154 1051.48 0.00 0.00 2.76 0.000 0.000 0.023 3214.00 3416.75 3011.25 2228.44 2281.62 0 0 0 30.00 30.00 15.92

1357.29 0 -77.86 -1.18 0.00 3213.7 3416.1 3011.3 2228.6 2281.9 144.61 -7.48 186 1361.31 0.00 0.00 0.00 0.000 0.000 0.000 3213.16 3417.06 3009.25 2228.12 2281.31 0 0 0 30.00 30.00 30.00

1607 end dive: TARGET_DEPTH_EXCEEDED

state 1607 begin apogee

1611.95 10243 0.00 -0.31 0.00 3214.1 3416.3 3011.9 2228.2 2172.0 164.11 -7.72 211 1710.00 58.65 1.54 0.22 1.229 0.126 0.097 2890.25 3033.88 2746.62 2440.88 2291.00 0 0 0 11.31 15.85 15.60

1715 end apogee: CONTROL_FINISHED_OK

state 1716 begin climb

1718.11 10759 77.86 1.18 -60.00 2887.6 3033.6 2741.6 2440.9 2290.5 167.63 0.00 218 1834.17 58.47 2.53 3.30 1.207 0.090 0.064 2569.88 2673.44 2466.31 2805.50 1145.62 0 0 0 11.76 15.73 15.43

1845.90 11303 180.94 1.39 0.00 2568.4 2672.5 2464.2 2806.2 1145.6 166.23 3.06 231 1977.54 78.58 0.29 2.80 1.198 0.057 0.024 2151.06 2225.69 2076.44 2871.06 2279.50 0 0 0 11.80 15.55 15.68

2283.41 16386 180.94 1.39 0.00 2141.0 2225.6 2056.4 2870.9 2279.4 132.03 8.36 279 2287.46 0.00 0.00 0.00 0.000 0.000 0.000 2139.84 2224.31 2055.38 2870.25 2279.75 0 0 0 30.00 30.00 30.00

2593.86 16966 180.94 1.48 -60.00 2139.7 2225.4 2053.9 2870.6 2279.8 109.76 6.58 310 2613.38 0.00 0.00 3.24 0.000 0.000 0.065 2138.53 2224.31 2052.75 2871.12 1146.12 0 0 0 30.00 30.00 15.87

2634.27 19527 180.94 1.60 0.00 2139.2 2225.1 2053.4 2871.2 1145.8 107.35 6.06 315 2653.71 0.00 0.19 2.78 0.000 0.071 0.025 2140.44 2226.81 2054.06 2921.56 2278.06 0 0 0 30.00 15.77 15.89

2959.61 16902 180.94 1.60 -60.00 2138.7 2225.6 2051.8 2921.6 2277.8 83.90 7.66 368 2980.09 0.00 0.00 3.23 0.000 0.000 0.065 2139.06 2226.25 2051.88 2921.69 1144.19 0 0 0 30.00 30.00 15.78

2991.40 17414 180.94 1.60 0.00 2138.1 2225.4 2050.7 2922.1 1144.5 81.13 8.82 371 3009.61 0.00 0.00 2.78 0.000 0.000 0.025 2138.44 2225.75 2051.12 2922.19 2276.88 0 0 0 30.00 30.00 15.88

3195.88 16966 180.94 1.68 -60.00 2137.9 2225.6 2050.2 2921.9 2276.6 64.43 6.58 409 3215.96 0.00 0.00 3.20 0.000 0.000 0.064 2137.75 2225.56 2049.94 2922.06 1144.56 0 0 0 30.00 30.00 15.78

3367.61 11303 294.97 1.91 0.00 2137.2 2225.5 2048.9 2921.9 1144.2 58.97 2.53 440 3507.83 85.43 0.36 2.80 1.120 0.051 0.024 1687.41 1735.94 1638.88 2999.69 2282.00 0 0 0 11.42 15.80 15.83

3694.31 16710 294.97 1.98 60.00 1677.3 1735.4 1619.3 2999.7 2282.1 39.88 6.97 495 3714.13 0.00 0.00 3.14 0.000 0.000 0.083 1678.31 1736.25 1620.38 2999.44 3351.88 0 0 0 30.00 30.00 15.72

3880.49 17414 294.97 1.98 0.00 1676.0 1735.9 1616.1 2999.5 3351.7 24.07 8.26 529 3899.10 0.00 0.00 2.81 0.000 0.000 0.018 1675.88 1735.81 1615.94 2999.75 2198.62 0 0 0 30.00 30.00 15.85

4085.37 18499 294.97 2.13 0.00 1674.8 1736.1 1613.4 2999.7 2196.9 11.71 5.48 567 4093.23 0.00 0.04 0.00 0.000 0.274 0.000 1675.38 1736.62 1614.12 2997.12 2197.06 0 0 0 30.00 15.80 30.00

4199 end climb: SURFACE_DEPTH_REACHED

state 4199 begin surface coast

4275 end surface coast: CONTROL_FINISHED_OK

state 4275 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	457	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	70.873444	SEABIRD_T_G	0.0043000001
MAX_BUOY	80	PITCH_MAXERRORS	1	FG_AHR_24V	134.92844	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	241122,203239,4752.823,-12512.266,2,1.0,4,15.8	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	-61.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	241122,203853,4752.884,-12512.228,2,1.4,4,15.8	MHEAD_RNG_PITCHd_Wd	155.2,3007,-16.4,-8.049,-28.31,2124,0.246
SPEED_LIMITS	0.139,0.149	D_GRID	164
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	-0.2,1.024528	FG_AHR_10Vo	70.917
SM_CCo	4526.07,99.52,1.067,0,1136.6,1120.9,1152.3,430.10	MEM0	60108,1,0,0
SM_GC	1.15,99.52,19.33,0.16,1.067,0.051,0.086,1136.6,1120.9,1152.3,176.9,2299.5,0,0,0,11.37,15.88,15.92	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	963868,261,78180,65
IRIDIUM_FIX	4751.64,-12513.98,241122,190704	DATA_FILE_SIZE	16107,604
TCM_TEMP	267.64	CAP_FILE_SIZE	158232,0
XPDR_PINGS	0,13.0,10.5	SDSIZE	4028416,3878944
SC_FREEKB	3703296	SDFILEDIR	2773,1
HUMID	54.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	84.23	CURRENT	0.108, 6.8,1
INTERNAL_PRESSURE	8.57284	MAGCAL	1.000000,0.023486,-0.147466,-0.017657,1.057231,-0.034866,0.065627,-0.038647,0.965996,639.5,-216.2,66.2,31,0.0376,0
_24V_AH	14.93,158.957	IMPLIED_C_PITCH	2582,12.31,410,0.0,0.00
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2995,40.464779,251,0
FG_AHR_24Vo	135.059	GPS	241122,215532,4752.887,-12512.160,3,0.8,27,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	455	1228	8355.19	nil	0	0	0.00
Pitch_motor	41	274	169.46	nil	0	0	0.00
Roll_motor	48	97	70.33	nil	0	0	0.00
Iridium	199	222	662.46	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.47	nil	0	0	0.00
Core	3018	6	307.86	SciCon	4312	28	1839.69
Fast	49	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1585	2	47.57
Compass	1258	5	94.39
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
19.05	16386	-77.86	-1.18	0.00	1126.0	1126.0	1125.9	177.1	2291.9	0.00	0.00	0	118.80	70.21	0.00	0.00	0.005	0.000	0.000	2886.25	3067.00	2705.50	177.12	2292.19	0	0	0	15.06	30.00	30.00
121.01	18727	-77.86	-1.18	60.00	2887.0	3065.4	2708.6	177.1	2292.2	3.40	-3.50	14	233.50	4.59	17.09	3.03	0.009	0.220	0.081	3210.28	3415.94	3004.62	2228.69	3354.38	0	0	0	15.21	15.48	15.14
239.58	1028	-77.86	-1.18	0.00	3212.1	3416.9	3007.3	2228.2	3354.1	40.52	-19.01	21	257.52	0.00	0.00	2.80	0.000	0.000	0.017	3213.16	3417.12	3009.19	2228.31	2195.94	0	0	0	30.00	30.00	15.69
443.34	260	-77.86	-1.18	60.00	3212.1	3416.2	3008.1	2228.6	2193.5	69.48	-11.76	59	463.75	0.00	0.00	3.34	0.000	0.000	0.075	3212.50	3416.56	3008.44	2228.50	3354.06	0	0	0	30.00	30.00	15.76
695.29	1028	-77.86	-1.18	0.00	3213.0	3416.4	3009.7	2228.4	3353.6	94.36	-9.44	106	713.92	0.00	0.00	2.81	0.000	0.000	0.017	3214.09	3417.12	3011.06	2227.88	2193.88	0	0	0	30.00	30.00	15.82
904.93	516	-77.86	-1.18	-60.00	3213.2	3416.7	3009.8	2228.2	2191.4	111.38	-8.07	131	923.00	0.00	0.00	2.98	0.000	0.000	0.066	3215.12	3418.06	3012.19	2227.50	1145.38	0	0	0	30.00	30.00	15.82
1033.47	1028	-77.86	-1.18	0.00	3213.5	3416.4	3010.6	2228.3	1145.3	121.39	-7.47	154	1051.48	0.00	0.00	2.76	0.000	0.000	0.023	3214.00	3416.75	3011.25	2228.44	2281.62	0	0	0	30.00	30.00	15.92
1357.29	0	-77.86	-1.18	0.00	3213.7	3416.1	3011.3	2228.6	2281.9	144.61	-7.48	186	1361.31	0.00	0.00	0.00	0.000	0.000	0.000	3213.16	3417.06	3009.25	2228.12	2281.31	0	0	0	30.00	30.00	30.00
1607	end dive: TARGET_DEPTH_EXCEEDED
state	1607	begin apogee
1611.95	10243	0.00	-0.31	0.00	3214.1	3416.3	3011.9	2228.2	2172.0	164.11	-7.72	211	1710.00	58.65	1.54	0.22	1.229	0.126	0.097	2890.25	3033.88	2746.62	2440.88	2291.00	0	0	0	11.31	15.85	15.60
1715	end apogee: CONTROL_FINISHED_OK
state	1716	begin climb
1718.11	10759	77.86	1.18	-60.00	2887.6	3033.6	2741.6	2440.9	2290.5	167.63	0.00	218	1834.17	58.47	2.53	3.30	1.207	0.090	0.064	2569.88	2673.44	2466.31	2805.50	1145.62	0	0	0	11.76	15.73	15.43
1845.90	11303	180.94	1.39	0.00	2568.4	2672.5	2464.2	2806.2	1145.6	166.23	3.06	231	1977.54	78.58	0.29	2.80	1.198	0.057	0.024	2151.06	2225.69	2076.44	2871.06	2279.50	0	0	0	11.80	15.55	15.68
2283.41	16386	180.94	1.39	0.00	2141.0	2225.6	2056.4	2870.9	2279.4	132.03	8.36	279	2287.46	0.00	0.00	0.00	0.000	0.000	0.000	2139.84	2224.31	2055.38	2870.25	2279.75	0	0	0	30.00	30.00	30.00
2593.86	16966	180.94	1.48	-60.00	2139.7	2225.4	2053.9	2870.6	2279.8	109.76	6.58	310	2613.38	0.00	0.00	3.24	0.000	0.000	0.065	2138.53	2224.31	2052.75	2871.12	1146.12	0	0	0	30.00	30.00	15.87
2634.27	19527	180.94	1.60	0.00	2139.2	2225.1	2053.4	2871.2	1145.8	107.35	6.06	315	2653.71	0.00	0.19	2.78	0.000	0.071	0.025	2140.44	2226.81	2054.06	2921.56	2278.06	0	0	0	30.00	15.77	15.89
2959.61	16902	180.94	1.60	-60.00	2138.7	2225.6	2051.8	2921.6	2277.8	83.90	7.66	368	2980.09	0.00	0.00	3.23	0.000	0.000	0.065	2139.06	2226.25	2051.88	2921.69	1144.19	0	0	0	30.00	30.00	15.78
2991.40	17414	180.94	1.60	0.00	2138.1	2225.4	2050.7	2922.1	1144.5	81.13	8.82	371	3009.61	0.00	0.00	2.78	0.000	0.000	0.025	2138.44	2225.75	2051.12	2922.19	2276.88	0	0	0	30.00	30.00	15.88
3195.88	16966	180.94	1.68	-60.00	2137.9	2225.6	2050.2	2921.9	2276.6	64.43	6.58	409	3215.96	0.00	0.00	3.20	0.000	0.000	0.064	2137.75	2225.56	2049.94	2922.06	1144.56	0	0	0	30.00	30.00	15.78
3367.61	11303	294.97	1.91	0.00	2137.2	2225.5	2048.9	2921.9	1144.2	58.97	2.53	440	3507.83	85.43	0.36	2.80	1.120	0.051	0.024	1687.41	1735.94	1638.88	2999.69	2282.00	0	0	0	11.42	15.80	15.83
3694.31	16710	294.97	1.98	60.00	1677.3	1735.4	1619.3	2999.7	2282.1	39.88	6.97	495	3714.13	0.00	0.00	3.14	0.000	0.000	0.083	1678.31	1736.25	1620.38	2999.44	3351.88	0	0	0	30.00	30.00	15.72
3880.49	17414	294.97	1.98	0.00	1676.0	1735.9	1616.1	2999.5	3351.7	24.07	8.26	529	3899.10	0.00	0.00	2.81	0.000	0.000	0.018	1675.88	1735.81	1615.94	2999.75	2198.62	0	0	0	30.00	30.00	15.85
4085.37	18499	294.97	2.13	0.00	1674.8	1736.1	1613.4	2999.7	2196.9	11.71	5.48	567	4093.23	0.00	0.04	0.00	0.000	0.274	0.000	1675.38	1736.62	1614.12	2997.12	2197.06	0	0	0	30.00	15.80	30.00
4199	end climb: SURFACE_DEPTH_REACHED
state	4199	begin surface coast
4275	end surface coast: CONTROL_FINISHED_OK
state	4275	begin surface