Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 527 * 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 527 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 50.526222 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 132.46072 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 50.526222 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 132.46072 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 527 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 240121,201910,4751.776,-12512.974,53,1.2,54,15.8 TGT_LATLONG 4751.930,-12510.270

_CALLS 2 TGT_RADIUS 2500.000

_SM_DEPTHo 0.73 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -58.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240121,202703,4751.712,-12512.925,3,1.3,6,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.139,0.180 MHEAD_RNG_PITCHd_Wd 67.3,3324,-20.4,-8.049,-24.07

TGT_NAME SHELF D_GRID 189

Post-dive calculations and measurements:

SM_CCo 4289.69,0.87,0.130,0,768.7,769.2,768.2,424.69 _10V_AH 14.72,0.000

SM_GC 0.54,0.87,15.82,0.21,0.130,0.054,0.112,768.7,769.2,768.2,175.2,2074.4,0,0,0,15.21,15.73,15.74 FG_AHR_24Vo 132.599

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 50.552

IRIDIUM_FIX 4751.64,-12513.98,240121,183425 MEM 1100116,46,75712,114

TCM_TEMP 191.19 DATA_FILE_SIZE 25747,665

XPDR_PINGS 3,14.0,11.5 CAP_FILE_SIZE 191892,0

SC_FREEKB 3659808 SDSIZE 3918848,3773184

HUMID 57.03 SDFILEDIR 2661,1

TEMP 8.80 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.82578 GPS 240121,214038,4751.835,-12512.371,101,1.0,101,15.8

_24V_AH 14.21,157.092

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 502 2667 19038.69 legato 0 0 0.00

Pitch_motor 35 255 127.81 nil 0 0 0.00

Roll_motor 88 193 242.33 nil 0 0 0.00

Iridium 275 200 785.86 nil 0 0 0.00

Transponder_ping 0 420 4.48 nil 0 0 0.00

GPS 15 15 3.42 nil 0 0 0.00

Core 2338 11 406.18 SciCon 4167 14 911.06

LPSleep 2245 2 92.55 nil 0 0 0.00

Compass 1141 5 83.98 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

7.28 16386 -77.86 -1.25 0.00 762.5 766.8 758.3 171.8 2115.4 0.00 0.00 0 96.63 88.78 0.00 0.00 0.005 0.000 0.000 2717.47 2696.75 2738.19 171.69 2117.00 0 0 0 15.21 30.00 30.00

96.89 18951 -77.86 -1.25 -80.00 2716.0 2694.5 2737.6 171.4 2117.2 3.78 -6.12 17 123.55 2.40 14.23 4.18 0.014 0.256 0.149 2817.75 2806.06 2829.44 1836.44 662.50 0 0 0 15.29 15.45 15.24

246.32 1028 -77.86 -1.25 0.00 2815.8 2805.2 2826.4 1836.6 662.1 35.44 -22.31 47 252.08 0.00 0.00 3.55 0.000 0.000 0.050 2815.88 2805.44 2826.31 1836.25 2120.25 0 0 0 30.00 30.00 15.67

431.37 516 -77.86 -1.25 -80.00 2815.9 2805.1 2826.8 1835.9 2119.9 67.88 -13.98 84 437.21 0.00 0.00 4.09 0.000 0.000 0.145 2817.16 2806.19 2828.12 1836.62 663.06 0 0 0 30.00 30.00 15.64

606.42 1028 -77.86 -1.25 0.00 2816.3 2806.0 2826.6 1836.2 663.1 98.14 -16.09 119 612.15 0.00 0.00 3.49 0.000 0.000 0.049 2815.94 2805.50 2826.38 1836.38 2122.19 0 0 0 30.00 30.00 15.76

791.50 260 -77.86 -1.25 80.00 2816.0 2805.6 2826.5 1836.2 2122.0 120.76 -11.32 139 797.19 0.00 0.00 3.61 0.000 0.000 0.108 2815.69 2805.38 2826.00 1836.12 3475.06 0 0 0 30.00 30.00 15.76

816.45 1028 -77.86 -1.25 0.00 2816.4 2806.2 2826.5 1836.3 3474.8 123.69 -11.43 144 821.00 0.00 0.00 3.36 0.000 0.000 0.053 2816.72 2806.81 2826.62 1836.81 2083.19 0 0 0 30.00 30.00 15.79

1126.47 260 -77.86 -1.25 80.00 2816.5 2806.4 2826.6 1836.3 2082.4 159.83 -11.77 176 1132.26 0.00 0.00 3.72 0.000 0.000 0.107 2815.69 2805.62 2825.75 1836.81 3473.62 0 0 0 30.00 30.00 15.79

1241.48 1028 -77.86 -1.25 0.00 2816.1 2805.9 2826.2 1836.1 3475.1 174.34 -12.51 199 1246.06 0.00 0.00 3.38 0.000 0.000 0.055 2817.72 2807.81 2827.62 1836.94 2081.62 0 0 0 30.00 30.00 15.83

1391 end dive: TARGET_DEPTH_EXCEEDED

state 1391 begin apogee

1392.78 10243 0.00 -0.25 0.00 2816.8 2806.5 2827.1 1836.1 2225.1 190.07 -10.42 215 1456.25 60.67 1.78 0.09 1.217 0.143 0.194 2499.47 2505.81 2493.12 2080.06 2181.69 0 0 0 12.12 15.75 15.41

1458 end apogee: CONTROL_FINISHED_OK

state 1458 begin climb

1458.34 10759 77.86 1.25 -80.00 2497.6 2503.8 2491.5 2080.9 2182.1 192.64 0.00 221 1532.60 63.97 2.50 4.11 1.183 0.089 0.127 2180.06 2194.19 2165.94 2448.62 735.06 0 0 0 12.50 15.47 15.16

1550.37 11303 136.56 1.43 0.00 2177.2 2191.8 2162.7 2448.8 735.4 189.60 3.94 239 1606.22 49.79 0.23 3.65 1.162 0.074 0.045 1942.50 1966.06 1918.94 2497.56 2224.25 0 0 0 12.27 15.30 15.33

1910.39 16646 136.56 1.43 80.00 1932.8 1961.2 1904.3 2498.4 2224.7 159.67 9.32 281 1914.97 0.00 0.00 3.41 0.000 0.000 0.112 1933.28 1962.06 1904.50 2498.19 3474.38 0 0 0 30.00 30.00 15.61

1964.24 17414 136.56 1.43 0.00 1932.5 1960.3 1904.6 2497.9 3474.4 153.85 10.95 292 1971.08 0.00 0.00 3.14 0.000 0.000 0.048 1932.47 1960.69 1904.25 2498.31 2179.38 0 0 0 30.00 30.00 15.63

2270.44 16710 136.56 1.46 80.00 1931.2 1960.5 1902.0 2498.3 2179.9 129.50 6.92 323 2276.01 0.00 0.00 3.48 0.000 0.000 0.108 1931.69 1960.75 1902.62 2498.19 3473.50 0 0 0 30.00 30.00 15.71

2355.45 17414 136.56 1.46 0.00 1931.2 1960.2 1902.2 2498.2 3474.5 122.05 9.36 340 2359.98 0.00 0.00 3.12 0.000 0.000 0.048 1931.28 1960.81 1901.75 2497.69 2176.44 0 0 0 30.00 30.00 15.73

2665.49 16966 136.56 1.51 -80.00 1929.8 1960.3 1899.4 2497.9 2176.1 101.98 6.49 372 2671.14 0.00 0.00 3.95 0.000 0.000 0.127 1929.31 1959.06 1899.56 2495.44 736.31 0 0 0 30.00 30.00 15.70

2845.54 11303 174.21 1.62 0.00 1928.7 1958.3 1899.1 2498.2 736.8 90.81 5.41 408 2881.97 30.92 0.21 3.54 1.103 0.079 0.046 1790.97 1822.81 1759.12 2545.75 2226.62 0 0 0 12.15 15.69 15.77

3060.62 516 174.21 1.62 -80.00 1783.1 1817.1 1749.1 2547.1 2226.7 79.30 7.69 451 3066.40 0.00 0.00 4.06 0.000 0.000 0.124 1783.62 1817.69 1749.56 2545.81 734.81 0 0 0 30.00 30.00 15.64

3150.59 1092 174.21 1.67 0.00 1782.8 1816.2 1749.4 2546.1 734.9 73.03 6.44 469 3156.33 0.00 0.00 3.54 0.000 0.000 0.045 1782.44 1816.19 1748.69 2546.38 2227.94 0 0 0 30.00 30.00 15.70

3335.65 10791 265.59 1.94 -80.00 1782.0 1816.4 1747.5 2546.4 2228.1 69.17 1.65 506 3418.13 74.08 0.41 4.18 1.103 0.063 0.125 1417.22 1453.31 1381.12 2622.00 735.38 0 0 0 12.23 15.72 15.30

3530.94 1028 265.59 1.94 0.00 1412.8 1450.0 1375.7 2621.6 735.4 53.79 15.59 545 3536.71 0.00 0.00 3.63 0.000 0.000 0.052 1412.59 1450.06 1375.12 2622.31 2221.06 0 0 0 30.00 30.00 15.51

3716.01 516 265.59 1.94 -80.00 1410.3 1449.3 1371.2 2622.3 2220.9 36.25 8.16 582 3721.85 0.00 0.00 4.09 0.000 0.000 0.124 1410.88 1449.75 1372.00 2622.06 735.25 0 0 0 30.00 30.00 15.57

3806.04 1028 265.59 1.94 0.00 1410.1 1448.8 1371.4 2622.1 735.3 26.02 12.41 600 3811.80 0.00 0.00 3.61 0.000 0.000 0.050 1411.31 1449.75 1372.88 2622.38 2224.94 0 0 0 30.00 30.00 15.59

3991.12 16646 265.59 1.94 80.00 1408.7 1448.4 1369.0 2622.1 2225.1 8.62 12.80 637 3996.84 0.00 0.00 3.35 0.000 0.000 0.110 1408.38 1447.88 1368.88 2622.06 3474.50 0 0 0 30.00 30.00 15.69

4001.14 17414 265.59 1.94 0.00 1408.1 1447.2 1368.9 2622.8 3475.6 7.28 13.19 639 4006.81 0.00 0.00 3.13 0.000 0.000 0.049 1408.28 1447.62 1368.94 2622.50 2177.88 0 0 0 30.00 30.00 15.70

4096 end climb: SURFACE_DEPTH_REACHED

state 4096 begin surface coast

4131 end surface coast: CONTROL_FINISHED_OK

state 4131 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	527	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	50.526222	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	132.46072	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	240121,201910,4751.776,-12512.974,53,1.2,54,15.8	TGT_LATLONG	4751.930,-12510.270
_CALLS	2	TGT_RADIUS	2500.000
_SM_DEPTHo	0.73	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-58.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240121,202703,4751.712,-12512.925,3,1.3,6,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.139,0.180	MHEAD_RNG_PITCHd_Wd	67.3,3324,-20.4,-8.049,-24.07
TGT_NAME	SHELF	D_GRID	189

SM_CCo	4289.69,0.87,0.130,0,768.7,769.2,768.2,424.69	_10V_AH	14.72,0.000
SM_GC	0.54,0.87,15.82,0.21,0.130,0.054,0.112,768.7,769.2,768.2,175.2,2074.4,0,0,0,15.21,15.73,15.74	FG_AHR_24Vo	132.599
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	50.552
IRIDIUM_FIX	4751.64,-12513.98,240121,183425	MEM	1100116,46,75712,114
TCM_TEMP	191.19	DATA_FILE_SIZE	25747,665
XPDR_PINGS	3,14.0,11.5	CAP_FILE_SIZE	191892,0
SC_FREEKB	3659808	SDSIZE	3918848,3773184
HUMID	57.03	SDFILEDIR	2661,1
TEMP	8.80	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.82578	GPS	240121,214038,4751.835,-12512.371,101,1.0,101,15.8
_24V_AH	14.21,157.092

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	502	2667	19038.69	legato	0	0	0.00
Pitch_motor	35	255	127.81	nil	0	0	0.00
Roll_motor	88	193	242.33	nil	0	0	0.00
Iridium	275	200	785.86	nil	0	0	0.00
Transponder_ping	0	420	4.48	nil	0	0	0.00
GPS	15	15	3.42	nil	0	0	0.00
Core	2338	11	406.18	SciCon	4167	14	911.06
LPSleep	2245	2	92.55	nil	0	0	0.00
Compass	1141	5	83.98	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
7.28	16386	-77.86	-1.25	0.00	762.5	766.8	758.3	171.8	2115.4	0.00	0.00	0	96.63	88.78	0.00	0.00	0.005	0.000	0.000	2717.47	2696.75	2738.19	171.69	2117.00	0	0	0	15.21	30.00	30.00
96.89	18951	-77.86	-1.25	-80.00	2716.0	2694.5	2737.6	171.4	2117.2	3.78	-6.12	17	123.55	2.40	14.23	4.18	0.014	0.256	0.149	2817.75	2806.06	2829.44	1836.44	662.50	0	0	0	15.29	15.45	15.24
246.32	1028	-77.86	-1.25	0.00	2815.8	2805.2	2826.4	1836.6	662.1	35.44	-22.31	47	252.08	0.00	0.00	3.55	0.000	0.000	0.050	2815.88	2805.44	2826.31	1836.25	2120.25	0	0	0	30.00	30.00	15.67
431.37	516	-77.86	-1.25	-80.00	2815.9	2805.1	2826.8	1835.9	2119.9	67.88	-13.98	84	437.21	0.00	0.00	4.09	0.000	0.000	0.145	2817.16	2806.19	2828.12	1836.62	663.06	0	0	0	30.00	30.00	15.64
606.42	1028	-77.86	-1.25	0.00	2816.3	2806.0	2826.6	1836.2	663.1	98.14	-16.09	119	612.15	0.00	0.00	3.49	0.000	0.000	0.049	2815.94	2805.50	2826.38	1836.38	2122.19	0	0	0	30.00	30.00	15.76
791.50	260	-77.86	-1.25	80.00	2816.0	2805.6	2826.5	1836.2	2122.0	120.76	-11.32	139	797.19	0.00	0.00	3.61	0.000	0.000	0.108	2815.69	2805.38	2826.00	1836.12	3475.06	0	0	0	30.00	30.00	15.76
816.45	1028	-77.86	-1.25	0.00	2816.4	2806.2	2826.5	1836.3	3474.8	123.69	-11.43	144	821.00	0.00	0.00	3.36	0.000	0.000	0.053	2816.72	2806.81	2826.62	1836.81	2083.19	0	0	0	30.00	30.00	15.79
1126.47	260	-77.86	-1.25	80.00	2816.5	2806.4	2826.6	1836.3	2082.4	159.83	-11.77	176	1132.26	0.00	0.00	3.72	0.000	0.000	0.107	2815.69	2805.62	2825.75	1836.81	3473.62	0	0	0	30.00	30.00	15.79
1241.48	1028	-77.86	-1.25	0.00	2816.1	2805.9	2826.2	1836.1	3475.1	174.34	-12.51	199	1246.06	0.00	0.00	3.38	0.000	0.000	0.055	2817.72	2807.81	2827.62	1836.94	2081.62	0	0	0	30.00	30.00	15.83
1391	end dive: TARGET_DEPTH_EXCEEDED
state	1391	begin apogee
1392.78	10243	0.00	-0.25	0.00	2816.8	2806.5	2827.1	1836.1	2225.1	190.07	-10.42	215	1456.25	60.67	1.78	0.09	1.217	0.143	0.194	2499.47	2505.81	2493.12	2080.06	2181.69	0	0	0	12.12	15.75	15.41
1458	end apogee: CONTROL_FINISHED_OK
state	1458	begin climb
1458.34	10759	77.86	1.25	-80.00	2497.6	2503.8	2491.5	2080.9	2182.1	192.64	0.00	221	1532.60	63.97	2.50	4.11	1.183	0.089	0.127	2180.06	2194.19	2165.94	2448.62	735.06	0	0	0	12.50	15.47	15.16
1550.37	11303	136.56	1.43	0.00	2177.2	2191.8	2162.7	2448.8	735.4	189.60	3.94	239	1606.22	49.79	0.23	3.65	1.162	0.074	0.045	1942.50	1966.06	1918.94	2497.56	2224.25	0	0	0	12.27	15.30	15.33
1910.39	16646	136.56	1.43	80.00	1932.8	1961.2	1904.3	2498.4	2224.7	159.67	9.32	281	1914.97	0.00	0.00	3.41	0.000	0.000	0.112	1933.28	1962.06	1904.50	2498.19	3474.38	0	0	0	30.00	30.00	15.61
1964.24	17414	136.56	1.43	0.00	1932.5	1960.3	1904.6	2497.9	3474.4	153.85	10.95	292	1971.08	0.00	0.00	3.14	0.000	0.000	0.048	1932.47	1960.69	1904.25	2498.31	2179.38	0	0	0	30.00	30.00	15.63
2270.44	16710	136.56	1.46	80.00	1931.2	1960.5	1902.0	2498.3	2179.9	129.50	6.92	323	2276.01	0.00	0.00	3.48	0.000	0.000	0.108	1931.69	1960.75	1902.62	2498.19	3473.50	0	0	0	30.00	30.00	15.71
2355.45	17414	136.56	1.46	0.00	1931.2	1960.2	1902.2	2498.2	3474.5	122.05	9.36	340	2359.98	0.00	0.00	3.12	0.000	0.000	0.048	1931.28	1960.81	1901.75	2497.69	2176.44	0	0	0	30.00	30.00	15.73
2665.49	16966	136.56	1.51	-80.00	1929.8	1960.3	1899.4	2497.9	2176.1	101.98	6.49	372	2671.14	0.00	0.00	3.95	0.000	0.000	0.127	1929.31	1959.06	1899.56	2495.44	736.31	0	0	0	30.00	30.00	15.70
2845.54	11303	174.21	1.62	0.00	1928.7	1958.3	1899.1	2498.2	736.8	90.81	5.41	408	2881.97	30.92	0.21	3.54	1.103	0.079	0.046	1790.97	1822.81	1759.12	2545.75	2226.62	0	0	0	12.15	15.69	15.77
3060.62	516	174.21	1.62	-80.00	1783.1	1817.1	1749.1	2547.1	2226.7	79.30	7.69	451	3066.40	0.00	0.00	4.06	0.000	0.000	0.124	1783.62	1817.69	1749.56	2545.81	734.81	0	0	0	30.00	30.00	15.64
3150.59	1092	174.21	1.67	0.00	1782.8	1816.2	1749.4	2546.1	734.9	73.03	6.44	469	3156.33	0.00	0.00	3.54	0.000	0.000	0.045	1782.44	1816.19	1748.69	2546.38	2227.94	0	0	0	30.00	30.00	15.70
3335.65	10791	265.59	1.94	-80.00	1782.0	1816.4	1747.5	2546.4	2228.1	69.17	1.65	506	3418.13	74.08	0.41	4.18	1.103	0.063	0.125	1417.22	1453.31	1381.12	2622.00	735.38	0	0	0	12.23	15.72	15.30
3530.94	1028	265.59	1.94	0.00	1412.8	1450.0	1375.7	2621.6	735.4	53.79	15.59	545	3536.71	0.00	0.00	3.63	0.000	0.000	0.052	1412.59	1450.06	1375.12	2622.31	2221.06	0	0	0	30.00	30.00	15.51
3716.01	516	265.59	1.94	-80.00	1410.3	1449.3	1371.2	2622.3	2220.9	36.25	8.16	582	3721.85	0.00	0.00	4.09	0.000	0.000	0.124	1410.88	1449.75	1372.00	2622.06	735.25	0	0	0	30.00	30.00	15.57
3806.04	1028	265.59	1.94	0.00	1410.1	1448.8	1371.4	2622.1	735.3	26.02	12.41	600	3811.80	0.00	0.00	3.61	0.000	0.000	0.050	1411.31	1449.75	1372.88	2622.38	2224.94	0	0	0	30.00	30.00	15.59
3991.12	16646	265.59	1.94	80.00	1408.7	1448.4	1369.0	2622.1	2225.1	8.62	12.80	637	3996.84	0.00	0.00	3.35	0.000	0.000	0.110	1408.38	1447.88	1368.88	2622.06	3474.50	0	0	0	30.00	30.00	15.69
4001.14	17414	265.59	1.94	0.00	1408.1	1447.2	1368.9	2622.8	3475.6	7.28	13.19	639	4006.81	0.00	0.00	3.13	0.000	0.000	0.049	1408.28	1447.62	1368.94	2622.50	2177.88	0	0	0	30.00	30.00	15.70
4096	end climb: SURFACE_DEPTH_REACHED
state	4096	begin surface coast
4131	end surface coast: CONTROL_FINISHED_OK
state	4131	begin surface