Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 529 * 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 529 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 50.58276 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 132.76321 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 50.58276 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 132.76321 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 529 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 240121,230400,4751.819,-12512.130,31,1.3,32,15.8 TGT_LATLONG 4747.280,-12520.390

_CALLS 1 TGT_RADIUS 7000.000

_SM_DEPTHo 0.97 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -62.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240121,230938,4751.750,-12512.231,3,0.6,6,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.139,0.180 MHEAD_RNG_PITCHd_Wd 215.0,13099,-20.4,-8.049,-24.07

TGT_NAME OUT9 D_GRID 249

Post-dive calculations and measurements:

SM_CCo 5878.28,2.10,0.278,0,767.7,772.9,762.5,424.93 _10V_AH 14.76,0.000

SM_GC 0.26,2.10,15.90,3.39,0.278,0.048,0.053,767.7,772.9,762.5,172.4,2079.4,0,0,0,12.38,15.63,15.67 FG_AHR_24Vo 132.910

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 50.616

IRIDIUM_FIX 4751.64,-12513.98,240121,214455 MEM 1100232,43,75656,114

TCM_TEMP 195.19 DATA_FILE_SIZE 32237,842

XPDR_PINGS 2,14.0,11.5 CAP_FILE_SIZE 186833,0

SC_FREEKB 3659040 SDSIZE 3918848,3772800

HUMID 57.24 SDFILEDIR 2671,1

TEMP 8.76 ERRORS 0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.81909 GPS 250121,004805,4751.696,-12513.149,1,1.1,4,15.8

_24V_AH 14.24,157.451

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 500 2676 19085.94 legato 0 0 0.00

Pitch_motor 35 251 126.34 nil 0 0 0.00

Roll_motor 65 203 188.77 nil 0 0 0.00

Iridium 206 203 598.27 nil 0 0 0.00

Transponder_ping 0 420 2.99 nil 0 0 0.00

GPS 14 15 3.28 nil 0 0 0.00

Core 2842 11 495.11 SciCon 5788 13 1114.36

LPSleep 3353 2 138.61 nil 0 0 0.00

Compass 1439 5 106.21 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

7.15 16386 -77.86 -1.25 0.00 762.1 764.8 759.4 174.1 2114.4 0.00 0.00 0 76.08 68.39 0.00 0.00 0.005 0.000 0.000 2291.03 2276.06 2306.00 173.94 2117.12 0 0 0 15.22 30.00 30.00

76.40 18727 -77.86 -1.25 80.00 2289.8 2275.1 2304.4 174.1 2117.2 3.19 -4.17 13 113.42 13.12 14.16 3.67 0.006 0.252 0.115 2817.94 2814.94 2820.94 1835.00 3474.38 0 0 0 15.30 15.44 15.23

336.35 1028 -77.86 -1.25 0.00 2816.3 2812.4 2820.2 1835.7 3475.4 56.76 -18.92 65 341.94 0.00 0.00 3.40 0.000 0.000 0.060 2819.03 2815.25 2822.81 1835.81 2082.00 0 0 0 30.00 30.00 15.71

521.26 260 -77.86 -1.25 80.00 2816.7 2812.8 2820.6 1835.9 2081.9 84.12 -11.91 102 527.05 0.00 0.00 3.74 0.000 0.000 0.108 2816.78 2812.75 2820.81 1835.69 3474.88 0 0 0 30.00 30.00 15.74

685.14 1028 -77.86 -1.25 0.00 2816.0 2812.6 2819.4 1835.6 3474.9 102.85 -10.89 135 692.03 0.00 0.00 3.37 0.000 0.000 0.056 2815.84 2812.06 2819.62 1835.81 2080.88 0 0 0 30.00 30.00 15.79

991.34 0 -77.86 -1.25 0.00 2816.1 2812.6 2819.6 1835.5 2081.1 136.93 -12.10 166 992.67 0.00 0.00 0.00 0.000 0.000 0.000 2816.75 2812.81 2820.69 1835.81 2081.00 0 0 0 30.00 30.00 30.00

1291.36 0 -77.86 -1.25 0.00 2815.9 2812.2 2819.5 1835.8 2081.2 166.20 -9.06 196 1292.69 0.00 0.00 0.00 0.000 0.000 0.000 2816.69 2812.44 2820.94 1835.69 2081.12 0 0 0 30.00 30.00 30.00

1591.39 0 -77.86 -1.25 0.00 2816.0 2812.4 2819.6 1836.3 2080.8 193.14 -9.03 226 1592.72 0.00 0.00 0.00 0.000 0.000 0.000 2815.59 2811.81 2819.38 1835.81 2080.88 0 0 0 30.00 30.00 30.00

1891.42 260 -77.86 -1.25 80.00 2816.2 2812.4 2819.9 1836.2 2080.6 223.32 -10.14 256 1897.14 0.00 0.00 3.74 0.000 0.000 0.114 2818.22 2814.44 2822.00 1834.62 3473.81 0 0 0 30.00 30.00 15.83

2020.37 1028 -77.86 -1.25 0.00 2815.9 2812.2 2819.6 1835.6 3474.3 237.55 -10.97 282 2027.18 0.00 0.00 3.37 0.000 0.000 0.059 2816.00 2812.06 2819.94 1835.62 2081.12 0 0 0 30.00 30.00 15.87

2146 end dive: TARGET_DEPTH_EXCEEDED

state 2146 begin apogee

2147.73 10243 0.00 -0.25 0.00 2816.3 2812.4 2820.2 1836.1 2222.9 249.95 -10.16 295 2212.21 60.99 1.78 0.09 1.302 0.142 0.203 2501.41 2509.06 2493.75 2080.31 2182.25 0 0 0 12.09 15.78 15.41

2214 end apogee: CONTROL_FINISHED_OK

state 2214 begin climb

2214.29 10243 77.86 1.25 0.00 2498.0 2505.2 2490.8 2080.4 2182.1 252.87 0.00 301 2283.08 64.78 2.47 0.00 1.262 0.091 0.000 2183.69 2197.94 2169.44 2447.12 2182.56 0 0 0 12.46 15.47 30.00

2577.26 10535 124.81 1.39 80.00 2172.6 2192.1 2153.1 2447.5 2182.3 237.13 4.76 338 2622.78 39.88 0.19 3.64 1.233 0.093 0.115 1988.28 2010.56 1966.00 2491.00 3474.44 0 0 0 12.19 15.59 15.35

2731.26 1028 124.81 1.39 0.00 1983.8 2006.9 1960.6 2491.1 3473.4 224.63 9.65 369 2737.96 0.00 0.00 3.18 0.000 0.000 0.052 1986.38 2009.75 1963.00 2489.44 2178.50 0 0 0 30.00 30.00 15.55

3037.29 16386 124.81 1.39 0.00 1981.2 2007.2 1955.1 2490.8 2178.2 198.66 8.65 400 3038.62 0.00 0.00 0.00 0.000 0.000 0.000 1981.56 2008.19 1954.94 2490.50 2178.50 0 0 0 30.00 30.00 30.00

3337.33 8486 155.33 1.48 80.00 1979.9 2007.3 1952.5 2490.8 2178.6 177.75 5.91 430 3368.66 26.31 0.00 3.61 1.181 0.000 0.115 1865.88 1895.62 1836.12 2490.38 3473.31 0 0 0 12.21 30.00 15.55

3457.34 1028 155.33 1.48 0.00 1861.4 1890.9 1831.9 2490.1 3473.9 168.05 8.72 454 3462.01 0.00 0.00 3.17 0.000 0.000 0.053 1862.22 1891.69 1832.75 2489.88 2180.06 0 0 0 30.00 30.00 15.65

3767.39 580 155.33 1.50 -80.00 1859.1 1890.8 1827.4 2490.3 2180.9 145.54 7.43 486 3773.18 0.00 0.00 3.96 0.000 0.000 0.132 1861.06 1892.88 1829.25 2489.44 735.25 0 0 0 30.00 30.00 15.69

3956.33 17414 155.33 1.50 0.00 1858.6 1890.2 1827.0 2490.6 735.1 127.73 9.93 524 3963.19 0.00 0.00 3.61 0.000 0.000 0.053 1858.69 1890.25 1827.12 2490.69 2224.25 0 0 0 30.00 30.00 15.76

4262.46 10275 204.19 1.65 0.00 1856.9 1889.6 1824.2 2490.5 2224.5 108.28 4.63 555 4304.38 40.49 0.31 0.00 1.147 0.070 0.000 1665.88 1701.12 1630.62 2549.56 2224.06 0 0 0 12.15 15.66 30.00

4602.52 0 204.19 1.65 0.00 1660.1 1697.1 1623.1 2550.1 2224.4 76.25 7.71 612 4603.84 0.00 0.00 0.00 0.000 0.000 0.000 1660.84 1697.12 1624.56 2550.12 2224.44 0 0 0 30.00 30.00 30.00

4782.58 10275 271.19 1.85 0.00 1659.4 1697.1 1621.8 2549.9 2224.6 68.84 3.36 648 4838.82 54.48 0.24 0.00 1.103 0.074 0.000 1395.06 1431.75 1358.38 2599.38 2223.81 0 0 0 12.21 15.60 30.00

5017.66 516 271.19 1.85 -80.00 1388.4 1428.1 1348.6 2600.1 2224.6 52.83 7.91 695 5023.50 0.00 0.00 4.17 0.000 0.000 0.129 1388.50 1428.25 1348.75 2600.12 735.25 0 0 0 30.00 30.00 15.56

5157.71 1028 271.19 1.85 0.00 1387.9 1427.3 1348.5 2600.4 735.1 39.16 9.43 723 5163.47 0.00 0.00 3.61 0.000 0.000 0.052 1387.97 1427.38 1348.56 2599.81 2223.69 0 0 0 30.00 30.00 15.67

5342.81 16966 271.19 1.87 -80.00 1386.2 1426.9 1345.4 2600.3 2224.0 24.97 7.38 760 5348.64 0.00 0.00 4.11 0.000 0.000 0.126 1386.97 1427.75 1346.19 2600.25 736.38 0 0 0 30.00 30.00 15.60

5477.86 9254 314.44 2.00 0.00 1386.4 1427.1 1345.8 2600.5 736.5 15.74 5.02 787 5520.36 37.26 0.00 3.58 1.026 0.000 0.049 1217.53 1257.00 1178.06 2599.69 2226.69 0 0 0 12.14 30.00 15.73

5698.23 2373 314.44 2.04 80.00 1213.7 1252.9 1174.6 2599.8 2226.6 4.42 6.86 831 5704.03 0.00 0.21 3.41 0.000 0.081 0.108 1213.91 1253.06 1174.75 2645.00 3474.50 0 0 0 30.00 15.62 15.59

5728 end climb: SURFACE_DEPTH_REACHED

state 5728 begin surface coast

5753 end surface coast: CONTROL_FINISHED_OK

state 5753 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	529	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	50.58276	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	132.76321	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	240121,230400,4751.819,-12512.130,31,1.3,32,15.8	TGT_LATLONG	4747.280,-12520.390
_CALLS	1	TGT_RADIUS	7000.000
_SM_DEPTHo	0.97	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-62.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240121,230938,4751.750,-12512.231,3,0.6,6,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.139,0.180	MHEAD_RNG_PITCHd_Wd	215.0,13099,-20.4,-8.049,-24.07
TGT_NAME	OUT9	D_GRID	249

SM_CCo	5878.28,2.10,0.278,0,767.7,772.9,762.5,424.93	_10V_AH	14.76,0.000
SM_GC	0.26,2.10,15.90,3.39,0.278,0.048,0.053,767.7,772.9,762.5,172.4,2079.4,0,0,0,12.38,15.63,15.67	FG_AHR_24Vo	132.910
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	50.616
IRIDIUM_FIX	4751.64,-12513.98,240121,214455	MEM	1100232,43,75656,114
TCM_TEMP	195.19	DATA_FILE_SIZE	32237,842
XPDR_PINGS	2,14.0,11.5	CAP_FILE_SIZE	186833,0
SC_FREEKB	3659040	SDSIZE	3918848,3772800
HUMID	57.24	SDFILEDIR	2671,1
TEMP	8.76	ERRORS	0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.81909	GPS	250121,004805,4751.696,-12513.149,1,1.1,4,15.8
_24V_AH	14.24,157.451

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	500	2676	19085.94	legato	0	0	0.00
Pitch_motor	35	251	126.34	nil	0	0	0.00
Roll_motor	65	203	188.77	nil	0	0	0.00
Iridium	206	203	598.27	nil	0	0	0.00
Transponder_ping	0	420	2.99	nil	0	0	0.00
GPS	14	15	3.28	nil	0	0	0.00
Core	2842	11	495.11	SciCon	5788	13	1114.36
LPSleep	3353	2	138.61	nil	0	0	0.00
Compass	1439	5	106.21	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
7.15	16386	-77.86	-1.25	0.00	762.1	764.8	759.4	174.1	2114.4	0.00	0.00	0	76.08	68.39	0.00	0.00	0.005	0.000	0.000	2291.03	2276.06	2306.00	173.94	2117.12	0	0	0	15.22	30.00	30.00
76.40	18727	-77.86	-1.25	80.00	2289.8	2275.1	2304.4	174.1	2117.2	3.19	-4.17	13	113.42	13.12	14.16	3.67	0.006	0.252	0.115	2817.94	2814.94	2820.94	1835.00	3474.38	0	0	0	15.30	15.44	15.23
336.35	1028	-77.86	-1.25	0.00	2816.3	2812.4	2820.2	1835.7	3475.4	56.76	-18.92	65	341.94	0.00	0.00	3.40	0.000	0.000	0.060	2819.03	2815.25	2822.81	1835.81	2082.00	0	0	0	30.00	30.00	15.71
521.26	260	-77.86	-1.25	80.00	2816.7	2812.8	2820.6	1835.9	2081.9	84.12	-11.91	102	527.05	0.00	0.00	3.74	0.000	0.000	0.108	2816.78	2812.75	2820.81	1835.69	3474.88	0	0	0	30.00	30.00	15.74
685.14	1028	-77.86	-1.25	0.00	2816.0	2812.6	2819.4	1835.6	3474.9	102.85	-10.89	135	692.03	0.00	0.00	3.37	0.000	0.000	0.056	2815.84	2812.06	2819.62	1835.81	2080.88	0	0	0	30.00	30.00	15.79
991.34	0	-77.86	-1.25	0.00	2816.1	2812.6	2819.6	1835.5	2081.1	136.93	-12.10	166	992.67	0.00	0.00	0.00	0.000	0.000	0.000	2816.75	2812.81	2820.69	1835.81	2081.00	0	0	0	30.00	30.00	30.00
1291.36	0	-77.86	-1.25	0.00	2815.9	2812.2	2819.5	1835.8	2081.2	166.20	-9.06	196	1292.69	0.00	0.00	0.00	0.000	0.000	0.000	2816.69	2812.44	2820.94	1835.69	2081.12	0	0	0	30.00	30.00	30.00
1591.39	0	-77.86	-1.25	0.00	2816.0	2812.4	2819.6	1836.3	2080.8	193.14	-9.03	226	1592.72	0.00	0.00	0.00	0.000	0.000	0.000	2815.59	2811.81	2819.38	1835.81	2080.88	0	0	0	30.00	30.00	30.00
1891.42	260	-77.86	-1.25	80.00	2816.2	2812.4	2819.9	1836.2	2080.6	223.32	-10.14	256	1897.14	0.00	0.00	3.74	0.000	0.000	0.114	2818.22	2814.44	2822.00	1834.62	3473.81	0	0	0	30.00	30.00	15.83
2020.37	1028	-77.86	-1.25	0.00	2815.9	2812.2	2819.6	1835.6	3474.3	237.55	-10.97	282	2027.18	0.00	0.00	3.37	0.000	0.000	0.059	2816.00	2812.06	2819.94	1835.62	2081.12	0	0	0	30.00	30.00	15.87
2146	end dive: TARGET_DEPTH_EXCEEDED
state	2146	begin apogee
2147.73	10243	0.00	-0.25	0.00	2816.3	2812.4	2820.2	1836.1	2222.9	249.95	-10.16	295	2212.21	60.99	1.78	0.09	1.302	0.142	0.203	2501.41	2509.06	2493.75	2080.31	2182.25	0	0	0	12.09	15.78	15.41
2214	end apogee: CONTROL_FINISHED_OK
state	2214	begin climb
2214.29	10243	77.86	1.25	0.00	2498.0	2505.2	2490.8	2080.4	2182.1	252.87	0.00	301	2283.08	64.78	2.47	0.00	1.262	0.091	0.000	2183.69	2197.94	2169.44	2447.12	2182.56	0	0	0	12.46	15.47	30.00
2577.26	10535	124.81	1.39	80.00	2172.6	2192.1	2153.1	2447.5	2182.3	237.13	4.76	338	2622.78	39.88	0.19	3.64	1.233	0.093	0.115	1988.28	2010.56	1966.00	2491.00	3474.44	0	0	0	12.19	15.59	15.35
2731.26	1028	124.81	1.39	0.00	1983.8	2006.9	1960.6	2491.1	3473.4	224.63	9.65	369	2737.96	0.00	0.00	3.18	0.000	0.000	0.052	1986.38	2009.75	1963.00	2489.44	2178.50	0	0	0	30.00	30.00	15.55
3037.29	16386	124.81	1.39	0.00	1981.2	2007.2	1955.1	2490.8	2178.2	198.66	8.65	400	3038.62	0.00	0.00	0.00	0.000	0.000	0.000	1981.56	2008.19	1954.94	2490.50	2178.50	0	0	0	30.00	30.00	30.00
3337.33	8486	155.33	1.48	80.00	1979.9	2007.3	1952.5	2490.8	2178.6	177.75	5.91	430	3368.66	26.31	0.00	3.61	1.181	0.000	0.115	1865.88	1895.62	1836.12	2490.38	3473.31	0	0	0	12.21	30.00	15.55
3457.34	1028	155.33	1.48	0.00	1861.4	1890.9	1831.9	2490.1	3473.9	168.05	8.72	454	3462.01	0.00	0.00	3.17	0.000	0.000	0.053	1862.22	1891.69	1832.75	2489.88	2180.06	0	0	0	30.00	30.00	15.65
3767.39	580	155.33	1.50	-80.00	1859.1	1890.8	1827.4	2490.3	2180.9	145.54	7.43	486	3773.18	0.00	0.00	3.96	0.000	0.000	0.132	1861.06	1892.88	1829.25	2489.44	735.25	0	0	0	30.00	30.00	15.69
3956.33	17414	155.33	1.50	0.00	1858.6	1890.2	1827.0	2490.6	735.1	127.73	9.93	524	3963.19	0.00	0.00	3.61	0.000	0.000	0.053	1858.69	1890.25	1827.12	2490.69	2224.25	0	0	0	30.00	30.00	15.76
4262.46	10275	204.19	1.65	0.00	1856.9	1889.6	1824.2	2490.5	2224.5	108.28	4.63	555	4304.38	40.49	0.31	0.00	1.147	0.070	0.000	1665.88	1701.12	1630.62	2549.56	2224.06	0	0	0	12.15	15.66	30.00
4602.52	0	204.19	1.65	0.00	1660.1	1697.1	1623.1	2550.1	2224.4	76.25	7.71	612	4603.84	0.00	0.00	0.00	0.000	0.000	0.000	1660.84	1697.12	1624.56	2550.12	2224.44	0	0	0	30.00	30.00	30.00
4782.58	10275	271.19	1.85	0.00	1659.4	1697.1	1621.8	2549.9	2224.6	68.84	3.36	648	4838.82	54.48	0.24	0.00	1.103	0.074	0.000	1395.06	1431.75	1358.38	2599.38	2223.81	0	0	0	12.21	15.60	30.00
5017.66	516	271.19	1.85	-80.00	1388.4	1428.1	1348.6	2600.1	2224.6	52.83	7.91	695	5023.50	0.00	0.00	4.17	0.000	0.000	0.129	1388.50	1428.25	1348.75	2600.12	735.25	0	0	0	30.00	30.00	15.56
5157.71	1028	271.19	1.85	0.00	1387.9	1427.3	1348.5	2600.4	735.1	39.16	9.43	723	5163.47	0.00	0.00	3.61	0.000	0.000	0.052	1387.97	1427.38	1348.56	2599.81	2223.69	0	0	0	30.00	30.00	15.67
5342.81	16966	271.19	1.87	-80.00	1386.2	1426.9	1345.4	2600.3	2224.0	24.97	7.38	760	5348.64	0.00	0.00	4.11	0.000	0.000	0.126	1386.97	1427.75	1346.19	2600.25	736.38	0	0	0	30.00	30.00	15.60
5477.86	9254	314.44	2.00	0.00	1386.4	1427.1	1345.8	2600.5	736.5	15.74	5.02	787	5520.36	37.26	0.00	3.58	1.026	0.000	0.049	1217.53	1257.00	1178.06	2599.69	2226.69	0	0	0	12.14	30.00	15.73
5698.23	2373	314.44	2.04	80.00	1213.7	1252.9	1174.6	2599.8	2226.6	4.42	6.86	831	5704.03	0.00	0.21	3.41	0.000	0.081	0.108	1213.91	1253.06	1174.75	2645.00	3474.50	0	0	0	30.00	15.62	15.59
5728	end climb: SURFACE_DEPTH_REACHED
state	5728	begin surface coast
5753	end surface coast: CONTROL_FINISHED_OK
state	5753	begin surface