Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 845 * 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 845 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 500 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 2 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 180 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 200 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 0 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 67.755844 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 205.55206 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 120 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 2100 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 2 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 500 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 67.755844 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 205.55206 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 180

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 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 PROTOCOL 9 T_MISSION 200

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 2100 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 120 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 845 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 170321,013457,4751.736,-12513.560,2,1.7,8,15.7 TGT_LATLONG 4751.930,-12510.270

_CALLS 1 TGT_RADIUS 2500.000

_SM_DEPTHo -1.71 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -63.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 170321,014132,4751.766,-12513.528,3,1.1,33,15.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.160,0.227 MHEAD_RNG_PITCHd_Wd 70.0,4060,-18.6,-9.259,-22.19

TGT_NAME SHELF D_GRID 210

Post-dive calculations and measurements:

SM_CCo 4454.89,0.00,0.009,0,767.2,765.2,769.1,425.07 _10V_AH 14.87,0.000

SM_GC -0.50,0.00,16.83,0.08,0.009,0.072,0.135,767.2,765.2,769.1,171.8,2129.5,0,0,0,30.36,15.55,15.70 FG_AHR_24Vo 205.713

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 67.774

IRIDIUM_FIX 4752.96,-12543.46,160321,235426 MEM 1100056,51,75672,114

TCM_TEMP 175.61 DATA_FILE_SIZE 25799,673

XPDR_PINGS 3,14.0,11.5 CAP_FILE_SIZE 303017,0

SC_FREEKB 3535616 SDSIZE 3918848,3685184

HUMID 57.77 SDFILEDIR 4251,1

TEMP 8.43 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.81028 GPS 170321,025617,4751.756,-12512.820,2,0.8,4,15.7

_24V_AH 14.43,240.042

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 566 1268 10361.58 legato 0 0 0.00

Pitch_motor 37 253 135.38 nil 0 0 0.00

Roll_motor 88 228 293.43 nil 0 0 0.00

Iridium 178 195 503.24 nil 0 0 0.00

Transponder_ping 0 420 4.55 nil 0 0 0.00

GPS 42 15 9.46 nil 0 0 0.00

Core 2729 11 478.96 SciCon 4398 7 464.33

LPSleep 1980 2 82.45 nil 0 0 0.00

Compass 1535 5 114.16 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

7.90 16386 -116.79 -1.28 0.00 762.2 761.8 762.8 170.1 2083.9 0.00 0.00 0 93.90 85.43 0.00 0.00 0.005 0.000 0.000 2723.84 2702.44 2745.25 170.06 2083.00 0 0 0 14.56 30.00 30.00

94.17 18695 -116.79 -1.28 80.00 2722.7 2701.1 2744.4 170.3 2083.4 4.16 -15.03 16 126.01 5.16 14.74 3.83 0.009 0.253 0.115 2975.84 2966.94 2984.75 1829.75 3475.06 0 0 0 14.89 15.19 14.72

349.80 1028 -116.79 -1.28 0.00 2975.9 2967.1 2984.7 1829.6 3474.2 57.84 -15.23 67 355.52 0.00 0.00 3.44 0.000 0.000 0.060 2977.28 2968.00 2986.56 1829.38 2081.19 0 0 0 30.00 30.00 15.62

534.51 260 -116.79 -1.28 80.00 2975.5 2966.6 2984.4 1829.3 2081.7 83.71 -12.70 104 540.64 0.00 0.00 3.78 0.000 0.000 0.110 2976.56 2967.19 2985.94 1829.44 3474.19 0 0 0 30.00 30.00 15.53

639.47 1028 -116.79 -1.28 0.00 2975.9 2967.1 2984.6 1829.8 3474.2 99.50 -15.23 125 645.21 0.00 0.00 3.41 0.000 0.000 0.060 2975.91 2967.19 2984.62 1829.69 2081.25 0 0 0 30.00 30.00 15.64

824.50 260 -116.79 -1.28 80.00 2975.9 2966.8 2985.1 1829.2 2081.2 121.70 -11.51 144 830.19 0.00 0.00 3.79 0.000 0.000 0.110 2975.22 2966.38 2984.06 1829.81 3474.44 0 0 0 30.00 30.00 15.55

899.59 1028 -116.79 -1.28 0.00 2976.0 2967.1 2984.8 1830.0 3474.5 131.01 -12.28 159 904.13 0.00 0.00 3.38 0.000 0.000 0.057 2975.84 2966.44 2985.25 1829.94 2082.62 0 0 0 30.00 30.00 15.67

1209.59 260 -116.79 -1.28 80.00 2975.5 2966.6 2984.4 1829.1 2082.4 164.46 -10.30 191 1215.27 0.00 0.00 3.78 0.000 0.000 0.111 2976.38 2967.50 2985.25 1829.44 3475.62 0 0 0 30.00 30.00 15.55

1228.49 1028 -116.79 -1.28 0.00 2975.9 2966.4 2985.3 1829.8 3475.8 166.58 -10.39 195 1235.32 0.00 0.00 3.39 0.000 0.000 0.058 2976.53 2967.31 2985.75 1829.31 2080.19 0 0 0 30.00 30.00 15.67

1534.68 516 -116.79 -1.28 -80.00 2975.7 2967.1 2984.3 1829.8 2080.8 197.17 -10.60 226 1540.39 0.00 0.00 4.03 0.000 0.000 0.154 2974.00 2964.69 2983.31 1829.56 662.50 0 0 0 30.00 30.00 15.42

1570.10 1028 -116.79 -1.28 0.00 2975.9 2966.9 2984.9 1829.4 662.9 200.81 -10.38 233 1575.31 0.00 0.00 3.51 0.000 0.000 0.052 2977.44 2968.25 2986.62 1829.50 2122.25 0 0 0 30.00 30.00 15.74

1664 end dive: TARGET_DEPTH_EXCEEDED

state 1664 begin apogee

1665.89 10243 0.00 -0.25 0.00 2976.0 2966.8 2985.3 1829.4 2083.1 210.46 -9.57 243 1762.04 92.77 1.88 0.07 1.268 0.141 0.229 2496.16 2504.25 2488.06 2079.75 2118.62 0 0 0 10.84 15.57 15.04

1764 end apogee: CONTROL_FINISHED_OK

state 1764 begin climb

1764.79 10759 116.79 1.28 -80.00 2497.5 2506.8 2488.3 2079.8 2120.6 213.47 0.00 252 1874.11 98.49 2.63 4.20 1.221 0.085 0.136 2022.69 2048.56 1996.81 2454.12 663.06 0 0 0 11.75 15.27 14.90

1907.82 9254 154.70 1.39 0.00 2017.7 2044.8 1990.6 2454.9 663.2 206.09 7.22 280 1948.90 33.44 0.00 3.57 1.162 0.000 0.048 1868.78 1902.94 1834.62 2453.31 2126.00 0 0 0 11.58 30.00 15.30

2247.44 16902 154.70 1.39 -80.00 1860.3 1900.6 1820.1 2454.9 2126.0 177.71 9.08 318 2253.16 0.00 0.00 4.09 0.000 0.000 0.135 1858.75 1898.75 1818.75 2454.69 663.00 0 0 0 30.00 30.00 15.43

2356.36 17414 154.70 1.39 0.00 1859.1 1897.7 1820.4 2454.4 663.1 166.87 10.07 340 2363.23 0.00 0.00 3.51 0.000 0.000 0.051 1859.59 1898.44 1820.75 2454.94 2128.06 0 0 0 30.00 30.00 15.66

2662.53 19015 154.70 1.45 -80.00 1858.3 1897.6 1819.0 2454.7 2127.2 143.38 7.38 371 2668.32 0.00 0.22 4.07 0.000 0.078 0.135 1857.66 1896.69 1818.62 2505.25 661.88 0 0 0 30.00 15.69 15.47

2747.96 17414 154.70 1.45 0.00 1858.5 1897.8 1819.2 2505.1 661.8 135.16 9.61 388 2753.18 0.00 0.00 3.51 0.000 0.000 0.050 1857.16 1896.38 1817.94 2505.56 2127.69 0 0 0 30.00 30.00 15.71

3052.64 10535 217.56 1.64 80.00 1857.7 1897.7 1817.7 2505.8 2127.9 114.85 5.88 419 3110.40 52.56 0.19 3.68 1.142 0.078 0.114 1612.06 1648.75 1575.38 2550.19 3473.31 0 0 0 10.95 15.72 15.19

3158.68 1028 217.56 1.64 0.00 1608.2 1643.9 1572.5 2550.1 3473.7 105.44 10.34 440 3163.31 0.00 0.00 3.43 0.000 0.000 0.056 1608.00 1643.62 1572.38 2550.50 2078.38 0 0 0 30.00 30.00 15.51

3463.88 8742 258.64 1.76 -80.00 1606.0 1643.7 1568.4 2550.1 2079.1 81.34 7.05 496 3510.85 37.88 0.00 3.94 1.080 0.000 0.138 1446.47 1485.00 1407.94 2550.38 662.94 0 0 0 11.24 30.00 15.20

3514.63 1092 258.64 1.78 0.00 1445.0 1483.4 1406.7 2550.4 662.6 77.19 8.45 506 3520.28 0.00 0.00 3.54 0.000 0.000 0.048 1444.91 1483.25 1406.56 2550.12 2128.38 0 0 0 30.00 30.00 15.50

3699.15 516 258.64 1.78 -80.00 1441.4 1482.8 1400.1 2550.1 2128.3 60.16 9.58 543 3705.41 0.00 0.00 4.08 0.000 0.000 0.134 1441.72 1482.62 1400.81 2550.19 662.50 0 0 0 30.00 30.00 15.40

3754.61 1028 258.64 1.78 0.00 1441.4 1482.3 1400.5 2549.8 662.9 54.30 10.53 554 3759.93 0.00 0.00 3.53 0.000 0.000 0.050 1441.56 1482.69 1400.44 2548.69 2126.88 0 0 0 30.00 30.00 15.64

3939.24 10535 339.81 2.03 80.00 1439.9 1481.9 1398.0 2550.4 2126.5 42.89 4.89 591 4030.93 82.86 0.53 3.68 1.045 0.057 0.113 1114.22 1147.88 1080.56 2643.56 3474.88 0 0 0 11.16 15.67 15.09

4179.29 1028 339.81 2.03 0.00 1111.1 1144.6 1077.6 2642.9 3474.3 19.33 12.37 639 4185.03 0.00 0.00 3.42 0.000 0.000 0.056 1111.72 1145.19 1078.25 2641.75 2078.81 0 0 0 30.00 30.00 15.55

4334 end climb: SURFACE_DEPTH_REACHED

state 4334 begin surface coast

4349 end surface coast: CONTROL_FINISHED_OK

state 4349 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	845	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	500	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	2	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	180	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	200	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	0	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	67.755844	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	205.55206	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	120	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	2100	ALTIM_PULSE	3

GPS1	170321,013457,4751.736,-12513.560,2,1.7,8,15.7	TGT_LATLONG	4751.930,-12510.270
_CALLS	1	TGT_RADIUS	2500.000
_SM_DEPTHo	-1.71	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-63.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	170321,014132,4751.766,-12513.528,3,1.1,33,15.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.160,0.227	MHEAD_RNG_PITCHd_Wd	70.0,4060,-18.6,-9.259,-22.19
TGT_NAME	SHELF	D_GRID	210

SM_CCo	4454.89,0.00,0.009,0,767.2,765.2,769.1,425.07	_10V_AH	14.87,0.000
SM_GC	-0.50,0.00,16.83,0.08,0.009,0.072,0.135,767.2,765.2,769.1,171.8,2129.5,0,0,0,30.36,15.55,15.70	FG_AHR_24Vo	205.713
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	67.774
IRIDIUM_FIX	4752.96,-12543.46,160321,235426	MEM	1100056,51,75672,114
TCM_TEMP	175.61	DATA_FILE_SIZE	25799,673
XPDR_PINGS	3,14.0,11.5	CAP_FILE_SIZE	303017,0
SC_FREEKB	3535616	SDSIZE	3918848,3685184
HUMID	57.77	SDFILEDIR	4251,1
TEMP	8.43	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.81028	GPS	170321,025617,4751.756,-12512.820,2,0.8,4,15.7
_24V_AH	14.43,240.042

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	566	1268	10361.58	legato	0	0	0.00
Pitch_motor	37	253	135.38	nil	0	0	0.00
Roll_motor	88	228	293.43	nil	0	0	0.00
Iridium	178	195	503.24	nil	0	0	0.00
Transponder_ping	0	420	4.55	nil	0	0	0.00
GPS	42	15	9.46	nil	0	0	0.00
Core	2729	11	478.96	SciCon	4398	7	464.33
LPSleep	1980	2	82.45	nil	0	0	0.00
Compass	1535	5	114.16	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
7.90	16386	-116.79	-1.28	0.00	762.2	761.8	762.8	170.1	2083.9	0.00	0.00	0	93.90	85.43	0.00	0.00	0.005	0.000	0.000	2723.84	2702.44	2745.25	170.06	2083.00	0	0	0	14.56	30.00	30.00
94.17	18695	-116.79	-1.28	80.00	2722.7	2701.1	2744.4	170.3	2083.4	4.16	-15.03	16	126.01	5.16	14.74	3.83	0.009	0.253	0.115	2975.84	2966.94	2984.75	1829.75	3475.06	0	0	0	14.89	15.19	14.72
349.80	1028	-116.79	-1.28	0.00	2975.9	2967.1	2984.7	1829.6	3474.2	57.84	-15.23	67	355.52	0.00	0.00	3.44	0.000	0.000	0.060	2977.28	2968.00	2986.56	1829.38	2081.19	0	0	0	30.00	30.00	15.62
534.51	260	-116.79	-1.28	80.00	2975.5	2966.6	2984.4	1829.3	2081.7	83.71	-12.70	104	540.64	0.00	0.00	3.78	0.000	0.000	0.110	2976.56	2967.19	2985.94	1829.44	3474.19	0	0	0	30.00	30.00	15.53
639.47	1028	-116.79	-1.28	0.00	2975.9	2967.1	2984.6	1829.8	3474.2	99.50	-15.23	125	645.21	0.00	0.00	3.41	0.000	0.000	0.060	2975.91	2967.19	2984.62	1829.69	2081.25	0	0	0	30.00	30.00	15.64
824.50	260	-116.79	-1.28	80.00	2975.9	2966.8	2985.1	1829.2	2081.2	121.70	-11.51	144	830.19	0.00	0.00	3.79	0.000	0.000	0.110	2975.22	2966.38	2984.06	1829.81	3474.44	0	0	0	30.00	30.00	15.55
899.59	1028	-116.79	-1.28	0.00	2976.0	2967.1	2984.8	1830.0	3474.5	131.01	-12.28	159	904.13	0.00	0.00	3.38	0.000	0.000	0.057	2975.84	2966.44	2985.25	1829.94	2082.62	0	0	0	30.00	30.00	15.67
1209.59	260	-116.79	-1.28	80.00	2975.5	2966.6	2984.4	1829.1	2082.4	164.46	-10.30	191	1215.27	0.00	0.00	3.78	0.000	0.000	0.111	2976.38	2967.50	2985.25	1829.44	3475.62	0	0	0	30.00	30.00	15.55
1228.49	1028	-116.79	-1.28	0.00	2975.9	2966.4	2985.3	1829.8	3475.8	166.58	-10.39	195	1235.32	0.00	0.00	3.39	0.000	0.000	0.058	2976.53	2967.31	2985.75	1829.31	2080.19	0	0	0	30.00	30.00	15.67
1534.68	516	-116.79	-1.28	-80.00	2975.7	2967.1	2984.3	1829.8	2080.8	197.17	-10.60	226	1540.39	0.00	0.00	4.03	0.000	0.000	0.154	2974.00	2964.69	2983.31	1829.56	662.50	0	0	0	30.00	30.00	15.42
1570.10	1028	-116.79	-1.28	0.00	2975.9	2966.9	2984.9	1829.4	662.9	200.81	-10.38	233	1575.31	0.00	0.00	3.51	0.000	0.000	0.052	2977.44	2968.25	2986.62	1829.50	2122.25	0	0	0	30.00	30.00	15.74
1664	end dive: TARGET_DEPTH_EXCEEDED
state	1664	begin apogee
1665.89	10243	0.00	-0.25	0.00	2976.0	2966.8	2985.3	1829.4	2083.1	210.46	-9.57	243	1762.04	92.77	1.88	0.07	1.268	0.141	0.229	2496.16	2504.25	2488.06	2079.75	2118.62	0	0	0	10.84	15.57	15.04
1764	end apogee: CONTROL_FINISHED_OK
state	1764	begin climb
1764.79	10759	116.79	1.28	-80.00	2497.5	2506.8	2488.3	2079.8	2120.6	213.47	0.00	252	1874.11	98.49	2.63	4.20	1.221	0.085	0.136	2022.69	2048.56	1996.81	2454.12	663.06	0	0	0	11.75	15.27	14.90
1907.82	9254	154.70	1.39	0.00	2017.7	2044.8	1990.6	2454.9	663.2	206.09	7.22	280	1948.90	33.44	0.00	3.57	1.162	0.000	0.048	1868.78	1902.94	1834.62	2453.31	2126.00	0	0	0	11.58	30.00	15.30
2247.44	16902	154.70	1.39	-80.00	1860.3	1900.6	1820.1	2454.9	2126.0	177.71	9.08	318	2253.16	0.00	0.00	4.09	0.000	0.000	0.135	1858.75	1898.75	1818.75	2454.69	663.00	0	0	0	30.00	30.00	15.43
2356.36	17414	154.70	1.39	0.00	1859.1	1897.7	1820.4	2454.4	663.1	166.87	10.07	340	2363.23	0.00	0.00	3.51	0.000	0.000	0.051	1859.59	1898.44	1820.75	2454.94	2128.06	0	0	0	30.00	30.00	15.66
2662.53	19015	154.70	1.45	-80.00	1858.3	1897.6	1819.0	2454.7	2127.2	143.38	7.38	371	2668.32	0.00	0.22	4.07	0.000	0.078	0.135	1857.66	1896.69	1818.62	2505.25	661.88	0	0	0	30.00	15.69	15.47
2747.96	17414	154.70	1.45	0.00	1858.5	1897.8	1819.2	2505.1	661.8	135.16	9.61	388	2753.18	0.00	0.00	3.51	0.000	0.000	0.050	1857.16	1896.38	1817.94	2505.56	2127.69	0	0	0	30.00	30.00	15.71
3052.64	10535	217.56	1.64	80.00	1857.7	1897.7	1817.7	2505.8	2127.9	114.85	5.88	419	3110.40	52.56	0.19	3.68	1.142	0.078	0.114	1612.06	1648.75	1575.38	2550.19	3473.31	0	0	0	10.95	15.72	15.19
3158.68	1028	217.56	1.64	0.00	1608.2	1643.9	1572.5	2550.1	3473.7	105.44	10.34	440	3163.31	0.00	0.00	3.43	0.000	0.000	0.056	1608.00	1643.62	1572.38	2550.50	2078.38	0	0	0	30.00	30.00	15.51
3463.88	8742	258.64	1.76	-80.00	1606.0	1643.7	1568.4	2550.1	2079.1	81.34	7.05	496	3510.85	37.88	0.00	3.94	1.080	0.000	0.138	1446.47	1485.00	1407.94	2550.38	662.94	0	0	0	11.24	30.00	15.20
3514.63	1092	258.64	1.78	0.00	1445.0	1483.4	1406.7	2550.4	662.6	77.19	8.45	506	3520.28	0.00	0.00	3.54	0.000	0.000	0.048	1444.91	1483.25	1406.56	2550.12	2128.38	0	0	0	30.00	30.00	15.50
3699.15	516	258.64	1.78	-80.00	1441.4	1482.8	1400.1	2550.1	2128.3	60.16	9.58	543	3705.41	0.00	0.00	4.08	0.000	0.000	0.134	1441.72	1482.62	1400.81	2550.19	662.50	0	0	0	30.00	30.00	15.40
3754.61	1028	258.64	1.78	0.00	1441.4	1482.3	1400.5	2549.8	662.9	54.30	10.53	554	3759.93	0.00	0.00	3.53	0.000	0.000	0.050	1441.56	1482.69	1400.44	2548.69	2126.88	0	0	0	30.00	30.00	15.64
3939.24	10535	339.81	2.03	80.00	1439.9	1481.9	1398.0	2550.4	2126.5	42.89	4.89	591	4030.93	82.86	0.53	3.68	1.045	0.057	0.113	1114.22	1147.88	1080.56	2643.56	3474.88	0	0	0	11.16	15.67	15.09
4179.29	1028	339.81	2.03	0.00	1111.1	1144.6	1077.6	2642.9	3474.3	19.33	12.37	639	4185.03	0.00	0.00	3.42	0.000	0.000	0.056	1111.72	1145.19	1078.25	2641.75	2078.81	0	0	0	30.00	30.00	15.55
4334	end climb: SURFACE_DEPTH_REACHED
state	4334	begin surface coast
4349	end surface coast: CONTROL_FINISHED_OK
state	4349	begin surface