Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 424 * 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 424 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 41.204632 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 107.19186 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 41.204632 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 107.19186 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 424 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 311220,012026,4753.306,-12513.736,4,1.6,8,15.8 TGT_LATLONG 4747.280,-12520.390

_CALLS 1 TGT_RADIUS 7000.000

_SM_DEPTHo 0.43 KALMAN_CONTROL 0.000,0.000

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

GPS2 311220,012541,4753.268,-12513.694,5,1.5,10,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.139,0.180 MHEAD_RNG_PITCHd_Wd 201.1,13870,-20.4,-8.049,-24.07

TGT_NAME OUT9 D_GRID 218

Post-dive calculations and measurements:

SM_CCo 4908.90,2.05,0.235,0,768.4,768.4,768.4,424.76 _10V_AH 14.75,0.000

SM_GC 0.63,2.05,15.56,3.49,0.235,0.043,0.061,768.4,768.4,768.4,170.4,2082.1,0,0,0,12.31,15.81,15.81 FG_AHR_24Vo 107.335

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 41.233

IRIDIUM_FIX 4754.02,-12511.36,311220,000517 MEM 1100104,46,75724,114

TCM_TEMP 191.36 DATA_FILE_SIZE 29010,748

XPDR_PINGS 1,14.0,11.5 CAP_FILE_SIZE 192662,0

SC_FREEKB 3701984 SDSIZE 3918848,3799776

HUMID 57.42 SDFILEDIR 2146,1

TEMP 9.15 ERRORS 0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.84187 GPS 311220,024910,4752.772,-12514.469,70,1.2,75,15.8

_24V_AH 14.27,126.429

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 490 2676 18754.08 legato 0 0 0.00

Pitch_motor 34 262 130.18 nil 0 0 0.00

Roll_motor 85 233 285.40 nil 0 0 0.00

Iridium 193 198 548.04 nil 0 0 0.00

Transponder_ping 0 420 1.50 nil 0 0 0.00

GPS 19 15 4.26 nil 0 0 0.00

Core 2444 11 425.41 SciCon 4794 13 966.98

LPSleep 2618 2 108.13 nil 0 0 0.00

Compass 1268 5 93.54 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

7.02 16386 -77.86 -1.25 0.00 762.6 766.6 758.6 169.0 2115.3 0.00 0.00 0 85.45 77.86 0.00 0.00 0.005 0.000 0.000 2509.28 2488.25 2530.31 169.19 2114.81 0 0 0 15.45 30.00 30.00

85.72 18983 -77.86 -1.25 -80.00 2507.6 2486.8 2528.4 169.0 2114.4 3.68 -5.12 15 117.57 7.30 14.20 4.18 0.008 0.262 0.155 2818.28 2813.44 2823.12 1836.38 663.06 0 0 0 15.48 15.56 15.45

170.31 1028 -77.86 -1.25 0.00 2816.0 2810.8 2821.2 1837.6 662.8 23.70 -23.51 32 176.09 0.00 0.00 3.60 0.000 0.000 0.056 2816.88 2811.56 2822.19 1836.94 2119.50 0 0 0 30.00 30.00 15.69

355.39 260 -77.86 -1.25 80.00 2816.2 2811.3 2821.1 1836.9 2118.9 60.08 -17.04 69 361.15 0.00 0.00 3.67 0.000 0.000 0.112 2817.12 2812.38 2821.88 1837.25 3474.06 0 0 0 30.00 30.00 15.76

570.43 1028 -77.86 -1.25 0.00 2816.3 2811.2 2821.4 1837.3 3474.8 88.71 -13.20 112 576.16 0.00 0.00 3.49 0.000 0.000 0.058 2818.12 2813.19 2823.06 1836.81 2083.19 0 0 0 30.00 30.00 15.85

760.45 260 -77.86 -1.25 80.00 2816.2 2811.1 2821.3 1837.4 2083.0 110.01 -10.74 141 766.16 0.00 0.00 3.76 0.000 0.000 0.111 2815.59 2811.06 2820.12 1836.50 3473.50 0 0 0 30.00 30.00 15.87

799.31 1028 -77.86 -1.25 0.00 2816.0 2811.8 2820.3 1836.9 3474.3 115.22 -13.43 149 806.20 0.00 0.00 3.43 0.000 0.000 0.058 2816.78 2811.44 2822.12 1837.12 2082.56 0 0 0 30.00 30.00 15.86

1105.49 516 -77.86 -1.25 -80.00 2816.7 2811.8 2821.6 1836.9 2082.8 149.90 -10.92 180 1111.24 0.00 0.00 4.00 0.000 0.000 0.152 2815.03 2810.44 2819.62 1836.62 662.56 0 0 0 30.00 30.00 15.88

1300.54 1028 -77.86 -1.25 0.00 2816.5 2811.5 2821.5 1837.5 662.5 176.74 -14.70 219 1306.14 0.00 0.00 3.51 0.000 0.000 0.055 2815.34 2810.81 2819.88 1837.50 2119.06 0 0 0 30.00 30.00 15.92

1605.56 260 -77.86 -1.25 80.00 2816.9 2812.4 2821.5 1836.9 2118.8 215.07 -12.02 250 1611.26 0.00 0.00 3.63 0.000 0.000 0.115 2815.09 2810.19 2820.00 1836.94 3472.44 0 0 0 30.00 30.00 15.92

1630 end dive: TARGET_DEPTH_EXCEEDED

state 1630 begin apogee

1635.42 10243 0.00 -0.25 0.00 2816.8 2811.7 2821.8 1837.3 2180.5 218.32 -12.05 255 1698.27 59.67 1.76 0.06 1.279 0.150 0.233 2500.19 2506.00 2494.38 2079.25 2216.19 0 0 0 12.53 15.88 15.46

1699 end apogee: CONTROL_FINISHED_OK

state 1700 begin climb

1700.16 10243 77.86 1.25 0.00 2498.1 2505.1 2491.2 2080.4 2216.5 222.64 0.00 261 1767.94 63.53 2.49 0.00 1.244 0.087 0.000 2179.41 2194.50 2164.31 2447.31 2217.50 0 0 0 12.63 15.50 30.00

2063.15 10535 149.51 1.47 80.00 2172.2 2192.4 2152.1 2447.8 2217.1 213.00 3.03 298 2128.50 58.91 0.29 3.55 1.245 0.067 0.116 1888.12 1913.81 1862.44 2510.00 3473.75 0 0 0 12.49 15.68 15.27

2217.01 1028 149.51 1.47 0.00 1884.2 1912.9 1855.4 2508.8 3474.1 200.83 10.34 329 2223.87 0.00 0.00 3.29 0.000 0.000 0.054 1883.97 1913.38 1854.56 2509.25 2182.12 0 0 0 30.00 30.00 15.54

2523.19 16386 149.51 1.47 0.00 1880.7 1912.7 1848.7 2509.6 2181.6 175.31 8.11 360 2524.52 0.00 0.00 0.00 0.000 0.000 0.000 1879.47 1910.19 1848.75 2509.00 2181.19 0 0 0 30.00 30.00 30.00

2823.22 16902 149.51 1.47 -80.00 1879.8 1912.3 1847.4 2508.6 2181.7 150.24 9.05 390 2828.98 0.00 0.00 3.98 0.000 0.000 0.132 1878.53 1911.00 1846.06 2509.69 735.31 0 0 0 30.00 30.00 15.81

2938.24 17414 149.51 1.47 0.00 1878.9 1910.2 1847.6 2508.8 735.4 137.00 12.81 413 2943.00 0.00 0.00 3.62 0.000 0.000 0.053 1879.72 1910.56 1848.88 2507.50 2218.81 0 0 0 30.00 30.00 15.78

3248.28 16646 149.51 1.47 80.00 1878.3 1910.6 1846.1 2509.4 2222.8 107.97 7.56 445 3252.86 0.00 0.00 3.40 0.000 0.000 0.115 1878.75 1909.62 1847.88 2509.19 3474.38 0 0 0 30.00 30.00 15.83

3478.34 17414 149.51 1.47 0.00 1878.0 1909.9 1846.2 2509.4 3474.4 88.17 8.11 491 3484.01 0.00 0.00 3.18 0.000 0.000 0.052 1879.12 1910.00 1848.25 2508.00 2178.88 0 0 0 30.00 30.00 15.83

3663.39 16710 149.51 1.49 80.00 1877.6 1909.7 1845.4 2509.3 2178.9 75.78 7.33 528 3669.13 0.00 0.00 3.52 0.000 0.000 0.111 1877.53 1908.81 1846.25 2509.00 3474.25 0 0 0 30.00 30.00 15.90

3848.44 11303 213.15 1.68 0.00 1877.8 1909.8 1845.8 2508.6 3474.4 65.98 3.59 565 3905.26 50.33 0.24 3.21 1.120 0.079 0.050 1630.84 1664.88 1596.81 2558.75 2175.81 0 0 0 12.55 15.86 15.84

4083.48 10535 282.79 1.89 80.00 1624.3 1661.3 1587.2 2559.1 2176.4 59.30 3.17 612 4145.45 56.63 0.25 3.65 1.098 0.077 0.113 1346.00 1382.00 1310.00 2608.31 3473.06 0 0 0 12.52 15.69 15.33

4303.56 1028 282.79 1.89 0.00 1340.9 1375.2 1306.5 2609.2 3472.9 44.03 10.20 656 4309.20 0.00 0.00 3.27 0.000 0.000 0.054 1341.34 1375.75 1306.94 2608.75 2180.75 0 0 0 30.00 30.00 15.63

4488.53 516 282.79 1.89 -80.00 1339.5 1375.1 1303.8 2608.9 2180.4 26.33 8.28 693 4494.38 0.00 0.00 4.01 0.000 0.000 0.131 1340.84 1376.56 1305.12 2607.62 736.62 0 0 0 30.00 30.00 15.66

4518.56 1028 282.79 1.89 0.00 1339.6 1375.2 1303.9 2609.4 736.5 23.24 9.36 699 4524.31 0.00 0.00 3.63 0.000 0.000 0.050 1340.06 1375.38 1304.75 2608.69 2222.62 0 0 0 30.00 30.00 15.68

4703.60 16646 282.79 1.89 80.00 1338.3 1375.6 1301.1 2609.0 2224.3 6.59 8.76 736 4709.32 0.00 0.00 3.40 0.000 0.000 0.109 1339.09 1375.62 1302.56 2608.06 3473.88 0 0 0 30.00 30.00 15.78

4748 end climb: SURFACE_DEPTH_REACHED

state 4748 begin surface coast

4763 end surface coast: CONTROL_FINISHED_OK

state 4763 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	424	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	41.204632	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	107.19186	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	311220,012026,4753.306,-12513.736,4,1.6,8,15.8	TGT_LATLONG	4747.280,-12520.390
_CALLS	1	TGT_RADIUS	7000.000
_SM_DEPTHo	0.43	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-62.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	311220,012541,4753.268,-12513.694,5,1.5,10,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.139,0.180	MHEAD_RNG_PITCHd_Wd	201.1,13870,-20.4,-8.049,-24.07
TGT_NAME	OUT9	D_GRID	218

SM_CCo	4908.90,2.05,0.235,0,768.4,768.4,768.4,424.76	_10V_AH	14.75,0.000
SM_GC	0.63,2.05,15.56,3.49,0.235,0.043,0.061,768.4,768.4,768.4,170.4,2082.1,0,0,0,12.31,15.81,15.81	FG_AHR_24Vo	107.335
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	41.233
IRIDIUM_FIX	4754.02,-12511.36,311220,000517	MEM	1100104,46,75724,114
TCM_TEMP	191.36	DATA_FILE_SIZE	29010,748
XPDR_PINGS	1,14.0,11.5	CAP_FILE_SIZE	192662,0
SC_FREEKB	3701984	SDSIZE	3918848,3799776
HUMID	57.42	SDFILEDIR	2146,1
TEMP	9.15	ERRORS	0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.84187	GPS	311220,024910,4752.772,-12514.469,70,1.2,75,15.8
_24V_AH	14.27,126.429

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	490	2676	18754.08	legato	0	0	0.00
Pitch_motor	34	262	130.18	nil	0	0	0.00
Roll_motor	85	233	285.40	nil	0	0	0.00
Iridium	193	198	548.04	nil	0	0	0.00
Transponder_ping	0	420	1.50	nil	0	0	0.00
GPS	19	15	4.26	nil	0	0	0.00
Core	2444	11	425.41	SciCon	4794	13	966.98
LPSleep	2618	2	108.13	nil	0	0	0.00
Compass	1268	5	93.54	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
7.02	16386	-77.86	-1.25	0.00	762.6	766.6	758.6	169.0	2115.3	0.00	0.00	0	85.45	77.86	0.00	0.00	0.005	0.000	0.000	2509.28	2488.25	2530.31	169.19	2114.81	0	0	0	15.45	30.00	30.00
85.72	18983	-77.86	-1.25	-80.00	2507.6	2486.8	2528.4	169.0	2114.4	3.68	-5.12	15	117.57	7.30	14.20	4.18	0.008	0.262	0.155	2818.28	2813.44	2823.12	1836.38	663.06	0	0	0	15.48	15.56	15.45
170.31	1028	-77.86	-1.25	0.00	2816.0	2810.8	2821.2	1837.6	662.8	23.70	-23.51	32	176.09	0.00	0.00	3.60	0.000	0.000	0.056	2816.88	2811.56	2822.19	1836.94	2119.50	0	0	0	30.00	30.00	15.69
355.39	260	-77.86	-1.25	80.00	2816.2	2811.3	2821.1	1836.9	2118.9	60.08	-17.04	69	361.15	0.00	0.00	3.67	0.000	0.000	0.112	2817.12	2812.38	2821.88	1837.25	3474.06	0	0	0	30.00	30.00	15.76
570.43	1028	-77.86	-1.25	0.00	2816.3	2811.2	2821.4	1837.3	3474.8	88.71	-13.20	112	576.16	0.00	0.00	3.49	0.000	0.000	0.058	2818.12	2813.19	2823.06	1836.81	2083.19	0	0	0	30.00	30.00	15.85
760.45	260	-77.86	-1.25	80.00	2816.2	2811.1	2821.3	1837.4	2083.0	110.01	-10.74	141	766.16	0.00	0.00	3.76	0.000	0.000	0.111	2815.59	2811.06	2820.12	1836.50	3473.50	0	0	0	30.00	30.00	15.87
799.31	1028	-77.86	-1.25	0.00	2816.0	2811.8	2820.3	1836.9	3474.3	115.22	-13.43	149	806.20	0.00	0.00	3.43	0.000	0.000	0.058	2816.78	2811.44	2822.12	1837.12	2082.56	0	0	0	30.00	30.00	15.86
1105.49	516	-77.86	-1.25	-80.00	2816.7	2811.8	2821.6	1836.9	2082.8	149.90	-10.92	180	1111.24	0.00	0.00	4.00	0.000	0.000	0.152	2815.03	2810.44	2819.62	1836.62	662.56	0	0	0	30.00	30.00	15.88
1300.54	1028	-77.86	-1.25	0.00	2816.5	2811.5	2821.5	1837.5	662.5	176.74	-14.70	219	1306.14	0.00	0.00	3.51	0.000	0.000	0.055	2815.34	2810.81	2819.88	1837.50	2119.06	0	0	0	30.00	30.00	15.92
1605.56	260	-77.86	-1.25	80.00	2816.9	2812.4	2821.5	1836.9	2118.8	215.07	-12.02	250	1611.26	0.00	0.00	3.63	0.000	0.000	0.115	2815.09	2810.19	2820.00	1836.94	3472.44	0	0	0	30.00	30.00	15.92
1630	end dive: TARGET_DEPTH_EXCEEDED
state	1630	begin apogee
1635.42	10243	0.00	-0.25	0.00	2816.8	2811.7	2821.8	1837.3	2180.5	218.32	-12.05	255	1698.27	59.67	1.76	0.06	1.279	0.150	0.233	2500.19	2506.00	2494.38	2079.25	2216.19	0	0	0	12.53	15.88	15.46
1699	end apogee: CONTROL_FINISHED_OK
state	1700	begin climb
1700.16	10243	77.86	1.25	0.00	2498.1	2505.1	2491.2	2080.4	2216.5	222.64	0.00	261	1767.94	63.53	2.49	0.00	1.244	0.087	0.000	2179.41	2194.50	2164.31	2447.31	2217.50	0	0	0	12.63	15.50	30.00
2063.15	10535	149.51	1.47	80.00	2172.2	2192.4	2152.1	2447.8	2217.1	213.00	3.03	298	2128.50	58.91	0.29	3.55	1.245	0.067	0.116	1888.12	1913.81	1862.44	2510.00	3473.75	0	0	0	12.49	15.68	15.27
2217.01	1028	149.51	1.47	0.00	1884.2	1912.9	1855.4	2508.8	3474.1	200.83	10.34	329	2223.87	0.00	0.00	3.29	0.000	0.000	0.054	1883.97	1913.38	1854.56	2509.25	2182.12	0	0	0	30.00	30.00	15.54
2523.19	16386	149.51	1.47	0.00	1880.7	1912.7	1848.7	2509.6	2181.6	175.31	8.11	360	2524.52	0.00	0.00	0.00	0.000	0.000	0.000	1879.47	1910.19	1848.75	2509.00	2181.19	0	0	0	30.00	30.00	30.00
2823.22	16902	149.51	1.47	-80.00	1879.8	1912.3	1847.4	2508.6	2181.7	150.24	9.05	390	2828.98	0.00	0.00	3.98	0.000	0.000	0.132	1878.53	1911.00	1846.06	2509.69	735.31	0	0	0	30.00	30.00	15.81
2938.24	17414	149.51	1.47	0.00	1878.9	1910.2	1847.6	2508.8	735.4	137.00	12.81	413	2943.00	0.00	0.00	3.62	0.000	0.000	0.053	1879.72	1910.56	1848.88	2507.50	2218.81	0	0	0	30.00	30.00	15.78
3248.28	16646	149.51	1.47	80.00	1878.3	1910.6	1846.1	2509.4	2222.8	107.97	7.56	445	3252.86	0.00	0.00	3.40	0.000	0.000	0.115	1878.75	1909.62	1847.88	2509.19	3474.38	0	0	0	30.00	30.00	15.83
3478.34	17414	149.51	1.47	0.00	1878.0	1909.9	1846.2	2509.4	3474.4	88.17	8.11	491	3484.01	0.00	0.00	3.18	0.000	0.000	0.052	1879.12	1910.00	1848.25	2508.00	2178.88	0	0	0	30.00	30.00	15.83
3663.39	16710	149.51	1.49	80.00	1877.6	1909.7	1845.4	2509.3	2178.9	75.78	7.33	528	3669.13	0.00	0.00	3.52	0.000	0.000	0.111	1877.53	1908.81	1846.25	2509.00	3474.25	0	0	0	30.00	30.00	15.90
3848.44	11303	213.15	1.68	0.00	1877.8	1909.8	1845.8	2508.6	3474.4	65.98	3.59	565	3905.26	50.33	0.24	3.21	1.120	0.079	0.050	1630.84	1664.88	1596.81	2558.75	2175.81	0	0	0	12.55	15.86	15.84
4083.48	10535	282.79	1.89	80.00	1624.3	1661.3	1587.2	2559.1	2176.4	59.30	3.17	612	4145.45	56.63	0.25	3.65	1.098	0.077	0.113	1346.00	1382.00	1310.00	2608.31	3473.06	0	0	0	12.52	15.69	15.33
4303.56	1028	282.79	1.89	0.00	1340.9	1375.2	1306.5	2609.2	3472.9	44.03	10.20	656	4309.20	0.00	0.00	3.27	0.000	0.000	0.054	1341.34	1375.75	1306.94	2608.75	2180.75	0	0	0	30.00	30.00	15.63
4488.53	516	282.79	1.89	-80.00	1339.5	1375.1	1303.8	2608.9	2180.4	26.33	8.28	693	4494.38	0.00	0.00	4.01	0.000	0.000	0.131	1340.84	1376.56	1305.12	2607.62	736.62	0	0	0	30.00	30.00	15.66
4518.56	1028	282.79	1.89	0.00	1339.6	1375.2	1303.9	2609.4	736.5	23.24	9.36	699	4524.31	0.00	0.00	3.63	0.000	0.000	0.050	1340.06	1375.38	1304.75	2608.69	2222.62	0	0	0	30.00	30.00	15.68
4703.60	16646	282.79	1.89	80.00	1338.3	1375.6	1301.1	2609.0	2224.3	6.59	8.76	736	4709.32	0.00	0.00	3.40	0.000	0.000	0.109	1339.09	1375.62	1302.56	2608.06	3473.88	0	0	0	30.00	30.00	15.78
4748	end climb: SURFACE_DEPTH_REACHED
state	4748	begin surface coast
4763	end surface coast: CONTROL_FINISHED_OK
state	4763	begin surface