Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 528 * 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 528 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 50.553776 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 132.61227 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 50.553776 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 132.61227 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 528 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 240121,214038,4751.835,-12512.371,101,1.0,101,15.8 TGT_LATLONG 4751.930,-12510.270

_CALLS 2 TGT_RADIUS 2500.000

_SM_DEPTHo 0.46 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -60.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 240121,214814,4751.762,-12512.400,4,1.0,8,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.139,0.180 MHEAD_RNG_PITCHd_Wd 67.5,2666,-20.4,-8.049,-24.07

TGT_NAME SHELF D_GRID 189

Post-dive calculations and measurements:

SM_CCo 4489.95,2.06,0.232,0,768.4,774.9,761.9,424.76 _10V_AH 14.74,0.000

SM_GC 0.66,2.06,16.67,0.34,0.232,0.060,0.094,768.4,774.9,761.9,174.1,2072.1,0,0,0,12.38,15.45,15.49 FG_AHR_24Vo 132.751

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 50.582

IRIDIUM_FIX 4752.43,-12443.74,240121,202343 MEM 1100016,49,75752,114

TCM_TEMP 195.53 DATA_FILE_SIZE 25818,689

XPDR_PINGS 2,14.0,11.5 CAP_FILE_SIZE 184208,0

SC_FREEKB 3659424 SDSIZE 3918848,3772992

HUMID 57.10 SDFILEDIR 2666,1

TEMP 8.91 ERRORS 0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.82789 GPS 240121,230400,4751.819,-12512.130,31,1.3,32,15.8

_24V_AH 14.22,157.267

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 506 2667 19226.09 legato 0 0 0.00

Pitch_motor 36 252 130.35 nil 0 0 0.00

Roll_motor 73 204 213.72 nil 0 0 0.00

Iridium 263 196 736.69 nil 0 0 0.00

Transponder_ping 0 420 2.99 nil 0 0 0.00

GPS 17 15 3.79 nil 0 0 0.00

Core 2535 11 440.98 SciCon 4418 14 960.87

LPSleep 2389 2 98.61 nil 0 0 0.00

Compass 1197 5 88.24 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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.31 16386 -77.86 -1.25 0.00 762.8 767.9 757.7 174.8 2114.4 0.00 0.00 0 91.56 83.67 0.00 0.00 0.005 0.000 0.000 2623.62 2600.75 2646.50 174.06 2115.25 0 0 0 15.25 30.00 30.00

91.84 18983 -77.86 -1.25 -80.00 2622.4 2599.5 2645.3 174.0 2115.3 3.55 -4.48 16 119.52 4.70 14.16 4.18 0.009 0.252 0.155 2818.09 2809.56 2826.62 1836.12 662.31 0 0 0 15.31 15.47 15.25

342.37 1028 -77.86 -1.25 0.00 2816.7 2809.2 2824.1 1835.7 662.1 64.03 -21.44 66 348.11 0.00 0.00 3.55 0.000 0.000 0.053 2817.22 2809.88 2824.56 1835.88 2118.81 0 0 0 30.00 30.00 15.71

527.37 516 -77.86 -1.25 -80.00 2816.9 2809.1 2824.7 1836.1 2119.4 91.89 -15.64 103 533.21 0.00 0.00 4.09 0.000 0.000 0.145 2816.94 2809.19 2824.69 1835.56 663.38 0 0 0 30.00 30.00 15.68

627.39 1028 -77.86 -1.25 0.00 2816.7 2809.1 2824.2 1835.9 663.2 107.42 -14.21 123 633.00 0.00 0.00 3.51 0.000 0.000 0.051 2815.09 2807.50 2822.69 1835.88 2120.19 0 0 0 30.00 30.00 15.77

932.43 260 -77.86 -1.25 80.00 2816.6 2808.9 2824.4 1836.0 2120.0 142.62 -11.37 154 938.19 0.00 0.00 3.63 0.000 0.000 0.112 2814.84 2807.75 2821.94 1835.94 3475.25 0 0 0 30.00 30.00 15.79

1017.45 1028 -77.86 -1.25 0.00 2816.8 2809.1 2824.4 1835.6 3475.5 151.73 -10.72 171 1022.01 0.00 0.00 3.36 0.000 0.000 0.056 2816.53 2809.12 2823.94 1835.69 2081.38 0 0 0 30.00 30.00 15.81

1327.48 0 -77.86 -1.25 0.00 2816.6 2809.1 2824.1 1835.8 2081.9 184.50 -10.93 203 1328.80 0.00 0.00 0.00 0.000 0.000 0.000 2816.91 2809.75 2824.06 1835.94 2081.31 0 0 0 30.00 30.00 30.00

1378 end dive: TARGET_DEPTH_EXCEEDED

state 1378 begin apogee

1378.75 10243 0.00 -0.25 0.00 2817.2 2809.8 2824.6 1835.9 2223.9 189.82 -10.64 208 1442.10 60.39 1.71 0.09 1.226 0.143 0.204 2497.03 2504.31 2489.75 2081.06 2182.69 0 0 0 12.15 15.76 15.42

1444 end apogee: CONTROL_FINISHED_OK

state 1444 begin climb

1444.18 10243 77.86 1.25 0.00 2497.6 2504.2 2490.9 2081.1 2182.1 192.91 0.00 214 1512.40 63.89 2.55 0.00 1.182 0.092 0.000 2181.88 2197.19 2166.56 2446.38 2182.44 0 0 0 12.55 15.47 30.00

1807.54 10791 128.47 1.40 -80.00 2173.0 2192.6 2153.4 2446.6 2182.5 178.72 4.50 251 1858.71 42.28 0.21 4.09 1.163 0.085 0.130 1974.34 1996.94 1951.75 2491.94 736.31 0 0 0 12.17 15.61 15.34

1921.46 1028 128.47 1.40 0.00 1970.4 1993.8 1947.0 2492.0 736.4 169.69 11.15 274 1928.30 0.00 0.00 3.62 0.000 0.000 0.049 1972.50 1995.75 1949.25 2490.25 2223.19 0 0 0 30.00 30.00 15.50

2227.56 16646 128.47 1.40 80.00 1966.7 1993.0 1940.4 2491.7 2223.1 138.15 8.91 305 2232.12 0.00 0.00 3.38 0.000 0.000 0.113 1967.25 1993.31 1941.19 2492.06 3473.94 0 0 0 30.00 30.00 15.67

2317.59 17414 128.47 1.40 0.00 1966.3 1992.3 1940.2 2492.1 3473.9 129.60 9.29 323 2322.11 0.00 0.00 3.12 0.000 0.000 0.051 1965.97 1991.81 1940.12 2492.12 2179.19 0 0 0 30.00 30.00 15.71

2627.63 8226 162.55 1.51 0.00 1965.0 1992.6 1937.4 2491.9 2178.4 110.28 5.66 355 2658.25 28.76 0.00 0.00 1.117 0.000 0.000 1835.97 1866.12 1805.81 2491.56 2178.88 0 0 0 12.21 30.00 30.00

2957.69 10535 210.90 1.65 80.00 1830.4 1864.9 1796.0 2492.1 2178.8 91.62 4.66 404 3004.40 40.46 0.31 3.56 1.110 0.071 0.112 1638.66 1672.31 1605.00 2549.06 3474.12 0 0 0 12.24 15.70 15.45

3017.69 1092 210.90 1.71 0.00 1637.2 1670.1 1604.2 2549.4 3473.9 87.92 6.24 416 3023.36 0.00 0.00 3.17 0.000 0.000 0.050 1637.31 1670.56 1604.06 2549.62 2176.19 0 0 0 30.00 30.00 15.52

3202.78 10791 242.62 1.80 -80.00 1633.8 1670.1 1597.4 2550.1 2176.7 75.97 5.83 453 3238.76 27.21 0.17 4.01 1.061 0.089 0.130 1510.47 1547.19 1473.75 2587.12 736.25 0 0 0 12.16 15.52 15.42

3427.82 1028 242.62 1.80 0.00 1506.5 1544.2 1468.8 2587.4 736.3 57.35 7.87 498 3433.60 0.00 0.00 3.62 0.000 0.000 0.051 1506.25 1544.38 1468.12 2587.88 2224.94 0 0 0 30.00 30.00 15.64

3612.92 580 242.62 1.84 -80.00 1504.6 1544.2 1464.9 2587.3 2224.3 45.63 6.91 535 3618.74 0.00 0.00 4.08 0.000 0.000 0.126 1505.84 1545.12 1466.56 2587.62 736.44 0 0 0 30.00 30.00 15.64

3692.97 1092 242.62 1.86 0.00 1504.5 1543.9 1465.1 2587.5 736.4 39.49 7.24 551 3698.72 0.00 0.00 3.58 0.000 0.000 0.049 1505.69 1545.00 1466.38 2587.44 2225.88 0 0 0 30.00 30.00 15.66

3878.00 0 242.62 1.86 0.00 1503.8 1543.7 1463.9 2587.6 2225.9 26.22 7.81 588 3879.33 0.00 0.00 0.00 0.000 0.000 0.000 1504.22 1543.94 1464.50 2587.25 2225.00 0 0 0 30.00 30.00 30.00

4058.08 324 242.62 1.90 80.00 1503.3 1543.5 1463.1 2587.8 2225.6 12.90 6.73 624 4063.79 0.00 0.00 3.37 0.000 0.000 0.110 1503.25 1543.44 1463.06 2587.75 3474.75 0 0 0 30.00 30.00 15.75

4068.10 1092 242.62 1.93 0.00 1503.3 1543.3 1463.2 2587.3 3475.3 12.16 6.90 626 4073.76 0.00 0.00 3.13 0.000 0.000 0.049 1503.62 1543.06 1464.19 2587.75 2175.25 0 0 0 30.00 30.00 15.77

4253.17 10791 332.75 2.20 -80.00 1502.8 1542.8 1462.7 2588.1 2175.5 8.26 1.74 663 4336.70 76.65 0.56 4.03 1.028 0.058 0.132 1143.22 1176.00 1110.44 2685.50 735.12 0 0 0 12.16 15.70 15.35

4359.46 1028 332.75 2.20 0.00 1142.2 1170.9 1113.4 2685.1 735.3 2.03 9.05 684 4365.23 0.00 0.00 3.61 0.000 0.000 0.047 1141.62 1171.56 1111.69 2685.75 2225.12 0 0 0 30.00 30.00 15.46

4370 end climb: SURFACE_DEPTH_REACHED

state 4370 begin surface coast

4385 end surface coast: CONTROL_FINISHED_OK

state 4385 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	528	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	50.553776	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	132.61227	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	240121,214038,4751.835,-12512.371,101,1.0,101,15.8	TGT_LATLONG	4751.930,-12510.270
_CALLS	2	TGT_RADIUS	2500.000
_SM_DEPTHo	0.46	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-60.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	240121,214814,4751.762,-12512.400,4,1.0,8,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.139,0.180	MHEAD_RNG_PITCHd_Wd	67.5,2666,-20.4,-8.049,-24.07
TGT_NAME	SHELF	D_GRID	189

SM_CCo	4489.95,2.06,0.232,0,768.4,774.9,761.9,424.76	_10V_AH	14.74,0.000
SM_GC	0.66,2.06,16.67,0.34,0.232,0.060,0.094,768.4,774.9,761.9,174.1,2072.1,0,0,0,12.38,15.45,15.49	FG_AHR_24Vo	132.751
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	50.582
IRIDIUM_FIX	4752.43,-12443.74,240121,202343	MEM	1100016,49,75752,114
TCM_TEMP	195.53	DATA_FILE_SIZE	25818,689
XPDR_PINGS	2,14.0,11.5	CAP_FILE_SIZE	184208,0
SC_FREEKB	3659424	SDSIZE	3918848,3772992
HUMID	57.10	SDFILEDIR	2666,1
TEMP	8.91	ERRORS	0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.82789	GPS	240121,230400,4751.819,-12512.130,31,1.3,32,15.8
_24V_AH	14.22,157.267

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	506	2667	19226.09	legato	0	0	0.00
Pitch_motor	36	252	130.35	nil	0	0	0.00
Roll_motor	73	204	213.72	nil	0	0	0.00
Iridium	263	196	736.69	nil	0	0	0.00
Transponder_ping	0	420	2.99	nil	0	0	0.00
GPS	17	15	3.79	nil	0	0	0.00
Core	2535	11	440.98	SciCon	4418	14	960.87
LPSleep	2389	2	98.61	nil	0	0	0.00
Compass	1197	5	88.24	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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.31	16386	-77.86	-1.25	0.00	762.8	767.9	757.7	174.8	2114.4	0.00	0.00	0	91.56	83.67	0.00	0.00	0.005	0.000	0.000	2623.62	2600.75	2646.50	174.06	2115.25	0	0	0	15.25	30.00	30.00
91.84	18983	-77.86	-1.25	-80.00	2622.4	2599.5	2645.3	174.0	2115.3	3.55	-4.48	16	119.52	4.70	14.16	4.18	0.009	0.252	0.155	2818.09	2809.56	2826.62	1836.12	662.31	0	0	0	15.31	15.47	15.25
342.37	1028	-77.86	-1.25	0.00	2816.7	2809.2	2824.1	1835.7	662.1	64.03	-21.44	66	348.11	0.00	0.00	3.55	0.000	0.000	0.053	2817.22	2809.88	2824.56	1835.88	2118.81	0	0	0	30.00	30.00	15.71
527.37	516	-77.86	-1.25	-80.00	2816.9	2809.1	2824.7	1836.1	2119.4	91.89	-15.64	103	533.21	0.00	0.00	4.09	0.000	0.000	0.145	2816.94	2809.19	2824.69	1835.56	663.38	0	0	0	30.00	30.00	15.68
627.39	1028	-77.86	-1.25	0.00	2816.7	2809.1	2824.2	1835.9	663.2	107.42	-14.21	123	633.00	0.00	0.00	3.51	0.000	0.000	0.051	2815.09	2807.50	2822.69	1835.88	2120.19	0	0	0	30.00	30.00	15.77
932.43	260	-77.86	-1.25	80.00	2816.6	2808.9	2824.4	1836.0	2120.0	142.62	-11.37	154	938.19	0.00	0.00	3.63	0.000	0.000	0.112	2814.84	2807.75	2821.94	1835.94	3475.25	0	0	0	30.00	30.00	15.79
1017.45	1028	-77.86	-1.25	0.00	2816.8	2809.1	2824.4	1835.6	3475.5	151.73	-10.72	171	1022.01	0.00	0.00	3.36	0.000	0.000	0.056	2816.53	2809.12	2823.94	1835.69	2081.38	0	0	0	30.00	30.00	15.81
1327.48	0	-77.86	-1.25	0.00	2816.6	2809.1	2824.1	1835.8	2081.9	184.50	-10.93	203	1328.80	0.00	0.00	0.00	0.000	0.000	0.000	2816.91	2809.75	2824.06	1835.94	2081.31	0	0	0	30.00	30.00	30.00
1378	end dive: TARGET_DEPTH_EXCEEDED
state	1378	begin apogee
1378.75	10243	0.00	-0.25	0.00	2817.2	2809.8	2824.6	1835.9	2223.9	189.82	-10.64	208	1442.10	60.39	1.71	0.09	1.226	0.143	0.204	2497.03	2504.31	2489.75	2081.06	2182.69	0	0	0	12.15	15.76	15.42
1444	end apogee: CONTROL_FINISHED_OK
state	1444	begin climb
1444.18	10243	77.86	1.25	0.00	2497.6	2504.2	2490.9	2081.1	2182.1	192.91	0.00	214	1512.40	63.89	2.55	0.00	1.182	0.092	0.000	2181.88	2197.19	2166.56	2446.38	2182.44	0	0	0	12.55	15.47	30.00
1807.54	10791	128.47	1.40	-80.00	2173.0	2192.6	2153.4	2446.6	2182.5	178.72	4.50	251	1858.71	42.28	0.21	4.09	1.163	0.085	0.130	1974.34	1996.94	1951.75	2491.94	736.31	0	0	0	12.17	15.61	15.34
1921.46	1028	128.47	1.40	0.00	1970.4	1993.8	1947.0	2492.0	736.4	169.69	11.15	274	1928.30	0.00	0.00	3.62	0.000	0.000	0.049	1972.50	1995.75	1949.25	2490.25	2223.19	0	0	0	30.00	30.00	15.50
2227.56	16646	128.47	1.40	80.00	1966.7	1993.0	1940.4	2491.7	2223.1	138.15	8.91	305	2232.12	0.00	0.00	3.38	0.000	0.000	0.113	1967.25	1993.31	1941.19	2492.06	3473.94	0	0	0	30.00	30.00	15.67
2317.59	17414	128.47	1.40	0.00	1966.3	1992.3	1940.2	2492.1	3473.9	129.60	9.29	323	2322.11	0.00	0.00	3.12	0.000	0.000	0.051	1965.97	1991.81	1940.12	2492.12	2179.19	0	0	0	30.00	30.00	15.71
2627.63	8226	162.55	1.51	0.00	1965.0	1992.6	1937.4	2491.9	2178.4	110.28	5.66	355	2658.25	28.76	0.00	0.00	1.117	0.000	0.000	1835.97	1866.12	1805.81	2491.56	2178.88	0	0	0	12.21	30.00	30.00
2957.69	10535	210.90	1.65	80.00	1830.4	1864.9	1796.0	2492.1	2178.8	91.62	4.66	404	3004.40	40.46	0.31	3.56	1.110	0.071	0.112	1638.66	1672.31	1605.00	2549.06	3474.12	0	0	0	12.24	15.70	15.45
3017.69	1092	210.90	1.71	0.00	1637.2	1670.1	1604.2	2549.4	3473.9	87.92	6.24	416	3023.36	0.00	0.00	3.17	0.000	0.000	0.050	1637.31	1670.56	1604.06	2549.62	2176.19	0	0	0	30.00	30.00	15.52
3202.78	10791	242.62	1.80	-80.00	1633.8	1670.1	1597.4	2550.1	2176.7	75.97	5.83	453	3238.76	27.21	0.17	4.01	1.061	0.089	0.130	1510.47	1547.19	1473.75	2587.12	736.25	0	0	0	12.16	15.52	15.42
3427.82	1028	242.62	1.80	0.00	1506.5	1544.2	1468.8	2587.4	736.3	57.35	7.87	498	3433.60	0.00	0.00	3.62	0.000	0.000	0.051	1506.25	1544.38	1468.12	2587.88	2224.94	0	0	0	30.00	30.00	15.64
3612.92	580	242.62	1.84	-80.00	1504.6	1544.2	1464.9	2587.3	2224.3	45.63	6.91	535	3618.74	0.00	0.00	4.08	0.000	0.000	0.126	1505.84	1545.12	1466.56	2587.62	736.44	0	0	0	30.00	30.00	15.64
3692.97	1092	242.62	1.86	0.00	1504.5	1543.9	1465.1	2587.5	736.4	39.49	7.24	551	3698.72	0.00	0.00	3.58	0.000	0.000	0.049	1505.69	1545.00	1466.38	2587.44	2225.88	0	0	0	30.00	30.00	15.66
3878.00	0	242.62	1.86	0.00	1503.8	1543.7	1463.9	2587.6	2225.9	26.22	7.81	588	3879.33	0.00	0.00	0.00	0.000	0.000	0.000	1504.22	1543.94	1464.50	2587.25	2225.00	0	0	0	30.00	30.00	30.00
4058.08	324	242.62	1.90	80.00	1503.3	1543.5	1463.1	2587.8	2225.6	12.90	6.73	624	4063.79	0.00	0.00	3.37	0.000	0.000	0.110	1503.25	1543.44	1463.06	2587.75	3474.75	0	0	0	30.00	30.00	15.75
4068.10	1092	242.62	1.93	0.00	1503.3	1543.3	1463.2	2587.3	3475.3	12.16	6.90	626	4073.76	0.00	0.00	3.13	0.000	0.000	0.049	1503.62	1543.06	1464.19	2587.75	2175.25	0	0	0	30.00	30.00	15.77
4253.17	10791	332.75	2.20	-80.00	1502.8	1542.8	1462.7	2588.1	2175.5	8.26	1.74	663	4336.70	76.65	0.56	4.03	1.028	0.058	0.132	1143.22	1176.00	1110.44	2685.50	735.12	0	0	0	12.16	15.70	15.35
4359.46	1028	332.75	2.20	0.00	1142.2	1170.9	1113.4	2685.1	735.3	2.03	9.05	684	4365.23	0.00	0.00	3.61	0.000	0.000	0.047	1141.62	1171.56	1111.69	2685.75	2225.12	0	0	0	30.00	30.00	15.46
4370	end climb: SURFACE_DEPTH_REACHED
state	4370	begin surface coast
4385	end surface coast: CONTROL_FINISHED_OK
state	4385	begin surface