Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 4 * 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 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 4 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 605.89099 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 180 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 250 FILEMGR 0 C_VBD 2950 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 0.0012300001 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 0 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 60 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 80 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 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 350 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 3 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3920 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 990 C_PITCH 1940 FG_AHR_10V 4.7831287 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 6.0981917 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 175 PITCH_GAIN 25 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 0.029999999 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72660 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 670 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3465 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 1.6e-05 C_ROLL_DIVE 2067 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2067 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 350 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 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 605.89099

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 4.7831287 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 6.0981917 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 25 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 0.0099999998 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 60

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 80

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 1940 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2067 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2067 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2950 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 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 3 ROLL_MIN 670 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 175 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 4 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_ABORT 250 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 2 MISSION 2 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 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 4 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 270920,215356,4742.649,-12530.184,1,0.9,31,15.8 TGT_LATLONG 4700.000,-12700.000

_CALLS 3 TGT_RADIUS 2500.000

_SM_DEPTHo 1.30 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -64.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 270920,215915,4742.603,-12530.325,3,1.2,4,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.275 MHEAD_RNG_PITCHd_Wd 211.9,138037,-16.2,-10.000,-19.96

TGT_NAME OFFSHORE D_GRID 990

Post-dive calculations and measurements:

SM_CCo 3631.70,0.00,0.000,0,496.7,518.1,475.2,601.81 _10V_AH 15.00,0.000

SM_GC 2.07,0.00,15.62,0.08,0.000,0.060,0.198,496.7,518.1,475.2,181.6,2052.1,0,0,0,30.00,15.75,15.77 FG_AHR_24Vo 6.309

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 4.808

IRIDIUM_FIX 4742.11,-12404.48,270920,215637 MEM 1162828,27,14640,51

TCM_TEMP 190.86 DATA_FILE_SIZE 19390,572

XPDR_PINGS 11,14.0,11.5 CAP_FILE_SIZE 181712,0

SC_FREEKB 3876640 SDSIZE 3918848,3908000

HUMID 60.36 SDFILEDIR 37,1

TEMP 9.61 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.85683 CURRENT 0.217,256.5,1

_24V_AH 15.13,3.095 GPS 270920,230059,4742.502,-12530.948,7,2.1,47,15.8

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 694 1295 13608.03 legato 0 0 0.00

Pitch_motor 32 264 130.32 nil 0 0 0.00

Roll_motor 49 324 241.41 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 17.48 nil 0 0 0.00

GPS 12 15 2.91 nil 0 0 0.00

Core 1910 11 338.16 SciCon 3611 16 881.64

LPSleep 1734 2 72.85 nil 0 0 0.00

Compass 948 5 71.12 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

6.17 16386 -170.32 -0.86 0.00 500.7 520.1 481.2 191.6 2081.1 0.00 0.00 0 79.48 72.81 0.00 0.00 0.005 0.000 0.000 2355.97 2340.50 2371.44 191.69 2081.19 0 0 0 14.62 30.00 30.00

79.70 18983 -170.32 -0.86 -80.00 2354.6 2338.9 2370.2 191.4 2080.8 3.58 -3.96 14 126.50 28.02 11.28 3.67 0.006 0.264 0.204 3644.06 3639.31 3648.81 1731.44 663.75 0 0 0 14.89 15.95 15.94

309.25 3205 -170.32 -0.54 0.00 3643.6 3638.8 3648.4 1731.3 663.7 70.64 -25.02 60 315.05 0.00 0.52 3.33 0.000 0.174 0.107 3643.50 3639.12 3647.88 1811.12 2082.19 0 0 0 30.00 15.99 16.06

494.30 388 -170.32 -0.47 80.00 3643.7 3639.6 3647.8 1810.9 2082.5 98.84 -14.81 97 499.95 0.00 0.00 3.36 0.000 0.000 0.145 3644.72 3640.38 3649.06 1810.50 3475.06 0 0 0 30.00 30.00 16.03

554.30 3205 -170.32 -0.39 0.00 3643.1 3639.2 3647.1 1810.3 3474.3 107.67 -14.92 109 558.97 0.00 0.22 3.32 0.000 0.178 0.087 3642.72 3638.50 3646.94 1846.25 2050.06 0 0 0 30.00 16.01 16.07

864.33 0 -170.32 -0.39 0.00 3643.1 3639.2 3647.0 1846.7 2050.4 146.41 -11.55 141 865.65 0.00 0.00 0.00 0.000 0.000 0.000 3643.81 3639.31 3648.31 1846.94 2050.69 0 0 0 30.00 30.00 30.00

1145 end dive: TARGET_DEPTH_EXCEEDED

state 1145 begin apogee

1145.47 10243 0.00 -0.20 0.00 3642.9 3638.9 3646.8 1846.7 2078.9 180.74 -12.28 169 1269.90 123.20 0.28 0.06 1.295 0.162 0.325 2947.47 2958.25 2936.69 1892.88 2056.38 0 0 0 12.91 16.06 15.60

1271 end apogee: CONTROL_FINISHED_OK

state 1271 begin climb

1270.96 10243 170.32 0.86 0.00 2946.1 2956.2 2936.1 1893.2 2056.2 193.47 0.00 181 1407.28 131.99 1.72 0.00 1.254 0.140 0.000 2253.47 2286.56 2220.38 2149.00 2056.00 0 0 0 12.82 15.63 30.00

1704.42 10919 354.04 1.75 -80.00 2242.6 2276.1 2209.1 2148.6 2056.0 189.62 2.66 226 1854.13 143.07 1.38 3.81 1.278 0.099 0.216 1504.66 1566.56 1442.75 2368.38 663.75 0 0 0 12.76 15.79 15.38

1961.89 11431 426.92 2.05 0.00 1499.8 1562.2 1437.4 2367.5 663.8 174.15 7.09 274 2027.25 58.28 0.43 3.39 1.223 0.076 0.093 1210.91 1270.81 1151.00 2445.19 2080.44 0 0 0 12.68 15.65 15.66

2332.01 2693 426.92 2.20 -80.00 1202.7 1261.8 1143.6 2445.8 2080.2 134.44 10.91 318 2337.75 0.00 0.16 3.71 0.000 0.113 0.201 1203.19 1262.12 1144.25 2482.56 663.50 0 0 0 30.00 15.81 15.79

2561.02 1156 426.92 2.26 0.00 1202.1 1260.4 1143.7 2482.6 663.8 101.90 14.53 364 2567.72 0.00 0.00 3.31 0.000 0.000 0.083 1201.94 1260.06 1143.81 2482.50 2083.06 0 0 0 30.00 30.00 15.92

2867.17 19079 426.92 2.41 -80.00 1201.2 1259.6 1142.7 2482.1 2082.9 69.41 10.24 424 2872.96 0.00 0.23 3.67 0.000 0.098 0.198 1201.66 1260.25 1143.06 2531.75 663.56 0 0 0 30.00 15.97 15.91

2907.18 17414 426.92 2.41 0.00 1201.4 1259.9 1143.0 2531.5 664.0 64.32 13.29 432 2912.82 0.00 0.00 3.29 0.000 0.000 0.081 1201.97 1260.56 1143.38 2531.06 2083.38 0 0 0 30.00 30.00 15.98

3092.23 8870 464.73 2.54 -80.00 1200.8 1259.0 1142.6 2531.1 2083.0 45.07 8.49 469 3128.55 30.13 0.00 3.67 1.185 0.000 0.195 1054.31 1108.81 999.81 2532.00 663.19 0 0 0 12.95 30.00 15.85

3157.43 3205 464.73 2.59 0.00 1053.2 1106.4 1000.0 2531.2 663.6 38.62 10.66 482 3162.96 0.00 0.22 3.29 0.000 0.098 0.077 1052.94 1106.38 999.50 2576.19 2084.44 0 0 0 30.00 15.88 15.88

3342.29 10919 554.42 2.77 -80.00 1051.7 1105.4 998.0 2576.0 2084.3 21.76 6.41 519 3419.48 69.62 0.20 3.72 1.170 0.104 0.188 690.12 729.44 650.81 2618.75 661.81 0 0 0 12.87 15.94 15.67

3422.29 11431 649.99 3.01 0.00 690.1 729.4 650.9 2619.0 661.6 17.04 6.18 535 3464.84 37.40 0.31 3.32 1.098 0.087 0.071 500.84 530.88 470.81 2677.38 2087.75 0 0 0 12.74 15.71 15.73

3593 end climb: SURFACE_DEPTH_REACHED

state 3593 begin surface coast

3608 end surface coast: CONTROL_FINISHED_OK

state 3608 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	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	4	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	605.89099	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	180	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	250	FILEMGR	0	C_VBD	2950	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	0.0012300001	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	0	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	60	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	80	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	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	350	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	3	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3920	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	990	C_PITCH	1940	FG_AHR_10V	4.7831287	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	6.0981917	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	175	PITCH_GAIN	25	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	0.029999999	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72660	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	670	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3465	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	1.6e-05	C_ROLL_DIVE	2067	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2067	ALTIM_PULSE	3

GPS1	270920,215356,4742.649,-12530.184,1,0.9,31,15.8	TGT_LATLONG	4700.000,-12700.000
_CALLS	3	TGT_RADIUS	2500.000
_SM_DEPTHo	1.30	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-64.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	270920,215915,4742.603,-12530.325,3,1.2,4,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.275	MHEAD_RNG_PITCHd_Wd	211.9,138037,-16.2,-10.000,-19.96
TGT_NAME	OFFSHORE	D_GRID	990

SM_CCo	3631.70,0.00,0.000,0,496.7,518.1,475.2,601.81	_10V_AH	15.00,0.000
SM_GC	2.07,0.00,15.62,0.08,0.000,0.060,0.198,496.7,518.1,475.2,181.6,2052.1,0,0,0,30.00,15.75,15.77	FG_AHR_24Vo	6.309
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	4.808
IRIDIUM_FIX	4742.11,-12404.48,270920,215637	MEM	1162828,27,14640,51
TCM_TEMP	190.86	DATA_FILE_SIZE	19390,572
XPDR_PINGS	11,14.0,11.5	CAP_FILE_SIZE	181712,0
SC_FREEKB	3876640	SDSIZE	3918848,3908000
HUMID	60.36	SDFILEDIR	37,1
TEMP	9.61	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.85683	CURRENT	0.217,256.5,1
_24V_AH	15.13,3.095	GPS	270920,230059,4742.502,-12530.948,7,2.1,47,15.8

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	694	1295	13608.03	legato	0	0	0.00
Pitch_motor	32	264	130.32	nil	0	0	0.00
Roll_motor	49	324	241.41	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	17.48	nil	0	0	0.00
GPS	12	15	2.91	nil	0	0	0.00
Core	1910	11	338.16	SciCon	3611	16	881.64
LPSleep	1734	2	72.85	nil	0	0	0.00
Compass	948	5	71.12	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
6.17	16386	-170.32	-0.86	0.00	500.7	520.1	481.2	191.6	2081.1	0.00	0.00	0	79.48	72.81	0.00	0.00	0.005	0.000	0.000	2355.97	2340.50	2371.44	191.69	2081.19	0	0	0	14.62	30.00	30.00
79.70	18983	-170.32	-0.86	-80.00	2354.6	2338.9	2370.2	191.4	2080.8	3.58	-3.96	14	126.50	28.02	11.28	3.67	0.006	0.264	0.204	3644.06	3639.31	3648.81	1731.44	663.75	0	0	0	14.89	15.95	15.94
309.25	3205	-170.32	-0.54	0.00	3643.6	3638.8	3648.4	1731.3	663.7	70.64	-25.02	60	315.05	0.00	0.52	3.33	0.000	0.174	0.107	3643.50	3639.12	3647.88	1811.12	2082.19	0	0	0	30.00	15.99	16.06
494.30	388	-170.32	-0.47	80.00	3643.7	3639.6	3647.8	1810.9	2082.5	98.84	-14.81	97	499.95	0.00	0.00	3.36	0.000	0.000	0.145	3644.72	3640.38	3649.06	1810.50	3475.06	0	0	0	30.00	30.00	16.03
554.30	3205	-170.32	-0.39	0.00	3643.1	3639.2	3647.1	1810.3	3474.3	107.67	-14.92	109	558.97	0.00	0.22	3.32	0.000	0.178	0.087	3642.72	3638.50	3646.94	1846.25	2050.06	0	0	0	30.00	16.01	16.07
864.33	0	-170.32	-0.39	0.00	3643.1	3639.2	3647.0	1846.7	2050.4	146.41	-11.55	141	865.65	0.00	0.00	0.00	0.000	0.000	0.000	3643.81	3639.31	3648.31	1846.94	2050.69	0	0	0	30.00	30.00	30.00
1145	end dive: TARGET_DEPTH_EXCEEDED
state	1145	begin apogee
1145.47	10243	0.00	-0.20	0.00	3642.9	3638.9	3646.8	1846.7	2078.9	180.74	-12.28	169	1269.90	123.20	0.28	0.06	1.295	0.162	0.325	2947.47	2958.25	2936.69	1892.88	2056.38	0	0	0	12.91	16.06	15.60
1271	end apogee: CONTROL_FINISHED_OK
state	1271	begin climb
1270.96	10243	170.32	0.86	0.00	2946.1	2956.2	2936.1	1893.2	2056.2	193.47	0.00	181	1407.28	131.99	1.72	0.00	1.254	0.140	0.000	2253.47	2286.56	2220.38	2149.00	2056.00	0	0	0	12.82	15.63	30.00
1704.42	10919	354.04	1.75	-80.00	2242.6	2276.1	2209.1	2148.6	2056.0	189.62	2.66	226	1854.13	143.07	1.38	3.81	1.278	0.099	0.216	1504.66	1566.56	1442.75	2368.38	663.75	0	0	0	12.76	15.79	15.38
1961.89	11431	426.92	2.05	0.00	1499.8	1562.2	1437.4	2367.5	663.8	174.15	7.09	274	2027.25	58.28	0.43	3.39	1.223	0.076	0.093	1210.91	1270.81	1151.00	2445.19	2080.44	0	0	0	12.68	15.65	15.66
2332.01	2693	426.92	2.20	-80.00	1202.7	1261.8	1143.6	2445.8	2080.2	134.44	10.91	318	2337.75	0.00	0.16	3.71	0.000	0.113	0.201	1203.19	1262.12	1144.25	2482.56	663.50	0	0	0	30.00	15.81	15.79
2561.02	1156	426.92	2.26	0.00	1202.1	1260.4	1143.7	2482.6	663.8	101.90	14.53	364	2567.72	0.00	0.00	3.31	0.000	0.000	0.083	1201.94	1260.06	1143.81	2482.50	2083.06	0	0	0	30.00	30.00	15.92
2867.17	19079	426.92	2.41	-80.00	1201.2	1259.6	1142.7	2482.1	2082.9	69.41	10.24	424	2872.96	0.00	0.23	3.67	0.000	0.098	0.198	1201.66	1260.25	1143.06	2531.75	663.56	0	0	0	30.00	15.97	15.91
2907.18	17414	426.92	2.41	0.00	1201.4	1259.9	1143.0	2531.5	664.0	64.32	13.29	432	2912.82	0.00	0.00	3.29	0.000	0.000	0.081	1201.97	1260.56	1143.38	2531.06	2083.38	0	0	0	30.00	30.00	15.98
3092.23	8870	464.73	2.54	-80.00	1200.8	1259.0	1142.6	2531.1	2083.0	45.07	8.49	469	3128.55	30.13	0.00	3.67	1.185	0.000	0.195	1054.31	1108.81	999.81	2532.00	663.19	0	0	0	12.95	30.00	15.85
3157.43	3205	464.73	2.59	0.00	1053.2	1106.4	1000.0	2531.2	663.6	38.62	10.66	482	3162.96	0.00	0.22	3.29	0.000	0.098	0.077	1052.94	1106.38	999.50	2576.19	2084.44	0	0	0	30.00	15.88	15.88
3342.29	10919	554.42	2.77	-80.00	1051.7	1105.4	998.0	2576.0	2084.3	21.76	6.41	519	3419.48	69.62	0.20	3.72	1.170	0.104	0.188	690.12	729.44	650.81	2618.75	661.81	0	0	0	12.87	15.94	15.67
3422.29	11431	649.99	3.01	0.00	690.1	729.4	650.9	2619.0	661.6	17.04	6.18	535	3464.84	37.40	0.31	3.32	1.098	0.087	0.071	500.84	530.88	470.81	2677.38	2087.75	0	0	0	12.74	15.71	15.73
3593	end climb: SURFACE_DEPTH_REACHED
state	3593	begin surface coast
3608	end surface coast: CONTROL_FINISHED_OK
state	3608	begin surface