Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 412 * 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 412 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 40.910816 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 105.43739 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 40.910816 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 105.43739 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 412 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 301220,110748,4753.700,-12511.121,1,1.5,4,15.8 TGT_LATLONG 4751.930,-12510.270

_CALLS 1 TGT_RADIUS 2500.000

_SM_DEPTHo 0.59 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -62.4 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 301220,111316,4753.732,-12511.114,2,1.5,4,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.139,0.180 MHEAD_RNG_PITCHd_Wd 146.8,3498,-20.4,-8.049,-24.07

TGT_NAME SHELF D_GRID 157

Post-dive calculations and measurements:

SM_CCo 3665.05,0.30,0.145,0,768.4,773.6,763.2,424.75 _10V_AH 14.76,0.000

SM_GC 0.66,0.30,15.93,0.34,0.145,0.068,0.094,768.4,773.6,763.2,181.4,2074.9,0,0,0,15.27,15.78,15.80 FG_AHR_24Vo 105.569

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 40.933

IRIDIUM_FIX 4754.02,-12511.36,301220,100257 MEM 1100124,46,75704,114

TCM_TEMP 195.22 DATA_FILE_SIZE 22566,601

XPDR_PINGS 2,14.0,11.5 CAP_FILE_SIZE 155859,0

SC_FREEKB 3706592 SDSIZE 3918848,3802112

HUMID 57.32 SDFILEDIR 2086,1

TEMP 9.30 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.85233 GPS 301220,121452,4753.533,-12511.097,1,1.3,5,15.8

_24V_AH 14.28,124.449

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 485 2673 18517.26 legato 0 0 0.00

Pitch_motor 35 258 129.22 nil 0 0 0.00

Roll_motor 50 218 158.86 nil 0 0 0.00

Iridium 218 205 640.30 nil 0 0 0.00

Transponder_ping 0 420 3.00 nil 0 0 0.00

GPS 13 15 2.88 nil 0 0 0.00

Core 2073 11 361.10 SciCon 3562 14 765.97

LPSleep 1773 2 73.29 nil 0 0 0.00

Compass 1028 5 75.93 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

7.00 16386 -77.86 -1.25 0.00 762.9 763.1 762.8 172.8 2117.2 0.00 0.00 0 80.27 72.68 0.00 0.00 0.005 0.000 0.000 2454.34 2435.00 2473.69 172.31 2120.00 0 0 0 15.44 30.00 30.00

80.53 18467 -77.86 -1.25 0.00 2453.5 2434.4 2472.7 172.5 2119.4 3.65 -5.46 14 106.68 8.82 14.03 0.00 0.007 0.259 0.000 2816.84 2812.44 2821.25 1835.62 2119.31 0 0 0 15.48 15.56 30.00

284.59 260 -77.86 -1.25 80.00 2816.3 2812.5 2820.2 1835.9 2119.4 45.82 -19.66 55 290.24 0.00 0.00 3.76 0.000 0.000 0.115 2818.69 2814.06 2823.31 1835.44 3472.94 0 0 0 30.00 30.00 15.75

514.52 1028 -77.86 -1.25 0.00 2816.4 2812.4 2820.4 1835.8 3472.6 88.27 -12.60 101 520.42 0.00 0.00 3.48 0.000 0.000 0.060 2817.06 2813.00 2821.12 1835.81 2083.12 0 0 0 30.00 30.00 15.82

699.55 260 -77.86 -1.25 80.00 2816.8 2812.2 2821.2 1835.6 2083.1 109.54 -11.77 130 705.33 0.00 0.00 3.79 0.000 0.000 0.111 2814.75 2810.81 2818.69 1835.88 3475.06 0 0 0 30.00 30.00 15.87

784.63 1028 -77.86 -1.25 0.00 2816.4 2812.6 2820.3 1835.8 3475.0 120.71 -13.13 147 789.30 0.00 0.00 3.46 0.000 0.000 0.058 2817.56 2813.25 2821.88 1835.56 2083.12 0 0 0 30.00 30.00 15.89

1094.60 260 -77.86 -1.25 80.00 2817.0 2812.5 2821.4 1835.5 2083.1 153.53 -10.45 179 1100.31 0.00 0.00 3.75 0.000 0.000 0.112 2816.50 2812.75 2820.25 1835.75 3473.50 0 0 0 30.00 30.00 15.92

1123 end dive: TARGET_DEPTH_EXCEEDED

state 1123 begin apogee

1128.37 10243 0.00 -0.25 0.00 2816.7 2812.8 2820.6 1835.9 2181.2 157.05 -11.73 185 1192.96 59.00 1.76 0.07 1.201 0.146 0.219 2498.84 2504.31 2493.38 2079.12 2219.81 0 0 0 12.54 15.85 15.46

1194 end apogee: CONTROL_FINISHED_OK

state 1194 begin climb

1194.83 10759 77.86 1.25 -80.00 2497.5 2504.9 2490.0 2079.8 2220.2 159.82 0.00 192 1268.67 62.78 2.53 4.23 1.157 0.086 0.126 2180.88 2196.25 2165.50 2447.06 736.31 0 0 0 12.54 15.52 15.22

1420.54 17478 77.86 1.31 0.00 2171.8 2189.2 2154.4 2447.6 736.5 148.28 6.05 237 1427.33 0.00 0.00 3.63 0.000 0.000 0.050 2172.69 2190.12 2155.25 2447.88 2223.38 0 0 0 30.00 30.00 15.60

1726.60 10535 138.46 1.49 80.00 2171.0 2189.1 2152.9 2447.9 2223.2 136.44 3.80 268 1782.29 49.44 0.33 3.48 1.150 0.063 0.114 1934.53 1958.00 1911.06 2515.12 3473.00 0 0 0 12.54 15.75 15.40

1860.58 1028 138.46 1.49 0.00 1929.5 1954.1 1904.9 2514.9 3472.5 126.64 9.77 295 1867.31 0.00 0.00 3.21 0.000 0.000 0.051 1929.53 1954.31 1904.75 2515.69 2180.81 0 0 0 30.00 30.00 15.59

2166.67 16386 138.46 1.49 0.00 1925.8 1953.4 1898.2 2515.6 2180.9 97.64 9.12 328 2168.00 0.00 0.00 0.00 0.000 0.000 0.000 1926.09 1953.81 1898.38 2514.81 2180.06 0 0 0 30.00 30.00 30.00

2346.76 16710 138.46 1.52 80.00 1925.5 1954.0 1896.9 2515.7 2179.8 82.63 7.29 364 2352.51 0.00 0.00 3.54 0.000 0.000 0.112 1925.44 1953.75 1897.12 2515.75 3473.69 0 0 0 30.00 30.00 15.82

2576.86 11303 187.21 1.66 0.00 1925.2 1953.6 1896.8 2516.1 3473.3 68.71 4.63 410 2623.46 39.52 0.16 3.19 1.095 0.091 0.050 1735.97 1767.44 1704.50 2554.81 2178.38 0 0 0 12.54 15.81 15.85

2801.92 10275 262.01 1.89 0.00 1729.7 1764.6 1694.7 2554.9 2178.0 61.70 2.81 455 2863.24 60.37 0.26 0.00 1.086 0.071 0.000 1432.44 1470.12 1394.75 2608.44 2178.06 0 0 0 12.49 15.71 30.00

3042.07 580 262.01 1.93 -80.00 1426.1 1465.9 1386.2 2608.9 2178.3 45.53 6.68 503 3047.82 0.00 0.00 4.05 0.000 0.000 0.128 1427.53 1467.25 1387.81 2607.81 734.88 0 0 0 30.00 30.00 15.62

3072.02 9254 291.73 2.02 0.00 1425.9 1465.5 1386.3 2609.1 735.8 43.52 5.97 509 3103.30 24.84 0.00 3.63 1.011 0.000 0.050 1310.00 1349.81 1270.19 2609.12 2225.12 0 0 0 12.51 30.00 15.66

3282.08 0 291.73 2.02 0.00 1306.6 1347.7 1265.5 2608.8 2225.6 27.83 11.69 551 3283.41 0.00 0.00 0.00 0.000 0.000 0.000 1306.62 1347.69 1265.56 2609.38 2225.25 0 0 0 30.00 30.00 30.00

3462.13 0 291.73 2.02 0.00 1305.1 1346.9 1263.3 2609.3 2225.2 8.07 11.38 587 3463.45 0.00 0.00 0.00 0.000 0.000 0.000 1305.38 1346.81 1263.94 2608.69 2224.88 0 0 0 30.00 30.00 30.00

3517 end climb: SURFACE_DEPTH_REACHED

state 3517 begin surface coast

3532 end surface coast: CONTROL_FINISHED_OK

state 3532 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	412	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	40.910816	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	105.43739	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	301220,110748,4753.700,-12511.121,1,1.5,4,15.8	TGT_LATLONG	4751.930,-12510.270
_CALLS	1	TGT_RADIUS	2500.000
_SM_DEPTHo	0.59	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-62.4	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	301220,111316,4753.732,-12511.114,2,1.5,4,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.139,0.180	MHEAD_RNG_PITCHd_Wd	146.8,3498,-20.4,-8.049,-24.07
TGT_NAME	SHELF	D_GRID	157

SM_CCo	3665.05,0.30,0.145,0,768.4,773.6,763.2,424.75	_10V_AH	14.76,0.000
SM_GC	0.66,0.30,15.93,0.34,0.145,0.068,0.094,768.4,773.6,763.2,181.4,2074.9,0,0,0,15.27,15.78,15.80	FG_AHR_24Vo	105.569
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	40.933
IRIDIUM_FIX	4754.02,-12511.36,301220,100257	MEM	1100124,46,75704,114
TCM_TEMP	195.22	DATA_FILE_SIZE	22566,601
XPDR_PINGS	2,14.0,11.5	CAP_FILE_SIZE	155859,0
SC_FREEKB	3706592	SDSIZE	3918848,3802112
HUMID	57.32	SDFILEDIR	2086,1
TEMP	9.30	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.85233	GPS	301220,121452,4753.533,-12511.097,1,1.3,5,15.8
_24V_AH	14.28,124.449

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	485	2673	18517.26	legato	0	0	0.00
Pitch_motor	35	258	129.22	nil	0	0	0.00
Roll_motor	50	218	158.86	nil	0	0	0.00
Iridium	218	205	640.30	nil	0	0	0.00
Transponder_ping	0	420	3.00	nil	0	0	0.00
GPS	13	15	2.88	nil	0	0	0.00
Core	2073	11	361.10	SciCon	3562	14	765.97
LPSleep	1773	2	73.29	nil	0	0	0.00
Compass	1028	5	75.93	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
7.00	16386	-77.86	-1.25	0.00	762.9	763.1	762.8	172.8	2117.2	0.00	0.00	0	80.27	72.68	0.00	0.00	0.005	0.000	0.000	2454.34	2435.00	2473.69	172.31	2120.00	0	0	0	15.44	30.00	30.00
80.53	18467	-77.86	-1.25	0.00	2453.5	2434.4	2472.7	172.5	2119.4	3.65	-5.46	14	106.68	8.82	14.03	0.00	0.007	0.259	0.000	2816.84	2812.44	2821.25	1835.62	2119.31	0	0	0	15.48	15.56	30.00
284.59	260	-77.86	-1.25	80.00	2816.3	2812.5	2820.2	1835.9	2119.4	45.82	-19.66	55	290.24	0.00	0.00	3.76	0.000	0.000	0.115	2818.69	2814.06	2823.31	1835.44	3472.94	0	0	0	30.00	30.00	15.75
514.52	1028	-77.86	-1.25	0.00	2816.4	2812.4	2820.4	1835.8	3472.6	88.27	-12.60	101	520.42	0.00	0.00	3.48	0.000	0.000	0.060	2817.06	2813.00	2821.12	1835.81	2083.12	0	0	0	30.00	30.00	15.82
699.55	260	-77.86	-1.25	80.00	2816.8	2812.2	2821.2	1835.6	2083.1	109.54	-11.77	130	705.33	0.00	0.00	3.79	0.000	0.000	0.111	2814.75	2810.81	2818.69	1835.88	3475.06	0	0	0	30.00	30.00	15.87
784.63	1028	-77.86	-1.25	0.00	2816.4	2812.6	2820.3	1835.8	3475.0	120.71	-13.13	147	789.30	0.00	0.00	3.46	0.000	0.000	0.058	2817.56	2813.25	2821.88	1835.56	2083.12	0	0	0	30.00	30.00	15.89
1094.60	260	-77.86	-1.25	80.00	2817.0	2812.5	2821.4	1835.5	2083.1	153.53	-10.45	179	1100.31	0.00	0.00	3.75	0.000	0.000	0.112	2816.50	2812.75	2820.25	1835.75	3473.50	0	0	0	30.00	30.00	15.92
1123	end dive: TARGET_DEPTH_EXCEEDED
state	1123	begin apogee
1128.37	10243	0.00	-0.25	0.00	2816.7	2812.8	2820.6	1835.9	2181.2	157.05	-11.73	185	1192.96	59.00	1.76	0.07	1.201	0.146	0.219	2498.84	2504.31	2493.38	2079.12	2219.81	0	0	0	12.54	15.85	15.46
1194	end apogee: CONTROL_FINISHED_OK
state	1194	begin climb
1194.83	10759	77.86	1.25	-80.00	2497.5	2504.9	2490.0	2079.8	2220.2	159.82	0.00	192	1268.67	62.78	2.53	4.23	1.157	0.086	0.126	2180.88	2196.25	2165.50	2447.06	736.31	0	0	0	12.54	15.52	15.22
1420.54	17478	77.86	1.31	0.00	2171.8	2189.2	2154.4	2447.6	736.5	148.28	6.05	237	1427.33	0.00	0.00	3.63	0.000	0.000	0.050	2172.69	2190.12	2155.25	2447.88	2223.38	0	0	0	30.00	30.00	15.60
1726.60	10535	138.46	1.49	80.00	2171.0	2189.1	2152.9	2447.9	2223.2	136.44	3.80	268	1782.29	49.44	0.33	3.48	1.150	0.063	0.114	1934.53	1958.00	1911.06	2515.12	3473.00	0	0	0	12.54	15.75	15.40
1860.58	1028	138.46	1.49	0.00	1929.5	1954.1	1904.9	2514.9	3472.5	126.64	9.77	295	1867.31	0.00	0.00	3.21	0.000	0.000	0.051	1929.53	1954.31	1904.75	2515.69	2180.81	0	0	0	30.00	30.00	15.59
2166.67	16386	138.46	1.49	0.00	1925.8	1953.4	1898.2	2515.6	2180.9	97.64	9.12	328	2168.00	0.00	0.00	0.00	0.000	0.000	0.000	1926.09	1953.81	1898.38	2514.81	2180.06	0	0	0	30.00	30.00	30.00
2346.76	16710	138.46	1.52	80.00	1925.5	1954.0	1896.9	2515.7	2179.8	82.63	7.29	364	2352.51	0.00	0.00	3.54	0.000	0.000	0.112	1925.44	1953.75	1897.12	2515.75	3473.69	0	0	0	30.00	30.00	15.82
2576.86	11303	187.21	1.66	0.00	1925.2	1953.6	1896.8	2516.1	3473.3	68.71	4.63	410	2623.46	39.52	0.16	3.19	1.095	0.091	0.050	1735.97	1767.44	1704.50	2554.81	2178.38	0	0	0	12.54	15.81	15.85
2801.92	10275	262.01	1.89	0.00	1729.7	1764.6	1694.7	2554.9	2178.0	61.70	2.81	455	2863.24	60.37	0.26	0.00	1.086	0.071	0.000	1432.44	1470.12	1394.75	2608.44	2178.06	0	0	0	12.49	15.71	30.00
3042.07	580	262.01	1.93	-80.00	1426.1	1465.9	1386.2	2608.9	2178.3	45.53	6.68	503	3047.82	0.00	0.00	4.05	0.000	0.000	0.128	1427.53	1467.25	1387.81	2607.81	734.88	0	0	0	30.00	30.00	15.62
3072.02	9254	291.73	2.02	0.00	1425.9	1465.5	1386.3	2609.1	735.8	43.52	5.97	509	3103.30	24.84	0.00	3.63	1.011	0.000	0.050	1310.00	1349.81	1270.19	2609.12	2225.12	0	0	0	12.51	30.00	15.66
3282.08	0	291.73	2.02	0.00	1306.6	1347.7	1265.5	2608.8	2225.6	27.83	11.69	551	3283.41	0.00	0.00	0.00	0.000	0.000	0.000	1306.62	1347.69	1265.56	2609.38	2225.25	0	0	0	30.00	30.00	30.00
3462.13	0	291.73	2.02	0.00	1305.1	1346.9	1263.3	2609.3	2225.2	8.07	11.38	587	3463.45	0.00	0.00	0.00	0.000	0.000	0.000	1305.38	1346.81	1263.94	2608.69	2224.88	0	0	0	30.00	30.00	30.00
3517	end climb: SURFACE_DEPTH_REACHED
state	3517	begin surface coast
3532	end surface coast: CONTROL_FINISHED_OK
state	3532	begin surface