Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 416 * 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 416 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 41.005207 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 106.0174 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 41.005207 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 106.0174 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 416 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 301220,154239,4753.314,-12511.124,20,1.0,60,15.8 TGT_LATLONG 4751.930,-12510.270

_CALLS 1 TGT_RADIUS 2500.000

_SM_DEPTHo 0.96 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -56.1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 301220,154751,4753.354,-12511.202,3,1.1,6,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.139,0.180 MHEAD_RNG_PITCHd_Wd 140.5,2881,-20.4,-8.049,-24.07

TGT_NAME SHELF D_GRID 157

Post-dive calculations and measurements:

SM_CCo 3866.24,136.59,1.044,0,767.3,756.2,778.4,425.03 _10V_AH 14.71,0.000

SM_GC 0.54,136.59,15.93,0.21,1.044,0.087,0.101,767.3,756.2,778.4,181.7,2064.8,0,0,0,12.52,15.74,15.80 FG_AHR_24Vo 106.152

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 41.028

IRIDIUM_FIX 4754.02,-12511.36,301220,143355 MEM 1100208,43,75680,114

TCM_TEMP 195.71 DATA_FILE_SIZE 22592,620

XPDR_PINGS 1,14.0,11.5 CAP_FILE_SIZE 163563,0

SC_FREEKB 3705056 SDSIZE 3918848,3801344

HUMID 57.37 SDFILEDIR 2106,1

TEMP 9.25 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.85257 GPS 301220,165302,4753.420,-12511.172,9,0.7,19,15.8

_24V_AH 14.68,125.102

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 489 1204 8652.78 legato 0 0 0.00

Pitch_motor 34 265 135.25 nil 0 0 0.00

Roll_motor 60 201 178.78 nil 0 0 0.00

Iridium 197 186 539.68 nil 0 0 0.00

Transponder_ping 0 420 1.54 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 2131 11 370.04 SciCon 3734 14 807.21

LPSleep 1870 2 77.05 nil 0 0 0.00

Compass 1091 5 80.31 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

7.01 16386 -77.86 -1.25 0.00 763.2 773.2 753.3 170.2 2116.4 0.00 0.00 0 85.39 77.75 0.00 0.00 0.005 0.000 0.000 2496.41 2482.25 2510.56 170.38 2117.19 0 0 0 15.46 30.00 30.00

85.67 18467 -77.86 -1.25 0.00 2495.5 2480.7 2510.4 170.4 2117.6 3.51 -4.71 15 111.71 7.97 14.02 0.00 0.007 0.265 0.000 2815.22 2811.56 2818.88 1835.88 2117.44 0 0 0 15.52 15.56 30.00

289.49 260 -77.86 -1.25 80.00 2815.8 2812.1 2819.6 1835.4 2117.9 43.05 -18.02 56 295.25 0.00 0.00 3.69 0.000 0.000 0.116 2816.78 2813.12 2820.44 1835.62 3473.50 0 0 0 30.00 30.00 15.76

364.52 1028 -77.86 -1.25 0.00 2815.9 2812.3 2819.5 1836.0 3473.3 58.84 -21.68 71 370.26 0.00 0.00 3.51 0.000 0.000 0.060 2816.56 2813.38 2819.75 1835.75 2083.50 0 0 0 30.00 30.00 15.78

549.56 516 -77.86 -1.25 -80.00 2816.0 2812.4 2819.6 1835.9 2082.9 81.52 -11.90 108 555.40 0.00 0.00 4.04 0.000 0.000 0.151 2818.50 2814.88 2822.12 1834.94 662.31 0 0 0 30.00 30.00 15.81

749.62 1028 -77.86 -1.25 0.00 2815.7 2811.8 2819.6 1835.9 662.4 109.92 -12.08 148 755.21 0.00 0.00 3.50 0.000 0.000 0.053 2814.41 2810.88 2817.94 1835.69 2118.38 0 0 0 30.00 30.00 15.87

1054.68 516 -77.86 -1.25 -80.00 2816.1 2812.1 2820.0 1835.8 2118.1 141.30 -10.61 179 1060.44 0.00 0.00 4.07 0.000 0.000 0.146 2817.97 2814.12 2821.81 1835.38 662.31 0 0 0 30.00 30.00 15.88

1099.71 1028 -77.86 -1.25 0.00 2815.8 2812.2 2819.5 1836.1 662.4 146.99 -13.74 188 1105.29 0.00 0.00 3.47 0.000 0.000 0.051 2818.16 2814.19 2822.12 1834.81 2120.75 0 0 0 30.00 30.00 15.91

1194 end dive: TARGET_DEPTH_EXCEEDED

state 1194 begin apogee

1195.96 10243 0.00 -0.25 0.00 2815.6 2812.2 2818.9 1835.9 2223.9 157.71 -10.83 198 1258.40 58.81 1.75 0.09 1.204 0.147 0.202 2497.38 2504.44 2490.31 2080.88 2182.12 0 0 0 12.55 15.85 15.46

1260 end apogee: CONTROL_FINISHED_OK

state 1260 begin climb

1260.28 10243 77.86 1.25 0.00 2497.5 2504.7 2490.2 2080.4 2183.1 160.41 0.00 204 1326.77 62.77 2.52 0.00 1.163 0.092 0.000 2183.53 2199.12 2167.94 2446.81 2182.31 0 0 0 12.57 15.52 30.00

1625.09 10275 124.97 1.39 -80.00 2172.2 2192.4 2152.1 2448.0 2182.7 144.64 4.75 245 1665.85 38.85 0.18 0.00 1.139 0.085 0.000 1988.69 2012.81 1964.56 2494.19 2182.56 0 0 0 12.49 15.69 30.00

1966.22 16966 124.97 1.41 -80.00 1981.2 2009.1 1953.4 2494.6 2183.2 119.45 7.41 279 1971.72 0.00 0.00 3.99 0.000 0.000 0.128 1981.12 2007.69 1954.56 2493.12 735.50 0 0 0 30.00 30.00 15.72

2110.09 17414 124.97 1.41 0.00 1980.0 2006.4 1953.7 2494.5 735.8 105.98 9.52 308 2115.71 0.00 0.00 3.61 0.000 0.000 0.052 1980.91 2006.00 1955.81 2492.56 2222.81 0 0 0 30.00 30.00 15.78

2415.17 8742 158.10 1.51 -80.00 1979.6 2006.6 1952.7 2494.4 2222.6 84.71 5.73 362 2451.11 27.56 0.00 4.15 1.092 0.000 0.126 1852.69 1883.12 1822.25 2494.38 735.75 0 0 0 12.56 30.00 15.59

2505.18 3141 158.10 1.57 0.00 1851.2 1882.3 1820.1 2494.8 735.9 79.47 6.16 380 2511.03 0.00 0.16 3.62 0.000 0.088 0.051 1851.22 1882.00 1820.44 2535.31 2225.31 0 0 0 30.00 15.62 15.70

2690.24 516 158.10 1.57 -80.00 1849.1 1881.6 1816.6 2534.9 2225.3 65.42 8.99 417 2696.06 0.00 0.00 4.09 0.000 0.000 0.123 1850.50 1883.31 1817.69 2535.38 735.50 0 0 0 30.00 30.00 15.77

2920.36 11303 216.68 1.74 0.00 1848.5 1880.8 1816.2 2535.6 735.5 52.44 3.95 463 2973.10 47.61 0.17 3.60 1.086 0.086 0.050 1614.84 1649.19 1580.50 2578.00 2227.81 0 0 0 12.49 15.79 15.83

3150.94 8742 254.21 1.86 -80.00 1609.3 1646.2 1572.4 2578.2 2227.0 43.87 5.42 509 3188.43 31.44 0.00 4.18 1.048 0.000 0.125 1462.09 1499.94 1424.25 2578.00 735.69 0 0 0 12.50 30.00 15.44

3411.21 1028 254.21 1.86 0.00 1458.2 1497.9 1418.5 2577.8 735.7 21.97 8.91 561 3416.99 0.00 0.00 3.62 0.000 0.000 0.051 1457.72 1497.75 1417.69 2577.56 2223.25 0 0 0 30.00 30.00 15.71

3596.28 324 254.21 1.90 80.00 1456.2 1497.4 1415.1 2577.8 2223.4 10.96 6.60 598 3601.99 0.00 0.00 3.41 0.000 0.000 0.115 1456.53 1497.50 1415.56 2577.31 3473.50 0 0 0 30.00 30.00 15.73

3636.26 17414 254.21 1.90 0.00 1455.4 1495.9 1414.9 2578.2 3473.9 7.33 9.07 606 3641.94 0.00 0.00 3.19 0.000 0.000 0.049 1456.78 1497.00 1416.56 2576.88 2176.19 0 0 0 30.00 30.00 15.78

3686 end climb: SURFACE_DEPTH_REACHED

state 3686 begin surface coast

3706 end surface coast: CONTROL_FINISHED_OK

state 3706 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	416	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	41.005207	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	106.0174	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	301220,154239,4753.314,-12511.124,20,1.0,60,15.8	TGT_LATLONG	4751.930,-12510.270
_CALLS	1	TGT_RADIUS	2500.000
_SM_DEPTHo	0.96	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-56.1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	301220,154751,4753.354,-12511.202,3,1.1,6,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.139,0.180	MHEAD_RNG_PITCHd_Wd	140.5,2881,-20.4,-8.049,-24.07
TGT_NAME	SHELF	D_GRID	157

SM_CCo	3866.24,136.59,1.044,0,767.3,756.2,778.4,425.03	_10V_AH	14.71,0.000
SM_GC	0.54,136.59,15.93,0.21,1.044,0.087,0.101,767.3,756.2,778.4,181.7,2064.8,0,0,0,12.52,15.74,15.80	FG_AHR_24Vo	106.152
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	41.028
IRIDIUM_FIX	4754.02,-12511.36,301220,143355	MEM	1100208,43,75680,114
TCM_TEMP	195.71	DATA_FILE_SIZE	22592,620
XPDR_PINGS	1,14.0,11.5	CAP_FILE_SIZE	163563,0
SC_FREEKB	3705056	SDSIZE	3918848,3801344
HUMID	57.37	SDFILEDIR	2106,1
TEMP	9.25	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.85257	GPS	301220,165302,4753.420,-12511.172,9,0.7,19,15.8
_24V_AH	14.68,125.102

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	489	1204	8652.78	legato	0	0	0.00
Pitch_motor	34	265	135.25	nil	0	0	0.00
Roll_motor	60	201	178.78	nil	0	0	0.00
Iridium	197	186	539.68	nil	0	0	0.00
Transponder_ping	0	420	1.54	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	2131	11	370.04	SciCon	3734	14	807.21
LPSleep	1870	2	77.05	nil	0	0	0.00
Compass	1091	5	80.31	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
7.01	16386	-77.86	-1.25	0.00	763.2	773.2	753.3	170.2	2116.4	0.00	0.00	0	85.39	77.75	0.00	0.00	0.005	0.000	0.000	2496.41	2482.25	2510.56	170.38	2117.19	0	0	0	15.46	30.00	30.00
85.67	18467	-77.86	-1.25	0.00	2495.5	2480.7	2510.4	170.4	2117.6	3.51	-4.71	15	111.71	7.97	14.02	0.00	0.007	0.265	0.000	2815.22	2811.56	2818.88	1835.88	2117.44	0	0	0	15.52	15.56	30.00
289.49	260	-77.86	-1.25	80.00	2815.8	2812.1	2819.6	1835.4	2117.9	43.05	-18.02	56	295.25	0.00	0.00	3.69	0.000	0.000	0.116	2816.78	2813.12	2820.44	1835.62	3473.50	0	0	0	30.00	30.00	15.76
364.52	1028	-77.86	-1.25	0.00	2815.9	2812.3	2819.5	1836.0	3473.3	58.84	-21.68	71	370.26	0.00	0.00	3.51	0.000	0.000	0.060	2816.56	2813.38	2819.75	1835.75	2083.50	0	0	0	30.00	30.00	15.78
549.56	516	-77.86	-1.25	-80.00	2816.0	2812.4	2819.6	1835.9	2082.9	81.52	-11.90	108	555.40	0.00	0.00	4.04	0.000	0.000	0.151	2818.50	2814.88	2822.12	1834.94	662.31	0	0	0	30.00	30.00	15.81
749.62	1028	-77.86	-1.25	0.00	2815.7	2811.8	2819.6	1835.9	662.4	109.92	-12.08	148	755.21	0.00	0.00	3.50	0.000	0.000	0.053	2814.41	2810.88	2817.94	1835.69	2118.38	0	0	0	30.00	30.00	15.87
1054.68	516	-77.86	-1.25	-80.00	2816.1	2812.1	2820.0	1835.8	2118.1	141.30	-10.61	179	1060.44	0.00	0.00	4.07	0.000	0.000	0.146	2817.97	2814.12	2821.81	1835.38	662.31	0	0	0	30.00	30.00	15.88
1099.71	1028	-77.86	-1.25	0.00	2815.8	2812.2	2819.5	1836.1	662.4	146.99	-13.74	188	1105.29	0.00	0.00	3.47	0.000	0.000	0.051	2818.16	2814.19	2822.12	1834.81	2120.75	0	0	0	30.00	30.00	15.91
1194	end dive: TARGET_DEPTH_EXCEEDED
state	1194	begin apogee
1195.96	10243	0.00	-0.25	0.00	2815.6	2812.2	2818.9	1835.9	2223.9	157.71	-10.83	198	1258.40	58.81	1.75	0.09	1.204	0.147	0.202	2497.38	2504.44	2490.31	2080.88	2182.12	0	0	0	12.55	15.85	15.46
1260	end apogee: CONTROL_FINISHED_OK
state	1260	begin climb
1260.28	10243	77.86	1.25	0.00	2497.5	2504.7	2490.2	2080.4	2183.1	160.41	0.00	204	1326.77	62.77	2.52	0.00	1.163	0.092	0.000	2183.53	2199.12	2167.94	2446.81	2182.31	0	0	0	12.57	15.52	30.00
1625.09	10275	124.97	1.39	-80.00	2172.2	2192.4	2152.1	2448.0	2182.7	144.64	4.75	245	1665.85	38.85	0.18	0.00	1.139	0.085	0.000	1988.69	2012.81	1964.56	2494.19	2182.56	0	0	0	12.49	15.69	30.00
1966.22	16966	124.97	1.41	-80.00	1981.2	2009.1	1953.4	2494.6	2183.2	119.45	7.41	279	1971.72	0.00	0.00	3.99	0.000	0.000	0.128	1981.12	2007.69	1954.56	2493.12	735.50	0	0	0	30.00	30.00	15.72
2110.09	17414	124.97	1.41	0.00	1980.0	2006.4	1953.7	2494.5	735.8	105.98	9.52	308	2115.71	0.00	0.00	3.61	0.000	0.000	0.052	1980.91	2006.00	1955.81	2492.56	2222.81	0	0	0	30.00	30.00	15.78
2415.17	8742	158.10	1.51	-80.00	1979.6	2006.6	1952.7	2494.4	2222.6	84.71	5.73	362	2451.11	27.56	0.00	4.15	1.092	0.000	0.126	1852.69	1883.12	1822.25	2494.38	735.75	0	0	0	12.56	30.00	15.59
2505.18	3141	158.10	1.57	0.00	1851.2	1882.3	1820.1	2494.8	735.9	79.47	6.16	380	2511.03	0.00	0.16	3.62	0.000	0.088	0.051	1851.22	1882.00	1820.44	2535.31	2225.31	0	0	0	30.00	15.62	15.70
2690.24	516	158.10	1.57	-80.00	1849.1	1881.6	1816.6	2534.9	2225.3	65.42	8.99	417	2696.06	0.00	0.00	4.09	0.000	0.000	0.123	1850.50	1883.31	1817.69	2535.38	735.50	0	0	0	30.00	30.00	15.77
2920.36	11303	216.68	1.74	0.00	1848.5	1880.8	1816.2	2535.6	735.5	52.44	3.95	463	2973.10	47.61	0.17	3.60	1.086	0.086	0.050	1614.84	1649.19	1580.50	2578.00	2227.81	0	0	0	12.49	15.79	15.83
3150.94	8742	254.21	1.86	-80.00	1609.3	1646.2	1572.4	2578.2	2227.0	43.87	5.42	509	3188.43	31.44	0.00	4.18	1.048	0.000	0.125	1462.09	1499.94	1424.25	2578.00	735.69	0	0	0	12.50	30.00	15.44
3411.21	1028	254.21	1.86	0.00	1458.2	1497.9	1418.5	2577.8	735.7	21.97	8.91	561	3416.99	0.00	0.00	3.62	0.000	0.000	0.051	1457.72	1497.75	1417.69	2577.56	2223.25	0	0	0	30.00	30.00	15.71
3596.28	324	254.21	1.90	80.00	1456.2	1497.4	1415.1	2577.8	2223.4	10.96	6.60	598	3601.99	0.00	0.00	3.41	0.000	0.000	0.115	1456.53	1497.50	1415.56	2577.31	3473.50	0	0	0	30.00	30.00	15.73
3636.26	17414	254.21	1.90	0.00	1455.4	1495.9	1414.9	2578.2	3473.9	7.33	9.07	606	3641.94	0.00	0.00	3.19	0.000	0.000	0.049	1456.78	1497.00	1416.56	2576.88	2176.19	0	0	0	30.00	30.00	15.78
3686	end climb: SURFACE_DEPTH_REACHED
state	3686	begin surface coast
3706	end surface coast: CONTROL_FINISHED_OK
state	3706	begin surface