Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 5 * 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 5 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 5 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 360 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1010 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 120 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 150 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 120 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 2100 FG_AHR_10V 4.8104982 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 6.3274236 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 150 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 360 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 4.8104982 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 6.3274236 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 120

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 150

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 1

C_PITCH 2100 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 150 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 5 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_ABORT 1010 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 5 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 270920,231355,4742.497,-12531.352,1,0.9,3,15.8 TGT_LATLONG 4700.000,-12700.000

_CALLS 1 TGT_RADIUS 2500.000

_SM_DEPTHo 1.13 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -65.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 270920,231524,4742.499,-12531.397,2,0.9,5,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 200.8,136816,-17.6,-10.000,-21.24

TGT_NAME OFFSHORE D_GRID 990

Post-dive calculations and measurements:

FREEZE 368.60,0.000,0.000,0,1,0 _10V_AH 15.00,0.000

SM_CCo 7462.46,0.00,0.000,0,498.8,530.9,466.6,601.29 FG_AHR_24Vo 6.589

SM_GC 1.61,0.00,13.94,0.05,0.000,0.073,0.223,498.8,530.9,466.6,177.8,2082.4,0,0,0,30.00,16.14,16.16 FG_AHR_10Vo 4.837

SUPER 27,71,254,1,0,0 MEM 1162656,33,14692,51

IRIDIUM_FIX 4741.74,-12529.66,270920,231217 DATA_FILE_SIZE 16141,423

TCM_TEMP 189.41 CAP_FILE_SIZE 176564,0

XPDR_PINGS 10,14.0,11.5 SDSIZE 3918848,3907808

SC_FREEKB 3876256 SDFILEDIR 42,1

HUMID 59.57 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.71 CURRENT 0.185,282.9,1

INTERNAL_PRESSURE 7.82767 GPS 280920,012056,4742.665,-12532.481,42,1.9,44,15.8

_24V_AH 14.45,3.391

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 700 2710 27411.81 legato 0 0 0.00

Pitch_motor 31 266 120.19 nil 0 0 0.00

Roll_motor 48 329 228.90 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 15.17 nil 0 0 0.00

GPS 14 15 3.26 nil 0 0 0.00

Core 1421 11 251.61 SciCon 3273 13 642.80

LPSleep 5738 2 241.00 nil 0 0 0.00

Compass 723 5 54.28 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

6.14 16386 -145.99 -0.88 0.00 496.6 512.3 480.9 190.2 2052.8 0.00 0.00 0 69.25 62.58 0.00 0.00 0.005 0.000 0.000 2054.53 2049.25 2059.81 190.19 2052.06 0 0 0 14.59 30.00 30.00

69.49 18983 -145.99 -0.88 -80.00 2052.6 2046.8 2058.4 190.3 2052.7 3.12 -3.67 12 126.86 35.65 12.48 3.64 0.006 0.266 0.207 3544.78 3542.31 3547.25 1885.88 662.75 0 0 0 14.74 15.82 15.83

349.61 1028 -145.99 -0.88 0.00 3544.4 3542.1 3546.8 1885.6 662.6 53.88 -15.66 68 355.30 0.00 0.00 3.33 0.000 0.000 0.094 3544.78 3542.75 3546.81 1885.75 2082.50 0 0 0 30.00 30.00 15.99

534.71 388 -145.99 -0.92 80.00 3544.7 3542.8 3546.6 1885.8 2082.4 76.20 -12.77 105 540.37 0.00 0.00 3.38 0.000 0.000 0.142 3546.69 3545.19 3548.19 1884.94 3475.38 0 0 0 30.00 30.00 15.98

624.79 5253 -145.99 -1.00 0.00 3544.7 3542.9 3546.4 1885.4 3474.7 88.31 -13.03 123 630.48 0.00 0.26 3.36 0.000 0.087 0.085 3545.72 3543.81 3547.62 1842.00 2052.38 0 0 0 30.00 15.99 16.02

814.79 516 -145.99 -1.00 -80.00 3544.7 3542.9 3546.5 1842.1 2053.4 111.28 -12.07 152 820.47 0.00 0.00 3.65 0.000 0.000 0.218 3544.47 3543.00 3545.94 1842.19 664.56 0 0 0 30.00 30.00 15.98

873.76 3205 -145.99 -0.92 0.00 3544.6 3542.6 3546.6 1842.2 664.5 119.88 -14.85 164 880.56 0.00 0.28 3.34 0.000 0.173 0.107 3545.19 3543.56 3546.81 1878.25 2079.75 0 0 0 30.00 15.97 15.99

1179.89 388 -145.99 -0.99 80.00 3544.3 3542.4 3546.2 1878.4 2079.4 154.11 -10.05 195 1184.50 0.00 0.00 3.39 0.000 0.000 0.149 3544.56 3542.94 3546.19 1878.12 3472.94 0 0 0 30.00 30.00 16.03

1203.83 5253 -145.99 -1.06 0.00 3544.9 3543.3 3546.5 1878.0 3474.2 156.77 -10.63 200 1210.64 0.00 0.29 3.33 0.000 0.090 0.087 3544.88 3543.25 3546.50 1828.12 2054.00 0 0 0 30.00 16.02 16.05

1509.94 0 -145.99 -1.06 0.00 3544.3 3542.6 3545.9 1828.5 2053.5 197.51 -13.88 231 1511.26 0.00 0.00 0.00 0.000 0.000 0.000 3544.72 3543.12 3546.31 1828.00 2053.62 0 0 0 30.00 30.00 30.00

1809.99 260 -145.99 -1.06 80.00 3543.0 3541.9 3544.1 1827.9 2054.3 237.82 -13.90 261 1814.63 0.00 0.00 3.48 0.000 0.000 0.155 3543.62 3542.44 3544.81 1827.88 3473.81 0 0 0 30.00 30.00 16.09

1843.95 1028 -145.99 -1.06 0.00 3542.7 3541.6 3543.7 1827.4 3473.6 242.83 -15.01 268 1850.70 0.00 0.00 3.35 0.000 0.000 0.095 3542.81 3541.75 3543.88 1827.94 2052.75 0 0 0 30.00 30.00 16.09

2150.07 260 -145.99 -1.06 80.00 3541.9 3540.9 3542.8 1828.1 2052.8 285.75 -14.02 299 2154.70 0.00 0.00 3.48 0.000 0.000 0.156 3543.59 3542.69 3544.50 1827.62 3474.38 0 0 0 30.00 30.00 16.10

2180.08 1028 -145.99 -1.06 0.00 3541.9 3541.4 3542.5 1828.0 3473.4 290.27 -15.31 305 2184.69 0.00 0.00 3.34 0.000 0.000 0.095 3543.16 3542.19 3544.12 1828.44 2054.94 0 0 0 30.00 30.00 16.11

2490.14 260 -145.99 -1.06 80.00 3540.4 3539.0 3541.8 1827.8 2054.9 334.07 -14.00 337 2494.77 0.00 0.00 3.49 0.000 0.000 0.159 3540.84 3539.62 3542.06 1827.88 3474.38 0 0 0 30.00 30.00 16.11

2514.08 1028 -145.99 -1.06 0.00 3540.5 3539.2 3541.8 1827.8 3474.7 338.13 -16.23 342 2520.84 0.00 0.00 3.35 0.000 0.000 0.097 3540.44 3539.38 3541.50 1828.12 2054.00 0 0 0 30.00 30.00 16.11

2680 end dive: TARGET_DEPTH_EXCEEDED

state 2680 begin apogee

2681.34 10243 0.00 -0.20 0.00 3540.0 3538.6 3541.4 1827.9 2077.8 361.37 -14.42 359 2793.66 109.26 1.55 0.06 1.550 0.150 0.329 2946.19 2958.62 2933.75 2053.44 2056.06 0 0 0 12.90 16.07 15.58

2794 end apogee: CONTROL_FINISHED_OK

state 2794 begin climb

2794.71 10243 145.99 0.88 0.00 2947.5 2959.5 2935.5 2053.1 2056.0 366.79 0.00 370 2914.87 117.74 1.73 0.00 1.492 0.110 0.000 2351.31 2376.44 2326.19 2317.25 2055.31 0 0 0 12.73 15.62 30.00

3210.21 10919 363.08 1.37 -80.00 2340.9 2368.4 2313.5 2317.2 2055.0 369.90 -0.10 412 3271.56 60.09 0.73 0.00 1.510 0.078 0.000 2055.16 2092.00 2018.31 2439.75 2055.44 0 0 0 12.81 15.76 30.00

3271 end climb: NO_VERTICAL_VELOCITY

state 3271 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	5	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	5	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	360	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1010	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	120	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	150	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	120	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	2100	FG_AHR_10V	4.8104982	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	6.3274236	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	150	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	270920,231355,4742.497,-12531.352,1,0.9,3,15.8	TGT_LATLONG	4700.000,-12700.000
_CALLS	1	TGT_RADIUS	2500.000
_SM_DEPTHo	1.13	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-65.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	270920,231524,4742.499,-12531.397,2,0.9,5,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	200.8,136816,-17.6,-10.000,-21.24
TGT_NAME	OFFSHORE	D_GRID	990

FREEZE	368.60,0.000,0.000,0,1,0	_10V_AH	15.00,0.000
SM_CCo	7462.46,0.00,0.000,0,498.8,530.9,466.6,601.29	FG_AHR_24Vo	6.589
SM_GC	1.61,0.00,13.94,0.05,0.000,0.073,0.223,498.8,530.9,466.6,177.8,2082.4,0,0,0,30.00,16.14,16.16	FG_AHR_10Vo	4.837
SUPER	27,71,254,1,0,0	MEM	1162656,33,14692,51
IRIDIUM_FIX	4741.74,-12529.66,270920,231217	DATA_FILE_SIZE	16141,423
TCM_TEMP	189.41	CAP_FILE_SIZE	176564,0
XPDR_PINGS	10,14.0,11.5	SDSIZE	3918848,3907808
SC_FREEKB	3876256	SDFILEDIR	42,1
HUMID	59.57	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.71	CURRENT	0.185,282.9,1
INTERNAL_PRESSURE	7.82767	GPS	280920,012056,4742.665,-12532.481,42,1.9,44,15.8
_24V_AH	14.45,3.391

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	700	2710	27411.81	legato	0	0	0.00
Pitch_motor	31	266	120.19	nil	0	0	0.00
Roll_motor	48	329	228.90	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	15.17	nil	0	0	0.00
GPS	14	15	3.26	nil	0	0	0.00
Core	1421	11	251.61	SciCon	3273	13	642.80
LPSleep	5738	2	241.00	nil	0	0	0.00
Compass	723	5	54.28	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
6.14	16386	-145.99	-0.88	0.00	496.6	512.3	480.9	190.2	2052.8	0.00	0.00	0	69.25	62.58	0.00	0.00	0.005	0.000	0.000	2054.53	2049.25	2059.81	190.19	2052.06	0	0	0	14.59	30.00	30.00
69.49	18983	-145.99	-0.88	-80.00	2052.6	2046.8	2058.4	190.3	2052.7	3.12	-3.67	12	126.86	35.65	12.48	3.64	0.006	0.266	0.207	3544.78	3542.31	3547.25	1885.88	662.75	0	0	0	14.74	15.82	15.83
349.61	1028	-145.99	-0.88	0.00	3544.4	3542.1	3546.8	1885.6	662.6	53.88	-15.66	68	355.30	0.00	0.00	3.33	0.000	0.000	0.094	3544.78	3542.75	3546.81	1885.75	2082.50	0	0	0	30.00	30.00	15.99
534.71	388	-145.99	-0.92	80.00	3544.7	3542.8	3546.6	1885.8	2082.4	76.20	-12.77	105	540.37	0.00	0.00	3.38	0.000	0.000	0.142	3546.69	3545.19	3548.19	1884.94	3475.38	0	0	0	30.00	30.00	15.98
624.79	5253	-145.99	-1.00	0.00	3544.7	3542.9	3546.4	1885.4	3474.7	88.31	-13.03	123	630.48	0.00	0.26	3.36	0.000	0.087	0.085	3545.72	3543.81	3547.62	1842.00	2052.38	0	0	0	30.00	15.99	16.02
814.79	516	-145.99	-1.00	-80.00	3544.7	3542.9	3546.5	1842.1	2053.4	111.28	-12.07	152	820.47	0.00	0.00	3.65	0.000	0.000	0.218	3544.47	3543.00	3545.94	1842.19	664.56	0	0	0	30.00	30.00	15.98
873.76	3205	-145.99	-0.92	0.00	3544.6	3542.6	3546.6	1842.2	664.5	119.88	-14.85	164	880.56	0.00	0.28	3.34	0.000	0.173	0.107	3545.19	3543.56	3546.81	1878.25	2079.75	0	0	0	30.00	15.97	15.99
1179.89	388	-145.99	-0.99	80.00	3544.3	3542.4	3546.2	1878.4	2079.4	154.11	-10.05	195	1184.50	0.00	0.00	3.39	0.000	0.000	0.149	3544.56	3542.94	3546.19	1878.12	3472.94	0	0	0	30.00	30.00	16.03
1203.83	5253	-145.99	-1.06	0.00	3544.9	3543.3	3546.5	1878.0	3474.2	156.77	-10.63	200	1210.64	0.00	0.29	3.33	0.000	0.090	0.087	3544.88	3543.25	3546.50	1828.12	2054.00	0	0	0	30.00	16.02	16.05
1509.94	0	-145.99	-1.06	0.00	3544.3	3542.6	3545.9	1828.5	2053.5	197.51	-13.88	231	1511.26	0.00	0.00	0.00	0.000	0.000	0.000	3544.72	3543.12	3546.31	1828.00	2053.62	0	0	0	30.00	30.00	30.00
1809.99	260	-145.99	-1.06	80.00	3543.0	3541.9	3544.1	1827.9	2054.3	237.82	-13.90	261	1814.63	0.00	0.00	3.48	0.000	0.000	0.155	3543.62	3542.44	3544.81	1827.88	3473.81	0	0	0	30.00	30.00	16.09
1843.95	1028	-145.99	-1.06	0.00	3542.7	3541.6	3543.7	1827.4	3473.6	242.83	-15.01	268	1850.70	0.00	0.00	3.35	0.000	0.000	0.095	3542.81	3541.75	3543.88	1827.94	2052.75	0	0	0	30.00	30.00	16.09
2150.07	260	-145.99	-1.06	80.00	3541.9	3540.9	3542.8	1828.1	2052.8	285.75	-14.02	299	2154.70	0.00	0.00	3.48	0.000	0.000	0.156	3543.59	3542.69	3544.50	1827.62	3474.38	0	0	0	30.00	30.00	16.10
2180.08	1028	-145.99	-1.06	0.00	3541.9	3541.4	3542.5	1828.0	3473.4	290.27	-15.31	305	2184.69	0.00	0.00	3.34	0.000	0.000	0.095	3543.16	3542.19	3544.12	1828.44	2054.94	0	0	0	30.00	30.00	16.11
2490.14	260	-145.99	-1.06	80.00	3540.4	3539.0	3541.8	1827.8	2054.9	334.07	-14.00	337	2494.77	0.00	0.00	3.49	0.000	0.000	0.159	3540.84	3539.62	3542.06	1827.88	3474.38	0	0	0	30.00	30.00	16.11
2514.08	1028	-145.99	-1.06	0.00	3540.5	3539.2	3541.8	1827.8	3474.7	338.13	-16.23	342	2520.84	0.00	0.00	3.35	0.000	0.000	0.097	3540.44	3539.38	3541.50	1828.12	2054.00	0	0	0	30.00	30.00	16.11
2680	end dive: TARGET_DEPTH_EXCEEDED
state	2680	begin apogee
2681.34	10243	0.00	-0.20	0.00	3540.0	3538.6	3541.4	1827.9	2077.8	361.37	-14.42	359	2793.66	109.26	1.55	0.06	1.550	0.150	0.329	2946.19	2958.62	2933.75	2053.44	2056.06	0	0	0	12.90	16.07	15.58
2794	end apogee: CONTROL_FINISHED_OK
state	2794	begin climb
2794.71	10243	145.99	0.88	0.00	2947.5	2959.5	2935.5	2053.1	2056.0	366.79	0.00	370	2914.87	117.74	1.73	0.00	1.492	0.110	0.000	2351.31	2376.44	2326.19	2317.25	2055.31	0	0	0	12.73	15.62	30.00
3210.21	10919	363.08	1.37	-80.00	2340.9	2368.4	2313.5	2317.2	2055.0	369.90	-0.10	412	3271.56	60.09	0.73	0.00	1.510	0.078	0.000	2055.16	2092.00	2018.31	2439.75	2055.44	0	0	0	12.81	15.76	30.00
3271	end climb: NO_VERTICAL_VELOCITY
state	3271	begin surface