Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 807 * 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 807 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 180 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 2 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 60 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 80 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 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 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 66.384529 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 197.33571 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 120 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 2100 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 2 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 425

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 66.384529 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 197.33571 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 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 2140 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 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 120 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 807 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 120321,195334,4729.640,-12609.529,0,0.7,2,15.8 TGT_LATLONG 4728.540,-12600.590

_CALLS 1 TGT_RADIUS 7000.000

_SM_DEPTHo 0.30 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -61.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 120321,195627,4729.662,-12609.537,2,0.7,5,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 84.7,11391,-19.9,-10.000,-23.24

TGT_NAME IN5 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 3739.84,0.00,0.018,0,767.2,764.8,769.6,425.06 _10V_AH 14.78,0.000

SM_GC 0.42,0.00,16.35,0.10,0.018,0.073,0.139,767.2,764.8,769.6,174.8,2071.4,0,0,0,30.36,15.62,15.76 FG_AHR_24Vo 197.489

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 66.399

IRIDIUM_FIX 4729.88,-12608.20,120321,195146 MEM 1100120,44,75748,114

TCM_TEMP 189.21 DATA_FILE_SIZE 22562,581

XPDR_PINGS 5,14.0,11.5 CAP_FILE_SIZE 288455,0

SC_FREEKB 3550208 SDSIZE 3918848,3695840

HUMID 57.48 SDFILEDIR 4061,1

TEMP 8.34 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.80117 GPS 120321,205917,4729.991,-12609.235,1,0.9,4,15.8

_24V_AH 14.47,230.932

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 553 1225 9807.22 legato 0 0 0.00

Pitch_motor 36 244 128.14 nil 0 0 0.00

Roll_motor 61 210 186.38 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 7.60 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 1798 11 313.73 SciCon 3572 7 380.22

LPSleep 1812 2 75.00 nil 0 0 0.00

Compass 1001 5 74.03 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

7.80 16386 -116.79 -1.34 0.00 762.4 766.7 758.1 170.4 2117.6 0.00 0.00 0 92.86 84.45 0.00 0.00 0.005 0.000 0.000 2647.25 2625.50 2669.00 170.12 2117.94 0 0 0 14.35 30.00 30.00

93.15 18727 -116.79 -1.34 80.00 2646.3 2624.2 2668.3 170.2 2118.1 3.51 -5.52 16 125.03 7.69 14.43 3.83 0.007 0.245 0.118 2974.62 2968.31 2980.94 1813.62 3473.75 0 0 0 14.82 15.16 14.68

322.86 1028 -116.79 -1.34 0.00 2974.0 2967.2 2980.9 1813.8 3473.4 50.10 -20.52 62 328.61 0.00 0.00 3.48 0.000 0.000 0.062 2974.69 2967.62 2981.75 1813.56 2083.19 0 0 0 30.00 30.00 15.59

508.02 516 -116.79 -1.34 -80.00 2974.4 2967.2 2981.6 1813.8 2083.4 83.52 -17.27 99 513.80 0.00 0.00 4.16 0.000 0.000 0.156 2974.75 2968.25 2981.25 1813.94 663.12 0 0 0 30.00 30.00 15.34

537.95 1028 -116.79 -1.34 0.00 2974.5 2967.7 2981.3 1813.9 662.9 88.84 -17.56 105 543.72 0.00 0.00 3.60 0.000 0.000 0.055 2975.53 2968.88 2982.19 1814.00 2121.25 0 0 0 30.00 30.00 15.67

723.08 260 -116.79 -1.34 80.00 2974.3 2967.7 2981.0 1814.0 2121.8 112.96 -11.71 131 728.77 0.00 0.00 3.72 0.000 0.000 0.112 2975.09 2968.44 2981.75 1813.69 3474.25 0 0 0 30.00 30.00 15.51

868.05 1028 -116.79 -1.34 0.00 2973.9 2966.8 2980.9 1814.2 3474.8 132.98 -13.69 160 873.62 0.00 0.00 3.43 0.000 0.000 0.059 2973.16 2966.56 2979.75 1814.12 2083.31 0 0 0 30.00 30.00 15.63

1173.12 516 -116.79 -1.34 -80.00 2974.4 2967.9 2981.0 1814.2 2083.8 168.80 -11.38 191 1178.79 0.00 0.00 4.13 0.000 0.000 0.154 2974.16 2967.81 2980.50 1813.56 663.88 0 0 0 30.00 30.00 15.38

1218.13 1028 -116.79 -1.34 0.00 2974.4 2967.9 2980.9 1813.8 663.9 174.59 -13.82 200 1222.83 0.00 0.00 3.57 0.000 0.000 0.054 2976.66 2969.75 2983.56 1814.19 2119.44 0 0 0 30.00 30.00 15.70

1268 end dive: TARGET_DEPTH_EXCEEDED

state 1268 begin apogee

1269.40 10243 0.00 -0.25 0.00 2974.2 2967.5 2980.9 1813.8 2081.2 180.60 -12.04 206 1364.61 92.14 2.00 0.08 1.225 0.139 0.210 2498.34 2506.88 2489.81 2080.94 2119.81 0 0 0 10.83 15.54 15.07

1367 end apogee: CONTROL_FINISHED_OK

state 1367 begin climb

1367.21 10759 116.79 1.34 -80.00 2497.5 2506.4 2488.7 2081.9 2119.5 183.61 0.00 215 1475.68 98.57 2.77 4.24 1.184 0.085 0.135 2021.72 2046.38 1997.06 2470.00 662.94 0 0 0 11.83 15.28 14.92

1562.36 17478 116.79 1.38 0.00 2015.1 2041.2 1989.0 2470.8 663.1 171.33 8.79 254 1569.23 0.00 0.00 3.62 0.000 0.000 0.049 2014.97 2041.44 1988.50 2470.50 2127.25 0 0 0 30.00 30.00 15.43

1868.51 10791 172.26 1.55 -80.00 2011.3 2041.3 1981.2 2469.5 2127.4 149.42 6.78 285 1921.40 46.64 0.28 4.14 1.145 0.066 0.133 1795.28 1828.88 1761.69 2527.19 662.06 0 0 0 11.20 15.63 15.18

1964.17 1028 172.26 1.55 0.00 1792.4 1826.2 1758.6 2526.6 662.1 140.31 11.74 304 1968.89 0.00 0.00 3.59 0.000 0.000 0.049 1793.06 1827.25 1758.88 2527.25 2121.06 0 0 0 30.00 30.00 15.48

2274.23 8226 220.96 1.69 0.00 1788.3 1825.9 1750.8 2526.2 2125.5 113.58 7.18 336 2318.11 41.51 0.00 0.00 1.109 0.000 0.000 1600.38 1638.44 1562.31 2526.81 2125.44 0 0 0 11.18 30.00 30.00

2619.28 10791 264.07 1.82 -80.00 1591.9 1632.0 1551.8 2526.7 2125.9 85.81 7.50 391 2665.65 37.81 0.35 4.14 1.075 0.063 0.135 1422.78 1462.12 1383.44 2595.31 663.25 0 0 0 11.24 15.63 15.24

2889.33 1092 264.07 1.84 0.00 1419.9 1459.2 1380.6 2595.6 663.1 59.93 9.24 445 2895.06 0.00 0.00 3.59 0.000 0.000 0.051 1419.44 1459.25 1379.62 2595.75 2125.94 0 0 0 30.00 30.00 15.63

3074.37 580 264.07 1.89 -80.00 1418.0 1459.4 1376.6 2595.0 2126.6 44.68 8.47 482 3080.21 0.00 0.00 4.13 0.000 0.000 0.132 1418.12 1459.25 1377.00 2595.62 662.88 0 0 0 30.00 30.00 15.46

3299.40 1028 264.07 1.89 0.00 1417.9 1458.9 1376.8 2595.6 662.9 21.64 9.77 527 3305.17 0.00 0.00 3.56 0.000 0.000 0.051 1417.94 1459.00 1376.88 2595.25 2126.69 0 0 0 30.00 30.00 15.73

3484.45 64 264.07 1.94 0.00 1417.1 1458.7 1375.6 2595.0 2126.4 6.42 8.45 564 3485.78 0.00 0.00 0.00 0.000 0.000 0.000 1417.03 1458.88 1375.19 2595.00 2126.50 0 0 0 30.00 30.00 30.00

3544 end climb: SURFACE_DEPTH_REACHED

state 3544 begin surface coast

3569 end surface coast: CONTROL_FINISHED_OK

state 3569 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	807	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	180	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	2	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	60	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	80	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	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	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	66.384529	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	197.33571	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	120	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	2100	ALTIM_PULSE	3

GPS1	120321,195334,4729.640,-12609.529,0,0.7,2,15.8	TGT_LATLONG	4728.540,-12600.590
_CALLS	1	TGT_RADIUS	7000.000
_SM_DEPTHo	0.30	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-61.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	120321,195627,4729.662,-12609.537,2,0.7,5,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	84.7,11391,-19.9,-10.000,-23.24
TGT_NAME	IN5	D_GRID	990

SM_CCo	3739.84,0.00,0.018,0,767.2,764.8,769.6,425.06	_10V_AH	14.78,0.000
SM_GC	0.42,0.00,16.35,0.10,0.018,0.073,0.139,767.2,764.8,769.6,174.8,2071.4,0,0,0,30.36,15.62,15.76	FG_AHR_24Vo	197.489
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	66.399
IRIDIUM_FIX	4729.88,-12608.20,120321,195146	MEM	1100120,44,75748,114
TCM_TEMP	189.21	DATA_FILE_SIZE	22562,581
XPDR_PINGS	5,14.0,11.5	CAP_FILE_SIZE	288455,0
SC_FREEKB	3550208	SDSIZE	3918848,3695840
HUMID	57.48	SDFILEDIR	4061,1
TEMP	8.34	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.80117	GPS	120321,205917,4729.991,-12609.235,1,0.9,4,15.8
_24V_AH	14.47,230.932

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	553	1225	9807.22	legato	0	0	0.00
Pitch_motor	36	244	128.14	nil	0	0	0.00
Roll_motor	61	210	186.38	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	7.60	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	1798	11	313.73	SciCon	3572	7	380.22
LPSleep	1812	2	75.00	nil	0	0	0.00
Compass	1001	5	74.03	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
7.80	16386	-116.79	-1.34	0.00	762.4	766.7	758.1	170.4	2117.6	0.00	0.00	0	92.86	84.45	0.00	0.00	0.005	0.000	0.000	2647.25	2625.50	2669.00	170.12	2117.94	0	0	0	14.35	30.00	30.00
93.15	18727	-116.79	-1.34	80.00	2646.3	2624.2	2668.3	170.2	2118.1	3.51	-5.52	16	125.03	7.69	14.43	3.83	0.007	0.245	0.118	2974.62	2968.31	2980.94	1813.62	3473.75	0	0	0	14.82	15.16	14.68
322.86	1028	-116.79	-1.34	0.00	2974.0	2967.2	2980.9	1813.8	3473.4	50.10	-20.52	62	328.61	0.00	0.00	3.48	0.000	0.000	0.062	2974.69	2967.62	2981.75	1813.56	2083.19	0	0	0	30.00	30.00	15.59
508.02	516	-116.79	-1.34	-80.00	2974.4	2967.2	2981.6	1813.8	2083.4	83.52	-17.27	99	513.80	0.00	0.00	4.16	0.000	0.000	0.156	2974.75	2968.25	2981.25	1813.94	663.12	0	0	0	30.00	30.00	15.34
537.95	1028	-116.79	-1.34	0.00	2974.5	2967.7	2981.3	1813.9	662.9	88.84	-17.56	105	543.72	0.00	0.00	3.60	0.000	0.000	0.055	2975.53	2968.88	2982.19	1814.00	2121.25	0	0	0	30.00	30.00	15.67
723.08	260	-116.79	-1.34	80.00	2974.3	2967.7	2981.0	1814.0	2121.8	112.96	-11.71	131	728.77	0.00	0.00	3.72	0.000	0.000	0.112	2975.09	2968.44	2981.75	1813.69	3474.25	0	0	0	30.00	30.00	15.51
868.05	1028	-116.79	-1.34	0.00	2973.9	2966.8	2980.9	1814.2	3474.8	132.98	-13.69	160	873.62	0.00	0.00	3.43	0.000	0.000	0.059	2973.16	2966.56	2979.75	1814.12	2083.31	0	0	0	30.00	30.00	15.63
1173.12	516	-116.79	-1.34	-80.00	2974.4	2967.9	2981.0	1814.2	2083.8	168.80	-11.38	191	1178.79	0.00	0.00	4.13	0.000	0.000	0.154	2974.16	2967.81	2980.50	1813.56	663.88	0	0	0	30.00	30.00	15.38
1218.13	1028	-116.79	-1.34	0.00	2974.4	2967.9	2980.9	1813.8	663.9	174.59	-13.82	200	1222.83	0.00	0.00	3.57	0.000	0.000	0.054	2976.66	2969.75	2983.56	1814.19	2119.44	0	0	0	30.00	30.00	15.70
1268	end dive: TARGET_DEPTH_EXCEEDED
state	1268	begin apogee
1269.40	10243	0.00	-0.25	0.00	2974.2	2967.5	2980.9	1813.8	2081.2	180.60	-12.04	206	1364.61	92.14	2.00	0.08	1.225	0.139	0.210	2498.34	2506.88	2489.81	2080.94	2119.81	0	0	0	10.83	15.54	15.07
1367	end apogee: CONTROL_FINISHED_OK
state	1367	begin climb
1367.21	10759	116.79	1.34	-80.00	2497.5	2506.4	2488.7	2081.9	2119.5	183.61	0.00	215	1475.68	98.57	2.77	4.24	1.184	0.085	0.135	2021.72	2046.38	1997.06	2470.00	662.94	0	0	0	11.83	15.28	14.92
1562.36	17478	116.79	1.38	0.00	2015.1	2041.2	1989.0	2470.8	663.1	171.33	8.79	254	1569.23	0.00	0.00	3.62	0.000	0.000	0.049	2014.97	2041.44	1988.50	2470.50	2127.25	0	0	0	30.00	30.00	15.43
1868.51	10791	172.26	1.55	-80.00	2011.3	2041.3	1981.2	2469.5	2127.4	149.42	6.78	285	1921.40	46.64	0.28	4.14	1.145	0.066	0.133	1795.28	1828.88	1761.69	2527.19	662.06	0	0	0	11.20	15.63	15.18
1964.17	1028	172.26	1.55	0.00	1792.4	1826.2	1758.6	2526.6	662.1	140.31	11.74	304	1968.89	0.00	0.00	3.59	0.000	0.000	0.049	1793.06	1827.25	1758.88	2527.25	2121.06	0	0	0	30.00	30.00	15.48
2274.23	8226	220.96	1.69	0.00	1788.3	1825.9	1750.8	2526.2	2125.5	113.58	7.18	336	2318.11	41.51	0.00	0.00	1.109	0.000	0.000	1600.38	1638.44	1562.31	2526.81	2125.44	0	0	0	11.18	30.00	30.00
2619.28	10791	264.07	1.82	-80.00	1591.9	1632.0	1551.8	2526.7	2125.9	85.81	7.50	391	2665.65	37.81	0.35	4.14	1.075	0.063	0.135	1422.78	1462.12	1383.44	2595.31	663.25	0	0	0	11.24	15.63	15.24
2889.33	1092	264.07	1.84	0.00	1419.9	1459.2	1380.6	2595.6	663.1	59.93	9.24	445	2895.06	0.00	0.00	3.59	0.000	0.000	0.051	1419.44	1459.25	1379.62	2595.75	2125.94	0	0	0	30.00	30.00	15.63
3074.37	580	264.07	1.89	-80.00	1418.0	1459.4	1376.6	2595.0	2126.6	44.68	8.47	482	3080.21	0.00	0.00	4.13	0.000	0.000	0.132	1418.12	1459.25	1377.00	2595.62	662.88	0	0	0	30.00	30.00	15.46
3299.40	1028	264.07	1.89	0.00	1417.9	1458.9	1376.8	2595.6	662.9	21.64	9.77	527	3305.17	0.00	0.00	3.56	0.000	0.000	0.051	1417.94	1459.00	1376.88	2595.25	2126.69	0	0	0	30.00	30.00	15.73
3484.45	64	264.07	1.94	0.00	1417.1	1458.7	1375.6	2595.0	2126.4	6.42	8.45	564	3485.78	0.00	0.00	0.00	0.000	0.000	0.000	1417.03	1458.88	1375.19	2595.00	2126.50	0	0	0	30.00	30.00	30.00
3544	end climb: SURFACE_DEPTH_REACHED
state	3544	begin surface coast
3569	end surface coast: CONTROL_FINISHED_OK
state	3569	begin surface