Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 809 * 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 809 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 66.416306 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 197.65825 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 66.416306 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 197.65825 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 809 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 120321,220701,4730.233,-12608.904,18,1.1,19,15.8 TGT_LATLONG 4728.540,-12600.590

_CALLS 1 TGT_RADIUS 7000.000

_SM_DEPTHo 0.13 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -59.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 120321,221240,4730.269,-12608.924,2,0.8,5,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.233 MHEAD_RNG_PITCHd_Wd 91.3,10912,-19.9,-10.000,-23.24

TGT_NAME IN5 D_GRID 990

Post-dive calculations and measurements:

SM_CCo 3601.92,0.00,0.017,0,768.3,767.0,769.6,424.79 _10V_AH 14.82,0.000

SM_GC 0.14,0.00,16.42,0.08,0.017,0.072,0.138,768.3,767.0,769.6,177.6,2130.5,0,0,0,30.36,15.59,15.76 FG_AHR_24Vo 197.811

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 66.431

IRIDIUM_FIX 4729.88,-12608.20,120321,210219 MEM 1100040,49,75728,114

TCM_TEMP 193.69 DATA_FILE_SIZE 19435,577

XPDR_PINGS 2,14.0,11.5 CAP_FILE_SIZE 255548,0

SC_FREEKB 3549440 SDSIZE 3918848,3695424

HUMID 57.83 SDFILEDIR 4071,1

TEMP 8.46 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.81142 GPS 120321,231313,4730.514,-12608.503,1,0.8,4,15.8

_24V_AH 13.89,231.275

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 551 2609 19972.14 legato 0 0 0.00

Pitch_motor 36 248 124.89 nil 0 0 0.00

Roll_motor 59 216 180.12 nil 0 0 0.00

Iridium 169 182 431.60 nil 0 0 0.00

Transponder_ping 0 420 2.92 nil 0 0 0.00

GPS 14 15 3.22 nil 0 0 0.00

Core 2058 11 359.90 SciCon 3504 7 370.88

LPSleep 1714 2 71.13 nil 0 0 0.00

Compass 981 5 72.73 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

7.76 16386 -116.79 -1.34 0.00 762.3 766.3 758.4 169.3 2117.5 0.00 0.00 0 87.71 79.35 0.00 0.00 0.005 0.000 0.000 2530.34 2508.31 2552.38 169.06 2117.81 0 0 0 14.67 30.00 30.00

87.98 18727 -116.79 -1.34 80.00 2528.4 2506.5 2550.2 169.1 2117.9 3.13 -3.51 15 120.89 10.86 14.34 3.77 0.007 0.248 0.115 2974.31 2968.81 2979.81 1813.94 3475.06 0 0 0 14.88 15.25 14.72

343.76 1028 -116.79 -1.34 0.00 2974.9 2969.4 2980.3 1814.5 3474.4 52.15 -19.03 66 349.50 0.00 0.00 3.46 0.000 0.000 0.062 2974.81 2969.38 2980.25 1814.50 2083.75 0 0 0 30.00 30.00 15.63

528.89 0 -116.79 -1.34 0.00 2974.8 2969.2 2980.3 1814.4 2083.6 85.01 -17.97 103 530.22 0.00 0.00 0.00 0.000 0.000 0.000 2975.19 2969.69 2980.69 1814.00 2083.88 0 0 0 30.00 30.00 30.00

713.96 260 -116.79 -1.34 80.00 2975.2 2969.8 2980.8 1814.3 2083.8 112.38 -12.42 131 719.65 0.00 0.00 3.84 0.000 0.000 0.111 2977.56 2971.44 2983.69 1813.88 3474.56 0 0 0 30.00 30.00 15.60

828.95 1028 -116.79 -1.34 0.00 2975.1 2969.6 2980.6 1813.8 3473.8 128.74 -14.25 154 833.64 0.00 0.00 3.44 0.000 0.000 0.060 2976.12 2970.50 2981.75 1813.69 2082.62 0 0 0 30.00 30.00 15.69

1139.01 516 -116.79 -1.34 -80.00 2974.8 2969.4 2980.1 1814.4 2082.8 164.75 -11.02 186 1144.68 0.00 0.00 4.09 0.000 0.000 0.155 2973.12 2967.75 2978.50 1814.25 663.88 0 0 0 30.00 30.00 15.48

1234.04 1028 -116.79 -1.34 0.00 2974.8 2969.5 2980.1 1814.2 663.9 177.21 -13.71 205 1238.77 0.00 0.00 3.56 0.000 0.000 0.054 2975.12 2969.69 2980.56 1814.44 2121.94 0 0 0 30.00 30.00 15.76

1263 end dive: TARGET_DEPTH_EXCEEDED

state 1264 begin apogee

1265.26 10243 0.00 -0.25 0.00 2974.9 2969.4 2980.4 1814.6 2082.0 180.85 -11.66 209 1359.42 91.29 1.98 0.08 1.219 0.139 0.217 2496.69 2505.06 2488.31 2079.69 2121.50 0 0 0 11.01 15.62 15.09

1361 end apogee: CONTROL_FINISHED_OK

state 1362 begin climb

1362.13 10759 116.79 1.34 -80.00 2497.5 2506.3 2488.8 2080.4 2121.2 184.78 0.00 218 1470.51 97.90 2.77 4.22 1.179 0.085 0.136 2022.53 2047.62 1997.44 2469.56 662.81 0 0 0 11.88 15.30 14.95

1517.19 11303 172.54 1.51 0.00 2016.8 2042.6 1990.9 2469.6 662.6 178.11 6.77 249 1570.99 47.94 0.23 3.61 1.139 0.067 0.049 1793.69 1828.56 1758.81 2521.56 2125.44 0 0 0 11.66 15.28 15.36

1868.32 16902 172.54 1.51 -80.00 1787.4 1827.1 1747.8 2522.2 2125.9 143.35 9.92 289 1873.98 0.00 0.00 4.09 0.000 0.000 0.133 1786.53 1826.25 1746.81 2521.69 661.88 0 0 0 30.00 30.00 15.47

2043.33 17414 172.54 1.51 0.00 1786.7 1825.2 1748.2 2521.7 662.1 123.70 10.48 324 2048.04 0.00 0.00 3.56 0.000 0.000 0.051 1787.22 1825.75 1748.69 2520.88 2119.25 0 0 0 30.00 30.00 15.69

2353.39 10535 244.08 1.73 80.00 1784.6 1824.9 1744.2 2522.1 2126.6 103.40 5.85 356 2420.57 59.52 0.22 3.73 1.107 0.071 0.111 1503.59 1541.50 1465.69 2570.25 3474.88 0 0 0 11.22 15.72 15.20

2643.44 1092 244.08 1.77 0.00 1498.6 1536.0 1461.2 2570.8 3473.7 79.03 8.36 414 2649.16 0.00 0.00 3.46 0.000 0.000 0.056 1499.97 1537.50 1462.44 2570.88 2077.69 0 0 0 30.00 30.00 15.63

2828.55 10535 295.79 1.93 80.00 1497.7 1535.8 1459.6 2571.0 2077.9 64.97 7.00 451 2884.90 47.89 0.23 3.89 1.047 0.074 0.109 1293.84 1330.44 1257.25 2619.56 3473.25 0 0 0 11.24 15.67 15.23

2963.47 1028 295.79 1.93 0.00 1291.1 1326.4 1255.8 2619.6 3473.2 51.45 11.61 478 2969.22 0.00 0.00 3.47 0.000 0.000 0.056 1291.69 1327.00 1256.38 2619.62 2079.44 0 0 0 30.00 30.00 15.56

3148.61 0 295.79 1.93 0.00 1289.8 1326.4 1253.2 2619.5 2079.3 31.53 10.37 515 3149.94 0.00 0.00 0.00 0.000 0.000 0.000 1289.72 1326.00 1253.44 2619.25 2078.88 0 0 0 30.00 30.00 30.00

3328.58 260 295.79 1.93 80.00 1289.6 1326.4 1252.9 2618.9 2079.6 12.76 10.24 551 3334.37 0.00 0.00 3.85 0.000 0.000 0.107 1290.72 1327.62 1253.81 2619.31 3474.12 0 0 0 30.00 30.00 15.57

3348.57 1028 295.79 1.93 0.00 1289.0 1325.4 1252.5 2619.4 3473.2 10.74 10.05 555 3354.32 0.00 0.00 3.42 0.000 0.000 0.055 1289.12 1325.69 1252.56 2618.50 2077.31 0 0 0 30.00 30.00 15.69

3438 end climb: SURFACE_DEPTH_REACHED

state 3438 begin surface coast

3458 end surface coast: CONTROL_FINISHED_OK

state 3458 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	809	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	66.416306	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	197.65825	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	120321,220701,4730.233,-12608.904,18,1.1,19,15.8	TGT_LATLONG	4728.540,-12600.590
_CALLS	1	TGT_RADIUS	7000.000
_SM_DEPTHo	0.13	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-59.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	120321,221240,4730.269,-12608.924,2,0.8,5,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.233	MHEAD_RNG_PITCHd_Wd	91.3,10912,-19.9,-10.000,-23.24
TGT_NAME	IN5	D_GRID	990

SM_CCo	3601.92,0.00,0.017,0,768.3,767.0,769.6,424.79	_10V_AH	14.82,0.000
SM_GC	0.14,0.00,16.42,0.08,0.017,0.072,0.138,768.3,767.0,769.6,177.6,2130.5,0,0,0,30.36,15.59,15.76	FG_AHR_24Vo	197.811
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	66.431
IRIDIUM_FIX	4729.88,-12608.20,120321,210219	MEM	1100040,49,75728,114
TCM_TEMP	193.69	DATA_FILE_SIZE	19435,577
XPDR_PINGS	2,14.0,11.5	CAP_FILE_SIZE	255548,0
SC_FREEKB	3549440	SDSIZE	3918848,3695424
HUMID	57.83	SDFILEDIR	4071,1
TEMP	8.46	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.81142	GPS	120321,231313,4730.514,-12608.503,1,0.8,4,15.8
_24V_AH	13.89,231.275

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	551	2609	19972.14	legato	0	0	0.00
Pitch_motor	36	248	124.89	nil	0	0	0.00
Roll_motor	59	216	180.12	nil	0	0	0.00
Iridium	169	182	431.60	nil	0	0	0.00
Transponder_ping	0	420	2.92	nil	0	0	0.00
GPS	14	15	3.22	nil	0	0	0.00
Core	2058	11	359.90	SciCon	3504	7	370.88
LPSleep	1714	2	71.13	nil	0	0	0.00
Compass	981	5	72.73	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
7.76	16386	-116.79	-1.34	0.00	762.3	766.3	758.4	169.3	2117.5	0.00	0.00	0	87.71	79.35	0.00	0.00	0.005	0.000	0.000	2530.34	2508.31	2552.38	169.06	2117.81	0	0	0	14.67	30.00	30.00
87.98	18727	-116.79	-1.34	80.00	2528.4	2506.5	2550.2	169.1	2117.9	3.13	-3.51	15	120.89	10.86	14.34	3.77	0.007	0.248	0.115	2974.31	2968.81	2979.81	1813.94	3475.06	0	0	0	14.88	15.25	14.72
343.76	1028	-116.79	-1.34	0.00	2974.9	2969.4	2980.3	1814.5	3474.4	52.15	-19.03	66	349.50	0.00	0.00	3.46	0.000	0.000	0.062	2974.81	2969.38	2980.25	1814.50	2083.75	0	0	0	30.00	30.00	15.63
528.89	0	-116.79	-1.34	0.00	2974.8	2969.2	2980.3	1814.4	2083.6	85.01	-17.97	103	530.22	0.00	0.00	0.00	0.000	0.000	0.000	2975.19	2969.69	2980.69	1814.00	2083.88	0	0	0	30.00	30.00	30.00
713.96	260	-116.79	-1.34	80.00	2975.2	2969.8	2980.8	1814.3	2083.8	112.38	-12.42	131	719.65	0.00	0.00	3.84	0.000	0.000	0.111	2977.56	2971.44	2983.69	1813.88	3474.56	0	0	0	30.00	30.00	15.60
828.95	1028	-116.79	-1.34	0.00	2975.1	2969.6	2980.6	1813.8	3473.8	128.74	-14.25	154	833.64	0.00	0.00	3.44	0.000	0.000	0.060	2976.12	2970.50	2981.75	1813.69	2082.62	0	0	0	30.00	30.00	15.69
1139.01	516	-116.79	-1.34	-80.00	2974.8	2969.4	2980.1	1814.4	2082.8	164.75	-11.02	186	1144.68	0.00	0.00	4.09	0.000	0.000	0.155	2973.12	2967.75	2978.50	1814.25	663.88	0	0	0	30.00	30.00	15.48
1234.04	1028	-116.79	-1.34	0.00	2974.8	2969.5	2980.1	1814.2	663.9	177.21	-13.71	205	1238.77	0.00	0.00	3.56	0.000	0.000	0.054	2975.12	2969.69	2980.56	1814.44	2121.94	0	0	0	30.00	30.00	15.76
1263	end dive: TARGET_DEPTH_EXCEEDED
state	1264	begin apogee
1265.26	10243	0.00	-0.25	0.00	2974.9	2969.4	2980.4	1814.6	2082.0	180.85	-11.66	209	1359.42	91.29	1.98	0.08	1.219	0.139	0.217	2496.69	2505.06	2488.31	2079.69	2121.50	0	0	0	11.01	15.62	15.09
1361	end apogee: CONTROL_FINISHED_OK
state	1362	begin climb
1362.13	10759	116.79	1.34	-80.00	2497.5	2506.3	2488.8	2080.4	2121.2	184.78	0.00	218	1470.51	97.90	2.77	4.22	1.179	0.085	0.136	2022.53	2047.62	1997.44	2469.56	662.81	0	0	0	11.88	15.30	14.95
1517.19	11303	172.54	1.51	0.00	2016.8	2042.6	1990.9	2469.6	662.6	178.11	6.77	249	1570.99	47.94	0.23	3.61	1.139	0.067	0.049	1793.69	1828.56	1758.81	2521.56	2125.44	0	0	0	11.66	15.28	15.36
1868.32	16902	172.54	1.51	-80.00	1787.4	1827.1	1747.8	2522.2	2125.9	143.35	9.92	289	1873.98	0.00	0.00	4.09	0.000	0.000	0.133	1786.53	1826.25	1746.81	2521.69	661.88	0	0	0	30.00	30.00	15.47
2043.33	17414	172.54	1.51	0.00	1786.7	1825.2	1748.2	2521.7	662.1	123.70	10.48	324	2048.04	0.00	0.00	3.56	0.000	0.000	0.051	1787.22	1825.75	1748.69	2520.88	2119.25	0	0	0	30.00	30.00	15.69
2353.39	10535	244.08	1.73	80.00	1784.6	1824.9	1744.2	2522.1	2126.6	103.40	5.85	356	2420.57	59.52	0.22	3.73	1.107	0.071	0.111	1503.59	1541.50	1465.69	2570.25	3474.88	0	0	0	11.22	15.72	15.20
2643.44	1092	244.08	1.77	0.00	1498.6	1536.0	1461.2	2570.8	3473.7	79.03	8.36	414	2649.16	0.00	0.00	3.46	0.000	0.000	0.056	1499.97	1537.50	1462.44	2570.88	2077.69	0	0	0	30.00	30.00	15.63
2828.55	10535	295.79	1.93	80.00	1497.7	1535.8	1459.6	2571.0	2077.9	64.97	7.00	451	2884.90	47.89	0.23	3.89	1.047	0.074	0.109	1293.84	1330.44	1257.25	2619.56	3473.25	0	0	0	11.24	15.67	15.23
2963.47	1028	295.79	1.93	0.00	1291.1	1326.4	1255.8	2619.6	3473.2	51.45	11.61	478	2969.22	0.00	0.00	3.47	0.000	0.000	0.056	1291.69	1327.00	1256.38	2619.62	2079.44	0	0	0	30.00	30.00	15.56
3148.61	0	295.79	1.93	0.00	1289.8	1326.4	1253.2	2619.5	2079.3	31.53	10.37	515	3149.94	0.00	0.00	0.00	0.000	0.000	0.000	1289.72	1326.00	1253.44	2619.25	2078.88	0	0	0	30.00	30.00	30.00
3328.58	260	295.79	1.93	80.00	1289.6	1326.4	1252.9	2618.9	2079.6	12.76	10.24	551	3334.37	0.00	0.00	3.85	0.000	0.000	0.107	1290.72	1327.62	1253.81	2619.31	3474.12	0	0	0	30.00	30.00	15.57
3348.57	1028	295.79	1.93	0.00	1289.0	1325.4	1252.5	2619.4	3473.2	10.74	10.05	555	3354.32	0.00	0.00	3.42	0.000	0.000	0.055	1289.12	1325.69	1252.56	2618.50	2077.31	0	0	0	30.00	30.00	15.69
3438	end climb: SURFACE_DEPTH_REACHED
state	3438	begin surface coast
3458	end surface coast: CONTROL_FINISHED_OK
state	3458	begin surface