Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 900 * 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 900 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 475 VBD_MIN 500 INT_PRESSURE_YINT 0

D_TGT 500 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 150 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 195 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 69.768829 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 219.03151 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 160 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 450 SC_NDIVE 1.0

HD_B 0.0099900002 ROLL_DEG 80 ALTIM_PING_DELTA 20

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 500 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 20 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 475

ALTIM_PING_DEPTH 450 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 69.768829 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 219.03151 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 150

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 195

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 160 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 900 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 230321,092948,4707.100,-12500.177,3,1.4,9,15.6 TGT_LATLONG 4708.000,-12454.000

_CALLS 3 TGT_RADIUS 3000.000

_SM_DEPTHo -1.55 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -64.5 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 230321,094000,4707.117,-12500.061,3,1.2,33,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.275 MHEAD_RNG_PITCHd_Wd 62.4,7809,-18.7,-11.111,-22.02

TGT_NAME ONSHELF D_GRID 169

Post-dive calculations and measurements:

SM_CCo 3236.34,0.00,0.016,0,563.5,564.4,562.6,475.02 _10V_AH 14.82,0.000

SM_GC -0.66,0.00,16.98,0.10,0.016,0.076,0.132,563.5,564.4,562.6,169.1,2077.2,0,0,0,30.36,15.49,15.63 FG_AHR_24Vo 219.210

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 69.782

IRIDIUM_FIX 4707.10,-12459.52,230321,093451 MEM 1102816,40,73992,71

TCM_TEMP 176.11 DATA_FILE_SIZE 19373,501

XPDR_PINGS 3,14.0,11.5 CAP_FILE_SIZE 243368,0

SC_FREEKB 3514496 SDSIZE 3918848,3670912

HUMID 57.56 SDFILEDIR 4526,1

TEMP 8.69 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.8084 GPS 230321,103427,4707.165,-12459.277,2,0.8,5,15.6

_24V_AH 14.40,254.797

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 659 1222 11609.44 legato 0 0 0.00

Pitch_motor 37 255 136.95 nil 0 0 0.00

Roll_motor 52 195 148.98 nil 0 0 0.00

Iridium 269 202 783.23 nil 0 0 0.00

Transponder_ping 0 420 4.54 nil 0 0 0.00

GPS 42 15 9.37 nil 0 0 0.00

Core 2339 11 409.16 SciCon 3160 7 342.62

LPSleep 1346 2 55.86 nil 0 0 0.00

Compass 1176 5 87.21 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

7.38 16386 -155.72 -1.40 0.00 559.9 564.6 555.1 168.9 2078.9 0.00 0.00 0 103.40 95.55 0.00 0.00 0.005 0.000 0.000 2763.88 2743.50 2784.25 169.25 2078.81 0 0 0 14.51 30.00 30.00

103.63 18951 -155.72 -1.40 -80.00 2762.7 2742.6 2782.8 168.8 2079.4 3.90 -13.67 18 135.89 7.67 14.47 4.09 0.007 0.256 0.151 3133.69 3124.25 3143.12 1799.88 662.94 0 0 0 14.86 15.14 14.65

229.13 1028 -155.72 -1.40 0.00 3133.1 3123.8 3142.5 1799.7 662.8 34.83 -21.16 43 234.89 0.00 0.00 3.63 0.000 0.000 0.054 3134.28 3124.56 3144.00 1799.50 2119.00 0 0 0 30.00 30.00 15.60

414.20 260 -155.72 -1.40 80.00 3134.1 3124.7 3143.4 1800.2 2118.7 69.10 -16.20 80 420.46 0.00 0.00 3.79 0.000 0.000 0.110 3136.03 3125.81 3146.25 1799.94 3475.06 0 0 0 30.00 30.00 15.47

644.67 1028 -155.72 -1.40 0.00 3133.6 3123.6 3143.6 1799.8 3475.6 108.38 -14.62 126 649.88 0.00 0.00 3.45 0.000 0.000 0.057 3131.75 3121.62 3141.88 1799.12 2081.25 0 0 0 30.00 30.00 15.63

949.30 260 -155.72 -1.40 80.00 3134.1 3124.1 3144.1 1800.3 2081.2 146.93 -12.46 157 954.98 0.00 0.00 3.88 0.000 0.000 0.108 3133.62 3124.00 3143.25 1798.75 3474.25 0 0 0 30.00 30.00 15.50

988.20 1028 -155.72 -1.40 0.00 3133.9 3124.1 3143.6 1799.6 3473.9 152.48 -14.52 165 995.04 0.00 0.00 3.44 0.000 0.000 0.056 3134.44 3124.62 3144.25 1800.12 2081.06 0 0 0 30.00 30.00 15.63

1124 end dive: TARGET_DEPTH_EXCEEDED

state 1124 begin apogee

1125.50 10243 0.00 -0.25 0.00 3134.1 3124.2 3144.0 1799.9 2123.4 170.20 -13.29 179 1251.28 122.43 2.12 0.09 1.222 0.143 0.196 2499.44 2508.94 2489.94 2080.44 2084.19 0 0 0 10.79 15.52 14.97

1254 end apogee: CONTROL_FINISHED_OK

state 1254 begin climb

1254.03 10759 155.72 1.40 -80.00 2497.8 2507.8 2487.8 2080.1 2083.6 174.79 0.00 191 1393.71 129.41 2.79 4.14 1.176 0.086 0.134 1862.31 1891.38 1833.25 2483.88 662.81 0 0 0 11.67 15.22 14.87

1417.47 11303 202.81 1.54 0.00 1859.6 1887.9 1831.3 2484.4 663.0 166.80 8.84 223 1463.57 40.47 0.19 3.63 1.118 0.077 0.046 1671.59 1704.00 1639.19 2526.44 2126.00 0 0 0 11.51 15.21 15.29

1762.06 0 202.81 1.54 0.00 1665.5 1702.0 1629.1 2527.1 2125.9 128.59 11.06 262 1763.39 0.00 0.00 0.00 0.000 0.000 0.000 1665.56 1702.19 1628.94 2527.25 2126.25 0 0 0 30.00 30.00 30.00

2062.14 16966 202.81 1.57 -80.00 1664.4 1701.0 1627.9 2527.7 2126.2 100.95 10.20 292 2067.84 0.00 0.00 4.09 0.000 0.000 0.132 1665.12 1702.25 1628.00 2527.44 661.88 0 0 0 30.00 30.00 15.45

2292.61 11303 303.37 1.87 0.00 1663.2 1698.9 1627.4 2527.3 661.9 80.22 6.25 338 2400.07 101.26 0.42 3.55 1.070 0.055 0.048 1263.12 1296.56 1229.69 2606.44 2129.62 0 0 0 10.87 15.54 15.74

2578.44 324 303.37 1.90 80.00 1258.3 1295.4 1221.2 2606.4 2129.8 57.15 10.10 395 2584.12 0.00 0.00 3.78 0.000 0.000 0.108 1258.19 1295.12 1221.25 2606.06 3473.56 0 0 0 30.00 30.00 15.43

2673.40 1028 303.37 1.90 0.00 1256.4 1293.3 1219.4 2606.2 3473.9 46.46 11.47 414 2679.12 0.00 0.00 3.45 0.000 0.000 0.053 1257.12 1294.06 1220.19 2606.31 2078.31 0 0 0 30.00 30.00 15.61

2858.47 10791 365.00 2.09 -80.00 1256.3 1293.5 1219.1 2607.0 2078.3 29.98 8.13 451 2930.70 63.02 0.26 4.01 1.014 0.075 0.134 1012.09 1045.62 978.56 2655.62 662.12 0 0 0 11.03 15.66 15.12

2964.38 1028 365.00 2.09 0.00 1010.8 1044.4 977.2 2656.9 661.9 18.09 13.00 472 2969.68 0.00 0.00 3.58 0.000 0.000 0.047 1010.94 1044.50 977.38 2654.81 2125.38 0 0 0 30.00 30.00 15.48

3094 end climb: SURFACE_DEPTH_REACHED

state 3094 begin surface coast

3109 end surface coast: CONTROL_FINISHED_OK

state 3109 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	900	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	475	VBD_MIN	500	INT_PRESSURE_YINT	0
D_TGT	500	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	150	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	195	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	69.768829	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	219.03151	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	160	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	450	SC_NDIVE	1.0
HD_B	0.0099900002	ROLL_DEG	80	ALTIM_PING_DELTA	20
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	3

GPS1	230321,092948,4707.100,-12500.177,3,1.4,9,15.6	TGT_LATLONG	4708.000,-12454.000
_CALLS	3	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.55	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-64.5	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	230321,094000,4707.117,-12500.061,3,1.2,33,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.275	MHEAD_RNG_PITCHd_Wd	62.4,7809,-18.7,-11.111,-22.02
TGT_NAME	ONSHELF	D_GRID	169

SM_CCo	3236.34,0.00,0.016,0,563.5,564.4,562.6,475.02	_10V_AH	14.82,0.000
SM_GC	-0.66,0.00,16.98,0.10,0.016,0.076,0.132,563.5,564.4,562.6,169.1,2077.2,0,0,0,30.36,15.49,15.63	FG_AHR_24Vo	219.210
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	69.782
IRIDIUM_FIX	4707.10,-12459.52,230321,093451	MEM	1102816,40,73992,71
TCM_TEMP	176.11	DATA_FILE_SIZE	19373,501
XPDR_PINGS	3,14.0,11.5	CAP_FILE_SIZE	243368,0
SC_FREEKB	3514496	SDSIZE	3918848,3670912
HUMID	57.56	SDFILEDIR	4526,1
TEMP	8.69	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.8084	GPS	230321,103427,4707.165,-12459.277,2,0.8,5,15.6
_24V_AH	14.40,254.797

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	659	1222	11609.44	legato	0	0	0.00
Pitch_motor	37	255	136.95	nil	0	0	0.00
Roll_motor	52	195	148.98	nil	0	0	0.00
Iridium	269	202	783.23	nil	0	0	0.00
Transponder_ping	0	420	4.54	nil	0	0	0.00
GPS	42	15	9.37	nil	0	0	0.00
Core	2339	11	409.16	SciCon	3160	7	342.62
LPSleep	1346	2	55.86	nil	0	0	0.00
Compass	1176	5	87.21	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
7.38	16386	-155.72	-1.40	0.00	559.9	564.6	555.1	168.9	2078.9	0.00	0.00	0	103.40	95.55	0.00	0.00	0.005	0.000	0.000	2763.88	2743.50	2784.25	169.25	2078.81	0	0	0	14.51	30.00	30.00
103.63	18951	-155.72	-1.40	-80.00	2762.7	2742.6	2782.8	168.8	2079.4	3.90	-13.67	18	135.89	7.67	14.47	4.09	0.007	0.256	0.151	3133.69	3124.25	3143.12	1799.88	662.94	0	0	0	14.86	15.14	14.65
229.13	1028	-155.72	-1.40	0.00	3133.1	3123.8	3142.5	1799.7	662.8	34.83	-21.16	43	234.89	0.00	0.00	3.63	0.000	0.000	0.054	3134.28	3124.56	3144.00	1799.50	2119.00	0	0	0	30.00	30.00	15.60
414.20	260	-155.72	-1.40	80.00	3134.1	3124.7	3143.4	1800.2	2118.7	69.10	-16.20	80	420.46	0.00	0.00	3.79	0.000	0.000	0.110	3136.03	3125.81	3146.25	1799.94	3475.06	0	0	0	30.00	30.00	15.47
644.67	1028	-155.72	-1.40	0.00	3133.6	3123.6	3143.6	1799.8	3475.6	108.38	-14.62	126	649.88	0.00	0.00	3.45	0.000	0.000	0.057	3131.75	3121.62	3141.88	1799.12	2081.25	0	0	0	30.00	30.00	15.63
949.30	260	-155.72	-1.40	80.00	3134.1	3124.1	3144.1	1800.3	2081.2	146.93	-12.46	157	954.98	0.00	0.00	3.88	0.000	0.000	0.108	3133.62	3124.00	3143.25	1798.75	3474.25	0	0	0	30.00	30.00	15.50
988.20	1028	-155.72	-1.40	0.00	3133.9	3124.1	3143.6	1799.6	3473.9	152.48	-14.52	165	995.04	0.00	0.00	3.44	0.000	0.000	0.056	3134.44	3124.62	3144.25	1800.12	2081.06	0	0	0	30.00	30.00	15.63
1124	end dive: TARGET_DEPTH_EXCEEDED
state	1124	begin apogee
1125.50	10243	0.00	-0.25	0.00	3134.1	3124.2	3144.0	1799.9	2123.4	170.20	-13.29	179	1251.28	122.43	2.12	0.09	1.222	0.143	0.196	2499.44	2508.94	2489.94	2080.44	2084.19	0	0	0	10.79	15.52	14.97
1254	end apogee: CONTROL_FINISHED_OK
state	1254	begin climb
1254.03	10759	155.72	1.40	-80.00	2497.8	2507.8	2487.8	2080.1	2083.6	174.79	0.00	191	1393.71	129.41	2.79	4.14	1.176	0.086	0.134	1862.31	1891.38	1833.25	2483.88	662.81	0	0	0	11.67	15.22	14.87
1417.47	11303	202.81	1.54	0.00	1859.6	1887.9	1831.3	2484.4	663.0	166.80	8.84	223	1463.57	40.47	0.19	3.63	1.118	0.077	0.046	1671.59	1704.00	1639.19	2526.44	2126.00	0	0	0	11.51	15.21	15.29
1762.06	0	202.81	1.54	0.00	1665.5	1702.0	1629.1	2527.1	2125.9	128.59	11.06	262	1763.39	0.00	0.00	0.00	0.000	0.000	0.000	1665.56	1702.19	1628.94	2527.25	2126.25	0	0	0	30.00	30.00	30.00
2062.14	16966	202.81	1.57	-80.00	1664.4	1701.0	1627.9	2527.7	2126.2	100.95	10.20	292	2067.84	0.00	0.00	4.09	0.000	0.000	0.132	1665.12	1702.25	1628.00	2527.44	661.88	0	0	0	30.00	30.00	15.45
2292.61	11303	303.37	1.87	0.00	1663.2	1698.9	1627.4	2527.3	661.9	80.22	6.25	338	2400.07	101.26	0.42	3.55	1.070	0.055	0.048	1263.12	1296.56	1229.69	2606.44	2129.62	0	0	0	10.87	15.54	15.74
2578.44	324	303.37	1.90	80.00	1258.3	1295.4	1221.2	2606.4	2129.8	57.15	10.10	395	2584.12	0.00	0.00	3.78	0.000	0.000	0.108	1258.19	1295.12	1221.25	2606.06	3473.56	0	0	0	30.00	30.00	15.43
2673.40	1028	303.37	1.90	0.00	1256.4	1293.3	1219.4	2606.2	3473.9	46.46	11.47	414	2679.12	0.00	0.00	3.45	0.000	0.000	0.053	1257.12	1294.06	1220.19	2606.31	2078.31	0	0	0	30.00	30.00	15.61
2858.47	10791	365.00	2.09	-80.00	1256.3	1293.5	1219.1	2607.0	2078.3	29.98	8.13	451	2930.70	63.02	0.26	4.01	1.014	0.075	0.134	1012.09	1045.62	978.56	2655.62	662.12	0	0	0	11.03	15.66	15.12
2964.38	1028	365.00	2.09	0.00	1010.8	1044.4	977.2	2656.9	661.9	18.09	13.00	472	2969.68	0.00	0.00	3.58	0.000	0.000	0.047	1010.94	1044.50	977.38	2654.81	2125.38	0	0	0	30.00	30.00	15.48
3094	end climb: SURFACE_DEPTH_REACHED
state	3094	begin surface coast
3109	end surface coast: CONTROL_FINISHED_OK
state	3109	begin surface