Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 901 * 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 901 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 69.783134 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 219.21878 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 69.783134 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 219.21878 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 901 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 230321,103427,4707.165,-12459.277,2,0.8,5,15.6 TGT_LATLONG 4708.000,-12454.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.49 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -58.3 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 230321,104015,4707.176,-12459.184,3,0.8,5,15.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.275 MHEAD_RNG_PITCHd_Wd 61.3,6707,-18.7,-11.111,-22.02

TGT_NAME ONSHELF D_GRID 156

Post-dive calculations and measurements:

SM_CCo 3012.22,0.00,2.595,0,565.0,565.3,564.7,474.66 _10V_AH 14.84,0.000

SM_GC -0.64,0.00,16.68,0.10,2.595,0.072,0.134,565.0,565.3,564.7,168.8,2072.2,0,0,0,30.36,15.56,15.70 FG_AHR_24Vo 219.394

SUPER 19,71,254,1,0,0 FG_AHR_10Vo 69.795

IRIDIUM_FIX 4707.10,-12459.52,230321,093625 MEM 1102720,43,74028,71

TCM_TEMP 176.07 DATA_FILE_SIZE 16217,488

XPDR_PINGS 3,14.0,11.5 CAP_FILE_SIZE 239060,0

SC_FREEKB 3514112 SDSIZE 3918848,3670688

HUMID 57.69 SDFILEDIR 4531,1

TEMP 8.78 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.81653 GPS 230321,113057,4707.260,-12458.589,1,1.5,3,15.6

_24V_AH 13.83,254.992

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 653 2595 23465.19 legato 0 0 0.00

Pitch_motor 36 249 126.72 nil 0 0 0.00

Roll_motor 53 198 147.15 nil 0 0 0.00

Iridium 169 181 425.81 nil 0 0 0.00

Transponder_ping 0 420 4.36 nil 0 0 0.00

GPS 13 15 3.12 nil 0 0 0.00

Core 2141 11 374.98 SciCon 2931 7 317.70

LPSleep 1065 2 44.29 nil 0 0 0.00

Compass 1124 5 83.47 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

7.44 16386 -155.72 -1.40 0.00 558.2 564.2 552.2 168.9 2117.3 0.00 0.00 0 98.34 90.36 0.00 0.00 0.005 0.000 0.000 2640.31 2617.31 2663.31 168.75 2119.31 0 0 0 14.60 30.00 30.00

98.63 18983 -155.72 -1.40 -80.00 2639.6 2616.8 2662.3 169.0 2119.1 3.03 -6.86 17 134.92 10.90 14.27 4.20 0.007 0.249 0.148 3134.56 3126.50 3142.62 1799.00 661.62 0 0 0 14.84 15.18 14.70

268.61 1028 -155.72 -1.40 0.00 3134.1 3125.4 3142.8 1800.1 661.8 41.94 -21.35 51 274.35 0.00 0.00 3.62 0.000 0.000 0.053 3134.59 3125.50 3143.69 1799.56 2120.31 0 0 0 30.00 30.00 15.66

453.24 260 -155.72 -1.40 80.00 3134.2 3125.5 3142.9 1799.9 2120.4 75.49 -17.66 88 459.44 0.00 0.00 3.76 0.000 0.000 0.110 3133.81 3125.56 3142.06 1800.44 3473.19 0 0 0 30.00 30.00 15.53

683.72 1028 -155.72 -1.40 0.00 3134.2 3125.6 3142.9 1800.3 3474.5 111.53 -13.31 134 688.91 0.00 0.00 3.42 0.000 0.000 0.057 3132.94 3124.50 3141.38 1800.12 2082.56 0 0 0 30.00 30.00 15.67

988.35 0 -155.72 -1.40 0.00 3134.2 3126.1 3142.2 1799.8 2082.2 149.05 -12.46 165 989.67 0.00 0.00 0.00 0.000 0.000 0.000 3134.66 3126.56 3142.75 1800.12 2082.31 0 0 0 30.00 30.00 30.00

1048 end dive: TARGET_DEPTH_EXCEEDED

state 1048 begin apogee

1049.51 10243 0.00 -0.25 0.00 3133.9 3125.1 3142.6 1800.0 2124.3 156.44 -12.04 171 1174.26 121.52 2.10 0.09 1.200 0.141 0.199 2497.47 2506.62 2488.31 2079.94 2083.50 0 0 0 10.85 15.57 14.98

1177 end apogee: CONTROL_FINISHED_OK

state 1177 begin climb

1177.00 10759 155.72 1.40 -80.00 2497.4 2507.1 2487.8 2080.2 2083.9 161.03 0.00 183 1316.69 128.57 2.88 4.18 1.150 0.085 0.134 1863.25 1892.69 1833.81 2483.00 664.00 0 0 0 11.76 15.24 14.90

1370.44 1028 155.72 1.40 0.00 1858.0 1887.1 1828.8 2483.1 663.9 148.62 11.18 221 1375.66 0.00 0.00 3.63 0.000 0.000 0.046 1857.06 1886.19 1827.94 2484.19 2125.12 0 0 0 30.00 30.00 15.40

1675.08 10791 217.08 1.59 -80.00 1853.6 1887.1 1820.1 2483.8 2125.2 121.52 8.15 252 1731.95 51.05 0.25 4.18 1.099 0.073 0.132 1612.50 1645.12 1579.88 2536.69 661.62 0 0 0 11.22 15.62 15.15

1834.10 1028 217.08 1.59 0.00 1610.1 1641.1 1579.1 2536.1 661.9 104.59 12.40 284 1840.95 0.00 0.00 3.61 0.000 0.000 0.048 1609.91 1641.56 1578.25 2536.75 2126.62 0 0 0 30.00 30.00 15.56

2140.31 10791 303.36 1.85 -80.00 1606.4 1640.7 1572.1 2536.7 2127.1 77.55 6.94 340 2238.45 88.18 0.31 4.20 1.049 0.062 0.131 1263.09 1297.25 1228.94 2599.12 662.94 0 0 0 11.09 15.66 15.08

2267.14 1092 303.36 1.88 0.00 1261.7 1295.0 1228.3 2600.8 662.9 66.89 10.07 365 2272.86 0.00 0.00 3.62 0.000 0.000 0.047 1261.53 1295.06 1228.00 2600.44 2127.19 0 0 0 30.00 30.00 15.44

2451.78 10535 361.91 2.05 80.00 1258.7 1294.6 1222.8 2600.1 2127.6 50.92 8.28 402 2518.91 60.93 0.24 3.83 1.009 0.066 0.110 1024.25 1057.69 990.81 2649.19 3474.00 0 0 0 11.25 15.60 15.12

2597.17 1028 361.91 2.05 0.00 1022.9 1056.5 989.2 2650.4 3473.2 33.96 12.90 431 2602.90 0.00 0.00 3.48 0.000 0.000 0.054 1022.91 1056.50 989.31 2650.81 2077.94 0 0 0 30.00 30.00 15.52

2782.29 516 361.91 2.05 -80.00 1021.2 1056.6 985.8 2650.6 2078.0 12.42 11.00 468 2788.04 0.00 0.00 3.96 0.000 0.000 0.135 1021.38 1056.81 985.94 2650.50 663.12 0 0 0 30.00 30.00 15.43

2812.68 1028 361.91 2.05 0.00 1021.2 1056.6 985.9 2650.2 662.9 8.49 13.15 474 2817.97 0.00 0.00 3.53 0.000 0.000 0.046 1021.41 1056.75 986.06 2650.69 2129.81 0 0 0 30.00 30.00 15.66

2867 end climb: SURFACE_DEPTH_REACHED

state 2867 begin surface coast

2882 end surface coast: CONTROL_FINISHED_OK

state 2882 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	901	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	69.783134	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	219.21878	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	230321,103427,4707.165,-12459.277,2,0.8,5,15.6	TGT_LATLONG	4708.000,-12454.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.49	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-58.3	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	230321,104015,4707.176,-12459.184,3,0.8,5,15.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.275	MHEAD_RNG_PITCHd_Wd	61.3,6707,-18.7,-11.111,-22.02
TGT_NAME	ONSHELF	D_GRID	156

SM_CCo	3012.22,0.00,2.595,0,565.0,565.3,564.7,474.66	_10V_AH	14.84,0.000
SM_GC	-0.64,0.00,16.68,0.10,2.595,0.072,0.134,565.0,565.3,564.7,168.8,2072.2,0,0,0,30.36,15.56,15.70	FG_AHR_24Vo	219.394
SUPER	19,71,254,1,0,0	FG_AHR_10Vo	69.795
IRIDIUM_FIX	4707.10,-12459.52,230321,093625	MEM	1102720,43,74028,71
TCM_TEMP	176.07	DATA_FILE_SIZE	16217,488
XPDR_PINGS	3,14.0,11.5	CAP_FILE_SIZE	239060,0
SC_FREEKB	3514112	SDSIZE	3918848,3670688
HUMID	57.69	SDFILEDIR	4531,1
TEMP	8.78	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.81653	GPS	230321,113057,4707.260,-12458.589,1,1.5,3,15.6
_24V_AH	13.83,254.992

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	653	2595	23465.19	legato	0	0	0.00
Pitch_motor	36	249	126.72	nil	0	0	0.00
Roll_motor	53	198	147.15	nil	0	0	0.00
Iridium	169	181	425.81	nil	0	0	0.00
Transponder_ping	0	420	4.36	nil	0	0	0.00
GPS	13	15	3.12	nil	0	0	0.00
Core	2141	11	374.98	SciCon	2931	7	317.70
LPSleep	1065	2	44.29	nil	0	0	0.00
Compass	1124	5	83.47	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
7.44	16386	-155.72	-1.40	0.00	558.2	564.2	552.2	168.9	2117.3	0.00	0.00	0	98.34	90.36	0.00	0.00	0.005	0.000	0.000	2640.31	2617.31	2663.31	168.75	2119.31	0	0	0	14.60	30.00	30.00
98.63	18983	-155.72	-1.40	-80.00	2639.6	2616.8	2662.3	169.0	2119.1	3.03	-6.86	17	134.92	10.90	14.27	4.20	0.007	0.249	0.148	3134.56	3126.50	3142.62	1799.00	661.62	0	0	0	14.84	15.18	14.70
268.61	1028	-155.72	-1.40	0.00	3134.1	3125.4	3142.8	1800.1	661.8	41.94	-21.35	51	274.35	0.00	0.00	3.62	0.000	0.000	0.053	3134.59	3125.50	3143.69	1799.56	2120.31	0	0	0	30.00	30.00	15.66
453.24	260	-155.72	-1.40	80.00	3134.2	3125.5	3142.9	1799.9	2120.4	75.49	-17.66	88	459.44	0.00	0.00	3.76	0.000	0.000	0.110	3133.81	3125.56	3142.06	1800.44	3473.19	0	0	0	30.00	30.00	15.53
683.72	1028	-155.72	-1.40	0.00	3134.2	3125.6	3142.9	1800.3	3474.5	111.53	-13.31	134	688.91	0.00	0.00	3.42	0.000	0.000	0.057	3132.94	3124.50	3141.38	1800.12	2082.56	0	0	0	30.00	30.00	15.67
988.35	0	-155.72	-1.40	0.00	3134.2	3126.1	3142.2	1799.8	2082.2	149.05	-12.46	165	989.67	0.00	0.00	0.00	0.000	0.000	0.000	3134.66	3126.56	3142.75	1800.12	2082.31	0	0	0	30.00	30.00	30.00
1048	end dive: TARGET_DEPTH_EXCEEDED
state	1048	begin apogee
1049.51	10243	0.00	-0.25	0.00	3133.9	3125.1	3142.6	1800.0	2124.3	156.44	-12.04	171	1174.26	121.52	2.10	0.09	1.200	0.141	0.199	2497.47	2506.62	2488.31	2079.94	2083.50	0	0	0	10.85	15.57	14.98
1177	end apogee: CONTROL_FINISHED_OK
state	1177	begin climb
1177.00	10759	155.72	1.40	-80.00	2497.4	2507.1	2487.8	2080.2	2083.9	161.03	0.00	183	1316.69	128.57	2.88	4.18	1.150	0.085	0.134	1863.25	1892.69	1833.81	2483.00	664.00	0	0	0	11.76	15.24	14.90
1370.44	1028	155.72	1.40	0.00	1858.0	1887.1	1828.8	2483.1	663.9	148.62	11.18	221	1375.66	0.00	0.00	3.63	0.000	0.000	0.046	1857.06	1886.19	1827.94	2484.19	2125.12	0	0	0	30.00	30.00	15.40
1675.08	10791	217.08	1.59	-80.00	1853.6	1887.1	1820.1	2483.8	2125.2	121.52	8.15	252	1731.95	51.05	0.25	4.18	1.099	0.073	0.132	1612.50	1645.12	1579.88	2536.69	661.62	0	0	0	11.22	15.62	15.15
1834.10	1028	217.08	1.59	0.00	1610.1	1641.1	1579.1	2536.1	661.9	104.59	12.40	284	1840.95	0.00	0.00	3.61	0.000	0.000	0.048	1609.91	1641.56	1578.25	2536.75	2126.62	0	0	0	30.00	30.00	15.56
2140.31	10791	303.36	1.85	-80.00	1606.4	1640.7	1572.1	2536.7	2127.1	77.55	6.94	340	2238.45	88.18	0.31	4.20	1.049	0.062	0.131	1263.09	1297.25	1228.94	2599.12	662.94	0	0	0	11.09	15.66	15.08
2267.14	1092	303.36	1.88	0.00	1261.7	1295.0	1228.3	2600.8	662.9	66.89	10.07	365	2272.86	0.00	0.00	3.62	0.000	0.000	0.047	1261.53	1295.06	1228.00	2600.44	2127.19	0	0	0	30.00	30.00	15.44
2451.78	10535	361.91	2.05	80.00	1258.7	1294.6	1222.8	2600.1	2127.6	50.92	8.28	402	2518.91	60.93	0.24	3.83	1.009	0.066	0.110	1024.25	1057.69	990.81	2649.19	3474.00	0	0	0	11.25	15.60	15.12
2597.17	1028	361.91	2.05	0.00	1022.9	1056.5	989.2	2650.4	3473.2	33.96	12.90	431	2602.90	0.00	0.00	3.48	0.000	0.000	0.054	1022.91	1056.50	989.31	2650.81	2077.94	0	0	0	30.00	30.00	15.52
2782.29	516	361.91	2.05	-80.00	1021.2	1056.6	985.8	2650.6	2078.0	12.42	11.00	468	2788.04	0.00	0.00	3.96	0.000	0.000	0.135	1021.38	1056.81	985.94	2650.50	663.12	0	0	0	30.00	30.00	15.43
2812.68	1028	361.91	2.05	0.00	1021.2	1056.6	985.9	2650.2	662.9	8.49	13.15	474	2817.97	0.00	0.00	3.53	0.000	0.000	0.046	1021.41	1056.75	986.06	2650.69	2129.81	0	0	0	30.00	30.00	15.66
2867	end climb: SURFACE_DEPTH_REACHED
state	2867	begin surface coast
2882	end surface coast: CONTROL_FINISHED_OK
state	2882	begin surface