Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 907 * 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 907 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 69.852486 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 220.28445 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 10 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 80 SC_NDIVE 1.0

HD_B 0.0099900002 ROLL_DEG 80 ALTIM_PING_DELTA 10

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 10 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 10 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 475

ALTIM_PING_DEPTH 80 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 69.852486 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 220.28445 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 907 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 230321,152822,4706.992,-12455.773,1,1.2,3,15.5 TGT_LATLONG 4708.000,-12454.000

_CALLS 1 TGT_RADIUS 3000.000

_SM_DEPTHo -1.44 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -61.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 230321,153333,4706.971,-12455.683,2,1.2,4,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.192,0.275 MHEAD_RNG_PITCHd_Wd 32.5,2850,-18.7,-11.111,-22.02

TGT_NAME ONSHELF D_GRID 137

Post-dive calculations and measurements:

SM_CCo 1757.74,0.25,0.148,0,564.8,565.4,564.2,474.70 _24V_AH 13.83,256.099

SM_GC -0.59,0.25,16.25,0.10,0.148,0.071,0.133,564.8,565.4,564.2,167.8,2072.1,0,0,0,15.23,15.62,15.72 _10V_AH 14.83,0.000

SUPER 27,71,254,1,0,0 FG_AHR_24Vo 220.446

IRIDIUM_FIX 4707.61,-12452.52,230321,145650 FG_AHR_10Vo 69.860

TCM_TEMP 176.49 MEM 1102764,41,74024,71

XPDR_PINGS 4,14.0,11.5 DATA_FILE_SIZE 9787,313

ALTIM_BOTTOM_PING 80.7,6.2 CAP_FILE_SIZE 213051,0

SC_FREEKB 3511808 SDSIZE 3918848,3669440

HUMID 57.96 SDFILEDIR 4561,1

TEMP 9.26 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.8359 GPS 230321,160339,4706.976,-12455.357,21,1.7,22,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 648 2588 23227.66 legato 0 0 0.00

Pitch_motor 36 250 125.31 nil 0 0 0.00

Roll_motor 68 188 176.88 nil 0 0 0.00

Iridium 139 171 331.68 nil 0 0 0.00

Transponder_ping 1 420 8.71 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 1573 11 275.30 SciCon 1647 7 178.42

LPSleep 321 2 13.36 nil 0 0 0.00

Compass 775 5 57.50 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.89

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

7.37 16386 -155.72 -1.40 0.00 561.4 568.2 554.6 167.8 2116.8 0.00 0.00 0 98.26 90.35 0.00 0.00 0.005 0.000 0.000 2660.31 2640.38 2680.25 167.62 2117.12 0 0 0 14.71 30.00 30.00

98.56 18983 -155.72 -1.40 -80.00 2659.7 2639.8 2679.6 167.9 2116.4 3.05 -6.66 17 135.44 10.45 14.15 4.22 0.007 0.251 0.146 3135.16 3126.56 3143.75 1800.19 662.94 0 0 0 14.81 15.30 14.72

269.15 1028 -155.72 -1.40 0.00 3134.3 3125.8 3142.9 1799.9 662.9 40.94 -21.65 51 274.88 0.00 0.00 3.60 0.000 0.000 0.053 3136.38 3127.31 3145.44 1799.75 2118.88 0 0 0 30.00 30.00 15.70

333.75 260 -155.72 -1.40 80.00 3133.9 3125.1 3142.6 1799.7 2118.6 53.82 -19.37 64 339.50 0.00 0.00 3.72 0.000 0.000 0.108 3134.34 3126.06 3142.62 1800.31 3474.25 0 0 0 30.00 30.00 15.59

368.74 1028 -155.72 -1.40 0.00 3134.1 3125.8 3142.4 1800.2 3475.3 60.74 -20.33 71 374.46 0.00 0.00 3.42 0.000 0.000 0.056 3134.59 3126.31 3142.88 1800.25 2083.50 0 0 0 30.00 30.00 15.69

433.78 516 -155.72 -1.40 -80.00 3133.8 3125.2 3142.5 1799.9 2083.8 72.65 -17.28 84 440.02 0.00 0.00 4.05 0.000 0.000 0.147 3136.03 3126.94 3145.12 1799.69 663.00 0 0 0 30.00 30.00 15.49

487 end dive: BOTTOM_OBSTACLE_DETECTED

state 487 begin apogee

491.38 10243 0.00 -0.25 0.00 3134.2 3125.9 3142.4 1799.9 2122.2 80.70 -16.18 94 622.77 126.59 2.13 0.09 1.072 0.154 0.188 2498.00 2507.94 2488.06 2080.12 2080.62 0 0 0 11.12 15.56 15.03

627 end apogee: CONTROL_FINISHED_OK

state 627 begin climb

626.63 10243 155.72 1.40 0.00 2496.3 2506.2 2486.5 2079.9 2080.6 87.49 0.00 120 763.29 130.79 2.87 0.00 1.041 0.089 0.000 1866.09 1897.50 1834.69 2483.06 2081.12 0 0 0 11.69 15.28 30.00

821.55 10791 277.71 1.77 -80.00 1857.8 1891.2 1824.4 2483.3 2080.9 82.49 5.22 158 940.11 108.43 0.54 4.11 1.015 0.047 0.131 1367.34 1402.69 1332.00 2585.56 661.75 0 0 0 11.54 15.42 15.01

1108.81 1028 277.71 1.77 0.00 1363.1 1396.6 1329.6 2585.3 661.7 52.83 10.77 215 1114.53 0.00 0.00 3.59 0.000 0.000 0.047 1362.53 1396.50 1328.56 2585.44 2127.00 0 0 0 30.00 30.00 15.60

1173.41 8486 326.85 1.92 80.00 1361.1 1396.6 1325.5 2585.5 2126.6 47.04 8.74 228 1230.17 49.91 0.00 3.76 0.964 0.000 0.108 1166.88 1203.62 1130.12 2585.88 3473.56 0 0 0 11.43 30.00 15.17

1233.41 3141 326.85 1.97 0.00 1166.4 1202.8 1130.0 2585.3 3473.2 41.39 9.39 240 1239.17 0.00 0.20 3.46 0.000 0.078 0.049 1166.56 1203.06 1130.06 2629.56 2078.12 0 0 0 30.00 15.37 15.46

1298.48 580 326.85 1.99 -80.00 1165.5 1202.8 1128.1 2629.6 2078.2 34.73 10.30 253 1304.21 0.00 0.00 4.00 0.000 0.000 0.131 1165.47 1202.88 1128.06 2628.88 662.81 0 0 0 30.00 30.00 15.43

1318.91 1028 326.85 1.99 0.00 1165.7 1203.1 1128.2 2629.1 663.3 32.22 11.93 257 1324.15 0.00 0.00 3.54 0.000 0.000 0.043 1166.16 1203.31 1129.00 2629.81 2126.88 0 0 0 30.00 30.00 15.57

1383.44 516 326.85 1.99 -80.00 1165.1 1202.9 1127.4 2630.2 2127.7 24.62 11.62 270 1389.27 0.00 0.00 4.11 0.000 0.000 0.127 1165.66 1203.25 1128.06 2629.94 663.06 0 0 0 30.00 30.00 15.48

1413.87 1028 326.85 1.99 0.00 1165.1 1202.6 1127.6 2630.2 662.9 20.85 12.57 276 1419.16 0.00 0.00 3.51 0.000 0.000 0.044 1165.75 1203.25 1128.25 2630.50 2127.25 0 0 0 30.00 30.00 15.63

1478.46 516 326.85 1.99 -80.00 1164.9 1202.9 1126.9 2629.9 2128.0 13.27 10.89 289 1484.26 0.00 0.00 4.06 0.000 0.000 0.128 1165.31 1203.12 1127.50 2629.75 661.94 0 0 0 30.00 30.00 15.51

1493.90 1028 326.85 1.99 0.00 1165.0 1202.8 1127.2 2630.0 661.8 11.65 10.94 292 1499.18 0.00 0.00 3.52 0.000 0.000 0.043 1165.16 1203.19 1127.12 2629.06 2127.50 0 0 0 30.00 30.00 15.67

1558.50 580 326.85 2.01 -80.00 1164.3 1202.9 1125.8 2630.0 2127.5 4.65 10.38 305 1564.28 0.00 0.00 4.05 0.000 0.000 0.126 1164.69 1203.06 1126.31 2630.31 661.75 0 0 0 30.00 30.00 15.53

1568.93 1092 326.85 2.03 0.00 1164.4 1202.7 1126.1 2630.1 662.0 3.67 10.39 307 1574.17 0.00 0.00 3.48 0.000 0.000 0.043 1165.28 1203.56 1127.00 2629.88 2128.31 0 0 0 30.00 30.00 15.68

1583 end climb: SURFACE_DEPTH_REACHED

state 1584 begin surface coast

1599 end surface coast: CONTROL_FINISHED_OK

state 1599 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	907	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	69.852486	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	220.28445	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	10	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	80	SC_NDIVE	1.0
HD_B	0.0099900002	ROLL_DEG	80	ALTIM_PING_DELTA	10
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	3

GPS1	230321,152822,4706.992,-12455.773,1,1.2,3,15.5	TGT_LATLONG	4708.000,-12454.000
_CALLS	1	TGT_RADIUS	3000.000
_SM_DEPTHo	-1.44	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-61.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	230321,153333,4706.971,-12455.683,2,1.2,4,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.192,0.275	MHEAD_RNG_PITCHd_Wd	32.5,2850,-18.7,-11.111,-22.02
TGT_NAME	ONSHELF	D_GRID	137

SM_CCo	1757.74,0.25,0.148,0,564.8,565.4,564.2,474.70	_24V_AH	13.83,256.099
SM_GC	-0.59,0.25,16.25,0.10,0.148,0.071,0.133,564.8,565.4,564.2,167.8,2072.1,0,0,0,15.23,15.62,15.72	_10V_AH	14.83,0.000
SUPER	27,71,254,1,0,0	FG_AHR_24Vo	220.446
IRIDIUM_FIX	4707.61,-12452.52,230321,145650	FG_AHR_10Vo	69.860
TCM_TEMP	176.49	MEM	1102764,41,74024,71
XPDR_PINGS	4,14.0,11.5	DATA_FILE_SIZE	9787,313
ALTIM_BOTTOM_PING	80.7,6.2	CAP_FILE_SIZE	213051,0
SC_FREEKB	3511808	SDSIZE	3918848,3669440
HUMID	57.96	SDFILEDIR	4561,1
TEMP	9.26	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.8359	GPS	230321,160339,4706.976,-12455.357,21,1.7,22,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	648	2588	23227.66	legato	0	0	0.00
Pitch_motor	36	250	125.31	nil	0	0	0.00
Roll_motor	68	188	176.88	nil	0	0	0.00
Iridium	139	171	331.68	nil	0	0	0.00
Transponder_ping	1	420	8.71	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	1573	11	275.30	SciCon	1647	7	178.42
LPSleep	321	2	13.36	nil	0	0	0.00
Compass	775	5	57.50	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.89

		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
7.37	16386	-155.72	-1.40	0.00	561.4	568.2	554.6	167.8	2116.8	0.00	0.00	0	98.26	90.35	0.00	0.00	0.005	0.000	0.000	2660.31	2640.38	2680.25	167.62	2117.12	0	0	0	14.71	30.00	30.00
98.56	18983	-155.72	-1.40	-80.00	2659.7	2639.8	2679.6	167.9	2116.4	3.05	-6.66	17	135.44	10.45	14.15	4.22	0.007	0.251	0.146	3135.16	3126.56	3143.75	1800.19	662.94	0	0	0	14.81	15.30	14.72
269.15	1028	-155.72	-1.40	0.00	3134.3	3125.8	3142.9	1799.9	662.9	40.94	-21.65	51	274.88	0.00	0.00	3.60	0.000	0.000	0.053	3136.38	3127.31	3145.44	1799.75	2118.88	0	0	0	30.00	30.00	15.70
333.75	260	-155.72	-1.40	80.00	3133.9	3125.1	3142.6	1799.7	2118.6	53.82	-19.37	64	339.50	0.00	0.00	3.72	0.000	0.000	0.108	3134.34	3126.06	3142.62	1800.31	3474.25	0	0	0	30.00	30.00	15.59
368.74	1028	-155.72	-1.40	0.00	3134.1	3125.8	3142.4	1800.2	3475.3	60.74	-20.33	71	374.46	0.00	0.00	3.42	0.000	0.000	0.056	3134.59	3126.31	3142.88	1800.25	2083.50	0	0	0	30.00	30.00	15.69
433.78	516	-155.72	-1.40	-80.00	3133.8	3125.2	3142.5	1799.9	2083.8	72.65	-17.28	84	440.02	0.00	0.00	4.05	0.000	0.000	0.147	3136.03	3126.94	3145.12	1799.69	663.00	0	0	0	30.00	30.00	15.49
487	end dive: BOTTOM_OBSTACLE_DETECTED
state	487	begin apogee
491.38	10243	0.00	-0.25	0.00	3134.2	3125.9	3142.4	1799.9	2122.2	80.70	-16.18	94	622.77	126.59	2.13	0.09	1.072	0.154	0.188	2498.00	2507.94	2488.06	2080.12	2080.62	0	0	0	11.12	15.56	15.03
627	end apogee: CONTROL_FINISHED_OK
state	627	begin climb
626.63	10243	155.72	1.40	0.00	2496.3	2506.2	2486.5	2079.9	2080.6	87.49	0.00	120	763.29	130.79	2.87	0.00	1.041	0.089	0.000	1866.09	1897.50	1834.69	2483.06	2081.12	0	0	0	11.69	15.28	30.00
821.55	10791	277.71	1.77	-80.00	1857.8	1891.2	1824.4	2483.3	2080.9	82.49	5.22	158	940.11	108.43	0.54	4.11	1.015	0.047	0.131	1367.34	1402.69	1332.00	2585.56	661.75	0	0	0	11.54	15.42	15.01
1108.81	1028	277.71	1.77	0.00	1363.1	1396.6	1329.6	2585.3	661.7	52.83	10.77	215	1114.53	0.00	0.00	3.59	0.000	0.000	0.047	1362.53	1396.50	1328.56	2585.44	2127.00	0	0	0	30.00	30.00	15.60
1173.41	8486	326.85	1.92	80.00	1361.1	1396.6	1325.5	2585.5	2126.6	47.04	8.74	228	1230.17	49.91	0.00	3.76	0.964	0.000	0.108	1166.88	1203.62	1130.12	2585.88	3473.56	0	0	0	11.43	30.00	15.17
1233.41	3141	326.85	1.97	0.00	1166.4	1202.8	1130.0	2585.3	3473.2	41.39	9.39	240	1239.17	0.00	0.20	3.46	0.000	0.078	0.049	1166.56	1203.06	1130.06	2629.56	2078.12	0	0	0	30.00	15.37	15.46
1298.48	580	326.85	1.99	-80.00	1165.5	1202.8	1128.1	2629.6	2078.2	34.73	10.30	253	1304.21	0.00	0.00	4.00	0.000	0.000	0.131	1165.47	1202.88	1128.06	2628.88	662.81	0	0	0	30.00	30.00	15.43
1318.91	1028	326.85	1.99	0.00	1165.7	1203.1	1128.2	2629.1	663.3	32.22	11.93	257	1324.15	0.00	0.00	3.54	0.000	0.000	0.043	1166.16	1203.31	1129.00	2629.81	2126.88	0	0	0	30.00	30.00	15.57
1383.44	516	326.85	1.99	-80.00	1165.1	1202.9	1127.4	2630.2	2127.7	24.62	11.62	270	1389.27	0.00	0.00	4.11	0.000	0.000	0.127	1165.66	1203.25	1128.06	2629.94	663.06	0	0	0	30.00	30.00	15.48
1413.87	1028	326.85	1.99	0.00	1165.1	1202.6	1127.6	2630.2	662.9	20.85	12.57	276	1419.16	0.00	0.00	3.51	0.000	0.000	0.044	1165.75	1203.25	1128.25	2630.50	2127.25	0	0	0	30.00	30.00	15.63
1478.46	516	326.85	1.99	-80.00	1164.9	1202.9	1126.9	2629.9	2128.0	13.27	10.89	289	1484.26	0.00	0.00	4.06	0.000	0.000	0.128	1165.31	1203.12	1127.50	2629.75	661.94	0	0	0	30.00	30.00	15.51
1493.90	1028	326.85	1.99	0.00	1165.0	1202.8	1127.2	2630.0	661.8	11.65	10.94	292	1499.18	0.00	0.00	3.52	0.000	0.000	0.043	1165.16	1203.19	1127.12	2629.06	2127.50	0	0	0	30.00	30.00	15.67
1558.50	580	326.85	2.01	-80.00	1164.3	1202.9	1125.8	2630.0	2127.5	4.65	10.38	305	1564.28	0.00	0.00	4.05	0.000	0.000	0.126	1164.69	1203.06	1126.31	2630.31	661.75	0	0	0	30.00	30.00	15.53
1568.93	1092	326.85	2.03	0.00	1164.4	1202.7	1126.1	2630.1	662.0	3.67	10.39	307	1574.17	0.00	0.00	3.48	0.000	0.000	0.043	1165.28	1203.56	1127.00	2629.88	2128.31	0	0	0	30.00	30.00	15.68
1583	end climb: SURFACE_DEPTH_REACHED
state	1584	begin surface coast
1599	end surface coast: CONTROL_FINISHED_OK
state	1599	begin surface