Glider dive log

NANOOS Sep20 * SG236 * Dive index * Mission links * Dive 410 * 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 410 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 990 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 1 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 410 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 450 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 7200 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 40.864376 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 105.14982 SEABIRD_T_H 0.00063999998

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

MAX_BUOY 80 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 2200 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 1 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 990 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 40.864376 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 105.14982 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 410

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 7200

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 0 PROTOCOL 9 T_MISSION 450

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 2200 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 80 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 410 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 301220,085628,4753.888,-12511.509,1,1.1,6,15.8 TGT_LATLONG 4751.930,-12510.270

_CALLS 1 TGT_RADIUS 2500.000

_SM_DEPTHo 0.76 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -59.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 301220,090118,4753.918,-12511.479,3,0.9,6,15.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.139,0.180 MHEAD_RNG_PITCHd_Wd 142.0,3977,-20.4,-8.049,-24.07

TGT_NAME SHELF D_GRID 159

Post-dive calculations and measurements:

SM_CCo 3511.64,0.00,0.012,0,766.9,771.4,762.4,425.12 _10V_AH 14.79,0.000

SM_GC 0.74,0.00,15.90,0.21,0.012,0.052,0.098,766.9,771.4,762.4,181.6,2061.3,0,0,0,30.36,15.68,15.74 FG_AHR_24Vo 105.282

SUPER 27,71,254,1,0,0 FG_AHR_10Vo 40.886

IRIDIUM_FIX 4754.02,-12511.36,301220,075211 MEM 1100120,47,75688,114

TCM_TEMP 193.94 DATA_FILE_SIZE 22585,598

XPDR_PINGS 1,14.0,11.5 CAP_FILE_SIZE 165946,0

SC_FREEKB 3707360 SDSIZE 3918848,3802464

HUMID 57.24 SDFILEDIR 2076,1

TEMP 9.34 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.85027 GPS 301220,100049,4753.871,-12511.255,33,1.2,34,15.8

_24V_AH 14.75,124.126

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 485 1196 8578.76 legato 0 0 0.00

Pitch_motor 35 261 135.65 nil 0 0 0.00

Roll_motor 65 229 220.91 nil 0 0 0.00

Iridium 177 189 496.81 nil 0 0 0.00

Transponder_ping 0 420 1.55 nil 0 0 0.00

GPS 15 15 3.33 nil 0 0 0.00

Core 2037 11 355.67 SciCon 3427 14 741.22

LPSleep 1637 2 67.82 nil 0 0 0.00

Compass 1014 5 74.99 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

6.85 16386 -77.86 -1.25 0.00 761.4 764.8 758.1 171.6 2123.8 0.00 0.00 0 85.18 77.74 0.00 0.00 0.005 0.000 0.000 2529.66 2511.56 2547.75 171.62 2121.44 0 0 0 15.47 30.00 30.00

85.45 18727 -77.86 -1.25 80.00 2528.9 2510.6 2547.3 171.6 2122.1 3.17 -3.80 15 116.73 7.17 14.02 3.73 0.008 0.261 0.120 2818.66 2814.56 2822.75 1835.25 3473.88 0 0 0 15.53 15.57 15.47

149.49 1028 -77.86 -1.25 0.00 2816.5 2811.4 2821.6 1835.7 3474.2 17.73 -21.82 28 155.22 0.00 0.00 3.49 0.000 0.000 0.060 2816.47 2811.69 2821.25 1835.69 2082.06 0 0 0 30.00 30.00 15.69

334.60 260 -77.86 -1.25 80.00 2816.2 2811.1 2821.4 1835.9 2082.2 56.39 -19.98 65 340.36 0.00 0.00 3.78 0.000 0.000 0.111 2817.78 2813.12 2822.44 1835.81 3473.69 0 0 0 30.00 30.00 15.77

489.64 1028 -77.86 -1.25 0.00 2816.5 2811.8 2821.2 1835.9 3474.0 81.78 -15.07 96 495.38 0.00 0.00 3.44 0.000 0.000 0.058 2818.03 2813.06 2823.00 1835.81 2081.00 0 0 0 30.00 30.00 15.82

679.72 516 -77.86 -1.25 -80.00 2816.3 2811.4 2821.1 1835.6 2081.6 104.48 -13.86 131 685.53 0.00 0.00 3.96 0.000 0.000 0.150 2815.81 2810.81 2820.81 1835.88 662.50 0 0 0 30.00 30.00 15.84

784.75 1028 -77.86 -1.25 0.00 2816.6 2811.8 2821.4 1836.0 662.6 121.01 -15.58 152 789.42 0.00 0.00 3.48 0.000 0.000 0.053 2817.72 2812.56 2822.88 1835.81 2120.00 0 0 0 30.00 30.00 15.88

1094.83 260 -77.86 -1.25 80.00 2816.4 2811.9 2821.0 1836.2 2120.3 158.35 -10.14 184 1100.50 0.00 0.00 3.60 0.000 0.000 0.114 2814.66 2810.06 2819.25 1835.38 3474.62 0 0 0 30.00 30.00 15.90

1103 end dive: TARGET_DEPTH_EXCEEDED

state 1103 begin apogee

1108.12 10243 0.00 -0.25 0.00 2816.5 2811.6 2821.4 1836.1 2180.8 159.34 -10.48 186 1172.72 58.99 1.77 0.07 1.197 0.154 0.229 2497.69 2504.81 2490.56 2079.62 2220.19 0 0 0 12.48 15.86 15.46

1174 end apogee: CONTROL_FINISHED_OK

state 1174 begin climb

1174.59 10759 77.86 1.25 -80.00 2498.0 2505.1 2490.8 2079.9 2220.0 161.72 0.00 193 1248.42 62.58 2.54 4.16 1.158 0.093 0.127 2180.03 2193.88 2166.19 2447.62 736.62 0 0 0 12.57 15.51 15.22

1396.30 17414 77.86 1.25 0.00 2171.8 2189.2 2154.4 2447.8 736.4 144.42 9.30 237 1401.91 0.00 0.00 3.60 0.000 0.000 0.052 2170.38 2187.50 2153.25 2448.12 2225.31 0 0 0 30.00 30.00 15.58

1701.35 10535 123.53 1.39 80.00 2170.9 2189.1 2152.8 2448.2 2225.3 124.70 4.85 268 1743.96 37.33 0.17 3.42 1.120 0.084 0.115 1994.53 2016.94 1972.12 2489.19 3475.50 0 0 0 12.56 15.76 15.46

1916.78 1028 123.53 1.39 0.00 1990.3 2013.9 1966.8 2489.5 3474.9 106.97 9.03 311 1921.34 0.00 0.00 3.20 0.000 0.000 0.052 1990.00 2014.19 1965.81 2489.88 2178.75 0 0 0 30.00 30.00 15.69

2221.99 16450 123.53 1.45 0.00 1987.8 2014.2 1961.4 2488.9 2179.6 85.71 6.18 363 2223.32 0.00 0.00 0.00 0.000 0.000 0.000 1985.66 2010.25 1961.06 2489.06 2178.94 0 0 0 30.00 30.00 30.00

2401.97 10791 201.44 1.68 -80.00 1987.3 2013.9 1960.8 2489.9 2180.0 79.89 2.59 399 2473.74 62.71 0.35 4.05 1.113 0.069 0.130 1676.78 1709.25 1644.31 2558.88 735.44 0 0 0 12.62 15.78 15.38

2697.03 1092 201.44 1.71 0.00 1671.2 1705.6 1636.8 2558.2 735.4 56.94 7.09 458 2702.76 0.00 0.00 3.60 0.000 0.000 0.051 1670.56 1704.38 1636.75 2558.31 2225.25 0 0 0 30.00 30.00 15.69

2882.07 10791 257.87 1.88 -80.00 1668.4 1705.4 1631.3 2559.0 2225.1 49.10 4.10 495 2933.95 45.29 0.22 4.16 1.063 0.077 0.125 1448.12 1485.56 1410.69 2606.12 734.69 0 0 0 12.53 15.73 15.46

2982.15 11303 313.82 2.05 0.00 1445.9 1484.2 1407.6 2606.0 734.6 45.08 4.13 515 3033.88 45.56 0.19 3.62 1.040 0.081 0.049 1220.72 1257.44 1184.00 2647.56 2225.81 0 0 0 12.46 15.55 15.54

3212.11 260 313.82 2.05 80.00 1215.0 1253.0 1176.9 2647.7 2225.3 24.95 12.43 561 3217.84 0.00 0.00 3.44 0.000 0.000 0.115 1215.12 1253.00 1177.25 2647.25 3473.06 0 0 0 30.00 30.00 15.59

3307.27 1028 313.82 2.05 0.00 1213.8 1250.9 1176.6 2648.0 3473.3 13.53 10.12 580 3312.81 0.00 0.00 3.17 0.000 0.000 0.049 1214.62 1251.44 1177.81 2647.06 2177.44 0 0 0 30.00 30.00 15.68

3387 end climb: SURFACE_DEPTH_REACHED

state 3387 begin surface coast

3397 end surface coast: CONTROL_FINISHED_OK

state 3397 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	410	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	990	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	1	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	410	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	450	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	7200	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	40.864376	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	105.14982	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	80	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	2200	ALTIM_PULSE	3

GPS1	301220,085628,4753.888,-12511.509,1,1.1,6,15.8	TGT_LATLONG	4751.930,-12510.270
_CALLS	1	TGT_RADIUS	2500.000
_SM_DEPTHo	0.76	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-59.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	301220,090118,4753.918,-12511.479,3,0.9,6,15.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.139,0.180	MHEAD_RNG_PITCHd_Wd	142.0,3977,-20.4,-8.049,-24.07
TGT_NAME	SHELF	D_GRID	159

SM_CCo	3511.64,0.00,0.012,0,766.9,771.4,762.4,425.12	_10V_AH	14.79,0.000
SM_GC	0.74,0.00,15.90,0.21,0.012,0.052,0.098,766.9,771.4,762.4,181.6,2061.3,0,0,0,30.36,15.68,15.74	FG_AHR_24Vo	105.282
SUPER	27,71,254,1,0,0	FG_AHR_10Vo	40.886
IRIDIUM_FIX	4754.02,-12511.36,301220,075211	MEM	1100120,47,75688,114
TCM_TEMP	193.94	DATA_FILE_SIZE	22585,598
XPDR_PINGS	1,14.0,11.5	CAP_FILE_SIZE	165946,0
SC_FREEKB	3707360	SDSIZE	3918848,3802464
HUMID	57.24	SDFILEDIR	2076,1
TEMP	9.34	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.85027	GPS	301220,100049,4753.871,-12511.255,33,1.2,34,15.8
_24V_AH	14.75,124.126

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	485	1196	8578.76	legato	0	0	0.00
Pitch_motor	35	261	135.65	nil	0	0	0.00
Roll_motor	65	229	220.91	nil	0	0	0.00
Iridium	177	189	496.81	nil	0	0	0.00
Transponder_ping	0	420	1.55	nil	0	0	0.00
GPS	15	15	3.33	nil	0	0	0.00
Core	2037	11	355.67	SciCon	3427	14	741.22
LPSleep	1637	2	67.82	nil	0	0	0.00
Compass	1014	5	74.99	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
6.85	16386	-77.86	-1.25	0.00	761.4	764.8	758.1	171.6	2123.8	0.00	0.00	0	85.18	77.74	0.00	0.00	0.005	0.000	0.000	2529.66	2511.56	2547.75	171.62	2121.44	0	0	0	15.47	30.00	30.00
85.45	18727	-77.86	-1.25	80.00	2528.9	2510.6	2547.3	171.6	2122.1	3.17	-3.80	15	116.73	7.17	14.02	3.73	0.008	0.261	0.120	2818.66	2814.56	2822.75	1835.25	3473.88	0	0	0	15.53	15.57	15.47
149.49	1028	-77.86	-1.25	0.00	2816.5	2811.4	2821.6	1835.7	3474.2	17.73	-21.82	28	155.22	0.00	0.00	3.49	0.000	0.000	0.060	2816.47	2811.69	2821.25	1835.69	2082.06	0	0	0	30.00	30.00	15.69
334.60	260	-77.86	-1.25	80.00	2816.2	2811.1	2821.4	1835.9	2082.2	56.39	-19.98	65	340.36	0.00	0.00	3.78	0.000	0.000	0.111	2817.78	2813.12	2822.44	1835.81	3473.69	0	0	0	30.00	30.00	15.77
489.64	1028	-77.86	-1.25	0.00	2816.5	2811.8	2821.2	1835.9	3474.0	81.78	-15.07	96	495.38	0.00	0.00	3.44	0.000	0.000	0.058	2818.03	2813.06	2823.00	1835.81	2081.00	0	0	0	30.00	30.00	15.82
679.72	516	-77.86	-1.25	-80.00	2816.3	2811.4	2821.1	1835.6	2081.6	104.48	-13.86	131	685.53	0.00	0.00	3.96	0.000	0.000	0.150	2815.81	2810.81	2820.81	1835.88	662.50	0	0	0	30.00	30.00	15.84
784.75	1028	-77.86	-1.25	0.00	2816.6	2811.8	2821.4	1836.0	662.6	121.01	-15.58	152	789.42	0.00	0.00	3.48	0.000	0.000	0.053	2817.72	2812.56	2822.88	1835.81	2120.00	0	0	0	30.00	30.00	15.88
1094.83	260	-77.86	-1.25	80.00	2816.4	2811.9	2821.0	1836.2	2120.3	158.35	-10.14	184	1100.50	0.00	0.00	3.60	0.000	0.000	0.114	2814.66	2810.06	2819.25	1835.38	3474.62	0	0	0	30.00	30.00	15.90
1103	end dive: TARGET_DEPTH_EXCEEDED
state	1103	begin apogee
1108.12	10243	0.00	-0.25	0.00	2816.5	2811.6	2821.4	1836.1	2180.8	159.34	-10.48	186	1172.72	58.99	1.77	0.07	1.197	0.154	0.229	2497.69	2504.81	2490.56	2079.62	2220.19	0	0	0	12.48	15.86	15.46
1174	end apogee: CONTROL_FINISHED_OK
state	1174	begin climb
1174.59	10759	77.86	1.25	-80.00	2498.0	2505.1	2490.8	2079.9	2220.0	161.72	0.00	193	1248.42	62.58	2.54	4.16	1.158	0.093	0.127	2180.03	2193.88	2166.19	2447.62	736.62	0	0	0	12.57	15.51	15.22
1396.30	17414	77.86	1.25	0.00	2171.8	2189.2	2154.4	2447.8	736.4	144.42	9.30	237	1401.91	0.00	0.00	3.60	0.000	0.000	0.052	2170.38	2187.50	2153.25	2448.12	2225.31	0	0	0	30.00	30.00	15.58
1701.35	10535	123.53	1.39	80.00	2170.9	2189.1	2152.8	2448.2	2225.3	124.70	4.85	268	1743.96	37.33	0.17	3.42	1.120	0.084	0.115	1994.53	2016.94	1972.12	2489.19	3475.50	0	0	0	12.56	15.76	15.46
1916.78	1028	123.53	1.39	0.00	1990.3	2013.9	1966.8	2489.5	3474.9	106.97	9.03	311	1921.34	0.00	0.00	3.20	0.000	0.000	0.052	1990.00	2014.19	1965.81	2489.88	2178.75	0	0	0	30.00	30.00	15.69
2221.99	16450	123.53	1.45	0.00	1987.8	2014.2	1961.4	2488.9	2179.6	85.71	6.18	363	2223.32	0.00	0.00	0.00	0.000	0.000	0.000	1985.66	2010.25	1961.06	2489.06	2178.94	0	0	0	30.00	30.00	30.00
2401.97	10791	201.44	1.68	-80.00	1987.3	2013.9	1960.8	2489.9	2180.0	79.89	2.59	399	2473.74	62.71	0.35	4.05	1.113	0.069	0.130	1676.78	1709.25	1644.31	2558.88	735.44	0	0	0	12.62	15.78	15.38
2697.03	1092	201.44	1.71	0.00	1671.2	1705.6	1636.8	2558.2	735.4	56.94	7.09	458	2702.76	0.00	0.00	3.60	0.000	0.000	0.051	1670.56	1704.38	1636.75	2558.31	2225.25	0	0	0	30.00	30.00	15.69
2882.07	10791	257.87	1.88	-80.00	1668.4	1705.4	1631.3	2559.0	2225.1	49.10	4.10	495	2933.95	45.29	0.22	4.16	1.063	0.077	0.125	1448.12	1485.56	1410.69	2606.12	734.69	0	0	0	12.53	15.73	15.46
2982.15	11303	313.82	2.05	0.00	1445.9	1484.2	1407.6	2606.0	734.6	45.08	4.13	515	3033.88	45.56	0.19	3.62	1.040	0.081	0.049	1220.72	1257.44	1184.00	2647.56	2225.81	0	0	0	12.46	15.55	15.54
3212.11	260	313.82	2.05	80.00	1215.0	1253.0	1176.9	2647.7	2225.3	24.95	12.43	561	3217.84	0.00	0.00	3.44	0.000	0.000	0.115	1215.12	1253.00	1177.25	2647.25	3473.06	0	0	0	30.00	30.00	15.59
3307.27	1028	313.82	2.05	0.00	1213.8	1250.9	1176.6	2648.0	3473.3	13.53	10.12	580	3312.81	0.00	0.00	3.17	0.000	0.000	0.049	1214.62	1251.44	1177.81	2647.06	2177.44	0	0	0	30.00	30.00	15.68
3387	end climb: SURFACE_DEPTH_REACHED
state	3387	begin surface coast
3397	end surface coast: CONTROL_FINISHED_OK
state	3397	begin surface