Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1328 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 6 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054949999 XPDR_VALID 6

DIVE 1328 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT -1

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 2 XPDR_REP -1

D_SURF 4 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 400 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 990 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 FILEMGR 0 C_VBD 2775 DEEPGLIDERMB 0

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 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 4 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0020000001 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 0

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 360 CAPMAXSIZE 5000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 510 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 2 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 550 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 56

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3000 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2320 FG_AHR_10V 105.43424 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 344.42935 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 18 PRESSURE_YINT -14.5 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.0014504 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 2 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.0039810701 ROLL_MAX 3825 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.029864 ROLL_DEG 60 ALTIM_PING_DELTA 0

HD_C 5.7000002e-06 C_ROLL_DIVE 2320 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2200 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 4 N_NOCOMM 4 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 400

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 105.43424 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 344.42935 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 18 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3000 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.0039810701 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.029864 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 5.7000002e-06 PITCH_VBD_SHIFT 0.0020000001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0.5 T_BOOST 0

CAPMAXSIZE 5000 HEAD_ERRBAND 10 PITCH_W_GAIN 2 T_DIVE 360

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 56 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.0014504 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -14.5 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 510

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 2

C_PITCH 2320 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 2320 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2775 LOGGERS 0 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0.029999999 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 2 VBD_CNV -0.24529999

DEVICE1 120 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 60 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72946 ROLL_MAX 3825 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 215 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 120 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 1328 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 1000 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 6 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP -1

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 6

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 1000 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 220322,113129,4702.563,-12441.038,2,0.6,4,15.6 TGT_RADIUS 500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220322,113551,4702.595,-12441.037,2,0.6,3,15.6 MHEAD_RNG_PITCHd_Wd 118.8,1551,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 85

TGT_NAME PICKUP IRON 1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000

TGT_LATLONG 4702.180,-12439.970

Post-dive calculations and measurements:

FINISH 0.3,1.021307 MEM0 60876,1,0,0

SM_CCo 2318.83,31.54,1.075,0,1145.2,1142.9,1147.4,399.79 MEM1 65508,1,0,0

SM_GC 0.57,31.54,16.06,0.08,1.075,0.044,0.148,1145.2,1142.9,1147.4,184.5,2346.1,0,0,0,11.24,15.86,15.89 MEM2 971108,37,75520,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 19480,447

IRIDIUM_FIX 4701.77,-12433.12,220322,105259 CAP_FILE_SIZE 127440,0

TCM_TEMP 267.11 SDSIZE 4028416,3717760

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4742,1

HUMID 51.73 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.01 CURRENT 0.038, 12.3,1

INTERNAL_PRESSURE 8.91802 MAGCAL 1.000000,0.000231,-0.007049,0.005475,1.037608,-0.011551,0.023924,-0.068406,0.986708,596.9,-351.5,97.0,36,0.0262,0

_24V_AH 14.77,467.553 IMPLIED_C_PITCH 2421,11.63,286

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2863,24.642799,267

FG_AHR_24Vo 344.552 GPS 220322,121456,4702.542,-12440.939,1,0.7,5,15.6

FG_AHR_10Vo 105.442

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 459 1195 8120.84 legato 34 20 10.12

Pitch_motor 35 227 118.84 nil 0 0 0.00

Roll_motor 40 147 87.31 nil 0 0 0.00

Iridium 120 181 324.11 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.18 nil 0 0 0.00

Core 1306 11 231.28 SciCon 0 0 0.00

LPSleep 1220 2 51.25 nil 0 0 0.00

Compass 313 5 23.51 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 0 0 0.00

Compass2 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

2 end surface: CONTROL_FINISHED_OK

state 3 begin dive

6.10 16386 -116.79 -1.44 0.00 1106.0 1110.0 1102.0 178.2 2260.7 0.00 0.00 0 77.10 69.85 0.00 0.00 0.005 0.000 0.000 2831.41 3008.31 2654.50 178.12 2261.00 0 0 0 14.89 30.00 30.00

77.84 18727 -116.79 -1.44 60.00 2830.4 3007.1 2653.7 178.1 2260.8 3.10 -4.29 13 111.54 10.19 13.98 3.04 0.007 0.227 0.083 3250.44 3465.94 3034.94 1970.38 3424.50 0 0 0 14.84 15.56 14.92

173.62 1028 -116.79 -1.44 0.00 3250.8 3466.9 3034.6 1970.8 3423.7 17.45 -13.27 32 179.18 0.00 0.00 2.64 0.000 0.000 0.018 3250.75 3467.19 3034.31 1971.12 2248.25 0 0 0 30.00 30.00 15.89

303.65 0 -116.79 -1.44 0.00 3250.7 3466.9 3034.4 1970.7 2246.7 33.65 -12.13 58 304.98 0.00 0.00 0.00 0.000 0.000 0.000 3249.81 3465.88 3033.75 1971.19 2246.12 0 0 0 30.00 30.00 30.00

428.68 516 -116.79 -1.44 -60.00 3250.3 3466.6 3034.0 1970.9 2246.5 48.71 -12.20 83 434.41 0.00 0.00 2.61 0.000 0.000 0.062 3250.69 3467.12 3034.25 1970.88 1209.00 0 0 0 30.00 30.00 15.93

443.86 1028 -116.79 -1.44 0.26 3251.2 3467.4 3035.1 1970.5 1209.1 50.44 -11.97 86 449.24 0.00 0.00 2.68 0.000 0.000 0.024 3251.28 3467.12 3035.44 1970.69 2357.56 0 0 0 30.00 30.00 15.94

573.74 260 -116.79 -1.44 60.00 3250.8 3467.1 3034.4 1970.9 2357.9 64.93 -11.04 112 579.30 0.00 0.00 2.74 0.000 0.000 0.082 3250.50 3466.56 3034.44 1970.81 3426.19 0 0 0 30.00 30.00 15.91

693.77 1028 -116.79 -1.44 0.67 3250.3 3465.9 3034.6 1971.3 3426.2 77.36 -9.29 136 699.31 0.00 0.00 2.60 0.000 0.000 0.018 3250.84 3466.31 3035.38 1970.62 2250.50 0 0 0 30.00 30.00 15.94

793 end dive: TARGET_DEPTH_EXCEEDED

state 793 begin apogee

795.63 10243 0.00 -0.28 0.00 3250.4 3466.2 3034.6 1970.8 2124.2 85.36 -7.89 156 882.96 82.57 1.96 0.21 1.195 0.135 0.098 2776.50 2911.62 2641.38 2253.19 2254.94 0 0 0 11.12 15.84 15.36

885 end apogee: CONTROL_FINISHED_OK

state 885 begin climb

885.84 10759 116.79 1.44 -60.00 2774.0 2910.1 2638.0 2254.5 2255.2 88.24 0.00 173 979.35 84.21 2.79 2.99 1.140 0.101 0.066 2300.94 2368.06 2233.81 2672.12 1093.06 0 0 0 11.78 15.56 15.71

1071.62 11303 255.53 1.72 0.00 2295.7 2365.2 2226.1 2673.2 1093.1 83.60 4.57 210 1180.58 102.38 0.40 2.69 1.119 0.050 0.022 1732.44 1776.88 1688.00 2756.56 2239.69 0 0 0 11.46 15.60 15.70

1303.41 16966 255.53 1.76 -60.00 1724.4 1777.2 1671.5 2755.1 2239.8 67.97 7.19 256 1308.43 0.00 0.00 2.96 0.000 0.000 0.066 1724.38 1777.44 1671.31 2756.12 1091.94 0 0 0 30.00 30.00 15.72

1477.90 11303 359.41 1.97 1.49 1722.3 1777.1 1667.6 2756.4 1091.8 56.29 5.73 291 1563.13 79.25 0.25 2.74 1.089 0.063 0.023 1309.59 1333.00 1286.19 2816.94 2262.12 0 0 0 11.29 15.71 15.82

1685.27 580 359.41 2.00 -60.00 1305.5 1334.2 1276.8 2816.6 2261.8 41.37 7.60 332 1690.88 0.00 0.00 3.01 0.000 0.000 0.066 1306.00 1334.38 1277.62 2817.44 1091.62 0 0 0 30.00 30.00 15.75

1815.94 1092 359.41 2.02 3.95 1303.8 1334.5 1273.2 2816.9 1092.1 31.12 7.97 358 1820.88 0.00 0.00 2.87 0.000 0.000 0.024 1303.88 1334.62 1273.12 2816.81 2306.94 0 0 0 30.00 30.00 15.82

1945.34 64 359.41 2.06 3.95 1302.8 1334.6 1271.1 2817.1 2307.4 21.68 7.18 384 1946.67 0.00 0.00 0.00 0.000 0.000 0.000 1302.59 1334.31 1270.88 2817.19 2307.12 0 0 0 30.00 30.00 30.00

2070.35 580 359.41 2.10 -60.00 1302.3 1334.5 1270.1 2816.8 2307.4 12.75 7.53 409 2075.95 0.00 0.00 3.09 0.000 0.000 0.064 1303.12 1335.38 1270.88 2816.00 1092.19 0 0 0 30.00 30.00 15.87

2110.34 1092 359.41 2.13 3.09 1302.1 1334.9 1269.3 2816.6 1091.9 9.72 7.58 417 2115.92 0.00 0.00 2.82 0.000 0.000 0.024 1302.22 1335.00 1269.44 2816.88 2292.81 0 0 0 30.00 30.00 15.90

2195 end climb: SURFACE_DEPTH_REACHED

state 2195 begin surface coast

2260 end surface coast: CONTROL_FINISHED_OK

state 2260 begin surface

ID	249	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	6	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054949999	XPDR_VALID	6
DIVE	1328	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	-1
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	2	XPDR_REP	-1
D_SURF	4	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	400	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	990	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	FILEMGR	0	C_VBD	2775	DEEPGLIDERMB	0
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	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	4	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0020000001	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	0
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	360	CAPMAXSIZE	5000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	510	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	2	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	550	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	56
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3000	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2320	FG_AHR_10V	105.43424	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	344.42935	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	18	PRESSURE_YINT	-14.5	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.0014504	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	2	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.0039810701	ROLL_MAX	3825	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.029864	ROLL_DEG	60	ALTIM_PING_DELTA	0
HD_C	5.7000002e-06	C_ROLL_DIVE	2320	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2200	ALTIM_PULSE	1

GPS1	220322,113129,4702.563,-12441.038,2,0.6,4,15.6	TGT_RADIUS	500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220322,113551,4702.595,-12441.037,2,0.6,3,15.6	MHEAD_RNG_PITCHd_Wd	118.8,1551,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	85
TGT_NAME	PICKUP	IRON	1.000000,0.008000,-0.030000,0.005000,1.030000,-0.103000,-0.009000,-0.035000,0.960000,683.000000,-237.000000,115.000000
TGT_LATLONG	4702.180,-12439.970

FINISH	0.3,1.021307	MEM0	60876,1,0,0
SM_CCo	2318.83,31.54,1.075,0,1145.2,1142.9,1147.4,399.79	MEM1	65508,1,0,0
SM_GC	0.57,31.54,16.06,0.08,1.075,0.044,0.148,1145.2,1142.9,1147.4,184.5,2346.1,0,0,0,11.24,15.86,15.89	MEM2	971108,37,75520,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	19480,447
IRIDIUM_FIX	4701.77,-12433.12,220322,105259	CAP_FILE_SIZE	127440,0
TCM_TEMP	267.11	SDSIZE	4028416,3717760
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4742,1
HUMID	51.73	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.01	CURRENT	0.038, 12.3,1
INTERNAL_PRESSURE	8.91802	MAGCAL	1.000000,0.000231,-0.007049,0.005475,1.037608,-0.011551,0.023924,-0.068406,0.986708,596.9,-351.5,97.0,36,0.0262,0
_24V_AH	14.77,467.553	IMPLIED_C_PITCH	2421,11.63,286
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2863,24.642799,267
FG_AHR_24Vo	344.552	GPS	220322,121456,4702.542,-12440.939,1,0.7,5,15.6
FG_AHR_10Vo	105.442

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	459	1195	8120.84	legato	34	20	10.12
Pitch_motor	35	227	118.84	nil	0	0	0.00
Roll_motor	40	147	87.31	nil	0	0	0.00
Iridium	120	181	324.11	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.18	nil	0	0	0.00
Core	1306	11	231.28	SciCon	0	0	0.00
LPSleep	1220	2	51.25	nil	0	0	0.00
Compass	313	5	23.51	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	0	0	0.00
Compass2	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
2	end surface: CONTROL_FINISHED_OK
state	3	begin dive
6.10	16386	-116.79	-1.44	0.00	1106.0	1110.0	1102.0	178.2	2260.7	0.00	0.00	0	77.10	69.85	0.00	0.00	0.005	0.000	0.000	2831.41	3008.31	2654.50	178.12	2261.00	0	0	0	14.89	30.00	30.00
77.84	18727	-116.79	-1.44	60.00	2830.4	3007.1	2653.7	178.1	2260.8	3.10	-4.29	13	111.54	10.19	13.98	3.04	0.007	0.227	0.083	3250.44	3465.94	3034.94	1970.38	3424.50	0	0	0	14.84	15.56	14.92
173.62	1028	-116.79	-1.44	0.00	3250.8	3466.9	3034.6	1970.8	3423.7	17.45	-13.27	32	179.18	0.00	0.00	2.64	0.000	0.000	0.018	3250.75	3467.19	3034.31	1971.12	2248.25	0	0	0	30.00	30.00	15.89
303.65	0	-116.79	-1.44	0.00	3250.7	3466.9	3034.4	1970.7	2246.7	33.65	-12.13	58	304.98	0.00	0.00	0.00	0.000	0.000	0.000	3249.81	3465.88	3033.75	1971.19	2246.12	0	0	0	30.00	30.00	30.00
428.68	516	-116.79	-1.44	-60.00	3250.3	3466.6	3034.0	1970.9	2246.5	48.71	-12.20	83	434.41	0.00	0.00	2.61	0.000	0.000	0.062	3250.69	3467.12	3034.25	1970.88	1209.00	0	0	0	30.00	30.00	15.93
443.86	1028	-116.79	-1.44	0.26	3251.2	3467.4	3035.1	1970.5	1209.1	50.44	-11.97	86	449.24	0.00	0.00	2.68	0.000	0.000	0.024	3251.28	3467.12	3035.44	1970.69	2357.56	0	0	0	30.00	30.00	15.94
573.74	260	-116.79	-1.44	60.00	3250.8	3467.1	3034.4	1970.9	2357.9	64.93	-11.04	112	579.30	0.00	0.00	2.74	0.000	0.000	0.082	3250.50	3466.56	3034.44	1970.81	3426.19	0	0	0	30.00	30.00	15.91
693.77	1028	-116.79	-1.44	0.67	3250.3	3465.9	3034.6	1971.3	3426.2	77.36	-9.29	136	699.31	0.00	0.00	2.60	0.000	0.000	0.018	3250.84	3466.31	3035.38	1970.62	2250.50	0	0	0	30.00	30.00	15.94
793	end dive: TARGET_DEPTH_EXCEEDED
state	793	begin apogee
795.63	10243	0.00	-0.28	0.00	3250.4	3466.2	3034.6	1970.8	2124.2	85.36	-7.89	156	882.96	82.57	1.96	0.21	1.195	0.135	0.098	2776.50	2911.62	2641.38	2253.19	2254.94	0	0	0	11.12	15.84	15.36
885	end apogee: CONTROL_FINISHED_OK
state	885	begin climb
885.84	10759	116.79	1.44	-60.00	2774.0	2910.1	2638.0	2254.5	2255.2	88.24	0.00	173	979.35	84.21	2.79	2.99	1.140	0.101	0.066	2300.94	2368.06	2233.81	2672.12	1093.06	0	0	0	11.78	15.56	15.71
1071.62	11303	255.53	1.72	0.00	2295.7	2365.2	2226.1	2673.2	1093.1	83.60	4.57	210	1180.58	102.38	0.40	2.69	1.119	0.050	0.022	1732.44	1776.88	1688.00	2756.56	2239.69	0	0	0	11.46	15.60	15.70
1303.41	16966	255.53	1.76	-60.00	1724.4	1777.2	1671.5	2755.1	2239.8	67.97	7.19	256	1308.43	0.00	0.00	2.96	0.000	0.000	0.066	1724.38	1777.44	1671.31	2756.12	1091.94	0	0	0	30.00	30.00	15.72
1477.90	11303	359.41	1.97	1.49	1722.3	1777.1	1667.6	2756.4	1091.8	56.29	5.73	291	1563.13	79.25	0.25	2.74	1.089	0.063	0.023	1309.59	1333.00	1286.19	2816.94	2262.12	0	0	0	11.29	15.71	15.82
1685.27	580	359.41	2.00	-60.00	1305.5	1334.2	1276.8	2816.6	2261.8	41.37	7.60	332	1690.88	0.00	0.00	3.01	0.000	0.000	0.066	1306.00	1334.38	1277.62	2817.44	1091.62	0	0	0	30.00	30.00	15.75
1815.94	1092	359.41	2.02	3.95	1303.8	1334.5	1273.2	2816.9	1092.1	31.12	7.97	358	1820.88	0.00	0.00	2.87	0.000	0.000	0.024	1303.88	1334.62	1273.12	2816.81	2306.94	0	0	0	30.00	30.00	15.82
1945.34	64	359.41	2.06	3.95	1302.8	1334.6	1271.1	2817.1	2307.4	21.68	7.18	384	1946.67	0.00	0.00	0.00	0.000	0.000	0.000	1302.59	1334.31	1270.88	2817.19	2307.12	0	0	0	30.00	30.00	30.00
2070.35	580	359.41	2.10	-60.00	1302.3	1334.5	1270.1	2816.8	2307.4	12.75	7.53	409	2075.95	0.00	0.00	3.09	0.000	0.000	0.064	1303.12	1335.38	1270.88	2816.00	1092.19	0	0	0	30.00	30.00	15.87
2110.34	1092	359.41	2.13	3.09	1302.1	1334.9	1269.3	2816.6	1091.9	9.72	7.58	417	2115.92	0.00	0.00	2.82	0.000	0.000	0.024	1302.22	1335.00	1269.44	2816.88	2292.81	0	0	0	30.00	30.00	15.90
2195	end climb: SURFACE_DEPTH_REACHED
state	2195	begin surface coast
2260	end surface coast: CONTROL_FINISHED_OK
state	2260	begin surface