Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1331 * 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 1331 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 105.45844 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 344.81992 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 105.45844 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 344.81992 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 1331 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 220322,133840,4702.525,-12440.722,19,0.9,20,15.6 TGT_RADIUS 500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220322,134430,4702.576,-12440.692,3,0.7,5,15.6 MHEAD_RNG_PITCHd_Wd 126.3,1170,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 82

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 0.3,1.024665 MEM0 60876,1,0,0

SM_CCo 2143.70,31.25,1.065,0,1145.5,1146.9,1144.2,399.71 MEM1 65508,1,0,0

SM_GC 0.60,31.25,16.23,0.25,1.065,0.044,0.081,1145.5,1146.9,1144.2,173.5,2353.9,0,0,0,11.26,15.87,15.91 MEM2 971092,36,75556,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16213,412

IRIDIUM_FIX 4701.68,-12444.51,220322,134105 CAP_FILE_SIZE 134440,0

TCM_TEMP 267.17 SDSIZE 4028416,3717344

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4751,1

HUMID 51.69 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.98 CURRENT 0.066, 11.2,1

INTERNAL_PRESSURE 8.91808 MAGCAL 1.000000,-0.002733,-0.072789,-0.004323,1.053221,-0.062835,0.030036,-0.077993,0.968714,660.1,-302.5,115.5,36,0.0339,0

_24V_AH 14.74,467.996 IMPLIED_C_PITCH 2441,11.50,254

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2875,19.823643,245

FG_AHR_24Vo 344.942 GPS 220322,142038,4702.546,-12440.558,1,0.8,4,15.6

FG_AHR_10Vo 105.465

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 457 1194 8061.14 legato 34 20 10.11

Pitch_motor 35 230 121.80 nil 0 0 0.00

Roll_motor 50 116 86.97 nil 0 0 0.00

Iridium 144 188 402.15 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.11 nil 0 0 0.00

Core 1294 11 229.11 SciCon 0 0 0.00

LPSleep 1142 2 47.97 nil 0 0 0.00

Compass 291 5 21.88 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

6.09 16386 -116.79 -1.44 0.00 1089.1 1085.0 1093.1 173.5 2266.8 0.00 0.00 0 77.09 69.86 0.00 0.00 0.005 0.000 0.000 2829.19 3002.75 2655.62 173.38 2267.00 0 0 0 14.88 30.00 30.00

77.83 18727 -116.79 -1.44 60.00 2827.8 3001.1 2654.4 173.2 2267.3 3.32 -4.92 13 110.51 9.99 14.06 3.00 0.007 0.230 0.082 3250.44 3462.94 3037.94 1971.12 3426.25 0 0 0 14.92 15.55 14.92

187.59 1028 -116.79 -1.44 0.00 3250.8 3462.1 3039.5 1971.0 3425.9 19.85 -13.43 35 193.14 0.00 0.00 2.62 0.000 0.000 0.017 3250.41 3462.12 3038.69 1971.31 2250.44 0 0 0 30.00 30.00 15.89

317.62 260 -116.79 -1.44 60.00 3250.9 3462.8 3039.1 1970.3 2247.4 36.12 -12.12 61 323.23 0.00 0.00 3.04 0.000 0.000 0.077 3251.09 3463.19 3039.00 1971.25 3428.94 0 0 0 30.00 30.00 15.87

337.61 1028 -116.79 -1.44 0.49 3250.2 3462.2 3038.2 1970.8 3428.8 38.66 -12.47 65 343.49 0.00 0.00 2.62 0.000 0.000 0.018 3251.62 3462.94 3040.31 1971.31 2253.56 0 0 0 30.00 30.00 15.91

467.77 260 -116.79 -1.44 60.00 3250.8 3462.5 3039.1 1970.8 2251.3 54.18 -11.48 91 473.26 0.00 0.00 3.03 0.000 0.000 0.078 3251.38 3462.25 3040.50 1971.19 3427.62 0 0 0 30.00 30.00 15.88

512.65 1028 -116.79 -1.44 1.44 3251.0 3462.5 3039.4 1971.1 3427.5 59.45 -11.95 100 518.19 0.00 0.00 2.57 0.000 0.000 0.018 3251.53 3462.06 3041.00 1971.62 2267.38 0 0 0 30.00 30.00 15.93

642.68 260 -116.79 -1.44 60.00 3250.7 3462.2 3039.1 1971.3 2267.3 73.38 -10.54 126 648.27 0.00 0.00 2.98 0.000 0.000 0.079 3251.25 3463.12 3039.38 1971.06 3428.44 0 0 0 30.00 30.00 15.90

722 end dive: TARGET_DEPTH_EXCEEDED

state 722 begin apogee

727.37 10243 0.00 -0.28 0.00 3250.9 3462.4 3039.3 1970.8 2141.3 82.29 -11.38 142 814.61 82.55 1.93 0.17 1.194 0.138 0.117 2775.69 2913.62 2637.75 2255.06 2256.62 0 0 0 11.04 15.83 15.35

816 end apogee: CONTROL_FINISHED_OK

state 816 begin climb

817.50 10759 116.79 1.44 -60.00 2774.3 2912.1 2636.5 2254.8 2257.1 86.49 0.00 159 913.39 84.53 2.77 2.99 1.138 0.103 0.067 2298.53 2365.06 2232.00 2672.50 1093.31 0 0 0 11.77 15.56 15.70

955.60 11303 359.98 1.93 0.00 2295.8 2364.6 2227.0 2671.9 1093.2 85.37 1.12 187 1142.81 179.73 0.71 2.71 1.109 0.041 0.022 1308.72 1331.25 1286.19 2805.62 2240.44 0 0 0 11.57 15.55 15.63

1265.62 260 359.98 1.93 60.00 1302.5 1330.6 1274.4 2805.6 2240.2 62.72 8.70 248 1270.62 0.00 0.00 2.79 0.000 0.000 0.080 1302.78 1330.81 1274.75 2806.00 3306.12 0 0 0 30.00 30.00 15.69

1410.12 1092 359.98 1.95 -0.80 1301.0 1330.6 1271.3 2805.7 3306.4 49.89 8.23 277 1415.68 0.00 0.00 2.70 0.000 0.000 0.020 1301.12 1330.94 1271.31 2805.38 2132.38 0 0 0 30.00 30.00 15.79

1540.17 580 359.98 1.99 -60.00 1300.0 1330.8 1269.2 2806.1 2131.9 40.65 7.21 303 1545.88 0.00 0.00 2.65 0.000 0.000 0.073 1300.25 1331.31 1269.19 2805.94 1092.62 0 0 0 30.00 30.00 15.83

1615.30 1092 359.98 2.02 -1.61 1299.6 1331.2 1268.0 2805.6 1092.6 34.90 7.57 318 1620.70 0.00 0.00 2.60 0.000 0.000 0.022 1300.34 1331.69 1269.00 2805.50 2210.62 0 0 0 30.00 30.00 15.86

1745.24 324 359.98 2.05 60.00 1299.4 1331.8 1267.1 2806.5 2209.8 25.40 7.51 344 1750.80 0.00 0.00 2.83 0.000 0.000 0.079 1299.44 1331.50 1267.38 2805.69 3306.25 0 0 0 30.00 30.00 15.87

1825.25 17478 359.98 2.08 -0.70 1299.3 1331.4 1267.2 2805.4 3306.5 19.28 7.62 360 1830.79 0.00 0.00 2.67 0.000 0.000 0.020 1299.25 1331.25 1267.25 2805.00 2134.25 0 0 0 30.00 30.00 15.89

1955.30 19015 359.98 2.12 -60.00 1298.9 1331.8 1266.0 2805.4 2134.7 9.90 7.33 386 1960.88 0.00 0.17 2.65 0.000 0.088 0.073 1299.34 1332.12 1266.56 2848.19 1093.25 0 0 0 30.00 15.87 15.83

1995.31 17478 359.98 2.14 -0.80 1299.0 1332.2 1265.8 2847.8 1093.1 6.55 8.28 394 2000.84 0.00 0.00 2.62 0.000 0.000 0.022 1299.03 1332.19 1265.88 2849.62 2225.31 0 0 0 30.00 30.00 15.92

2029 end climb: SURFACE_DEPTH_REACHED

state 2030 begin surface coast

2085 end surface coast: CONTROL_FINISHED_OK

state 2085 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	1331	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	105.45844	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	344.81992	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	220322,133840,4702.525,-12440.722,19,0.9,20,15.6	TGT_RADIUS	500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220322,134430,4702.576,-12440.692,3,0.7,5,15.6	MHEAD_RNG_PITCHd_Wd	126.3,1170,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	82
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	0.3,1.024665	MEM0	60876,1,0,0
SM_CCo	2143.70,31.25,1.065,0,1145.5,1146.9,1144.2,399.71	MEM1	65508,1,0,0
SM_GC	0.60,31.25,16.23,0.25,1.065,0.044,0.081,1145.5,1146.9,1144.2,173.5,2353.9,0,0,0,11.26,15.87,15.91	MEM2	971092,36,75556,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16213,412
IRIDIUM_FIX	4701.68,-12444.51,220322,134105	CAP_FILE_SIZE	134440,0
TCM_TEMP	267.17	SDSIZE	4028416,3717344
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4751,1
HUMID	51.69	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.98	CURRENT	0.066, 11.2,1
INTERNAL_PRESSURE	8.91808	MAGCAL	1.000000,-0.002733,-0.072789,-0.004323,1.053221,-0.062835,0.030036,-0.077993,0.968714,660.1,-302.5,115.5,36,0.0339,0
_24V_AH	14.74,467.996	IMPLIED_C_PITCH	2441,11.50,254
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2875,19.823643,245
FG_AHR_24Vo	344.942	GPS	220322,142038,4702.546,-12440.558,1,0.8,4,15.6
FG_AHR_10Vo	105.465

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	457	1194	8061.14	legato	34	20	10.11
Pitch_motor	35	230	121.80	nil	0	0	0.00
Roll_motor	50	116	86.97	nil	0	0	0.00
Iridium	144	188	402.15	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.11	nil	0	0	0.00
Core	1294	11	229.11	SciCon	0	0	0.00
LPSleep	1142	2	47.97	nil	0	0	0.00
Compass	291	5	21.88	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
6.09	16386	-116.79	-1.44	0.00	1089.1	1085.0	1093.1	173.5	2266.8	0.00	0.00	0	77.09	69.86	0.00	0.00	0.005	0.000	0.000	2829.19	3002.75	2655.62	173.38	2267.00	0	0	0	14.88	30.00	30.00
77.83	18727	-116.79	-1.44	60.00	2827.8	3001.1	2654.4	173.2	2267.3	3.32	-4.92	13	110.51	9.99	14.06	3.00	0.007	0.230	0.082	3250.44	3462.94	3037.94	1971.12	3426.25	0	0	0	14.92	15.55	14.92
187.59	1028	-116.79	-1.44	0.00	3250.8	3462.1	3039.5	1971.0	3425.9	19.85	-13.43	35	193.14	0.00	0.00	2.62	0.000	0.000	0.017	3250.41	3462.12	3038.69	1971.31	2250.44	0	0	0	30.00	30.00	15.89
317.62	260	-116.79	-1.44	60.00	3250.9	3462.8	3039.1	1970.3	2247.4	36.12	-12.12	61	323.23	0.00	0.00	3.04	0.000	0.000	0.077	3251.09	3463.19	3039.00	1971.25	3428.94	0	0	0	30.00	30.00	15.87
337.61	1028	-116.79	-1.44	0.49	3250.2	3462.2	3038.2	1970.8	3428.8	38.66	-12.47	65	343.49	0.00	0.00	2.62	0.000	0.000	0.018	3251.62	3462.94	3040.31	1971.31	2253.56	0	0	0	30.00	30.00	15.91
467.77	260	-116.79	-1.44	60.00	3250.8	3462.5	3039.1	1970.8	2251.3	54.18	-11.48	91	473.26	0.00	0.00	3.03	0.000	0.000	0.078	3251.38	3462.25	3040.50	1971.19	3427.62	0	0	0	30.00	30.00	15.88
512.65	1028	-116.79	-1.44	1.44	3251.0	3462.5	3039.4	1971.1	3427.5	59.45	-11.95	100	518.19	0.00	0.00	2.57	0.000	0.000	0.018	3251.53	3462.06	3041.00	1971.62	2267.38	0	0	0	30.00	30.00	15.93
642.68	260	-116.79	-1.44	60.00	3250.7	3462.2	3039.1	1971.3	2267.3	73.38	-10.54	126	648.27	0.00	0.00	2.98	0.000	0.000	0.079	3251.25	3463.12	3039.38	1971.06	3428.44	0	0	0	30.00	30.00	15.90
722	end dive: TARGET_DEPTH_EXCEEDED
state	722	begin apogee
727.37	10243	0.00	-0.28	0.00	3250.9	3462.4	3039.3	1970.8	2141.3	82.29	-11.38	142	814.61	82.55	1.93	0.17	1.194	0.138	0.117	2775.69	2913.62	2637.75	2255.06	2256.62	0	0	0	11.04	15.83	15.35
816	end apogee: CONTROL_FINISHED_OK
state	816	begin climb
817.50	10759	116.79	1.44	-60.00	2774.3	2912.1	2636.5	2254.8	2257.1	86.49	0.00	159	913.39	84.53	2.77	2.99	1.138	0.103	0.067	2298.53	2365.06	2232.00	2672.50	1093.31	0	0	0	11.77	15.56	15.70
955.60	11303	359.98	1.93	0.00	2295.8	2364.6	2227.0	2671.9	1093.2	85.37	1.12	187	1142.81	179.73	0.71	2.71	1.109	0.041	0.022	1308.72	1331.25	1286.19	2805.62	2240.44	0	0	0	11.57	15.55	15.63
1265.62	260	359.98	1.93	60.00	1302.5	1330.6	1274.4	2805.6	2240.2	62.72	8.70	248	1270.62	0.00	0.00	2.79	0.000	0.000	0.080	1302.78	1330.81	1274.75	2806.00	3306.12	0	0	0	30.00	30.00	15.69
1410.12	1092	359.98	1.95	-0.80	1301.0	1330.6	1271.3	2805.7	3306.4	49.89	8.23	277	1415.68	0.00	0.00	2.70	0.000	0.000	0.020	1301.12	1330.94	1271.31	2805.38	2132.38	0	0	0	30.00	30.00	15.79
1540.17	580	359.98	1.99	-60.00	1300.0	1330.8	1269.2	2806.1	2131.9	40.65	7.21	303	1545.88	0.00	0.00	2.65	0.000	0.000	0.073	1300.25	1331.31	1269.19	2805.94	1092.62	0	0	0	30.00	30.00	15.83
1615.30	1092	359.98	2.02	-1.61	1299.6	1331.2	1268.0	2805.6	1092.6	34.90	7.57	318	1620.70	0.00	0.00	2.60	0.000	0.000	0.022	1300.34	1331.69	1269.00	2805.50	2210.62	0	0	0	30.00	30.00	15.86
1745.24	324	359.98	2.05	60.00	1299.4	1331.8	1267.1	2806.5	2209.8	25.40	7.51	344	1750.80	0.00	0.00	2.83	0.000	0.000	0.079	1299.44	1331.50	1267.38	2805.69	3306.25	0	0	0	30.00	30.00	15.87
1825.25	17478	359.98	2.08	-0.70	1299.3	1331.4	1267.2	2805.4	3306.5	19.28	7.62	360	1830.79	0.00	0.00	2.67	0.000	0.000	0.020	1299.25	1331.25	1267.25	2805.00	2134.25	0	0	0	30.00	30.00	15.89
1955.30	19015	359.98	2.12	-60.00	1298.9	1331.8	1266.0	2805.4	2134.7	9.90	7.33	386	1960.88	0.00	0.17	2.65	0.000	0.088	0.073	1299.34	1332.12	1266.56	2848.19	1093.25	0	0	0	30.00	15.87	15.83
1995.31	17478	359.98	2.14	-0.80	1299.0	1332.2	1265.8	2847.8	1093.1	6.55	8.28	394	2000.84	0.00	0.00	2.62	0.000	0.000	0.022	1299.03	1332.19	1265.88	2849.62	2225.31	0	0	0	30.00	30.00	15.92
2029	end climb: SURFACE_DEPTH_REACHED
state	2030	begin surface coast
2085	end surface coast: CONTROL_FINISHED_OK
state	2085	begin surface