Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1332 * 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 1332 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 105.46656 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 344.95111 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 105.46656 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 344.95111 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 1332 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 220322,142038,4702.546,-12440.558,1,0.8,4,15.6 TGT_RADIUS 500.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -61.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220322,142839,4702.602,-12440.507,4,0.9,5,15.6 MHEAD_RNG_PITCHd_Wd 141.3,1035,-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 0.3,1.023638 MEM0 60876,1,0,0

SM_CCo 2163.62,25.57,1.053,0,1145.0,1143.2,1146.8,399.83 MEM1 65508,1,0,0

SM_GC 0.53,25.57,16.23,0.39,1.053,0.042,0.061,1145.0,1143.2,1146.8,174.0,2351.9,0,0,0,11.17,15.88,15.92 MEM2 971148,30,75620,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16218,417

IRIDIUM_FIX 4702.75,-12440.11,220322,142501 CAP_FILE_SIZE 135645,0

TCM_TEMP 267.19 SDSIZE 4028416,3717216

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4754,1

HUMID 51.71 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.97 CURRENT 0.051, 3.4,1

INTERNAL_PRESSURE 8.92019 MAGCAL 1.000000,0.005928,-0.085050,-0.002079,1.055122,-0.049175,0.027226,-0.059415,0.968715,673.1,-316.8,116.0,35,0.0308,0

_24V_AH 14.72,468.144 IMPLIED_C_PITCH 2452,11.24,258

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2905,16.515549,252

FG_AHR_24Vo 345.074 GPS 220322,150531,4702.532,-12440.455,2,1.4,28,15.6

FG_AHR_10Vo 105.473

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 457 1193 8036.73 legato 34 20 10.22

Pitch_motor 35 230 122.27 nil 0 0 0.00

Roll_motor 50 110 82.29 nil 0 0 0.00

Iridium 215 184 583.49 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 1371 11 242.84 SciCon 0 0 0.00

LPSleep 1216 2 51.08 nil 0 0 0.00

Compass 295 5 22.14 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 1140.5 1140.6 1140.4 173.2 2236.8 0.00 0.00 0 77.07 69.86 0.00 0.00 0.005 0.000 0.000 2878.66 3059.19 2698.12 173.19 2237.06 0 0 0 14.88 30.00 30.00

77.82 18727 -116.79 -1.44 60.00 2877.6 3057.4 2697.7 173.5 2236.9 3.55 -5.03 13 110.53 8.66 14.12 3.09 0.007 0.231 0.081 3250.66 3466.69 3034.62 1969.62 3427.94 0 0 0 14.98 15.55 14.93

157.60 1028 -116.79 -1.44 0.00 3250.7 3466.8 3034.7 1969.9 3428.1 16.21 -13.30 29 163.17 0.00 0.00 2.64 0.000 0.000 0.018 3250.44 3466.12 3034.75 1970.25 2247.81 0 0 0 30.00 30.00 15.88

287.64 260 -116.79 -1.44 60.00 3250.6 3466.4 3034.7 1969.4 2246.8 32.25 -12.34 55 293.24 0.00 0.00 3.05 0.000 0.000 0.078 3250.81 3466.56 3035.06 1970.12 3426.06 0 0 0 30.00 30.00 15.86

322.83 1028 -116.79 -1.44 0.84 3250.7 3465.9 3035.6 1969.9 3425.9 36.91 -13.56 62 328.24 0.00 0.00 2.60 0.000 0.000 0.018 3253.25 3468.19 3038.31 1969.12 2261.06 0 0 0 30.00 30.00 15.92

452.70 516 -116.79 -1.44 -60.00 3251.1 3466.6 3035.7 1969.9 2259.2 52.84 -12.30 88 458.23 0.00 0.00 2.60 0.000 0.000 0.061 3251.66 3466.56 3036.75 1969.81 1207.81 0 0 0 30.00 30.00 15.92

467.69 1028 -116.79 -1.44 0.71 3251.1 3467.0 3035.2 1970.7 1207.8 54.76 -12.61 91 473.27 0.00 0.00 2.70 0.000 0.000 0.025 3251.78 3467.56 3036.00 1969.56 2366.00 0 0 0 30.00 30.00 15.93

597.75 260 -116.79 -1.44 60.00 3250.8 3466.4 3035.2 1970.2 2366.0 69.00 -10.40 117 603.31 0.00 0.00 2.72 0.000 0.000 0.083 3250.72 3465.81 3035.62 1969.81 3425.75 0 0 0 30.00 30.00 15.90

752 end dive: TARGET_DEPTH_EXCEEDED

state 752 begin apogee

757.87 10243 0.00 -0.28 0.00 3250.7 3466.1 3035.3 1969.6 2141.4 85.09 -10.14 148 845.09 82.88 1.96 0.17 1.194 0.134 0.111 2775.03 2910.44 2639.62 2254.25 2254.69 0 0 0 11.09 15.83 15.33

847 end apogee: CONTROL_FINISHED_OK

state 847 begin climb

847.99 10759 116.79 1.44 -60.00 2773.9 2909.5 2638.2 2255.0 2256.8 89.00 0.00 165 943.87 84.70 2.78 2.98 1.139 0.099 0.066 2298.34 2365.69 2231.00 2673.12 1092.00 0 0 0 11.81 15.55 15.70

971.08 11303 367.90 1.95 0.00 2296.2 2365.0 2227.4 2672.5 1092.1 88.37 0.86 190 1163.41 185.73 0.74 2.73 1.111 0.040 0.021 1275.00 1294.00 1256.00 2810.75 2240.94 0 0 0 11.60 15.53 15.62

1285.64 580 367.90 1.96 -60.00 1269.8 1294.7 1244.9 2810.6 2241.0 65.08 8.34 252 1291.22 0.00 0.00 2.94 0.000 0.000 0.067 1270.19 1295.12 1245.25 2810.50 1090.69 0 0 0 30.00 30.00 15.69

1455.65 1092 367.90 1.99 1.35 1268.3 1295.2 1241.5 2810.6 1090.4 51.08 7.96 286 1461.21 0.00 0.00 2.74 0.000 0.000 0.023 1268.66 1295.31 1242.00 2811.00 2260.62 0 0 0 30.00 30.00 15.81

1585.89 324 367.90 2.01 60.00 1267.8 1295.1 1240.5 2811.1 2260.3 41.02 7.91 312 1591.31 0.00 0.00 2.71 0.000 0.000 0.081 1268.09 1295.25 1240.94 2811.19 3306.81 0 0 0 30.00 30.00 15.83

1625.71 1092 367.90 2.03 1.16 1267.9 1295.0 1240.8 2810.4 3307.1 37.69 8.36 320 1631.24 0.00 0.00 2.60 0.000 0.000 0.020 1268.50 1295.88 1241.12 2810.88 2165.00 0 0 0 30.00 30.00 15.85

1755.77 580 367.90 2.05 -60.00 1267.6 1295.3 1239.9 2811.1 2164.4 27.42 7.83 346 1761.31 0.00 0.00 2.72 0.000 0.000 0.071 1267.97 1295.69 1240.25 2811.62 1091.88 0 0 0 30.00 30.00 15.87

1800.77 1092 367.90 2.07 1.10 1267.3 1295.7 1238.9 2810.9 1091.9 23.74 8.18 355 1806.34 0.00 0.00 2.72 0.000 0.000 0.023 1267.25 1295.62 1238.88 2810.88 2258.62 0 0 0 30.00 30.00 15.89

1930.82 16710 367.90 2.11 60.00 1266.6 1295.6 1237.5 2810.9 2258.5 13.97 7.42 381 1936.37 0.00 0.00 2.70 0.000 0.000 0.082 1267.16 1296.12 1238.19 2810.56 3305.75 0 0 0 30.00 30.00 15.88

1985.83 19527 367.90 2.13 1.59 1266.6 1295.8 1237.5 2810.5 3306.3 9.55 8.15 392 1991.41 0.00 0.14 2.57 0.000 0.095 0.020 1266.81 1296.12 1237.50 2850.75 2172.38 0 0 0 30.00 15.80 15.91

2055 end climb: SURFACE_DEPTH_REACHED

state 2055 begin surface coast

2111 end surface coast: CONTROL_FINISHED_OK

state 2111 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	1332	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	105.46656	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	344.95111	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	220322,142038,4702.546,-12440.558,1,0.8,4,15.6	TGT_RADIUS	500.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220322,142839,4702.602,-12440.507,4,0.9,5,15.6	MHEAD_RNG_PITCHd_Wd	141.3,1035,-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	0.3,1.023638	MEM0	60876,1,0,0
SM_CCo	2163.62,25.57,1.053,0,1145.0,1143.2,1146.8,399.83	MEM1	65508,1,0,0
SM_GC	0.53,25.57,16.23,0.39,1.053,0.042,0.061,1145.0,1143.2,1146.8,174.0,2351.9,0,0,0,11.17,15.88,15.92	MEM2	971148,30,75620,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16218,417
IRIDIUM_FIX	4702.75,-12440.11,220322,142501	CAP_FILE_SIZE	135645,0
TCM_TEMP	267.19	SDSIZE	4028416,3717216
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4754,1
HUMID	51.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.97	CURRENT	0.051, 3.4,1
INTERNAL_PRESSURE	8.92019	MAGCAL	1.000000,0.005928,-0.085050,-0.002079,1.055122,-0.049175,0.027226,-0.059415,0.968715,673.1,-316.8,116.0,35,0.0308,0
_24V_AH	14.72,468.144	IMPLIED_C_PITCH	2452,11.24,258
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2905,16.515549,252
FG_AHR_24Vo	345.074	GPS	220322,150531,4702.532,-12440.455,2,1.4,28,15.6
FG_AHR_10Vo	105.473

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	457	1193	8036.73	legato	34	20	10.22
Pitch_motor	35	230	122.27	nil	0	0	0.00
Roll_motor	50	110	82.29	nil	0	0	0.00
Iridium	215	184	583.49	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	1371	11	242.84	SciCon	0	0	0.00
LPSleep	1216	2	51.08	nil	0	0	0.00
Compass	295	5	22.14	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	1140.5	1140.6	1140.4	173.2	2236.8	0.00	0.00	0	77.07	69.86	0.00	0.00	0.005	0.000	0.000	2878.66	3059.19	2698.12	173.19	2237.06	0	0	0	14.88	30.00	30.00
77.82	18727	-116.79	-1.44	60.00	2877.6	3057.4	2697.7	173.5	2236.9	3.55	-5.03	13	110.53	8.66	14.12	3.09	0.007	0.231	0.081	3250.66	3466.69	3034.62	1969.62	3427.94	0	0	0	14.98	15.55	14.93
157.60	1028	-116.79	-1.44	0.00	3250.7	3466.8	3034.7	1969.9	3428.1	16.21	-13.30	29	163.17	0.00	0.00	2.64	0.000	0.000	0.018	3250.44	3466.12	3034.75	1970.25	2247.81	0	0	0	30.00	30.00	15.88
287.64	260	-116.79	-1.44	60.00	3250.6	3466.4	3034.7	1969.4	2246.8	32.25	-12.34	55	293.24	0.00	0.00	3.05	0.000	0.000	0.078	3250.81	3466.56	3035.06	1970.12	3426.06	0	0	0	30.00	30.00	15.86
322.83	1028	-116.79	-1.44	0.84	3250.7	3465.9	3035.6	1969.9	3425.9	36.91	-13.56	62	328.24	0.00	0.00	2.60	0.000	0.000	0.018	3253.25	3468.19	3038.31	1969.12	2261.06	0	0	0	30.00	30.00	15.92
452.70	516	-116.79	-1.44	-60.00	3251.1	3466.6	3035.7	1969.9	2259.2	52.84	-12.30	88	458.23	0.00	0.00	2.60	0.000	0.000	0.061	3251.66	3466.56	3036.75	1969.81	1207.81	0	0	0	30.00	30.00	15.92
467.69	1028	-116.79	-1.44	0.71	3251.1	3467.0	3035.2	1970.7	1207.8	54.76	-12.61	91	473.27	0.00	0.00	2.70	0.000	0.000	0.025	3251.78	3467.56	3036.00	1969.56	2366.00	0	0	0	30.00	30.00	15.93
597.75	260	-116.79	-1.44	60.00	3250.8	3466.4	3035.2	1970.2	2366.0	69.00	-10.40	117	603.31	0.00	0.00	2.72	0.000	0.000	0.083	3250.72	3465.81	3035.62	1969.81	3425.75	0	0	0	30.00	30.00	15.90
752	end dive: TARGET_DEPTH_EXCEEDED
state	752	begin apogee
757.87	10243	0.00	-0.28	0.00	3250.7	3466.1	3035.3	1969.6	2141.4	85.09	-10.14	148	845.09	82.88	1.96	0.17	1.194	0.134	0.111	2775.03	2910.44	2639.62	2254.25	2254.69	0	0	0	11.09	15.83	15.33
847	end apogee: CONTROL_FINISHED_OK
state	847	begin climb
847.99	10759	116.79	1.44	-60.00	2773.9	2909.5	2638.2	2255.0	2256.8	89.00	0.00	165	943.87	84.70	2.78	2.98	1.139	0.099	0.066	2298.34	2365.69	2231.00	2673.12	1092.00	0	0	0	11.81	15.55	15.70
971.08	11303	367.90	1.95	0.00	2296.2	2365.0	2227.4	2672.5	1092.1	88.37	0.86	190	1163.41	185.73	0.74	2.73	1.111	0.040	0.021	1275.00	1294.00	1256.00	2810.75	2240.94	0	0	0	11.60	15.53	15.62
1285.64	580	367.90	1.96	-60.00	1269.8	1294.7	1244.9	2810.6	2241.0	65.08	8.34	252	1291.22	0.00	0.00	2.94	0.000	0.000	0.067	1270.19	1295.12	1245.25	2810.50	1090.69	0	0	0	30.00	30.00	15.69
1455.65	1092	367.90	1.99	1.35	1268.3	1295.2	1241.5	2810.6	1090.4	51.08	7.96	286	1461.21	0.00	0.00	2.74	0.000	0.000	0.023	1268.66	1295.31	1242.00	2811.00	2260.62	0	0	0	30.00	30.00	15.81
1585.89	324	367.90	2.01	60.00	1267.8	1295.1	1240.5	2811.1	2260.3	41.02	7.91	312	1591.31	0.00	0.00	2.71	0.000	0.000	0.081	1268.09	1295.25	1240.94	2811.19	3306.81	0	0	0	30.00	30.00	15.83
1625.71	1092	367.90	2.03	1.16	1267.9	1295.0	1240.8	2810.4	3307.1	37.69	8.36	320	1631.24	0.00	0.00	2.60	0.000	0.000	0.020	1268.50	1295.88	1241.12	2810.88	2165.00	0	0	0	30.00	30.00	15.85
1755.77	580	367.90	2.05	-60.00	1267.6	1295.3	1239.9	2811.1	2164.4	27.42	7.83	346	1761.31	0.00	0.00	2.72	0.000	0.000	0.071	1267.97	1295.69	1240.25	2811.62	1091.88	0	0	0	30.00	30.00	15.87
1800.77	1092	367.90	2.07	1.10	1267.3	1295.7	1238.9	2810.9	1091.9	23.74	8.18	355	1806.34	0.00	0.00	2.72	0.000	0.000	0.023	1267.25	1295.62	1238.88	2810.88	2258.62	0	0	0	30.00	30.00	15.89
1930.82	16710	367.90	2.11	60.00	1266.6	1295.6	1237.5	2810.9	2258.5	13.97	7.42	381	1936.37	0.00	0.00	2.70	0.000	0.000	0.082	1267.16	1296.12	1238.19	2810.56	3305.75	0	0	0	30.00	30.00	15.88
1985.83	19527	367.90	2.13	1.59	1266.6	1295.8	1237.5	2810.5	3306.3	9.55	8.15	392	1991.41	0.00	0.14	2.57	0.000	0.095	0.020	1266.81	1296.12	1237.50	2850.75	2172.38	0	0	0	30.00	15.80	15.91
2055	end climb: SURFACE_DEPTH_REACHED
state	2055	begin surface coast
2111	end surface coast: CONTROL_FINISHED_OK
state	2111	begin surface