Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1343 * 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 1343 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 90 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 30 CAPMAXSIZE 5000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 45 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 70 C_PITCH 2320 FG_AHR_10V 105.55113 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 346.46304 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 90 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 105.55113 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 346.46304 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 30

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 45

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 1343 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 70 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 220322,215318,4702.500,-12438.884,3,1.8,18,15.6 TGT_RADIUS 500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220322,215745,4702.504,-12438.887,3,1.7,19,15.6 MHEAD_RNG_PITCHd_Wd 141.8,12145,-22.2,-10.000,-28.63

SPEED_LIMITS 0.173,0.183 D_GRID 75

TGT_NAME PICKUP2 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 4700.000,-12430.000

Post-dive calculations and measurements:

FINISH 0.3,1.024576 MEM0 60876,1,0,0

SM_CCo 1919.79,0.00,0.000,0,951.2,965.0,937.4,447.38 MEM1 65508,1,0,0

SM_GC 0.73,0.00,16.33,0.06,0.000,0.042,0.163,951.2,965.0,937.4,172.6,2350.4,0,0,0,30.00,15.83,15.87 MEM2 970984,31,75704,63

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16223,362

IRIDIUM_FIX 4702.35,-12435.72,220322,211949 CAP_FILE_SIZE 121028,0

TCM_TEMP 267.42 SDSIZE 4028416,3715840

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4787,1

HUMID 51.72 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.99 CURRENT 0.119, 39.6,1

INTERNAL_PRESSURE 8.91288 MAGCAL 1.000000,-0.001313,-0.000646,-0.011808,1.044997,-0.102814,0.002713,-0.011015,0.998568,599.2,-268.9,68.8,36,0.0308,0

_24V_AH 14.75,469.861 IMPLIED_C_PITCH 2465,10.77,206

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2910,29.813824,196

FG_AHR_24Vo 346.592 GPS 220322,223030,4702.482,-12438.729,25,1.1,25,15.6

FG_AHR_10Vo 105.557

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 501 1177 8703.30 legato 34 20 10.11

Pitch_motor 35 230 122.29 nil 0 0 0.00

Roll_motor 34 162 83.54 nil 0 0 0.00

Iridium 112 165 273.57 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 29 15 6.64 nil 0 0 0.00

Core 1207 11 213.76 SciCon 0 0 0.00

LPSleep 927 2 38.97 nil 0 0 0.00

Compass 260 5 19.53 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

6.11 16386 -116.79 -1.47 0.00 847.6 838.9 856.2 173.2 2240.8 0.00 0.00 0 87.65 80.00 0.00 0.00 0.005 0.000 0.000 2841.09 3018.69 2663.50 173.44 2239.69 0 0 0 14.94 30.00 30.00

88.39 18727 -116.79 -1.47 60.00 2840.8 3017.7 2663.9 173.4 2239.2 3.36 -4.13 15 120.64 9.61 13.90 3.08 0.007 0.230 0.079 3250.91 3469.44 3032.38 1963.38 3426.44 0 0 0 14.89 15.57 14.95

132.71 1028 -116.79 -1.47 0.00 3250.3 3468.0 3032.6 1963.3 3426.5 11.48 -14.48 24 138.26 0.00 0.00 2.62 0.000 0.000 0.017 3251.50 3469.00 3034.00 1963.81 2248.06 0 0 0 30.00 30.00 15.88

262.76 0 -116.79 -1.47 0.00 3250.4 3468.0 3032.9 1963.8 2246.6 28.32 -12.48 50 264.09 0.00 0.00 0.00 0.000 0.000 0.000 3249.69 3467.56 3031.81 1963.56 2246.38 0 0 0 30.00 30.00 30.00

387.79 260 -116.79 -1.47 60.00 3250.5 3467.9 3033.0 1963.8 2246.7 43.74 -12.29 75 393.60 0.00 0.00 3.04 0.000 0.000 0.077 3250.94 3468.44 3033.44 1963.88 3426.75 0 0 0 30.00 30.00 15.89

432.99 1028 -116.79 -1.47 0.41 3250.3 3467.5 3033.1 1963.6 3426.7 49.85 -13.76 84 438.35 0.00 0.00 2.60 0.000 0.000 0.017 3251.16 3466.88 3035.44 1964.31 2254.44 0 0 0 30.00 30.00 15.93

562.87 516 -116.79 -1.47 -60.00 3250.3 3467.1 3033.6 1964.3 2252.8 62.90 -9.22 110 568.39 0.00 0.00 2.59 0.000 0.000 0.060 3250.22 3466.88 3033.56 1964.19 1209.00 0 0 0 30.00 30.00 15.94

662.89 1028 -116.79 -1.47 1.96 3250.3 3467.0 3033.6 1964.1 1208.9 71.95 -9.73 130 668.45 0.00 0.00 2.77 0.000 0.000 0.025 3251.22 3468.12 3034.31 1964.00 2387.94 0 0 0 30.00 30.00 15.95

692 end dive: TARGET_DEPTH_EXCEEDED

state 692 begin apogee

694.76 10243 0.00 -0.28 0.00 3250.3 3466.9 3033.8 1964.1 2120.9 75.12 -10.50 136 782.05 82.25 2.00 0.22 1.178 0.135 0.094 2771.78 2907.19 2636.38 2254.44 2254.12 0 0 0 11.13 15.83 15.36

784 end apogee: CONTROL_FINISHED_OK

state 784 begin climb

784.95 10759 116.79 1.47 -60.00 2773.6 2910.4 2636.8 2254.9 2253.9 78.61 0.00 153 878.46 84.03 2.84 2.99 1.124 0.102 0.065 2298.88 2366.38 2231.38 2679.75 1090.75 0 0 0 11.86 15.57 15.70

926.30 11303 378.51 1.99 0.00 2296.2 2366.2 2226.2 2680.0 1090.7 76.68 1.62 181 1126.52 192.15 0.77 2.71 1.097 0.039 0.021 1231.81 1250.56 1213.06 2823.12 2239.25 0 0 0 11.58 15.55 15.65

1248.78 8742 445.89 2.13 -60.00 1226.9 1250.7 1203.1 2822.8 2238.9 51.34 7.84 245 1307.11 53.02 0.00 2.99 1.044 0.000 0.068 956.88 959.19 954.56 2821.88 1093.12 0 0 0 11.57 30.00 15.30

1334.33 1092 445.89 2.14 0.17 955.9 959.6 952.1 2821.8 1093.3 43.88 9.12 262 1339.89 0.00 0.00 2.71 0.000 0.000 0.021 956.00 960.00 952.00 2822.19 2241.75 0 0 0 30.00 30.00 15.67

1464.54 2629 445.89 2.18 -60.00 953.4 959.9 946.9 2822.5 2242.2 33.08 8.17 288 1470.05 0.00 0.16 2.97 0.000 0.090 0.066 953.41 960.06 946.75 2864.50 1092.00 0 0 0 30.00 15.73 15.71

1589.75 1092 445.89 2.19 3.57 952.6 960.7 944.6 2863.9 1091.6 21.61 9.46 313 1594.94 0.00 0.00 2.85 0.000 0.000 0.024 952.41 960.75 944.06 2864.25 2299.75 0 0 0 30.00 30.00 15.82

1719.39 64 445.89 2.20 3.57 952.2 962.2 942.1 2864.4 2299.6 9.57 9.34 339 1720.72 0.00 0.00 0.00 0.000 0.000 0.000 951.78 962.06 941.50 2863.56 2299.56 0 0 0 30.00 30.00 30.00

1784 end climb: SURFACE_DEPTH_REACHED

state 1784 begin surface coast

1834 end surface coast: CONTROL_FINISHED_OK

state 1834 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	1343	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	90	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	30	CAPMAXSIZE	5000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	45	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	70	C_PITCH	2320	FG_AHR_10V	105.55113	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	346.46304	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	220322,215318,4702.500,-12438.884,3,1.8,18,15.6	TGT_RADIUS	500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220322,215745,4702.504,-12438.887,3,1.7,19,15.6	MHEAD_RNG_PITCHd_Wd	141.8,12145,-22.2,-10.000,-28.63
SPEED_LIMITS	0.173,0.183	D_GRID	75
TGT_NAME	PICKUP2	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	4700.000,-12430.000

FINISH	0.3,1.024576	MEM0	60876,1,0,0
SM_CCo	1919.79,0.00,0.000,0,951.2,965.0,937.4,447.38	MEM1	65508,1,0,0
SM_GC	0.73,0.00,16.33,0.06,0.000,0.042,0.163,951.2,965.0,937.4,172.6,2350.4,0,0,0,30.00,15.83,15.87	MEM2	970984,31,75704,63
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16223,362
IRIDIUM_FIX	4702.35,-12435.72,220322,211949	CAP_FILE_SIZE	121028,0
TCM_TEMP	267.42	SDSIZE	4028416,3715840
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4787,1
HUMID	51.72	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.99	CURRENT	0.119, 39.6,1
INTERNAL_PRESSURE	8.91288	MAGCAL	1.000000,-0.001313,-0.000646,-0.011808,1.044997,-0.102814,0.002713,-0.011015,0.998568,599.2,-268.9,68.8,36,0.0308,0
_24V_AH	14.75,469.861	IMPLIED_C_PITCH	2465,10.77,206
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2910,29.813824,196
FG_AHR_24Vo	346.592	GPS	220322,223030,4702.482,-12438.729,25,1.1,25,15.6
FG_AHR_10Vo	105.557

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	501	1177	8703.30	legato	34	20	10.11
Pitch_motor	35	230	122.29	nil	0	0	0.00
Roll_motor	34	162	83.54	nil	0	0	0.00
Iridium	112	165	273.57	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	29	15	6.64	nil	0	0	0.00
Core	1207	11	213.76	SciCon	0	0	0.00
LPSleep	927	2	38.97	nil	0	0	0.00
Compass	260	5	19.53	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
6.11	16386	-116.79	-1.47	0.00	847.6	838.9	856.2	173.2	2240.8	0.00	0.00	0	87.65	80.00	0.00	0.00	0.005	0.000	0.000	2841.09	3018.69	2663.50	173.44	2239.69	0	0	0	14.94	30.00	30.00
88.39	18727	-116.79	-1.47	60.00	2840.8	3017.7	2663.9	173.4	2239.2	3.36	-4.13	15	120.64	9.61	13.90	3.08	0.007	0.230	0.079	3250.91	3469.44	3032.38	1963.38	3426.44	0	0	0	14.89	15.57	14.95
132.71	1028	-116.79	-1.47	0.00	3250.3	3468.0	3032.6	1963.3	3426.5	11.48	-14.48	24	138.26	0.00	0.00	2.62	0.000	0.000	0.017	3251.50	3469.00	3034.00	1963.81	2248.06	0	0	0	30.00	30.00	15.88
262.76	0	-116.79	-1.47	0.00	3250.4	3468.0	3032.9	1963.8	2246.6	28.32	-12.48	50	264.09	0.00	0.00	0.00	0.000	0.000	0.000	3249.69	3467.56	3031.81	1963.56	2246.38	0	0	0	30.00	30.00	30.00
387.79	260	-116.79	-1.47	60.00	3250.5	3467.9	3033.0	1963.8	2246.7	43.74	-12.29	75	393.60	0.00	0.00	3.04	0.000	0.000	0.077	3250.94	3468.44	3033.44	1963.88	3426.75	0	0	0	30.00	30.00	15.89
432.99	1028	-116.79	-1.47	0.41	3250.3	3467.5	3033.1	1963.6	3426.7	49.85	-13.76	84	438.35	0.00	0.00	2.60	0.000	0.000	0.017	3251.16	3466.88	3035.44	1964.31	2254.44	0	0	0	30.00	30.00	15.93
562.87	516	-116.79	-1.47	-60.00	3250.3	3467.1	3033.6	1964.3	2252.8	62.90	-9.22	110	568.39	0.00	0.00	2.59	0.000	0.000	0.060	3250.22	3466.88	3033.56	1964.19	1209.00	0	0	0	30.00	30.00	15.94
662.89	1028	-116.79	-1.47	1.96	3250.3	3467.0	3033.6	1964.1	1208.9	71.95	-9.73	130	668.45	0.00	0.00	2.77	0.000	0.000	0.025	3251.22	3468.12	3034.31	1964.00	2387.94	0	0	0	30.00	30.00	15.95
692	end dive: TARGET_DEPTH_EXCEEDED
state	692	begin apogee
694.76	10243	0.00	-0.28	0.00	3250.3	3466.9	3033.8	1964.1	2120.9	75.12	-10.50	136	782.05	82.25	2.00	0.22	1.178	0.135	0.094	2771.78	2907.19	2636.38	2254.44	2254.12	0	0	0	11.13	15.83	15.36
784	end apogee: CONTROL_FINISHED_OK
state	784	begin climb
784.95	10759	116.79	1.47	-60.00	2773.6	2910.4	2636.8	2254.9	2253.9	78.61	0.00	153	878.46	84.03	2.84	2.99	1.124	0.102	0.065	2298.88	2366.38	2231.38	2679.75	1090.75	0	0	0	11.86	15.57	15.70
926.30	11303	378.51	1.99	0.00	2296.2	2366.2	2226.2	2680.0	1090.7	76.68	1.62	181	1126.52	192.15	0.77	2.71	1.097	0.039	0.021	1231.81	1250.56	1213.06	2823.12	2239.25	0	0	0	11.58	15.55	15.65
1248.78	8742	445.89	2.13	-60.00	1226.9	1250.7	1203.1	2822.8	2238.9	51.34	7.84	245	1307.11	53.02	0.00	2.99	1.044	0.000	0.068	956.88	959.19	954.56	2821.88	1093.12	0	0	0	11.57	30.00	15.30
1334.33	1092	445.89	2.14	0.17	955.9	959.6	952.1	2821.8	1093.3	43.88	9.12	262	1339.89	0.00	0.00	2.71	0.000	0.000	0.021	956.00	960.00	952.00	2822.19	2241.75	0	0	0	30.00	30.00	15.67
1464.54	2629	445.89	2.18	-60.00	953.4	959.9	946.9	2822.5	2242.2	33.08	8.17	288	1470.05	0.00	0.16	2.97	0.000	0.090	0.066	953.41	960.06	946.75	2864.50	1092.00	0	0	0	30.00	15.73	15.71
1589.75	1092	445.89	2.19	3.57	952.6	960.7	944.6	2863.9	1091.6	21.61	9.46	313	1594.94	0.00	0.00	2.85	0.000	0.000	0.024	952.41	960.75	944.06	2864.25	2299.75	0	0	0	30.00	30.00	15.82
1719.39	64	445.89	2.20	3.57	952.2	962.2	942.1	2864.4	2299.6	9.57	9.34	339	1720.72	0.00	0.00	0.00	0.000	0.000	0.000	951.78	962.06	941.50	2863.56	2299.56	0	0	0	30.00	30.00	30.00
1784	end climb: SURFACE_DEPTH_REACHED
state	1784	begin surface coast
1834	end surface coast: CONTROL_FINISHED_OK
state	1834	begin surface