Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1344 * 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 1344 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 105.55824 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 346.59842 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 105.55824 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 346.59842 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 1344 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 220322,223030,4702.482,-12438.729,25,1.1,25,15.6 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 -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220322,223508,4702.491,-12438.738,2,0.8,4,15.6 MHEAD_RNG_PITCHd_Wd 135.4,11962,-22.2,-10.000,-28.63

SPEED_LIMITS 0.173,0.183 D_GRID 74

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 0.2,1.021457 MEM0 60876,1,0,0

SM_CCo 1915.80,0.00,0.000,0,910.1,916.0,904.2,457.46 MEM1 65508,1,0,0

SM_GC 0.77,0.00,16.42,0.56,0.000,0.043,0.049,910.1,916.0,904.2,173.4,2356.6,0,0,0,30.00,15.78,15.83 MEM2 971020,32,75648,63

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16207,361

IRIDIUM_FIX 4703.65,-12437.51,220322,215541 CAP_FILE_SIZE 121573,0

TCM_TEMP 267.23 SDSIZE 4028416,3715712

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4790,1

HUMID 51.67 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.03 CURRENT 0.099, 55.6,1

INTERNAL_PRESSURE 8.91024 MAGCAL 1.000000,0.009280,-0.025757,-0.006144,1.027230,-0.049355,0.019189,-0.042811,0.973244,621.9,-313.4,93.2,36,0.0350,0

_24V_AH 14.77,470.016 IMPLIED_C_PITCH 2425,11.53,209

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2862,26.112473,194

FG_AHR_24Vo 346.730 GPS 220322,230728,4702.468,-12438.530,1,0.7,3,15.6

FG_AHR_10Vo 105.564

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 506 1179 8829.60 legato 34 20 10.06

Pitch_motor 36 230 123.01 nil 0 0 0.00

Roll_motor 34 92 47.39 nil 0 0 0.00

Iridium 136 169 342.80 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.31 nil 0 0 0.00

Core 1221 11 216.29 SciCon 0 0 0.00

LPSleep 918 2 38.57 nil 0 0 0.00

Compass 259 5 19.47 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

6.12 16386 -116.79 -1.47 0.00 951.8 951.9 951.6 172.1 2236.0 0.00 0.00 0 82.56 74.96 0.00 0.00 0.005 0.000 0.000 2816.69 2997.50 2635.88 172.25 2236.31 0 0 0 14.92 30.00 30.00

83.30 18727 -116.79 -1.47 60.00 2815.5 2995.6 2635.5 172.2 2236.5 3.37 -4.34 14 116.59 10.27 13.97 3.10 0.007 0.231 0.081 3250.91 3472.06 3029.75 1964.62 3425.44 0 0 0 14.84 15.56 14.93

143.67 1028 -116.79 -1.47 0.00 3250.7 3471.9 3029.4 1965.1 3425.9 13.39 -13.45 26 149.22 0.00 0.00 2.63 0.000 0.000 0.017 3250.16 3471.38 3028.94 1964.69 2247.69 0 0 0 30.00 30.00 15.89

273.71 0 -116.79 -1.47 0.00 3250.6 3471.7 3029.6 1964.9 2245.8 29.87 -12.61 52 275.04 0.00 0.00 0.00 0.000 0.000 0.000 3250.41 3472.19 3028.62 1964.50 2246.19 0 0 0 30.00 30.00 30.00

398.75 260 -116.79 -1.47 60.00 3250.7 3471.7 3029.7 1964.9 2246.0 45.91 -13.36 77 404.56 0.00 0.00 3.05 0.000 0.000 0.077 3251.62 3472.56 3030.69 1964.88 3425.81 0 0 0 30.00 30.00 15.89

443.95 1028 -116.79 -1.47 0.30 3250.5 3468.3 3032.6 1965.4 3426.0 51.79 -13.13 86 449.32 0.00 0.00 2.61 0.000 0.000 0.017 3250.75 3468.38 3033.12 1965.69 2252.00 0 0 0 30.00 30.00 15.92

573.82 0 -116.79 -1.47 0.30 3250.2 3467.7 3032.6 1965.1 2250.6 65.40 -9.52 112 575.15 0.00 0.00 0.00 0.000 0.000 0.000 3249.34 3467.12 3031.56 1965.06 2250.50 0 0 0 30.00 30.00 30.00

678 end dive: TARGET_DEPTH_EXCEEDED

state 678 begin apogee

680.66 10243 0.00 -0.28 0.00 3250.2 3467.9 3032.6 1964.6 2118.4 74.17 -8.09 133 768.00 82.50 1.98 0.23 1.180 0.134 0.090 2774.31 2913.75 2634.88 2254.25 2255.50 0 0 0 11.06 15.84 15.34

770 end apogee: CONTROL_FINISHED_OK

state 770 begin climb

770.91 10503 116.79 1.47 60.00 2773.0 2912.4 2633.6 2254.8 2255.5 77.49 0.00 150 864.37 84.25 2.87 2.74 1.127 0.125 0.077 2299.84 2372.00 2227.69 2678.38 3304.31 0 0 0 11.79 15.56 15.69

936.97 11303 266.67 1.77 0.00 2293.9 2370.1 2217.8 2678.4 3303.8 72.80 5.20 183 1052.99 109.35 0.43 2.67 1.100 0.049 0.018 1686.66 1733.12 1640.19 2766.25 2139.94 0 0 0 11.51 15.58 15.67

1175.25 10535 386.10 2.01 60.00 1679.6 1735.1 1624.2 2766.9 2140.3 57.18 6.18 230 1273.06 90.72 0.23 3.09 1.070 0.069 0.076 1200.91 1214.00 1187.81 2821.31 3305.25 0 0 0 11.50 15.68 15.26

1370.30 1092 386.10 2.04 -2.15 1197.8 1214.2 1181.2 2820.9 3305.6 40.76 8.28 269 1375.87 0.00 0.00 2.76 0.000 0.000 0.020 1197.62 1214.25 1181.00 2821.62 2112.06 0 0 0 30.00 30.00 15.70

1500.44 10791 456.04 2.18 -60.00 1195.9 1214.8 1177.1 2821.8 2111.8 30.65 7.76 295 1562.05 54.60 0.17 2.63 1.042 0.084 0.076 915.16 910.25 920.06 2865.75 1094.44 0 0 0 11.38 15.75 15.33

1620.50 1028 456.04 2.18 -2.55 912.6 910.6 914.7 2865.5 1094.2 19.48 9.80 319 1625.90 0.00 0.00 2.60 0.000 0.000 0.021 912.78 911.00 914.56 2865.44 2194.25 0 0 0 30.00 30.00 15.73

1750.35 324 456.04 2.19 60.00 911.4 913.0 909.8 2865.4 2193.8 7.37 9.33 345 1755.92 0.00 0.00 2.90 0.000 0.000 0.079 911.34 912.81 909.88 2865.19 3305.69 0 0 0 30.00 30.00 15.79

1770.32 1028 456.04 2.19 -3.40 911.2 913.0 909.3 2865.1 3305.6 5.36 9.71 349 1776.24 0.00 0.00 2.81 0.000 0.000 0.021 911.22 912.88 909.56 2863.94 2092.12 0 0 0 30.00 30.00 15.81

1785 end climb: SURFACE_DEPTH_REACHED

state 1785 begin surface coast

1830 end surface coast: CONTROL_FINISHED_OK

state 1830 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	1344	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	105.55824	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	346.59842	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	220322,223030,4702.482,-12438.729,25,1.1,25,15.6	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	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220322,223508,4702.491,-12438.738,2,0.8,4,15.6	MHEAD_RNG_PITCHd_Wd	135.4,11962,-22.2,-10.000,-28.63
SPEED_LIMITS	0.173,0.183	D_GRID	74
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	0.2,1.021457	MEM0	60876,1,0,0
SM_CCo	1915.80,0.00,0.000,0,910.1,916.0,904.2,457.46	MEM1	65508,1,0,0
SM_GC	0.77,0.00,16.42,0.56,0.000,0.043,0.049,910.1,916.0,904.2,173.4,2356.6,0,0,0,30.00,15.78,15.83	MEM2	971020,32,75648,63
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16207,361
IRIDIUM_FIX	4703.65,-12437.51,220322,215541	CAP_FILE_SIZE	121573,0
TCM_TEMP	267.23	SDSIZE	4028416,3715712
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4790,1
HUMID	51.67	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.03	CURRENT	0.099, 55.6,1
INTERNAL_PRESSURE	8.91024	MAGCAL	1.000000,0.009280,-0.025757,-0.006144,1.027230,-0.049355,0.019189,-0.042811,0.973244,621.9,-313.4,93.2,36,0.0350,0
_24V_AH	14.77,470.016	IMPLIED_C_PITCH	2425,11.53,209
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2862,26.112473,194
FG_AHR_24Vo	346.730	GPS	220322,230728,4702.468,-12438.530,1,0.7,3,15.6
FG_AHR_10Vo	105.564

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	506	1179	8829.60	legato	34	20	10.06
Pitch_motor	36	230	123.01	nil	0	0	0.00
Roll_motor	34	92	47.39	nil	0	0	0.00
Iridium	136	169	342.80	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.31	nil	0	0	0.00
Core	1221	11	216.29	SciCon	0	0	0.00
LPSleep	918	2	38.57	nil	0	0	0.00
Compass	259	5	19.47	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
6.12	16386	-116.79	-1.47	0.00	951.8	951.9	951.6	172.1	2236.0	0.00	0.00	0	82.56	74.96	0.00	0.00	0.005	0.000	0.000	2816.69	2997.50	2635.88	172.25	2236.31	0	0	0	14.92	30.00	30.00
83.30	18727	-116.79	-1.47	60.00	2815.5	2995.6	2635.5	172.2	2236.5	3.37	-4.34	14	116.59	10.27	13.97	3.10	0.007	0.231	0.081	3250.91	3472.06	3029.75	1964.62	3425.44	0	0	0	14.84	15.56	14.93
143.67	1028	-116.79	-1.47	0.00	3250.7	3471.9	3029.4	1965.1	3425.9	13.39	-13.45	26	149.22	0.00	0.00	2.63	0.000	0.000	0.017	3250.16	3471.38	3028.94	1964.69	2247.69	0	0	0	30.00	30.00	15.89
273.71	0	-116.79	-1.47	0.00	3250.6	3471.7	3029.6	1964.9	2245.8	29.87	-12.61	52	275.04	0.00	0.00	0.00	0.000	0.000	0.000	3250.41	3472.19	3028.62	1964.50	2246.19	0	0	0	30.00	30.00	30.00
398.75	260	-116.79	-1.47	60.00	3250.7	3471.7	3029.7	1964.9	2246.0	45.91	-13.36	77	404.56	0.00	0.00	3.05	0.000	0.000	0.077	3251.62	3472.56	3030.69	1964.88	3425.81	0	0	0	30.00	30.00	15.89
443.95	1028	-116.79	-1.47	0.30	3250.5	3468.3	3032.6	1965.4	3426.0	51.79	-13.13	86	449.32	0.00	0.00	2.61	0.000	0.000	0.017	3250.75	3468.38	3033.12	1965.69	2252.00	0	0	0	30.00	30.00	15.92
573.82	0	-116.79	-1.47	0.30	3250.2	3467.7	3032.6	1965.1	2250.6	65.40	-9.52	112	575.15	0.00	0.00	0.00	0.000	0.000	0.000	3249.34	3467.12	3031.56	1965.06	2250.50	0	0	0	30.00	30.00	30.00
678	end dive: TARGET_DEPTH_EXCEEDED
state	678	begin apogee
680.66	10243	0.00	-0.28	0.00	3250.2	3467.9	3032.6	1964.6	2118.4	74.17	-8.09	133	768.00	82.50	1.98	0.23	1.180	0.134	0.090	2774.31	2913.75	2634.88	2254.25	2255.50	0	0	0	11.06	15.84	15.34
770	end apogee: CONTROL_FINISHED_OK
state	770	begin climb
770.91	10503	116.79	1.47	60.00	2773.0	2912.4	2633.6	2254.8	2255.5	77.49	0.00	150	864.37	84.25	2.87	2.74	1.127	0.125	0.077	2299.84	2372.00	2227.69	2678.38	3304.31	0	0	0	11.79	15.56	15.69
936.97	11303	266.67	1.77	0.00	2293.9	2370.1	2217.8	2678.4	3303.8	72.80	5.20	183	1052.99	109.35	0.43	2.67	1.100	0.049	0.018	1686.66	1733.12	1640.19	2766.25	2139.94	0	0	0	11.51	15.58	15.67
1175.25	10535	386.10	2.01	60.00	1679.6	1735.1	1624.2	2766.9	2140.3	57.18	6.18	230	1273.06	90.72	0.23	3.09	1.070	0.069	0.076	1200.91	1214.00	1187.81	2821.31	3305.25	0	0	0	11.50	15.68	15.26
1370.30	1092	386.10	2.04	-2.15	1197.8	1214.2	1181.2	2820.9	3305.6	40.76	8.28	269	1375.87	0.00	0.00	2.76	0.000	0.000	0.020	1197.62	1214.25	1181.00	2821.62	2112.06	0	0	0	30.00	30.00	15.70
1500.44	10791	456.04	2.18	-60.00	1195.9	1214.8	1177.1	2821.8	2111.8	30.65	7.76	295	1562.05	54.60	0.17	2.63	1.042	0.084	0.076	915.16	910.25	920.06	2865.75	1094.44	0	0	0	11.38	15.75	15.33
1620.50	1028	456.04	2.18	-2.55	912.6	910.6	914.7	2865.5	1094.2	19.48	9.80	319	1625.90	0.00	0.00	2.60	0.000	0.000	0.021	912.78	911.00	914.56	2865.44	2194.25	0	0	0	30.00	30.00	15.73
1750.35	324	456.04	2.19	60.00	911.4	913.0	909.8	2865.4	2193.8	7.37	9.33	345	1755.92	0.00	0.00	2.90	0.000	0.000	0.079	911.34	912.81	909.88	2865.19	3305.69	0	0	0	30.00	30.00	15.79
1770.32	1028	456.04	2.19	-3.40	911.2	913.0	909.3	2865.1	3305.6	5.36	9.71	349	1776.24	0.00	0.00	2.81	0.000	0.000	0.021	911.22	912.88	909.56	2863.94	2092.12	0	0	0	30.00	30.00	15.81
1785	end climb: SURFACE_DEPTH_REACHED
state	1785	begin surface coast
1830	end surface coast: CONTROL_FINISHED_OK
state	1830	begin surface