Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1347 * 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 1347 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 105.57948 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 346.99875 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 105.57948 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 346.99875 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 1347 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 230322,002144,4702.392,-12438.146,1,1.6,4,15.6 TGT_RADIUS 500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -63.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230322,002752,4702.406,-12438.170,3,1.6,5,15.6 MHEAD_RNG_PITCHd_Wd 107.6,11240,-22.2,-10.000,-28.63

SPEED_LIMITS 0.173,0.183 D_GRID 71

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 0.2,1.024326 MEM0 60876,1,0,0

SM_CCo 1880.91,0.00,0.000,0,1004.2,1015.8,992.6,434.38 MEM1 65508,1,0,0

SM_GC 0.77,0.00,16.29,2.96,0.000,0.043,0.027,1004.2,1015.8,992.6,173.2,2353.1,0,0,0,30.00,15.79,15.85 MEM2 971036,30,75672,63

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16287,354

IRIDIUM_FIX 4702.75,-12440.11,230322,002403 CAP_FILE_SIZE 118916,0

TCM_TEMP 267.47 SDSIZE 4028416,3715328

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4799,1

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

TEMP 81.98 CURRENT 0.020,125.9,1

INTERNAL_PRESSURE 8.91654 MAGCAL 1.000000,0.001410,0.007898,0.004157,1.033922,0.001655,0.013508,-0.079994,1.020770,591.1,-354.0,55.1,36,0.0298,0

_24V_AH 14.78,470.462 IMPLIED_C_PITCH 2432,11.47,207

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2894,32.047520,182

FG_AHR_24Vo 347.125 GPS 230322,010001,4702.311,-12438.002,2,0.9,28,15.6

FG_AHR_10Vo 105.585

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 481 1180 8403.05 legato 34 20 10.26

Pitch_motor 35 231 121.94 nil 0 0 0.00

Roll_motor 34 84 42.76 nil 0 0 0.00

Iridium 167 178 441.40 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.12 nil 0 0 0.00

Core 1224 11 216.82 SciCon 0 0 0.00

LPSleep 972 2 40.83 nil 0 0 0.00

Compass 255 5 19.18 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 1131.6 1138.2 1125.0 172.2 2225.9 0.00 0.00 0 77.08 69.81 0.00 0.00 0.005 0.000 0.000 2863.31 3048.75 2677.88 172.50 2226.62 0 0 0 14.93 30.00 30.00

77.82 18727 -116.79 -1.47 60.00 2862.3 3047.2 2677.4 172.2 2226.9 3.34 -4.71 13 110.50 9.20 13.82 3.10 0.007 0.231 0.080 3250.97 3472.31 3029.62 1964.38 3426.81 0 0 0 14.85 15.56 14.94

167.58 1028 -116.79 -1.47 0.00 3250.3 3471.1 3029.5 1964.9 3426.4 17.64 -14.28 31 173.13 0.00 0.00 2.63 0.000 0.000 0.017 3252.00 3472.19 3031.81 1965.00 2248.81 0 0 0 30.00 30.00 15.89

297.61 0 -116.79 -1.47 0.00 3250.1 3470.9 3029.4 1964.9 2246.9 34.87 -12.94 57 298.94 0.00 0.00 0.00 0.000 0.000 0.000 3249.75 3470.88 3028.62 1964.94 2246.69 0 0 0 30.00 30.00 30.00

422.63 516 -116.79 -1.47 -60.00 3250.2 3470.8 3029.6 1964.9 2246.4 50.18 -11.00 82 428.35 0.00 0.00 2.59 0.000 0.000 0.061 3250.59 3471.38 3029.81 1964.69 1209.50 0 0 0 30.00 30.00 15.93

442.81 1028 -116.79 -1.47 0.72 3250.1 3470.2 3030.0 1964.9 1208.8 52.21 -10.19 86 448.19 0.00 0.00 2.70 0.000 0.000 0.024 3249.75 3469.94 3029.56 1964.81 2367.19 0 0 0 30.00 30.00 15.94

572.66 260 -116.79 -1.47 60.00 3250.5 3471.2 3029.8 1964.6 2366.9 64.49 -8.74 112 578.22 0.00 0.00 2.72 0.000 0.000 0.081 3251.06 3471.12 3031.00 1964.56 3428.31 0 0 0 30.00 30.00 15.92

617.66 1028 -116.79 -1.47 2.00 3250.0 3467.9 3032.1 1964.6 3429.2 68.60 -9.32 121 623.20 0.00 0.00 2.56 0.000 0.000 0.017 3252.22 3469.81 3034.62 1964.94 2267.44 0 0 0 30.00 30.00 15.95

647 end dive: TARGET_DEPTH_EXCEEDED

state 647 begin apogee

649.48 10243 0.00 -0.28 0.00 3250.0 3467.3 3032.7 1964.8 2112.9 71.22 -8.93 127 736.81 82.61 1.95 0.24 1.181 0.133 0.085 2774.28 2912.44 2636.12 2255.12 2253.44 0 0 0 11.14 15.84 15.34

738 end apogee: CONTROL_FINISHED_OK

state 739 begin climb

739.72 11271 116.79 1.47 0.00 2773.3 2911.2 2635.4 2254.4 2254.2 74.25 0.00 144 830.33 84.18 2.74 0.17 1.122 0.087 0.074 2300.22 2370.81 2229.62 2680.38 2115.50 0 0 0 11.85 15.59 15.70

952.55 10535 303.27 1.84 60.00 2293.7 2369.4 2217.9 2680.4 2115.4 68.02 4.03 187 1097.88 136.65 0.54 3.15 1.099 0.052 0.074 1538.00 1578.50 1497.50 2783.25 3308.56 0 0 0 11.45 15.68 15.29

1155.11 1092 303.27 1.87 0.65 1533.8 1578.4 1489.3 2783.4 3308.6 53.18 8.28 227 1160.65 0.00 0.00 2.67 0.000 0.000 0.019 1533.59 1578.62 1488.56 2783.81 2157.62 0 0 0 30.00 30.00 15.64

1285.17 10791 432.67 2.13 -60.00 1530.6 1579.0 1482.2 2783.4 2157.8 44.63 5.86 253 1390.12 99.14 0.32 2.80 1.063 0.059 0.074 1010.50 1008.94 1012.06 2854.69 1094.50 0 0 0 11.43 15.73 15.28

1482.36 1092 432.67 2.15 -0.96 1007.2 1010.2 1004.1 2854.6 1094.4 28.20 9.27 292 1487.79 0.00 0.00 2.65 0.000 0.000 0.022 1006.94 1010.06 1003.81 2854.38 2222.69 0 0 0 30.00 30.00 15.71

1612.49 64 432.67 2.17 -0.96 1005.8 1010.9 1000.8 2854.5 2222.9 16.69 8.83 318 1613.82 0.00 0.00 0.00 0.000 0.000 0.000 1005.72 1011.06 1000.38 2854.88 2222.94 0 0 0 30.00 30.00 30.00

1737.50 580 432.67 2.18 -60.00 1005.6 1012.2 999.0 2854.0 2223.1 5.38 9.34 343 1742.90 0.00 0.00 2.89 0.000 0.000 0.068 1005.59 1012.38 998.81 2854.69 1093.44 0 0 0 30.00 30.00 15.83

1751 end climb: SURFACE_DEPTH_REACHED

state 1752 begin surface coast

1792 end surface coast: CONTROL_FINISHED_OK

state 1792 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	1347	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	105.57948	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	346.99875	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	230322,002144,4702.392,-12438.146,1,1.6,4,15.6	TGT_RADIUS	500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230322,002752,4702.406,-12438.170,3,1.6,5,15.6	MHEAD_RNG_PITCHd_Wd	107.6,11240,-22.2,-10.000,-28.63
SPEED_LIMITS	0.173,0.183	D_GRID	71
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	0.2,1.024326	MEM0	60876,1,0,0
SM_CCo	1880.91,0.00,0.000,0,1004.2,1015.8,992.6,434.38	MEM1	65508,1,0,0
SM_GC	0.77,0.00,16.29,2.96,0.000,0.043,0.027,1004.2,1015.8,992.6,173.2,2353.1,0,0,0,30.00,15.79,15.85	MEM2	971036,30,75672,63
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16287,354
IRIDIUM_FIX	4702.75,-12440.11,230322,002403	CAP_FILE_SIZE	118916,0
TCM_TEMP	267.47	SDSIZE	4028416,3715328
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4799,1
HUMID	51.71	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.98	CURRENT	0.020,125.9,1
INTERNAL_PRESSURE	8.91654	MAGCAL	1.000000,0.001410,0.007898,0.004157,1.033922,0.001655,0.013508,-0.079994,1.020770,591.1,-354.0,55.1,36,0.0298,0
_24V_AH	14.78,470.462	IMPLIED_C_PITCH	2432,11.47,207
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2894,32.047520,182
FG_AHR_24Vo	347.125	GPS	230322,010001,4702.311,-12438.002,2,0.9,28,15.6
FG_AHR_10Vo	105.585

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	481	1180	8403.05	legato	34	20	10.26
Pitch_motor	35	231	121.94	nil	0	0	0.00
Roll_motor	34	84	42.76	nil	0	0	0.00
Iridium	167	178	441.40	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.12	nil	0	0	0.00
Core	1224	11	216.82	SciCon	0	0	0.00
LPSleep	972	2	40.83	nil	0	0	0.00
Compass	255	5	19.18	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	1131.6	1138.2	1125.0	172.2	2225.9	0.00	0.00	0	77.08	69.81	0.00	0.00	0.005	0.000	0.000	2863.31	3048.75	2677.88	172.50	2226.62	0	0	0	14.93	30.00	30.00
77.82	18727	-116.79	-1.47	60.00	2862.3	3047.2	2677.4	172.2	2226.9	3.34	-4.71	13	110.50	9.20	13.82	3.10	0.007	0.231	0.080	3250.97	3472.31	3029.62	1964.38	3426.81	0	0	0	14.85	15.56	14.94
167.58	1028	-116.79	-1.47	0.00	3250.3	3471.1	3029.5	1964.9	3426.4	17.64	-14.28	31	173.13	0.00	0.00	2.63	0.000	0.000	0.017	3252.00	3472.19	3031.81	1965.00	2248.81	0	0	0	30.00	30.00	15.89
297.61	0	-116.79	-1.47	0.00	3250.1	3470.9	3029.4	1964.9	2246.9	34.87	-12.94	57	298.94	0.00	0.00	0.00	0.000	0.000	0.000	3249.75	3470.88	3028.62	1964.94	2246.69	0	0	0	30.00	30.00	30.00
422.63	516	-116.79	-1.47	-60.00	3250.2	3470.8	3029.6	1964.9	2246.4	50.18	-11.00	82	428.35	0.00	0.00	2.59	0.000	0.000	0.061	3250.59	3471.38	3029.81	1964.69	1209.50	0	0	0	30.00	30.00	15.93
442.81	1028	-116.79	-1.47	0.72	3250.1	3470.2	3030.0	1964.9	1208.8	52.21	-10.19	86	448.19	0.00	0.00	2.70	0.000	0.000	0.024	3249.75	3469.94	3029.56	1964.81	2367.19	0	0	0	30.00	30.00	15.94
572.66	260	-116.79	-1.47	60.00	3250.5	3471.2	3029.8	1964.6	2366.9	64.49	-8.74	112	578.22	0.00	0.00	2.72	0.000	0.000	0.081	3251.06	3471.12	3031.00	1964.56	3428.31	0	0	0	30.00	30.00	15.92
617.66	1028	-116.79	-1.47	2.00	3250.0	3467.9	3032.1	1964.6	3429.2	68.60	-9.32	121	623.20	0.00	0.00	2.56	0.000	0.000	0.017	3252.22	3469.81	3034.62	1964.94	2267.44	0	0	0	30.00	30.00	15.95
647	end dive: TARGET_DEPTH_EXCEEDED
state	647	begin apogee
649.48	10243	0.00	-0.28	0.00	3250.0	3467.3	3032.7	1964.8	2112.9	71.22	-8.93	127	736.81	82.61	1.95	0.24	1.181	0.133	0.085	2774.28	2912.44	2636.12	2255.12	2253.44	0	0	0	11.14	15.84	15.34
738	end apogee: CONTROL_FINISHED_OK
state	739	begin climb
739.72	11271	116.79	1.47	0.00	2773.3	2911.2	2635.4	2254.4	2254.2	74.25	0.00	144	830.33	84.18	2.74	0.17	1.122	0.087	0.074	2300.22	2370.81	2229.62	2680.38	2115.50	0	0	0	11.85	15.59	15.70
952.55	10535	303.27	1.84	60.00	2293.7	2369.4	2217.9	2680.4	2115.4	68.02	4.03	187	1097.88	136.65	0.54	3.15	1.099	0.052	0.074	1538.00	1578.50	1497.50	2783.25	3308.56	0	0	0	11.45	15.68	15.29
1155.11	1092	303.27	1.87	0.65	1533.8	1578.4	1489.3	2783.4	3308.6	53.18	8.28	227	1160.65	0.00	0.00	2.67	0.000	0.000	0.019	1533.59	1578.62	1488.56	2783.81	2157.62	0	0	0	30.00	30.00	15.64
1285.17	10791	432.67	2.13	-60.00	1530.6	1579.0	1482.2	2783.4	2157.8	44.63	5.86	253	1390.12	99.14	0.32	2.80	1.063	0.059	0.074	1010.50	1008.94	1012.06	2854.69	1094.50	0	0	0	11.43	15.73	15.28
1482.36	1092	432.67	2.15	-0.96	1007.2	1010.2	1004.1	2854.6	1094.4	28.20	9.27	292	1487.79	0.00	0.00	2.65	0.000	0.000	0.022	1006.94	1010.06	1003.81	2854.38	2222.69	0	0	0	30.00	30.00	15.71
1612.49	64	432.67	2.17	-0.96	1005.8	1010.9	1000.8	2854.5	2222.9	16.69	8.83	318	1613.82	0.00	0.00	0.00	0.000	0.000	0.000	1005.72	1011.06	1000.38	2854.88	2222.94	0	0	0	30.00	30.00	30.00
1737.50	580	432.67	2.18	-60.00	1005.6	1012.2	999.0	2854.0	2223.1	5.38	9.34	343	1742.90	0.00	0.00	2.89	0.000	0.000	0.068	1005.59	1012.38	998.81	2854.69	1093.44	0	0	0	30.00	30.00	15.83
1751	end climb: SURFACE_DEPTH_REACHED
state	1752	begin surface coast
1792	end surface coast: CONTROL_FINISHED_OK
state	1792	begin surface