Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1348 * 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 1348 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 105.58663 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 347.13248 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 105.58663 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 347.13248 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 1348 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 230322,010001,4702.311,-12438.002,2,0.9,28,15.6 TGT_RADIUS 500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230322,010557,4702.316,-12438.029,2,0.6,5,15.6 MHEAD_RNG_PITCHd_Wd 95.9,11011,-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 0.2,1.023382 MEM0 60876,1,0,0

SM_CCo 1799.91,0.00,0.000,0,916.3,923.4,909.2,455.93 MEM1 65508,1,0,0

SM_GC 0.76,0.00,16.40,0.14,0.000,0.041,0.108,916.3,923.4,909.2,173.4,2363.4,0,0,0,30.00,15.79,15.83 MEM2 970952,32,75716,63

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12982,338

IRIDIUM_FIX 4703.65,-12437.51,230322,010222 CAP_FILE_SIZE 114367,0

TCM_TEMP 267.29 SDSIZE 4028416,3715200

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4802,1

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 0.031,188.9,1

INTERNAL_PRESSURE 8.91413 MAGCAL 1.000000,-0.008638,0.034960,0.001475,1.033581,-0.034407,0.003461,-0.092642,1.036143,562.6,-323.7,38.3,31,0.0264,0

_24V_AH 14.73,470.616 IMPLIED_C_PITCH 2472,10.75,189

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2920,18.595095,188

FG_AHR_24Vo 347.262 GPS 230322,013620,4702.234,-12437.962,2,0.7,3,15.6

FG_AHR_10Vo 105.592

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 502 1175 8711.96 legato 34 20 10.23

Pitch_motor 36 228 121.49 nil 0 0 0.00

Roll_motor 28 107 45.38 nil 0 0 0.00

Iridium 154 178 406.72 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.17 nil 0 0 0.00

Core 1193 11 211.16 SciCon 0 0 0.00

LPSleep 910 2 38.26 nil 0 0 0.00

Compass 245 5 18.44 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 1003.3 1002.8 1003.8 173.4 2245.7 0.00 0.00 0 82.56 74.96 0.00 0.00 0.005 0.000 0.000 2864.03 3044.00 2684.06 173.50 2246.31 0 0 0 14.91 30.00 30.00

83.30 18727 -116.79 -1.47 60.00 2863.4 3042.9 2683.9 173.3 2245.8 3.40 -4.52 14 115.53 9.06 13.80 3.09 0.007 0.229 0.082 3250.72 3467.81 3033.62 1964.19 3426.50 0 0 0 14.88 15.57 14.95

172.61 1028 -116.79 -1.47 0.00 3250.5 3467.5 3033.5 1963.2 3427.0 17.74 -14.21 32 178.16 0.00 0.00 2.64 0.000 0.000 0.017 3251.34 3467.44 3035.25 1964.00 2251.00 0 0 0 30.00 30.00 15.90

302.64 0 -116.79 -1.47 0.00 3250.8 3467.7 3033.8 1963.7 2250.6 33.86 -12.04 58 303.97 0.00 0.00 0.00 0.000 0.000 0.000 3249.41 3466.44 3032.38 1964.12 2249.44 0 0 0 30.00 30.00 30.00

427.65 0 -116.79 -1.47 0.00 3251.0 3468.3 3033.7 1964.4 2249.7 48.84 -11.47 83 428.98 0.00 0.00 0.00 0.000 0.000 0.000 3249.75 3467.06 3032.44 1964.00 2249.56 0 0 0 30.00 30.00 30.00

552.87 260 -116.79 -1.47 60.00 3250.4 3467.2 3033.7 1963.9 2249.8 62.11 -10.46 108 558.36 0.00 0.00 3.05 0.000 0.000 0.078 3250.56 3467.31 3033.81 1964.12 3427.19 0 0 0 30.00 30.00 15.91

632.70 1028 -116.79 -1.47 0.69 3250.5 3466.8 3034.2 1963.5 3427.0 69.92 -9.77 124 638.25 0.00 0.00 2.61 0.000 0.000 0.017 3252.03 3468.62 3035.44 1964.06 2250.50 0 0 0 30.00 30.00 15.94

647 end dive: TARGET_DEPTH_EXCEEDED

state 647 begin apogee

649.51 10243 0.00 -0.28 0.00 3250.7 3467.1 3034.2 1963.8 2121.9 71.19 -9.35 127 736.84 82.78 1.98 0.22 1.176 0.134 0.093 2776.84 2915.50 2638.19 2255.00 2257.19 0 0 0 11.08 15.84 15.34

738 end apogee: CONTROL_FINISHED_OK

state 739 begin climb

739.75 10503 116.79 1.47 60.00 2774.0 2911.9 2636.2 2254.8 2256.8 73.92 0.00 144 833.24 84.36 2.91 2.74 1.122 0.126 0.077 2296.78 2368.44 2225.12 2677.62 3305.81 0 0 0 11.79 15.57 15.69

835.46 11303 381.60 2.00 0.00 2297.6 2370.6 2224.7 2677.6 3305.2 73.15 1.52 163 1037.16 194.51 0.78 2.71 1.090 0.039 0.018 1219.91 1233.56 1206.25 2822.75 2141.62 0 0 0 11.76 15.50 15.57

1159.42 580 381.60 2.03 -60.00 1214.6 1233.2 1195.9 2822.4 2140.8 46.58 8.51 227 1164.96 0.00 0.00 2.72 0.000 0.000 0.072 1214.59 1233.31 1195.88 2822.38 1093.06 0 0 0 30.00 30.00 15.70

1329.82 9254 454.64 2.17 -1.16 1212.6 1233.9 1191.3 2822.3 1092.8 32.80 7.66 261 1391.79 57.28 0.00 2.64 1.043 0.000 0.022 921.94 920.00 923.88 2822.94 2217.62 0 0 0 11.42 30.00 15.82

1514.86 2629 454.64 2.21 -60.00 918.8 920.2 917.3 2822.3 2218.0 18.15 8.21 298 1520.11 0.00 0.20 2.92 0.000 0.075 0.068 918.69 920.25 917.12 2873.69 1092.06 0 0 0 30.00 15.73 15.71

1619.65 1028 454.64 2.21 1.84 917.3 921.4 913.3 2873.2 1091.8 8.24 9.56 319 1625.09 0.00 0.00 2.78 0.000 0.000 0.023 917.88 921.81 913.94 2873.88 2270.56 0 0 0 30.00 30.00 15.83

1664 end climb: SURFACE_DEPTH_REACHED

state 1664 begin surface coast

1714 end surface coast: CONTROL_FINISHED_OK

state 1714 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	1348	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	105.58663	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	347.13248	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	230322,010001,4702.311,-12438.002,2,0.9,28,15.6	TGT_RADIUS	500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230322,010557,4702.316,-12438.029,2,0.6,5,15.6	MHEAD_RNG_PITCHd_Wd	95.9,11011,-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	0.2,1.023382	MEM0	60876,1,0,0
SM_CCo	1799.91,0.00,0.000,0,916.3,923.4,909.2,455.93	MEM1	65508,1,0,0
SM_GC	0.76,0.00,16.40,0.14,0.000,0.041,0.108,916.3,923.4,909.2,173.4,2363.4,0,0,0,30.00,15.79,15.83	MEM2	970952,32,75716,63
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12982,338
IRIDIUM_FIX	4703.65,-12437.51,230322,010222	CAP_FILE_SIZE	114367,0
TCM_TEMP	267.29	SDSIZE	4028416,3715200
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4802,1
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	0.031,188.9,1
INTERNAL_PRESSURE	8.91413	MAGCAL	1.000000,-0.008638,0.034960,0.001475,1.033581,-0.034407,0.003461,-0.092642,1.036143,562.6,-323.7,38.3,31,0.0264,0
_24V_AH	14.73,470.616	IMPLIED_C_PITCH	2472,10.75,189
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2920,18.595095,188
FG_AHR_24Vo	347.262	GPS	230322,013620,4702.234,-12437.962,2,0.7,3,15.6
FG_AHR_10Vo	105.592

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	502	1175	8711.96	legato	34	20	10.23
Pitch_motor	36	228	121.49	nil	0	0	0.00
Roll_motor	28	107	45.38	nil	0	0	0.00
Iridium	154	178	406.72	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.17	nil	0	0	0.00
Core	1193	11	211.16	SciCon	0	0	0.00
LPSleep	910	2	38.26	nil	0	0	0.00
Compass	245	5	18.44	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	1003.3	1002.8	1003.8	173.4	2245.7	0.00	0.00	0	82.56	74.96	0.00	0.00	0.005	0.000	0.000	2864.03	3044.00	2684.06	173.50	2246.31	0	0	0	14.91	30.00	30.00
83.30	18727	-116.79	-1.47	60.00	2863.4	3042.9	2683.9	173.3	2245.8	3.40	-4.52	14	115.53	9.06	13.80	3.09	0.007	0.229	0.082	3250.72	3467.81	3033.62	1964.19	3426.50	0	0	0	14.88	15.57	14.95
172.61	1028	-116.79	-1.47	0.00	3250.5	3467.5	3033.5	1963.2	3427.0	17.74	-14.21	32	178.16	0.00	0.00	2.64	0.000	0.000	0.017	3251.34	3467.44	3035.25	1964.00	2251.00	0	0	0	30.00	30.00	15.90
302.64	0	-116.79	-1.47	0.00	3250.8	3467.7	3033.8	1963.7	2250.6	33.86	-12.04	58	303.97	0.00	0.00	0.00	0.000	0.000	0.000	3249.41	3466.44	3032.38	1964.12	2249.44	0	0	0	30.00	30.00	30.00
427.65	0	-116.79	-1.47	0.00	3251.0	3468.3	3033.7	1964.4	2249.7	48.84	-11.47	83	428.98	0.00	0.00	0.00	0.000	0.000	0.000	3249.75	3467.06	3032.44	1964.00	2249.56	0	0	0	30.00	30.00	30.00
552.87	260	-116.79	-1.47	60.00	3250.4	3467.2	3033.7	1963.9	2249.8	62.11	-10.46	108	558.36	0.00	0.00	3.05	0.000	0.000	0.078	3250.56	3467.31	3033.81	1964.12	3427.19	0	0	0	30.00	30.00	15.91
632.70	1028	-116.79	-1.47	0.69	3250.5	3466.8	3034.2	1963.5	3427.0	69.92	-9.77	124	638.25	0.00	0.00	2.61	0.000	0.000	0.017	3252.03	3468.62	3035.44	1964.06	2250.50	0	0	0	30.00	30.00	15.94
647	end dive: TARGET_DEPTH_EXCEEDED
state	647	begin apogee
649.51	10243	0.00	-0.28	0.00	3250.7	3467.1	3034.2	1963.8	2121.9	71.19	-9.35	127	736.84	82.78	1.98	0.22	1.176	0.134	0.093	2776.84	2915.50	2638.19	2255.00	2257.19	0	0	0	11.08	15.84	15.34
738	end apogee: CONTROL_FINISHED_OK
state	739	begin climb
739.75	10503	116.79	1.47	60.00	2774.0	2911.9	2636.2	2254.8	2256.8	73.92	0.00	144	833.24	84.36	2.91	2.74	1.122	0.126	0.077	2296.78	2368.44	2225.12	2677.62	3305.81	0	0	0	11.79	15.57	15.69
835.46	11303	381.60	2.00	0.00	2297.6	2370.6	2224.7	2677.6	3305.2	73.15	1.52	163	1037.16	194.51	0.78	2.71	1.090	0.039	0.018	1219.91	1233.56	1206.25	2822.75	2141.62	0	0	0	11.76	15.50	15.57
1159.42	580	381.60	2.03	-60.00	1214.6	1233.2	1195.9	2822.4	2140.8	46.58	8.51	227	1164.96	0.00	0.00	2.72	0.000	0.000	0.072	1214.59	1233.31	1195.88	2822.38	1093.06	0	0	0	30.00	30.00	15.70
1329.82	9254	454.64	2.17	-1.16	1212.6	1233.9	1191.3	2822.3	1092.8	32.80	7.66	261	1391.79	57.28	0.00	2.64	1.043	0.000	0.022	921.94	920.00	923.88	2822.94	2217.62	0	0	0	11.42	30.00	15.82
1514.86	2629	454.64	2.21	-60.00	918.8	920.2	917.3	2822.3	2218.0	18.15	8.21	298	1520.11	0.00	0.20	2.92	0.000	0.075	0.068	918.69	920.25	917.12	2873.69	1092.06	0	0	0	30.00	15.73	15.71
1619.65	1028	454.64	2.21	1.84	917.3	921.4	913.3	2873.2	1091.8	8.24	9.56	319	1625.09	0.00	0.00	2.78	0.000	0.000	0.023	917.88	921.81	913.94	2873.88	2270.56	0	0	0	30.00	30.00	15.83
1664	end climb: SURFACE_DEPTH_REACHED
state	1664	begin surface coast
1714	end surface coast: CONTROL_FINISHED_OK
state	1714	begin surface