Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1351 * 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 1351 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 105.60694 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 347.53955 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 105.60694 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 347.53955 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 1351 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 230322,024929,4702.097,-12437.874,2,1.1,5,15.6 TGT_RADIUS 500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230322,025336,4702.114,-12437.884,2,0.7,5,15.6 MHEAD_RNG_PITCHd_Wd 81.8,10699,-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 0.2,1.023855 MEM0 60876,1,0,0

SM_CCo 1879.80,0.00,0.000,0,805.8,802.9,808.6,483.06 MEM1 65508,1,0,0

SM_GC 0.53,0.00,16.49,0.18,0.000,0.041,0.091,805.8,802.9,808.6,177.6,2369.3,0,0,0,30.00,15.77,15.82 MEM2 971004,30,75704,63

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16203,353

IRIDIUM_FIX 4702.75,-12440.11,230322,021714 CAP_FILE_SIZE 120685,0

TCM_TEMP 267.30 SDSIZE 4028416,3714816

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4811,1

HUMID 51.37 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.04 CURRENT 0.050,224.7,1

INTERNAL_PRESSURE 8.90539 MAGCAL 1.000000,0.001387,-0.041078,0.010731,1.031214,-0.054865,0.056171,-0.017939,0.896065,633.3,-310.9,177.6,36,0.0312,0

_24V_AH 14.77,471.080 IMPLIED_C_PITCH 2455,11.26,198

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2822,32.450050,179

FG_AHR_24Vo 347.675 GPS 230322,032522,4702.027,-12437.818,2,0.9,5,15.6

FG_AHR_10Vo 105.613

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 525 1169 9073.17 legato 34 20 10.24

Pitch_motor 36 231 123.12 nil 0 0 0.00

Roll_motor 34 117 59.07 nil 0 0 0.00

Iridium 108 173 277.58 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.49 nil 0 0 0.00

Core 1192 11 211.15 SciCon 0 0 0.00

LPSleep 885 2 37.18 nil 0 0 0.00

Compass 255 5 19.14 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

6.11 16386 -116.79 -1.47 0.00 977.4 973.9 980.9 175.7 2242.2 0.00 0.00 0 82.56 74.93 0.00 0.00 0.005 0.000 0.000 2862.59 3040.94 2684.25 175.88 2242.88 0 0 0 14.96 30.00 30.00

83.30 18727 -116.79 -1.47 60.00 2861.9 3039.4 2684.4 175.8 2242.9 3.76 -5.20 14 115.55 9.02 13.84 3.06 0.007 0.231 0.081 3251.50 3466.00 3037.00 1964.62 3427.81 0 0 0 14.89 15.56 14.96

207.63 1028 -116.79 -1.47 0.00 3250.6 3465.0 3036.2 1964.7 3427.8 22.73 -14.03 39 213.17 0.00 0.00 2.62 0.000 0.000 0.017 3250.66 3464.56 3036.75 1965.31 2247.25 0 0 0 30.00 30.00 15.89

337.65 516 -116.79 -1.47 -60.00 3250.3 3464.8 3035.9 1965.4 2246.6 39.61 -12.74 65 343.17 0.00 0.00 2.56 0.000 0.000 0.061 3250.72 3464.62 3036.81 1966.06 1208.00 0 0 0 30.00 30.00 15.91

357.96 1028 -116.79 -1.47 0.23 3250.1 3464.2 3036.1 1964.9 1208.0 42.33 -13.17 69 363.40 0.00 0.00 2.66 0.000 0.000 0.025 3251.38 3465.50 3037.25 1964.44 2356.50 0 0 0 30.00 30.00 15.92

487.87 260 -116.79 -1.47 60.00 3250.8 3464.3 3037.2 1965.4 2356.7 57.80 -10.41 95 493.26 0.00 0.00 2.74 0.000 0.000 0.082 3252.06 3465.62 3038.50 1964.69 3429.75 0 0 0 30.00 30.00 15.91

602 end dive: TARGET_DEPTH_EXCEEDED

state 602 begin apogee

607.43 10243 0.00 -0.28 0.00 3250.1 3463.8 3036.4 1965.4 2140.8 71.19 -11.49 118 694.66 82.47 1.99 0.17 1.169 0.140 0.117 2774.56 2911.56 2637.56 2255.00 2257.75 0 0 0 11.20 15.83 15.35

696 end apogee: CONTROL_FINISHED_OK

state 697 begin climb

697.57 10759 116.79 1.47 -60.00 2773.9 2911.6 2636.2 2254.8 2258.0 74.77 0.00 135 791.01 84.01 2.82 2.98 1.117 0.103 0.065 2297.78 2366.19 2229.38 2678.38 1091.69 0 0 0 11.86 15.56 15.70

883.24 11303 317.75 1.87 0.00 2295.7 2367.0 2224.3 2679.4 1091.7 71.11 3.57 172 1038.72 147.50 0.57 2.69 1.095 0.042 0.022 1479.09 1518.56 1439.62 2794.94 2242.44 0 0 0 11.50 15.60 15.70

1161.47 10791 413.79 2.06 -60.00 1472.6 1518.7 1426.4 2794.1 2242.3 52.11 6.93 227 1241.51 74.32 0.15 2.99 1.059 0.084 0.068 1088.28 1095.31 1081.25 2838.31 1093.19 0 0 0 11.55 15.67 15.29

1338.76 1092 413.79 2.10 1.32 1084.0 1095.9 1072.1 2837.2 1092.8 38.15 8.24 262 1344.32 0.00 0.00 2.74 0.000 0.000 0.023 1084.00 1096.12 1071.88 2837.94 2262.19 0 0 0 30.00 30.00 15.72

1468.81 8226 481.84 2.23 1.32 1082.8 1096.4 1069.2 2837.7 2262.1 27.83 7.82 288 1524.76 53.04 0.00 0.00 1.035 0.000 0.000 811.47 800.12 822.81 2837.62 2262.31 0 0 0 11.42 30.00 30.00

1649.34 2629 481.84 2.26 -60.00 807.7 801.1 814.2 2837.7 2262.4 12.86 8.69 324 1654.48 0.00 0.17 3.00 0.000 0.077 0.066 807.66 801.12 814.19 2886.62 1093.19 0 0 0 30.00 15.74 15.73

1733.85 1028 481.84 2.26 0.84 806.9 803.4 810.5 2886.6 1092.9 4.54 9.64 341 1739.42 0.00 0.00 2.71 0.000 0.000 0.022 807.12 803.31 810.94 2886.81 2253.75 0 0 0 30.00 30.00 15.82

1743 end climb: SURFACE_DEPTH_REACHED

state 1743 begin surface coast

1793 end surface coast: CONTROL_FINISHED_OK

state 1794 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	1351	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	105.60694	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	347.53955	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	230322,024929,4702.097,-12437.874,2,1.1,5,15.6	TGT_RADIUS	500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230322,025336,4702.114,-12437.884,2,0.7,5,15.6	MHEAD_RNG_PITCHd_Wd	81.8,10699,-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	0.2,1.023855	MEM0	60876,1,0,0
SM_CCo	1879.80,0.00,0.000,0,805.8,802.9,808.6,483.06	MEM1	65508,1,0,0
SM_GC	0.53,0.00,16.49,0.18,0.000,0.041,0.091,805.8,802.9,808.6,177.6,2369.3,0,0,0,30.00,15.77,15.82	MEM2	971004,30,75704,63
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16203,353
IRIDIUM_FIX	4702.75,-12440.11,230322,021714	CAP_FILE_SIZE	120685,0
TCM_TEMP	267.30	SDSIZE	4028416,3714816
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4811,1
HUMID	51.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.04	CURRENT	0.050,224.7,1
INTERNAL_PRESSURE	8.90539	MAGCAL	1.000000,0.001387,-0.041078,0.010731,1.031214,-0.054865,0.056171,-0.017939,0.896065,633.3,-310.9,177.6,36,0.0312,0
_24V_AH	14.77,471.080	IMPLIED_C_PITCH	2455,11.26,198
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2822,32.450050,179
FG_AHR_24Vo	347.675	GPS	230322,032522,4702.027,-12437.818,2,0.9,5,15.6
FG_AHR_10Vo	105.613

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	525	1169	9073.17	legato	34	20	10.24
Pitch_motor	36	231	123.12	nil	0	0	0.00
Roll_motor	34	117	59.07	nil	0	0	0.00
Iridium	108	173	277.58	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.49	nil	0	0	0.00
Core	1192	11	211.15	SciCon	0	0	0.00
LPSleep	885	2	37.18	nil	0	0	0.00
Compass	255	5	19.14	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
6.11	16386	-116.79	-1.47	0.00	977.4	973.9	980.9	175.7	2242.2	0.00	0.00	0	82.56	74.93	0.00	0.00	0.005	0.000	0.000	2862.59	3040.94	2684.25	175.88	2242.88	0	0	0	14.96	30.00	30.00
83.30	18727	-116.79	-1.47	60.00	2861.9	3039.4	2684.4	175.8	2242.9	3.76	-5.20	14	115.55	9.02	13.84	3.06	0.007	0.231	0.081	3251.50	3466.00	3037.00	1964.62	3427.81	0	0	0	14.89	15.56	14.96
207.63	1028	-116.79	-1.47	0.00	3250.6	3465.0	3036.2	1964.7	3427.8	22.73	-14.03	39	213.17	0.00	0.00	2.62	0.000	0.000	0.017	3250.66	3464.56	3036.75	1965.31	2247.25	0	0	0	30.00	30.00	15.89
337.65	516	-116.79	-1.47	-60.00	3250.3	3464.8	3035.9	1965.4	2246.6	39.61	-12.74	65	343.17	0.00	0.00	2.56	0.000	0.000	0.061	3250.72	3464.62	3036.81	1966.06	1208.00	0	0	0	30.00	30.00	15.91
357.96	1028	-116.79	-1.47	0.23	3250.1	3464.2	3036.1	1964.9	1208.0	42.33	-13.17	69	363.40	0.00	0.00	2.66	0.000	0.000	0.025	3251.38	3465.50	3037.25	1964.44	2356.50	0	0	0	30.00	30.00	15.92
487.87	260	-116.79	-1.47	60.00	3250.8	3464.3	3037.2	1965.4	2356.7	57.80	-10.41	95	493.26	0.00	0.00	2.74	0.000	0.000	0.082	3252.06	3465.62	3038.50	1964.69	3429.75	0	0	0	30.00	30.00	15.91
602	end dive: TARGET_DEPTH_EXCEEDED
state	602	begin apogee
607.43	10243	0.00	-0.28	0.00	3250.1	3463.8	3036.4	1965.4	2140.8	71.19	-11.49	118	694.66	82.47	1.99	0.17	1.169	0.140	0.117	2774.56	2911.56	2637.56	2255.00	2257.75	0	0	0	11.20	15.83	15.35
696	end apogee: CONTROL_FINISHED_OK
state	697	begin climb
697.57	10759	116.79	1.47	-60.00	2773.9	2911.6	2636.2	2254.8	2258.0	74.77	0.00	135	791.01	84.01	2.82	2.98	1.117	0.103	0.065	2297.78	2366.19	2229.38	2678.38	1091.69	0	0	0	11.86	15.56	15.70
883.24	11303	317.75	1.87	0.00	2295.7	2367.0	2224.3	2679.4	1091.7	71.11	3.57	172	1038.72	147.50	0.57	2.69	1.095	0.042	0.022	1479.09	1518.56	1439.62	2794.94	2242.44	0	0	0	11.50	15.60	15.70
1161.47	10791	413.79	2.06	-60.00	1472.6	1518.7	1426.4	2794.1	2242.3	52.11	6.93	227	1241.51	74.32	0.15	2.99	1.059	0.084	0.068	1088.28	1095.31	1081.25	2838.31	1093.19	0	0	0	11.55	15.67	15.29
1338.76	1092	413.79	2.10	1.32	1084.0	1095.9	1072.1	2837.2	1092.8	38.15	8.24	262	1344.32	0.00	0.00	2.74	0.000	0.000	0.023	1084.00	1096.12	1071.88	2837.94	2262.19	0	0	0	30.00	30.00	15.72
1468.81	8226	481.84	2.23	1.32	1082.8	1096.4	1069.2	2837.7	2262.1	27.83	7.82	288	1524.76	53.04	0.00	0.00	1.035	0.000	0.000	811.47	800.12	822.81	2837.62	2262.31	0	0	0	11.42	30.00	30.00
1649.34	2629	481.84	2.26	-60.00	807.7	801.1	814.2	2837.7	2262.4	12.86	8.69	324	1654.48	0.00	0.17	3.00	0.000	0.077	0.066	807.66	801.12	814.19	2886.62	1093.19	0	0	0	30.00	15.74	15.73
1733.85	1028	481.84	2.26	0.84	806.9	803.4	810.5	2886.6	1092.9	4.54	9.64	341	1739.42	0.00	0.00	2.71	0.000	0.000	0.022	807.12	803.31	810.94	2886.81	2253.75	0	0	0	30.00	30.00	15.82
1743	end climb: SURFACE_DEPTH_REACHED
state	1743	begin surface coast
1793	end surface coast: CONTROL_FINISHED_OK
state	1794	begin surface