Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1362 * 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 1362 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 2370 FG_AHR_10V 105.68186 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 349.00684 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 1.0255001 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 105.68186 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 349.00684 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 2370 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 1.0255001 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 1362 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 230322,092727,4701.149,-12436.821,2,1.0,5,15.6 TGT_RADIUS 500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230322,093311,4701.120,-12436.805,3,1.0,7,15.6 MHEAD_RNG_PITCHd_Wd 59.8,8842,-22.2,-10.000,-28.63

SPEED_LIMITS 0.173,0.183 D_GRID 69

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 0.2,1.016571 MEM0 60876,1,0,0

SM_CCo 1909.92,0.00,0.000,0,850.9,854.1,847.7,471.99 MEM1 65508,1,0,0

SM_GC 0.87,0.00,16.67,0.20,0.000,0.040,0.090,850.9,854.1,847.7,173.3,2359.5,0,0,0,30.00,15.76,15.80 MEM2 971012,30,75696,63

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16221,360

IRIDIUM_FIX 4700.87,-12435.72,230322,092946 CAP_FILE_SIZE 118004,0

TCM_TEMP 267.38 SDSIZE 4028416,3713504

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4844,1

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 0.052,170.3,1

INTERNAL_PRESSURE 8.91127 MAGCAL 1.000000,-0.012537,0.048614,-0.006014,1.044051,-0.006709,0.014819,-0.140854,0.982336,555.4,-344.7,103.0,31,0.0304,0

_24V_AH 14.77,472.722 IMPLIED_C_PITCH 2408,11.98,208

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2363,64.869606,207

FG_AHR_24Vo 349.141 GPS 230322,100539,4701.068,-12436.676,18,0.9,19,15.6

FG_AHR_10Vo 105.688

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 533 1173 9253.16 legato 34 20 10.12

Pitch_motor 36 230 124.34 nil 0 0 0.00

Roll_motor 28 95 40.35 nil 0 0 0.00

Iridium 141 183 383.48 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.55 nil 0 0 0.00

Core 1239 11 219.37 SciCon 0 0 0.00

LPSleep 963 2 40.47 nil 0 0 0.00

Compass 259 5 19.44 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 -117.02 -1.47 0.00 577.8 549.7 606.0 173.4 2244.4 0.00 0.00 0 97.81 90.20 0.00 0.00 0.005 0.000 0.000 2824.94 3004.94 2644.94 173.38 2245.75 0 0 0 14.95 30.00 30.00

98.55 18727 -117.02 -1.47 60.00 2824.3 3004.2 2644.4 173.2 2245.5 3.21 -3.54 17 131.89 10.09 14.20 3.08 0.007 0.230 0.082 3251.16 3475.88 3026.44 2014.06 3425.75 0 0 0 14.92 15.57 14.98

269.00 1028 -117.02 -1.47 0.00 3251.5 3474.8 3028.2 2013.9 3426.1 25.28 -10.96 51 274.56 0.00 0.00 2.63 0.000 0.000 0.017 3252.22 3475.31 3029.12 2014.75 2247.75 0 0 0 30.00 30.00 15.90

399.06 0 -117.02 -1.47 0.00 3252.1 3476.0 3028.2 2014.4 2246.1 38.24 -9.66 77 400.38 0.00 0.00 0.00 0.000 0.000 0.000 3251.03 3474.06 3028.00 2014.19 2246.62 0 0 0 30.00 30.00 30.00

524.29 260 -117.02 -1.47 60.00 3252.0 3475.4 3028.6 2014.3 2246.7 51.01 -10.44 102 529.77 0.00 0.00 3.05 0.000 0.000 0.077 3251.91 3475.06 3028.75 2014.56 3427.88 0 0 0 30.00 30.00 15.90

534.10 1028 -117.02 -1.47 0.75 3251.9 3475.2 3028.6 2014.9 3427.0 51.98 -10.22 104 539.63 0.00 0.00 2.58 0.000 0.000 0.017 3252.34 3475.62 3029.06 2014.94 2254.12 0 0 0 30.00 30.00 15.93

664.15 516 -117.02 -1.47 -60.00 3251.7 3475.2 3028.1 2015.1 2253.9 63.02 -8.23 130 669.69 0.00 0.00 2.61 0.000 0.000 0.062 3251.94 3475.44 3028.44 2015.19 1209.25 0 0 0 30.00 30.00 15.94

709.15 1028 -117.02 -1.47 1.70 3251.5 3474.6 3028.4 2015.3 1209.0 66.68 -8.13 139 714.72 0.00 0.00 2.76 0.000 0.000 0.025 3251.66 3474.81 3028.50 2015.81 2382.81 0 0 0 30.00 30.00 15.96

738 end dive: TARGET_DEPTH_EXCEEDED

state 738 begin apogee

741.02 10243 0.00 -0.28 0.00 3251.7 3474.6 3028.8 2014.5 2123.2 69.10 -7.99 145 828.29 82.74 1.96 0.22 1.174 0.131 0.095 2773.47 2908.94 2638.00 2304.31 2254.38 0 0 0 11.23 15.85 15.34

830 end apogee: CONTROL_FINISHED_OK

state 830 begin climb

831.22 10503 117.02 1.47 60.00 2773.6 2909.1 2638.1 2304.5 2253.8 71.71 0.00 162 927.07 84.83 2.87 2.76 1.127 0.117 0.077 2297.75 2369.12 2226.38 2728.31 3305.56 0 0 0 11.87 15.57 15.69

1044.32 11303 278.23 1.79 0.00 2292.4 2368.8 2215.9 2727.8 3305.9 70.75 4.84 205 1168.60 118.00 0.46 2.67 1.105 0.043 0.018 1641.12 1687.75 1594.50 2826.12 2140.94 0 0 0 11.36 15.63 15.72

1290.74 8742 360.60 1.95 -60.00 1632.2 1687.1 1577.4 2826.5 2141.1 47.20 7.36 254 1359.20 63.38 0.00 2.73 1.063 0.000 0.072 1305.53 1334.94 1276.12 2825.56 1091.69 0 0 0 11.48 30.00 15.28

1451.43 11303 470.56 2.17 0.66 1300.7 1334.1 1267.4 2826.4 1092.0 38.75 6.48 286 1541.96 84.40 0.43 2.74 1.053 0.046 0.022 857.12 848.00 866.25 2917.12 2246.75 0 0 0 11.53 15.63 15.73

1664.25 0 470.56 2.17 0.66 852.8 848.8 856.9 2916.8 2246.9 17.08 11.27 328 1665.58 0.00 0.00 0.00 0.000 0.000 0.000 852.62 848.69 856.56 2917.00 2247.38 0 0 0 30.00 30.00 30.00

1783 end climb: SURFACE_DEPTH_REACHED

state 1784 begin surface coast

1824 end surface coast: CONTROL_FINISHED_OK

state 1824 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	1362	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	2370	FG_AHR_10V	105.68186	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	349.00684	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	1.0255001	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	230322,092727,4701.149,-12436.821,2,1.0,5,15.6	TGT_RADIUS	500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230322,093311,4701.120,-12436.805,3,1.0,7,15.6	MHEAD_RNG_PITCHd_Wd	59.8,8842,-22.2,-10.000,-28.63
SPEED_LIMITS	0.173,0.183	D_GRID	69
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	0.2,1.016571	MEM0	60876,1,0,0
SM_CCo	1909.92,0.00,0.000,0,850.9,854.1,847.7,471.99	MEM1	65508,1,0,0
SM_GC	0.87,0.00,16.67,0.20,0.000,0.040,0.090,850.9,854.1,847.7,173.3,2359.5,0,0,0,30.00,15.76,15.80	MEM2	971012,30,75696,63
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16221,360
IRIDIUM_FIX	4700.87,-12435.72,230322,092946	CAP_FILE_SIZE	118004,0
TCM_TEMP	267.38	SDSIZE	4028416,3713504
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4844,1
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	0.052,170.3,1
INTERNAL_PRESSURE	8.91127	MAGCAL	1.000000,-0.012537,0.048614,-0.006014,1.044051,-0.006709,0.014819,-0.140854,0.982336,555.4,-344.7,103.0,31,0.0304,0
_24V_AH	14.77,472.722	IMPLIED_C_PITCH	2408,11.98,208
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2363,64.869606,207
FG_AHR_24Vo	349.141	GPS	230322,100539,4701.068,-12436.676,18,0.9,19,15.6
FG_AHR_10Vo	105.688

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	533	1173	9253.16	legato	34	20	10.12
Pitch_motor	36	230	124.34	nil	0	0	0.00
Roll_motor	28	95	40.35	nil	0	0	0.00
Iridium	141	183	383.48	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.55	nil	0	0	0.00
Core	1239	11	219.37	SciCon	0	0	0.00
LPSleep	963	2	40.47	nil	0	0	0.00
Compass	259	5	19.44	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	-117.02	-1.47	0.00	577.8	549.7	606.0	173.4	2244.4	0.00	0.00	0	97.81	90.20	0.00	0.00	0.005	0.000	0.000	2824.94	3004.94	2644.94	173.38	2245.75	0	0	0	14.95	30.00	30.00
98.55	18727	-117.02	-1.47	60.00	2824.3	3004.2	2644.4	173.2	2245.5	3.21	-3.54	17	131.89	10.09	14.20	3.08	0.007	0.230	0.082	3251.16	3475.88	3026.44	2014.06	3425.75	0	0	0	14.92	15.57	14.98
269.00	1028	-117.02	-1.47	0.00	3251.5	3474.8	3028.2	2013.9	3426.1	25.28	-10.96	51	274.56	0.00	0.00	2.63	0.000	0.000	0.017	3252.22	3475.31	3029.12	2014.75	2247.75	0	0	0	30.00	30.00	15.90
399.06	0	-117.02	-1.47	0.00	3252.1	3476.0	3028.2	2014.4	2246.1	38.24	-9.66	77	400.38	0.00	0.00	0.00	0.000	0.000	0.000	3251.03	3474.06	3028.00	2014.19	2246.62	0	0	0	30.00	30.00	30.00
524.29	260	-117.02	-1.47	60.00	3252.0	3475.4	3028.6	2014.3	2246.7	51.01	-10.44	102	529.77	0.00	0.00	3.05	0.000	0.000	0.077	3251.91	3475.06	3028.75	2014.56	3427.88	0	0	0	30.00	30.00	15.90
534.10	1028	-117.02	-1.47	0.75	3251.9	3475.2	3028.6	2014.9	3427.0	51.98	-10.22	104	539.63	0.00	0.00	2.58	0.000	0.000	0.017	3252.34	3475.62	3029.06	2014.94	2254.12	0	0	0	30.00	30.00	15.93
664.15	516	-117.02	-1.47	-60.00	3251.7	3475.2	3028.1	2015.1	2253.9	63.02	-8.23	130	669.69	0.00	0.00	2.61	0.000	0.000	0.062	3251.94	3475.44	3028.44	2015.19	1209.25	0	0	0	30.00	30.00	15.94
709.15	1028	-117.02	-1.47	1.70	3251.5	3474.6	3028.4	2015.3	1209.0	66.68	-8.13	139	714.72	0.00	0.00	2.76	0.000	0.000	0.025	3251.66	3474.81	3028.50	2015.81	2382.81	0	0	0	30.00	30.00	15.96
738	end dive: TARGET_DEPTH_EXCEEDED
state	738	begin apogee
741.02	10243	0.00	-0.28	0.00	3251.7	3474.6	3028.8	2014.5	2123.2	69.10	-7.99	145	828.29	82.74	1.96	0.22	1.174	0.131	0.095	2773.47	2908.94	2638.00	2304.31	2254.38	0	0	0	11.23	15.85	15.34
830	end apogee: CONTROL_FINISHED_OK
state	830	begin climb
831.22	10503	117.02	1.47	60.00	2773.6	2909.1	2638.1	2304.5	2253.8	71.71	0.00	162	927.07	84.83	2.87	2.76	1.127	0.117	0.077	2297.75	2369.12	2226.38	2728.31	3305.56	0	0	0	11.87	15.57	15.69
1044.32	11303	278.23	1.79	0.00	2292.4	2368.8	2215.9	2727.8	3305.9	70.75	4.84	205	1168.60	118.00	0.46	2.67	1.105	0.043	0.018	1641.12	1687.75	1594.50	2826.12	2140.94	0	0	0	11.36	15.63	15.72
1290.74	8742	360.60	1.95	-60.00	1632.2	1687.1	1577.4	2826.5	2141.1	47.20	7.36	254	1359.20	63.38	0.00	2.73	1.063	0.000	0.072	1305.53	1334.94	1276.12	2825.56	1091.69	0	0	0	11.48	30.00	15.28
1451.43	11303	470.56	2.17	0.66	1300.7	1334.1	1267.4	2826.4	1092.0	38.75	6.48	286	1541.96	84.40	0.43	2.74	1.053	0.046	0.022	857.12	848.00	866.25	2917.12	2246.75	0	0	0	11.53	15.63	15.73
1664.25	0	470.56	2.17	0.66	852.8	848.8	856.9	2916.8	2246.9	17.08	11.27	328	1665.58	0.00	0.00	0.00	0.000	0.000	0.000	852.62	848.69	856.56	2917.00	2247.38	0	0	0	30.00	30.00	30.00
1783	end climb: SURFACE_DEPTH_REACHED
state	1784	begin surface coast
1824	end surface coast: CONTROL_FINISHED_OK
state	1824	begin surface