Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1369 * 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 1369 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 105.7295 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 349.93521 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 105.7295 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 349.93521 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 1369 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 230322,134002,4700.635,-12436.597,19,0.8,20,15.6 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 -61.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230322,134410,4700.634,-12436.626,3,0.8,5,15.6 MHEAD_RNG_PITCHd_Wd 59.3,8451,-22.2,-10.000,-28.63

SPEED_LIMITS 0.173,0.183 D_GRID 68

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 0.2,1.019263 MEM0 60876,1,0,0

SM_CCo 1965.72,20.45,1.061,0,1144.2,1136.2,1152.2,400.03 MEM1 65508,1,0,0

SM_GC 0.99,20.45,16.42,0.28,1.061,0.037,0.075,1144.2,1136.2,1152.2,173.6,2349.4,0,0,0,11.32,15.80,15.83 MEM2 971016,30,75692,63

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16261,379

IRIDIUM_FIX 4701.56,-12455.90,230322,130412 CAP_FILE_SIZE 113035,0

TCM_TEMP 267.32 SDSIZE 4028416,3712672

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4865,1

HUMID 51.77 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.94 CURRENT 0.111,236.4,1

INTERNAL_PRESSURE 8.92427 MAGCAL 1.000000,-0.017382,0.021654,0.012649,1.040609,-0.098644,0.035735,-0.025696,0.914653,584.7,-276.4,158.3,36,0.0327,0

_24V_AH 14.77,473.746 IMPLIED_C_PITCH 2393,12.39,242

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2356,23.164904,239

FG_AHR_24Vo 350.058 GPS 230322,141720,4700.579,-12436.622,2,0.7,4,15.6

FG_AHR_10Vo 105.736

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 459 1195 8108.95 legato 34 20 10.25

Pitch_motor 35 230 121.72 nil 0 0 0.00

Roll_motor 28 95 40.73 nil 0 0 0.00

Iridium 110 171 279.42 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.34 nil 0 0 0.00

Core 1181 11 209.18 SciCon 0 0 0.00

LPSleep 983 2 41.33 nil 0 0 0.00

Compass 271 5 20.36 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 -117.02 -1.47 0.00 1139.0 1133.3 1144.8 172.6 2229.6 0.00 0.00 0 77.07 69.79 0.00 0.00 0.005 0.000 0.000 2867.06 3046.00 2688.12 172.62 2230.12 0 0 0 14.95 30.00 30.00

77.82 18727 -117.02 -1.47 60.00 2866.2 3045.0 2687.4 172.9 2229.9 3.28 -4.69 13 110.55 9.17 14.02 3.15 0.007 0.230 0.083 3250.62 3467.94 3033.31 2013.81 3425.88 0 0 0 14.93 15.55 14.97

182.64 1028 -117.02 -1.47 0.00 3250.6 3467.1 3034.1 2014.2 3424.9 17.90 -11.69 34 188.17 0.00 0.00 2.65 0.000 0.000 0.017 3253.06 3469.88 3036.25 2013.44 2247.62 0 0 0 30.00 30.00 15.87

312.68 516 -117.02 -1.47 -60.00 3250.5 3466.9 3034.1 2014.1 2245.5 32.38 -11.18 60 318.20 0.00 0.00 2.60 0.000 0.000 0.061 3251.25 3467.31 3035.19 2014.44 1210.06 0 0 0 30.00 30.00 15.89

327.67 1028 -117.02 -1.47 0.15 3251.0 3467.8 3034.1 2013.9 1210.2 34.09 -11.29 63 333.43 0.00 0.00 2.71 0.000 0.000 0.024 3250.53 3467.25 3033.81 2013.69 2355.12 0 0 0 30.00 30.00 15.91

457.85 0 -117.02 -1.47 0.15 3250.8 3467.8 3033.8 2013.6 2355.2 47.68 -10.04 89 459.17 0.00 0.00 0.00 0.000 0.000 0.000 3249.81 3466.44 3033.19 2013.56 2355.06 0 0 0 30.00 30.00 30.00

582.77 0 -117.02 -1.47 0.15 3250.5 3467.1 3033.9 2014.1 2356.0 59.17 -8.35 114 584.10 0.00 0.00 0.00 0.000 0.000 0.000 3249.66 3466.38 3032.94 2013.75 2355.25 0 0 0 30.00 30.00 30.00

692 end dive: TARGET_DEPTH_EXCEEDED

state 692 begin apogee

694.67 10243 0.00 -0.28 0.00 3250.6 3467.5 3033.8 2013.7 2124.4 68.50 -8.93 136 781.94 82.75 1.93 0.22 1.196 0.125 0.096 2773.22 2912.06 2634.38 2304.88 2253.06 0 0 0 11.17 15.84 15.36

784 end apogee: CONTROL_FINISHED_OK

state 784 begin climb

784.87 10759 117.02 1.47 -60.00 2773.6 2912.6 2634.6 2304.9 2252.8 72.47 0.00 153 878.36 84.26 2.76 3.00 1.148 0.092 0.065 2297.25 2364.19 2230.31 2729.25 1092.12 0 0 0 11.78 15.56 15.69

1105.61 11303 311.44 1.86 0.00 2293.9 2364.5 2223.2 2729.5 1091.5 65.64 3.78 217 1255.92 142.85 0.55 2.72 1.131 0.041 0.022 1506.31 1541.38 1471.25 2840.88 2239.50 0 0 0 11.36 15.69 15.81

1378.18 324 311.44 1.89 60.00 1498.3 1540.7 1455.9 2841.0 2239.9 45.83 8.17 271 1383.74 0.00 0.00 2.82 0.000 0.000 0.078 1498.75 1540.88 1456.62 2841.00 3306.44 0 0 0 30.00 30.00 15.71

1558.20 9254 374.67 2.02 -0.82 1497.1 1541.1 1453.2 2841.1 3306.8 30.55 7.98 307 1614.83 49.78 0.00 2.71 1.087 0.000 0.019 1247.38 1267.25 1227.50 2841.44 2131.62 0 0 0 11.29 30.00 15.83

1738.27 2629 374.67 2.05 -60.00 1243.2 1267.9 1218.6 2840.8 2131.4 16.12 8.25 343 1743.85 0.00 0.16 2.69 0.000 0.082 0.071 1243.31 1268.00 1218.62 2887.94 1093.12 0 0 0 30.00 15.74 15.72

1803.26 1028 374.67 2.05 -1.35 1242.1 1267.7 1216.4 2887.4 1093.4 9.77 9.98 356 1808.81 0.00 0.00 2.65 0.000 0.000 0.022 1242.56 1268.19 1216.94 2887.94 2213.44 0 0 0 30.00 30.00 15.81

1868 end climb: SURFACE_DEPTH_REACHED

state 1868 begin surface coast

1918 end surface coast: CONTROL_FINISHED_OK

state 1918 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	1369	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	105.7295	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	349.93521	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	230322,134002,4700.635,-12436.597,19,0.8,20,15.6	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	-61.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230322,134410,4700.634,-12436.626,3,0.8,5,15.6	MHEAD_RNG_PITCHd_Wd	59.3,8451,-22.2,-10.000,-28.63
SPEED_LIMITS	0.173,0.183	D_GRID	68
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	0.2,1.019263	MEM0	60876,1,0,0
SM_CCo	1965.72,20.45,1.061,0,1144.2,1136.2,1152.2,400.03	MEM1	65508,1,0,0
SM_GC	0.99,20.45,16.42,0.28,1.061,0.037,0.075,1144.2,1136.2,1152.2,173.6,2349.4,0,0,0,11.32,15.80,15.83	MEM2	971016,30,75692,63
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16261,379
IRIDIUM_FIX	4701.56,-12455.90,230322,130412	CAP_FILE_SIZE	113035,0
TCM_TEMP	267.32	SDSIZE	4028416,3712672
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4865,1
HUMID	51.77	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.94	CURRENT	0.111,236.4,1
INTERNAL_PRESSURE	8.92427	MAGCAL	1.000000,-0.017382,0.021654,0.012649,1.040609,-0.098644,0.035735,-0.025696,0.914653,584.7,-276.4,158.3,36,0.0327,0
_24V_AH	14.77,473.746	IMPLIED_C_PITCH	2393,12.39,242
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2356,23.164904,239
FG_AHR_24Vo	350.058	GPS	230322,141720,4700.579,-12436.622,2,0.7,4,15.6
FG_AHR_10Vo	105.736

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	459	1195	8108.95	legato	34	20	10.25
Pitch_motor	35	230	121.72	nil	0	0	0.00
Roll_motor	28	95	40.73	nil	0	0	0.00
Iridium	110	171	279.42	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.34	nil	0	0	0.00
Core	1181	11	209.18	SciCon	0	0	0.00
LPSleep	983	2	41.33	nil	0	0	0.00
Compass	271	5	20.36	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	-117.02	-1.47	0.00	1139.0	1133.3	1144.8	172.6	2229.6	0.00	0.00	0	77.07	69.79	0.00	0.00	0.005	0.000	0.000	2867.06	3046.00	2688.12	172.62	2230.12	0	0	0	14.95	30.00	30.00
77.82	18727	-117.02	-1.47	60.00	2866.2	3045.0	2687.4	172.9	2229.9	3.28	-4.69	13	110.55	9.17	14.02	3.15	0.007	0.230	0.083	3250.62	3467.94	3033.31	2013.81	3425.88	0	0	0	14.93	15.55	14.97
182.64	1028	-117.02	-1.47	0.00	3250.6	3467.1	3034.1	2014.2	3424.9	17.90	-11.69	34	188.17	0.00	0.00	2.65	0.000	0.000	0.017	3253.06	3469.88	3036.25	2013.44	2247.62	0	0	0	30.00	30.00	15.87
312.68	516	-117.02	-1.47	-60.00	3250.5	3466.9	3034.1	2014.1	2245.5	32.38	-11.18	60	318.20	0.00	0.00	2.60	0.000	0.000	0.061	3251.25	3467.31	3035.19	2014.44	1210.06	0	0	0	30.00	30.00	15.89
327.67	1028	-117.02	-1.47	0.15	3251.0	3467.8	3034.1	2013.9	1210.2	34.09	-11.29	63	333.43	0.00	0.00	2.71	0.000	0.000	0.024	3250.53	3467.25	3033.81	2013.69	2355.12	0	0	0	30.00	30.00	15.91
457.85	0	-117.02	-1.47	0.15	3250.8	3467.8	3033.8	2013.6	2355.2	47.68	-10.04	89	459.17	0.00	0.00	0.00	0.000	0.000	0.000	3249.81	3466.44	3033.19	2013.56	2355.06	0	0	0	30.00	30.00	30.00
582.77	0	-117.02	-1.47	0.15	3250.5	3467.1	3033.9	2014.1	2356.0	59.17	-8.35	114	584.10	0.00	0.00	0.00	0.000	0.000	0.000	3249.66	3466.38	3032.94	2013.75	2355.25	0	0	0	30.00	30.00	30.00
692	end dive: TARGET_DEPTH_EXCEEDED
state	692	begin apogee
694.67	10243	0.00	-0.28	0.00	3250.6	3467.5	3033.8	2013.7	2124.4	68.50	-8.93	136	781.94	82.75	1.93	0.22	1.196	0.125	0.096	2773.22	2912.06	2634.38	2304.88	2253.06	0	0	0	11.17	15.84	15.36
784	end apogee: CONTROL_FINISHED_OK
state	784	begin climb
784.87	10759	117.02	1.47	-60.00	2773.6	2912.6	2634.6	2304.9	2252.8	72.47	0.00	153	878.36	84.26	2.76	3.00	1.148	0.092	0.065	2297.25	2364.19	2230.31	2729.25	1092.12	0	0	0	11.78	15.56	15.69
1105.61	11303	311.44	1.86	0.00	2293.9	2364.5	2223.2	2729.5	1091.5	65.64	3.78	217	1255.92	142.85	0.55	2.72	1.131	0.041	0.022	1506.31	1541.38	1471.25	2840.88	2239.50	0	0	0	11.36	15.69	15.81
1378.18	324	311.44	1.89	60.00	1498.3	1540.7	1455.9	2841.0	2239.9	45.83	8.17	271	1383.74	0.00	0.00	2.82	0.000	0.000	0.078	1498.75	1540.88	1456.62	2841.00	3306.44	0	0	0	30.00	30.00	15.71
1558.20	9254	374.67	2.02	-0.82	1497.1	1541.1	1453.2	2841.1	3306.8	30.55	7.98	307	1614.83	49.78	0.00	2.71	1.087	0.000	0.019	1247.38	1267.25	1227.50	2841.44	2131.62	0	0	0	11.29	30.00	15.83
1738.27	2629	374.67	2.05	-60.00	1243.2	1267.9	1218.6	2840.8	2131.4	16.12	8.25	343	1743.85	0.00	0.16	2.69	0.000	0.082	0.071	1243.31	1268.00	1218.62	2887.94	1093.12	0	0	0	30.00	15.74	15.72
1803.26	1028	374.67	2.05	-1.35	1242.1	1267.7	1216.4	2887.4	1093.4	9.77	9.98	356	1808.81	0.00	0.00	2.65	0.000	0.000	0.022	1242.56	1268.19	1216.94	2887.94	2213.44	0	0	0	30.00	30.00	15.81
1868	end climb: SURFACE_DEPTH_REACHED
state	1868	begin surface coast
1918	end surface coast: CONTROL_FINISHED_OK
state	1918	begin surface