Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1374 * 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 1374 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 105.76459 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 350.60333 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 105.76459 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 350.60333 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 1374 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 230322,164359,4700.528,-12436.757,2,1.2,4,15.6 TGT_RADIUS 500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230322,165036,4700.544,-12436.774,2,0.9,5,15.6 MHEAD_RNG_PITCHd_Wd 39.9,284,-22.2,-10.000,-28.63

SPEED_LIMITS 0.173,0.183 D_GRID 75

TGT_NAME PICKUP3 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 4700.640,-12436.600

Post-dive calculations and measurements:

FINISH 0.2,1.018157 MEM0 60876,1,0,0

SM_CCo 2009.51,4.64,0.593,0,1144.4,1153.2,1135.5,399.99 MEM1 65508,1,0,0

SM_GC 1.17,4.64,16.45,0.32,0.593,0.041,0.060,1144.4,1153.2,1135.5,175.5,2345.8,0,0,0,11.36,15.80,15.86 MEM2 970944,24,75824,66

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16251,391

IRIDIUM_FIX 4700.87,-12435.72,230322,164621 CAP_FILE_SIZE 124459,0

TCM_TEMP 267.42 SDSIZE 4028416,3712032

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4880,1

HUMID 51.79 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.92 CURRENT 0.111,249.7,1

INTERNAL_PRESSURE 8.929 MAGCAL 1.000000,-0.001450,-0.058222,0.003548,1.006455,-0.064556,0.055062,-0.051569,0.883884,653.7,-294.5,182.6,30,0.0299,0

_24V_AH 14.76,474.498 IMPLIED_C_PITCH 2411,11.91,237

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2279,28.180653,234

FG_AHR_24Vo 350.726 GPS 230322,172435,4700.528,-12436.749,6,0.8,9,15.6

FG_AHR_10Vo 105.771

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 468 1205 8334.85 legato 34 20 10.24

Pitch_motor 35 228 120.51 nil 0 0 0.00

Roll_motor 40 108 64.44 nil 0 0 0.00

Iridium 194 177 510.94 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.01 nil 0 0 0.00

Core 1301 11 230.31 SciCon 0 0 0.00

LPSleep 1051 2 44.17 nil 0 0 0.00

Compass 278 5 20.92 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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

6.25 16386 -117.02 -1.47 0.00 973.1 968.8 977.5 178.1 2239.2 0.00 0.00 0 82.68 74.89 0.00 0.00 0.005 0.000 0.000 2813.00 2987.00 2639.00 178.19 2239.38 0 0 0 14.91 30.00 30.00

83.42 18727 -117.02 -1.47 60.00 2812.0 2986.2 2637.8 178.1 2239.6 3.19 -4.08 14 116.72 10.56 13.96 3.11 0.007 0.228 0.082 3250.59 3469.25 3031.94 2015.12 3425.31 0 0 0 14.88 15.56 14.95

238.82 1028 -117.02 -1.47 0.00 3250.7 3468.7 3032.8 2015.2 3424.5 24.56 -12.87 45 244.38 0.00 0.00 2.64 0.000 0.000 0.017 3250.72 3468.75 3032.69 2015.44 2248.00 0 0 0 30.00 30.00 15.89

368.88 0 -117.02 -1.47 0.00 3250.9 3468.8 3033.0 2015.1 2245.8 39.43 -11.25 71 370.21 0.00 0.00 0.00 0.000 0.000 0.000 3250.00 3467.56 3032.44 2015.25 2245.62 0 0 0 30.00 30.00 30.00

493.92 260 -117.02 -1.47 60.00 3250.8 3468.7 3033.0 2014.7 2245.6 53.27 -10.95 96 499.73 0.00 0.00 3.07 0.000 0.000 0.077 3252.31 3469.44 3035.19 2015.12 3425.56 0 0 0 30.00 30.00 15.90

529.10 1028 -117.02 -1.47 0.86 3250.8 3468.4 3033.2 2015.3 3426.4 57.39 -12.21 103 534.48 0.00 0.00 2.61 0.000 0.000 0.017 3251.28 3469.31 3033.25 2015.00 2254.81 0 0 0 30.00 30.00 15.94

658.98 260 -117.02 -1.47 60.00 3250.8 3468.4 3033.1 2014.8 2254.1 69.54 -8.76 129 664.59 0.00 0.00 3.05 0.000 0.000 0.077 3251.91 3469.81 3034.00 2015.50 3427.62 0 0 0 30.00 30.00 15.91

719 end dive: TARGET_DEPTH_EXCEEDED

state 719 begin apogee

724.00 10243 0.00 -0.28 0.00 3250.4 3468.2 3032.5 2014.9 2139.9 75.04 -9.00 141 813.61 83.25 1.91 0.17 1.206 0.130 0.109 2774.78 2913.38 2636.19 2303.50 2257.06 0 0 0 11.12 15.84 15.34

816 end apogee: CONTROL_FINISHED_OK

state 816 begin climb

816.55 10759 117.02 1.47 -60.00 2773.3 2912.4 2634.2 2303.4 2257.4 79.56 0.00 159 912.42 85.00 2.76 3.00 1.156 0.095 0.066 2298.00 2364.75 2231.25 2728.44 1092.12 0 0 0 11.81 15.56 15.70

1069.69 11303 321.85 1.88 0.00 2294.0 2364.8 2223.2 2728.1 1092.2 75.15 3.45 210 1229.75 151.51 0.58 2.71 1.132 0.040 0.022 1462.44 1496.06 1428.81 2847.25 2240.75 0 0 0 11.43 15.64 15.75

1352.56 324 321.85 1.91 60.00 1456.5 1496.4 1416.6 2846.9 2240.7 54.23 8.52 266 1357.55 0.00 0.00 2.80 0.000 0.000 0.078 1456.75 1496.88 1416.62 2846.94 3305.81 0 0 0 30.00 30.00 15.71

1411.99 1092 321.85 1.92 -0.78 1455.7 1496.1 1415.3 2847.3 3305.2 48.69 9.13 278 1417.56 0.00 0.00 2.72 0.000 0.000 0.019 1455.53 1496.44 1414.62 2847.56 2131.75 0 0 0 30.00 30.00 15.76

1542.02 10791 395.95 2.07 -60.00 1453.7 1496.6 1410.7 2847.4 2131.9 38.75 7.63 304 1605.43 58.44 0.13 2.70 1.090 0.089 0.073 1160.72 1173.06 1148.38 2889.06 1093.00 0 0 0 11.31 15.78 15.35

1657.72 1028 395.95 2.07 -1.21 1158.4 1172.8 1143.9 2888.1 1093.2 28.09 9.95 327 1663.14 0.00 0.00 2.66 0.000 0.000 0.022 1159.28 1173.81 1144.75 2889.56 2215.75 0 0 0 30.00 30.00 15.74

1787.92 580 395.95 2.09 -60.00 1156.5 1173.3 1139.7 2889.2 2215.7 16.10 9.35 353 1793.16 0.00 0.00 2.89 0.000 0.000 0.067 1156.28 1173.00 1139.56 2888.88 1092.06 0 0 0 30.00 30.00 15.80

1837.59 1028 395.95 2.09 -2.42 1155.8 1173.5 1138.2 2889.1 1091.9 11.19 10.01 363 1843.12 0.00 0.00 2.59 0.000 0.000 0.021 1155.84 1173.75 1137.94 2888.88 2195.50 0 0 0 30.00 30.00 15.83

1922 end climb: SURFACE_DEPTH_REACHED

state 1922 begin surface coast

1977 end surface coast: CONTROL_FINISHED_OK

state 1978 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	1374	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	105.76459	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	350.60333	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	230322,164359,4700.528,-12436.757,2,1.2,4,15.6	TGT_RADIUS	500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230322,165036,4700.544,-12436.774,2,0.9,5,15.6	MHEAD_RNG_PITCHd_Wd	39.9,284,-22.2,-10.000,-28.63
SPEED_LIMITS	0.173,0.183	D_GRID	75
TGT_NAME	PICKUP3	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	4700.640,-12436.600

FINISH	0.2,1.018157	MEM0	60876,1,0,0
SM_CCo	2009.51,4.64,0.593,0,1144.4,1153.2,1135.5,399.99	MEM1	65508,1,0,0
SM_GC	1.17,4.64,16.45,0.32,0.593,0.041,0.060,1144.4,1153.2,1135.5,175.5,2345.8,0,0,0,11.36,15.80,15.86	MEM2	970944,24,75824,66
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16251,391
IRIDIUM_FIX	4700.87,-12435.72,230322,164621	CAP_FILE_SIZE	124459,0
TCM_TEMP	267.42	SDSIZE	4028416,3712032
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4880,1
HUMID	51.79	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.92	CURRENT	0.111,249.7,1
INTERNAL_PRESSURE	8.929	MAGCAL	1.000000,-0.001450,-0.058222,0.003548,1.006455,-0.064556,0.055062,-0.051569,0.883884,653.7,-294.5,182.6,30,0.0299,0
_24V_AH	14.76,474.498	IMPLIED_C_PITCH	2411,11.91,237
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2279,28.180653,234
FG_AHR_24Vo	350.726	GPS	230322,172435,4700.528,-12436.749,6,0.8,9,15.6
FG_AHR_10Vo	105.771

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	468	1205	8334.85	legato	34	20	10.24
Pitch_motor	35	228	120.51	nil	0	0	0.00
Roll_motor	40	108	64.44	nil	0	0	0.00
Iridium	194	177	510.94	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.01	nil	0	0	0.00
Core	1301	11	230.31	SciCon	0	0	0.00
LPSleep	1051	2	44.17	nil	0	0	0.00
Compass	278	5	20.92	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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
6.25	16386	-117.02	-1.47	0.00	973.1	968.8	977.5	178.1	2239.2	0.00	0.00	0	82.68	74.89	0.00	0.00	0.005	0.000	0.000	2813.00	2987.00	2639.00	178.19	2239.38	0	0	0	14.91	30.00	30.00
83.42	18727	-117.02	-1.47	60.00	2812.0	2986.2	2637.8	178.1	2239.6	3.19	-4.08	14	116.72	10.56	13.96	3.11	0.007	0.228	0.082	3250.59	3469.25	3031.94	2015.12	3425.31	0	0	0	14.88	15.56	14.95
238.82	1028	-117.02	-1.47	0.00	3250.7	3468.7	3032.8	2015.2	3424.5	24.56	-12.87	45	244.38	0.00	0.00	2.64	0.000	0.000	0.017	3250.72	3468.75	3032.69	2015.44	2248.00	0	0	0	30.00	30.00	15.89
368.88	0	-117.02	-1.47	0.00	3250.9	3468.8	3033.0	2015.1	2245.8	39.43	-11.25	71	370.21	0.00	0.00	0.00	0.000	0.000	0.000	3250.00	3467.56	3032.44	2015.25	2245.62	0	0	0	30.00	30.00	30.00
493.92	260	-117.02	-1.47	60.00	3250.8	3468.7	3033.0	2014.7	2245.6	53.27	-10.95	96	499.73	0.00	0.00	3.07	0.000	0.000	0.077	3252.31	3469.44	3035.19	2015.12	3425.56	0	0	0	30.00	30.00	15.90
529.10	1028	-117.02	-1.47	0.86	3250.8	3468.4	3033.2	2015.3	3426.4	57.39	-12.21	103	534.48	0.00	0.00	2.61	0.000	0.000	0.017	3251.28	3469.31	3033.25	2015.00	2254.81	0	0	0	30.00	30.00	15.94
658.98	260	-117.02	-1.47	60.00	3250.8	3468.4	3033.1	2014.8	2254.1	69.54	-8.76	129	664.59	0.00	0.00	3.05	0.000	0.000	0.077	3251.91	3469.81	3034.00	2015.50	3427.62	0	0	0	30.00	30.00	15.91
719	end dive: TARGET_DEPTH_EXCEEDED
state	719	begin apogee
724.00	10243	0.00	-0.28	0.00	3250.4	3468.2	3032.5	2014.9	2139.9	75.04	-9.00	141	813.61	83.25	1.91	0.17	1.206	0.130	0.109	2774.78	2913.38	2636.19	2303.50	2257.06	0	0	0	11.12	15.84	15.34
816	end apogee: CONTROL_FINISHED_OK
state	816	begin climb
816.55	10759	117.02	1.47	-60.00	2773.3	2912.4	2634.2	2303.4	2257.4	79.56	0.00	159	912.42	85.00	2.76	3.00	1.156	0.095	0.066	2298.00	2364.75	2231.25	2728.44	1092.12	0	0	0	11.81	15.56	15.70
1069.69	11303	321.85	1.88	0.00	2294.0	2364.8	2223.2	2728.1	1092.2	75.15	3.45	210	1229.75	151.51	0.58	2.71	1.132	0.040	0.022	1462.44	1496.06	1428.81	2847.25	2240.75	0	0	0	11.43	15.64	15.75
1352.56	324	321.85	1.91	60.00	1456.5	1496.4	1416.6	2846.9	2240.7	54.23	8.52	266	1357.55	0.00	0.00	2.80	0.000	0.000	0.078	1456.75	1496.88	1416.62	2846.94	3305.81	0	0	0	30.00	30.00	15.71
1411.99	1092	321.85	1.92	-0.78	1455.7	1496.1	1415.3	2847.3	3305.2	48.69	9.13	278	1417.56	0.00	0.00	2.72	0.000	0.000	0.019	1455.53	1496.44	1414.62	2847.56	2131.75	0	0	0	30.00	30.00	15.76
1542.02	10791	395.95	2.07	-60.00	1453.7	1496.6	1410.7	2847.4	2131.9	38.75	7.63	304	1605.43	58.44	0.13	2.70	1.090	0.089	0.073	1160.72	1173.06	1148.38	2889.06	1093.00	0	0	0	11.31	15.78	15.35
1657.72	1028	395.95	2.07	-1.21	1158.4	1172.8	1143.9	2888.1	1093.2	28.09	9.95	327	1663.14	0.00	0.00	2.66	0.000	0.000	0.022	1159.28	1173.81	1144.75	2889.56	2215.75	0	0	0	30.00	30.00	15.74
1787.92	580	395.95	2.09	-60.00	1156.5	1173.3	1139.7	2889.2	2215.7	16.10	9.35	353	1793.16	0.00	0.00	2.89	0.000	0.000	0.067	1156.28	1173.00	1139.56	2888.88	1092.06	0	0	0	30.00	30.00	15.80
1837.59	1028	395.95	2.09	-2.42	1155.8	1173.5	1138.2	2889.1	1091.9	11.19	10.01	363	1843.12	0.00	0.00	2.59	0.000	0.000	0.021	1155.84	1173.75	1137.94	2888.88	2195.50	0	0	0	30.00	30.00	15.83
1922	end climb: SURFACE_DEPTH_REACHED
state	1922	begin surface coast
1977	end surface coast: CONTROL_FINISHED_OK
state	1978	begin surface