Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1377 * 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 1377 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 105.7874 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 350.99695 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 105.7874 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 350.99695 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 1377 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 230322,184715,4700.596,-12436.629,1,0.6,4,15.6 TGT_RADIUS 500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230322,185312,4700.577,-12436.602,2,0.6,4,15.6 MHEAD_RNG_PITCHd_Wd 359.7,118,-23.8,-10.000,-30.00

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 0.6,1.024619 MEM0 60876,1,0,0

SM_CCo 2075.47,0.00,0.000,0,955.0,957.6,952.3,446.45 MEM1 65508,1,0,0

SM_GC 0.68,0.00,16.73,2.98,0.000,0.036,0.025,955.0,957.6,952.3,174.4,2351.3,0,0,0,30.00,15.73,15.78 MEM2 970864,27,75844,66

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16204,393

IRIDIUM_FIX 4700.87,-12435.72,230322,184937 CAP_FILE_SIZE 116725,0

TCM_TEMP 267.45 SDSIZE 4028416,3711648

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4889,1

HUMID 51.47 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.02 CURRENT 0.053,221.9,1

INTERNAL_PRESSURE 8.90828 MAGCAL 1.000000,0.006677,-0.002887,0.000737,1.026767,-0.074988,0.029943,-0.027520,0.938286,596.1,-292.6,124.0,34,0.0300,0

_24V_AH 14.76,474.955 IMPLIED_C_PITCH 2394,12.39,247

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2281,34.976933,244

FG_AHR_24Vo 351.131 GPS 230322,192811,4700.629,-12436.642,2,0.7,4,15.6

FG_AHR_10Vo 105.794

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 497 1213 8918.27 legato 34 20 10.07

Pitch_motor 36 233 126.11 nil 0 0 0.00

Roll_motor 27 117 48.20 nil 0 0 0.00

Iridium 153 170 386.44 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 1268 11 224.57 SciCon 0 0 0.00

LPSleep 1109 2 46.59 nil 0 0 0.00

Compass 279 5 20.97 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 -1.56 0.00 1131.1 1135.2 1126.9 172.1 2222.3 0.00 0.00 0 82.67 74.89 0.00 0.00 0.005 0.000 0.000 2993.22 3171.25 2815.19 172.31 2223.56 0 0 0 14.92 30.00 30.00

83.40 18983 -117.02 -1.56 -60.00 2992.1 3169.6 2814.7 172.2 2222.5 3.68 -5.16 14 111.52 5.91 13.97 2.55 0.008 0.233 0.063 3250.38 3460.88 3039.88 1992.62 1207.62 0 0 0 14.89 15.56 14.95

158.60 1028 -117.02 -1.56 0.00 3251.4 3461.6 3041.3 1992.6 1207.8 14.76 -11.17 29 164.16 0.00 0.00 2.70 0.000 0.000 0.024 3252.09 3461.75 3042.44 1992.44 2353.25 0 0 0 30.00 30.00 15.91

288.66 0 -117.02 -1.56 0.00 3251.0 3460.6 3041.4 1992.4 2352.8 30.85 -12.68 55 289.99 0.00 0.00 0.00 0.000 0.000 0.000 3250.47 3460.69 3040.25 1992.44 2353.12 0 0 0 30.00 30.00 30.00

413.69 0 -117.02 -1.56 0.00 3251.4 3461.3 3041.4 1992.8 2353.5 46.10 -12.09 80 415.02 0.00 0.00 0.00 0.000 0.000 0.000 3250.31 3460.69 3039.94 1992.19 2352.81 0 0 0 30.00 30.00 30.00

538.94 0 -117.02 -1.56 0.00 3251.1 3460.8 3041.4 1992.6 2353.6 60.05 -11.44 105 540.26 0.00 0.00 0.00 0.000 0.000 0.000 3250.94 3461.44 3040.44 1992.38 2353.69 0 0 0 30.00 30.00 30.00

663.97 516 -117.02 -1.56 -60.00 3251.1 3461.1 3041.1 1992.4 2353.8 72.07 -8.56 130 669.38 0.00 0.00 2.86 0.000 0.000 0.055 3253.31 3463.31 3043.31 1991.81 1208.81 0 0 0 30.00 30.00 15.95

703 end dive: TARGET_DEPTH_EXCEEDED

state 704 begin apogee

707.52 10243 0.00 -0.28 0.00 3251.5 3461.6 3041.4 1992.8 2241.8 75.58 -8.77 138 797.17 83.33 2.11 0.14 1.213 0.137 0.118 2775.84 2910.62 2641.06 2304.81 2122.12 0 0 0 11.07 15.84 15.34

799 end apogee: CONTROL_FINISHED_OK

state 799 begin climb

800.11 10503 117.02 1.56 60.00 2773.1 2907.8 2638.4 2305.2 2121.4 79.74 0.00 156 896.03 84.76 2.97 3.11 1.160 0.113 0.073 2299.34 2367.50 2231.19 2750.19 3304.94 0 0 0 11.81 15.57 15.70

1123.27 11303 294.96 1.91 0.00 2292.7 2366.2 2219.2 2750.0 3304.4 72.01 3.66 221 1262.82 131.17 0.50 2.65 1.139 0.043 0.018 1574.25 1608.56 1539.94 2855.88 2136.88 0 0 0 11.32 15.69 15.78

1385.61 8742 370.97 2.06 -60.00 1565.1 1607.9 1522.3 2855.2 2136.9 57.30 7.29 273 1451.80 59.69 0.00 2.70 1.096 0.000 0.074 1262.94 1279.25 1246.62 2855.19 1092.94 0 0 0 11.47 30.00 15.29

1545.43 1028 370.97 2.06 -0.64 1258.3 1279.1 1237.5 2855.7 1093.1 41.55 10.22 305 1550.60 0.00 0.00 2.67 0.000 0.000 0.022 1258.41 1279.38 1237.44 2855.25 2226.81 0 0 0 30.00 30.00 15.72

1675.10 64 370.97 2.09 -0.64 1256.7 1279.0 1234.4 2855.4 2227.3 30.31 8.74 331 1676.43 0.00 0.00 0.00 0.000 0.000 0.000 1256.47 1279.06 1233.88 2854.69 2227.50 0 0 0 30.00 30.00 30.00

1800.10 10791 445.32 2.24 -60.00 1256.0 1279.3 1232.8 2855.6 2226.7 20.42 7.35 356 1863.79 58.22 0.34 2.94 1.075 0.051 0.068 959.41 951.50 967.31 2933.75 1091.81 0 0 0 11.34 15.80 15.36

1961 end climb: SURFACE_DEPTH_REACHED

state 1961 begin surface coast

1986 end surface coast: CONTROL_FINISHED_OK

state 1986 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	1377	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	105.7874	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	350.99695	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	230322,184715,4700.596,-12436.629,1,0.6,4,15.6	TGT_RADIUS	500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230322,185312,4700.577,-12436.602,2,0.6,4,15.6	MHEAD_RNG_PITCHd_Wd	359.7,118,-23.8,-10.000,-30.00
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	0.6,1.024619	MEM0	60876,1,0,0
SM_CCo	2075.47,0.00,0.000,0,955.0,957.6,952.3,446.45	MEM1	65508,1,0,0
SM_GC	0.68,0.00,16.73,2.98,0.000,0.036,0.025,955.0,957.6,952.3,174.4,2351.3,0,0,0,30.00,15.73,15.78	MEM2	970864,27,75844,66
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16204,393
IRIDIUM_FIX	4700.87,-12435.72,230322,184937	CAP_FILE_SIZE	116725,0
TCM_TEMP	267.45	SDSIZE	4028416,3711648
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4889,1
HUMID	51.47	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.02	CURRENT	0.053,221.9,1
INTERNAL_PRESSURE	8.90828	MAGCAL	1.000000,0.006677,-0.002887,0.000737,1.026767,-0.074988,0.029943,-0.027520,0.938286,596.1,-292.6,124.0,34,0.0300,0
_24V_AH	14.76,474.955	IMPLIED_C_PITCH	2394,12.39,247
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2281,34.976933,244
FG_AHR_24Vo	351.131	GPS	230322,192811,4700.629,-12436.642,2,0.7,4,15.6
FG_AHR_10Vo	105.794

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	497	1213	8918.27	legato	34	20	10.07
Pitch_motor	36	233	126.11	nil	0	0	0.00
Roll_motor	27	117	48.20	nil	0	0	0.00
Iridium	153	170	386.44	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	1268	11	224.57	SciCon	0	0	0.00
LPSleep	1109	2	46.59	nil	0	0	0.00
Compass	279	5	20.97	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	-1.56	0.00	1131.1	1135.2	1126.9	172.1	2222.3	0.00	0.00	0	82.67	74.89	0.00	0.00	0.005	0.000	0.000	2993.22	3171.25	2815.19	172.31	2223.56	0	0	0	14.92	30.00	30.00
83.40	18983	-117.02	-1.56	-60.00	2992.1	3169.6	2814.7	172.2	2222.5	3.68	-5.16	14	111.52	5.91	13.97	2.55	0.008	0.233	0.063	3250.38	3460.88	3039.88	1992.62	1207.62	0	0	0	14.89	15.56	14.95
158.60	1028	-117.02	-1.56	0.00	3251.4	3461.6	3041.3	1992.6	1207.8	14.76	-11.17	29	164.16	0.00	0.00	2.70	0.000	0.000	0.024	3252.09	3461.75	3042.44	1992.44	2353.25	0	0	0	30.00	30.00	15.91
288.66	0	-117.02	-1.56	0.00	3251.0	3460.6	3041.4	1992.4	2352.8	30.85	-12.68	55	289.99	0.00	0.00	0.00	0.000	0.000	0.000	3250.47	3460.69	3040.25	1992.44	2353.12	0	0	0	30.00	30.00	30.00
413.69	0	-117.02	-1.56	0.00	3251.4	3461.3	3041.4	1992.8	2353.5	46.10	-12.09	80	415.02	0.00	0.00	0.00	0.000	0.000	0.000	3250.31	3460.69	3039.94	1992.19	2352.81	0	0	0	30.00	30.00	30.00
538.94	0	-117.02	-1.56	0.00	3251.1	3460.8	3041.4	1992.6	2353.6	60.05	-11.44	105	540.26	0.00	0.00	0.00	0.000	0.000	0.000	3250.94	3461.44	3040.44	1992.38	2353.69	0	0	0	30.00	30.00	30.00
663.97	516	-117.02	-1.56	-60.00	3251.1	3461.1	3041.1	1992.4	2353.8	72.07	-8.56	130	669.38	0.00	0.00	2.86	0.000	0.000	0.055	3253.31	3463.31	3043.31	1991.81	1208.81	0	0	0	30.00	30.00	15.95
703	end dive: TARGET_DEPTH_EXCEEDED
state	704	begin apogee
707.52	10243	0.00	-0.28	0.00	3251.5	3461.6	3041.4	1992.8	2241.8	75.58	-8.77	138	797.17	83.33	2.11	0.14	1.213	0.137	0.118	2775.84	2910.62	2641.06	2304.81	2122.12	0	0	0	11.07	15.84	15.34
799	end apogee: CONTROL_FINISHED_OK
state	799	begin climb
800.11	10503	117.02	1.56	60.00	2773.1	2907.8	2638.4	2305.2	2121.4	79.74	0.00	156	896.03	84.76	2.97	3.11	1.160	0.113	0.073	2299.34	2367.50	2231.19	2750.19	3304.94	0	0	0	11.81	15.57	15.70
1123.27	11303	294.96	1.91	0.00	2292.7	2366.2	2219.2	2750.0	3304.4	72.01	3.66	221	1262.82	131.17	0.50	2.65	1.139	0.043	0.018	1574.25	1608.56	1539.94	2855.88	2136.88	0	0	0	11.32	15.69	15.78
1385.61	8742	370.97	2.06	-60.00	1565.1	1607.9	1522.3	2855.2	2136.9	57.30	7.29	273	1451.80	59.69	0.00	2.70	1.096	0.000	0.074	1262.94	1279.25	1246.62	2855.19	1092.94	0	0	0	11.47	30.00	15.29
1545.43	1028	370.97	2.06	-0.64	1258.3	1279.1	1237.5	2855.7	1093.1	41.55	10.22	305	1550.60	0.00	0.00	2.67	0.000	0.000	0.022	1258.41	1279.38	1237.44	2855.25	2226.81	0	0	0	30.00	30.00	15.72
1675.10	64	370.97	2.09	-0.64	1256.7	1279.0	1234.4	2855.4	2227.3	30.31	8.74	331	1676.43	0.00	0.00	0.00	0.000	0.000	0.000	1256.47	1279.06	1233.88	2854.69	2227.50	0	0	0	30.00	30.00	30.00
1800.10	10791	445.32	2.24	-60.00	1256.0	1279.3	1232.8	2855.6	2226.7	20.42	7.35	356	1863.79	58.22	0.34	2.94	1.075	0.051	0.068	959.41	951.50	967.31	2933.75	1091.81	0	0	0	11.34	15.80	15.36
1961	end climb: SURFACE_DEPTH_REACHED
state	1961	begin surface coast
1986	end surface coast: CONTROL_FINISHED_OK
state	1986	begin surface