Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1383 * 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 1383 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 105.83119 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 351.85944 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 105.83119 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 351.85944 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 1383 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 230322,223944,4700.582,-12436.481,1,1.5,5,15.6 TGT_RADIUS 500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230322,224525,4700.526,-12436.483,3,1.5,6,15.6 MHEAD_RNG_PITCHd_Wd 317.5,257,-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 0.3,1.024573 MEM0 60876,1,0,0

SM_CCo 2068.48,0.00,0.000,0,962.3,970.9,953.8,444.65 MEM1 65508,1,0,0

SM_GC 0.57,0.00,16.56,2.98,0.000,0.041,0.025,962.3,970.9,953.8,180.8,2350.1,0,0,0,30.00,15.69,15.75 MEM2 970876,26,75852,66

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16235,391

IRIDIUM_FIX 4700.87,-12435.72,230322,224204 CAP_FILE_SIZE 126237,0

TCM_TEMP 267.29 SDSIZE 4028416,3710880

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4907,1

HUMID 51.76 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.98 CURRENT 0.082,146.3,1

INTERNAL_PRESSURE 8.91757 MAGCAL 1.000000,0.002457,0.033013,0.012609,1.037746,-0.094644,0.014141,-0.021076,0.976680,570.8,-283.4,107.0,36,0.0382,0

_24V_AH 14.76,475.919 IMPLIED_C_PITCH 2399,12.21,239

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2269,49.389271,237

FG_AHR_24Vo 351.991 GPS 230322,232039,4700.561,-12436.441,5,1.0,25,15.6

FG_AHR_10Vo 105.838

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 498 1211 8915.16 legato 34 20 10.24

Pitch_motor 36 233 125.29 nil 0 0 0.00

Roll_motor 39 108 63.74 nil 0 0 0.00

Iridium 138 184 376.68 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.27 nil 0 0 0.00

Core 1268 11 224.52 SciCon 0 0 0.00

LPSleep 1089 2 45.74 nil 0 0 0.00

Compass 279 5 20.93 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

6.26 16386 -117.02 -1.47 0.00 1021.7 1025.3 1018.1 173.4 2258.4 0.00 0.00 0 82.67 74.87 0.00 0.00 0.005 0.000 0.000 2860.19 3042.25 2678.12 173.31 2258.69 0 0 0 14.92 30.00 30.00

83.41 18983 -117.02 -1.47 -60.00 2859.7 3041.6 2677.8 173.4 2258.1 3.07 -3.97 14 115.66 9.22 14.34 2.64 0.007 0.234 0.062 3252.69 3474.50 3030.88 2014.44 1207.81 0 0 0 14.99 15.54 14.96

132.74 1028 -117.02 -1.47 0.00 3251.1 3472.8 3029.4 2014.8 1207.9 11.47 -12.51 24 138.29 0.00 0.00 2.70 0.000 0.000 0.024 3252.28 3474.50 3030.06 2015.25 2353.44 0 0 0 30.00 30.00 15.88

262.79 0 -117.02 -1.47 0.00 3251.1 3472.4 3029.8 2015.2 2352.9 25.43 -10.54 50 264.12 0.00 0.00 0.00 0.000 0.000 0.000 3250.12 3472.00 3028.25 2015.19 2352.75 0 0 0 30.00 30.00 30.00

387.82 260 -117.02 -1.47 60.00 3251.0 3472.6 3029.4 2014.8 2352.8 39.52 -11.93 75 393.57 0.00 0.00 2.79 0.000 0.000 0.080 3251.94 3472.94 3030.94 2014.62 3428.50 0 0 0 30.00 30.00 15.89

438.01 1028 -117.02 -1.47 0.11 3250.5 3471.5 3029.5 2015.1 3428.0 46.16 -13.52 85 443.39 0.00 0.00 2.62 0.000 0.000 0.017 3251.41 3471.75 3031.06 2014.00 2246.25 0 0 0 30.00 30.00 15.92

567.89 0 -117.02 -1.47 0.11 3250.6 3471.6 3029.6 2014.4 2245.4 62.00 -11.41 111 569.22 0.00 0.00 0.00 0.000 0.000 0.000 3251.50 3471.94 3031.06 2015.19 2245.44 0 0 0 30.00 30.00 30.00

692.95 260 -117.02 -1.47 60.00 3250.7 3472.0 3029.4 2015.4 2245.0 72.87 -8.99 136 698.55 0.00 0.00 3.06 0.000 0.000 0.077 3251.06 3472.44 3029.69 2015.25 3427.06 0 0 0 30.00 30.00 15.91

718 end dive: TARGET_DEPTH_EXCEEDED

state 718 begin apogee

722.94 10243 0.00 -0.28 0.00 3250.8 3471.4 3030.1 2015.2 2138.4 75.22 -9.33 141 810.16 82.92 1.96 0.18 1.211 0.126 0.109 2775.22 2913.25 2637.19 2305.25 2256.19 0 0 0 11.15 15.84 15.34

812 end apogee: CONTROL_FINISHED_OK

state 812 begin climb

813.11 10759 117.02 1.47 -60.00 2774.8 2913.5 2636.0 2304.7 2257.5 79.16 0.00 158 908.98 85.03 2.79 3.01 1.154 0.096 0.065 2297.41 2364.19 2230.62 2728.12 1090.56 0 0 0 11.83 15.56 15.69

1031.21 11303 271.90 1.78 0.00 2294.3 2363.9 2224.7 2727.9 1090.5 74.31 5.04 202 1151.44 113.96 0.44 2.71 1.128 0.045 0.021 1665.12 1710.88 1619.38 2823.62 2242.62 0 0 0 11.41 15.63 15.72

1273.70 324 271.90 1.82 60.00 1658.9 1712.5 1605.2 2823.8 2242.4 54.61 8.06 250 1279.24 0.00 0.00 2.79 0.000 0.000 0.078 1658.81 1712.44 1605.19 2823.69 3306.81 0 0 0 30.00 30.00 15.70

1488.76 11303 371.82 2.02 0.00 1656.4 1712.8 1600.1 2823.7 3306.4 40.39 6.80 293 1571.91 77.00 0.22 2.66 1.097 0.065 0.019 1260.25 1280.56 1239.94 2879.00 2143.12 0 0 0 11.25 15.74 15.83

1694.42 324 371.82 2.04 60.00 1254.2 1280.1 1228.4 2879.8 2143.4 22.32 8.90 334 1699.81 0.00 0.00 3.05 0.000 0.000 0.073 1254.69 1280.25 1229.12 2880.94 3305.62 0 0 0 30.00 30.00 15.75

1729.14 1092 371.82 2.06 0.67 1253.8 1279.7 1227.9 2880.3 3305.2 19.15 8.93 341 1734.57 0.00 0.00 2.64 0.000 0.000 0.019 1254.47 1280.50 1228.44 2881.06 2159.12 0 0 0 30.00 30.00 15.78

1859.05 8742 443.44 2.20 -60.00 1251.9 1280.0 1223.8 2880.6 2159.2 8.63 7.71 367 1921.37 55.75 0.00 2.78 1.060 0.000 0.074 966.97 965.12 968.81 2880.94 1093.12 0 0 0 11.29 30.00 15.34

1924 end climb: SURFACE_DEPTH_REACHED

state 1924 begin surface coast

1979 end surface coast: CONTROL_FINISHED_OK

state 1979 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	1383	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	105.83119	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	351.85944	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	230322,223944,4700.582,-12436.481,1,1.5,5,15.6	TGT_RADIUS	500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230322,224525,4700.526,-12436.483,3,1.5,6,15.6	MHEAD_RNG_PITCHd_Wd	317.5,257,-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	0.3,1.024573	MEM0	60876,1,0,0
SM_CCo	2068.48,0.00,0.000,0,962.3,970.9,953.8,444.65	MEM1	65508,1,0,0
SM_GC	0.57,0.00,16.56,2.98,0.000,0.041,0.025,962.3,970.9,953.8,180.8,2350.1,0,0,0,30.00,15.69,15.75	MEM2	970876,26,75852,66
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16235,391
IRIDIUM_FIX	4700.87,-12435.72,230322,224204	CAP_FILE_SIZE	126237,0
TCM_TEMP	267.29	SDSIZE	4028416,3710880
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4907,1
HUMID	51.76	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.98	CURRENT	0.082,146.3,1
INTERNAL_PRESSURE	8.91757	MAGCAL	1.000000,0.002457,0.033013,0.012609,1.037746,-0.094644,0.014141,-0.021076,0.976680,570.8,-283.4,107.0,36,0.0382,0
_24V_AH	14.76,475.919	IMPLIED_C_PITCH	2399,12.21,239
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2269,49.389271,237
FG_AHR_24Vo	351.991	GPS	230322,232039,4700.561,-12436.441,5,1.0,25,15.6
FG_AHR_10Vo	105.838

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	498	1211	8915.16	legato	34	20	10.24
Pitch_motor	36	233	125.29	nil	0	0	0.00
Roll_motor	39	108	63.74	nil	0	0	0.00
Iridium	138	184	376.68	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.27	nil	0	0	0.00
Core	1268	11	224.52	SciCon	0	0	0.00
LPSleep	1089	2	45.74	nil	0	0	0.00
Compass	279	5	20.93	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
6.26	16386	-117.02	-1.47	0.00	1021.7	1025.3	1018.1	173.4	2258.4	0.00	0.00	0	82.67	74.87	0.00	0.00	0.005	0.000	0.000	2860.19	3042.25	2678.12	173.31	2258.69	0	0	0	14.92	30.00	30.00
83.41	18983	-117.02	-1.47	-60.00	2859.7	3041.6	2677.8	173.4	2258.1	3.07	-3.97	14	115.66	9.22	14.34	2.64	0.007	0.234	0.062	3252.69	3474.50	3030.88	2014.44	1207.81	0	0	0	14.99	15.54	14.96
132.74	1028	-117.02	-1.47	0.00	3251.1	3472.8	3029.4	2014.8	1207.9	11.47	-12.51	24	138.29	0.00	0.00	2.70	0.000	0.000	0.024	3252.28	3474.50	3030.06	2015.25	2353.44	0	0	0	30.00	30.00	15.88
262.79	0	-117.02	-1.47	0.00	3251.1	3472.4	3029.8	2015.2	2352.9	25.43	-10.54	50	264.12	0.00	0.00	0.00	0.000	0.000	0.000	3250.12	3472.00	3028.25	2015.19	2352.75	0	0	0	30.00	30.00	30.00
387.82	260	-117.02	-1.47	60.00	3251.0	3472.6	3029.4	2014.8	2352.8	39.52	-11.93	75	393.57	0.00	0.00	2.79	0.000	0.000	0.080	3251.94	3472.94	3030.94	2014.62	3428.50	0	0	0	30.00	30.00	15.89
438.01	1028	-117.02	-1.47	0.11	3250.5	3471.5	3029.5	2015.1	3428.0	46.16	-13.52	85	443.39	0.00	0.00	2.62	0.000	0.000	0.017	3251.41	3471.75	3031.06	2014.00	2246.25	0	0	0	30.00	30.00	15.92
567.89	0	-117.02	-1.47	0.11	3250.6	3471.6	3029.6	2014.4	2245.4	62.00	-11.41	111	569.22	0.00	0.00	0.00	0.000	0.000	0.000	3251.50	3471.94	3031.06	2015.19	2245.44	0	0	0	30.00	30.00	30.00
692.95	260	-117.02	-1.47	60.00	3250.7	3472.0	3029.4	2015.4	2245.0	72.87	-8.99	136	698.55	0.00	0.00	3.06	0.000	0.000	0.077	3251.06	3472.44	3029.69	2015.25	3427.06	0	0	0	30.00	30.00	15.91
718	end dive: TARGET_DEPTH_EXCEEDED
state	718	begin apogee
722.94	10243	0.00	-0.28	0.00	3250.8	3471.4	3030.1	2015.2	2138.4	75.22	-9.33	141	810.16	82.92	1.96	0.18	1.211	0.126	0.109	2775.22	2913.25	2637.19	2305.25	2256.19	0	0	0	11.15	15.84	15.34
812	end apogee: CONTROL_FINISHED_OK
state	812	begin climb
813.11	10759	117.02	1.47	-60.00	2774.8	2913.5	2636.0	2304.7	2257.5	79.16	0.00	158	908.98	85.03	2.79	3.01	1.154	0.096	0.065	2297.41	2364.19	2230.62	2728.12	1090.56	0	0	0	11.83	15.56	15.69
1031.21	11303	271.90	1.78	0.00	2294.3	2363.9	2224.7	2727.9	1090.5	74.31	5.04	202	1151.44	113.96	0.44	2.71	1.128	0.045	0.021	1665.12	1710.88	1619.38	2823.62	2242.62	0	0	0	11.41	15.63	15.72
1273.70	324	271.90	1.82	60.00	1658.9	1712.5	1605.2	2823.8	2242.4	54.61	8.06	250	1279.24	0.00	0.00	2.79	0.000	0.000	0.078	1658.81	1712.44	1605.19	2823.69	3306.81	0	0	0	30.00	30.00	15.70
1488.76	11303	371.82	2.02	0.00	1656.4	1712.8	1600.1	2823.7	3306.4	40.39	6.80	293	1571.91	77.00	0.22	2.66	1.097	0.065	0.019	1260.25	1280.56	1239.94	2879.00	2143.12	0	0	0	11.25	15.74	15.83
1694.42	324	371.82	2.04	60.00	1254.2	1280.1	1228.4	2879.8	2143.4	22.32	8.90	334	1699.81	0.00	0.00	3.05	0.000	0.000	0.073	1254.69	1280.25	1229.12	2880.94	3305.62	0	0	0	30.00	30.00	15.75
1729.14	1092	371.82	2.06	0.67	1253.8	1279.7	1227.9	2880.3	3305.2	19.15	8.93	341	1734.57	0.00	0.00	2.64	0.000	0.000	0.019	1254.47	1280.50	1228.44	2881.06	2159.12	0	0	0	30.00	30.00	15.78
1859.05	8742	443.44	2.20	-60.00	1251.9	1280.0	1223.8	2880.6	2159.2	8.63	7.71	367	1921.37	55.75	0.00	2.78	1.060	0.000	0.074	966.97	965.12	968.81	2880.94	1093.12	0	0	0	11.29	30.00	15.34
1924	end climb: SURFACE_DEPTH_REACHED
state	1924	begin surface coast
1979	end surface coast: CONTROL_FINISHED_OK
state	1979	begin surface