Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1404 * 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 1404 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 105.98258 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 354.62119 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 105.98258 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 354.62119 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 1404 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 240322,120239,4658.993,-12436.670,1,0.8,25,15.6 TGT_RADIUS 500.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -61.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240322,120953,4658.961,-12436.685,2,0.7,3,15.6 MHEAD_RNG_PITCHd_Wd 339.3,3111,-22.2,-10.000,-28.63

SPEED_LIMITS 0.173,0.183 D_GRID 74

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 0.3,1.024139 MEM0 60876,1,0,0

SM_CCo 2026.80,0.00,0.000,0,1023.2,1030.2,1016.1,429.72 MEM1 65508,1,0,0

SM_GC 0.66,0.00,16.73,0.16,0.000,0.039,0.104,1023.2,1030.2,1016.1,173.3,2358.7,0,0,0,30.00,15.74,15.77 MEM2 970904,28,75784,66

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16159,384

IRIDIUM_FIX 4657.20,-12436.52,240322,120635 CAP_FILE_SIZE 122626,0

TCM_TEMP 267.54 SDSIZE 4028416,3708224

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4970,1

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

TEMP 81.98 CURRENT 0.144,177.2,1

INTERNAL_PRESSURE 8.92178 MAGCAL 1.000000,0.006775,-0.010807,-0.002816,1.051208,-0.071845,-0.007019,-0.019157,1.020295,607.9,-301.2,49.8,32,0.0278,0

_24V_AH 14.74,479.027 IMPLIED_C_PITCH 2398,12.14,230

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2329,31.193188,228

FG_AHR_24Vo 354.749 GPS 240322,124404,4658.922,-12436.652,2,0.9,5,15.6

FG_AHR_10Vo 105.989

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 488 1200 8647.69 legato 34 20 10.12

Pitch_motor 36 232 124.16 nil 0 0 0.00

Roll_motor 34 105 52.90 nil 0 0 0.00

Iridium 172 188 478.75 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 12 15 2.83 nil 0 0 0.00

Core 1281 11 226.83 SciCon 0 0 0.00

LPSleep 1127 2 47.34 nil 0 0 0.00

Compass 274 5 20.57 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

6.16 16386 -117.02 -1.47 0.00 924.8 921.4 928.3 174.6 2252.8 0.00 0.00 0 82.55 74.83 0.00 0.00 0.005 0.000 0.000 2793.75 2976.50 2611.00 174.50 2253.00 0 0 0 14.90 30.00 30.00

83.28 18467 -117.02 -1.47 0.00 2792.4 2974.8 2610.1 174.8 2253.2 3.43 -4.61 14 114.65 10.73 14.19 0.00 0.007 0.232 0.000 3252.03 3479.44 3024.62 2015.12 2253.50 0 0 0 14.84 15.54 30.00

236.75 260 -117.02 -1.47 60.00 3252.6 3478.5 3026.6 2015.5 2253.6 23.23 -11.42 45 242.38 0.00 0.00 3.05 0.000 0.000 0.079 3252.50 3478.56 3026.44 2015.25 3425.75 0 0 0 30.00 30.00 15.87

276.77 1028 -117.02 -1.47 0.00 3252.2 3477.5 3027.0 2015.6 3425.5 27.76 -11.31 53 282.33 0.00 0.00 2.64 0.000 0.000 0.018 3252.84 3477.50 3028.19 2014.94 2246.06 0 0 0 30.00 30.00 15.91

406.82 516 -117.02 -1.47 -60.00 3252.4 3477.7 3027.1 2015.2 2244.4 40.54 -9.99 79 412.54 0.00 0.00 2.58 0.000 0.000 0.062 3253.34 3478.50 3028.19 2015.12 1209.12 0 0 0 30.00 30.00 15.93

437.00 1028 -117.02 -1.47 -0.19 3252.2 3477.4 3027.1 2014.8 1209.1 43.96 -11.25 85 442.39 0.00 0.00 2.68 0.000 0.000 0.025 3252.97 3477.56 3028.38 2015.44 2350.75 0 0 0 30.00 30.00 15.94

566.88 260 -117.02 -1.47 60.00 3251.9 3477.2 3026.6 2015.1 2350.3 57.12 -9.69 111 572.45 0.00 0.00 2.79 0.000 0.000 0.083 3252.09 3477.12 3027.06 2015.19 3425.69 0 0 0 30.00 30.00 15.90

621.90 1028 -117.02 -1.47 -0.81 3251.6 3475.1 3028.2 2014.6 3426.1 62.85 -10.63 122 627.44 0.00 0.00 2.66 0.000 0.000 0.018 3252.81 3476.38 3029.25 2014.88 2232.62 0 0 0 30.00 30.00 15.95

746 end dive: TARGET_DEPTH_EXCEEDED

state 746 begin apogee

748.73 10243 0.00 -0.28 0.00 3251.9 3475.4 3028.5 2015.0 2134.6 74.30 -8.44 147 837.07 83.60 1.92 0.19 1.201 0.122 0.105 2775.75 2914.50 2637.00 2304.88 2255.25 0 0 0 11.05 15.85 15.31

839 end apogee: CONTROL_FINISHED_OK

state 839 begin climb

840.04 11271 117.02 1.47 0.00 2773.2 2912.3 2634.0 2305.8 2255.2 77.71 0.00 164 930.63 84.74 2.69 0.17 1.146 0.073 0.072 2299.00 2371.00 2227.00 2732.56 2119.44 0 0 0 11.85 15.59 15.70

1053.06 10535 255.27 1.74 60.00 2292.1 2368.7 2215.4 2732.8 2119.4 72.07 5.58 207 1162.12 101.68 0.35 3.14 1.120 0.049 0.076 1733.59 1770.31 1696.88 2813.50 3307.00 0 0 0 11.39 15.69 15.26

1234.53 1092 255.27 1.78 1.49 1728.8 1769.6 1688.1 2813.5 3306.8 58.73 8.11 243 1239.89 0.00 0.00 2.62 0.000 0.000 0.019 1729.84 1770.75 1688.94 2813.75 2172.00 0 0 0 30.00 30.00 15.68

1364.38 10275 343.54 1.96 1.49 1723.6 1773.2 1674.0 2813.2 2172.2 48.98 7.18 269 1433.08 67.12 0.19 0.00 1.089 0.071 0.000 1374.53 1404.69 1344.38 2866.19 2172.00 0 0 0 11.32 15.74 30.00

1555.22 324 343.54 1.99 60.00 1370.1 1405.6 1334.6 2866.6 2172.3 33.57 8.50 307 1560.80 0.00 0.00 2.97 0.000 0.000 0.076 1370.34 1405.75 1334.94 2866.56 3306.00 0 0 0 30.00 30.00 15.74

1570.22 1092 343.54 2.02 2.92 1370.1 1405.6 1334.7 2866.4 3305.6 32.28 8.58 310 1575.74 0.00 0.00 2.56 0.000 0.000 0.019 1370.91 1406.69 1335.12 2866.44 2194.44 0 0 0 30.00 30.00 15.76

1700.27 10791 428.62 2.19 -60.00 1368.2 1405.7 1330.7 2866.3 2194.4 22.28 7.28 336 1773.08 65.85 0.19 2.87 1.072 0.068 0.073 1028.06 1027.38 1028.75 2921.31 1092.12 0 0 0 11.31 15.78 15.33

1860.29 1028 428.62 2.19 1.49 1024.3 1026.5 1022.2 2920.9 1091.7 6.53 10.71 368 1865.87 0.00 0.00 2.77 0.000 0.000 0.023 1024.53 1026.69 1022.38 2920.06 2264.94 0 0 0 30.00 30.00 15.75

1890 end climb: SURFACE_DEPTH_REACHED

state 1890 begin surface coast

1940 end surface coast: CONTROL_FINISHED_OK

state 1940 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	1404	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	105.98258	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	354.62119	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	240322,120239,4658.993,-12436.670,1,0.8,25,15.6	TGT_RADIUS	500.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240322,120953,4658.961,-12436.685,2,0.7,3,15.6	MHEAD_RNG_PITCHd_Wd	339.3,3111,-22.2,-10.000,-28.63
SPEED_LIMITS	0.173,0.183	D_GRID	74
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	0.3,1.024139	MEM0	60876,1,0,0
SM_CCo	2026.80,0.00,0.000,0,1023.2,1030.2,1016.1,429.72	MEM1	65508,1,0,0
SM_GC	0.66,0.00,16.73,0.16,0.000,0.039,0.104,1023.2,1030.2,1016.1,173.3,2358.7,0,0,0,30.00,15.74,15.77	MEM2	970904,28,75784,66
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16159,384
IRIDIUM_FIX	4657.20,-12436.52,240322,120635	CAP_FILE_SIZE	122626,0
TCM_TEMP	267.54	SDSIZE	4028416,3708224
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4970,1
HUMID	51.79	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.98	CURRENT	0.144,177.2,1
INTERNAL_PRESSURE	8.92178	MAGCAL	1.000000,0.006775,-0.010807,-0.002816,1.051208,-0.071845,-0.007019,-0.019157,1.020295,607.9,-301.2,49.8,32,0.0278,0
_24V_AH	14.74,479.027	IMPLIED_C_PITCH	2398,12.14,230
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2329,31.193188,228
FG_AHR_24Vo	354.749	GPS	240322,124404,4658.922,-12436.652,2,0.9,5,15.6
FG_AHR_10Vo	105.989

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	488	1200	8647.69	legato	34	20	10.12
Pitch_motor	36	232	124.16	nil	0	0	0.00
Roll_motor	34	105	52.90	nil	0	0	0.00
Iridium	172	188	478.75	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	12	15	2.83	nil	0	0	0.00
Core	1281	11	226.83	SciCon	0	0	0.00
LPSleep	1127	2	47.34	nil	0	0	0.00
Compass	274	5	20.57	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
6.16	16386	-117.02	-1.47	0.00	924.8	921.4	928.3	174.6	2252.8	0.00	0.00	0	82.55	74.83	0.00	0.00	0.005	0.000	0.000	2793.75	2976.50	2611.00	174.50	2253.00	0	0	0	14.90	30.00	30.00
83.28	18467	-117.02	-1.47	0.00	2792.4	2974.8	2610.1	174.8	2253.2	3.43	-4.61	14	114.65	10.73	14.19	0.00	0.007	0.232	0.000	3252.03	3479.44	3024.62	2015.12	2253.50	0	0	0	14.84	15.54	30.00
236.75	260	-117.02	-1.47	60.00	3252.6	3478.5	3026.6	2015.5	2253.6	23.23	-11.42	45	242.38	0.00	0.00	3.05	0.000	0.000	0.079	3252.50	3478.56	3026.44	2015.25	3425.75	0	0	0	30.00	30.00	15.87
276.77	1028	-117.02	-1.47	0.00	3252.2	3477.5	3027.0	2015.6	3425.5	27.76	-11.31	53	282.33	0.00	0.00	2.64	0.000	0.000	0.018	3252.84	3477.50	3028.19	2014.94	2246.06	0	0	0	30.00	30.00	15.91
406.82	516	-117.02	-1.47	-60.00	3252.4	3477.7	3027.1	2015.2	2244.4	40.54	-9.99	79	412.54	0.00	0.00	2.58	0.000	0.000	0.062	3253.34	3478.50	3028.19	2015.12	1209.12	0	0	0	30.00	30.00	15.93
437.00	1028	-117.02	-1.47	-0.19	3252.2	3477.4	3027.1	2014.8	1209.1	43.96	-11.25	85	442.39	0.00	0.00	2.68	0.000	0.000	0.025	3252.97	3477.56	3028.38	2015.44	2350.75	0	0	0	30.00	30.00	15.94
566.88	260	-117.02	-1.47	60.00	3251.9	3477.2	3026.6	2015.1	2350.3	57.12	-9.69	111	572.45	0.00	0.00	2.79	0.000	0.000	0.083	3252.09	3477.12	3027.06	2015.19	3425.69	0	0	0	30.00	30.00	15.90
621.90	1028	-117.02	-1.47	-0.81	3251.6	3475.1	3028.2	2014.6	3426.1	62.85	-10.63	122	627.44	0.00	0.00	2.66	0.000	0.000	0.018	3252.81	3476.38	3029.25	2014.88	2232.62	0	0	0	30.00	30.00	15.95
746	end dive: TARGET_DEPTH_EXCEEDED
state	746	begin apogee
748.73	10243	0.00	-0.28	0.00	3251.9	3475.4	3028.5	2015.0	2134.6	74.30	-8.44	147	837.07	83.60	1.92	0.19	1.201	0.122	0.105	2775.75	2914.50	2637.00	2304.88	2255.25	0	0	0	11.05	15.85	15.31
839	end apogee: CONTROL_FINISHED_OK
state	839	begin climb
840.04	11271	117.02	1.47	0.00	2773.2	2912.3	2634.0	2305.8	2255.2	77.71	0.00	164	930.63	84.74	2.69	0.17	1.146	0.073	0.072	2299.00	2371.00	2227.00	2732.56	2119.44	0	0	0	11.85	15.59	15.70
1053.06	10535	255.27	1.74	60.00	2292.1	2368.7	2215.4	2732.8	2119.4	72.07	5.58	207	1162.12	101.68	0.35	3.14	1.120	0.049	0.076	1733.59	1770.31	1696.88	2813.50	3307.00	0	0	0	11.39	15.69	15.26
1234.53	1092	255.27	1.78	1.49	1728.8	1769.6	1688.1	2813.5	3306.8	58.73	8.11	243	1239.89	0.00	0.00	2.62	0.000	0.000	0.019	1729.84	1770.75	1688.94	2813.75	2172.00	0	0	0	30.00	30.00	15.68
1364.38	10275	343.54	1.96	1.49	1723.6	1773.2	1674.0	2813.2	2172.2	48.98	7.18	269	1433.08	67.12	0.19	0.00	1.089	0.071	0.000	1374.53	1404.69	1344.38	2866.19	2172.00	0	0	0	11.32	15.74	30.00
1555.22	324	343.54	1.99	60.00	1370.1	1405.6	1334.6	2866.6	2172.3	33.57	8.50	307	1560.80	0.00	0.00	2.97	0.000	0.000	0.076	1370.34	1405.75	1334.94	2866.56	3306.00	0	0	0	30.00	30.00	15.74
1570.22	1092	343.54	2.02	2.92	1370.1	1405.6	1334.7	2866.4	3305.6	32.28	8.58	310	1575.74	0.00	0.00	2.56	0.000	0.000	0.019	1370.91	1406.69	1335.12	2866.44	2194.44	0	0	0	30.00	30.00	15.76
1700.27	10791	428.62	2.19	-60.00	1368.2	1405.7	1330.7	2866.3	2194.4	22.28	7.28	336	1773.08	65.85	0.19	2.87	1.072	0.068	0.073	1028.06	1027.38	1028.75	2921.31	1092.12	0	0	0	11.31	15.78	15.33
1860.29	1028	428.62	2.19	1.49	1024.3	1026.5	1022.2	2920.9	1091.7	6.53	10.71	368	1865.87	0.00	0.00	2.77	0.000	0.000	0.023	1024.53	1026.69	1022.38	2920.06	2264.94	0	0	0	30.00	30.00	15.75
1890	end climb: SURFACE_DEPTH_REACHED
state	1890	begin surface coast
1940	end surface coast: CONTROL_FINISHED_OK
state	1940	begin surface