Glider dive log

NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 29 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

MISSION 2 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 29 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 475 ROLL_MAXERRORS 1 XPDR_INT -1

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP -1

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 990 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -3.0999999

D_ABORT 1000 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3200 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0024999999 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 390 T_GPS 5 W_ADJ_DBAND 2 LOGGERDEVICE2 -1

T_MISSION 450 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

USE_BATHY -1 PITCH_MIN 200 AH0_24V 575 NAV_DEVICE -1

USE_ICE 0 PITCH_MAX 3920 AH0_10V 0 NAV2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2300 MINV_24V 0 NETWORK_DEVICE -1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 0 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE 21

APOGEE_PITCH -5 PITCH_GAIN 17 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 110 PITCH_TIMEOUT 30 FG_AHR_10V 4.2751737 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 15.453998 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.0275 PITCH_ADJ_DBAND 0 PRESSURE_YINT -170.23515 SEABIRD_T_J 4.3e-06

MASS 72293 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022672296 SEABIRD_C_G -10

NAV_MODE 0 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 3 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0.5 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 700 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 3350 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 0 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 990 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 4.2751737 PHONE_SUPPLY 2 SM_CC 475

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 15.453998 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 17 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3920 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 236 PITCH_VBD_SHIFT 0.0024999999 T_DIVE 390

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0.5 T_EPIRB 0

COMPASS_USE 49156 INT_PRESSURE_YINT -3.0999999 PITCH_W_GAIN 3 T_GPS 5

C_PITCH 2300 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022672296 T_MISSION 450

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -170.23515 T_NO_W 120

C_ROLL_CLIMB 2050 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2200 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3200 LOGGERS 1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.0275 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72293 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 110 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 0 ROLL_MAX 3350 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 29 MISSION 2 ROLL_MIN 700 W_ADJ_DBAND 2

D_ABORT 1000 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_BOOST 0 NAV2_DEVICE -1 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE -1 SC_PROFILE 7.0 XPDR_INT -1

D_FINISH 0 NAV_MODE 0 SC_RECORDABOVE 2000.0 XPDR_REP -1

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE -1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 060623,155320,4658.462,-12602.781,1,0.9,31,15.7 TGT_RADIUS 2500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.21 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060623,155635,4658.443,-12602.776,2,1.0,4,15.7 MHEAD_RNG_PITCHd_Wd 256.6,72334,-17.9,-8.462,-21.79,1913,0.429

SPEED_LIMITS 0.147,0.212 D_GRID 100

TGT_NAME OFFSHORE IRON 1.000000,0.031744,-0.016209,-0.023188,1.010543,-0.112545,0.005505,0.013214,0.898855,223.020203,-463.552734,-464.667419

TGT_LATLONG 4700.000,-12700.000 OSC 8000266

Post-dive calculations and measurements:

FREEZE 103.95,8.334,-1.916,0,1,0 FG_AHR_24Vo 15.612

SURF forcing FG_AHR_10Vo 4.285

SM_CCo 1637.49,523.85,0.759,0,500.7,531.9,469.5,662.14 MEM0 60116,1,0,0

SM_GC 1.18,0.00,18.00,3.65,0.000,0.041,0.057,500.5,527.1,473.9,190.6,2227.2,0,0,0,30.00,16.05,16.03 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 970728,25,76200,57

IRIDIUM_FIX 4657.73,-12602.34,060623,150443 DATA_FILE_SIZE 3359,200

TCM_TEMP 259.94 CAP_FILE_SIZE 125654,0

XPDR_PINGS 0,14.0,11.5 SDSIZE 4028416,4008416

SC_FREEKB 3867744 SDFILEDIR 209,30

HUMID 49.97 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.45 MAGCAL 1.000000,-0.072454,-0.918743,-0.220756,0.785704,0.261098,0.983687,0.164055,0.469673,817.3,-372.8,-890.1,15,0.0686,0

INTERNAL_PRESSURE 8.90253 IMPLIED_C_PITCH 2334,13.88,125,0.0,0.00

_24V_AH 15.24,27.455 IMPLIED_C_VBD 3515,20.130283,119,0

_10V_AH 15.00,0.000 GPS 060623,163619,4658.454,-12602.932,2,1.2,2,15.7

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 844 811 10439.56 nil 0 0 0.00

Pitch_motor 39 241 145.35 nil 0 0 0.00

Roll_motor 13 158 33.32 nil 0 0 0.00

Iridium 117 161 289.83 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 13 15 3.10 nil 0 0 0.00

Core 1017 6 103.77 SciCon 1095 16 263.75

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 945 2 28.36

Compass 444 5 33.31

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

8.86 16386 -107.06 -1.32 0.00 500.4 526.5 474.3 181.8 2156.6 0.00 0.00 0 96.27 85.57 0.00 0.00 0.005 0.000 0.000 2415.59 2412.25 2418.94 181.88 2156.00 0 0 0 15.98 30.00 30.00

96.70 18727 -107.06 -1.32 80.00 2416.5 2415.1 2418.0 181.8 2156.5 3.21 -2.64 17 153.84 29.47 16.50 3.11 0.006 0.241 0.110 3638.12 3622.31 3653.94 1978.56 3360.12 0 0 0 15.99 15.90 15.95

297.16 1028 -107.06 -1.32 0.00 3638.5 3624.1 3652.9 1978.6 3360.5 40.08 -16.57 56 303.61 0.00 0.00 2.82 0.000 0.000 0.054 3639.16 3624.81 3653.50 1978.88 2166.00 0 0 0 30.00 30.00 16.05

487.22 0 -107.06 -1.32 0.00 3638.4 3624.0 3652.9 1978.6 2166.3 66.24 -12.33 94 491.62 0.00 0.00 0.00 0.000 0.000 0.000 3638.62 3624.31 3652.94 1978.81 2166.56 0 0 0 30.00 30.00 30.00

672.25 0 -107.06 -1.32 0.00 3638.5 3624.0 3653.0 1978.6 2166.4 86.65 -11.16 131 676.62 0.00 0.00 0.00 0.000 0.000 0.000 3638.72 3623.69 3653.75 1978.44 2166.06 0 0 0 30.00 30.00 30.00

792 end dive: TARGET_DEPTH_EXCEEDED

state 792 begin apogee

794.01 10243 0.00 -0.29 0.00 3638.5 3623.6 3653.4 1978.2 2016.0 100.22 -10.81 155 900.91 99.93 2.00 0.11 0.812 0.123 0.159 3197.69 3173.00 3222.38 2230.44 2085.38 0 0 0 12.98 16.07 15.79

904 end apogee: CONTROL_FINISHED_OK

state 904 begin climb

906.86 10759 107.06 1.32 -80.00 3197.3 3171.8 3222.9 2230.1 2085.7 103.95 0.00 165 1028.00 105.25 2.99 3.69 0.783 0.075 0.117 2760.09 2733.00 2787.19 2625.06 689.50 0 0 0 12.88 15.86 15.62

1091 end climb: NO_VERTICAL_VELOCITY

state 1091 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2050	ALTIM_PULSE	3
MISSION	2	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	29	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	475	ROLL_MAXERRORS	1	XPDR_INT	-1
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	-1
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	990	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-3.0999999
D_ABORT	1000	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3200	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0024999999	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	390	T_GPS	5	W_ADJ_DBAND	2	LOGGERDEVICE2	-1
T_MISSION	450	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
USE_BATHY	-1	PITCH_MIN	200	AH0_24V	575	NAV_DEVICE	-1
USE_ICE	0	PITCH_MAX	3920	AH0_10V	0	NAV2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2300	MINV_24V	0	NETWORK_DEVICE	-1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	0	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	21
APOGEE_PITCH	-5	PITCH_GAIN	17	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	110	PITCH_TIMEOUT	30	FG_AHR_10V	4.2751737	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	15.453998	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.0275	PITCH_ADJ_DBAND	0	PRESSURE_YINT	-170.23515	SEABIRD_T_J	4.3e-06
MASS	72293	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022672296	SEABIRD_C_G	-10
NAV_MODE	0	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	3	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0.5	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	700	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	3350	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13

GPS1	060623,155320,4658.462,-12602.781,1,0.9,31,15.7	TGT_RADIUS	2500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.21	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060623,155635,4658.443,-12602.776,2,1.0,4,15.7	MHEAD_RNG_PITCHd_Wd	256.6,72334,-17.9,-8.462,-21.79,1913,0.429
SPEED_LIMITS	0.147,0.212	D_GRID	100
TGT_NAME	OFFSHORE	IRON	1.000000,0.031744,-0.016209,-0.023188,1.010543,-0.112545,0.005505,0.013214,0.898855,223.020203,-463.552734,-464.667419
TGT_LATLONG	4700.000,-12700.000	OSC	8000266

FREEZE	103.95,8.334,-1.916,0,1,0	FG_AHR_24Vo	15.612
SURF	forcing	FG_AHR_10Vo	4.285
SM_CCo	1637.49,523.85,0.759,0,500.7,531.9,469.5,662.14	MEM0	60116,1,0,0
SM_GC	1.18,0.00,18.00,3.65,0.000,0.041,0.057,500.5,527.1,473.9,190.6,2227.2,0,0,0,30.00,16.05,16.03	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	970728,25,76200,57
IRIDIUM_FIX	4657.73,-12602.34,060623,150443	DATA_FILE_SIZE	3359,200
TCM_TEMP	259.94	CAP_FILE_SIZE	125654,0
XPDR_PINGS	0,14.0,11.5	SDSIZE	4028416,4008416
SC_FREEKB	3867744	SDFILEDIR	209,30
HUMID	49.97	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.45	MAGCAL	1.000000,-0.072454,-0.918743,-0.220756,0.785704,0.261098,0.983687,0.164055,0.469673,817.3,-372.8,-890.1,15,0.0686,0
INTERNAL_PRESSURE	8.90253	IMPLIED_C_PITCH	2334,13.88,125,0.0,0.00
_24V_AH	15.24,27.455	IMPLIED_C_VBD	3515,20.130283,119,0
_10V_AH	15.00,0.000	GPS	060623,163619,4658.454,-12602.932,2,1.2,2,15.7

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	844	811	10439.56	nil	0	0	0.00
Pitch_motor	39	241	145.35	nil	0	0	0.00
Roll_motor	13	158	33.32	nil	0	0	0.00
Iridium	117	161	289.83	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	13	15	3.10	nil	0	0	0.00
Core	1017	6	103.77	SciCon	1095	16	263.75
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	945	2	28.36
Compass	444	5	33.31
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
8.86	16386	-107.06	-1.32	0.00	500.4	526.5	474.3	181.8	2156.6	0.00	0.00	0	96.27	85.57	0.00	0.00	0.005	0.000	0.000	2415.59	2412.25	2418.94	181.88	2156.00	0	0	0	15.98	30.00	30.00
96.70	18727	-107.06	-1.32	80.00	2416.5	2415.1	2418.0	181.8	2156.5	3.21	-2.64	17	153.84	29.47	16.50	3.11	0.006	0.241	0.110	3638.12	3622.31	3653.94	1978.56	3360.12	0	0	0	15.99	15.90	15.95
297.16	1028	-107.06	-1.32	0.00	3638.5	3624.1	3652.9	1978.6	3360.5	40.08	-16.57	56	303.61	0.00	0.00	2.82	0.000	0.000	0.054	3639.16	3624.81	3653.50	1978.88	2166.00	0	0	0	30.00	30.00	16.05
487.22	0	-107.06	-1.32	0.00	3638.4	3624.0	3652.9	1978.6	2166.3	66.24	-12.33	94	491.62	0.00	0.00	0.00	0.000	0.000	0.000	3638.62	3624.31	3652.94	1978.81	2166.56	0	0	0	30.00	30.00	30.00
672.25	0	-107.06	-1.32	0.00	3638.5	3624.0	3653.0	1978.6	2166.4	86.65	-11.16	131	676.62	0.00	0.00	0.00	0.000	0.000	0.000	3638.72	3623.69	3653.75	1978.44	2166.06	0	0	0	30.00	30.00	30.00
792	end dive: TARGET_DEPTH_EXCEEDED
state	792	begin apogee
794.01	10243	0.00	-0.29	0.00	3638.5	3623.6	3653.4	1978.2	2016.0	100.22	-10.81	155	900.91	99.93	2.00	0.11	0.812	0.123	0.159	3197.69	3173.00	3222.38	2230.44	2085.38	0	0	0	12.98	16.07	15.79
904	end apogee: CONTROL_FINISHED_OK
state	904	begin climb
906.86	10759	107.06	1.32	-80.00	3197.3	3171.8	3222.9	2230.1	2085.7	103.95	0.00	165	1028.00	105.25	2.99	3.69	0.783	0.075	0.117	2760.09	2733.00	2787.19	2625.06	689.50	0	0	0	12.88	15.86	15.62
1091	end climb: NO_VERTICAL_VELOCITY
state	1091	begin surface