Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 4 * 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 4

DIVE 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 4 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 605.40039 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 180 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 250 FILEMGR 0 C_VBD 2968 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 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 2 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012300001 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 0 LOGGERS 1

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 60 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 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 3 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 34

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3600 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 1000 C_PITCH 2300 FG_AHR_10V 12.881962 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 16.982941 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 150 PITCH_GAIN 25 PRESSURE_YINT -180.00272 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.0275 PITCH_ADJ_GAIN 0.045000002 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72946 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 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 0.003 ROLL_MAX 3825 ALTIM_PING_DEPTH 120 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 1.6e-05 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

HEADING 270 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 2 N_NOCOMM 2 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 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 605.40039

ALTIM_PING_DEPTH 120 FERRY_MAX 45 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 12.881962 PITCH_ADJ_GAIN 0.045000002 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 16.982941 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 25 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3600 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_WAIT 60 HEADING 270 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 60

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.00021665409 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -180.00272 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 75

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 3

C_PITCH 2300 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2968 LOGGERS 1 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.0275 USE_BATHY -1

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 80 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 150 ROLL_TIMEOUT 25 VBD_TIMEOUT 720

DIVE 4 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_ABORT 250 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 0

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 200 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 1000 N_DIVES 4 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 260421,193425,4705.479,-12450.767,1,0.6,3,15.8 TGT_RADIUS 1852.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260421,194338,4705.428,-12450.764,3,0.6,4,15.8 MHEAD_RNG_PITCHd_Wd 263.4,20000,-17.6,-10.000,-21.24

SPEED_LIMITS 0.173,0.257 D_GRID 128

TGT_NAME HEADING 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 4705.428,-12506.625

Post-dive calculations and measurements:

FINISH 0.0,1.024164 FG_AHR_10Vo 12.902

SM_CCo 2915.79,117.54,1.119,0,500.8,458.3,543.4,605.19 MEM0 60876,1,0,0

SM_GC 1.28,117.54,16.57,0.11,1.119,0.053,0.128,500.8,458.3,543.4,186.8,2142.4,0,0,0,12.62,15.83,15.85 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971264,27,75544,61

IRIDIUM_FIX 4704.84,-12450.71,260421,193936 DATA_FILE_SIZE 12917,502

TCM_TEMP 266.97 CAP_FILE_SIZE 159692,0

XPDR_PINGS 17,13.0,10.5 SDSIZE 4028416,4017280

ALTIM_BOTTOM_PING 120.8,30.4 SDFILEDIR 56,1

SC_FREEKB 3876992 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.76 CURRENT 0.057,311.3,1

TEMP 82.62 MAGCAL 1.000000,0.019226,0.041299,-0.013115,1.044984,-0.025301,-0.034753,-0.076839,1.066723,634.7,-308.8,29.7,23,0.0264,0

INTERNAL_PRESSURE 8.8211 IMPLIED_C_PITCH 2372,11.76,310

_24V_AH 14.78,11.443 IMPLIED_C_VBD 2963,44.050735,306

_10V_AH 14.89,0.000 GPS 260421,203246,4705.481,-12451.347,1,0.8,3,15.8

FG_AHR_24Vo 17.168

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 648 1303 12499.08 nil 0 0 0.00

Pitch_motor 36 271 146.55 nil 0 0 0.00

Roll_motor 42 155 96.44 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 29.49 nil 0 0 0.00

GPS 12 15 2.88 nil 0 0 0.00

Core 1607 11 282.48 SciCon 2772 18 772.71

LPSleep 1218 2 50.80 nil 0 0 0.00

Compass 774 5 57.63 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.89

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

4 end surface: CONTROL_FINISHED_OK

state 4 begin dive

6.07 16386 -145.99 -0.88 0.00 496.1 484.9 507.2 185.6 2050.8 0.00 0.00 0 110.15 102.25 0.00 0.00 0.005 0.000 0.000 2933.75 3068.75 2798.75 185.44 2049.00 0 0 0 15.15 30.00 30.00

110.88 18983 -145.99 -0.88 -80.00 2933.1 3068.0 2798.1 185.6 2047.9 3.34 -2.08 20 149.54 14.43 14.50 3.44 0.006 0.272 0.111 3564.38 3747.81 3380.94 2084.88 632.12 0 0 0 14.58 15.87 15.90

247.66 1028 -145.99 -0.88 0.00 3563.2 3746.2 3380.2 2084.8 632.0 24.69 -13.34 47 253.34 0.00 0.00 3.37 0.000 0.000 0.040 3565.47 3747.75 3383.19 2085.12 2133.38 0 0 0 30.00 30.00 16.01

437.75 4485 -145.99 -1.07 80.00 3562.9 3745.6 3380.2 2084.8 2134.2 46.28 -10.62 85 443.52 0.00 0.34 3.43 0.000 0.068 0.105 3564.50 3747.19 3381.81 2019.56 3566.88 0 0 0 30.00 16.03 16.03

567.77 1028 -145.99 -1.07 0.00 3563.2 3745.8 3380.6 2020.4 3566.3 66.41 -16.54 111 573.45 0.00 0.00 3.35 0.000 0.000 0.040 3564.00 3746.38 3381.62 2020.44 2063.50 0 0 0 30.00 30.00 16.07

757.85 260 -145.99 -1.07 80.00 3563.2 3745.8 3380.7 2020.4 2062.3 89.34 -10.35 149 763.54 0.00 0.00 3.60 0.000 0.000 0.100 3564.66 3746.75 3382.56 2019.75 3568.00 0 0 0 30.00 30.00 16.08

927.89 1028 -145.99 -1.07 0.00 3563.3 3745.8 3380.8 2019.6 3568.5 110.07 -12.72 183 933.10 0.00 0.00 3.36 0.000 0.000 0.041 3563.34 3745.56 3381.12 2020.44 2062.44 0 0 0 30.00 30.00 16.10

1117 end dive: TARGET_DEPTH_EXCEEDED

state 1117 begin apogee

1120.30 10243 0.00 -0.20 0.00 3563.0 3745.1 3380.8 2020.3 2146.6 128.56 -10.04 203 1222.29 98.00 1.59 0.14 1.303 0.149 0.155 2967.19 3060.12 2874.25 2252.88 2049.19 0 0 0 12.69 16.07 15.68

1223 end apogee: CONTROL_FINISHED_OK

state 1223 begin climb

1224.24 10759 145.99 0.88 -80.00 2965.5 3059.1 2872.0 2253.0 2048.9 131.99 0.00 213 1335.74 100.83 1.75 3.55 1.256 0.115 0.113 2370.28 2439.00 2301.56 2516.88 633.44 0 0 0 12.65 15.72 15.45

1373.47 11431 265.41 1.34 0.00 2368.1 2438.3 2297.9 2516.6 633.2 127.23 4.44 242 1466.78 84.33 0.68 3.45 1.230 0.065 0.038 1887.19 1973.12 1801.25 2636.19 2136.19 0 0 0 12.50 15.60 15.62

1770.33 10663 294.81 1.53 80.00 1875.8 1970.2 1781.4 2635.5 2136.1 89.80 8.63 302 1797.88 21.99 0.21 3.50 1.162 0.089 0.111 1765.62 1861.38 1669.88 2682.38 3567.12 0 0 0 12.58 15.81 15.71

1976.09 1028 294.81 1.53 0.00 1761.3 1861.6 1661.1 2682.6 3566.8 68.26 10.50 343 1981.78 0.00 0.00 3.41 0.000 0.000 0.041 1761.00 1861.50 1660.50 2682.38 2064.94 0 0 0 30.00 30.00 15.88

2166.14 10403 382.33 1.79 0.00 1759.3 1860.9 1657.6 2682.6 2065.4 54.14 5.93 381 2232.78 63.29 0.31 0.00 1.188 0.078 0.000 1409.97 1490.25 1329.69 2742.06 2065.31 0 0 0 12.69 15.94 30.00

2416.20 8614 389.64 1.92 80.00 1401.0 1489.6 1312.4 2741.7 2065.2 33.48 9.66 431 2431.31 6.78 0.00 3.65 0.852 0.000 0.107 1379.72 1470.00 1289.44 2741.81 3566.94 0 0 0 12.63 30.00 15.80

2516.18 1028 389.64 1.92 0.00 1377.7 1469.6 1285.8 2742.1 3567.0 21.94 12.05 451 2521.87 0.00 0.00 3.42 0.000 0.000 0.042 1377.66 1470.00 1285.31 2742.75 2064.50 0 0 0 30.00 30.00 15.90

2706.30 10663 448.54 2.16 80.00 1376.0 1470.0 1282.0 2742.2 2063.7 5.50 7.26 489 2747.13 39.47 0.50 0.00 1.135 0.070 0.000 1167.53 1238.00 1097.06 2834.69 2064.88 0 0 0 12.69 15.95 30.00

2748 end climb: SURFACE_DEPTH_REACHED

state 2748 begin surface coast

2771 end surface coast: CONTROL_FINISHED_OK

state 2771 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	4
DIVE	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	4	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	605.40039	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	180	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	250	FILEMGR	0	C_VBD	2968	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	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	2	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012300001	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	0	LOGGERS	1
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	60	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	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	3	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	34
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3600	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	1000	C_PITCH	2300	FG_AHR_10V	12.881962	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	16.982941	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	150	PITCH_GAIN	25	PRESSURE_YINT	-180.00272	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.0275	PITCH_ADJ_GAIN	0.045000002	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72946	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	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	0.003	ROLL_MAX	3825	ALTIM_PING_DEPTH	120	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	270	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	260421,193425,4705.479,-12450.767,1,0.6,3,15.8	TGT_RADIUS	1852.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260421,194338,4705.428,-12450.764,3,0.6,4,15.8	MHEAD_RNG_PITCHd_Wd	263.4,20000,-17.6,-10.000,-21.24
SPEED_LIMITS	0.173,0.257	D_GRID	128
TGT_NAME	HEADING	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	4705.428,-12506.625

FINISH	0.0,1.024164	FG_AHR_10Vo	12.902
SM_CCo	2915.79,117.54,1.119,0,500.8,458.3,543.4,605.19	MEM0	60876,1,0,0
SM_GC	1.28,117.54,16.57,0.11,1.119,0.053,0.128,500.8,458.3,543.4,186.8,2142.4,0,0,0,12.62,15.83,15.85	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971264,27,75544,61
IRIDIUM_FIX	4704.84,-12450.71,260421,193936	DATA_FILE_SIZE	12917,502
TCM_TEMP	266.97	CAP_FILE_SIZE	159692,0
XPDR_PINGS	17,13.0,10.5	SDSIZE	4028416,4017280
ALTIM_BOTTOM_PING	120.8,30.4	SDFILEDIR	56,1
SC_FREEKB	3876992	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.76	CURRENT	0.057,311.3,1
TEMP	82.62	MAGCAL	1.000000,0.019226,0.041299,-0.013115,1.044984,-0.025301,-0.034753,-0.076839,1.066723,634.7,-308.8,29.7,23,0.0264,0
INTERNAL_PRESSURE	8.8211	IMPLIED_C_PITCH	2372,11.76,310
_24V_AH	14.78,11.443	IMPLIED_C_VBD	2963,44.050735,306
_10V_AH	14.89,0.000	GPS	260421,203246,4705.481,-12451.347,1,0.8,3,15.8
FG_AHR_24Vo	17.168

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	648	1303	12499.08	nil	0	0	0.00
Pitch_motor	36	271	146.55	nil	0	0	0.00
Roll_motor	42	155	96.44	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	29.49	nil	0	0	0.00
GPS	12	15	2.88	nil	0	0	0.00
Core	1607	11	282.48	SciCon	2772	18	772.71
LPSleep	1218	2	50.80	nil	0	0	0.00
Compass	774	5	57.63	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.89
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
4	end surface: CONTROL_FINISHED_OK
state	4	begin dive
6.07	16386	-145.99	-0.88	0.00	496.1	484.9	507.2	185.6	2050.8	0.00	0.00	0	110.15	102.25	0.00	0.00	0.005	0.000	0.000	2933.75	3068.75	2798.75	185.44	2049.00	0	0	0	15.15	30.00	30.00
110.88	18983	-145.99	-0.88	-80.00	2933.1	3068.0	2798.1	185.6	2047.9	3.34	-2.08	20	149.54	14.43	14.50	3.44	0.006	0.272	0.111	3564.38	3747.81	3380.94	2084.88	632.12	0	0	0	14.58	15.87	15.90
247.66	1028	-145.99	-0.88	0.00	3563.2	3746.2	3380.2	2084.8	632.0	24.69	-13.34	47	253.34	0.00	0.00	3.37	0.000	0.000	0.040	3565.47	3747.75	3383.19	2085.12	2133.38	0	0	0	30.00	30.00	16.01
437.75	4485	-145.99	-1.07	80.00	3562.9	3745.6	3380.2	2084.8	2134.2	46.28	-10.62	85	443.52	0.00	0.34	3.43	0.000	0.068	0.105	3564.50	3747.19	3381.81	2019.56	3566.88	0	0	0	30.00	16.03	16.03
567.77	1028	-145.99	-1.07	0.00	3563.2	3745.8	3380.6	2020.4	3566.3	66.41	-16.54	111	573.45	0.00	0.00	3.35	0.000	0.000	0.040	3564.00	3746.38	3381.62	2020.44	2063.50	0	0	0	30.00	30.00	16.07
757.85	260	-145.99	-1.07	80.00	3563.2	3745.8	3380.7	2020.4	2062.3	89.34	-10.35	149	763.54	0.00	0.00	3.60	0.000	0.000	0.100	3564.66	3746.75	3382.56	2019.75	3568.00	0	0	0	30.00	30.00	16.08
927.89	1028	-145.99	-1.07	0.00	3563.3	3745.8	3380.8	2019.6	3568.5	110.07	-12.72	183	933.10	0.00	0.00	3.36	0.000	0.000	0.041	3563.34	3745.56	3381.12	2020.44	2062.44	0	0	0	30.00	30.00	16.10
1117	end dive: TARGET_DEPTH_EXCEEDED
state	1117	begin apogee
1120.30	10243	0.00	-0.20	0.00	3563.0	3745.1	3380.8	2020.3	2146.6	128.56	-10.04	203	1222.29	98.00	1.59	0.14	1.303	0.149	0.155	2967.19	3060.12	2874.25	2252.88	2049.19	0	0	0	12.69	16.07	15.68
1223	end apogee: CONTROL_FINISHED_OK
state	1223	begin climb
1224.24	10759	145.99	0.88	-80.00	2965.5	3059.1	2872.0	2253.0	2048.9	131.99	0.00	213	1335.74	100.83	1.75	3.55	1.256	0.115	0.113	2370.28	2439.00	2301.56	2516.88	633.44	0	0	0	12.65	15.72	15.45
1373.47	11431	265.41	1.34	0.00	2368.1	2438.3	2297.9	2516.6	633.2	127.23	4.44	242	1466.78	84.33	0.68	3.45	1.230	0.065	0.038	1887.19	1973.12	1801.25	2636.19	2136.19	0	0	0	12.50	15.60	15.62
1770.33	10663	294.81	1.53	80.00	1875.8	1970.2	1781.4	2635.5	2136.1	89.80	8.63	302	1797.88	21.99	0.21	3.50	1.162	0.089	0.111	1765.62	1861.38	1669.88	2682.38	3567.12	0	0	0	12.58	15.81	15.71
1976.09	1028	294.81	1.53	0.00	1761.3	1861.6	1661.1	2682.6	3566.8	68.26	10.50	343	1981.78	0.00	0.00	3.41	0.000	0.000	0.041	1761.00	1861.50	1660.50	2682.38	2064.94	0	0	0	30.00	30.00	15.88
2166.14	10403	382.33	1.79	0.00	1759.3	1860.9	1657.6	2682.6	2065.4	54.14	5.93	381	2232.78	63.29	0.31	0.00	1.188	0.078	0.000	1409.97	1490.25	1329.69	2742.06	2065.31	0	0	0	12.69	15.94	30.00
2416.20	8614	389.64	1.92	80.00	1401.0	1489.6	1312.4	2741.7	2065.2	33.48	9.66	431	2431.31	6.78	0.00	3.65	0.852	0.000	0.107	1379.72	1470.00	1289.44	2741.81	3566.94	0	0	0	12.63	30.00	15.80
2516.18	1028	389.64	1.92	0.00	1377.7	1469.6	1285.8	2742.1	3567.0	21.94	12.05	451	2521.87	0.00	0.00	3.42	0.000	0.000	0.042	1377.66	1470.00	1285.31	2742.75	2064.50	0	0	0	30.00	30.00	15.90
2706.30	10663	448.54	2.16	80.00	1376.0	1470.0	1282.0	2742.2	2063.7	5.50	7.26	489	2747.13	39.47	0.50	0.00	1.135	0.070	0.000	1167.53	1238.00	1097.06	2834.69	2064.88	0	0	0	12.69	15.95	30.00
2748	end climb: SURFACE_DEPTH_REACHED
state	2748	begin surface coast
2771	end surface coast: CONTROL_FINISHED_OK
state	2771	begin surface