Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 5 * 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 5 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 0 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 550 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 180 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 1000 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 12.905993 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 17.19445 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 550

ALTIM_PING_DEPTH 120 FERRY_MAX 45 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 12.905993 PITCH_ADJ_GAIN 0.045000002 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 17.19445 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 5 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

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 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 0 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 260421,210041,4705.339,-12451.473,2,1.1,3,15.8 TGT_RADIUS 1852.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260421,210352,4705.325,-12451.491,2,1.4,4,15.8 MHEAD_RNG_PITCHd_Wd 245.8,20000,-17.6,-10.000,-21.24

SPEED_LIMITS 0.173,0.257 D_GRID 133

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 4705.325,-12507.353

Post-dive calculations and measurements:

FINISH 0.2,1.024314 FG_AHR_10Vo 12.927

SM_CCo 3108.06,84.47,1.133,0,726.2,706.8,745.6,549.92 MEM0 60876,1,0,0

SM_GC 1.53,84.47,16.28,3.40,1.133,0.059,0.044,726.2,706.8,745.6,186.6,2066.2,0,0,0,12.73,15.91,15.91 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 971284,26,75544,61

IRIDIUM_FIX 4706.31,-12450.71,260421,205622 DATA_FILE_SIZE 12945,509

TCM_TEMP 266.76 CAP_FILE_SIZE 168633,0

XPDR_PINGS 19,13.0,10.5 SDSIZE 4028416,4017056

ALTIM_BOTTOM_PING 120.0,32.6 SDFILEDIR 61,1

SC_FREEKB 3876544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.53 CURRENT 0.055,307.1,1

TEMP 82.55 MAGCAL 1.000000,-0.024782,-0.071603,-0.008421,1.030805,-0.120070,-0.011757,-0.069400,1.065756,733.4,-221.4,56.0,18,0.0248,0

INTERNAL_PRESSURE 8.82659 IMPLIED_C_PITCH 2367,11.65,327

_24V_AH 14.87,11.663 IMPLIED_C_VBD 2906,48.247749,296

_10V_AH 14.97,0.000 GPS 260421,215631,4705.253,-12452.120,1,1.2,21,15.8

FG_AHR_24Vo 17.368

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 604 1305 11729.22 nil 0 0 0.00

Pitch_motor 36 262 141.04 nil 0 0 0.00

Roll_motor 49 161 118.69 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 5 420 32.79 nil 0 0 0.00

GPS 13 15 2.96 nil 0 0 0.00

Core 1651 11 291.65 SciCon 2991 18 821.27

LPSleep 1400 2 58.71 nil 0 0 0.00

Compass 786 5 58.84 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.90

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

6.08 16386 -145.99 -0.88 0.00 496.0 486.9 505.1 185.8 2148.8 0.00 0.00 0 104.70 97.13 0.00 0.00 0.005 0.000 0.000 2807.56 2941.88 2673.25 185.69 2149.75 0 0 0 15.49 30.00 30.00

105.44 18983 -145.99 -0.88 -80.00 2806.7 2940.8 2672.6 185.6 2148.8 3.04 -1.79 19 149.62 19.18 14.32 3.67 0.006 0.262 0.108 3563.16 3752.12 3374.19 2085.06 630.88 0 0 0 16.02 15.97 15.97

257.78 5253 -145.99 -0.99 0.00 3563.4 3751.4 3375.4 2084.8 630.8 23.86 -12.90 49 263.51 0.00 0.23 3.36 0.000 0.082 0.041 3564.59 3752.38 3376.81 2039.19 2131.50 0 0 0 30.00 16.05 16.08

447.83 260 -145.99 -0.99 80.00 3563.3 3751.1 3375.5 2038.6 2131.8 50.85 -14.44 87 453.51 0.00 0.00 3.43 0.000 0.000 0.106 3565.22 3752.56 3377.88 2038.69 3568.44 0 0 0 30.00 30.00 16.09

512.85 1028 -145.99 -0.99 0.00 3563.3 3750.6 3376.1 2039.1 3568.1 61.36 -17.07 100 518.51 0.00 0.00 3.37 0.000 0.000 0.041 3564.28 3751.44 3377.12 2039.31 2063.94 0 0 0 30.00 30.00 16.11

702.94 420 -145.99 -1.10 80.00 3563.2 3751.1 3375.3 2039.0 2063.9 83.60 -8.55 138 708.61 0.00 0.00 3.60 0.000 0.000 0.102 3564.41 3751.44 3377.38 2039.06 3568.19 0 0 0 30.00 30.00 16.09

773.11 1028 -145.99 -1.10 0.00 3563.3 3750.6 3376.1 2039.2 3568.4 90.75 -10.89 152 778.66 0.00 0.00 3.36 0.000 0.000 0.041 3563.44 3750.81 3376.06 2039.31 2062.81 0 0 0 30.00 30.00 16.12

963.00 4517 -145.99 -1.22 80.00 3563.1 3750.5 3375.6 2038.9 2062.6 110.30 -9.78 180 968.28 0.00 0.25 3.59 0.000 0.078 0.101 3563.72 3751.44 3376.00 1984.31 3569.25 0 0 0 30.00 16.12 16.12

1077.55 3205 -145.99 -1.10 0.00 3562.5 3749.2 3375.8 1983.7 3569.8 125.77 -14.48 203 1083.77 0.00 0.36 3.37 0.000 0.177 0.041 3563.38 3750.75 3376.00 2033.69 2062.69 0 0 0 30.00 16.08 16.14

1152 end dive: TARGET_DEPTH_EXCEEDED

state 1153 begin apogee

1154.83 10243 0.00 -0.20 0.00 3562.9 3750.1 3375.8 2033.8 2146.4 133.99 -10.79 211 1256.30 97.46 1.46 0.14 1.306 0.146 0.161 2966.25 3059.56 2872.94 2253.38 2052.31 0 0 0 12.76 16.07 15.70

1257 end apogee: CONTROL_FINISHED_OK

state 1257 begin climb

1258.12 10243 145.99 0.88 0.00 2965.5 3059.1 2872.0 2253.1 2052.3 137.49 0.00 221 1362.54 100.04 1.75 0.00 1.258 0.112 0.000 2372.53 2440.62 2304.44 2517.00 2052.62 0 0 0 12.64 15.74 30.00

1665.71 10403 246.32 1.31 0.00 2365.0 2440.1 2289.9 2517.2 2053.0 120.06 5.33 262 1738.93 70.57 0.63 0.00 1.244 0.072 0.000 1960.69 2039.38 1882.00 2626.31 2052.69 0 0 0 12.60 15.81 30.00

2042.13 10663 299.23 1.54 80.00 1953.2 2041.4 1864.9 2626.7 2052.2 88.85 7.54 319 2088.64 37.72 0.28 3.72 1.206 0.085 0.108 1748.53 1838.06 1659.00 2684.06 3566.44 0 0 0 12.61 15.85 15.69

2232.34 1028 299.23 1.54 0.00 1741.7 1836.2 1647.2 2683.3 3566.7 69.30 10.46 357 2237.84 0.00 0.00 3.43 0.000 0.000 0.042 1742.41 1837.00 1647.81 2684.31 2067.12 0 0 0 30.00 30.00 15.83

2422.22 10403 408.66 1.85 0.00 1739.2 1836.2 1642.1 2684.2 2067.9 57.54 4.91 395 2504.51 78.45 0.40 0.00 1.192 0.076 0.000 1302.16 1373.06 1231.25 2756.81 2067.50 0 0 0 12.67 15.92 30.00

2687.64 10663 433.03 2.00 80.00 1293.3 1373.1 1213.6 2756.1 2067.1 33.67 8.87 448 2714.11 19.02 0.17 3.68 1.102 0.101 0.107 1202.50 1275.94 1129.06 2794.88 3566.31 0 0 0 12.60 15.81 15.70

2747.74 1028 433.03 2.00 0.00 1201.1 1276.1 1126.1 2795.2 3566.9 26.61 12.96 460 2753.26 0.00 0.00 3.42 0.000 0.000 0.041 1200.91 1276.31 1125.50 2795.19 2063.69 0 0 0 30.00 30.00 15.79

2937.64 292 434.46 2.00 80.00 1197.9 1276.0 1119.8 2795.1 2063.7 5.98 9.93 498 2943.36 0.00 0.00 3.65 0.000 0.000 0.104 1197.81 1276.19 1119.44 2795.12 3567.44 0 0 0 30.00 30.00 15.89

2972 end climb: SURFACE_DEPTH_REACHED

state 2972 begin surface coast

2992 end surface coast: CONTROL_FINISHED_OK

state 2992 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	5	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	0	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	550	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	180	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	1000	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	12.905993	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	17.19445	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	260421,210041,4705.339,-12451.473,2,1.1,3,15.8	TGT_RADIUS	1852.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260421,210352,4705.325,-12451.491,2,1.4,4,15.8	MHEAD_RNG_PITCHd_Wd	245.8,20000,-17.6,-10.000,-21.24
SPEED_LIMITS	0.173,0.257	D_GRID	133
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	4705.325,-12507.353

FINISH	0.2,1.024314	FG_AHR_10Vo	12.927
SM_CCo	3108.06,84.47,1.133,0,726.2,706.8,745.6,549.92	MEM0	60876,1,0,0
SM_GC	1.53,84.47,16.28,3.40,1.133,0.059,0.044,726.2,706.8,745.6,186.6,2066.2,0,0,0,12.73,15.91,15.91	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	971284,26,75544,61
IRIDIUM_FIX	4706.31,-12450.71,260421,205622	DATA_FILE_SIZE	12945,509
TCM_TEMP	266.76	CAP_FILE_SIZE	168633,0
XPDR_PINGS	19,13.0,10.5	SDSIZE	4028416,4017056
ALTIM_BOTTOM_PING	120.0,32.6	SDFILEDIR	61,1
SC_FREEKB	3876544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.53	CURRENT	0.055,307.1,1
TEMP	82.55	MAGCAL	1.000000,-0.024782,-0.071603,-0.008421,1.030805,-0.120070,-0.011757,-0.069400,1.065756,733.4,-221.4,56.0,18,0.0248,0
INTERNAL_PRESSURE	8.82659	IMPLIED_C_PITCH	2367,11.65,327
_24V_AH	14.87,11.663	IMPLIED_C_VBD	2906,48.247749,296
_10V_AH	14.97,0.000	GPS	260421,215631,4705.253,-12452.120,1,1.2,21,15.8
FG_AHR_24Vo	17.368

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	604	1305	11729.22	nil	0	0	0.00
Pitch_motor	36	262	141.04	nil	0	0	0.00
Roll_motor	49	161	118.69	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	5	420	32.79	nil	0	0	0.00
GPS	13	15	2.96	nil	0	0	0.00
Core	1651	11	291.65	SciCon	2991	18	821.27
LPSleep	1400	2	58.71	nil	0	0	0.00
Compass	786	5	58.84	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.90
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
6.08	16386	-145.99	-0.88	0.00	496.0	486.9	505.1	185.8	2148.8	0.00	0.00	0	104.70	97.13	0.00	0.00	0.005	0.000	0.000	2807.56	2941.88	2673.25	185.69	2149.75	0	0	0	15.49	30.00	30.00
105.44	18983	-145.99	-0.88	-80.00	2806.7	2940.8	2672.6	185.6	2148.8	3.04	-1.79	19	149.62	19.18	14.32	3.67	0.006	0.262	0.108	3563.16	3752.12	3374.19	2085.06	630.88	0	0	0	16.02	15.97	15.97
257.78	5253	-145.99	-0.99	0.00	3563.4	3751.4	3375.4	2084.8	630.8	23.86	-12.90	49	263.51	0.00	0.23	3.36	0.000	0.082	0.041	3564.59	3752.38	3376.81	2039.19	2131.50	0	0	0	30.00	16.05	16.08
447.83	260	-145.99	-0.99	80.00	3563.3	3751.1	3375.5	2038.6	2131.8	50.85	-14.44	87	453.51	0.00	0.00	3.43	0.000	0.000	0.106	3565.22	3752.56	3377.88	2038.69	3568.44	0	0	0	30.00	30.00	16.09
512.85	1028	-145.99	-0.99	0.00	3563.3	3750.6	3376.1	2039.1	3568.1	61.36	-17.07	100	518.51	0.00	0.00	3.37	0.000	0.000	0.041	3564.28	3751.44	3377.12	2039.31	2063.94	0	0	0	30.00	30.00	16.11
702.94	420	-145.99	-1.10	80.00	3563.2	3751.1	3375.3	2039.0	2063.9	83.60	-8.55	138	708.61	0.00	0.00	3.60	0.000	0.000	0.102	3564.41	3751.44	3377.38	2039.06	3568.19	0	0	0	30.00	30.00	16.09
773.11	1028	-145.99	-1.10	0.00	3563.3	3750.6	3376.1	2039.2	3568.4	90.75	-10.89	152	778.66	0.00	0.00	3.36	0.000	0.000	0.041	3563.44	3750.81	3376.06	2039.31	2062.81	0	0	0	30.00	30.00	16.12
963.00	4517	-145.99	-1.22	80.00	3563.1	3750.5	3375.6	2038.9	2062.6	110.30	-9.78	180	968.28	0.00	0.25	3.59	0.000	0.078	0.101	3563.72	3751.44	3376.00	1984.31	3569.25	0	0	0	30.00	16.12	16.12
1077.55	3205	-145.99	-1.10	0.00	3562.5	3749.2	3375.8	1983.7	3569.8	125.77	-14.48	203	1083.77	0.00	0.36	3.37	0.000	0.177	0.041	3563.38	3750.75	3376.00	2033.69	2062.69	0	0	0	30.00	16.08	16.14
1152	end dive: TARGET_DEPTH_EXCEEDED
state	1153	begin apogee
1154.83	10243	0.00	-0.20	0.00	3562.9	3750.1	3375.8	2033.8	2146.4	133.99	-10.79	211	1256.30	97.46	1.46	0.14	1.306	0.146	0.161	2966.25	3059.56	2872.94	2253.38	2052.31	0	0	0	12.76	16.07	15.70
1257	end apogee: CONTROL_FINISHED_OK
state	1257	begin climb
1258.12	10243	145.99	0.88	0.00	2965.5	3059.1	2872.0	2253.1	2052.3	137.49	0.00	221	1362.54	100.04	1.75	0.00	1.258	0.112	0.000	2372.53	2440.62	2304.44	2517.00	2052.62	0	0	0	12.64	15.74	30.00
1665.71	10403	246.32	1.31	0.00	2365.0	2440.1	2289.9	2517.2	2053.0	120.06	5.33	262	1738.93	70.57	0.63	0.00	1.244	0.072	0.000	1960.69	2039.38	1882.00	2626.31	2052.69	0	0	0	12.60	15.81	30.00
2042.13	10663	299.23	1.54	80.00	1953.2	2041.4	1864.9	2626.7	2052.2	88.85	7.54	319	2088.64	37.72	0.28	3.72	1.206	0.085	0.108	1748.53	1838.06	1659.00	2684.06	3566.44	0	0	0	12.61	15.85	15.69
2232.34	1028	299.23	1.54	0.00	1741.7	1836.2	1647.2	2683.3	3566.7	69.30	10.46	357	2237.84	0.00	0.00	3.43	0.000	0.000	0.042	1742.41	1837.00	1647.81	2684.31	2067.12	0	0	0	30.00	30.00	15.83
2422.22	10403	408.66	1.85	0.00	1739.2	1836.2	1642.1	2684.2	2067.9	57.54	4.91	395	2504.51	78.45	0.40	0.00	1.192	0.076	0.000	1302.16	1373.06	1231.25	2756.81	2067.50	0	0	0	12.67	15.92	30.00
2687.64	10663	433.03	2.00	80.00	1293.3	1373.1	1213.6	2756.1	2067.1	33.67	8.87	448	2714.11	19.02	0.17	3.68	1.102	0.101	0.107	1202.50	1275.94	1129.06	2794.88	3566.31	0	0	0	12.60	15.81	15.70
2747.74	1028	433.03	2.00	0.00	1201.1	1276.1	1126.1	2795.2	3566.9	26.61	12.96	460	2753.26	0.00	0.00	3.42	0.000	0.000	0.041	1200.91	1276.31	1125.50	2795.19	2063.69	0	0	0	30.00	30.00	15.79
2937.64	292	434.46	2.00	80.00	1197.9	1276.0	1119.8	2795.1	2063.7	5.98	9.93	498	2943.36	0.00	0.00	3.65	0.000	0.000	0.104	1197.81	1276.19	1119.44	2795.12	3567.44	0	0	0	30.00	30.00	15.89
2972	end climb: SURFACE_DEPTH_REACHED
state	2972	begin surface coast
2992	end surface coast: CONTROL_FINISHED_OK
state	2992	begin surface