Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 6 * 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 6 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 605.40039 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 12.928292 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 17.374945 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 12.928292 PITCH_ADJ_GAIN 0.045000002 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 17.374945 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 6 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 260421,215631,4705.253,-12452.120,1,1.2,21,15.8 TGT_RADIUS 1852.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260421,220546,4705.231,-12452.193,2,0.7,5,15.8 MHEAD_RNG_PITCHd_Wd 246.9,20000,-17.6,-10.000,-21.24

SPEED_LIMITS 0.173,0.257 D_GRID 135

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 4705.231,-12508.054

Post-dive calculations and measurements:

FINISH 0.1,1.008734 FG_AHR_10Vo 12.949

SM_CCo 3137.37,128.57,1.134,0,501.0,452.9,549.0,605.16 MEM0 60876,1,0,0

SM_GC 1.38,128.57,16.32,0.11,1.134,0.058,0.129,501.0,452.9,549.0,188.1,2056.2,0,0,0,12.75,15.89,15.90 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 971344,23,75544,61

IRIDIUM_FIX 4707.48,-12503.93,260421,220349 DATA_FILE_SIZE 12896,507

TCM_TEMP 266.54 CAP_FILE_SIZE 149655,0

XPDR_PINGS 13,13.0,10.5 SDSIZE 4028416,4016768

ALTIM_BOTTOM_PING 120.9,30.7 SDFILEDIR 70,1

SC_FREEKB 3876096 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.48 CURRENT 0.045,302.4,1

TEMP 82.60 MAGCAL 1.000000,-0.027655,-0.103097,-0.012802,1.040645,-0.074597,-0.002792,-0.075689,1.022681,758.5,-263.1,82.5,18,0.0236,0

INTERNAL_PRESSURE 8.82013 IMPLIED_C_PITCH 2370,11.62,325

_24V_AH 14.78,11.877 IMPLIED_C_VBD 2883,40.662338,294

_10V_AH 14.87,0.000 GPS 260421,225840,4705.170,-12452.805,1,2.0,7,15.8

FG_AHR_24Vo 17.562

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 636 1317 12393.34 nil 0 0 0.00

Pitch_motor 36 260 139.73 nil 0 0 0.00

Roll_motor 42 157 99.00 nil 0 0 0.00

Iridium 235 124 434.26 nil 0 0 0.00

Transponder_ping 3 420 23.28 nil 0 0 0.00

GPS 14 15 3.16 nil 0 0 0.00

Core 1850 11 324.78 SciCon 2987 18 810.74

LPSleep 1661 2 69.16 nil 0 0 0.00

Compass 780 5 58.00 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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.07 16386 -145.99 -0.88 0.00 720.0 724.8 715.1 186.2 2155.2 0.00 0.00 0 94.50 86.90 0.00 0.00 0.005 0.000 0.000 2776.94 2909.50 2644.38 185.75 2155.88 0 0 0 15.43 30.00 30.00

95.23 18983 -145.99 -0.88 -80.00 2776.3 2908.2 2644.4 185.7 2155.7 3.53 -2.76 17 139.11 18.90 14.45 3.72 0.006 0.260 0.110 3564.19 3752.75 3375.62 2083.94 632.06 0 0 0 14.29 15.86 15.87

262.15 1156 -145.99 -0.99 0.00 3563.7 3751.8 3375.6 2084.2 632.4 28.34 -13.78 50 267.98 0.00 0.00 3.38 0.000 0.000 0.041 3565.53 3753.75 3377.31 2083.69 2131.69 0 0 0 30.00 30.00 15.98

452.22 4225 -145.99 -1.18 0.00 3563.8 3751.9 3375.8 2084.6 2131.1 51.69 -11.02 88 453.72 0.00 0.51 0.00 0.000 0.063 0.000 3563.28 3751.06 3375.50 1996.44 2131.38 0 0 0 30.00 16.01 30.00

637.28 260 -145.99 -1.18 80.00 3563.4 3751.4 3375.4 1996.2 2130.9 78.01 -13.97 125 642.96 0.00 0.00 3.45 0.000 0.000 0.107 3563.72 3751.44 3376.00 1996.19 3568.00 0 0 0 30.00 30.00 16.04

772.71 1028 -145.99 -1.18 0.00 3563.3 3750.6 3376.0 1996.2 3567.8 99.71 -15.26 152 778.00 0.00 0.00 3.37 0.000 0.000 0.041 3565.22 3752.31 3378.12 1996.44 2061.38 0 0 0 30.00 30.00 16.06

960.09 260 -145.99 -1.18 80.00 3563.4 3750.9 3375.9 1996.1 2061.7 120.89 -11.32 171 965.33 0.00 0.00 3.60 0.000 0.000 0.101 3565.03 3751.50 3378.56 1995.06 3567.75 0 0 0 30.00 30.00 16.08

1033.32 1028 -145.99 -1.18 0.00 3563.5 3750.8 3376.3 1996.1 3567.4 129.96 -12.26 186 1038.52 0.00 0.00 3.37 0.000 0.000 0.041 3563.50 3751.06 3375.94 1996.00 2061.00 0 0 0 30.00 30.00 16.09

1083 end dive: TARGET_DEPTH_EXCEEDED

state 1083 begin apogee

1085.13 10243 0.00 -0.20 0.00 3563.3 3750.9 3375.8 1996.1 2146.3 135.67 -11.21 192 1186.66 97.66 1.77 0.14 1.318 0.156 0.157 2968.16 3061.50 2874.81 2252.88 2058.62 0 0 0 12.76 16.01 15.66

1188 end apogee: CONTROL_FINISHED_OK

state 1188 begin climb

1188.49 10243 145.99 0.88 0.00 2965.5 3059.2 2871.8 2253.0 2050.4 138.87 0.00 202 1293.56 100.41 1.76 0.00 1.268 0.120 0.000 2371.03 2438.56 2303.50 2515.25 2050.81 0 0 0 12.62 15.69 30.00

1598.41 10403 273.65 1.35 -80.00 2364.7 2438.7 2290.8 2515.5 2050.5 124.67 4.06 251 1690.97 89.03 0.70 0.00 1.259 0.072 0.000 1851.38 1933.25 1769.50 2635.69 2050.69 0 0 0 12.63 15.82 30.00

1993.48 10663 321.61 1.60 80.00 1841.4 1932.8 1750.1 2635.9 2050.8 90.62 7.77 310 2035.70 34.67 0.32 3.75 1.211 0.083 0.108 1656.06 1740.12 1572.00 2699.25 3567.81 0 0 0 12.60 15.83 15.67

2199.19 1028 321.61 1.60 0.00 1650.8 1740.2 1561.4 2699.4 3568.8 69.02 10.19 351 2204.68 0.00 0.00 3.45 0.000 0.000 0.043 1651.12 1740.88 1561.38 2699.94 2066.25 0 0 0 30.00 30.00 15.84

2388.88 10663 356.52 1.82 80.00 1648.7 1740.5 1556.9 2700.4 2066.3 53.19 8.38 389 2421.53 26.41 0.26 3.66 1.174 0.086 0.105 1512.81 1598.06 1427.56 2750.44 3567.19 0 0 0 12.67 15.90 15.76

2479.54 9254 370.36 1.84 0.00 1510.8 1598.8 1422.9 2749.8 3566.6 44.65 9.36 407 2499.74 12.24 0.00 3.42 1.063 0.000 0.041 1457.31 1543.75 1370.88 2750.38 2064.19 0 0 0 12.62 30.00 15.86

2685.01 10919 425.44 2.01 -80.00 1453.5 1543.8 1363.1 2750.8 2064.2 29.53 7.44 448 2732.92 41.44 0.22 3.55 1.166 0.091 0.114 1234.31 1301.69 1166.94 2796.69 633.31 0 0 0 12.69 15.87 15.69

2786.08 1028 425.44 2.01 0.00 1230.6 1300.8 1160.4 2796.1 633.1 18.31 12.04 468 2791.61 0.00 0.00 3.41 0.000 0.000 0.039 1230.50 1301.12 1159.88 2796.19 2132.38 0 0 0 30.00 30.00 15.79

2956 end climb: SURFACE_DEPTH_REACHED

state 2956 begin surface coast

2981 end surface coast: CONTROL_FINISHED_OK

state 2981 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	6	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	605.40039	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	12.928292	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	17.374945	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	260421,215631,4705.253,-12452.120,1,1.2,21,15.8	TGT_RADIUS	1852.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260421,220546,4705.231,-12452.193,2,0.7,5,15.8	MHEAD_RNG_PITCHd_Wd	246.9,20000,-17.6,-10.000,-21.24
SPEED_LIMITS	0.173,0.257	D_GRID	135
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	4705.231,-12508.054

FINISH	0.1,1.008734	FG_AHR_10Vo	12.949
SM_CCo	3137.37,128.57,1.134,0,501.0,452.9,549.0,605.16	MEM0	60876,1,0,0
SM_GC	1.38,128.57,16.32,0.11,1.134,0.058,0.129,501.0,452.9,549.0,188.1,2056.2,0,0,0,12.75,15.89,15.90	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	971344,23,75544,61
IRIDIUM_FIX	4707.48,-12503.93,260421,220349	DATA_FILE_SIZE	12896,507
TCM_TEMP	266.54	CAP_FILE_SIZE	149655,0
XPDR_PINGS	13,13.0,10.5	SDSIZE	4028416,4016768
ALTIM_BOTTOM_PING	120.9,30.7	SDFILEDIR	70,1
SC_FREEKB	3876096	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.48	CURRENT	0.045,302.4,1
TEMP	82.60	MAGCAL	1.000000,-0.027655,-0.103097,-0.012802,1.040645,-0.074597,-0.002792,-0.075689,1.022681,758.5,-263.1,82.5,18,0.0236,0
INTERNAL_PRESSURE	8.82013	IMPLIED_C_PITCH	2370,11.62,325
_24V_AH	14.78,11.877	IMPLIED_C_VBD	2883,40.662338,294
_10V_AH	14.87,0.000	GPS	260421,225840,4705.170,-12452.805,1,2.0,7,15.8
FG_AHR_24Vo	17.562

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	636	1317	12393.34	nil	0	0	0.00
Pitch_motor	36	260	139.73	nil	0	0	0.00
Roll_motor	42	157	99.00	nil	0	0	0.00
Iridium	235	124	434.26	nil	0	0	0.00
Transponder_ping	3	420	23.28	nil	0	0	0.00
GPS	14	15	3.16	nil	0	0	0.00
Core	1850	11	324.78	SciCon	2987	18	810.74
LPSleep	1661	2	69.16	nil	0	0	0.00
Compass	780	5	58.00	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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.07	16386	-145.99	-0.88	0.00	720.0	724.8	715.1	186.2	2155.2	0.00	0.00	0	94.50	86.90	0.00	0.00	0.005	0.000	0.000	2776.94	2909.50	2644.38	185.75	2155.88	0	0	0	15.43	30.00	30.00
95.23	18983	-145.99	-0.88	-80.00	2776.3	2908.2	2644.4	185.7	2155.7	3.53	-2.76	17	139.11	18.90	14.45	3.72	0.006	0.260	0.110	3564.19	3752.75	3375.62	2083.94	632.06	0	0	0	14.29	15.86	15.87
262.15	1156	-145.99	-0.99	0.00	3563.7	3751.8	3375.6	2084.2	632.4	28.34	-13.78	50	267.98	0.00	0.00	3.38	0.000	0.000	0.041	3565.53	3753.75	3377.31	2083.69	2131.69	0	0	0	30.00	30.00	15.98
452.22	4225	-145.99	-1.18	0.00	3563.8	3751.9	3375.8	2084.6	2131.1	51.69	-11.02	88	453.72	0.00	0.51	0.00	0.000	0.063	0.000	3563.28	3751.06	3375.50	1996.44	2131.38	0	0	0	30.00	16.01	30.00
637.28	260	-145.99	-1.18	80.00	3563.4	3751.4	3375.4	1996.2	2130.9	78.01	-13.97	125	642.96	0.00	0.00	3.45	0.000	0.000	0.107	3563.72	3751.44	3376.00	1996.19	3568.00	0	0	0	30.00	30.00	16.04
772.71	1028	-145.99	-1.18	0.00	3563.3	3750.6	3376.0	1996.2	3567.8	99.71	-15.26	152	778.00	0.00	0.00	3.37	0.000	0.000	0.041	3565.22	3752.31	3378.12	1996.44	2061.38	0	0	0	30.00	30.00	16.06
960.09	260	-145.99	-1.18	80.00	3563.4	3750.9	3375.9	1996.1	2061.7	120.89	-11.32	171	965.33	0.00	0.00	3.60	0.000	0.000	0.101	3565.03	3751.50	3378.56	1995.06	3567.75	0	0	0	30.00	30.00	16.08
1033.32	1028	-145.99	-1.18	0.00	3563.5	3750.8	3376.3	1996.1	3567.4	129.96	-12.26	186	1038.52	0.00	0.00	3.37	0.000	0.000	0.041	3563.50	3751.06	3375.94	1996.00	2061.00	0	0	0	30.00	30.00	16.09
1083	end dive: TARGET_DEPTH_EXCEEDED
state	1083	begin apogee
1085.13	10243	0.00	-0.20	0.00	3563.3	3750.9	3375.8	1996.1	2146.3	135.67	-11.21	192	1186.66	97.66	1.77	0.14	1.318	0.156	0.157	2968.16	3061.50	2874.81	2252.88	2058.62	0	0	0	12.76	16.01	15.66
1188	end apogee: CONTROL_FINISHED_OK
state	1188	begin climb
1188.49	10243	145.99	0.88	0.00	2965.5	3059.2	2871.8	2253.0	2050.4	138.87	0.00	202	1293.56	100.41	1.76	0.00	1.268	0.120	0.000	2371.03	2438.56	2303.50	2515.25	2050.81	0	0	0	12.62	15.69	30.00
1598.41	10403	273.65	1.35	-80.00	2364.7	2438.7	2290.8	2515.5	2050.5	124.67	4.06	251	1690.97	89.03	0.70	0.00	1.259	0.072	0.000	1851.38	1933.25	1769.50	2635.69	2050.69	0	0	0	12.63	15.82	30.00
1993.48	10663	321.61	1.60	80.00	1841.4	1932.8	1750.1	2635.9	2050.8	90.62	7.77	310	2035.70	34.67	0.32	3.75	1.211	0.083	0.108	1656.06	1740.12	1572.00	2699.25	3567.81	0	0	0	12.60	15.83	15.67
2199.19	1028	321.61	1.60	0.00	1650.8	1740.2	1561.4	2699.4	3568.8	69.02	10.19	351	2204.68	0.00	0.00	3.45	0.000	0.000	0.043	1651.12	1740.88	1561.38	2699.94	2066.25	0	0	0	30.00	30.00	15.84
2388.88	10663	356.52	1.82	80.00	1648.7	1740.5	1556.9	2700.4	2066.3	53.19	8.38	389	2421.53	26.41	0.26	3.66	1.174	0.086	0.105	1512.81	1598.06	1427.56	2750.44	3567.19	0	0	0	12.67	15.90	15.76
2479.54	9254	370.36	1.84	0.00	1510.8	1598.8	1422.9	2749.8	3566.6	44.65	9.36	407	2499.74	12.24	0.00	3.42	1.063	0.000	0.041	1457.31	1543.75	1370.88	2750.38	2064.19	0	0	0	12.62	30.00	15.86
2685.01	10919	425.44	2.01	-80.00	1453.5	1543.8	1363.1	2750.8	2064.2	29.53	7.44	448	2732.92	41.44	0.22	3.55	1.166	0.091	0.114	1234.31	1301.69	1166.94	2796.69	633.31	0	0	0	12.69	15.87	15.69
2786.08	1028	425.44	2.01	0.00	1230.6	1300.8	1160.4	2796.1	633.1	18.31	12.04	468	2791.61	0.00	0.00	3.41	0.000	0.000	0.039	1230.50	1301.12	1159.88	2796.19	2132.38	0	0	0	30.00	30.00	15.79
2956	end climb: SURFACE_DEPTH_REACHED
state	2956	begin surface coast
2981	end surface coast: CONTROL_FINISHED_OK
state	2981	begin surface