Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1329 * 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 1329 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 990 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 360 CAPMAXSIZE 5000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 510 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 1000 C_PITCH 2320 FG_AHR_10V 105.44245 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 344.55783 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 1.0275 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 990 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 105.44245 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 344.55783 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 360

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 510

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 2320 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 1.0275 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 1329 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 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 220322,121456,4702.542,-12440.939,1,0.7,5,15.6 TGT_RADIUS 500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220322,121914,4702.577,-12440.940,2,0.7,4,15.6 MHEAD_RNG_PITCHd_Wd 117.6,1429,-21.8,-9.167,-28.51

SPEED_LIMITS 0.159,0.169 D_GRID 85

TGT_NAME PICKUP 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 4702.180,-12439.970

Post-dive calculations and measurements:

FINISH 0.2,1.021353 MEM0 60876,1,0,0

SM_CCo 2146.81,0.00,0.000,0,1099.7,1116.9,1082.4,410.96 MEM1 65508,1,0,0

SM_GC 0.70,0.00,16.28,0.46,0.000,0.045,0.058,1099.7,1116.9,1082.4,173.3,2358.2,0,0,0,30.00,15.81,15.87 MEM2 971164,30,75604,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16222,407

IRIDIUM_FIX 4704.05,-12441.91,220322,113353 CAP_FILE_SIZE 124663,0

TCM_TEMP 266.98 SDSIZE 4028416,3717632

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4745,1

HUMID 51.69 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.97 CURRENT 0.055, 9.9,1

INTERNAL_PRESSURE 8.91523 MAGCAL 1.000000,-0.002755,-0.075477,0.009978,1.053245,-0.040000,0.042630,-0.042221,0.962487,660.1,-329.1,127.5,36,0.0294,0

_24V_AH 14.74,467.701 IMPLIED_C_PITCH 2437,11.35,247

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2819,33.548058,238

FG_AHR_24Vo 344.681 GPS 220322,125527,4702.535,-12440.847,2,1.2,5,15.6

FG_AHR_10Vo 105.449

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 464 1198 8204.98 legato 34 20 10.23

Pitch_motor 35 227 120.50 nil 0 0 0.00

Roll_motor 39 96 56.80 nil 0 0 0.00

Iridium 113 177 298.73 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.33 nil 0 0 0.00

Core 1239 11 219.46 SciCon 0 0 0.00

LPSleep 1109 2 46.60 nil 0 0 0.00

Compass 288 5 21.67 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

6.08 16386 -116.79 -1.44 0.00 1140.3 1137.8 1142.9 174.6 2242.1 0.00 0.00 0 77.51 70.26 0.00 0.00 0.005 0.000 0.000 2898.53 3077.06 2720.00 174.50 2242.00 0 0 0 14.91 30.00 30.00

78.62 18727 -116.79 -1.44 60.00 2897.7 3076.3 2719.1 174.6 2241.5 3.62 -5.27 13 110.92 8.12 14.08 3.10 0.007 0.228 0.082 3251.25 3463.44 3039.06 1971.81 3428.44 0 0 0 14.98 15.55 14.94

168.01 1028 -116.79 -1.44 0.00 3251.2 3462.4 3039.9 1972.1 3428.2 17.57 -13.07 31 173.56 0.00 0.00 2.63 0.000 0.000 0.017 3251.12 3462.56 3039.69 1972.50 2248.31 0 0 0 30.00 30.00 15.87

298.07 0 -116.79 -1.44 0.00 3251.0 3462.3 3039.7 1972.3 2246.9 33.86 -12.48 57 299.39 0.00 0.00 0.00 0.000 0.000 0.000 3250.50 3461.75 3039.25 1972.38 2246.38 0 0 0 30.00 30.00 30.00

423.11 516 -116.79 -1.44 -60.00 3251.2 3462.5 3039.9 1972.4 2246.5 49.30 -12.01 82 428.84 0.00 0.00 2.61 0.000 0.000 0.061 3251.50 3462.81 3040.19 1972.31 1208.94 0 0 0 30.00 30.00 15.91

433.28 1028 -116.79 -1.44 0.47 3251.3 3462.9 3039.6 1972.1 1208.6 50.45 -11.78 84 438.67 0.00 0.00 2.70 0.000 0.000 0.025 3253.16 3464.88 3041.44 1971.69 2360.81 0 0 0 30.00 30.00 15.92

563.17 260 -116.79 -1.44 60.00 3251.0 3462.5 3039.5 1971.9 2361.2 65.86 -12.30 110 568.73 0.00 0.00 2.75 0.000 0.000 0.082 3251.12 3462.75 3039.50 1972.06 3425.31 0 0 0 30.00 30.00 15.90

698.20 1028 -116.79 -1.44 1.51 3251.3 3462.6 3040.1 1972.3 3426.1 81.07 -9.51 137 703.74 0.00 0.00 2.58 0.000 0.000 0.017 3252.53 3464.12 3040.94 1971.88 2262.62 0 0 0 30.00 30.00 15.94

747 end dive: TARGET_DEPTH_EXCEEDED

state 748 begin apogee

750.03 10243 0.00 -0.28 0.00 3251.1 3462.4 3039.9 1972.1 2116.7 85.12 -8.06 147 837.36 82.54 1.95 0.23 1.198 0.135 0.090 2771.66 2906.81 2636.50 2254.12 2255.25 0 0 0 11.11 15.84 15.34

839 end apogee: CONTROL_FINISHED_OK

state 839 begin climb

840.25 10759 116.79 1.44 -60.00 2773.3 2907.9 2638.6 2254.0 2255.2 88.01 0.00 164 933.74 84.20 2.78 2.99 1.143 0.103 0.066 2299.12 2364.31 2233.94 2671.88 1094.38 0 0 0 11.80 15.56 15.70

976.59 11303 346.29 1.90 0.00 2296.3 2365.1 2227.5 2673.0 1094.6 86.30 1.57 191 1153.16 169.12 0.67 2.70 1.112 0.042 0.022 1363.59 1391.44 1335.75 2799.44 2239.31 0 0 0 11.58 15.54 15.64

1276.00 580 346.29 1.92 -60.00 1357.2 1390.8 1323.5 2798.9 2239.4 63.23 8.10 250 1281.39 0.00 0.00 2.97 0.000 0.000 0.067 1357.66 1391.75 1323.56 2799.69 1092.88 0 0 0 30.00 30.00 15.71

1510.89 17478 346.29 1.95 0.23 1355.1 1391.8 1318.4 2799.2 1093.2 44.00 7.64 297 1516.43 0.00 0.00 2.69 0.000 0.000 0.023 1355.66 1392.31 1319.00 2799.38 2240.06 0 0 0 30.00 30.00 15.83

1640.94 10791 409.71 2.08 -60.00 1354.5 1392.4 1316.7 2799.4 2240.4 34.67 7.07 323 1698.46 50.30 0.14 2.98 1.060 0.091 0.069 1105.25 1113.56 1096.94 2843.25 1093.00 0 0 0 11.26 15.83 15.37

1746.05 1028 409.71 2.08 -0.30 1103.1 1112.9 1093.2 2843.6 1093.2 25.93 8.96 344 1751.48 0.00 0.00 2.67 0.000 0.000 0.022 1103.56 1113.38 1093.75 2843.25 2231.62 0 0 0 30.00 30.00 15.76

1876.00 324 409.71 2.09 60.00 1101.1 1112.9 1089.2 2843.4 2231.6 14.98 8.46 370 1881.55 0.00 0.00 2.79 0.000 0.000 0.080 1101.16 1112.94 1089.38 2843.31 3305.38 0 0 0 30.00 30.00 15.81

1915.99 1028 409.71 2.09 -0.14 1101.1 1113.1 1089.1 2843.5 3305.9 11.34 9.11 378 1921.54 0.00 0.00 2.66 0.000 0.000 0.020 1101.06 1113.00 1089.12 2843.69 2144.94 0 0 0 30.00 30.00 15.84

2005 end climb: SURFACE_DEPTH_REACHED

state 2005 begin surface coast

2061 end surface coast: CONTROL_FINISHED_OK

state 2061 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	1329	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	990	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	360	CAPMAXSIZE	5000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	510	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	1000	C_PITCH	2320	FG_AHR_10V	105.44245	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	344.55783	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	1.0275	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	220322,121456,4702.542,-12440.939,1,0.7,5,15.6	TGT_RADIUS	500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220322,121914,4702.577,-12440.940,2,0.7,4,15.6	MHEAD_RNG_PITCHd_Wd	117.6,1429,-21.8,-9.167,-28.51
SPEED_LIMITS	0.159,0.169	D_GRID	85
TGT_NAME	PICKUP	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	4702.180,-12439.970

FINISH	0.2,1.021353	MEM0	60876,1,0,0
SM_CCo	2146.81,0.00,0.000,0,1099.7,1116.9,1082.4,410.96	MEM1	65508,1,0,0
SM_GC	0.70,0.00,16.28,0.46,0.000,0.045,0.058,1099.7,1116.9,1082.4,173.3,2358.2,0,0,0,30.00,15.81,15.87	MEM2	971164,30,75604,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16222,407
IRIDIUM_FIX	4704.05,-12441.91,220322,113353	CAP_FILE_SIZE	124663,0
TCM_TEMP	266.98	SDSIZE	4028416,3717632
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4745,1
HUMID	51.69	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.97	CURRENT	0.055, 9.9,1
INTERNAL_PRESSURE	8.91523	MAGCAL	1.000000,-0.002755,-0.075477,0.009978,1.053245,-0.040000,0.042630,-0.042221,0.962487,660.1,-329.1,127.5,36,0.0294,0
_24V_AH	14.74,467.701	IMPLIED_C_PITCH	2437,11.35,247
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2819,33.548058,238
FG_AHR_24Vo	344.681	GPS	220322,125527,4702.535,-12440.847,2,1.2,5,15.6
FG_AHR_10Vo	105.449

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	464	1198	8204.98	legato	34	20	10.23
Pitch_motor	35	227	120.50	nil	0	0	0.00
Roll_motor	39	96	56.80	nil	0	0	0.00
Iridium	113	177	298.73	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.33	nil	0	0	0.00
Core	1239	11	219.46	SciCon	0	0	0.00
LPSleep	1109	2	46.60	nil	0	0	0.00
Compass	288	5	21.67	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
6.08	16386	-116.79	-1.44	0.00	1140.3	1137.8	1142.9	174.6	2242.1	0.00	0.00	0	77.51	70.26	0.00	0.00	0.005	0.000	0.000	2898.53	3077.06	2720.00	174.50	2242.00	0	0	0	14.91	30.00	30.00
78.62	18727	-116.79	-1.44	60.00	2897.7	3076.3	2719.1	174.6	2241.5	3.62	-5.27	13	110.92	8.12	14.08	3.10	0.007	0.228	0.082	3251.25	3463.44	3039.06	1971.81	3428.44	0	0	0	14.98	15.55	14.94
168.01	1028	-116.79	-1.44	0.00	3251.2	3462.4	3039.9	1972.1	3428.2	17.57	-13.07	31	173.56	0.00	0.00	2.63	0.000	0.000	0.017	3251.12	3462.56	3039.69	1972.50	2248.31	0	0	0	30.00	30.00	15.87
298.07	0	-116.79	-1.44	0.00	3251.0	3462.3	3039.7	1972.3	2246.9	33.86	-12.48	57	299.39	0.00	0.00	0.00	0.000	0.000	0.000	3250.50	3461.75	3039.25	1972.38	2246.38	0	0	0	30.00	30.00	30.00
423.11	516	-116.79	-1.44	-60.00	3251.2	3462.5	3039.9	1972.4	2246.5	49.30	-12.01	82	428.84	0.00	0.00	2.61	0.000	0.000	0.061	3251.50	3462.81	3040.19	1972.31	1208.94	0	0	0	30.00	30.00	15.91
433.28	1028	-116.79	-1.44	0.47	3251.3	3462.9	3039.6	1972.1	1208.6	50.45	-11.78	84	438.67	0.00	0.00	2.70	0.000	0.000	0.025	3253.16	3464.88	3041.44	1971.69	2360.81	0	0	0	30.00	30.00	15.92
563.17	260	-116.79	-1.44	60.00	3251.0	3462.5	3039.5	1971.9	2361.2	65.86	-12.30	110	568.73	0.00	0.00	2.75	0.000	0.000	0.082	3251.12	3462.75	3039.50	1972.06	3425.31	0	0	0	30.00	30.00	15.90
698.20	1028	-116.79	-1.44	1.51	3251.3	3462.6	3040.1	1972.3	3426.1	81.07	-9.51	137	703.74	0.00	0.00	2.58	0.000	0.000	0.017	3252.53	3464.12	3040.94	1971.88	2262.62	0	0	0	30.00	30.00	15.94
747	end dive: TARGET_DEPTH_EXCEEDED
state	748	begin apogee
750.03	10243	0.00	-0.28	0.00	3251.1	3462.4	3039.9	1972.1	2116.7	85.12	-8.06	147	837.36	82.54	1.95	0.23	1.198	0.135	0.090	2771.66	2906.81	2636.50	2254.12	2255.25	0	0	0	11.11	15.84	15.34
839	end apogee: CONTROL_FINISHED_OK
state	839	begin climb
840.25	10759	116.79	1.44	-60.00	2773.3	2907.9	2638.6	2254.0	2255.2	88.01	0.00	164	933.74	84.20	2.78	2.99	1.143	0.103	0.066	2299.12	2364.31	2233.94	2671.88	1094.38	0	0	0	11.80	15.56	15.70
976.59	11303	346.29	1.90	0.00	2296.3	2365.1	2227.5	2673.0	1094.6	86.30	1.57	191	1153.16	169.12	0.67	2.70	1.112	0.042	0.022	1363.59	1391.44	1335.75	2799.44	2239.31	0	0	0	11.58	15.54	15.64
1276.00	580	346.29	1.92	-60.00	1357.2	1390.8	1323.5	2798.9	2239.4	63.23	8.10	250	1281.39	0.00	0.00	2.97	0.000	0.000	0.067	1357.66	1391.75	1323.56	2799.69	1092.88	0	0	0	30.00	30.00	15.71
1510.89	17478	346.29	1.95	0.23	1355.1	1391.8	1318.4	2799.2	1093.2	44.00	7.64	297	1516.43	0.00	0.00	2.69	0.000	0.000	0.023	1355.66	1392.31	1319.00	2799.38	2240.06	0	0	0	30.00	30.00	15.83
1640.94	10791	409.71	2.08	-60.00	1354.5	1392.4	1316.7	2799.4	2240.4	34.67	7.07	323	1698.46	50.30	0.14	2.98	1.060	0.091	0.069	1105.25	1113.56	1096.94	2843.25	1093.00	0	0	0	11.26	15.83	15.37
1746.05	1028	409.71	2.08	-0.30	1103.1	1112.9	1093.2	2843.6	1093.2	25.93	8.96	344	1751.48	0.00	0.00	2.67	0.000	0.000	0.022	1103.56	1113.38	1093.75	2843.25	2231.62	0	0	0	30.00	30.00	15.76
1876.00	324	409.71	2.09	60.00	1101.1	1112.9	1089.2	2843.4	2231.6	14.98	8.46	370	1881.55	0.00	0.00	2.79	0.000	0.000	0.080	1101.16	1112.94	1089.38	2843.31	3305.38	0	0	0	30.00	30.00	15.81
1915.99	1028	409.71	2.09	-0.14	1101.1	1113.1	1089.1	2843.5	3305.9	11.34	9.11	378	1921.54	0.00	0.00	2.66	0.000	0.000	0.020	1101.06	1113.00	1089.12	2843.69	2144.94	0	0	0	30.00	30.00	15.84
2005	end climb: SURFACE_DEPTH_REACHED
state	2005	begin surface coast
2061	end surface coast: CONTROL_FINISHED_OK
state	2061	begin surface