Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1338 * 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 1338 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 90 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 30 CAPMAXSIZE 5000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 45 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 70 C_PITCH 2320 FG_AHR_10V 105.51405 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 345.77032 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 90 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 105.51405 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 345.77032 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 30

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 45

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 1338 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 70 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 220322,183651,4702.375,-12439.842,2,0.7,3,15.6 TGT_RADIUS 500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220322,184057,4702.370,-12439.832,4,0.7,5,15.6 MHEAD_RNG_PITCHd_Wd 116.3,13171,-22.2,-10.000,-28.63

SPEED_LIMITS 0.173,0.183 D_GRID 80

TGT_NAME PICKUP2 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 4700.000,-12430.000

Post-dive calculations and measurements:

FINISH 0.2,1.022270 MEM0 60876,1,0,0

SM_CCo 2083.80,0.00,0.000,0,819.0,816.2,821.8,479.81 MEM1 65508,1,0,0

SM_GC 0.76,0.00,16.35,2.35,0.000,0.046,0.020,819.0,816.2,821.8,173.2,2275.8,0,0,0,30.00,15.74,15.79 MEM2 970968,31,75720,63

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16199,395

IRIDIUM_FIX 4701.28,-12440.11,220322,175927 CAP_FILE_SIZE 131686,0

TCM_TEMP 267.26 SDSIZE 4028416,3716448

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4772,1

HUMID 51.65 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.05 CURRENT 0.100, 16.9,1

INTERNAL_PRESSURE 8.90998 MAGCAL 1.000000,0.009291,-0.036345,-0.007424,1.035362,-0.056965,0.031436,-0.061369,0.961596,626.0,-298.5,108.1,36,0.0317,0

_24V_AH 14.77,469.088 IMPLIED_C_PITCH 2439,11.23,234

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2889,23.859364,220

FG_AHR_24Vo 345.908 GPS 220322,191606,4702.402,-12439.667,1,0.8,4,15.6

FG_AHR_10Vo 105.521

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 531 1182 9287.36 legato 34 20 10.13

Pitch_motor 35 227 119.45 nil 0 0 0.00

Roll_motor 44 97 63.40 nil 0 0 0.00

Iridium 104 183 283.74 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.16 nil 0 0 0.00

Core 1267 11 224.38 SciCon 0 0 0.00

LPSleep 1009 2 42.38 nil 0 0 0.00

Compass 281 5 21.08 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

6.11 16386 -116.79 -1.47 0.00 891.2 881.6 900.8 173.2 2235.1 0.00 0.00 0 82.57 74.96 0.00 0.00 0.005 0.000 0.000 2740.75 2915.81 2565.69 173.06 2235.62 0 0 0 14.91 30.00 30.00

83.30 18727 -116.79 -1.47 60.00 2739.7 2914.6 2564.8 173.4 2235.4 3.01 -3.87 14 119.96 12.64 13.70 3.09 0.006 0.228 0.082 3251.25 3474.81 3027.69 1965.81 3427.44 0 0 0 14.88 15.53 14.93

157.04 1028 -116.79 -1.47 0.00 3251.1 3473.7 3028.5 1965.2 3426.7 13.90 -13.50 29 162.60 0.00 0.00 2.63 0.000 0.000 0.017 3250.78 3473.69 3027.88 1965.88 2246.75 0 0 0 30.00 30.00 15.87

287.09 516 -116.79 -1.47 -60.00 3250.9 3473.6 3028.1 1965.4 2244.8 29.18 -12.12 55 292.62 0.00 0.00 2.58 0.000 0.000 0.060 3251.06 3474.00 3028.12 1965.19 1209.12 0 0 0 30.00 30.00 15.91

312.08 1028 -116.79 -1.47 -0.45 3251.0 3473.6 3028.4 1965.4 1208.8 32.35 -12.52 60 317.84 0.00 0.00 2.64 0.000 0.000 0.025 3251.59 3474.25 3028.94 1965.25 2344.06 0 0 0 30.00 30.00 15.91

442.27 260 -116.79 -1.47 60.00 3250.6 3473.6 3027.6 1965.6 2343.9 48.60 -12.44 86 447.71 0.00 0.00 2.79 0.000 0.000 0.082 3250.97 3473.69 3028.25 1965.31 3427.06 0 0 0 30.00 30.00 15.89

477.15 1028 -116.79 -1.47 -0.18 3250.4 3471.2 3029.6 1965.6 3426.9 53.09 -13.19 93 482.71 0.00 0.00 2.62 0.000 0.000 0.018 3252.16 3472.75 3031.56 1966.00 2242.69 0 0 0 30.00 30.00 15.92

607.21 516 -116.79 -1.47 -60.00 3250.4 3471.5 3029.4 1965.9 2241.2 66.83 -10.35 119 612.74 0.00 0.00 2.57 0.000 0.000 0.060 3250.53 3471.38 3029.69 1966.19 1207.50 0 0 0 30.00 30.00 15.93

717.44 1028 -116.79 -1.47 -0.53 3250.8 3472.0 3029.5 1966.2 1207.6 78.27 -10.85 141 722.79 0.00 0.00 2.63 0.000 0.000 0.025 3250.94 3471.94 3029.94 1966.31 2344.69 0 0 0 30.00 30.00 15.96

736 end dive: TARGET_DEPTH_EXCEEDED

state 737 begin apogee

739.09 10243 0.00 -0.28 0.00 3250.1 3471.1 3029.1 1965.9 2119.8 80.27 -10.47 145 826.40 82.61 1.96 0.22 1.183 0.138 0.097 2774.59 2910.38 2638.81 2254.56 2252.56 0 0 0 11.10 15.83 15.36

828 end apogee: CONTROL_FINISHED_OK

state 828 begin climb

829.29 10759 116.79 1.47 -60.00 2773.6 2910.8 2636.5 2254.6 2252.4 84.17 0.00 162 925.15 84.65 2.79 2.95 1.129 0.101 0.064 2297.72 2364.81 2230.62 2679.38 1091.25 0 0 0 11.84 15.56 15.70

992.74 11303 270.43 1.77 0.00 2295.2 2364.6 2225.8 2679.4 1091.6 81.74 5.08 195 1112.59 113.54 0.43 2.70 1.106 0.046 0.022 1672.09 1716.38 1627.81 2772.06 2239.19 0 0 0 11.56 15.56 15.68

1234.73 8742 352.87 1.94 -60.00 1664.4 1716.6 1612.1 2772.1 2239.0 64.57 7.36 243 1304.24 63.69 0.00 2.95 1.074 0.000 0.066 1335.59 1366.12 1305.06 2772.19 1092.19 0 0 0 11.46 30.00 15.30

1396.45 11303 415.54 2.06 -1.33 1332.1 1366.6 1297.5 2772.5 1092.6 52.01 7.99 275 1453.30 49.99 0.29 2.62 1.051 0.059 0.021 1082.19 1088.38 1076.00 2841.12 2216.62 0 0 0 11.52 15.62 15.72

1576.99 580 415.54 2.09 -60.00 1077.3 1088.1 1066.5 2840.2 2215.8 36.14 8.62 311 1582.04 0.00 0.00 2.87 0.000 0.000 0.067 1077.16 1088.25 1066.06 2840.19 1091.88 0 0 0 30.00 30.00 15.75

1711.50 1092 415.54 2.11 0.76 1076.2 1088.6 1063.8 2840.4 1091.9 24.18 9.03 338 1717.04 0.00 0.00 2.70 0.000 0.000 0.022 1076.31 1088.44 1064.19 2840.62 2249.38 0 0 0 30.00 30.00 15.82

1841.52 8486 479.07 2.24 60.00 1075.6 1088.9 1062.3 2840.4 2250.1 13.48 7.97 364 1898.12 49.67 0.00 2.76 1.034 0.000 0.084 822.34 811.75 832.94 2840.44 3306.12 0 0 0 11.34 30.00 15.36

1946 end climb: SURFACE_DEPTH_REACHED

state 1946 begin surface coast

1996 end surface coast: CONTROL_FINISHED_OK

state 1996 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	1338	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	90	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	30	CAPMAXSIZE	5000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	45	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	70	C_PITCH	2320	FG_AHR_10V	105.51405	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	345.77032	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	220322,183651,4702.375,-12439.842,2,0.7,3,15.6	TGT_RADIUS	500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220322,184057,4702.370,-12439.832,4,0.7,5,15.6	MHEAD_RNG_PITCHd_Wd	116.3,13171,-22.2,-10.000,-28.63
SPEED_LIMITS	0.173,0.183	D_GRID	80
TGT_NAME	PICKUP2	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	4700.000,-12430.000

FINISH	0.2,1.022270	MEM0	60876,1,0,0
SM_CCo	2083.80,0.00,0.000,0,819.0,816.2,821.8,479.81	MEM1	65508,1,0,0
SM_GC	0.76,0.00,16.35,2.35,0.000,0.046,0.020,819.0,816.2,821.8,173.2,2275.8,0,0,0,30.00,15.74,15.79	MEM2	970968,31,75720,63
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16199,395
IRIDIUM_FIX	4701.28,-12440.11,220322,175927	CAP_FILE_SIZE	131686,0
TCM_TEMP	267.26	SDSIZE	4028416,3716448
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4772,1
HUMID	51.65	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.05	CURRENT	0.100, 16.9,1
INTERNAL_PRESSURE	8.90998	MAGCAL	1.000000,0.009291,-0.036345,-0.007424,1.035362,-0.056965,0.031436,-0.061369,0.961596,626.0,-298.5,108.1,36,0.0317,0
_24V_AH	14.77,469.088	IMPLIED_C_PITCH	2439,11.23,234
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2889,23.859364,220
FG_AHR_24Vo	345.908	GPS	220322,191606,4702.402,-12439.667,1,0.8,4,15.6
FG_AHR_10Vo	105.521

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	531	1182	9287.36	legato	34	20	10.13
Pitch_motor	35	227	119.45	nil	0	0	0.00
Roll_motor	44	97	63.40	nil	0	0	0.00
Iridium	104	183	283.74	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.16	nil	0	0	0.00
Core	1267	11	224.38	SciCon	0	0	0.00
LPSleep	1009	2	42.38	nil	0	0	0.00
Compass	281	5	21.08	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
6.11	16386	-116.79	-1.47	0.00	891.2	881.6	900.8	173.2	2235.1	0.00	0.00	0	82.57	74.96	0.00	0.00	0.005	0.000	0.000	2740.75	2915.81	2565.69	173.06	2235.62	0	0	0	14.91	30.00	30.00
83.30	18727	-116.79	-1.47	60.00	2739.7	2914.6	2564.8	173.4	2235.4	3.01	-3.87	14	119.96	12.64	13.70	3.09	0.006	0.228	0.082	3251.25	3474.81	3027.69	1965.81	3427.44	0	0	0	14.88	15.53	14.93
157.04	1028	-116.79	-1.47	0.00	3251.1	3473.7	3028.5	1965.2	3426.7	13.90	-13.50	29	162.60	0.00	0.00	2.63	0.000	0.000	0.017	3250.78	3473.69	3027.88	1965.88	2246.75	0	0	0	30.00	30.00	15.87
287.09	516	-116.79	-1.47	-60.00	3250.9	3473.6	3028.1	1965.4	2244.8	29.18	-12.12	55	292.62	0.00	0.00	2.58	0.000	0.000	0.060	3251.06	3474.00	3028.12	1965.19	1209.12	0	0	0	30.00	30.00	15.91
312.08	1028	-116.79	-1.47	-0.45	3251.0	3473.6	3028.4	1965.4	1208.8	32.35	-12.52	60	317.84	0.00	0.00	2.64	0.000	0.000	0.025	3251.59	3474.25	3028.94	1965.25	2344.06	0	0	0	30.00	30.00	15.91
442.27	260	-116.79	-1.47	60.00	3250.6	3473.6	3027.6	1965.6	2343.9	48.60	-12.44	86	447.71	0.00	0.00	2.79	0.000	0.000	0.082	3250.97	3473.69	3028.25	1965.31	3427.06	0	0	0	30.00	30.00	15.89
477.15	1028	-116.79	-1.47	-0.18	3250.4	3471.2	3029.6	1965.6	3426.9	53.09	-13.19	93	482.71	0.00	0.00	2.62	0.000	0.000	0.018	3252.16	3472.75	3031.56	1966.00	2242.69	0	0	0	30.00	30.00	15.92
607.21	516	-116.79	-1.47	-60.00	3250.4	3471.5	3029.4	1965.9	2241.2	66.83	-10.35	119	612.74	0.00	0.00	2.57	0.000	0.000	0.060	3250.53	3471.38	3029.69	1966.19	1207.50	0	0	0	30.00	30.00	15.93
717.44	1028	-116.79	-1.47	-0.53	3250.8	3472.0	3029.5	1966.2	1207.6	78.27	-10.85	141	722.79	0.00	0.00	2.63	0.000	0.000	0.025	3250.94	3471.94	3029.94	1966.31	2344.69	0	0	0	30.00	30.00	15.96
736	end dive: TARGET_DEPTH_EXCEEDED
state	737	begin apogee
739.09	10243	0.00	-0.28	0.00	3250.1	3471.1	3029.1	1965.9	2119.8	80.27	-10.47	145	826.40	82.61	1.96	0.22	1.183	0.138	0.097	2774.59	2910.38	2638.81	2254.56	2252.56	0	0	0	11.10	15.83	15.36
828	end apogee: CONTROL_FINISHED_OK
state	828	begin climb
829.29	10759	116.79	1.47	-60.00	2773.6	2910.8	2636.5	2254.6	2252.4	84.17	0.00	162	925.15	84.65	2.79	2.95	1.129	0.101	0.064	2297.72	2364.81	2230.62	2679.38	1091.25	0	0	0	11.84	15.56	15.70
992.74	11303	270.43	1.77	0.00	2295.2	2364.6	2225.8	2679.4	1091.6	81.74	5.08	195	1112.59	113.54	0.43	2.70	1.106	0.046	0.022	1672.09	1716.38	1627.81	2772.06	2239.19	0	0	0	11.56	15.56	15.68
1234.73	8742	352.87	1.94	-60.00	1664.4	1716.6	1612.1	2772.1	2239.0	64.57	7.36	243	1304.24	63.69	0.00	2.95	1.074	0.000	0.066	1335.59	1366.12	1305.06	2772.19	1092.19	0	0	0	11.46	30.00	15.30
1396.45	11303	415.54	2.06	-1.33	1332.1	1366.6	1297.5	2772.5	1092.6	52.01	7.99	275	1453.30	49.99	0.29	2.62	1.051	0.059	0.021	1082.19	1088.38	1076.00	2841.12	2216.62	0	0	0	11.52	15.62	15.72
1576.99	580	415.54	2.09	-60.00	1077.3	1088.1	1066.5	2840.2	2215.8	36.14	8.62	311	1582.04	0.00	0.00	2.87	0.000	0.000	0.067	1077.16	1088.25	1066.06	2840.19	1091.88	0	0	0	30.00	30.00	15.75
1711.50	1092	415.54	2.11	0.76	1076.2	1088.6	1063.8	2840.4	1091.9	24.18	9.03	338	1717.04	0.00	0.00	2.70	0.000	0.000	0.022	1076.31	1088.44	1064.19	2840.62	2249.38	0	0	0	30.00	30.00	15.82
1841.52	8486	479.07	2.24	60.00	1075.6	1088.9	1062.3	2840.4	2250.1	13.48	7.97	364	1898.12	49.67	0.00	2.76	1.034	0.000	0.084	822.34	811.75	832.94	2840.44	3306.12	0	0	0	11.34	30.00	15.36
1946	end climb: SURFACE_DEPTH_REACHED
state	1946	begin surface coast
1996	end surface coast: CONTROL_FINISHED_OK
state	1996	begin surface