Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1339 * 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 1339 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 105.52155 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 345.91385 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 105.52155 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 345.91385 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 1339 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 220322,191606,4702.402,-12439.667,1,0.8,4,15.6 TGT_RADIUS 500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.64 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 220322,192019,4702.402,-12439.661,3,0.8,4,15.6 MHEAD_RNG_PITCHd_Wd 127.3,12988,-22.2,-10.000,-28.63

SPEED_LIMITS 0.173,0.183 D_GRID 77

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 0.2,1.023189 MEM0 60876,1,0,0

SM_CCo 2100.80,0.00,0.000,0,885.5,888.4,882.6,463.49 MEM1 65508,1,0,0

SM_GC 0.61,0.00,16.39,0.31,0.000,0.041,0.059,885.5,888.4,882.6,174.6,2356.8,0,0,0,30.00,15.81,15.84 MEM2 970912,33,75736,63

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16225,398

IRIDIUM_FIX 4701.28,-12440.11,220322,183910 CAP_FILE_SIZE 127551,0

TCM_TEMP 267.29 SDSIZE 4028416,3716352

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4775,1

HUMID 51.68 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 82.04 CURRENT 0.127, 35.3,1

INTERNAL_PRESSURE 8.90747 MAGCAL 1.000000,0.010302,-0.018878,-0.011508,1.034605,-0.054060,0.027706,-0.083848,0.990684,612.8,-299.8,85.3,36,0.0308,0

_24V_AH 14.78,469.246 IMPLIED_C_PITCH 2439,11.22,235

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2927,27.774073,208

FG_AHR_24Vo 346.047 GPS 220322,195545,4702.458,-12439.477,2,0.8,4,15.6

FG_AHR_10Vo 105.528

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 519 1179 9049.83 legato 34 20 10.24

Pitch_motor 36 229 122.17 nil 0 0 0.00

Roll_motor 39 93 53.96 nil 0 0 0.00

Iridium 110 188 307.90 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.32 nil 0 0 0.00

Core 1263 11 223.70 SciCon 0 0 0.00

LPSleep 1036 2 43.54 nil 0 0 0.00

Compass 283 5 21.25 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

6.10 16386 -116.79 -1.47 0.00 817.9 803.0 832.8 173.6 2366.9 0.00 0.00 0 88.07 80.44 0.00 0.00 0.005 0.000 0.000 2809.91 2986.25 2633.56 173.44 2368.62 0 0 0 14.94 30.00 30.00

88.81 18467 -116.79 -1.47 0.00 2809.2 2985.3 2633.2 173.3 2368.7 3.04 -3.48 15 119.51 10.80 13.93 0.00 0.007 0.229 0.000 3250.19 3469.06 3031.31 1965.19 2368.12 0 0 0 14.92 15.55 30.00

241.97 260 -116.79 -1.47 60.00 3251.2 3469.2 3033.2 1965.6 2368.7 23.84 -12.02 46 247.16 0.00 0.00 2.72 0.000 0.000 0.080 3251.97 3469.81 3034.12 1964.00 3427.25 0 0 0 30.00 30.00 15.86

266.59 1028 -116.79 -1.47 0.00 3251.2 3469.1 3033.4 1965.3 3426.1 26.99 -12.39 51 272.15 0.00 0.00 2.62 0.000 0.000 0.017 3250.84 3469.00 3032.69 1964.75 2247.69 0 0 0 30.00 30.00 15.90

396.62 516 -116.79 -1.47 -60.00 3250.6 3467.9 3033.3 1965.0 2246.2 41.85 -11.28 77 402.34 0.00 0.00 2.58 0.000 0.000 0.061 3250.69 3468.31 3033.06 1964.88 1209.06 0 0 0 30.00 30.00 15.92

416.79 1028 -116.79 -1.47 0.40 3250.8 3468.4 3033.2 1964.4 1208.8 44.11 -11.38 81 422.18 0.00 0.00 2.68 0.000 0.000 0.025 3251.50 3469.44 3033.56 1965.00 2360.25 0 0 0 30.00 30.00 15.93

546.65 516 -116.79 -1.47 -60.00 3250.6 3468.2 3032.9 1964.9 2360.4 57.93 -11.49 107 552.22 0.00 0.00 2.87 0.000 0.000 0.055 3250.78 3468.19 3033.38 1964.56 1209.00 0 0 0 30.00 30.00 15.94

626.65 1028 -116.79 -1.47 -1.32 3250.7 3468.2 3033.1 1965.3 1209.2 65.60 -9.72 123 632.20 0.00 0.00 2.60 0.000 0.000 0.024 3252.00 3469.75 3034.25 1964.56 2330.88 0 0 0 30.00 30.00 15.94

741 end dive: TARGET_DEPTH_EXCEEDED

state 741 begin apogee

743.55 10243 0.00 -0.28 0.00 3250.8 3468.4 3033.2 1965.3 2118.4 77.33 -10.96 146 830.84 82.56 1.98 0.22 1.179 0.135 0.094 2777.47 2912.00 2642.94 2254.88 2253.06 0 0 0 11.22 15.83 15.36

833 end apogee: CONTROL_FINISHED_OK

state 833 begin climb

833.74 10759 116.79 1.47 -60.00 2773.4 2908.2 2638.6 2254.3 2252.9 81.82 0.00 163 927.25 84.38 2.82 2.96 1.126 0.108 0.064 2300.59 2367.81 2233.38 2679.31 1091.81 0 0 0 11.82 15.56 15.70

1059.53 11303 315.09 1.86 0.00 2294.7 2365.3 2224.1 2679.4 1091.8 79.00 3.65 208 1211.66 145.51 0.56 2.68 1.109 0.041 0.021 1489.97 1528.88 1451.06 2792.00 2242.00 0 0 0 11.45 15.63 15.74

1333.93 8742 382.32 2.00 -60.00 1484.1 1530.1 1438.0 2792.1 2241.9 59.80 7.85 262 1392.24 52.87 0.00 2.98 1.059 0.000 0.067 1216.31 1236.62 1196.00 2791.62 1092.25 0 0 0 11.54 30.00 15.30

1474.48 1092 382.32 2.04 1.79 1212.6 1237.5 1187.7 2792.5 1092.4 48.44 8.03 290 1480.02 0.00 0.00 2.78 0.000 0.000 0.022 1213.06 1238.12 1188.00 2792.12 2267.12 0 0 0 30.00 30.00 15.72

1604.50 10535 462.17 2.20 60.00 1211.1 1237.7 1184.6 2792.4 2267.9 38.59 7.44 316 1673.28 62.67 0.37 2.71 1.049 0.058 0.081 891.72 886.62 896.81 2870.12 3304.44 0 0 0 11.41 15.75 15.33

1705.47 1028 462.17 2.20 4.36 889.7 885.9 893.4 2872.3 3304.8 29.12 10.17 336 1710.60 0.00 0.00 2.47 0.000 0.000 0.018 889.91 886.81 893.00 2871.38 2214.31 0 0 0 30.00 30.00 15.70

1835.53 324 462.17 2.21 60.00 887.4 886.7 888.2 2872.3 2213.8 16.86 9.37 362 1841.07 0.00 0.00 2.84 0.000 0.000 0.077 887.59 886.94 888.25 2873.31 3306.44 0 0 0 30.00 30.00 15.78

1915.50 1028 462.17 2.21 3.68 887.1 886.7 887.4 2873.1 3307.2 8.79 9.93 378 1920.63 0.00 0.00 2.49 0.000 0.000 0.019 887.56 887.31 887.81 2872.56 2205.50 0 0 0 30.00 30.00 15.82

1965 end climb: SURFACE_DEPTH_REACHED

state 1965 begin surface coast

2015 end surface coast: CONTROL_FINISHED_OK

state 2015 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	1339	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	105.52155	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	345.91385	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	220322,191606,4702.402,-12439.667,1,0.8,4,15.6	TGT_RADIUS	500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.64	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	220322,192019,4702.402,-12439.661,3,0.8,4,15.6	MHEAD_RNG_PITCHd_Wd	127.3,12988,-22.2,-10.000,-28.63
SPEED_LIMITS	0.173,0.183	D_GRID	77
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	0.2,1.023189	MEM0	60876,1,0,0
SM_CCo	2100.80,0.00,0.000,0,885.5,888.4,882.6,463.49	MEM1	65508,1,0,0
SM_GC	0.61,0.00,16.39,0.31,0.000,0.041,0.059,885.5,888.4,882.6,174.6,2356.8,0,0,0,30.00,15.81,15.84	MEM2	970912,33,75736,63
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16225,398
IRIDIUM_FIX	4701.28,-12440.11,220322,183910	CAP_FILE_SIZE	127551,0
TCM_TEMP	267.29	SDSIZE	4028416,3716352
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4775,1
HUMID	51.68	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	82.04	CURRENT	0.127, 35.3,1
INTERNAL_PRESSURE	8.90747	MAGCAL	1.000000,0.010302,-0.018878,-0.011508,1.034605,-0.054060,0.027706,-0.083848,0.990684,612.8,-299.8,85.3,36,0.0308,0
_24V_AH	14.78,469.246	IMPLIED_C_PITCH	2439,11.22,235
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2927,27.774073,208
FG_AHR_24Vo	346.047	GPS	220322,195545,4702.458,-12439.477,2,0.8,4,15.6
FG_AHR_10Vo	105.528

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	519	1179	9049.83	legato	34	20	10.24
Pitch_motor	36	229	122.17	nil	0	0	0.00
Roll_motor	39	93	53.96	nil	0	0	0.00
Iridium	110	188	307.90	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.32	nil	0	0	0.00
Core	1263	11	223.70	SciCon	0	0	0.00
LPSleep	1036	2	43.54	nil	0	0	0.00
Compass	283	5	21.25	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
6.10	16386	-116.79	-1.47	0.00	817.9	803.0	832.8	173.6	2366.9	0.00	0.00	0	88.07	80.44	0.00	0.00	0.005	0.000	0.000	2809.91	2986.25	2633.56	173.44	2368.62	0	0	0	14.94	30.00	30.00
88.81	18467	-116.79	-1.47	0.00	2809.2	2985.3	2633.2	173.3	2368.7	3.04	-3.48	15	119.51	10.80	13.93	0.00	0.007	0.229	0.000	3250.19	3469.06	3031.31	1965.19	2368.12	0	0	0	14.92	15.55	30.00
241.97	260	-116.79	-1.47	60.00	3251.2	3469.2	3033.2	1965.6	2368.7	23.84	-12.02	46	247.16	0.00	0.00	2.72	0.000	0.000	0.080	3251.97	3469.81	3034.12	1964.00	3427.25	0	0	0	30.00	30.00	15.86
266.59	1028	-116.79	-1.47	0.00	3251.2	3469.1	3033.4	1965.3	3426.1	26.99	-12.39	51	272.15	0.00	0.00	2.62	0.000	0.000	0.017	3250.84	3469.00	3032.69	1964.75	2247.69	0	0	0	30.00	30.00	15.90
396.62	516	-116.79	-1.47	-60.00	3250.6	3467.9	3033.3	1965.0	2246.2	41.85	-11.28	77	402.34	0.00	0.00	2.58	0.000	0.000	0.061	3250.69	3468.31	3033.06	1964.88	1209.06	0	0	0	30.00	30.00	15.92
416.79	1028	-116.79	-1.47	0.40	3250.8	3468.4	3033.2	1964.4	1208.8	44.11	-11.38	81	422.18	0.00	0.00	2.68	0.000	0.000	0.025	3251.50	3469.44	3033.56	1965.00	2360.25	0	0	0	30.00	30.00	15.93
546.65	516	-116.79	-1.47	-60.00	3250.6	3468.2	3032.9	1964.9	2360.4	57.93	-11.49	107	552.22	0.00	0.00	2.87	0.000	0.000	0.055	3250.78	3468.19	3033.38	1964.56	1209.00	0	0	0	30.00	30.00	15.94
626.65	1028	-116.79	-1.47	-1.32	3250.7	3468.2	3033.1	1965.3	1209.2	65.60	-9.72	123	632.20	0.00	0.00	2.60	0.000	0.000	0.024	3252.00	3469.75	3034.25	1964.56	2330.88	0	0	0	30.00	30.00	15.94
741	end dive: TARGET_DEPTH_EXCEEDED
state	741	begin apogee
743.55	10243	0.00	-0.28	0.00	3250.8	3468.4	3033.2	1965.3	2118.4	77.33	-10.96	146	830.84	82.56	1.98	0.22	1.179	0.135	0.094	2777.47	2912.00	2642.94	2254.88	2253.06	0	0	0	11.22	15.83	15.36
833	end apogee: CONTROL_FINISHED_OK
state	833	begin climb
833.74	10759	116.79	1.47	-60.00	2773.4	2908.2	2638.6	2254.3	2252.9	81.82	0.00	163	927.25	84.38	2.82	2.96	1.126	0.108	0.064	2300.59	2367.81	2233.38	2679.31	1091.81	0	0	0	11.82	15.56	15.70
1059.53	11303	315.09	1.86	0.00	2294.7	2365.3	2224.1	2679.4	1091.8	79.00	3.65	208	1211.66	145.51	0.56	2.68	1.109	0.041	0.021	1489.97	1528.88	1451.06	2792.00	2242.00	0	0	0	11.45	15.63	15.74
1333.93	8742	382.32	2.00	-60.00	1484.1	1530.1	1438.0	2792.1	2241.9	59.80	7.85	262	1392.24	52.87	0.00	2.98	1.059	0.000	0.067	1216.31	1236.62	1196.00	2791.62	1092.25	0	0	0	11.54	30.00	15.30
1474.48	1092	382.32	2.04	1.79	1212.6	1237.5	1187.7	2792.5	1092.4	48.44	8.03	290	1480.02	0.00	0.00	2.78	0.000	0.000	0.022	1213.06	1238.12	1188.00	2792.12	2267.12	0	0	0	30.00	30.00	15.72
1604.50	10535	462.17	2.20	60.00	1211.1	1237.7	1184.6	2792.4	2267.9	38.59	7.44	316	1673.28	62.67	0.37	2.71	1.049	0.058	0.081	891.72	886.62	896.81	2870.12	3304.44	0	0	0	11.41	15.75	15.33
1705.47	1028	462.17	2.20	4.36	889.7	885.9	893.4	2872.3	3304.8	29.12	10.17	336	1710.60	0.00	0.00	2.47	0.000	0.000	0.018	889.91	886.81	893.00	2871.38	2214.31	0	0	0	30.00	30.00	15.70
1835.53	324	462.17	2.21	60.00	887.4	886.7	888.2	2872.3	2213.8	16.86	9.37	362	1841.07	0.00	0.00	2.84	0.000	0.000	0.077	887.59	886.94	888.25	2873.31	3306.44	0	0	0	30.00	30.00	15.78
1915.50	1028	462.17	2.21	3.68	887.1	886.7	887.4	2873.1	3307.2	8.79	9.93	378	1920.63	0.00	0.00	2.49	0.000	0.000	0.019	887.56	887.31	887.81	2872.56	2205.50	0	0	0	30.00	30.00	15.82
1965	end climb: SURFACE_DEPTH_REACHED
state	1965	begin surface coast
2015	end surface coast: CONTROL_FINISHED_OK
state	2015	begin surface