Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1378 * 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 1378 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 2370 FG_AHR_10V 105.79484 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 351.13635 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 1.0255001 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 105.79484 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 351.13635 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 2370 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 1.0255001 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 1378 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 230322,192811,4700.629,-12436.642,2,0.7,4,15.6 TGT_RADIUS 500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230322,193227,4700.616,-12436.623,2,0.7,4,15.6 MHEAD_RNG_PITCHd_Wd 20.0,54,-23.8,-10.000,-30.00

SPEED_LIMITS 0.173,0.183 D_GRID 75

TGT_NAME PICKUP3 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 4700.640,-12436.600

Post-dive calculations and measurements:

FINISH 0.2,1.024537 MEM0 60876,1,0,0

SM_CCo 2044.38,16.19,1.044,0,1145.5,1142.0,1148.9,399.72 MEM1 65508,1,0,0

SM_GC 0.58,16.19,16.47,0.25,1.044,0.038,0.071,1145.5,1142.0,1148.9,176.8,2364.8,0,0,0,11.26,15.83,15.88 MEM2 970768,32,75840,66

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16212,396

IRIDIUM_FIX 4701.77,-12433.12,230322,185121 CAP_FILE_SIZE 128041,0

TCM_TEMP 267.42 SDSIZE 4028416,3711520

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4892,1

HUMID 51.76 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.95 CURRENT 0.017,217.4,1

INTERNAL_PRESSURE 8.91823 MAGCAL 1.000000,-0.005123,0.039108,0.005653,1.026963,-0.079777,0.004128,-0.021731,0.957656,569.2,-292.1,115.6,27,0.0302,0

_24V_AH 14.77,475.101 IMPLIED_C_PITCH 2408,12.11,247

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2292,31.015154,245

FG_AHR_24Vo 351.261 GPS 230322,200657,4700.675,-12436.604,1,1.1,4,15.6

FG_AHR_10Vo 105.801

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 470 1208 8388.50 legato 34 20 10.22

Pitch_motor 36 234 125.81 nil 0 0 0.00

Roll_motor 43 113 73.39 nil 0 0 0.00

Iridium 113 172 290.69 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 15 15 3.38 nil 0 0 0.00

Core 1239 11 219.40 SciCon 0 0 0.00

LPSleep 1009 2 42.38 nil 0 0 0.00

Compass 281 5 21.15 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

3 end surface: CONTROL_FINISHED_OK

state 3 begin dive

6.25 16386 -117.02 -1.56 0.00 953.0 946.9 959.1 174.4 2232.4 0.00 0.00 0 87.76 79.95 0.00 0.00 0.005 0.000 0.000 2921.41 3098.75 2744.06 174.44 2231.88 0 0 0 14.93 30.00 30.00

88.50 18983 -117.02 -1.56 -60.00 2920.7 3097.6 2743.9 174.7 2231.6 3.18 -3.92 15 120.05 7.84 14.10 2.57 0.007 0.234 0.064 3251.94 3466.38 3037.50 1994.00 1208.94 0 0 0 14.91 15.55 14.96

167.13 1028 -117.02 -1.56 0.00 3252.6 3466.6 3038.5 1993.6 1208.7 14.98 -11.69 31 172.69 0.00 0.00 2.70 0.000 0.000 0.025 3254.56 3469.38 3039.75 1994.31 2354.06 0 0 0 30.00 30.00 15.89

297.15 516 -117.02 -1.56 -60.00 3252.2 3466.1 3038.4 1993.8 2354.0 30.78 -12.18 57 302.74 0.00 0.00 2.87 0.000 0.000 0.056 3252.78 3466.94 3038.62 1994.06 1209.19 0 0 0 30.00 30.00 15.90

327.14 1028 -117.02 -1.56 -0.50 3252.5 3466.7 3038.4 1993.4 1208.6 34.59 -12.70 63 332.90 0.00 0.00 2.66 0.000 0.000 0.024 3253.91 3466.50 3041.31 1994.12 2344.75 0 0 0 30.00 30.00 15.91

457.30 260 -117.02 -1.56 60.00 3252.6 3466.4 3038.7 1993.5 2344.4 50.31 -11.86 89 462.75 0.00 0.00 2.80 0.000 0.000 0.081 3253.16 3465.94 3040.38 1993.69 3427.38 0 0 0 30.00 30.00 15.90

502.19 1028 -117.02 -1.56 -0.22 3252.5 3466.6 3038.5 1993.4 3428.1 55.62 -11.64 98 507.74 0.00 0.00 2.64 0.000 0.000 0.017 3252.88 3466.19 3039.56 1993.75 2242.50 0 0 0 30.00 30.00 15.92

632.23 516 -117.02 -1.56 -60.00 3252.5 3466.2 3038.9 1993.8 2240.8 68.42 -9.56 124 637.75 0.00 0.00 2.58 0.000 0.000 0.061 3252.44 3466.25 3038.62 1993.69 1209.00 0 0 0 30.00 30.00 15.94

702 end dive: TARGET_DEPTH_EXCEEDED

state 702 begin apogee

705.96 10243 0.00 -0.28 0.00 3252.8 3466.4 3039.1 1993.4 2243.2 75.27 -9.80 138 795.62 83.36 2.12 0.14 1.208 0.137 0.114 2775.28 2910.31 2640.25 2304.12 2119.38 0 0 0 11.11 15.83 15.36

798 end apogee: CONTROL_FINISHED_OK

state 798 begin climb

798.57 10503 117.02 1.56 60.00 2773.8 2909.4 2638.2 2303.7 2119.2 79.87 0.00 156 894.51 84.88 2.98 3.12 1.158 0.109 0.073 2297.38 2366.69 2228.06 2751.31 3305.75 0 0 0 11.83 15.57 15.70

1121.80 11303 305.90 1.93 0.00 2292.4 2366.6 2218.2 2751.1 3306.6 73.44 3.27 221 1267.87 139.30 0.53 2.67 1.136 0.041 0.018 1527.47 1559.75 1495.19 2860.75 2138.25 0 0 0 11.28 15.69 15.79

1390.10 8742 380.67 2.08 -60.00 1520.1 1560.9 1479.2 2860.6 2138.4 58.39 7.34 274 1453.49 58.59 0.00 2.73 1.094 0.000 0.073 1223.53 1235.88 1211.19 2860.94 1091.75 0 0 0 11.47 30.00 15.28

1505.70 1028 380.67 2.08 0.00 1220.8 1236.6 1204.9 2860.6 1092.1 47.70 10.10 297 1511.27 0.00 0.00 2.72 0.000 0.000 0.022 1220.69 1236.00 1205.38 2861.38 2237.94 0 0 0 30.00 30.00 15.69

1635.96 324 380.67 2.11 60.00 1218.5 1236.1 1200.9 2861.6 2238.1 36.42 8.49 323 1641.37 0.00 0.00 2.80 0.000 0.000 0.078 1219.38 1236.81 1201.94 2861.75 3306.75 0 0 0 30.00 30.00 15.77

1650.76 3141 380.67 2.14 -0.39 1218.6 1236.4 1200.8 2861.2 3306.1 35.04 8.83 326 1656.36 0.00 0.16 2.68 0.000 0.079 0.019 1218.84 1236.62 1201.06 2906.12 2139.94 0 0 0 30.00 15.70 15.78

1780.80 516 380.67 2.14 -60.00 1217.7 1236.8 1198.6 2905.2 2139.7 22.76 9.57 352 1786.34 0.00 0.00 2.68 0.000 0.000 0.071 1218.59 1237.75 1199.44 2906.25 1093.31 0 0 0 30.00 30.00 15.83

1845.81 1028 380.67 2.14 -0.82 1217.5 1237.0 1197.9 2906.6 1092.9 15.41 11.29 365 1851.37 0.00 0.00 2.65 0.000 0.000 0.022 1217.53 1237.31 1197.75 2906.44 2224.06 0 0 0 30.00 30.00 15.87

1956 end climb: SURFACE_DEPTH_REACHED

state 1956 begin surface coast

2001 end surface coast: CONTROL_FINISHED_OK

state 2001 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	1378	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	2370	FG_AHR_10V	105.79484	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	351.13635	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	1.0255001	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	230322,192811,4700.629,-12436.642,2,0.7,4,15.6	TGT_RADIUS	500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230322,193227,4700.616,-12436.623,2,0.7,4,15.6	MHEAD_RNG_PITCHd_Wd	20.0,54,-23.8,-10.000,-30.00
SPEED_LIMITS	0.173,0.183	D_GRID	75
TGT_NAME	PICKUP3	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	4700.640,-12436.600

FINISH	0.2,1.024537	MEM0	60876,1,0,0
SM_CCo	2044.38,16.19,1.044,0,1145.5,1142.0,1148.9,399.72	MEM1	65508,1,0,0
SM_GC	0.58,16.19,16.47,0.25,1.044,0.038,0.071,1145.5,1142.0,1148.9,176.8,2364.8,0,0,0,11.26,15.83,15.88	MEM2	970768,32,75840,66
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16212,396
IRIDIUM_FIX	4701.77,-12433.12,230322,185121	CAP_FILE_SIZE	128041,0
TCM_TEMP	267.42	SDSIZE	4028416,3711520
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4892,1
HUMID	51.76	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.95	CURRENT	0.017,217.4,1
INTERNAL_PRESSURE	8.91823	MAGCAL	1.000000,-0.005123,0.039108,0.005653,1.026963,-0.079777,0.004128,-0.021731,0.957656,569.2,-292.1,115.6,27,0.0302,0
_24V_AH	14.77,475.101	IMPLIED_C_PITCH	2408,12.11,247
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2292,31.015154,245
FG_AHR_24Vo	351.261	GPS	230322,200657,4700.675,-12436.604,1,1.1,4,15.6
FG_AHR_10Vo	105.801

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	470	1208	8388.50	legato	34	20	10.22
Pitch_motor	36	234	125.81	nil	0	0	0.00
Roll_motor	43	113	73.39	nil	0	0	0.00
Iridium	113	172	290.69	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	15	15	3.38	nil	0	0	0.00
Core	1239	11	219.40	SciCon	0	0	0.00
LPSleep	1009	2	42.38	nil	0	0	0.00
Compass	281	5	21.15	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
3	end surface: CONTROL_FINISHED_OK
state	3	begin dive
6.25	16386	-117.02	-1.56	0.00	953.0	946.9	959.1	174.4	2232.4	0.00	0.00	0	87.76	79.95	0.00	0.00	0.005	0.000	0.000	2921.41	3098.75	2744.06	174.44	2231.88	0	0	0	14.93	30.00	30.00
88.50	18983	-117.02	-1.56	-60.00	2920.7	3097.6	2743.9	174.7	2231.6	3.18	-3.92	15	120.05	7.84	14.10	2.57	0.007	0.234	0.064	3251.94	3466.38	3037.50	1994.00	1208.94	0	0	0	14.91	15.55	14.96
167.13	1028	-117.02	-1.56	0.00	3252.6	3466.6	3038.5	1993.6	1208.7	14.98	-11.69	31	172.69	0.00	0.00	2.70	0.000	0.000	0.025	3254.56	3469.38	3039.75	1994.31	2354.06	0	0	0	30.00	30.00	15.89
297.15	516	-117.02	-1.56	-60.00	3252.2	3466.1	3038.4	1993.8	2354.0	30.78	-12.18	57	302.74	0.00	0.00	2.87	0.000	0.000	0.056	3252.78	3466.94	3038.62	1994.06	1209.19	0	0	0	30.00	30.00	15.90
327.14	1028	-117.02	-1.56	-0.50	3252.5	3466.7	3038.4	1993.4	1208.6	34.59	-12.70	63	332.90	0.00	0.00	2.66	0.000	0.000	0.024	3253.91	3466.50	3041.31	1994.12	2344.75	0	0	0	30.00	30.00	15.91
457.30	260	-117.02	-1.56	60.00	3252.6	3466.4	3038.7	1993.5	2344.4	50.31	-11.86	89	462.75	0.00	0.00	2.80	0.000	0.000	0.081	3253.16	3465.94	3040.38	1993.69	3427.38	0	0	0	30.00	30.00	15.90
502.19	1028	-117.02	-1.56	-0.22	3252.5	3466.6	3038.5	1993.4	3428.1	55.62	-11.64	98	507.74	0.00	0.00	2.64	0.000	0.000	0.017	3252.88	3466.19	3039.56	1993.75	2242.50	0	0	0	30.00	30.00	15.92
632.23	516	-117.02	-1.56	-60.00	3252.5	3466.2	3038.9	1993.8	2240.8	68.42	-9.56	124	637.75	0.00	0.00	2.58	0.000	0.000	0.061	3252.44	3466.25	3038.62	1993.69	1209.00	0	0	0	30.00	30.00	15.94
702	end dive: TARGET_DEPTH_EXCEEDED
state	702	begin apogee
705.96	10243	0.00	-0.28	0.00	3252.8	3466.4	3039.1	1993.4	2243.2	75.27	-9.80	138	795.62	83.36	2.12	0.14	1.208	0.137	0.114	2775.28	2910.31	2640.25	2304.12	2119.38	0	0	0	11.11	15.83	15.36
798	end apogee: CONTROL_FINISHED_OK
state	798	begin climb
798.57	10503	117.02	1.56	60.00	2773.8	2909.4	2638.2	2303.7	2119.2	79.87	0.00	156	894.51	84.88	2.98	3.12	1.158	0.109	0.073	2297.38	2366.69	2228.06	2751.31	3305.75	0	0	0	11.83	15.57	15.70
1121.80	11303	305.90	1.93	0.00	2292.4	2366.6	2218.2	2751.1	3306.6	73.44	3.27	221	1267.87	139.30	0.53	2.67	1.136	0.041	0.018	1527.47	1559.75	1495.19	2860.75	2138.25	0	0	0	11.28	15.69	15.79
1390.10	8742	380.67	2.08	-60.00	1520.1	1560.9	1479.2	2860.6	2138.4	58.39	7.34	274	1453.49	58.59	0.00	2.73	1.094	0.000	0.073	1223.53	1235.88	1211.19	2860.94	1091.75	0	0	0	11.47	30.00	15.28
1505.70	1028	380.67	2.08	0.00	1220.8	1236.6	1204.9	2860.6	1092.1	47.70	10.10	297	1511.27	0.00	0.00	2.72	0.000	0.000	0.022	1220.69	1236.00	1205.38	2861.38	2237.94	0	0	0	30.00	30.00	15.69
1635.96	324	380.67	2.11	60.00	1218.5	1236.1	1200.9	2861.6	2238.1	36.42	8.49	323	1641.37	0.00	0.00	2.80	0.000	0.000	0.078	1219.38	1236.81	1201.94	2861.75	3306.75	0	0	0	30.00	30.00	15.77
1650.76	3141	380.67	2.14	-0.39	1218.6	1236.4	1200.8	2861.2	3306.1	35.04	8.83	326	1656.36	0.00	0.16	2.68	0.000	0.079	0.019	1218.84	1236.62	1201.06	2906.12	2139.94	0	0	0	30.00	15.70	15.78
1780.80	516	380.67	2.14	-60.00	1217.7	1236.8	1198.6	2905.2	2139.7	22.76	9.57	352	1786.34	0.00	0.00	2.68	0.000	0.000	0.071	1218.59	1237.75	1199.44	2906.25	1093.31	0	0	0	30.00	30.00	15.83
1845.81	1028	380.67	2.14	-0.82	1217.5	1237.0	1197.9	2906.6	1092.9	15.41	11.29	365	1851.37	0.00	0.00	2.65	0.000	0.000	0.022	1217.53	1237.31	1197.75	2906.44	2224.06	0	0	0	30.00	30.00	15.87
1956	end climb: SURFACE_DEPTH_REACHED
state	1956	begin surface coast
2001	end surface coast: CONTROL_FINISHED_OK
state	2001	begin surface