Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1381 * 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 1381 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 105.81779 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 351.59311 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 105.81779 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 351.59311 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 1381 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 230322,212959,4700.651,-12436.760,2,1.4,31,15.6 TGT_RADIUS 500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.62 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 230322,213432,4700.612,-12436.764,2,1.0,4,15.6 MHEAD_RNG_PITCHd_Wd 66.9,214,-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 0.2,1.007912 MEM0 60876,1,0,0

SM_CCo 1702.35,5.14,0.659,0,1143.9,1162.0,1125.9,400.10 MEM1 65508,1,0,0

SM_GC 0.98,5.14,16.41,2.95,0.659,0.035,0.024,1143.9,1162.0,1125.9,174.5,2358.3,0,0,0,11.30,15.81,15.87 MEM2 970808,31,75820,66

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 13019,328

IRIDIUM_FIX 4700.87,-12435.72,230322,205319 CAP_FILE_SIZE 116110,0

TCM_TEMP 267.42 SDSIZE 4028416,3711136

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4901,1

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

TEMP 81.96 CURRENT 0.049,278.0,1

INTERNAL_PRESSURE 8.92094 MAGCAL 1.000000,0.018663,0.018444,-0.006210,1.042907,-0.037013,-0.005318,-0.055743,0.995991,573.2,-329.6,78.9,36,0.0271,0

_24V_AH 14.73,475.609 IMPLIED_C_PITCH 2422,11.50,174

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2261,112.086311,173

FG_AHR_24Vo 351.714 GPS 230322,220319,4700.589,-12436.627,1,1.1,3,15.6

FG_AHR_10Vo 105.823

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 480 1200 8501.17 legato 34 20 10.24

Pitch_motor 36 230 123.70 nil 0 0 0.00

Roll_motor 34 96 48.40 nil 0 0 0.00

Iridium 130 181 348.16 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 14 15 3.17 nil 0 0 0.00

Core 1150 11 203.56 SciCon 0 0 0.00

LPSleep 772 2 32.44 nil 0 0 0.00

Compass 239 5 17.98 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

6.26 16386 -117.02 -1.56 0.00 496.7 466.1 527.3 175.7 2245.1 0.00 0.00 0 97.95 90.15 0.00 0.00 0.005 0.000 0.000 2762.06 2945.50 2578.62 175.69 2243.19 0 0 0 14.97 30.00 30.00

98.69 18983 -117.02 -1.56 -60.00 2761.4 2943.8 2579.0 175.8 2242.9 3.06 -3.25 17 132.97 12.02 14.09 2.63 0.006 0.231 0.063 3252.50 3487.88 3017.12 1992.81 1208.81 0 0 0 14.91 15.56 14.95

200.04 1028 -117.02 -1.56 0.00 3252.2 3486.6 3017.8 1992.4 1208.8 16.82 -12.71 37 205.62 0.00 0.00 2.71 0.000 0.000 0.025 3253.31 3487.00 3019.62 1992.94 2352.81 0 0 0 30.00 30.00 15.88

330.08 260 -117.02 -1.56 60.00 3252.4 3485.2 3019.7 1992.3 2352.9 35.05 -13.91 63 335.94 0.00 0.00 2.80 0.000 0.000 0.082 3252.84 3485.62 3020.06 1992.44 3426.00 0 0 0 30.00 30.00 15.88

360.19 1028 -117.02 -1.56 0.16 3252.1 3481.8 3022.5 1992.8 3426.0 38.80 -12.47 69 365.64 0.00 0.00 2.64 0.000 0.000 0.018 3252.88 3482.69 3023.06 1992.31 2246.62 0 0 0 30.00 30.00 15.91

490.13 32 -117.02 -1.56 0.16 3252.1 3482.1 3022.1 1992.2 2244.4 49.79 -7.64 95 491.46 0.00 0.00 0.00 0.000 0.000 0.000 3251.00 3480.81 3021.19 1992.00 2245.00 0 0 0 30.00 30.00 30.00

615.13 516 -117.02 -1.56 -60.00 3251.5 3481.5 3021.4 1992.6 2245.2 63.28 -12.14 120 620.66 0.00 0.00 2.60 0.000 0.000 0.061 3252.09 3481.56 3022.62 1992.50 1209.38 0 0 0 30.00 30.00 15.93

685.14 1028 -117.02 -1.56 0.51 3251.9 3481.4 3022.4 1992.3 1209.2 71.42 -11.81 134 690.70 0.00 0.00 2.73 0.000 0.000 0.026 3252.44 3482.44 3022.44 1992.31 2359.19 0 0 0 30.00 30.00 15.95

720 end dive: TARGET_DEPTH_EXCEEDED

state 720 begin apogee

722.01 10243 0.00 -0.28 0.00 3251.9 3481.7 3022.1 1992.4 2125.9 75.34 -11.21 141 810.33 83.15 2.12 0.22 1.201 0.132 0.097 2774.09 2918.75 2629.44 2304.38 2253.88 0 0 0 11.13 15.83 15.32

813 end apogee: CONTROL_FINISHED_OK

state 813 begin climb

813.28 10759 117.02 1.56 -60.00 2774.2 2919.6 2628.7 2304.2 2253.7 81.50 0.00 158 909.21 85.06 2.93 2.99 1.148 0.094 0.064 2297.56 2364.75 2230.38 2750.56 1091.88 0 0 0 11.80 15.55 15.69

951.93 11303 394.86 2.11 0.00 2295.5 2364.8 2226.2 2750.1 1091.9 81.79 0.10 186 1164.51 205.21 0.81 2.72 1.107 0.035 0.021 1164.78 1182.62 1146.94 2903.81 2241.50 0 0 0 11.56 15.54 15.64

1287.36 516 394.86 2.11 -60.00 1159.8 1183.1 1136.6 2904.4 2240.9 32.25 12.73 252 1292.35 0.00 0.00 2.97 0.000 0.000 0.066 1159.81 1183.06 1136.56 2903.38 1093.00 0 0 0 30.00 30.00 15.71

1471.82 1092 394.86 2.15 -1.42 1157.8 1183.5 1132.1 2903.8 1093.1 16.52 8.02 289 1477.35 0.00 0.00 2.64 0.000 0.000 0.022 1158.22 1183.69 1132.75 2903.75 2212.25 0 0 0 30.00 30.00 15.81

1601.85 580 394.86 2.17 -60.00 1157.5 1184.1 1130.8 2904.1 2211.8 5.09 9.24 315 1607.60 0.00 0.00 2.89 0.000 0.000 0.068 1157.88 1184.69 1131.06 2904.00 1091.75 0 0 0 30.00 30.00 15.85

1617 end climb: SURFACE_DEPTH_REACHED

state 1617 begin surface coast

1667 end surface coast: CONTROL_FINISHED_OK

state 1667 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	1381	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	105.81779	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	351.59311	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	230322,212959,4700.651,-12436.760,2,1.4,31,15.6	TGT_RADIUS	500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.62	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	230322,213432,4700.612,-12436.764,2,1.0,4,15.6	MHEAD_RNG_PITCHd_Wd	66.9,214,-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	0.2,1.007912	MEM0	60876,1,0,0
SM_CCo	1702.35,5.14,0.659,0,1143.9,1162.0,1125.9,400.10	MEM1	65508,1,0,0
SM_GC	0.98,5.14,16.41,2.95,0.659,0.035,0.024,1143.9,1162.0,1125.9,174.5,2358.3,0,0,0,11.30,15.81,15.87	MEM2	970808,31,75820,66
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	13019,328
IRIDIUM_FIX	4700.87,-12435.72,230322,205319	CAP_FILE_SIZE	116110,0
TCM_TEMP	267.42	SDSIZE	4028416,3711136
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4901,1
HUMID	51.76	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.96	CURRENT	0.049,278.0,1
INTERNAL_PRESSURE	8.92094	MAGCAL	1.000000,0.018663,0.018444,-0.006210,1.042907,-0.037013,-0.005318,-0.055743,0.995991,573.2,-329.6,78.9,36,0.0271,0
_24V_AH	14.73,475.609	IMPLIED_C_PITCH	2422,11.50,174
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2261,112.086311,173
FG_AHR_24Vo	351.714	GPS	230322,220319,4700.589,-12436.627,1,1.1,3,15.6
FG_AHR_10Vo	105.823

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	480	1200	8501.17	legato	34	20	10.24
Pitch_motor	36	230	123.70	nil	0	0	0.00
Roll_motor	34	96	48.40	nil	0	0	0.00
Iridium	130	181	348.16	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	14	15	3.17	nil	0	0	0.00
Core	1150	11	203.56	SciCon	0	0	0.00
LPSleep	772	2	32.44	nil	0	0	0.00
Compass	239	5	17.98	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
6.26	16386	-117.02	-1.56	0.00	496.7	466.1	527.3	175.7	2245.1	0.00	0.00	0	97.95	90.15	0.00	0.00	0.005	0.000	0.000	2762.06	2945.50	2578.62	175.69	2243.19	0	0	0	14.97	30.00	30.00
98.69	18983	-117.02	-1.56	-60.00	2761.4	2943.8	2579.0	175.8	2242.9	3.06	-3.25	17	132.97	12.02	14.09	2.63	0.006	0.231	0.063	3252.50	3487.88	3017.12	1992.81	1208.81	0	0	0	14.91	15.56	14.95
200.04	1028	-117.02	-1.56	0.00	3252.2	3486.6	3017.8	1992.4	1208.8	16.82	-12.71	37	205.62	0.00	0.00	2.71	0.000	0.000	0.025	3253.31	3487.00	3019.62	1992.94	2352.81	0	0	0	30.00	30.00	15.88
330.08	260	-117.02	-1.56	60.00	3252.4	3485.2	3019.7	1992.3	2352.9	35.05	-13.91	63	335.94	0.00	0.00	2.80	0.000	0.000	0.082	3252.84	3485.62	3020.06	1992.44	3426.00	0	0	0	30.00	30.00	15.88
360.19	1028	-117.02	-1.56	0.16	3252.1	3481.8	3022.5	1992.8	3426.0	38.80	-12.47	69	365.64	0.00	0.00	2.64	0.000	0.000	0.018	3252.88	3482.69	3023.06	1992.31	2246.62	0	0	0	30.00	30.00	15.91
490.13	32	-117.02	-1.56	0.16	3252.1	3482.1	3022.1	1992.2	2244.4	49.79	-7.64	95	491.46	0.00	0.00	0.00	0.000	0.000	0.000	3251.00	3480.81	3021.19	1992.00	2245.00	0	0	0	30.00	30.00	30.00
615.13	516	-117.02	-1.56	-60.00	3251.5	3481.5	3021.4	1992.6	2245.2	63.28	-12.14	120	620.66	0.00	0.00	2.60	0.000	0.000	0.061	3252.09	3481.56	3022.62	1992.50	1209.38	0	0	0	30.00	30.00	15.93
685.14	1028	-117.02	-1.56	0.51	3251.9	3481.4	3022.4	1992.3	1209.2	71.42	-11.81	134	690.70	0.00	0.00	2.73	0.000	0.000	0.026	3252.44	3482.44	3022.44	1992.31	2359.19	0	0	0	30.00	30.00	15.95
720	end dive: TARGET_DEPTH_EXCEEDED
state	720	begin apogee
722.01	10243	0.00	-0.28	0.00	3251.9	3481.7	3022.1	1992.4	2125.9	75.34	-11.21	141	810.33	83.15	2.12	0.22	1.201	0.132	0.097	2774.09	2918.75	2629.44	2304.38	2253.88	0	0	0	11.13	15.83	15.32
813	end apogee: CONTROL_FINISHED_OK
state	813	begin climb
813.28	10759	117.02	1.56	-60.00	2774.2	2919.6	2628.7	2304.2	2253.7	81.50	0.00	158	909.21	85.06	2.93	2.99	1.148	0.094	0.064	2297.56	2364.75	2230.38	2750.56	1091.88	0	0	0	11.80	15.55	15.69
951.93	11303	394.86	2.11	0.00	2295.5	2364.8	2226.2	2750.1	1091.9	81.79	0.10	186	1164.51	205.21	0.81	2.72	1.107	0.035	0.021	1164.78	1182.62	1146.94	2903.81	2241.50	0	0	0	11.56	15.54	15.64
1287.36	516	394.86	2.11	-60.00	1159.8	1183.1	1136.6	2904.4	2240.9	32.25	12.73	252	1292.35	0.00	0.00	2.97	0.000	0.000	0.066	1159.81	1183.06	1136.56	2903.38	1093.00	0	0	0	30.00	30.00	15.71
1471.82	1092	394.86	2.15	-1.42	1157.8	1183.5	1132.1	2903.8	1093.1	16.52	8.02	289	1477.35	0.00	0.00	2.64	0.000	0.000	0.022	1158.22	1183.69	1132.75	2903.75	2212.25	0	0	0	30.00	30.00	15.81
1601.85	580	394.86	2.17	-60.00	1157.5	1184.1	1130.8	2904.1	2211.8	5.09	9.24	315	1607.60	0.00	0.00	2.89	0.000	0.000	0.068	1157.88	1184.69	1131.06	2904.00	1091.75	0	0	0	30.00	30.00	15.85
1617	end climb: SURFACE_DEPTH_REACHED
state	1617	begin surface coast
1667	end surface coast: CONTROL_FINISHED_OK
state	1667	begin surface