Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1389 * 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 1389 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 105.87376 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 352.64697 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 105.87376 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 352.64697 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 1389 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 240322,022530,4700.358,-12436.686,1,0.6,5,15.6 TGT_RADIUS 500.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -54.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240322,023116,4700.298,-12436.733,2,0.6,5,15.6 MHEAD_RNG_PITCHd_Wd 333.3,656,-22.2,-10.000,-28.63

SPEED_LIMITS 0.173,0.183 D_GRID 74

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 0.3,1.023842 MEM0 60876,1,0,0

SM_CCo 1901.65,10.93,0.970,0,1145.3,1147.1,1143.6,399.76 MEM1 65508,1,0,0

SM_GC 1.60,10.93,16.44,0.39,0.970,0.043,0.064,1145.3,1147.1,1143.6,176.0,2360.9,0,0,0,11.25,15.82,15.86 MEM2 970912,26,75816,66

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16245,368

IRIDIUM_FIX 4700.38,-12442.71,240322,022752 CAP_FILE_SIZE 126480,0

TCM_TEMP 267.45 SDSIZE 4028416,3710112

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4925,1

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

TEMP 81.94 CURRENT 0.160,171.9,1

INTERNAL_PRESSURE 8.92123 MAGCAL 1.000000,0.020374,-0.195604,0.007813,1.049536,-0.093472,0.087104,-0.028939,0.923781,737.4,-277.4,92.4,19,0.0323,0

_24V_AH 14.74,476.795 IMPLIED_C_PITCH 2412,11.98,222

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2326,29.028833,221

FG_AHR_24Vo 352.770 GPS 240322,030323,4700.270,-12436.713,3,1.2,5,15.6

FG_AHR_10Vo 105.880

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 456 1210 8146.49 legato 34 20 10.10

Pitch_motor 36 237 126.20 nil 0 0 0.00

Roll_motor 44 114 75.66 nil 0 0 0.00

Iridium 141 179 374.43 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 1219 11 215.80 SciCon 0 0 0.00

LPSleep 974 2 40.94 nil 0 0 0.00

Compass 264 5 19.82 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

6.16 16386 -117.02 -1.47 0.00 1141.3 1143.5 1139.1 173.5 2390.3 0.00 0.00 0 71.99 64.61 0.00 0.00 0.005 0.000 0.000 2774.78 2955.06 2594.50 173.12 2390.50 0 0 0 14.94 30.00 30.00

72.73 18983 -117.02 -1.47 -60.00 2773.9 2954.2 2593.6 173.7 2391.0 3.56 -5.36 12 106.59 10.93 14.32 2.96 0.007 0.237 0.058 3250.94 3475.69 3026.19 2014.00 1207.81 0 0 0 15.01 15.54 14.96

118.66 1028 -117.02 -1.47 0.00 3251.4 3476.1 3026.8 2013.8 1207.7 11.36 -13.04 21 124.22 0.00 0.00 2.68 0.000 0.000 0.024 3251.50 3475.88 3027.12 2013.50 2353.06 0 0 0 30.00 30.00 15.88

248.69 260 -117.02 -1.47 60.00 3251.3 3475.8 3026.8 2014.4 2352.9 25.89 -11.51 47 254.24 0.00 0.00 2.78 0.000 0.000 0.082 3252.47 3476.38 3028.56 2014.19 3426.12 0 0 0 30.00 30.00 15.88

313.69 1028 -117.02 -1.47 -0.26 3251.6 3475.7 3027.4 2013.9 3426.3 34.00 -12.50 60 319.43 0.00 0.00 2.63 0.000 0.000 0.018 3251.78 3475.25 3028.31 2014.00 2244.38 0 0 0 30.00 30.00 15.91

443.85 516 -117.02 -1.47 -60.00 3251.1 3475.1 3027.1 2013.9 2242.5 48.35 -11.78 86 449.25 0.00 0.00 2.59 0.000 0.000 0.061 3251.34 3475.38 3027.31 2013.94 1209.00 0 0 0 30.00 30.00 15.92

518.73 1028 -117.02 -1.47 -0.67 3251.3 3475.3 3027.4 2014.0 1209.0 57.15 -11.46 101 524.29 0.00 0.00 2.64 0.000 0.000 0.025 3251.56 3475.62 3027.50 2013.50 2341.81 0 0 0 30.00 30.00 15.94

648.76 260 -117.02 -1.47 60.00 3251.5 3475.1 3027.9 2014.1 2342.1 70.17 -8.64 127 654.33 0.00 0.00 2.81 0.000 0.000 0.082 3252.06 3475.69 3028.44 2014.00 3427.69 0 0 0 30.00 30.00 15.91

693 end dive: TARGET_DEPTH_EXCEEDED

state 693 begin apogee

698.44 10243 0.00 -0.28 0.00 3251.2 3473.9 3028.6 2015.1 2140.9 74.37 -9.08 136 785.66 82.91 1.96 0.17 1.211 0.133 0.115 2775.75 2919.50 2632.00 2305.94 2253.06 0 0 0 11.12 15.84 15.33

787 end apogee: CONTROL_FINISHED_OK

state 788 begin climb

788.62 10759 117.02 1.47 -60.00 2774.5 2917.8 2631.2 2305.5 2256.6 77.64 0.00 153 884.49 84.83 2.74 3.00 1.151 0.091 0.066 2298.34 2365.62 2231.06 2729.69 1091.69 0 0 0 11.73 15.55 15.69

1026.88 11303 287.53 1.81 0.00 2294.3 2364.8 2223.9 2729.8 1091.6 71.77 4.54 201 1160.90 125.52 0.47 2.70 1.127 0.043 0.022 1603.81 1643.12 1564.50 2830.69 2240.62 0 0 0 11.34 15.64 15.73

1283.34 10535 387.38 2.01 60.00 1594.8 1641.9 1547.7 2831.1 2240.6 54.50 6.81 252 1366.32 76.76 0.15 2.82 1.089 0.081 0.080 1195.66 1207.88 1183.44 2878.38 3304.81 0 0 0 11.43 15.67 15.26

1408.52 1028 387.38 2.01 0.23 1193.1 1208.1 1178.2 2878.9 3304.8 42.79 10.44 277 1414.08 0.00 0.00 2.68 0.000 0.000 0.019 1193.62 1208.69 1178.56 2878.12 2151.19 0 0 0 30.00 30.00 15.66

1538.76 580 387.38 2.02 -60.00 1190.4 1208.1 1172.7 2878.4 2151.2 30.92 9.22 303 1544.17 0.00 0.00 2.72 0.000 0.000 0.071 1191.09 1208.75 1173.44 2878.56 1092.25 0 0 0 30.00 30.00 15.76

1558.55 1028 387.38 2.02 1.00 1190.0 1208.4 1171.6 2878.2 1092.1 28.97 9.51 307 1564.12 0.00 0.00 2.73 0.000 0.000 0.022 1189.94 1208.38 1171.50 2878.50 2259.31 0 0 0 30.00 30.00 15.79

1688.59 324 387.38 2.04 60.00 1189.0 1208.4 1169.6 2878.5 2259.9 16.38 9.38 333 1694.14 0.00 0.00 2.71 0.000 0.000 0.079 1189.03 1208.69 1169.38 2878.31 3304.88 0 0 0 30.00 30.00 15.82

1803.58 1028 387.38 2.04 1.24 1188.7 1208.8 1168.6 2878.2 3303.7 5.27 9.95 356 1809.13 0.00 0.00 2.62 0.000 0.000 0.021 1188.81 1209.12 1168.50 2878.50 2173.56 0 0 0 30.00 30.00 15.87

1818 end climb: SURFACE_DEPTH_REACHED

state 1818 begin surface coast

1863 end surface coast: CONTROL_FINISHED_OK

state 1863 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	1389	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	105.87376	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	352.64697	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	240322,022530,4700.358,-12436.686,1,0.6,5,15.6	TGT_RADIUS	500.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240322,023116,4700.298,-12436.733,2,0.6,5,15.6	MHEAD_RNG_PITCHd_Wd	333.3,656,-22.2,-10.000,-28.63
SPEED_LIMITS	0.173,0.183	D_GRID	74
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	0.3,1.023842	MEM0	60876,1,0,0
SM_CCo	1901.65,10.93,0.970,0,1145.3,1147.1,1143.6,399.76	MEM1	65508,1,0,0
SM_GC	1.60,10.93,16.44,0.39,0.970,0.043,0.064,1145.3,1147.1,1143.6,176.0,2360.9,0,0,0,11.25,15.82,15.86	MEM2	970912,26,75816,66
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16245,368
IRIDIUM_FIX	4700.38,-12442.71,240322,022752	CAP_FILE_SIZE	126480,0
TCM_TEMP	267.45	SDSIZE	4028416,3710112
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4925,1
HUMID	51.76	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.94	CURRENT	0.160,171.9,1
INTERNAL_PRESSURE	8.92123	MAGCAL	1.000000,0.020374,-0.195604,0.007813,1.049536,-0.093472,0.087104,-0.028939,0.923781,737.4,-277.4,92.4,19,0.0323,0
_24V_AH	14.74,476.795	IMPLIED_C_PITCH	2412,11.98,222
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2326,29.028833,221
FG_AHR_24Vo	352.770	GPS	240322,030323,4700.270,-12436.713,3,1.2,5,15.6
FG_AHR_10Vo	105.880

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	456	1210	8146.49	legato	34	20	10.10
Pitch_motor	36	237	126.20	nil	0	0	0.00
Roll_motor	44	114	75.66	nil	0	0	0.00
Iridium	141	179	374.43	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	1219	11	215.80	SciCon	0	0	0.00
LPSleep	974	2	40.94	nil	0	0	0.00
Compass	264	5	19.82	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
6.16	16386	-117.02	-1.47	0.00	1141.3	1143.5	1139.1	173.5	2390.3	0.00	0.00	0	71.99	64.61	0.00	0.00	0.005	0.000	0.000	2774.78	2955.06	2594.50	173.12	2390.50	0	0	0	14.94	30.00	30.00
72.73	18983	-117.02	-1.47	-60.00	2773.9	2954.2	2593.6	173.7	2391.0	3.56	-5.36	12	106.59	10.93	14.32	2.96	0.007	0.237	0.058	3250.94	3475.69	3026.19	2014.00	1207.81	0	0	0	15.01	15.54	14.96
118.66	1028	-117.02	-1.47	0.00	3251.4	3476.1	3026.8	2013.8	1207.7	11.36	-13.04	21	124.22	0.00	0.00	2.68	0.000	0.000	0.024	3251.50	3475.88	3027.12	2013.50	2353.06	0	0	0	30.00	30.00	15.88
248.69	260	-117.02	-1.47	60.00	3251.3	3475.8	3026.8	2014.4	2352.9	25.89	-11.51	47	254.24	0.00	0.00	2.78	0.000	0.000	0.082	3252.47	3476.38	3028.56	2014.19	3426.12	0	0	0	30.00	30.00	15.88
313.69	1028	-117.02	-1.47	-0.26	3251.6	3475.7	3027.4	2013.9	3426.3	34.00	-12.50	60	319.43	0.00	0.00	2.63	0.000	0.000	0.018	3251.78	3475.25	3028.31	2014.00	2244.38	0	0	0	30.00	30.00	15.91
443.85	516	-117.02	-1.47	-60.00	3251.1	3475.1	3027.1	2013.9	2242.5	48.35	-11.78	86	449.25	0.00	0.00	2.59	0.000	0.000	0.061	3251.34	3475.38	3027.31	2013.94	1209.00	0	0	0	30.00	30.00	15.92
518.73	1028	-117.02	-1.47	-0.67	3251.3	3475.3	3027.4	2014.0	1209.0	57.15	-11.46	101	524.29	0.00	0.00	2.64	0.000	0.000	0.025	3251.56	3475.62	3027.50	2013.50	2341.81	0	0	0	30.00	30.00	15.94
648.76	260	-117.02	-1.47	60.00	3251.5	3475.1	3027.9	2014.1	2342.1	70.17	-8.64	127	654.33	0.00	0.00	2.81	0.000	0.000	0.082	3252.06	3475.69	3028.44	2014.00	3427.69	0	0	0	30.00	30.00	15.91
693	end dive: TARGET_DEPTH_EXCEEDED
state	693	begin apogee
698.44	10243	0.00	-0.28	0.00	3251.2	3473.9	3028.6	2015.1	2140.9	74.37	-9.08	136	785.66	82.91	1.96	0.17	1.211	0.133	0.115	2775.75	2919.50	2632.00	2305.94	2253.06	0	0	0	11.12	15.84	15.33
787	end apogee: CONTROL_FINISHED_OK
state	788	begin climb
788.62	10759	117.02	1.47	-60.00	2774.5	2917.8	2631.2	2305.5	2256.6	77.64	0.00	153	884.49	84.83	2.74	3.00	1.151	0.091	0.066	2298.34	2365.62	2231.06	2729.69	1091.69	0	0	0	11.73	15.55	15.69
1026.88	11303	287.53	1.81	0.00	2294.3	2364.8	2223.9	2729.8	1091.6	71.77	4.54	201	1160.90	125.52	0.47	2.70	1.127	0.043	0.022	1603.81	1643.12	1564.50	2830.69	2240.62	0	0	0	11.34	15.64	15.73
1283.34	10535	387.38	2.01	60.00	1594.8	1641.9	1547.7	2831.1	2240.6	54.50	6.81	252	1366.32	76.76	0.15	2.82	1.089	0.081	0.080	1195.66	1207.88	1183.44	2878.38	3304.81	0	0	0	11.43	15.67	15.26
1408.52	1028	387.38	2.01	0.23	1193.1	1208.1	1178.2	2878.9	3304.8	42.79	10.44	277	1414.08	0.00	0.00	2.68	0.000	0.000	0.019	1193.62	1208.69	1178.56	2878.12	2151.19	0	0	0	30.00	30.00	15.66
1538.76	580	387.38	2.02	-60.00	1190.4	1208.1	1172.7	2878.4	2151.2	30.92	9.22	303	1544.17	0.00	0.00	2.72	0.000	0.000	0.071	1191.09	1208.75	1173.44	2878.56	1092.25	0	0	0	30.00	30.00	15.76
1558.55	1028	387.38	2.02	1.00	1190.0	1208.4	1171.6	2878.2	1092.1	28.97	9.51	307	1564.12	0.00	0.00	2.73	0.000	0.000	0.022	1189.94	1208.38	1171.50	2878.50	2259.31	0	0	0	30.00	30.00	15.79
1688.59	324	387.38	2.04	60.00	1189.0	1208.4	1169.6	2878.5	2259.9	16.38	9.38	333	1694.14	0.00	0.00	2.71	0.000	0.000	0.079	1189.03	1208.69	1169.38	2878.31	3304.88	0	0	0	30.00	30.00	15.82
1803.58	1028	387.38	2.04	1.24	1188.7	1208.8	1168.6	2878.2	3303.7	5.27	9.95	356	1809.13	0.00	0.00	2.62	0.000	0.000	0.021	1188.81	1209.12	1168.50	2878.50	2173.56	0	0	0	30.00	30.00	15.87
1818	end climb: SURFACE_DEPTH_REACHED
state	1818	begin surface coast
1863	end surface coast: CONTROL_FINISHED_OK
state	1863	begin surface