Glider dive log

NANOOS Apr21 * SG249 * Dive index * Mission links * Dive 1401 * 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 1401 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 105.96123 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 354.21661 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 105.96123 PITCH_ADJ_GAIN 0 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 354.21661 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 1401 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 240322,101136,4659.142,-12436.728,2,2.0,5,15.6 TGT_RADIUS 500.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240322,101610,4659.126,-12436.733,3,0.7,27,15.6 MHEAD_RNG_PITCHd_Wd 333.0,2810,-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 0.3,1.024046 MEM0 60876,1,0,0

SM_CCo 2029.78,0.00,0.000,0,1089.2,1101.8,1076.5,413.54 MEM1 65508,1,0,0

SM_GC 0.71,0.00,16.62,0.20,0.000,0.040,0.080,1089.2,1101.8,1076.5,188.7,2363.9,0,0,0,30.00,15.78,15.82 MEM2 970868,30,75780,66

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16207,385

IRIDIUM_FIX 4659.98,-12438.32,240322,093356 CAP_FILE_SIZE 118504,0

TCM_TEMP 267.32 SDSIZE 4028416,3708576

XPDR_PINGS 0,13.0,10.5 SDFILEDIR 4961,1

HUMID 51.51 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 81.96 CURRENT 0.115,168.4,1

INTERNAL_PRESSURE 8.92146 MAGCAL 1.000000,0.004628,-0.022764,-0.003592,1.026269,-0.070880,0.006034,-0.041926,0.980242,622.4,-300.4,84.1,32,0.0329,0

_24V_AH 14.77,478.568 IMPLIED_C_PITCH 2392,12.32,234

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2366,34.091053,232

FG_AHR_24Vo 354.342 GPS 240322,105024,4659.097,-12436.674,1,0.7,3,15.6

FG_AHR_10Vo 105.968

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 464 1207 8288.64 legato 34 20 10.14

Pitch_motor 36 224 120.19 nil 0 0 0.00

Roll_motor 33 95 47.54 nil 0 0 0.00

Iridium 108 186 298.75 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GPS 37 15 8.39 nil 0 0 0.00

Core 1221 11 216.14 SciCon 0 0 0.00

LPSleep 1029 2 43.25 nil 0 0 0.00

Compass 274 5 20.62 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

6.17 16386 -117.02 -1.47 0.00 1129.6 1134.7 1124.5 172.3 2224.6 0.00 0.00 0 72.44 65.06 0.00 0.00 0.005 0.000 0.000 2763.19 2940.50 2585.88 172.12 2223.44 0 0 0 14.87 30.00 30.00

73.18 18467 -117.02 -1.47 0.00 2762.8 2940.2 2585.4 172.2 2223.8 3.47 -5.36 12 105.06 11.45 14.09 0.00 0.007 0.224 0.000 3251.31 3475.12 3027.50 2015.50 2223.44 0 0 0 14.83 15.57 30.00

227.54 260 -117.02 -1.47 60.00 3252.1 3474.4 3029.8 2015.2 2223.8 23.48 -11.72 43 232.80 0.00 0.00 3.14 0.000 0.000 0.079 3252.03 3474.19 3029.88 2015.06 3426.62 0 0 0 30.00 30.00 15.86

307.19 1028 -117.02 -1.47 0.00 3252.5 3474.1 3031.0 2014.9 3426.9 33.10 -11.48 59 312.74 0.00 0.00 2.63 0.000 0.000 0.018 3252.81 3475.12 3030.50 2015.75 2245.75 0 0 0 30.00 30.00 15.92

437.23 516 -117.02 -1.47 -60.00 3252.4 3474.4 3030.4 2015.6 2243.9 46.54 -10.27 85 442.77 0.00 0.00 2.59 0.000 0.000 0.061 3254.56 3476.56 3032.56 2016.19 1210.25 0 0 0 30.00 30.00 15.93

452.42 1028 -117.02 -1.47 0.00 3252.4 3474.1 3030.6 2015.8 1210.1 48.19 -10.72 88 457.86 0.00 0.00 2.70 0.000 0.000 0.025 3252.28 3473.88 3030.69 2015.94 2352.81 0 0 0 30.00 30.00 15.95

582.29 260 -117.02 -1.47 60.00 3252.2 3474.0 3030.5 2015.2 2353.0 60.12 -8.35 114 587.85 0.00 0.00 2.79 0.000 0.000 0.083 3253.38 3474.94 3031.81 2016.06 3426.38 0 0 0 30.00 30.00 15.90

652.29 1028 -117.02 -1.47 0.28 3252.3 3473.6 3031.1 2015.9 3427.0 66.76 -9.65 128 657.85 0.00 0.00 2.63 0.000 0.000 0.018 3253.06 3474.06 3032.06 2016.62 2245.38 0 0 0 30.00 30.00 15.94

742 end dive: TARGET_DEPTH_EXCEEDED

state 742 begin apogee

744.12 10243 0.00 -0.28 0.00 3252.4 3473.8 3030.9 2016.0 2124.6 74.49 -8.42 146 831.45 82.99 1.96 0.22 1.208 0.126 0.095 2774.16 2912.31 2636.00 2305.06 2251.75 0 0 0 11.10 15.85 15.35

833 end apogee: CONTROL_FINISHED_OK

state 833 begin climb

834.42 10503 117.02 1.47 60.00 2774.9 2912.1 2637.8 2305.1 2254.1 77.92 0.00 163 930.26 84.87 2.82 2.76 1.149 0.109 0.078 2298.19 2368.19 2228.19 2727.25 3306.44 0 0 0 11.79 15.58 15.68

1107.61 11303 288.75 1.81 0.00 2292.3 2366.9 2217.8 2726.9 3306.4 70.96 4.51 218 1241.69 126.21 0.50 2.67 1.124 0.046 0.019 1597.41 1632.62 1562.19 2827.94 2141.12 0 0 0 11.33 15.66 15.76

1364.13 580 288.75 1.84 -60.00 1590.3 1633.6 1547.0 2827.7 2140.9 49.03 8.76 269 1369.51 0.00 0.00 2.71 0.000 0.000 0.072 1591.06 1634.56 1547.56 2828.81 1093.31 0 0 0 30.00 30.00 15.71

1403.96 17478 288.75 1.87 0.98 1588.1 1633.7 1542.4 2828.1 1093.2 45.73 8.27 277 1409.52 0.00 0.00 2.75 0.000 0.000 0.023 1588.03 1633.69 1542.38 2827.88 2254.50 0 0 0 30.00 30.00 15.75

1534.01 10275 411.69 2.12 0.98 1587.4 1634.5 1540.4 2828.3 2254.7 37.80 6.07 303 1631.60 94.07 0.33 0.00 1.085 0.051 0.000 1097.00 1097.81 1096.19 2905.81 2254.50 0 0 0 11.29 15.78 30.00

1754.32 580 411.69 2.13 -60.00 1092.3 1098.1 1086.6 2906.6 2254.4 17.76 9.37 347 1759.73 0.00 0.00 3.03 0.000 0.000 0.067 1092.38 1098.25 1086.50 2906.62 1093.19 0 0 0 30.00 30.00 15.74

1854.15 1028 411.69 2.13 0.28 1091.0 1098.9 1083.1 2905.8 1093.2 7.47 10.31 367 1859.72 0.00 0.00 2.72 0.000 0.000 0.022 1091.28 1099.06 1083.50 2906.44 2244.38 0 0 0 30.00 30.00 15.80

1893 end climb: SURFACE_DEPTH_REACHED

state 1894 begin surface coast

1944 end surface coast: CONTROL_FINISHED_OK

state 1944 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	1401	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	105.96123	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	354.21661	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	240322,101136,4659.142,-12436.728,2,2.0,5,15.6	TGT_RADIUS	500.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240322,101610,4659.126,-12436.733,3,0.7,27,15.6	MHEAD_RNG_PITCHd_Wd	333.0,2810,-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	0.3,1.024046	MEM0	60876,1,0,0
SM_CCo	2029.78,0.00,0.000,0,1089.2,1101.8,1076.5,413.54	MEM1	65508,1,0,0
SM_GC	0.71,0.00,16.62,0.20,0.000,0.040,0.080,1089.2,1101.8,1076.5,188.7,2363.9,0,0,0,30.00,15.78,15.82	MEM2	970868,30,75780,66
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16207,385
IRIDIUM_FIX	4659.98,-12438.32,240322,093356	CAP_FILE_SIZE	118504,0
TCM_TEMP	267.32	SDSIZE	4028416,3708576
XPDR_PINGS	0,13.0,10.5	SDFILEDIR	4961,1
HUMID	51.51	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	81.96	CURRENT	0.115,168.4,1
INTERNAL_PRESSURE	8.92146	MAGCAL	1.000000,0.004628,-0.022764,-0.003592,1.026269,-0.070880,0.006034,-0.041926,0.980242,622.4,-300.4,84.1,32,0.0329,0
_24V_AH	14.77,478.568	IMPLIED_C_PITCH	2392,12.32,234
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2366,34.091053,232
FG_AHR_24Vo	354.342	GPS	240322,105024,4659.097,-12436.674,1,0.7,3,15.6
FG_AHR_10Vo	105.968

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	464	1207	8288.64	legato	34	20	10.14
Pitch_motor	36	224	120.19	nil	0	0	0.00
Roll_motor	33	95	47.54	nil	0	0	0.00
Iridium	108	186	298.75	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GPS	37	15	8.39	nil	0	0	0.00
Core	1221	11	216.14	SciCon	0	0	0.00
LPSleep	1029	2	43.25	nil	0	0	0.00
Compass	274	5	20.62	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
6.17	16386	-117.02	-1.47	0.00	1129.6	1134.7	1124.5	172.3	2224.6	0.00	0.00	0	72.44	65.06	0.00	0.00	0.005	0.000	0.000	2763.19	2940.50	2585.88	172.12	2223.44	0	0	0	14.87	30.00	30.00
73.18	18467	-117.02	-1.47	0.00	2762.8	2940.2	2585.4	172.2	2223.8	3.47	-5.36	12	105.06	11.45	14.09	0.00	0.007	0.224	0.000	3251.31	3475.12	3027.50	2015.50	2223.44	0	0	0	14.83	15.57	30.00
227.54	260	-117.02	-1.47	60.00	3252.1	3474.4	3029.8	2015.2	2223.8	23.48	-11.72	43	232.80	0.00	0.00	3.14	0.000	0.000	0.079	3252.03	3474.19	3029.88	2015.06	3426.62	0	0	0	30.00	30.00	15.86
307.19	1028	-117.02	-1.47	0.00	3252.5	3474.1	3031.0	2014.9	3426.9	33.10	-11.48	59	312.74	0.00	0.00	2.63	0.000	0.000	0.018	3252.81	3475.12	3030.50	2015.75	2245.75	0	0	0	30.00	30.00	15.92
437.23	516	-117.02	-1.47	-60.00	3252.4	3474.4	3030.4	2015.6	2243.9	46.54	-10.27	85	442.77	0.00	0.00	2.59	0.000	0.000	0.061	3254.56	3476.56	3032.56	2016.19	1210.25	0	0	0	30.00	30.00	15.93
452.42	1028	-117.02	-1.47	0.00	3252.4	3474.1	3030.6	2015.8	1210.1	48.19	-10.72	88	457.86	0.00	0.00	2.70	0.000	0.000	0.025	3252.28	3473.88	3030.69	2015.94	2352.81	0	0	0	30.00	30.00	15.95
582.29	260	-117.02	-1.47	60.00	3252.2	3474.0	3030.5	2015.2	2353.0	60.12	-8.35	114	587.85	0.00	0.00	2.79	0.000	0.000	0.083	3253.38	3474.94	3031.81	2016.06	3426.38	0	0	0	30.00	30.00	15.90
652.29	1028	-117.02	-1.47	0.28	3252.3	3473.6	3031.1	2015.9	3427.0	66.76	-9.65	128	657.85	0.00	0.00	2.63	0.000	0.000	0.018	3253.06	3474.06	3032.06	2016.62	2245.38	0	0	0	30.00	30.00	15.94
742	end dive: TARGET_DEPTH_EXCEEDED
state	742	begin apogee
744.12	10243	0.00	-0.28	0.00	3252.4	3473.8	3030.9	2016.0	2124.6	74.49	-8.42	146	831.45	82.99	1.96	0.22	1.208	0.126	0.095	2774.16	2912.31	2636.00	2305.06	2251.75	0	0	0	11.10	15.85	15.35
833	end apogee: CONTROL_FINISHED_OK
state	833	begin climb
834.42	10503	117.02	1.47	60.00	2774.9	2912.1	2637.8	2305.1	2254.1	77.92	0.00	163	930.26	84.87	2.82	2.76	1.149	0.109	0.078	2298.19	2368.19	2228.19	2727.25	3306.44	0	0	0	11.79	15.58	15.68
1107.61	11303	288.75	1.81	0.00	2292.3	2366.9	2217.8	2726.9	3306.4	70.96	4.51	218	1241.69	126.21	0.50	2.67	1.124	0.046	0.019	1597.41	1632.62	1562.19	2827.94	2141.12	0	0	0	11.33	15.66	15.76
1364.13	580	288.75	1.84	-60.00	1590.3	1633.6	1547.0	2827.7	2140.9	49.03	8.76	269	1369.51	0.00	0.00	2.71	0.000	0.000	0.072	1591.06	1634.56	1547.56	2828.81	1093.31	0	0	0	30.00	30.00	15.71
1403.96	17478	288.75	1.87	0.98	1588.1	1633.7	1542.4	2828.1	1093.2	45.73	8.27	277	1409.52	0.00	0.00	2.75	0.000	0.000	0.023	1588.03	1633.69	1542.38	2827.88	2254.50	0	0	0	30.00	30.00	15.75
1534.01	10275	411.69	2.12	0.98	1587.4	1634.5	1540.4	2828.3	2254.7	37.80	6.07	303	1631.60	94.07	0.33	0.00	1.085	0.051	0.000	1097.00	1097.81	1096.19	2905.81	2254.50	0	0	0	11.29	15.78	30.00
1754.32	580	411.69	2.13	-60.00	1092.3	1098.1	1086.6	2906.6	2254.4	17.76	9.37	347	1759.73	0.00	0.00	3.03	0.000	0.000	0.067	1092.38	1098.25	1086.50	2906.62	1093.19	0	0	0	30.00	30.00	15.74
1854.15	1028	411.69	2.13	0.28	1091.0	1098.9	1083.1	2905.8	1093.2	7.47	10.31	367	1859.72	0.00	0.00	2.72	0.000	0.000	0.022	1091.28	1099.06	1083.50	2906.44	2244.38	0	0	0	30.00	30.00	15.80
1893	end climb: SURFACE_DEPTH_REACHED
state	1894	begin surface coast
1944	end surface coast: CONTROL_FINISHED_OK
state	1944	begin surface