Glider dive log

NISKINE May19 * SG526 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 526 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 XPDR_VALID 5

DIVE 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 4 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1.7

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_FLARE 3 SM_CC 400 VBD_MIN 495 DEEPGLIDERMB 0

D_TGT 360 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

D_ABORT 1010 FILEMGR 0 C_VBD 2968 DEVICE1 -1

D_NO_BLEED 200 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_BOOST 2 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_FINISH 0 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 LOGGERDEVICE1 7

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 0 LOGGERDEVICE2 22

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_DIVE 120 CAPMAXSIZE 100000 LOITER_DBDW 0 COMPASS_DEVICE 34

T_MISSION 150 T_GPS 5 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_TURN 225 T_RSLEEP 3 LOITER_N_DIVE 0 GPS_DEVICE 48

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 350 XPDR_DEVICE 0

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 SIM_W 0

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_G 0.0044055721

USE_BATHY -6 RAFOS_MMODEM 0 MINV_10V 11 SEABIRD_T_H 0.0006405061

USE_ICE 0 PITCH_MIN 150 MAXI_24V 3 SEABIRD_T_I 2.6551848e-05

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3615 MAXI_10V 1.5 SEABIRD_T_J 3.2829232e-06

D_OFFGRID 1000 C_PITCH 2100 FG_AHR_10V 1.012044 SEABIRD_C_G -9.9950848

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 1.8530744 SEABIRD_C_H 1.1366271

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 PHONE_SUPPLY 1 SEABIRD_C_I -0.0016496443

MAX_BUOY 150 PITCH_GAIN 32 PRESSURE_YINT -158.14241 SEABIRD_C_J 0.00020141562

GLIDE_SLOPE 30 PITCH_TIMEOUT 15 PRESSURE_SLOPE 0.00010960381 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 4 SC_PROFILE 3.0

RHO 1.0275 PITCH_ADJ_GAIN 0.0099999998 ALTIM_PING_FIT 0 SC_XMITPROFILE 3.0

MASS 56164 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SC_NDIVE 1.0

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 TM_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 TM_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 380 ALTIM_TOP_MIN_OBSTACLE 1 TM_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3950 ALTIM_PING_DEPTH 0 TM_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 40 ALTIM_PING_DELTA 0 TM_XMITRAW 0.0

HD_C 1.6e-05 C_ROLL_DIVE 2900 ALTIM_FREQUENCY 13 TM_LOGSAMPLE 0.0

HEADING -1 C_ROLL_CLIMB 2400 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_NOCOMM 1 SEABIRD_T_J 3.2829232e-06

AH0_24V 350 D_SURF 2 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 360 PHONE_DEVICE 33 SM_CC 400

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_SUPPLY 1 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 STOP_T 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0.0099999998 STROBE 0

ALTIM_PING_FIT 0 FG_AHR_10V 1.012044 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 1.8530744 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 32 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_MAX 3615 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MIN 150 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_A 0.003 PITCH_TIMEOUT 15 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_VBD_SHIFT 0.0012300001 TM_NDIVE 1.0

CALL_TRIES 5 HD_C 1.6e-05 PITCH_W_DBAND 0 TM_PROFILE 3.0

CALL_WAIT 60 HEADING -1 PITCH_W_GAIN 0 TM_RECORDABOVE 2000.0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PRESSURE_SLOPE 0.00010960381 TM_XMITPROFILE 3.0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -158.14241 TM_XMITRAW 0.0

CF8_MAXERRORS 20 ID 526 PROTOCOL 9 T_ABORT 1440

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 RAFOS_CORR_THRESH 60 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -1.7 RAFOS_DEVICE -1 T_DIVE 120

COMPASS_DEVICE 34 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE1 7 RAFOS_MMODEM 0 T_GPS 5

C_PITCH 2100 LOGGERDEVICE2 22 RAFOS_PEAK_OFFSET 0 T_LOITER 0

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 RELAUNCH 1 T_MISSION 150

C_ROLL_DIVE 2900 LOGGERDEVICE4 -1 RHO 1.0275 T_NO_W 120

C_VBD 2968 LOGGERS 3 ROLL_ADJ_DBAND 0 T_RSLEEP 3

DBDW 0 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 T_TURN 225

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_CNV 0.028270001 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_DEG 40 UNCOM_BLEED 20

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_MAX 3950 UPLOAD_DIVES_MAX -1

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_MAXERRORS 1 USE_BATHY -6

DEVICE3 -1 MASS 56164 ROLL_MIN 380 USE_ICE 0

DEVICE4 -1 MAXI_10V 1.5 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE5 -1 MAXI_24V 3 SC_NDIVE 1.0 VBD_DBAND 2

DEVICE6 -1 MAX_BUOY 150 SC_PROFILE 3.0 VBD_LP_IGNORE 0

DIVE 4 MINV_10V 11 SC_RECORDABOVE 2000.0 VBD_MAX 3960

D_ABORT 1010 MINV_24V 11 SC_XMITPROFILE 3.0 VBD_MAXERRORS 1

D_BOOST 2 MISSION 3 SEABIRD_C_G -9.9950848 VBD_MIN 495

D_CALL 0 MOTHERBOARD 6 SEABIRD_C_H 1.1366271 VBD_TIMEOUT 720

D_FINISH 0 NAV_MODE 2 SEABIRD_C_I -0.0016496443 W_ADJ_DBAND 0

D_FLARE 3 NOCOMM_ACTION 163 SEABIRD_C_J 0.00020141562 XPDR_DEVICE 0

D_NO_BLEED 200 N_DIVES 4 SEABIRD_T_G 0.0044055721 XPDR_INHIBIT 90

D_OFFGRID 1000 N_FILEKB 8 SEABIRD_T_H 0.0006405061 XPDR_VALID 5

D_PITCH 0 N_GPS 100440 SEABIRD_T_I 2.6551848e-05

Pre-dive calculations and measurements:

GPS1 290519,134103,5818.671,-2356.306,21,0.9,22,-12.0 TGT_LATLONG 5820.000,-2357.000

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 0.48 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -55.7 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 290519,134411,5818.689,-2356.385,32,1.1,33,-12.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 43.1,2500,-27.2,-10.000,-30.00

TGT_NAME C1 D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.6,1.026937 _24V_AH 14.67,4.490

SM_CCo 4793.99,176.30,1.053,0,1336.1,1385.1,1287.1,400.30 _10V_AH 14.69,0.000

SM_GC 0.43,176.30,6.09,0.95,1.053,0.079,0.109,1336.1,1385.1,1287.1,131.6,2914.4,0,0,0,12.36,15.92,15.91 FG_AHR_24Vo 1.948

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 1.061

IRIDIUM_FIX 5817.83,-2349.02,290519,133702 MEM 1134184,29,45420,49

TCM_TEMP 16.30 DATA_FILE_SIZE 20438,574

XPDR_PINGS 17 CAP_FILE_SIZE 142222,0

SC_FREEKB 3875232 SDSIZE 3918848,3907712

TM_FREEKB 7812576 SDFILEDIR 57,1

HUMID 52.78 ERRORS 0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.02 CURRENT 0.262,303.9,1

INTERNAL_PRESSURE 8.85413 GPS 290519,150512,5819.328,-2356.537,18,1.1,30,-12.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 524 1483 11425.20 nil 0 0 0.00

Pitch_motor 16 433 103.93 nil 0 0 0.00

Roll_motor 40 207 123.29 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 26.19 nil 0 0 0.00

GPS 42 15 9.29 nil 0 0 0.00

Core 1713 19 498.39 SciCon 4572 38 2566.15

LPSleep 3160 2 101.68 TMICL 4600 34 2312.92

Compass 986 5 72.43 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

8.23 2 -63.62 -0.93 0.00 1326.2 1363.6 1288.8 151.4 2928.5 0.00 0.00 0 123.61 110.05 0.00 0.09 0.005 0.000 0.207 3225.12 3308.88 3141.38 150.69 2848.44 0 0 0 15.66 30.00 15.77

123.85 295 -145.99 -1.03 40.00 3225.2 3309.6 3140.8 150.9 2848.2 1.69 -1.21 11 150.50 12.59 7.62 1.94 0.007 0.433 0.100 3560.59 3671.75 3449.44 1761.19 3972.19 0 0 0 15.59 15.44 15.73

372.17 1028 -145.99 -1.03 0.00 3561.9 3671.9 3451.9 1760.1 3971.9 45.59 -17.85 61 378.54 0.00 0.00 1.80 0.000 0.000 0.055 3562.12 3672.38 3451.88 1761.31 2858.00 0 0 0 30.00 30.00 15.77

557.75 260 -145.99 -1.03 40.00 3562.0 3672.1 3451.8 1760.6 2857.6 76.59 -16.81 80 563.39 0.00 0.00 1.92 0.000 0.000 0.098 3562.38 3672.31 3452.44 1752.44 3970.88 0 0 0 30.00 30.00 15.78

732.29 1028 -145.99 -1.03 0.00 3561.9 3672.0 3451.8 1752.0 3970.9 108.02 -18.17 115 738.58 0.00 0.00 1.80 0.000 0.000 0.055 3562.25 3671.88 3452.62 1752.19 2859.00 0 0 0 30.00 30.00 15.91

917.73 260 -145.99 -1.03 40.00 3561.7 3671.7 3451.8 1752.5 2858.9 139.61 -17.03 134 923.44 0.00 0.00 1.92 0.000 0.000 0.097 3562.34 3672.44 3452.25 1743.81 3970.88 0 0 0 30.00 30.00 15.77

1117.93 1028 -145.99 -1.03 0.00 3561.8 3671.6 3452.1 1743.6 3970.6 177.28 -19.30 174 1123.54 0.00 0.00 1.80 0.000 0.000 0.055 3562.28 3672.19 3452.38 1743.81 2858.06 0 0 0 30.00 30.00 15.90

1307.82 260 -145.99 -1.03 40.00 3561.8 3671.8 3451.8 1743.8 2857.3 211.42 -17.61 194 1313.53 0.00 0.00 1.93 0.000 0.000 0.097 3561.81 3671.81 3451.81 1735.44 3970.06 0 0 0 30.00 30.00 15.83

1532.56 1157 -145.99 -1.01 0.00 3561.9 3671.7 3452.1 1735.2 3971.6 254.78 -19.42 239 1538.99 0.00 0.15 1.80 0.000 0.277 0.056 3563.25 3672.69 3453.81 1776.00 2859.50 0 0 0 30.00 15.84 15.94

1847.93 388 -145.99 -1.04 40.00 3561.6 3671.8 3451.4 1776.5 2858.8 304.19 -15.09 257 1853.64 0.00 0.00 1.93 0.000 0.000 0.101 3561.62 3671.81 3451.44 1769.00 3968.88 0 0 0 30.00 30.00 15.86

2077.66 1028 -145.99 -1.04 0.00 3561.4 3671.3 3451.5 1768.6 3969.4 341.15 -16.22 303 2083.34 0.00 0.00 1.80 0.000 0.000 0.055 3561.44 3671.31 3451.56 1768.81 2859.56 0 0 0 30.00 30.00 15.95

2208 end dive: TARGET_DEPTH_EXCEEDED

state 2208 begin apogee

2209.97 3 0.00 -0.16 0.00 3561.8 3671.5 3452.2 1768.7 2355.4 360.94 -15.09 311 2330.48 113.64 0.94 0.12 1.484 0.223 0.174 2967.56 3096.94 2838.19 2051.38 2427.44 0 0 0 12.38 15.75 15.22

2333 end apogee: CONTROL_FINISHED_OK

state 2333 begin climb

2333.45 519 145.99 1.03 -40.00 2964.4 3094.4 2834.4 2050.6 2428.0 363.80 0.00 317 2466.37 112.36 1.03 2.57 1.450 0.043 0.068 2372.38 2468.00 2276.75 2469.56 955.44 0 0 0 12.16 15.41 14.91

2673.05 1159 145.99 0.94 0.00 2363.5 2461.6 2265.4 2469.8 954.6 308.78 21.91 381 2679.49 0.00 0.31 2.53 0.000 0.329 0.080 2363.47 2461.81 2265.12 2392.69 2423.00 0 0 0 30.00 15.56 15.67

2988.65 130 145.99 0.88 0.00 2361.1 2461.9 2260.2 2392.3 2422.5 249.53 18.34 399 2991.60 0.00 0.00 0.00 0.000 0.000 0.000 2359.94 2461.06 2258.81 2392.62 2423.50 0 0 0 30.00 30.00 30.00

3168.60 130 145.99 0.82 0.00 2360.9 2462.2 2259.7 2392.8 2423.1 216.52 18.02 417 3171.48 0.00 0.00 0.00 0.000 0.000 0.000 2359.97 2461.69 2258.25 2392.94 2423.00 0 0 0 30.00 30.00 30.00

3348.64 131 145.99 0.76 0.00 2360.4 2462.0 2258.8 2392.6 2423.5 184.23 17.61 435 3351.64 0.00 0.20 0.00 0.000 0.299 0.000 2361.69 2462.31 2261.06 2335.62 2423.44 0 0 0 30.00 15.78 30.00

3528.55 2 145.99 0.76 0.00 2360.2 2462.1 2258.2 2336.8 2423.2 156.90 15.21 453 3531.42 0.00 0.00 0.00 0.000 0.000 0.000 2358.94 2460.62 2257.25 2336.88 2422.94 0 0 0 30.00 30.00 30.00

3708.74 262 145.99 0.76 40.00 2360.1 2462.2 2258.1 2337.2 2422.9 129.46 15.05 471 3714.46 0.00 0.00 2.41 0.000 0.000 0.097 2362.38 2464.06 2260.69 2325.69 3832.94 0 0 0 30.00 30.00 15.83

3748.84 1158 145.99 0.73 0.00 2360.2 2462.3 2258.2 2325.9 3832.9 122.78 16.99 479 3754.48 0.00 0.00 2.42 0.000 0.000 0.059 2360.47 2462.88 2258.06 2336.62 2368.56 0 0 0 30.00 30.00 15.87

3938.81 2 145.99 0.73 0.00 2359.9 2462.4 2257.4 2335.6 2361.5 94.28 14.86 499 3941.68 0.00 0.00 0.00 0.000 0.000 0.000 2358.41 2460.81 2256.00 2336.12 2361.31 0 0 0 30.00 30.00 30.00

4118.80 262 145.99 0.73 40.00 2359.6 2462.5 2256.7 2336.0 2361.5 67.77 14.50 517 4124.57 0.00 0.00 2.56 0.000 0.000 0.102 2360.66 2463.81 2257.50 2327.44 3832.19 0 0 0 30.00 30.00 15.83

4138.75 1158 145.99 0.70 0.00 2359.4 2462.2 2256.6 2326.6 3832.1 64.64 15.27 521 4144.61 0.00 0.00 2.40 0.000 0.000 0.059 2362.72 2465.50 2259.94 2334.19 2367.31 0 0 0 30.00 30.00 15.86

4328.71 2 145.99 0.70 0.00 2359.1 2462.6 2255.6 2336.2 2360.3 37.52 14.03 541 4331.59 0.00 0.00 0.00 0.000 0.000 0.000 2357.31 2460.62 2254.00 2336.38 2360.12 0 0 0 30.00 30.00 30.00

4508.93 262 145.99 0.70 40.00 2358.7 2462.2 2255.2 2336.2 2360.6 12.85 12.79 559 4514.70 0.00 0.00 2.54 0.000 0.000 0.097 2359.69 2463.25 2256.12 2326.62 3830.88 0 0 0 30.00 30.00 15.75

4568.90 1158 145.99 0.67 0.00 2358.8 2462.4 2255.2 2327.1 3831.1 3.40 16.31 571 4574.64 0.00 0.00 2.41 0.000 0.000 0.058 2359.44 2463.12 2255.75 2337.00 2367.56 0 0 0 30.00 30.00 15.79

4579 end climb: SURFACE_DEPTH_REACHED

state 4579 begin surface coast

4589 end surface coast: CONTROL_FINISHED_OK

state 4589 begin surface

ID	526	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	XPDR_VALID	5
DIVE	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	4	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1.7
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_FLARE	3	SM_CC	400	VBD_MIN	495	DEEPGLIDERMB	0
D_TGT	360	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
D_ABORT	1010	FILEMGR	0	C_VBD	2968	DEVICE1	-1
D_NO_BLEED	200	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_BOOST	2	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_FINISH	0	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	LOGGERDEVICE1	7
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	0	LOGGERDEVICE2	22
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_DIVE	120	CAPMAXSIZE	100000	LOITER_DBDW	0	COMPASS_DEVICE	34
T_MISSION	150	T_GPS	5	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_TURN	225	T_RSLEEP	3	LOITER_N_DIVE	0	GPS_DEVICE	48
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	350	XPDR_DEVICE	0
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	SIM_W	0
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_G	0.0044055721
USE_BATHY	-6	RAFOS_MMODEM	0	MINV_10V	11	SEABIRD_T_H	0.0006405061
USE_ICE	0	PITCH_MIN	150	MAXI_24V	3	SEABIRD_T_I	2.6551848e-05
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3615	MAXI_10V	1.5	SEABIRD_T_J	3.2829232e-06
D_OFFGRID	1000	C_PITCH	2100	FG_AHR_10V	1.012044	SEABIRD_C_G	-9.9950848
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	1.8530744	SEABIRD_C_H	1.1366271
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	PHONE_SUPPLY	1	SEABIRD_C_I	-0.0016496443
MAX_BUOY	150	PITCH_GAIN	32	PRESSURE_YINT	-158.14241	SEABIRD_C_J	0.00020141562
GLIDE_SLOPE	30	PITCH_TIMEOUT	15	PRESSURE_SLOPE	0.00010960381	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	4	SC_PROFILE	3.0
RHO	1.0275	PITCH_ADJ_GAIN	0.0099999998	ALTIM_PING_FIT	0	SC_XMITPROFILE	3.0
MASS	56164	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SC_NDIVE	1.0
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	TM_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	TM_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	380	ALTIM_TOP_MIN_OBSTACLE	1	TM_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3950	ALTIM_PING_DEPTH	0	TM_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	40	ALTIM_PING_DELTA	0	TM_XMITRAW	0.0
HD_C	1.6e-05	C_ROLL_DIVE	2900	ALTIM_FREQUENCY	13	TM_LOGSAMPLE	0.0
HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_PULSE	3

GPS1	290519,134103,5818.671,-2356.306,21,0.9,22,-12.0	TGT_LATLONG	5820.000,-2357.000
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	0.48	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-55.7	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	290519,134411,5818.689,-2356.385,32,1.1,33,-12.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	43.1,2500,-27.2,-10.000,-30.00
TGT_NAME	C1	D_GRID	1000

FINISH	0.6,1.026937	_24V_AH	14.67,4.490
SM_CCo	4793.99,176.30,1.053,0,1336.1,1385.1,1287.1,400.30	_10V_AH	14.69,0.000
SM_GC	0.43,176.30,6.09,0.95,1.053,0.079,0.109,1336.1,1385.1,1287.1,131.6,2914.4,0,0,0,12.36,15.92,15.91	FG_AHR_24Vo	1.948
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	1.061
IRIDIUM_FIX	5817.83,-2349.02,290519,133702	MEM	1134184,29,45420,49
TCM_TEMP	16.30	DATA_FILE_SIZE	20438,574
XPDR_PINGS	17	CAP_FILE_SIZE	142222,0
SC_FREEKB	3875232	SDSIZE	3918848,3907712
TM_FREEKB	7812576	SDFILEDIR	57,1
HUMID	52.78	ERRORS	0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.02	CURRENT	0.262,303.9,1
INTERNAL_PRESSURE	8.85413	GPS	290519,150512,5819.328,-2356.537,18,1.1,30,-12.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	524	1483	11425.20	nil	0	0	0.00
Pitch_motor	16	433	103.93	nil	0	0	0.00
Roll_motor	40	207	123.29	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	26.19	nil	0	0	0.00
GPS	42	15	9.29	nil	0	0	0.00
Core	1713	19	498.39	SciCon	4572	38	2566.15
LPSleep	3160	2	101.68	TMICL	4600	34	2312.92
Compass	986	5	72.43	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
8.23	2	-63.62	-0.93	0.00	1326.2	1363.6	1288.8	151.4	2928.5	0.00	0.00	0	123.61	110.05	0.00	0.09	0.005	0.000	0.207	3225.12	3308.88	3141.38	150.69	2848.44	0	0	0	15.66	30.00	15.77
123.85	295	-145.99	-1.03	40.00	3225.2	3309.6	3140.8	150.9	2848.2	1.69	-1.21	11	150.50	12.59	7.62	1.94	0.007	0.433	0.100	3560.59	3671.75	3449.44	1761.19	3972.19	0	0	0	15.59	15.44	15.73
372.17	1028	-145.99	-1.03	0.00	3561.9	3671.9	3451.9	1760.1	3971.9	45.59	-17.85	61	378.54	0.00	0.00	1.80	0.000	0.000	0.055	3562.12	3672.38	3451.88	1761.31	2858.00	0	0	0	30.00	30.00	15.77
557.75	260	-145.99	-1.03	40.00	3562.0	3672.1	3451.8	1760.6	2857.6	76.59	-16.81	80	563.39	0.00	0.00	1.92	0.000	0.000	0.098	3562.38	3672.31	3452.44	1752.44	3970.88	0	0	0	30.00	30.00	15.78
732.29	1028	-145.99	-1.03	0.00	3561.9	3672.0	3451.8	1752.0	3970.9	108.02	-18.17	115	738.58	0.00	0.00	1.80	0.000	0.000	0.055	3562.25	3671.88	3452.62	1752.19	2859.00	0	0	0	30.00	30.00	15.91
917.73	260	-145.99	-1.03	40.00	3561.7	3671.7	3451.8	1752.5	2858.9	139.61	-17.03	134	923.44	0.00	0.00	1.92	0.000	0.000	0.097	3562.34	3672.44	3452.25	1743.81	3970.88	0	0	0	30.00	30.00	15.77
1117.93	1028	-145.99	-1.03	0.00	3561.8	3671.6	3452.1	1743.6	3970.6	177.28	-19.30	174	1123.54	0.00	0.00	1.80	0.000	0.000	0.055	3562.28	3672.19	3452.38	1743.81	2858.06	0	0	0	30.00	30.00	15.90
1307.82	260	-145.99	-1.03	40.00	3561.8	3671.8	3451.8	1743.8	2857.3	211.42	-17.61	194	1313.53	0.00	0.00	1.93	0.000	0.000	0.097	3561.81	3671.81	3451.81	1735.44	3970.06	0	0	0	30.00	30.00	15.83
1532.56	1157	-145.99	-1.01	0.00	3561.9	3671.7	3452.1	1735.2	3971.6	254.78	-19.42	239	1538.99	0.00	0.15	1.80	0.000	0.277	0.056	3563.25	3672.69	3453.81	1776.00	2859.50	0	0	0	30.00	15.84	15.94
1847.93	388	-145.99	-1.04	40.00	3561.6	3671.8	3451.4	1776.5	2858.8	304.19	-15.09	257	1853.64	0.00	0.00	1.93	0.000	0.000	0.101	3561.62	3671.81	3451.44	1769.00	3968.88	0	0	0	30.00	30.00	15.86
2077.66	1028	-145.99	-1.04	0.00	3561.4	3671.3	3451.5	1768.6	3969.4	341.15	-16.22	303	2083.34	0.00	0.00	1.80	0.000	0.000	0.055	3561.44	3671.31	3451.56	1768.81	2859.56	0	0	0	30.00	30.00	15.95
2208	end dive: TARGET_DEPTH_EXCEEDED
state	2208	begin apogee
2209.97	3	0.00	-0.16	0.00	3561.8	3671.5	3452.2	1768.7	2355.4	360.94	-15.09	311	2330.48	113.64	0.94	0.12	1.484	0.223	0.174	2967.56	3096.94	2838.19	2051.38	2427.44	0	0	0	12.38	15.75	15.22
2333	end apogee: CONTROL_FINISHED_OK
state	2333	begin climb
2333.45	519	145.99	1.03	-40.00	2964.4	3094.4	2834.4	2050.6	2428.0	363.80	0.00	317	2466.37	112.36	1.03	2.57	1.450	0.043	0.068	2372.38	2468.00	2276.75	2469.56	955.44	0	0	0	12.16	15.41	14.91
2673.05	1159	145.99	0.94	0.00	2363.5	2461.6	2265.4	2469.8	954.6	308.78	21.91	381	2679.49	0.00	0.31	2.53	0.000	0.329	0.080	2363.47	2461.81	2265.12	2392.69	2423.00	0	0	0	30.00	15.56	15.67
2988.65	130	145.99	0.88	0.00	2361.1	2461.9	2260.2	2392.3	2422.5	249.53	18.34	399	2991.60	0.00	0.00	0.00	0.000	0.000	0.000	2359.94	2461.06	2258.81	2392.62	2423.50	0	0	0	30.00	30.00	30.00
3168.60	130	145.99	0.82	0.00	2360.9	2462.2	2259.7	2392.8	2423.1	216.52	18.02	417	3171.48	0.00	0.00	0.00	0.000	0.000	0.000	2359.97	2461.69	2258.25	2392.94	2423.00	0	0	0	30.00	30.00	30.00
3348.64	131	145.99	0.76	0.00	2360.4	2462.0	2258.8	2392.6	2423.5	184.23	17.61	435	3351.64	0.00	0.20	0.00	0.000	0.299	0.000	2361.69	2462.31	2261.06	2335.62	2423.44	0	0	0	30.00	15.78	30.00
3528.55	2	145.99	0.76	0.00	2360.2	2462.1	2258.2	2336.8	2423.2	156.90	15.21	453	3531.42	0.00	0.00	0.00	0.000	0.000	0.000	2358.94	2460.62	2257.25	2336.88	2422.94	0	0	0	30.00	30.00	30.00
3708.74	262	145.99	0.76	40.00	2360.1	2462.2	2258.1	2337.2	2422.9	129.46	15.05	471	3714.46	0.00	0.00	2.41	0.000	0.000	0.097	2362.38	2464.06	2260.69	2325.69	3832.94	0	0	0	30.00	30.00	15.83
3748.84	1158	145.99	0.73	0.00	2360.2	2462.3	2258.2	2325.9	3832.9	122.78	16.99	479	3754.48	0.00	0.00	2.42	0.000	0.000	0.059	2360.47	2462.88	2258.06	2336.62	2368.56	0	0	0	30.00	30.00	15.87
3938.81	2	145.99	0.73	0.00	2359.9	2462.4	2257.4	2335.6	2361.5	94.28	14.86	499	3941.68	0.00	0.00	0.00	0.000	0.000	0.000	2358.41	2460.81	2256.00	2336.12	2361.31	0	0	0	30.00	30.00	30.00
4118.80	262	145.99	0.73	40.00	2359.6	2462.5	2256.7	2336.0	2361.5	67.77	14.50	517	4124.57	0.00	0.00	2.56	0.000	0.000	0.102	2360.66	2463.81	2257.50	2327.44	3832.19	0	0	0	30.00	30.00	15.83
4138.75	1158	145.99	0.70	0.00	2359.4	2462.2	2256.6	2326.6	3832.1	64.64	15.27	521	4144.61	0.00	0.00	2.40	0.000	0.000	0.059	2362.72	2465.50	2259.94	2334.19	2367.31	0	0	0	30.00	30.00	15.86
4328.71	2	145.99	0.70	0.00	2359.1	2462.6	2255.6	2336.2	2360.3	37.52	14.03	541	4331.59	0.00	0.00	0.00	0.000	0.000	0.000	2357.31	2460.62	2254.00	2336.38	2360.12	0	0	0	30.00	30.00	30.00
4508.93	262	145.99	0.70	40.00	2358.7	2462.2	2255.2	2336.2	2360.6	12.85	12.79	559	4514.70	0.00	0.00	2.54	0.000	0.000	0.097	2359.69	2463.25	2256.12	2326.62	3830.88	0	0	0	30.00	30.00	15.75
4568.90	1158	145.99	0.67	0.00	2358.8	2462.4	2255.2	2327.1	3831.1	3.40	16.31	571	4574.64	0.00	0.00	2.41	0.000	0.000	0.058	2359.44	2463.12	2255.75	2337.00	2367.56	0	0	0	30.00	30.00	15.79
4579	end climb: SURFACE_DEPTH_REACHED
state	4579	begin surface coast
4589	end surface coast: CONTROL_FINISHED_OK
state	4589	begin surface