Glider dive log

Shilshole 21May21 * SG526 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 526 TGT_DEFAULT_LAT 4736 VBD_MIN 500 MOTHERBOARD 6

MISSION 1 TGT_DEFAULT_LON -12218 VBD_MAX 3960 DEVICE1 10

DIVE 5 TGT_AUTO_DEFAULT 0 C_VBD 3000 DEVICE2 -1

N_DIVES 5 SM_CC 692.04858 VBD_DBAND 2 DEVICE3 -1

STOP_T 0 N_FILEKB 8 VBD_CNV -0.24529999 DEVICE4 -1

D_SURF 2 FILEMGR 0 VBD_LP_IGNORE 0 DEVICE5 -1

D_FLARE 3 CALL_NDIVES 1 VBD_TIMEOUT 720 DEVICE6 -1

D_TGT 120 COMM_SEQ 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 7

D_ABORT 150 PROTOCOL 9 UNCOM_BLEED 20 LOGGERDEVICE1 6

D_NO_BLEED 50 N_NOCOMM 2 VBD_MAXERRORS 1 LOGGERDEVICE2 33

D_BOOST 3 NOCOMM_ACTION 163 W_ADJ_DBAND 0 LOGGERDEVICE3 19

T_BOOST 0 N_NOSURFACE 0 DBDW 0 LOGGERDEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 LOITER_W_DBAND 0 COMPASS_DEVICE 34

D_PITCH 0 CALL_TRIES 5 LOITER_DBDW 0 COMPASS2_DEVICE -1

D_SAFE 0 CALL_WAIT 60 LOITER_D_TOP 0 PHONE_DEVICE 33

D_CALL 0 CAPUPLOAD 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

SURFACE_URGENCY 0 CAPMAXSIZE 100000 LOITER_N_DIVE 0 RAFOS_DEVICE -1

SURFACE_URGENCY_TRY 0 T_GPS 5 CF8_MAXERRORS 20 NETWORK_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 AH0_24V 350 PRESSURE_DEVICE 41

T_DIVE 40 T_RSLEEP 1 AH0_10V 0 XPDR_DEVICE 21

T_MISSION 55 STROBE 0 MINV_24V 11 SIM_W 0

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 MINV_10V 11 SEABIRD_T_G 0.0044235685

T_TURN 225 RAFOS_CORR_THRESH 60 MAXI_24V 3 SEABIRD_T_H 0.00064556737

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 MAXI_10V 1.5 SEABIRD_T_I 2.6826387e-05

T_NO_W 120 RAFOS_MMODEM 0 FG_AHR_10V 0.89655226 SEABIRD_T_J 3.279775e-06

T_LOITER 0 PITCH_MIN 150 FG_AHR_24V 1.0836695 SEABIRD_C_G -9.9535656

T_EPIRB 0 PITCH_MAX 3615 PHONE_SUPPLY 2 SEABIRD_C_H 1.1462348

USE_BATHY -6 C_PITCH 2350 PRESSURE_YINT -76.975746 SEABIRD_C_I -0.0028440969

USE_ICE 0 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00010960381 SEABIRD_C_J 0.00028079707

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.0041299998 COMPASS_USE 4 SC_RECORDABOVE 2000.0

D_OFFGRID 200 PITCH_GAIN 25 ALTIM_PING_FIT 0 SC_PROFILE 7.0

RELAUNCH 1 PITCH_TIMEOUT 30 ALTIM_TOP_PING_RANGE 0 SC_XMITPROFILE 3.0

APOGEE_PITCH -5 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0 SC_NDIVE 1.0

MAX_BUOY 150 PITCH_ADJ_GAIN 0.015 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 7.0

SPEED_FACTOR 1 PITCH_W_GAIN 0 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 3.0

RHO 1.023 PITCH_W_DBAND 0 ALTIM_PING_DELTA 0 PM_NDIVE 1.0

MASS 55935 ROLL_MIN 380 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

NAV_MODE 2 ROLL_MAX 3950 ALTIM_PULSE 3 PM_MOTORS 1.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 XPDR_VALID 4 TM_RECORDABOVE 2000.0

HD_A 0.003 C_ROLL_CLIMB 1800 XPDR_INHIBIT 90 TM_PROFILE 3.0

HD_B 0.0099999998 HEAD_ERRBAND 10 XPDR_INT 0 TM_XMITPROFILE 3.0

HD_C 1.6e-05 ROLL_CNV 0.054945 XPDR_REP 0 TM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 1.9639999e-06 TM_XMITRAW 0.0

ESCAPE_HEADING 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -1 TM_LOGSAMPLE 0.0

ESCAPE_HEADING_DELTA 10 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

FIX_MISSING_TIMEOUT 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

AH0_10V 0 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.015 SEABIRD_T_J 3.279775e-06

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0041299998 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_DBAND 0.1 SM_CC 692.04858

ALTIM_FREQUENCY 13 FG_AHR_10V 0.89655226 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FG_AHR_24V 1.0836695 PITCH_MAX 3615 STOP_T 0

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PING_FIT 0 FIX_MISSING_TIMEOUT 0 PITCH_MIN 150 SURFACE_URGENCY 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_TIMEOUT 30 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 48 PITCH_VBD_SHIFT 0.0012300001 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 HD_A 0.003 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 HD_B 0.0099999998 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 HD_C 1.6e-05 PM_MOTORS 1.0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HEADING -1 PM_NDIVE 1.0 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 HEAD_ERRBAND 10 PM_PROFILE 7.0 TM_NDIVE 1.0

CALL_TRIES 5 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TM_PROFILE 3.0

CALL_WAIT 60 ID 526 PM_SENDDEPTH 1.0 TM_RECORDABOVE 2000.0

CAPMAXSIZE 100000 INT_PRESSURE_SLOPE 1.9639999e-06 PM_XMITPROFILE 3.0 TM_XMITPROFILE 3.0

CAPUPLOAD 0 INT_PRESSURE_YINT -1 PM_XMITRAW 0.0 TM_XMITRAW 0.0

CF8_MAXERRORS 20 KALMAN_USE 2 PRESSURE_DEVICE 41 T_ABORT 1440

COMM_SEQ 0 LOGGERDEVICE1 6 PRESSURE_SLOPE 0.00010960381 T_BOOST 0

COMPASS2_DEVICE -1 LOGGERDEVICE2 33 PRESSURE_YINT -76.975746 T_DIVE 40

COMPASS_DEVICE 34 LOGGERDEVICE3 19 PROTOCOL 9 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH 2350 LOGGERS 7 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 1800 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_MISSION 55

C_ROLL_DIVE 2200 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 3000 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 T_RSLEEP 1

DBDW 0 LOITER_N_DIVE 0 RELAUNCH 1 T_TURN 225

DEEPGLIDER 0 LOITER_W_DBAND 0 RHO 1.023 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 MASS 55935 ROLL_ADJ_DBAND 0 UNCOM_BLEED 20

DEVICE1 10 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 MAXI_24V 3 ROLL_CNV 0.054945 USE_BATHY -6

DEVICE3 -1 MAX_BUOY 150 ROLL_DEG 40 USE_ICE 0

DEVICE4 -1 MINV_10V 11 ROLL_MAX 3950 VBD_CNV -0.24529999

DEVICE5 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE6 -1 MISSION 1 ROLL_MIN 380 VBD_LP_IGNORE 0

DIVE 5 MOTHERBOARD 6 ROLL_TIMEOUT 15 VBD_MAX 3960

D_ABORT 150 NAV_MODE 2 SC_NDIVE 1.0 VBD_MAXERRORS 1

D_BOOST 3 NETWORK_DEVICE -1 SC_PROFILE 7.0 VBD_MIN 500

D_CALL 0 NOCOMM_ACTION 163 SC_RECORDABOVE 2000.0 VBD_TIMEOUT 720

D_FINISH 0 N_DIVES 5 SC_XMITPROFILE 3.0 W_ADJ_DBAND 0

D_FLARE 3 N_FILEKB 8 SEABIRD_C_G -9.9535656 XPDR_DEVICE 21

D_NO_BLEED 50 N_GPS 100440 SEABIRD_C_H 1.1462348 XPDR_INHIBIT 90

D_OFFGRID 200 N_NOCOMM 2 SEABIRD_C_I -0.0028440969 XPDR_INT 0

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00028079707 XPDR_REP 0

D_SAFE 0 PHONE_DEVICE 33 SEABIRD_T_G 0.0044235685 XPDR_VALID 4

D_SURF 2 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064556737

D_TGT 120 PITCH_ADJ_DBAND 1 SEABIRD_T_I 2.6826387e-05

Pre-dive calculations and measurements:

GPS1 210521,194433,4743.480,-12224.673,30,0.9,31,15.5 TGT_RADIUS 100.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.23 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210521,195233,4743.514,-12224.632,28,1.1,29,15.5 MHEAD_RNG_PITCHd_Wd 98.5,1235,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 174

TGT_NAME SE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,59.000000,105.000000,17.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

FINISH 1.5,1.021784 _10V_AH 14.84,0.000

SM_CCo 3269.05,31.70,0.981,0,500.7,459.1,542.3,613.08 FG_AHR_24Vo 1.261

SM_GC 0.23,31.70,7.26,1.97,0.981,0.066,0.041,500.7,459.1,542.3,131.6,2230.6,0,0,0,12.22,15.64,15.68 FG_AHR_10Vo 0.948

SUPER 27,71,254,1,0,0 MEM0 60868,1,0,0

IRIDIUM_FIX 4746.63,-12412.52,210521,194613 MEM1 65508,1,0,0

TCM_TEMP 19.20 MEM2 998556,17,48372,65

XPDR_PINGS 30,14.5,10.5 DATA_FILE_SIZE 16138,501

SC_FREEKB 3876800 CAP_FILE_SIZE 131308,0

PM_FREEKB_00 62150080 SDSIZE 4028416,4018048

PM_FREEKB_01 62342912 SDFILEDIR 58,1

TM_FREEKB 7732096 ERRORS 0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0

HUMID 55.30 CURRENT 0.064,207.2,1

TEMP 9.82 IMPLIED_C_PITCH 2456,20.17,203

INTERNAL_PRESSURE 8.3881 IMPLIED_C_VBD 2770,189.439362,179

_24V_AH 14.79,1.499 GPS 210521,204832,4743.360,-12224.712,29,0.8,37,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 709 1230 12899.12 SBE_CT 0 0 0.00

Pitch_motor 19 440 124.85 nil 0 0 0.00

Roll_motor 21 116 36.40 nil 0 0 0.00

Iridium 304 164 741.52 nil 0 0 0.00

Transponder_ping 7 420 46.59 nil 0 0 0.00

GPS 38 15 8.49 nil 0 0 0.00

Core 2049 11 358.83 SciCon 3228 20 971.05

LPSleep 1500 2 62.36 PMAR 3236 7 338.89

Compass 920 5 68.33 TMICL 3236 22 1095.68

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

11.21 16386 -146.63 -0.88 0.00 500.1 454.3 545.9 125.6 2131.8 0.00 0.00 0 156.77 138.72 0.00 0.17 0.005 0.000 0.117 3596.44 3519.38 3673.50 125.00 2255.75 0 0 0 15.52 30.00 15.68

157.01 2341 -146.63 -0.88 40.00 3596.8 3520.1 3673.4 125.1 2256.3 2.95 -2.08 14 174.28 0.00 10.06 1.11 0.000 0.441 0.049 3598.91 3520.38 3677.44 2130.50 2961.06 0 0 0 30.00 15.59 15.75

401.71 3237 -146.63 -0.67 0.00 3601.8 3519.4 3684.1 2130.1 2959.9 29.45 -9.03 63 408.54 0.00 0.22 1.28 0.000 0.285 0.032 3601.88 3519.56 3684.19 2187.88 2159.88 0 0 0 30.00 15.73 15.87

597.07 2469 -146.63 -0.55 40.00 3601.8 3518.7 3684.9 2186.9 2152.2 45.10 -7.62 83 603.33 0.00 0.10 1.33 0.000 0.276 0.055 3602.91 3519.94 3685.88 2212.88 2957.88 0 0 0 30.00 15.78 15.84

831.92 1188 -146.63 -0.48 0.00 3601.8 3519.4 3684.2 2211.9 2956.5 60.91 -6.52 130 838.60 0.00 0.00 1.28 0.000 0.000 0.032 3602.44 3519.38 3685.50 2212.81 2158.44 0 0 0 30.00 30.00 15.90

1027.14 2469 -146.63 -0.41 40.00 3601.9 3519.2 3684.6 2212.2 2152.4 73.30 -6.32 150 1033.46 0.00 0.14 1.33 0.000 0.240 0.054 3602.81 3519.44 3686.19 2247.81 2956.69 0 0 0 30.00 15.81 15.88

1262.03 1060 -146.63 -0.41 0.00 3602.1 3519.1 3685.1 2249.6 2956.7 85.31 -4.85 197 1268.72 0.00 0.00 1.28 0.000 0.000 0.034 3601.75 3519.12 3684.38 2249.50 2163.44 0 0 0 30.00 30.00 15.88

1459.83 676 -146.63 -0.51 -40.00 3602.0 3519.2 3684.8 2249.1 2156.9 90.16 -2.13 217 1467.52 0.00 0.00 1.15 0.000 0.000 0.042 3602.47 3519.50 3685.44 2249.06 1432.50 0 0 0 30.00 30.00 15.89

1655 end dive: HALF_MISSION_TIME_EXCEEDED

state 1655 begin apogee

1656.67 10243 0.00 -0.20 0.00 3601.4 3518.4 3684.4 2248.4 1843.4 90.17 0.00 256 1774.70 112.06 0.17 0.14 1.230 0.117 0.107 2999.47 2879.19 3119.75 2315.00 1745.94 0 0 0 12.25 15.87 15.25

1776 end apogee: CONTROL_FINISHED_OK

state 1776 begin climb

1776.30 10503 146.63 0.88 40.00 2997.4 2878.2 3116.5 2314.6 1746.0 90.15 0.00 268 1895.22 110.41 0.78 1.40 1.194 0.129 0.046 2401.31 2288.88 2513.75 2569.19 2558.25 0 0 0 12.05 15.34 15.13

2125.42 11431 295.54 1.14 0.00 2394.6 2284.1 2505.1 2569.3 2559.5 81.36 3.10 336 2243.46 109.14 0.14 1.32 1.163 0.063 0.039 1793.78 1695.19 1892.38 2659.44 1759.50 0 0 0 12.20 15.64 15.63

2426.24 8742 365.07 1.23 -40.00 1790.2 1695.2 1885.2 2659.4 1759.8 62.66 6.78 378 2483.39 52.20 0.00 1.18 1.102 0.000 0.053 1511.28 1418.31 1604.25 2664.81 1043.06 0 0 0 12.19 30.00 15.31

2527.00 9382 445.95 1.37 0.00 1508.1 1418.1 1598.1 2664.8 1042.9 56.30 6.25 398 2593.87 60.24 0.00 1.33 1.089 0.000 0.037 1181.53 1103.62 1259.44 2665.06 1837.19 0 0 0 12.13 30.00 15.52

2776.77 10919 513.40 1.49 -40.00 1178.8 1103.5 1254.2 2664.9 1837.1 39.32 6.88 430 2833.95 50.01 0.14 1.37 1.045 0.071 0.052 906.94 833.69 980.19 2743.31 1044.44 0 0 0 12.27 15.63 15.35

2901.40 13351 528.87 1.51 0.00 904.4 833.2 975.7 2743.8 1044.5 27.73 9.28 455 2922.68 13.31 0.12 1.32 0.894 0.203 0.036 844.31 773.94 914.69 2708.56 1839.25 0 0 0 12.16 15.49 15.56

3106.76 8742 569.53 1.56 -40.00 843.5 772.7 914.2 2708.1 1843.9 10.14 8.12 478 3143.62 31.22 0.00 1.37 0.961 0.000 0.053 677.97 606.44 749.50 2711.12 1043.88 0 0 0 12.18 30.00 15.48

3217 end climb: SURFACE_DEPTH_REACHED

state 3217 begin surface coast

3222 end surface coast: CONTROL_FINISHED_OK

state 3222 begin surface

ID	526	TGT_DEFAULT_LAT	4736	VBD_MIN	500	MOTHERBOARD	6
MISSION	1	TGT_DEFAULT_LON	-12218	VBD_MAX	3960	DEVICE1	10
DIVE	5	TGT_AUTO_DEFAULT	0	C_VBD	3000	DEVICE2	-1
N_DIVES	5	SM_CC	692.04858	VBD_DBAND	2	DEVICE3	-1
STOP_T	0	N_FILEKB	8	VBD_CNV	-0.24529999	DEVICE4	-1
D_SURF	2	FILEMGR	0	VBD_LP_IGNORE	0	DEVICE5	-1
D_FLARE	3	CALL_NDIVES	1	VBD_TIMEOUT	720	DEVICE6	-1
D_TGT	120	COMM_SEQ	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	7
D_ABORT	150	PROTOCOL	9	UNCOM_BLEED	20	LOGGERDEVICE1	6
D_NO_BLEED	50	N_NOCOMM	2	VBD_MAXERRORS	1	LOGGERDEVICE2	33
D_BOOST	3	NOCOMM_ACTION	163	W_ADJ_DBAND	0	LOGGERDEVICE3	19
T_BOOST	0	N_NOSURFACE	0	DBDW	0	LOGGERDEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	LOITER_W_DBAND	0	COMPASS_DEVICE	34
D_PITCH	0	CALL_TRIES	5	LOITER_DBDW	0	COMPASS2_DEVICE	-1
D_SAFE	0	CALL_WAIT	60	LOITER_D_TOP	0	PHONE_DEVICE	33
D_CALL	0	CAPUPLOAD	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
SURFACE_URGENCY	0	CAPMAXSIZE	100000	LOITER_N_DIVE	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_TRY	0	T_GPS	5	CF8_MAXERRORS	20	NETWORK_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	AH0_24V	350	PRESSURE_DEVICE	41
T_DIVE	40	T_RSLEEP	1	AH0_10V	0	XPDR_DEVICE	21
T_MISSION	55	STROBE	0	MINV_24V	11	SIM_W	0
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	MINV_10V	11	SEABIRD_T_G	0.0044235685
T_TURN	225	RAFOS_CORR_THRESH	60	MAXI_24V	3	SEABIRD_T_H	0.00064556737
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	MAXI_10V	1.5	SEABIRD_T_I	2.6826387e-05
T_NO_W	120	RAFOS_MMODEM	0	FG_AHR_10V	0.89655226	SEABIRD_T_J	3.279775e-06
T_LOITER	0	PITCH_MIN	150	FG_AHR_24V	1.0836695	SEABIRD_C_G	-9.9535656
T_EPIRB	0	PITCH_MAX	3615	PHONE_SUPPLY	2	SEABIRD_C_H	1.1462348
USE_BATHY	-6	C_PITCH	2350	PRESSURE_YINT	-76.975746	SEABIRD_C_I	-0.0028440969
USE_ICE	0	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00010960381	SEABIRD_C_J	0.00028079707
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.0041299998	COMPASS_USE	4	SC_RECORDABOVE	2000.0
D_OFFGRID	200	PITCH_GAIN	25	ALTIM_PING_FIT	0	SC_PROFILE	7.0
RELAUNCH	1	PITCH_TIMEOUT	30	ALTIM_TOP_PING_RANGE	0	SC_XMITPROFILE	3.0
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0	SC_NDIVE	1.0
MAX_BUOY	150	PITCH_ADJ_GAIN	0.015	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	7.0
SPEED_FACTOR	1	PITCH_W_GAIN	0	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	3.0
RHO	1.023	PITCH_W_DBAND	0	ALTIM_PING_DELTA	0	PM_NDIVE	1.0
MASS	55935	ROLL_MIN	380	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
NAV_MODE	2	ROLL_MAX	3950	ALTIM_PULSE	3	PM_MOTORS	1.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	XPDR_VALID	4	TM_RECORDABOVE	2000.0
HD_A	0.003	C_ROLL_CLIMB	1800	XPDR_INHIBIT	90	TM_PROFILE	3.0
HD_B	0.0099999998	HEAD_ERRBAND	10	XPDR_INT	0	TM_XMITPROFILE	3.0
HD_C	1.6e-05	ROLL_CNV	0.054945	XPDR_REP	0	TM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	1.9639999e-06	TM_XMITRAW	0.0
ESCAPE_HEADING	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-1	TM_LOGSAMPLE	0.0
ESCAPE_HEADING_DELTA	10	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
FIX_MISSING_TIMEOUT	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0

GPS1	210521,194433,4743.480,-12224.673,30,0.9,31,15.5	TGT_RADIUS	100.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.23	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210521,195233,4743.514,-12224.632,28,1.1,29,15.5	MHEAD_RNG_PITCHd_Wd	98.5,1235,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	174
TGT_NAME	SE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,59.000000,105.000000,17.000000
TGT_LATLONG	4743.000,-12224.000

FINISH	1.5,1.021784	_10V_AH	14.84,0.000
SM_CCo	3269.05,31.70,0.981,0,500.7,459.1,542.3,613.08	FG_AHR_24Vo	1.261
SM_GC	0.23,31.70,7.26,1.97,0.981,0.066,0.041,500.7,459.1,542.3,131.6,2230.6,0,0,0,12.22,15.64,15.68	FG_AHR_10Vo	0.948
SUPER	27,71,254,1,0,0	MEM0	60868,1,0,0
IRIDIUM_FIX	4746.63,-12412.52,210521,194613	MEM1	65508,1,0,0
TCM_TEMP	19.20	MEM2	998556,17,48372,65
XPDR_PINGS	30,14.5,10.5	DATA_FILE_SIZE	16138,501
SC_FREEKB	3876800	CAP_FILE_SIZE	131308,0
PM_FREEKB_00	62150080	SDSIZE	4028416,4018048
PM_FREEKB_01	62342912	SDFILEDIR	58,1
TM_FREEKB	7732096	ERRORS	0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0
HUMID	55.30	CURRENT	0.064,207.2,1
TEMP	9.82	IMPLIED_C_PITCH	2456,20.17,203
INTERNAL_PRESSURE	8.3881	IMPLIED_C_VBD	2770,189.439362,179
_24V_AH	14.79,1.499	GPS	210521,204832,4743.360,-12224.712,29,0.8,37,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	709	1230	12899.12	SBE_CT	0	0	0.00
Pitch_motor	19	440	124.85	nil	0	0	0.00
Roll_motor	21	116	36.40	nil	0	0	0.00
Iridium	304	164	741.52	nil	0	0	0.00
Transponder_ping	7	420	46.59	nil	0	0	0.00
GPS	38	15	8.49	nil	0	0	0.00
Core	2049	11	358.83	SciCon	3228	20	971.05
LPSleep	1500	2	62.36	PMAR	3236	7	338.89
Compass	920	5	68.33	TMICL	3236	22	1095.68
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
11.21	16386	-146.63	-0.88	0.00	500.1	454.3	545.9	125.6	2131.8	0.00	0.00	0	156.77	138.72	0.00	0.17	0.005	0.000	0.117	3596.44	3519.38	3673.50	125.00	2255.75	0	0	0	15.52	30.00	15.68
157.01	2341	-146.63	-0.88	40.00	3596.8	3520.1	3673.4	125.1	2256.3	2.95	-2.08	14	174.28	0.00	10.06	1.11	0.000	0.441	0.049	3598.91	3520.38	3677.44	2130.50	2961.06	0	0	0	30.00	15.59	15.75
401.71	3237	-146.63	-0.67	0.00	3601.8	3519.4	3684.1	2130.1	2959.9	29.45	-9.03	63	408.54	0.00	0.22	1.28	0.000	0.285	0.032	3601.88	3519.56	3684.19	2187.88	2159.88	0	0	0	30.00	15.73	15.87
597.07	2469	-146.63	-0.55	40.00	3601.8	3518.7	3684.9	2186.9	2152.2	45.10	-7.62	83	603.33	0.00	0.10	1.33	0.000	0.276	0.055	3602.91	3519.94	3685.88	2212.88	2957.88	0	0	0	30.00	15.78	15.84
831.92	1188	-146.63	-0.48	0.00	3601.8	3519.4	3684.2	2211.9	2956.5	60.91	-6.52	130	838.60	0.00	0.00	1.28	0.000	0.000	0.032	3602.44	3519.38	3685.50	2212.81	2158.44	0	0	0	30.00	30.00	15.90
1027.14	2469	-146.63	-0.41	40.00	3601.9	3519.2	3684.6	2212.2	2152.4	73.30	-6.32	150	1033.46	0.00	0.14	1.33	0.000	0.240	0.054	3602.81	3519.44	3686.19	2247.81	2956.69	0	0	0	30.00	15.81	15.88
1262.03	1060	-146.63	-0.41	0.00	3602.1	3519.1	3685.1	2249.6	2956.7	85.31	-4.85	197	1268.72	0.00	0.00	1.28	0.000	0.000	0.034	3601.75	3519.12	3684.38	2249.50	2163.44	0	0	0	30.00	30.00	15.88
1459.83	676	-146.63	-0.51	-40.00	3602.0	3519.2	3684.8	2249.1	2156.9	90.16	-2.13	217	1467.52	0.00	0.00	1.15	0.000	0.000	0.042	3602.47	3519.50	3685.44	2249.06	1432.50	0	0	0	30.00	30.00	15.89
1655	end dive: HALF_MISSION_TIME_EXCEEDED
state	1655	begin apogee
1656.67	10243	0.00	-0.20	0.00	3601.4	3518.4	3684.4	2248.4	1843.4	90.17	0.00	256	1774.70	112.06	0.17	0.14	1.230	0.117	0.107	2999.47	2879.19	3119.75	2315.00	1745.94	0	0	0	12.25	15.87	15.25
1776	end apogee: CONTROL_FINISHED_OK
state	1776	begin climb
1776.30	10503	146.63	0.88	40.00	2997.4	2878.2	3116.5	2314.6	1746.0	90.15	0.00	268	1895.22	110.41	0.78	1.40	1.194	0.129	0.046	2401.31	2288.88	2513.75	2569.19	2558.25	0	0	0	12.05	15.34	15.13
2125.42	11431	295.54	1.14	0.00	2394.6	2284.1	2505.1	2569.3	2559.5	81.36	3.10	336	2243.46	109.14	0.14	1.32	1.163	0.063	0.039	1793.78	1695.19	1892.38	2659.44	1759.50	0	0	0	12.20	15.64	15.63
2426.24	8742	365.07	1.23	-40.00	1790.2	1695.2	1885.2	2659.4	1759.8	62.66	6.78	378	2483.39	52.20	0.00	1.18	1.102	0.000	0.053	1511.28	1418.31	1604.25	2664.81	1043.06	0	0	0	12.19	30.00	15.31
2527.00	9382	445.95	1.37	0.00	1508.1	1418.1	1598.1	2664.8	1042.9	56.30	6.25	398	2593.87	60.24	0.00	1.33	1.089	0.000	0.037	1181.53	1103.62	1259.44	2665.06	1837.19	0	0	0	12.13	30.00	15.52
2776.77	10919	513.40	1.49	-40.00	1178.8	1103.5	1254.2	2664.9	1837.1	39.32	6.88	430	2833.95	50.01	0.14	1.37	1.045	0.071	0.052	906.94	833.69	980.19	2743.31	1044.44	0	0	0	12.27	15.63	15.35
2901.40	13351	528.87	1.51	0.00	904.4	833.2	975.7	2743.8	1044.5	27.73	9.28	455	2922.68	13.31	0.12	1.32	0.894	0.203	0.036	844.31	773.94	914.69	2708.56	1839.25	0	0	0	12.16	15.49	15.56
3106.76	8742	569.53	1.56	-40.00	843.5	772.7	914.2	2708.1	1843.9	10.14	8.12	478	3143.62	31.22	0.00	1.37	0.961	0.000	0.053	677.97	606.44	749.50	2711.12	1043.88	0	0	0	12.18	30.00	15.48
3217	end climb: SURFACE_DEPTH_REACHED
state	3217	begin surface coast
3222	end surface coast: CONTROL_FINISHED_OK
state	3222	begin surface