Glider dive log

NISKINE May19 * SG526 * Dive index * Mission links * Dive 6 * 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 6 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 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 200 VBD_MIN 495 DEEPGLIDERMB 0

D_TGT 600 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 200 CAPMAXSIZE 100000 LOITER_DBDW 0 COMPASS_DEVICE 34

T_MISSION 230 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 250 FG_AHR_10V 1.1468194 SEABIRD_C_G -9.9950848

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 2.0396762 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 38 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 3200 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 600 PHONE_DEVICE 33 SM_CC 200

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 1.1468194 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 2.0396762 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_GAIN 38 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 200

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 250 LOGGERDEVICE2 22 RAFOS_PEAK_OFFSET 0 T_LOITER 0

C_ROLL_CLIMB 2400 LOGGERDEVICE3 -1 RELAUNCH 1 T_MISSION 230

C_ROLL_DIVE 3200 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 6 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 0 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 290519,164211,5819.537,-2357.592,17,1.5,18,-12.0 TGT_LATLONG 5810.000,-2357.000

_CALLS 3 TGT_RADIUS 2000.000

_SM_DEPTHo 0.69 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -67.6 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 290519,165441,5819.627,-2357.831,24,1.2,25,-12.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.257 MHEAD_RNG_PITCHd_Wd 155.1,17849,-17.6,-10.000,-21.24

TGT_NAME C2 D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.1,1.027090 _24V_AH 14.49,4.995

SM_CCo 4468.02,40.03,1.062,0,2148.5,2199.5,2097.6,201.02 _10V_AH 14.97,0.000

SM_GC 0.80,40.03,2.83,1.31,1.062,0.043,0.097,2148.5,2199.5,2097.6,130.6,3220.4,0,0,0,12.47,15.89,15.88 FG_AHR_24Vo 2.124

SUPER 59,71,254,1,0,0 FG_AHR_10Vo 1.191

IRIDIUM_FIX 5818.77,-2354.42,290519,164540 MEM 1134300,23,45424,49

TCM_TEMP 15.00 DATA_FILE_SIZE 20471,488

XPDR_PINGS 16 CAP_FILE_SIZE 135972,0

SC_FREEKB 3873888 SDSIZE 3918848,3907200

TM_FREEKB 7784320 SDFILEDIR 71,1

HUMID 52.35 ERRORS 0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0

TEMP -2.49 CURRENT 0.070,283.8,1

INTERNAL_PRESSURE 8.86229 GPS 290519,181022,5819.616,-2358.279,15,0.8,35,-12.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 351 1802 9187.43 nil 0 0 0.00

Pitch_motor 13 473 89.99 nil 0 0 0.00

Roll_motor 59 200 172.40 nil 0 0 0.00

Iridium 516 211 1582.37 nil 0 0 0.00

Transponder_ping 4 420 24.34 nil 0 0 0.00

GPS 34 15 7.68 nil 0 0 0.00

Core 1960 19 581.09 SciCon 4404 32 2159.20

LPSleep 3246 2 106.42 TMICL 4433 38 2581.68

Compass 853 5 63.92 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

8.11 2 -145.99 -0.64 0.00 2141.6 2198.4 2084.8 136.8 3149.0 0.00 0.00 0 91.66 77.32 0.00 0.12 0.005 0.000 0.200 3560.88 3659.06 3462.69 136.62 3233.62 0 0 0 15.47 30.00 15.64

91.94 549 -145.99 -0.64 -40.00 3561.0 3659.5 3462.6 137.0 3234.4 4.70 -7.72 8 98.04 0.00 0.00 2.45 0.000 0.000 0.060 3562.75 3659.50 3466.00 144.94 1759.94 0 0 0 30.00 30.00 15.47

319.71 1157 -145.99 -0.08 0.00 3562.2 3658.9 3465.4 144.8 1759.3 112.82 -47.87 54 326.57 0.00 0.46 2.47 0.000 0.471 0.068 3562.12 3658.62 3465.62 224.19 3226.19 0 0 0 30.00 15.59 15.66

505.32 645 -145.99 0.49 -40.00 3562.1 3658.5 3465.8 224.0 3227.4 202.28 -48.69 73 512.27 0.00 0.89 2.41 0.000 0.453 0.057 3562.38 3658.88 3465.88 410.94 1753.06 0 0 0 30.00 15.65 15.57

734.82 1157 -145.99 1.03 0.00 3562.5 3659.1 3465.9 410.9 1753.1 311.55 -47.49 119 742.34 0.00 0.87 2.45 0.000 0.453 0.070 3563.59 3659.38 3467.81 577.62 3227.44 0 0 0 30.00 15.69 15.86

1040.27 129 -145.99 1.56 0.00 3562.4 3658.2 3466.6 577.5 3226.9 456.79 -47.34 135 1043.38 0.00 0.82 0.00 0.000 0.448 0.000 3561.59 3658.25 3464.94 748.38 3226.69 0 0 0 30.00 15.58 30.00

1340.49 260 -145.99 1.56 40.00 3562.5 3658.7 3466.4 748.4 3226.6 593.25 -45.39 150 1345.90 0.00 0.00 1.23 0.000 0.000 0.077 3562.91 3659.19 3466.62 743.62 3977.88 0 0 0 30.00 30.00 15.77

1355 end dive: TARGET_DEPTH_EXCEEDED

state 1355 begin apogee

1358.99 3 0.00 -0.13 0.00 3562.5 3658.7 3466.4 749.3 2364.4 600.02 -45.12 153 1481.19 115.52 1.52 0.12 1.802 0.074 0.174 2966.09 3043.12 2889.06 195.06 2443.38 0 0 0 12.45 15.88 14.96

1483 end apogee: CONTROL_FINISHED_OK

state 1483 begin climb

1483.02 519 145.99 0.64 -40.00 2965.8 3044.1 2887.4 195.1 2443.4 642.27 0.00 159 1625.47 118.90 1.37 2.61 1.797 0.456 0.068 2371.62 2414.12 2329.12 457.88 961.69 0 0 0 12.11 15.09 14.95

1702.61 1157 145.99 1.51 0.00 2365.9 2404.2 2327.6 457.5 960.8 614.98 27.89 199 1709.79 0.00 1.53 2.48 0.000 0.473 0.055 2364.78 2401.44 2328.12 731.62 2435.75 0 0 0 30.00 15.00 15.40

2017.62 391 145.99 2.35 40.00 2362.4 2404.9 2319.9 720.1 2443.6 531.06 26.37 217 2025.00 0.00 1.22 2.40 0.000 0.387 0.091 2361.88 2408.56 2315.19 991.00 3835.31 0 0 0 30.00 15.58 15.45

2032.82 1030 145.99 2.35 0.00 2363.2 2404.4 2321.9 990.5 3844.5 527.17 26.71 220 2038.43 0.00 0.00 2.46 0.000 0.000 0.064 2362.91 2405.81 2320.00 991.25 2372.25 0 0 0 30.00 30.00 15.72

2352.63 391 145.99 3.08 40.00 2363.5 2409.9 2317.1 981.6 2365.5 447.71 24.69 239 2359.80 0.00 1.26 2.44 0.000 0.467 0.062 2366.25 2411.50 2321.00 1221.50 3846.81 0 0 0 30.00 15.65 15.59

2452.25 1030 145.99 3.08 0.00 2362.9 2411.2 2314.5 1221.1 3846.5 424.33 22.27 259 2458.61 0.00 0.00 2.42 0.000 0.000 0.051 2364.00 2410.25 2317.75 1222.00 2354.31 0 0 0 30.00 30.00 15.85

2767.83 262 145.99 3.08 40.00 2362.7 2414.2 2311.2 1217.4 2354.9 354.13 22.27 277 2773.53 0.00 0.00 2.46 0.000 0.000 0.063 2363.88 2411.62 2316.12 1205.19 3852.62 0 0 0 30.00 30.00 15.87

2997.37 1030 145.99 3.08 0.00 2361.1 2412.2 2309.9 1204.3 3857.5 300.45 24.28 323 3003.62 0.00 0.00 2.44 0.000 0.000 0.058 2363.81 2416.19 2311.44 1204.25 2366.25 0 0 0 30.00 30.00 15.90

3307.82 519 145.99 3.08 -40.00 2361.2 2412.1 2310.3 1201.4 2361.8 232.01 21.81 344 3313.75 0.00 0.15 2.31 0.000 0.405 0.067 2363.66 2418.19 2309.12 1235.44 955.94 0 0 0 30.00 15.77 15.88

3502.46 1030 145.99 3.08 0.00 2361.8 2411.7 2311.9 1233.1 948.8 190.13 20.07 383 3509.17 0.00 0.00 2.43 0.000 0.000 0.061 2361.94 2412.12 2311.75 1221.56 2434.44 0 0 0 30.00 30.00 15.88

3689.81 518 145.99 3.08 -40.00 2360.9 2414.1 2307.7 1219.5 2441.9 151.20 21.65 402 3694.80 0.00 0.00 2.45 0.000 0.000 0.068 2356.75 2412.25 2301.25 1219.19 955.94 0 0 0 30.00 30.00 15.62

3703.02 1030 145.99 3.08 0.00 2361.7 2411.2 2312.2 1219.6 949.1 148.32 21.05 405 3708.75 0.00 0.00 2.46 0.000 0.000 0.077 2362.38 2411.81 2312.94 1207.38 2426.00 0 0 0 30.00 30.00 15.89

3892.92 518 145.99 3.08 -40.00 2361.3 2416.9 2305.8 1205.2 2434.2 108.00 21.87 425 3898.77 0.00 0.00 2.42 0.000 0.000 0.060 2363.12 2416.88 2309.38 1204.75 949.00 0 0 0 30.00 30.00 15.90

3907.52 1030 145.99 3.08 0.00 2360.6 2411.2 2309.9 1204.7 942.0 104.78 20.93 428 3916.06 0.00 0.00 2.47 0.000 0.000 0.077 2361.69 2416.94 2306.44 1193.75 2421.50 0 0 0 30.00 30.00 15.90

4093.00 519 145.99 3.08 -40.00 2361.5 2418.0 2305.1 1192.5 2430.8 66.07 21.40 447 4098.92 0.00 0.19 2.40 0.000 0.422 0.058 2361.97 2413.75 2310.19 1233.38 946.31 0 0 0 30.00 15.74 15.85

4107.55 1030 145.99 3.08 0.00 2360.8 2413.9 2307.6 1233.6 946.2 62.83 20.93 450 4114.20 0.00 0.00 2.48 0.000 0.000 0.076 2362.06 2417.06 2307.06 1222.75 2424.44 0 0 0 30.00 30.00 15.87

4293.18 518 145.99 3.08 -40.00 2361.1 2417.6 2304.6 1221.4 2433.2 23.60 22.37 469 4298.85 0.00 0.00 2.41 0.000 0.000 0.057 2361.50 2412.62 2310.38 1222.88 947.44 0 0 0 30.00 30.00 15.87

4363.13 1030 145.99 3.08 0.00 2361.3 2409.9 2312.7 1222.1 940.5 7.38 22.80 483 4368.86 0.00 0.00 2.48 0.000 0.000 0.078 2360.56 2411.94 2309.19 1210.88 2427.44 0 0 0 30.00 30.00 15.88

4393 end climb: SURFACE_DEPTH_REACHED

state 4393 begin surface coast

4403 end surface coast: CONTROL_FINISHED_OK

state 4403 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	6	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	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	200	VBD_MIN	495	DEEPGLIDERMB	0
D_TGT	600	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	200	CAPMAXSIZE	100000	LOITER_DBDW	0	COMPASS_DEVICE	34
T_MISSION	230	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	250	FG_AHR_10V	1.1468194	SEABIRD_C_G	-9.9950848
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	2.0396762	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	38	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	3200	ALTIM_FREQUENCY	13	TM_LOGSAMPLE	0.0
HEADING	-1	C_ROLL_CLIMB	2400	ALTIM_PULSE	3

GPS1	290519,164211,5819.537,-2357.592,17,1.5,18,-12.0	TGT_LATLONG	5810.000,-2357.000
_CALLS	3	TGT_RADIUS	2000.000
_SM_DEPTHo	0.69	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-67.6	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	290519,165441,5819.627,-2357.831,24,1.2,25,-12.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.257	MHEAD_RNG_PITCHd_Wd	155.1,17849,-17.6,-10.000,-21.24
TGT_NAME	C2	D_GRID	1000

FINISH	-0.1,1.027090	_24V_AH	14.49,4.995
SM_CCo	4468.02,40.03,1.062,0,2148.5,2199.5,2097.6,201.02	_10V_AH	14.97,0.000
SM_GC	0.80,40.03,2.83,1.31,1.062,0.043,0.097,2148.5,2199.5,2097.6,130.6,3220.4,0,0,0,12.47,15.89,15.88	FG_AHR_24Vo	2.124
SUPER	59,71,254,1,0,0	FG_AHR_10Vo	1.191
IRIDIUM_FIX	5818.77,-2354.42,290519,164540	MEM	1134300,23,45424,49
TCM_TEMP	15.00	DATA_FILE_SIZE	20471,488
XPDR_PINGS	16	CAP_FILE_SIZE	135972,0
SC_FREEKB	3873888	SDSIZE	3918848,3907200
TM_FREEKB	7784320	SDFILEDIR	71,1
HUMID	52.35	ERRORS	0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0
TEMP	-2.49	CURRENT	0.070,283.8,1
INTERNAL_PRESSURE	8.86229	GPS	290519,181022,5819.616,-2358.279,15,0.8,35,-12.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	351	1802	9187.43	nil	0	0	0.00
Pitch_motor	13	473	89.99	nil	0	0	0.00
Roll_motor	59	200	172.40	nil	0	0	0.00
Iridium	516	211	1582.37	nil	0	0	0.00
Transponder_ping	4	420	24.34	nil	0	0	0.00
GPS	34	15	7.68	nil	0	0	0.00
Core	1960	19	581.09	SciCon	4404	32	2159.20
LPSleep	3246	2	106.42	TMICL	4433	38	2581.68
Compass	853	5	63.92	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
8.11	2	-145.99	-0.64	0.00	2141.6	2198.4	2084.8	136.8	3149.0	0.00	0.00	0	91.66	77.32	0.00	0.12	0.005	0.000	0.200	3560.88	3659.06	3462.69	136.62	3233.62	0	0	0	15.47	30.00	15.64
91.94	549	-145.99	-0.64	-40.00	3561.0	3659.5	3462.6	137.0	3234.4	4.70	-7.72	8	98.04	0.00	0.00	2.45	0.000	0.000	0.060	3562.75	3659.50	3466.00	144.94	1759.94	0	0	0	30.00	30.00	15.47
319.71	1157	-145.99	-0.08	0.00	3562.2	3658.9	3465.4	144.8	1759.3	112.82	-47.87	54	326.57	0.00	0.46	2.47	0.000	0.471	0.068	3562.12	3658.62	3465.62	224.19	3226.19	0	0	0	30.00	15.59	15.66
505.32	645	-145.99	0.49	-40.00	3562.1	3658.5	3465.8	224.0	3227.4	202.28	-48.69	73	512.27	0.00	0.89	2.41	0.000	0.453	0.057	3562.38	3658.88	3465.88	410.94	1753.06	0	0	0	30.00	15.65	15.57
734.82	1157	-145.99	1.03	0.00	3562.5	3659.1	3465.9	410.9	1753.1	311.55	-47.49	119	742.34	0.00	0.87	2.45	0.000	0.453	0.070	3563.59	3659.38	3467.81	577.62	3227.44	0	0	0	30.00	15.69	15.86
1040.27	129	-145.99	1.56	0.00	3562.4	3658.2	3466.6	577.5	3226.9	456.79	-47.34	135	1043.38	0.00	0.82	0.00	0.000	0.448	0.000	3561.59	3658.25	3464.94	748.38	3226.69	0	0	0	30.00	15.58	30.00
1340.49	260	-145.99	1.56	40.00	3562.5	3658.7	3466.4	748.4	3226.6	593.25	-45.39	150	1345.90	0.00	0.00	1.23	0.000	0.000	0.077	3562.91	3659.19	3466.62	743.62	3977.88	0	0	0	30.00	30.00	15.77
1355	end dive: TARGET_DEPTH_EXCEEDED
state	1355	begin apogee
1358.99	3	0.00	-0.13	0.00	3562.5	3658.7	3466.4	749.3	2364.4	600.02	-45.12	153	1481.19	115.52	1.52	0.12	1.802	0.074	0.174	2966.09	3043.12	2889.06	195.06	2443.38	0	0	0	12.45	15.88	14.96
1483	end apogee: CONTROL_FINISHED_OK
state	1483	begin climb
1483.02	519	145.99	0.64	-40.00	2965.8	3044.1	2887.4	195.1	2443.4	642.27	0.00	159	1625.47	118.90	1.37	2.61	1.797	0.456	0.068	2371.62	2414.12	2329.12	457.88	961.69	0	0	0	12.11	15.09	14.95
1702.61	1157	145.99	1.51	0.00	2365.9	2404.2	2327.6	457.5	960.8	614.98	27.89	199	1709.79	0.00	1.53	2.48	0.000	0.473	0.055	2364.78	2401.44	2328.12	731.62	2435.75	0	0	0	30.00	15.00	15.40
2017.62	391	145.99	2.35	40.00	2362.4	2404.9	2319.9	720.1	2443.6	531.06	26.37	217	2025.00	0.00	1.22	2.40	0.000	0.387	0.091	2361.88	2408.56	2315.19	991.00	3835.31	0	0	0	30.00	15.58	15.45
2032.82	1030	145.99	2.35	0.00	2363.2	2404.4	2321.9	990.5	3844.5	527.17	26.71	220	2038.43	0.00	0.00	2.46	0.000	0.000	0.064	2362.91	2405.81	2320.00	991.25	2372.25	0	0	0	30.00	30.00	15.72
2352.63	391	145.99	3.08	40.00	2363.5	2409.9	2317.1	981.6	2365.5	447.71	24.69	239	2359.80	0.00	1.26	2.44	0.000	0.467	0.062	2366.25	2411.50	2321.00	1221.50	3846.81	0	0	0	30.00	15.65	15.59
2452.25	1030	145.99	3.08	0.00	2362.9	2411.2	2314.5	1221.1	3846.5	424.33	22.27	259	2458.61	0.00	0.00	2.42	0.000	0.000	0.051	2364.00	2410.25	2317.75	1222.00	2354.31	0	0	0	30.00	30.00	15.85
2767.83	262	145.99	3.08	40.00	2362.7	2414.2	2311.2	1217.4	2354.9	354.13	22.27	277	2773.53	0.00	0.00	2.46	0.000	0.000	0.063	2363.88	2411.62	2316.12	1205.19	3852.62	0	0	0	30.00	30.00	15.87
2997.37	1030	145.99	3.08	0.00	2361.1	2412.2	2309.9	1204.3	3857.5	300.45	24.28	323	3003.62	0.00	0.00	2.44	0.000	0.000	0.058	2363.81	2416.19	2311.44	1204.25	2366.25	0	0	0	30.00	30.00	15.90
3307.82	519	145.99	3.08	-40.00	2361.2	2412.1	2310.3	1201.4	2361.8	232.01	21.81	344	3313.75	0.00	0.15	2.31	0.000	0.405	0.067	2363.66	2418.19	2309.12	1235.44	955.94	0	0	0	30.00	15.77	15.88
3502.46	1030	145.99	3.08	0.00	2361.8	2411.7	2311.9	1233.1	948.8	190.13	20.07	383	3509.17	0.00	0.00	2.43	0.000	0.000	0.061	2361.94	2412.12	2311.75	1221.56	2434.44	0	0	0	30.00	30.00	15.88
3689.81	518	145.99	3.08	-40.00	2360.9	2414.1	2307.7	1219.5	2441.9	151.20	21.65	402	3694.80	0.00	0.00	2.45	0.000	0.000	0.068	2356.75	2412.25	2301.25	1219.19	955.94	0	0	0	30.00	30.00	15.62
3703.02	1030	145.99	3.08	0.00	2361.7	2411.2	2312.2	1219.6	949.1	148.32	21.05	405	3708.75	0.00	0.00	2.46	0.000	0.000	0.077	2362.38	2411.81	2312.94	1207.38	2426.00	0	0	0	30.00	30.00	15.89
3892.92	518	145.99	3.08	-40.00	2361.3	2416.9	2305.8	1205.2	2434.2	108.00	21.87	425	3898.77	0.00	0.00	2.42	0.000	0.000	0.060	2363.12	2416.88	2309.38	1204.75	949.00	0	0	0	30.00	30.00	15.90
3907.52	1030	145.99	3.08	0.00	2360.6	2411.2	2309.9	1204.7	942.0	104.78	20.93	428	3916.06	0.00	0.00	2.47	0.000	0.000	0.077	2361.69	2416.94	2306.44	1193.75	2421.50	0	0	0	30.00	30.00	15.90
4093.00	519	145.99	3.08	-40.00	2361.5	2418.0	2305.1	1192.5	2430.8	66.07	21.40	447	4098.92	0.00	0.19	2.40	0.000	0.422	0.058	2361.97	2413.75	2310.19	1233.38	946.31	0	0	0	30.00	15.74	15.85
4107.55	1030	145.99	3.08	0.00	2360.8	2413.9	2307.6	1233.6	946.2	62.83	20.93	450	4114.20	0.00	0.00	2.48	0.000	0.000	0.076	2362.06	2417.06	2307.06	1222.75	2424.44	0	0	0	30.00	30.00	15.87
4293.18	518	145.99	3.08	-40.00	2361.1	2417.6	2304.6	1221.4	2433.2	23.60	22.37	469	4298.85	0.00	0.00	2.41	0.000	0.000	0.057	2361.50	2412.62	2310.38	1222.88	947.44	0	0	0	30.00	30.00	15.87
4363.13	1030	145.99	3.08	0.00	2361.3	2409.9	2312.7	1222.1	940.5	7.38	22.80	483	4368.86	0.00	0.00	2.48	0.000	0.000	0.078	2360.56	2411.94	2309.19	1210.88	2427.44	0	0	0	30.00	30.00	15.88
4393	end climb: SURFACE_DEPTH_REACHED
state	4393	begin surface coast
4403	end surface coast: CONTROL_FINISHED_OK
state	4403	begin surface