Glider dive log

NISKINE May19 * SG526 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 526 ESCAPE_HEADING 0 HEAD_ERRBAND 180 ALTIM_SENSITIVITY 2

MISSION 3 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.028270001 XPDR_VALID 5

DIVE 9 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 150 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 50 CAPMAXSIZE 100000 LOITER_DBDW 0 COMPASS_DEVICE 34

T_MISSION 70 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 2050 FG_AHR_10V 1.4222826 SEABIRD_C_G -9.9950848

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 2.3564148 SEABIRD_C_H 1.1366271

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 PHONE_SUPPLY 1 SEABIRD_C_I -0.0016496443

MAX_BUOY 70 PITCH_GAIN 38 PRESSURE_YINT -158.14241 SEABIRD_C_J 0.00020141562

GLIDE_SLOPE 50 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 0 ALTIM_PING_DELTA 0 TM_XMITRAW 0.0

HD_C 1.6e-05 C_ROLL_DIVE 3700 ALTIM_FREQUENCY 13 TM_LOGSAMPLE 0.0

HEADING -1 C_ROLL_CLIMB 3700 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 150 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 1.4222826 PITCH_CNV 0.0031300001 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 2.3564148 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 50 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 180 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 50

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 2050 LOGGERDEVICE2 22 RAFOS_PEAK_OFFSET 0 T_LOITER 0

C_ROLL_CLIMB 3700 LOGGERDEVICE3 -1 RELAUNCH 1 T_MISSION 70

C_ROLL_DIVE 3700 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 0 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 70 SC_PROFILE 3.0 VBD_LP_IGNORE 0

DIVE 9 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 290519,225704,5819.023,-2359.874,42,0.8,43,-12.0 TGT_LATLONG 5810.000,-2357.000

_CALLS 1 TGT_RADIUS 2000.000

_SM_DEPTHo 0.43 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -52.9 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 290519,230607,5819.082,-2400.087,37,1.4,40,-12.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.084,0.179 MHEAD_RNG_PITCHd_Wd 136.8,17087,-26.3,-10.000,-29.13

TGT_NAME C2 D_GRID 1000

Post-dive calculations and measurements:

FINISH -0.5,1.024106 _24V_AH 14.84,5.923

SM_CCo 2982.16,38.88,1.044,0,2147.7,2217.0,2078.4,201.21 _10V_AH 14.86,0.000

SM_GC 0.65,38.88,6.09,0.11,1.044,0.076,0.132,2147.7,2217.0,2078.4,123.8,3730.4,0,0,0,12.40,15.76,15.75 FG_AHR_24Vo 2.402

SUPER 51,71,254,1,0,0 FG_AHR_10Vo 1.459

IRIDIUM_FIX 5818.02,-2358.17,290519,214127 MEM 1134188,25,45476,50

TCM_TEMP 16.10 DATA_FILE_SIZE 10330,289

XPDR_PINGS 14 CAP_FILE_SIZE 80566,0

SC_FREEKB 3871648 SDSIZE 3918848,3906304

TM_FREEKB 7726464 SDFILEDIR 92,1

HUMID 51.45 ERRORS 0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0

TEMP 0.42 CURRENT 0.266,300.8,1

INTERNAL_PRESSURE 8.89188 GPS 290519,235703,5819.378,-2400.760,28,1.0,29,-12.0

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 340 1207 6095.08 nil 0 0 0.00

Pitch_motor 16 452 111.63 nil 0 0 0.00

Roll_motor 5 200 16.88 nil 0 0 0.00

Iridium 418 200 1243.86 nil 0 0 0.00

Transponder_ping 3 420 21.81 nil 0 0 0.00

GPS 49 15 10.95 nil 0 0 0.00

Core 1508 19 443.81 SciCon 2920 46 2019.30

LPSleep 2019 2 65.71 TMICL 2944 18 795.07

Compass 561 5 41.71 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

8.21 2 -68.13 -0.78 0.00 1048.2 1076.3 1020.0 89.4 3723.1 0.00 0.00 0 139.84 125.86 0.00 0.10 0.005 0.000 0.201 3243.66 3324.31 3163.00 89.25 3653.44 0 0 0 15.47 30.00 15.60

140.09 33 -68.13 -0.78 0.00 3243.6 3324.9 3162.2 89.1 3654.1 1.52 -1.01 12 152.56 0.00 8.56 0.00 0.000 0.453 0.000 3244.81 3328.00 3161.62 1800.44 3652.94 0 0 0 30.00 15.45 30.00

324.72 128 -68.13 -0.75 0.00 3251.9 3341.5 3162.2 1799.9 3652.8 26.33 -12.28 31 327.67 0.00 0.00 0.00 0.000 0.000 0.000 3251.03 3340.75 3161.31 1800.31 3652.75 0 0 0 30.00 30.00 30.00

504.74 0 -68.13 -0.75 0.00 3252.0 3341.8 3162.2 1799.6 3653.5 52.15 -14.70 49 507.62 0.00 0.00 0.00 0.000 0.000 0.000 3251.16 3340.88 3161.44 1800.00 3652.75 0 0 0 30.00 30.00 30.00

684.74 0 -68.13 -0.75 0.00 3251.5 3341.6 3161.3 1799.6 3652.4 76.91 -13.39 67 687.62 0.00 0.00 0.00 0.000 0.000 0.000 3250.53 3340.31 3160.75 1800.25 3652.38 0 0 0 30.00 30.00 30.00

864.83 0 -68.13 -0.75 0.00 3251.5 3341.5 3161.5 1800.1 3652.6 100.30 -12.84 85 867.70 0.00 0.00 0.00 0.000 0.000 0.000 3250.62 3341.12 3160.12 1799.94 3652.69 0 0 0 30.00 30.00 30.00

1046.68 0 -68.13 -0.75 0.00 3251.5 3342.2 3160.7 1800.1 3652.8 122.96 -12.39 103 1049.90 0.00 0.00 0.00 0.000 0.000 0.000 3250.78 3341.81 3159.75 1800.38 3653.19 0 0 0 30.00 30.00 30.00

1226.68 0 -68.13 -0.75 0.00 3250.8 3341.6 3160.1 1799.9 3652.7 145.83 -12.55 121 1229.55 0.00 0.00 0.00 0.000 0.000 0.000 3250.09 3340.38 3159.81 1800.25 3652.88 0 0 0 30.00 30.00 30.00

1265 end dive: TARGET_DEPTH_EXCEEDED

state 1265 begin apogee

1266.11 3 0.00 -0.13 0.00 3251.3 3342.1 3160.5 1800.0 3725.4 150.79 -12.40 125 1326.97 55.57 0.75 0.09 1.207 0.281 0.157 2966.81 3089.38 2844.25 2008.00 3667.25 0 0 0 12.48 15.73 15.44

1329 end apogee: CONTROL_FINISHED_OK

state 1329 begin climb

1329.01 3 68.13 0.78 0.00 2966.0 3089.9 2842.1 2008.1 3666.0 153.22 0.00 131 1399.50 53.47 0.88 0.00 1.174 0.135 0.000 2691.56 2807.12 2576.00 2301.00 3667.06 0 0 0 12.34 15.50 30.00

1577.52 128 68.13 0.73 0.00 2683.4 2800.5 2566.4 2301.7 3666.9 134.34 10.06 155 1580.40 0.00 0.00 0.00 0.000 0.000 0.000 2681.84 2798.81 2564.88 2302.06 3667.56 0 0 0 30.00 30.00 30.00

1757.49 162 74.73 0.70 0.00 2682.2 2800.2 2564.1 2301.9 3667.2 116.96 9.35 173 1768.58 6.76 0.00 0.00 0.814 0.000 0.000 2662.62 2779.62 2545.62 2302.12 3666.56 0 0 0 12.43 30.00 30.00

1947.63 161 74.99 0.65 0.00 2659.4 2777.1 2541.6 2301.9 3667.1 98.08 9.97 192 1950.62 0.00 0.19 0.00 0.000 0.293 0.000 2658.00 2775.75 2540.25 2251.69 3666.69 0 0 0 30.00 15.60 30.00

2127.70 34 99.27 0.68 0.00 2658.7 2777.4 2539.9 2252.1 3666.9 83.61 7.60 210 2151.30 20.76 0.00 0.00 1.054 0.000 0.000 2560.44 2677.56 2443.31 2252.12 3667.19 0 0 0 12.49 30.00 30.00

2327.69 34 124.13 0.72 0.00 2558.1 2673.5 2442.7 2251.8 3667.0 68.19 7.54 230 2351.25 20.71 0.00 0.00 1.037 0.000 0.000 2458.12 2576.62 2339.62 2252.00 3666.56 0 0 0 12.42 30.00 30.00

2527.79 163 145.37 0.77 0.00 2456.3 2575.6 2336.9 2251.5 3667.1 51.99 7.90 250 2548.78 18.14 0.14 0.00 1.002 0.106 0.000 2375.16 2491.75 2258.56 2311.06 3666.75 0 0 0 12.41 15.65 30.00

2727.76 0 145.37 0.77 0.00 2368.7 2485.3 2252.1 2310.4 3667.2 26.01 14.49 270 2730.64 0.00 0.00 0.00 0.000 0.000 0.000 2367.34 2484.31 2250.38 2310.56 3667.25 0 0 0 30.00 30.00 30.00

2907 end climb: SURFACE_DEPTH_REACHED

state 2908 begin surface coast

2917 end surface coast: CONTROL_FINISHED_OK

state 2917 begin surface

ID	526	ESCAPE_HEADING	0	HEAD_ERRBAND	180	ALTIM_SENSITIVITY	2
MISSION	3	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.028270001	XPDR_VALID	5
DIVE	9	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	150	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	50	CAPMAXSIZE	100000	LOITER_DBDW	0	COMPASS_DEVICE	34
T_MISSION	70	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	2050	FG_AHR_10V	1.4222826	SEABIRD_C_G	-9.9950848
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	2.3564148	SEABIRD_C_H	1.1366271
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	PHONE_SUPPLY	1	SEABIRD_C_I	-0.0016496443
MAX_BUOY	70	PITCH_GAIN	38	PRESSURE_YINT	-158.14241	SEABIRD_C_J	0.00020141562
GLIDE_SLOPE	50	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	0	ALTIM_PING_DELTA	0	TM_XMITRAW	0.0
HD_C	1.6e-05	C_ROLL_DIVE	3700	ALTIM_FREQUENCY	13	TM_LOGSAMPLE	0.0
HEADING	-1	C_ROLL_CLIMB	3700	ALTIM_PULSE	3

GPS1	290519,225704,5819.023,-2359.874,42,0.8,43,-12.0	TGT_LATLONG	5810.000,-2357.000
_CALLS	1	TGT_RADIUS	2000.000
_SM_DEPTHo	0.43	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-52.9	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	290519,230607,5819.082,-2400.087,37,1.4,40,-12.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.084,0.179	MHEAD_RNG_PITCHd_Wd	136.8,17087,-26.3,-10.000,-29.13
TGT_NAME	C2	D_GRID	1000

FINISH	-0.5,1.024106	_24V_AH	14.84,5.923
SM_CCo	2982.16,38.88,1.044,0,2147.7,2217.0,2078.4,201.21	_10V_AH	14.86,0.000
SM_GC	0.65,38.88,6.09,0.11,1.044,0.076,0.132,2147.7,2217.0,2078.4,123.8,3730.4,0,0,0,12.40,15.76,15.75	FG_AHR_24Vo	2.402
SUPER	51,71,254,1,0,0	FG_AHR_10Vo	1.459
IRIDIUM_FIX	5818.02,-2358.17,290519,214127	MEM	1134188,25,45476,50
TCM_TEMP	16.10	DATA_FILE_SIZE	10330,289
XPDR_PINGS	14	CAP_FILE_SIZE	80566,0
SC_FREEKB	3871648	SDSIZE	3918848,3906304
TM_FREEKB	7726464	SDFILEDIR	92,1
HUMID	51.45	ERRORS	0,0,0,0,0,1,1,0,0,0,0,0,0,0,0,0,0,0
TEMP	0.42	CURRENT	0.266,300.8,1
INTERNAL_PRESSURE	8.89188	GPS	290519,235703,5819.378,-2400.760,28,1.0,29,-12.0

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	340	1207	6095.08	nil	0	0	0.00
Pitch_motor	16	452	111.63	nil	0	0	0.00
Roll_motor	5	200	16.88	nil	0	0	0.00
Iridium	418	200	1243.86	nil	0	0	0.00
Transponder_ping	3	420	21.81	nil	0	0	0.00
GPS	49	15	10.95	nil	0	0	0.00
Core	1508	19	443.81	SciCon	2920	46	2019.30
LPSleep	2019	2	65.71	TMICL	2944	18	795.07
Compass	561	5	41.71	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
8.21	2	-68.13	-0.78	0.00	1048.2	1076.3	1020.0	89.4	3723.1	0.00	0.00	0	139.84	125.86	0.00	0.10	0.005	0.000	0.201	3243.66	3324.31	3163.00	89.25	3653.44	0	0	0	15.47	30.00	15.60
140.09	33	-68.13	-0.78	0.00	3243.6	3324.9	3162.2	89.1	3654.1	1.52	-1.01	12	152.56	0.00	8.56	0.00	0.000	0.453	0.000	3244.81	3328.00	3161.62	1800.44	3652.94	0	0	0	30.00	15.45	30.00
324.72	128	-68.13	-0.75	0.00	3251.9	3341.5	3162.2	1799.9	3652.8	26.33	-12.28	31	327.67	0.00	0.00	0.00	0.000	0.000	0.000	3251.03	3340.75	3161.31	1800.31	3652.75	0	0	0	30.00	30.00	30.00
504.74	0	-68.13	-0.75	0.00	3252.0	3341.8	3162.2	1799.6	3653.5	52.15	-14.70	49	507.62	0.00	0.00	0.00	0.000	0.000	0.000	3251.16	3340.88	3161.44	1800.00	3652.75	0	0	0	30.00	30.00	30.00
684.74	0	-68.13	-0.75	0.00	3251.5	3341.6	3161.3	1799.6	3652.4	76.91	-13.39	67	687.62	0.00	0.00	0.00	0.000	0.000	0.000	3250.53	3340.31	3160.75	1800.25	3652.38	0	0	0	30.00	30.00	30.00
864.83	0	-68.13	-0.75	0.00	3251.5	3341.5	3161.5	1800.1	3652.6	100.30	-12.84	85	867.70	0.00	0.00	0.00	0.000	0.000	0.000	3250.62	3341.12	3160.12	1799.94	3652.69	0	0	0	30.00	30.00	30.00
1046.68	0	-68.13	-0.75	0.00	3251.5	3342.2	3160.7	1800.1	3652.8	122.96	-12.39	103	1049.90	0.00	0.00	0.00	0.000	0.000	0.000	3250.78	3341.81	3159.75	1800.38	3653.19	0	0	0	30.00	30.00	30.00
1226.68	0	-68.13	-0.75	0.00	3250.8	3341.6	3160.1	1799.9	3652.7	145.83	-12.55	121	1229.55	0.00	0.00	0.00	0.000	0.000	0.000	3250.09	3340.38	3159.81	1800.25	3652.88	0	0	0	30.00	30.00	30.00
1265	end dive: TARGET_DEPTH_EXCEEDED
state	1265	begin apogee
1266.11	3	0.00	-0.13	0.00	3251.3	3342.1	3160.5	1800.0	3725.4	150.79	-12.40	125	1326.97	55.57	0.75	0.09	1.207	0.281	0.157	2966.81	3089.38	2844.25	2008.00	3667.25	0	0	0	12.48	15.73	15.44
1329	end apogee: CONTROL_FINISHED_OK
state	1329	begin climb
1329.01	3	68.13	0.78	0.00	2966.0	3089.9	2842.1	2008.1	3666.0	153.22	0.00	131	1399.50	53.47	0.88	0.00	1.174	0.135	0.000	2691.56	2807.12	2576.00	2301.00	3667.06	0	0	0	12.34	15.50	30.00
1577.52	128	68.13	0.73	0.00	2683.4	2800.5	2566.4	2301.7	3666.9	134.34	10.06	155	1580.40	0.00	0.00	0.00	0.000	0.000	0.000	2681.84	2798.81	2564.88	2302.06	3667.56	0	0	0	30.00	30.00	30.00
1757.49	162	74.73	0.70	0.00	2682.2	2800.2	2564.1	2301.9	3667.2	116.96	9.35	173	1768.58	6.76	0.00	0.00	0.814	0.000	0.000	2662.62	2779.62	2545.62	2302.12	3666.56	0	0	0	12.43	30.00	30.00
1947.63	161	74.99	0.65	0.00	2659.4	2777.1	2541.6	2301.9	3667.1	98.08	9.97	192	1950.62	0.00	0.19	0.00	0.000	0.293	0.000	2658.00	2775.75	2540.25	2251.69	3666.69	0	0	0	30.00	15.60	30.00
2127.70	34	99.27	0.68	0.00	2658.7	2777.4	2539.9	2252.1	3666.9	83.61	7.60	210	2151.30	20.76	0.00	0.00	1.054	0.000	0.000	2560.44	2677.56	2443.31	2252.12	3667.19	0	0	0	12.49	30.00	30.00
2327.69	34	124.13	0.72	0.00	2558.1	2673.5	2442.7	2251.8	3667.0	68.19	7.54	230	2351.25	20.71	0.00	0.00	1.037	0.000	0.000	2458.12	2576.62	2339.62	2252.00	3666.56	0	0	0	12.42	30.00	30.00
2527.79	163	145.37	0.77	0.00	2456.3	2575.6	2336.9	2251.5	3667.1	51.99	7.90	250	2548.78	18.14	0.14	0.00	1.002	0.106	0.000	2375.16	2491.75	2258.56	2311.06	3666.75	0	0	0	12.41	15.65	30.00
2727.76	0	145.37	0.77	0.00	2368.7	2485.3	2252.1	2310.4	3667.2	26.01	14.49	270	2730.64	0.00	0.00	0.00	0.000	0.000	0.000	2367.34	2484.31	2250.38	2310.56	3667.25	0	0	0	30.00	30.00	30.00
2907	end climb: SURFACE_DEPTH_REACHED
state	2908	begin surface coast
2917	end surface coast: CONTROL_FINISHED_OK
state	2917	begin surface