Glider dive log

Shilshole 20Apr21 * SG249 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 5 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054949999 XPDR_VALID 4

DIVE 2 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 2 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 590.98499 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 150 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 FILEMGR 0 C_VBD 2950 DEEPGLIDERMB 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 1 VBD_TIMEOUT 540 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012300001 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 0 LOGGERS 7

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 50 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 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 3 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 -6 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3600 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 100 C_PITCH 2020 FG_AHR_10V 11.187673 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 14.525075 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 150 PITCH_GAIN 25 PRESSURE_YINT -180.73328 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.023 PITCH_ADJ_GAIN 0.045000002 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72565 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 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 0.003 ROLL_MAX 3825 ALTIM_PING_DEPTH 120 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PING_DELTA 10

HD_C 1.6e-05 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 590.98499

ALTIM_PING_DEPTH 120 FERRY_MAX 45 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 11.187673 PITCH_ADJ_GAIN 0.045000002 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 14.525075 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 25 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3600 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 50

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.00021665409 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -180.73328 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 65

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 3

C_PITCH 2020 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 1800 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2950 LOGGERS 7 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.023 USE_BATHY -6

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72565 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 150 ROLL_TIMEOUT 25 VBD_TIMEOUT 540

DIVE 2 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_ABORT 175 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 5 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 100 N_DIVES 2 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 200421,171636,4743.472,-12224.074,2,1.8,4,15.5 TGT_RADIUS 100.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.86 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200421,172132,4743.452,-12224.070,31,0.9,32,15.5 MHEAD_RNG_PITCHd_Wd 24.0,124,-27.2,-10.000,-30.00

SPEED_LIMITS 0.173,0.258 D_GRID 171

TGT_NAME NE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,550.000000,-413.000000,70.000000

TGT_LATLONG 4743.500,-12224.000

Post-dive calculations and measurements:

FINISH -1.0,1.022154 FG_AHR_10Vo 11.206

SM_CCo 2762.82,304.40,1.101,0,541.7,514.2,569.2,590.75 MEM0 60932,1,0,0

SM_GC 0.65,304.40,14.09,0.60,1.101,0.064,0.078,541.7,514.2,569.2,191.6,1771.4,0,0,0,12.68,16.10,16.12 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 998456,23,48432,61

IRIDIUM_FIX 4744.47,-12222.38,200421,171707 DATA_FILE_SIZE 9742,413

TCM_TEMP 270.41 CAP_FILE_SIZE 243864,0

XPDR_PINGS 9,13.0,10.5 SDSIZE 4028416,4018336

ALTIM_BOTTOM_PING 120.1,63.4 SDFILEDIR 38,1

SC_FREEKB 3877760 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 51.66 CURRENT 0.043,145.9,1

TEMP 82.45 MAGCAL 1.000000,0.002731,-0.007770,-0.010702,1.052641,-0.035900,-0.002550,-0.073974,0.998873,566.6,-382.5,87.4,17,0.0269,0

INTERNAL_PRESSURE 8.84936 IMPLIED_C_PITCH 2032,14.45,250

_24V_AH 14.83,9.915 IMPLIED_C_VBD 3036,32.544277,250

_10V_AH 14.93,0.000 GPS 200421,180807,4743.606,-12223.727,2,0.7,3,15.5

FG_AHR_24Vo 14.700

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 627 1315 12248.51 nil 0 0 0.00

Pitch_motor 33 245 123.73 nil 0 0 0.00

Roll_motor 41 192 119.48 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 2 420 17.13 nil 0 0 0.00

GPS 41 15 9.26 nil 0 0 0.00

Core 1151 11 202.79 SciCon 2434 19 706.12

LPSleep 1357 2 56.75 nil 0 0 0.00

Compass 464 5 34.70 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.90

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.09 16386 -63.69 -1.17 0.00 537.6 534.8 540.4 184.2 1852.1 0.00 0.00 0 122.15 112.80 0.00 0.15 0.005 0.000 0.192 3206.59 3338.94 3074.25 184.38 1758.31 0 0 0 13.97 30.00 15.97

123.01 18727 -146.63 -1.27 80.00 3207.8 3340.2 3075.2 184.4 1758.4 1.74 -1.11 22 155.51 11.29 11.39 3.56 0.007 0.246 0.082 3548.34 3720.56 3376.12 1712.50 3272.88 0 0 0 15.42 15.95 15.96

273.07 5253 -146.63 -1.57 0.00 3546.5 3718.2 3374.8 1713.1 3273.3 15.06 -10.99 52 278.88 0.00 0.53 3.41 0.000 0.067 0.047 3547.31 3719.00 3375.62 1624.19 1771.56 0 0 0 30.00 16.08 16.14

463.11 128 -146.63 -1.71 0.00 3546.8 3718.8 3374.9 1624.1 1771.6 40.60 -12.88 90 464.44 0.00 0.00 0.00 0.000 0.000 0.000 3546.22 3718.50 3373.94 1624.31 1772.00 0 0 0 30.00 30.00 30.00

648.13 4485 -146.63 -1.86 80.00 3546.5 3718.6 3374.4 1624.3 1771.9 64.31 -13.63 127 653.91 0.00 0.35 3.52 0.000 0.080 0.082 3548.31 3719.62 3377.00 1556.50 3271.44 0 0 0 30.00 16.14 16.15

882.96 3205 -146.63 -1.76 0.00 3546.8 3718.6 3375.0 1556.4 3270.3 102.65 -17.21 174 888.90 0.00 0.28 3.39 0.000 0.200 0.047 3546.53 3718.38 3374.69 1594.06 1772.56 0 0 0 30.00 16.09 16.19

1198.20 4485 -146.63 -1.87 80.00 3546.7 3718.2 3375.2 1593.9 1772.4 141.45 -12.53 206 1203.72 0.00 0.22 3.49 0.000 0.091 0.081 3546.72 3717.81 3375.62 1554.31 3272.06 0 0 0 30.00 16.18 16.18

1259 end dive: TARGET_DEPTH_EXCEEDED

state 1259 begin apogee

1263.05 10243 0.00 -0.20 0.00 3546.9 3718.6 3375.2 1554.4 2060.2 150.55 -15.42 218 1366.77 98.50 2.91 0.12 1.315 0.172 0.168 2949.62 3040.50 2858.75 1972.50 2146.56 0 0 0 12.57 16.10 15.80

1368 end apogee: CONTROL_FINISHED_OK

state 1368 begin climb

1368.65 10759 146.63 1.27 -80.00 2947.8 3039.5 2856.2 1972.2 2148.9 153.44 0.00 228 1479.52 100.91 2.32 3.78 1.267 0.095 0.104 2350.94 2418.88 2283.00 2331.38 630.88 0 0 0 12.58 15.83 15.58

1532.01 3205 146.63 1.65 0.00 2347.2 2417.1 2277.2 2331.6 630.6 139.96 11.13 260 1537.58 0.00 0.55 3.41 0.000 0.059 0.039 2349.62 2419.62 2279.62 2432.88 2132.88 0 0 0 30.00 15.74 15.78

1842.02 2437 146.63 1.83 80.00 2344.7 2416.9 2272.4 2433.0 2132.8 95.33 13.98 295 1847.74 0.00 0.17 3.43 0.000 0.089 0.100 2344.81 2417.25 2272.38 2475.50 3569.44 0 0 0 30.00 15.99 15.95

1967.02 21639 146.63 1.70 0.00 2343.6 2416.9 2270.2 2474.4 3569.4 70.82 19.27 320 1972.76 0.00 0.39 3.37 0.000 0.199 0.041 2344.06 2417.81 2270.31 2427.00 2062.88 0 0 0 30.00 15.97 16.04

2157.26 18563 146.63 1.93 0.00 2343.3 2417.2 2269.4 2425.8 2063.3 42.02 12.87 358 2158.73 0.00 0.40 0.00 0.000 0.067 0.000 2342.75 2416.19 2269.31 2500.88 2062.69 0 0 0 30.00 16.07 30.00

2342.25 16646 146.63 1.93 80.00 2342.9 2416.6 2269.2 2501.2 2062.6 12.59 13.62 395 2348.13 0.00 0.00 3.58 0.000 0.000 0.096 2344.19 2418.00 2270.38 2501.12 3568.38 0 0 0 30.00 30.00 16.08

2372.26 21639 146.63 1.82 0.00 2343.2 2417.2 2269.2 2501.2 3567.2 7.27 17.46 401 2378.00 0.00 0.35 3.35 0.000 0.196 0.040 2342.84 2416.62 2269.06 2454.31 2062.94 0 0 0 30.00 16.00 16.11

2412 end climb: SURFACE_DEPTH_REACHED

state 2412 begin surface coast

2432 end surface coast: CONTROL_FINISHED_OK

state 2432 begin surface

ID	249	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	5	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054949999	XPDR_VALID	4
DIVE	2	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	2	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	590.98499	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	150	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	FILEMGR	0	C_VBD	2950	DEEPGLIDERMB	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	1	VBD_TIMEOUT	540	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012300001	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	0	LOGGERS	7
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	50	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	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	3	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	-6	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3600	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	100	C_PITCH	2020	FG_AHR_10V	11.187673	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	14.525075	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	150	PITCH_GAIN	25	PRESSURE_YINT	-180.73328	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.023	PITCH_ADJ_GAIN	0.045000002	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72565	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	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	0.003	ROLL_MAX	3825	ALTIM_PING_DEPTH	120	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PING_DELTA	10
HD_C	1.6e-05	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	200421,171636,4743.472,-12224.074,2,1.8,4,15.5	TGT_RADIUS	100.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.86	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200421,172132,4743.452,-12224.070,31,0.9,32,15.5	MHEAD_RNG_PITCHd_Wd	24.0,124,-27.2,-10.000,-30.00
SPEED_LIMITS	0.173,0.258	D_GRID	171
TGT_NAME	NE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,550.000000,-413.000000,70.000000
TGT_LATLONG	4743.500,-12224.000

FINISH	-1.0,1.022154	FG_AHR_10Vo	11.206
SM_CCo	2762.82,304.40,1.101,0,541.7,514.2,569.2,590.75	MEM0	60932,1,0,0
SM_GC	0.65,304.40,14.09,0.60,1.101,0.064,0.078,541.7,514.2,569.2,191.6,1771.4,0,0,0,12.68,16.10,16.12	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	998456,23,48432,61
IRIDIUM_FIX	4744.47,-12222.38,200421,171707	DATA_FILE_SIZE	9742,413
TCM_TEMP	270.41	CAP_FILE_SIZE	243864,0
XPDR_PINGS	9,13.0,10.5	SDSIZE	4028416,4018336
ALTIM_BOTTOM_PING	120.1,63.4	SDFILEDIR	38,1
SC_FREEKB	3877760	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	51.66	CURRENT	0.043,145.9,1
TEMP	82.45	MAGCAL	1.000000,0.002731,-0.007770,-0.010702,1.052641,-0.035900,-0.002550,-0.073974,0.998873,566.6,-382.5,87.4,17,0.0269,0
INTERNAL_PRESSURE	8.84936	IMPLIED_C_PITCH	2032,14.45,250
_24V_AH	14.83,9.915	IMPLIED_C_VBD	3036,32.544277,250
_10V_AH	14.93,0.000	GPS	200421,180807,4743.606,-12223.727,2,0.7,3,15.5
FG_AHR_24Vo	14.700

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	627	1315	12248.51	nil	0	0	0.00
Pitch_motor	33	245	123.73	nil	0	0	0.00
Roll_motor	41	192	119.48	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	2	420	17.13	nil	0	0	0.00
GPS	41	15	9.26	nil	0	0	0.00
Core	1151	11	202.79	SciCon	2434	19	706.12
LPSleep	1357	2	56.75	nil	0	0	0.00
Compass	464	5	34.70	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.90
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.09	16386	-63.69	-1.17	0.00	537.6	534.8	540.4	184.2	1852.1	0.00	0.00	0	122.15	112.80	0.00	0.15	0.005	0.000	0.192	3206.59	3338.94	3074.25	184.38	1758.31	0	0	0	13.97	30.00	15.97
123.01	18727	-146.63	-1.27	80.00	3207.8	3340.2	3075.2	184.4	1758.4	1.74	-1.11	22	155.51	11.29	11.39	3.56	0.007	0.246	0.082	3548.34	3720.56	3376.12	1712.50	3272.88	0	0	0	15.42	15.95	15.96
273.07	5253	-146.63	-1.57	0.00	3546.5	3718.2	3374.8	1713.1	3273.3	15.06	-10.99	52	278.88	0.00	0.53	3.41	0.000	0.067	0.047	3547.31	3719.00	3375.62	1624.19	1771.56	0	0	0	30.00	16.08	16.14
463.11	128	-146.63	-1.71	0.00	3546.8	3718.8	3374.9	1624.1	1771.6	40.60	-12.88	90	464.44	0.00	0.00	0.00	0.000	0.000	0.000	3546.22	3718.50	3373.94	1624.31	1772.00	0	0	0	30.00	30.00	30.00
648.13	4485	-146.63	-1.86	80.00	3546.5	3718.6	3374.4	1624.3	1771.9	64.31	-13.63	127	653.91	0.00	0.35	3.52	0.000	0.080	0.082	3548.31	3719.62	3377.00	1556.50	3271.44	0	0	0	30.00	16.14	16.15
882.96	3205	-146.63	-1.76	0.00	3546.8	3718.6	3375.0	1556.4	3270.3	102.65	-17.21	174	888.90	0.00	0.28	3.39	0.000	0.200	0.047	3546.53	3718.38	3374.69	1594.06	1772.56	0	0	0	30.00	16.09	16.19
1198.20	4485	-146.63	-1.87	80.00	3546.7	3718.2	3375.2	1593.9	1772.4	141.45	-12.53	206	1203.72	0.00	0.22	3.49	0.000	0.091	0.081	3546.72	3717.81	3375.62	1554.31	3272.06	0	0	0	30.00	16.18	16.18
1259	end dive: TARGET_DEPTH_EXCEEDED
state	1259	begin apogee
1263.05	10243	0.00	-0.20	0.00	3546.9	3718.6	3375.2	1554.4	2060.2	150.55	-15.42	218	1366.77	98.50	2.91	0.12	1.315	0.172	0.168	2949.62	3040.50	2858.75	1972.50	2146.56	0	0	0	12.57	16.10	15.80
1368	end apogee: CONTROL_FINISHED_OK
state	1368	begin climb
1368.65	10759	146.63	1.27	-80.00	2947.8	3039.5	2856.2	1972.2	2148.9	153.44	0.00	228	1479.52	100.91	2.32	3.78	1.267	0.095	0.104	2350.94	2418.88	2283.00	2331.38	630.88	0	0	0	12.58	15.83	15.58
1532.01	3205	146.63	1.65	0.00	2347.2	2417.1	2277.2	2331.6	630.6	139.96	11.13	260	1537.58	0.00	0.55	3.41	0.000	0.059	0.039	2349.62	2419.62	2279.62	2432.88	2132.88	0	0	0	30.00	15.74	15.78
1842.02	2437	146.63	1.83	80.00	2344.7	2416.9	2272.4	2433.0	2132.8	95.33	13.98	295	1847.74	0.00	0.17	3.43	0.000	0.089	0.100	2344.81	2417.25	2272.38	2475.50	3569.44	0	0	0	30.00	15.99	15.95
1967.02	21639	146.63	1.70	0.00	2343.6	2416.9	2270.2	2474.4	3569.4	70.82	19.27	320	1972.76	0.00	0.39	3.37	0.000	0.199	0.041	2344.06	2417.81	2270.31	2427.00	2062.88	0	0	0	30.00	15.97	16.04
2157.26	18563	146.63	1.93	0.00	2343.3	2417.2	2269.4	2425.8	2063.3	42.02	12.87	358	2158.73	0.00	0.40	0.00	0.000	0.067	0.000	2342.75	2416.19	2269.31	2500.88	2062.69	0	0	0	30.00	16.07	30.00
2342.25	16646	146.63	1.93	80.00	2342.9	2416.6	2269.2	2501.2	2062.6	12.59	13.62	395	2348.13	0.00	0.00	3.58	0.000	0.000	0.096	2344.19	2418.00	2270.38	2501.12	3568.38	0	0	0	30.00	30.00	16.08
2372.26	21639	146.63	1.82	0.00	2343.2	2417.2	2269.2	2501.2	3567.2	7.27	17.46	401	2378.00	0.00	0.35	3.35	0.000	0.196	0.040	2342.84	2416.62	2269.06	2454.31	2062.94	0	0	0	30.00	16.00	16.11
2412	end climb: SURFACE_DEPTH_REACHED
state	2412	begin surface coast
2432	end surface coast: CONTROL_FINISHED_OK
state	2432	begin surface