Glider dive log

Shilshole 21May21 * SG526 * Dive index * Mission links * Dive 2 * 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 2 TGT_AUTO_DEFAULT 0 C_VBD 3362 DEVICE2 -1

N_DIVES 2 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 60 COMM_SEQ 0 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 7

D_ABORT 100 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 20 T_RSLEEP 1 AH0_10V 0 XPDR_DEVICE 21

T_MISSION 35 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 0.76801717 SEABIRD_T_J 3.279775e-06

T_LOITER 0 PITCH_MIN 150 FG_AHR_24V 0.50120795 SEABIRD_C_G -9.9535656

T_EPIRB 0 PITCH_MAX 3615 PHONE_SUPPLY 2 SEABIRD_C_H 1.1462348

USE_BATHY -6 C_PITCH 2300 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 2500 XPDR_VALID 4 TM_RECORDABOVE 2000.0

HD_A 0.003 C_ROLL_CLIMB 2500 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 0.76801717 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 FG_AHR_24V 0.50120795 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 20

COMPASS_DEVICE 34 LOGGERDEVICE3 19 PROTOCOL 9 T_EPIRB 0

COMPASS_USE 4 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_GPS 5

C_PITCH 2300 LOGGERS 7 RAFOS_DEVICE -1 T_LOITER 0

C_ROLL_CLIMB 2500 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_MISSION 35

C_ROLL_DIVE 2500 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 T_NO_W 120

C_VBD 3362 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 2 MOTHERBOARD 6 ROLL_TIMEOUT 15 VBD_MAX 3960

D_ABORT 100 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 2 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 60 PITCH_ADJ_DBAND 1 SEABIRD_T_I 2.6826387e-05

Pre-dive calculations and measurements:

GPS1 210521,164703,4744.038,-12224.166,17,1.0,18,15.5 TGT_RADIUS 100.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.24 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210521,165203,4744.055,-12224.181,33,0.9,34,15.5 MHEAD_RNG_PITCHd_Wd 112.9,1967,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 174

TGT_NAME SE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

WARN HPMAR logging already stopped _24V_AH 14.83,0.748

FINISH 1.4,1.021638 _10V_AH 14.84,0.000

SM_CCo 2071.66,54.62,0.980,0,541.1,504.8,577.3,691.98 FG_AHR_24Vo 0.683

SM_GC 0.23,54.62,7.82,0.12,0.980,0.109,0.069,541.1,504.8,577.3,134.8,2541.1,0,0,0,12.16,15.60,15.68 FG_AHR_10Vo 0.798

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

IRIDIUM_FIX 4742.17,-12225.08,210521,164733 MEM1 65508,1,0,0

TCM_TEMP 19.10 MEM2 998544,18,48364,65

XPDR_PINGS 32,14.5,10.5 DATA_FILE_SIZE 6600,278

SC_FREEKB 3878016 CAP_FILE_SIZE 128773,0

PM_FREEKB_00 62311424 SDSIZE 4028416,4019072

PM_FREEKB_01 62342912 SDFILEDIR 30,1

PM_ACTIVECARD 0 ERRORS 0,0,0,0,0,2,1,0,0,0,0,0,0,0,0,0,0,0

TM_FREEKB 7762304 CURRENT 0.152,219.8,1

HUMID 55.98 IMPLIED_C_PITCH 2446,20.96,113

TEMP 11.24 IMPLIED_C_VBD 2803,224.816605,94

INTERNAL_PRESSURE 8.4584 GPS 210521,172803,4743.901,-12224.272,32,0.7,33,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 762 1148 12989.38 SBE_CT 0 0 0.00

Pitch_motor 19 443 128.33 nil 0 0 0.00

Roll_motor 13 116 23.54 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 8 420 49.83 nil 0 0 0.00

GPS 43 15 9.69 nil 0 0 0.00

Core 1244 11 217.96 SciCon 2000 20 615.12

LPSleep 823 2 34.23 PMAR 2010 3 117.02

Compass 473 5 35.10 TMICL 1990 22 677.34

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11.26 16386 -146.63 -0.88 0.00 538.6 506.4 570.8 132.5 2550.4 0.00 0.00 0 168.03 149.17 0.00 0.13 0.005 0.000 0.117 3959.84 3906.50 4013.19 132.62 2433.25 0 0 0 15.63 30.00 15.83

168.45 2309 -146.63 -0.88 40.00 3958.7 3903.3 4014.1 132.8 2433.1 2.79 -12.84 15 185.72 0.00 9.77 1.35 0.000 0.443 0.048 3960.12 3903.94 4016.31 2078.44 3265.56 0 0 0 30.00 15.58 15.89

328.55 3205 -146.63 -0.68 0.00 3963.5 3904.2 4022.9 2078.6 3266.3 29.23 -11.92 47 334.87 0.00 0.22 1.29 0.000 0.263 0.028 3964.16 3904.44 4023.88 2137.31 2438.25 0 0 0 30.00 15.85 15.98

518.66 2469 -146.63 -0.54 40.00 3963.7 3903.1 4024.2 2136.9 2431.1 48.20 -9.51 67 524.91 0.00 0.12 1.35 0.000 0.261 0.055 3963.91 3903.88 4023.94 2166.12 3258.12 0 0 0 30.00 15.87 15.93

553.42 3237 -146.63 -0.44 0.00 3964.4 3904.9 4024.0 2165.1 3256.4 51.20 -9.08 74 560.23 0.00 0.10 1.28 0.000 0.225 0.028 3964.41 3904.44 4024.38 2196.00 2443.62 0 0 0 30.00 15.89 15.98

688 end dive: TARGET_DEPTH_EXCEEDED

state 688 begin apogee

689.77 10243 0.00 -0.20 0.00 3963.9 3904.2 4023.7 2195.8 2545.9 60.18 -6.48 88 802.45 107.45 0.19 0.14 1.148 0.222 0.098 3362.12 3254.88 3469.38 2252.75 2427.75 0 0 0 12.11 15.89 15.40

803 end apogee: CONTROL_FINISHED_OK

state 803 begin climb

803.98 10243 146.63 0.88 0.00 3360.0 3252.7 3467.3 2253.4 2425.1 65.30 0.00 99 919.31 108.77 0.89 0.00 1.123 0.200 0.000 2765.19 2649.69 2880.69 2515.69 2423.38 0 0 0 12.02 15.45 30.00

1102.04 10919 316.98 1.21 -40.00 2756.3 2642.8 2869.8 2515.6 2423.2 60.53 2.11 136 1230.81 122.82 0.21 1.14 1.108 0.048 0.047 2070.19 1949.44 2190.94 2624.56 1737.44 0 0 0 12.17 15.73 15.28

1313.79 9382 395.40 1.33 0.00 2063.3 1947.5 2179.1 2625.4 1737.1 49.10 6.37 178 1377.68 58.04 0.00 1.32 1.060 0.000 0.039 1748.53 1642.75 1854.31 2624.94 2530.69 0 0 0 12.08 30.00 15.62

1560.47 10663 494.34 1.49 40.00 1744.5 1642.7 1846.4 2624.9 2530.6 33.87 5.42 209 1638.44 71.47 0.10 1.20 1.036 0.081 0.049 1345.91 1256.44 1435.38 2686.81 3258.00 0 0 0 12.18 15.58 15.38

1651.31 9254 542.13 1.55 0.00 1343.8 1256.7 1431.0 2686.0 3258.5 27.11 7.79 227 1693.46 36.12 0.00 1.35 0.976 0.000 0.038 1151.06 1072.31 1229.81 2691.75 2469.88 0 0 0 12.10 30.00 15.52

1881.17 8614 606.95 1.65 40.00 1147.4 1070.8 1223.9 2692.5 2467.9 10.21 7.00 254 1934.68 47.40 0.00 1.35 0.965 0.000 0.048 887.19 811.38 963.00 2691.81 3260.00 0 0 0 12.20 30.00 15.27

1987.38 11431 677.22 1.80 0.00 886.7 811.1 962.4 2691.8 3260.4 2.37 6.75 275 1999.08 6.84 0.11 1.33 0.813 0.075 0.037 858.53 783.81 933.25 2770.50 2453.81 0 0 0 12.19 15.64 15.67

1999 end climb: SURFACE_DEPTH_REACHED

state 1999 begin surface coast

2001 end surface coast: CONTROL_FINISHED_OK

state 2001 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	2	TGT_AUTO_DEFAULT	0	C_VBD	3362	DEVICE2	-1
N_DIVES	2	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	60	COMM_SEQ	0	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	7
D_ABORT	100	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	20	T_RSLEEP	1	AH0_10V	0	XPDR_DEVICE	21
T_MISSION	35	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	0.76801717	SEABIRD_T_J	3.279775e-06
T_LOITER	0	PITCH_MIN	150	FG_AHR_24V	0.50120795	SEABIRD_C_G	-9.9535656
T_EPIRB	0	PITCH_MAX	3615	PHONE_SUPPLY	2	SEABIRD_C_H	1.1462348
USE_BATHY	-6	C_PITCH	2300	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	2500	XPDR_VALID	4	TM_RECORDABOVE	2000.0
HD_A	0.003	C_ROLL_CLIMB	2500	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	210521,164703,4744.038,-12224.166,17,1.0,18,15.5	TGT_RADIUS	100.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.24	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210521,165203,4744.055,-12224.181,33,0.9,34,15.5	MHEAD_RNG_PITCHd_Wd	112.9,1967,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	174
TGT_NAME	SE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000
TGT_LATLONG	4743.000,-12224.000

WARN	HPMAR logging already stopped	_24V_AH	14.83,0.748
FINISH	1.4,1.021638	_10V_AH	14.84,0.000
SM_CCo	2071.66,54.62,0.980,0,541.1,504.8,577.3,691.98	FG_AHR_24Vo	0.683
SM_GC	0.23,54.62,7.82,0.12,0.980,0.109,0.069,541.1,504.8,577.3,134.8,2541.1,0,0,0,12.16,15.60,15.68	FG_AHR_10Vo	0.798
SUPER	27,71,254,1,0,0	MEM0	60868,1,0,0
IRIDIUM_FIX	4742.17,-12225.08,210521,164733	MEM1	65508,1,0,0
TCM_TEMP	19.10	MEM2	998544,18,48364,65
XPDR_PINGS	32,14.5,10.5	DATA_FILE_SIZE	6600,278
SC_FREEKB	3878016	CAP_FILE_SIZE	128773,0
PM_FREEKB_00	62311424	SDSIZE	4028416,4019072
PM_FREEKB_01	62342912	SDFILEDIR	30,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,2,1,0,0,0,0,0,0,0,0,0,0,0
TM_FREEKB	7762304	CURRENT	0.152,219.8,1
HUMID	55.98	IMPLIED_C_PITCH	2446,20.96,113
TEMP	11.24	IMPLIED_C_VBD	2803,224.816605,94
INTERNAL_PRESSURE	8.4584	GPS	210521,172803,4743.901,-12224.272,32,0.7,33,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	762	1148	12989.38	SBE_CT	0	0	0.00
Pitch_motor	19	443	128.33	nil	0	0	0.00
Roll_motor	13	116	23.54	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	8	420	49.83	nil	0	0	0.00
GPS	43	15	9.69	nil	0	0	0.00
Core	1244	11	217.96	SciCon	2000	20	615.12
LPSleep	823	2	34.23	PMAR	2010	3	117.02
Compass	473	5	35.10	TMICL	1990	22	677.34
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11.26	16386	-146.63	-0.88	0.00	538.6	506.4	570.8	132.5	2550.4	0.00	0.00	0	168.03	149.17	0.00	0.13	0.005	0.000	0.117	3959.84	3906.50	4013.19	132.62	2433.25	0	0	0	15.63	30.00	15.83
168.45	2309	-146.63	-0.88	40.00	3958.7	3903.3	4014.1	132.8	2433.1	2.79	-12.84	15	185.72	0.00	9.77	1.35	0.000	0.443	0.048	3960.12	3903.94	4016.31	2078.44	3265.56	0	0	0	30.00	15.58	15.89
328.55	3205	-146.63	-0.68	0.00	3963.5	3904.2	4022.9	2078.6	3266.3	29.23	-11.92	47	334.87	0.00	0.22	1.29	0.000	0.263	0.028	3964.16	3904.44	4023.88	2137.31	2438.25	0	0	0	30.00	15.85	15.98
518.66	2469	-146.63	-0.54	40.00	3963.7	3903.1	4024.2	2136.9	2431.1	48.20	-9.51	67	524.91	0.00	0.12	1.35	0.000	0.261	0.055	3963.91	3903.88	4023.94	2166.12	3258.12	0	0	0	30.00	15.87	15.93
553.42	3237	-146.63	-0.44	0.00	3964.4	3904.9	4024.0	2165.1	3256.4	51.20	-9.08	74	560.23	0.00	0.10	1.28	0.000	0.225	0.028	3964.41	3904.44	4024.38	2196.00	2443.62	0	0	0	30.00	15.89	15.98
688	end dive: TARGET_DEPTH_EXCEEDED
state	688	begin apogee
689.77	10243	0.00	-0.20	0.00	3963.9	3904.2	4023.7	2195.8	2545.9	60.18	-6.48	88	802.45	107.45	0.19	0.14	1.148	0.222	0.098	3362.12	3254.88	3469.38	2252.75	2427.75	0	0	0	12.11	15.89	15.40
803	end apogee: CONTROL_FINISHED_OK
state	803	begin climb
803.98	10243	146.63	0.88	0.00	3360.0	3252.7	3467.3	2253.4	2425.1	65.30	0.00	99	919.31	108.77	0.89	0.00	1.123	0.200	0.000	2765.19	2649.69	2880.69	2515.69	2423.38	0	0	0	12.02	15.45	30.00
1102.04	10919	316.98	1.21	-40.00	2756.3	2642.8	2869.8	2515.6	2423.2	60.53	2.11	136	1230.81	122.82	0.21	1.14	1.108	0.048	0.047	2070.19	1949.44	2190.94	2624.56	1737.44	0	0	0	12.17	15.73	15.28
1313.79	9382	395.40	1.33	0.00	2063.3	1947.5	2179.1	2625.4	1737.1	49.10	6.37	178	1377.68	58.04	0.00	1.32	1.060	0.000	0.039	1748.53	1642.75	1854.31	2624.94	2530.69	0	0	0	12.08	30.00	15.62
1560.47	10663	494.34	1.49	40.00	1744.5	1642.7	1846.4	2624.9	2530.6	33.87	5.42	209	1638.44	71.47	0.10	1.20	1.036	0.081	0.049	1345.91	1256.44	1435.38	2686.81	3258.00	0	0	0	12.18	15.58	15.38
1651.31	9254	542.13	1.55	0.00	1343.8	1256.7	1431.0	2686.0	3258.5	27.11	7.79	227	1693.46	36.12	0.00	1.35	0.976	0.000	0.038	1151.06	1072.31	1229.81	2691.75	2469.88	0	0	0	12.10	30.00	15.52
1881.17	8614	606.95	1.65	40.00	1147.4	1070.8	1223.9	2692.5	2467.9	10.21	7.00	254	1934.68	47.40	0.00	1.35	0.965	0.000	0.048	887.19	811.38	963.00	2691.81	3260.00	0	0	0	12.20	30.00	15.27
1987.38	11431	677.22	1.80	0.00	886.7	811.1	962.4	2691.8	3260.4	2.37	6.75	275	1999.08	6.84	0.11	1.33	0.813	0.075	0.037	858.53	783.81	933.25	2770.50	2453.81	0	0	0	12.19	15.64	15.67
1999	end climb: SURFACE_DEPTH_REACHED
state	1999	begin surface coast
2001	end surface coast: CONTROL_FINISHED_OK
state	2001	begin surface