Glider dive log

Shilshole 28Aug19 * SG179 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 179 FIX_MISSING_TIMEOUT 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

MISSION 1 TGT_DEFAULT_LAT 4736 ROLL_ADJ_DBAND 0 MOTHERBOARD 6

DIVE 4 TGT_DEFAULT_LON -12218 VBD_MIN 450 DEVICE1 -1

N_DIVES 4 TGT_AUTO_DEFAULT 0 VBD_MAX 3960 DEVICE2 -1

STOP_T 0 SM_CC 640.04498 C_VBD 2950 DEVICE3 -1

D_SURF 2 N_FILEKB 8 VBD_DBAND 2 DEVICE4 -1

D_FLARE 3 FILEMGR 0 VBD_CNV -0.24529999 DEVICE5 -1

D_TGT 150 CALL_NDIVES 1 VBD_LP_IGNORE 0 DEVICE6 -1

D_ABORT 175 COMM_SEQ 0 VBD_TIMEOUT 540 LOGGERS 7

D_NO_BLEED 50 PROTOCOL 9 PITCH_VBD_SHIFT 0.00030000001 LOGGERDEVICE1 7

D_BOOST 2 N_NOCOMM 1 UNCOM_BLEED 20 LOGGERDEVICE2 22

T_BOOST 0 NOCOMM_ACTION 163 VBD_MAXERRORS 1 LOGGERDEVICE3 40

D_FINISH 0 N_NOSURFACE 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 DBDW 0 COMPASS_DEVICE 66

D_SAFE 0 CALL_TRIES 5 LOITER_W_DBAND 0 COMPASS2_DEVICE 55

D_CALL 0 CALL_WAIT 60 LOITER_DBDW 0 PHONE_DEVICE 33

SURFACE_URGENCY 0 CAPUPLOAD 0 LOITER_D_TOP 0 GPS_DEVICE 48

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

SURFACE_URGENCY_FORCE 0 T_GPS 5 LOITER_N_DIVE 0 XPDR_DEVICE 0

T_DIVE 50 N_GPS 80740 CF8_MAXERRORS 20 SIM_W 0

T_MISSION 65 T_RSLEEP 3 AH0_24V 350 SEABIRD_T_G 0.004412075

T_ABORT 1440 STROBE 0 AH0_10V 0 SEABIRD_T_H 0.00063827372

T_TURN 225 RAFOS_PEAK_OFFSET 0 MINV_24V 11 SEABIRD_T_I 2.6317541e-05

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 MINV_10V 11 SEABIRD_T_J 3.254017e-06

T_NO_W 120 RAFOS_HIT_WINDOW 3600 MAXI_24V 5 SEABIRD_C_G -9.9840622

T_LOITER 0 RAFOS_MMODEM 0 MAXI_10V 1.4 SEABIRD_C_H 1.1688964

T_EPIRB 0 PITCH_MIN 450 FG_AHR_10V 1.1123689 SEABIRD_C_I -0.0016958674

USE_BATHY -6 PITCH_MAX 3960 FG_AHR_24V 1.1857432 SEABIRD_C_J 0.00021397677

USE_ICE 0 C_PITCH 2880 PHONE_SUPPLY 2 SC_RECORDABOVE 2000.0

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 PRESSURE_YINT -165.14638 SC_PROFILE 3.0

D_OFFGRID 100 PITCH_CNV 0.0031300001 PRESSURE_SLOPE 0.00010612313 SC_XMITPROFILE 3.0

RELAUNCH 1 PITCH_GAIN 25 COMPASS_USE 4 SC_NDIVE 1.0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 ALTIM_PING_FIT 0 TM_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 TM_PROFILE 3.0

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 TM_XMITPROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 TM_NDIVE 1.0

RHO 1.023 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 TM_XMITRAW 0.0

MASS 53448 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 TM_LOGSAMPLE 0.0

NAV_MODE 2 ROLL_MIN 450 ALTIM_PING_DELTA 0 PM_RECORDABOVE 2000.0

FERRY_MAX 45 ROLL_MAX 3950 ALTIM_FREQUENCY 13 PM_PROFILE 7.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_PULSE 3 PM_XMITPROFILE 3.0

HD_A 0.003 C_ROLL_DIVE 2500 ALTIM_SENSITIVITY 2 PM_NDIVE 1.0

HD_B 0.0099999998 C_ROLL_CLIMB 2100 XPDR_VALID 6 PM_XMITRAW 0.0

HD_C 1.6e-05 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_MOTORS 1.0

HEADING -1 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 1.9639999e-06 PM_SENDDEPTH 1.0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -2

ESCAPE_HEADING_DELTA 10 ROLL_MAXERRORS 1 DEEPGLIDER 0

AH0_10V 0 D_TGT 150 PITCH_ADJ_DBAND 0 SEABIRD_T_I 2.6317541e-05

AH0_24V 350 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0 SEABIRD_T_J 3.254017e-06

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.0031300001 SIM_W 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_DBAND 0.1 SM_CC 640.04498

ALTIM_PING_DELTA 0 FG_AHR_10V 1.1123689 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 1.1857432 PITCH_MAX 3960 STOP_T 0

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_MIN 450 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_TIMEOUT 25 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 48 PITCH_VBD_SHIFT 0.00030000001 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_A 0.003 PITCH_W_DBAND 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.0099999998 PITCH_W_GAIN 0 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 HD_C 1.6e-05 PM_MOTORS 1.0 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 HEADING -1 PM_NDIVE 1.0 TM_LOGSAMPLE 0.0

CALL_TRIES 5 HEAD_ERRBAND 10 PM_PROFILE 7.0 TM_NDIVE 1.0

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TM_PROFILE 3.0

CAPMAXSIZE 100000 ID 179 PM_SENDDEPTH 1.0 TM_RECORDABOVE 2000.0

CAPUPLOAD 0 INT_PRESSURE_SLOPE 1.9639999e-06 PM_XMITPROFILE 3.0 TM_XMITPROFILE 3.0

CF8_MAXERRORS 20 INT_PRESSURE_YINT -2 PM_XMITRAW 0.0 TM_XMITRAW 0.0

COMM_SEQ 0 KALMAN_USE 2 PRESSURE_SLOPE 0.00010612313 T_ABORT 1440

COMPASS2_DEVICE 55 LOGGERDEVICE1 7 PRESSURE_YINT -165.14638 T_BOOST 0

COMPASS_DEVICE 66 LOGGERDEVICE2 22 PROTOCOL 9 T_DIVE 50

COMPASS_USE 4 LOGGERDEVICE3 40 RAFOS_CORR_THRESH 60 T_EPIRB 0

C_PITCH 2880 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_GPS 5

C_ROLL_CLIMB 2100 LOGGERS 7 RAFOS_HIT_WINDOW 3600 T_LOITER 0

C_ROLL_DIVE 2500 LOITER_DBDW 0 RAFOS_MMODEM 0 T_MISSION 65

C_VBD 2950 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 T_NO_W 120

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 T_RSLEEP 3

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.023 T_TURN 225

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT -5

DEVICE1 -1 MASS 53448 ROLL_ADJ_GAIN 0 UNCOM_BLEED 20

DEVICE2 -1 MAXI_10V 1.4 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 40 USE_BATHY -6

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3950 USE_ICE 0

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE6 -1 MINV_24V 11 ROLL_MIN 450 VBD_DBAND 2

DIVE 4 MISSION 1 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 VBD_MAX 3960

D_BOOST 2 NAV_MODE 2 SC_PROFILE 3.0 VBD_MAXERRORS 1

D_CALL 0 NOCOMM_ACTION 163 SC_RECORDABOVE 2000.0 VBD_MIN 450

D_FINISH 0 N_DIVES 4 SC_XMITPROFILE 3.0 VBD_TIMEOUT 540

D_FLARE 3 N_FILEKB 8 SEABIRD_C_G -9.9840622 W_ADJ_DBAND 0

D_NO_BLEED 50 N_GPS 80740 SEABIRD_C_H 1.1688964 XPDR_DEVICE 0

D_OFFGRID 100 N_NOCOMM 1 SEABIRD_C_I -0.0016958674 XPDR_INHIBIT 90

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00021397677 XPDR_VALID 6

D_SAFE 0 PHONE_DEVICE 33 SEABIRD_T_G 0.004412075

D_SURF 2 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063827372

Pre-dive calculations and measurements:

GPS1 280819,184446,4744.755,-12223.774,3,1.7,7,15.5 TGT_LATLONG 4743.500,-12225.000

_CALLS 1 TGT_RADIUS 100.000

_SM_DEPTHo 0.54 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -58.0 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 280819,184618,4744.742,-12223.764,2,1.7,6,15.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.173,0.258 MHEAD_RNG_PITCHd_Wd 243.3,2769,-17.6,-10.000,-21.21

TGT_NAME NW D_GRID 167

Post-dive calculations and measurements:

FINISH 0.4,1.022421 INTERNAL_PRESSURE 8.40272

SM_CCo 3415.89,0.00,0.000,0,449.7,468.4,430.9,613.33 _24V_AH 14.77,1.350

SM_GC 0.51,0.00,6.26,2.62,0.000,0.071,0.099,449.7,468.4,430.9,420.1,2520.9,0,0,0,30.00,15.86,15.92 _10V_AH 14.79,0.000

SUPER 59,71,254,1,0,0 FG_AHR_24Vo 1.378

IRIDIUM_FIX 4743.02,-12222.38,280819,184049 FG_AHR_10Vo 1.154

TCM_TEMP 119.84 MEM 1132628,27,46376,64

XPDR_PINGS 41 DATA_FILE_SIZE 12955,475

SC_FREEKB 3877248 CAP_FILE_SIZE 150705,0

TM_FREEKB 7817248 SDSIZE 3918848,3908288

PM_FREEKB_00 124484672 SDFILEDIR 50,1

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

HUMID 55.25 CURRENT 0.386,169.1,1

TEMP 13.82 GPS 280819,194430,4744.332,-12223.676,2,1.1,31,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 713 1301 13716.60 nil 0 0 0.00

Pitch_motor 15 523 123.46 nil 0 0 0.00

Roll_motor 30 233 106.31 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 10 420 63.58 nil 0 0 0.00

GPS 15 15 3.37 nil 0 0 0.00

Core 1867 11 325.86 SciCon 3052 13 595.57

LPSleep 1609 2 66.66 TMICL 3050 18 839.35

Compass 736 5 54.50 PMAR 3050 8 369.63

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12.28 2 -146.63 -0.75 0.00 448.7 478.9 418.4 427.8 2432.8 0.00 0.00 0 160.81 143.94 0.00 0.14 0.005 0.000 0.234 3546.22 3549.75 3542.69 426.94 2546.19 0 0 0 15.43 30.00 15.27

161.09 293 -146.63 -0.75 40.00 3545.0 3547.8 3542.2 427.3 2547.1 2.13 0.00 14 178.44 0.00 8.36 2.01 0.000 0.524 0.132 3546.38 3550.94 3541.81 2628.75 3937.69 0 0 0 30.00 15.53 15.77

401.30 1060 -146.63 -0.75 0.00 3544.2 3554.6 3533.8 2630.1 3938.2 29.45 -9.94 62 407.32 0.00 0.00 2.05 0.000 0.000 0.068 3545.88 3556.56 3535.19 2628.88 2457.81 0 0 0 30.00 30.00 15.87

591.38 292 -146.63 -0.75 40.00 3544.1 3555.4 3532.8 2629.6 2453.9 47.13 -9.68 82 598.37 0.00 0.00 2.19 0.000 0.000 0.138 3545.44 3556.69 3534.19 2618.38 3933.44 0 0 0 30.00 30.00 15.86

820.42 1028 -146.63 -0.75 0.00 3543.8 3554.8 3532.9 2619.3 3933.6 72.68 -11.02 128 828.51 0.00 0.00 2.05 0.000 0.000 0.068 3545.00 3556.06 3533.94 2619.56 2456.19 0 0 0 30.00 30.00 15.87

1006.53 260 -146.63 -0.75 40.00 3544.3 3555.8 3532.9 2619.1 2452.1 92.88 -10.10 147 1013.46 0.00 0.00 2.20 0.000 0.000 0.139 3544.22 3555.06 3533.38 2608.62 3939.56 0 0 0 30.00 30.00 15.86

1235.52 1061 -146.63 -0.75 0.00 3543.6 3554.7 3532.5 2606.7 3939.9 114.33 -8.53 193 1244.46 0.00 0.10 2.04 0.000 0.291 0.068 3544.22 3555.56 3532.88 2645.62 2457.50 0 0 0 30.00 15.73 15.87

1422.49 292 -146.63 -0.75 40.00 3544.3 3555.9 3532.7 2645.4 2452.9 126.69 -6.48 212 1429.55 0.00 0.00 2.18 0.000 0.000 0.134 3543.16 3554.38 3531.94 2636.25 3937.88 0 0 0 30.00 30.00 15.89

1651.66 1060 -146.63 -0.75 0.00 3543.1 3554.2 3532.1 2635.1 3937.5 143.12 -5.98 258 1659.53 0.00 0.00 2.05 0.000 0.000 0.067 3543.56 3554.94 3532.19 2635.62 2455.88 0 0 0 30.00 30.00 15.90

1777 end dive: TARGET_DEPTH_EXCEEDED

state 1777 begin apogee

1778.92 3 0.00 -0.20 0.00 3543.7 3555.1 3532.2 2635.6 2042.6 150.42 -5.88 271 1896.72 112.81 0.48 0.10 1.302 0.217 0.176 2948.91 3014.69 2883.12 2819.19 2145.81 0 0 0 12.05 15.78 15.34

1900 end apogee: CONTROL_FINISHED_OK

state 1900 begin climb

1900.70 519 146.63 0.75 -40.00 2947.2 3015.4 2878.9 2820.9 2145.5 150.59 0.00 282 2024.39 115.96 0.75 2.22 1.261 0.135 0.116 2349.78 2426.12 2273.44 3139.12 663.06 0 0 0 12.25 15.44 15.23

2246.31 1030 146.63 0.75 0.00 2341.5 2420.7 2262.3 3138.4 663.4 102.64 14.19 349 2254.47 0.00 0.00 2.08 0.000 0.000 0.089 2343.34 2422.50 2264.19 3138.44 2125.69 0 0 0 30.00 30.00 15.73

2432.43 518 146.63 0.75 -40.00 2341.2 2421.6 2260.7 3138.6 2125.9 78.89 12.68 368 2439.33 0.00 0.00 2.12 0.000 0.000 0.111 2339.72 2418.56 2260.88 3146.94 663.31 0 0 0 30.00 30.00 15.75

2661.38 1030 146.63 0.75 0.00 2340.6 2420.9 2260.2 3147.4 663.3 49.69 11.21 414 2669.40 0.00 0.00 2.06 0.000 0.000 0.090 2341.28 2420.44 2262.12 3147.19 2126.88 0 0 0 30.00 30.00 15.86

2847.49 518 146.63 0.75 -40.00 2340.1 2421.6 2258.6 3147.6 2127.7 27.63 12.04 433 2854.41 0.00 0.00 2.11 0.000 0.000 0.113 2338.16 2419.38 2256.94 3156.00 663.75 0 0 0 30.00 30.00 15.84

3046 end climb: SURFACE_DEPTH_REACHED

state 3046 begin surface coast

3056 end surface coast: CONTROL_FINISHED_OK

state 3056 begin surface

ID	179	FIX_MISSING_TIMEOUT	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
MISSION	1	TGT_DEFAULT_LAT	4736	ROLL_ADJ_DBAND	0	MOTHERBOARD	6
DIVE	4	TGT_DEFAULT_LON	-12218	VBD_MIN	450	DEVICE1	-1
N_DIVES	4	TGT_AUTO_DEFAULT	0	VBD_MAX	3960	DEVICE2	-1
STOP_T	0	SM_CC	640.04498	C_VBD	2950	DEVICE3	-1
D_SURF	2	N_FILEKB	8	VBD_DBAND	2	DEVICE4	-1
D_FLARE	3	FILEMGR	0	VBD_CNV	-0.24529999	DEVICE5	-1
D_TGT	150	CALL_NDIVES	1	VBD_LP_IGNORE	0	DEVICE6	-1
D_ABORT	175	COMM_SEQ	0	VBD_TIMEOUT	540	LOGGERS	7
D_NO_BLEED	50	PROTOCOL	9	PITCH_VBD_SHIFT	0.00030000001	LOGGERDEVICE1	7
D_BOOST	2	N_NOCOMM	1	UNCOM_BLEED	20	LOGGERDEVICE2	22
T_BOOST	0	NOCOMM_ACTION	163	VBD_MAXERRORS	1	LOGGERDEVICE3	40
D_FINISH	0	N_NOSURFACE	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	DBDW	0	COMPASS_DEVICE	66
D_SAFE	0	CALL_TRIES	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	55
D_CALL	0	CALL_WAIT	60	LOITER_DBDW	0	PHONE_DEVICE	33
SURFACE_URGENCY	0	CAPUPLOAD	0	LOITER_D_TOP	0	GPS_DEVICE	48
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
SURFACE_URGENCY_FORCE	0	T_GPS	5	LOITER_N_DIVE	0	XPDR_DEVICE	0
T_DIVE	50	N_GPS	80740	CF8_MAXERRORS	20	SIM_W	0
T_MISSION	65	T_RSLEEP	3	AH0_24V	350	SEABIRD_T_G	0.004412075
T_ABORT	1440	STROBE	0	AH0_10V	0	SEABIRD_T_H	0.00063827372
T_TURN	225	RAFOS_PEAK_OFFSET	0	MINV_24V	11	SEABIRD_T_I	2.6317541e-05
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	MINV_10V	11	SEABIRD_T_J	3.254017e-06
T_NO_W	120	RAFOS_HIT_WINDOW	3600	MAXI_24V	5	SEABIRD_C_G	-9.9840622
T_LOITER	0	RAFOS_MMODEM	0	MAXI_10V	1.4	SEABIRD_C_H	1.1688964
T_EPIRB	0	PITCH_MIN	450	FG_AHR_10V	1.1123689	SEABIRD_C_I	-0.0016958674
USE_BATHY	-6	PITCH_MAX	3960	FG_AHR_24V	1.1857432	SEABIRD_C_J	0.00021397677
USE_ICE	0	C_PITCH	2880	PHONE_SUPPLY	2	SC_RECORDABOVE	2000.0
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	PRESSURE_YINT	-165.14638	SC_PROFILE	3.0
D_OFFGRID	100	PITCH_CNV	0.0031300001	PRESSURE_SLOPE	0.00010612313	SC_XMITPROFILE	3.0
RELAUNCH	1	PITCH_GAIN	25	COMPASS_USE	4	SC_NDIVE	1.0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	ALTIM_PING_FIT	0	TM_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	TM_PROFILE	3.0
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	TM_XMITPROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	TM_NDIVE	1.0
RHO	1.023	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	TM_XMITRAW	0.0
MASS	53448	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	TM_LOGSAMPLE	0.0
NAV_MODE	2	ROLL_MIN	450	ALTIM_PING_DELTA	0	PM_RECORDABOVE	2000.0
FERRY_MAX	45	ROLL_MAX	3950	ALTIM_FREQUENCY	13	PM_PROFILE	7.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_PULSE	3	PM_XMITPROFILE	3.0
HD_A	0.003	C_ROLL_DIVE	2500	ALTIM_SENSITIVITY	2	PM_NDIVE	1.0
HD_B	0.0099999998	C_ROLL_CLIMB	2100	XPDR_VALID	6	PM_XMITRAW	0.0
HD_C	1.6e-05	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_MOTORS	1.0
HEADING	-1	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	1.9639999e-06	PM_SENDDEPTH	1.0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-2
ESCAPE_HEADING_DELTA	10	ROLL_MAXERRORS	1	DEEPGLIDER	0

GPS1	280819,184446,4744.755,-12223.774,3,1.7,7,15.5	TGT_LATLONG	4743.500,-12225.000
_CALLS	1	TGT_RADIUS	100.000
_SM_DEPTHo	0.54	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-58.0	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	280819,184618,4744.742,-12223.764,2,1.7,6,15.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.173,0.258	MHEAD_RNG_PITCHd_Wd	243.3,2769,-17.6,-10.000,-21.21
TGT_NAME	NW	D_GRID	167

FINISH	0.4,1.022421	INTERNAL_PRESSURE	8.40272
SM_CCo	3415.89,0.00,0.000,0,449.7,468.4,430.9,613.33	_24V_AH	14.77,1.350
SM_GC	0.51,0.00,6.26,2.62,0.000,0.071,0.099,449.7,468.4,430.9,420.1,2520.9,0,0,0,30.00,15.86,15.92	_10V_AH	14.79,0.000
SUPER	59,71,254,1,0,0	FG_AHR_24Vo	1.378
IRIDIUM_FIX	4743.02,-12222.38,280819,184049	FG_AHR_10Vo	1.154
TCM_TEMP	119.84	MEM	1132628,27,46376,64
XPDR_PINGS	41	DATA_FILE_SIZE	12955,475
SC_FREEKB	3877248	CAP_FILE_SIZE	150705,0
TM_FREEKB	7817248	SDSIZE	3918848,3908288
PM_FREEKB_00	124484672	SDFILEDIR	50,1
PM_ACTIVECARD	0	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	55.25	CURRENT	0.386,169.1,1
TEMP	13.82	GPS	280819,194430,4744.332,-12223.676,2,1.1,31,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	713	1301	13716.60	nil	0	0	0.00
Pitch_motor	15	523	123.46	nil	0	0	0.00
Roll_motor	30	233	106.31	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	10	420	63.58	nil	0	0	0.00
GPS	15	15	3.37	nil	0	0	0.00
Core	1867	11	325.86	SciCon	3052	13	595.57
LPSleep	1609	2	66.66	TMICL	3050	18	839.35
Compass	736	5	54.50	PMAR	3050	8	369.63
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12.28	2	-146.63	-0.75	0.00	448.7	478.9	418.4	427.8	2432.8	0.00	0.00	0	160.81	143.94	0.00	0.14	0.005	0.000	0.234	3546.22	3549.75	3542.69	426.94	2546.19	0	0	0	15.43	30.00	15.27
161.09	293	-146.63	-0.75	40.00	3545.0	3547.8	3542.2	427.3	2547.1	2.13	0.00	14	178.44	0.00	8.36	2.01	0.000	0.524	0.132	3546.38	3550.94	3541.81	2628.75	3937.69	0	0	0	30.00	15.53	15.77
401.30	1060	-146.63	-0.75	0.00	3544.2	3554.6	3533.8	2630.1	3938.2	29.45	-9.94	62	407.32	0.00	0.00	2.05	0.000	0.000	0.068	3545.88	3556.56	3535.19	2628.88	2457.81	0	0	0	30.00	30.00	15.87
591.38	292	-146.63	-0.75	40.00	3544.1	3555.4	3532.8	2629.6	2453.9	47.13	-9.68	82	598.37	0.00	0.00	2.19	0.000	0.000	0.138	3545.44	3556.69	3534.19	2618.38	3933.44	0	0	0	30.00	30.00	15.86
820.42	1028	-146.63	-0.75	0.00	3543.8	3554.8	3532.9	2619.3	3933.6	72.68	-11.02	128	828.51	0.00	0.00	2.05	0.000	0.000	0.068	3545.00	3556.06	3533.94	2619.56	2456.19	0	0	0	30.00	30.00	15.87
1006.53	260	-146.63	-0.75	40.00	3544.3	3555.8	3532.9	2619.1	2452.1	92.88	-10.10	147	1013.46	0.00	0.00	2.20	0.000	0.000	0.139	3544.22	3555.06	3533.38	2608.62	3939.56	0	0	0	30.00	30.00	15.86
1235.52	1061	-146.63	-0.75	0.00	3543.6	3554.7	3532.5	2606.7	3939.9	114.33	-8.53	193	1244.46	0.00	0.10	2.04	0.000	0.291	0.068	3544.22	3555.56	3532.88	2645.62	2457.50	0	0	0	30.00	15.73	15.87
1422.49	292	-146.63	-0.75	40.00	3544.3	3555.9	3532.7	2645.4	2452.9	126.69	-6.48	212	1429.55	0.00	0.00	2.18	0.000	0.000	0.134	3543.16	3554.38	3531.94	2636.25	3937.88	0	0	0	30.00	30.00	15.89
1651.66	1060	-146.63	-0.75	0.00	3543.1	3554.2	3532.1	2635.1	3937.5	143.12	-5.98	258	1659.53	0.00	0.00	2.05	0.000	0.000	0.067	3543.56	3554.94	3532.19	2635.62	2455.88	0	0	0	30.00	30.00	15.90
1777	end dive: TARGET_DEPTH_EXCEEDED
state	1777	begin apogee
1778.92	3	0.00	-0.20	0.00	3543.7	3555.1	3532.2	2635.6	2042.6	150.42	-5.88	271	1896.72	112.81	0.48	0.10	1.302	0.217	0.176	2948.91	3014.69	2883.12	2819.19	2145.81	0	0	0	12.05	15.78	15.34
1900	end apogee: CONTROL_FINISHED_OK
state	1900	begin climb
1900.70	519	146.63	0.75	-40.00	2947.2	3015.4	2878.9	2820.9	2145.5	150.59	0.00	282	2024.39	115.96	0.75	2.22	1.261	0.135	0.116	2349.78	2426.12	2273.44	3139.12	663.06	0	0	0	12.25	15.44	15.23
2246.31	1030	146.63	0.75	0.00	2341.5	2420.7	2262.3	3138.4	663.4	102.64	14.19	349	2254.47	0.00	0.00	2.08	0.000	0.000	0.089	2343.34	2422.50	2264.19	3138.44	2125.69	0	0	0	30.00	30.00	15.73
2432.43	518	146.63	0.75	-40.00	2341.2	2421.6	2260.7	3138.6	2125.9	78.89	12.68	368	2439.33	0.00	0.00	2.12	0.000	0.000	0.111	2339.72	2418.56	2260.88	3146.94	663.31	0	0	0	30.00	30.00	15.75
2661.38	1030	146.63	0.75	0.00	2340.6	2420.9	2260.2	3147.4	663.3	49.69	11.21	414	2669.40	0.00	0.00	2.06	0.000	0.000	0.090	2341.28	2420.44	2262.12	3147.19	2126.88	0	0	0	30.00	30.00	15.86
2847.49	518	146.63	0.75	-40.00	2340.1	2421.6	2258.6	3147.6	2127.7	27.63	12.04	433	2854.41	0.00	0.00	2.11	0.000	0.000	0.113	2338.16	2419.38	2256.94	3156.00	663.75	0	0	0	30.00	30.00	15.84
3046	end climb: SURFACE_DEPTH_REACHED
state	3046	begin surface coast
3056	end surface coast: CONTROL_FINISHED_OK
state	3056	begin surface