Glider dive log

Shilshole 09May19 * SG181 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 181 FIX_MISSING_TIMEOUT 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

MISSION 18 TGT_DEFAULT_LAT 4736 ROLL_ADJ_DBAND 0 MOTHERBOARD 6

DIVE 4 TGT_DEFAULT_LON -12218 VBD_MIN 340 DEVICE1 -1

N_DIVES 5 TGT_AUTO_DEFAULT 0 VBD_MAX 3900 DEVICE2 -1

STOP_T 0 SM_CC 667.02802 C_VBD 3100 DEVICE3 -1

D_SURF 3 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 720 LOGGERS 7

D_NO_BLEED 50 PROTOCOL 9 PITCH_VBD_SHIFT 0.001 LOGGERDEVICE1 1

D_BOOST 2 N_NOCOMM 1 UNCOM_BLEED 50 LOGGERDEVICE2 38

T_BOOST 0 NOCOMM_ACTION 161 VBD_MAXERRORS 1 LOGGERDEVICE3 23

D_FINISH 0 N_NOSURFACE 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 DBDW 0 COMPASS_DEVICE 34

D_SAFE 0 CALL_TRIES 5 LOITER_W_DBAND 0 COMPASS2_DEVICE 49

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 100640 CF8_MAXERRORS 20 SIM_W 0

T_MISSION 65 T_RSLEEP 2 AH0_24V 350 SEABIRD_T_G 0.0043108878

T_ABORT 1440 STROBE 0 AH0_10V 0 SEABIRD_T_H 0.00063072296

T_TURN 225 RAFOS_PEAK_OFFSET 0 MINV_24V 11 SEABIRD_T_I 2.4115308e-05

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 MINV_10V 11 SEABIRD_T_J 2.5979039e-06

T_NO_W 120 RAFOS_HIT_WINDOW 3600 MAXI_24V 5 SEABIRD_C_G -9.7531929

T_LOITER 0 RAFOS_MMODEM 0 MAXI_10V 1.4 SEABIRD_C_H 1.1283317

T_EPIRB 0 PITCH_MIN 360 FG_AHR_10V 0.446679 SEABIRD_C_I -0.0020527283

USE_BATHY -6 PITCH_MAX 3941 FG_AHR_24V 2.1543865 SEABIRD_C_J 0.00023027747

USE_ICE 0 C_PITCH 2480 PHONE_SUPPLY 2 SC_RECORDABOVE 2000.0

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 PRESSURE_YINT -159.06963 SC_PROFILE 3.0

D_OFFGRID 100 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000109412 SC_XMITPROFILE 3.0

RELAUNCH 1 PITCH_GAIN 35 COMPASS_USE 4 SC_NDIVE 1.0

APOGEE_PITCH -5 PITCH_TIMEOUT 17 ALTIM_PING_FIT 0 PM_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 PM_PROFILE 3.0

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.0099999998 ALTIM_BOTTOM_TURN_MARGIN 0 PM_XMITPROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0 PM_NDIVE 1.0

RHO 1.023 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 0 PM_XMITRAW 0.0

MASS 53887 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_MOTORS 1.0

NAV_MODE 2 ROLL_MIN 209 ALTIM_PING_DELTA 0 PM_SENDDEPTH 1.0

FERRY_MAX 45 ROLL_MAX 3785 ALTIM_FREQUENCY 13 TM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_DEG 40 ALTIM_PULSE 3 TM_PROFILE 3.0

HD_A 0.003 C_ROLL_DIVE 2500 ALTIM_SENSITIVITY 2 TM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_CLIMB 2500 XPDR_VALID 5 TM_NDIVE 1.0

HD_C 2.4475299e-05 HEAD_ERRBAND 10 XPDR_INHIBIT 90 TM_XMITRAW 0.0

HEADING -1 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 1.9639999e-06 TM_LOGSAMPLE 0.0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -1.65

ESCAPE_HEADING_DELTA 10 ROLL_MAXERRORS 1 DEEPGLIDER 0

AH0_10V 0 D_TGT 150 PITCH_ADJ_DBAND 1 SEABIRD_T_I 2.4115308e-05

AH0_24V 350 ESCAPE_HEADING 0 PITCH_ADJ_GAIN 0.0099999998 SEABIRD_T_J 2.5979039e-06

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SIM_W 0

ALTIM_FREQUENCY 13 FERRY_MAX 45 PITCH_DBAND 0.1 SM_CC 667.02802

ALTIM_PING_DELTA 0 FG_AHR_10V 0.446679 PITCH_GAIN 35 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 2.1543865 PITCH_MAX 3941 STOP_T 0

ALTIM_PING_FIT 0 FILEMGR 0 PITCH_MAXERRORS 1 STROBE 0

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_MIN 360 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 30 PITCH_TIMEOUT 17 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 0 GPS_DEVICE 48 PITCH_VBD_SHIFT 0.001 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 2.4475299e-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 3.0 TM_NDIVE 1.0

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.30000001 PM_RECORDABOVE 2000.0 TM_PROFILE 3.0

CAPMAXSIZE 100000 ID 181 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 -1.65 PM_XMITRAW 0.0 TM_XMITRAW 0.0

COMM_SEQ 0 KALMAN_USE 2 PRESSURE_SLOPE 0.000109412 T_ABORT 1440

COMPASS2_DEVICE 49 LOGGERDEVICE1 1 PRESSURE_YINT -159.06963 T_BOOST 0

COMPASS_DEVICE 34 LOGGERDEVICE2 38 PROTOCOL 9 T_DIVE 50

COMPASS_USE 4 LOGGERDEVICE3 23 RAFOS_CORR_THRESH 60 T_EPIRB 0

C_PITCH 2480 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_GPS 5

C_ROLL_CLIMB 2500 LOGGERS 7 RAFOS_HIT_WINDOW 3600 T_LOITER 0

C_ROLL_DIVE 2500 LOITER_DBDW 0 RAFOS_MMODEM 0 T_MISSION 65

C_VBD 3100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 T_NO_W 120

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 T_RSLEEP 2

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 53887 ROLL_ADJ_GAIN 0 UNCOM_BLEED 50

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 3785 USE_ICE 0

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_CNV -0.24529999

DEVICE6 -1 MINV_24V 11 ROLL_MIN 209 VBD_DBAND 2

DIVE 4 MISSION 18 ROLL_TIMEOUT 15 VBD_LP_IGNORE 0

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 VBD_MAX 3900

D_BOOST 2 NAV_MODE 2 SC_PROFILE 3.0 VBD_MAXERRORS 1

D_CALL 0 NOCOMM_ACTION 161 SC_RECORDABOVE 2000.0 VBD_MIN 340

D_FINISH 0 N_DIVES 5 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 N_FILEKB 8 SEABIRD_C_G -9.7531929 W_ADJ_DBAND 0

D_NO_BLEED 50 N_GPS 100640 SEABIRD_C_H 1.1283317 XPDR_DEVICE 0

D_OFFGRID 100 N_NOCOMM 1 SEABIRD_C_I -0.0020527283 XPDR_INHIBIT 90

D_PITCH 0 N_NOSURFACE 0 SEABIRD_C_J 0.00023027747 XPDR_VALID 5

D_SAFE 0 PHONE_DEVICE 33 SEABIRD_T_G 0.0043108878

D_SURF 3 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063072296

Pre-dive calculations and measurements:

GPS1 090519,185916,4743.911,-12224.743,1,0.8,2,15.6 TGT_RADIUS 100.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.28 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090519,191349,4743.992,-12224.815,3,1.2,5,15.6 MHEAD_RNG_PITCHd_Wd 171.0,940,-17.8,-10.000,-21.47

SPEED_LIMITS 0.173,0.254 D_GRID 176

TGT_NAME NW WARN HPMAR logging already started

TGT_LATLONG 4743.500,-12225.000

Post-dive calculations and measurements:

WARN HPMAR logging already started HUMID 54.06

FINISH -0.1,1.022052 TEMP 10.65

SM_CCo 3366.87,0.50,0.147,0,382.0,405.9,358.1,666.73 INTERNAL_PRESSURE 8.9983

SM_GC 0.25,0.50,6.69,0.07,0.147,0.062,0.109,382.0,405.9,358.1,340.3,2439.8,0,0,0,15.20,15.76,15.79 _24V_AH 14.28,4.522

SUPER 51,70,254,1,0,0 _10V_AH 14.66,0.000

IRIDIUM_FIX 4744.99,-12049.04,090519,190625 FG_AHR_24Vo 2.275

TCM_TEMP 14.30 FG_AHR_10Vo 0.483

XPDR_PINGS 29 MEM 1133524,30,45784,64

SC_FREEKB 3875424 DATA_FILE_SIZE 13662,404

PM_FREEKB_00 62131200 CAP_FILE_SIZE 159594,0

PM_FREEKB_01 62341568 SDSIZE 3918848,3906176

PM_FREEKB_02 62341760 SDFILEDIR 67,1

PM_FREEKB_03 62342144 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 CURRENT 0.190, 10.5,1

TM_FREEKB 7798848 GPS 090519,201118,4744.012,-12224.890,21,1.0,31,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 783 2703 30263.51 nil 0 0 0.00

Pitch_motor 17 375 96.56 nil 0 0 0.00

Roll_motor 49 160 113.69 nil 0 0 0.00

Iridium 536 193 1483.35 nil 0 0 0.00

Transponder_ping 7 420 43.48 nil 0 0 0.00

GPS 14 6 1.30 nil 0 0 0.00

Core 2358 9 339.19 SciCon 3083 32 1448.15

LPSleep 1878 2 60.29 PMAR 3096 10 454.01

Compass 911 1 26.60 TMICL 3076 18 835.19

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

13.94 2 -146.63 -0.65 0.00 380.2 408.9 351.5 339.2 2432.7 0.00 0.00 0 190.92 173.36 0.00 0.00 0.005 0.000 0.000 3552.44 3618.38 3486.50 339.38 2433.31 0 0 0 15.35 30.00 30.00

191.16 519 -146.63 -0.65 -40.00 3551.9 3617.4 3486.4 339.2 2433.0 3.82 -12.75 17 215.35 3.43 9.16 2.24 0.012 0.376 0.043 3695.66 3761.38 3629.94 2269.75 1042.75 0 0 0 15.66 15.49 15.61

373.24 1028 -146.63 -0.65 0.00 3695.2 3760.7 3629.6 2269.4 1042.7 35.05 -13.91 53 382.13 0.00 0.00 2.64 0.000 0.000 0.093 3695.09 3760.44 3629.75 2261.50 2515.75 0 0 0 30.00 30.00 15.74

558.32 388 -146.63 -0.61 40.00 3694.8 3761.1 3628.4 2261.8 2517.8 60.85 -13.11 72 565.07 0.00 0.00 2.34 0.000 0.000 0.115 3695.38 3760.69 3630.06 2251.00 3799.12 0 0 0 30.00 30.00 15.76

623.33 1157 -146.63 -0.57 0.00 3694.9 3760.8 3629.1 2251.8 3799.6 69.37 -13.13 85 630.20 0.00 0.17 2.21 0.000 0.203 0.047 3697.34 3762.94 3631.75 2300.31 2441.94 0 0 0 30.00 15.80 15.82

808.15 548 -146.63 -0.57 -40.00 3695.8 3761.4 3630.2 2299.2 2436.6 88.83 -9.93 104 815.08 0.00 0.00 2.27 0.000 0.000 0.046 3696.81 3761.69 3631.94 2300.50 1048.56 0 0 0 30.00 30.00 15.82

837.09 1060 -146.63 -0.57 0.00 3694.4 3759.8 3629.0 2299.7 1046.6 91.53 -9.35 110 845.34 0.00 0.00 2.62 0.000 0.000 0.091 3695.88 3761.06 3630.69 2292.19 2517.88 0 0 0 30.00 30.00 15.75

1023.31 292 -146.63 -0.57 40.00 3694.5 3759.6 3629.3 2292.9 2518.7 110.15 -9.72 129 1030.14 0.00 0.00 2.35 0.000 0.000 0.117 3694.56 3760.31 3628.81 2281.88 3803.06 0 0 0 30.00 30.00 15.71

1058.28 1060 -146.63 -0.57 0.00 3694.5 3760.3 3628.7 2281.7 3801.5 113.55 -9.76 136 1065.12 0.00 0.00 2.20 0.000 0.000 0.046 3695.88 3761.31 3630.44 2280.38 2447.44 0 0 0 30.00 30.00 15.85

1243.25 644 -146.63 -0.55 -40.00 3694.1 3759.8 3628.4 2282.6 2440.5 134.54 -12.38 155 1250.15 0.00 0.00 2.28 0.000 0.000 0.047 3693.81 3759.38 3628.25 2282.50 1048.75 0 0 0 30.00 30.00 15.82

1279.01 1028 -146.63 -0.55 0.00 3694.6 3760.6 3628.7 2281.8 1047.2 138.55 -11.40 162 1286.48 0.00 0.00 2.60 0.000 0.000 0.090 3694.59 3759.56 3629.62 2273.38 2516.56 0 0 0 30.00 30.00 15.88

1383 end dive: TARGET_DEPTH_EXCEEDED

state 1383 begin apogee

1384.62 3 0.00 -0.14 0.00 3694.6 3760.1 3629.1 2273.1 2437.6 150.64 -11.72 173 1499.65 110.47 0.55 0.14 1.303 0.186 0.160 3097.34 3193.19 3001.50 2435.75 2525.62 0 0 0 12.30 15.82 15.20

1503 end apogee: CONTROL_FINISHED_OK

state 1503 begin climb

1503.49 519 146.63 0.65 -40.00 3096.9 3194.3 2999.5 2435.4 2525.8 154.84 0.00 184 1632.40 113.22 0.80 2.58 1.284 0.102 0.053 2500.00 2550.88 2449.12 2706.50 1053.06 0 0 0 12.17 15.39 15.12

1690.24 1157 146.63 0.60 0.00 2497.1 2549.3 2444.9 2707.3 1052.4 140.66 12.26 218 1697.26 0.00 0.15 2.66 0.000 0.197 0.084 2500.06 2552.06 2448.06 2664.44 2516.75 0 0 0 30.00 15.39 15.42

1875.23 676 146.89 0.56 -40.00 2494.1 2548.1 2440.2 2665.9 2517.2 121.57 9.99 237 1882.18 0.00 0.00 2.47 0.000 0.000 0.047 2498.12 2552.19 2444.06 2672.81 1045.25 0 0 0 30.00 30.00 15.62

1950.22 1188 148.13 0.54 0.00 2494.4 2549.0 2439.8 2672.2 1045.7 114.10 9.94 252 1957.26 0.00 0.00 2.62 0.000 0.000 0.083 2496.88 2551.25 2442.50 2672.12 2516.75 0 0 0 30.00 30.00 15.70

2135.46 678 185.64 0.53 -40.00 2493.6 2548.8 2438.4 2673.4 2516.6 96.41 8.24 271 2173.89 31.07 0.00 2.49 1.189 0.000 0.055 2339.56 2404.25 2274.88 2681.38 1053.00 0 0 0 12.33 30.00 15.22

2252.00 1191 190.49 0.52 0.00 2337.7 2402.4 2272.9 2681.4 1051.4 85.08 9.77 294 2265.02 6.10 0.16 2.61 0.794 0.192 0.083 2323.91 2395.31 2252.50 2637.62 2517.25 0 0 0 12.32 15.62 15.69

2447.87 678 219.10 0.56 -40.00 2317.2 2391.5 2242.9 2638.8 2517.4 68.65 8.66 315 2480.44 24.09 0.00 2.48 1.124 0.000 0.053 2206.72 2289.56 2123.88 2644.19 1049.75 0 0 0 12.33 30.00 15.54

2562.19 1191 282.79 0.67 0.00 2202.1 2283.0 2121.1 2645.1 1049.7 59.84 7.01 338 2621.62 49.53 0.14 2.62 1.159 0.079 0.083 1947.19 2010.88 1883.50 2723.81 2518.94 0 0 0 12.35 15.67 15.70

2798.28 645 282.79 0.64 -40.00 1939.8 2005.6 1873.9 2722.8 2517.6 29.80 13.93 367 2805.37 0.00 0.17 2.48 0.000 0.191 0.051 1939.09 2005.25 1872.94 2682.69 1051.50 0 0 0 30.00 15.63 15.54

2857.25 1190 300.04 0.68 0.00 1937.8 2001.8 1873.8 2683.4 1051.8 23.69 9.19 379 2879.66 14.61 0.00 2.62 1.010 0.000 0.083 1877.47 1944.12 1810.81 2682.62 2517.88 0 0 0 12.36 30.00 15.71

3053 end climb: SURFACE_DEPTH_REACHED

state 3053 begin surface coast

3083 end surface coast: CONTROL_FINISHED_OK

state 3083 begin surface

ID	181	FIX_MISSING_TIMEOUT	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
MISSION	18	TGT_DEFAULT_LAT	4736	ROLL_ADJ_DBAND	0	MOTHERBOARD	6
DIVE	4	TGT_DEFAULT_LON	-12218	VBD_MIN	340	DEVICE1	-1
N_DIVES	5	TGT_AUTO_DEFAULT	0	VBD_MAX	3900	DEVICE2	-1
STOP_T	0	SM_CC	667.02802	C_VBD	3100	DEVICE3	-1
D_SURF	3	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	720	LOGGERS	7
D_NO_BLEED	50	PROTOCOL	9	PITCH_VBD_SHIFT	0.001	LOGGERDEVICE1	1
D_BOOST	2	N_NOCOMM	1	UNCOM_BLEED	50	LOGGERDEVICE2	38
T_BOOST	0	NOCOMM_ACTION	161	VBD_MAXERRORS	1	LOGGERDEVICE3	23
D_FINISH	0	N_NOSURFACE	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	DBDW	0	COMPASS_DEVICE	34
D_SAFE	0	CALL_TRIES	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	49
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	100640	CF8_MAXERRORS	20	SIM_W	0
T_MISSION	65	T_RSLEEP	2	AH0_24V	350	SEABIRD_T_G	0.0043108878
T_ABORT	1440	STROBE	0	AH0_10V	0	SEABIRD_T_H	0.00063072296
T_TURN	225	RAFOS_PEAK_OFFSET	0	MINV_24V	11	SEABIRD_T_I	2.4115308e-05
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	MINV_10V	11	SEABIRD_T_J	2.5979039e-06
T_NO_W	120	RAFOS_HIT_WINDOW	3600	MAXI_24V	5	SEABIRD_C_G	-9.7531929
T_LOITER	0	RAFOS_MMODEM	0	MAXI_10V	1.4	SEABIRD_C_H	1.1283317
T_EPIRB	0	PITCH_MIN	360	FG_AHR_10V	0.446679	SEABIRD_C_I	-0.0020527283
USE_BATHY	-6	PITCH_MAX	3941	FG_AHR_24V	2.1543865	SEABIRD_C_J	0.00023027747
USE_ICE	0	C_PITCH	2480	PHONE_SUPPLY	2	SC_RECORDABOVE	2000.0
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	PRESSURE_YINT	-159.06963	SC_PROFILE	3.0
D_OFFGRID	100	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000109412	SC_XMITPROFILE	3.0
RELAUNCH	1	PITCH_GAIN	35	COMPASS_USE	4	SC_NDIVE	1.0
APOGEE_PITCH	-5	PITCH_TIMEOUT	17	ALTIM_PING_FIT	0	PM_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	PM_PROFILE	3.0
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.0099999998	ALTIM_BOTTOM_TURN_MARGIN	0	PM_XMITPROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0	PM_NDIVE	1.0
RHO	1.023	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	0	PM_XMITRAW	0.0
MASS	53887	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_MOTORS	1.0
NAV_MODE	2	ROLL_MIN	209	ALTIM_PING_DELTA	0	PM_SENDDEPTH	1.0
FERRY_MAX	45	ROLL_MAX	3785	ALTIM_FREQUENCY	13	TM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_DEG	40	ALTIM_PULSE	3	TM_PROFILE	3.0
HD_A	0.003	C_ROLL_DIVE	2500	ALTIM_SENSITIVITY	2	TM_XMITPROFILE	3.0
HD_B	0.0099999998	C_ROLL_CLIMB	2500	XPDR_VALID	5	TM_NDIVE	1.0
HD_C	2.4475299e-05	HEAD_ERRBAND	10	XPDR_INHIBIT	90	TM_XMITRAW	0.0
HEADING	-1	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	1.9639999e-06	TM_LOGSAMPLE	0.0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-1.65
ESCAPE_HEADING_DELTA	10	ROLL_MAXERRORS	1	DEEPGLIDER	0

GPS1	090519,185916,4743.911,-12224.743,1,0.8,2,15.6	TGT_RADIUS	100.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.28	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090519,191349,4743.992,-12224.815,3,1.2,5,15.6	MHEAD_RNG_PITCHd_Wd	171.0,940,-17.8,-10.000,-21.47
SPEED_LIMITS	0.173,0.254	D_GRID	176
TGT_NAME	NW	WARN	HPMAR logging already started
TGT_LATLONG	4743.500,-12225.000

WARN	HPMAR logging already started	HUMID	54.06
FINISH	-0.1,1.022052	TEMP	10.65
SM_CCo	3366.87,0.50,0.147,0,382.0,405.9,358.1,666.73	INTERNAL_PRESSURE	8.9983
SM_GC	0.25,0.50,6.69,0.07,0.147,0.062,0.109,382.0,405.9,358.1,340.3,2439.8,0,0,0,15.20,15.76,15.79	_24V_AH	14.28,4.522
SUPER	51,70,254,1,0,0	_10V_AH	14.66,0.000
IRIDIUM_FIX	4744.99,-12049.04,090519,190625	FG_AHR_24Vo	2.275
TCM_TEMP	14.30	FG_AHR_10Vo	0.483
XPDR_PINGS	29	MEM	1133524,30,45784,64
SC_FREEKB	3875424	DATA_FILE_SIZE	13662,404
PM_FREEKB_00	62131200	CAP_FILE_SIZE	159594,0
PM_FREEKB_01	62341568	SDSIZE	3918848,3906176
PM_FREEKB_02	62341760	SDFILEDIR	67,1
PM_FREEKB_03	62342144	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	CURRENT	0.190, 10.5,1
TM_FREEKB	7798848	GPS	090519,201118,4744.012,-12224.890,21,1.0,31,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	783	2703	30263.51	nil	0	0	0.00
Pitch_motor	17	375	96.56	nil	0	0	0.00
Roll_motor	49	160	113.69	nil	0	0	0.00
Iridium	536	193	1483.35	nil	0	0	0.00
Transponder_ping	7	420	43.48	nil	0	0	0.00
GPS	14	6	1.30	nil	0	0	0.00
Core	2358	9	339.19	SciCon	3083	32	1448.15
LPSleep	1878	2	60.29	PMAR	3096	10	454.01
Compass	911	1	26.60	TMICL	3076	18	835.19
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
13.94	2	-146.63	-0.65	0.00	380.2	408.9	351.5	339.2	2432.7	0.00	0.00	0	190.92	173.36	0.00	0.00	0.005	0.000	0.000	3552.44	3618.38	3486.50	339.38	2433.31	0	0	0	15.35	30.00	30.00
191.16	519	-146.63	-0.65	-40.00	3551.9	3617.4	3486.4	339.2	2433.0	3.82	-12.75	17	215.35	3.43	9.16	2.24	0.012	0.376	0.043	3695.66	3761.38	3629.94	2269.75	1042.75	0	0	0	15.66	15.49	15.61
373.24	1028	-146.63	-0.65	0.00	3695.2	3760.7	3629.6	2269.4	1042.7	35.05	-13.91	53	382.13	0.00	0.00	2.64	0.000	0.000	0.093	3695.09	3760.44	3629.75	2261.50	2515.75	0	0	0	30.00	30.00	15.74
558.32	388	-146.63	-0.61	40.00	3694.8	3761.1	3628.4	2261.8	2517.8	60.85	-13.11	72	565.07	0.00	0.00	2.34	0.000	0.000	0.115	3695.38	3760.69	3630.06	2251.00	3799.12	0	0	0	30.00	30.00	15.76
623.33	1157	-146.63	-0.57	0.00	3694.9	3760.8	3629.1	2251.8	3799.6	69.37	-13.13	85	630.20	0.00	0.17	2.21	0.000	0.203	0.047	3697.34	3762.94	3631.75	2300.31	2441.94	0	0	0	30.00	15.80	15.82
808.15	548	-146.63	-0.57	-40.00	3695.8	3761.4	3630.2	2299.2	2436.6	88.83	-9.93	104	815.08	0.00	0.00	2.27	0.000	0.000	0.046	3696.81	3761.69	3631.94	2300.50	1048.56	0	0	0	30.00	30.00	15.82
837.09	1060	-146.63	-0.57	0.00	3694.4	3759.8	3629.0	2299.7	1046.6	91.53	-9.35	110	845.34	0.00	0.00	2.62	0.000	0.000	0.091	3695.88	3761.06	3630.69	2292.19	2517.88	0	0	0	30.00	30.00	15.75
1023.31	292	-146.63	-0.57	40.00	3694.5	3759.6	3629.3	2292.9	2518.7	110.15	-9.72	129	1030.14	0.00	0.00	2.35	0.000	0.000	0.117	3694.56	3760.31	3628.81	2281.88	3803.06	0	0	0	30.00	30.00	15.71
1058.28	1060	-146.63	-0.57	0.00	3694.5	3760.3	3628.7	2281.7	3801.5	113.55	-9.76	136	1065.12	0.00	0.00	2.20	0.000	0.000	0.046	3695.88	3761.31	3630.44	2280.38	2447.44	0	0	0	30.00	30.00	15.85
1243.25	644	-146.63	-0.55	-40.00	3694.1	3759.8	3628.4	2282.6	2440.5	134.54	-12.38	155	1250.15	0.00	0.00	2.28	0.000	0.000	0.047	3693.81	3759.38	3628.25	2282.50	1048.75	0	0	0	30.00	30.00	15.82
1279.01	1028	-146.63	-0.55	0.00	3694.6	3760.6	3628.7	2281.8	1047.2	138.55	-11.40	162	1286.48	0.00	0.00	2.60	0.000	0.000	0.090	3694.59	3759.56	3629.62	2273.38	2516.56	0	0	0	30.00	30.00	15.88
1383	end dive: TARGET_DEPTH_EXCEEDED
state	1383	begin apogee
1384.62	3	0.00	-0.14	0.00	3694.6	3760.1	3629.1	2273.1	2437.6	150.64	-11.72	173	1499.65	110.47	0.55	0.14	1.303	0.186	0.160	3097.34	3193.19	3001.50	2435.75	2525.62	0	0	0	12.30	15.82	15.20
1503	end apogee: CONTROL_FINISHED_OK
state	1503	begin climb
1503.49	519	146.63	0.65	-40.00	3096.9	3194.3	2999.5	2435.4	2525.8	154.84	0.00	184	1632.40	113.22	0.80	2.58	1.284	0.102	0.053	2500.00	2550.88	2449.12	2706.50	1053.06	0	0	0	12.17	15.39	15.12
1690.24	1157	146.63	0.60	0.00	2497.1	2549.3	2444.9	2707.3	1052.4	140.66	12.26	218	1697.26	0.00	0.15	2.66	0.000	0.197	0.084	2500.06	2552.06	2448.06	2664.44	2516.75	0	0	0	30.00	15.39	15.42
1875.23	676	146.89	0.56	-40.00	2494.1	2548.1	2440.2	2665.9	2517.2	121.57	9.99	237	1882.18	0.00	0.00	2.47	0.000	0.000	0.047	2498.12	2552.19	2444.06	2672.81	1045.25	0	0	0	30.00	30.00	15.62
1950.22	1188	148.13	0.54	0.00	2494.4	2549.0	2439.8	2672.2	1045.7	114.10	9.94	252	1957.26	0.00	0.00	2.62	0.000	0.000	0.083	2496.88	2551.25	2442.50	2672.12	2516.75	0	0	0	30.00	30.00	15.70
2135.46	678	185.64	0.53	-40.00	2493.6	2548.8	2438.4	2673.4	2516.6	96.41	8.24	271	2173.89	31.07	0.00	2.49	1.189	0.000	0.055	2339.56	2404.25	2274.88	2681.38	1053.00	0	0	0	12.33	30.00	15.22
2252.00	1191	190.49	0.52	0.00	2337.7	2402.4	2272.9	2681.4	1051.4	85.08	9.77	294	2265.02	6.10	0.16	2.61	0.794	0.192	0.083	2323.91	2395.31	2252.50	2637.62	2517.25	0	0	0	12.32	15.62	15.69
2447.87	678	219.10	0.56	-40.00	2317.2	2391.5	2242.9	2638.8	2517.4	68.65	8.66	315	2480.44	24.09	0.00	2.48	1.124	0.000	0.053	2206.72	2289.56	2123.88	2644.19	1049.75	0	0	0	12.33	30.00	15.54
2562.19	1191	282.79	0.67	0.00	2202.1	2283.0	2121.1	2645.1	1049.7	59.84	7.01	338	2621.62	49.53	0.14	2.62	1.159	0.079	0.083	1947.19	2010.88	1883.50	2723.81	2518.94	0	0	0	12.35	15.67	15.70
2798.28	645	282.79	0.64	-40.00	1939.8	2005.6	1873.9	2722.8	2517.6	29.80	13.93	367	2805.37	0.00	0.17	2.48	0.000	0.191	0.051	1939.09	2005.25	1872.94	2682.69	1051.50	0	0	0	30.00	15.63	15.54
2857.25	1190	300.04	0.68	0.00	1937.8	2001.8	1873.8	2683.4	1051.8	23.69	9.19	379	2879.66	14.61	0.00	2.62	1.010	0.000	0.083	1877.47	1944.12	1810.81	2682.62	2517.88	0	0	0	12.36	30.00	15.71
3053	end climb: SURFACE_DEPTH_REACHED
state	3053	begin surface coast
3083	end surface coast: CONTROL_FINISHED_OK
state	3083	begin surface