Glider dive log

Shilshole 09May19 * SG181 * Dive index * Mission links * Dive 5 * 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 5 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 0.48378602 SEABIRD_C_I -0.0020527283

USE_BATHY -6 PITCH_MAX 3941 FG_AHR_24V 2.2862942 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 2600 ALTIM_SENSITIVITY 2 TM_XMITPROFILE 3.0

HD_B 0.0099999998 C_ROLL_CLIMB 2200 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 0.48378602 PITCH_GAIN 35 SPEED_FACTOR 1

ALTIM_PING_DEPTH 0 FG_AHR_24V 2.2862942 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 2200 LOGGERS 7 RAFOS_HIT_WINDOW 3600 T_LOITER 0

C_ROLL_DIVE 2600 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 5 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 090519,201118,4744.012,-12224.890,21,1.0,31,15.6 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090519,201850,4744.036,-12224.931,2,0.7,5,15.6 MHEAD_RNG_PITCHd_Wd 173.5,996,-17.8,-10.000,-21.47

SPEED_LIMITS 0.173,0.254 D_GRID 180

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 53.79

FINISH -0.6,1.022098 TEMP 10.48

SM_CCo 3289.24,0.25,0.162,0,382.0,405.8,358.2,666.73 INTERNAL_PRESSURE 8.99129

SM_GC 0.23,0.25,6.70,0.84,0.162,0.064,0.113,382.0,405.8,358.2,338.9,2612.9,0,0,0,15.18,15.76,15.75 _24V_AH 14.27,4.797

SUPER 59,70,254,1,0,0 _10V_AH 14.64,0.000

IRIDIUM_FIX 4745.46,-12231.22,090519,190756 FG_AHR_24Vo 2.406

TCM_TEMP 14.40 FG_AHR_10Vo 0.517

XPDR_PINGS 42 MEM 1133556,28,45792,64

SC_FREEKB 3874912 DATA_FILE_SIZE 13688,387

PM_FREEKB_00 62075072 CAP_FILE_SIZE 159859,0

PM_FREEKB_01 62341568 SDSIZE 3918848,3905856

PM_FREEKB_02 62341760 SDFILEDIR 76,1

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 0.132, 18.7,1

TM_FREEKB 7789024 GPS 090519,211434,4743.930,-12224.887,1,0.9,3,15.6

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 776 2702 29940.50 nil 0 0 0.00

Pitch_motor 18 381 98.69 nil 0 0 0.00

Roll_motor 55 139 110.78 nil 0 0 0.00

Iridium 350 184 924.97 nil 0 0 0.00

Transponder_ping 10 420 62.93 nil 0 0 0.00

GPS 14 6 1.33 nil 0 0 0.00

Core 2154 9 309.42 SciCon 2991 31 1393.56

LPSleep 1584 2 50.79 PMAR 3007 10 441.24

Compass 877 1 25.57 TMICL 2983 18 807.26

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

14.00 2 -146.63 -0.65 0.00 379.8 412.4 347.1 338.4 2619.7 0.00 0.00 0 190.98 173.32 0.00 0.00 0.005 0.000 0.000 3574.38 3637.50 3511.25 338.44 2620.38 0 0 0 15.28 30.00 30.00

191.21 519 -146.63 -0.65 -40.00 3573.2 3635.9 3510.4 338.2 2620.2 4.33 -14.51 17 214.62 2.73 9.31 2.43 0.014 0.382 0.043 3695.69 3759.88 3631.50 2268.31 1145.69 0 0 0 15.44 15.49 15.58

412.59 1028 -146.63 -0.65 0.00 3695.3 3760.2 3630.4 2267.8 1145.7 40.48 -12.24 61 419.48 0.00 0.00 2.63 0.000 0.000 0.091 3696.06 3760.75 3631.38 2260.25 2616.31 0 0 0 30.00 30.00 15.69

597.54 388 -146.63 -0.61 40.00 3695.3 3760.0 3630.6 2261.1 2616.4 66.94 -14.76 80 604.37 0.00 0.00 2.16 0.000 0.000 0.118 3695.75 3760.69 3630.81 2251.00 3797.38 0 0 0 30.00 30.00 15.73

672.54 1157 -146.63 -0.56 0.00 3695.2 3760.4 3630.1 2251.9 3799.1 77.20 -13.30 95 679.51 0.00 0.18 2.05 0.000 0.209 0.047 3695.59 3759.94 3631.25 2302.69 2549.62 0 0 0 30.00 15.75 15.73

857.68 548 -146.63 -0.56 -40.00 3695.2 3759.8 3630.6 2303.4 2545.9 96.45 -9.99 114 864.45 0.00 0.00 2.29 0.000 0.000 0.046 3696.47 3760.81 3632.12 2303.81 1154.12 0 0 0 30.00 30.00 15.78

902.94 1188 -146.63 -0.59 0.00 3695.0 3760.2 3629.8 2303.1 1154.8 100.86 -9.84 123 909.60 0.00 0.00 2.62 0.000 0.000 0.091 3694.12 3759.00 3629.25 2296.12 2615.38 0 0 0 30.00 30.00 15.79

1087.76 260 -146.63 -0.59 40.00 3695.5 3760.2 3630.8 2294.9 2616.8 120.21 -10.27 142 1094.48 0.00 0.00 2.15 0.000 0.000 0.116 3696.22 3761.38 3631.06 2286.06 3800.62 0 0 0 30.00 30.00 15.83

1102.66 1028 -146.63 -0.59 0.00 3695.3 3759.5 3631.1 2286.1 3799.4 121.78 -10.25 145 1109.47 0.00 0.00 2.05 0.000 0.000 0.046 3697.44 3762.25 3632.62 2284.56 2549.38 0 0 0 30.00 30.00 15.77

1287.61 516 -146.63 -0.59 -40.00 3694.1 3758.8 3629.4 2286.4 2541.8 141.19 -11.09 164 1294.53 0.00 0.00 2.28 0.000 0.000 0.046 3697.28 3761.75 3632.81 2285.69 1154.25 0 0 0 30.00 30.00 15.89

1312.79 1028 -146.63 -0.59 0.00 3695.0 3759.4 3630.7 2286.5 1154.7 144.13 -11.44 169 1319.73 0.00 0.00 2.61 0.000 0.000 0.090 3694.62 3759.75 3629.50 2275.88 2614.00 0 0 0 30.00 30.00 15.80

1368 end dive: TARGET_DEPTH_EXCEEDED

state 1368 begin apogee

1369.55 3 0.00 -0.14 0.00 3695.2 3759.8 3630.6 2276.2 2128.8 150.89 -12.46 175 1484.84 110.00 0.54 0.17 1.271 0.181 0.140 3096.19 3194.19 2998.19 2435.81 2229.62 0 0 0 12.36 15.84 15.25

1486 end apogee: CONTROL_FINISHED_OK

state 1486 begin climb

1486.49 519 146.63 0.65 -40.00 3096.7 3194.1 2999.2 2436.4 2229.4 154.01 0.00 186 1617.97 113.24 0.81 2.60 1.278 0.111 0.053 2500.03 2553.12 2446.94 2707.69 756.38 0 0 0 12.17 15.38 15.11

1649.65 1190 182.00 0.64 0.00 2497.2 2549.7 2444.7 2707.9 756.7 146.20 8.34 215 1688.15 28.92 0.00 2.65 1.207 0.000 0.076 2358.88 2422.94 2294.81 2706.12 2214.12 0 0 0 12.17 30.00 15.28

1865.82 389 182.00 0.59 40.00 2350.9 2419.4 2282.5 2706.8 2214.5 118.28 14.11 240 1872.83 0.00 0.17 2.58 0.000 0.200 0.104 2351.84 2419.75 2283.94 2659.94 3629.44 0 0 0 30.00 15.52 15.56

1900.83 1158 182.00 0.55 0.00 2349.7 2418.4 2281.1 2659.5 3629.9 113.38 14.01 247 1907.77 0.00 0.00 2.46 0.000 0.000 0.041 2349.75 2418.56 2280.94 2666.75 2158.94 0 0 0 30.00 30.00 15.59

2085.75 646 182.00 0.54 -40.00 2348.7 2418.6 2278.9 2668.0 2152.2 92.22 10.94 266 2092.71 0.00 0.00 2.34 0.000 0.000 0.053 2347.47 2417.25 2277.69 2677.88 759.81 0 0 0 30.00 30.00 15.69

2144.68 1030 182.00 0.54 0.00 2349.8 2419.0 2280.5 2678.4 758.6 85.96 10.18 278 2153.00 0.00 0.00 2.57 0.000 0.000 0.074 2352.44 2422.12 2282.75 2678.31 2216.12 0 0 0 30.00 30.00 15.62

2331.05 421 186.08 0.51 40.00 2348.6 2419.0 2278.1 2678.5 2215.8 68.09 9.81 297 2338.90 0.00 0.15 2.57 0.000 0.208 0.110 2352.41 2422.44 2282.38 2634.94 3628.62 0 0 0 30.00 15.67 15.73

2410.57 1062 231.00 0.56 0.00 2348.5 2420.0 2277.1 2637.1 3628.8 61.49 7.89 313 2459.12 38.73 0.00 2.43 1.191 0.000 0.040 2155.97 2237.56 2074.38 2644.62 2157.81 0 0 0 12.30 30.00 15.78

2636.76 679 279.91 0.64 -40.00 2151.5 2235.8 2067.2 2643.1 2157.5 44.98 7.71 340 2683.67 38.12 0.12 2.40 1.126 0.093 0.059 1956.34 2023.62 1889.06 2718.94 756.56 0 0 0 12.32 15.69 15.19

2710.61 1029 279.91 0.64 0.00 1954.2 2019.6 1888.9 2717.5 756.8 35.52 14.29 355 2719.02 0.00 0.15 2.62 0.000 0.178 0.075 1956.34 2021.44 1891.25 2673.56 2216.06 0 0 0 30.00 15.52 15.54

2896.80 390 279.91 0.66 40.00 1950.6 2018.2 1883.0 2672.8 2215.5 9.71 13.26 374 2903.75 0.00 0.00 2.59 0.000 0.000 0.107 1953.03 2020.94 1885.12 2671.38 3628.00 0 0 0 30.00 30.00 15.68

2925.64 1158 279.91 0.68 0.00 1950.0 2017.8 1882.2 2673.4 3629.2 6.21 11.67 380 2933.87 0.00 0.00 2.45 0.000 0.000 0.041 1949.97 2017.94 1882.00 2680.94 2157.25 0 0 0 30.00 30.00 15.66

2962 end climb: SURFACE_DEPTH_REACHED

state 2962 begin surface coast

2992 end surface coast: CONTROL_FINISHED_OK

state 2992 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	5	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	0.48378602	SEABIRD_C_I	-0.0020527283
USE_BATHY	-6	PITCH_MAX	3941	FG_AHR_24V	2.2862942	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	2600	ALTIM_SENSITIVITY	2	TM_XMITPROFILE	3.0
HD_B	0.0099999998	C_ROLL_CLIMB	2200	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	090519,201118,4744.012,-12224.890,21,1.0,31,15.6	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090519,201850,4744.036,-12224.931,2,0.7,5,15.6	MHEAD_RNG_PITCHd_Wd	173.5,996,-17.8,-10.000,-21.47
SPEED_LIMITS	0.173,0.254	D_GRID	180
TGT_NAME	NW	WARN	HPMAR logging already started
TGT_LATLONG	4743.500,-12225.000

WARN	HPMAR logging already started	HUMID	53.79
FINISH	-0.6,1.022098	TEMP	10.48
SM_CCo	3289.24,0.25,0.162,0,382.0,405.8,358.2,666.73	INTERNAL_PRESSURE	8.99129
SM_GC	0.23,0.25,6.70,0.84,0.162,0.064,0.113,382.0,405.8,358.2,338.9,2612.9,0,0,0,15.18,15.76,15.75	_24V_AH	14.27,4.797
SUPER	59,70,254,1,0,0	_10V_AH	14.64,0.000
IRIDIUM_FIX	4745.46,-12231.22,090519,190756	FG_AHR_24Vo	2.406
TCM_TEMP	14.40	FG_AHR_10Vo	0.517
XPDR_PINGS	42	MEM	1133556,28,45792,64
SC_FREEKB	3874912	DATA_FILE_SIZE	13688,387
PM_FREEKB_00	62075072	CAP_FILE_SIZE	159859,0
PM_FREEKB_01	62341568	SDSIZE	3918848,3905856
PM_FREEKB_02	62341760	SDFILEDIR	76,1
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	0.132, 18.7,1
TM_FREEKB	7789024	GPS	090519,211434,4743.930,-12224.887,1,0.9,3,15.6

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	776	2702	29940.50	nil	0	0	0.00
Pitch_motor	18	381	98.69	nil	0	0	0.00
Roll_motor	55	139	110.78	nil	0	0	0.00
Iridium	350	184	924.97	nil	0	0	0.00
Transponder_ping	10	420	62.93	nil	0	0	0.00
GPS	14	6	1.33	nil	0	0	0.00
Core	2154	9	309.42	SciCon	2991	31	1393.56
LPSleep	1584	2	50.79	PMAR	3007	10	441.24
Compass	877	1	25.57	TMICL	2983	18	807.26
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
14.00	2	-146.63	-0.65	0.00	379.8	412.4	347.1	338.4	2619.7	0.00	0.00	0	190.98	173.32	0.00	0.00	0.005	0.000	0.000	3574.38	3637.50	3511.25	338.44	2620.38	0	0	0	15.28	30.00	30.00
191.21	519	-146.63	-0.65	-40.00	3573.2	3635.9	3510.4	338.2	2620.2	4.33	-14.51	17	214.62	2.73	9.31	2.43	0.014	0.382	0.043	3695.69	3759.88	3631.50	2268.31	1145.69	0	0	0	15.44	15.49	15.58
412.59	1028	-146.63	-0.65	0.00	3695.3	3760.2	3630.4	2267.8	1145.7	40.48	-12.24	61	419.48	0.00	0.00	2.63	0.000	0.000	0.091	3696.06	3760.75	3631.38	2260.25	2616.31	0	0	0	30.00	30.00	15.69
597.54	388	-146.63	-0.61	40.00	3695.3	3760.0	3630.6	2261.1	2616.4	66.94	-14.76	80	604.37	0.00	0.00	2.16	0.000	0.000	0.118	3695.75	3760.69	3630.81	2251.00	3797.38	0	0	0	30.00	30.00	15.73
672.54	1157	-146.63	-0.56	0.00	3695.2	3760.4	3630.1	2251.9	3799.1	77.20	-13.30	95	679.51	0.00	0.18	2.05	0.000	0.209	0.047	3695.59	3759.94	3631.25	2302.69	2549.62	0	0	0	30.00	15.75	15.73
857.68	548	-146.63	-0.56	-40.00	3695.2	3759.8	3630.6	2303.4	2545.9	96.45	-9.99	114	864.45	0.00	0.00	2.29	0.000	0.000	0.046	3696.47	3760.81	3632.12	2303.81	1154.12	0	0	0	30.00	30.00	15.78
902.94	1188	-146.63	-0.59	0.00	3695.0	3760.2	3629.8	2303.1	1154.8	100.86	-9.84	123	909.60	0.00	0.00	2.62	0.000	0.000	0.091	3694.12	3759.00	3629.25	2296.12	2615.38	0	0	0	30.00	30.00	15.79
1087.76	260	-146.63	-0.59	40.00	3695.5	3760.2	3630.8	2294.9	2616.8	120.21	-10.27	142	1094.48	0.00	0.00	2.15	0.000	0.000	0.116	3696.22	3761.38	3631.06	2286.06	3800.62	0	0	0	30.00	30.00	15.83
1102.66	1028	-146.63	-0.59	0.00	3695.3	3759.5	3631.1	2286.1	3799.4	121.78	-10.25	145	1109.47	0.00	0.00	2.05	0.000	0.000	0.046	3697.44	3762.25	3632.62	2284.56	2549.38	0	0	0	30.00	30.00	15.77
1287.61	516	-146.63	-0.59	-40.00	3694.1	3758.8	3629.4	2286.4	2541.8	141.19	-11.09	164	1294.53	0.00	0.00	2.28	0.000	0.000	0.046	3697.28	3761.75	3632.81	2285.69	1154.25	0	0	0	30.00	30.00	15.89
1312.79	1028	-146.63	-0.59	0.00	3695.0	3759.4	3630.7	2286.5	1154.7	144.13	-11.44	169	1319.73	0.00	0.00	2.61	0.000	0.000	0.090	3694.62	3759.75	3629.50	2275.88	2614.00	0	0	0	30.00	30.00	15.80
1368	end dive: TARGET_DEPTH_EXCEEDED
state	1368	begin apogee
1369.55	3	0.00	-0.14	0.00	3695.2	3759.8	3630.6	2276.2	2128.8	150.89	-12.46	175	1484.84	110.00	0.54	0.17	1.271	0.181	0.140	3096.19	3194.19	2998.19	2435.81	2229.62	0	0	0	12.36	15.84	15.25
1486	end apogee: CONTROL_FINISHED_OK
state	1486	begin climb
1486.49	519	146.63	0.65	-40.00	3096.7	3194.1	2999.2	2436.4	2229.4	154.01	0.00	186	1617.97	113.24	0.81	2.60	1.278	0.111	0.053	2500.03	2553.12	2446.94	2707.69	756.38	0	0	0	12.17	15.38	15.11
1649.65	1190	182.00	0.64	0.00	2497.2	2549.7	2444.7	2707.9	756.7	146.20	8.34	215	1688.15	28.92	0.00	2.65	1.207	0.000	0.076	2358.88	2422.94	2294.81	2706.12	2214.12	0	0	0	12.17	30.00	15.28
1865.82	389	182.00	0.59	40.00	2350.9	2419.4	2282.5	2706.8	2214.5	118.28	14.11	240	1872.83	0.00	0.17	2.58	0.000	0.200	0.104	2351.84	2419.75	2283.94	2659.94	3629.44	0	0	0	30.00	15.52	15.56
1900.83	1158	182.00	0.55	0.00	2349.7	2418.4	2281.1	2659.5	3629.9	113.38	14.01	247	1907.77	0.00	0.00	2.46	0.000	0.000	0.041	2349.75	2418.56	2280.94	2666.75	2158.94	0	0	0	30.00	30.00	15.59
2085.75	646	182.00	0.54	-40.00	2348.7	2418.6	2278.9	2668.0	2152.2	92.22	10.94	266	2092.71	0.00	0.00	2.34	0.000	0.000	0.053	2347.47	2417.25	2277.69	2677.88	759.81	0	0	0	30.00	30.00	15.69
2144.68	1030	182.00	0.54	0.00	2349.8	2419.0	2280.5	2678.4	758.6	85.96	10.18	278	2153.00	0.00	0.00	2.57	0.000	0.000	0.074	2352.44	2422.12	2282.75	2678.31	2216.12	0	0	0	30.00	30.00	15.62
2331.05	421	186.08	0.51	40.00	2348.6	2419.0	2278.1	2678.5	2215.8	68.09	9.81	297	2338.90	0.00	0.15	2.57	0.000	0.208	0.110	2352.41	2422.44	2282.38	2634.94	3628.62	0	0	0	30.00	15.67	15.73
2410.57	1062	231.00	0.56	0.00	2348.5	2420.0	2277.1	2637.1	3628.8	61.49	7.89	313	2459.12	38.73	0.00	2.43	1.191	0.000	0.040	2155.97	2237.56	2074.38	2644.62	2157.81	0	0	0	12.30	30.00	15.78
2636.76	679	279.91	0.64	-40.00	2151.5	2235.8	2067.2	2643.1	2157.5	44.98	7.71	340	2683.67	38.12	0.12	2.40	1.126	0.093	0.059	1956.34	2023.62	1889.06	2718.94	756.56	0	0	0	12.32	15.69	15.19
2710.61	1029	279.91	0.64	0.00	1954.2	2019.6	1888.9	2717.5	756.8	35.52	14.29	355	2719.02	0.00	0.15	2.62	0.000	0.178	0.075	1956.34	2021.44	1891.25	2673.56	2216.06	0	0	0	30.00	15.52	15.54
2896.80	390	279.91	0.66	40.00	1950.6	2018.2	1883.0	2672.8	2215.5	9.71	13.26	374	2903.75	0.00	0.00	2.59	0.000	0.000	0.107	1953.03	2020.94	1885.12	2671.38	3628.00	0	0	0	30.00	30.00	15.68
2925.64	1158	279.91	0.68	0.00	1950.0	2017.8	1882.2	2673.4	3629.2	6.21	11.67	380	2933.87	0.00	0.00	2.45	0.000	0.000	0.041	1949.97	2017.94	1882.00	2680.94	2157.25	0	0	0	30.00	30.00	15.66
2962	end climb: SURFACE_DEPTH_REACHED
state	2962	begin surface coast
2992	end surface coast: CONTROL_FINISHED_OK
state	2992	begin surface