Glider dive log

EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 237 FIX_MISSING_TIMEOUT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -1.7

MISSION 6 TGT_DEFAULT_LAT 4736 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 5 TGT_DEFAULT_LON -12218 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 5 TGT_AUTO_DEFAULT 0 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 SM_CC 605.40039 C_VBD 2968 DEVICE1 -1

D_SURF 2 N_FILEKB 8 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 FILEMGR 0 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 150 CALL_NDIVES 1 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 1010 COMM_SEQ 0 VBD_TIMEOUT 720 DEVICE5 -1

D_NO_BLEED 500 PROTOCOL 9 PITCH_VBD_SHIFT 0.0020000001 DEVICE6 -1

D_BOOST 0 N_NOCOMM 1 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 NOCOMM_ACTION 131 VBD_MAXERRORS 1 LOGGERDEVICE1 7

D_FINISH 0 N_NOSURFACE 0 W_ADJ_DBAND 0 LOGGERDEVICE2 65

D_PITCH 0 UPLOAD_DIVES_MAX -1 DBDW 0 LOGGERDEVICE3 -1

D_SAFE 0 CALL_TRIES 5 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

D_CALL 0 CALL_WAIT 60 LOITER_DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 0 CAPUPLOAD 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 0 T_GPS 10 LOITER_N_DIVE 0 GPS_DEVICE 48

T_DIVE 50 N_GPS 100440 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_MISSION 70 T_RSLEEP 1 AH0_24V 510 NETWORK_DEVICE -1

T_ABORT 1440 STROBE 0 AH0_10V 0 PRESSURE_DEVICE 34

T_TURN 225 RAFOS_PEAK_OFFSET 0 MINV_24V 11 XPDR_DEVICE 21

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 MINV_10V 11 SIM_W 0

T_NO_W 120 RAFOS_HIT_WINDOW 3600 MAXI_24V 5 SEABIRD_T_G 0.0044171116

T_LOITER 0 RAFOS_MMODEM 0 MAXI_10V 1.5 SEABIRD_T_H 0.00064316206

T_EPIRB 0 PITCH_MIN 190 FG_AHR_10V 23.564432 SEABIRD_T_I 2.5361865e-05

USE_BATHY -6 PITCH_MAX 3950 FG_AHR_24V 67.638512 SEABIRD_T_J 3.0211725e-06

USE_ICE 0 C_PITCH 1800 PHONE_SUPPLY 2 SEABIRD_C_G -9.9751892

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 PRESSURE_YINT -148.10413 SEABIRD_C_H 1.1606171

D_OFFGRID 1000 PITCH_CNV 0.0041299998 PRESSURE_SLOPE 0.00022584078 SEABIRD_C_I -0.0016447038

RELAUNCH 1 PITCH_GAIN 18 COMPASS_USE 4 SEABIRD_C_J 0.0002149943

APOGEE_PITCH -5 PITCH_TIMEOUT 30 ALTIM_PING_FIT 0 SC_RECORDABOVE 2000.0

MAX_BUOY 70 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SC_PROFILE 3.0

GLIDE_SLOPE 50 PITCH_ADJ_GAIN 0.015 ALTIM_BOTTOM_TURN_MARGIN 0 SC_XMITPROFILE 3.0

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 ALTIM_TOP_TURN_MARGIN 0 SC_NDIVE 1.0

RHO 1.0275 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 ES_RECORDABOVE 2000.0

MASS 74630 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 ES_PROFILE 3.0

NAV_MODE 2 ROLL_MIN 465 ALTIM_PING_DELTA 0 ES_XMITPROFILE 0.0

FERRY_MAX 45 ROLL_MAX 3180 ALTIM_FREQUENCY 14 ES_UPLOADMAX 100000.0

KALMAN_USE 2 ROLL_DEG 0 ALTIM_PULSE 3 ES_STARTS 8.0

HD_A 0.003 C_ROLL_DIVE 3000 ALTIM_SENSITIVITY 2 ES_NDIVE 1.0

HD_B 0.0099999998 C_ROLL_CLIMB 3000 XPDR_VALID 4 ES_DL_HEADERSKIP 105044.0

HD_C 1.6e-05 HEAD_ERRBAND 180 XPDR_INHIBIT 90 ES_DL_RECORDLENGTH 10086.0

HEADING 330 ROLL_CNV 0.054945 XPDR_INT 0 ES_DL_NRECORD 100.0

ESCAPE_HEADING 0 ROLL_TIMEOUT 15 XPDR_REP 0 ES_DL_RECORDCOUNT 3.0

ESCAPE_HEADING_DELTA 10 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_TGT 150 MOTHERBOARD 6 SEABIRD_C_H 1.1606171

AH0_24V 510 ESCAPE_HEADING 0 NAV_MODE 2 SEABIRD_C_I -0.0016447038

ALTIM_BOTTOM_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 NETWORK_DEVICE -1 SEABIRD_C_J 0.0002149943

ALTIM_FREQUENCY 14 ES_DL_HEADERSKIP 105044.0 NOCOMM_ACTION 131 SEABIRD_T_G 0.0044171116

ALTIM_PING_DELTA 0 ES_DL_NRECORD 100.0 N_DIVES 5 SEABIRD_T_H 0.00064316206

ALTIM_PING_DEPTH 0 ES_DL_RECORDCOUNT 3.0 N_FILEKB 8 SEABIRD_T_I 2.5361865e-05

ALTIM_PING_FIT 0 ES_DL_RECORDLENGTH 10086.0 N_GPS 100440 SEABIRD_T_J 3.0211725e-06

ALTIM_PULSE 3 ES_NDIVE 1.0 N_NOCOMM 1 SIM_W 0

ALTIM_SENSITIVITY 2 ES_PROFILE 3.0 N_NOSURFACE 0 SM_CC 605.40039

ALTIM_TOP_MIN_OBSTACLE 1 ES_RECORDABOVE 2000.0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 ES_STARTS 8.0 PHONE_SUPPLY 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 ES_UPLOADMAX 100000.0 PITCH_ADJ_DBAND 2 STROBE 0

APOGEE_PITCH -5 ES_XMITPROFILE 0.0 PITCH_ADJ_GAIN 0.015 SURFACE_URGENCY 0

CALL_NDIVES 1 FERRY_MAX 45 PITCH_CNV 0.0041299998 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 FG_AHR_10V 23.564432 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 FG_AHR_24V 67.638512 PITCH_GAIN 18 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 FILEMGR 0 PITCH_MAX 3950 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 FIX_MISSING_TIMEOUT 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 GLIDE_SLOPE 50 PITCH_MIN 190 T_ABORT 1440

COMM_SEQ 0 GPS_DEVICE 48 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 HD_A 0.003 PITCH_VBD_SHIFT 0.0020000001 T_DIVE 50

COMPASS_DEVICE 66 HD_B 0.0099999998 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 4 HD_C 1.6e-05 PITCH_W_GAIN 0 T_GPS 10

C_PITCH 1800 HEADING 330 PRESSURE_DEVICE 34 T_LOITER 0

C_ROLL_CLIMB 3000 HEAD_ERRBAND 180 PRESSURE_SLOPE 0.00022584078 T_MISSION 70

C_ROLL_DIVE 3000 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_YINT -148.10413 T_NO_W 120

C_VBD 2968 ID 237 PROTOCOL 9 T_RSLEEP 1

DBDW 0 INT_PRESSURE_SLOPE 1.9639999e-06 RAFOS_CORR_THRESH 60 T_TURN 225

DEEPGLIDER 0 INT_PRESSURE_YINT -1.7 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

DEEPGLIDERMB 0 KALMAN_USE 2 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

DEVICE1 -1 LOGGERDEVICE1 7 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DEVICE2 -1 LOGGERDEVICE2 65 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

DEVICE3 -1 LOGGERDEVICE3 -1 RELAUNCH 1 USE_ICE 0

DEVICE4 -1 LOGGERDEVICE4 -1 RHO 1.0275 VBD_CNV -0.24529999

DEVICE5 -1 LOGGERS 3 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE6 -1 LOITER_DBDW 0 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DIVE 5 LOITER_D_BOTTOM 0 ROLL_CNV 0.054945 VBD_MAX 3960

D_ABORT 1010 LOITER_D_TOP 0 ROLL_DEG 0 VBD_MAXERRORS 1

D_BOOST 0 LOITER_N_DIVE 0 ROLL_MAX 3180 VBD_MIN 500

D_CALL 0 LOITER_W_DBAND 0 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

D_FINISH 0 MASS 74630 ROLL_MIN 465 W_ADJ_DBAND 0

D_FLARE 3 MAXI_10V 1.5 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_NO_BLEED 500 MAXI_24V 5 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_OFFGRID 1000 MAX_BUOY 70 SC_PROFILE 3.0 XPDR_INT 0

D_PITCH 0 MINV_10V 11 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_SAFE 0 MINV_24V 11 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_SURF 2 MISSION 6 SEABIRD_C_G -9.9751892

Pre-dive calculations and measurements:

GPS1 040421,164813,4850.453,-1632.049,1,1.4,4,-5.5 TGT_LATLONG 4859.795,-1640.294

_CALLS 1 TGT_RADIUS 1852.000

_SM_DEPTHo 1.20 KALMAN_CONTROL 0.000,0.000

_SM_ANGLEo -46.8 KALMAN_X 0.0,0.0,0.0,0.0,0.0

GPS2 040421,165110,4850.443,-1632.064,2,1.4,5,-5.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

SPEED_LIMITS 0.084,0.179 MHEAD_RNG_PITCHd_Wd 20.5,20000,-26.3,-10.000,-29.13

TGT_NAME HEADING D_GRID 1000

Post-dive calculations and measurements:

FINISH 0.2,1.027064 INTERNAL_PRESSURE 8.65352

SM_CCo 3267.86,364.01,0.954,0,500.9,482.2,519.6,605.17 _24V_AH 14.58,7.075

SM_GC 0.93,364.01,12.56,0.05,0.954,0.065,0.166,500.9,482.2,519.6,179.6,2963.2,0,0,0,11.75,15.61,15.70 _10V_AH 14.59,0.000

SUPER 19,71,254,1,0,0 FG_AHR_24Vo 67.791

IRIDIUM_FIX 4849.46,-1631.31,040421,164623 FG_AHR_10Vo 23.589

TCM_TEMP 14.92 MEM 1127640,23,49324,94

XPDR_PINGS 7,13.0,11.5 DATA_FILE_SIZE 12953,457

SC_FREEKB 3876512 CAP_FILE_SIZE 126853,0

ES_FREE 15859712000.000000 SDSIZE 3918848,3907808

ES_POWER 63.360000 SDFILEDIR 68,1

ES_POWER1 0.000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 50.39 CURRENT 0.189,215.7,1

TEMP 11.39 GPS 040421,174628,4850.199,-1632.286,2,2.0,9,-5.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 660 1143 11013.14 nil 0 0 0.00

Pitch_motor 28 314 131.36 nil 0 0 0.00

Roll_motor 0 261 1.50 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 10.72 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 1329 11 228.86 SciCon 2879 22 935.61

LPSleep 1608 2 65.72 echo 2887 10 421.22

Compass 690 5 50.40 nil 0 0 0.00

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

9.65 16386 -68.13 -1.60 0.00 496.2 472.4 519.9 191.1 2962.2 0.00 0.00 0 148.96 136.47 0.00 0.11 0.005 0.000 0.261 3243.00 3257.94 3228.06 191.00 3016.19 0 0 0 15.10 30.00 14.96

149.24 2081 -68.13 -1.60 0.00 3243.0 3257.1 3228.9 190.9 3016.5 2.93 -1.40 27 163.92 0.00 10.48 0.00 0.000 0.314 0.000 3243.72 3256.75 3230.69 1412.56 3016.50 0 0 0 30.00 15.17 30.00

341.94 2177 -68.13 -1.46 0.00 3243.7 3250.8 3236.5 1413.4 3016.1 34.28 -17.53 66 343.40 0.00 0.25 0.00 0.000 0.259 0.000 3245.62 3253.00 3238.25 1445.62 3015.81 0 0 0 30.00 15.43 30.00

522.00 128 -68.13 -1.37 0.00 3243.3 3249.9 3236.6 1445.5 3015.9 63.94 -16.69 102 523.33 0.00 0.00 0.00 0.000 0.000 0.000 3242.84 3249.12 3236.56 1445.50 3016.25 0 0 0 30.00 30.00 30.00

702.12 2177 -68.13 -1.27 0.00 3243.0 3249.4 3236.6 1446.0 3016.3 94.18 -17.05 138 703.60 0.00 0.37 0.00 0.000 0.248 0.000 3241.50 3247.88 3235.12 1492.62 3016.06 0 0 0 30.00 15.44 30.00

882.16 128 -68.13 -1.22 0.00 3242.9 3249.4 3236.5 1492.7 3015.9 122.04 -15.66 160 883.49 0.00 0.00 0.00 0.000 0.000 0.000 3241.94 3248.62 3235.25 1492.69 3016.62 0 0 0 30.00 30.00 30.00

1062 end dive: TARGET_DEPTH_EXCEEDED

state 1062 begin apogee

1063.30 10243 0.00 -0.28 0.00 3243.1 3248.9 3237.2 1492.8 2964.1 150.31 -15.54 178 1122.89 54.23 1.85 0.11 1.143 0.221 0.253 2966.66 2953.38 2979.94 1733.38 3015.38 0 0 0 11.58 15.29 15.49

1126 end apogee: CONTROL_FINISHED_OK

state 1126 begin climb

1125.92 10243 68.13 1.60 0.00 2966.1 2951.8 2980.4 1733.4 3015.2 154.89 0.00 184 1185.93 55.31 3.16 0.00 1.101 0.151 0.000 2687.50 2671.88 2703.12 2188.06 3015.38 0 0 0 12.29 15.55 30.00

1482.18 8354 122.20 1.67 0.00 2681.7 2662.9 2700.5 2188.1 3015.6 139.42 4.66 220 1528.06 44.78 0.00 0.00 1.089 0.000 0.000 2470.78 2452.69 2488.88 2187.75 3015.62 0 0 0 11.76 30.00 30.00

1822.22 32 123.47 1.67 0.00 2461.3 2440.2 2482.3 2187.9 3015.8 108.81 9.87 254 1823.55 0.00 0.00 0.00 0.000 0.000 0.000 2460.28 2440.19 2480.38 2187.56 3015.19 0 0 0 30.00 30.00 30.00

2122.29 0 123.47 1.67 0.00 2460.2 2439.1 2481.4 2188.0 3015.1 79.33 10.03 305 2123.62 0.00 0.00 0.00 0.000 0.000 0.000 2459.28 2438.69 2479.88 2187.62 3015.38 0 0 0 30.00 30.00 30.00

2302.35 8226 127.99 1.68 0.00 2460.2 2438.8 2481.8 2188.4 3015.2 62.04 9.55 341 2311.74 5.78 0.00 0.00 0.699 0.000 0.000 2445.09 2424.81 2465.38 2187.81 3015.44 0 0 0 11.78 30.00 30.00

2492.37 0 127.99 1.68 0.00 2444.3 2423.7 2465.0 2188.4 3015.0 42.69 10.08 379 2493.70 0.00 0.00 0.00 0.000 0.000 0.000 2443.59 2423.19 2464.00 2187.94 3014.88 0 0 0 30.00 30.00 30.00

2672.39 0 127.99 1.68 0.00 2444.2 2423.9 2464.4 2188.0 3015.5 23.84 10.62 415 2673.72 0.00 0.00 0.00 0.000 0.000 0.000 2442.72 2422.38 2463.06 2187.81 3015.12 0 0 0 30.00 30.00 30.00

2852.41 0 127.99 1.68 0.00 2444.1 2423.2 2465.0 2188.1 3014.8 3.16 11.62 451 2853.74 0.00 0.00 0.00 0.000 0.000 0.000 2443.41 2422.94 2463.88 2187.75 3015.12 0 0 0 30.00 30.00 30.00

2868 end climb: SURFACE_DEPTH_REACHED

state 2868 begin surface coast

2883 end surface coast: CONTROL_FINISHED_OK

state 2883 begin surface

ID	237	FIX_MISSING_TIMEOUT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-1.7
MISSION	6	TGT_DEFAULT_LAT	4736	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	5	TGT_DEFAULT_LON	-12218	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	5	TGT_AUTO_DEFAULT	0	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	SM_CC	605.40039	C_VBD	2968	DEVICE1	-1
D_SURF	2	N_FILEKB	8	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	FILEMGR	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	150	CALL_NDIVES	1	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	1010	COMM_SEQ	0	VBD_TIMEOUT	720	DEVICE5	-1
D_NO_BLEED	500	PROTOCOL	9	PITCH_VBD_SHIFT	0.0020000001	DEVICE6	-1
D_BOOST	0	N_NOCOMM	1	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	NOCOMM_ACTION	131	VBD_MAXERRORS	1	LOGGERDEVICE1	7
D_FINISH	0	N_NOSURFACE	0	W_ADJ_DBAND	0	LOGGERDEVICE2	65
D_PITCH	0	UPLOAD_DIVES_MAX	-1	DBDW	0	LOGGERDEVICE3	-1
D_SAFE	0	CALL_TRIES	5	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
D_CALL	0	CALL_WAIT	60	LOITER_DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	0	CAPUPLOAD	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	0	T_GPS	10	LOITER_N_DIVE	0	GPS_DEVICE	48
T_DIVE	50	N_GPS	100440	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_MISSION	70	T_RSLEEP	1	AH0_24V	510	NETWORK_DEVICE	-1
T_ABORT	1440	STROBE	0	AH0_10V	0	PRESSURE_DEVICE	34
T_TURN	225	RAFOS_PEAK_OFFSET	0	MINV_24V	11	XPDR_DEVICE	21
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	MINV_10V	11	SIM_W	0
T_NO_W	120	RAFOS_HIT_WINDOW	3600	MAXI_24V	5	SEABIRD_T_G	0.0044171116
T_LOITER	0	RAFOS_MMODEM	0	MAXI_10V	1.5	SEABIRD_T_H	0.00064316206
T_EPIRB	0	PITCH_MIN	190	FG_AHR_10V	23.564432	SEABIRD_T_I	2.5361865e-05
USE_BATHY	-6	PITCH_MAX	3950	FG_AHR_24V	67.638512	SEABIRD_T_J	3.0211725e-06
USE_ICE	0	C_PITCH	1800	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9751892
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	PRESSURE_YINT	-148.10413	SEABIRD_C_H	1.1606171
D_OFFGRID	1000	PITCH_CNV	0.0041299998	PRESSURE_SLOPE	0.00022584078	SEABIRD_C_I	-0.0016447038
RELAUNCH	1	PITCH_GAIN	18	COMPASS_USE	4	SEABIRD_C_J	0.0002149943
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	ALTIM_PING_FIT	0	SC_RECORDABOVE	2000.0
MAX_BUOY	70	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SC_PROFILE	3.0
GLIDE_SLOPE	50	PITCH_ADJ_GAIN	0.015	ALTIM_BOTTOM_TURN_MARGIN	0	SC_XMITPROFILE	3.0
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	ALTIM_TOP_TURN_MARGIN	0	SC_NDIVE	1.0
RHO	1.0275	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	ES_RECORDABOVE	2000.0
MASS	74630	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	ES_PROFILE	3.0
NAV_MODE	2	ROLL_MIN	465	ALTIM_PING_DELTA	0	ES_XMITPROFILE	0.0
FERRY_MAX	45	ROLL_MAX	3180	ALTIM_FREQUENCY	14	ES_UPLOADMAX	100000.0
KALMAN_USE	2	ROLL_DEG	0	ALTIM_PULSE	3	ES_STARTS	8.0
HD_A	0.003	C_ROLL_DIVE	3000	ALTIM_SENSITIVITY	2	ES_NDIVE	1.0
HD_B	0.0099999998	C_ROLL_CLIMB	3000	XPDR_VALID	4	ES_DL_HEADERSKIP	105044.0
HD_C	1.6e-05	HEAD_ERRBAND	180	XPDR_INHIBIT	90	ES_DL_RECORDLENGTH	10086.0
HEADING	330	ROLL_CNV	0.054945	XPDR_INT	0	ES_DL_NRECORD	100.0
ESCAPE_HEADING	0	ROLL_TIMEOUT	15	XPDR_REP	0	ES_DL_RECORDCOUNT	3.0
ESCAPE_HEADING_DELTA	10	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	040421,164813,4850.453,-1632.049,1,1.4,4,-5.5	TGT_LATLONG	4859.795,-1640.294
_CALLS	1	TGT_RADIUS	1852.000
_SM_DEPTHo	1.20	KALMAN_CONTROL	0.000,0.000
_SM_ANGLEo	-46.8	KALMAN_X	0.0,0.0,0.0,0.0,0.0
GPS2	040421,165110,4850.443,-1632.064,2,1.4,5,-5.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS	0.084,0.179	MHEAD_RNG_PITCHd_Wd	20.5,20000,-26.3,-10.000,-29.13
TGT_NAME	HEADING	D_GRID	1000

FINISH	0.2,1.027064	INTERNAL_PRESSURE	8.65352
SM_CCo	3267.86,364.01,0.954,0,500.9,482.2,519.6,605.17	_24V_AH	14.58,7.075
SM_GC	0.93,364.01,12.56,0.05,0.954,0.065,0.166,500.9,482.2,519.6,179.6,2963.2,0,0,0,11.75,15.61,15.70	_10V_AH	14.59,0.000
SUPER	19,71,254,1,0,0	FG_AHR_24Vo	67.791
IRIDIUM_FIX	4849.46,-1631.31,040421,164623	FG_AHR_10Vo	23.589
TCM_TEMP	14.92	MEM	1127640,23,49324,94
XPDR_PINGS	7,13.0,11.5	DATA_FILE_SIZE	12953,457
SC_FREEKB	3876512	CAP_FILE_SIZE	126853,0
ES_FREE	15859712000.000000	SDSIZE	3918848,3907808
ES_POWER	63.360000	SDFILEDIR	68,1
ES_POWER1	0.000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	50.39	CURRENT	0.189,215.7,1
TEMP	11.39	GPS	040421,174628,4850.199,-1632.286,2,2.0,9,-5.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	660	1143	11013.14	nil	0	0	0.00
Pitch_motor	28	314	131.36	nil	0	0	0.00
Roll_motor	0	261	1.50	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	10.72	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	1329	11	228.86	SciCon	2879	22	935.61
LPSleep	1608	2	65.72	echo	2887	10	421.22
Compass	690	5	50.40	nil	0	0	0.00
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
9.65	16386	-68.13	-1.60	0.00	496.2	472.4	519.9	191.1	2962.2	0.00	0.00	0	148.96	136.47	0.00	0.11	0.005	0.000	0.261	3243.00	3257.94	3228.06	191.00	3016.19	0	0	0	15.10	30.00	14.96
149.24	2081	-68.13	-1.60	0.00	3243.0	3257.1	3228.9	190.9	3016.5	2.93	-1.40	27	163.92	0.00	10.48	0.00	0.000	0.314	0.000	3243.72	3256.75	3230.69	1412.56	3016.50	0	0	0	30.00	15.17	30.00
341.94	2177	-68.13	-1.46	0.00	3243.7	3250.8	3236.5	1413.4	3016.1	34.28	-17.53	66	343.40	0.00	0.25	0.00	0.000	0.259	0.000	3245.62	3253.00	3238.25	1445.62	3015.81	0	0	0	30.00	15.43	30.00
522.00	128	-68.13	-1.37	0.00	3243.3	3249.9	3236.6	1445.5	3015.9	63.94	-16.69	102	523.33	0.00	0.00	0.00	0.000	0.000	0.000	3242.84	3249.12	3236.56	1445.50	3016.25	0	0	0	30.00	30.00	30.00
702.12	2177	-68.13	-1.27	0.00	3243.0	3249.4	3236.6	1446.0	3016.3	94.18	-17.05	138	703.60	0.00	0.37	0.00	0.000	0.248	0.000	3241.50	3247.88	3235.12	1492.62	3016.06	0	0	0	30.00	15.44	30.00
882.16	128	-68.13	-1.22	0.00	3242.9	3249.4	3236.5	1492.7	3015.9	122.04	-15.66	160	883.49	0.00	0.00	0.00	0.000	0.000	0.000	3241.94	3248.62	3235.25	1492.69	3016.62	0	0	0	30.00	30.00	30.00
1062	end dive: TARGET_DEPTH_EXCEEDED
state	1062	begin apogee
1063.30	10243	0.00	-0.28	0.00	3243.1	3248.9	3237.2	1492.8	2964.1	150.31	-15.54	178	1122.89	54.23	1.85	0.11	1.143	0.221	0.253	2966.66	2953.38	2979.94	1733.38	3015.38	0	0	0	11.58	15.29	15.49
1126	end apogee: CONTROL_FINISHED_OK
state	1126	begin climb
1125.92	10243	68.13	1.60	0.00	2966.1	2951.8	2980.4	1733.4	3015.2	154.89	0.00	184	1185.93	55.31	3.16	0.00	1.101	0.151	0.000	2687.50	2671.88	2703.12	2188.06	3015.38	0	0	0	12.29	15.55	30.00
1482.18	8354	122.20	1.67	0.00	2681.7	2662.9	2700.5	2188.1	3015.6	139.42	4.66	220	1528.06	44.78	0.00	0.00	1.089	0.000	0.000	2470.78	2452.69	2488.88	2187.75	3015.62	0	0	0	11.76	30.00	30.00
1822.22	32	123.47	1.67	0.00	2461.3	2440.2	2482.3	2187.9	3015.8	108.81	9.87	254	1823.55	0.00	0.00	0.00	0.000	0.000	0.000	2460.28	2440.19	2480.38	2187.56	3015.19	0	0	0	30.00	30.00	30.00
2122.29	0	123.47	1.67	0.00	2460.2	2439.1	2481.4	2188.0	3015.1	79.33	10.03	305	2123.62	0.00	0.00	0.00	0.000	0.000	0.000	2459.28	2438.69	2479.88	2187.62	3015.38	0	0	0	30.00	30.00	30.00
2302.35	8226	127.99	1.68	0.00	2460.2	2438.8	2481.8	2188.4	3015.2	62.04	9.55	341	2311.74	5.78	0.00	0.00	0.699	0.000	0.000	2445.09	2424.81	2465.38	2187.81	3015.44	0	0	0	11.78	30.00	30.00
2492.37	0	127.99	1.68	0.00	2444.3	2423.7	2465.0	2188.4	3015.0	42.69	10.08	379	2493.70	0.00	0.00	0.00	0.000	0.000	0.000	2443.59	2423.19	2464.00	2187.94	3014.88	0	0	0	30.00	30.00	30.00
2672.39	0	127.99	1.68	0.00	2444.2	2423.9	2464.4	2188.0	3015.5	23.84	10.62	415	2673.72	0.00	0.00	0.00	0.000	0.000	0.000	2442.72	2422.38	2463.06	2187.81	3015.12	0	0	0	30.00	30.00	30.00
2852.41	0	127.99	1.68	0.00	2444.1	2423.2	2465.0	2188.1	3014.8	3.16	11.62	451	2853.74	0.00	0.00	0.00	0.000	0.000	0.000	2443.41	2422.94	2463.88	2187.75	3015.12	0	0	0	30.00	30.00	30.00
2868	end climb: SURFACE_DEPTH_REACHED
state	2868	begin surface coast
2883	end surface coast: CONTROL_FINISHED_OK
state	2883	begin surface