Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 14 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 607.84076 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -0.1

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3007.3027 DEEPGLIDERMB 0

D_NO_BLEED 500 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 55 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 60 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1791.8813 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 17.77227 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.471107 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 7.8329277 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -156.68835 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72626 C_PITCH_AUTO_MAX 200 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 160 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 607.84076

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.471107 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.8329277 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN 17.77227 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 55

COMPASS2_DEVICE -1 ID 240 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -0.1 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1791.8813 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.68835 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3007.3027 LOGGERS 7 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.023 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72626 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 14 MISSION 4 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE 1 SEABIRD_C_G -10

D_NO_BLEED 500 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 250522,155112,4736.767,-12256.697,1,0.9,3,15.5 TGT_RADIUS 300.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,155858,4736.878,-12256.549,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 187.7,1721,-17.1,-9.697,-20.82,2278,0.125

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653497943,3.7,start FG_AHR_24Vo 7.989

NET xm1t part outbox0004.n 1017 10 FG_AHR_10Vo 15.500

NET_PING 1653497291,25,1499.687988,10.900000,-1.987217 MEM0 60132,1,0,0

FINISH 1.8,1.020124 MEM1 65508,1,0,0

SM_CCo 3847.28,177.91,0.927,0,530.1,544.4,515.8,607.59 MEM2 944452,35,102176,62

SM_GC 1.48,177.91,12.19,3.49,0.927,0.067,0.051,530.1,544.4,515.8,190.1,2117.9,0,0,0,11.81,15.75,15.77 DATA_FILE_SIZE 16105,536

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 370157,0

IRIDIUM_FIX 4735.53,-12254.47,250522,155414 SDSIZE 3887104,3867840

TCM_TEMP 17.45 SDFILEDIR 148,1

SC_FREEKB 3874304 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 CURRENT 0.038, 40.9,1

HUMID 49.31 MAGCAL 1.000000,0.004839,-0.020521,-0.014918,1.081085,-0.019416,0.010813,-0.079769,0.979363,43.4,-929.2,-435.6,36,0.0298,0

TEMP 9.68 IMPLIED_C_PITCH 1798,18.23,284,1795.0,18.00

INTERNAL_PRESSURE 7.96039 IMPLIED_C_VBD 3027,22.229452,284,3017.0

_24V_AH 14.87,9.169 GPS 250522,170431,4736.702,-12256.652,20,0.9,21,15.5

_10V_AH 14.83,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 631 1144 10754.14 nil 0 0 0.00

Pitch_motor 29 252 110.20 nil 0 0 0.00

Roll_motor 64 202 193.50 nil 0 0 0.00

Iridium 280 209 873.28 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 2494 5 189.43 SciCon 3639 6 349.65

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1607 0 7.63

Compass 1065 5 79.01

RAFOS 830 40 492.51

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.71 16386 -146.63 -1.14 0.00 537.2 555.2 519.1 184.0 2168.1 0.00 0.00 0 84.91 74.54 0.00 0.00 0.005 0.000 0.000 2616.50 2659.31 2573.69 183.94 2167.94 0 0 0 15.87 30.00 30.00

85.21 18983 -146.63 -1.14 -80.00 2615.9 2658.8 2573.0 183.9 2168.2 3.32 -2.05 12 136.12 26.62 10.44 3.67 0.006 0.253 0.119 3604.78 3662.56 3547.00 1513.75 681.44 0 0 0 15.88 15.74 15.80

364.73 3205 -146.63 -0.95 0.00 3605.9 3662.3 3549.6 1513.8 682.2 34.80 -11.14 67 371.55 0.00 0.35 3.43 0.000 0.188 0.057 3607.09 3663.19 3551.00 1562.12 2172.12 0 0 0 30.00 15.84 15.90

554.75 548 -146.63 -0.95 -80.00 3606.4 3663.6 3549.3 1562.2 2172.6 50.37 -7.82 104 562.13 0.00 0.00 3.71 0.000 0.000 0.120 3605.34 3662.50 3548.19 1562.38 681.81 0 0 0 30.00 30.00 15.93

790.77 1188 -146.63 -0.89 0.00 3606.6 3663.8 3549.4 1562.2 681.8 72.95 -9.47 151 796.80 0.00 0.00 3.39 0.000 0.000 0.057 3607.31 3665.06 3549.56 1561.94 2171.38 0 0 0 30.00 30.00 16.01

980.71 548 -146.63 -0.89 -80.00 3607.2 3664.2 3550.2 1562.1 2171.8 88.73 -8.53 171 988.15 0.00 0.00 3.69 0.000 0.000 0.121 3607.59 3665.88 3549.31 1562.12 681.81 0 0 0 30.00 30.00 16.00

1170.01 3205 -146.63 -0.84 0.00 3607.4 3664.6 3550.2 1561.6 682.0 107.18 -9.89 208 1177.29 0.00 0.17 3.38 0.000 0.183 0.058 3607.94 3665.12 3550.75 1588.56 2172.69 0 0 0 30.00 16.00 16.06

1358.11 420 -146.63 -0.90 80.00 3606.9 3664.1 3549.7 1588.6 2172.8 121.76 -7.66 228 1365.28 0.00 0.00 3.53 0.000 0.000 0.127 3607.38 3664.19 3550.56 1588.69 3616.12 0 0 0 30.00 30.00 16.04

1398.07 1060 -146.63 -0.90 0.00 3607.4 3664.4 3550.4 1588.9 3615.8 125.30 -8.68 236 1405.70 0.00 0.00 3.42 0.000 0.000 0.054 3608.28 3666.31 3550.25 1588.56 2120.75 0 0 0 30.00 30.00 16.09

1593.95 4257 -146.63 -0.96 0.00 3607.1 3664.2 3550.0 1588.9 2120.4 140.24 -7.45 256 1595.82 0.00 0.26 0.00 0.000 0.077 0.000 3606.25 3663.38 3549.12 1542.88 2120.38 0 0 0 30.00 16.09 30.00

1784.33 160 -146.63 -0.93 0.00 3607.5 3664.8 3550.3 1542.8 2120.4 157.06 -9.65 274 1788.03 0.00 0.00 0.00 0.000 0.000 0.000 3607.59 3664.88 3550.31 1543.06 2120.62 0 0 0 30.00 30.00 30.00

1808 end dive: TARGET_DEPTH_EXCEEDED

state 1808 begin apogee

1809.45 10243 0.00 -0.28 0.00 3607.1 3664.1 3550.2 1543.1 2177.8 160.38 -9.66 277 1923.99 103.02 1.29 0.09 1.145 0.152 0.203 3007.81 3063.44 2952.19 1724.12 2117.62 0 0 0 12.07 16.06 15.71

1925 end apogee: CONTROL_FINISHED_OK

state 1925 begin climb

1925.18 10243 146.63 1.14 0.00 3003.3 3059.7 2946.9 1725.0 2117.2 164.31 0.00 288 2041.52 106.39 2.37 0.00 1.108 0.119 0.000 2406.31 2474.62 2338.00 2068.62 2117.31 0 0 0 11.89 15.71 30.00

2225.06 17030 146.63 1.05 -80.00 2400.8 2473.8 2327.8 2068.2 2117.3 133.79 12.64 318 2232.34 0.00 0.00 3.62 0.000 0.000 0.129 2403.69 2477.19 2330.19 2066.31 681.88 0 0 0 30.00 30.00 15.70

2300.93 21639 146.63 0.83 0.00 2398.4 2471.0 2325.8 2068.2 681.9 122.36 15.31 333 2308.55 0.00 0.63 3.44 0.000 0.157 0.061 2397.28 2469.81 2324.75 1984.69 2169.44 0 0 0 30.00 15.76 15.79

2495.99 10919 181.40 0.96 -80.00 2397.9 2471.1 2324.8 1984.6 2169.3 105.51 8.14 353 2533.19 26.28 0.30 3.75 1.011 0.077 0.126 2264.22 2339.50 2188.94 2034.50 684.31 0 0 0 11.94 15.88 15.77

2561.04 5253 181.40 0.88 0.00 2262.5 2339.2 2185.8 2033.2 684.2 97.96 12.82 366 2568.85 0.00 0.30 3.43 0.000 0.156 0.058 2262.28 2339.62 2184.94 1995.94 2170.12 0 0 0 30.00 15.78 15.83

2756.85 10403 202.36 0.99 0.00 2260.2 2338.6 2181.9 1995.7 2170.0 80.63 8.76 386 2777.95 17.16 0.27 0.00 0.954 0.077 0.000 2183.22 2263.44 2103.00 2042.25 2170.25 0 0 0 11.86 15.91 30.00

2967.01 516 202.36 0.99 -80.00 2176.6 2258.9 2094.2 2042.2 2170.4 57.34 10.99 408 2974.16 0.00 0.00 3.75 0.000 0.000 0.125 2177.28 2259.81 2094.75 2041.56 684.31 0 0 0 30.00 30.00 15.88

3067.72 5253 202.36 0.93 0.00 2174.9 2256.7 2093.1 2042.6 684.1 44.06 13.44 428 3074.82 0.00 0.25 3.41 0.000 0.154 0.059 2174.91 2256.69 2093.12 2010.75 2170.44 0 0 0 30.00 15.91 15.95

3258.52 10919 218.29 1.05 -80.00 2174.5 2256.9 2092.1 2010.5 2170.8 25.96 8.98 466 3281.49 13.35 0.25 3.71 0.891 0.080 0.125 2114.69 2197.00 2032.38 2054.75 682.62 0 0 0 12.04 16.00 15.91

3320.05 1156 218.29 1.00 0.00 2112.8 2194.8 2030.7 2055.5 682.4 18.74 12.36 478 3326.91 0.00 0.00 3.40 0.000 0.000 0.058 2113.41 2195.81 2031.00 2054.50 2171.50 0 0 0 30.00 30.00 15.97

3515.90 10663 342.14 1.26 80.00 2110.8 2194.6 2026.9 2055.2 2171.8 4.74 4.13 516 3616.57 86.46 0.26 3.62 0.951 0.085 0.127 1610.28 1697.62 1522.94 2104.25 3616.56 0 0 0 11.97 15.99 15.72

3625 end climb: SURFACE_DEPTH_REACHED

state 3625 begin surface coast

3630 end surface coast: CONTROL_FINISHED_OK

state 3630 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	14	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	607.84076	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-0.1
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3007.3027	DEEPGLIDERMB	0
D_NO_BLEED	500	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	55	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	60	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1791.8813	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	17.77227	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.471107	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	7.8329277	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-156.68835	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022403029	SEABIRD_C_G	-10
MASS	72626	C_PITCH_AUTO_MAX	200	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	210	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3810	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	250522,155112,4736.767,-12256.697,1,0.9,3,15.5	TGT_RADIUS	300.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,155858,4736.878,-12256.549,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	187.7,1721,-17.1,-9.697,-20.82,2278,0.125
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099
TGT_LATLONG	4736.000,-12257.000

NAV	1653497943,3.7,start	FG_AHR_24Vo	7.989
NET	xm1t part outbox0004.n 1017 10	FG_AHR_10Vo	15.500
NET_PING	1653497291,25,1499.687988,10.900000,-1.987217	MEM0	60132,1,0,0
FINISH	1.8,1.020124	MEM1	65508,1,0,0
SM_CCo	3847.28,177.91,0.927,0,530.1,544.4,515.8,607.59	MEM2	944452,35,102176,62
SM_GC	1.48,177.91,12.19,3.49,0.927,0.067,0.051,530.1,544.4,515.8,190.1,2117.9,0,0,0,11.81,15.75,15.77	DATA_FILE_SIZE	16105,536
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	370157,0
IRIDIUM_FIX	4735.53,-12254.47,250522,155414	SDSIZE	3887104,3867840
TCM_TEMP	17.45	SDFILEDIR	148,1
SC_FREEKB	3874304	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	CURRENT	0.038, 40.9,1
HUMID	49.31	MAGCAL	1.000000,0.004839,-0.020521,-0.014918,1.081085,-0.019416,0.010813,-0.079769,0.979363,43.4,-929.2,-435.6,36,0.0298,0
TEMP	9.68	IMPLIED_C_PITCH	1798,18.23,284,1795.0,18.00
INTERNAL_PRESSURE	7.96039	IMPLIED_C_VBD	3027,22.229452,284,3017.0
_24V_AH	14.87,9.169	GPS	250522,170431,4736.702,-12256.652,20,0.9,21,15.5
_10V_AH	14.83,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	631	1144	10754.14	nil	0	0	0.00
Pitch_motor	29	252	110.20	nil	0	0	0.00
Roll_motor	64	202	193.50	nil	0	0	0.00
Iridium	280	209	873.28	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	2494	5	189.43	SciCon	3639	6	349.65
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1607	0	7.63
Compass	1065	5	79.01
RAFOS	830	40	492.51
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.71	16386	-146.63	-1.14	0.00	537.2	555.2	519.1	184.0	2168.1	0.00	0.00	0	84.91	74.54	0.00	0.00	0.005	0.000	0.000	2616.50	2659.31	2573.69	183.94	2167.94	0	0	0	15.87	30.00	30.00
85.21	18983	-146.63	-1.14	-80.00	2615.9	2658.8	2573.0	183.9	2168.2	3.32	-2.05	12	136.12	26.62	10.44	3.67	0.006	0.253	0.119	3604.78	3662.56	3547.00	1513.75	681.44	0	0	0	15.88	15.74	15.80
364.73	3205	-146.63	-0.95	0.00	3605.9	3662.3	3549.6	1513.8	682.2	34.80	-11.14	67	371.55	0.00	0.35	3.43	0.000	0.188	0.057	3607.09	3663.19	3551.00	1562.12	2172.12	0	0	0	30.00	15.84	15.90
554.75	548	-146.63	-0.95	-80.00	3606.4	3663.6	3549.3	1562.2	2172.6	50.37	-7.82	104	562.13	0.00	0.00	3.71	0.000	0.000	0.120	3605.34	3662.50	3548.19	1562.38	681.81	0	0	0	30.00	30.00	15.93
790.77	1188	-146.63	-0.89	0.00	3606.6	3663.8	3549.4	1562.2	681.8	72.95	-9.47	151	796.80	0.00	0.00	3.39	0.000	0.000	0.057	3607.31	3665.06	3549.56	1561.94	2171.38	0	0	0	30.00	30.00	16.01
980.71	548	-146.63	-0.89	-80.00	3607.2	3664.2	3550.2	1562.1	2171.8	88.73	-8.53	171	988.15	0.00	0.00	3.69	0.000	0.000	0.121	3607.59	3665.88	3549.31	1562.12	681.81	0	0	0	30.00	30.00	16.00
1170.01	3205	-146.63	-0.84	0.00	3607.4	3664.6	3550.2	1561.6	682.0	107.18	-9.89	208	1177.29	0.00	0.17	3.38	0.000	0.183	0.058	3607.94	3665.12	3550.75	1588.56	2172.69	0	0	0	30.00	16.00	16.06
1358.11	420	-146.63	-0.90	80.00	3606.9	3664.1	3549.7	1588.6	2172.8	121.76	-7.66	228	1365.28	0.00	0.00	3.53	0.000	0.000	0.127	3607.38	3664.19	3550.56	1588.69	3616.12	0	0	0	30.00	30.00	16.04
1398.07	1060	-146.63	-0.90	0.00	3607.4	3664.4	3550.4	1588.9	3615.8	125.30	-8.68	236	1405.70	0.00	0.00	3.42	0.000	0.000	0.054	3608.28	3666.31	3550.25	1588.56	2120.75	0	0	0	30.00	30.00	16.09
1593.95	4257	-146.63	-0.96	0.00	3607.1	3664.2	3550.0	1588.9	2120.4	140.24	-7.45	256	1595.82	0.00	0.26	0.00	0.000	0.077	0.000	3606.25	3663.38	3549.12	1542.88	2120.38	0	0	0	30.00	16.09	30.00
1784.33	160	-146.63	-0.93	0.00	3607.5	3664.8	3550.3	1542.8	2120.4	157.06	-9.65	274	1788.03	0.00	0.00	0.00	0.000	0.000	0.000	3607.59	3664.88	3550.31	1543.06	2120.62	0	0	0	30.00	30.00	30.00
1808	end dive: TARGET_DEPTH_EXCEEDED
state	1808	begin apogee
1809.45	10243	0.00	-0.28	0.00	3607.1	3664.1	3550.2	1543.1	2177.8	160.38	-9.66	277	1923.99	103.02	1.29	0.09	1.145	0.152	0.203	3007.81	3063.44	2952.19	1724.12	2117.62	0	0	0	12.07	16.06	15.71
1925	end apogee: CONTROL_FINISHED_OK
state	1925	begin climb
1925.18	10243	146.63	1.14	0.00	3003.3	3059.7	2946.9	1725.0	2117.2	164.31	0.00	288	2041.52	106.39	2.37	0.00	1.108	0.119	0.000	2406.31	2474.62	2338.00	2068.62	2117.31	0	0	0	11.89	15.71	30.00
2225.06	17030	146.63	1.05	-80.00	2400.8	2473.8	2327.8	2068.2	2117.3	133.79	12.64	318	2232.34	0.00	0.00	3.62	0.000	0.000	0.129	2403.69	2477.19	2330.19	2066.31	681.88	0	0	0	30.00	30.00	15.70
2300.93	21639	146.63	0.83	0.00	2398.4	2471.0	2325.8	2068.2	681.9	122.36	15.31	333	2308.55	0.00	0.63	3.44	0.000	0.157	0.061	2397.28	2469.81	2324.75	1984.69	2169.44	0	0	0	30.00	15.76	15.79
2495.99	10919	181.40	0.96	-80.00	2397.9	2471.1	2324.8	1984.6	2169.3	105.51	8.14	353	2533.19	26.28	0.30	3.75	1.011	0.077	0.126	2264.22	2339.50	2188.94	2034.50	684.31	0	0	0	11.94	15.88	15.77
2561.04	5253	181.40	0.88	0.00	2262.5	2339.2	2185.8	2033.2	684.2	97.96	12.82	366	2568.85	0.00	0.30	3.43	0.000	0.156	0.058	2262.28	2339.62	2184.94	1995.94	2170.12	0	0	0	30.00	15.78	15.83
2756.85	10403	202.36	0.99	0.00	2260.2	2338.6	2181.9	1995.7	2170.0	80.63	8.76	386	2777.95	17.16	0.27	0.00	0.954	0.077	0.000	2183.22	2263.44	2103.00	2042.25	2170.25	0	0	0	11.86	15.91	30.00
2967.01	516	202.36	0.99	-80.00	2176.6	2258.9	2094.2	2042.2	2170.4	57.34	10.99	408	2974.16	0.00	0.00	3.75	0.000	0.000	0.125	2177.28	2259.81	2094.75	2041.56	684.31	0	0	0	30.00	30.00	15.88
3067.72	5253	202.36	0.93	0.00	2174.9	2256.7	2093.1	2042.6	684.1	44.06	13.44	428	3074.82	0.00	0.25	3.41	0.000	0.154	0.059	2174.91	2256.69	2093.12	2010.75	2170.44	0	0	0	30.00	15.91	15.95
3258.52	10919	218.29	1.05	-80.00	2174.5	2256.9	2092.1	2010.5	2170.8	25.96	8.98	466	3281.49	13.35	0.25	3.71	0.891	0.080	0.125	2114.69	2197.00	2032.38	2054.75	682.62	0	0	0	12.04	16.00	15.91
3320.05	1156	218.29	1.00	0.00	2112.8	2194.8	2030.7	2055.5	682.4	18.74	12.36	478	3326.91	0.00	0.00	3.40	0.000	0.000	0.058	2113.41	2195.81	2031.00	2054.50	2171.50	0	0	0	30.00	30.00	15.97
3515.90	10663	342.14	1.26	80.00	2110.8	2194.6	2026.9	2055.2	2171.8	4.74	4.13	516	3616.57	86.46	0.26	3.62	0.951	0.085	0.127	1610.28	1697.62	1522.94	2104.25	3616.56	0	0	0	11.97	15.99	15.72
3625	end climb: SURFACE_DEPTH_REACHED
state	3625	begin surface coast
3630	end surface coast: CONTROL_FINISHED_OK
state	3630	begin surface