Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 20 * 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 20 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 3028.011 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 1788.2427 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 17.838482 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.641196 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 8.8151531 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 15.641196 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 8.8151531 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 17.838482 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 1788.2427 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 3028.011 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 20 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 250522,224542,4737.124,-12256.345,18,1.6,22,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,224845,4737.160,-12256.293,2,1.5,6,15.5 MHEAD_RNG_PITCHd_Wd 197.9,325,-27.2,-9.697,-30.00,954,0.150

SPEED_LIMITS 0.168,0.255 D_GRID 164

TGT_NAME N 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 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653522067,0.2,0,stop FG_AHR_24Vo 8.967

NET xm1t part outbox0010.n 870 0 FG_AHR_10Vo 15.666

NET_PING 1653521292,25,1628.950439,17.200001,-2.167526 MEM0 60132,1,0,0

FREEZE 5.43,12.167,-1.511,0,1,0 MEM1 65508,1,0,0

SM_CCo 2998.21,276.67,0.918,0,500.6,525.3,475.8,619.98 MEM2 944532,32,102156,62

SM_GC 1.52,0.00,13.19,0.10,0.000,0.069,0.141,498.4,522.9,473.8,197.0,2118.1,0,0,0,30.00,15.51,15.51 DATA_FILE_SIZE 9730,400

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 291957,0

IRIDIUM_FIX 4738.33,-12256.21,250522,215239 SDSIZE 3887104,3865952

TCM_TEMP 17.82 SDFILEDIR 199,1

SC_FREEKB 3872384 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 0.105, 46.2,1

HUMID 49.28 MAGCAL 1.000000,0.018695,0.013177,0.017332,1.069756,-0.075851,0.006589,-0.044072,1.024179,31.4,-895.0,-469.3,36,0.0309,0

TEMP 10.41 IMPLIED_C_PITCH 1786,17.67,191,1787.2,17.75

INTERNAL_PRESSURE 7.98349 IMPLIED_C_VBD 3034,16.609781,191,3030.9

_24V_AH 15.00,10.263 GPS 250522,234134,4737.062,-12256.416,2,1.1,6,15.5

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 626 1136 10680.52 nil 0 0 0.00

Pitch_motor 31 258 122.22 nil 0 0 0.00

Roll_motor 50 190 143.39 nil 0 0 0.00

Iridium 112 212 359.71 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.56 nil 0 0 0.00

Core 1765 5 135.58 SciCon 2714 6 266.73

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1213 0 5.83

Compass 817 5 61.28

RAFOS 1216 40 729.88

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 -60.85 -1.60 0.00 496.2 517.4 475.1 193.5 2169.9 0.00 0.00 0 90.63 80.01 0.00 0.00 0.005 0.000 0.000 2716.69 2750.94 2682.44 193.69 2170.25 0 0 0 15.74 30.00 30.00

90.94 18727 -130.80 -1.68 80.00 2714.9 2749.2 2680.6 193.6 2170.8 3.01 -2.20 15 135.74 21.24 9.47 3.57 0.006 0.258 0.122 3561.03 3616.12 3505.94 1379.50 3617.12 0 0 0 15.90 15.73 15.81

139.21 3205 -130.80 -1.44 0.00 3561.1 3615.1 3507.1 1379.4 3616.4 10.15 -14.87 24 146.20 0.00 0.47 3.48 0.000 0.231 0.052 3562.03 3616.44 3507.62 1439.62 2119.50 0 0 0 30.00 15.75 15.85

329.67 388 -130.80 -1.52 80.00 3562.5 3618.6 3506.5 1440.4 2119.9 34.15 -11.43 62 336.45 0.00 0.00 3.66 0.000 0.000 0.117 3563.00 3619.06 3506.94 1439.81 3618.25 0 0 0 30.00 30.00 15.89

369.93 1156 -130.80 -1.47 0.00 3562.9 3618.4 3507.4 1440.3 3617.4 39.46 -13.65 70 376.70 0.00 0.00 3.43 0.000 0.000 0.051 3563.31 3619.50 3507.12 1440.31 2121.19 0 0 0 30.00 30.00 15.93

565.23 4485 -130.80 -1.55 80.00 3562.7 3618.6 3506.8 1440.1 2121.4 63.88 -12.40 98 572.75 0.00 0.26 3.65 0.000 0.078 0.116 3561.66 3617.69 3505.62 1397.00 3620.62 0 0 0 30.00 15.97 15.95

645.66 3205 -130.80 -1.40 0.00 3562.7 3618.0 3507.4 1397.1 3620.2 77.20 -17.63 112 653.56 0.00 0.44 3.43 0.000 0.205 0.054 3563.44 3619.19 3507.69 1448.06 2124.25 0 0 0 30.00 15.91 15.97

841.39 388 -130.80 -1.49 80.00 3563.7 3618.8 3508.6 1448.5 2124.1 101.26 -11.89 132 848.69 0.00 0.00 3.64 0.000 0.000 0.115 3562.31 3617.94 3506.69 1448.19 3616.19 0 0 0 30.00 30.00 15.96

871.43 1028 -130.80 -1.49 0.00 3563.6 3618.7 3508.4 1448.3 3616.4 105.47 -13.62 138 879.10 0.00 0.00 3.42 0.000 0.000 0.052 3563.78 3618.81 3508.75 1448.12 2120.69 0 0 0 30.00 30.00 16.00

1067.28 4225 -130.80 -1.58 0.00 3563.5 3619.1 3508.0 1447.8 2120.8 130.43 -12.86 158 1069.21 0.00 0.37 0.00 0.000 0.070 0.000 3562.53 3617.56 3507.50 1389.75 2120.69 0 0 0 30.00 16.00 30.00

1255.21 0 -130.80 -1.58 0.00 3563.7 3618.9 3508.5 1389.5 2121.0 159.47 -15.32 177 1256.82 0.00 0.00 0.00 0.000 0.000 0.000 3562.88 3617.94 3507.81 1389.88 2121.00 0 0 0 30.00 30.00 30.00

1265 end dive: TARGET_DEPTH_EXCEEDED

state 1265 begin apogee

1266.58 10243 0.00 -0.28 0.00 3564.0 3619.8 3508.2 1389.4 2180.6 161.00 -15.29 178 1372.15 93.18 2.43 0.10 1.137 0.186 0.191 3028.09 3085.38 2970.81 1720.31 2115.38 0 0 0 12.10 15.99 15.72

1373 end apogee: CONTROL_FINISHED_OK

state 1373 begin climb

1373.37 10243 130.80 1.68 0.00 3025.4 3083.4 2967.4 1720.1 2115.1 165.59 0.00 188 1479.92 94.32 3.30 0.00 1.106 0.118 0.000 2493.47 2556.19 2430.75 2196.56 2115.25 0 0 0 12.02 15.71 30.00

1663.46 644 130.80 1.62 -80.00 2486.9 2552.8 2420.9 2195.8 2114.8 121.73 18.59 226 1670.77 0.00 0.00 3.62 0.000 0.000 0.125 2486.16 2552.38 2419.94 2196.00 683.12 0 0 0 30.00 30.00 15.72

1747.04 21639 130.80 1.42 0.00 2484.5 2549.1 2419.9 2195.9 683.2 103.72 22.04 242 1755.12 0.00 0.56 3.47 0.000 0.206 0.059 2485.22 2549.88 2420.56 2126.00 2168.31 0 0 0 30.00 15.73 15.79

1935.92 19079 130.80 1.51 -80.00 2483.8 2549.0 2418.6 2127.4 2168.6 74.90 14.20 262 1943.50 0.00 0.22 3.71 0.000 0.082 0.121 2484.91 2550.75 2419.06 2166.44 683.06 0 0 0 30.00 15.90 15.86

1982.07 21639 130.80 1.39 0.00 2483.7 2549.5 2417.9 2167.1 683.1 66.95 17.98 271 1989.56 0.00 0.41 3.42 0.000 0.200 0.058 2484.12 2550.44 2417.81 2117.81 2169.75 0 0 0 30.00 15.86 15.91

2172.09 18563 130.80 1.51 0.00 2483.3 2548.7 2417.9 2118.2 2169.2 41.51 12.20 297 2176.94 0.00 0.28 0.00 0.000 0.071 0.000 2486.34 2551.56 2421.12 2167.75 2169.00 0 0 0 30.00 15.97 30.00

2360.80 17030 130.80 1.55 -80.00 2483.3 2548.9 2417.6 2167.2 2169.5 15.93 11.51 334 2367.76 0.00 0.00 3.70 0.000 0.000 0.121 2484.41 2550.12 2418.69 2166.00 683.19 0 0 0 30.00 30.00 15.95

2566.40 11431 215.66 1.69 0.00 2481.3 2548.9 2413.7 2168.1 683.0 6.76 0.60 373 2636.92 61.03 0.17 3.43 0.957 0.087 0.056 2147.81 2223.88 2071.75 2212.06 2175.56 0 0 0 12.01 15.99 15.99

2705 end climb: NO_VERTICAL_VELOCITY

state 2706 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	20	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	3028.011	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	1788.2427	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	17.838482	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.641196	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	8.8151531	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	250522,224542,4737.124,-12256.345,18,1.6,22,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,224845,4737.160,-12256.293,2,1.5,6,15.5	MHEAD_RNG_PITCHd_Wd	197.9,325,-27.2,-9.697,-30.00,954,0.150
SPEED_LIMITS	0.168,0.255	D_GRID	164
TGT_NAME	N	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	4737.000,-12256.400

NAV	1653522067,0.2,0,stop	FG_AHR_24Vo	8.967
NET	xm1t part outbox0010.n 870 0	FG_AHR_10Vo	15.666
NET_PING	1653521292,25,1628.950439,17.200001,-2.167526	MEM0	60132,1,0,0
FREEZE	5.43,12.167,-1.511,0,1,0	MEM1	65508,1,0,0
SM_CCo	2998.21,276.67,0.918,0,500.6,525.3,475.8,619.98	MEM2	944532,32,102156,62
SM_GC	1.52,0.00,13.19,0.10,0.000,0.069,0.141,498.4,522.9,473.8,197.0,2118.1,0,0,0,30.00,15.51,15.51	DATA_FILE_SIZE	9730,400
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	291957,0
IRIDIUM_FIX	4738.33,-12256.21,250522,215239	SDSIZE	3887104,3865952
TCM_TEMP	17.82	SDFILEDIR	199,1
SC_FREEKB	3872384	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	0.105, 46.2,1
HUMID	49.28	MAGCAL	1.000000,0.018695,0.013177,0.017332,1.069756,-0.075851,0.006589,-0.044072,1.024179,31.4,-895.0,-469.3,36,0.0309,0
TEMP	10.41	IMPLIED_C_PITCH	1786,17.67,191,1787.2,17.75
INTERNAL_PRESSURE	7.98349	IMPLIED_C_VBD	3034,16.609781,191,3030.9
_24V_AH	15.00,10.263	GPS	250522,234134,4737.062,-12256.416,2,1.1,6,15.5
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	626	1136	10680.52	nil	0	0	0.00
Pitch_motor	31	258	122.22	nil	0	0	0.00
Roll_motor	50	190	143.39	nil	0	0	0.00
Iridium	112	212	359.71	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.56	nil	0	0	0.00
Core	1765	5	135.58	SciCon	2714	6	266.73
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1213	0	5.83
Compass	817	5	61.28
RAFOS	1216	40	729.88
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	-60.85	-1.60	0.00	496.2	517.4	475.1	193.5	2169.9	0.00	0.00	0	90.63	80.01	0.00	0.00	0.005	0.000	0.000	2716.69	2750.94	2682.44	193.69	2170.25	0	0	0	15.74	30.00	30.00
90.94	18727	-130.80	-1.68	80.00	2714.9	2749.2	2680.6	193.6	2170.8	3.01	-2.20	15	135.74	21.24	9.47	3.57	0.006	0.258	0.122	3561.03	3616.12	3505.94	1379.50	3617.12	0	0	0	15.90	15.73	15.81
139.21	3205	-130.80	-1.44	0.00	3561.1	3615.1	3507.1	1379.4	3616.4	10.15	-14.87	24	146.20	0.00	0.47	3.48	0.000	0.231	0.052	3562.03	3616.44	3507.62	1439.62	2119.50	0	0	0	30.00	15.75	15.85
329.67	388	-130.80	-1.52	80.00	3562.5	3618.6	3506.5	1440.4	2119.9	34.15	-11.43	62	336.45	0.00	0.00	3.66	0.000	0.000	0.117	3563.00	3619.06	3506.94	1439.81	3618.25	0	0	0	30.00	30.00	15.89
369.93	1156	-130.80	-1.47	0.00	3562.9	3618.4	3507.4	1440.3	3617.4	39.46	-13.65	70	376.70	0.00	0.00	3.43	0.000	0.000	0.051	3563.31	3619.50	3507.12	1440.31	2121.19	0	0	0	30.00	30.00	15.93
565.23	4485	-130.80	-1.55	80.00	3562.7	3618.6	3506.8	1440.1	2121.4	63.88	-12.40	98	572.75	0.00	0.26	3.65	0.000	0.078	0.116	3561.66	3617.69	3505.62	1397.00	3620.62	0	0	0	30.00	15.97	15.95
645.66	3205	-130.80	-1.40	0.00	3562.7	3618.0	3507.4	1397.1	3620.2	77.20	-17.63	112	653.56	0.00	0.44	3.43	0.000	0.205	0.054	3563.44	3619.19	3507.69	1448.06	2124.25	0	0	0	30.00	15.91	15.97
841.39	388	-130.80	-1.49	80.00	3563.7	3618.8	3508.6	1448.5	2124.1	101.26	-11.89	132	848.69	0.00	0.00	3.64	0.000	0.000	0.115	3562.31	3617.94	3506.69	1448.19	3616.19	0	0	0	30.00	30.00	15.96
871.43	1028	-130.80	-1.49	0.00	3563.6	3618.7	3508.4	1448.3	3616.4	105.47	-13.62	138	879.10	0.00	0.00	3.42	0.000	0.000	0.052	3563.78	3618.81	3508.75	1448.12	2120.69	0	0	0	30.00	30.00	16.00
1067.28	4225	-130.80	-1.58	0.00	3563.5	3619.1	3508.0	1447.8	2120.8	130.43	-12.86	158	1069.21	0.00	0.37	0.00	0.000	0.070	0.000	3562.53	3617.56	3507.50	1389.75	2120.69	0	0	0	30.00	16.00	30.00
1255.21	0	-130.80	-1.58	0.00	3563.7	3618.9	3508.5	1389.5	2121.0	159.47	-15.32	177	1256.82	0.00	0.00	0.00	0.000	0.000	0.000	3562.88	3617.94	3507.81	1389.88	2121.00	0	0	0	30.00	30.00	30.00
1265	end dive: TARGET_DEPTH_EXCEEDED
state	1265	begin apogee
1266.58	10243	0.00	-0.28	0.00	3564.0	3619.8	3508.2	1389.4	2180.6	161.00	-15.29	178	1372.15	93.18	2.43	0.10	1.137	0.186	0.191	3028.09	3085.38	2970.81	1720.31	2115.38	0	0	0	12.10	15.99	15.72
1373	end apogee: CONTROL_FINISHED_OK
state	1373	begin climb
1373.37	10243	130.80	1.68	0.00	3025.4	3083.4	2967.4	1720.1	2115.1	165.59	0.00	188	1479.92	94.32	3.30	0.00	1.106	0.118	0.000	2493.47	2556.19	2430.75	2196.56	2115.25	0	0	0	12.02	15.71	30.00
1663.46	644	130.80	1.62	-80.00	2486.9	2552.8	2420.9	2195.8	2114.8	121.73	18.59	226	1670.77	0.00	0.00	3.62	0.000	0.000	0.125	2486.16	2552.38	2419.94	2196.00	683.12	0	0	0	30.00	30.00	15.72
1747.04	21639	130.80	1.42	0.00	2484.5	2549.1	2419.9	2195.9	683.2	103.72	22.04	242	1755.12	0.00	0.56	3.47	0.000	0.206	0.059	2485.22	2549.88	2420.56	2126.00	2168.31	0	0	0	30.00	15.73	15.79
1935.92	19079	130.80	1.51	-80.00	2483.8	2549.0	2418.6	2127.4	2168.6	74.90	14.20	262	1943.50	0.00	0.22	3.71	0.000	0.082	0.121	2484.91	2550.75	2419.06	2166.44	683.06	0	0	0	30.00	15.90	15.86
1982.07	21639	130.80	1.39	0.00	2483.7	2549.5	2417.9	2167.1	683.1	66.95	17.98	271	1989.56	0.00	0.41	3.42	0.000	0.200	0.058	2484.12	2550.44	2417.81	2117.81	2169.75	0	0	0	30.00	15.86	15.91
2172.09	18563	130.80	1.51	0.00	2483.3	2548.7	2417.9	2118.2	2169.2	41.51	12.20	297	2176.94	0.00	0.28	0.00	0.000	0.071	0.000	2486.34	2551.56	2421.12	2167.75	2169.00	0	0	0	30.00	15.97	30.00
2360.80	17030	130.80	1.55	-80.00	2483.3	2548.9	2417.6	2167.2	2169.5	15.93	11.51	334	2367.76	0.00	0.00	3.70	0.000	0.000	0.121	2484.41	2550.12	2418.69	2166.00	683.19	0	0	0	30.00	30.00	15.95
2566.40	11431	215.66	1.69	0.00	2481.3	2548.9	2413.7	2168.1	683.0	6.76	0.60	373	2636.92	61.03	0.17	3.43	0.957	0.087	0.056	2147.81	2223.88	2071.75	2212.06	2175.56	0	0	0	12.01	15.99	15.99
2705	end climb: NO_VERTICAL_VELOCITY
state	2706	begin surface