Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.5

MISSION 20 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 21 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 2 C_VBD 2950 DEVICE1 -1

D_SURF 2 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 COMM_SEQ 7 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 160 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 175 N_NOCOMM 1 VBD_TIMEOUT 800 DEVICE5 -1

D_NO_BLEED 50 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 UPLOAD_DIVES_MAX 3 VBD_MAXERRORS 2 LOGGERDEVICE1 7

D_FINISH 10 CALL_TRIES 3 C_VBD_AUTO_DELTA 0.5 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 100 LOGGERDEVICE3 -1

D_SAFE 500 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

D_CALL 3 CAPMAXSIZE 10000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 20 T_GPS 3 LOITER_W_DBAND 2 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 20 N_GPS 100440 LOITER_DBDW 400 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 40 T_RSLEEP 1 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 55 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 85 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 NAV2_DEVICE 6

T_TURN 225 RAFOS_HIT_WINDOW 3600 AH0_24V 575 NETWORK_DEVICE 1

T_TURN_SAMPINT -5 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_NO_W 240 PITCH_MIN 230 MINV_24V 0 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3900 MINV_10V 0 SIM_W 0

T_EPIRB 0 C_PITCH 2030 MAXI_24V 5 SEABIRD_T_G 0.004415411

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 159.73088 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.721561 FG_AHR_24V 208.40642 SEABIRD_T_J 3.2522996e-06

D_OFFGRID 1000 PITCH_TIMEOUT 40 PHONE_SUPPLY 2 SEABIRD_C_G -9.8064938

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -158.7531 SEABIRD_C_H 1.0739573

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_I -0.002841271

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00027081851

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 2

SPEED_FACTOR 1 C_PITCH_AUTO_MAX 200 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72383 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 0 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 1200 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3900 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_DIVE 2750 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 C_ROLL_CLIMB 2600 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 180 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 0 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 500 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 575 D_SURF 2 OPTIONS 2 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 160 PHONE_DEVICE 33 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING 180 PHONE_SUPPLY 2 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_10V 159.73088 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 208.40642 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.721561 SM_CC 590.98499

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 20 PITCH_GAIN_AUTO_DELTA 0.5 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_MAX 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAX 3900 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 20

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 230 SURFACE_URGENCY_FORCE 40

CALL_TRIES 3 HD_C 1.6e-05 PITCH_TIMEOUT 40 SURFACE_URGENCY_TRY 20

CALL_WAIT 45 HEADING -1 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HEAD_ERRBAND 10 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 ID 235 PM_MOTORS 0.0 T_ABORT 1440

COMM_SEQ 7 INT_PRESSURE_SLOPE 1.9639999e-06 PM_NDIVE 1.0 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.5 PM_PROFILE 3.0 T_DIVE 55

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 3

C_PITCH 2030 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 85

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 240

C_ROLL_CLIMB 2600 LOGGERS 3 PRESSURE_SLOPE 0.00022957686 T_RSLEEP 1

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.7531 T_TURN 225

C_VBD 2950 LOITER_D_BOTTOM 700 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_W_DBAND 2 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

DEEPGLIDER 0 MASS 72383 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 2 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 5 RELAUNCH 1 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 RHO 1.023 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 2

DEVICE5 -1 MISSION 20 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 21 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 175 NAV_DEVICE 6 ROLL_MAXERRORS 0 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 0 ROLL_MIN 1200 XPDR_INHIBIT 90

D_CALL 3 NETWORK_DEVICE 1 ROLL_TIMEOUT 30 XPDR_INT 0

D_FINISH 10 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 0 SC_PROFILE 7.0 XPDR_VALID 4

D_NO_BLEED 50 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 2 N_NOCOMM 1 SEABIRD_C_G -9.8064938

Pre-dive calculations and measurements:

GPS1 260522,001931,4736.099,-12256.846,2,0.8,21,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260522,002337,4736.131,-12256.801,2,0.7,4,15.5 MHEAD_RNG_PITCHd_Wd 210.2,347,-27.2,-9.697,-30.00,954,0.177

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME ans1 IRON 1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.816833,-1082.694702,-33.329819

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET xm1t part outbox0011.n 883 0 INTERNAL_PRESSURE 7.91236

NAV 1653527492,1.2,0,stop _24V_AH 14.80,114.735

NET_PING 1653526398,25,1874.293457,18.200001,-1.491756 _10V_AH 14.75,0.000

WARN HSCICON missed fuel gauge read FG_AHR_24Vo 208.588

FREEZE 1.19,12.152,-1.508,0,1,0 FG_AHR_10Vo 159.768

FINISH 1.2,1.020876 MEM0 60132,1,0,0

SM_CCo 2837.18,319.13,1.109,0,541.3,608.8,473.8,590.86 MEM1 65508,1,0,0

SM_GC 1.43,319.13,14.30,0.42,1.109,0.097,0.086,541.3,608.8,473.8,217.7,2777.4,0,0,0,12.08,15.78,15.83 MEM2 942232,33,103936,87

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 9757,348

IRIDIUM_FIX 4735.53,-12254.47,250522,232415 CAP_FILE_SIZE 280173,0

TCM_TEMP 13.01 SDSIZE 3918848,3875616

SC_FREEKB 3871968 SDFILEDIR 455,3

PM_FREEKB_00 60549568 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 1 IMPLIED_C_PITCH 2021,15.60,195,2025.3,15.66

RAFOS_FIX 4657.147461,-12204.585938,250522,222210,2,510,2654.62 IMPLIED_C_VBD 3146,21.244204,195,3048.1

HUMID 48.66 GPS 260522,011211,4736.095,-12256.952,1,0.7,2,15.5

TEMP 10.33

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 631 1321 12357.24 nil 0 0 0.00

Pitch_motor 31 268 123.91 nil 0 0 0.00

Roll_motor 37 245 137.39 nil 0 0 0.00

Iridium 152 218 493.40 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.89 nil 0 0 0.00

Core 1707 5 128.97 SciCon 2484 8 321.25

Fast 0 0 0.00 PMAR 2491 17 651.18

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1019 0 4.81

Compass 713 5 52.60

RAFOS 1127 40 665.35

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11.06 16386 -60.85 -1.80 0.00 537.8 597.2 478.5 210.4 2724.6 0.00 0.00 0 124.04 108.62 0.00 0.00 0.005 0.000 0.000 3052.25 3050.25 3054.25 210.31 2724.62 0 0 0 15.41 30.00 30.00

124.30 18983 -130.96 -1.89 -80.00 3052.8 3050.3 3055.4 210.2 2726.0 3.55 -2.18 21 159.52 11.05 10.71 3.47 0.007 0.268 0.121 3484.97 3505.56 3464.38 1573.75 1279.56 0 0 0 15.79 15.65 15.71

212.86 1028 -130.96 -1.89 0.00 3485.2 3505.9 3464.4 1573.9 1279.3 19.43 -16.25 38 219.48 0.00 0.00 3.53 0.000 0.000 0.062 3487.03 3507.44 3466.62 1572.88 2768.00 0 0 0 30.00 30.00 15.77

402.01 260 -130.96 -1.89 80.00 3486.1 3507.2 3465.0 1574.1 2768.4 37.81 -8.80 74 408.53 0.00 0.00 2.88 0.000 0.000 0.117 3485.19 3507.06 3463.31 1573.56 3910.38 0 0 0 30.00 30.00 15.78

607.44 1028 -130.96 -1.89 0.00 3486.2 3508.8 3463.6 1574.1 3911.3 58.57 -10.77 114 613.14 0.00 0.00 2.74 0.000 0.000 0.065 3485.31 3507.44 3463.19 1573.62 2723.75 0 0 0 30.00 30.00 15.82

797.47 0 -130.96 -1.89 0.00 3485.9 3507.8 3464.1 1573.8 2723.1 78.49 -10.45 134 799.09 0.00 0.00 0.00 0.000 0.000 0.000 3484.06 3504.50 3463.62 1573.94 2722.88 0 0 0 30.00 30.00 30.00

987.49 260 -130.96 -1.89 80.00 3485.7 3508.0 3463.3 1573.5 2723.7 98.79 -10.94 153 993.27 0.00 0.00 2.98 0.000 0.000 0.115 3485.91 3507.88 3463.94 1574.38 3912.81 0 0 0 30.00 30.00 15.89

1057.50 1028 -130.96 -1.89 0.00 3485.4 3507.1 3463.7 1573.6 3913.2 107.43 -12.60 167 1063.22 0.00 0.00 2.73 0.000 0.000 0.067 3486.44 3508.94 3463.94 1573.12 2725.88 0 0 0 30.00 30.00 15.92

1247.53 0 -130.96 -1.89 0.00 3486.9 3509.1 3464.8 1573.6 2725.6 130.07 -12.13 187 1249.09 0.00 0.00 0.00 0.000 0.000 0.000 3484.50 3506.81 3462.19 1573.62 2724.88 0 0 0 30.00 30.00 30.00

1437.54 260 -130.96 -1.89 80.00 3486.2 3507.9 3464.6 1573.8 2725.0 153.23 -12.00 206 1443.32 0.00 0.00 2.97 0.000 0.000 0.118 3486.44 3507.81 3465.06 1573.44 3911.50 0 0 0 30.00 30.00 15.93

1488 end dive: TARGET_DEPTH_EXCEEDED

state 1488 begin apogee

1493.40 10243 0.00 -0.32 0.00 3486.8 3509.2 3464.4 1573.1 2576.7 160.13 -14.14 216 1598.03 94.94 2.64 0.07 1.322 0.174 0.245 2946.81 3012.62 2881.00 1953.88 2622.75 0 0 0 12.18 15.91 15.55

1609 end apogee: CONTROL_FINISHED_OK

state 1609 begin climb

1609.96 10243 130.96 1.89 0.00 2947.2 3010.7 2883.8 1953.8 2623.0 163.23 0.00 226 1720.12 98.04 3.55 0.00 1.276 0.091 0.000 2417.88 2494.12 2341.62 2494.25 2623.44 0 0 0 11.94 15.57 30.00

1903.52 16646 130.96 1.89 80.00 2407.2 2479.1 2335.4 2493.2 2623.2 105.78 23.28 257 1909.43 0.00 0.00 3.28 0.000 0.000 0.115 2405.59 2476.56 2334.62 2493.00 3908.56 0 0 0 30.00 30.00 15.61

1933.55 17414 130.96 1.89 0.00 2404.5 2474.9 2334.1 2493.8 3908.3 98.59 24.29 263 1939.40 0.00 0.00 3.14 0.000 0.000 0.067 2404.31 2474.88 2333.75 2494.44 2578.06 0 0 0 30.00 30.00 15.65

2127.20 16386 130.96 1.89 0.00 2405.2 2476.4 2334.1 2493.7 2578.5 56.01 21.12 283 2128.76 0.00 0.00 0.00 0.000 0.000 0.000 2400.72 2470.56 2330.88 2493.81 2578.62 0 0 0 30.00 30.00 30.00

2312.24 16646 130.96 1.89 80.00 2403.9 2474.8 2332.9 2492.8 2578.4 18.62 18.84 317 2318.97 0.00 0.00 3.36 0.000 0.000 0.117 2403.25 2473.00 2333.50 2494.00 3911.44 0 0 0 30.00 30.00 15.76

2356.64 17414 130.96 1.89 0.00 2403.1 2474.2 2332.0 2495.0 3911.1 10.51 18.21 325 2363.26 0.00 0.00 3.12 0.000 0.000 0.070 2403.62 2474.25 2333.00 2494.25 2578.81 0 0 0 30.00 30.00 15.79

2442 end climb: SURFACE_DEPTH_REACHED

state 2442 begin surface coast

2472 end surface coast: CONTROL_FINISHED_OK

state 2472 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	20	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	21	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	2	C_VBD	2950	DEVICE1	-1
D_SURF	2	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	COMM_SEQ	7	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	160	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	175	N_NOCOMM	1	VBD_TIMEOUT	800	DEVICE5	-1
D_NO_BLEED	50	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	UPLOAD_DIVES_MAX	3	VBD_MAXERRORS	2	LOGGERDEVICE1	7
D_FINISH	10	CALL_TRIES	3	C_VBD_AUTO_DELTA	0.5	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	100	LOGGERDEVICE3	-1
D_SAFE	500	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
D_CALL	3	CAPMAXSIZE	10000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	20	T_GPS	3	LOITER_W_DBAND	2	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	20	N_GPS	100440	LOITER_DBDW	400	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	40	T_RSLEEP	1	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	55	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	85	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	NAV2_DEVICE	6
T_TURN	225	RAFOS_HIT_WINDOW	3600	AH0_24V	575	NETWORK_DEVICE	1
T_TURN_SAMPINT	-5	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_NO_W	240	PITCH_MIN	230	MINV_24V	0	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3900	MINV_10V	0	SIM_W	0
T_EPIRB	0	C_PITCH	2030	MAXI_24V	5	SEABIRD_T_G	0.004415411
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	159.73088	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.721561	FG_AHR_24V	208.40642	SEABIRD_T_J	3.2522996e-06
D_OFFGRID	1000	PITCH_TIMEOUT	40	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8064938
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.7531	SEABIRD_C_H	1.0739573
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_I	-0.002841271
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00027081851
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	2
SPEED_FACTOR	1	C_PITCH_AUTO_MAX	200	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72383	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	0	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	1200	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3900	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_DIVE	2750	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	C_ROLL_CLIMB	2600	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	180	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	0	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	260522,001931,4736.099,-12256.846,2,0.8,21,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260522,002337,4736.131,-12256.801,2,0.7,4,15.5	MHEAD_RNG_PITCHd_Wd	210.2,347,-27.2,-9.697,-30.00,954,0.177
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	ans1	IRON	1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.816833,-1082.694702,-33.329819
TGT_LATLONG	4736.000,-12257.000

NET	xm1t part outbox0011.n 883 0	INTERNAL_PRESSURE	7.91236
NAV	1653527492,1.2,0,stop	_24V_AH	14.80,114.735
NET_PING	1653526398,25,1874.293457,18.200001,-1.491756	_10V_AH	14.75,0.000
WARN	HSCICON missed fuel gauge read	FG_AHR_24Vo	208.588
FREEZE	1.19,12.152,-1.508,0,1,0	FG_AHR_10Vo	159.768
FINISH	1.2,1.020876	MEM0	60132,1,0,0
SM_CCo	2837.18,319.13,1.109,0,541.3,608.8,473.8,590.86	MEM1	65508,1,0,0
SM_GC	1.43,319.13,14.30,0.42,1.109,0.097,0.086,541.3,608.8,473.8,217.7,2777.4,0,0,0,12.08,15.78,15.83	MEM2	942232,33,103936,87
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	9757,348
IRIDIUM_FIX	4735.53,-12254.47,250522,232415	CAP_FILE_SIZE	280173,0
TCM_TEMP	13.01	SDSIZE	3918848,3875616
SC_FREEKB	3871968	SDFILEDIR	455,3
PM_FREEKB_00	60549568	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	1	IMPLIED_C_PITCH	2021,15.60,195,2025.3,15.66
RAFOS_FIX	4657.147461,-12204.585938,250522,222210,2,510,2654.62	IMPLIED_C_VBD	3146,21.244204,195,3048.1
HUMID	48.66	GPS	260522,011211,4736.095,-12256.952,1,0.7,2,15.5
TEMP	10.33

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	631	1321	12357.24	nil	0	0	0.00
Pitch_motor	31	268	123.91	nil	0	0	0.00
Roll_motor	37	245	137.39	nil	0	0	0.00
Iridium	152	218	493.40	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.89	nil	0	0	0.00
Core	1707	5	128.97	SciCon	2484	8	321.25
Fast	0	0	0.00	PMAR	2491	17	651.18
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1019	0	4.81
Compass	713	5	52.60
RAFOS	1127	40	665.35
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11.06	16386	-60.85	-1.80	0.00	537.8	597.2	478.5	210.4	2724.6	0.00	0.00	0	124.04	108.62	0.00	0.00	0.005	0.000	0.000	3052.25	3050.25	3054.25	210.31	2724.62	0	0	0	15.41	30.00	30.00
124.30	18983	-130.96	-1.89	-80.00	3052.8	3050.3	3055.4	210.2	2726.0	3.55	-2.18	21	159.52	11.05	10.71	3.47	0.007	0.268	0.121	3484.97	3505.56	3464.38	1573.75	1279.56	0	0	0	15.79	15.65	15.71
212.86	1028	-130.96	-1.89	0.00	3485.2	3505.9	3464.4	1573.9	1279.3	19.43	-16.25	38	219.48	0.00	0.00	3.53	0.000	0.000	0.062	3487.03	3507.44	3466.62	1572.88	2768.00	0	0	0	30.00	30.00	15.77
402.01	260	-130.96	-1.89	80.00	3486.1	3507.2	3465.0	1574.1	2768.4	37.81	-8.80	74	408.53	0.00	0.00	2.88	0.000	0.000	0.117	3485.19	3507.06	3463.31	1573.56	3910.38	0	0	0	30.00	30.00	15.78
607.44	1028	-130.96	-1.89	0.00	3486.2	3508.8	3463.6	1574.1	3911.3	58.57	-10.77	114	613.14	0.00	0.00	2.74	0.000	0.000	0.065	3485.31	3507.44	3463.19	1573.62	2723.75	0	0	0	30.00	30.00	15.82
797.47	0	-130.96	-1.89	0.00	3485.9	3507.8	3464.1	1573.8	2723.1	78.49	-10.45	134	799.09	0.00	0.00	0.00	0.000	0.000	0.000	3484.06	3504.50	3463.62	1573.94	2722.88	0	0	0	30.00	30.00	30.00
987.49	260	-130.96	-1.89	80.00	3485.7	3508.0	3463.3	1573.5	2723.7	98.79	-10.94	153	993.27	0.00	0.00	2.98	0.000	0.000	0.115	3485.91	3507.88	3463.94	1574.38	3912.81	0	0	0	30.00	30.00	15.89
1057.50	1028	-130.96	-1.89	0.00	3485.4	3507.1	3463.7	1573.6	3913.2	107.43	-12.60	167	1063.22	0.00	0.00	2.73	0.000	0.000	0.067	3486.44	3508.94	3463.94	1573.12	2725.88	0	0	0	30.00	30.00	15.92
1247.53	0	-130.96	-1.89	0.00	3486.9	3509.1	3464.8	1573.6	2725.6	130.07	-12.13	187	1249.09	0.00	0.00	0.00	0.000	0.000	0.000	3484.50	3506.81	3462.19	1573.62	2724.88	0	0	0	30.00	30.00	30.00
1437.54	260	-130.96	-1.89	80.00	3486.2	3507.9	3464.6	1573.8	2725.0	153.23	-12.00	206	1443.32	0.00	0.00	2.97	0.000	0.000	0.118	3486.44	3507.81	3465.06	1573.44	3911.50	0	0	0	30.00	30.00	15.93
1488	end dive: TARGET_DEPTH_EXCEEDED
state	1488	begin apogee
1493.40	10243	0.00	-0.32	0.00	3486.8	3509.2	3464.4	1573.1	2576.7	160.13	-14.14	216	1598.03	94.94	2.64	0.07	1.322	0.174	0.245	2946.81	3012.62	2881.00	1953.88	2622.75	0	0	0	12.18	15.91	15.55
1609	end apogee: CONTROL_FINISHED_OK
state	1609	begin climb
1609.96	10243	130.96	1.89	0.00	2947.2	3010.7	2883.8	1953.8	2623.0	163.23	0.00	226	1720.12	98.04	3.55	0.00	1.276	0.091	0.000	2417.88	2494.12	2341.62	2494.25	2623.44	0	0	0	11.94	15.57	30.00
1903.52	16646	130.96	1.89	80.00	2407.2	2479.1	2335.4	2493.2	2623.2	105.78	23.28	257	1909.43	0.00	0.00	3.28	0.000	0.000	0.115	2405.59	2476.56	2334.62	2493.00	3908.56	0	0	0	30.00	30.00	15.61
1933.55	17414	130.96	1.89	0.00	2404.5	2474.9	2334.1	2493.8	3908.3	98.59	24.29	263	1939.40	0.00	0.00	3.14	0.000	0.000	0.067	2404.31	2474.88	2333.75	2494.44	2578.06	0	0	0	30.00	30.00	15.65
2127.20	16386	130.96	1.89	0.00	2405.2	2476.4	2334.1	2493.7	2578.5	56.01	21.12	283	2128.76	0.00	0.00	0.00	0.000	0.000	0.000	2400.72	2470.56	2330.88	2493.81	2578.62	0	0	0	30.00	30.00	30.00
2312.24	16646	130.96	1.89	80.00	2403.9	2474.8	2332.9	2492.8	2578.4	18.62	18.84	317	2318.97	0.00	0.00	3.36	0.000	0.000	0.117	2403.25	2473.00	2333.50	2494.00	3911.44	0	0	0	30.00	30.00	15.76
2356.64	17414	130.96	1.89	0.00	2403.1	2474.2	2332.0	2495.0	3911.1	10.51	18.21	325	2363.26	0.00	0.00	3.12	0.000	0.000	0.070	2403.62	2474.25	2333.00	2494.25	2578.81	0	0	0	30.00	30.00	15.79
2442	end climb: SURFACE_DEPTH_REACHED
state	2442	begin surface coast
2472	end surface coast: CONTROL_FINISHED_OK
state	2472	begin surface