Glider dive log

Shilshole 02Jun21 * SG231 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 231 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 4 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.047120001 XPDR_VALID 6

DIVE 3 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 3 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 609.38251 VBD_MIN 525 INT_PRESSURE_YINT -3.25

D_TGT 150 N_FILEKB 8 VBD_MAX 3950 DEEPGLIDER 0

D_ABORT 175 FILEMGR 0 C_VBD 2980 DEEPGLIDERMB 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.003 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 2 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 20 LOGGERDEVICE2 -1

T_DIVE 50 CAPMAXSIZE 100000 LOITER_DBDW 40 LOGGERDEVICE3 -1

T_MISSION 65 T_GPS 5 LOITER_D_TOP 100 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 200 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 2 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 575 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE 102

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -6 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 471 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3850 MAXI_10V 1.4 SIM_W 0

D_OFFGRID 150 C_PITCH 3520 FG_AHR_10V 23.721872 SEABIRD_T_G 0.0043565771

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 17.950773 SEABIRD_T_H 0.00062677637

APOGEE_PITCH -5 PITCH_CNV 0.0031300001 PHONE_SUPPLY 2 SEABIRD_T_I 2.4431472e-05

MAX_BUOY 150 PITCH_GAIN 27 PRESSURE_YINT -151.59618 SEABIRD_T_J 2.7094229e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 26 PRESSURE_SLOPE 0.00022543591 SEABIRD_C_G -10.133897

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1.1473427

RHO 1.023 PITCH_ADJ_GAIN 0.059999999 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0015492893

MASS 72436 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002031941

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 345 ALTIM_TOP_MIN_OBSTACLE 0 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3945 ALTIM_PING_DEPTH 0 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PING_DELTA 0

HD_C 1.6e-05 C_ROLL_DIVE 2300 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2145 ALTIM_PULSE 3

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00062677637

AH0_24V 575 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4431472e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 2.7094229e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 609.38251

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 23.721872 PITCH_ADJ_GAIN 0.059999999 STOP_T 0

ALTIM_PULSE 3 FG_AHR_24V 17.950773 PITCH_CNV 0.0031300001 STROBE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 27 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3850 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 471 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 26 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.003 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 50

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 231 PRESSURE_SLOPE 0.00022543591 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -151.59618 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3.25 PROTOCOL 9 T_MISSION 65

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE 102 T_RSLEEP 2

C_PITCH 3520 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2145 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2300 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2980 LOGGERS 3 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 40 RHO 1.023 USE_BATHY -6

DEEPGLIDER 0 LOITER_D_BOTTOM 200 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 100 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.047120001 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 20 ROLL_DEG 80 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72436 ROLL_MAX 3945 VBD_MAX 3950

DEVICE4 -1 MAXI_10V 1.4 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 345 VBD_MIN 525

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 15 VBD_TIMEOUT 720

DIVE 3 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 2

D_ABORT 175 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 4 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10.133897 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1.1473427 XPDR_VALID 6

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0015492893

D_OFFGRID 150 N_DIVES 3 SEABIRD_C_J 0.0002031941

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043565771

Pre-dive calculations and measurements:

GPS1 020621,174131,4742.820,-12224.066,2,0.7,4,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -72.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 020621,174326,4742.794,-12224.060,2,0.7,3,15.5 MHEAD_RNG_PITCHd_Wd 353.9,388,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 157

TGT_NAME SE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-560.000000,1348.000000,-490.000000

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

NAV 1622658972,23.5,0,stop FG_AHR_24Vo 18.137

FINISH 0.2,1.019093 FG_AHR_10Vo 23.779

SM_CCo 3616.18,218.65,1.026,0,526.1,519.9,532.3,601.94 MEM0 60860,1,0,0

SM_GC 1.67,218.65,9.73,4.15,1.026,0.091,0.036,526.1,519.9,532.3,463.1,2276.1,0,0,0,12.69,15.96,16.03 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 997468,29,49320,60

IRIDIUM_FIX 4742.17,-12225.08,020621,173842 DATA_FILE_SIZE 9763,402

TCM_TEMP 14.14 CAP_FILE_SIZE 186995,0

XPDR_PINGS 16,14.0,10.5 SDSIZE 3918848,3901792

SC_FREEKB 3877344 SDFILEDIR 253,2

RAFOS_CLK -3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4829.836426,-12254.357422,310521,101015,3,255,-53.82 SOUNDSPEED 1465.0

HUMID 56.98 CURRENT 0.087,177.2,1

TEMP 11.75 MAGCAL 1.000000,-0.057190,-0.038904,-0.025958,1.067318,-0.021554,-0.004879,0.005935,1.062267,-554.6,1329.6,-469.7,36,0.0273,0

INTERNAL_PRESSURE 8.43581 IMPLIED_C_PITCH 3578,21.04,218

_24V_AH 14.90,24.724 IMPLIED_C_VBD 2745,41.322620,209

_10V_AH 14.94,0.000 GPS 020621,184429,4743.048,-12224.025,1,0.9,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 674 1230 12371.07 nil 0 0 0.00

Pitch_motor 30 430 197.61 nil 0 0 0.00

Roll_motor 83 128 159.98 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 25.03 nil 0 0 0.00

GPS 11 15 2.67 nil 0 0 0.00

Core 1713 11 305.20 SciCon 3363 27 1386.06

LPSleep 1963 2 85.64 nil 0 0 0.00

Compass 598 5 44.74 nil 0 0 0.00

RAFOS 2223 40 1329.03

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.09 16386 -146.63 -1.09 0.00 525.3 540.8 509.9 461.4 2257.7 0.00 0.00 0 119.51 109.60 0.00 0.00 0.005 0.000 0.000 3003.47 3101.19 2905.75 461.25 2255.00 0 0 0 15.87 30.00 30.00

120.64 18983 -146.63 -1.09 -80.00 3005.9 3102.4 2909.3 461.2 2255.8 3.35 -1.69 11 162.97 16.78 12.89 4.53 0.006 0.431 0.065 3577.47 3722.50 3432.44 3170.25 589.38 0 0 0 15.93 15.76 15.89

191.35 3205 -146.63 -0.08 0.00 3578.2 3721.5 3434.9 3170.9 589.6 11.97 -15.73 25 202.34 0.00 1.23 4.60 0.000 0.295 0.040 3578.38 3721.44 3435.31 3494.50 2316.31 0 0 0 30.00 15.86 15.98

391.41 4257 -146.63 -0.84 0.00 3580.6 3722.6 3438.5 3494.5 2317.2 23.89 -4.31 46 394.14 0.00 0.68 0.00 0.000 0.066 0.000 3580.75 3721.62 3439.88 3231.12 2317.81 0 0 0 30.00 16.03 30.00

581.46 2693 -146.63 -0.40 -80.00 3580.2 3722.2 3438.1 3231.4 2316.9 54.92 -17.59 65 592.35 0.00 0.55 4.78 0.000 0.240 0.068 3580.91 3722.44 3439.38 3397.38 592.00 0 0 0 30.00 15.99 16.04

665.99 5253 -146.63 -0.90 0.00 3580.4 3722.1 3438.7 3397.8 592.1 64.33 -8.55 82 676.29 0.00 0.41 4.61 0.000 0.052 0.039 3581.66 3723.69 3439.62 3204.81 2318.69 0 0 0 30.00 16.03 16.06

861.49 2437 -146.63 -0.43 80.00 3581.2 3723.5 3438.9 3204.1 2318.4 93.74 -16.85 103 872.31 0.00 0.60 4.55 0.000 0.238 0.083 3581.06 3723.44 3438.69 3363.31 3953.69 0 0 0 30.00 16.01 16.06

886.02 3205 -146.63 -0.37 0.00 3580.6 3722.1 3439.0 3363.1 3955.2 96.99 -14.79 108 893.42 0.00 0.12 4.40 0.000 0.176 0.035 3582.12 3723.12 3441.12 3406.94 2272.88 0 0 0 30.00 16.02 16.07

1076.85 4773 -146.63 -0.81 -80.00 3579.8 3721.4 3438.2 3407.0 2263.3 108.49 -6.28 128 1087.65 0.00 0.41 4.62 0.000 0.057 0.068 3582.06 3723.69 3440.44 3233.56 591.75 0 0 0 30.00 16.04 16.07

1151.38 3205 -146.63 -0.44 0.00 3581.1 3723.1 3439.1 3233.9 591.1 119.54 -16.61 143 1161.69 0.00 0.51 4.61 0.000 0.246 0.043 3580.12 3721.19 3439.06 3380.38 2313.31 0 0 0 30.00 15.93 16.07

1346.91 4773 -146.63 -0.78 -80.00 3580.7 3722.8 3438.6 3380.7 2314.4 137.20 -7.66 164 1357.71 0.00 0.31 4.78 0.000 0.063 0.066 3582.22 3723.81 3440.62 3245.06 589.31 0 0 0 30.00 16.04 16.06

1436 end dive: TARGET_DEPTH_EXCEEDED

state 1436 begin apogee

1444.85 10243 0.00 -0.19 0.00 3579.9 3721.1 3438.7 3243.1 2158.2 150.53 -16.91 182 1561.09 112.00 0.74 0.10 1.231 0.229 0.129 2978.44 3079.50 2877.38 3465.12 2107.06 0 0 0 12.60 15.92 15.63

1563 end apogee: CONTROL_FINISHED_OK

state 1563 begin climb

1563.13 10243 146.63 1.09 0.00 2977.1 3078.0 2876.1 3465.1 2107.8 158.94 0.00 194 1681.11 111.38 1.21 0.00 1.201 0.155 0.000 2380.41 2469.31 2291.50 3855.88 2104.81 0 0 0 12.60 15.64 30.00

1868.77 20611 146.63 0.89 80.00 2371.5 2467.3 2275.6 3855.6 2105.9 134.91 10.49 227 1871.43 0.00 0.20 0.00 0.000 0.267 0.000 2372.94 2468.06 2277.81 3800.06 2106.25 0 0 0 30.00 15.73 30.00

2058.80 16514 146.63 0.95 80.00 2369.8 2467.4 2272.3 3800.6 2107.8 118.08 8.22 246 2061.33 0.00 0.00 0.00 0.000 0.000 0.000 2369.47 2466.56 2272.38 3800.44 2106.81 0 0 0 30.00 30.00 30.00

2248.84 18823 146.63 1.03 80.00 2368.8 2467.0 2270.5 3799.4 2107.2 103.03 8.00 265 2259.64 0.00 0.16 4.97 0.000 0.138 0.082 2368.94 2467.75 2270.12 3851.50 3849.69 0 0 0 30.00 15.92 15.96

2313.36 21639 146.63 0.60 0.00 2368.4 2467.6 2269.2 3850.8 3850.2 95.27 12.78 278 2323.68 0.00 0.65 4.59 0.000 0.334 0.036 2369.38 2469.12 2269.62 3707.06 2120.00 0 0 0 30.00 15.84 15.97

2508.89 10403 289.58 1.52 0.00 2367.1 2467.6 2266.6 3707.1 2119.2 87.04 3.38 299 2620.48 106.21 0.41 0.00 1.147 0.085 0.000 1798.25 1893.00 1703.50 3869.00 2118.56 0 0 0 12.60 15.95 30.00

2808.92 2437 289.58 1.68 80.00 1791.6 1892.8 1690.3 3867.7 2119.1 56.28 9.58 329 2816.39 0.00 0.00 4.95 0.000 0.000 0.079 1793.91 1896.12 1691.69 3866.56 3848.19 0 0 0 30.00 30.00 15.82

2874.79 19591 289.58 2.04 0.00 1790.3 1892.6 1688.1 3865.9 3849.1 50.37 8.66 342 2882.21 0.00 0.00 4.62 0.000 0.000 0.037 1789.56 1892.62 1686.50 3886.31 2122.06 0 0 0 30.00 30.00 15.86

3069.81 19079 289.58 2.16 -80.00 1788.9 1893.1 1684.7 3886.8 2121.4 30.98 10.26 362 3077.23 0.00 0.00 4.70 0.000 0.000 0.071 1789.34 1893.25 1685.44 3908.19 437.19 0 0 0 30.00 30.00 15.90

3125.62 19591 289.58 2.58 0.00 1788.7 1893.0 1684.4 3908.5 437.0 25.02 10.31 373 3133.04 0.00 0.00 4.66 0.000 0.000 0.037 1791.00 1895.88 1686.12 3905.50 2160.56 0 0 0 30.00 30.00 15.92

3320.65 18823 289.58 2.67 80.00 1788.1 1893.1 1683.0 3906.4 2162.2 4.34 9.93 393 3328.11 0.00 0.00 4.73 0.000 0.000 0.081 1787.75 1893.56 1681.94 3905.56 3849.62 0 0 0 30.00 30.00 15.98

3341 end climb: SURFACE_DEPTH_REACHED

state 3341 begin surface coast

3366 end surface coast: CONTROL_FINISHED_OK

state 3366 begin surface

ID	231	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.047120001	XPDR_VALID	6
DIVE	3	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	3	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	609.38251	VBD_MIN	525	INT_PRESSURE_YINT	-3.25
D_TGT	150	N_FILEKB	8	VBD_MAX	3950	DEEPGLIDER	0
D_ABORT	175	FILEMGR	0	C_VBD	2980	DEEPGLIDERMB	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.003	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	2	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	20	LOGGERDEVICE2	-1
T_DIVE	50	CAPMAXSIZE	100000	LOITER_DBDW	40	LOGGERDEVICE3	-1
T_MISSION	65	T_GPS	5	LOITER_D_TOP	100	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	200	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	2	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	575	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	102
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-6	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	471	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3850	MAXI_10V	1.4	SIM_W	0
D_OFFGRID	150	C_PITCH	3520	FG_AHR_10V	23.721872	SEABIRD_T_G	0.0043565771
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	17.950773	SEABIRD_T_H	0.00062677637
APOGEE_PITCH	-5	PITCH_CNV	0.0031300001	PHONE_SUPPLY	2	SEABIRD_T_I	2.4431472e-05
MAX_BUOY	150	PITCH_GAIN	27	PRESSURE_YINT	-151.59618	SEABIRD_T_J	2.7094229e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	26	PRESSURE_SLOPE	0.00022543591	SEABIRD_C_G	-10.133897
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1.1473427
RHO	1.023	PITCH_ADJ_GAIN	0.059999999	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0015492893
MASS	72436	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002031941
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	345	ALTIM_TOP_MIN_OBSTACLE	0	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3945	ALTIM_PING_DEPTH	0	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PING_DELTA	0
HD_C	1.6e-05	C_ROLL_DIVE	2300	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2145	ALTIM_PULSE	3

GPS1	020621,174131,4742.820,-12224.066,2,0.7,4,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-72.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	020621,174326,4742.794,-12224.060,2,0.7,3,15.5	MHEAD_RNG_PITCHd_Wd	353.9,388,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	157
TGT_NAME	SE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-560.000000,1348.000000,-490.000000
TGT_LATLONG	4743.000,-12224.000

NAV	1622658972,23.5,0,stop	FG_AHR_24Vo	18.137
FINISH	0.2,1.019093	FG_AHR_10Vo	23.779
SM_CCo	3616.18,218.65,1.026,0,526.1,519.9,532.3,601.94	MEM0	60860,1,0,0
SM_GC	1.67,218.65,9.73,4.15,1.026,0.091,0.036,526.1,519.9,532.3,463.1,2276.1,0,0,0,12.69,15.96,16.03	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	997468,29,49320,60
IRIDIUM_FIX	4742.17,-12225.08,020621,173842	DATA_FILE_SIZE	9763,402
TCM_TEMP	14.14	CAP_FILE_SIZE	186995,0
XPDR_PINGS	16,14.0,10.5	SDSIZE	3918848,3901792
SC_FREEKB	3877344	SDFILEDIR	253,2
RAFOS_CLK	-3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4829.836426,-12254.357422,310521,101015,3,255,-53.82	SOUNDSPEED	1465.0
HUMID	56.98	CURRENT	0.087,177.2,1
TEMP	11.75	MAGCAL	1.000000,-0.057190,-0.038904,-0.025958,1.067318,-0.021554,-0.004879,0.005935,1.062267,-554.6,1329.6,-469.7,36,0.0273,0
INTERNAL_PRESSURE	8.43581	IMPLIED_C_PITCH	3578,21.04,218
_24V_AH	14.90,24.724	IMPLIED_C_VBD	2745,41.322620,209
_10V_AH	14.94,0.000	GPS	020621,184429,4743.048,-12224.025,1,0.9,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	674	1230	12371.07	nil	0	0	0.00
Pitch_motor	30	430	197.61	nil	0	0	0.00
Roll_motor	83	128	159.98	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	25.03	nil	0	0	0.00
GPS	11	15	2.67	nil	0	0	0.00
Core	1713	11	305.20	SciCon	3363	27	1386.06
LPSleep	1963	2	85.64	nil	0	0	0.00
Compass	598	5	44.74	nil	0	0	0.00
RAFOS	2223	40	1329.03
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.09	16386	-146.63	-1.09	0.00	525.3	540.8	509.9	461.4	2257.7	0.00	0.00	0	119.51	109.60	0.00	0.00	0.005	0.000	0.000	3003.47	3101.19	2905.75	461.25	2255.00	0	0	0	15.87	30.00	30.00
120.64	18983	-146.63	-1.09	-80.00	3005.9	3102.4	2909.3	461.2	2255.8	3.35	-1.69	11	162.97	16.78	12.89	4.53	0.006	0.431	0.065	3577.47	3722.50	3432.44	3170.25	589.38	0	0	0	15.93	15.76	15.89
191.35	3205	-146.63	-0.08	0.00	3578.2	3721.5	3434.9	3170.9	589.6	11.97	-15.73	25	202.34	0.00	1.23	4.60	0.000	0.295	0.040	3578.38	3721.44	3435.31	3494.50	2316.31	0	0	0	30.00	15.86	15.98
391.41	4257	-146.63	-0.84	0.00	3580.6	3722.6	3438.5	3494.5	2317.2	23.89	-4.31	46	394.14	0.00	0.68	0.00	0.000	0.066	0.000	3580.75	3721.62	3439.88	3231.12	2317.81	0	0	0	30.00	16.03	30.00
581.46	2693	-146.63	-0.40	-80.00	3580.2	3722.2	3438.1	3231.4	2316.9	54.92	-17.59	65	592.35	0.00	0.55	4.78	0.000	0.240	0.068	3580.91	3722.44	3439.38	3397.38	592.00	0	0	0	30.00	15.99	16.04
665.99	5253	-146.63	-0.90	0.00	3580.4	3722.1	3438.7	3397.8	592.1	64.33	-8.55	82	676.29	0.00	0.41	4.61	0.000	0.052	0.039	3581.66	3723.69	3439.62	3204.81	2318.69	0	0	0	30.00	16.03	16.06
861.49	2437	-146.63	-0.43	80.00	3581.2	3723.5	3438.9	3204.1	2318.4	93.74	-16.85	103	872.31	0.00	0.60	4.55	0.000	0.238	0.083	3581.06	3723.44	3438.69	3363.31	3953.69	0	0	0	30.00	16.01	16.06
886.02	3205	-146.63	-0.37	0.00	3580.6	3722.1	3439.0	3363.1	3955.2	96.99	-14.79	108	893.42	0.00	0.12	4.40	0.000	0.176	0.035	3582.12	3723.12	3441.12	3406.94	2272.88	0	0	0	30.00	16.02	16.07
1076.85	4773	-146.63	-0.81	-80.00	3579.8	3721.4	3438.2	3407.0	2263.3	108.49	-6.28	128	1087.65	0.00	0.41	4.62	0.000	0.057	0.068	3582.06	3723.69	3440.44	3233.56	591.75	0	0	0	30.00	16.04	16.07
1151.38	3205	-146.63	-0.44	0.00	3581.1	3723.1	3439.1	3233.9	591.1	119.54	-16.61	143	1161.69	0.00	0.51	4.61	0.000	0.246	0.043	3580.12	3721.19	3439.06	3380.38	2313.31	0	0	0	30.00	15.93	16.07
1346.91	4773	-146.63	-0.78	-80.00	3580.7	3722.8	3438.6	3380.7	2314.4	137.20	-7.66	164	1357.71	0.00	0.31	4.78	0.000	0.063	0.066	3582.22	3723.81	3440.62	3245.06	589.31	0	0	0	30.00	16.04	16.06
1436	end dive: TARGET_DEPTH_EXCEEDED
state	1436	begin apogee
1444.85	10243	0.00	-0.19	0.00	3579.9	3721.1	3438.7	3243.1	2158.2	150.53	-16.91	182	1561.09	112.00	0.74	0.10	1.231	0.229	0.129	2978.44	3079.50	2877.38	3465.12	2107.06	0	0	0	12.60	15.92	15.63
1563	end apogee: CONTROL_FINISHED_OK
state	1563	begin climb
1563.13	10243	146.63	1.09	0.00	2977.1	3078.0	2876.1	3465.1	2107.8	158.94	0.00	194	1681.11	111.38	1.21	0.00	1.201	0.155	0.000	2380.41	2469.31	2291.50	3855.88	2104.81	0	0	0	12.60	15.64	30.00
1868.77	20611	146.63	0.89	80.00	2371.5	2467.3	2275.6	3855.6	2105.9	134.91	10.49	227	1871.43	0.00	0.20	0.00	0.000	0.267	0.000	2372.94	2468.06	2277.81	3800.06	2106.25	0	0	0	30.00	15.73	30.00
2058.80	16514	146.63	0.95	80.00	2369.8	2467.4	2272.3	3800.6	2107.8	118.08	8.22	246	2061.33	0.00	0.00	0.00	0.000	0.000	0.000	2369.47	2466.56	2272.38	3800.44	2106.81	0	0	0	30.00	30.00	30.00
2248.84	18823	146.63	1.03	80.00	2368.8	2467.0	2270.5	3799.4	2107.2	103.03	8.00	265	2259.64	0.00	0.16	4.97	0.000	0.138	0.082	2368.94	2467.75	2270.12	3851.50	3849.69	0	0	0	30.00	15.92	15.96
2313.36	21639	146.63	0.60	0.00	2368.4	2467.6	2269.2	3850.8	3850.2	95.27	12.78	278	2323.68	0.00	0.65	4.59	0.000	0.334	0.036	2369.38	2469.12	2269.62	3707.06	2120.00	0	0	0	30.00	15.84	15.97
2508.89	10403	289.58	1.52	0.00	2367.1	2467.6	2266.6	3707.1	2119.2	87.04	3.38	299	2620.48	106.21	0.41	0.00	1.147	0.085	0.000	1798.25	1893.00	1703.50	3869.00	2118.56	0	0	0	12.60	15.95	30.00
2808.92	2437	289.58	1.68	80.00	1791.6	1892.8	1690.3	3867.7	2119.1	56.28	9.58	329	2816.39	0.00	0.00	4.95	0.000	0.000	0.079	1793.91	1896.12	1691.69	3866.56	3848.19	0	0	0	30.00	30.00	15.82
2874.79	19591	289.58	2.04	0.00	1790.3	1892.6	1688.1	3865.9	3849.1	50.37	8.66	342	2882.21	0.00	0.00	4.62	0.000	0.000	0.037	1789.56	1892.62	1686.50	3886.31	2122.06	0	0	0	30.00	30.00	15.86
3069.81	19079	289.58	2.16	-80.00	1788.9	1893.1	1684.7	3886.8	2121.4	30.98	10.26	362	3077.23	0.00	0.00	4.70	0.000	0.000	0.071	1789.34	1893.25	1685.44	3908.19	437.19	0	0	0	30.00	30.00	15.90
3125.62	19591	289.58	2.58	0.00	1788.7	1893.0	1684.4	3908.5	437.0	25.02	10.31	373	3133.04	0.00	0.00	4.66	0.000	0.000	0.037	1791.00	1895.88	1686.12	3905.50	2160.56	0	0	0	30.00	30.00	15.92
3320.65	18823	289.58	2.67	80.00	1788.1	1893.1	1683.0	3906.4	2162.2	4.34	9.93	393	3328.11	0.00	0.00	4.73	0.000	0.000	0.081	1787.75	1893.56	1681.94	3905.56	3849.62	0	0	0	30.00	30.00	15.98
3341	end climb: SURFACE_DEPTH_REACHED
state	3341	begin surface coast
3366	end surface coast: CONTROL_FINISHED_OK
state	3366	begin surface