Glider dive log

Shilshole 14Apr22 * SG527 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 527 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.028270001 XPDR_VALID 4

DIVE 3 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 6 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 14

STOP_T 0 SM_CC 702.04858 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

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 -3.5

D_TGT 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 170 COMM_SEQ 7 C_VBD 3362 DEEPGLIDERMB 0

D_NO_BLEED 50 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 LOGGERS 1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 50 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 34

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 120 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE -1

T_EPIRB 0 PITCH_MIN 180 AH0_24V 350 NAV_DEVICE -1

USE_BATHY -6 PITCH_MAX 3650 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 2275 MINV_24V 11 NETWORK_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 10 PRESSURE_DEVICE 41

D_OFFGRID 150 PITCH_CNV 0.0041299998 MAXI_24V 3 XPDR_DEVICE 21

RELAUNCH 1 PITCH_GAIN 25 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.46666 SEABIRD_T_G 0.0044100382

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 7.8011904 SEABIRD_T_H 0.00064029486

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.5304744e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -174.78212 SEABIRD_T_J 3.0384315e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022599861 SEABIRD_C_G -9.9673414

MASS 52981 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1.1045681

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0023913286

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00026376138

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 270 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3850 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 40 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2800 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 150 N_DIVES 6 SEABIRD_C_I -0.0023913286

AH0_24V 350 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00026376138

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0044100382

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00064029486

ALTIM_PING_DELTA 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_I 2.5304744e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 3.0384315e-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 702.04858

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.46666 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.8011904 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 25 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3650 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 180 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 50

COMPASS2_DEVICE -1 ID 527 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 34 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -3.5 PRESSURE_DEVICE 41 T_LOITER 0

C_PITCH 2275 KALMAN_USE 2 PRESSURE_SLOPE 0.00022599861 T_MISSION 65

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -174.78212 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2200 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2800 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 3362 LOGGERS 1 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

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 52981 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.028270001 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 3 ROLL_DEG 40 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3850 VBD_MIN 500

DEVICE5 -1 MINV_10V 10 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 270 W_ADJ_DBAND 0

DIVE 3 MISSION 2 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 170 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 3.0 XPDR_INT 14

D_CALL 0 NAV_DEVICE -1 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_G -9.9673414

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_H 1.1045681

Pre-dive calculations and measurements:

GPS1 140422,175729,4744.251,-12224.042,1,1.0,3,15.4 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140422,175942,4744.255,-12224.021,2,1.0,4,15.4 MHEAD_RNG_PITCHd_Wd 187.7,2625,-17.6,-10.000,-21.21,2209,0.225

SPEED_LIMITS 0.173,0.258 D_GRID 173

TGT_NAME SW IRON 1.000000,0.012352,0.017539,0.002792,1.020155,-0.017657,0.010150,0.014576,1.058425,4.707434,10.757647,-15.309781

TGT_LATLONG 4743.000,-12225.000

Post-dive calculations and measurements:

FINISH -0.1,0.999824 FG_AHR_10Vo 15.487

SM_CCo 3434.33,319.06,1.108,0,500.8,536.6,465.1,701.84 MEM0 60148,1,0,0

SM_GC 0.59,319.06,6.51,1.14,1.108,0.055,0.102,500.8,536.6,465.1,144.6,2813.6,0,0,0,12.43,15.86,15.85 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 996176,26,50812,53

IRIDIUM_FIX 4742.17,-12225.08,140422,175458 DATA_FILE_SIZE 9719,380

TCM_TEMP 18.50 CAP_FILE_SIZE 155914,0

XPDR_PINGS 14,14.0,11.5 SDSIZE 3887104,3877184

SC_FREEKB 3877664 SDFILEDIR 42,1

HUMID 50.13 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 9.07 CURRENT 0.072,172.9,1

INTERNAL_PRESSURE 8.21831 MAGCAL 1.000000,0.009615,0.018164,0.007607,1.026221,-0.011235,0.006319,0.015129,1.052760,5.3,7.5,-12.1,22,0.0142,1

_24V_AH 14.58,2.309 IMPLIED_C_PITCH 2261,19.41,212,0.0,0.00

_10V_AH 14.60,0.000 IMPLIED_C_VBD 3130,27.013693,212,0

FG_AHR_24Vo 8.009 GPS 140422,185725,4743.786,-12224.266,2,1.2,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 769 1330 14930.00 nil 0 0 0.00

Pitch_motor 16 394 96.51 nil 0 0 0.00

Roll_motor 42 176 109.94 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 21.43 nil 0 0 0.00

GPS 13 15 2.93 nil 0 0 0.00

Core 438 6 43.56 SciCon 3099 12 547.06

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1887 2 55.13

Compass 536 5 39.19

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.08 16386 -146.63 -0.88 0.00 487.0 535.9 438.0 180.6 2842.0 0.00 0.00 0 150.31 140.85 0.00 0.00 0.005 0.000 0.000 3518.44 3550.50 3486.38 180.44 2843.31 0 0 0 15.70 30.00 30.00

150.51 18467 -146.63 -0.88 0.00 3518.0 3551.8 3484.2 180.6 2843.2 3.71 -2.36 14 174.47 10.27 8.28 0.00 0.007 0.394 0.000 3957.84 3997.75 3917.94 2061.81 2843.12 0 0 0 15.78 15.60 30.00

357.60 260 -146.63 -0.88 40.00 3960.7 3998.9 3922.6 2060.9 2844.8 37.88 -13.99 37 362.40 0.00 0.00 1.66 0.000 0.000 0.101 3960.34 3998.25 3922.44 2054.69 3866.12 0 0 0 30.00 30.00 15.89

397.64 1156 -146.63 -0.97 0.00 3960.8 3999.2 3922.4 2055.9 3867.1 43.04 -12.51 45 402.46 0.00 0.00 1.75 0.000 0.000 0.061 3960.72 3998.81 3922.62 2054.19 2756.94 0 0 0 30.00 30.00 15.91

587.67 260 -146.63 -0.97 40.00 3960.9 3998.4 3923.4 2055.6 2749.7 66.94 -11.82 65 592.50 0.00 0.00 1.85 0.000 0.000 0.101 3961.09 3997.31 3924.88 2047.62 3867.75 0 0 0 30.00 30.00 15.94

627.69 1156 -146.63 -1.02 0.00 3960.7 3998.5 3922.9 2047.0 3866.9 71.35 -10.99 73 632.51 0.00 0.00 1.75 0.000 0.000 0.062 3960.53 3996.50 3924.56 2047.12 2747.44 0 0 0 30.00 30.00 15.96

817.71 516 -146.63 -1.02 -40.00 3960.6 3998.8 3922.4 2047.6 2746.8 92.13 -11.33 93 823.21 0.00 0.00 2.39 0.000 0.000 0.064 3960.28 3996.25 3924.31 2048.88 1355.81 0 0 0 30.00 30.00 15.99

837.71 1028 -146.63 -1.02 0.00 3960.7 3998.8 3922.6 2047.6 1356.6 94.32 -11.13 97 843.26 0.00 0.00 2.62 0.000 0.000 0.088 3959.97 4000.50 3919.44 2036.81 2819.94 0 0 0 30.00 30.00 15.98

1027.76 0 -146.63 -1.02 0.00 3960.7 3999.2 3922.1 2038.5 2822.5 116.26 -12.25 117 1029.10 0.00 0.00 0.00 0.000 0.000 0.000 3957.78 3997.44 3918.12 2036.88 2821.00 0 0 0 30.00 30.00 30.00

1217.78 260 -146.63 -1.02 40.00 3960.7 3999.2 3922.2 2038.1 2821.6 140.70 -12.91 136 1222.58 0.00 0.00 1.70 0.000 0.000 0.107 3959.78 4000.88 3918.69 2031.38 3865.56 0 0 0 30.00 30.00 15.99

1272.79 1156 -146.63 -1.05 0.00 3960.8 3999.5 3922.2 2030.4 3867.6 147.77 -12.49 147 1277.62 0.00 0.00 1.75 0.000 0.000 0.062 3960.38 3996.75 3924.00 2031.38 2749.31 0 0 0 30.00 30.00 16.03

1298 end dive: TARGET_DEPTH_EXCEEDED

state 1298 begin apogee

1299.56 10243 0.00 -0.20 0.00 3960.7 3998.8 3922.6 2030.4 2152.4 150.99 -12.83 150 1410.09 106.97 0.62 0.11 1.331 0.175 0.177 3362.34 3417.75 3306.94 2228.44 2220.56 0 0 0 12.44 15.96 15.23

1411 end apogee: CONTROL_FINISHED_OK

state 1411 begin climb

1410.58 10759 146.63 0.88 -40.00 3361.5 3419.8 3303.1 2230.1 2221.1 154.09 0.00 161 1528.68 110.59 0.77 2.74 1.275 0.094 0.072 2757.91 2832.31 2683.50 2508.31 763.44 0 0 0 12.21 15.31 15.09

1641.02 13479 171.95 0.85 0.00 2755.3 2828.3 2682.3 2508.6 763.1 142.47 8.83 207 1667.05 20.56 0.12 2.66 1.151 0.218 0.077 2659.38 2735.94 2582.81 2472.94 2216.12 0 0 0 12.29 15.47 15.55

1856.05 8486 198.35 0.88 40.00 2655.2 2736.5 2573.9 2473.8 2216.9 124.13 8.78 231 1882.01 22.03 0.00 2.43 1.155 0.000 0.106 2550.53 2637.56 2463.50 2472.94 3634.38 0 0 0 12.33 30.00 15.47

1946.07 1156 198.35 0.85 0.00 2549.5 2637.8 2461.1 2472.9 3633.6 114.22 11.45 249 1951.57 0.00 0.00 2.40 0.000 0.000 0.063 2548.75 2637.00 2460.50 2480.75 2160.25 0 0 0 30.00 30.00 15.63

2136.08 260 198.35 0.85 40.00 2546.8 2637.5 2456.0 2479.8 2157.5 93.98 10.32 269 2141.63 0.00 0.00 2.52 0.000 0.000 0.101 2546.88 2638.44 2455.31 2481.38 3627.12 0 0 0 30.00 30.00 15.72

2191.09 1156 198.35 0.79 0.00 2546.7 2637.9 2455.6 2480.1 3628.4 87.53 11.59 280 2196.61 0.00 0.00 2.37 0.000 0.000 0.063 2546.34 2638.12 2454.56 2486.38 2160.62 0 0 0 30.00 30.00 15.82

2386.14 8742 204.42 0.80 -40.00 2545.9 2637.7 2454.2 2488.9 2156.6 67.94 9.72 300 2396.80 6.64 0.00 2.47 0.811 0.000 0.076 2528.44 2617.44 2439.44 2499.19 763.44 0 0 0 12.43 30.00 15.77

2406.14 5157 206.67 0.80 0.00 2525.5 2614.2 2436.8 2498.6 762.4 65.90 9.90 304 2411.73 0.00 0.12 2.62 0.000 0.210 0.077 2525.06 2615.31 2434.81 2457.31 2219.75 0 0 0 30.00 15.75 15.79

2596.22 10403 232.31 0.92 0.00 2524.2 2613.9 2434.4 2458.9 2218.8 48.67 8.81 324 2620.72 22.97 0.12 0.00 1.113 0.087 0.000 2410.91 2500.12 2321.69 2520.44 2219.94 0 0 0 12.41 15.90 30.00

2806.21 4485 232.31 0.88 40.00 2409.7 2503.6 2315.8 2522.2 2219.5 22.90 13.34 345 2811.74 0.00 0.14 2.37 0.000 0.208 0.103 2409.78 2505.94 2313.62 2477.62 3632.38 0 0 0 30.00 15.78 15.76

2851.18 1028 232.31 0.88 0.00 2408.9 2503.8 2314.0 2479.9 3631.1 17.42 11.96 354 2856.71 0.00 0.00 2.37 0.000 0.000 0.064 2407.47 2500.81 2314.12 2487.75 2163.00 0 0 0 30.00 30.00 15.86

3046.26 10663 311.05 1.06 40.00 2408.2 2504.1 2312.4 2486.6 2160.1 2.50 6.35 374 3056.53 9.53 0.13 0.00 0.910 0.092 0.000 2373.69 2467.38 2280.00 2555.56 2157.12 0 0 0 12.52 15.90 30.00

3057 end climb: SURFACE_DEPTH_REACHED

state 3057 begin surface coast

3097 end surface coast: CONTROL_FINISHED_OK

state 3097 begin surface

ID	527	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.028270001	XPDR_VALID	4
DIVE	3	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	6	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	14
STOP_T	0	SM_CC	702.04858	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
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	-3.5
D_TGT	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	170	COMM_SEQ	7	C_VBD	3362	DEEPGLIDERMB	0
D_NO_BLEED	50	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	LOGGERS	1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	50	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	34
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	120	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
T_EPIRB	0	PITCH_MIN	180	AH0_24V	350	NAV_DEVICE	-1
USE_BATHY	-6	PITCH_MAX	3650	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	2275	MINV_24V	11	NETWORK_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	10	PRESSURE_DEVICE	41
D_OFFGRID	150	PITCH_CNV	0.0041299998	MAXI_24V	3	XPDR_DEVICE	21
RELAUNCH	1	PITCH_GAIN	25	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.46666	SEABIRD_T_G	0.0044100382
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	7.8011904	SEABIRD_T_H	0.00064029486
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.5304744e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-174.78212	SEABIRD_T_J	3.0384315e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022599861	SEABIRD_C_G	-9.9673414
MASS	52981	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1.1045681
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0023913286
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00026376138
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	270	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3850	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	40	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2800	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2200	ALTIM_PULSE	3

GPS1	140422,175729,4744.251,-12224.042,1,1.0,3,15.4	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140422,175942,4744.255,-12224.021,2,1.0,4,15.4	MHEAD_RNG_PITCHd_Wd	187.7,2625,-17.6,-10.000,-21.21,2209,0.225
SPEED_LIMITS	0.173,0.258	D_GRID	173
TGT_NAME	SW	IRON	1.000000,0.012352,0.017539,0.002792,1.020155,-0.017657,0.010150,0.014576,1.058425,4.707434,10.757647,-15.309781
TGT_LATLONG	4743.000,-12225.000

FINISH	-0.1,0.999824	FG_AHR_10Vo	15.487
SM_CCo	3434.33,319.06,1.108,0,500.8,536.6,465.1,701.84	MEM0	60148,1,0,0
SM_GC	0.59,319.06,6.51,1.14,1.108,0.055,0.102,500.8,536.6,465.1,144.6,2813.6,0,0,0,12.43,15.86,15.85	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	996176,26,50812,53
IRIDIUM_FIX	4742.17,-12225.08,140422,175458	DATA_FILE_SIZE	9719,380
TCM_TEMP	18.50	CAP_FILE_SIZE	155914,0
XPDR_PINGS	14,14.0,11.5	SDSIZE	3887104,3877184
SC_FREEKB	3877664	SDFILEDIR	42,1
HUMID	50.13	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	9.07	CURRENT	0.072,172.9,1
INTERNAL_PRESSURE	8.21831	MAGCAL	1.000000,0.009615,0.018164,0.007607,1.026221,-0.011235,0.006319,0.015129,1.052760,5.3,7.5,-12.1,22,0.0142,1
_24V_AH	14.58,2.309	IMPLIED_C_PITCH	2261,19.41,212,0.0,0.00
_10V_AH	14.60,0.000	IMPLIED_C_VBD	3130,27.013693,212,0
FG_AHR_24Vo	8.009	GPS	140422,185725,4743.786,-12224.266,2,1.2,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	769	1330	14930.00	nil	0	0	0.00
Pitch_motor	16	394	96.51	nil	0	0	0.00
Roll_motor	42	176	109.94	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	21.43	nil	0	0	0.00
GPS	13	15	2.93	nil	0	0	0.00
Core	438	6	43.56	SciCon	3099	12	547.06
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1887	2	55.13
Compass	536	5	39.19
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.08	16386	-146.63	-0.88	0.00	487.0	535.9	438.0	180.6	2842.0	0.00	0.00	0	150.31	140.85	0.00	0.00	0.005	0.000	0.000	3518.44	3550.50	3486.38	180.44	2843.31	0	0	0	15.70	30.00	30.00
150.51	18467	-146.63	-0.88	0.00	3518.0	3551.8	3484.2	180.6	2843.2	3.71	-2.36	14	174.47	10.27	8.28	0.00	0.007	0.394	0.000	3957.84	3997.75	3917.94	2061.81	2843.12	0	0	0	15.78	15.60	30.00
357.60	260	-146.63	-0.88	40.00	3960.7	3998.9	3922.6	2060.9	2844.8	37.88	-13.99	37	362.40	0.00	0.00	1.66	0.000	0.000	0.101	3960.34	3998.25	3922.44	2054.69	3866.12	0	0	0	30.00	30.00	15.89
397.64	1156	-146.63	-0.97	0.00	3960.8	3999.2	3922.4	2055.9	3867.1	43.04	-12.51	45	402.46	0.00	0.00	1.75	0.000	0.000	0.061	3960.72	3998.81	3922.62	2054.19	2756.94	0	0	0	30.00	30.00	15.91
587.67	260	-146.63	-0.97	40.00	3960.9	3998.4	3923.4	2055.6	2749.7	66.94	-11.82	65	592.50	0.00	0.00	1.85	0.000	0.000	0.101	3961.09	3997.31	3924.88	2047.62	3867.75	0	0	0	30.00	30.00	15.94
627.69	1156	-146.63	-1.02	0.00	3960.7	3998.5	3922.9	2047.0	3866.9	71.35	-10.99	73	632.51	0.00	0.00	1.75	0.000	0.000	0.062	3960.53	3996.50	3924.56	2047.12	2747.44	0	0	0	30.00	30.00	15.96
817.71	516	-146.63	-1.02	-40.00	3960.6	3998.8	3922.4	2047.6	2746.8	92.13	-11.33	93	823.21	0.00	0.00	2.39	0.000	0.000	0.064	3960.28	3996.25	3924.31	2048.88	1355.81	0	0	0	30.00	30.00	15.99
837.71	1028	-146.63	-1.02	0.00	3960.7	3998.8	3922.6	2047.6	1356.6	94.32	-11.13	97	843.26	0.00	0.00	2.62	0.000	0.000	0.088	3959.97	4000.50	3919.44	2036.81	2819.94	0	0	0	30.00	30.00	15.98
1027.76	0	-146.63	-1.02	0.00	3960.7	3999.2	3922.1	2038.5	2822.5	116.26	-12.25	117	1029.10	0.00	0.00	0.00	0.000	0.000	0.000	3957.78	3997.44	3918.12	2036.88	2821.00	0	0	0	30.00	30.00	30.00
1217.78	260	-146.63	-1.02	40.00	3960.7	3999.2	3922.2	2038.1	2821.6	140.70	-12.91	136	1222.58	0.00	0.00	1.70	0.000	0.000	0.107	3959.78	4000.88	3918.69	2031.38	3865.56	0	0	0	30.00	30.00	15.99
1272.79	1156	-146.63	-1.05	0.00	3960.8	3999.5	3922.2	2030.4	3867.6	147.77	-12.49	147	1277.62	0.00	0.00	1.75	0.000	0.000	0.062	3960.38	3996.75	3924.00	2031.38	2749.31	0	0	0	30.00	30.00	16.03
1298	end dive: TARGET_DEPTH_EXCEEDED
state	1298	begin apogee
1299.56	10243	0.00	-0.20	0.00	3960.7	3998.8	3922.6	2030.4	2152.4	150.99	-12.83	150	1410.09	106.97	0.62	0.11	1.331	0.175	0.177	3362.34	3417.75	3306.94	2228.44	2220.56	0	0	0	12.44	15.96	15.23
1411	end apogee: CONTROL_FINISHED_OK
state	1411	begin climb
1410.58	10759	146.63	0.88	-40.00	3361.5	3419.8	3303.1	2230.1	2221.1	154.09	0.00	161	1528.68	110.59	0.77	2.74	1.275	0.094	0.072	2757.91	2832.31	2683.50	2508.31	763.44	0	0	0	12.21	15.31	15.09
1641.02	13479	171.95	0.85	0.00	2755.3	2828.3	2682.3	2508.6	763.1	142.47	8.83	207	1667.05	20.56	0.12	2.66	1.151	0.218	0.077	2659.38	2735.94	2582.81	2472.94	2216.12	0	0	0	12.29	15.47	15.55
1856.05	8486	198.35	0.88	40.00	2655.2	2736.5	2573.9	2473.8	2216.9	124.13	8.78	231	1882.01	22.03	0.00	2.43	1.155	0.000	0.106	2550.53	2637.56	2463.50	2472.94	3634.38	0	0	0	12.33	30.00	15.47
1946.07	1156	198.35	0.85	0.00	2549.5	2637.8	2461.1	2472.9	3633.6	114.22	11.45	249	1951.57	0.00	0.00	2.40	0.000	0.000	0.063	2548.75	2637.00	2460.50	2480.75	2160.25	0	0	0	30.00	30.00	15.63
2136.08	260	198.35	0.85	40.00	2546.8	2637.5	2456.0	2479.8	2157.5	93.98	10.32	269	2141.63	0.00	0.00	2.52	0.000	0.000	0.101	2546.88	2638.44	2455.31	2481.38	3627.12	0	0	0	30.00	30.00	15.72
2191.09	1156	198.35	0.79	0.00	2546.7	2637.9	2455.6	2480.1	3628.4	87.53	11.59	280	2196.61	0.00	0.00	2.37	0.000	0.000	0.063	2546.34	2638.12	2454.56	2486.38	2160.62	0	0	0	30.00	30.00	15.82
2386.14	8742	204.42	0.80	-40.00	2545.9	2637.7	2454.2	2488.9	2156.6	67.94	9.72	300	2396.80	6.64	0.00	2.47	0.811	0.000	0.076	2528.44	2617.44	2439.44	2499.19	763.44	0	0	0	12.43	30.00	15.77
2406.14	5157	206.67	0.80	0.00	2525.5	2614.2	2436.8	2498.6	762.4	65.90	9.90	304	2411.73	0.00	0.12	2.62	0.000	0.210	0.077	2525.06	2615.31	2434.81	2457.31	2219.75	0	0	0	30.00	15.75	15.79
2596.22	10403	232.31	0.92	0.00	2524.2	2613.9	2434.4	2458.9	2218.8	48.67	8.81	324	2620.72	22.97	0.12	0.00	1.113	0.087	0.000	2410.91	2500.12	2321.69	2520.44	2219.94	0	0	0	12.41	15.90	30.00
2806.21	4485	232.31	0.88	40.00	2409.7	2503.6	2315.8	2522.2	2219.5	22.90	13.34	345	2811.74	0.00	0.14	2.37	0.000	0.208	0.103	2409.78	2505.94	2313.62	2477.62	3632.38	0	0	0	30.00	15.78	15.76
2851.18	1028	232.31	0.88	0.00	2408.9	2503.8	2314.0	2479.9	3631.1	17.42	11.96	354	2856.71	0.00	0.00	2.37	0.000	0.000	0.064	2407.47	2500.81	2314.12	2487.75	2163.00	0	0	0	30.00	30.00	15.86
3046.26	10663	311.05	1.06	40.00	2408.2	2504.1	2312.4	2486.6	2160.1	2.50	6.35	374	3056.53	9.53	0.13	0.00	0.910	0.092	0.000	2373.69	2467.38	2280.00	2555.56	2157.12	0	0	0	12.52	15.90	30.00
3057	end climb: SURFACE_DEPTH_REACHED
state	3057	begin surface coast
3097	end surface coast: CONTROL_FINISHED_OK
state	3097	begin surface