Glider dive log

HoodCanal 21May22.01 * SG235 * Dive index * Mission links * Dive 4 * 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 16 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 4 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 4 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 2 C_VBD 2950.1382 DEVICE1 -1

D_SURF 2 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 COMM_SEQ 15 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 160 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 165 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 2 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 55 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 70 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 2014.4192 MAXI_24V 2 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 157.49268 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.950613 FG_AHR_24V 198.59143 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 -158.48517 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 157.49268 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 198.59143 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.950613 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 15 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 2014.4192 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 70

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 2

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.48517 T_TURN 225

C_VBD 2950.1382 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 2 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 16 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 4 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 165 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 4 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 220522,001306,4736.819,-12256.561,1,0.8,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220522,001547,4736.807,-12256.580,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 16.6,422,-27.2,-9.697,-30.00,954,0.142

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME N IRON 1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NET CACST,8,0,20220522002009.440364,06,12048,40,0111,0150,74,01,01,00,01,1,001,241,0,5,1,0,150,0.7,2.51,-100,0.49,-01,0.08,58,10000,5000,0,-1,00,00*41 _24V_AH 14.80,104.444

NAV 1653181190,0.4,start _10V_AH 14.75,0.000

WARN HSCICON missed fuel gauge read FG_AHR_24Vo 198.778

FREEZE 0.40,12.992,-1.497,0,1,0 FG_AHR_10Vo 157.525

FINISH 0.4,1.020576 MEM0 60148,1,0,0

SM_CCo 2605.84,313.52,1.127,0,541.6,615.8,467.4,590.79 MEM1 65508,1,0,0

SM_GC 1.73,313.52,14.12,0.31,1.127,0.089,0.113,541.6,615.8,467.4,214.2,2770.9,0,0,0,12.08,15.84,15.88 MEM2 943000,25,103448,81

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 9739,320

IRIDIUM_FIX 4738.33,-12256.21,220522,001003 CAP_FILE_SIZE 279178,0

TCM_TEMP 13.07 SDSIZE 3918848,3884544

SC_FREEKB 3877408 SDFILEDIR 270,3

PM_FREEKB_00 62053824 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 MAGCAL 1.000000,-0.034660,0.114832,-0.060698,1.141494,0.026777,-0.032821,-0.021282,1.174556,-1107.3,-1136.3,-80.8,16,0.0241,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2006,15.86,164,2010.4,15.91

HUMID 48.58 IMPLIED_C_VBD 3049,23.226860,164,2999.5

TEMP 10.29 GPS 220522,010038,4736.922,-12256.519,1,0.9,3,15.5

INTERNAL_PRESSURE 7.91199

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 633 1337 12550.68 nil 0 0 0.00

Pitch_motor 30 270 123.03 nil 0 0 0.00

Roll_motor 48 261 186.71 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 1357 5 102.48 SciCon 2235 8 282.92

Fast 0 0 0.00 PMAR 2246 17 584.09

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 957 0 4.52

Compass 654 5 48.29

RAFOS 1659 40 979.18

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

11.02 16386 -60.85 -1.78 0.00 539.9 609.0 470.8 216.6 2769.2 0.00 0.00 0 111.29 95.81 0.00 0.00 0.005 0.000 0.000 2763.19 2769.44 2756.94 216.62 2768.50 0 0 0 15.79 30.00 30.00

111.60 18727 -136.71 -1.87 80.00 2763.0 2768.8 2757.2 216.6 2768.2 3.02 -1.56 19 157.23 23.92 10.47 2.73 0.006 0.270 0.127 3505.50 3528.88 3482.12 1560.44 3911.94 0 0 0 15.81 15.67 15.74

228.75 1028 -136.71 -1.87 0.00 3507.2 3530.4 3484.0 1559.6 3912.1 17.02 -14.51 41 234.75 0.00 0.00 2.69 0.000 0.000 0.072 3507.28 3530.94 3483.62 1560.06 2724.25 0 0 0 30.00 30.00 15.77

418.71 516 -136.71 -1.87 -80.00 3508.0 3532.7 3483.2 1560.5 2724.2 40.98 -12.31 79 425.46 0.00 0.00 3.41 0.000 0.000 0.125 3508.78 3533.38 3484.19 1559.44 1280.06 0 0 0 30.00 30.00 15.79

488.87 1028 -136.71 -1.87 0.00 3509.2 3534.4 3484.0 1559.6 1280.4 50.20 -12.98 93 494.84 0.00 0.00 3.36 0.000 0.000 0.067 3509.84 3534.31 3485.38 1559.81 2769.44 0 0 0 30.00 30.00 15.83

678.89 260 -136.71 -1.87 80.00 3508.9 3534.2 3483.6 1559.9 2768.4 74.50 -13.57 113 684.61 0.00 0.00 2.71 0.000 0.000 0.125 3509.41 3534.94 3483.88 1560.00 3911.44 0 0 0 30.00 30.00 15.83

738.91 1028 -136.71 -1.87 0.00 3508.8 3533.9 3483.6 1560.7 3911.6 83.71 -15.20 125 744.53 0.00 0.00 2.66 0.000 0.000 0.070 3509.06 3534.69 3483.44 1560.50 2723.38 0 0 0 30.00 30.00 15.87

928.94 260 -136.71 -1.87 80.00 3508.5 3534.0 3483.0 1560.2 2724.3 110.22 -14.02 145 934.65 0.00 0.00 2.81 0.000 0.000 0.122 3509.00 3534.06 3483.94 1560.38 3912.69 0 0 0 30.00 30.00 15.85

963.21 1028 -136.71 -1.87 0.00 3508.9 3534.9 3483.0 1559.6 3912.3 115.70 -15.95 152 970.29 0.00 0.00 2.68 0.000 0.000 0.071 3508.72 3533.56 3483.88 1560.25 2724.88 0 0 0 30.00 30.00 15.88

1159.01 260 -136.71 -1.87 80.00 3509.3 3534.2 3484.4 1560.3 2724.9 145.51 -15.91 172 1164.89 0.00 0.00 2.82 0.000 0.000 0.123 3510.06 3536.00 3484.12 1560.19 3913.19 0 0 0 30.00 30.00 15.86

1213.32 1028 -136.71 -1.87 0.00 3508.2 3533.2 3483.2 1560.6 3912.7 154.84 -16.99 183 1220.52 0.00 0.00 2.67 0.000 0.000 0.073 3509.25 3535.06 3483.44 1560.31 2726.50 0 0 0 30.00 30.00 15.91

1249 end dive: TARGET_DEPTH_EXCEEDED

state 1249 begin apogee

1250.54 10243 0.00 -0.31 0.00 3509.6 3534.2 3485.1 1560.2 2575.7 160.40 -15.90 187 1359.39 98.84 2.64 0.07 1.338 0.177 0.261 2947.84 3010.62 2885.06 1938.38 2622.38 0 0 0 11.98 15.86 15.49

1372 end apogee: CONTROL_FINISHED_OK

state 1372 begin climb

1373.12 10243 136.71 1.87 0.00 2947.2 3009.8 2884.6 1938.6 2622.6 164.04 0.00 197 1487.15 101.87 3.56 0.00 1.301 0.095 0.000 2352.66 2386.75 2318.56 2471.25 2623.12 0 0 0 11.76 15.53 30.00

1670.62 16646 136.71 1.87 80.00 2383.0 2453.6 2312.4 2471.8 2621.4 112.62 21.11 227 1676.58 0.00 0.00 3.10 0.000 0.000 0.120 2383.12 2453.38 2312.88 2473.00 3910.31 0 0 0 30.00 30.00 15.62

1700.62 17414 136.71 1.87 0.00 2383.7 2453.9 2313.5 2471.5 3911.9 105.79 23.18 233 1706.58 0.00 0.00 3.06 0.000 0.000 0.070 2384.28 2455.38 2313.19 2471.56 2576.69 0 0 0 30.00 30.00 15.67

1890.40 16646 136.71 1.87 80.00 2382.9 2452.9 2312.9 2471.8 2576.9 65.35 20.54 253 1896.66 0.00 0.00 3.19 0.000 0.000 0.121 2384.62 2453.50 2315.75 2472.94 3912.44 0 0 0 30.00 30.00 15.74

1934.91 17414 136.71 1.87 0.00 2381.7 2450.8 2312.5 2472.1 3911.1 55.43 22.19 262 1942.35 0.00 0.00 3.04 0.000 0.000 0.071 2381.28 2449.06 2313.50 2472.94 2577.94 0 0 0 30.00 30.00 15.79

2126.91 16902 136.71 1.87 -80.00 2381.7 2450.3 2313.1 2472.8 2578.4 17.01 18.28 297 2133.77 0.00 0.00 3.34 0.000 0.000 0.133 2380.88 2448.19 2313.56 2472.69 1187.56 0 0 0 30.00 30.00 15.82

2152.25 17414 136.71 1.87 0.00 2380.7 2448.8 2312.5 2473.1 1187.9 12.34 18.41 302 2159.07 0.00 0.00 3.21 0.000 0.000 0.063 2378.25 2446.00 2310.50 2472.31 2624.19 0 0 0 30.00 30.00 15.85

2223 end climb: SURFACE_DEPTH_REACHED

state 2223 begin surface coast

2243 end surface coast: CONTROL_FINISHED_OK

state 2243 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	16	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	4	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	4	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	2	C_VBD	2950.1382	DEVICE1	-1
D_SURF	2	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	COMM_SEQ	15	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	160	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	165	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	2	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	55	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	70	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	2014.4192	MAXI_24V	2	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	157.49268	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.950613	FG_AHR_24V	198.59143	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	-158.48517	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	220522,001306,4736.819,-12256.561,1,0.8,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220522,001547,4736.807,-12256.580,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	16.6,422,-27.2,-9.697,-30.00,954,0.142
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	N	IRON	1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502
TGT_LATLONG	4737.000,-12256.400

NET	CACST,8,0,20220522002009.440364,06,12048,40,0111,0150,74,01,01,00,01,1,001,241,0,5,1,0,150,0.7,2.51,-100,0.49,-01,0.08,58,10000,5000,0,-1,00,00*41	_24V_AH	14.80,104.444
NAV	1653181190,0.4,start	_10V_AH	14.75,0.000
WARN	HSCICON missed fuel gauge read	FG_AHR_24Vo	198.778
FREEZE	0.40,12.992,-1.497,0,1,0	FG_AHR_10Vo	157.525
FINISH	0.4,1.020576	MEM0	60148,1,0,0
SM_CCo	2605.84,313.52,1.127,0,541.6,615.8,467.4,590.79	MEM1	65508,1,0,0
SM_GC	1.73,313.52,14.12,0.31,1.127,0.089,0.113,541.6,615.8,467.4,214.2,2770.9,0,0,0,12.08,15.84,15.88	MEM2	943000,25,103448,81
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	9739,320
IRIDIUM_FIX	4738.33,-12256.21,220522,001003	CAP_FILE_SIZE	279178,0
TCM_TEMP	13.07	SDSIZE	3918848,3884544
SC_FREEKB	3877408	SDFILEDIR	270,3
PM_FREEKB_00	62053824	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	MAGCAL	1.000000,-0.034660,0.114832,-0.060698,1.141494,0.026777,-0.032821,-0.021282,1.174556,-1107.3,-1136.3,-80.8,16,0.0241,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2006,15.86,164,2010.4,15.91
HUMID	48.58	IMPLIED_C_VBD	3049,23.226860,164,2999.5
TEMP	10.29	GPS	220522,010038,4736.922,-12256.519,1,0.9,3,15.5
INTERNAL_PRESSURE	7.91199

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	633	1337	12550.68	nil	0	0	0.00
Pitch_motor	30	270	123.03	nil	0	0	0.00
Roll_motor	48	261	186.71	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	1357	5	102.48	SciCon	2235	8	282.92
Fast	0	0	0.00	PMAR	2246	17	584.09
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	957	0	4.52
Compass	654	5	48.29
RAFOS	1659	40	979.18
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
11.02	16386	-60.85	-1.78	0.00	539.9	609.0	470.8	216.6	2769.2	0.00	0.00	0	111.29	95.81	0.00	0.00	0.005	0.000	0.000	2763.19	2769.44	2756.94	216.62	2768.50	0	0	0	15.79	30.00	30.00
111.60	18727	-136.71	-1.87	80.00	2763.0	2768.8	2757.2	216.6	2768.2	3.02	-1.56	19	157.23	23.92	10.47	2.73	0.006	0.270	0.127	3505.50	3528.88	3482.12	1560.44	3911.94	0	0	0	15.81	15.67	15.74
228.75	1028	-136.71	-1.87	0.00	3507.2	3530.4	3484.0	1559.6	3912.1	17.02	-14.51	41	234.75	0.00	0.00	2.69	0.000	0.000	0.072	3507.28	3530.94	3483.62	1560.06	2724.25	0	0	0	30.00	30.00	15.77
418.71	516	-136.71	-1.87	-80.00	3508.0	3532.7	3483.2	1560.5	2724.2	40.98	-12.31	79	425.46	0.00	0.00	3.41	0.000	0.000	0.125	3508.78	3533.38	3484.19	1559.44	1280.06	0	0	0	30.00	30.00	15.79
488.87	1028	-136.71	-1.87	0.00	3509.2	3534.4	3484.0	1559.6	1280.4	50.20	-12.98	93	494.84	0.00	0.00	3.36	0.000	0.000	0.067	3509.84	3534.31	3485.38	1559.81	2769.44	0	0	0	30.00	30.00	15.83
678.89	260	-136.71	-1.87	80.00	3508.9	3534.2	3483.6	1559.9	2768.4	74.50	-13.57	113	684.61	0.00	0.00	2.71	0.000	0.000	0.125	3509.41	3534.94	3483.88	1560.00	3911.44	0	0	0	30.00	30.00	15.83
738.91	1028	-136.71	-1.87	0.00	3508.8	3533.9	3483.6	1560.7	3911.6	83.71	-15.20	125	744.53	0.00	0.00	2.66	0.000	0.000	0.070	3509.06	3534.69	3483.44	1560.50	2723.38	0	0	0	30.00	30.00	15.87
928.94	260	-136.71	-1.87	80.00	3508.5	3534.0	3483.0	1560.2	2724.3	110.22	-14.02	145	934.65	0.00	0.00	2.81	0.000	0.000	0.122	3509.00	3534.06	3483.94	1560.38	3912.69	0	0	0	30.00	30.00	15.85
963.21	1028	-136.71	-1.87	0.00	3508.9	3534.9	3483.0	1559.6	3912.3	115.70	-15.95	152	970.29	0.00	0.00	2.68	0.000	0.000	0.071	3508.72	3533.56	3483.88	1560.25	2724.88	0	0	0	30.00	30.00	15.88
1159.01	260	-136.71	-1.87	80.00	3509.3	3534.2	3484.4	1560.3	2724.9	145.51	-15.91	172	1164.89	0.00	0.00	2.82	0.000	0.000	0.123	3510.06	3536.00	3484.12	1560.19	3913.19	0	0	0	30.00	30.00	15.86
1213.32	1028	-136.71	-1.87	0.00	3508.2	3533.2	3483.2	1560.6	3912.7	154.84	-16.99	183	1220.52	0.00	0.00	2.67	0.000	0.000	0.073	3509.25	3535.06	3483.44	1560.31	2726.50	0	0	0	30.00	30.00	15.91
1249	end dive: TARGET_DEPTH_EXCEEDED
state	1249	begin apogee
1250.54	10243	0.00	-0.31	0.00	3509.6	3534.2	3485.1	1560.2	2575.7	160.40	-15.90	187	1359.39	98.84	2.64	0.07	1.338	0.177	0.261	2947.84	3010.62	2885.06	1938.38	2622.38	0	0	0	11.98	15.86	15.49
1372	end apogee: CONTROL_FINISHED_OK
state	1372	begin climb
1373.12	10243	136.71	1.87	0.00	2947.2	3009.8	2884.6	1938.6	2622.6	164.04	0.00	197	1487.15	101.87	3.56	0.00	1.301	0.095	0.000	2352.66	2386.75	2318.56	2471.25	2623.12	0	0	0	11.76	15.53	30.00
1670.62	16646	136.71	1.87	80.00	2383.0	2453.6	2312.4	2471.8	2621.4	112.62	21.11	227	1676.58	0.00	0.00	3.10	0.000	0.000	0.120	2383.12	2453.38	2312.88	2473.00	3910.31	0	0	0	30.00	30.00	15.62
1700.62	17414	136.71	1.87	0.00	2383.7	2453.9	2313.5	2471.5	3911.9	105.79	23.18	233	1706.58	0.00	0.00	3.06	0.000	0.000	0.070	2384.28	2455.38	2313.19	2471.56	2576.69	0	0	0	30.00	30.00	15.67
1890.40	16646	136.71	1.87	80.00	2382.9	2452.9	2312.9	2471.8	2576.9	65.35	20.54	253	1896.66	0.00	0.00	3.19	0.000	0.000	0.121	2384.62	2453.50	2315.75	2472.94	3912.44	0	0	0	30.00	30.00	15.74
1934.91	17414	136.71	1.87	0.00	2381.7	2450.8	2312.5	2472.1	3911.1	55.43	22.19	262	1942.35	0.00	0.00	3.04	0.000	0.000	0.071	2381.28	2449.06	2313.50	2472.94	2577.94	0	0	0	30.00	30.00	15.79
2126.91	16902	136.71	1.87	-80.00	2381.7	2450.3	2313.1	2472.8	2578.4	17.01	18.28	297	2133.77	0.00	0.00	3.34	0.000	0.000	0.133	2380.88	2448.19	2313.56	2472.69	1187.56	0	0	0	30.00	30.00	15.82
2152.25	17414	136.71	1.87	0.00	2380.7	2448.8	2312.5	2473.1	1187.9	12.34	18.41	302	2159.07	0.00	0.00	3.21	0.000	0.000	0.063	2378.25	2446.00	2310.50	2472.31	2624.19	0	0	0	30.00	30.00	15.85
2223	end climb: SURFACE_DEPTH_REACHED
state	2223	begin surface coast
2243	end surface coast: CONTROL_FINISHED_OK
state	2243	begin surface