Glider dive log

Shilshole 22Jun22 * SG237 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 237 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 7 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 5 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 595.40039 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 -1.7

D_TGT 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3150 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 131 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 0.0015 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 3

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 10 W_ADJ_DBAND 2 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 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 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 190 AH0_24V 510 NAV_DEVICE -1

USE_BATHY -6 PITCH_MAX 3000 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 1770 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 21

RELAUNCH 1 PITCH_GAIN 22 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 14.026634 SEABIRD_T_G 0.0044377348

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 3.1385162 SEABIRD_T_H 0.00065905828

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.8700548e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_YINT -148.41623 SEABIRD_T_J 3.7153247e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022584078 SEABIRD_C_G -10.010999

MASS 73807 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1.1050601

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0026294682

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00026764351

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 465 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3180 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 2400 ALTIM_FREQUENCY 14

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2050 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 5 SEABIRD_C_I -0.0026294682

AH0_24V 510 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00026764351

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0044377348

ALTIM_FREQUENCY 14 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00065905828

ALTIM_PING_DELTA 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_I 2.8700548e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 3.7153247e-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 595.40039

ALTIM_SENSITIVITY 2 FG_AHR_10V 14.026634 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 3.1385162 PITCH_ADJ_GAIN 0.015 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 22 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 3000 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 190 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 0.0015 T_DIVE 50

COMPASS2_DEVICE -1 ID 237 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 10

COMPASS_USE 49156 INT_PRESSURE_YINT -1.7 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1770 KALMAN_USE 2 PRESSURE_SLOPE 0.00022584078 T_MISSION 65

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -148.41623 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_CLIMB 2050 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2400 LOGGERDEVICE4 -1 RAFOS_DEVICE -1 T_TURN_SAMPINT -5

C_VBD 3150 LOGGERS 3 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 73807 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 3180 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 465 W_ADJ_DBAND 2

DIVE 4 MISSION 7 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE -1 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 -10.010999

D_NO_BLEED 50 NOCOMM_ACTION 131 SEABIRD_C_H 1.1050601

Pre-dive calculations and measurements:

GPS1 220622,194002,4742.402,-12225.391,1,1.5,5,15.4 TGT_RADIUS 100.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.86 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220622,194612,4742.329,-12225.446,3,1.5,6,15.4 MHEAD_RNG_PITCHd_Wd 13.8,2239,-17.6,-10.000,-21.21,2209,0.160

SPEED_LIMITS 0.173,0.258 D_GRID 181

TGT_NAME NW IRON 1.000000,-0.025709,0.001222,-0.066939,1.070865,0.003195,-0.020003,-0.020626,1.130183,-526.678894,-844.457458,-444.894592

TGT_LATLONG 4743.500,-12225.000

Post-dive calculations and measurements:

FINISH -0.0,1.018783 FG_AHR_10Vo 14.072

SM_CCo 3888.23,296.11,0.900,0,723.8,677.8,769.9,595.14 MEM0 60148,1,0,0

SM_GC 0.98,296.11,11.65,0.83,0.900,0.077,0.095,723.8,677.8,769.9,180.8,2413.1,0,0,0,12.51,15.87,15.90 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 994904,30,51584,74

IRIDIUM_FIX 4744.47,-12222.38,220622,194213 DATA_FILE_SIZE 16128,616

TCM_TEMP 14.47 CAP_FILE_SIZE 174254,0

XPDR_PINGS 7,13.0,11.5 SDSIZE 3887104,3877216

SC_FREEKB 3876544 SDFILEDIR 43,1

HUMID 49.08 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 10.86 CURRENT 0.133,219.0,1

INTERNAL_PRESSURE 8.58295 MAGCAL 1.000000,-0.036868,0.002032,-0.062403,1.117788,-0.039995,-0.051794,0.002521,1.209473,-545.6,-852.6,-492.8,36,0.0292,0

_24V_AH 14.77,1.054 IMPLIED_C_PITCH 1763,17.17,391,0.0,0.00

_10V_AH 14.78,0.000 IMPLIED_C_VBD 3129,42.660847,391,0

FG_AHR_24Vo 3.306 GPS 220622,205159,4742.416,-12225.322,2,1.5,30,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 719 1094 11638.32 nil 0 0 0.00

Pitch_motor 26 296 117.38 nil 0 0 0.00

Roll_motor 50 178 133.65 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 10.86 nil 0 0 0.00

GPS 14 15 3.31 nil 0 0 0.00

Core 2101 6 211.22 SciCon 3577 33 1790.54

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1519 2 44.90

Compass 1331 5 98.43

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

7.13 16386 -146.63 -1.02 0.00 719.3 670.9 767.7 189.8 2365.9 0.00 0.00 0 122.86 115.36 0.00 0.00 0.005 0.000 0.000 3147.59 3131.25 3163.94 189.81 2366.00 0 0 0 15.84 30.00 30.00

123.12 18983 -146.63 -1.02 -80.00 3145.6 3129.7 3161.6 189.5 2366.1 3.45 -2.45 22 159.83 16.85 11.13 3.71 0.006 0.297 0.086 3747.69 3718.00 3777.38 1522.31 930.81 0 0 0 15.85 15.69 15.80

187.96 1156 -146.63 -0.98 0.00 3748.1 3719.8 3776.4 1522.0 930.6 11.55 -12.08 35 193.69 0.00 0.00 3.68 0.000 0.000 0.065 3749.34 3720.69 3778.00 1522.62 2411.25 0 0 0 30.00 30.00 15.81

377.96 260 -146.63 -0.98 80.00 3748.5 3719.8 3777.1 1522.2 2409.5 31.13 -10.29 73 383.36 0.00 0.00 2.10 0.000 0.000 0.140 3748.69 3720.06 3777.31 1521.81 3186.19 0 0 0 30.00 30.00 15.89

557.97 1028 -146.63 -0.98 0.00 3748.6 3720.1 3777.2 1522.2 3186.3 52.53 -13.02 109 563.40 0.00 0.00 1.98 0.000 0.000 0.045 3750.06 3721.62 3778.50 1521.38 2355.62 0 0 0 30.00 30.00 15.90

748.02 292 -146.63 -0.98 80.00 3748.5 3719.4 3777.6 1522.3 2356.8 71.50 -7.96 147 753.51 0.00 0.00 2.25 0.000 0.000 0.135 3749.50 3720.81 3778.19 1522.75 3186.69 0 0 0 30.00 30.00 15.92

983.02 1028 -146.63 -0.98 0.00 3748.4 3719.4 3777.4 1522.4 3186.3 92.84 -10.66 194 988.41 0.00 0.00 1.98 0.000 0.000 0.046 3748.44 3719.31 3777.56 1521.81 2356.25 0 0 0 30.00 30.00 15.88

1178.06 260 -146.63 -0.98 80.00 3748.7 3719.5 3777.9 1522.1 2355.8 110.09 -9.15 222 1182.80 0.00 0.00 2.27 0.000 0.000 0.139 3750.62 3722.25 3779.00 1521.88 3185.62 0 0 0 30.00 30.00 15.84

1232.29 1028 -146.63 -0.98 0.00 3748.4 3719.4 3777.5 1521.9 3186.2 115.61 -9.95 233 1238.45 0.00 0.00 1.98 0.000 0.000 0.046 3748.94 3720.06 3777.81 1521.81 2356.00 0 0 0 30.00 30.00 15.98

1548.09 0 -146.63 -0.98 0.00 3749.0 3720.1 3777.8 1521.9 2356.1 141.00 -8.31 265 1549.43 0.00 0.00 0.00 0.000 0.000 0.000 3748.44 3719.31 3777.56 1522.06 2355.56 0 0 0 30.00 30.00 30.00

1658 end dive: TARGET_DEPTH_EXCEEDED

state 1658 begin apogee

1659.88 10243 0.00 -0.23 0.00 3748.7 3719.6 3777.8 1522.2 2013.3 150.52 -8.32 276 1770.61 107.22 1.35 0.11 1.095 0.146 0.179 3149.19 3133.75 3164.62 1716.44 2082.06 0 0 0 12.52 15.94 15.57

1771 end apogee: CONTROL_FINISHED_OK

state 1772 begin climb

1771.28 10759 146.63 1.02 -80.00 3148.0 3132.0 3164.0 1716.1 2082.0 152.88 0.00 287 1894.09 112.03 2.03 4.18 1.053 0.087 0.107 2551.47 2529.31 2573.62 2022.25 585.94 0 0 0 12.50 15.60 15.32

1967.24 17542 146.63 0.95 0.00 2542.9 2523.9 2562.0 2021.4 586.2 138.64 12.59 325 1972.21 0.00 0.00 3.70 0.000 0.000 0.055 2543.84 2525.50 2562.19 2021.62 2070.06 0 0 0 30.00 30.00 15.59

2277.27 21127 146.63 0.91 -80.00 2538.4 2516.7 2560.2 2021.1 2069.7 109.67 9.25 357 2283.40 0.00 0.34 4.01 0.000 0.191 0.102 2542.06 2520.25 2563.88 1984.75 584.50 0 0 0 30.00 15.76 15.73

2382.28 17414 146.63 0.91 0.00 2536.9 2516.4 2557.4 1984.5 584.7 99.75 9.53 378 2388.02 0.00 0.00 3.64 0.000 0.000 0.055 2540.12 2519.56 2560.69 1985.00 2070.12 0 0 0 30.00 30.00 15.84

2572.30 16386 146.63 0.91 0.00 2536.8 2515.2 2558.2 1984.1 2069.8 83.68 8.84 416 2576.53 0.00 0.00 0.00 0.000 0.000 0.000 2537.31 2516.31 2558.31 1984.56 2069.88 0 0 0 30.00 30.00 30.00

2757.34 10535 232.50 1.04 80.00 2536.3 2514.3 2558.2 1984.7 2069.6 70.99 6.02 453 2834.57 72.29 0.31 3.07 0.984 0.076 0.130 2200.56 2179.12 2222.00 2031.88 3185.62 0 0 0 12.54 15.90 15.54

2837.69 1028 232.50 1.04 0.00 2198.3 2177.2 2219.4 2031.9 3184.9 64.63 8.20 469 2843.31 0.00 0.00 2.91 0.000 0.000 0.047 2198.38 2177.19 2219.56 2031.88 2015.88 0 0 0 30.00 30.00 15.69

3027.71 16386 232.50 1.04 0.00 2191.5 2168.7 2214.3 2031.8 2015.3 47.47 9.57 507 3031.93 0.00 0.00 0.00 0.000 0.000 0.000 2191.53 2168.81 2214.25 2031.94 2014.94 0 0 0 30.00 30.00 30.00

3212.73 16386 232.50 1.04 0.00 2190.2 2166.8 2213.6 2032.1 2015.2 30.16 9.96 544 3216.95 0.00 0.00 0.00 0.000 0.000 0.000 2190.38 2167.25 2213.50 2031.75 2014.75 0 0 0 30.00 30.00 30.00

3397.77 16902 232.50 1.04 -80.00 2189.4 2166.1 2212.8 2031.9 2015.0 13.65 8.55 581 3404.31 0.00 0.00 3.85 0.000 0.000 0.107 2190.91 2168.19 2213.62 2031.31 584.44 0 0 0 30.00 30.00 15.73

3412.79 17414 232.50 1.04 0.00 2188.5 2166.1 2211.0 2031.5 584.6 12.14 9.25 584 3418.53 0.00 0.00 3.63 0.000 0.000 0.054 2189.75 2167.00 2212.50 2032.12 2071.06 0 0 0 30.00 30.00 15.84

3538 end climb: SURFACE_DEPTH_REACHED

state 3538 begin surface coast

3573 end surface coast: CONTROL_FINISHED_OK

state 3573 begin surface

ID	237	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	7	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	5	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	595.40039	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	-1.7
D_TGT	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3150	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	131	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	0.0015	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	3
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	10	W_ADJ_DBAND	2	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	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	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	190	AH0_24V	510	NAV_DEVICE	-1
USE_BATHY	-6	PITCH_MAX	3000	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	1770	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	21
RELAUNCH	1	PITCH_GAIN	22	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	14.026634	SEABIRD_T_G	0.0044377348
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	3.1385162	SEABIRD_T_H	0.00065905828
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.8700548e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-148.41623	SEABIRD_T_J	3.7153247e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022584078	SEABIRD_C_G	-10.010999
MASS	73807	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1.1050601
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0026294682
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00026764351
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	465	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3180	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	2400	ALTIM_FREQUENCY	14
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2050	ALTIM_PULSE	3

GPS1	220622,194002,4742.402,-12225.391,1,1.5,5,15.4	TGT_RADIUS	100.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.86	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220622,194612,4742.329,-12225.446,3,1.5,6,15.4	MHEAD_RNG_PITCHd_Wd	13.8,2239,-17.6,-10.000,-21.21,2209,0.160
SPEED_LIMITS	0.173,0.258	D_GRID	181
TGT_NAME	NW	IRON	1.000000,-0.025709,0.001222,-0.066939,1.070865,0.003195,-0.020003,-0.020626,1.130183,-526.678894,-844.457458,-444.894592
TGT_LATLONG	4743.500,-12225.000

FINISH	-0.0,1.018783	FG_AHR_10Vo	14.072
SM_CCo	3888.23,296.11,0.900,0,723.8,677.8,769.9,595.14	MEM0	60148,1,0,0
SM_GC	0.98,296.11,11.65,0.83,0.900,0.077,0.095,723.8,677.8,769.9,180.8,2413.1,0,0,0,12.51,15.87,15.90	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	994904,30,51584,74
IRIDIUM_FIX	4744.47,-12222.38,220622,194213	DATA_FILE_SIZE	16128,616
TCM_TEMP	14.47	CAP_FILE_SIZE	174254,0
XPDR_PINGS	7,13.0,11.5	SDSIZE	3887104,3877216
SC_FREEKB	3876544	SDFILEDIR	43,1
HUMID	49.08	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	10.86	CURRENT	0.133,219.0,1
INTERNAL_PRESSURE	8.58295	MAGCAL	1.000000,-0.036868,0.002032,-0.062403,1.117788,-0.039995,-0.051794,0.002521,1.209473,-545.6,-852.6,-492.8,36,0.0292,0
_24V_AH	14.77,1.054	IMPLIED_C_PITCH	1763,17.17,391,0.0,0.00
_10V_AH	14.78,0.000	IMPLIED_C_VBD	3129,42.660847,391,0
FG_AHR_24Vo	3.306	GPS	220622,205159,4742.416,-12225.322,2,1.5,30,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	719	1094	11638.32	nil	0	0	0.00
Pitch_motor	26	296	117.38	nil	0	0	0.00
Roll_motor	50	178	133.65	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	10.86	nil	0	0	0.00
GPS	14	15	3.31	nil	0	0	0.00
Core	2101	6	211.22	SciCon	3577	33	1790.54
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1519	2	44.90
Compass	1331	5	98.43
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
7.13	16386	-146.63	-1.02	0.00	719.3	670.9	767.7	189.8	2365.9	0.00	0.00	0	122.86	115.36	0.00	0.00	0.005	0.000	0.000	3147.59	3131.25	3163.94	189.81	2366.00	0	0	0	15.84	30.00	30.00
123.12	18983	-146.63	-1.02	-80.00	3145.6	3129.7	3161.6	189.5	2366.1	3.45	-2.45	22	159.83	16.85	11.13	3.71	0.006	0.297	0.086	3747.69	3718.00	3777.38	1522.31	930.81	0	0	0	15.85	15.69	15.80
187.96	1156	-146.63	-0.98	0.00	3748.1	3719.8	3776.4	1522.0	930.6	11.55	-12.08	35	193.69	0.00	0.00	3.68	0.000	0.000	0.065	3749.34	3720.69	3778.00	1522.62	2411.25	0	0	0	30.00	30.00	15.81
377.96	260	-146.63	-0.98	80.00	3748.5	3719.8	3777.1	1522.2	2409.5	31.13	-10.29	73	383.36	0.00	0.00	2.10	0.000	0.000	0.140	3748.69	3720.06	3777.31	1521.81	3186.19	0	0	0	30.00	30.00	15.89
557.97	1028	-146.63	-0.98	0.00	3748.6	3720.1	3777.2	1522.2	3186.3	52.53	-13.02	109	563.40	0.00	0.00	1.98	0.000	0.000	0.045	3750.06	3721.62	3778.50	1521.38	2355.62	0	0	0	30.00	30.00	15.90
748.02	292	-146.63	-0.98	80.00	3748.5	3719.4	3777.6	1522.3	2356.8	71.50	-7.96	147	753.51	0.00	0.00	2.25	0.000	0.000	0.135	3749.50	3720.81	3778.19	1522.75	3186.69	0	0	0	30.00	30.00	15.92
983.02	1028	-146.63	-0.98	0.00	3748.4	3719.4	3777.4	1522.4	3186.3	92.84	-10.66	194	988.41	0.00	0.00	1.98	0.000	0.000	0.046	3748.44	3719.31	3777.56	1521.81	2356.25	0	0	0	30.00	30.00	15.88
1178.06	260	-146.63	-0.98	80.00	3748.7	3719.5	3777.9	1522.1	2355.8	110.09	-9.15	222	1182.80	0.00	0.00	2.27	0.000	0.000	0.139	3750.62	3722.25	3779.00	1521.88	3185.62	0	0	0	30.00	30.00	15.84
1232.29	1028	-146.63	-0.98	0.00	3748.4	3719.4	3777.5	1521.9	3186.2	115.61	-9.95	233	1238.45	0.00	0.00	1.98	0.000	0.000	0.046	3748.94	3720.06	3777.81	1521.81	2356.00	0	0	0	30.00	30.00	15.98
1548.09	0	-146.63	-0.98	0.00	3749.0	3720.1	3777.8	1521.9	2356.1	141.00	-8.31	265	1549.43	0.00	0.00	0.00	0.000	0.000	0.000	3748.44	3719.31	3777.56	1522.06	2355.56	0	0	0	30.00	30.00	30.00
1658	end dive: TARGET_DEPTH_EXCEEDED
state	1658	begin apogee
1659.88	10243	0.00	-0.23	0.00	3748.7	3719.6	3777.8	1522.2	2013.3	150.52	-8.32	276	1770.61	107.22	1.35	0.11	1.095	0.146	0.179	3149.19	3133.75	3164.62	1716.44	2082.06	0	0	0	12.52	15.94	15.57
1771	end apogee: CONTROL_FINISHED_OK
state	1772	begin climb
1771.28	10759	146.63	1.02	-80.00	3148.0	3132.0	3164.0	1716.1	2082.0	152.88	0.00	287	1894.09	112.03	2.03	4.18	1.053	0.087	0.107	2551.47	2529.31	2573.62	2022.25	585.94	0	0	0	12.50	15.60	15.32
1967.24	17542	146.63	0.95	0.00	2542.9	2523.9	2562.0	2021.4	586.2	138.64	12.59	325	1972.21	0.00	0.00	3.70	0.000	0.000	0.055	2543.84	2525.50	2562.19	2021.62	2070.06	0	0	0	30.00	30.00	15.59
2277.27	21127	146.63	0.91	-80.00	2538.4	2516.7	2560.2	2021.1	2069.7	109.67	9.25	357	2283.40	0.00	0.34	4.01	0.000	0.191	0.102	2542.06	2520.25	2563.88	1984.75	584.50	0	0	0	30.00	15.76	15.73
2382.28	17414	146.63	0.91	0.00	2536.9	2516.4	2557.4	1984.5	584.7	99.75	9.53	378	2388.02	0.00	0.00	3.64	0.000	0.000	0.055	2540.12	2519.56	2560.69	1985.00	2070.12	0	0	0	30.00	30.00	15.84
2572.30	16386	146.63	0.91	0.00	2536.8	2515.2	2558.2	1984.1	2069.8	83.68	8.84	416	2576.53	0.00	0.00	0.00	0.000	0.000	0.000	2537.31	2516.31	2558.31	1984.56	2069.88	0	0	0	30.00	30.00	30.00
2757.34	10535	232.50	1.04	80.00	2536.3	2514.3	2558.2	1984.7	2069.6	70.99	6.02	453	2834.57	72.29	0.31	3.07	0.984	0.076	0.130	2200.56	2179.12	2222.00	2031.88	3185.62	0	0	0	12.54	15.90	15.54
2837.69	1028	232.50	1.04	0.00	2198.3	2177.2	2219.4	2031.9	3184.9	64.63	8.20	469	2843.31	0.00	0.00	2.91	0.000	0.000	0.047	2198.38	2177.19	2219.56	2031.88	2015.88	0	0	0	30.00	30.00	15.69
3027.71	16386	232.50	1.04	0.00	2191.5	2168.7	2214.3	2031.8	2015.3	47.47	9.57	507	3031.93	0.00	0.00	0.00	0.000	0.000	0.000	2191.53	2168.81	2214.25	2031.94	2014.94	0	0	0	30.00	30.00	30.00
3212.73	16386	232.50	1.04	0.00	2190.2	2166.8	2213.6	2032.1	2015.2	30.16	9.96	544	3216.95	0.00	0.00	0.00	0.000	0.000	0.000	2190.38	2167.25	2213.50	2031.75	2014.75	0	0	0	30.00	30.00	30.00
3397.77	16902	232.50	1.04	-80.00	2189.4	2166.1	2212.8	2031.9	2015.0	13.65	8.55	581	3404.31	0.00	0.00	3.85	0.000	0.000	0.107	2190.91	2168.19	2213.62	2031.31	584.44	0	0	0	30.00	30.00	15.73
3412.79	17414	232.50	1.04	0.00	2188.5	2166.1	2211.0	2031.5	584.6	12.14	9.25	584	3418.53	0.00	0.00	3.63	0.000	0.000	0.054	2189.75	2167.00	2212.50	2032.12	2071.06	0	0	0	30.00	30.00	15.84
3538	end climb: SURFACE_DEPTH_REACHED
state	3538	begin surface coast
3573	end surface coast: CONTROL_FINISHED_OK
state	3573	begin surface