Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 4 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 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 607.84076 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 -0.1

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3036.6265 DEEPGLIDERMB 0

D_NO_BLEED 500 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 0.5 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 55 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 1 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 60 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1790.4532 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 -1

RELAUNCH 1 PITCH_GAIN 17.878334 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.270123 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 6.2037048 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -156.68835 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72626 C_PITCH_AUTO_MAX 200 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

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 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 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 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 160 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-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 607.84076

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.270123 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.2037048 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 17.878334 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 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 55

COMPASS2_DEVICE -1 ID 240 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -0.1 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1790.4532 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.68835 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3036.6265 LOGGERS 7 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

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 72626 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 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 4 MISSION 4 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE 6 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

D_NO_BLEED 500 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 250522,043130,4736.734,-12256.407,1,0.9,2,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,043441,4736.771,-12256.355,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 197.3,1639,-17.1,-9.697,-20.82,2278,0.127

SPEED_LIMITS 0.168,0.255 D_GRID 168

TGT_NAME S IRON 1.000000,0.021666,-0.211803,-0.014919,1.114345,-0.056710,0.035927,-0.122675,1.056392,244.261414,-893.802490,-431.174347

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653456913,2.7,0,stop FG_AHR_10Vo 15.290

FREEZE 3.10,13.991,-1.432,0,1,0 MEM0 60132,1,0,0

SM_CCo 3935.43,161.68,0.916,0,500.6,527.5,473.6,621.94 MEM1 65508,1,0,0

SM_GC 1.74,0.00,12.60,1.03,0.000,0.066,0.076,497.9,525.9,469.8,196.4,2128.9,0,0,0,30.00,15.58,15.58 MEM2 944616,31,102112,61

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12917,531

IRIDIUM_FIX 4736.00,-12258.89,250522,032217 CAP_FILE_SIZE 352112,0

TCM_TEMP 17.59 SDSIZE 3887104,3870720

SC_FREEKB 3877504 SDFILEDIR 78,1

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 SOUNDSPEED 1465.0

HUMID 49.41 CURRENT 0.022,177.2,1

TEMP 10.20 MAGCAL 1.000000,0.003056,-0.171863,-0.012984,1.109803,-0.039462,0.035294,-0.081485,1.047058,199.2,-917.6,-453.2,20,0.0288,1

INTERNAL_PRESSURE 7.98837 IMPLIED_C_PITCH 1794,18.09,287,1792.3,17.98

_24V_AH 15.04,7.418 IMPLIED_C_VBD 2987,24.460867,287,3011.9

_10V_AH 15.00,0.000 GPS 250522,054331,4736.390,-12256.799,2,0.8,31,15.5

FG_AHR_24Vo 6.361

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 641 1139 10999.55 nil 0 0 0.00

Pitch_motor 30 253 115.65 nil 0 0 0.00

Roll_motor 60 190 172.98 nil 0 0 0.00

Iridium 123 229 426.66 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 2240 5 172.07 SciCon 3773 6 368.83

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1805 0 8.67

Compass 1079 5 80.98

RAFOS 600 40 360.27

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

6.75 16386 -146.63 -1.14 0.00 572.1 590.6 553.7 188.5 2132.7 0.00 0.00 0 66.10 56.40 0.00 0.00 0.005 0.000 0.000 2221.34 2268.94 2173.75 189.12 2133.44 0 0 0 15.78 30.00 30.00

66.41 18983 -146.63 -1.14 -80.00 2220.6 2267.1 2174.0 188.9 2133.4 3.08 -2.97 11 128.35 39.87 10.16 3.70 0.005 0.254 0.122 3631.31 3688.19 3574.44 1513.81 682.19 0 0 0 15.86 15.68 15.77

131.86 3237 -146.63 -0.76 0.00 3632.7 3689.1 3576.4 1513.9 681.9 7.86 -9.39 23 138.91 0.00 0.66 3.43 0.000 0.206 0.056 3633.06 3688.69 3577.44 1606.88 2172.94 0 0 0 30.00 15.74 15.82

319.82 420 -146.63 -0.79 80.00 3634.4 3690.4 3578.4 1606.7 2172.6 23.75 -7.37 60 326.51 0.00 0.00 3.59 0.000 0.000 0.127 3634.47 3690.50 3578.44 1606.88 3615.25 0 0 0 30.00 30.00 15.86

464.95 1060 -146.63 -0.79 0.00 3634.5 3690.1 3578.9 1606.9 3615.0 36.48 -8.87 89 471.72 0.00 0.00 3.54 0.000 0.000 0.055 3635.84 3691.06 3580.62 1607.00 2122.44 0 0 0 30.00 30.00 15.95

660.23 4257 -146.63 -0.87 0.00 3634.8 3690.9 3578.8 1607.4 2121.9 50.77 -7.12 127 662.05 0.00 0.25 0.00 0.000 0.082 0.000 3634.06 3690.31 3577.81 1563.00 2122.62 0 0 0 30.00 16.00 30.00

850.18 32 -146.63 -0.87 0.00 3635.0 3691.1 3579.0 1563.0 2121.7 67.35 -8.91 146 851.83 0.00 0.00 0.00 0.000 0.000 0.000 3634.84 3691.75 3577.94 1562.88 2122.06 0 0 0 30.00 30.00 30.00

1039.22 32 -146.63 -0.87 0.00 3635.6 3691.6 3579.6 1562.9 2122.1 84.39 -9.11 165 1040.79 0.00 0.00 0.00 0.000 0.000 0.000 3634.22 3690.62 3577.81 1562.81 2122.62 0 0 0 30.00 30.00 30.00

1229.25 32 -146.63 -0.87 0.00 3635.8 3691.4 3580.2 1563.1 2121.9 102.02 -8.85 184 1230.83 0.00 0.00 0.00 0.000 0.000 0.000 3634.94 3690.25 3579.62 1562.50 2122.06 0 0 0 30.00 30.00 30.00

1419.25 32 -146.63 -0.87 0.00 3635.9 3691.4 3580.4 1562.8 2122.3 119.42 -9.07 203 1420.82 0.00 0.00 0.00 0.000 0.000 0.000 3634.06 3689.62 3578.50 1562.75 2122.56 0 0 0 30.00 30.00 30.00

1609.31 292 -146.63 -0.87 80.00 3635.5 3690.9 3580.2 1562.8 2121.6 136.76 -9.12 222 1616.38 0.00 0.00 3.69 0.000 0.000 0.127 3635.47 3691.38 3579.56 1562.94 3615.56 0 0 0 30.00 30.00 16.08

1644.77 1028 -146.63 -0.87 0.00 3635.4 3691.0 3579.8 1563.2 3615.2 140.47 -10.43 229 1650.82 0.00 0.00 3.47 0.000 0.000 0.055 3636.16 3691.12 3581.19 1562.62 2122.50 0 0 0 30.00 30.00 16.12

1834.86 32 -146.63 -0.87 0.00 3635.3 3690.9 3579.7 1562.8 2121.9 158.43 -9.33 249 1836.42 0.00 0.00 0.00 0.000 0.000 0.000 3635.25 3691.56 3578.94 1562.88 2121.81 0 0 0 30.00 30.00 30.00

1855 end dive: TARGET_DEPTH_EXCEEDED

state 1855 begin apogee

1856.12 10243 0.00 -0.28 0.00 3635.2 3690.9 3579.6 1562.9 2179.3 160.35 -9.43 251 1965.89 102.06 1.14 0.10 1.139 0.155 0.191 3037.12 3092.44 2981.81 1723.38 2115.25 0 0 0 11.85 16.06 15.76

1967 end apogee: CONTROL_FINISHED_OK

state 1967 begin climb

1967.25 10243 146.63 1.14 0.00 3034.0 3089.8 2978.1 1723.4 2114.8 164.29 0.00 261 2082.45 105.65 2.36 0.00 1.104 0.123 0.000 2435.53 2503.38 2367.69 2066.31 2115.50 0 0 0 11.82 15.74 30.00

2269.00 644 146.63 1.04 -80.00 2431.3 2503.6 2359.1 2066.2 2114.9 135.97 11.97 292 2276.14 0.00 0.00 3.77 0.000 0.000 0.128 2429.53 2502.88 2356.19 2066.69 684.19 0 0 0 30.00 30.00 15.73

2364.62 21639 146.63 0.83 0.00 2428.8 2501.3 2356.3 2066.4 684.1 122.25 14.54 311 2372.03 0.00 0.62 3.46 0.000 0.163 0.061 2427.19 2499.00 2355.38 1982.50 2170.62 0 0 0 30.00 15.79 15.83

2559.68 10919 186.11 0.96 -80.00 2428.3 2500.8 2355.9 1982.4 2169.9 105.45 7.92 331 2600.83 29.68 0.32 3.91 1.020 0.076 0.126 2274.69 2350.81 2198.56 2034.94 683.06 0 0 0 11.86 15.92 15.78

2674.43 5253 186.11 0.87 0.00 2271.2 2348.9 2193.6 2035.1 683.3 92.16 12.65 353 2681.69 0.00 0.32 3.46 0.000 0.161 0.060 2269.59 2347.56 2191.62 1994.50 2168.81 0 0 0 30.00 15.82 15.87

2869.50 10919 220.23 1.02 -80.00 2269.7 2348.8 2190.7 1994.2 2168.0 75.41 8.16 373 2906.29 26.03 0.31 3.89 0.988 0.078 0.127 2136.78 2218.31 2055.25 2045.12 684.38 0 0 0 11.88 15.93 15.83

2949.79 5253 220.23 0.95 0.00 2133.5 2215.8 2051.2 2045.3 684.4 65.73 13.80 389 2956.99 0.00 0.25 3.45 0.000 0.160 0.060 2132.44 2215.56 2049.31 2011.62 2168.56 0 0 0 30.00 15.86 15.89

3139.87 10919 231.99 1.06 -80.00 2131.7 2215.6 2047.8 2012.0 2167.8 47.46 9.17 411 3158.55 10.37 0.25 3.86 0.855 0.081 0.126 2087.34 2170.94 2003.75 2056.12 684.25 0 0 0 11.90 15.96 15.88

3219.79 5253 231.99 0.99 0.00 2086.9 2171.3 2002.4 2055.7 684.3 37.46 13.31 426 3226.79 0.00 0.26 3.44 0.000 0.156 0.060 2087.47 2172.00 2002.94 2022.12 2170.56 0 0 0 30.00 15.91 15.95

3411.26 10919 237.37 1.10 -80.00 2085.6 2171.1 2000.1 2021.4 2170.3 18.79 9.46 462 3428.72 6.24 0.26 3.88 0.685 0.082 0.125 2066.12 2151.62 1980.62 2066.81 682.94 0 0 0 11.95 15.96 15.91

3462.19 1156 237.37 1.05 0.00 2065.6 2151.2 1980.0 2067.3 682.9 12.73 12.71 472 3468.90 0.00 0.00 3.44 0.000 0.000 0.059 2065.31 2151.12 1979.50 2067.12 2170.25 0 0 0 30.00 30.00 15.96

3652.73 10663 387.09 1.45 80.00 2064.2 2151.2 1977.3 2066.9 2170.1 3.30 2.97 510 3763.80 104.00 0.50 0.92 0.953 0.093 0.108 1457.84 1545.06 1370.62 2145.00 2552.50 0 0 0 11.99 16.00 15.69

3764 end climb: NO_VERTICAL_VELOCITY

state 3764 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	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	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	607.84076	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	-0.1
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3036.6265	DEEPGLIDERMB	0
D_NO_BLEED	500	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	0.5	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	55	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	1	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	60	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1790.4532	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	-1
RELAUNCH	1	PITCH_GAIN	17.878334	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.270123	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	6.2037048	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-156.68835	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022403029	SEABIRD_C_G	-10
MASS	72626	C_PITCH_AUTO_MAX	200	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
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	210	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3810	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	2150	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	250522,043130,4736.734,-12256.407,1,0.9,2,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,043441,4736.771,-12256.355,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	197.3,1639,-17.1,-9.697,-20.82,2278,0.127
SPEED_LIMITS	0.168,0.255	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.021666,-0.211803,-0.014919,1.114345,-0.056710,0.035927,-0.122675,1.056392,244.261414,-893.802490,-431.174347
TGT_LATLONG	4736.000,-12257.000

NAV	1653456913,2.7,0,stop	FG_AHR_10Vo	15.290
FREEZE	3.10,13.991,-1.432,0,1,0	MEM0	60132,1,0,0
SM_CCo	3935.43,161.68,0.916,0,500.6,527.5,473.6,621.94	MEM1	65508,1,0,0
SM_GC	1.74,0.00,12.60,1.03,0.000,0.066,0.076,497.9,525.9,469.8,196.4,2128.9,0,0,0,30.00,15.58,15.58	MEM2	944616,31,102112,61
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12917,531
IRIDIUM_FIX	4736.00,-12258.89,250522,032217	CAP_FILE_SIZE	352112,0
TCM_TEMP	17.59	SDSIZE	3887104,3870720
SC_FREEKB	3877504	SDFILEDIR	78,1
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	SOUNDSPEED	1465.0
HUMID	49.41	CURRENT	0.022,177.2,1
TEMP	10.20	MAGCAL	1.000000,0.003056,-0.171863,-0.012984,1.109803,-0.039462,0.035294,-0.081485,1.047058,199.2,-917.6,-453.2,20,0.0288,1
INTERNAL_PRESSURE	7.98837	IMPLIED_C_PITCH	1794,18.09,287,1792.3,17.98
_24V_AH	15.04,7.418	IMPLIED_C_VBD	2987,24.460867,287,3011.9
_10V_AH	15.00,0.000	GPS	250522,054331,4736.390,-12256.799,2,0.8,31,15.5
FG_AHR_24Vo	6.361

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	641	1139	10999.55	nil	0	0	0.00
Pitch_motor	30	253	115.65	nil	0	0	0.00
Roll_motor	60	190	172.98	nil	0	0	0.00
Iridium	123	229	426.66	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	2240	5	172.07	SciCon	3773	6	368.83
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1805	0	8.67
Compass	1079	5	80.98
RAFOS	600	40	360.27
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
6.75	16386	-146.63	-1.14	0.00	572.1	590.6	553.7	188.5	2132.7	0.00	0.00	0	66.10	56.40	0.00	0.00	0.005	0.000	0.000	2221.34	2268.94	2173.75	189.12	2133.44	0	0	0	15.78	30.00	30.00
66.41	18983	-146.63	-1.14	-80.00	2220.6	2267.1	2174.0	188.9	2133.4	3.08	-2.97	11	128.35	39.87	10.16	3.70	0.005	0.254	0.122	3631.31	3688.19	3574.44	1513.81	682.19	0	0	0	15.86	15.68	15.77
131.86	3237	-146.63	-0.76	0.00	3632.7	3689.1	3576.4	1513.9	681.9	7.86	-9.39	23	138.91	0.00	0.66	3.43	0.000	0.206	0.056	3633.06	3688.69	3577.44	1606.88	2172.94	0	0	0	30.00	15.74	15.82
319.82	420	-146.63	-0.79	80.00	3634.4	3690.4	3578.4	1606.7	2172.6	23.75	-7.37	60	326.51	0.00	0.00	3.59	0.000	0.000	0.127	3634.47	3690.50	3578.44	1606.88	3615.25	0	0	0	30.00	30.00	15.86
464.95	1060	-146.63	-0.79	0.00	3634.5	3690.1	3578.9	1606.9	3615.0	36.48	-8.87	89	471.72	0.00	0.00	3.54	0.000	0.000	0.055	3635.84	3691.06	3580.62	1607.00	2122.44	0	0	0	30.00	30.00	15.95
660.23	4257	-146.63	-0.87	0.00	3634.8	3690.9	3578.8	1607.4	2121.9	50.77	-7.12	127	662.05	0.00	0.25	0.00	0.000	0.082	0.000	3634.06	3690.31	3577.81	1563.00	2122.62	0	0	0	30.00	16.00	30.00
850.18	32	-146.63	-0.87	0.00	3635.0	3691.1	3579.0	1563.0	2121.7	67.35	-8.91	146	851.83	0.00	0.00	0.00	0.000	0.000	0.000	3634.84	3691.75	3577.94	1562.88	2122.06	0	0	0	30.00	30.00	30.00
1039.22	32	-146.63	-0.87	0.00	3635.6	3691.6	3579.6	1562.9	2122.1	84.39	-9.11	165	1040.79	0.00	0.00	0.00	0.000	0.000	0.000	3634.22	3690.62	3577.81	1562.81	2122.62	0	0	0	30.00	30.00	30.00
1229.25	32	-146.63	-0.87	0.00	3635.8	3691.4	3580.2	1563.1	2121.9	102.02	-8.85	184	1230.83	0.00	0.00	0.00	0.000	0.000	0.000	3634.94	3690.25	3579.62	1562.50	2122.06	0	0	0	30.00	30.00	30.00
1419.25	32	-146.63	-0.87	0.00	3635.9	3691.4	3580.4	1562.8	2122.3	119.42	-9.07	203	1420.82	0.00	0.00	0.00	0.000	0.000	0.000	3634.06	3689.62	3578.50	1562.75	2122.56	0	0	0	30.00	30.00	30.00
1609.31	292	-146.63	-0.87	80.00	3635.5	3690.9	3580.2	1562.8	2121.6	136.76	-9.12	222	1616.38	0.00	0.00	3.69	0.000	0.000	0.127	3635.47	3691.38	3579.56	1562.94	3615.56	0	0	0	30.00	30.00	16.08
1644.77	1028	-146.63	-0.87	0.00	3635.4	3691.0	3579.8	1563.2	3615.2	140.47	-10.43	229	1650.82	0.00	0.00	3.47	0.000	0.000	0.055	3636.16	3691.12	3581.19	1562.62	2122.50	0	0	0	30.00	30.00	16.12
1834.86	32	-146.63	-0.87	0.00	3635.3	3690.9	3579.7	1562.8	2121.9	158.43	-9.33	249	1836.42	0.00	0.00	0.00	0.000	0.000	0.000	3635.25	3691.56	3578.94	1562.88	2121.81	0	0	0	30.00	30.00	30.00
1855	end dive: TARGET_DEPTH_EXCEEDED
state	1855	begin apogee
1856.12	10243	0.00	-0.28	0.00	3635.2	3690.9	3579.6	1562.9	2179.3	160.35	-9.43	251	1965.89	102.06	1.14	0.10	1.139	0.155	0.191	3037.12	3092.44	2981.81	1723.38	2115.25	0	0	0	11.85	16.06	15.76
1967	end apogee: CONTROL_FINISHED_OK
state	1967	begin climb
1967.25	10243	146.63	1.14	0.00	3034.0	3089.8	2978.1	1723.4	2114.8	164.29	0.00	261	2082.45	105.65	2.36	0.00	1.104	0.123	0.000	2435.53	2503.38	2367.69	2066.31	2115.50	0	0	0	11.82	15.74	30.00
2269.00	644	146.63	1.04	-80.00	2431.3	2503.6	2359.1	2066.2	2114.9	135.97	11.97	292	2276.14	0.00	0.00	3.77	0.000	0.000	0.128	2429.53	2502.88	2356.19	2066.69	684.19	0	0	0	30.00	30.00	15.73
2364.62	21639	146.63	0.83	0.00	2428.8	2501.3	2356.3	2066.4	684.1	122.25	14.54	311	2372.03	0.00	0.62	3.46	0.000	0.163	0.061	2427.19	2499.00	2355.38	1982.50	2170.62	0	0	0	30.00	15.79	15.83
2559.68	10919	186.11	0.96	-80.00	2428.3	2500.8	2355.9	1982.4	2169.9	105.45	7.92	331	2600.83	29.68	0.32	3.91	1.020	0.076	0.126	2274.69	2350.81	2198.56	2034.94	683.06	0	0	0	11.86	15.92	15.78
2674.43	5253	186.11	0.87	0.00	2271.2	2348.9	2193.6	2035.1	683.3	92.16	12.65	353	2681.69	0.00	0.32	3.46	0.000	0.161	0.060	2269.59	2347.56	2191.62	1994.50	2168.81	0	0	0	30.00	15.82	15.87
2869.50	10919	220.23	1.02	-80.00	2269.7	2348.8	2190.7	1994.2	2168.0	75.41	8.16	373	2906.29	26.03	0.31	3.89	0.988	0.078	0.127	2136.78	2218.31	2055.25	2045.12	684.38	0	0	0	11.88	15.93	15.83
2949.79	5253	220.23	0.95	0.00	2133.5	2215.8	2051.2	2045.3	684.4	65.73	13.80	389	2956.99	0.00	0.25	3.45	0.000	0.160	0.060	2132.44	2215.56	2049.31	2011.62	2168.56	0	0	0	30.00	15.86	15.89
3139.87	10919	231.99	1.06	-80.00	2131.7	2215.6	2047.8	2012.0	2167.8	47.46	9.17	411	3158.55	10.37	0.25	3.86	0.855	0.081	0.126	2087.34	2170.94	2003.75	2056.12	684.25	0	0	0	11.90	15.96	15.88
3219.79	5253	231.99	0.99	0.00	2086.9	2171.3	2002.4	2055.7	684.3	37.46	13.31	426	3226.79	0.00	0.26	3.44	0.000	0.156	0.060	2087.47	2172.00	2002.94	2022.12	2170.56	0	0	0	30.00	15.91	15.95
3411.26	10919	237.37	1.10	-80.00	2085.6	2171.1	2000.1	2021.4	2170.3	18.79	9.46	462	3428.72	6.24	0.26	3.88	0.685	0.082	0.125	2066.12	2151.62	1980.62	2066.81	682.94	0	0	0	11.95	15.96	15.91
3462.19	1156	237.37	1.05	0.00	2065.6	2151.2	1980.0	2067.3	682.9	12.73	12.71	472	3468.90	0.00	0.00	3.44	0.000	0.000	0.059	2065.31	2151.12	1979.50	2067.12	2170.25	0	0	0	30.00	30.00	15.96
3652.73	10663	387.09	1.45	80.00	2064.2	2151.2	1977.3	2066.9	2170.1	3.30	2.97	510	3763.80	104.00	0.50	0.92	0.953	0.093	0.108	1457.84	1545.06	1370.62	2145.00	2552.50	0	0	0	11.99	16.00	15.69
3764	end climb: NO_VERTICAL_VELOCITY
state	3764	begin surface