Glider dive log

HoodCanal May22 * SG241 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 241 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 2 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 4 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 603.25 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 -1.4

D_TGT 120 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 160 COMM_SEQ 15 C_VBD 3000 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 LOGGERS 7

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 40 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 55 T_RSLEEP 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 69

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 210 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3628 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1700 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 37

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 3 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 25 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.149931 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 22.400084 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 -188.51822 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72520 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 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 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3820 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 4 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 120 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 603.25

ALTIM_SENSITIVITY 2 FG_AHR_10V 18.149931 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 22.400084 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 3628 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 210 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 15 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 40

COMPASS2_DEVICE -1 ID 241 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 69 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH 1700 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 55

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -188.51822 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 3

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 3000 LOGGERS 7 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 -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 72520 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 3 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3820 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 0

DIVE 4 MISSION 2 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 160 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 200522,184108,4736.404,-12256.698,2,1.5,4,15.5 TGT_RADIUS 100.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 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 200522,184544,4736.387,-12256.679,3,1.4,4,15.5 MHEAD_RNG_PITCHd_Wd 199.7,822,-17.6,-10.000,-21.21,2209,0.128

SPEED_LIMITS 0.173,0.258 D_GRID 167

TGT_NAME S IRON 1.000000,0.011876,-0.024098,0.018030,1.101978,-0.053189,0.018497,-0.066216,1.038001,486.614777,-1255.638062,-269.222809

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653074411,67.2,0,stop FG_AHR_10Vo 18.172

FINISH 0.4,1.020466 MEM0 60148,1,0,0

SM_CCo 2864.91,225.90,0.940,0,541.7,621.2,462.1,603.02 MEM1 65508,1,0,0

SM_GC 1.54,225.90,11.45,0.09,0.940,0.085,0.146,541.7,621.2,462.1,194.1,2115.4,0,0,0,11.38,15.88,15.92 MEM2 945020,25,101848,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12950,478

IRIDIUM_FIX 4736.00,-12258.89,200522,184211 CAP_FILE_SIZE 161658,0

TCM_TEMP 12.67 SDSIZE 3887104,3873344

SC_FREEKB 3877504 SDFILEDIR 59,1

RAFOS_CLK -1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 SOUNDSPEED 1465.0

HUMID 48.29 CURRENT 0.071, 75.3,1

TEMP 9.97 MAGCAL 1.000000,0.023740,-0.052181,-0.000202,1.085052,-0.066461,0.050954,-0.062757,1.056049,515.0,-1264.5,-256.8,35,0.0323,0

INTERNAL_PRESSURE 8.06741 IMPLIED_C_PITCH 1773,16.54,306,0.0,0.00

_24V_AH 14.77,2.445 IMPLIED_C_VBD 2881,25.729074,306,0

_10V_AH 14.82,0.000 GPS 200522,193439,4736.161,-12256.786,10,1.3,13,15.5

FG_AHR_24Vo 22.564

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 672 1117 11098.83 nil 0 0 0.00

Pitch_motor 25 287 108.42 nil 0 0 0.00

Roll_motor 57 190 160.60 nil 0 0 0.00

Iridium 155 203 467.17 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.87 nil 0 0 0.00

Core 1860 5 141.16 SciCon 2625 7 273.13

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1041 0 4.94

Compass 985 5 73.03

RAFOS 1265 40 750.40

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

6.51 16386 -146.63 -0.88 0.00 538.8 613.2 464.4 196.0 2113.2 0.00 0.00 0 125.87 116.54 0.00 0.00 0.005 0.000 0.000 3042.41 3011.56 3073.25 196.12 2112.69 0 0 0 15.82 30.00 30.00

126.11 18727 -146.63 -0.88 80.00 3041.5 3010.4 3072.6 195.9 2112.4 3.28 -2.73 23 162.22 17.98 9.98 3.70 0.006 0.287 0.112 3597.53 3588.75 3606.31 1486.06 3618.00 0 0 0 15.88 15.67 15.78

390.25 3205 -146.63 -0.74 0.00 3598.3 3591.1 3605.5 1485.8 3618.1 36.90 -13.70 76 395.99 0.00 0.23 3.45 0.000 0.194 0.056 3598.84 3591.69 3606.00 1521.56 2119.12 0 0 0 30.00 15.81 15.90

580.29 420 -146.63 -0.77 80.00 3598.4 3595.0 3601.8 1521.6 2118.9 54.77 -9.02 114 585.98 0.00 0.00 3.65 0.000 0.000 0.112 3598.28 3595.25 3601.31 1521.69 3618.56 0 0 0 30.00 30.00 15.92

635.27 1156 -146.63 -0.74 0.00 3598.3 3595.3 3601.4 1521.4 3618.7 60.46 -10.48 125 640.95 0.00 0.00 3.43 0.000 0.000 0.055 3599.31 3596.12 3602.50 1521.75 2119.50 0 0 0 30.00 30.00 15.96

822.67 420 -146.63 -0.79 80.00 3598.8 3595.9 3601.6 1520.4 2120.6 77.24 -9.20 161 828.35 0.00 0.00 3.64 0.000 0.000 0.112 3599.06 3596.19 3601.94 1521.62 3616.69 0 0 0 30.00 30.00 15.93

847.63 1028 -146.63 -0.79 0.00 3598.5 3595.6 3601.4 1521.4 3616.2 79.87 -10.14 166 853.33 0.00 0.00 3.42 0.000 0.000 0.053 3599.25 3596.12 3602.38 1521.31 2115.50 0 0 0 30.00 30.00 15.96

1037.73 4517 -146.63 -0.85 80.00 3598.7 3595.9 3601.5 1520.9 2115.8 97.41 -9.15 204 1043.50 0.00 0.26 3.65 0.000 0.101 0.113 3600.28 3597.19 3603.38 1483.06 3617.94 0 0 0 30.00 15.95 15.95

1097.72 3205 -146.63 -0.73 0.00 3598.7 3595.4 3602.0 1483.6 3617.8 104.84 -12.96 216 1102.77 0.00 0.34 3.42 0.000 0.183 0.054 3599.38 3596.62 3602.12 1523.25 2116.69 0 0 0 30.00 15.93 15.98

1268 end dive: TARGET_DEPTH_EXCEEDED

state 1268 begin apogee

1268.87 10243 0.00 -0.20 0.00 3599.3 3596.3 3602.3 1523.9 2180.6 120.19 -8.67 234 1380.05 106.00 0.87 0.10 1.118 0.160 0.191 3000.25 3051.25 2949.25 1652.94 2116.44 0 0 0 11.37 15.92 15.61

1381 end apogee: CONTROL_FINISHED_OK

state 1381 begin climb

1380.88 10759 146.63 0.88 -80.00 2998.8 3050.8 2946.9 1652.8 2115.4 124.55 0.00 245 1497.87 108.93 1.78 3.68 1.067 0.136 0.124 2402.41 2471.81 2333.00 1915.00 684.56 0 0 0 11.33 15.59 15.39

1520.17 11431 249.31 1.17 0.00 2399.6 2468.1 2331.1 1914.6 684.6 118.94 5.24 272 1603.48 77.04 0.44 3.52 1.034 0.080 0.054 1981.25 2071.75 1890.75 1992.69 2174.94 0 0 0 11.22 15.47 15.48

1905.89 388 249.31 1.28 80.00 1976.6 2061.1 1892.1 1991.8 2175.7 81.64 10.07 336 1911.59 0.00 0.00 3.58 0.000 0.000 0.119 1976.44 2061.00 1891.88 1991.69 3615.19 0 0 0 30.00 30.00 15.70

1950.90 19591 249.31 1.33 0.00 1974.0 2056.5 1891.6 1991.7 3614.1 76.58 11.43 345 1956.64 0.00 0.19 3.47 0.000 0.102 0.055 1974.03 2056.94 1891.12 2029.75 2122.44 0 0 0 30.00 15.74 15.75

2140.91 16902 249.31 1.33 -80.00 1974.1 2056.6 1891.7 2029.9 2122.1 53.85 12.16 383 2146.63 0.00 0.00 3.56 0.000 0.000 0.121 1974.09 2056.62 1891.56 2029.88 682.12 0 0 0 30.00 30.00 15.82

2160.93 17414 249.31 1.33 0.00 1974.4 2056.8 1892.0 2030.2 682.4 51.15 13.01 387 2166.62 0.00 0.00 3.41 0.000 0.000 0.053 1974.72 2056.81 1892.62 2030.62 2174.88 0 0 0 30.00 30.00 15.86

2350.94 16902 249.31 1.33 -80.00 1974.0 2056.6 1891.3 2031.1 2175.2 27.00 12.41 425 2356.68 0.00 0.00 3.65 0.000 0.000 0.116 1974.81 2057.44 1892.19 2030.75 683.38 0 0 0 30.00 30.00 15.89

2375.97 17542 249.31 1.28 0.00 1974.2 2056.4 1891.9 2030.2 683.6 23.57 13.46 430 2381.63 0.00 0.00 3.40 0.000 0.000 0.054 1974.47 2056.44 1892.50 2030.81 2174.69 0 0 0 30.00 30.00 15.93

2566.00 8614 275.32 1.35 80.00 1974.1 2056.6 1891.6 2030.3 2174.7 3.24 8.80 468 2586.43 19.81 0.00 0.00 0.929 0.000 0.000 1878.78 1966.38 1791.19 2030.62 2174.62 0 0 0 11.43 30.00 30.00

2586 end climb: SURFACE_DEPTH_REACHED

state 2586 begin surface coast

2616 end surface coast: CONTROL_FINISHED_OK

state 2616 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	2	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	4	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	603.25	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	-1.4
D_TGT	120	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	160	COMM_SEQ	15	C_VBD	3000	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	LOGGERS	7
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	40	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	55	T_RSLEEP	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	69
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	210	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3628	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1700	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	37
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	3	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	25	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.149931	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	22.400084	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	-188.51822	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72520	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	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	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3820	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	200522,184108,4736.404,-12256.698,2,1.5,4,15.5	TGT_RADIUS	100.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	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	200522,184544,4736.387,-12256.679,3,1.4,4,15.5	MHEAD_RNG_PITCHd_Wd	199.7,822,-17.6,-10.000,-21.21,2209,0.128
SPEED_LIMITS	0.173,0.258	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.011876,-0.024098,0.018030,1.101978,-0.053189,0.018497,-0.066216,1.038001,486.614777,-1255.638062,-269.222809
TGT_LATLONG	4736.000,-12257.000

NAV	1653074411,67.2,0,stop	FG_AHR_10Vo	18.172
FINISH	0.4,1.020466	MEM0	60148,1,0,0
SM_CCo	2864.91,225.90,0.940,0,541.7,621.2,462.1,603.02	MEM1	65508,1,0,0
SM_GC	1.54,225.90,11.45,0.09,0.940,0.085,0.146,541.7,621.2,462.1,194.1,2115.4,0,0,0,11.38,15.88,15.92	MEM2	945020,25,101848,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12950,478
IRIDIUM_FIX	4736.00,-12258.89,200522,184211	CAP_FILE_SIZE	161658,0
TCM_TEMP	12.67	SDSIZE	3887104,3873344
SC_FREEKB	3877504	SDFILEDIR	59,1
RAFOS_CLK	-1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	48.29	CURRENT	0.071, 75.3,1
TEMP	9.97	MAGCAL	1.000000,0.023740,-0.052181,-0.000202,1.085052,-0.066461,0.050954,-0.062757,1.056049,515.0,-1264.5,-256.8,35,0.0323,0
INTERNAL_PRESSURE	8.06741	IMPLIED_C_PITCH	1773,16.54,306,0.0,0.00
_24V_AH	14.77,2.445	IMPLIED_C_VBD	2881,25.729074,306,0
_10V_AH	14.82,0.000	GPS	200522,193439,4736.161,-12256.786,10,1.3,13,15.5
FG_AHR_24Vo	22.564

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	672	1117	11098.83	nil	0	0	0.00
Pitch_motor	25	287	108.42	nil	0	0	0.00
Roll_motor	57	190	160.60	nil	0	0	0.00
Iridium	155	203	467.17	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.87	nil	0	0	0.00
Core	1860	5	141.16	SciCon	2625	7	273.13
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1041	0	4.94
Compass	985	5	73.03
RAFOS	1265	40	750.40
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
6.51	16386	-146.63	-0.88	0.00	538.8	613.2	464.4	196.0	2113.2	0.00	0.00	0	125.87	116.54	0.00	0.00	0.005	0.000	0.000	3042.41	3011.56	3073.25	196.12	2112.69	0	0	0	15.82	30.00	30.00
126.11	18727	-146.63	-0.88	80.00	3041.5	3010.4	3072.6	195.9	2112.4	3.28	-2.73	23	162.22	17.98	9.98	3.70	0.006	0.287	0.112	3597.53	3588.75	3606.31	1486.06	3618.00	0	0	0	15.88	15.67	15.78
390.25	3205	-146.63	-0.74	0.00	3598.3	3591.1	3605.5	1485.8	3618.1	36.90	-13.70	76	395.99	0.00	0.23	3.45	0.000	0.194	0.056	3598.84	3591.69	3606.00	1521.56	2119.12	0	0	0	30.00	15.81	15.90
580.29	420	-146.63	-0.77	80.00	3598.4	3595.0	3601.8	1521.6	2118.9	54.77	-9.02	114	585.98	0.00	0.00	3.65	0.000	0.000	0.112	3598.28	3595.25	3601.31	1521.69	3618.56	0	0	0	30.00	30.00	15.92
635.27	1156	-146.63	-0.74	0.00	3598.3	3595.3	3601.4	1521.4	3618.7	60.46	-10.48	125	640.95	0.00	0.00	3.43	0.000	0.000	0.055	3599.31	3596.12	3602.50	1521.75	2119.50	0	0	0	30.00	30.00	15.96
822.67	420	-146.63	-0.79	80.00	3598.8	3595.9	3601.6	1520.4	2120.6	77.24	-9.20	161	828.35	0.00	0.00	3.64	0.000	0.000	0.112	3599.06	3596.19	3601.94	1521.62	3616.69	0	0	0	30.00	30.00	15.93
847.63	1028	-146.63	-0.79	0.00	3598.5	3595.6	3601.4	1521.4	3616.2	79.87	-10.14	166	853.33	0.00	0.00	3.42	0.000	0.000	0.053	3599.25	3596.12	3602.38	1521.31	2115.50	0	0	0	30.00	30.00	15.96
1037.73	4517	-146.63	-0.85	80.00	3598.7	3595.9	3601.5	1520.9	2115.8	97.41	-9.15	204	1043.50	0.00	0.26	3.65	0.000	0.101	0.113	3600.28	3597.19	3603.38	1483.06	3617.94	0	0	0	30.00	15.95	15.95
1097.72	3205	-146.63	-0.73	0.00	3598.7	3595.4	3602.0	1483.6	3617.8	104.84	-12.96	216	1102.77	0.00	0.34	3.42	0.000	0.183	0.054	3599.38	3596.62	3602.12	1523.25	2116.69	0	0	0	30.00	15.93	15.98
1268	end dive: TARGET_DEPTH_EXCEEDED
state	1268	begin apogee
1268.87	10243	0.00	-0.20	0.00	3599.3	3596.3	3602.3	1523.9	2180.6	120.19	-8.67	234	1380.05	106.00	0.87	0.10	1.118	0.160	0.191	3000.25	3051.25	2949.25	1652.94	2116.44	0	0	0	11.37	15.92	15.61
1381	end apogee: CONTROL_FINISHED_OK
state	1381	begin climb
1380.88	10759	146.63	0.88	-80.00	2998.8	3050.8	2946.9	1652.8	2115.4	124.55	0.00	245	1497.87	108.93	1.78	3.68	1.067	0.136	0.124	2402.41	2471.81	2333.00	1915.00	684.56	0	0	0	11.33	15.59	15.39
1520.17	11431	249.31	1.17	0.00	2399.6	2468.1	2331.1	1914.6	684.6	118.94	5.24	272	1603.48	77.04	0.44	3.52	1.034	0.080	0.054	1981.25	2071.75	1890.75	1992.69	2174.94	0	0	0	11.22	15.47	15.48
1905.89	388	249.31	1.28	80.00	1976.6	2061.1	1892.1	1991.8	2175.7	81.64	10.07	336	1911.59	0.00	0.00	3.58	0.000	0.000	0.119	1976.44	2061.00	1891.88	1991.69	3615.19	0	0	0	30.00	30.00	15.70
1950.90	19591	249.31	1.33	0.00	1974.0	2056.5	1891.6	1991.7	3614.1	76.58	11.43	345	1956.64	0.00	0.19	3.47	0.000	0.102	0.055	1974.03	2056.94	1891.12	2029.75	2122.44	0	0	0	30.00	15.74	15.75
2140.91	16902	249.31	1.33	-80.00	1974.1	2056.6	1891.7	2029.9	2122.1	53.85	12.16	383	2146.63	0.00	0.00	3.56	0.000	0.000	0.121	1974.09	2056.62	1891.56	2029.88	682.12	0	0	0	30.00	30.00	15.82
2160.93	17414	249.31	1.33	0.00	1974.4	2056.8	1892.0	2030.2	682.4	51.15	13.01	387	2166.62	0.00	0.00	3.41	0.000	0.000	0.053	1974.72	2056.81	1892.62	2030.62	2174.88	0	0	0	30.00	30.00	15.86
2350.94	16902	249.31	1.33	-80.00	1974.0	2056.6	1891.3	2031.1	2175.2	27.00	12.41	425	2356.68	0.00	0.00	3.65	0.000	0.000	0.116	1974.81	2057.44	1892.19	2030.75	683.38	0	0	0	30.00	30.00	15.89
2375.97	17542	249.31	1.28	0.00	1974.2	2056.4	1891.9	2030.2	683.6	23.57	13.46	430	2381.63	0.00	0.00	3.40	0.000	0.000	0.054	1974.47	2056.44	1892.50	2030.81	2174.69	0	0	0	30.00	30.00	15.93
2566.00	8614	275.32	1.35	80.00	1974.1	2056.6	1891.6	2030.3	2174.7	3.24	8.80	468	2586.43	19.81	0.00	0.00	0.929	0.000	0.000	1878.78	1966.38	1791.19	2030.62	2174.62	0	0	0	11.43	30.00	30.00
2586	end climb: SURFACE_DEPTH_REACHED
state	2586	begin surface coast
2616	end surface coast: CONTROL_FINISHED_OK
state	2616	begin surface