Glider dive log

Shilshole 12May23 * SG244 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 244 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2125 ALTIM_PULSE 3

MISSION 2 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 4 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 4 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 637.77997 ROLL_MAXERRORS 1 XPDR_INT 13.5

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 13

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT 2.3

D_ABORT 165 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3200 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 360 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 65 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

USE_BATHY -6 PITCH_MIN 200 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1500 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 3 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 15 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 2.2399924 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 5.4109635 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.0049999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -192.66873 SEABIRD_T_J 4.3e-06

MASS 72540 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022440785 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 16388 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 230 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3835 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2125 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 4 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 2.2399924 PHONE_SUPPLY 2 SM_CC 637.77997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 5.4109635 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.0049999999 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 15 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAX 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 244 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 16388 INT_PRESSURE_YINT 2.3 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1500 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022440785 T_MISSION 65

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -192.66873 T_NO_W 60

C_ROLL_CLIMB 2125 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2125 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3200 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72540 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 3 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 11 ROLL_MAX 3835 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 360

DIVE 4 MISSION 2 ROLL_MIN 230 W_ADJ_DBAND 0

D_ABORT 165 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 13.5

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 13

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 120523,184726,4743.235,-12224.461,1,1.0,30,15.3 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.94 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -39.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 120523,185015,4743.202,-12224.468,2,1.0,3,15.3 MHEAD_RNG_PITCHd_Wd 326.3,863,-17.6,-10.000,-21.21,2209,0.240

SPEED_LIMITS 0.173,0.258 D_GRID 176

TGT_NAME NW IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,657.000000,-321.000000,-254.000000

TGT_LATLONG 4743.500,-12225.000 OSC 8000266

Post-dive calculations and measurements:

FINISH 0.7,1.020519 FG_AHR_10Vo 2.240

SURF forcing MEM0 60116,1,0,0

SM_CCo 3356.70,264.23,0.724,0,597.7,527.6,667.7,638.35 MEM1 65508,1,0,0

SM_GC 1.07,264.23,10.73,3.31,0.724,0.074,0.022,597.7,527.6,667.7,185.2,2099.2,0,0,0,11.16,15.66,15.73 MEM2 995972,27,50696,68

SUPER 216,215,0,0,27,71 DATA_FILE_SIZE 12920,467

IRIDIUM_FIX 4744.47,-12222.38,120523,184424 CAP_FILE_SIZE 192588,0

TCM_TEMP 18.14 SDSIZE 3887104,3873984

SC_FREEKB 3877728 SDFILEDIR 52,5

RAFOS_CLK -3 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

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

HUMID 61.55 CURRENT 0.048, 54.5,1

TEMP 10.04 MAGCAL 1.000000,0.035647,-0.038082,0.010128,1.015579,-0.112473,0.060517,-0.064459,0.947897,688.6,-247.9,-195.9,25,0.0315,0

INTERNAL_PRESSURE 8.26418 IMPLIED_C_PITCH 1534,16.55,228,0.0,0.00

_24V_AH 14.81,1.061 IMPLIED_C_VBD 3286,27.239786,228,0

_10V_AH 14.90,0.000 GPS 120523,194706,4743.577,-12224.518,2,1.2,4,15.3

FG_AHR_24Vo 5.537

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 635 911 8573.42 nil 0 0 0.00

Pitch_motor 22 222 75.81 nil 0 0 0.00

Roll_motor 69 210 216.04 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 12 15 2.85 nil 0 0 0.00

Core 1749 5 133.47 SciCon 3036 7 343.12

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1344 0 6.41

Compass 964 5 71.82

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.83 16386 -146.63 -1.35 0.00 599.7 536.0 663.4 183.8 2092.2 0.00 0.00 0 112.31 95.69 0.00 0.00 0.005 0.000 0.000 3023.66 3004.06 3043.25 183.88 2093.00 0 0 0 15.73 30.00 30.00

112.90 18727 -146.63 -1.35 80.00 3025.6 3004.1 3047.1 183.5 2092.6 3.28 -2.46 19 159.18 22.09 7.07 3.57 0.006 0.223 0.087 3797.34 3766.12 3828.56 1125.50 3592.88 0 0 0 15.75 15.52 15.61

177.97 3205 -146.63 -1.29 0.00 3799.7 3768.9 3830.4 1125.5 3592.5 9.03 -10.11 30 186.29 0.00 0.44 3.30 0.000 0.159 0.021 3799.31 3768.56 3830.06 1189.25 2098.50 0 0 0 30.00 15.76 15.66

370.09 420 -146.63 -1.27 80.00 3804.4 3770.9 3837.9 1188.9 2098.5 26.11 -8.63 68 378.04 0.00 0.00 3.56 0.000 0.000 0.085 3804.81 3771.00 3838.62 1189.19 3592.69 0 0 0 30.00 30.00 15.62

596.08 1156 -146.63 -1.23 0.00 3804.1 3770.8 3837.4 1188.9 3592.4 52.35 -11.49 113 604.71 0.00 0.00 3.32 0.000 0.000 0.021 3804.97 3771.88 3838.06 1188.62 2097.31 0 0 0 30.00 30.00 15.70

791.87 644 -146.63 -1.21 -80.00 3804.5 3770.8 3838.1 1189.0 2097.2 73.09 -10.49 133 800.23 0.00 0.00 3.52 0.000 0.000 0.116 3805.50 3771.75 3839.25 1188.75 658.06 0 0 0 30.00 30.00 15.62

859.02 3205 -146.63 -1.18 0.00 3804.4 3770.9 3837.9 1188.9 658.6 81.11 -12.13 146 867.49 0.00 0.17 3.36 0.000 0.166 0.034 3805.88 3772.81 3838.94 1215.56 2143.25 0 0 0 30.00 15.83 15.69

1054.12 420 -146.63 -1.16 80.00 3804.5 3770.5 3838.5 1215.6 2143.2 100.22 -9.77 166 1062.30 0.00 0.00 3.43 0.000 0.000 0.093 3803.91 3769.81 3838.00 1215.50 3590.25 0 0 0 30.00 30.00 15.65

1131.09 1156 -146.63 -1.13 0.00 3804.3 3770.6 3838.0 1216.1 3590.4 109.00 -11.80 181 1139.18 0.00 0.00 3.30 0.000 0.000 0.020 3804.88 3771.06 3838.69 1216.00 2098.56 0 0 0 30.00 30.00 15.72

1326.20 420 -146.63 -1.12 80.00 3804.2 3770.2 3838.1 1215.9 2098.3 128.88 -9.94 201 1334.47 0.00 0.00 3.56 0.000 0.000 0.090 3805.09 3771.94 3838.25 1215.88 3590.25 0 0 0 30.00 30.00 15.66

1443.27 1156 -146.63 -1.10 0.00 3804.5 3770.7 3838.3 1215.9 3590.4 143.04 -12.42 224 1451.45 0.00 0.00 3.31 0.000 0.000 0.022 3803.78 3769.81 3837.75 1216.06 2099.44 0 0 0 30.00 30.00 15.71

1518 end dive: TARGET_DEPTH_EXCEEDED

state 1518 begin apogee

1519.85 10243 0.00 -0.33 0.00 3804.6 3770.8 3838.5 1216.0 2143.6 150.73 -9.64 232 1630.93 98.74 1.38 0.07 0.911 0.122 0.211 3197.00 3143.94 3250.06 1421.12 2100.88 0 0 0 10.81 15.83 15.58

1632 end apogee: CONTROL_FINISHED_OK

state 1632 begin climb

1632.24 10759 146.63 1.35 -80.00 3196.6 3143.2 3250.0 1421.3 2100.8 154.29 0.00 242 1756.43 101.33 2.67 3.67 0.883 0.072 0.119 2599.56 2525.94 2673.19 1831.12 657.00 0 0 0 11.20 15.39 15.12

1774.46 1156 146.63 1.33 0.00 2595.1 2526.1 2664.1 1831.4 656.9 144.50 11.78 267 1783.18 0.00 0.00 3.45 0.000 0.000 0.035 2596.50 2528.56 2664.44 1831.00 2141.75 0 0 0 30.00 30.00 15.24

1970.22 16774 146.63 1.32 80.00 2592.1 2522.5 2661.7 1831.4 2141.4 119.75 12.97 287 1978.59 0.00 0.00 3.52 0.000 0.000 0.097 2589.94 2521.06 2658.81 1831.25 3589.69 0 0 0 30.00 30.00 15.36

2047.36 17542 146.63 1.29 0.00 2591.6 2522.5 2660.6 1831.1 3590.2 108.44 15.68 302 2055.56 0.00 0.00 3.33 0.000 0.000 0.023 2590.34 2521.44 2659.25 1830.44 2100.44 0 0 0 30.00 30.00 15.46

2242.39 16774 146.63 1.28 80.00 2590.7 2521.8 2659.7 1831.1 2100.4 81.92 13.43 322 2250.75 0.00 0.00 3.60 0.000 0.000 0.093 2589.75 2520.75 2658.75 1831.00 3589.19 0 0 0 30.00 30.00 15.46

2389.54 21639 146.63 1.26 0.00 2590.4 2521.9 2658.9 1831.3 3589.2 60.38 14.68 351 2398.11 0.00 0.26 3.32 0.000 0.192 0.023 2587.94 2519.62 2656.25 1799.25 2101.00 0 0 0 30.00 15.65 15.56

2579.64 8870 173.12 1.30 -80.00 2589.8 2520.8 2658.9 1799.4 2100.9 42.74 8.77 378 2609.56 19.34 0.00 3.57 0.729 0.000 0.118 2493.31 2413.19 2573.44 1799.62 657.19 0 0 0 11.18 30.00 15.45

2693.18 1028 173.12 1.30 0.00 2488.6 2412.2 2564.9 1800.2 656.8 30.85 10.32 400 2701.30 0.00 0.00 3.42 0.000 0.000 0.037 2488.66 2412.19 2565.12 1799.94 2143.06 0 0 0 30.00 30.00 15.55

2885.09 10663 220.90 1.37 80.00 2487.8 2410.6 2565.0 1800.1 2143.2 15.82 7.79 438 2931.68 33.83 0.24 3.53 0.732 0.062 0.099 2295.88 2205.12 2386.62 1842.31 3590.25 0 0 0 11.19 15.80 15.43

3015 end climb: SURFACE_DEPTH_REACHED

state 3015 begin surface coast

3035 end surface coast: CONTROL_FINISHED_OK

state 3035 begin surface

ID	244	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2125	ALTIM_PULSE	3
MISSION	2	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	4	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	4	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	637.77997	ROLL_MAXERRORS	1	XPDR_INT	13.5
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	13
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	2.3
D_ABORT	165	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3200	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	360	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	65	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
USE_BATHY	-6	PITCH_MIN	200	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1500	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	3	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	15	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	2.2399924	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	5.4109635	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0049999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-192.66873	SEABIRD_T_J	4.3e-06
MASS	72540	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022440785	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	16388	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	230	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3835	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2125	ALTIM_FREQUENCY	13

GPS1	120523,184726,4743.235,-12224.461,1,1.0,30,15.3	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.94	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-39.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	120523,185015,4743.202,-12224.468,2,1.0,3,15.3	MHEAD_RNG_PITCHd_Wd	326.3,863,-17.6,-10.000,-21.21,2209,0.240
SPEED_LIMITS	0.173,0.258	D_GRID	176
TGT_NAME	NW	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,657.000000,-321.000000,-254.000000
TGT_LATLONG	4743.500,-12225.000	OSC	8000266

FINISH	0.7,1.020519	FG_AHR_10Vo	2.240
SURF	forcing	MEM0	60116,1,0,0
SM_CCo	3356.70,264.23,0.724,0,597.7,527.6,667.7,638.35	MEM1	65508,1,0,0
SM_GC	1.07,264.23,10.73,3.31,0.724,0.074,0.022,597.7,527.6,667.7,185.2,2099.2,0,0,0,11.16,15.66,15.73	MEM2	995972,27,50696,68
SUPER	216,215,0,0,27,71	DATA_FILE_SIZE	12920,467
IRIDIUM_FIX	4744.47,-12222.38,120523,184424	CAP_FILE_SIZE	192588,0
TCM_TEMP	18.14	SDSIZE	3887104,3873984
SC_FREEKB	3877728	SDFILEDIR	52,5
RAFOS_CLK	-3	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	61.55	CURRENT	0.048, 54.5,1
TEMP	10.04	MAGCAL	1.000000,0.035647,-0.038082,0.010128,1.015579,-0.112473,0.060517,-0.064459,0.947897,688.6,-247.9,-195.9,25,0.0315,0
INTERNAL_PRESSURE	8.26418	IMPLIED_C_PITCH	1534,16.55,228,0.0,0.00
_24V_AH	14.81,1.061	IMPLIED_C_VBD	3286,27.239786,228,0
_10V_AH	14.90,0.000	GPS	120523,194706,4743.577,-12224.518,2,1.2,4,15.3
FG_AHR_24Vo	5.537

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	635	911	8573.42	nil	0	0	0.00
Pitch_motor	22	222	75.81	nil	0	0	0.00
Roll_motor	69	210	216.04	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	12	15	2.85	nil	0	0	0.00
Core	1749	5	133.47	SciCon	3036	7	343.12
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1344	0	6.41
Compass	964	5	71.82
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.83	16386	-146.63	-1.35	0.00	599.7	536.0	663.4	183.8	2092.2	0.00	0.00	0	112.31	95.69	0.00	0.00	0.005	0.000	0.000	3023.66	3004.06	3043.25	183.88	2093.00	0	0	0	15.73	30.00	30.00
112.90	18727	-146.63	-1.35	80.00	3025.6	3004.1	3047.1	183.5	2092.6	3.28	-2.46	19	159.18	22.09	7.07	3.57	0.006	0.223	0.087	3797.34	3766.12	3828.56	1125.50	3592.88	0	0	0	15.75	15.52	15.61
177.97	3205	-146.63	-1.29	0.00	3799.7	3768.9	3830.4	1125.5	3592.5	9.03	-10.11	30	186.29	0.00	0.44	3.30	0.000	0.159	0.021	3799.31	3768.56	3830.06	1189.25	2098.50	0	0	0	30.00	15.76	15.66
370.09	420	-146.63	-1.27	80.00	3804.4	3770.9	3837.9	1188.9	2098.5	26.11	-8.63	68	378.04	0.00	0.00	3.56	0.000	0.000	0.085	3804.81	3771.00	3838.62	1189.19	3592.69	0	0	0	30.00	30.00	15.62
596.08	1156	-146.63	-1.23	0.00	3804.1	3770.8	3837.4	1188.9	3592.4	52.35	-11.49	113	604.71	0.00	0.00	3.32	0.000	0.000	0.021	3804.97	3771.88	3838.06	1188.62	2097.31	0	0	0	30.00	30.00	15.70
791.87	644	-146.63	-1.21	-80.00	3804.5	3770.8	3838.1	1189.0	2097.2	73.09	-10.49	133	800.23	0.00	0.00	3.52	0.000	0.000	0.116	3805.50	3771.75	3839.25	1188.75	658.06	0	0	0	30.00	30.00	15.62
859.02	3205	-146.63	-1.18	0.00	3804.4	3770.9	3837.9	1188.9	658.6	81.11	-12.13	146	867.49	0.00	0.17	3.36	0.000	0.166	0.034	3805.88	3772.81	3838.94	1215.56	2143.25	0	0	0	30.00	15.83	15.69
1054.12	420	-146.63	-1.16	80.00	3804.5	3770.5	3838.5	1215.6	2143.2	100.22	-9.77	166	1062.30	0.00	0.00	3.43	0.000	0.000	0.093	3803.91	3769.81	3838.00	1215.50	3590.25	0	0	0	30.00	30.00	15.65
1131.09	1156	-146.63	-1.13	0.00	3804.3	3770.6	3838.0	1216.1	3590.4	109.00	-11.80	181	1139.18	0.00	0.00	3.30	0.000	0.000	0.020	3804.88	3771.06	3838.69	1216.00	2098.56	0	0	0	30.00	30.00	15.72
1326.20	420	-146.63	-1.12	80.00	3804.2	3770.2	3838.1	1215.9	2098.3	128.88	-9.94	201	1334.47	0.00	0.00	3.56	0.000	0.000	0.090	3805.09	3771.94	3838.25	1215.88	3590.25	0	0	0	30.00	30.00	15.66
1443.27	1156	-146.63	-1.10	0.00	3804.5	3770.7	3838.3	1215.9	3590.4	143.04	-12.42	224	1451.45	0.00	0.00	3.31	0.000	0.000	0.022	3803.78	3769.81	3837.75	1216.06	2099.44	0	0	0	30.00	30.00	15.71
1518	end dive: TARGET_DEPTH_EXCEEDED
state	1518	begin apogee
1519.85	10243	0.00	-0.33	0.00	3804.6	3770.8	3838.5	1216.0	2143.6	150.73	-9.64	232	1630.93	98.74	1.38	0.07	0.911	0.122	0.211	3197.00	3143.94	3250.06	1421.12	2100.88	0	0	0	10.81	15.83	15.58
1632	end apogee: CONTROL_FINISHED_OK
state	1632	begin climb
1632.24	10759	146.63	1.35	-80.00	3196.6	3143.2	3250.0	1421.3	2100.8	154.29	0.00	242	1756.43	101.33	2.67	3.67	0.883	0.072	0.119	2599.56	2525.94	2673.19	1831.12	657.00	0	0	0	11.20	15.39	15.12
1774.46	1156	146.63	1.33	0.00	2595.1	2526.1	2664.1	1831.4	656.9	144.50	11.78	267	1783.18	0.00	0.00	3.45	0.000	0.000	0.035	2596.50	2528.56	2664.44	1831.00	2141.75	0	0	0	30.00	30.00	15.24
1970.22	16774	146.63	1.32	80.00	2592.1	2522.5	2661.7	1831.4	2141.4	119.75	12.97	287	1978.59	0.00	0.00	3.52	0.000	0.000	0.097	2589.94	2521.06	2658.81	1831.25	3589.69	0	0	0	30.00	30.00	15.36
2047.36	17542	146.63	1.29	0.00	2591.6	2522.5	2660.6	1831.1	3590.2	108.44	15.68	302	2055.56	0.00	0.00	3.33	0.000	0.000	0.023	2590.34	2521.44	2659.25	1830.44	2100.44	0	0	0	30.00	30.00	15.46
2242.39	16774	146.63	1.28	80.00	2590.7	2521.8	2659.7	1831.1	2100.4	81.92	13.43	322	2250.75	0.00	0.00	3.60	0.000	0.000	0.093	2589.75	2520.75	2658.75	1831.00	3589.19	0	0	0	30.00	30.00	15.46
2389.54	21639	146.63	1.26	0.00	2590.4	2521.9	2658.9	1831.3	3589.2	60.38	14.68	351	2398.11	0.00	0.26	3.32	0.000	0.192	0.023	2587.94	2519.62	2656.25	1799.25	2101.00	0	0	0	30.00	15.65	15.56
2579.64	8870	173.12	1.30	-80.00	2589.8	2520.8	2658.9	1799.4	2100.9	42.74	8.77	378	2609.56	19.34	0.00	3.57	0.729	0.000	0.118	2493.31	2413.19	2573.44	1799.62	657.19	0	0	0	11.18	30.00	15.45
2693.18	1028	173.12	1.30	0.00	2488.6	2412.2	2564.9	1800.2	656.8	30.85	10.32	400	2701.30	0.00	0.00	3.42	0.000	0.000	0.037	2488.66	2412.19	2565.12	1799.94	2143.06	0	0	0	30.00	30.00	15.55
2885.09	10663	220.90	1.37	80.00	2487.8	2410.6	2565.0	1800.1	2143.2	15.82	7.79	438	2931.68	33.83	0.24	3.53	0.732	0.062	0.099	2295.88	2205.12	2386.62	1842.31	3590.25	0	0	0	11.19	15.80	15.43
3015	end climb: SURFACE_DEPTH_REACHED
state	3015	begin surface coast
3035	end surface coast: CONTROL_FINISHED_OK
state	3035	begin surface