Glider dive log

Shilshole 08Apr21 * SG249 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 249 ESCAPE_HEADING 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

MISSION 4 ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054949999 XPDR_VALID 4

DIVE 4 FIX_MISSING_TIMEOUT 0 ROLL_TIMEOUT 25 XPDR_INHIBIT 90

N_DIVES 4 TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 SM_CC 564.19 VBD_MIN 500 INT_PRESSURE_YINT -3

D_TGT 150 N_FILEKB 8 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 FILEMGR 0 C_VBD 2950 DEEPGLIDERMB 0

D_NO_BLEED 50 CALL_NDIVES 1 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOCOMM 1 VBD_TIMEOUT 540 DEVICE3 -1

D_PITCH 0 NOCOMM_ACTION 163 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 N_NOSURFACE 0 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CALL_TRIES 5 W_ADJ_DBAND 0 LOGGERS 7

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 DBDW 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 LOITER_W_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 50 CAPMAXSIZE 100000 LOITER_DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 T_GPS 5 LOITER_D_TOP 0 LOGGERDEVICE4 -1

T_ABORT 1440 N_GPS 100440 LOITER_D_BOTTOM 0 COMPASS_DEVICE 66

T_TURN 225 T_RSLEEP 3 LOITER_N_DIVE 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 33

T_NO_W 120 RAFOS_PEAK_OFFSET 0 AH0_24V 550 GPS_DEVICE 48

T_LOITER 0 RAFOS_CORR_THRESH 60 AH0_10V 0 RAFOS_DEVICE -1

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 MINV_24V 11 NETWORK_DEVICE -1

USE_BATHY -6 RAFOS_MMODEM 0 MINV_10V 11 PRESSURE_DEVICE 34

USE_ICE 0 PITCH_MIN 200 MAXI_24V 5 XPDR_DEVICE 21

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3600 MAXI_10V 1.5 SIM_W 0

D_OFFGRID 100 C_PITCH 2020 FG_AHR_10V 7.6615214 SEABIRD_T_G 0.0043000001

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_24V 11.80994 SEABIRD_T_H 0.00063999998

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

MAX_BUOY 150 PITCH_GAIN 25 PRESSURE_YINT -180.40829 SEABIRD_T_J 4.3e-06

GLIDE_SLOPE 30 PITCH_TIMEOUT 30 PRESSURE_SLOPE 0.00021665409 SEABIRD_C_G -10

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 16388 SEABIRD_C_H 1

RHO 1.023 PITCH_ADJ_GAIN 0.045000002 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

MASS 72565 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

NAV_MODE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_PROFILE 3.0

KALMAN_USE 2 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_XMITPROFILE 3.0

HD_A 0.003 ROLL_MAX 3825 ALTIM_PING_DEPTH 120 SC_NDIVE 1.0

HD_B 0.0099999998 ROLL_DEG 40 ALTIM_PING_DELTA 10

HD_C 1.6e-05 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

HEADING -1 C_ROLL_CLIMB 2100 ALTIM_PULSE 1

AH0_10V 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_H 0.00063999998

AH0_24V 550 D_SURF 2 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 SM_CC 564.19

ALTIM_PING_DEPTH 120 FERRY_MAX 45 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_PING_FIT 0 FG_AHR_10V 7.6615214 PITCH_ADJ_GAIN 0.045000002 STOP_T 0

ALTIM_PULSE 1 FG_AHR_24V 11.80994 PITCH_CNV 0.0041299998 STROBE 0

ALTIM_SENSITIVITY 3 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_MAX 3600 SURFACE_URGENCY_TRY 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MIN 200 TGT_DEFAULT_LAT 4736

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_TIMEOUT 30 TGT_DEFAULT_LON -12218

CALL_TRIES 5 HD_C 1.6e-05 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_WAIT 60 HEADING -1 PITCH_W_DBAND 0 T_BOOST 0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_W_GAIN 0 T_DIVE 50

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PRESSURE_DEVICE 34 T_EPIRB 0

CF8_MAXERRORS 20 ID 249 PRESSURE_SLOPE 0.00021665409 T_GPS 5

COMM_SEQ 0 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_YINT -180.40829 T_LOITER 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -3 PROTOCOL 9 T_MISSION 65

COMPASS_DEVICE 66 KALMAN_USE 2 RAFOS_CORR_THRESH 60 T_NO_W 120

COMPASS_USE 16388 LOGGERDEVICE1 7 RAFOS_DEVICE -1 T_RSLEEP 3

C_PITCH 2020 LOGGERDEVICE2 -1 RAFOS_HIT_WINDOW 3600 T_TURN 225

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 RAFOS_MMODEM 0 T_TURN_SAMPINT -5

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_PEAK_OFFSET 0 UNCOM_BLEED 20

C_VBD 2950 LOGGERS 7 RELAUNCH 1 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_DBDW 0 RHO 1.023 USE_BATHY -6

DEEPGLIDER 0 LOITER_D_BOTTOM 0 ROLL_ADJ_DBAND 0 USE_ICE 0

DEEPGLIDERMB 0 LOITER_D_TOP 0 ROLL_ADJ_GAIN 0 VBD_CNV -0.24529999

DEVICE1 -1 LOITER_N_DIVE 0 ROLL_CNV 0.054949999 VBD_DBAND 2

DEVICE2 -1 LOITER_W_DBAND 0 ROLL_DEG 40 VBD_LP_IGNORE 0

DEVICE3 -1 MASS 72565 ROLL_MAX 3825 VBD_MAX 3960

DEVICE4 -1 MAXI_10V 1.5 ROLL_MAXERRORS 1 VBD_MAXERRORS 1

DEVICE5 -1 MAXI_24V 5 ROLL_MIN 215 VBD_MIN 500

DEVICE6 -1 MAX_BUOY 150 ROLL_TIMEOUT 25 VBD_TIMEOUT 540

DIVE 4 MINV_10V 11 SC_NDIVE 1.0 W_ADJ_DBAND 0

D_ABORT 175 MINV_24V 11 SC_PROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 MISSION 4 SC_RECORDABOVE 2000.0 XPDR_INHIBIT 90

D_CALL 0 MOTHERBOARD 6 SC_XMITPROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SEABIRD_C_G -10 XPDR_REP 0

D_FLARE 3 NETWORK_DEVICE -1 SEABIRD_C_H 1 XPDR_VALID 4

D_NO_BLEED 50 NOCOMM_ACTION 163 SEABIRD_C_I -0.0020000001

D_OFFGRID 100 N_DIVES 4 SEABIRD_C_J 0.00019999999

D_PITCH 0 N_FILEKB 8 SEABIRD_T_G 0.0043000001

Pre-dive calculations and measurements:

GPS1 080421,190246,4743.928,-12224.506,1,0.7,2,15.5 TGT_RADIUS 100.000

_CALLS 5 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.92 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -43.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 080421,191251,4743.955,-12224.484,3,0.7,4,15.5 MHEAD_RNG_PITCHd_Wd 208.1,1059,-17.6,-10.000,-21.21

SPEED_LIMITS 0.173,0.258 D_GRID 174

TGT_NAME NW IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,720.400024,-378.500000,492.899994

TGT_LATLONG 4743.500,-12225.000

Post-dive calculations and measurements:

FINISH 1.9,1.022246 FG_AHR_10Vo 7.688

SM_CCo 3776.50,251.80,1.122,0,500.4,480.2,520.7,600.88 MEM0 60932,1,0,0

SM_GC 0.88,0.00,14.22,0.12,0.000,0.061,0.118,497.8,489.0,506.5,181.9,2050.4,0,0,0,30.00,15.59,15.60 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 998472,21,48456,61

IRIDIUM_FIX 4742.17,-12225.08,080421,190846 DATA_FILE_SIZE 16112,604

TCM_TEMP 268.67 CAP_FILE_SIZE 366889,0

XPDR_PINGS 2,13.0,10.5 SDSIZE 4028416,4017824

ALTIM_BOTTOM_PING 120.7,69.9 SDFILEDIR 47,1

SC_FREEKB 3876736 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.18 CURRENT 0.042,171.0,1

TEMP 82.63 MAGCAL 1.000000,0.066757,-0.486979,-0.006548,1.141704,-0.105037,0.284599,-0.123119,0.606751,1262.2,-315.9,630.6,16,0.0967,0

INTERNAL_PRESSURE 8.81684 IMPLIED_C_PITCH 2055,12.87,372

_24V_AH 14.92,9.192 IMPLIED_C_VBD 3006,84.607826,372

_10V_AH 15.00,0.000 GPS 080421,201816,4743.519,-12225.049,1,0.9,2,15.5

FG_AHR_24Vo 11.993

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 636 1348 12806.03 nil 0 0 0.00

Pitch_motor 36 262 141.69 nil 0 0 0.00

Roll_motor 31 171 81.50 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 6.27 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 1934 11 342.49 SciCon 3516 19 1023.95

LPSleep 2013 2 84.55 nil 0 0 0.00

Compass 702 5 52.70 nil 0 0 0.00

RAFOS 0 0 0.00

Transponder 2 30 0.90

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

8.22 16386 -146.63 -0.88 0.00 569.7 568.1 571.2 181.8 2156.4 0.00 0.00 0 136.86 124.43 0.00 0.16 0.005 0.000 0.169 3546.81 3696.81 3396.81 181.88 2047.12 0 0 0 15.99 30.00 15.97

139.01 2597 -146.63 -0.88 -40.00 3545.9 3696.4 3395.4 182.0 2046.5 3.34 -2.06 25 158.89 0.00 12.29 1.61 0.000 0.262 0.076 3547.88 3697.88 3397.88 1805.25 1349.94 0 0 0 30.00 15.96 16.03

162.51 3205 -146.63 0.61 0.00 3546.1 3696.9 3395.2 1805.0 1349.6 8.48 -16.57 29 172.19 0.00 2.42 1.73 0.000 0.139 0.036 3547.62 3697.12 3398.12 2167.75 2140.25 0 0 0 30.00 15.98 16.06

358.21 4773 -146.63 -0.57 -40.00 3546.9 3697.8 3396.1 2169.6 2139.8 16.07 -5.51 68 367.38 0.00 1.98 1.85 0.000 0.123 0.077 3547.84 3698.00 3397.69 1873.19 1351.19 0 0 0 30.00 16.07 16.06

462.84 5285 -146.63 -1.02 0.00 3546.1 3696.9 3395.4 1874.1 1351.2 21.89 -5.70 89 468.06 0.00 0.65 1.72 0.000 0.066 0.036 3546.38 3696.69 3396.06 1755.88 2141.12 0 0 0 30.00 16.07 16.10

652.91 32 -146.63 -1.02 0.00 3546.0 3696.1 3395.9 1755.9 2141.4 38.08 -9.08 127 657.12 0.00 0.00 0.00 0.000 0.000 0.000 3546.56 3696.81 3396.31 1756.44 2141.38 0 0 0 30.00 30.00 30.00

842.91 292 -146.63 -1.02 40.00 3546.2 3697.2 3395.2 1755.9 2141.2 54.67 -7.99 165 847.50 0.00 0.00 1.62 0.000 0.000 0.079 3546.09 3696.12 3396.06 1755.94 2846.38 0 0 0 30.00 30.00 16.12

857.52 1060 -146.63 -1.02 0.00 3546.2 3696.6 3395.8 1756.1 2846.8 55.92 -8.09 168 862.49 0.00 0.00 1.73 0.000 0.000 0.037 3546.66 3696.81 3396.50 1756.19 2053.50 0 0 0 30.00 30.00 16.13

1047.65 420 -146.63 -1.11 40.00 3546.4 3696.6 3396.2 1757.0 2053.6 71.91 -7.92 206 1052.53 0.00 0.00 1.83 0.000 0.000 0.073 3548.66 3699.12 3398.19 1755.81 2845.62 0 0 0 30.00 30.00 16.14

1147.97 1060 -146.63 -1.11 0.00 3546.8 3697.4 3396.2 1755.9 2846.0 79.61 -8.03 226 1152.53 0.00 0.00 1.72 0.000 0.000 0.036 3546.91 3697.38 3396.44 1756.00 2057.75 0 0 0 30.00 30.00 16.14

1337.60 32 -146.63 -1.11 0.00 3546.6 3696.8 3396.4 1756.3 2057.3 94.76 -7.67 264 1341.96 0.00 0.00 0.00 0.000 0.000 0.000 3546.16 3696.62 3395.69 1756.44 2057.69 0 0 0 30.00 30.00 30.00

1527.78 292 -146.63 -1.11 40.00 3546.4 3696.9 3395.9 1756.1 2057.8 111.63 -8.46 289 1532.50 0.00 0.00 1.83 0.000 0.000 0.074 3547.28 3697.81 3396.75 1755.62 2847.88 0 0 0 30.00 30.00 16.17

1538.05 1060 -146.63 -1.11 0.00 3545.9 3696.1 3395.8 1756.1 2847.9 112.50 -8.69 291 1542.48 0.00 0.00 1.73 0.000 0.000 0.037 3546.00 3696.81 3395.19 1756.00 2055.25 0 0 0 30.00 30.00 16.17

1847.80 4517 -146.63 -1.20 40.00 3546.1 3696.8 3395.3 1756.2 2055.4 142.63 -9.05 323 1852.55 0.00 0.19 1.82 0.000 0.091 0.074 3548.25 3697.81 3398.69 1709.81 2847.00 0 0 0 30.00 16.16 16.17

1921 end dive: TARGET_DEPTH_EXCEEDED

state 1921 begin apogee

1927.95 10243 0.00 -0.20 0.00 3546.0 3695.9 3396.1 1710.7 2059.4 150.45 -11.04 338 2031.11 97.89 1.81 0.12 1.348 0.155 0.172 2946.38 3035.12 2857.62 1974.06 2148.81 0 0 0 12.84 16.15 15.74

2033 end apogee: CONTROL_FINISHED_OK

state 2033 begin climb

2034.32 10759 146.63 0.88 -40.00 2947.5 3037.1 2857.9 1973.1 2149.4 154.76 0.00 348 2142.41 100.21 1.74 1.92 1.297 0.108 0.082 2348.66 2411.94 2285.38 2236.94 1353.44 0 0 0 12.75 15.77 15.50

2300.82 11431 235.78 1.28 0.00 2345.9 2414.2 2277.6 2236.6 1353.4 144.55 5.87 400 2369.44 62.33 0.60 1.75 1.268 0.070 0.037 1986.72 2059.31 1914.12 2339.62 2138.06 0 0 0 12.69 15.77 15.80

2673.06 16514 235.78 1.38 0.00 1980.0 2061.3 1898.8 2340.8 2138.4 108.95 11.11 444 2675.59 0.00 0.00 0.00 0.000 0.000 0.000 1979.00 2060.62 1897.38 2340.62 2138.25 0 0 0 30.00 30.00 30.00

2978.51 18823 235.78 1.52 40.00 1978.8 2061.1 1896.6 2340.5 2138.3 71.69 21.13 496 2983.11 0.00 0.29 1.65 0.000 0.079 0.082 1978.81 2061.38 1896.25 2399.50 2845.75 0 0 0 30.00 15.99 15.98

3078.55 17414 235.78 1.52 0.00 1978.6 2061.1 1896.1 2399.7 2844.9 60.38 11.43 516 3083.05 0.00 0.00 1.74 0.000 0.000 0.038 1978.88 2061.62 1896.12 2399.56 2059.88 0 0 0 30.00 30.00 16.03

3268.07 16902 235.78 1.52 -40.00 1978.5 2061.0 1895.9 2399.1 2060.2 33.55 13.68 554 3273.05 0.00 0.00 1.64 0.000 0.000 0.083 1978.91 2061.31 1896.50 2399.94 1352.50 0 0 0 30.00 30.00 15.99

3348.07 17414 235.78 1.52 0.00 1978.2 2060.9 1895.6 2400.3 1352.4 22.64 14.45 570 3353.06 0.00 0.00 1.72 0.000 0.000 0.037 1980.47 2063.44 1897.50 2397.88 2136.44 0 0 0 30.00 30.00 16.04

3507 end climb: SURFACE_DEPTH_REACHED

state 3507 begin surface coast

3517 end surface coast: CONTROL_FINISHED_OK

state 3517 begin surface

ID	249	ESCAPE_HEADING	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
MISSION	4	ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054949999	XPDR_VALID	4
DIVE	4	FIX_MISSING_TIMEOUT	0	ROLL_TIMEOUT	25	XPDR_INHIBIT	90
N_DIVES	4	TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	SM_CC	564.19	VBD_MIN	500	INT_PRESSURE_YINT	-3
D_TGT	150	N_FILEKB	8	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	FILEMGR	0	C_VBD	2950	DEEPGLIDERMB	0
D_NO_BLEED	50	CALL_NDIVES	1	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOCOMM	1	VBD_TIMEOUT	540	DEVICE3	-1
D_PITCH	0	NOCOMM_ACTION	163	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	N_NOSURFACE	0	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CALL_TRIES	5	W_ADJ_DBAND	0	LOGGERS	7
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	DBDW	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	LOITER_W_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	50	CAPMAXSIZE	100000	LOITER_DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	T_GPS	5	LOITER_D_TOP	0	LOGGERDEVICE4	-1
T_ABORT	1440	N_GPS	100440	LOITER_D_BOTTOM	0	COMPASS_DEVICE	66
T_TURN	225	T_RSLEEP	3	LOITER_N_DIVE	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	33
T_NO_W	120	RAFOS_PEAK_OFFSET	0	AH0_24V	550	GPS_DEVICE	48
T_LOITER	0	RAFOS_CORR_THRESH	60	AH0_10V	0	RAFOS_DEVICE	-1
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	MINV_24V	11	NETWORK_DEVICE	-1
USE_BATHY	-6	RAFOS_MMODEM	0	MINV_10V	11	PRESSURE_DEVICE	34
USE_ICE	0	PITCH_MIN	200	MAXI_24V	5	XPDR_DEVICE	21
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3600	MAXI_10V	1.5	SIM_W	0
D_OFFGRID	100	C_PITCH	2020	FG_AHR_10V	7.6615214	SEABIRD_T_G	0.0043000001
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_24V	11.80994	SEABIRD_T_H	0.00063999998
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
MAX_BUOY	150	PITCH_GAIN	25	PRESSURE_YINT	-180.40829	SEABIRD_T_J	4.3e-06
GLIDE_SLOPE	30	PITCH_TIMEOUT	30	PRESSURE_SLOPE	0.00021665409	SEABIRD_C_G	-10
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	16388	SEABIRD_C_H	1
RHO	1.023	PITCH_ADJ_GAIN	0.045000002	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
MASS	72565	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
NAV_MODE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_PROFILE	3.0
KALMAN_USE	2	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_XMITPROFILE	3.0
HD_A	0.003	ROLL_MAX	3825	ALTIM_PING_DEPTH	120	SC_NDIVE	1.0
HD_B	0.0099999998	ROLL_DEG	40	ALTIM_PING_DELTA	10
HD_C	1.6e-05	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
HEADING	-1	C_ROLL_CLIMB	2100	ALTIM_PULSE	1

GPS1	080421,190246,4743.928,-12224.506,1,0.7,2,15.5	TGT_RADIUS	100.000
_CALLS	5	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.92	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-43.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	080421,191251,4743.955,-12224.484,3,0.7,4,15.5	MHEAD_RNG_PITCHd_Wd	208.1,1059,-17.6,-10.000,-21.21
SPEED_LIMITS	0.173,0.258	D_GRID	174
TGT_NAME	NW	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,720.400024,-378.500000,492.899994
TGT_LATLONG	4743.500,-12225.000

FINISH	1.9,1.022246	FG_AHR_10Vo	7.688
SM_CCo	3776.50,251.80,1.122,0,500.4,480.2,520.7,600.88	MEM0	60932,1,0,0
SM_GC	0.88,0.00,14.22,0.12,0.000,0.061,0.118,497.8,489.0,506.5,181.9,2050.4,0,0,0,30.00,15.59,15.60	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	998472,21,48456,61
IRIDIUM_FIX	4742.17,-12225.08,080421,190846	DATA_FILE_SIZE	16112,604
TCM_TEMP	268.67	CAP_FILE_SIZE	366889,0
XPDR_PINGS	2,13.0,10.5	SDSIZE	4028416,4017824
ALTIM_BOTTOM_PING	120.7,69.9	SDFILEDIR	47,1
SC_FREEKB	3876736	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.18	CURRENT	0.042,171.0,1
TEMP	82.63	MAGCAL	1.000000,0.066757,-0.486979,-0.006548,1.141704,-0.105037,0.284599,-0.123119,0.606751,1262.2,-315.9,630.6,16,0.0967,0
INTERNAL_PRESSURE	8.81684	IMPLIED_C_PITCH	2055,12.87,372
_24V_AH	14.92,9.192	IMPLIED_C_VBD	3006,84.607826,372
_10V_AH	15.00,0.000	GPS	080421,201816,4743.519,-12225.049,1,0.9,2,15.5
FG_AHR_24Vo	11.993

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	636	1348	12806.03	nil	0	0	0.00
Pitch_motor	36	262	141.69	nil	0	0	0.00
Roll_motor	31	171	81.50	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	6.27	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	1934	11	342.49	SciCon	3516	19	1023.95
LPSleep	2013	2	84.55	nil	0	0	0.00
Compass	702	5	52.70	nil	0	0	0.00
RAFOS	0	0	0.00
Transponder	2	30	0.90
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
8.22	16386	-146.63	-0.88	0.00	569.7	568.1	571.2	181.8	2156.4	0.00	0.00	0	136.86	124.43	0.00	0.16	0.005	0.000	0.169	3546.81	3696.81	3396.81	181.88	2047.12	0	0	0	15.99	30.00	15.97
139.01	2597	-146.63	-0.88	-40.00	3545.9	3696.4	3395.4	182.0	2046.5	3.34	-2.06	25	158.89	0.00	12.29	1.61	0.000	0.262	0.076	3547.88	3697.88	3397.88	1805.25	1349.94	0	0	0	30.00	15.96	16.03
162.51	3205	-146.63	0.61	0.00	3546.1	3696.9	3395.2	1805.0	1349.6	8.48	-16.57	29	172.19	0.00	2.42	1.73	0.000	0.139	0.036	3547.62	3697.12	3398.12	2167.75	2140.25	0	0	0	30.00	15.98	16.06
358.21	4773	-146.63	-0.57	-40.00	3546.9	3697.8	3396.1	2169.6	2139.8	16.07	-5.51	68	367.38	0.00	1.98	1.85	0.000	0.123	0.077	3547.84	3698.00	3397.69	1873.19	1351.19	0	0	0	30.00	16.07	16.06
462.84	5285	-146.63	-1.02	0.00	3546.1	3696.9	3395.4	1874.1	1351.2	21.89	-5.70	89	468.06	0.00	0.65	1.72	0.000	0.066	0.036	3546.38	3696.69	3396.06	1755.88	2141.12	0	0	0	30.00	16.07	16.10
652.91	32	-146.63	-1.02	0.00	3546.0	3696.1	3395.9	1755.9	2141.4	38.08	-9.08	127	657.12	0.00	0.00	0.00	0.000	0.000	0.000	3546.56	3696.81	3396.31	1756.44	2141.38	0	0	0	30.00	30.00	30.00
842.91	292	-146.63	-1.02	40.00	3546.2	3697.2	3395.2	1755.9	2141.2	54.67	-7.99	165	847.50	0.00	0.00	1.62	0.000	0.000	0.079	3546.09	3696.12	3396.06	1755.94	2846.38	0	0	0	30.00	30.00	16.12
857.52	1060	-146.63	-1.02	0.00	3546.2	3696.6	3395.8	1756.1	2846.8	55.92	-8.09	168	862.49	0.00	0.00	1.73	0.000	0.000	0.037	3546.66	3696.81	3396.50	1756.19	2053.50	0	0	0	30.00	30.00	16.13
1047.65	420	-146.63	-1.11	40.00	3546.4	3696.6	3396.2	1757.0	2053.6	71.91	-7.92	206	1052.53	0.00	0.00	1.83	0.000	0.000	0.073	3548.66	3699.12	3398.19	1755.81	2845.62	0	0	0	30.00	30.00	16.14
1147.97	1060	-146.63	-1.11	0.00	3546.8	3697.4	3396.2	1755.9	2846.0	79.61	-8.03	226	1152.53	0.00	0.00	1.72	0.000	0.000	0.036	3546.91	3697.38	3396.44	1756.00	2057.75	0	0	0	30.00	30.00	16.14
1337.60	32	-146.63	-1.11	0.00	3546.6	3696.8	3396.4	1756.3	2057.3	94.76	-7.67	264	1341.96	0.00	0.00	0.00	0.000	0.000	0.000	3546.16	3696.62	3395.69	1756.44	2057.69	0	0	0	30.00	30.00	30.00
1527.78	292	-146.63	-1.11	40.00	3546.4	3696.9	3395.9	1756.1	2057.8	111.63	-8.46	289	1532.50	0.00	0.00	1.83	0.000	0.000	0.074	3547.28	3697.81	3396.75	1755.62	2847.88	0	0	0	30.00	30.00	16.17
1538.05	1060	-146.63	-1.11	0.00	3545.9	3696.1	3395.8	1756.1	2847.9	112.50	-8.69	291	1542.48	0.00	0.00	1.73	0.000	0.000	0.037	3546.00	3696.81	3395.19	1756.00	2055.25	0	0	0	30.00	30.00	16.17
1847.80	4517	-146.63	-1.20	40.00	3546.1	3696.8	3395.3	1756.2	2055.4	142.63	-9.05	323	1852.55	0.00	0.19	1.82	0.000	0.091	0.074	3548.25	3697.81	3398.69	1709.81	2847.00	0	0	0	30.00	16.16	16.17
1921	end dive: TARGET_DEPTH_EXCEEDED
state	1921	begin apogee
1927.95	10243	0.00	-0.20	0.00	3546.0	3695.9	3396.1	1710.7	2059.4	150.45	-11.04	338	2031.11	97.89	1.81	0.12	1.348	0.155	0.172	2946.38	3035.12	2857.62	1974.06	2148.81	0	0	0	12.84	16.15	15.74
2033	end apogee: CONTROL_FINISHED_OK
state	2033	begin climb
2034.32	10759	146.63	0.88	-40.00	2947.5	3037.1	2857.9	1973.1	2149.4	154.76	0.00	348	2142.41	100.21	1.74	1.92	1.297	0.108	0.082	2348.66	2411.94	2285.38	2236.94	1353.44	0	0	0	12.75	15.77	15.50
2300.82	11431	235.78	1.28	0.00	2345.9	2414.2	2277.6	2236.6	1353.4	144.55	5.87	400	2369.44	62.33	0.60	1.75	1.268	0.070	0.037	1986.72	2059.31	1914.12	2339.62	2138.06	0	0	0	12.69	15.77	15.80
2673.06	16514	235.78	1.38	0.00	1980.0	2061.3	1898.8	2340.8	2138.4	108.95	11.11	444	2675.59	0.00	0.00	0.00	0.000	0.000	0.000	1979.00	2060.62	1897.38	2340.62	2138.25	0	0	0	30.00	30.00	30.00
2978.51	18823	235.78	1.52	40.00	1978.8	2061.1	1896.6	2340.5	2138.3	71.69	21.13	496	2983.11	0.00	0.29	1.65	0.000	0.079	0.082	1978.81	2061.38	1896.25	2399.50	2845.75	0	0	0	30.00	15.99	15.98
3078.55	17414	235.78	1.52	0.00	1978.6	2061.1	1896.1	2399.7	2844.9	60.38	11.43	516	3083.05	0.00	0.00	1.74	0.000	0.000	0.038	1978.88	2061.62	1896.12	2399.56	2059.88	0	0	0	30.00	30.00	16.03
3268.07	16902	235.78	1.52	-40.00	1978.5	2061.0	1895.9	2399.1	2060.2	33.55	13.68	554	3273.05	0.00	0.00	1.64	0.000	0.000	0.083	1978.91	2061.31	1896.50	2399.94	1352.50	0	0	0	30.00	30.00	15.99
3348.07	17414	235.78	1.52	0.00	1978.2	2060.9	1895.6	2400.3	1352.4	22.64	14.45	570	3353.06	0.00	0.00	1.72	0.000	0.000	0.037	1980.47	2063.44	1897.50	2397.88	2136.44	0	0	0	30.00	30.00	16.04
3507	end climb: SURFACE_DEPTH_REACHED
state	3507	begin surface coast
3517	end surface coast: CONTROL_FINISHED_OK
state	3517	begin surface