Glider dive log

Shilshole 22Jun22 * SG237 * Dive index * Mission links * Dive 5 * 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 5 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 14.0731 SEABIRD_T_G 0.0044377348

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 3.3153629 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 14.0731 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 3.3153629 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 5 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 220622,205159,4742.416,-12225.322,2,1.5,30,15.4 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -52.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220622,205538,4742.364,-12225.346,2,0.6,4,15.4 MHEAD_RNG_PITCHd_Wd 9.9,2147,-17.6,-10.000,-21.21,2209,0.160

SPEED_LIMITS 0.173,0.258 D_GRID 180

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 -0.4,1.019506 FG_AHR_10Vo 14.119

SM_CCo 3836.09,244.45,0.897,0,724.0,680.6,767.4,595.10 MEM0 60148,1,0,0

SM_GC 0.95,244.45,11.90,0.99,0.897,0.070,0.091,724.0,680.6,767.4,176.9,2410.7,0,0,0,12.51,15.71,15.73 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 995024,24,51584,74

IRIDIUM_FIX 4741.80,-12232.20,220622,194415 DATA_FILE_SIZE 16124,614

TCM_TEMP 14.42 CAP_FILE_SIZE 161840,0

XPDR_PINGS 5,13.0,11.5 SDSIZE 3887104,3877024

SC_FREEKB 3875968 SDFILEDIR 49,1

HUMID 48.73 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 10.63 CURRENT 0.018,239.2,1

INTERNAL_PRESSURE 8.57866 MAGCAL 1.000000,-0.044561,0.059002,-0.070116,1.097552,0.006506,-0.081065,-0.042686,1.224331,-594.8,-899.1,-505.9,36,0.0276,0

_24V_AH 14.76,1.268 IMPLIED_C_PITCH 1758,17.08,391,0.0,0.00

_10V_AH 14.76,0.000 IMPLIED_C_VBD 3122,35.604950,391,0

FG_AHR_24Vo 3.483 GPS 220622,220006,4742.645,-12225.036,2,1.0,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 726 1105 11859.10 nil 0 0 0.00

Pitch_motor 27 301 122.09 nil 0 0 0.00

Roll_motor 43 189 122.24 nil 0 0 0.00

Iridium 162 210 503.52 nil 0 0 0.00

Transponder_ping 1 420 7.75 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 2310 6 231.85 SciCon 3588 33 1765.75

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1483 2 43.79

Compass 1349 5 99.61

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

7.19 16386 -146.63 -1.02 0.00 718.8 671.4 766.2 180.8 2365.5 0.00 0.00 0 116.81 109.07 0.00 0.00 0.005 0.000 0.000 3021.47 3006.69 3036.25 180.88 2365.50 0 0 0 15.65 30.00 30.00

117.07 18467 -146.63 -1.02 0.00 3020.5 3005.8 3035.1 180.7 2364.7 3.04 -2.14 21 154.08 22.40 11.39 0.00 0.006 0.302 0.000 3745.97 3716.69 3775.25 1522.12 2364.19 0 0 0 15.69 15.61 30.00

337.25 0 -146.63 -1.02 -80.00 3749.1 3721.8 3776.4 1521.9 2364.4 26.10 -11.76 65 341.46 0.00 0.00 0.00 0.000 0.000 0.000 3749.62 3721.44 3777.81 1522.50 2364.50 0 0 0 30.00 30.00 30.00

522.25 260 -146.63 -1.02 80.00 3749.5 3721.1 3778.0 1522.2 2364.1 46.08 -9.89 102 527.79 0.00 0.00 2.24 0.000 0.000 0.135 3750.66 3722.62 3778.69 1521.94 3186.88 0 0 0 30.00 30.00 15.85

607.30 1028 -146.63 -1.02 0.00 3749.4 3721.6 3777.3 1521.9 3187.8 54.97 -10.18 119 612.69 0.00 0.00 2.02 0.000 0.000 0.047 3749.38 3721.12 3777.62 1522.62 2357.44 0 0 0 30.00 30.00 15.79

797.38 388 -146.63 -1.05 80.00 3749.2 3720.9 3777.5 1522.3 2357.1 72.87 -8.89 157 802.82 0.00 0.00 2.24 0.000 0.000 0.132 3749.16 3721.12 3777.19 1522.19 3186.88 0 0 0 30.00 30.00 15.86

872.32 1028 -146.63 -1.05 0.00 3749.1 3721.1 3777.1 1522.5 3187.0 80.12 -10.04 172 877.70 0.00 0.00 2.00 0.000 0.000 0.046 3749.16 3720.81 3777.50 1522.38 2358.94 0 0 0 30.00 30.00 15.91

1063.35 260 -146.63 -1.05 80.00 3749.4 3720.8 3777.9 1522.4 2358.6 97.34 -8.18 210 1067.84 0.00 0.00 2.24 0.000 0.000 0.133 3749.72 3721.75 3777.69 1522.94 3186.00 0 0 0 30.00 30.00 15.92

1112.39 1028 -146.63 -1.05 0.00 3749.3 3721.2 3777.4 1522.0 3185.4 101.72 -9.06 220 1116.96 0.00 0.00 1.98 0.000 0.000 0.046 3750.56 3722.75 3778.38 1522.69 2359.75 0 0 0 30.00 30.00 15.95

1422.41 128 -146.63 -1.09 0.00 3749.1 3720.8 3777.4 1522.4 2360.2 129.85 -8.80 252 1423.75 0.00 0.00 0.00 0.000 0.000 0.000 3748.44 3720.31 3776.56 1522.38 2359.88 0 0 0 30.00 30.00 30.00

1683 end dive: TARGET_DEPTH_EXCEEDED

state 1683 begin apogee

1684.24 10243 0.00 -0.23 0.00 3749.3 3720.8 3777.8 1522.2 2014.6 150.72 -7.38 278 1794.90 108.25 1.35 0.10 1.106 0.146 0.190 3150.00 3135.12 3164.88 1717.62 2077.44 0 0 0 12.55 15.94 15.53

1796 end apogee: CONTROL_FINISHED_OK

state 1796 begin climb

1795.59 10759 146.63 1.02 -80.00 3147.3 3131.3 3163.4 1717.4 2076.9 152.74 0.00 289 1918.38 112.00 2.02 4.16 1.066 0.088 0.108 2548.16 2527.12 2569.19 2021.06 584.88 0 0 0 12.50 15.57 15.30

2095.79 17542 146.63 0.94 0.00 2540.2 2521.2 2559.1 2020.9 584.7 126.80 11.31 348 2102.29 0.00 0.00 3.69 0.000 0.000 0.058 2541.62 2522.50 2560.75 2021.19 2068.88 0 0 0 30.00 30.00 15.69

2406.58 20611 146.63 0.91 0.00 2537.6 2515.8 2559.4 2020.9 2069.1 98.39 8.54 381 2410.95 0.00 0.34 0.00 0.000 0.197 0.000 2541.19 2519.25 2563.12 1983.56 2069.44 0 0 0 30.00 15.77 30.00

2591.61 10791 207.71 1.00 -80.00 2537.2 2515.1 2559.2 1984.6 2069.7 84.53 7.17 418 2648.53 49.15 0.24 4.01 1.004 0.088 0.104 2297.72 2277.06 2318.38 2021.19 584.56 0 0 0 12.55 15.88 15.67

2651.66 1028 207.71 1.00 0.00 2297.2 2277.1 2317.4 2021.4 584.7 79.18 9.22 430 2657.39 0.00 0.00 3.67 0.000 0.000 0.053 2297.16 2276.62 2317.69 2021.12 2070.31 0 0 0 30.00 30.00 15.71

2841.67 16902 207.71 1.00 -80.00 2292.8 2270.1 2315.6 2021.8 2069.9 60.38 8.92 468 2847.47 0.00 0.00 3.96 0.000 0.000 0.102 2292.91 2270.50 2315.31 2021.69 584.56 0 0 0 30.00 30.00 15.76

2871.68 17414 207.71 1.00 0.00 2292.0 2270.0 2314.1 2021.6 584.6 57.63 9.07 474 2877.43 0.00 0.00 3.62 0.000 0.000 0.053 2292.69 2270.50 2314.88 2021.38 2073.38 0 0 0 30.00 30.00 15.76

3061.71 16646 207.71 1.00 80.00 2290.9 2267.8 2314.1 2021.5 2073.2 41.05 8.58 512 3067.32 0.00 0.00 2.99 0.000 0.000 0.129 2292.91 2270.25 2315.56 2021.31 3185.56 0 0 0 30.00 30.00 15.77

3076.71 17414 207.71 1.00 0.00 2290.4 2267.6 2313.3 2021.2 3185.2 39.72 8.53 515 3082.30 0.00 0.00 2.90 0.000 0.000 0.047 2291.47 2268.56 2314.38 2021.75 2014.31 0 0 0 30.00 30.00 15.85

3266.74 8226 252.68 1.07 0.00 2290.7 2267.4 2313.9 2022.1 2013.8 24.48 7.92 553 3312.59 42.45 0.00 0.00 0.941 0.000 0.000 2120.97 2098.31 2143.62 2021.19 2014.44 0 0 0 12.52 30.00 30.00

3496.87 10403 296.13 1.17 0.00 2111.8 2087.9 2135.6 2021.7 2014.1 5.58 7.99 599 3537.64 38.83 0.21 0.00 0.909 0.091 0.000 1940.28 1915.81 1964.75 2063.25 2013.94 0 0 0 12.54 15.82 30.00

3542 end climb: SURFACE_DEPTH_REACHED

state 3542 begin surface coast

3572 end surface coast: CONTROL_FINISHED_OK

state 3572 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	5	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	14.0731	SEABIRD_T_G	0.0044377348
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	3.3153629	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	220622,205159,4742.416,-12225.322,2,1.5,30,15.4	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.92	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220622,205538,4742.364,-12225.346,2,0.6,4,15.4	MHEAD_RNG_PITCHd_Wd	9.9,2147,-17.6,-10.000,-21.21,2209,0.160
SPEED_LIMITS	0.173,0.258	D_GRID	180
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	-0.4,1.019506	FG_AHR_10Vo	14.119
SM_CCo	3836.09,244.45,0.897,0,724.0,680.6,767.4,595.10	MEM0	60148,1,0,0
SM_GC	0.95,244.45,11.90,0.99,0.897,0.070,0.091,724.0,680.6,767.4,176.9,2410.7,0,0,0,12.51,15.71,15.73	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	995024,24,51584,74
IRIDIUM_FIX	4741.80,-12232.20,220622,194415	DATA_FILE_SIZE	16124,614
TCM_TEMP	14.42	CAP_FILE_SIZE	161840,0
XPDR_PINGS	5,13.0,11.5	SDSIZE	3887104,3877024
SC_FREEKB	3875968	SDFILEDIR	49,1
HUMID	48.73	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	10.63	CURRENT	0.018,239.2,1
INTERNAL_PRESSURE	8.57866	MAGCAL	1.000000,-0.044561,0.059002,-0.070116,1.097552,0.006506,-0.081065,-0.042686,1.224331,-594.8,-899.1,-505.9,36,0.0276,0
_24V_AH	14.76,1.268	IMPLIED_C_PITCH	1758,17.08,391,0.0,0.00
_10V_AH	14.76,0.000	IMPLIED_C_VBD	3122,35.604950,391,0
FG_AHR_24Vo	3.483	GPS	220622,220006,4742.645,-12225.036,2,1.0,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	726	1105	11859.10	nil	0	0	0.00
Pitch_motor	27	301	122.09	nil	0	0	0.00
Roll_motor	43	189	122.24	nil	0	0	0.00
Iridium	162	210	503.52	nil	0	0	0.00
Transponder_ping	1	420	7.75	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	2310	6	231.85	SciCon	3588	33	1765.75
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1483	2	43.79
Compass	1349	5	99.61
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
7.19	16386	-146.63	-1.02	0.00	718.8	671.4	766.2	180.8	2365.5	0.00	0.00	0	116.81	109.07	0.00	0.00	0.005	0.000	0.000	3021.47	3006.69	3036.25	180.88	2365.50	0	0	0	15.65	30.00	30.00
117.07	18467	-146.63	-1.02	0.00	3020.5	3005.8	3035.1	180.7	2364.7	3.04	-2.14	21	154.08	22.40	11.39	0.00	0.006	0.302	0.000	3745.97	3716.69	3775.25	1522.12	2364.19	0	0	0	15.69	15.61	30.00
337.25	0	-146.63	-1.02	-80.00	3749.1	3721.8	3776.4	1521.9	2364.4	26.10	-11.76	65	341.46	0.00	0.00	0.00	0.000	0.000	0.000	3749.62	3721.44	3777.81	1522.50	2364.50	0	0	0	30.00	30.00	30.00
522.25	260	-146.63	-1.02	80.00	3749.5	3721.1	3778.0	1522.2	2364.1	46.08	-9.89	102	527.79	0.00	0.00	2.24	0.000	0.000	0.135	3750.66	3722.62	3778.69	1521.94	3186.88	0	0	0	30.00	30.00	15.85
607.30	1028	-146.63	-1.02	0.00	3749.4	3721.6	3777.3	1521.9	3187.8	54.97	-10.18	119	612.69	0.00	0.00	2.02	0.000	0.000	0.047	3749.38	3721.12	3777.62	1522.62	2357.44	0	0	0	30.00	30.00	15.79
797.38	388	-146.63	-1.05	80.00	3749.2	3720.9	3777.5	1522.3	2357.1	72.87	-8.89	157	802.82	0.00	0.00	2.24	0.000	0.000	0.132	3749.16	3721.12	3777.19	1522.19	3186.88	0	0	0	30.00	30.00	15.86
872.32	1028	-146.63	-1.05	0.00	3749.1	3721.1	3777.1	1522.5	3187.0	80.12	-10.04	172	877.70	0.00	0.00	2.00	0.000	0.000	0.046	3749.16	3720.81	3777.50	1522.38	2358.94	0	0	0	30.00	30.00	15.91
1063.35	260	-146.63	-1.05	80.00	3749.4	3720.8	3777.9	1522.4	2358.6	97.34	-8.18	210	1067.84	0.00	0.00	2.24	0.000	0.000	0.133	3749.72	3721.75	3777.69	1522.94	3186.00	0	0	0	30.00	30.00	15.92
1112.39	1028	-146.63	-1.05	0.00	3749.3	3721.2	3777.4	1522.0	3185.4	101.72	-9.06	220	1116.96	0.00	0.00	1.98	0.000	0.000	0.046	3750.56	3722.75	3778.38	1522.69	2359.75	0	0	0	30.00	30.00	15.95
1422.41	128	-146.63	-1.09	0.00	3749.1	3720.8	3777.4	1522.4	2360.2	129.85	-8.80	252	1423.75	0.00	0.00	0.00	0.000	0.000	0.000	3748.44	3720.31	3776.56	1522.38	2359.88	0	0	0	30.00	30.00	30.00
1683	end dive: TARGET_DEPTH_EXCEEDED
state	1683	begin apogee
1684.24	10243	0.00	-0.23	0.00	3749.3	3720.8	3777.8	1522.2	2014.6	150.72	-7.38	278	1794.90	108.25	1.35	0.10	1.106	0.146	0.190	3150.00	3135.12	3164.88	1717.62	2077.44	0	0	0	12.55	15.94	15.53
1796	end apogee: CONTROL_FINISHED_OK
state	1796	begin climb
1795.59	10759	146.63	1.02	-80.00	3147.3	3131.3	3163.4	1717.4	2076.9	152.74	0.00	289	1918.38	112.00	2.02	4.16	1.066	0.088	0.108	2548.16	2527.12	2569.19	2021.06	584.88	0	0	0	12.50	15.57	15.30
2095.79	17542	146.63	0.94	0.00	2540.2	2521.2	2559.1	2020.9	584.7	126.80	11.31	348	2102.29	0.00	0.00	3.69	0.000	0.000	0.058	2541.62	2522.50	2560.75	2021.19	2068.88	0	0	0	30.00	30.00	15.69
2406.58	20611	146.63	0.91	0.00	2537.6	2515.8	2559.4	2020.9	2069.1	98.39	8.54	381	2410.95	0.00	0.34	0.00	0.000	0.197	0.000	2541.19	2519.25	2563.12	1983.56	2069.44	0	0	0	30.00	15.77	30.00
2591.61	10791	207.71	1.00	-80.00	2537.2	2515.1	2559.2	1984.6	2069.7	84.53	7.17	418	2648.53	49.15	0.24	4.01	1.004	0.088	0.104	2297.72	2277.06	2318.38	2021.19	584.56	0	0	0	12.55	15.88	15.67
2651.66	1028	207.71	1.00	0.00	2297.2	2277.1	2317.4	2021.4	584.7	79.18	9.22	430	2657.39	0.00	0.00	3.67	0.000	0.000	0.053	2297.16	2276.62	2317.69	2021.12	2070.31	0	0	0	30.00	30.00	15.71
2841.67	16902	207.71	1.00	-80.00	2292.8	2270.1	2315.6	2021.8	2069.9	60.38	8.92	468	2847.47	0.00	0.00	3.96	0.000	0.000	0.102	2292.91	2270.50	2315.31	2021.69	584.56	0	0	0	30.00	30.00	15.76
2871.68	17414	207.71	1.00	0.00	2292.0	2270.0	2314.1	2021.6	584.6	57.63	9.07	474	2877.43	0.00	0.00	3.62	0.000	0.000	0.053	2292.69	2270.50	2314.88	2021.38	2073.38	0	0	0	30.00	30.00	15.76
3061.71	16646	207.71	1.00	80.00	2290.9	2267.8	2314.1	2021.5	2073.2	41.05	8.58	512	3067.32	0.00	0.00	2.99	0.000	0.000	0.129	2292.91	2270.25	2315.56	2021.31	3185.56	0	0	0	30.00	30.00	15.77
3076.71	17414	207.71	1.00	0.00	2290.4	2267.6	2313.3	2021.2	3185.2	39.72	8.53	515	3082.30	0.00	0.00	2.90	0.000	0.000	0.047	2291.47	2268.56	2314.38	2021.75	2014.31	0	0	0	30.00	30.00	15.85
3266.74	8226	252.68	1.07	0.00	2290.7	2267.4	2313.9	2022.1	2013.8	24.48	7.92	553	3312.59	42.45	0.00	0.00	0.941	0.000	0.000	2120.97	2098.31	2143.62	2021.19	2014.44	0	0	0	12.52	30.00	30.00
3496.87	10403	296.13	1.17	0.00	2111.8	2087.9	2135.6	2021.7	2014.1	5.58	7.99	599	3537.64	38.83	0.21	0.00	0.909	0.091	0.000	1940.28	1915.81	1964.75	2063.25	2013.94	0	0	0	12.54	15.82	30.00
3542	end climb: SURFACE_DEPTH_REACHED
state	3542	begin surface coast
3572	end surface coast: CONTROL_FINISHED_OK
state	3572	begin surface