Glider dive log

Shilshole 31Mar22 * SG242 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 1 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 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 -3.2

D_TGT 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 15 C_VBD 3000 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 0.0012300001 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 50 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 T_RSLEEP 3 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 96

T_EPIRB 0 PITCH_MIN 220 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -6 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE -1

USE_ICE 0 C_PITCH 1600 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 25 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 1.9039264 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 1.0407169 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 2 PRESSURE_YINT -182.49922 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_G -10

MASS 72392 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 195 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3800 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 2000 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 5 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 150 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 1.9039264 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 1.0407169 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 3610 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 220 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 50

COMPASS2_DEVICE -1 ID 242 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 -3.2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1600 KALMAN_USE 2 PRESSURE_SLOPE 0.00022512203 T_MISSION 65

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -182.49922 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_CLIMB 2000 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2000 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 -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 72392 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 3800 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 195 W_ADJ_DBAND 0

DIVE 5 MISSION 1 ROLL_TIMEOUT 15 XPDR_DEVICE -1

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 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 50 NOCOMM_ACTION 131 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 310322,195821,4743.817,-12224.302,2,0.7,2,15.4 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -35.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 310322,200128,4743.820,-12224.282,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 154.7,1559,-17.6,-10.000,-21.21,2209,0.180

SPEED_LIMITS 0.173,0.258 D_GRID 173

TGT_NAME SE IRON 1.000000,0.004720,0.006385,0.024760,1.044234,-0.031834,0.030047,-0.059813,1.012421,853.448303,-914.524536,-648.710999

TGT_LATLONG 4743.000,-12224.000

Post-dive calculations and measurements:

NAV 1648760515,0.4,start FG_AHR_10Vo 1.937

FINISH 0.4,1.008888 MEM0 60148,1,0,0

SM_CCo 3595.38,205.79,1.020,0,541.0,627.6,454.3,603.20 MEM1 65508,1,0,0

SM_GC 1.19,205.79,10.39,3.40,1.020,0.057,0.062,541.0,627.6,454.3,202.3,2026.1,0,0,0,11.51,15.77,15.79 MEM2 994484,27,52284,63

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12936,428

IRIDIUM_FIX 4744.47,-12222.38,310322,185408 CAP_FILE_SIZE 166228,0

TCM_TEMP 12.60 SDSIZE 3887104,3873952

SC_FREEKB 3877184 SDFILEDIR 57,1

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

RAFOS_FIX 4630.912598,-12509.970703,310322,191957,5,255,4597.08 SOUNDSPEED 1465.0

HUMID 48.08 CURRENT 0.127,196.7,1

TEMP 9.07 MAGCAL 1.000000,0.008346,-0.087930,0.002791,1.057715,-0.022766,0.031672,-0.101698,1.025067,936.1,-926.0,-650.9,20,0.0305,0

INTERNAL_PRESSURE 8.12541 IMPLIED_C_PITCH 1549,15.78,226,0.0,0.00

_24V_AH 14.78,1.345 IMPLIED_C_VBD 3022,33.093987,226,0

_10V_AH 14.78,0.000 GPS 310322,210234,4743.184,-12224.343,1,1.2,4,15.4

FG_AHR_24Vo 1.210

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 675 1238 12363.45 nil 0 0 0.00

Pitch_motor 25 270 100.32 nil 0 0 0.00

Roll_motor 63 210 198.39 nil 0 0 0.00

Iridium 123 207 378.31 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 1730 5 130.96 SciCon 3375 6 334.06

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1824 0 8.63

Compass 862 5 63.77

RAFOS 2050 40 1212.42

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

7.34 16386 -146.63 -0.88 0.00 538.3 627.8 448.9 208.7 2034.9 0.00 0.00 0 134.16 123.76 0.00 0.00 0.005 0.000 0.000 3149.38 3179.00 3119.75 209.25 2035.69 0 0 0 15.71 30.00 30.00

134.47 18727 -146.63 -0.88 80.00 3147.5 3176.9 3118.1 209.2 2035.5 3.57 -2.13 12 165.53 13.95 8.93 3.53 0.006 0.271 0.130 3596.97 3633.38 3560.56 1386.88 3467.38 0 0 0 15.78 15.61 15.69

253.62 5285 -146.63 -1.06 0.00 3598.4 3636.1 3560.6 1385.9 3467.3 13.00 -7.75 36 258.63 0.00 0.33 3.44 0.000 0.071 0.068 3599.66 3638.62 3560.69 1333.31 1972.19 0 0 0 30.00 15.75 15.75

443.64 160 -146.63 -1.13 0.00 3599.8 3637.8 3561.8 1328.4 1972.8 30.17 -9.91 56 444.98 0.00 0.00 0.00 0.000 0.000 0.000 3599.50 3638.12 3560.88 1328.25 1972.62 0 0 0 30.00 30.00 30.00

633.69 420 -146.63 -1.21 80.00 3599.5 3637.5 3561.6 1328.7 1972.8 46.38 -7.56 75 638.63 0.00 0.00 3.63 0.000 0.000 0.123 3600.75 3639.50 3562.00 1328.94 3469.00 0 0 0 30.00 30.00 15.81

683.70 5285 -146.63 -1.31 0.00 3599.5 3638.4 3560.5 1328.3 3468.2 50.32 -7.98 85 688.71 0.00 0.31 3.41 0.000 0.077 0.068 3599.72 3638.44 3561.00 1270.44 1974.44 0 0 0 30.00 15.83 15.85

873.72 292 -146.63 -1.31 80.00 3599.7 3638.2 3561.1 1268.6 1974.2 66.04 -8.74 105 878.68 0.00 0.00 3.62 0.000 0.000 0.121 3599.00 3637.19 3560.81 1268.88 3467.12 0 0 0 30.00 30.00 15.84

917.95 1028 -146.63 -1.31 0.00 3599.8 3638.6 3560.9 1268.7 3467.6 71.10 -11.54 114 924.40 0.00 0.00 3.39 0.000 0.000 0.067 3600.81 3638.69 3562.94 1268.44 1974.12 0 0 0 30.00 30.00 15.87

1113.83 32 -146.63 -1.31 0.00 3599.9 3637.9 3561.9 1268.7 1974.1 89.59 -8.36 134 1115.17 0.00 0.00 0.00 0.000 0.000 0.000 3599.06 3637.88 3560.25 1268.69 1974.38 0 0 0 30.00 30.00 30.00

1303.80 292 -146.63 -1.31 80.00 3599.8 3637.8 3561.7 1268.4 1975.0 106.38 -8.79 153 1308.76 0.00 0.00 3.61 0.000 0.000 0.124 3600.06 3639.06 3561.06 1268.19 3466.75 0 0 0 30.00 30.00 15.87

1468.06 1028 -146.63 -1.31 0.00 3599.9 3637.8 3562.0 1268.3 3466.3 123.45 -10.76 186 1474.52 0.00 0.00 3.40 0.000 0.000 0.069 3600.69 3638.62 3562.75 1268.31 1973.56 0 0 0 30.00 30.00 15.91

1663.92 32 -146.63 -1.31 0.00 3599.7 3637.4 3562.0 1268.9 1973.4 142.42 -9.44 206 1665.26 0.00 0.00 0.00 0.000 0.000 0.000 3599.19 3637.06 3561.31 1268.12 1973.69 0 0 0 30.00 30.00 30.00

1744 end dive: TARGET_DEPTH_EXCEEDED

state 1744 begin apogee

1745.02 10243 0.00 -0.20 0.00 3599.6 3637.4 3561.8 1268.6 2032.1 150.32 -10.01 214 1856.21 104.40 1.96 0.11 1.239 0.146 0.211 2999.66 3087.81 2911.50 1553.81 1965.94 0 0 0 11.45 15.85 15.50

1857 end apogee: CONTROL_FINISHED_OK

state 1857 begin climb

1857.08 10503 146.63 0.88 80.00 2998.7 3085.7 2911.7 1552.6 1966.2 151.71 0.00 225 1975.46 106.34 1.68 3.77 1.185 0.090 0.125 2400.69 2497.44 2303.94 1819.88 3466.25 0 0 0 11.42 15.51 15.29

1977.90 9382 191.16 0.86 0.00 2399.8 2496.3 2303.2 1819.8 3465.1 144.88 7.94 246 2019.01 33.73 0.00 3.53 1.123 0.000 0.069 2221.59 2319.19 2124.00 1819.62 1972.94 0 0 0 11.34 30.00 15.35

2203.54 516 191.16 0.86 -80.00 2213.2 2307.8 2118.7 1819.6 1972.2 120.77 11.19 273 2208.50 0.00 0.00 3.59 0.000 0.000 0.144 2213.28 2307.00 2119.56 1819.19 534.06 0 0 0 30.00 30.00 15.60

2293.63 21639 191.16 0.72 0.00 2210.2 2301.9 2118.6 1819.6 533.8 107.07 17.17 291 2299.59 0.00 0.40 3.47 0.000 0.164 0.063 2212.53 2304.88 2120.19 1767.38 2029.12 0 0 0 30.00 15.65 15.71

2488.56 10403 211.70 0.85 0.00 2210.4 2302.4 2118.4 1768.5 2030.4 89.19 9.05 311 2508.82 15.88 0.28 0.00 1.056 0.081 0.000 2136.75 2233.00 2040.50 1818.44 2029.94 0 0 0 11.52 15.81 30.00

2698.55 516 211.70 0.85 -80.00 2134.2 2228.9 2039.6 1816.9 2031.2 66.56 10.01 332 2703.56 0.00 0.00 3.71 0.000 0.000 0.140 2134.66 2229.25 2040.06 1817.19 534.31 0 0 0 30.00 30.00 15.78

2768.65 5253 211.70 0.78 0.00 2131.9 2224.3 2039.6 1817.2 533.6 57.05 14.53 346 2773.59 0.00 0.26 3.43 0.000 0.175 0.063 2132.47 2226.12 2038.81 1785.25 2024.19 0 0 0 30.00 15.80 15.86

2958.57 10663 259.80 0.99 80.00 2132.2 2224.4 2039.9 1784.2 2024.6 39.31 7.77 366 3001.22 36.53 0.38 3.51 1.082 0.072 0.128 1941.03 2035.31 1846.75 1849.69 3465.06 0 0 0 11.54 15.90 15.73

3088.54 1028 259.80 0.99 0.00 1939.2 2032.9 1845.4 1849.9 3462.6 25.52 11.47 392 3095.00 0.00 0.00 3.40 0.000 0.000 0.068 1939.22 2033.25 1845.19 1850.25 1973.38 0 0 0 30.00 30.00 15.81

3284.42 10919 306.10 1.14 -80.00 1937.6 2031.8 1843.4 1850.1 1974.6 6.27 7.86 412 3325.81 34.78 0.16 3.58 1.042 0.103 0.144 1752.22 1849.38 1655.06 1888.38 534.06 0 0 0 11.37 15.86 15.70

3338 end climb: SURFACE_DEPTH_REACHED

state 3338 begin surface coast

3364 end surface coast: CONTROL_FINISHED_OK

state 3364 begin surface

ID	242	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	1	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	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	-3.2
D_TGT	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	15	C_VBD	3000	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	0.0012300001	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	50	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	T_RSLEEP	3	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	96
T_EPIRB	0	PITCH_MIN	220	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-6	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	-1
USE_ICE	0	C_PITCH	1600	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	25	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	1.9039264	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	1.0407169	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	2	PRESSURE_YINT	-182.49922	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_G	-10
MASS	72392	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	195	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3800	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	2000	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2000	ALTIM_PULSE	3

GPS1	310322,195821,4743.817,-12224.302,2,0.7,2,15.4	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-35.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	310322,200128,4743.820,-12224.282,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	154.7,1559,-17.6,-10.000,-21.21,2209,0.180
SPEED_LIMITS	0.173,0.258	D_GRID	173
TGT_NAME	SE	IRON	1.000000,0.004720,0.006385,0.024760,1.044234,-0.031834,0.030047,-0.059813,1.012421,853.448303,-914.524536,-648.710999
TGT_LATLONG	4743.000,-12224.000

NAV	1648760515,0.4,start	FG_AHR_10Vo	1.937
FINISH	0.4,1.008888	MEM0	60148,1,0,0
SM_CCo	3595.38,205.79,1.020,0,541.0,627.6,454.3,603.20	MEM1	65508,1,0,0
SM_GC	1.19,205.79,10.39,3.40,1.020,0.057,0.062,541.0,627.6,454.3,202.3,2026.1,0,0,0,11.51,15.77,15.79	MEM2	994484,27,52284,63
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12936,428
IRIDIUM_FIX	4744.47,-12222.38,310322,185408	CAP_FILE_SIZE	166228,0
TCM_TEMP	12.60	SDSIZE	3887104,3873952
SC_FREEKB	3877184	SDFILEDIR	57,1
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4630.912598,-12509.970703,310322,191957,5,255,4597.08	SOUNDSPEED	1465.0
HUMID	48.08	CURRENT	0.127,196.7,1
TEMP	9.07	MAGCAL	1.000000,0.008346,-0.087930,0.002791,1.057715,-0.022766,0.031672,-0.101698,1.025067,936.1,-926.0,-650.9,20,0.0305,0
INTERNAL_PRESSURE	8.12541	IMPLIED_C_PITCH	1549,15.78,226,0.0,0.00
_24V_AH	14.78,1.345	IMPLIED_C_VBD	3022,33.093987,226,0
_10V_AH	14.78,0.000	GPS	310322,210234,4743.184,-12224.343,1,1.2,4,15.4
FG_AHR_24Vo	1.210

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	675	1238	12363.45	nil	0	0	0.00
Pitch_motor	25	270	100.32	nil	0	0	0.00
Roll_motor	63	210	198.39	nil	0	0	0.00
Iridium	123	207	378.31	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	1730	5	130.96	SciCon	3375	6	334.06
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1824	0	8.63
Compass	862	5	63.77
RAFOS	2050	40	1212.42
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
7.34	16386	-146.63	-0.88	0.00	538.3	627.8	448.9	208.7	2034.9	0.00	0.00	0	134.16	123.76	0.00	0.00	0.005	0.000	0.000	3149.38	3179.00	3119.75	209.25	2035.69	0	0	0	15.71	30.00	30.00
134.47	18727	-146.63	-0.88	80.00	3147.5	3176.9	3118.1	209.2	2035.5	3.57	-2.13	12	165.53	13.95	8.93	3.53	0.006	0.271	0.130	3596.97	3633.38	3560.56	1386.88	3467.38	0	0	0	15.78	15.61	15.69
253.62	5285	-146.63	-1.06	0.00	3598.4	3636.1	3560.6	1385.9	3467.3	13.00	-7.75	36	258.63	0.00	0.33	3.44	0.000	0.071	0.068	3599.66	3638.62	3560.69	1333.31	1972.19	0	0	0	30.00	15.75	15.75
443.64	160	-146.63	-1.13	0.00	3599.8	3637.8	3561.8	1328.4	1972.8	30.17	-9.91	56	444.98	0.00	0.00	0.00	0.000	0.000	0.000	3599.50	3638.12	3560.88	1328.25	1972.62	0	0	0	30.00	30.00	30.00
633.69	420	-146.63	-1.21	80.00	3599.5	3637.5	3561.6	1328.7	1972.8	46.38	-7.56	75	638.63	0.00	0.00	3.63	0.000	0.000	0.123	3600.75	3639.50	3562.00	1328.94	3469.00	0	0	0	30.00	30.00	15.81
683.70	5285	-146.63	-1.31	0.00	3599.5	3638.4	3560.5	1328.3	3468.2	50.32	-7.98	85	688.71	0.00	0.31	3.41	0.000	0.077	0.068	3599.72	3638.44	3561.00	1270.44	1974.44	0	0	0	30.00	15.83	15.85
873.72	292	-146.63	-1.31	80.00	3599.7	3638.2	3561.1	1268.6	1974.2	66.04	-8.74	105	878.68	0.00	0.00	3.62	0.000	0.000	0.121	3599.00	3637.19	3560.81	1268.88	3467.12	0	0	0	30.00	30.00	15.84
917.95	1028	-146.63	-1.31	0.00	3599.8	3638.6	3560.9	1268.7	3467.6	71.10	-11.54	114	924.40	0.00	0.00	3.39	0.000	0.000	0.067	3600.81	3638.69	3562.94	1268.44	1974.12	0	0	0	30.00	30.00	15.87
1113.83	32	-146.63	-1.31	0.00	3599.9	3637.9	3561.9	1268.7	1974.1	89.59	-8.36	134	1115.17	0.00	0.00	0.00	0.000	0.000	0.000	3599.06	3637.88	3560.25	1268.69	1974.38	0	0	0	30.00	30.00	30.00
1303.80	292	-146.63	-1.31	80.00	3599.8	3637.8	3561.7	1268.4	1975.0	106.38	-8.79	153	1308.76	0.00	0.00	3.61	0.000	0.000	0.124	3600.06	3639.06	3561.06	1268.19	3466.75	0	0	0	30.00	30.00	15.87
1468.06	1028	-146.63	-1.31	0.00	3599.9	3637.8	3562.0	1268.3	3466.3	123.45	-10.76	186	1474.52	0.00	0.00	3.40	0.000	0.000	0.069	3600.69	3638.62	3562.75	1268.31	1973.56	0	0	0	30.00	30.00	15.91
1663.92	32	-146.63	-1.31	0.00	3599.7	3637.4	3562.0	1268.9	1973.4	142.42	-9.44	206	1665.26	0.00	0.00	0.00	0.000	0.000	0.000	3599.19	3637.06	3561.31	1268.12	1973.69	0	0	0	30.00	30.00	30.00
1744	end dive: TARGET_DEPTH_EXCEEDED
state	1744	begin apogee
1745.02	10243	0.00	-0.20	0.00	3599.6	3637.4	3561.8	1268.6	2032.1	150.32	-10.01	214	1856.21	104.40	1.96	0.11	1.239	0.146	0.211	2999.66	3087.81	2911.50	1553.81	1965.94	0	0	0	11.45	15.85	15.50
1857	end apogee: CONTROL_FINISHED_OK
state	1857	begin climb
1857.08	10503	146.63	0.88	80.00	2998.7	3085.7	2911.7	1552.6	1966.2	151.71	0.00	225	1975.46	106.34	1.68	3.77	1.185	0.090	0.125	2400.69	2497.44	2303.94	1819.88	3466.25	0	0	0	11.42	15.51	15.29
1977.90	9382	191.16	0.86	0.00	2399.8	2496.3	2303.2	1819.8	3465.1	144.88	7.94	246	2019.01	33.73	0.00	3.53	1.123	0.000	0.069	2221.59	2319.19	2124.00	1819.62	1972.94	0	0	0	11.34	30.00	15.35
2203.54	516	191.16	0.86	-80.00	2213.2	2307.8	2118.7	1819.6	1972.2	120.77	11.19	273	2208.50	0.00	0.00	3.59	0.000	0.000	0.144	2213.28	2307.00	2119.56	1819.19	534.06	0	0	0	30.00	30.00	15.60
2293.63	21639	191.16	0.72	0.00	2210.2	2301.9	2118.6	1819.6	533.8	107.07	17.17	291	2299.59	0.00	0.40	3.47	0.000	0.164	0.063	2212.53	2304.88	2120.19	1767.38	2029.12	0	0	0	30.00	15.65	15.71
2488.56	10403	211.70	0.85	0.00	2210.4	2302.4	2118.4	1768.5	2030.4	89.19	9.05	311	2508.82	15.88	0.28	0.00	1.056	0.081	0.000	2136.75	2233.00	2040.50	1818.44	2029.94	0	0	0	11.52	15.81	30.00
2698.55	516	211.70	0.85	-80.00	2134.2	2228.9	2039.6	1816.9	2031.2	66.56	10.01	332	2703.56	0.00	0.00	3.71	0.000	0.000	0.140	2134.66	2229.25	2040.06	1817.19	534.31	0	0	0	30.00	30.00	15.78
2768.65	5253	211.70	0.78	0.00	2131.9	2224.3	2039.6	1817.2	533.6	57.05	14.53	346	2773.59	0.00	0.26	3.43	0.000	0.175	0.063	2132.47	2226.12	2038.81	1785.25	2024.19	0	0	0	30.00	15.80	15.86
2958.57	10663	259.80	0.99	80.00	2132.2	2224.4	2039.9	1784.2	2024.6	39.31	7.77	366	3001.22	36.53	0.38	3.51	1.082	0.072	0.128	1941.03	2035.31	1846.75	1849.69	3465.06	0	0	0	11.54	15.90	15.73
3088.54	1028	259.80	0.99	0.00	1939.2	2032.9	1845.4	1849.9	3462.6	25.52	11.47	392	3095.00	0.00	0.00	3.40	0.000	0.000	0.068	1939.22	2033.25	1845.19	1850.25	1973.38	0	0	0	30.00	30.00	15.81
3284.42	10919	306.10	1.14	-80.00	1937.6	2031.8	1843.4	1850.1	1974.6	6.27	7.86	412	3325.81	34.78	0.16	3.58	1.042	0.103	0.144	1752.22	1849.38	1655.06	1888.38	534.06	0	0	0	11.37	15.86	15.70
3338	end climb: SURFACE_DEPTH_REACHED
state	3338	begin surface coast
3364	end surface coast: CONTROL_FINISHED_OK
state	3364	begin surface