Glider dive log

HoodCanal May22 * SG235 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 TGT_DEFAULT_LON -12218 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.5

MISSION 14 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 6 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 6 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 6

STOP_T 0 FILEMGR 2 C_VBD 2950 DEVICE1 -1

D_SURF 2 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_FLARE 3 COMM_SEQ 15 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 150 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 150 N_NOCOMM 1 VBD_TIMEOUT 800 DEVICE5 -1

D_NO_BLEED 50 NOCOMM_ACTION 131 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

D_BOOST 0 N_NOSURFACE 0 UNCOM_BLEED 20 LOGGERS 3

T_BOOST 0 UPLOAD_DIVES_MAX 3 VBD_MAXERRORS 2 LOGGERDEVICE1 7

D_FINISH 10 CALL_TRIES 3 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_SAFE 500 CAPUPLOAD 0 W_ADJ_DBAND 2 LOGGERDEVICE4 -1

D_CALL 3 CAPMAXSIZE 10000 DBDW 0 COMPASS_DEVICE 66

SURFACE_URGENCY 20 T_GPS 3 LOITER_W_DBAND 2 COMPASS2_DEVICE -1

SURFACE_URGENCY_TRY 20 N_GPS 100440 LOITER_DBDW 400 PHONE_DEVICE 33

SURFACE_URGENCY_FORCE 40 T_RSLEEP 2 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 50 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 65 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE 6

T_ABORT 1440 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 NAV2_DEVICE 6

T_TURN 225 RAFOS_HIT_WINDOW 3600 AH0_24V 400 NETWORK_DEVICE 1

T_TURN_SAMPINT -5 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 34

T_NO_W 240 PITCH_MIN 230 MINV_24V 0 XPDR_DEVICE -1

T_LOITER 0 PITCH_MAX 3900 MINV_10V 0 SIM_W 0

T_EPIRB 0 C_PITCH 2030 MAXI_24V 2 SEABIRD_T_G 0.004415411

USE_BATHY 0 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 156.92003 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 19.949879 FG_AHR_24V 196.31683 SEABIRD_T_J 3.2522996e-06

D_OFFGRID 1000 PITCH_TIMEOUT 40 PHONE_SUPPLY 2 SEABIRD_C_G -9.8064938

RELAUNCH 1 PITCH_MAXERRORS 1 PRESSURE_YINT -158.77972 SEABIRD_C_H 1.0739573

APOGEE_PITCH -5 PITCH_ADJ_GAIN 0 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_I -0.002841271

MAX_BUOY 150 PITCH_ADJ_DBAND 2 COMPASS_USE 49156 SEABIRD_C_J 0.00027081851

GLIDE_SLOPE 30 C_PITCH_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 OPTIONS 2

SPEED_FACTOR 1 C_PITCH_AUTO_MAX 200 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

RHO 1.023 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 7.0

MASS 72383 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

NAV_MODE 0 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 0 SC_NDIVE 1.0

FERRY_MAX 45 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 PM_RECORDABOVE 2000.0

KALMAN_USE 2 ROLL_MIN 1200 ALTIM_PING_DELTA 0 PM_PROFILE 3.0

HD_A 0.003 ROLL_MAX 3900 ALTIM_FREQUENCY 13 PM_XMITPROFILE 3.0

HD_B 0.0099999998 ROLL_DEG 80 ALTIM_PULSE 3 PM_NDIVE 1.0

HD_C 1.6e-05 C_ROLL_DIVE 2750 ALTIM_SENSITIVITY 2 PM_XMITRAW 0.0

HEADING -1 C_ROLL_CLIMB 2600 XPDR_VALID 4 PM_MOTORS 0.0

ESCAPE_HEADING 180 HEAD_ERRBAND 10 XPDR_INHIBIT 90 PM_SENDDEPTH 0.0

ESCAPE_HEADING_DELTA 10 ROLL_CNV 0.054945 XPDR_INT 0

FIX_MISSING_TIMEOUT 20 ROLL_TIMEOUT 30 XPDR_REP 0

TGT_DEFAULT_LAT 4736 ROLL_MAXERRORS 0 INT_PRESSURE_SLOPE 1.9639999e-06

AH0_10V 0 D_SAFE 500 N_NOSURFACE 0 SEABIRD_C_H 1.0739573

AH0_24V 400 D_SURF 2 OPTIONS 2 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 PHONE_DEVICE 33 SEABIRD_C_J 0.00027081851

ALTIM_FREQUENCY 13 ESCAPE_HEADING 180 PHONE_SUPPLY 2 SEABIRD_T_G 0.004415411

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SEABIRD_T_H 0.00064200663

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_GAIN 0 SEABIRD_T_I 2.6329088e-05

ALTIM_PING_FIT 0 FG_AHR_10V 156.92003 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 196.31683 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 19.949879 SM_CC 590.98499

ALTIM_TOP_MIN_OBSTACLE 0 FIX_MISSING_TIMEOUT 20 PITCH_GAIN_AUTO_DELTA 0.5 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_MAX 2 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_MAX 3900 STROBE 0

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAXERRORS 1 SURFACE_URGENCY 20

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MIN 230 SURFACE_URGENCY_FORCE 40

CALL_TRIES 3 HD_C 1.6e-05 PITCH_TIMEOUT 40 SURFACE_URGENCY_TRY 20

CALL_WAIT 45 HEADING -1 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HEAD_ERRBAND 10 PITCH_W_DBAND 0 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.1 PITCH_W_GAIN 0 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 ID 235 PM_MOTORS 0.0 T_ABORT 1440

COMM_SEQ 15 INT_PRESSURE_SLOPE 1.9639999e-06 PM_NDIVE 1.0 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT -0.5 PM_PROFILE 3.0 T_DIVE 50

COMPASS_DEVICE 66 KALMAN_USE 2 PM_RECORDABOVE 2000.0 T_EPIRB 0

COMPASS_USE 49156 LOGGERDEVICE1 7 PM_SENDDEPTH 0.0 T_GPS 3

C_PITCH 2030 LOGGERDEVICE2 35 PM_XMITPROFILE 3.0 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE3 -1 PM_XMITRAW 0.0 T_MISSION 65

C_PITCH_AUTO_MAX 200 LOGGERDEVICE4 -1 PRESSURE_DEVICE 34 T_NO_W 240

C_ROLL_CLIMB 2600 LOGGERS 3 PRESSURE_SLOPE 0.00022957686 T_RSLEEP 2

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.77972 T_TURN 225

C_VBD 2950 LOITER_D_BOTTOM 700 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_W_DBAND 2 RAFOS_HIT_WINDOW 3600 USE_BATHY 0

DEEPGLIDER 0 MASS 72383 RAFOS_MMODEM 0 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 2 RAFOS_PEAK_OFFSET 0 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 2 RELAUNCH 1 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 RHO 1.023 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 0 ROLL_ADJ_DBAND 0 VBD_MAX 3960

DEVICE4 -1 MINV_24V 0 ROLL_ADJ_GAIN 0 VBD_MAXERRORS 2

DEVICE5 -1 MISSION 14 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 6 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 150 NAV_DEVICE 6 ROLL_MAXERRORS 0 XPDR_DEVICE -1

D_BOOST 0 NAV_MODE 0 ROLL_MIN 1200 XPDR_INHIBIT 90

D_CALL 3 NETWORK_DEVICE 1 ROLL_TIMEOUT 30 XPDR_INT 0

D_FINISH 10 NOCOMM_ACTION 131 SC_NDIVE 1.0 XPDR_REP 0

D_FLARE 3 N_DIVES 6 SC_PROFILE 7.0 XPDR_VALID 4

D_NO_BLEED 50 N_FILEKB 8 SC_RECORDABOVE 2000.0

D_OFFGRID 1000 N_GPS 100440 SC_XMITPROFILE 3.0

D_PITCH 2 N_NOCOMM 1 SEABIRD_C_G -9.8064938

Pre-dive calculations and measurements:

GPS1 200522,194917,4737.117,-12256.539,1,0.9,2,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200522,195250,4737.099,-12256.573,2,0.9,4,15.5 MHEAD_RNG_PITCHd_Wd 179.2,2104,-17.6,-10.000,-21.21,2209,0.168

SPEED_LIMITS 0.173,0.258 D_GRID 150

TGT_NAME S IRON 1.000000,-0.062040,0.050775,-0.062746,1.100812,0.019629,0.012334,-0.010716,1.118136,-1014.546082,-1119.837891,-37.738251

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653078992,90.0,0,stop _24V_AH 14.73,124.109

FREEZE 1.68,12.022,-1.513,0,1,0 _10V_AH 14.71,0.000

FINISH 1.7,1.020962 FG_AHR_24Vo 196.505

SM_CCo 3827.30,303.74,1.163,0,541.2,614.9,467.6,590.87 FG_AHR_10Vo 156.969

SM_GC 1.52,303.74,12.78,0.41,1.163,0.084,0.098,541.2,614.9,467.6,216.3,2774.6,0,0,0,11.74,15.87,15.92 MEM0 60148,1,0,0

SUPER 27,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4736.00,-12258.89,200522,190624 MEM2 942356,30,103932,84

TCM_TEMP 12.63 DATA_FILE_SIZE 6543,291

SC_FREEKB 3876768 CAP_FILE_SIZE 387314,0

PM_FREEKB_00 62041728 SDSIZE 3918848,3883808

PM_ACTIVECARD 0 SDFILEDIR 286,3

RAFOS_CLK -2 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 48.20 MAGCAL 1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.5,-1107.1,-62.8,35,0.0186,1

TEMP 9.81 GPS 200522,205749,4736.774,-12256.719,1,1.8,3,15.5

INTERNAL_PRESSURE 7.88186

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 647 1354 12925.13 nil 0 0 0.00

Pitch_motor 28 276 115.05 nil 0 0 0.00

Roll_motor 44 258 168.76 nil 0 0 0.00

Iridium 127 201 379.65 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.01 nil 0 0 0.00

Core 1288 5 97.01 SciCon 3505 6 339.36

Fast 1 0 0.00 PMAR 3510 7140 368667.19

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2430 0 11.44

Compass 528 5 38.87

RAFOS 2248 40 1323.23

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

9.47 16386 -146.63 -1.06 0.00 540.3 613.7 467.0 214.1 2769.6 0.00 0.00 0 133.41 120.96 0.00 0.00 0.005 0.000 0.000 3259.09 3267.00 3251.19 214.00 2771.25 0 0 0 15.70 30.00 30.00

133.76 18983 -146.63 -1.06 -80.00 3258.3 3266.1 3250.5 214.0 2769.8 3.36 -1.72 12 164.18 7.89 12.06 3.62 0.007 0.277 0.128 3546.03 3575.69 3516.38 1773.38 1281.19 0 0 0 15.77 15.58 15.66

380.10 1060 -146.63 -1.06 0.00 3549.0 3581.8 3516.2 1772.8 1280.7 27.24 -7.98 60 385.03 0.00 0.00 3.40 0.000 0.000 0.071 3550.94 3583.75 3518.12 1773.00 2769.19 0 0 0 30.00 30.00 15.76

700.12 292 -146.63 -1.06 80.00 3549.1 3582.1 3516.1 1772.8 2768.1 50.46 -7.55 75 704.95 0.00 0.00 2.77 0.000 0.000 0.136 3548.91 3583.06 3514.75 1773.44 3915.25 0 0 0 30.00 30.00 15.77

734.40 1060 -146.63 -1.06 0.00 3549.6 3582.4 3516.8 1773.0 3914.6 53.52 -7.92 82 739.96 0.00 0.00 2.72 0.000 0.000 0.072 3548.78 3581.56 3516.00 1772.88 2725.31 0 0 0 30.00 30.00 15.81

1120.20 292 -146.63 -1.06 80.00 3548.9 3581.6 3516.2 1773.2 2725.8 82.79 -7.69 99 1125.01 0.00 0.00 2.88 0.000 0.000 0.132 3507.94 3499.31 3516.56 1772.25 3911.44 0 0 0 30.00 30.00 15.80

1184.42 1060 -146.63 -1.06 0.00 3549.3 3582.2 3516.4 1773.2 3912.1 87.65 -7.59 112 1190.01 0.00 0.00 2.71 0.000 0.000 0.073 3542.09 3567.12 3517.06 1772.06 2726.50 0 0 0 30.00 30.00 15.84

1570.24 292 -146.63 -1.06 80.00 3549.8 3582.5 3517.0 1772.3 2726.6 115.85 -7.41 129 1575.04 0.00 0.00 2.87 0.000 0.000 0.134 3550.06 3582.81 3517.31 1772.50 3909.44 0 0 0 30.00 30.00 15.82

1654.48 1028 -146.63 -1.06 0.00 3549.7 3582.3 3517.1 1773.0 3910.8 123.29 -8.86 146 1660.81 0.00 0.00 2.70 0.000 0.000 0.074 3549.41 3582.31 3516.50 1773.00 2727.50 0 0 0 30.00 30.00 15.85

1961 end dive: HALF_MISSION_TIME_EXCEEDED

state 1961 begin apogee

1961.37 10243 0.00 -0.25 0.00 3549.6 3583.4 3515.8 1772.5 2576.4 147.52 -7.76 157 2069.41 104.77 1.31 0.07 1.354 0.135 0.258 2948.78 3012.94 2884.62 1971.44 2621.50 0 0 0 11.73 15.82 15.40

2072 end apogee: CONTROL_FINISHED_OK

state 2072 begin climb

2072.12 10759 146.63 1.06 -80.00 2949.0 3014.0 2884.0 1971.6 2621.8 149.17 0.00 160 2192.27 110.51 2.09 3.62 1.301 0.092 0.135 2351.66 2429.06 2274.25 2290.62 1186.94 0 0 0 11.49 15.41 15.20

2209.54 1028 146.63 1.06 0.00 2347.9 2425.6 2270.2 2291.2 1186.2 137.55 13.03 187 2215.22 0.00 0.00 3.34 0.000 0.000 0.065 2348.59 2427.19 2270.00 2291.31 2621.50 0 0 0 30.00 30.00 15.32

2585.36 16646 146.63 1.06 80.00 2344.0 2419.2 2268.8 2290.8 2621.1 89.98 11.44 202 2590.18 0.00 0.00 3.15 0.000 0.000 0.138 2340.62 2415.81 2265.44 2290.94 3910.56 0 0 0 30.00 30.00 15.66

2705.30 17414 146.63 1.06 0.00 2342.5 2416.2 2268.9 2291.4 3911.5 74.77 13.08 226 2710.20 0.00 0.00 3.05 0.000 0.000 0.075 2338.00 2408.62 2267.38 2288.75 2578.06 0 0 0 30.00 30.00 15.75

3095.32 16646 146.63 1.06 80.00 2341.9 2415.8 2268.0 2290.8 2577.6 31.08 11.26 244 3100.24 0.00 0.00 3.20 0.000 0.000 0.132 2325.00 2383.06 2266.94 2289.44 3910.50 0 0 0 30.00 30.00 15.81

3155.35 17414 146.63 1.06 0.00 2341.0 2413.6 2268.4 2290.8 3908.9 24.32 11.78 256 3160.24 0.00 0.00 3.04 0.000 0.000 0.074 2339.38 2411.56 2267.19 2291.25 2578.56 0 0 0 30.00 30.00 15.86

3436 end climb: SURFACE_DEPTH_REACHED

state 3436 begin surface coast

3496 end surface coast: CONTROL_FINISHED_OK

state 3496 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	14	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	6	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	6	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	6
STOP_T	0	FILEMGR	2	C_VBD	2950	DEVICE1	-1
D_SURF	2	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_FLARE	3	COMM_SEQ	15	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	150	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	150	N_NOCOMM	1	VBD_TIMEOUT	800	DEVICE5	-1
D_NO_BLEED	50	NOCOMM_ACTION	131	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
D_BOOST	0	N_NOSURFACE	0	UNCOM_BLEED	20	LOGGERS	3
T_BOOST	0	UPLOAD_DIVES_MAX	3	VBD_MAXERRORS	2	LOGGERDEVICE1	7
D_FINISH	10	CALL_TRIES	3	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_SAFE	500	CAPUPLOAD	0	W_ADJ_DBAND	2	LOGGERDEVICE4	-1
D_CALL	3	CAPMAXSIZE	10000	DBDW	0	COMPASS_DEVICE	66
SURFACE_URGENCY	20	T_GPS	3	LOITER_W_DBAND	2	COMPASS2_DEVICE	-1
SURFACE_URGENCY_TRY	20	N_GPS	100440	LOITER_DBDW	400	PHONE_DEVICE	33
SURFACE_URGENCY_FORCE	40	T_RSLEEP	2	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	50	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	65	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	6
T_ABORT	1440	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	NAV2_DEVICE	6
T_TURN	225	RAFOS_HIT_WINDOW	3600	AH0_24V	400	NETWORK_DEVICE	1
T_TURN_SAMPINT	-5	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	34
T_NO_W	240	PITCH_MIN	230	MINV_24V	0	XPDR_DEVICE	-1
T_LOITER	0	PITCH_MAX	3900	MINV_10V	0	SIM_W	0
T_EPIRB	0	C_PITCH	2030	MAXI_24V	2	SEABIRD_T_G	0.004415411
USE_BATHY	0	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	156.92003	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	19.949879	FG_AHR_24V	196.31683	SEABIRD_T_J	3.2522996e-06
D_OFFGRID	1000	PITCH_TIMEOUT	40	PHONE_SUPPLY	2	SEABIRD_C_G	-9.8064938
RELAUNCH	1	PITCH_MAXERRORS	1	PRESSURE_YINT	-158.77972	SEABIRD_C_H	1.0739573
APOGEE_PITCH	-5	PITCH_ADJ_GAIN	0	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_I	-0.002841271
MAX_BUOY	150	PITCH_ADJ_DBAND	2	COMPASS_USE	49156	SEABIRD_C_J	0.00027081851
GLIDE_SLOPE	30	C_PITCH_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	OPTIONS	2
SPEED_FACTOR	1	C_PITCH_AUTO_MAX	200	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
RHO	1.023	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	7.0
MASS	72383	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
NAV_MODE	0	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	0	SC_NDIVE	1.0
FERRY_MAX	45	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	PM_RECORDABOVE	2000.0
KALMAN_USE	2	ROLL_MIN	1200	ALTIM_PING_DELTA	0	PM_PROFILE	3.0
HD_A	0.003	ROLL_MAX	3900	ALTIM_FREQUENCY	13	PM_XMITPROFILE	3.0
HD_B	0.0099999998	ROLL_DEG	80	ALTIM_PULSE	3	PM_NDIVE	1.0
HD_C	1.6e-05	C_ROLL_DIVE	2750	ALTIM_SENSITIVITY	2	PM_XMITRAW	0.0
HEADING	-1	C_ROLL_CLIMB	2600	XPDR_VALID	4	PM_MOTORS	0.0
ESCAPE_HEADING	180	HEAD_ERRBAND	10	XPDR_INHIBIT	90	PM_SENDDEPTH	0.0
ESCAPE_HEADING_DELTA	10	ROLL_CNV	0.054945	XPDR_INT	0
FIX_MISSING_TIMEOUT	20	ROLL_TIMEOUT	30	XPDR_REP	0
TGT_DEFAULT_LAT	4736	ROLL_MAXERRORS	0	INT_PRESSURE_SLOPE	1.9639999e-06

GPS1	200522,194917,4737.117,-12256.539,1,0.9,2,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200522,195250,4737.099,-12256.573,2,0.9,4,15.5	MHEAD_RNG_PITCHd_Wd	179.2,2104,-17.6,-10.000,-21.21,2209,0.168
SPEED_LIMITS	0.173,0.258	D_GRID	150
TGT_NAME	S	IRON	1.000000,-0.062040,0.050775,-0.062746,1.100812,0.019629,0.012334,-0.010716,1.118136,-1014.546082,-1119.837891,-37.738251
TGT_LATLONG	4736.000,-12257.000

NAV	1653078992,90.0,0,stop	_24V_AH	14.73,124.109
FREEZE	1.68,12.022,-1.513,0,1,0	_10V_AH	14.71,0.000
FINISH	1.7,1.020962	FG_AHR_24Vo	196.505
SM_CCo	3827.30,303.74,1.163,0,541.2,614.9,467.6,590.87	FG_AHR_10Vo	156.969
SM_GC	1.52,303.74,12.78,0.41,1.163,0.084,0.098,541.2,614.9,467.6,216.3,2774.6,0,0,0,11.74,15.87,15.92	MEM0	60148,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4736.00,-12258.89,200522,190624	MEM2	942356,30,103932,84
TCM_TEMP	12.63	DATA_FILE_SIZE	6543,291
SC_FREEKB	3876768	CAP_FILE_SIZE	387314,0
PM_FREEKB_00	62041728	SDSIZE	3918848,3883808
PM_ACTIVECARD	0	SDFILEDIR	286,3
RAFOS_CLK	-2	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	48.20	MAGCAL	1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.5,-1107.1,-62.8,35,0.0186,1
TEMP	9.81	GPS	200522,205749,4736.774,-12256.719,1,1.8,3,15.5
INTERNAL_PRESSURE	7.88186

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	647	1354	12925.13	nil	0	0	0.00
Pitch_motor	28	276	115.05	nil	0	0	0.00
Roll_motor	44	258	168.76	nil	0	0	0.00
Iridium	127	201	379.65	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.01	nil	0	0	0.00
Core	1288	5	97.01	SciCon	3505	6	339.36
Fast	1	0	0.00	PMAR	3510	7140	368667.19
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2430	0	11.44
Compass	528	5	38.87
RAFOS	2248	40	1323.23
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
9.47	16386	-146.63	-1.06	0.00	540.3	613.7	467.0	214.1	2769.6	0.00	0.00	0	133.41	120.96	0.00	0.00	0.005	0.000	0.000	3259.09	3267.00	3251.19	214.00	2771.25	0	0	0	15.70	30.00	30.00
133.76	18983	-146.63	-1.06	-80.00	3258.3	3266.1	3250.5	214.0	2769.8	3.36	-1.72	12	164.18	7.89	12.06	3.62	0.007	0.277	0.128	3546.03	3575.69	3516.38	1773.38	1281.19	0	0	0	15.77	15.58	15.66
380.10	1060	-146.63	-1.06	0.00	3549.0	3581.8	3516.2	1772.8	1280.7	27.24	-7.98	60	385.03	0.00	0.00	3.40	0.000	0.000	0.071	3550.94	3583.75	3518.12	1773.00	2769.19	0	0	0	30.00	30.00	15.76
700.12	292	-146.63	-1.06	80.00	3549.1	3582.1	3516.1	1772.8	2768.1	50.46	-7.55	75	704.95	0.00	0.00	2.77	0.000	0.000	0.136	3548.91	3583.06	3514.75	1773.44	3915.25	0	0	0	30.00	30.00	15.77
734.40	1060	-146.63	-1.06	0.00	3549.6	3582.4	3516.8	1773.0	3914.6	53.52	-7.92	82	739.96	0.00	0.00	2.72	0.000	0.000	0.072	3548.78	3581.56	3516.00	1772.88	2725.31	0	0	0	30.00	30.00	15.81
1120.20	292	-146.63	-1.06	80.00	3548.9	3581.6	3516.2	1773.2	2725.8	82.79	-7.69	99	1125.01	0.00	0.00	2.88	0.000	0.000	0.132	3507.94	3499.31	3516.56	1772.25	3911.44	0	0	0	30.00	30.00	15.80
1184.42	1060	-146.63	-1.06	0.00	3549.3	3582.2	3516.4	1773.2	3912.1	87.65	-7.59	112	1190.01	0.00	0.00	2.71	0.000	0.000	0.073	3542.09	3567.12	3517.06	1772.06	2726.50	0	0	0	30.00	30.00	15.84
1570.24	292	-146.63	-1.06	80.00	3549.8	3582.5	3517.0	1772.3	2726.6	115.85	-7.41	129	1575.04	0.00	0.00	2.87	0.000	0.000	0.134	3550.06	3582.81	3517.31	1772.50	3909.44	0	0	0	30.00	30.00	15.82
1654.48	1028	-146.63	-1.06	0.00	3549.7	3582.3	3517.1	1773.0	3910.8	123.29	-8.86	146	1660.81	0.00	0.00	2.70	0.000	0.000	0.074	3549.41	3582.31	3516.50	1773.00	2727.50	0	0	0	30.00	30.00	15.85
1961	end dive: HALF_MISSION_TIME_EXCEEDED
state	1961	begin apogee
1961.37	10243	0.00	-0.25	0.00	3549.6	3583.4	3515.8	1772.5	2576.4	147.52	-7.76	157	2069.41	104.77	1.31	0.07	1.354	0.135	0.258	2948.78	3012.94	2884.62	1971.44	2621.50	0	0	0	11.73	15.82	15.40
2072	end apogee: CONTROL_FINISHED_OK
state	2072	begin climb
2072.12	10759	146.63	1.06	-80.00	2949.0	3014.0	2884.0	1971.6	2621.8	149.17	0.00	160	2192.27	110.51	2.09	3.62	1.301	0.092	0.135	2351.66	2429.06	2274.25	2290.62	1186.94	0	0	0	11.49	15.41	15.20
2209.54	1028	146.63	1.06	0.00	2347.9	2425.6	2270.2	2291.2	1186.2	137.55	13.03	187	2215.22	0.00	0.00	3.34	0.000	0.000	0.065	2348.59	2427.19	2270.00	2291.31	2621.50	0	0	0	30.00	30.00	15.32
2585.36	16646	146.63	1.06	80.00	2344.0	2419.2	2268.8	2290.8	2621.1	89.98	11.44	202	2590.18	0.00	0.00	3.15	0.000	0.000	0.138	2340.62	2415.81	2265.44	2290.94	3910.56	0	0	0	30.00	30.00	15.66
2705.30	17414	146.63	1.06	0.00	2342.5	2416.2	2268.9	2291.4	3911.5	74.77	13.08	226	2710.20	0.00	0.00	3.05	0.000	0.000	0.075	2338.00	2408.62	2267.38	2288.75	2578.06	0	0	0	30.00	30.00	15.75
3095.32	16646	146.63	1.06	80.00	2341.9	2415.8	2268.0	2290.8	2577.6	31.08	11.26	244	3100.24	0.00	0.00	3.20	0.000	0.000	0.132	2325.00	2383.06	2266.94	2289.44	3910.50	0	0	0	30.00	30.00	15.81
3155.35	17414	146.63	1.06	0.00	2341.0	2413.6	2268.4	2290.8	3908.9	24.32	11.78	256	3160.24	0.00	0.00	3.04	0.000	0.000	0.074	2339.38	2411.56	2267.19	2291.25	2578.56	0	0	0	30.00	30.00	15.86
3436	end climb: SURFACE_DEPTH_REACHED
state	3436	begin surface coast
3496	end surface coast: CONTROL_FINISHED_OK
state	3496	begin surface