Glider dive log

HoodCanal May22 * SG241 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 241 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 6 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 6 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 -1.4

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 170 COMM_SEQ 15 C_VBD 3000 DEEPGLIDERMB 0

D_NO_BLEED 500 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 163 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 53 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 70 T_RSLEEP 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 69

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 60 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 210 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3628 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1700 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 37

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 3 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 25 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.204266 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 22.744738 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 1 PRESSURE_YINT -188.51822 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72520 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 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3820 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 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 6 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 160 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 18.204266 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 22.744738 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 3628 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 210 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 53

COMPASS2_DEVICE -1 ID 241 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 69 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH 1700 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 70

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -188.51822 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 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 -1

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 72520 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 3 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3820 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 0

DIVE 6 MISSION 2 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 170 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE 6 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 500 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 200522,202920,4735.983,-12257.023,30,1.8,31,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.57 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200522,203224,4735.964,-12257.029,3,0.9,5,15.5 MHEAD_RNG_PITCHd_Wd 352.7,2073,-17.7,-10.063,-21.29,2195,0.148

SPEED_LIMITS 0.174,0.258 D_GRID 165

TGT_NAME N IRON 1.000000,0.011876,-0.024098,0.018030,1.101978,-0.053189,0.018497,-0.066216,1.038001,486.614777,-1255.638062,-269.222809

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653081612,89.9,0,stop FG_AHR_10Vo 18.232

FINISH 0.7,1.020461 MEM0 60148,1,0,0

SM_CCo 3908.95,247.29,0.938,0,541.6,618.4,464.8,603.05 MEM1 65508,1,0,0

SM_GC 1.59,247.29,11.41,0.09,0.938,0.093,0.160,541.6,618.4,464.8,197.3,2184.0,0,0,0,11.52,16.00,16.03 MEM2 944944,29,101844,60

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16099,600

IRIDIUM_FIX 4735.53,-12254.47,200522,193544 CAP_FILE_SIZE 185677,0

TCM_TEMP 12.69 SDSIZE 3887104,3872832

SC_FREEKB 3876864 SDFILEDIR 73,1

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 48.45 CURRENT 0.049, 70.4,1

TEMP 9.95 MAGCAL 1.000000,0.001469,0.042453,0.015002,1.090214,-0.080029,-0.018095,-0.016261,1.047110,444.7,-1249.8,-279.0,27,0.0251,0

INTERNAL_PRESSURE 8.07415 IMPLIED_C_PITCH 1759,16.95,379,0.0,0.00

_24V_AH 14.81,2.836 IMPLIED_C_VBD 2880,24.959469,379,0

_10V_AH 14.85,0.000 GPS 200522,213834,4736.451,-12256.729,3,1.1,5,15.5

FG_AHR_24Vo 22.917

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 680 1154 11634.27 nil 0 0 0.00

Pitch_motor 27 281 115.68 nil 0 0 0.00

Roll_motor 71 205 216.33 nil 0 0 0.00

Iridium 120 207 371.24 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.10 nil 0 0 0.00

Core 2172 5 165.17 SciCon 3643 6 375.34

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1652 0 7.85

Compass 1222 5 90.74

RAFOS 1671 40 992.82

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

6.56 16386 -146.63 -0.89 0.00 538.9 615.9 461.9 192.4 2115.8 0.00 0.00 0 115.76 106.55 0.00 0.00 0.005 0.000 0.000 2857.09 2827.69 2886.50 192.38 2115.81 0 0 0 15.74 30.00 30.00

115.98 18727 -146.63 -0.89 80.00 2855.9 2826.8 2885.0 192.2 2116.2 3.09 -2.71 21 158.33 25.07 10.14 3.71 0.006 0.282 0.111 3596.41 3586.62 3606.19 1484.75 3617.62 0 0 0 15.80 15.62 15.73

181.30 3205 -146.63 -0.65 0.00 3597.4 3588.4 3606.4 1485.1 3616.9 9.50 -11.78 34 187.11 0.00 0.40 3.47 0.000 0.188 0.054 3598.91 3589.88 3607.94 1541.44 2119.94 0 0 0 30.00 15.69 15.76

371.37 420 -146.63 -0.72 80.00 3598.4 3595.2 3601.7 1541.1 2119.8 28.04 -9.30 72 377.07 0.00 0.00 3.67 0.000 0.000 0.113 3598.81 3595.50 3602.12 1541.75 3616.12 0 0 0 30.00 30.00 15.84

426.36 1060 -146.63 -0.72 0.00 3598.2 3594.9 3601.6 1541.0 3616.2 33.51 -9.98 83 432.04 0.00 0.00 3.43 0.000 0.000 0.053 3600.12 3596.69 3603.56 1541.62 2117.75 0 0 0 30.00 30.00 15.88

616.40 4517 -146.63 -0.80 80.00 3598.9 3596.4 3601.4 1541.2 2118.2 49.20 -8.06 121 622.20 0.00 0.31 3.66 0.000 0.094 0.112 3598.94 3596.25 3601.62 1495.88 3617.56 0 0 0 30.00 15.92 15.91

696.39 3205 -146.63 -0.70 0.00 3599.0 3596.0 3602.0 1495.9 3616.6 58.42 -11.96 137 702.15 0.00 0.29 3.42 0.000 0.179 0.054 3600.31 3597.62 3603.00 1530.88 2117.56 0 0 0 30.00 15.91 15.97

886.43 420 -146.63 -0.77 80.00 3599.0 3596.7 3601.4 1531.3 2117.4 74.81 -8.47 175 892.12 0.00 0.00 3.65 0.000 0.000 0.114 3600.47 3597.44 3603.50 1531.81 3617.31 0 0 0 30.00 30.00 15.97

926.42 1060 -146.63 -0.77 0.00 3599.1 3596.4 3601.7 1531.2 3617.8 78.77 -10.01 183 932.11 0.00 0.00 3.41 0.000 0.000 0.054 3599.81 3597.62 3602.00 1531.56 2119.50 0 0 0 30.00 30.00 16.00

1116.49 4517 -146.63 -0.84 80.00 3599.4 3597.1 3601.7 1531.3 2118.4 95.25 -8.61 221 1122.23 0.00 0.29 3.64 0.000 0.096 0.114 3601.12 3598.81 3603.44 1484.81 3618.06 0 0 0 30.00 16.01 16.00

1156.50 3205 -146.63 -0.74 0.00 3599.7 3597.4 3602.0 1483.2 3617.5 99.80 -11.72 229 1162.21 0.00 0.31 3.40 0.000 0.183 0.053 3600.31 3598.06 3602.56 1521.44 2118.12 0 0 0 30.00 15.98 16.04

1351.47 420 -146.63 -0.80 80.00 3599.5 3597.7 3601.4 1521.6 2117.9 117.70 -8.80 249 1356.45 0.00 0.00 3.65 0.000 0.000 0.115 3601.03 3598.94 3603.12 1521.38 3616.12 0 0 0 30.00 30.00 16.03

1431.50 1028 -146.63 -0.80 0.00 3599.6 3597.4 3601.8 1521.4 3615.9 126.08 -10.54 265 1436.42 0.00 0.00 3.39 0.000 0.000 0.054 3599.75 3597.75 3601.75 1521.44 2118.69 0 0 0 30.00 30.00 16.06

1745.71 4517 -146.63 -0.86 80.00 3599.2 3597.8 3600.6 1521.2 2118.1 154.14 -8.82 297 1751.78 0.00 0.27 3.64 0.000 0.096 0.114 3598.81 3596.62 3601.00 1476.75 3617.44 0 0 0 30.00 16.04 16.03

1795 end dive: TARGET_DEPTH_EXCEEDED

state 1795 begin apogee

1799.75 10243 0.00 -0.20 0.00 3599.3 3597.4 3601.2 1476.9 2120.2 160.36 -13.16 307 1915.38 110.03 1.28 0.09 1.155 0.172 0.205 2999.22 3052.50 2945.94 1651.81 2180.88 0 0 0 11.40 16.00 15.63

1916 end apogee: CONTROL_FINISHED_OK

state 1916 begin climb

1916.25 10243 146.63 0.89 0.00 2999.4 3053.0 2945.8 1652.1 2180.4 165.87 0.00 319 2035.52 113.80 1.82 0.00 1.102 0.134 0.000 2401.19 2471.50 2330.88 1916.06 2180.38 0 0 0 11.49 15.63 30.00

2342.97 10919 246.37 1.20 -80.00 2395.6 2459.9 2331.2 1915.9 2180.4 145.82 5.42 370 2429.37 77.43 0.47 3.82 1.074 0.082 0.123 1996.38 2085.06 1907.69 1997.56 683.25 0 0 0 11.47 15.75 15.51

2462.96 1156 246.37 1.25 0.00 1992.7 2079.8 1905.5 1997.3 683.3 134.23 12.00 394 2467.95 0.00 0.00 3.51 0.000 0.000 0.053 1992.16 2079.31 1905.00 1997.81 2173.81 0 0 0 30.00 30.00 15.61

2772.99 388 246.37 1.29 80.00 1988.8 2072.7 1905.0 1996.8 2174.3 98.34 11.39 427 2778.69 0.00 0.00 3.57 0.000 0.000 0.120 1989.19 2072.81 1905.56 1997.31 3616.44 0 0 0 30.00 30.00 15.78

2822.99 17414 246.37 1.29 0.00 1987.0 2069.4 1904.6 1998.0 3616.1 91.85 13.45 437 2828.68 0.00 0.00 3.45 0.000 0.000 0.054 1988.66 2069.94 1907.38 1997.62 2124.00 0 0 0 30.00 30.00 15.82

3013.18 16514 246.37 1.33 0.00 1987.2 2068.9 1905.6 1997.4 2123.5 69.67 11.40 475 3017.27 0.00 0.00 0.00 0.000 0.000 0.000 1987.38 2069.31 1905.44 1997.62 2123.69 0 0 0 30.00 30.00 30.00

3198.05 18823 246.37 1.36 80.00 1987.2 2068.8 1905.6 1997.4 2123.4 48.29 11.18 512 3203.83 0.00 0.19 3.66 0.000 0.095 0.116 1988.91 2070.69 1907.12 2037.62 3616.38 0 0 0 30.00 15.95 15.93

3238.10 21639 246.37 1.25 0.00 1985.9 2066.4 1905.3 2038.1 3616.1 42.46 15.36 520 3243.84 0.00 0.33 3.41 0.000 0.183 0.054 1986.09 2066.94 1905.25 1996.88 2123.19 0 0 0 30.00 15.90 15.97

3428.09 18563 246.37 1.32 0.00 1986.2 2067.1 1905.2 1996.4 2123.2 21.65 10.36 558 3432.30 0.00 0.20 0.00 0.000 0.099 0.000 1986.53 2067.50 1905.56 2028.31 2121.62 0 0 0 30.00 15.99 30.00

3613 end climb: SURFACE_DEPTH_REACHED

state 3613 begin surface coast

3638 end surface coast: CONTROL_FINISHED_OK

state 3638 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	6	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	6	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	-1.4
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	170	COMM_SEQ	15	C_VBD	3000	DEEPGLIDERMB	0
D_NO_BLEED	500	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	163	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	53	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	70	T_RSLEEP	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	69
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	60	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	210	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3628	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1700	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	37
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	3	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	25	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.204266	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	22.744738	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	1	PRESSURE_YINT	-188.51822	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72520	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	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3820	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	2150	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	200522,202920,4735.983,-12257.023,30,1.8,31,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.57	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200522,203224,4735.964,-12257.029,3,0.9,5,15.5	MHEAD_RNG_PITCHd_Wd	352.7,2073,-17.7,-10.063,-21.29,2195,0.148
SPEED_LIMITS	0.174,0.258	D_GRID	165
TGT_NAME	N	IRON	1.000000,0.011876,-0.024098,0.018030,1.101978,-0.053189,0.018497,-0.066216,1.038001,486.614777,-1255.638062,-269.222809
TGT_LATLONG	4737.000,-12256.400

NAV	1653081612,89.9,0,stop	FG_AHR_10Vo	18.232
FINISH	0.7,1.020461	MEM0	60148,1,0,0
SM_CCo	3908.95,247.29,0.938,0,541.6,618.4,464.8,603.05	MEM1	65508,1,0,0
SM_GC	1.59,247.29,11.41,0.09,0.938,0.093,0.160,541.6,618.4,464.8,197.3,2184.0,0,0,0,11.52,16.00,16.03	MEM2	944944,29,101844,60
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16099,600
IRIDIUM_FIX	4735.53,-12254.47,200522,193544	CAP_FILE_SIZE	185677,0
TCM_TEMP	12.69	SDSIZE	3887104,3872832
SC_FREEKB	3876864	SDFILEDIR	73,1
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	48.45	CURRENT	0.049, 70.4,1
TEMP	9.95	MAGCAL	1.000000,0.001469,0.042453,0.015002,1.090214,-0.080029,-0.018095,-0.016261,1.047110,444.7,-1249.8,-279.0,27,0.0251,0
INTERNAL_PRESSURE	8.07415	IMPLIED_C_PITCH	1759,16.95,379,0.0,0.00
_24V_AH	14.81,2.836	IMPLIED_C_VBD	2880,24.959469,379,0
_10V_AH	14.85,0.000	GPS	200522,213834,4736.451,-12256.729,3,1.1,5,15.5
FG_AHR_24Vo	22.917

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	680	1154	11634.27	nil	0	0	0.00
Pitch_motor	27	281	115.68	nil	0	0	0.00
Roll_motor	71	205	216.33	nil	0	0	0.00
Iridium	120	207	371.24	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.10	nil	0	0	0.00
Core	2172	5	165.17	SciCon	3643	6	375.34
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1652	0	7.85
Compass	1222	5	90.74
RAFOS	1671	40	992.82
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
6.56	16386	-146.63	-0.89	0.00	538.9	615.9	461.9	192.4	2115.8	0.00	0.00	0	115.76	106.55	0.00	0.00	0.005	0.000	0.000	2857.09	2827.69	2886.50	192.38	2115.81	0	0	0	15.74	30.00	30.00
115.98	18727	-146.63	-0.89	80.00	2855.9	2826.8	2885.0	192.2	2116.2	3.09	-2.71	21	158.33	25.07	10.14	3.71	0.006	0.282	0.111	3596.41	3586.62	3606.19	1484.75	3617.62	0	0	0	15.80	15.62	15.73
181.30	3205	-146.63	-0.65	0.00	3597.4	3588.4	3606.4	1485.1	3616.9	9.50	-11.78	34	187.11	0.00	0.40	3.47	0.000	0.188	0.054	3598.91	3589.88	3607.94	1541.44	2119.94	0	0	0	30.00	15.69	15.76
371.37	420	-146.63	-0.72	80.00	3598.4	3595.2	3601.7	1541.1	2119.8	28.04	-9.30	72	377.07	0.00	0.00	3.67	0.000	0.000	0.113	3598.81	3595.50	3602.12	1541.75	3616.12	0	0	0	30.00	30.00	15.84
426.36	1060	-146.63	-0.72	0.00	3598.2	3594.9	3601.6	1541.0	3616.2	33.51	-9.98	83	432.04	0.00	0.00	3.43	0.000	0.000	0.053	3600.12	3596.69	3603.56	1541.62	2117.75	0	0	0	30.00	30.00	15.88
616.40	4517	-146.63	-0.80	80.00	3598.9	3596.4	3601.4	1541.2	2118.2	49.20	-8.06	121	622.20	0.00	0.31	3.66	0.000	0.094	0.112	3598.94	3596.25	3601.62	1495.88	3617.56	0	0	0	30.00	15.92	15.91
696.39	3205	-146.63	-0.70	0.00	3599.0	3596.0	3602.0	1495.9	3616.6	58.42	-11.96	137	702.15	0.00	0.29	3.42	0.000	0.179	0.054	3600.31	3597.62	3603.00	1530.88	2117.56	0	0	0	30.00	15.91	15.97
886.43	420	-146.63	-0.77	80.00	3599.0	3596.7	3601.4	1531.3	2117.4	74.81	-8.47	175	892.12	0.00	0.00	3.65	0.000	0.000	0.114	3600.47	3597.44	3603.50	1531.81	3617.31	0	0	0	30.00	30.00	15.97
926.42	1060	-146.63	-0.77	0.00	3599.1	3596.4	3601.7	1531.2	3617.8	78.77	-10.01	183	932.11	0.00	0.00	3.41	0.000	0.000	0.054	3599.81	3597.62	3602.00	1531.56	2119.50	0	0	0	30.00	30.00	16.00
1116.49	4517	-146.63	-0.84	80.00	3599.4	3597.1	3601.7	1531.3	2118.4	95.25	-8.61	221	1122.23	0.00	0.29	3.64	0.000	0.096	0.114	3601.12	3598.81	3603.44	1484.81	3618.06	0	0	0	30.00	16.01	16.00
1156.50	3205	-146.63	-0.74	0.00	3599.7	3597.4	3602.0	1483.2	3617.5	99.80	-11.72	229	1162.21	0.00	0.31	3.40	0.000	0.183	0.053	3600.31	3598.06	3602.56	1521.44	2118.12	0	0	0	30.00	15.98	16.04
1351.47	420	-146.63	-0.80	80.00	3599.5	3597.7	3601.4	1521.6	2117.9	117.70	-8.80	249	1356.45	0.00	0.00	3.65	0.000	0.000	0.115	3601.03	3598.94	3603.12	1521.38	3616.12	0	0	0	30.00	30.00	16.03
1431.50	1028	-146.63	-0.80	0.00	3599.6	3597.4	3601.8	1521.4	3615.9	126.08	-10.54	265	1436.42	0.00	0.00	3.39	0.000	0.000	0.054	3599.75	3597.75	3601.75	1521.44	2118.69	0	0	0	30.00	30.00	16.06
1745.71	4517	-146.63	-0.86	80.00	3599.2	3597.8	3600.6	1521.2	2118.1	154.14	-8.82	297	1751.78	0.00	0.27	3.64	0.000	0.096	0.114	3598.81	3596.62	3601.00	1476.75	3617.44	0	0	0	30.00	16.04	16.03
1795	end dive: TARGET_DEPTH_EXCEEDED
state	1795	begin apogee
1799.75	10243	0.00	-0.20	0.00	3599.3	3597.4	3601.2	1476.9	2120.2	160.36	-13.16	307	1915.38	110.03	1.28	0.09	1.155	0.172	0.205	2999.22	3052.50	2945.94	1651.81	2180.88	0	0	0	11.40	16.00	15.63
1916	end apogee: CONTROL_FINISHED_OK
state	1916	begin climb
1916.25	10243	146.63	0.89	0.00	2999.4	3053.0	2945.8	1652.1	2180.4	165.87	0.00	319	2035.52	113.80	1.82	0.00	1.102	0.134	0.000	2401.19	2471.50	2330.88	1916.06	2180.38	0	0	0	11.49	15.63	30.00
2342.97	10919	246.37	1.20	-80.00	2395.6	2459.9	2331.2	1915.9	2180.4	145.82	5.42	370	2429.37	77.43	0.47	3.82	1.074	0.082	0.123	1996.38	2085.06	1907.69	1997.56	683.25	0	0	0	11.47	15.75	15.51
2462.96	1156	246.37	1.25	0.00	1992.7	2079.8	1905.5	1997.3	683.3	134.23	12.00	394	2467.95	0.00	0.00	3.51	0.000	0.000	0.053	1992.16	2079.31	1905.00	1997.81	2173.81	0	0	0	30.00	30.00	15.61
2772.99	388	246.37	1.29	80.00	1988.8	2072.7	1905.0	1996.8	2174.3	98.34	11.39	427	2778.69	0.00	0.00	3.57	0.000	0.000	0.120	1989.19	2072.81	1905.56	1997.31	3616.44	0	0	0	30.00	30.00	15.78
2822.99	17414	246.37	1.29	0.00	1987.0	2069.4	1904.6	1998.0	3616.1	91.85	13.45	437	2828.68	0.00	0.00	3.45	0.000	0.000	0.054	1988.66	2069.94	1907.38	1997.62	2124.00	0	0	0	30.00	30.00	15.82
3013.18	16514	246.37	1.33	0.00	1987.2	2068.9	1905.6	1997.4	2123.5	69.67	11.40	475	3017.27	0.00	0.00	0.00	0.000	0.000	0.000	1987.38	2069.31	1905.44	1997.62	2123.69	0	0	0	30.00	30.00	30.00
3198.05	18823	246.37	1.36	80.00	1987.2	2068.8	1905.6	1997.4	2123.4	48.29	11.18	512	3203.83	0.00	0.19	3.66	0.000	0.095	0.116	1988.91	2070.69	1907.12	2037.62	3616.38	0	0	0	30.00	15.95	15.93
3238.10	21639	246.37	1.25	0.00	1985.9	2066.4	1905.3	2038.1	3616.1	42.46	15.36	520	3243.84	0.00	0.33	3.41	0.000	0.183	0.054	1986.09	2066.94	1905.25	1996.88	2123.19	0	0	0	30.00	15.90	15.97
3428.09	18563	246.37	1.32	0.00	1986.2	2067.1	1905.2	1996.4	2123.2	21.65	10.36	558	3432.30	0.00	0.20	0.00	0.000	0.099	0.000	1986.53	2067.50	1905.56	2028.31	2121.62	0	0	0	30.00	15.99	30.00
3613	end climb: SURFACE_DEPTH_REACHED
state	3613	begin surface coast
3638	end surface coast: CONTROL_FINISHED_OK
state	3638	begin surface