Glider dive log

HoodCanal May22 * SG235 * Dive index * Mission links * Dive 7 * 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 7 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 7 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 165 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 156.97002 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 19.949879 FG_AHR_24V 196.51282 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 156.97002 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 196.51282 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 7 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 165 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 7 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 200522,205749,4736.774,-12256.719,1,1.8,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200522,210126,4736.730,-12256.759,2,1.7,4,15.5 MHEAD_RNG_PITCHd_Wd 177.1,1385,-17.6,-10.000,-21.21,2209,0.146

SPEED_LIMITS 0.173,0.258 D_GRID 150

TGT_NAME S IRON 1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653083942,2.0,start _24V_AH 14.68,131.217

FREEZE 1.24,11.803,-1.492,0,1,0 _10V_AH 14.67,0.000

FINISH 1.2,1.020710 FG_AHR_24Vo 196.702

SM_CCo 3798.32,306.40,1.150,0,541.6,614.6,468.6,590.78 FG_AHR_10Vo 157.012

SM_GC 1.52,306.40,12.78,0.41,1.150,0.080,0.097,541.6,614.6,468.6,216.5,2774.9,0,0,0,11.68,15.87,15.90 MEM0 60148,1,0,0

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

IRIDIUM_FIX 4738.33,-12256.21,200522,195042 MEM2 942424,25,103964,84

TCM_TEMP 12.68 DATA_FILE_SIZE 6534,279

SC_FREEKB 3876448 CAP_FILE_SIZE 377299,0

PM_FREEKB_00 61960128 SDSIZE 3918848,3883424

PM_ACTIVECARD 0 SDFILEDIR 295,3

RAFOS_CLK 1 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 48.09 MAGCAL 1.000000,-0.040656,0.004356,-0.049019,1.105141,-0.007363,0.026163,-0.022949,1.175498,-976.3,-1097.3,-68.4,36,0.0189,0

TEMP 9.79 GPS 200522,220609,4736.356,-12256.838,17,1.1,18,15.5

INTERNAL_PRESSURE 7.88751

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1378 13080.05 nil 0 0 0.00

Pitch_motor 28 278 115.30 nil 0 0 0.00

Roll_motor 45 254 168.58 nil 0 0 0.00

Iridium 129 202 383.92 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.84 nil 0 0 0.00

Core 1257 5 94.43 SciCon 3474 6 347.47

Fast 1 0 0.00 PMAR 3479 7139 364356.37

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 2430 0 11.41

Compass 510 5 37.41

RAFOS 1095 40 642.77

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

8 end surface: CONTROL_FINISHED_OK

state 8 begin dive

9.70 16386 -146.63 -1.06 0.00 540.5 613.0 467.9 216.6 2725.2 0.00 0.00 0 126.88 114.39 0.00 0.00 0.005 0.000 0.000 3136.53 3143.19 3129.88 216.31 2724.12 0 0 0 15.69 30.00 30.00

127.14 18983 -146.63 -1.06 -80.00 3135.7 3142.1 3129.2 216.5 2723.4 3.38 -1.76 11 158.59 12.19 12.10 3.45 0.006 0.278 0.128 3545.59 3575.88 3515.31 1773.25 1278.81 0 0 0 15.74 15.56 15.65

386.64 1028 -146.63 -1.06 0.00 3548.4 3583.0 3513.9 1773.1 1279.2 27.33 -10.08 63 391.62 0.00 0.00 3.42 0.000 0.000 0.072 3549.78 3583.19 3516.38 1773.00 2768.56 0 0 0 30.00 30.00 15.74

716.74 548 -146.63 -1.06 -80.00 3548.7 3582.8 3514.6 1772.9 2767.1 50.55 -6.21 77 721.67 0.00 0.00 3.59 0.000 0.000 0.123 3549.62 3583.50 3515.75 1772.81 1279.25 0 0 0 30.00 30.00 15.77

760.99 1060 -146.63 -1.06 0.00 3548.9 3583.5 3514.3 1772.2 1279.1 53.75 -6.29 86 766.66 0.00 0.00 3.38 0.000 0.000 0.071 3549.94 3583.56 3516.31 1772.94 2769.25 0 0 0 30.00 30.00 15.80

1136.72 292 -146.63 -1.06 80.00 3549.1 3583.5 3514.8 1773.0 2769.5 80.09 -7.79 101 1141.56 0.00 0.00 2.76 0.000 0.000 0.135 3549.00 3583.25 3514.75 1773.06 3912.31 0 0 0 30.00 30.00 15.81

1166.74 1060 -146.63 -1.06 0.00 3549.4 3584.0 3514.9 1773.3 3910.2 82.70 -7.95 107 1171.57 0.00 0.00 2.70 0.000 0.000 0.071 3548.94 3583.12 3514.75 1773.69 2724.06 0 0 0 30.00 30.00 15.86

1556.76 260 -146.63 -1.06 80.00 3548.8 3583.1 3514.4 1773.1 2725.0 115.26 -8.26 125 1561.62 0.00 0.00 2.85 0.000 0.000 0.130 3548.97 3582.75 3515.19 1772.25 3912.75 0 0 0 30.00 30.00 15.87

1626.03 1028 -146.63 -1.06 0.00 3549.5 3582.9 3516.2 1773.5 3912.5 121.55 -9.02 139 1631.61 0.00 0.00 2.69 0.000 0.000 0.073 3549.56 3584.88 3514.25 1773.31 2724.00 0 0 0 30.00 30.00 15.92

1977 end dive: TARGET_DEPTH_EXCEEDED

state 1977 begin apogee

1977.94 10243 0.00 -0.25 0.00 3548.7 3583.5 3513.8 1772.9 2575.7 150.02 -8.13 154 2084.05 103.17 1.29 0.08 1.378 0.137 0.255 2945.34 3011.25 2879.44 1971.44 2619.56 0 0 0 11.78 15.90 15.46

2086 end apogee: CONTROL_FINISHED_OK

state 2086 begin climb

2087.01 10759 146.63 1.06 -80.00 2947.8 3013.7 2882.0 1972.6 2623.5 151.91 0.00 157 2206.74 110.29 2.06 3.60 1.311 0.089 0.134 2350.50 2430.56 2270.44 2293.62 1189.31 0 0 0 11.62 15.48 15.24

2224.00 1028 146.63 1.06 0.00 2348.3 2427.3 2269.3 2293.8 1190.4 140.75 12.86 184 2229.68 0.00 0.00 3.32 0.000 0.000 0.065 2350.91 2429.19 2272.62 2292.56 2621.31 0 0 0 30.00 30.00 15.36

2599.73 16646 146.63 1.06 80.00 2344.0 2419.8 2268.2 2293.5 2622.1 92.28 12.95 199 2604.65 0.00 0.00 3.13 0.000 0.000 0.137 2345.91 2420.31 2271.50 2292.25 3909.12 0 0 0 30.00 30.00 15.69

2709.03 17414 146.63 1.06 0.00 2342.2 2416.6 2267.8 2294.2 3910.2 78.06 12.78 221 2714.67 0.00 0.00 3.05 0.000 0.000 0.074 2342.22 2417.25 2267.19 2293.88 2577.75 0 0 0 30.00 30.00 15.77

3079.78 16646 146.63 1.06 80.00 2342.0 2416.8 2267.2 2293.1 2575.2 34.24 11.89 235 3084.70 0.00 0.00 3.20 0.000 0.000 0.130 2344.06 2419.75 2268.38 2293.25 3910.44 0 0 0 30.00 30.00 15.82

3109.79 17414 146.63 1.06 0.00 2341.9 2415.7 2268.2 2293.2 3911.4 30.59 12.18 241 3114.69 0.00 0.00 3.03 0.000 0.000 0.073 2340.34 2412.94 2267.75 2293.75 2577.12 0 0 0 30.00 30.00 15.86

3431 end climb: SURFACE_DEPTH_REACHED

state 3431 begin surface coast

3464 end surface coast: CONTROL_FINISHED_OK

state 3464 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	7	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	7	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	165	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	156.97002	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	19.949879	FG_AHR_24V	196.51282	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	200522,205749,4736.774,-12256.719,1,1.8,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200522,210126,4736.730,-12256.759,2,1.7,4,15.5	MHEAD_RNG_PITCHd_Wd	177.1,1385,-17.6,-10.000,-21.21,2209,0.146
SPEED_LIMITS	0.173,0.258	D_GRID	150
TGT_NAME	S	IRON	1.000000,-0.041155,0.030358,-0.051557,1.108370,0.007707,0.015467,-0.020631,1.155522,-993.454712,-1107.114014,-62.823502
TGT_LATLONG	4736.000,-12257.000

NAV	1653083942,2.0,start	_24V_AH	14.68,131.217
FREEZE	1.24,11.803,-1.492,0,1,0	_10V_AH	14.67,0.000
FINISH	1.2,1.020710	FG_AHR_24Vo	196.702
SM_CCo	3798.32,306.40,1.150,0,541.6,614.6,468.6,590.78	FG_AHR_10Vo	157.012
SM_GC	1.52,306.40,12.78,0.41,1.150,0.080,0.097,541.6,614.6,468.6,216.5,2774.9,0,0,0,11.68,15.87,15.90	MEM0	60148,1,0,0
SUPER	27,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4738.33,-12256.21,200522,195042	MEM2	942424,25,103964,84
TCM_TEMP	12.68	DATA_FILE_SIZE	6534,279
SC_FREEKB	3876448	CAP_FILE_SIZE	377299,0
PM_FREEKB_00	61960128	SDSIZE	3918848,3883424
PM_ACTIVECARD	0	SDFILEDIR	295,3
RAFOS_CLK	1	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	48.09	MAGCAL	1.000000,-0.040656,0.004356,-0.049019,1.105141,-0.007363,0.026163,-0.022949,1.175498,-976.3,-1097.3,-68.4,36,0.0189,0
TEMP	9.79	GPS	200522,220609,4736.356,-12256.838,17,1.1,18,15.5
INTERNAL_PRESSURE	7.88751

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1378	13080.05	nil	0	0	0.00
Pitch_motor	28	278	115.30	nil	0	0	0.00
Roll_motor	45	254	168.58	nil	0	0	0.00
Iridium	129	202	383.92	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.84	nil	0	0	0.00
Core	1257	5	94.43	SciCon	3474	6	347.47
Fast	1	0	0.00	PMAR	3479	7139	364356.37
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	2430	0	11.41
Compass	510	5	37.41
RAFOS	1095	40	642.77
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
8	end surface: CONTROL_FINISHED_OK
state	8	begin dive
9.70	16386	-146.63	-1.06	0.00	540.5	613.0	467.9	216.6	2725.2	0.00	0.00	0	126.88	114.39	0.00	0.00	0.005	0.000	0.000	3136.53	3143.19	3129.88	216.31	2724.12	0	0	0	15.69	30.00	30.00
127.14	18983	-146.63	-1.06	-80.00	3135.7	3142.1	3129.2	216.5	2723.4	3.38	-1.76	11	158.59	12.19	12.10	3.45	0.006	0.278	0.128	3545.59	3575.88	3515.31	1773.25	1278.81	0	0	0	15.74	15.56	15.65
386.64	1028	-146.63	-1.06	0.00	3548.4	3583.0	3513.9	1773.1	1279.2	27.33	-10.08	63	391.62	0.00	0.00	3.42	0.000	0.000	0.072	3549.78	3583.19	3516.38	1773.00	2768.56	0	0	0	30.00	30.00	15.74
716.74	548	-146.63	-1.06	-80.00	3548.7	3582.8	3514.6	1772.9	2767.1	50.55	-6.21	77	721.67	0.00	0.00	3.59	0.000	0.000	0.123	3549.62	3583.50	3515.75	1772.81	1279.25	0	0	0	30.00	30.00	15.77
760.99	1060	-146.63	-1.06	0.00	3548.9	3583.5	3514.3	1772.2	1279.1	53.75	-6.29	86	766.66	0.00	0.00	3.38	0.000	0.000	0.071	3549.94	3583.56	3516.31	1772.94	2769.25	0	0	0	30.00	30.00	15.80
1136.72	292	-146.63	-1.06	80.00	3549.1	3583.5	3514.8	1773.0	2769.5	80.09	-7.79	101	1141.56	0.00	0.00	2.76	0.000	0.000	0.135	3549.00	3583.25	3514.75	1773.06	3912.31	0	0	0	30.00	30.00	15.81
1166.74	1060	-146.63	-1.06	0.00	3549.4	3584.0	3514.9	1773.3	3910.2	82.70	-7.95	107	1171.57	0.00	0.00	2.70	0.000	0.000	0.071	3548.94	3583.12	3514.75	1773.69	2724.06	0	0	0	30.00	30.00	15.86
1556.76	260	-146.63	-1.06	80.00	3548.8	3583.1	3514.4	1773.1	2725.0	115.26	-8.26	125	1561.62	0.00	0.00	2.85	0.000	0.000	0.130	3548.97	3582.75	3515.19	1772.25	3912.75	0	0	0	30.00	30.00	15.87
1626.03	1028	-146.63	-1.06	0.00	3549.5	3582.9	3516.2	1773.5	3912.5	121.55	-9.02	139	1631.61	0.00	0.00	2.69	0.000	0.000	0.073	3549.56	3584.88	3514.25	1773.31	2724.00	0	0	0	30.00	30.00	15.92
1977	end dive: TARGET_DEPTH_EXCEEDED
state	1977	begin apogee
1977.94	10243	0.00	-0.25	0.00	3548.7	3583.5	3513.8	1772.9	2575.7	150.02	-8.13	154	2084.05	103.17	1.29	0.08	1.378	0.137	0.255	2945.34	3011.25	2879.44	1971.44	2619.56	0	0	0	11.78	15.90	15.46
2086	end apogee: CONTROL_FINISHED_OK
state	2086	begin climb
2087.01	10759	146.63	1.06	-80.00	2947.8	3013.7	2882.0	1972.6	2623.5	151.91	0.00	157	2206.74	110.29	2.06	3.60	1.311	0.089	0.134	2350.50	2430.56	2270.44	2293.62	1189.31	0	0	0	11.62	15.48	15.24
2224.00	1028	146.63	1.06	0.00	2348.3	2427.3	2269.3	2293.8	1190.4	140.75	12.86	184	2229.68	0.00	0.00	3.32	0.000	0.000	0.065	2350.91	2429.19	2272.62	2292.56	2621.31	0	0	0	30.00	30.00	15.36
2599.73	16646	146.63	1.06	80.00	2344.0	2419.8	2268.2	2293.5	2622.1	92.28	12.95	199	2604.65	0.00	0.00	3.13	0.000	0.000	0.137	2345.91	2420.31	2271.50	2292.25	3909.12	0	0	0	30.00	30.00	15.69
2709.03	17414	146.63	1.06	0.00	2342.2	2416.6	2267.8	2294.2	3910.2	78.06	12.78	221	2714.67	0.00	0.00	3.05	0.000	0.000	0.074	2342.22	2417.25	2267.19	2293.88	2577.75	0	0	0	30.00	30.00	15.77
3079.78	16646	146.63	1.06	80.00	2342.0	2416.8	2267.2	2293.1	2575.2	34.24	11.89	235	3084.70	0.00	0.00	3.20	0.000	0.000	0.130	2344.06	2419.75	2268.38	2293.25	3910.44	0	0	0	30.00	30.00	15.82
3109.79	17414	146.63	1.06	0.00	2341.9	2415.7	2268.2	2293.2	3911.4	30.59	12.18	241	3114.69	0.00	0.00	3.03	0.000	0.000	0.073	2340.34	2412.94	2267.75	2293.75	2577.12	0	0	0	30.00	30.00	15.86
3431	end climb: SURFACE_DEPTH_REACHED
state	3431	begin surface coast
3464	end surface coast: CONTROL_FINISHED_OK
state	3464	begin surface