Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 8 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 607.84076 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 -0.1

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3012.0271 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 0.5 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 55 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 1 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 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 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1796.887 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 18.010662 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.343199 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 6.8534384 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 -156.68835 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72626 C_PITCH_AUTO_MAX 200 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 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 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 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 0 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 607.84076

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.343199 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.8534384 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 18.010662 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

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

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 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 0.0012300001 T_DIVE 55

COMPASS2_DEVICE -1 ID 240 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 -0.1 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1796.887 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.68835 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

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 3012.0271 LOGGERS 7 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 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 72626 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 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 8 MISSION 4 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 175 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 250522,091423,4736.784,-12256.331,1,1.1,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,091741,4736.821,-12256.295,2,1.2,4,15.5 MHEAD_RNG_PITCHd_Wd 315.6,357,-27.2,-9.697,-30.00,954,0.141

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME N IRON 1.000000,-0.003685,-0.035832,-0.009165,1.081644,-0.109546,0.001723,-0.021633,1.055504,72.227425,-872.630798,-495.129608

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

FREEZE 6.19,11.084,-1.546,0,1,0 FG_AHR_10Vo 15.356

SM_CCo 2938.81,310.21,0.927,0,500.7,515.1,486.3,616.02 MEM0 60132,1,0,0

SM_GC 1.77,0.00,12.88,3.54,0.000,0.063,0.063,498.2,512.6,483.7,190.1,2170.4,0,0,0,30.00,15.55,15.55 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 944592,33,102096,61

IRIDIUM_FIX 4736.87,-12256.21,250522,080443 DATA_FILE_SIZE 9741,383

TCM_TEMP 17.62 CAP_FILE_SIZE 269339,0

SC_FREEKB 3876224 SDSIZE 3887104,3869632

RAFOS_CLK -2 SDFILEDIR 106,1

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 48.95 SOUNDSPEED 1465.0

TEMP 10.15 CURRENT 0.097, 49.0,1

INTERNAL_PRESSURE 7.98218 MAGCAL 1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.2,-908.0,-417.4,36,0.0277,1

_24V_AH 15.03,8.094 IMPLIED_C_PITCH 1785,17.89,195,1790.9,17.95

_10V_AH 15.00,0.000 IMPLIED_C_VBD 2998,17.373060,195,3005.0

FG_AHR_24Vo 7.003 GPS 250522,100932,4737.187,-12256.281,1,1.2,3,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 604 1139 10358.59 nil 0 0 0.00

Pitch_motor 31 261 122.04 nil 0 0 0.00

Roll_motor 42 196 126.99 nil 0 0 0.00

Iridium 131 224 442.56 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.95 nil 0 0 0.00

Core 1663 5 127.73 SciCon 2619 6 255.98

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1235 0 5.93

Compass 781 5 58.65

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.70 16386 -60.85 -1.58 0.00 533.6 551.4 515.7 187.9 2165.2 0.00 0.00 0 66.78 57.10 0.00 0.00 0.005 0.000 0.000 2193.78 2236.19 2151.38 187.62 2164.81 0 0 0 15.28 30.00 30.00

67.08 18983 -125.77 -1.66 -80.00 2192.3 2234.1 2150.6 187.7 2165.2 3.05 -2.73 10 127.32 35.98 9.52 3.71 0.005 0.261 0.118 3525.06 3577.81 3472.31 1392.50 682.94 0 0 0 15.85 15.67 15.76

295.82 3205 -125.77 -1.50 0.00 3525.0 3578.2 3471.8 1392.4 683.2 36.21 -16.23 55 302.81 0.00 0.30 3.42 0.000 0.217 0.059 3525.31 3578.25 3472.38 1431.75 2172.12 0 0 0 30.00 15.81 15.89

486.29 388 -125.77 -1.54 80.00 3525.8 3579.8 3471.9 1431.9 2171.4 60.11 -12.34 85 492.29 0.00 0.00 3.54 0.000 0.000 0.125 3527.66 3581.81 3473.50 1431.50 3616.50 0 0 0 30.00 30.00 15.91

546.37 1156 -125.77 -1.48 0.00 3526.2 3579.8 3472.6 1432.3 3616.8 69.14 -15.94 97 552.51 0.00 0.00 3.45 0.000 0.000 0.053 3525.81 3579.75 3471.88 1432.25 2123.00 0 0 0 30.00 30.00 15.97

739.43 128 -125.77 -1.53 0.00 3526.3 3580.6 3472.1 1431.8 2120.4 94.38 -13.24 118 741.04 0.00 0.00 0.00 0.000 0.000 0.000 3524.69 3579.25 3470.12 1432.44 2120.62 0 0 0 30.00 30.00 30.00

929.45 128 -125.77 -1.59 0.00 3526.1 3580.4 3471.9 1432.2 2119.9 120.08 -13.75 137 931.06 0.00 0.00 0.00 0.000 0.000 0.000 3526.25 3579.75 3472.75 1432.44 2120.19 0 0 0 30.00 30.00 30.00

1119.49 4225 -125.77 -1.66 0.00 3526.4 3580.8 3472.1 1432.1 2120.1 146.87 -14.11 156 1121.41 0.00 0.32 0.00 0.000 0.074 0.000 3526.62 3582.06 3471.19 1376.62 2120.00 0 0 0 30.00 16.07 30.00

1209 end dive: TARGET_DEPTH_EXCEEDED

state 1209 begin apogee

1210.68 10243 0.00 -0.28 0.00 3526.7 3581.1 3472.2 1377.4 2178.7 161.01 -15.94 165 1309.18 88.67 2.58 0.10 1.140 0.190 0.197 3009.75 3067.31 2952.19 1728.38 2116.50 0 0 0 12.00 16.00 15.75

1310 end apogee: CONTROL_FINISHED_OK

state 1310 begin climb

1310.35 10243 125.77 1.66 0.00 3010.0 3068.6 2951.5 1728.7 2117.1 164.79 0.00 174 1412.55 90.36 3.26 0.00 1.107 0.120 0.000 2498.72 2560.81 2436.62 2200.12 2116.81 0 0 0 11.78 15.73 30.00

1596.09 644 125.77 1.60 -80.00 2491.4 2557.1 2425.8 2200.2 2116.4 123.41 18.20 209 1603.38 0.00 0.00 3.68 0.000 0.000 0.126 2492.53 2559.25 2425.81 2200.56 684.38 0 0 0 30.00 30.00 15.73

1701.97 21639 125.77 1.39 0.00 2488.7 2553.0 2424.4 2199.8 684.2 101.87 20.49 230 1709.54 0.00 0.59 3.45 0.000 0.206 0.061 2487.34 2551.94 2422.75 2126.06 2167.62 0 0 0 30.00 15.78 15.84

1896.99 19079 125.77 1.48 -80.00 2488.7 2553.2 2424.2 2125.9 2168.1 74.44 13.27 250 1904.57 0.00 0.23 3.76 0.000 0.080 0.122 2489.69 2553.25 2426.12 2167.19 683.06 0 0 0 30.00 15.91 15.87

1973.16 21639 125.77 1.35 0.00 2488.2 2553.2 2423.2 2167.5 683.2 60.96 18.38 265 1980.69 0.00 0.41 3.42 0.000 0.201 0.060 2489.16 2554.19 2424.12 2117.38 2167.88 0 0 0 30.00 15.87 15.94

2163.20 18823 125.77 1.45 80.00 2488.3 2553.3 2423.2 2117.6 2167.6 35.79 12.06 295 2170.35 0.00 0.25 3.57 0.000 0.073 0.127 2490.66 2555.69 2425.62 2163.62 3616.31 0 0 0 30.00 15.98 15.95

2218.92 21639 125.77 1.36 0.00 2489.0 2553.8 2424.1 2163.4 3616.5 27.18 16.09 306 2226.08 0.00 0.37 3.45 0.000 0.200 0.056 2488.66 2553.12 2424.19 2119.75 2122.62 0 0 0 30.00 15.92 15.99

2407.83 10919 155.35 1.56 -80.00 2488.2 2553.4 2423.1 2120.1 2123.3 7.46 6.53 343 2441.50 22.31 0.39 3.64 0.926 0.067 0.123 2375.16 2444.75 2305.56 2188.38 683.19 0 0 0 11.94 16.01 15.92

2610 end climb: NO_VERTICAL_VELOCITY

state 2610 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	8	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	607.84076	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	-0.1
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3012.0271	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	0.5	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	55	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	1	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	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	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1796.887	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	18.010662	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.343199	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	6.8534384	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	-156.68835	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022403029	SEABIRD_C_G	-10
MASS	72626	C_PITCH_AUTO_MAX	200	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	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	210	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3810	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	250522,091423,4736.784,-12256.331,1,1.1,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,091741,4736.821,-12256.295,2,1.2,4,15.5	MHEAD_RNG_PITCHd_Wd	315.6,357,-27.2,-9.697,-30.00,954,0.141
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	N	IRON	1.000000,-0.003685,-0.035832,-0.009165,1.081644,-0.109546,0.001723,-0.021633,1.055504,72.227425,-872.630798,-495.129608
TGT_LATLONG	4737.000,-12256.400

FREEZE	6.19,11.084,-1.546,0,1,0	FG_AHR_10Vo	15.356
SM_CCo	2938.81,310.21,0.927,0,500.7,515.1,486.3,616.02	MEM0	60132,1,0,0
SM_GC	1.77,0.00,12.88,3.54,0.000,0.063,0.063,498.2,512.6,483.7,190.1,2170.4,0,0,0,30.00,15.55,15.55	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	944592,33,102096,61
IRIDIUM_FIX	4736.87,-12256.21,250522,080443	DATA_FILE_SIZE	9741,383
TCM_TEMP	17.62	CAP_FILE_SIZE	269339,0
SC_FREEKB	3876224	SDSIZE	3887104,3869632
RAFOS_CLK	-2	SDFILEDIR	106,1
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	48.95	SOUNDSPEED	1465.0
TEMP	10.15	CURRENT	0.097, 49.0,1
INTERNAL_PRESSURE	7.98218	MAGCAL	1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.2,-908.0,-417.4,36,0.0277,1
_24V_AH	15.03,8.094	IMPLIED_C_PITCH	1785,17.89,195,1790.9,17.95
_10V_AH	15.00,0.000	IMPLIED_C_VBD	2998,17.373060,195,3005.0
FG_AHR_24Vo	7.003	GPS	250522,100932,4737.187,-12256.281,1,1.2,3,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	604	1139	10358.59	nil	0	0	0.00
Pitch_motor	31	261	122.04	nil	0	0	0.00
Roll_motor	42	196	126.99	nil	0	0	0.00
Iridium	131	224	442.56	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.95	nil	0	0	0.00
Core	1663	5	127.73	SciCon	2619	6	255.98
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1235	0	5.93
Compass	781	5	58.65
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.70	16386	-60.85	-1.58	0.00	533.6	551.4	515.7	187.9	2165.2	0.00	0.00	0	66.78	57.10	0.00	0.00	0.005	0.000	0.000	2193.78	2236.19	2151.38	187.62	2164.81	0	0	0	15.28	30.00	30.00
67.08	18983	-125.77	-1.66	-80.00	2192.3	2234.1	2150.6	187.7	2165.2	3.05	-2.73	10	127.32	35.98	9.52	3.71	0.005	0.261	0.118	3525.06	3577.81	3472.31	1392.50	682.94	0	0	0	15.85	15.67	15.76
295.82	3205	-125.77	-1.50	0.00	3525.0	3578.2	3471.8	1392.4	683.2	36.21	-16.23	55	302.81	0.00	0.30	3.42	0.000	0.217	0.059	3525.31	3578.25	3472.38	1431.75	2172.12	0	0	0	30.00	15.81	15.89
486.29	388	-125.77	-1.54	80.00	3525.8	3579.8	3471.9	1431.9	2171.4	60.11	-12.34	85	492.29	0.00	0.00	3.54	0.000	0.000	0.125	3527.66	3581.81	3473.50	1431.50	3616.50	0	0	0	30.00	30.00	15.91
546.37	1156	-125.77	-1.48	0.00	3526.2	3579.8	3472.6	1432.3	3616.8	69.14	-15.94	97	552.51	0.00	0.00	3.45	0.000	0.000	0.053	3525.81	3579.75	3471.88	1432.25	2123.00	0	0	0	30.00	30.00	15.97
739.43	128	-125.77	-1.53	0.00	3526.3	3580.6	3472.1	1431.8	2120.4	94.38	-13.24	118	741.04	0.00	0.00	0.00	0.000	0.000	0.000	3524.69	3579.25	3470.12	1432.44	2120.62	0	0	0	30.00	30.00	30.00
929.45	128	-125.77	-1.59	0.00	3526.1	3580.4	3471.9	1432.2	2119.9	120.08	-13.75	137	931.06	0.00	0.00	0.00	0.000	0.000	0.000	3526.25	3579.75	3472.75	1432.44	2120.19	0	0	0	30.00	30.00	30.00
1119.49	4225	-125.77	-1.66	0.00	3526.4	3580.8	3472.1	1432.1	2120.1	146.87	-14.11	156	1121.41	0.00	0.32	0.00	0.000	0.074	0.000	3526.62	3582.06	3471.19	1376.62	2120.00	0	0	0	30.00	16.07	30.00
1209	end dive: TARGET_DEPTH_EXCEEDED
state	1209	begin apogee
1210.68	10243	0.00	-0.28	0.00	3526.7	3581.1	3472.2	1377.4	2178.7	161.01	-15.94	165	1309.18	88.67	2.58	0.10	1.140	0.190	0.197	3009.75	3067.31	2952.19	1728.38	2116.50	0	0	0	12.00	16.00	15.75
1310	end apogee: CONTROL_FINISHED_OK
state	1310	begin climb
1310.35	10243	125.77	1.66	0.00	3010.0	3068.6	2951.5	1728.7	2117.1	164.79	0.00	174	1412.55	90.36	3.26	0.00	1.107	0.120	0.000	2498.72	2560.81	2436.62	2200.12	2116.81	0	0	0	11.78	15.73	30.00
1596.09	644	125.77	1.60	-80.00	2491.4	2557.1	2425.8	2200.2	2116.4	123.41	18.20	209	1603.38	0.00	0.00	3.68	0.000	0.000	0.126	2492.53	2559.25	2425.81	2200.56	684.38	0	0	0	30.00	30.00	15.73
1701.97	21639	125.77	1.39	0.00	2488.7	2553.0	2424.4	2199.8	684.2	101.87	20.49	230	1709.54	0.00	0.59	3.45	0.000	0.206	0.061	2487.34	2551.94	2422.75	2126.06	2167.62	0	0	0	30.00	15.78	15.84
1896.99	19079	125.77	1.48	-80.00	2488.7	2553.2	2424.2	2125.9	2168.1	74.44	13.27	250	1904.57	0.00	0.23	3.76	0.000	0.080	0.122	2489.69	2553.25	2426.12	2167.19	683.06	0	0	0	30.00	15.91	15.87
1973.16	21639	125.77	1.35	0.00	2488.2	2553.2	2423.2	2167.5	683.2	60.96	18.38	265	1980.69	0.00	0.41	3.42	0.000	0.201	0.060	2489.16	2554.19	2424.12	2117.38	2167.88	0	0	0	30.00	15.87	15.94
2163.20	18823	125.77	1.45	80.00	2488.3	2553.3	2423.2	2117.6	2167.6	35.79	12.06	295	2170.35	0.00	0.25	3.57	0.000	0.073	0.127	2490.66	2555.69	2425.62	2163.62	3616.31	0	0	0	30.00	15.98	15.95
2218.92	21639	125.77	1.36	0.00	2489.0	2553.8	2424.1	2163.4	3616.5	27.18	16.09	306	2226.08	0.00	0.37	3.45	0.000	0.200	0.056	2488.66	2553.12	2424.19	2119.75	2122.62	0	0	0	30.00	15.92	15.99
2407.83	10919	155.35	1.56	-80.00	2488.2	2553.4	2423.1	2120.1	2123.3	7.46	6.53	343	2441.50	22.31	0.39	3.64	0.926	0.067	0.123	2375.16	2444.75	2305.56	2188.38	683.19	0	0	0	11.94	16.01	15.92
2610	end climb: NO_VERTICAL_VELOCITY
state	2610	begin surface