Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 11 * 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 7 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 11 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 611.3277 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 175 COMM_SEQ 7 C_VBD 3001.3591 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 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 1750.0928 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 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 17.933361 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.767721 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 29.626875 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 -189.03369 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72520 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 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 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 611.3277

ALTIM_SENSITIVITY 2 FG_AHR_10V 19.767721 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.626875 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 17.933361 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 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 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 55

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 1750.0928 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -189.03369 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 3001.3591 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 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 5 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 11 MISSION 7 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 250522,142601,4736.197,-12256.781,22,0.9,23,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.19 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,142938,4736.236,-12256.740,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 203.6,544,-17.6,-9.697,-21.23,2171,0.129

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,0.006547,0.022242,0.012131,1.081932,-0.055335,0.007637,-0.051540,1.005757,438.739624,-1310.312012,-201.126175

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653493020,-0.0,0,stop MEM0 60132,1,0,0

FREEZE 2.27,13.002,-1.457,0,1,0 MEM1 65508,1,0,0

SM_CCo 73.78,0.00,0.000,0,491.7,567.8,415.6,614.55 MEM2 944680,29,102068,62

SM_GC 1.16,0.00,3.05,0.10,0.000,0.066,0.132,491.7,567.8,415.6,199.9,2109.4,0,0,0,30.00,15.91,15.92 DATA_FILE_SIZE 16122,547

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 355092,0

IRIDIUM_FIX 4736.87,-12256.21,250522,131113 SDSIZE 3887104,3868064

TCM_TEMP 12.84 SDFILEDIR 132,1

SC_FREEKB 3875264 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

RAFOS_FIX 4732.259766,-12300.614258,250522,030300,3,255,2968.37 CURRENT 0.086, 40.4,1

HUMID 48.82 MAGCAL 1.000000,0.024737,0.044948,-0.002726,1.084123,-0.077508,0.005474,-0.082112,1.025478,424.3,-1303.0,-209.4,36,0.0271,1

TEMP 10.60 IMPLIED_C_PITCH 1759,18.72,283,1754.5,18.33

INTERNAL_PRESSURE 8.10363 IMPLIED_C_VBD 2993,23.573708,283,2997.0

_24V_AH 14.94,9.628 GPS 250522,153724,4736.186,-12256.939,2,1.6,5,15.5

_10V_AH 14.95,0.000 EOP_CODE NO_VERTICAL_VELOCITY

FG_AHR_24Vo 29.791 RECOV_CODE QUIT_COMMAND

FG_AHR_10Vo 19.794

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 692 1083 11213.19 nil 0 0 0.00

Pitch_motor 29 288 125.04 nil 0 0 0.00

Roll_motor 56 168 142.97 nil 0 0 0.00

Iridium 148 207 461.19 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 2327 5 178.17 SciCon 3722 6 385.11

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1691 0 8.09

Compass 1091 5 81.61

RAFOS 959 40 573.95

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

6.58 16386 -139.78 -1.15 0.00 508.4 557.5 459.4 194.8 2188.3 0.00 0.00 0 107.54 96.33 0.00 0.00 0.005 0.000 0.000 2710.91 2684.44 2737.38 194.81 2188.38 0 0 0 15.82 30.00 30.00

107.84 18983 -146.63 -1.16 -80.00 2710.1 2684.4 2735.9 194.9 2188.4 3.24 -2.30 19 158.08 25.92 10.55 3.65 0.006 0.288 0.108 3598.72 3588.00 3609.44 1468.62 682.00 0 0 0 15.82 15.45 15.80

386.62 3205 -146.63 -0.95 0.00 3600.1 3596.7 3603.5 1468.6 681.9 38.29 -12.58 73 393.55 0.00 0.37 3.40 0.000 0.196 0.046 3601.66 3598.00 3605.31 1518.88 2177.12 0 0 0 30.00 15.85 15.94

582.04 292 -146.63 -0.95 80.00 3600.3 3598.4 3602.2 1519.7 2177.9 55.14 -8.36 106 588.20 0.00 0.00 3.50 0.000 0.000 0.105 3599.41 3597.56 3601.25 1519.44 3618.19 0 0 0 30.00 30.00 15.96

815.79 1156 -146.63 -0.89 0.00 3600.2 3598.4 3601.9 1519.4 3618.0 79.10 -10.60 152 821.85 0.00 0.00 3.39 0.000 0.000 0.046 3600.28 3598.00 3602.56 1519.62 2117.00 0 0 0 30.00 30.00 16.02

1005.78 292 -146.63 -0.89 80.00 3600.5 3599.2 3601.8 1519.6 2117.4 95.98 -8.73 172 1013.10 0.00 0.00 3.64 0.000 0.000 0.103 3599.91 3598.38 3601.44 1519.75 3617.81 0 0 0 30.00 30.00 16.03

1151.69 3205 -146.63 -0.85 0.00 3600.7 3599.2 3602.1 1519.6 3618.2 110.96 -10.43 201 1158.96 0.00 0.17 3.37 0.000 0.184 0.047 3602.00 3599.94 3604.06 1545.81 2116.12 0 0 0 30.00 16.03 16.07

1342.79 160 -146.63 -0.92 0.00 3600.3 3598.7 3601.9 1544.6 2115.9 125.99 -7.57 221 1344.38 0.00 0.00 0.00 0.000 0.000 0.000 3599.94 3598.38 3601.50 1544.88 2116.19 0 0 0 30.00 30.00 30.00

1532.81 4517 -146.63 -0.98 80.00 3600.3 3598.9 3601.8 1544.7 2115.7 140.93 -7.90 240 1540.30 0.00 0.31 3.63 0.000 0.085 0.105 3600.97 3599.31 3602.62 1498.94 3618.38 0 0 0 30.00 16.09 16.09

1583.15 3205 -146.63 -0.88 0.00 3600.2 3598.3 3602.1 1499.2 3619.7 146.54 -11.52 250 1591.05 0.00 0.33 3.37 0.000 0.176 0.047 3601.69 3599.88 3603.50 1538.19 2117.31 0 0 0 30.00 16.06 16.11

1754 end dive: TARGET_DEPTH_EXCEEDED

state 1754 begin apogee

1755.55 10243 0.00 -0.28 0.00 3600.8 3599.4 3602.2 1537.3 2181.2 161.14 -8.33 267 1875.28 111.53 1.00 0.10 1.083 0.151 0.169 2998.91 3051.88 2945.94 1682.50 2111.38 0 0 0 11.90 16.05 15.72

1876 end apogee: CONTROL_FINISHED_OK

state 1876 begin climb

1876.47 10243 146.63 1.16 0.00 2999.3 3051.9 2946.8 1682.6 2111.3 164.71 0.00 278 2003.21 115.88 2.42 0.00 1.036 0.121 0.000 2400.31 2467.94 2332.69 2032.94 2112.00 0 0 0 11.79 15.70 30.00

2186.75 4485 146.63 1.04 80.00 2396.4 2458.9 2333.8 2032.6 2111.1 132.70 12.76 310 2194.32 0.00 0.31 3.70 0.000 0.174 0.108 2395.38 2457.62 2333.12 1996.69 3615.56 0 0 0 30.00 15.67 15.71

2232.89 17542 146.63 0.93 0.00 2394.7 2456.0 2333.4 1995.9 3615.0 126.68 13.09 319 2239.01 0.00 0.00 3.43 0.000 0.000 0.047 2393.12 2454.88 2331.38 1996.88 2120.69 0 0 0 30.00 30.00 15.77

2421.82 16386 146.63 0.93 0.00 2394.8 2456.3 2333.2 1996.6 2119.6 106.47 10.53 339 2423.43 0.00 0.00 0.00 0.000 0.000 0.000 2393.53 2455.25 2331.81 1996.50 2119.88 0 0 0 30.00 30.00 30.00

2611.85 16646 146.63 0.93 80.00 2393.8 2454.4 2333.2 1997.0 2119.7 87.29 9.85 358 2619.22 0.00 0.00 3.67 0.000 0.000 0.108 2396.16 2456.06 2336.25 1996.75 3617.81 0 0 0 30.00 30.00 15.92

2667.80 21639 146.63 0.83 0.00 2393.1 2453.1 2333.1 1996.7 3617.6 80.89 11.71 369 2675.21 0.00 0.35 3.39 0.000 0.178 0.047 2392.84 2452.25 2333.44 1943.62 2117.81 0 0 0 30.00 15.89 15.97

2862.86 10663 190.93 0.98 80.00 2393.2 2453.2 2333.1 1943.4 2117.4 65.43 7.61 389 2907.11 34.87 0.32 3.67 0.968 0.079 0.109 2222.03 2294.38 2149.69 1993.88 3616.31 0 0 0 11.74 16.00 15.87

2929.94 1156 190.93 0.93 0.00 2218.7 2289.4 2148.1 1993.8 3616.2 58.39 11.63 402 2937.51 0.00 0.00 3.40 0.000 0.000 0.046 2218.88 2289.38 2148.38 1994.56 2118.06 0 0 0 30.00 30.00 15.91

3120.59 0 190.93 0.93 0.00 2217.7 2287.1 2148.2 1994.2 2117.3 38.06 9.82 432 3125.49 0.00 0.00 0.00 0.000 0.000 0.000 2217.72 2287.12 2148.31 1994.62 2117.69 0 0 0 30.00 30.00 30.00

3310.88 8614 210.37 0.99 80.00 2216.8 2285.5 2148.1 1995.0 2117.1 20.10 8.78 470 3337.84 16.48 0.00 3.67 0.890 0.000 0.110 2142.75 2216.38 2069.12 1994.75 3616.31 0 0 0 11.82 30.00 15.94

3396.37 9254 216.66 1.00 0.00 2139.8 2211.6 2067.9 1994.9 3616.6 12.09 9.40 487 3413.79 7.20 0.00 3.40 0.718 0.000 0.046 2117.44 2191.12 2043.75 1994.62 2115.50 0 0 0 11.91 30.00 15.99

3596.29 10919 374.70 1.42 -80.00 2115.4 2187.5 2043.2 1994.4 2115.2 3.49 2.25 525 3712.80 109.78 0.63 0.00 0.918 0.073 0.000 1507.22 1616.25 1398.19 2101.56 2116.00 0 0 0 11.90 15.99 30.00

3713 end climb: NO_VERTICAL_VELOCITY

state 3713 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	7	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	11	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	611.3277	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	175	COMM_SEQ	7	C_VBD	3001.3591	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	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	1750.0928	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	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	17.933361	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.767721	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	29.626875	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	-189.03369	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72520	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	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	250522,142601,4736.197,-12256.781,22,0.9,23,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.19	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,142938,4736.236,-12256.740,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	203.6,544,-17.6,-9.697,-21.23,2171,0.129
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.006547,0.022242,0.012131,1.081932,-0.055335,0.007637,-0.051540,1.005757,438.739624,-1310.312012,-201.126175
TGT_LATLONG	4736.000,-12257.000

NAV	1653493020,-0.0,0,stop	MEM0	60132,1,0,0
FREEZE	2.27,13.002,-1.457,0,1,0	MEM1	65508,1,0,0
SM_CCo	73.78,0.00,0.000,0,491.7,567.8,415.6,614.55	MEM2	944680,29,102068,62
SM_GC	1.16,0.00,3.05,0.10,0.000,0.066,0.132,491.7,567.8,415.6,199.9,2109.4,0,0,0,30.00,15.91,15.92	DATA_FILE_SIZE	16122,547
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	355092,0
IRIDIUM_FIX	4736.87,-12256.21,250522,131113	SDSIZE	3887104,3868064
TCM_TEMP	12.84	SDFILEDIR	132,1
SC_FREEKB	3875264	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
RAFOS_FIX	4732.259766,-12300.614258,250522,030300,3,255,2968.37	CURRENT	0.086, 40.4,1
HUMID	48.82	MAGCAL	1.000000,0.024737,0.044948,-0.002726,1.084123,-0.077508,0.005474,-0.082112,1.025478,424.3,-1303.0,-209.4,36,0.0271,1
TEMP	10.60	IMPLIED_C_PITCH	1759,18.72,283,1754.5,18.33
INTERNAL_PRESSURE	8.10363	IMPLIED_C_VBD	2993,23.573708,283,2997.0
_24V_AH	14.94,9.628	GPS	250522,153724,4736.186,-12256.939,2,1.6,5,15.5
_10V_AH	14.95,0.000	EOP_CODE	NO_VERTICAL_VELOCITY
FG_AHR_24Vo	29.791	RECOV_CODE	QUIT_COMMAND
FG_AHR_10Vo	19.794

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	692	1083	11213.19	nil	0	0	0.00
Pitch_motor	29	288	125.04	nil	0	0	0.00
Roll_motor	56	168	142.97	nil	0	0	0.00
Iridium	148	207	461.19	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	2327	5	178.17	SciCon	3722	6	385.11
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1691	0	8.09
Compass	1091	5	81.61
RAFOS	959	40	573.95
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
6.58	16386	-139.78	-1.15	0.00	508.4	557.5	459.4	194.8	2188.3	0.00	0.00	0	107.54	96.33	0.00	0.00	0.005	0.000	0.000	2710.91	2684.44	2737.38	194.81	2188.38	0	0	0	15.82	30.00	30.00
107.84	18983	-146.63	-1.16	-80.00	2710.1	2684.4	2735.9	194.9	2188.4	3.24	-2.30	19	158.08	25.92	10.55	3.65	0.006	0.288	0.108	3598.72	3588.00	3609.44	1468.62	682.00	0	0	0	15.82	15.45	15.80
386.62	3205	-146.63	-0.95	0.00	3600.1	3596.7	3603.5	1468.6	681.9	38.29	-12.58	73	393.55	0.00	0.37	3.40	0.000	0.196	0.046	3601.66	3598.00	3605.31	1518.88	2177.12	0	0	0	30.00	15.85	15.94
582.04	292	-146.63	-0.95	80.00	3600.3	3598.4	3602.2	1519.7	2177.9	55.14	-8.36	106	588.20	0.00	0.00	3.50	0.000	0.000	0.105	3599.41	3597.56	3601.25	1519.44	3618.19	0	0	0	30.00	30.00	15.96
815.79	1156	-146.63	-0.89	0.00	3600.2	3598.4	3601.9	1519.4	3618.0	79.10	-10.60	152	821.85	0.00	0.00	3.39	0.000	0.000	0.046	3600.28	3598.00	3602.56	1519.62	2117.00	0	0	0	30.00	30.00	16.02
1005.78	292	-146.63	-0.89	80.00	3600.5	3599.2	3601.8	1519.6	2117.4	95.98	-8.73	172	1013.10	0.00	0.00	3.64	0.000	0.000	0.103	3599.91	3598.38	3601.44	1519.75	3617.81	0	0	0	30.00	30.00	16.03
1151.69	3205	-146.63	-0.85	0.00	3600.7	3599.2	3602.1	1519.6	3618.2	110.96	-10.43	201	1158.96	0.00	0.17	3.37	0.000	0.184	0.047	3602.00	3599.94	3604.06	1545.81	2116.12	0	0	0	30.00	16.03	16.07
1342.79	160	-146.63	-0.92	0.00	3600.3	3598.7	3601.9	1544.6	2115.9	125.99	-7.57	221	1344.38	0.00	0.00	0.00	0.000	0.000	0.000	3599.94	3598.38	3601.50	1544.88	2116.19	0	0	0	30.00	30.00	30.00
1532.81	4517	-146.63	-0.98	80.00	3600.3	3598.9	3601.8	1544.7	2115.7	140.93	-7.90	240	1540.30	0.00	0.31	3.63	0.000	0.085	0.105	3600.97	3599.31	3602.62	1498.94	3618.38	0	0	0	30.00	16.09	16.09
1583.15	3205	-146.63	-0.88	0.00	3600.2	3598.3	3602.1	1499.2	3619.7	146.54	-11.52	250	1591.05	0.00	0.33	3.37	0.000	0.176	0.047	3601.69	3599.88	3603.50	1538.19	2117.31	0	0	0	30.00	16.06	16.11
1754	end dive: TARGET_DEPTH_EXCEEDED
state	1754	begin apogee
1755.55	10243	0.00	-0.28	0.00	3600.8	3599.4	3602.2	1537.3	2181.2	161.14	-8.33	267	1875.28	111.53	1.00	0.10	1.083	0.151	0.169	2998.91	3051.88	2945.94	1682.50	2111.38	0	0	0	11.90	16.05	15.72
1876	end apogee: CONTROL_FINISHED_OK
state	1876	begin climb
1876.47	10243	146.63	1.16	0.00	2999.3	3051.9	2946.8	1682.6	2111.3	164.71	0.00	278	2003.21	115.88	2.42	0.00	1.036	0.121	0.000	2400.31	2467.94	2332.69	2032.94	2112.00	0	0	0	11.79	15.70	30.00
2186.75	4485	146.63	1.04	80.00	2396.4	2458.9	2333.8	2032.6	2111.1	132.70	12.76	310	2194.32	0.00	0.31	3.70	0.000	0.174	0.108	2395.38	2457.62	2333.12	1996.69	3615.56	0	0	0	30.00	15.67	15.71
2232.89	17542	146.63	0.93	0.00	2394.7	2456.0	2333.4	1995.9	3615.0	126.68	13.09	319	2239.01	0.00	0.00	3.43	0.000	0.000	0.047	2393.12	2454.88	2331.38	1996.88	2120.69	0	0	0	30.00	30.00	15.77
2421.82	16386	146.63	0.93	0.00	2394.8	2456.3	2333.2	1996.6	2119.6	106.47	10.53	339	2423.43	0.00	0.00	0.00	0.000	0.000	0.000	2393.53	2455.25	2331.81	1996.50	2119.88	0	0	0	30.00	30.00	30.00
2611.85	16646	146.63	0.93	80.00	2393.8	2454.4	2333.2	1997.0	2119.7	87.29	9.85	358	2619.22	0.00	0.00	3.67	0.000	0.000	0.108	2396.16	2456.06	2336.25	1996.75	3617.81	0	0	0	30.00	30.00	15.92
2667.80	21639	146.63	0.83	0.00	2393.1	2453.1	2333.1	1996.7	3617.6	80.89	11.71	369	2675.21	0.00	0.35	3.39	0.000	0.178	0.047	2392.84	2452.25	2333.44	1943.62	2117.81	0	0	0	30.00	15.89	15.97
2862.86	10663	190.93	0.98	80.00	2393.2	2453.2	2333.1	1943.4	2117.4	65.43	7.61	389	2907.11	34.87	0.32	3.67	0.968	0.079	0.109	2222.03	2294.38	2149.69	1993.88	3616.31	0	0	0	11.74	16.00	15.87
2929.94	1156	190.93	0.93	0.00	2218.7	2289.4	2148.1	1993.8	3616.2	58.39	11.63	402	2937.51	0.00	0.00	3.40	0.000	0.000	0.046	2218.88	2289.38	2148.38	1994.56	2118.06	0	0	0	30.00	30.00	15.91
3120.59	0	190.93	0.93	0.00	2217.7	2287.1	2148.2	1994.2	2117.3	38.06	9.82	432	3125.49	0.00	0.00	0.00	0.000	0.000	0.000	2217.72	2287.12	2148.31	1994.62	2117.69	0	0	0	30.00	30.00	30.00
3310.88	8614	210.37	0.99	80.00	2216.8	2285.5	2148.1	1995.0	2117.1	20.10	8.78	470	3337.84	16.48	0.00	3.67	0.890	0.000	0.110	2142.75	2216.38	2069.12	1994.75	3616.31	0	0	0	11.82	30.00	15.94
3396.37	9254	216.66	1.00	0.00	2139.8	2211.6	2067.9	1994.9	3616.6	12.09	9.40	487	3413.79	7.20	0.00	3.40	0.718	0.000	0.046	2117.44	2191.12	2043.75	1994.62	2115.50	0	0	0	11.91	30.00	15.99
3596.29	10919	374.70	1.42	-80.00	2115.4	2187.5	2043.2	1994.4	2115.2	3.49	2.25	525	3712.80	109.78	0.63	0.00	0.918	0.073	0.000	1507.22	1616.25	1398.19	2101.56	2116.00	0	0	0	11.90	15.99	30.00
3713	end climb: NO_VERTICAL_VELOCITY
state	3713	begin surface