Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 13 * 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 13 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 3059.1089 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 1755.1133 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 18.385374 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.829807 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 29.995731 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 19.829807 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.995731 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 18.385374 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 1755.1133 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 3059.1089 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 13 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 250522,172032,4736.211,-12256.891,28,1.4,29,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.20 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,172405,4736.245,-12256.874,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 178.7,480,-27.2,-9.697,-30.00,954,0.128

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME S IRON 1.000000,0.024737,0.044948,-0.002726,1.084123,-0.077508,0.005474,-0.082112,1.025478,424.307953,-1302.985962,-209.427887

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653502035,11.7,0,stop FG_AHR_24Vo 30.154

NET xm1t part outbox0003.n 857 13 FG_AHR_10Vo 19.853

NET_PING 1653501139,25,1848.188965,4.000000,-2.458396 MEM0 60132,1,0,0

FREEZE 4.08,12.530,-1.489,0,1,0 MEM1 65508,1,0,0

SM_CCo 3324.58,257.23,0.878,0,499.9,564.8,435.0,627.75 MEM2 944636,30,102092,62

SM_GC 1.35,0.00,13.23,0.11,0.000,0.079,0.139,496.0,564.9,427.1,202.1,2182.9,0,0,0,30.00,15.57,15.58 DATA_FILE_SIZE 12931,448

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 323138,0

IRIDIUM_FIX 4738.33,-12256.21,250522,160135 SDSIZE 3887104,3867520

TCM_TEMP 13.34 SDFILEDIR 147,1

SC_FREEKB 3874624 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.032,291.4,1

HUMID 48.65 MAGCAL 1.000000,0.025668,0.116916,0.002408,1.105784,-0.061459,-0.087572,-0.006338,1.172984,381.3,-1319.3,-340.4,35,0.0465,0

TEMP 11.22 IMPLIED_C_PITCH 1743,18.73,195,1749.0,18.56

INTERNAL_PRESSURE 8.12921 IMPLIED_C_VBD 3038,19.533504,195,3048.4

_24V_AH 14.96,10.017 GPS 250522,182218,4735.982,-12257.093,1,1.4,4,15.5

_10V_AH 14.97,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 674 1070 10808.25 nil 0 0 0.00

Pitch_motor 32 295 142.57 nil 0 0 0.00

Roll_motor 56 182 153.00 nil 0 0 0.00

Iridium 142 215 459.05 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.03 nil 0 0 0.00

Core 2037 5 156.14 SciCon 3061 6 317.05

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1315 0 6.30

Compass 919 5 68.83

RAFOS 863 40 517.21

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

6.65 16386 -60.85 -1.55 0.00 492.6 563.1 422.1 203.5 2104.9 0.00 0.00 0 97.11 86.33 0.00 0.00 0.005 0.000 0.000 2500.28 2472.94 2527.62 203.56 2104.69 0 0 0 15.87 30.00 30.00

97.41 18983 -127.76 -1.63 -80.00 2498.6 2471.7 2525.4 203.5 2104.5 3.28 -2.52 17 152.88 31.44 9.67 3.44 0.005 0.296 0.106 3579.38 3569.31 3589.44 1358.31 678.56 0 0 0 15.91 15.74 15.85

156.35 3205 -127.76 -1.46 0.00 3579.8 3570.8 3588.9 1358.1 678.8 10.29 -12.58 28 163.28 0.00 0.31 3.40 0.000 0.228 0.044 3580.03 3571.62 3588.44 1400.50 2179.75 0 0 0 30.00 15.80 15.88

348.15 388 -127.76 -1.52 80.00 3580.6 3575.8 3585.5 1400.3 2179.7 33.81 -12.33 63 354.81 0.00 0.00 3.45 0.000 0.000 0.101 3581.09 3576.81 3585.38 1400.62 3619.56 0 0 0 30.00 30.00 15.90

466.94 1156 -127.76 -1.45 0.00 3580.4 3575.4 3585.3 1400.6 3619.5 51.01 -14.59 86 474.56 0.00 0.00 3.40 0.000 0.000 0.044 3580.72 3575.56 3585.88 1399.94 2115.88 0 0 0 30.00 30.00 15.94

662.84 128 -127.76 -1.51 0.00 3580.4 3576.2 3584.6 1399.6 2115.6 75.75 -12.87 106 664.45 0.00 0.00 0.00 0.000 0.000 0.000 3580.19 3576.06 3584.31 1400.56 2116.00 0 0 0 30.00 30.00 30.00

852.81 4485 -127.76 -1.57 80.00 3580.3 3576.2 3584.4 1400.3 2115.9 99.42 -12.71 125 860.27 0.00 0.25 3.59 0.000 0.092 0.099 3580.16 3575.75 3584.56 1361.38 3620.69 0 0 0 30.00 16.01 16.01

898.83 3205 -127.76 -1.40 0.00 3580.5 3576.4 3584.7 1361.4 3620.4 107.11 -17.59 134 906.33 0.00 0.46 3.38 0.000 0.212 0.044 3581.41 3576.38 3586.44 1415.12 2114.56 0 0 0 30.00 15.97 16.03

1097.19 128 -127.76 -1.48 0.00 3580.8 3576.7 3584.8 1415.1 2114.9 133.01 -12.63 155 1098.80 0.00 0.00 0.00 0.000 0.000 0.000 3580.25 3576.62 3583.88 1415.31 2114.88 0 0 0 30.00 30.00 30.00

1286.94 4485 -127.76 -1.57 80.00 3580.7 3577.1 3584.3 1415.4 2115.1 157.45 -12.97 174 1294.45 0.00 0.33 3.59 0.000 0.084 0.101 3579.69 3575.62 3583.75 1361.81 3618.31 0 0 0 30.00 16.08 16.06

1307 end dive: TARGET_DEPTH_EXCEEDED

state 1307 begin apogee

1313.45 10243 0.00 -0.27 0.00 3580.4 3576.5 3584.3 1361.4 2113.9 160.77 -14.36 178 1423.39 97.44 2.45 0.10 1.070 0.194 0.182 3058.19 3107.25 3009.12 1688.75 2183.75 0 0 0 11.92 16.02 15.75

1424 end apogee: CONTROL_FINISHED_OK

state 1424 begin climb

1424.54 10759 127.76 1.63 -80.00 3057.6 3106.2 3008.9 1689.4 2183.4 165.85 0.00 189 1545.16 99.64 3.18 3.71 1.030 0.114 0.106 2536.81 2599.25 2474.38 2152.88 681.00 0 0 0 11.76 15.75 15.54

1548.08 5253 127.76 1.50 0.00 2535.1 2596.4 2473.8 2152.8 681.4 153.41 14.28 208 1555.86 0.00 0.38 3.44 0.000 0.224 0.045 2534.94 2596.19 2473.69 2113.12 2176.44 0 0 0 30.00 15.53 15.61

1743.64 260 127.76 1.50 80.00 2531.0 2588.6 2473.3 2112.9 2176.2 121.90 16.20 228 1749.85 0.00 0.00 3.50 0.000 0.000 0.105 2529.69 2587.44 2471.94 2112.88 3616.56 0 0 0 30.00 30.00 15.76

1818.02 21639 127.76 1.36 0.00 2529.0 2585.0 2473.0 2112.8 3616.4 107.91 18.81 243 1825.79 0.00 0.24 3.39 0.000 0.213 0.045 2529.94 2586.38 2473.50 2078.25 2117.50 0 0 0 30.00 15.76 15.84

2013.77 16514 127.76 1.43 0.00 2529.1 2585.6 2472.6 2077.8 2117.1 81.07 13.02 263 2015.38 0.00 0.00 0.00 0.000 0.000 0.000 2528.00 2584.38 2471.62 2078.12 2117.62 0 0 0 30.00 30.00 30.00

2196.35 18823 127.76 1.51 80.00 2528.6 2585.1 2472.1 2078.1 2117.7 57.63 13.01 280 2203.92 0.00 0.32 3.65 0.000 0.073 0.105 2531.16 2587.75 2474.56 2131.25 3618.38 0 0 0 30.00 15.94 15.93

2269.83 21639 127.76 1.33 0.00 2527.2 2582.4 2471.9 2132.0 3617.8 45.49 17.12 294 2276.97 0.00 0.47 3.38 0.000 0.212 0.046 2529.16 2584.25 2474.06 2072.38 2113.25 0 0 0 30.00 15.88 15.97

2460.54 18563 127.76 1.44 0.00 2527.4 2583.0 2471.9 2071.5 2113.6 22.81 10.20 332 2465.39 0.00 0.25 0.00 0.000 0.080 0.000 2527.25 2582.69 2471.81 2115.12 2113.25 0 0 0 30.00 15.98 30.00

2650.62 8614 176.63 1.57 80.00 2527.2 2582.7 2471.6 2115.6 2113.0 7.24 4.46 370 2699.75 37.50 0.00 3.68 0.925 0.000 0.106 2338.16 2406.06 2270.25 2116.12 3617.00 0 0 0 11.75 30.00 15.89

2788.39 11431 258.42 1.72 0.00 2333.8 2398.5 2269.1 2115.5 3617.6 5.91 0.93 397 2862.45 61.53 0.34 3.38 0.912 0.065 0.045 2005.12 2092.88 1917.38 2181.44 2111.75 0 0 0 11.87 15.95 15.96

3046.05 10663 348.09 2.00 80.00 1997.4 2079.2 1915.6 2181.9 2111.6 4.11 0.08 447 3051.47 3.88 0.35 0.00 0.408 0.068 0.000 1993.78 2075.31 1912.25 2250.38 2111.75 0 0 0 11.94 15.88 30.00

3052 end climb: NO_VERTICAL_VELOCITY

state 3052 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	13	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	3059.1089	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	1755.1133	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	18.385374	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.829807	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	29.995731	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	250522,172032,4736.211,-12256.891,28,1.4,29,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.20	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,172405,4736.245,-12256.874,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	178.7,480,-27.2,-9.697,-30.00,954,0.128
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.024737,0.044948,-0.002726,1.084123,-0.077508,0.005474,-0.082112,1.025478,424.307953,-1302.985962,-209.427887
TGT_LATLONG	4736.000,-12257.000

NAV	1653502035,11.7,0,stop	FG_AHR_24Vo	30.154
NET	xm1t part outbox0003.n 857 13	FG_AHR_10Vo	19.853
NET_PING	1653501139,25,1848.188965,4.000000,-2.458396	MEM0	60132,1,0,0
FREEZE	4.08,12.530,-1.489,0,1,0	MEM1	65508,1,0,0
SM_CCo	3324.58,257.23,0.878,0,499.9,564.8,435.0,627.75	MEM2	944636,30,102092,62
SM_GC	1.35,0.00,13.23,0.11,0.000,0.079,0.139,496.0,564.9,427.1,202.1,2182.9,0,0,0,30.00,15.57,15.58	DATA_FILE_SIZE	12931,448
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	323138,0
IRIDIUM_FIX	4738.33,-12256.21,250522,160135	SDSIZE	3887104,3867520
TCM_TEMP	13.34	SDFILEDIR	147,1
SC_FREEKB	3874624	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.032,291.4,1
HUMID	48.65	MAGCAL	1.000000,0.025668,0.116916,0.002408,1.105784,-0.061459,-0.087572,-0.006338,1.172984,381.3,-1319.3,-340.4,35,0.0465,0
TEMP	11.22	IMPLIED_C_PITCH	1743,18.73,195,1749.0,18.56
INTERNAL_PRESSURE	8.12921	IMPLIED_C_VBD	3038,19.533504,195,3048.4
_24V_AH	14.96,10.017	GPS	250522,182218,4735.982,-12257.093,1,1.4,4,15.5
_10V_AH	14.97,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	674	1070	10808.25	nil	0	0	0.00
Pitch_motor	32	295	142.57	nil	0	0	0.00
Roll_motor	56	182	153.00	nil	0	0	0.00
Iridium	142	215	459.05	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.03	nil	0	0	0.00
Core	2037	5	156.14	SciCon	3061	6	317.05
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1315	0	6.30
Compass	919	5	68.83
RAFOS	863	40	517.21
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
6.65	16386	-60.85	-1.55	0.00	492.6	563.1	422.1	203.5	2104.9	0.00	0.00	0	97.11	86.33	0.00	0.00	0.005	0.000	0.000	2500.28	2472.94	2527.62	203.56	2104.69	0	0	0	15.87	30.00	30.00
97.41	18983	-127.76	-1.63	-80.00	2498.6	2471.7	2525.4	203.5	2104.5	3.28	-2.52	17	152.88	31.44	9.67	3.44	0.005	0.296	0.106	3579.38	3569.31	3589.44	1358.31	678.56	0	0	0	15.91	15.74	15.85
156.35	3205	-127.76	-1.46	0.00	3579.8	3570.8	3588.9	1358.1	678.8	10.29	-12.58	28	163.28	0.00	0.31	3.40	0.000	0.228	0.044	3580.03	3571.62	3588.44	1400.50	2179.75	0	0	0	30.00	15.80	15.88
348.15	388	-127.76	-1.52	80.00	3580.6	3575.8	3585.5	1400.3	2179.7	33.81	-12.33	63	354.81	0.00	0.00	3.45	0.000	0.000	0.101	3581.09	3576.81	3585.38	1400.62	3619.56	0	0	0	30.00	30.00	15.90
466.94	1156	-127.76	-1.45	0.00	3580.4	3575.4	3585.3	1400.6	3619.5	51.01	-14.59	86	474.56	0.00	0.00	3.40	0.000	0.000	0.044	3580.72	3575.56	3585.88	1399.94	2115.88	0	0	0	30.00	30.00	15.94
662.84	128	-127.76	-1.51	0.00	3580.4	3576.2	3584.6	1399.6	2115.6	75.75	-12.87	106	664.45	0.00	0.00	0.00	0.000	0.000	0.000	3580.19	3576.06	3584.31	1400.56	2116.00	0	0	0	30.00	30.00	30.00
852.81	4485	-127.76	-1.57	80.00	3580.3	3576.2	3584.4	1400.3	2115.9	99.42	-12.71	125	860.27	0.00	0.25	3.59	0.000	0.092	0.099	3580.16	3575.75	3584.56	1361.38	3620.69	0	0	0	30.00	16.01	16.01
898.83	3205	-127.76	-1.40	0.00	3580.5	3576.4	3584.7	1361.4	3620.4	107.11	-17.59	134	906.33	0.00	0.46	3.38	0.000	0.212	0.044	3581.41	3576.38	3586.44	1415.12	2114.56	0	0	0	30.00	15.97	16.03
1097.19	128	-127.76	-1.48	0.00	3580.8	3576.7	3584.8	1415.1	2114.9	133.01	-12.63	155	1098.80	0.00	0.00	0.00	0.000	0.000	0.000	3580.25	3576.62	3583.88	1415.31	2114.88	0	0	0	30.00	30.00	30.00
1286.94	4485	-127.76	-1.57	80.00	3580.7	3577.1	3584.3	1415.4	2115.1	157.45	-12.97	174	1294.45	0.00	0.33	3.59	0.000	0.084	0.101	3579.69	3575.62	3583.75	1361.81	3618.31	0	0	0	30.00	16.08	16.06
1307	end dive: TARGET_DEPTH_EXCEEDED
state	1307	begin apogee
1313.45	10243	0.00	-0.27	0.00	3580.4	3576.5	3584.3	1361.4	2113.9	160.77	-14.36	178	1423.39	97.44	2.45	0.10	1.070	0.194	0.182	3058.19	3107.25	3009.12	1688.75	2183.75	0	0	0	11.92	16.02	15.75
1424	end apogee: CONTROL_FINISHED_OK
state	1424	begin climb
1424.54	10759	127.76	1.63	-80.00	3057.6	3106.2	3008.9	1689.4	2183.4	165.85	0.00	189	1545.16	99.64	3.18	3.71	1.030	0.114	0.106	2536.81	2599.25	2474.38	2152.88	681.00	0	0	0	11.76	15.75	15.54
1548.08	5253	127.76	1.50	0.00	2535.1	2596.4	2473.8	2152.8	681.4	153.41	14.28	208	1555.86	0.00	0.38	3.44	0.000	0.224	0.045	2534.94	2596.19	2473.69	2113.12	2176.44	0	0	0	30.00	15.53	15.61
1743.64	260	127.76	1.50	80.00	2531.0	2588.6	2473.3	2112.9	2176.2	121.90	16.20	228	1749.85	0.00	0.00	3.50	0.000	0.000	0.105	2529.69	2587.44	2471.94	2112.88	3616.56	0	0	0	30.00	30.00	15.76
1818.02	21639	127.76	1.36	0.00	2529.0	2585.0	2473.0	2112.8	3616.4	107.91	18.81	243	1825.79	0.00	0.24	3.39	0.000	0.213	0.045	2529.94	2586.38	2473.50	2078.25	2117.50	0	0	0	30.00	15.76	15.84
2013.77	16514	127.76	1.43	0.00	2529.1	2585.6	2472.6	2077.8	2117.1	81.07	13.02	263	2015.38	0.00	0.00	0.00	0.000	0.000	0.000	2528.00	2584.38	2471.62	2078.12	2117.62	0	0	0	30.00	30.00	30.00
2196.35	18823	127.76	1.51	80.00	2528.6	2585.1	2472.1	2078.1	2117.7	57.63	13.01	280	2203.92	0.00	0.32	3.65	0.000	0.073	0.105	2531.16	2587.75	2474.56	2131.25	3618.38	0	0	0	30.00	15.94	15.93
2269.83	21639	127.76	1.33	0.00	2527.2	2582.4	2471.9	2132.0	3617.8	45.49	17.12	294	2276.97	0.00	0.47	3.38	0.000	0.212	0.046	2529.16	2584.25	2474.06	2072.38	2113.25	0	0	0	30.00	15.88	15.97
2460.54	18563	127.76	1.44	0.00	2527.4	2583.0	2471.9	2071.5	2113.6	22.81	10.20	332	2465.39	0.00	0.25	0.00	0.000	0.080	0.000	2527.25	2582.69	2471.81	2115.12	2113.25	0	0	0	30.00	15.98	30.00
2650.62	8614	176.63	1.57	80.00	2527.2	2582.7	2471.6	2115.6	2113.0	7.24	4.46	370	2699.75	37.50	0.00	3.68	0.925	0.000	0.106	2338.16	2406.06	2270.25	2116.12	3617.00	0	0	0	11.75	30.00	15.89
2788.39	11431	258.42	1.72	0.00	2333.8	2398.5	2269.1	2115.5	3617.6	5.91	0.93	397	2862.45	61.53	0.34	3.38	0.912	0.065	0.045	2005.12	2092.88	1917.38	2181.44	2111.75	0	0	0	11.87	15.95	15.96
3046.05	10663	348.09	2.00	80.00	1997.4	2079.2	1915.6	2181.9	2111.6	4.11	0.08	447	3051.47	3.88	0.35	0.00	0.408	0.068	0.000	1993.78	2075.31	1912.25	2250.38	2111.75	0	0	0	11.94	15.88	30.00
3052	end climb: NO_VERTICAL_VELOCITY
state	3052	begin surface