Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 15 * 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 20 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 15 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 0 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 7 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 160 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 175 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 0.5 LOGGERDEVICE2 35

D_PITCH 2 CALL_WAIT 45 C_VBD_AUTO_MAX 100 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 1 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 55 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 85 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 575 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 5 SEABIRD_T_G 0.004415411

USE_BATHY -1 PITCH_DBAND 0.1 MAXI_10V 2 SEABIRD_T_H 0.00064200663

USE_ICE 0 PITCH_CNV 0.0041299998 FG_AHR_10V 159.45454 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.795796 FG_AHR_24V 207.22569 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 -158.7531 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 575 D_SURF 2 OPTIONS 2 SEABIRD_C_I -0.002841271

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 160 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 159.45454 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 207.22569 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.795796 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 7 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 55

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 85

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 1

C_ROLL_DIVE 2750 LOITER_DBDW 400 PRESSURE_YINT -158.7531 T_TURN 225

C_VBD 2950 LOITER_D_BOTTOM 700 PROTOCOL 9 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_D_TOP 400 RAFOS_CORR_THRESH 60 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 LOITER_N_DIVE 0 RAFOS_DEVICE 96 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_W_DBAND 2 RAFOS_HIT_WINDOW 3600 USE_BATHY -1

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 5 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 20 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 15 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 175 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 0 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 250522,171033,4736.093,-12256.968,1,1.1,2,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,171416,4736.125,-12256.949,2,1.3,4,15.5 MHEAD_RNG_PITCHd_Wd 7.4,1759,-17.1,-9.697,-20.82,2278,0.152

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME N IRON 1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.816833,-1082.694702,-33.329819

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

NAV 1653502033,15.4,0,stop _24V_AH 14.79,113.381

NET xm1t part outbox0005.n 800 0 _10V_AH 14.78,0.000

NET_PING 1653501799,25,1591.430908,8.000000,-1.117740 FG_AHR_24Vo 207.414

FREEZE 0.13,13.661,-0.727,0,1,0 FG_AHR_10Vo 159.497

FINISH 0.1,1.009640 MEM0 60132,1,0,0

SM_CCo 4010.11,217.51,1.106,0,541.4,609.2,473.6,590.83 MEM1 65508,1,0,0

SM_GC 1.41,217.51,13.32,0.44,1.106,0.058,0.093,541.4,609.2,473.6,213.9,2771.9,0,0,0,12.06,15.79,15.82 MEM2 942832,28,103596,79

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16130,575

IRIDIUM_FIX 4736.87,-12256.21,250522,161854 CAP_FILE_SIZE 391106,0

TCM_TEMP 13.82 SDSIZE 3918848,3877952

SC_FREEKB 3873888 SDFILEDIR 391,3

PM_FREEKB_00 61039168 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

PM_ACTIVECARD 0 SOUNDSPEED 1465.0

RAFOS_CLK 0 MAGCAL 1.000000,-0.046524,0.038494,-0.053578,1.129840,-0.028725,-0.003284,-0.000185,1.204332,-1018.3,-1084.8,-106.3,33,0.0296,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 IMPLIED_C_PITCH 2018,16.07,264,2024.2,15.93

HUMID 48.44 IMPLIED_C_VBD 3103,23.799444,264,3026.5

TEMP 10.76 GPS 250522,182240,4736.438,-12256.871,1,1.3,21,15.5

INTERNAL_PRESSURE 7.93575

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 642 1327 12620.13 nil 0 0 0.00

Pitch_motor 29 270 118.74 nil 0 0 0.00

Roll_motor 57 241 204.81 nil 0 0 0.00

Iridium 132 214 418.22 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 2429 5 183.87 SciCon 3764 6 357.10

Fast 0 0 0.00 PMAR 3772 17 990.90

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1556 0 7.36

Compass 1155 5 85.40

RAFOS 866 40 512.28

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11.03 16386 -146.63 -1.26 0.00 537.4 599.1 475.6 216.4 2725.7 0.00 0.00 0 105.61 90.85 0.00 0.00 0.005 0.000 0.000 2683.22 2687.31 2679.12 216.44 2723.62 0 0 0 15.71 30.00 30.00

105.86 18727 -146.63 -1.26 80.00 2683.4 2687.8 2679.1 216.4 2724.9 3.23 -2.16 18 156.65 24.20 12.01 3.03 0.006 0.271 0.121 3546.97 3571.56 3522.38 1723.44 3908.94 0 0 0 15.78 15.62 15.70

194.96 1028 -146.63 -1.26 0.00 3546.1 3571.0 3521.1 1724.4 3909.8 12.51 -10.50 35 201.22 0.00 0.00 2.74 0.000 0.000 0.066 3546.41 3571.50 3521.31 1723.94 2724.62 0 0 0 30.00 30.00 15.76

383.03 292 -146.63 -1.26 80.00 3547.9 3574.9 3520.9 1724.4 2724.6 26.97 -7.20 73 389.37 0.00 0.00 3.03 0.000 0.000 0.119 3549.66 3575.56 3523.75 1723.25 3910.25 0 0 0 30.00 30.00 15.79

403.05 1028 -146.63 -1.26 0.00 3546.8 3573.9 3519.8 1724.0 3911.3 28.68 -7.78 77 409.44 0.00 0.00 2.75 0.000 0.000 0.066 3547.75 3573.50 3522.00 1724.12 2723.50 0 0 0 30.00 30.00 15.83

591.72 548 -146.63 -1.26 -80.00 3546.9 3573.8 3520.0 1723.8 2724.2 41.76 -6.49 114 598.46 0.00 0.00 3.51 0.000 0.000 0.123 3547.91 3575.31 3520.50 1724.06 1280.31 0 0 0 30.00 30.00 15.83

826.19 1028 -146.63 -1.26 0.00 3548.8 3576.9 3520.7 1725.2 1280.5 61.99 -8.79 161 833.65 0.00 0.00 3.49 0.000 0.000 0.063 3549.50 3576.56 3522.44 1724.38 2767.44 0 0 0 30.00 30.00 15.91

1015.14 516 -146.63 -1.26 -80.00 3548.5 3576.4 3520.6 1724.2 2768.8 76.94 -8.04 180 1021.20 0.00 0.00 3.59 0.000 0.000 0.119 3548.91 3576.25 3521.56 1723.94 1282.19 0 0 0 30.00 30.00 15.88

1168.64 1028 -146.63 -1.26 0.00 3549.2 3576.9 3521.4 1723.8 1282.2 91.80 -9.52 210 1174.72 0.00 0.00 3.51 0.000 0.000 0.063 3548.44 3576.25 3520.62 1723.62 2767.00 0 0 0 30.00 30.00 15.90

1358.67 260 -146.63 -1.26 80.00 3548.6 3576.4 3520.8 1723.6 2768.9 107.45 -8.24 230 1364.39 0.00 0.00 2.90 0.000 0.000 0.124 3548.25 3575.19 3521.31 1724.12 3910.31 0 0 0 30.00 30.00 15.90

1428.69 1028 -146.63 -1.26 0.00 3548.1 3575.8 3520.4 1723.4 3908.4 113.80 -9.30 244 1434.36 0.00 0.00 2.73 0.000 0.000 0.066 3548.62 3575.62 3521.62 1723.56 2726.56 0 0 0 30.00 30.00 15.94

1617.72 0 -146.63 -1.26 0.00 3548.6 3576.2 3521.1 1723.7 2726.8 130.48 -9.00 264 1619.31 0.00 0.00 0.00 0.000 0.000 0.000 3548.25 3574.50 3522.00 1724.06 2726.88 0 0 0 30.00 30.00 30.00

1807.74 260 -146.63 -1.26 80.00 3549.6 3576.7 3522.6 1724.1 2727.6 146.81 -8.54 283 1813.52 0.00 0.00 2.98 0.000 0.000 0.121 3548.66 3576.81 3520.50 1724.06 3911.19 0 0 0 30.00 30.00 15.95

1872.04 1028 -146.63 -1.26 0.00 3548.7 3575.6 3521.9 1723.2 3912.2 153.12 -9.86 296 1879.18 0.00 0.00 2.74 0.000 0.000 0.068 3550.31 3577.38 3523.25 1723.31 2725.25 0 0 0 30.00 30.00 15.98

1958 end dive: TARGET_DEPTH_EXCEEDED

state 1958 begin apogee

1959.22 10243 0.00 -0.32 0.00 3548.2 3574.8 3521.5 1724.3 2573.1 160.60 -8.58 305 2073.99 105.21 1.57 0.08 1.327 0.140 0.241 2950.75 3014.62 2886.88 1955.69 2623.06 0 0 0 12.29 15.95 15.53

2077 end apogee: CONTROL_FINISHED_OK

state 2077 begin climb

2078.09 10243 146.63 1.26 0.00 2947.0 3012.1 2881.9 1955.8 2623.1 162.49 0.00 316 2198.49 110.36 2.56 0.00 1.272 0.093 0.000 2348.19 2430.81 2265.56 2340.56 2622.50 0 0 0 11.88 15.56 30.00

2382.01 16646 146.63 1.26 80.00 2343.2 2421.9 2264.4 2340.4 2622.9 123.15 14.93 347 2387.82 0.00 0.00 3.32 0.000 0.000 0.118 2340.16 2418.25 2262.06 2338.88 3908.44 0 0 0 30.00 30.00 15.61

2411.88 17414 146.63 1.26 0.00 2342.5 2420.7 2264.2 2340.2 3909.2 118.52 15.52 353 2417.74 0.00 0.00 3.15 0.000 0.000 0.068 2342.50 2420.69 2264.31 2339.81 2577.75 0 0 0 30.00 30.00 15.65

2601.91 16646 146.63 1.26 80.00 2341.5 2419.7 2263.4 2339.4 2579.5 90.68 14.60 373 2607.87 0.00 0.00 3.39 0.000 0.000 0.119 2337.12 2415.50 2258.75 2340.06 3909.69 0 0 0 30.00 30.00 15.73

2631.91 17414 146.63 1.26 0.00 2340.7 2418.3 2263.0 2340.1 3909.9 86.18 15.11 379 2637.78 0.00 0.00 3.12 0.000 0.000 0.068 2340.69 2416.62 2264.75 2339.00 2576.56 0 0 0 30.00 30.00 15.77

2826.14 16386 146.63 1.26 0.00 2340.8 2418.5 2263.1 2339.8 2576.7 58.72 14.04 399 2827.71 0.00 0.00 0.00 0.000 0.000 0.000 2336.97 2415.00 2258.94 2339.69 2576.62 0 0 0 30.00 30.00 30.00

3010.76 16646 146.63 1.26 80.00 2339.8 2417.2 2262.4 2340.2 2576.1 33.39 13.77 428 3017.41 0.00 0.00 3.38 0.000 0.000 0.119 2342.00 2420.12 2263.88 2340.38 3908.38 0 0 0 30.00 30.00 15.79

3105.83 17414 146.63 1.26 0.00 2338.9 2415.1 2262.6 2340.8 3909.7 19.86 13.79 447 3112.38 0.00 0.00 3.08 0.000 0.000 0.068 2340.19 2416.06 2264.31 2340.38 2576.94 0 0 0 30.00 30.00 15.83

3295.98 10275 275.78 1.42 0.00 2338.6 2415.2 2261.9 2340.2 2577.4 5.36 3.90 485 3395.81 94.64 0.21 0.00 1.122 0.084 0.000 1823.94 1915.44 1732.44 2386.25 2577.12 0 0 0 12.20 15.89 30.00

3574 end climb: SURFACE_DEPTH_REACHED

state 3574 begin surface coast

3754 end surface coast: CONTROL_FINISHED_OK

state 3754 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	20	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	15	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	0	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	7	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	160	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	175	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	0.5	LOGGERDEVICE2	35
D_PITCH	2	CALL_WAIT	45	C_VBD_AUTO_MAX	100	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	1	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	55	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	85	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	575	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	5	SEABIRD_T_G	0.004415411
USE_BATHY	-1	PITCH_DBAND	0.1	MAXI_10V	2	SEABIRD_T_H	0.00064200663
USE_ICE	0	PITCH_CNV	0.0041299998	FG_AHR_10V	159.45454	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.795796	FG_AHR_24V	207.22569	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	-158.7531	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	250522,171033,4736.093,-12256.968,1,1.1,2,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,171416,4736.125,-12256.949,2,1.3,4,15.5	MHEAD_RNG_PITCHd_Wd	7.4,1759,-17.1,-9.697,-20.82,2278,0.152
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	N	IRON	1.000000,-0.040792,-0.046681,-0.071274,1.103334,-0.013333,0.051236,-0.028107,1.111014,-944.816833,-1082.694702,-33.329819
TGT_LATLONG	4737.000,-12256.400

NAV	1653502033,15.4,0,stop	_24V_AH	14.79,113.381
NET	xm1t part outbox0005.n 800 0	_10V_AH	14.78,0.000
NET_PING	1653501799,25,1591.430908,8.000000,-1.117740	FG_AHR_24Vo	207.414
FREEZE	0.13,13.661,-0.727,0,1,0	FG_AHR_10Vo	159.497
FINISH	0.1,1.009640	MEM0	60132,1,0,0
SM_CCo	4010.11,217.51,1.106,0,541.4,609.2,473.6,590.83	MEM1	65508,1,0,0
SM_GC	1.41,217.51,13.32,0.44,1.106,0.058,0.093,541.4,609.2,473.6,213.9,2771.9,0,0,0,12.06,15.79,15.82	MEM2	942832,28,103596,79
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16130,575
IRIDIUM_FIX	4736.87,-12256.21,250522,161854	CAP_FILE_SIZE	391106,0
TCM_TEMP	13.82	SDSIZE	3918848,3877952
SC_FREEKB	3873888	SDFILEDIR	391,3
PM_FREEKB_00	61039168	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PM_ACTIVECARD	0	SOUNDSPEED	1465.0
RAFOS_CLK	0	MAGCAL	1.000000,-0.046524,0.038494,-0.053578,1.129840,-0.028725,-0.003284,-0.000185,1.204332,-1018.3,-1084.8,-106.3,33,0.0296,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	IMPLIED_C_PITCH	2018,16.07,264,2024.2,15.93
HUMID	48.44	IMPLIED_C_VBD	3103,23.799444,264,3026.5
TEMP	10.76	GPS	250522,182240,4736.438,-12256.871,1,1.3,21,15.5
INTERNAL_PRESSURE	7.93575

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	642	1327	12620.13	nil	0	0	0.00
Pitch_motor	29	270	118.74	nil	0	0	0.00
Roll_motor	57	241	204.81	nil	0	0	0.00
Iridium	132	214	418.22	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	2429	5	183.87	SciCon	3764	6	357.10
Fast	0	0	0.00	PMAR	3772	17	990.90
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1556	0	7.36
Compass	1155	5	85.40
RAFOS	866	40	512.28
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11.03	16386	-146.63	-1.26	0.00	537.4	599.1	475.6	216.4	2725.7	0.00	0.00	0	105.61	90.85	0.00	0.00	0.005	0.000	0.000	2683.22	2687.31	2679.12	216.44	2723.62	0	0	0	15.71	30.00	30.00
105.86	18727	-146.63	-1.26	80.00	2683.4	2687.8	2679.1	216.4	2724.9	3.23	-2.16	18	156.65	24.20	12.01	3.03	0.006	0.271	0.121	3546.97	3571.56	3522.38	1723.44	3908.94	0	0	0	15.78	15.62	15.70
194.96	1028	-146.63	-1.26	0.00	3546.1	3571.0	3521.1	1724.4	3909.8	12.51	-10.50	35	201.22	0.00	0.00	2.74	0.000	0.000	0.066	3546.41	3571.50	3521.31	1723.94	2724.62	0	0	0	30.00	30.00	15.76
383.03	292	-146.63	-1.26	80.00	3547.9	3574.9	3520.9	1724.4	2724.6	26.97	-7.20	73	389.37	0.00	0.00	3.03	0.000	0.000	0.119	3549.66	3575.56	3523.75	1723.25	3910.25	0	0	0	30.00	30.00	15.79
403.05	1028	-146.63	-1.26	0.00	3546.8	3573.9	3519.8	1724.0	3911.3	28.68	-7.78	77	409.44	0.00	0.00	2.75	0.000	0.000	0.066	3547.75	3573.50	3522.00	1724.12	2723.50	0	0	0	30.00	30.00	15.83
591.72	548	-146.63	-1.26	-80.00	3546.9	3573.8	3520.0	1723.8	2724.2	41.76	-6.49	114	598.46	0.00	0.00	3.51	0.000	0.000	0.123	3547.91	3575.31	3520.50	1724.06	1280.31	0	0	0	30.00	30.00	15.83
826.19	1028	-146.63	-1.26	0.00	3548.8	3576.9	3520.7	1725.2	1280.5	61.99	-8.79	161	833.65	0.00	0.00	3.49	0.000	0.000	0.063	3549.50	3576.56	3522.44	1724.38	2767.44	0	0	0	30.00	30.00	15.91
1015.14	516	-146.63	-1.26	-80.00	3548.5	3576.4	3520.6	1724.2	2768.8	76.94	-8.04	180	1021.20	0.00	0.00	3.59	0.000	0.000	0.119	3548.91	3576.25	3521.56	1723.94	1282.19	0	0	0	30.00	30.00	15.88
1168.64	1028	-146.63	-1.26	0.00	3549.2	3576.9	3521.4	1723.8	1282.2	91.80	-9.52	210	1174.72	0.00	0.00	3.51	0.000	0.000	0.063	3548.44	3576.25	3520.62	1723.62	2767.00	0	0	0	30.00	30.00	15.90
1358.67	260	-146.63	-1.26	80.00	3548.6	3576.4	3520.8	1723.6	2768.9	107.45	-8.24	230	1364.39	0.00	0.00	2.90	0.000	0.000	0.124	3548.25	3575.19	3521.31	1724.12	3910.31	0	0	0	30.00	30.00	15.90
1428.69	1028	-146.63	-1.26	0.00	3548.1	3575.8	3520.4	1723.4	3908.4	113.80	-9.30	244	1434.36	0.00	0.00	2.73	0.000	0.000	0.066	3548.62	3575.62	3521.62	1723.56	2726.56	0	0	0	30.00	30.00	15.94
1617.72	0	-146.63	-1.26	0.00	3548.6	3576.2	3521.1	1723.7	2726.8	130.48	-9.00	264	1619.31	0.00	0.00	0.00	0.000	0.000	0.000	3548.25	3574.50	3522.00	1724.06	2726.88	0	0	0	30.00	30.00	30.00
1807.74	260	-146.63	-1.26	80.00	3549.6	3576.7	3522.6	1724.1	2727.6	146.81	-8.54	283	1813.52	0.00	0.00	2.98	0.000	0.000	0.121	3548.66	3576.81	3520.50	1724.06	3911.19	0	0	0	30.00	30.00	15.95
1872.04	1028	-146.63	-1.26	0.00	3548.7	3575.6	3521.9	1723.2	3912.2	153.12	-9.86	296	1879.18	0.00	0.00	2.74	0.000	0.000	0.068	3550.31	3577.38	3523.25	1723.31	2725.25	0	0	0	30.00	30.00	15.98
1958	end dive: TARGET_DEPTH_EXCEEDED
state	1958	begin apogee
1959.22	10243	0.00	-0.32	0.00	3548.2	3574.8	3521.5	1724.3	2573.1	160.60	-8.58	305	2073.99	105.21	1.57	0.08	1.327	0.140	0.241	2950.75	3014.62	2886.88	1955.69	2623.06	0	0	0	12.29	15.95	15.53
2077	end apogee: CONTROL_FINISHED_OK
state	2077	begin climb
2078.09	10243	146.63	1.26	0.00	2947.0	3012.1	2881.9	1955.8	2623.1	162.49	0.00	316	2198.49	110.36	2.56	0.00	1.272	0.093	0.000	2348.19	2430.81	2265.56	2340.56	2622.50	0	0	0	11.88	15.56	30.00
2382.01	16646	146.63	1.26	80.00	2343.2	2421.9	2264.4	2340.4	2622.9	123.15	14.93	347	2387.82	0.00	0.00	3.32	0.000	0.000	0.118	2340.16	2418.25	2262.06	2338.88	3908.44	0	0	0	30.00	30.00	15.61
2411.88	17414	146.63	1.26	0.00	2342.5	2420.7	2264.2	2340.2	3909.2	118.52	15.52	353	2417.74	0.00	0.00	3.15	0.000	0.000	0.068	2342.50	2420.69	2264.31	2339.81	2577.75	0	0	0	30.00	30.00	15.65
2601.91	16646	146.63	1.26	80.00	2341.5	2419.7	2263.4	2339.4	2579.5	90.68	14.60	373	2607.87	0.00	0.00	3.39	0.000	0.000	0.119	2337.12	2415.50	2258.75	2340.06	3909.69	0	0	0	30.00	30.00	15.73
2631.91	17414	146.63	1.26	0.00	2340.7	2418.3	2263.0	2340.1	3909.9	86.18	15.11	379	2637.78	0.00	0.00	3.12	0.000	0.000	0.068	2340.69	2416.62	2264.75	2339.00	2576.56	0	0	0	30.00	30.00	15.77
2826.14	16386	146.63	1.26	0.00	2340.8	2418.5	2263.1	2339.8	2576.7	58.72	14.04	399	2827.71	0.00	0.00	0.00	0.000	0.000	0.000	2336.97	2415.00	2258.94	2339.69	2576.62	0	0	0	30.00	30.00	30.00
3010.76	16646	146.63	1.26	80.00	2339.8	2417.2	2262.4	2340.2	2576.1	33.39	13.77	428	3017.41	0.00	0.00	3.38	0.000	0.000	0.119	2342.00	2420.12	2263.88	2340.38	3908.38	0	0	0	30.00	30.00	15.79
3105.83	17414	146.63	1.26	0.00	2338.9	2415.1	2262.6	2340.8	3909.7	19.86	13.79	447	3112.38	0.00	0.00	3.08	0.000	0.000	0.068	2340.19	2416.06	2264.31	2340.38	2576.94	0	0	0	30.00	30.00	15.83
3295.98	10275	275.78	1.42	0.00	2338.6	2415.2	2261.9	2340.2	2577.4	5.36	3.90	485	3395.81	94.64	0.21	0.00	1.122	0.084	0.000	1823.94	1915.44	1732.44	2386.25	2577.12	0	0	0	12.20	15.89	30.00
3574	end climb: SURFACE_DEPTH_REACHED
state	3574	begin surface coast
3754	end surface coast: CONTROL_FINISHED_OK
state	3754	begin surface