Glider dive log

HoodCanal May22 * SG241 * Dive index * Mission links * Dive 2 * 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 2 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 2 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 603.25 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 120 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 160 COMM_SEQ 15 C_VBD 3000 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 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 40 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 55 T_RSLEEP 3 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 1700 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 3 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 25 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 18.092501 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 22.04776 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 -188.51822 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72520 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 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 2 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 120 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 603.25

ALTIM_SENSITIVITY 2 FG_AHR_10V 18.092501 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 22.04776 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 25 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 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 15 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 40

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 1700 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 55

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -188.51822 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 3

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 3000 LOGGERS 7 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 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 3 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 2 MISSION 2 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 160 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 200522,164359,4736.971,-12256.632,1,1.1,3,15.5 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -49.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200522,164650,4736.962,-12256.651,2,1.1,4,15.5 MHEAD_RNG_PITCHd_Wd 178.6,1834,-17.6,-10.000,-21.21,2209,0.177

SPEED_LIMITS 0.173,0.258 D_GRID 164

TGT_NAME S IRON 1.000000,0.011876,-0.024098,0.018030,1.101978,-0.053189,0.018497,-0.066216,1.038001,486.614777,-1255.638062,-269.222809

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653067214,95.4,0,stop FG_AHR_10Vo 18.116

FINISH 0.4,1.019977 MEM0 60148,1,0,0

SM_CCo 3186.40,225.29,0.955,0,541.7,622.4,460.9,603.03 MEM1 65508,1,0,0

SM_GC 1.55,225.29,11.36,3.40,0.955,0.082,0.050,541.7,622.4,460.9,193.5,2178.8,0,0,0,11.18,15.81,15.85 MEM2 944984,27,101844,60

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12920,515

IRIDIUM_FIX 4738.33,-12256.21,200522,164028 CAP_FILE_SIZE 180827,0

TCM_TEMP 12.71 SDSIZE 3887104,3873824

SC_FREEKB 3878144 SDFILEDIR 45,1

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 1466.5

HUMID 48.06 CURRENT 0.038, 20.1,1

TEMP 9.84 MAGCAL 1.000000,0.032350,0.021571,-0.014837,1.077570,-0.009107,0.013436,-0.098017,1.030670,459.2,-1298.2,-253.0,33,0.0298,0

INTERNAL_PRESSURE 8.06366 IMPLIED_C_PITCH 1759,17.38,347,0.0,0.00

_24V_AH 14.76,2.058 IMPLIED_C_VBD 2966,27.860619,347,0

_10V_AH 14.77,0.000 GPS 200522,174109,4736.701,-12256.720,23,1.1,23,15.5

FG_AHR_24Vo 22.215

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 677 1139 11390.28 nil 0 0 0.00

Pitch_motor 26 295 114.86 nil 0 0 0.00

Roll_motor 56 189 158.93 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 1825 5 138.07 SciCon 2934 6 300.62

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1165 0 5.51

Compass 1066 5 78.73

RAFOS 1269 40 749.98

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

6.51 16386 -146.63 -0.88 0.00 540.1 620.8 459.4 194.6 2180.5 0.00 0.00 0 136.11 126.54 0.00 0.00 0.005 0.000 0.000 3188.66 3160.38 3216.94 195.06 2180.75 0 0 0 15.91 30.00 30.00

136.35 18983 -146.63 -0.88 -80.00 3187.2 3159.5 3214.9 194.6 2180.1 3.27 -2.67 25 167.48 13.35 10.14 3.69 0.006 0.295 0.117 3597.59 3587.88 3607.31 1486.06 682.38 0 0 0 15.95 15.70 15.82

395.50 1156 -146.63 -0.79 0.00 3598.4 3594.9 3601.8 1485.9 682.3 31.15 -11.17 77 401.19 0.00 0.00 3.43 0.000 0.000 0.053 3599.56 3596.12 3603.00 1486.25 2172.94 0 0 0 30.00 30.00 15.91

585.65 292 -146.63 -0.79 80.00 3598.6 3596.6 3600.6 1485.8 2173.2 49.05 -9.50 115 591.23 0.00 0.00 3.52 0.000 0.000 0.117 3599.00 3596.06 3601.94 1486.06 3618.38 0 0 0 30.00 30.00 15.91

630.55 3205 -146.63 -0.67 0.00 3598.5 3596.1 3600.9 1485.2 3618.2 53.98 -11.29 124 636.32 0.00 0.35 3.45 0.000 0.184 0.055 3600.16 3597.06 3603.25 1538.81 2119.25 0 0 0 30.00 15.86 15.94

819.72 420 -146.63 -0.75 80.00 3599.0 3597.4 3600.6 1538.1 2118.4 68.56 -7.49 160 825.39 0.00 0.00 3.64 0.000 0.000 0.113 3600.28 3597.62 3602.94 1538.88 3616.94 0 0 0 30.00 30.00 15.91

889.69 1060 -146.63 -0.75 0.00 3598.6 3596.1 3601.1 1538.8 3616.6 74.77 -8.99 174 895.36 0.00 0.00 3.44 0.000 0.000 0.054 3600.19 3598.06 3602.31 1539.19 2118.62 0 0 0 30.00 30.00 15.95

1079.77 4517 -146.63 -0.82 80.00 3598.8 3596.7 3600.9 1538.6 2117.5 89.63 -7.63 212 1085.56 0.00 0.34 3.65 0.000 0.094 0.111 3598.53 3596.44 3600.62 1488.75 3619.38 0 0 0 30.00 15.92 15.91

1124.80 3205 -146.63 -0.69 0.00 3598.6 3596.8 3600.4 1489.1 3618.1 94.50 -11.38 221 1130.59 0.00 0.34 3.43 0.000 0.186 0.056 3599.38 3598.06 3600.69 1532.12 2121.00 0 0 0 30.00 15.88 15.94

1319.80 420 -146.63 -0.74 80.00 3599.6 3597.3 3601.8 1531.9 2120.4 111.18 -8.15 247 1324.78 0.00 0.00 3.64 0.000 0.000 0.111 3598.47 3595.88 3601.06 1531.75 3615.94 0 0 0 30.00 30.00 15.91

1359.80 1060 -146.63 -0.74 0.00 3598.8 3597.1 3600.4 1531.2 3616.7 115.01 -9.56 255 1364.75 0.00 0.00 3.42 0.000 0.000 0.055 3599.31 3596.69 3601.94 1530.94 2118.50 0 0 0 30.00 30.00 15.95

1420 end dive: TARGET_DEPTH_EXCEEDED

state 1420 begin apogee

1420.93 10243 0.00 -0.20 0.00 3599.0 3596.8 3601.1 1531.7 2179.5 120.29 -8.67 262 1531.88 105.70 0.82 0.10 1.139 0.167 0.189 3000.78 3051.44 2950.12 1651.19 2114.56 0 0 0 11.05 15.85 15.59

1532 end apogee: CONTROL_FINISHED_OK

state 1532 begin climb

1532.71 10243 146.63 0.88 0.00 2999.3 3050.2 2948.4 1651.2 2114.3 124.53 0.00 273 1645.27 108.44 1.82 0.00 1.083 0.142 0.000 2399.94 2470.31 2329.56 1914.88 2114.31 0 0 0 11.21 15.57 30.00

1949.87 10663 210.66 1.13 80.00 2394.4 2458.8 2330.0 1914.4 2114.4 97.53 7.03 318 2006.40 47.79 0.38 3.77 1.054 0.090 0.118 2139.12 2219.38 2058.88 1982.56 3616.69 0 0 0 11.12 15.69 15.56

2049.80 1028 210.66 1.13 0.00 2135.9 2213.1 2058.8 1981.6 3616.8 87.43 11.68 338 2055.51 0.00 0.00 3.49 0.000 0.000 0.056 2135.31 2212.38 2058.25 1982.38 2124.56 0 0 0 30.00 30.00 15.66

2239.84 160 211.25 1.21 0.00 2134.4 2210.1 2058.8 1981.9 2124.8 67.93 9.97 376 2243.93 0.00 0.00 0.00 0.000 0.000 0.000 2134.53 2210.25 2058.81 1982.12 2124.88 0 0 0 30.00 30.00 30.00

2424.87 10663 222.66 1.30 80.00 2133.9 2209.2 2058.6 1981.9 2124.6 50.19 9.47 413 2440.95 10.14 0.20 3.68 0.884 0.100 0.117 2090.84 2167.00 2014.69 2022.94 3616.25 0 0 0 11.08 15.83 15.79

2484.89 5253 222.66 1.18 0.00 2089.2 2163.8 2014.6 2022.6 3616.0 42.54 14.09 425 2490.66 0.00 0.37 3.45 0.000 0.185 0.056 2089.66 2164.12 2015.19 1979.00 2119.25 0 0 0 30.00 15.78 15.84

2674.93 10403 231.91 1.28 0.00 2089.1 2163.1 2015.2 1978.1 2119.6 23.28 9.57 463 2685.18 9.07 0.23 0.00 0.844 0.099 0.000 2054.09 2130.62 1977.56 2015.69 2119.00 0 0 0 11.21 15.89 30.00

2869.93 8870 272.42 1.38 -80.00 2052.2 2126.9 1977.6 2015.3 2118.6 4.27 8.12 502 2906.26 31.06 0.00 3.57 0.978 0.000 0.120 1890.50 1978.44 1802.56 2016.19 682.12 0 0 0 11.23 30.00 15.79

2910 end climb: SURFACE_DEPTH_REACHED

state 2910 begin surface coast

2935 end surface coast: CONTROL_FINISHED_OK

state 2935 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	2	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	2	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	603.25	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	120	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	160	COMM_SEQ	15	C_VBD	3000	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	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	40	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	55	T_RSLEEP	3	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	1700	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	3	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	25	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	18.092501	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	22.04776	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	-188.51822	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72520	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	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	200522,164359,4736.971,-12256.632,1,1.1,3,15.5	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-49.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200522,164650,4736.962,-12256.651,2,1.1,4,15.5	MHEAD_RNG_PITCHd_Wd	178.6,1834,-17.6,-10.000,-21.21,2209,0.177
SPEED_LIMITS	0.173,0.258	D_GRID	164
TGT_NAME	S	IRON	1.000000,0.011876,-0.024098,0.018030,1.101978,-0.053189,0.018497,-0.066216,1.038001,486.614777,-1255.638062,-269.222809
TGT_LATLONG	4736.000,-12257.000

NAV	1653067214,95.4,0,stop	FG_AHR_10Vo	18.116
FINISH	0.4,1.019977	MEM0	60148,1,0,0
SM_CCo	3186.40,225.29,0.955,0,541.7,622.4,460.9,603.03	MEM1	65508,1,0,0
SM_GC	1.55,225.29,11.36,3.40,0.955,0.082,0.050,541.7,622.4,460.9,193.5,2178.8,0,0,0,11.18,15.81,15.85	MEM2	944984,27,101844,60
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12920,515
IRIDIUM_FIX	4738.33,-12256.21,200522,164028	CAP_FILE_SIZE	180827,0
TCM_TEMP	12.71	SDSIZE	3887104,3873824
SC_FREEKB	3878144	SDFILEDIR	45,1
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	1466.5
HUMID	48.06	CURRENT	0.038, 20.1,1
TEMP	9.84	MAGCAL	1.000000,0.032350,0.021571,-0.014837,1.077570,-0.009107,0.013436,-0.098017,1.030670,459.2,-1298.2,-253.0,33,0.0298,0
INTERNAL_PRESSURE	8.06366	IMPLIED_C_PITCH	1759,17.38,347,0.0,0.00
_24V_AH	14.76,2.058	IMPLIED_C_VBD	2966,27.860619,347,0
_10V_AH	14.77,0.000	GPS	200522,174109,4736.701,-12256.720,23,1.1,23,15.5
FG_AHR_24Vo	22.215

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	677	1139	11390.28	nil	0	0	0.00
Pitch_motor	26	295	114.86	nil	0	0	0.00
Roll_motor	56	189	158.93	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	1825	5	138.07	SciCon	2934	6	300.62
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1165	0	5.51
Compass	1066	5	78.73
RAFOS	1269	40	749.98
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
6.51	16386	-146.63	-0.88	0.00	540.1	620.8	459.4	194.6	2180.5	0.00	0.00	0	136.11	126.54	0.00	0.00	0.005	0.000	0.000	3188.66	3160.38	3216.94	195.06	2180.75	0	0	0	15.91	30.00	30.00
136.35	18983	-146.63	-0.88	-80.00	3187.2	3159.5	3214.9	194.6	2180.1	3.27	-2.67	25	167.48	13.35	10.14	3.69	0.006	0.295	0.117	3597.59	3587.88	3607.31	1486.06	682.38	0	0	0	15.95	15.70	15.82
395.50	1156	-146.63	-0.79	0.00	3598.4	3594.9	3601.8	1485.9	682.3	31.15	-11.17	77	401.19	0.00	0.00	3.43	0.000	0.000	0.053	3599.56	3596.12	3603.00	1486.25	2172.94	0	0	0	30.00	30.00	15.91
585.65	292	-146.63	-0.79	80.00	3598.6	3596.6	3600.6	1485.8	2173.2	49.05	-9.50	115	591.23	0.00	0.00	3.52	0.000	0.000	0.117	3599.00	3596.06	3601.94	1486.06	3618.38	0	0	0	30.00	30.00	15.91
630.55	3205	-146.63	-0.67	0.00	3598.5	3596.1	3600.9	1485.2	3618.2	53.98	-11.29	124	636.32	0.00	0.35	3.45	0.000	0.184	0.055	3600.16	3597.06	3603.25	1538.81	2119.25	0	0	0	30.00	15.86	15.94
819.72	420	-146.63	-0.75	80.00	3599.0	3597.4	3600.6	1538.1	2118.4	68.56	-7.49	160	825.39	0.00	0.00	3.64	0.000	0.000	0.113	3600.28	3597.62	3602.94	1538.88	3616.94	0	0	0	30.00	30.00	15.91
889.69	1060	-146.63	-0.75	0.00	3598.6	3596.1	3601.1	1538.8	3616.6	74.77	-8.99	174	895.36	0.00	0.00	3.44	0.000	0.000	0.054	3600.19	3598.06	3602.31	1539.19	2118.62	0	0	0	30.00	30.00	15.95
1079.77	4517	-146.63	-0.82	80.00	3598.8	3596.7	3600.9	1538.6	2117.5	89.63	-7.63	212	1085.56	0.00	0.34	3.65	0.000	0.094	0.111	3598.53	3596.44	3600.62	1488.75	3619.38	0	0	0	30.00	15.92	15.91
1124.80	3205	-146.63	-0.69	0.00	3598.6	3596.8	3600.4	1489.1	3618.1	94.50	-11.38	221	1130.59	0.00	0.34	3.43	0.000	0.186	0.056	3599.38	3598.06	3600.69	1532.12	2121.00	0	0	0	30.00	15.88	15.94
1319.80	420	-146.63	-0.74	80.00	3599.6	3597.3	3601.8	1531.9	2120.4	111.18	-8.15	247	1324.78	0.00	0.00	3.64	0.000	0.000	0.111	3598.47	3595.88	3601.06	1531.75	3615.94	0	0	0	30.00	30.00	15.91
1359.80	1060	-146.63	-0.74	0.00	3598.8	3597.1	3600.4	1531.2	3616.7	115.01	-9.56	255	1364.75	0.00	0.00	3.42	0.000	0.000	0.055	3599.31	3596.69	3601.94	1530.94	2118.50	0	0	0	30.00	30.00	15.95
1420	end dive: TARGET_DEPTH_EXCEEDED
state	1420	begin apogee
1420.93	10243	0.00	-0.20	0.00	3599.0	3596.8	3601.1	1531.7	2179.5	120.29	-8.67	262	1531.88	105.70	0.82	0.10	1.139	0.167	0.189	3000.78	3051.44	2950.12	1651.19	2114.56	0	0	0	11.05	15.85	15.59
1532	end apogee: CONTROL_FINISHED_OK
state	1532	begin climb
1532.71	10243	146.63	0.88	0.00	2999.3	3050.2	2948.4	1651.2	2114.3	124.53	0.00	273	1645.27	108.44	1.82	0.00	1.083	0.142	0.000	2399.94	2470.31	2329.56	1914.88	2114.31	0	0	0	11.21	15.57	30.00
1949.87	10663	210.66	1.13	80.00	2394.4	2458.8	2330.0	1914.4	2114.4	97.53	7.03	318	2006.40	47.79	0.38	3.77	1.054	0.090	0.118	2139.12	2219.38	2058.88	1982.56	3616.69	0	0	0	11.12	15.69	15.56
2049.80	1028	210.66	1.13	0.00	2135.9	2213.1	2058.8	1981.6	3616.8	87.43	11.68	338	2055.51	0.00	0.00	3.49	0.000	0.000	0.056	2135.31	2212.38	2058.25	1982.38	2124.56	0	0	0	30.00	30.00	15.66
2239.84	160	211.25	1.21	0.00	2134.4	2210.1	2058.8	1981.9	2124.8	67.93	9.97	376	2243.93	0.00	0.00	0.00	0.000	0.000	0.000	2134.53	2210.25	2058.81	1982.12	2124.88	0	0	0	30.00	30.00	30.00
2424.87	10663	222.66	1.30	80.00	2133.9	2209.2	2058.6	1981.9	2124.6	50.19	9.47	413	2440.95	10.14	0.20	3.68	0.884	0.100	0.117	2090.84	2167.00	2014.69	2022.94	3616.25	0	0	0	11.08	15.83	15.79
2484.89	5253	222.66	1.18	0.00	2089.2	2163.8	2014.6	2022.6	3616.0	42.54	14.09	425	2490.66	0.00	0.37	3.45	0.000	0.185	0.056	2089.66	2164.12	2015.19	1979.00	2119.25	0	0	0	30.00	15.78	15.84
2674.93	10403	231.91	1.28	0.00	2089.1	2163.1	2015.2	1978.1	2119.6	23.28	9.57	463	2685.18	9.07	0.23	0.00	0.844	0.099	0.000	2054.09	2130.62	1977.56	2015.69	2119.00	0	0	0	11.21	15.89	30.00
2869.93	8870	272.42	1.38	-80.00	2052.2	2126.9	1977.6	2015.3	2118.6	4.27	8.12	502	2906.26	31.06	0.00	3.57	0.978	0.000	0.120	1890.50	1978.44	1802.56	2016.19	682.12	0	0	0	11.23	30.00	15.79
2910	end climb: SURFACE_DEPTH_REACHED
state	2910	begin surface coast
2935	end surface coast: CONTROL_FINISHED_OK
state	2935	begin surface