Glider dive log

HoodCanal 24May22.01 * SG235 * Dive index * Mission links * Dive 20 * 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 20 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 159.69087 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.840676 FG_AHR_24V 208.21609 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 159.69087 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 208.21609 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.840676 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 20 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 250522,232240,4736.128,-12256.751,2,1.1,14,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,232648,4736.152,-12256.707,2,1.1,6,15.5 MHEAD_RNG_PITCHd_Wd 216.9,462,-27.2,-9.697,-30.00,954,0.186

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME ans1 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 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653523633,18.3,0,stop _24V_AH 14.77,114.521

NET xm1t part outbox0010.n 889 11 _10V_AH 14.77,0.000

NET_PING 1653523395,25,1961.455444,23.200001,-1.610183 FG_AHR_24Vo 208.397

FREEZE 0.20,12.598,-0.870,0,1,0 FG_AHR_10Vo 159.730

FINISH 0.2,1.011847 MEM0 60132,1,0,0

SM_CCo 3067.33,213.77,1.097,0,541.8,610.0,473.5,590.74 MEM1 65508,1,0,0

SM_GC 1.42,213.77,14.24,0.31,1.097,0.050,0.095,541.8,610.0,473.5,216.9,2771.2,0,0,0,11.91,15.57,15.57 MEM2 942420,22,103968,87

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 9738,413

IRIDIUM_FIX 4736.87,-12256.21,250522,221251 CAP_FILE_SIZE 312292,0

TCM_TEMP 13.44 SDSIZE 3918848,3876000

SC_FREEKB 3872288 SDFILEDIR 444,3

PM_FREEKB_00 60607872 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 1.000000,0.050632,0.199310,-0.173410,1.152463,0.365289,-0.051959,-0.613816,1.048742,-1065.7,-1306.2,-125.6,32,0.0893,0

RAFOS_FIX 4657.147461,-12204.585938,250522,222210,2,510,2654.62 IMPLIED_C_PITCH 2017,15.60,198,2023.5,15.72

HUMID 48.47 IMPLIED_C_VBD 3151,22.186977,198,3050.0

TEMP 10.53 GPS 260522,001931,4736.099,-12256.846,2,0.8,21,15.5

INTERNAL_PRESSURE 7.92418

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 637 1316 12394.92 nil 0 0 0.00

Pitch_motor 31 271 125.68 nil 0 0 0.00

Roll_motor 37 238 131.36 nil 0 0 0.00

Iridium 150 227 506.45 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.32 nil 0 0 0.00

Core 1954 5 147.77 SciCon 2829 6 264.79

Fast 0 0 0.00 PMAR 2832 17 742.58

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1117 0 5.28

Compass 848 5 62.68

RAFOS 853 40 504.44

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

11.06 16386 -60.85 -1.79 0.00 537.1 598.1 476.1 211.1 2724.8 0.00 0.00 0 123.39 108.00 0.00 0.00 0.005 0.000 0.000 3023.94 3022.75 3025.12 211.75 2724.19 0 0 0 15.74 30.00 30.00

123.63 18467 -129.96 -1.88 0.00 3023.3 3022.5 3024.2 211.6 2724.0 3.58 -2.29 20 152.21 11.88 10.76 0.00 0.006 0.272 0.000 3475.94 3494.25 3457.62 1576.12 2725.00 0 0 0 15.77 15.63 30.00

341.56 0 -129.96 -1.88 0.00 3480.2 3500.8 3459.5 1575.6 2723.4 28.53 -7.89 62 345.04 0.00 0.00 0.00 0.000 0.000 0.000 3479.03 3500.00 3458.06 1576.50 2724.25 0 0 0 30.00 30.00 30.00

525.50 260 -129.96 -1.88 80.00 3479.8 3501.1 3458.4 1576.1 2724.6 44.21 -8.24 99 531.97 0.00 0.00 2.90 0.000 0.000 0.119 3479.28 3500.56 3458.00 1576.19 3910.44 0 0 0 30.00 30.00 15.77

699.82 1028 -129.96 -1.88 0.00 3479.7 3500.6 3458.8 1576.1 3911.1 62.00 -10.52 134 706.91 0.00 0.00 2.69 0.000 0.000 0.065 3479.31 3500.12 3458.50 1576.31 2723.81 0 0 0 30.00 30.00 15.86

894.58 260 -129.96 -1.88 80.00 3480.7 3502.9 3458.4 1576.1 2724.6 81.63 -10.21 154 900.35 0.00 0.00 2.90 0.000 0.000 0.118 3481.88 3503.25 3460.50 1576.69 3908.75 0 0 0 30.00 30.00 15.86

942.85 1028 -129.96 -1.88 0.00 3480.5 3502.4 3458.6 1575.9 3909.8 87.37 -11.76 163 950.07 0.00 0.00 2.70 0.000 0.000 0.066 3481.44 3502.12 3460.75 1576.25 2725.38 0 0 0 30.00 30.00 15.88

1138.67 0 -129.96 -1.88 0.00 3480.1 3502.4 3457.8 1576.4 2724.6 109.08 -11.10 183 1140.24 0.00 0.00 0.00 0.000 0.000 0.000 3478.94 3500.38 3457.50 1576.19 2724.06 0 0 0 30.00 30.00 30.00

1328.70 0 -129.96 -1.88 0.00 3479.9 3502.1 3457.8 1576.3 2725.8 131.00 -11.42 202 1330.26 0.00 0.00 0.00 0.000 0.000 0.000 3479.09 3502.19 3456.00 1576.75 2725.44 0 0 0 30.00 30.00 30.00

1514.73 260 -129.96 -1.88 80.00 3480.1 3501.9 3458.3 1575.0 2724.8 153.11 -12.08 221 1520.48 0.00 0.00 2.93 0.000 0.000 0.121 3479.31 3500.00 3458.62 1576.06 3911.88 0 0 0 30.00 30.00 15.93

1549.70 1028 -129.96 -1.88 0.00 3480.4 3501.4 3459.5 1576.4 3911.4 157.73 -13.60 227 1554.95 0.00 0.00 2.69 0.000 0.000 0.068 3481.19 3503.38 3459.00 1576.69 2725.00 0 0 0 30.00 30.00 15.95

1570 end dive: TARGET_DEPTH_EXCEEDED

state 1570 begin apogee

1571.01 10243 0.00 -0.32 0.00 3480.8 3502.0 3459.6 1576.2 2574.4 160.40 -13.35 230 1675.69 94.38 2.61 0.08 1.316 0.169 0.238 2947.31 3011.00 2883.62 1954.31 2622.06 0 0 0 12.09 15.89 15.55

1679 end apogee: CONTROL_FINISHED_OK

state 1679 begin climb

1679.60 10243 129.96 1.88 0.00 2947.3 3010.4 2884.2 1954.2 2622.5 162.83 0.00 240 1790.55 97.23 3.53 0.00 1.273 0.089 0.000 2420.12 2496.88 2343.38 2490.25 2621.69 0 0 0 11.93 15.56 30.00

1977.21 16646 129.96 1.88 80.00 2410.3 2481.9 2338.8 2489.2 2622.9 105.15 22.49 270 1983.18 0.00 0.00 3.31 0.000 0.000 0.117 2409.53 2481.12 2337.94 2490.94 3910.12 0 0 0 30.00 30.00 15.60

2007.23 17414 129.96 1.88 0.00 2409.2 2480.5 2337.9 2490.6 3910.0 98.08 23.70 276 2013.09 0.00 0.00 3.15 0.000 0.000 0.067 2409.25 2479.81 2338.69 2490.50 2579.06 0 0 0 30.00 30.00 15.65

2197.64 16386 129.96 1.88 0.00 2408.8 2479.9 2337.7 2490.2 2577.3 56.62 21.28 296 2199.20 0.00 0.00 0.00 0.000 0.000 0.000 2404.84 2475.31 2334.38 2489.88 2578.44 0 0 0 30.00 30.00 30.00

2382.29 16646 129.96 1.88 80.00 2408.4 2478.6 2338.1 2490.2 2578.8 19.27 19.16 329 2391.32 0.00 0.00 3.38 0.000 0.000 0.117 2406.81 2477.38 2336.25 2491.19 3910.19 0 0 0 30.00 30.00 15.73

2439.80 17414 129.96 1.88 0.00 2406.9 2476.0 2337.8 2490.1 3910.0 8.68 16.12 340 2446.34 0.00 0.00 3.08 0.000 0.000 0.067 2384.78 2430.62 2338.94 2489.69 2578.62 0 0 0 30.00 30.00 15.79

2628.91 10791 235.28 2.00 -80.00 2406.3 2476.6 2336.0 2489.5 2578.6 6.43 -1.60 378 2719.18 77.07 0.14 3.47 1.121 0.116 0.131 1985.59 2071.62 1899.56 2523.62 1188.75 0 0 0 11.98 15.85 15.55

2732.70 9254 317.16 2.11 0.00 1985.3 2069.6 1901.1 2522.6 1188.8 4.33 0.92 398 2775.42 35.19 0.00 3.37 1.061 0.000 0.055 1799.62 1888.56 1710.69 2523.50 2629.12 0 0 0 11.95 30.00 15.62

2776 end climb: SURFACE_DEPTH_REACHED

state 2776 begin surface coast

2814 end surface coast: CONTROL_FINISHED_OK

state 2814 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	20	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	159.69087	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.840676	FG_AHR_24V	208.21609	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	250522,232240,4736.128,-12256.751,2,1.1,14,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,232648,4736.152,-12256.707,2,1.1,6,15.5	MHEAD_RNG_PITCHd_Wd	216.9,462,-27.2,-9.697,-30.00,954,0.186
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	ans1	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	4736.000,-12257.000

NAV	1653523633,18.3,0,stop	_24V_AH	14.77,114.521
NET	xm1t part outbox0010.n 889 11	_10V_AH	14.77,0.000
NET_PING	1653523395,25,1961.455444,23.200001,-1.610183	FG_AHR_24Vo	208.397
FREEZE	0.20,12.598,-0.870,0,1,0	FG_AHR_10Vo	159.730
FINISH	0.2,1.011847	MEM0	60132,1,0,0
SM_CCo	3067.33,213.77,1.097,0,541.8,610.0,473.5,590.74	MEM1	65508,1,0,0
SM_GC	1.42,213.77,14.24,0.31,1.097,0.050,0.095,541.8,610.0,473.5,216.9,2771.2,0,0,0,11.91,15.57,15.57	MEM2	942420,22,103968,87
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	9738,413
IRIDIUM_FIX	4736.87,-12256.21,250522,221251	CAP_FILE_SIZE	312292,0
TCM_TEMP	13.44	SDSIZE	3918848,3876000
SC_FREEKB	3872288	SDFILEDIR	444,3
PM_FREEKB_00	60607872	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	1.000000,0.050632,0.199310,-0.173410,1.152463,0.365289,-0.051959,-0.613816,1.048742,-1065.7,-1306.2,-125.6,32,0.0893,0
RAFOS_FIX	4657.147461,-12204.585938,250522,222210,2,510,2654.62	IMPLIED_C_PITCH	2017,15.60,198,2023.5,15.72
HUMID	48.47	IMPLIED_C_VBD	3151,22.186977,198,3050.0
TEMP	10.53	GPS	260522,001931,4736.099,-12256.846,2,0.8,21,15.5
INTERNAL_PRESSURE	7.92418

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	637	1316	12394.92	nil	0	0	0.00
Pitch_motor	31	271	125.68	nil	0	0	0.00
Roll_motor	37	238	131.36	nil	0	0	0.00
Iridium	150	227	506.45	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.32	nil	0	0	0.00
Core	1954	5	147.77	SciCon	2829	6	264.79
Fast	0	0	0.00	PMAR	2832	17	742.58
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1117	0	5.28
Compass	848	5	62.68
RAFOS	853	40	504.44
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
11.06	16386	-60.85	-1.79	0.00	537.1	598.1	476.1	211.1	2724.8	0.00	0.00	0	123.39	108.00	0.00	0.00	0.005	0.000	0.000	3023.94	3022.75	3025.12	211.75	2724.19	0	0	0	15.74	30.00	30.00
123.63	18467	-129.96	-1.88	0.00	3023.3	3022.5	3024.2	211.6	2724.0	3.58	-2.29	20	152.21	11.88	10.76	0.00	0.006	0.272	0.000	3475.94	3494.25	3457.62	1576.12	2725.00	0	0	0	15.77	15.63	30.00
341.56	0	-129.96	-1.88	0.00	3480.2	3500.8	3459.5	1575.6	2723.4	28.53	-7.89	62	345.04	0.00	0.00	0.00	0.000	0.000	0.000	3479.03	3500.00	3458.06	1576.50	2724.25	0	0	0	30.00	30.00	30.00
525.50	260	-129.96	-1.88	80.00	3479.8	3501.1	3458.4	1576.1	2724.6	44.21	-8.24	99	531.97	0.00	0.00	2.90	0.000	0.000	0.119	3479.28	3500.56	3458.00	1576.19	3910.44	0	0	0	30.00	30.00	15.77
699.82	1028	-129.96	-1.88	0.00	3479.7	3500.6	3458.8	1576.1	3911.1	62.00	-10.52	134	706.91	0.00	0.00	2.69	0.000	0.000	0.065	3479.31	3500.12	3458.50	1576.31	2723.81	0	0	0	30.00	30.00	15.86
894.58	260	-129.96	-1.88	80.00	3480.7	3502.9	3458.4	1576.1	2724.6	81.63	-10.21	154	900.35	0.00	0.00	2.90	0.000	0.000	0.118	3481.88	3503.25	3460.50	1576.69	3908.75	0	0	0	30.00	30.00	15.86
942.85	1028	-129.96	-1.88	0.00	3480.5	3502.4	3458.6	1575.9	3909.8	87.37	-11.76	163	950.07	0.00	0.00	2.70	0.000	0.000	0.066	3481.44	3502.12	3460.75	1576.25	2725.38	0	0	0	30.00	30.00	15.88
1138.67	0	-129.96	-1.88	0.00	3480.1	3502.4	3457.8	1576.4	2724.6	109.08	-11.10	183	1140.24	0.00	0.00	0.00	0.000	0.000	0.000	3478.94	3500.38	3457.50	1576.19	2724.06	0	0	0	30.00	30.00	30.00
1328.70	0	-129.96	-1.88	0.00	3479.9	3502.1	3457.8	1576.3	2725.8	131.00	-11.42	202	1330.26	0.00	0.00	0.00	0.000	0.000	0.000	3479.09	3502.19	3456.00	1576.75	2725.44	0	0	0	30.00	30.00	30.00
1514.73	260	-129.96	-1.88	80.00	3480.1	3501.9	3458.3	1575.0	2724.8	153.11	-12.08	221	1520.48	0.00	0.00	2.93	0.000	0.000	0.121	3479.31	3500.00	3458.62	1576.06	3911.88	0	0	0	30.00	30.00	15.93
1549.70	1028	-129.96	-1.88	0.00	3480.4	3501.4	3459.5	1576.4	3911.4	157.73	-13.60	227	1554.95	0.00	0.00	2.69	0.000	0.000	0.068	3481.19	3503.38	3459.00	1576.69	2725.00	0	0	0	30.00	30.00	15.95
1570	end dive: TARGET_DEPTH_EXCEEDED
state	1570	begin apogee
1571.01	10243	0.00	-0.32	0.00	3480.8	3502.0	3459.6	1576.2	2574.4	160.40	-13.35	230	1675.69	94.38	2.61	0.08	1.316	0.169	0.238	2947.31	3011.00	2883.62	1954.31	2622.06	0	0	0	12.09	15.89	15.55
1679	end apogee: CONTROL_FINISHED_OK
state	1679	begin climb
1679.60	10243	129.96	1.88	0.00	2947.3	3010.4	2884.2	1954.2	2622.5	162.83	0.00	240	1790.55	97.23	3.53	0.00	1.273	0.089	0.000	2420.12	2496.88	2343.38	2490.25	2621.69	0	0	0	11.93	15.56	30.00
1977.21	16646	129.96	1.88	80.00	2410.3	2481.9	2338.8	2489.2	2622.9	105.15	22.49	270	1983.18	0.00	0.00	3.31	0.000	0.000	0.117	2409.53	2481.12	2337.94	2490.94	3910.12	0	0	0	30.00	30.00	15.60
2007.23	17414	129.96	1.88	0.00	2409.2	2480.5	2337.9	2490.6	3910.0	98.08	23.70	276	2013.09	0.00	0.00	3.15	0.000	0.000	0.067	2409.25	2479.81	2338.69	2490.50	2579.06	0	0	0	30.00	30.00	15.65
2197.64	16386	129.96	1.88	0.00	2408.8	2479.9	2337.7	2490.2	2577.3	56.62	21.28	296	2199.20	0.00	0.00	0.00	0.000	0.000	0.000	2404.84	2475.31	2334.38	2489.88	2578.44	0	0	0	30.00	30.00	30.00
2382.29	16646	129.96	1.88	80.00	2408.4	2478.6	2338.1	2490.2	2578.8	19.27	19.16	329	2391.32	0.00	0.00	3.38	0.000	0.000	0.117	2406.81	2477.38	2336.25	2491.19	3910.19	0	0	0	30.00	30.00	15.73
2439.80	17414	129.96	1.88	0.00	2406.9	2476.0	2337.8	2490.1	3910.0	8.68	16.12	340	2446.34	0.00	0.00	3.08	0.000	0.000	0.067	2384.78	2430.62	2338.94	2489.69	2578.62	0	0	0	30.00	30.00	15.79
2628.91	10791	235.28	2.00	-80.00	2406.3	2476.6	2336.0	2489.5	2578.6	6.43	-1.60	378	2719.18	77.07	0.14	3.47	1.121	0.116	0.131	1985.59	2071.62	1899.56	2523.62	1188.75	0	0	0	11.98	15.85	15.55
2732.70	9254	317.16	2.11	0.00	1985.3	2069.6	1901.1	2522.6	1188.8	4.33	0.92	398	2775.42	35.19	0.00	3.37	1.061	0.000	0.055	1799.62	1888.56	1710.69	2523.50	2629.12	0	0	0	11.95	30.00	15.62
2776	end climb: SURFACE_DEPTH_REACHED
state	2776	begin surface coast
2814	end surface coast: CONTROL_FINISHED_OK
state	2814	begin surface