Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 240 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 4 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 21 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 607.84076 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 -0.1

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3030.9404 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 66

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 205 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1787.1938 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 17.752602 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.667177 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 8.9758759 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 -156.68835 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022403029 SEABIRD_C_G -10

MASS 72626 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 210 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3810 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 607.84076

ALTIM_SENSITIVITY 2 FG_AHR_10V 15.667177 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 8.9758759 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 17.752602 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 3600 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 205 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 240 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -0.1 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH 1787.1938 KALMAN_USE 2 PRESSURE_SLOPE 0.00022403029 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -156.68835 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 3030.9404 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 72626 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 3810 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 210 W_ADJ_DBAND 0

DIVE 21 MISSION 4 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 250522,234134,4737.062,-12256.416,2,1.1,6,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,234519,4737.104,-12256.369,3,1.1,6,15.5 MHEAD_RNG_PITCHd_Wd 195.7,2192,-17.1,-9.697,-20.82,2278,0.182

SPEED_LIMITS 0.168,0.255 D_GRID 165

TGT_NAME S IRON 1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NET xm1t part outbox0011.n 902 0 FG_AHR_24Vo 9.132

NET_PING 1653525490,25,1437.166504,8.800000,-1.908186 FG_AHR_10Vo 15.693

NAV 1653525314,64.8,0,stop MEM0 60132,1,0,0

FINISH 0.6,1.020640 MEM1 65508,1,0,0

SM_CCo 3930.27,202.43,0.934,0,553.1,573.1,533.1,607.59 MEM2 944428,36,102180,62

SM_GC 1.57,202.43,12.11,3.39,0.934,0.073,0.056,553.1,573.1,533.1,197.3,2175.0,0,0,0,11.92,15.86,15.89 DATA_FILE_SIZE 12924,525

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 355761,0

IRIDIUM_FIX 4737.86,-12251.79,250522,224658 SDSIZE 3887104,3865536

TCM_TEMP 17.56 SDFILEDIR 208,1

SC_FREEKB 3872064 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 4736.600586,-12256.807617,250522,030300,2,510,3251.10 CURRENT 0.083, 37.4,1

HUMID 49.41 MAGCAL 1.000000,-0.002888,0.001370,0.009650,1.109264,-0.113583,-0.008896,-0.071833,1.136349,47.9,-870.6,-531.3,31,0.0326,0

TEMP 9.78 IMPLIED_C_PITCH 1790,17.62,284,1788.6,17.69

INTERNAL_PRESSURE 7.96809 IMPLIED_C_VBD 3021,25.942804,284,3026.1

_24V_AH 14.91,10.446 GPS 260522,005201,4736.926,-12256.643,19,1.0,20,15.5

_10V_AH 14.89,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 638 1138 10845.22 nil 0 0 0.00

Pitch_motor 29 251 109.52 nil 0 0 0.00

Roll_motor 64 201 193.78 nil 0 0 0.00

Iridium 156 211 493.86 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.37 nil 0 0 0.00

Core 2271 5 173.16 SciCon 3696 6 357.72

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1643 0 7.83

Compass 1053 5 78.44

RAFOS 862 40 513.97

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

6.61 16386 -146.63 -1.14 0.00 496.3 517.7 474.9 197.2 2166.7 0.00 0.00 0 97.03 86.28 0.00 0.00 0.005 0.000 0.000 2877.38 2907.81 2846.94 197.31 2166.56 0 0 0 15.84 30.00 30.00

97.33 18467 -146.63 -1.14 0.00 2876.0 2906.4 2845.7 197.2 2166.1 3.32 -2.63 17 131.69 17.70 10.41 0.00 0.006 0.252 0.000 3624.69 3682.31 3567.06 1509.19 2166.31 0 0 0 15.90 15.73 30.00

312.59 128 -146.63 -1.07 -80.00 3628.3 3683.6 3573.1 1508.6 2166.4 28.24 -10.83 59 317.11 0.00 0.00 0.00 0.000 0.000 0.000 3627.88 3683.62 3572.12 1509.44 2166.00 0 0 0 30.00 30.00 30.00

497.60 2437 -146.63 -0.99 80.00 3628.2 3683.5 3572.8 1509.3 2166.7 46.84 -10.40 96 504.55 0.00 0.27 3.59 0.000 0.179 0.125 3628.75 3684.25 3573.25 1547.19 3618.19 0 0 0 30.00 15.91 15.92

592.38 1156 -146.63 -0.94 0.00 3628.4 3682.9 3573.9 1546.8 3617.9 57.10 -10.72 115 599.96 0.00 0.00 3.45 0.000 0.000 0.052 3628.38 3683.50 3573.25 1546.25 2122.25 0 0 0 30.00 30.00 15.98

788.87 32 -146.63 -0.94 0.00 3629.1 3684.1 3574.1 1546.8 2122.2 73.46 -8.35 135 790.48 0.00 0.00 0.00 0.000 0.000 0.000 3627.59 3682.69 3572.50 1546.94 2121.88 0 0 0 30.00 30.00 30.00

980.23 292 -146.63 -0.94 80.00 3629.5 3684.4 3574.6 1546.9 2122.3 89.95 -8.75 153 987.54 0.00 0.00 3.67 0.000 0.000 0.120 3630.69 3685.56 3575.81 1547.19 3616.81 0 0 0 30.00 30.00 15.99

1050.38 3205 -146.63 -0.86 0.00 3629.0 3684.1 3574.0 1546.8 3616.4 97.39 -10.81 167 1058.20 0.00 0.20 3.44 0.000 0.174 0.053 3630.56 3684.50 3576.62 1579.00 2121.75 0 0 0 30.00 15.96 16.02

1246.21 160 -146.63 -0.91 0.00 3629.4 3683.7 3575.1 1579.1 2121.4 112.67 -7.53 187 1247.81 0.00 0.00 0.00 0.000 0.000 0.000 3629.47 3684.44 3574.50 1579.12 2121.38 0 0 0 30.00 30.00 30.00

1436.24 160 -146.63 -0.95 0.00 3629.2 3684.4 3574.1 1578.7 2121.7 127.34 -7.92 206 1437.85 0.00 0.00 0.00 0.000 0.000 0.000 3628.47 3683.12 3573.81 1578.81 2122.19 0 0 0 30.00 30.00 30.00

1620.27 4257 -146.63 -1.00 0.00 3629.4 3684.1 3574.8 1579.1 2121.4 141.87 -7.67 225 1622.14 0.00 0.29 0.00 0.000 0.077 0.000 3629.66 3684.88 3574.44 1531.00 2121.88 0 0 0 30.00 16.08 30.00

1810 end dive: TARGET_DEPTH_EXCEEDED

state 1810 begin apogee

1811.55 10243 0.00 -0.28 0.00 3629.2 3684.2 3574.2 1531.1 2179.8 160.06 -9.89 244 1925.92 102.96 1.35 0.10 1.139 0.153 0.201 3029.94 3087.75 2972.12 1718.81 2117.75 0 0 0 12.13 16.06 15.73

1927 end apogee: CONTROL_FINISHED_OK

state 1927 begin climb

1927.23 10759 146.63 1.14 -80.00 3029.2 3086.9 2971.6 1718.6 2118.3 164.24 0.00 255 2052.39 107.19 2.38 3.72 1.101 0.118 0.129 2428.78 2497.69 2359.88 2066.00 683.12 0 0 0 11.98 15.73 15.48

2105.24 5253 146.63 0.92 0.00 2424.3 2496.1 2352.4 2065.1 683.2 148.35 14.65 288 2113.17 0.00 0.48 3.47 0.000 0.155 0.059 2424.12 2496.00 2352.25 2003.75 2171.00 0 0 0 30.00 15.60 15.63

2301.05 8870 158.09 0.97 -80.00 2422.9 2496.1 2349.6 2003.9 2170.6 129.22 9.18 308 2318.96 9.81 0.00 3.78 0.877 0.000 0.126 2384.03 2458.12 2309.94 2004.00 683.19 0 0 0 12.06 30.00 15.74

2357.54 1156 158.09 0.94 0.00 2381.4 2456.8 2305.9 2003.6 682.9 123.38 10.89 319 2363.68 0.00 0.00 3.43 0.000 0.000 0.058 2381.50 2457.44 2305.56 2001.38 2170.25 0 0 0 30.00 30.00 15.81

2548.99 10919 168.42 1.00 -80.00 2381.0 2456.8 2305.1 2003.8 2170.6 105.11 9.23 339 2570.73 10.25 0.21 3.74 0.882 0.084 0.125 2341.19 2417.19 2265.19 2041.06 684.19 0 0 0 12.04 15.86 15.82

2607.20 5253 168.42 0.88 0.00 2338.7 2414.8 2262.6 2041.2 684.2 98.00 13.26 349 2614.64 0.00 0.38 3.41 0.000 0.147 0.058 2338.94 2415.50 2262.38 1989.88 2170.31 0 0 0 30.00 15.83 15.87

2802.31 10919 202.57 1.00 -80.00 2337.9 2414.6 2261.2 1992.3 2170.4 81.11 8.16 369 2840.32 26.92 0.29 3.73 0.994 0.074 0.125 2200.94 2280.94 2120.94 2042.06 683.62 0 0 0 12.00 15.93 15.79

2878.16 5253 202.57 0.92 0.00 2198.1 2278.4 2117.8 2041.8 683.7 72.59 12.49 384 2885.97 0.00 0.30 3.41 0.000 0.145 0.058 2199.88 2280.19 2119.56 2003.00 2170.38 0 0 0 30.00 15.81 15.86

3073.96 10919 227.54 1.05 -80.00 2196.6 2278.6 2114.6 2003.2 2170.0 55.34 8.58 404 3101.63 19.57 0.26 3.73 0.947 0.077 0.125 2100.06 2183.56 2016.56 2049.50 683.94 0 0 0 11.96 15.93 15.84

3138.66 1156 227.54 0.99 0.00 2098.8 2182.3 2015.3 2048.6 683.8 47.88 12.57 416 3145.83 0.00 0.00 3.40 0.000 0.000 0.058 2099.22 2183.31 2015.12 2047.12 2171.12 0 0 0 30.00 30.00 15.83

3327.33 516 227.54 0.99 -80.00 2097.0 2182.4 2011.6 2048.8 2170.2 27.02 10.90 454 3334.39 0.00 0.00 3.70 0.000 0.000 0.125 2097.03 2182.44 2011.62 2048.88 683.31 0 0 0 30.00 30.00 15.91

3357.85 1028 227.54 0.99 0.00 2096.4 2181.8 2011.1 2048.9 683.5 23.40 11.87 460 3364.77 0.00 0.00 3.39 0.000 0.000 0.058 2098.75 2183.88 2013.62 2048.75 2174.62 0 0 0 30.00 30.00 15.96

3548.39 10919 305.04 1.22 -80.00 2096.2 2182.4 2010.1 2048.9 2174.4 7.08 6.22 498 3613.79 55.56 0.21 3.76 0.950 0.089 0.123 1786.38 1880.38 1692.38 2091.94 683.00 0 0 0 12.05 16.00 15.79

3642 end climb: SURFACE_DEPTH_REACHED

state 3642 begin surface coast

3687 end surface coast: CONTROL_FINISHED_OK

state 3688 begin surface

ID	240	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	4	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	21	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	607.84076	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	-0.1
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3030.9404	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	66
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	205	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1787.1938	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	17.752602	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.667177	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	8.9758759	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	-156.68835	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022403029	SEABIRD_C_G	-10
MASS	72626	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	210	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3810	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	250522,234134,4737.062,-12256.416,2,1.1,6,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,234519,4737.104,-12256.369,3,1.1,6,15.5	MHEAD_RNG_PITCHd_Wd	195.7,2192,-17.1,-9.697,-20.82,2278,0.182
SPEED_LIMITS	0.168,0.255	D_GRID	165
TGT_NAME	S	IRON	1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099
TGT_LATLONG	4736.000,-12257.000

NET	xm1t part outbox0011.n 902 0	FG_AHR_24Vo	9.132
NET_PING	1653525490,25,1437.166504,8.800000,-1.908186	FG_AHR_10Vo	15.693
NAV	1653525314,64.8,0,stop	MEM0	60132,1,0,0
FINISH	0.6,1.020640	MEM1	65508,1,0,0
SM_CCo	3930.27,202.43,0.934,0,553.1,573.1,533.1,607.59	MEM2	944428,36,102180,62
SM_GC	1.57,202.43,12.11,3.39,0.934,0.073,0.056,553.1,573.1,533.1,197.3,2175.0,0,0,0,11.92,15.86,15.89	DATA_FILE_SIZE	12924,525
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	355761,0
IRIDIUM_FIX	4737.86,-12251.79,250522,224658	SDSIZE	3887104,3865536
TCM_TEMP	17.56	SDFILEDIR	208,1
SC_FREEKB	3872064	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	4736.600586,-12256.807617,250522,030300,2,510,3251.10	CURRENT	0.083, 37.4,1
HUMID	49.41	MAGCAL	1.000000,-0.002888,0.001370,0.009650,1.109264,-0.113583,-0.008896,-0.071833,1.136349,47.9,-870.6,-531.3,31,0.0326,0
TEMP	9.78	IMPLIED_C_PITCH	1790,17.62,284,1788.6,17.69
INTERNAL_PRESSURE	7.96809	IMPLIED_C_VBD	3021,25.942804,284,3026.1
_24V_AH	14.91,10.446	GPS	260522,005201,4736.926,-12256.643,19,1.0,20,15.5
_10V_AH	14.89,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	638	1138	10845.22	nil	0	0	0.00
Pitch_motor	29	251	109.52	nil	0	0	0.00
Roll_motor	64	201	193.78	nil	0	0	0.00
Iridium	156	211	493.86	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.37	nil	0	0	0.00
Core	2271	5	173.16	SciCon	3696	6	357.72
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1643	0	7.83
Compass	1053	5	78.44
RAFOS	862	40	513.97
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
6.61	16386	-146.63	-1.14	0.00	496.3	517.7	474.9	197.2	2166.7	0.00	0.00	0	97.03	86.28	0.00	0.00	0.005	0.000	0.000	2877.38	2907.81	2846.94	197.31	2166.56	0	0	0	15.84	30.00	30.00
97.33	18467	-146.63	-1.14	0.00	2876.0	2906.4	2845.7	197.2	2166.1	3.32	-2.63	17	131.69	17.70	10.41	0.00	0.006	0.252	0.000	3624.69	3682.31	3567.06	1509.19	2166.31	0	0	0	15.90	15.73	30.00
312.59	128	-146.63	-1.07	-80.00	3628.3	3683.6	3573.1	1508.6	2166.4	28.24	-10.83	59	317.11	0.00	0.00	0.00	0.000	0.000	0.000	3627.88	3683.62	3572.12	1509.44	2166.00	0	0	0	30.00	30.00	30.00
497.60	2437	-146.63	-0.99	80.00	3628.2	3683.5	3572.8	1509.3	2166.7	46.84	-10.40	96	504.55	0.00	0.27	3.59	0.000	0.179	0.125	3628.75	3684.25	3573.25	1547.19	3618.19	0	0	0	30.00	15.91	15.92
592.38	1156	-146.63	-0.94	0.00	3628.4	3682.9	3573.9	1546.8	3617.9	57.10	-10.72	115	599.96	0.00	0.00	3.45	0.000	0.000	0.052	3628.38	3683.50	3573.25	1546.25	2122.25	0	0	0	30.00	30.00	15.98
788.87	32	-146.63	-0.94	0.00	3629.1	3684.1	3574.1	1546.8	2122.2	73.46	-8.35	135	790.48	0.00	0.00	0.00	0.000	0.000	0.000	3627.59	3682.69	3572.50	1546.94	2121.88	0	0	0	30.00	30.00	30.00
980.23	292	-146.63	-0.94	80.00	3629.5	3684.4	3574.6	1546.9	2122.3	89.95	-8.75	153	987.54	0.00	0.00	3.67	0.000	0.000	0.120	3630.69	3685.56	3575.81	1547.19	3616.81	0	0	0	30.00	30.00	15.99
1050.38	3205	-146.63	-0.86	0.00	3629.0	3684.1	3574.0	1546.8	3616.4	97.39	-10.81	167	1058.20	0.00	0.20	3.44	0.000	0.174	0.053	3630.56	3684.50	3576.62	1579.00	2121.75	0	0	0	30.00	15.96	16.02
1246.21	160	-146.63	-0.91	0.00	3629.4	3683.7	3575.1	1579.1	2121.4	112.67	-7.53	187	1247.81	0.00	0.00	0.00	0.000	0.000	0.000	3629.47	3684.44	3574.50	1579.12	2121.38	0	0	0	30.00	30.00	30.00
1436.24	160	-146.63	-0.95	0.00	3629.2	3684.4	3574.1	1578.7	2121.7	127.34	-7.92	206	1437.85	0.00	0.00	0.00	0.000	0.000	0.000	3628.47	3683.12	3573.81	1578.81	2122.19	0	0	0	30.00	30.00	30.00
1620.27	4257	-146.63	-1.00	0.00	3629.4	3684.1	3574.8	1579.1	2121.4	141.87	-7.67	225	1622.14	0.00	0.29	0.00	0.000	0.077	0.000	3629.66	3684.88	3574.44	1531.00	2121.88	0	0	0	30.00	16.08	30.00
1810	end dive: TARGET_DEPTH_EXCEEDED
state	1810	begin apogee
1811.55	10243	0.00	-0.28	0.00	3629.2	3684.2	3574.2	1531.1	2179.8	160.06	-9.89	244	1925.92	102.96	1.35	0.10	1.139	0.153	0.201	3029.94	3087.75	2972.12	1718.81	2117.75	0	0	0	12.13	16.06	15.73
1927	end apogee: CONTROL_FINISHED_OK
state	1927	begin climb
1927.23	10759	146.63	1.14	-80.00	3029.2	3086.9	2971.6	1718.6	2118.3	164.24	0.00	255	2052.39	107.19	2.38	3.72	1.101	0.118	0.129	2428.78	2497.69	2359.88	2066.00	683.12	0	0	0	11.98	15.73	15.48
2105.24	5253	146.63	0.92	0.00	2424.3	2496.1	2352.4	2065.1	683.2	148.35	14.65	288	2113.17	0.00	0.48	3.47	0.000	0.155	0.059	2424.12	2496.00	2352.25	2003.75	2171.00	0	0	0	30.00	15.60	15.63
2301.05	8870	158.09	0.97	-80.00	2422.9	2496.1	2349.6	2003.9	2170.6	129.22	9.18	308	2318.96	9.81	0.00	3.78	0.877	0.000	0.126	2384.03	2458.12	2309.94	2004.00	683.19	0	0	0	12.06	30.00	15.74
2357.54	1156	158.09	0.94	0.00	2381.4	2456.8	2305.9	2003.6	682.9	123.38	10.89	319	2363.68	0.00	0.00	3.43	0.000	0.000	0.058	2381.50	2457.44	2305.56	2001.38	2170.25	0	0	0	30.00	30.00	15.81
2548.99	10919	168.42	1.00	-80.00	2381.0	2456.8	2305.1	2003.8	2170.6	105.11	9.23	339	2570.73	10.25	0.21	3.74	0.882	0.084	0.125	2341.19	2417.19	2265.19	2041.06	684.19	0	0	0	12.04	15.86	15.82
2607.20	5253	168.42	0.88	0.00	2338.7	2414.8	2262.6	2041.2	684.2	98.00	13.26	349	2614.64	0.00	0.38	3.41	0.000	0.147	0.058	2338.94	2415.50	2262.38	1989.88	2170.31	0	0	0	30.00	15.83	15.87
2802.31	10919	202.57	1.00	-80.00	2337.9	2414.6	2261.2	1992.3	2170.4	81.11	8.16	369	2840.32	26.92	0.29	3.73	0.994	0.074	0.125	2200.94	2280.94	2120.94	2042.06	683.62	0	0	0	12.00	15.93	15.79
2878.16	5253	202.57	0.92	0.00	2198.1	2278.4	2117.8	2041.8	683.7	72.59	12.49	384	2885.97	0.00	0.30	3.41	0.000	0.145	0.058	2199.88	2280.19	2119.56	2003.00	2170.38	0	0	0	30.00	15.81	15.86
3073.96	10919	227.54	1.05	-80.00	2196.6	2278.6	2114.6	2003.2	2170.0	55.34	8.58	404	3101.63	19.57	0.26	3.73	0.947	0.077	0.125	2100.06	2183.56	2016.56	2049.50	683.94	0	0	0	11.96	15.93	15.84
3138.66	1156	227.54	0.99	0.00	2098.8	2182.3	2015.3	2048.6	683.8	47.88	12.57	416	3145.83	0.00	0.00	3.40	0.000	0.000	0.058	2099.22	2183.31	2015.12	2047.12	2171.12	0	0	0	30.00	30.00	15.83
3327.33	516	227.54	0.99	-80.00	2097.0	2182.4	2011.6	2048.8	2170.2	27.02	10.90	454	3334.39	0.00	0.00	3.70	0.000	0.000	0.125	2097.03	2182.44	2011.62	2048.88	683.31	0	0	0	30.00	30.00	15.91
3357.85	1028	227.54	0.99	0.00	2096.4	2181.8	2011.1	2048.9	683.5	23.40	11.87	460	3364.77	0.00	0.00	3.39	0.000	0.000	0.058	2098.75	2183.88	2013.62	2048.75	2174.62	0	0	0	30.00	30.00	15.96
3548.39	10919	305.04	1.22	-80.00	2096.2	2182.4	2010.1	2048.9	2174.4	7.08	6.22	498	3613.79	55.56	0.21	3.76	0.950	0.089	0.123	1786.38	1880.38	1692.38	2091.94	683.00	0	0	0	12.05	16.00	15.79
3642	end climb: SURFACE_DEPTH_REACHED
state	3642	begin surface coast
3687	end surface coast: CONTROL_FINISHED_OK
state	3688	begin surface