Glider dive log

HoodCanal 23May22 * SG235 * Dive index * Mission links * Dive 3 * 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 18 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

DIVE 3 SM_CC 590.98499 VBD_MIN 500 DEEPGLIDERMB 0

N_DIVES 3 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 15 VBD_CNV -0.24529999 DEVICE3 -1

D_TGT 150 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_ABORT 170 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 2 LOITER_D_TOP 400 GPS_DEVICE 48

T_DIVE 50 STROBE 0 LOITER_D_BOTTOM 700 RAFOS_DEVICE 96

T_MISSION 70 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 158.19072 SEABIRD_T_I 2.6329088e-05

ICE_FREEZE_MARGIN 0.1 PITCH_GAIN 15.769658 FG_AHR_24V 201.58385 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 150 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 158.19072 PITCH_CNV 0.0041299998 SEABIRD_T_J 3.2522996e-06

ALTIM_PULSE 3 FG_AHR_24V 201.58385 PITCH_DBAND 0.1 SIM_W 0

ALTIM_SENSITIVITY 2 FILEMGR 2 PITCH_GAIN 15.769658 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 15 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 50

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 70

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 2

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 18 ROLL_CNV 0.054945 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 ROLL_DEG 80 VBD_TIMEOUT 800

DIVE 3 NAV2_DEVICE 6 ROLL_MAX 3900 W_ADJ_DBAND 2

D_ABORT 170 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 3 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 230522,181726,4736.779,-12256.490,1,1.1,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230522,182121,4736.794,-12256.456,3,1.4,5,15.5 MHEAD_RNG_PITCHd_Wd 189.3,1620,-17.6,-10.000,-21.21,2209,0.110

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,-0.038735,-0.018418,-0.066681,1.088641,0.001220,0.051749,-0.021930,1.134570,-967.307800,-1098.481323,-64.279381

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

NAV 1653332831,42.3,0,stop _24V_AH 14.75,107.224

FREEZE 1.07,14.587,-1.408,0,1,0 _10V_AH 14.74,0.000

FINISH 1.1,1.019031 FG_AHR_24Vo 201.776

SM_CCo 3741.79,208.18,1.123,0,541.5,609.9,473.1,590.80 FG_AHR_10Vo 158.234

SM_GC 1.57,208.18,13.78,0.43,1.123,0.081,0.089,541.5,609.9,473.1,218.9,2774.4,0,0,0,12.11,15.70,15.74 MEM0 60148,1,0,0

SUPER 19,71,254,1,0,0 MEM1 65508,1,0,0

IRIDIUM_FIX 4735.53,-12254.47,230522,171355 MEM2 933900,25,112468,85

TCM_TEMP 14.06 DATA_FILE_SIZE 12933,519

SC_FREEKB 3877728 CAP_FILE_SIZE 359689,0

PM_FREEKB_00 62111872 SDSIZE 3918848,3884640

PM_ACTIVECARD 0 SDFILEDIR 266,3

RAFOS_CLK 0 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 1407.0

HUMID 48.51 IMPLIED_C_PITCH 2007,15.86,243,2018.3,15.81

TEMP 10.98 IMPLIED_C_VBD 3079,28.963799,243,3014.4

INTERNAL_PRESSURE 7.94325 GPS 230522,192531,4736.554,-12256.613,1,1.0,35,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1322 12607.34 nil 0 0 0.00

Pitch_motor 29 268 118.17 nil 0 0 0.00

Roll_motor 49 243 176.54 nil 0 0 0.00

Iridium 144 207 441.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.15 nil 0 0 0.00

Core 2262 5 170.74 SciCon 3502 6 326.75

Fast 0 0 0.00 PMAR 3510 17 911.98

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1476 0 6.96

Compass 1060 5 78.17

RAFOS 863 40 509.10

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

12.30 16386 -146.63 -1.30 0.00 539.0 606.2 471.8 218.8 2725.9 0.00 0.00 0 112.03 95.84 0.00 0.00 0.005 0.000 0.000 2801.09 2804.56 2797.62 219.00 2726.56 0 0 0 15.78 30.00 30.00

112.29 18727 -146.63 -1.30 80.00 2800.7 2803.8 2797.6 218.8 2724.8 3.17 -1.79 19 157.73 21.49 11.61 2.90 0.006 0.269 0.127 3545.62 3571.50 3519.75 1715.50 3910.50 0 0 0 15.83 15.67 15.75

306.09 1060 -146.63 -1.30 0.00 3548.3 3575.9 3520.6 1715.0 3910.0 21.09 -6.62 57 312.31 0.00 0.00 2.72 0.000 0.000 0.069 3548.66 3576.62 3520.69 1715.69 2724.56 0 0 0 30.00 30.00 15.85

493.52 32 -146.63 -1.30 0.00 3549.8 3578.4 3521.2 1715.8 2724.6 34.00 -7.25 92 498.40 0.00 0.00 0.00 0.000 0.000 0.000 3549.50 3578.56 3520.44 1715.69 2724.88 0 0 0 30.00 30.00 30.00

683.61 32 -146.63 -1.30 0.00 3549.4 3578.0 3520.9 1716.0 2725.0 47.34 -7.44 130 688.07 0.00 0.00 0.00 0.000 0.000 0.000 3550.41 3578.62 3522.19 1715.50 2724.88 0 0 0 30.00 30.00 30.00

873.59 260 -146.63 -1.30 80.00 3550.6 3579.5 3521.7 1715.6 2724.2 62.18 -8.23 153 879.18 0.00 0.00 2.92 0.000 0.000 0.127 3549.81 3579.75 3519.88 1715.56 3911.50 0 0 0 30.00 30.00 15.89

953.59 1028 -146.63 -1.30 0.00 3550.2 3579.1 3521.4 1715.8 3909.9 69.97 -10.03 169 959.12 0.00 0.00 2.72 0.000 0.000 0.070 3551.00 3579.81 3522.19 1715.62 2724.50 0 0 0 30.00 30.00 15.94

1143.60 0 -146.63 -1.30 0.00 3549.9 3578.9 3520.9 1715.9 2726.0 86.95 -9.05 189 1145.12 0.00 0.00 0.00 0.000 0.000 0.000 3549.50 3578.19 3520.81 1716.31 2725.81 0 0 0 30.00 30.00 30.00

1333.60 260 -146.63 -1.30 80.00 3550.8 3580.4 3521.1 1715.2 2726.2 104.59 -9.34 208 1339.17 0.00 0.00 2.89 0.000 0.000 0.129 3549.47 3578.50 3520.44 1715.88 3910.56 0 0 0 30.00 30.00 15.95

1387.89 1028 -146.63 -1.30 0.00 3549.5 3578.8 3520.2 1715.1 3911.2 110.31 -10.57 219 1394.88 0.00 0.00 2.71 0.000 0.000 0.071 3550.88 3579.94 3521.81 1716.56 2726.25 0 0 0 30.00 30.00 15.99

1583.63 0 -146.63 -1.30 0.00 3550.9 3580.1 3521.7 1715.6 2725.5 129.10 -9.94 239 1585.15 0.00 0.00 0.00 0.000 0.000 0.000 3550.03 3578.25 3521.81 1715.44 2725.38 0 0 0 30.00 30.00 30.00

1773.63 260 -146.63 -1.30 80.00 3550.2 3579.1 3521.2 1715.6 2726.5 147.40 -9.48 258 1779.26 0.00 0.00 2.96 0.000 0.000 0.129 3552.53 3580.94 3524.12 1715.19 3912.12 0 0 0 30.00 30.00 15.97

1797.92 1028 -146.63 -1.30 0.00 3549.1 3577.9 3520.3 1715.3 3912.4 149.94 -9.75 263 1804.89 0.00 0.00 2.70 0.000 0.000 0.072 3538.16 3554.81 3521.50 1714.62 2728.62 0 0 0 30.00 30.00 16.01

1814 end dive: TARGET_DEPTH_EXCEEDED

state 1814 begin apogee

1815.04 10243 0.00 -0.32 0.00 3550.3 3579.6 3521.0 1715.6 2574.9 151.45 -10.15 265 1929.93 105.86 1.54 0.08 1.323 0.142 0.244 2950.56 3015.44 2885.69 1955.25 2623.94 0 0 0 12.14 15.97 15.56

1934 end apogee: CONTROL_FINISHED_OK

state 1934 begin climb

1934.93 10243 146.63 1.30 0.00 2947.2 3012.9 2881.6 1955.3 2623.7 153.72 0.00 276 2055.77 109.68 2.53 0.00 1.282 0.093 0.000 2349.72 2431.44 2268.00 2348.31 2624.19 0 0 0 12.01 15.58 30.00

2240.12 16646 146.63 1.30 80.00 2342.7 2421.1 2264.2 2348.1 2624.2 115.21 15.81 306 2245.81 0.00 0.00 3.27 0.000 0.000 0.125 2341.41 2419.56 2263.25 2347.88 3911.00 0 0 0 30.00 30.00 15.62

2290.62 17414 146.63 1.30 0.00 2342.6 2419.9 2265.2 2349.1 3911.4 106.09 16.81 315 2300.82 0.00 0.00 3.12 0.000 0.000 0.072 2340.91 2418.25 2263.56 2348.31 2580.25 0 0 0 30.00 30.00 15.67

2489.34 16646 146.63 1.30 80.00 2341.8 2419.0 2264.5 2348.6 2580.1 75.36 14.45 336 2495.29 0.00 0.00 3.35 0.000 0.000 0.124 2340.06 2417.00 2263.12 2348.50 3910.00 0 0 0 30.00 30.00 15.73

2513.60 17414 146.63 1.30 0.00 2341.4 2417.6 2265.1 2349.2 3910.4 71.55 15.25 341 2520.90 0.00 0.00 3.10 0.000 0.000 0.070 2338.25 2414.38 2262.12 2349.00 2579.75 0 0 0 30.00 30.00 15.77

2704.36 16646 146.63 1.30 80.00 2340.6 2416.6 2264.6 2347.9 2578.7 43.79 14.30 364 2711.05 0.00 0.00 3.33 0.000 0.000 0.123 2339.81 2414.56 2265.06 2348.75 3909.06 0 0 0 30.00 30.00 15.78

2739.45 17414 146.63 1.30 0.00 2339.9 2415.8 2264.1 2347.9 3909.9 38.56 15.09 371 2745.99 0.00 0.00 3.10 0.000 0.000 0.071 2339.75 2414.75 2264.75 2347.50 2577.31 0 0 0 30.00 30.00 15.84

2927.65 16646 146.63 1.30 80.00 2339.7 2415.2 2264.1 2348.2 2576.9 12.79 12.74 408 2934.34 0.00 0.00 3.32 0.000 0.000 0.123 2338.88 2413.88 2263.88 2348.44 3910.38 0 0 0 30.00 30.00 15.84

2967.80 17414 146.63 1.30 0.00 2339.8 2415.2 2264.3 2348.4 3909.6 8.32 11.17 416 2974.29 0.00 0.00 3.08 0.000 0.000 0.069 2338.19 2412.88 2263.50 2348.69 2575.62 0 0 0 30.00 30.00 15.89

3157.91 10791 352.98 1.55 -80.00 2339.1 2414.6 2263.6 2348.8 2575.4 4.18 0.44 454 3268.46 105.07 0.36 0.00 1.149 0.080 0.000 1762.00 1855.44 1668.56 2418.56 2575.31 0 0 0 12.14 15.93 30.00

3269 end climb: SURFACE_DEPTH_REACHED

state 3269 begin surface coast

3492 end surface coast: CONTROL_FINISHED_OK

state 3492 begin surface

ID	235	TGT_DEFAULT_LON	-12218	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.5
MISSION	18	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
DIVE	3	SM_CC	590.98499	VBD_MIN	500	DEEPGLIDERMB	0
N_DIVES	3	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	15	VBD_CNV	-0.24529999	DEVICE3	-1
D_TGT	150	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_ABORT	170	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	2	LOITER_D_TOP	400	GPS_DEVICE	48
T_DIVE	50	STROBE	0	LOITER_D_BOTTOM	700	RAFOS_DEVICE	96
T_MISSION	70	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	158.19072	SEABIRD_T_I	2.6329088e-05
ICE_FREEZE_MARGIN	0.1	PITCH_GAIN	15.769658	FG_AHR_24V	201.58385	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	230522,181726,4736.779,-12256.490,1,1.1,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230522,182121,4736.794,-12256.456,3,1.4,5,15.5	MHEAD_RNG_PITCHd_Wd	189.3,1620,-17.6,-10.000,-21.21,2209,0.110
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,-0.038735,-0.018418,-0.066681,1.088641,0.001220,0.051749,-0.021930,1.134570,-967.307800,-1098.481323,-64.279381
TGT_LATLONG	4736.000,-12257.000

NAV	1653332831,42.3,0,stop	_24V_AH	14.75,107.224
FREEZE	1.07,14.587,-1.408,0,1,0	_10V_AH	14.74,0.000
FINISH	1.1,1.019031	FG_AHR_24Vo	201.776
SM_CCo	3741.79,208.18,1.123,0,541.5,609.9,473.1,590.80	FG_AHR_10Vo	158.234
SM_GC	1.57,208.18,13.78,0.43,1.123,0.081,0.089,541.5,609.9,473.1,218.9,2774.4,0,0,0,12.11,15.70,15.74	MEM0	60148,1,0,0
SUPER	19,71,254,1,0,0	MEM1	65508,1,0,0
IRIDIUM_FIX	4735.53,-12254.47,230522,171355	MEM2	933900,25,112468,85
TCM_TEMP	14.06	DATA_FILE_SIZE	12933,519
SC_FREEKB	3877728	CAP_FILE_SIZE	359689,0
PM_FREEKB_00	62111872	SDSIZE	3918848,3884640
PM_ACTIVECARD	0	SDFILEDIR	266,3
RAFOS_CLK	0	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	1407.0
HUMID	48.51	IMPLIED_C_PITCH	2007,15.86,243,2018.3,15.81
TEMP	10.98	IMPLIED_C_VBD	3079,28.963799,243,3014.4
INTERNAL_PRESSURE	7.94325	GPS	230522,192531,4736.554,-12256.613,1,1.0,35,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1322	12607.34	nil	0	0	0.00
Pitch_motor	29	268	118.17	nil	0	0	0.00
Roll_motor	49	243	176.54	nil	0	0	0.00
Iridium	144	207	441.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.15	nil	0	0	0.00
Core	2262	5	170.74	SciCon	3502	6	326.75
Fast	0	0	0.00	PMAR	3510	17	911.98
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1476	0	6.96
Compass	1060	5	78.17
RAFOS	863	40	509.10
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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
12.30	16386	-146.63	-1.30	0.00	539.0	606.2	471.8	218.8	2725.9	0.00	0.00	0	112.03	95.84	0.00	0.00	0.005	0.000	0.000	2801.09	2804.56	2797.62	219.00	2726.56	0	0	0	15.78	30.00	30.00
112.29	18727	-146.63	-1.30	80.00	2800.7	2803.8	2797.6	218.8	2724.8	3.17	-1.79	19	157.73	21.49	11.61	2.90	0.006	0.269	0.127	3545.62	3571.50	3519.75	1715.50	3910.50	0	0	0	15.83	15.67	15.75
306.09	1060	-146.63	-1.30	0.00	3548.3	3575.9	3520.6	1715.0	3910.0	21.09	-6.62	57	312.31	0.00	0.00	2.72	0.000	0.000	0.069	3548.66	3576.62	3520.69	1715.69	2724.56	0	0	0	30.00	30.00	15.85
493.52	32	-146.63	-1.30	0.00	3549.8	3578.4	3521.2	1715.8	2724.6	34.00	-7.25	92	498.40	0.00	0.00	0.00	0.000	0.000	0.000	3549.50	3578.56	3520.44	1715.69	2724.88	0	0	0	30.00	30.00	30.00
683.61	32	-146.63	-1.30	0.00	3549.4	3578.0	3520.9	1716.0	2725.0	47.34	-7.44	130	688.07	0.00	0.00	0.00	0.000	0.000	0.000	3550.41	3578.62	3522.19	1715.50	2724.88	0	0	0	30.00	30.00	30.00
873.59	260	-146.63	-1.30	80.00	3550.6	3579.5	3521.7	1715.6	2724.2	62.18	-8.23	153	879.18	0.00	0.00	2.92	0.000	0.000	0.127	3549.81	3579.75	3519.88	1715.56	3911.50	0	0	0	30.00	30.00	15.89
953.59	1028	-146.63	-1.30	0.00	3550.2	3579.1	3521.4	1715.8	3909.9	69.97	-10.03	169	959.12	0.00	0.00	2.72	0.000	0.000	0.070	3551.00	3579.81	3522.19	1715.62	2724.50	0	0	0	30.00	30.00	15.94
1143.60	0	-146.63	-1.30	0.00	3549.9	3578.9	3520.9	1715.9	2726.0	86.95	-9.05	189	1145.12	0.00	0.00	0.00	0.000	0.000	0.000	3549.50	3578.19	3520.81	1716.31	2725.81	0	0	0	30.00	30.00	30.00
1333.60	260	-146.63	-1.30	80.00	3550.8	3580.4	3521.1	1715.2	2726.2	104.59	-9.34	208	1339.17	0.00	0.00	2.89	0.000	0.000	0.129	3549.47	3578.50	3520.44	1715.88	3910.56	0	0	0	30.00	30.00	15.95
1387.89	1028	-146.63	-1.30	0.00	3549.5	3578.8	3520.2	1715.1	3911.2	110.31	-10.57	219	1394.88	0.00	0.00	2.71	0.000	0.000	0.071	3550.88	3579.94	3521.81	1716.56	2726.25	0	0	0	30.00	30.00	15.99
1583.63	0	-146.63	-1.30	0.00	3550.9	3580.1	3521.7	1715.6	2725.5	129.10	-9.94	239	1585.15	0.00	0.00	0.00	0.000	0.000	0.000	3550.03	3578.25	3521.81	1715.44	2725.38	0	0	0	30.00	30.00	30.00
1773.63	260	-146.63	-1.30	80.00	3550.2	3579.1	3521.2	1715.6	2726.5	147.40	-9.48	258	1779.26	0.00	0.00	2.96	0.000	0.000	0.129	3552.53	3580.94	3524.12	1715.19	3912.12	0	0	0	30.00	30.00	15.97
1797.92	1028	-146.63	-1.30	0.00	3549.1	3577.9	3520.3	1715.3	3912.4	149.94	-9.75	263	1804.89	0.00	0.00	2.70	0.000	0.000	0.072	3538.16	3554.81	3521.50	1714.62	2728.62	0	0	0	30.00	30.00	16.01
1814	end dive: TARGET_DEPTH_EXCEEDED
state	1814	begin apogee
1815.04	10243	0.00	-0.32	0.00	3550.3	3579.6	3521.0	1715.6	2574.9	151.45	-10.15	265	1929.93	105.86	1.54	0.08	1.323	0.142	0.244	2950.56	3015.44	2885.69	1955.25	2623.94	0	0	0	12.14	15.97	15.56
1934	end apogee: CONTROL_FINISHED_OK
state	1934	begin climb
1934.93	10243	146.63	1.30	0.00	2947.2	3012.9	2881.6	1955.3	2623.7	153.72	0.00	276	2055.77	109.68	2.53	0.00	1.282	0.093	0.000	2349.72	2431.44	2268.00	2348.31	2624.19	0	0	0	12.01	15.58	30.00
2240.12	16646	146.63	1.30	80.00	2342.7	2421.1	2264.2	2348.1	2624.2	115.21	15.81	306	2245.81	0.00	0.00	3.27	0.000	0.000	0.125	2341.41	2419.56	2263.25	2347.88	3911.00	0	0	0	30.00	30.00	15.62
2290.62	17414	146.63	1.30	0.00	2342.6	2419.9	2265.2	2349.1	3911.4	106.09	16.81	315	2300.82	0.00	0.00	3.12	0.000	0.000	0.072	2340.91	2418.25	2263.56	2348.31	2580.25	0	0	0	30.00	30.00	15.67
2489.34	16646	146.63	1.30	80.00	2341.8	2419.0	2264.5	2348.6	2580.1	75.36	14.45	336	2495.29	0.00	0.00	3.35	0.000	0.000	0.124	2340.06	2417.00	2263.12	2348.50	3910.00	0	0	0	30.00	30.00	15.73
2513.60	17414	146.63	1.30	0.00	2341.4	2417.6	2265.1	2349.2	3910.4	71.55	15.25	341	2520.90	0.00	0.00	3.10	0.000	0.000	0.070	2338.25	2414.38	2262.12	2349.00	2579.75	0	0	0	30.00	30.00	15.77
2704.36	16646	146.63	1.30	80.00	2340.6	2416.6	2264.6	2347.9	2578.7	43.79	14.30	364	2711.05	0.00	0.00	3.33	0.000	0.000	0.123	2339.81	2414.56	2265.06	2348.75	3909.06	0	0	0	30.00	30.00	15.78
2739.45	17414	146.63	1.30	0.00	2339.9	2415.8	2264.1	2347.9	3909.9	38.56	15.09	371	2745.99	0.00	0.00	3.10	0.000	0.000	0.071	2339.75	2414.75	2264.75	2347.50	2577.31	0	0	0	30.00	30.00	15.84
2927.65	16646	146.63	1.30	80.00	2339.7	2415.2	2264.1	2348.2	2576.9	12.79	12.74	408	2934.34	0.00	0.00	3.32	0.000	0.000	0.123	2338.88	2413.88	2263.88	2348.44	3910.38	0	0	0	30.00	30.00	15.84
2967.80	17414	146.63	1.30	0.00	2339.8	2415.2	2264.3	2348.4	3909.6	8.32	11.17	416	2974.29	0.00	0.00	3.08	0.000	0.000	0.069	2338.19	2412.88	2263.50	2348.69	2575.62	0	0	0	30.00	30.00	15.89
3157.91	10791	352.98	1.55	-80.00	2339.1	2414.6	2263.6	2348.8	2575.4	4.18	0.44	454	3268.46	105.07	0.36	0.00	1.149	0.080	0.000	1762.00	1855.44	1668.56	2418.56	2575.31	0	0	0	12.14	15.93	30.00
3269	end climb: SURFACE_DEPTH_REACHED
state	3269	begin surface coast
3492	end surface coast: CONTROL_FINISHED_OK
state	3492	begin surface