Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 4 * 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 7 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 4 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 611.3277 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 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3046.2949 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 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 1749.9225 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 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18.396778 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.641493 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 28.419352 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 -189.03369 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72520 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 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 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 611.3277

ALTIM_SENSITIVITY 2 FG_AHR_10V 19.641493 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.419352 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 18.396778 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 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 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 55

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 1749.9225 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -189.03369 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 3046.2949 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 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 5 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 4 MISSION 7 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 250522,055431,4736.233,-12256.933,3,1.0,6,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.28 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,055743,4736.244,-12256.930,2,1.0,4,15.5 MHEAD_RNG_PITCHd_Wd 174.0,461,-27.2,-9.697,-30.00,954,0.118

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME S IRON 1.000000,0.002953,-0.120929,0.011662,1.118757,-0.014297,0.026290,-0.047984,1.087397,567.284180,-1341.481079,-215.504608

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

FREEZE 5.20,11.253,-1.548,0,1,0 FG_AHR_10Vo 19.655

SM_CCo 3135.98,321.45,0.896,0,500.5,574.2,426.8,624.42 MEM0 60132,1,0,0

SM_GC 1.44,0.00,12.42,3.45,0.000,0.076,0.048,496.9,574.2,419.5,198.6,2174.2,0,0,0,30.00,15.57,15.60 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 944608,32,102080,62

IRIDIUM_FIX 4736.87,-12256.21,250522,043913 DATA_FILE_SIZE 9767,421

TCM_TEMP 13.15 CAP_FILE_SIZE 287065,0

SC_FREEKB 3877504 SDSIZE 3887104,3870112

RAFOS_CLK -4 SDFILEDIR 83,1

RAFOS_FIX 4732.259766,-12300.614258,250522,030300,3,255,2968.37 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 48.92 SOUNDSPEED 1465.0

TEMP 11.05 CURRENT 0.038,254.7,1

INTERNAL_PRESSURE 8.12913 MAGCAL 1.000000,0.006700,-0.094571,0.008567,1.122990,-0.050614,0.049416,-0.078376,1.061933,548.1,-1318.8,-199.0,26,0.0331,0

_24V_AH 14.97,8.377 IMPLIED_C_PITCH 1749,19.16,198,1749.5,18.78

_10V_AH 14.98,0.000 IMPLIED_C_VBD 3030,23.219568,198,3038.2

FG_AHR_24Vo 28.576 GPS 250522,065259,4735.951,-12257.122,8,1.6,14,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 659 1071 10579.70 nil 0 0 0.00

Pitch_motor 29 275 123.55 nil 0 0 0.00

Roll_motor 42 176 111.77 nil 0 0 0.00

Iridium 124 214 400.24 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.10 nil 0 0 0.00

Core 1762 5 135.15 SciCon 2807 6 290.98

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1317 0 6.32

Compass 853 5 63.96

RAFOS 0 0 0.00

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

6.66 16386 -60.85 -1.55 0.00 494.2 567.4 421.1 193.8 2106.7 0.00 0.00 0 81.57 71.38 0.00 0.00 0.005 0.000 0.000 2201.16 2163.81 2238.50 193.69 2107.31 0 0 0 15.88 30.00 30.00

81.87 18467 -123.20 -1.63 0.00 2199.7 2162.2 2237.1 193.7 2107.4 3.25 -3.01 14 140.77 43.05 9.40 0.00 0.005 0.276 0.000 3547.44 3537.12 3557.75 1354.62 2106.06 0 0 0 15.92 15.75 30.00

322.79 388 -123.20 -1.58 80.00 3548.9 3543.1 3554.6 1353.8 2105.9 31.36 -12.43 61 329.54 0.00 0.00 3.62 0.000 0.000 0.101 3550.25 3544.38 3556.12 1355.12 3618.56 0 0 0 30.00 30.00 15.92

537.33 3205 -123.20 -1.39 0.00 3549.1 3543.1 3555.1 1355.0 3618.8 65.39 -15.38 104 544.98 0.00 0.41 3.39 0.000 0.204 0.047 3550.38 3544.25 3556.50 1413.12 2116.12 0 0 0 30.00 15.93 16.00

727.08 388 -123.20 -1.47 80.00 3549.3 3544.7 3553.9 1412.4 2116.2 88.12 -12.08 124 734.09 0.00 0.00 3.59 0.000 0.000 0.101 3550.72 3546.00 3555.44 1413.00 3619.25 0 0 0 30.00 30.00 16.02

766.84 1156 -123.20 -1.41 0.00 3549.4 3544.5 3554.2 1412.2 3619.1 93.54 -13.87 132 774.20 0.00 0.00 3.38 0.000 0.000 0.046 3550.25 3545.69 3554.81 1412.69 2116.38 0 0 0 30.00 30.00 16.05

962.59 128 -123.20 -1.49 0.00 3549.7 3545.7 3553.6 1412.6 2115.1 117.28 -11.98 152 964.16 0.00 0.00 0.00 0.000 0.000 0.000 3548.97 3545.12 3552.81 1412.44 2115.31 0 0 0 30.00 30.00 30.00

1152.61 4485 -123.20 -1.56 80.00 3549.6 3545.6 3553.6 1412.4 2115.0 140.91 -12.95 171 1159.90 0.00 0.36 3.57 0.000 0.080 0.102 3549.19 3545.75 3552.62 1356.06 3620.00 0 0 0 30.00 16.08 16.07

1198.39 3205 -123.20 -1.38 0.00 3549.7 3545.6 3553.8 1356.1 3620.7 148.60 -17.80 180 1205.65 0.00 0.48 3.37 0.000 0.205 0.046 3550.16 3546.12 3554.19 1414.06 2115.69 0 0 0 30.00 16.03 16.10

1283 end dive: TARGET_DEPTH_EXCEEDED

state 1283 begin apogee

1284.63 10243 0.00 -0.27 0.00 3549.7 3545.9 3553.5 1413.8 2181.4 160.48 -13.29 189 1387.48 94.76 1.91 0.10 1.072 0.174 0.177 3046.12 3094.31 2997.94 1683.50 2108.00 0 0 0 11.89 16.05 15.78

1388 end apogee: CONTROL_FINISHED_OK

state 1388 begin climb

1388.54 10243 123.20 1.63 0.00 3044.9 3093.2 2996.7 1683.8 2108.8 164.18 0.00 199 1498.08 95.56 3.13 0.00 1.035 0.118 0.000 2543.09 2606.38 2479.81 2144.06 2107.94 0 0 0 11.71 15.77 30.00

1682.36 388 123.20 1.55 80.00 2537.3 2595.6 2479.1 2145.1 2108.5 123.64 17.14 230 1689.47 0.00 0.00 3.69 0.000 0.000 0.104 2536.59 2596.06 2477.12 2144.88 3617.00 0 0 0 30.00 30.00 15.78

1797.96 21639 123.20 1.31 0.00 2534.7 2590.8 2478.7 2144.4 3618.4 99.92 21.13 253 1805.35 0.00 0.67 3.41 0.000 0.214 0.048 2537.56 2592.94 2482.19 2062.19 2118.06 0 0 0 30.00 15.79 15.87

1986.95 18823 123.20 1.41 80.00 2534.8 2590.6 2479.1 2062.1 2117.2 74.93 12.33 273 1994.25 0.00 0.23 3.62 0.000 0.081 0.105 2533.34 2589.38 2477.31 2103.50 3617.50 0 0 0 30.00 15.94 15.92

2044.66 21639 123.20 1.28 0.00 2533.5 2588.6 2478.5 2103.4 3617.3 65.71 16.80 284 2052.09 0.00 0.41 3.39 0.000 0.209 0.047 2536.09 2591.06 2481.12 2052.38 2116.75 0 0 0 30.00 15.87 15.95

2234.75 18563 123.20 1.41 0.00 2533.9 2589.4 2478.4 2051.9 2117.6 43.04 11.46 309 2239.51 0.00 0.29 0.00 0.000 0.073 0.000 2533.88 2589.25 2478.50 2102.06 2117.25 0 0 0 30.00 16.00 30.00

2424.77 16514 123.20 1.45 0.00 2533.6 2588.8 2478.3 2102.2 2116.8 19.85 12.10 347 2429.29 0.00 0.00 0.00 0.000 0.000 0.000 2533.81 2589.31 2478.31 2102.88 2117.31 0 0 0 30.00 30.00 30.00

2612.83 10919 166.89 1.59 -80.00 2533.4 2588.8 2477.9 2102.9 2116.6 5.52 5.01 385 2654.46 33.08 0.19 3.51 0.920 0.087 0.110 2364.84 2432.12 2297.56 2148.19 681.06 0 0 0 11.89 16.07 15.93

2798 end climb: NO_VERTICAL_VELOCITY

state 2798 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	7	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	4	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	611.3277	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	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3046.2949	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	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	1749.9225	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	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18.396778	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.641493	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	28.419352	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	-189.03369	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72520	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	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	250522,055431,4736.233,-12256.933,3,1.0,6,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.28	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,055743,4736.244,-12256.930,2,1.0,4,15.5	MHEAD_RNG_PITCHd_Wd	174.0,461,-27.2,-9.697,-30.00,954,0.118
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.002953,-0.120929,0.011662,1.118757,-0.014297,0.026290,-0.047984,1.087397,567.284180,-1341.481079,-215.504608
TGT_LATLONG	4736.000,-12257.000

FREEZE	5.20,11.253,-1.548,0,1,0	FG_AHR_10Vo	19.655
SM_CCo	3135.98,321.45,0.896,0,500.5,574.2,426.8,624.42	MEM0	60132,1,0,0
SM_GC	1.44,0.00,12.42,3.45,0.000,0.076,0.048,496.9,574.2,419.5,198.6,2174.2,0,0,0,30.00,15.57,15.60	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	944608,32,102080,62
IRIDIUM_FIX	4736.87,-12256.21,250522,043913	DATA_FILE_SIZE	9767,421
TCM_TEMP	13.15	CAP_FILE_SIZE	287065,0
SC_FREEKB	3877504	SDSIZE	3887104,3870112
RAFOS_CLK	-4	SDFILEDIR	83,1
RAFOS_FIX	4732.259766,-12300.614258,250522,030300,3,255,2968.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	48.92	SOUNDSPEED	1465.0
TEMP	11.05	CURRENT	0.038,254.7,1
INTERNAL_PRESSURE	8.12913	MAGCAL	1.000000,0.006700,-0.094571,0.008567,1.122990,-0.050614,0.049416,-0.078376,1.061933,548.1,-1318.8,-199.0,26,0.0331,0
_24V_AH	14.97,8.377	IMPLIED_C_PITCH	1749,19.16,198,1749.5,18.78
_10V_AH	14.98,0.000	IMPLIED_C_VBD	3030,23.219568,198,3038.2
FG_AHR_24Vo	28.576	GPS	250522,065259,4735.951,-12257.122,8,1.6,14,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	659	1071	10579.70	nil	0	0	0.00
Pitch_motor	29	275	123.55	nil	0	0	0.00
Roll_motor	42	176	111.77	nil	0	0	0.00
Iridium	124	214	400.24	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.10	nil	0	0	0.00
Core	1762	5	135.15	SciCon	2807	6	290.98
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1317	0	6.32
Compass	853	5	63.96
RAFOS	0	0	0.00
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
6.66	16386	-60.85	-1.55	0.00	494.2	567.4	421.1	193.8	2106.7	0.00	0.00	0	81.57	71.38	0.00	0.00	0.005	0.000	0.000	2201.16	2163.81	2238.50	193.69	2107.31	0	0	0	15.88	30.00	30.00
81.87	18467	-123.20	-1.63	0.00	2199.7	2162.2	2237.1	193.7	2107.4	3.25	-3.01	14	140.77	43.05	9.40	0.00	0.005	0.276	0.000	3547.44	3537.12	3557.75	1354.62	2106.06	0	0	0	15.92	15.75	30.00
322.79	388	-123.20	-1.58	80.00	3548.9	3543.1	3554.6	1353.8	2105.9	31.36	-12.43	61	329.54	0.00	0.00	3.62	0.000	0.000	0.101	3550.25	3544.38	3556.12	1355.12	3618.56	0	0	0	30.00	30.00	15.92
537.33	3205	-123.20	-1.39	0.00	3549.1	3543.1	3555.1	1355.0	3618.8	65.39	-15.38	104	544.98	0.00	0.41	3.39	0.000	0.204	0.047	3550.38	3544.25	3556.50	1413.12	2116.12	0	0	0	30.00	15.93	16.00
727.08	388	-123.20	-1.47	80.00	3549.3	3544.7	3553.9	1412.4	2116.2	88.12	-12.08	124	734.09	0.00	0.00	3.59	0.000	0.000	0.101	3550.72	3546.00	3555.44	1413.00	3619.25	0	0	0	30.00	30.00	16.02
766.84	1156	-123.20	-1.41	0.00	3549.4	3544.5	3554.2	1412.2	3619.1	93.54	-13.87	132	774.20	0.00	0.00	3.38	0.000	0.000	0.046	3550.25	3545.69	3554.81	1412.69	2116.38	0	0	0	30.00	30.00	16.05
962.59	128	-123.20	-1.49	0.00	3549.7	3545.7	3553.6	1412.6	2115.1	117.28	-11.98	152	964.16	0.00	0.00	0.00	0.000	0.000	0.000	3548.97	3545.12	3552.81	1412.44	2115.31	0	0	0	30.00	30.00	30.00
1152.61	4485	-123.20	-1.56	80.00	3549.6	3545.6	3553.6	1412.4	2115.0	140.91	-12.95	171	1159.90	0.00	0.36	3.57	0.000	0.080	0.102	3549.19	3545.75	3552.62	1356.06	3620.00	0	0	0	30.00	16.08	16.07
1198.39	3205	-123.20	-1.38	0.00	3549.7	3545.6	3553.8	1356.1	3620.7	148.60	-17.80	180	1205.65	0.00	0.48	3.37	0.000	0.205	0.046	3550.16	3546.12	3554.19	1414.06	2115.69	0	0	0	30.00	16.03	16.10
1283	end dive: TARGET_DEPTH_EXCEEDED
state	1283	begin apogee
1284.63	10243	0.00	-0.27	0.00	3549.7	3545.9	3553.5	1413.8	2181.4	160.48	-13.29	189	1387.48	94.76	1.91	0.10	1.072	0.174	0.177	3046.12	3094.31	2997.94	1683.50	2108.00	0	0	0	11.89	16.05	15.78
1388	end apogee: CONTROL_FINISHED_OK
state	1388	begin climb
1388.54	10243	123.20	1.63	0.00	3044.9	3093.2	2996.7	1683.8	2108.8	164.18	0.00	199	1498.08	95.56	3.13	0.00	1.035	0.118	0.000	2543.09	2606.38	2479.81	2144.06	2107.94	0	0	0	11.71	15.77	30.00
1682.36	388	123.20	1.55	80.00	2537.3	2595.6	2479.1	2145.1	2108.5	123.64	17.14	230	1689.47	0.00	0.00	3.69	0.000	0.000	0.104	2536.59	2596.06	2477.12	2144.88	3617.00	0	0	0	30.00	30.00	15.78
1797.96	21639	123.20	1.31	0.00	2534.7	2590.8	2478.7	2144.4	3618.4	99.92	21.13	253	1805.35	0.00	0.67	3.41	0.000	0.214	0.048	2537.56	2592.94	2482.19	2062.19	2118.06	0	0	0	30.00	15.79	15.87
1986.95	18823	123.20	1.41	80.00	2534.8	2590.6	2479.1	2062.1	2117.2	74.93	12.33	273	1994.25	0.00	0.23	3.62	0.000	0.081	0.105	2533.34	2589.38	2477.31	2103.50	3617.50	0	0	0	30.00	15.94	15.92
2044.66	21639	123.20	1.28	0.00	2533.5	2588.6	2478.5	2103.4	3617.3	65.71	16.80	284	2052.09	0.00	0.41	3.39	0.000	0.209	0.047	2536.09	2591.06	2481.12	2052.38	2116.75	0	0	0	30.00	15.87	15.95
2234.75	18563	123.20	1.41	0.00	2533.9	2589.4	2478.4	2051.9	2117.6	43.04	11.46	309	2239.51	0.00	0.29	0.00	0.000	0.073	0.000	2533.88	2589.25	2478.50	2102.06	2117.25	0	0	0	30.00	16.00	30.00
2424.77	16514	123.20	1.45	0.00	2533.6	2588.8	2478.3	2102.2	2116.8	19.85	12.10	347	2429.29	0.00	0.00	0.00	0.000	0.000	0.000	2533.81	2589.31	2478.31	2102.88	2117.31	0	0	0	30.00	30.00	30.00
2612.83	10919	166.89	1.59	-80.00	2533.4	2588.8	2477.9	2102.9	2116.6	5.52	5.01	385	2654.46	33.08	0.19	3.51	0.920	0.087	0.110	2364.84	2432.12	2297.56	2148.19	681.06	0	0	0	11.89	16.07	15.93
2798	end climb: NO_VERTICAL_VELOCITY
state	2798	begin surface