Glider dive log

Shilshole 16Mar22 * 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 1 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 5 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 480.59998 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 150 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 165 COMM_SEQ 7 C_VBD 3000 DEEPGLIDERMB 0

D_NO_BLEED 50 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 50 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 65 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 -6 PITCH_MAX 3628 AH0_10V 0 NAV2_DEVICE -1

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 6.9574308 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 11.471496 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 -189.7222 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 16388 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 2018 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2018 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 5 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 150 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 480.59998

ALTIM_SENSITIVITY 2 FG_AHR_10V 6.9574308 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 11.471496 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 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

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 16388 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH 1700 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 65

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_YINT -189.7222 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_CLIMB 2018 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2018 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 -6

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 4 MISSION 1 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 165 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE -1 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 50 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 160322,194443,4745.375,-12224.195,1,0.9,2,15.4 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -129.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160322,194725,4745.384,-12224.180,2,0.9,3,15.4 MHEAD_RNG_PITCHd_Wd 225.9,3636,-17.6,-10.000,-21.21,2209,0.175

SPEED_LIMITS 0.173,0.258 D_GRID 203

TGT_NAME NW IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,439.000000,-1125.000000,-340.000000

TGT_LATLONG 4743.500,-12225.000

Post-dive calculations and measurements:

NAV 1647462975,40.8,0,stop FG_AHR_24Vo 11.622

MODEM_MSG CACST,8,1,19020113014557.-633424,05,289,06,0138,0150,246,00,00,03,03,0,000,000,2,5,0,0,150,76.5,-1.06,-100,4.06,-01,-0.20,-18,925,0025,0,0,00,00*01 FG_AHR_10Vo 6.993

FINISH -0.4,1.021373 MEM0 60148,1,0,0

SM_CCo 3556.67,140.53,1.004,0,1042.0,1142.8,941.2,480.30 MEM1 65508,1,0,0

SM_GC 0.63,140.53,11.11,0.09,1.004,0.080,0.149,1042.0,1142.8,941.2,199.9,2049.9,0,0,0,11.63,15.94,15.96 MEM2 994360,28,52328,66

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16142,591

IRIDIUM_FIX 4744.47,-12222.38,160322,194115 CAP_FILE_SIZE 198227,0

TCM_TEMP 12.05 SDSIZE 3887104,3874240

SC_FREEKB 3877568 SDFILEDIR 48,1

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 1465.0

HUMID 48.59 CURRENT 0.126,151.3,1

TEMP 9.41 MAGCAL 1.000000,0.013782,0.045325,0.006270,1.085553,-0.070377,0.007199,-0.037033,1.031015,427.7,-1128.5,-342.7,36,0.0258,0

INTERNAL_PRESSURE 8.56995 IMPLIED_C_PITCH 1728,17.44,360,0.0,0.00

_24V_AH 14.90,1.306 IMPLIED_C_VBD 2912,32.018738,360,0

_10V_AH 14.95,0.000 GPS 160322,204741,4745.039,-12224.521,2,0.8,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 580 1207 10441.96 nil 0 0 0.00

Pitch_motor 24 314 113.38 nil 0 0 0.00

Roll_motor 70 205 215.53 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 12 15 2.88 nil 0 0 0.00

Core 1991 5 152.42 SciCon 3398 7 357.84

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1449 0 6.94

Compass 1189 5 88.88

RAFOS 2230 40 1334.08

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

6.45 16386 -146.63 -0.88 0.00 1031.0 1103.5 958.4 196.2 2053.4 0.00 0.00 0 110.62 101.57 0.00 0.00 0.005 0.000 0.000 2996.50 2968.62 3024.38 196.00 2053.69 0 0 0 16.10 30.00 30.00

110.85 18983 -146.63 -0.88 -80.00 2995.2 2967.2 3023.1 196.2 2053.7 3.10 -2.51 20 147.03 18.10 9.82 3.65 0.006 0.314 0.128 3596.34 3588.81 3603.88 1485.00 551.50 0 0 0 16.12 15.91 16.00

160.05 1156 -146.63 -0.80 0.00 3596.5 3591.6 3601.5 1484.9 551.8 10.02 -12.64 30 165.69 0.00 0.00 3.36 0.000 0.000 0.053 3598.50 3594.38 3602.62 1484.50 2045.50 0 0 0 30.00 30.00 16.05

350.03 260 -146.63 -0.80 80.00 3598.4 3598.1 3598.8 1484.4 2045.7 33.31 -11.59 68 355.73 0.00 0.00 3.46 0.000 0.000 0.117 3600.00 3598.88 3601.12 1485.56 3485.81 0 0 0 30.00 30.00 16.05

520.07 1060 -146.63 -0.80 0.00 3598.3 3597.9 3598.8 1485.4 3486.1 53.56 -9.34 102 525.76 0.00 0.00 3.40 0.000 0.000 0.058 3599.38 3598.81 3599.94 1485.44 1989.38 0 0 0 30.00 30.00 16.09

707.73 420 -146.63 -0.83 80.00 3598.1 3598.1 3598.1 1485.2 1989.5 69.56 -9.01 137 713.41 0.00 0.00 3.59 0.000 0.000 0.111 3599.03 3599.25 3598.81 1485.69 3487.50 0 0 0 30.00 30.00 16.05

802.75 1028 -146.63 -0.83 0.00 3598.2 3598.7 3597.8 1485.6 3486.6 79.54 -11.03 156 808.40 0.00 0.00 3.40 0.000 0.000 0.058 3597.81 3598.56 3597.06 1486.00 1990.38 0 0 0 30.00 30.00 16.08

992.74 260 -146.63 -0.83 80.00 3597.9 3598.4 3597.4 1485.1 1990.1 98.68 -10.83 194 998.70 0.00 0.00 3.59 0.000 0.000 0.109 3599.91 3599.75 3600.06 1485.06 3488.69 0 0 0 30.00 30.00 16.05

1112.78 1156 -146.63 -0.79 0.00 3598.0 3597.7 3598.2 1485.5 3488.1 112.49 -11.31 218 1117.74 0.00 0.00 3.40 0.000 0.000 0.059 3599.28 3599.69 3598.88 1485.38 1989.69 0 0 0 30.00 30.00 16.07

1422.80 292 -146.63 -0.79 80.00 3597.9 3598.4 3597.4 1485.4 1991.0 139.20 -8.10 250 1427.79 0.00 0.00 3.59 0.000 0.000 0.111 3598.66 3599.06 3598.25 1485.44 3484.94 0 0 0 30.00 30.00 16.05

1527 end dive: TARGET_DEPTH_EXCEEDED

state 1527 begin apogee

1531.83 10243 0.00 -0.20 0.00 3597.9 3598.6 3597.2 1485.8 1988.9 150.12 -10.18 271 1639.32 104.50 1.10 0.09 1.207 0.174 0.205 2998.03 3050.38 2945.69 1651.31 2050.50 0 0 0 11.45 15.99 15.68

1640 end apogee: CONTROL_FINISHED_OK

state 1640 begin climb

1640.14 10759 146.63 0.88 -80.00 2998.6 3050.9 2946.2 1652.0 2050.2 154.37 0.00 282 1757.21 107.81 1.75 3.83 1.146 0.138 0.129 2400.41 2467.00 2333.81 1915.19 553.62 0 0 0 11.48 15.66 15.46

1789.46 1156 146.63 0.85 0.00 2397.8 2462.4 2333.2 1915.1 553.8 145.37 10.63 311 1795.89 0.00 0.00 3.45 0.000 0.000 0.051 2398.91 2463.00 2334.81 1915.94 2042.50 0 0 0 30.00 30.00 15.58

2105.24 8614 182.17 0.95 80.00 2395.0 2456.9 2333.0 1915.6 2042.0 117.83 8.35 343 2140.53 27.42 0.00 3.54 1.087 0.000 0.121 2256.34 2328.19 2184.50 1915.94 3484.12 0 0 0 11.55 30.00 15.73

2175.27 11431 201.57 1.02 0.00 2253.8 2323.7 2184.0 1915.3 3483.3 111.73 9.10 357 2197.36 16.59 0.19 3.46 1.021 0.112 0.059 2177.59 2252.50 2102.69 1953.06 1991.94 0 0 0 11.52 15.76 15.78

2500.40 8614 210.30 1.09 80.00 2172.9 2244.1 2101.6 1952.4 1991.0 80.34 9.60 412 2516.28 8.27 0.00 3.64 0.867 0.000 0.116 2141.81 2214.56 2069.06 1953.50 3484.00 0 0 0 11.45 30.00 15.84

2610.37 1028 210.30 1.09 0.00 2140.3 2211.9 2068.8 1953.1 3485.1 68.93 10.04 434 2616.07 0.00 0.00 3.42 0.000 0.000 0.058 2142.44 2214.00 2070.88 1953.88 1991.56 0 0 0 30.00 30.00 15.88

2800.42 10663 245.26 1.21 80.00 2140.2 2211.6 2068.9 1952.9 1991.8 52.72 8.38 472 2832.76 26.99 0.25 3.65 1.049 0.100 0.116 1998.88 2082.31 1915.44 2003.31 3483.62 0 0 0 11.59 15.92 15.82

2945.75 1028 245.26 1.21 0.00 1995.5 2075.7 1915.3 2002.4 3483.0 35.30 12.05 501 2951.44 0.00 0.00 3.41 0.000 0.000 0.059 1996.84 2077.06 1916.62 2002.75 1992.31 0 0 0 30.00 30.00 15.91

3135.80 8614 268.71 1.30 80.00 1995.4 2075.3 1915.6 2002.2 1991.8 18.91 8.91 539 3161.90 18.97 0.00 3.63 0.985 0.000 0.115 1904.44 1989.69 1819.19 2002.25 3484.38 0 0 0 11.43 30.00 15.88

3220.80 9382 278.85 1.35 0.00 1900.7 1984.6 1816.8 2002.7 3483.9 11.21 9.53 556 3236.68 9.65 0.00 3.42 0.862 0.000 0.058 1862.38 1949.62 1775.12 2003.38 1990.25 0 0 0 11.49 30.00 15.93

3361 end climb: SURFACE_DEPTH_REACHED

state 3361 begin surface coast

3396 end surface coast: CONTROL_FINISHED_OK

state 3396 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	1	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	5	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	480.59998	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	150	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	165	COMM_SEQ	7	C_VBD	3000	DEEPGLIDERMB	0
D_NO_BLEED	50	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	50	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	65	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	-6	PITCH_MAX	3628	AH0_10V	0	NAV2_DEVICE	-1
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	6.9574308	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	11.471496	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	-189.7222	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	16388	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	2018	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2018	ALTIM_PULSE	3

GPS1	160322,194443,4745.375,-12224.195,1,0.9,2,15.4	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-129.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160322,194725,4745.384,-12224.180,2,0.9,3,15.4	MHEAD_RNG_PITCHd_Wd	225.9,3636,-17.6,-10.000,-21.21,2209,0.175
SPEED_LIMITS	0.173,0.258	D_GRID	203
TGT_NAME	NW	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,439.000000,-1125.000000,-340.000000
TGT_LATLONG	4743.500,-12225.000

NAV	1647462975,40.8,0,stop	FG_AHR_24Vo	11.622
MODEM_MSG	CACST,8,1,19020113014557.-633424,05,289,06,0138,0150,246,00,00,03,03,0,000,000,2,5,0,0,150,76.5,-1.06,-100,4.06,-01,-0.20,-18,925,0025,0,0,00,00*01	FG_AHR_10Vo	6.993
FINISH	-0.4,1.021373	MEM0	60148,1,0,0
SM_CCo	3556.67,140.53,1.004,0,1042.0,1142.8,941.2,480.30	MEM1	65508,1,0,0
SM_GC	0.63,140.53,11.11,0.09,1.004,0.080,0.149,1042.0,1142.8,941.2,199.9,2049.9,0,0,0,11.63,15.94,15.96	MEM2	994360,28,52328,66
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16142,591
IRIDIUM_FIX	4744.47,-12222.38,160322,194115	CAP_FILE_SIZE	198227,0
TCM_TEMP	12.05	SDSIZE	3887104,3874240
SC_FREEKB	3877568	SDFILEDIR	48,1
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	1465.0
HUMID	48.59	CURRENT	0.126,151.3,1
TEMP	9.41	MAGCAL	1.000000,0.013782,0.045325,0.006270,1.085553,-0.070377,0.007199,-0.037033,1.031015,427.7,-1128.5,-342.7,36,0.0258,0
INTERNAL_PRESSURE	8.56995	IMPLIED_C_PITCH	1728,17.44,360,0.0,0.00
_24V_AH	14.90,1.306	IMPLIED_C_VBD	2912,32.018738,360,0
_10V_AH	14.95,0.000	GPS	160322,204741,4745.039,-12224.521,2,0.8,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	580	1207	10441.96	nil	0	0	0.00
Pitch_motor	24	314	113.38	nil	0	0	0.00
Roll_motor	70	205	215.53	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	12	15	2.88	nil	0	0	0.00
Core	1991	5	152.42	SciCon	3398	7	357.84
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1449	0	6.94
Compass	1189	5	88.88
RAFOS	2230	40	1334.08
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
6.45	16386	-146.63	-0.88	0.00	1031.0	1103.5	958.4	196.2	2053.4	0.00	0.00	0	110.62	101.57	0.00	0.00	0.005	0.000	0.000	2996.50	2968.62	3024.38	196.00	2053.69	0	0	0	16.10	30.00	30.00
110.85	18983	-146.63	-0.88	-80.00	2995.2	2967.2	3023.1	196.2	2053.7	3.10	-2.51	20	147.03	18.10	9.82	3.65	0.006	0.314	0.128	3596.34	3588.81	3603.88	1485.00	551.50	0	0	0	16.12	15.91	16.00
160.05	1156	-146.63	-0.80	0.00	3596.5	3591.6	3601.5	1484.9	551.8	10.02	-12.64	30	165.69	0.00	0.00	3.36	0.000	0.000	0.053	3598.50	3594.38	3602.62	1484.50	2045.50	0	0	0	30.00	30.00	16.05
350.03	260	-146.63	-0.80	80.00	3598.4	3598.1	3598.8	1484.4	2045.7	33.31	-11.59	68	355.73	0.00	0.00	3.46	0.000	0.000	0.117	3600.00	3598.88	3601.12	1485.56	3485.81	0	0	0	30.00	30.00	16.05
520.07	1060	-146.63	-0.80	0.00	3598.3	3597.9	3598.8	1485.4	3486.1	53.56	-9.34	102	525.76	0.00	0.00	3.40	0.000	0.000	0.058	3599.38	3598.81	3599.94	1485.44	1989.38	0	0	0	30.00	30.00	16.09
707.73	420	-146.63	-0.83	80.00	3598.1	3598.1	3598.1	1485.2	1989.5	69.56	-9.01	137	713.41	0.00	0.00	3.59	0.000	0.000	0.111	3599.03	3599.25	3598.81	1485.69	3487.50	0	0	0	30.00	30.00	16.05
802.75	1028	-146.63	-0.83	0.00	3598.2	3598.7	3597.8	1485.6	3486.6	79.54	-11.03	156	808.40	0.00	0.00	3.40	0.000	0.000	0.058	3597.81	3598.56	3597.06	1486.00	1990.38	0	0	0	30.00	30.00	16.08
992.74	260	-146.63	-0.83	80.00	3597.9	3598.4	3597.4	1485.1	1990.1	98.68	-10.83	194	998.70	0.00	0.00	3.59	0.000	0.000	0.109	3599.91	3599.75	3600.06	1485.06	3488.69	0	0	0	30.00	30.00	16.05
1112.78	1156	-146.63	-0.79	0.00	3598.0	3597.7	3598.2	1485.5	3488.1	112.49	-11.31	218	1117.74	0.00	0.00	3.40	0.000	0.000	0.059	3599.28	3599.69	3598.88	1485.38	1989.69	0	0	0	30.00	30.00	16.07
1422.80	292	-146.63	-0.79	80.00	3597.9	3598.4	3597.4	1485.4	1991.0	139.20	-8.10	250	1427.79	0.00	0.00	3.59	0.000	0.000	0.111	3598.66	3599.06	3598.25	1485.44	3484.94	0	0	0	30.00	30.00	16.05
1527	end dive: TARGET_DEPTH_EXCEEDED
state	1527	begin apogee
1531.83	10243	0.00	-0.20	0.00	3597.9	3598.6	3597.2	1485.8	1988.9	150.12	-10.18	271	1639.32	104.50	1.10	0.09	1.207	0.174	0.205	2998.03	3050.38	2945.69	1651.31	2050.50	0	0	0	11.45	15.99	15.68
1640	end apogee: CONTROL_FINISHED_OK
state	1640	begin climb
1640.14	10759	146.63	0.88	-80.00	2998.6	3050.9	2946.2	1652.0	2050.2	154.37	0.00	282	1757.21	107.81	1.75	3.83	1.146	0.138	0.129	2400.41	2467.00	2333.81	1915.19	553.62	0	0	0	11.48	15.66	15.46
1789.46	1156	146.63	0.85	0.00	2397.8	2462.4	2333.2	1915.1	553.8	145.37	10.63	311	1795.89	0.00	0.00	3.45	0.000	0.000	0.051	2398.91	2463.00	2334.81	1915.94	2042.50	0	0	0	30.00	30.00	15.58
2105.24	8614	182.17	0.95	80.00	2395.0	2456.9	2333.0	1915.6	2042.0	117.83	8.35	343	2140.53	27.42	0.00	3.54	1.087	0.000	0.121	2256.34	2328.19	2184.50	1915.94	3484.12	0	0	0	11.55	30.00	15.73
2175.27	11431	201.57	1.02	0.00	2253.8	2323.7	2184.0	1915.3	3483.3	111.73	9.10	357	2197.36	16.59	0.19	3.46	1.021	0.112	0.059	2177.59	2252.50	2102.69	1953.06	1991.94	0	0	0	11.52	15.76	15.78
2500.40	8614	210.30	1.09	80.00	2172.9	2244.1	2101.6	1952.4	1991.0	80.34	9.60	412	2516.28	8.27	0.00	3.64	0.867	0.000	0.116	2141.81	2214.56	2069.06	1953.50	3484.00	0	0	0	11.45	30.00	15.84
2610.37	1028	210.30	1.09	0.00	2140.3	2211.9	2068.8	1953.1	3485.1	68.93	10.04	434	2616.07	0.00	0.00	3.42	0.000	0.000	0.058	2142.44	2214.00	2070.88	1953.88	1991.56	0	0	0	30.00	30.00	15.88
2800.42	10663	245.26	1.21	80.00	2140.2	2211.6	2068.9	1952.9	1991.8	52.72	8.38	472	2832.76	26.99	0.25	3.65	1.049	0.100	0.116	1998.88	2082.31	1915.44	2003.31	3483.62	0	0	0	11.59	15.92	15.82
2945.75	1028	245.26	1.21	0.00	1995.5	2075.7	1915.3	2002.4	3483.0	35.30	12.05	501	2951.44	0.00	0.00	3.41	0.000	0.000	0.059	1996.84	2077.06	1916.62	2002.75	1992.31	0	0	0	30.00	30.00	15.91
3135.80	8614	268.71	1.30	80.00	1995.4	2075.3	1915.6	2002.2	1991.8	18.91	8.91	539	3161.90	18.97	0.00	3.63	0.985	0.000	0.115	1904.44	1989.69	1819.19	2002.25	3484.38	0	0	0	11.43	30.00	15.88
3220.80	9382	278.85	1.35	0.00	1900.7	1984.6	1816.8	2002.7	3483.9	11.21	9.53	556	3236.68	9.65	0.00	3.42	0.862	0.000	0.058	1862.38	1949.62	1775.12	2003.38	1990.25	0	0	0	11.49	30.00	15.93
3361	end climb: SURFACE_DEPTH_REACHED
state	3361	begin surface coast
3396	end surface coast: CONTROL_FINISHED_OK
state	3396	begin surface