Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 5 * 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 5 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 3011.8953 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 1792.2649 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 17.983467 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.290956 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 6.3691401 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 15.290956 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.3691401 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 17.983467 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 1792.2649 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 3011.8953 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 5 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 250522,054331,4736.390,-12256.799,2,0.8,31,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,054638,4736.410,-12256.785,2,0.6,5,15.5 MHEAD_RNG_PITCHd_Wd 186.1,806,-20.2,-9.697,-23.56,1687,0.127

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,0.003056,-0.171863,-0.012984,1.109803,-0.039462,0.035294,-0.081485,1.047058,199.247574,-917.607300,-453.196869

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

FREEZE 4.37,12.902,-1.492,0,1,0 FG_AHR_10Vo 15.306

SM_CCo 3590.09,216.36,0.914,0,501.1,527.8,474.3,615.69 MEM0 60132,1,0,0

SM_GC 1.70,0.00,13.20,0.10,0.000,0.067,0.153,497.9,525.2,470.6,193.2,2178.0,0,0,0,30.00,15.55,15.55 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 944576,32,102132,61

IRIDIUM_FIX 4738.33,-12256.21,250522,043242 DATA_FILE_SIZE 12933,514

TCM_TEMP 17.60 CAP_FILE_SIZE 341619,0

SC_FREEKB 3877184 SDSIZE 3887104,3870432

RAFOS_CLK -2 SDFILEDIR 85,1

RAFOS_FIX 4736.600586,-12256.807617,250522,030300,2,510,3251.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 49.41 SOUNDSPEED 1465.0

TEMP 10.20 CURRENT 0.023,249.6,1

INTERNAL_PRESSURE 7.98188 MAGCAL 1.000000,-0.003685,-0.035832,-0.009165,1.081644,-0.109546,0.001723,-0.021633,1.055504,72.2,-872.6,-495.1,36,0.0281,1

_24V_AH 15.06,7.588 IMPLIED_C_PITCH 1790,18.32,257,1791.0,18.15

_10V_AH 15.00,0.000 IMPLIED_C_VBD 3027,22.360718,257,3019.5

FG_AHR_24Vo 6.523 GPS 250522,064912,4736.137,-12257.008,1,0.9,2,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 631 1135 10800.58 nil 0 0 0.00

Pitch_motor 29 258 116.55 nil 0 0 0.00

Roll_motor 65 201 199.58 nil 0 0 0.00

Iridium 119 240 432.34 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.05 nil 0 0 0.00

Core 2110 5 162.08 SciCon 3370 6 327.61

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1528 0 7.33

Compass 1027 5 77.07

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 -108.22 -1.25 0.00 496.2 520.8 471.6 196.1 2163.8 0.00 0.00 0 69.81 60.03 0.00 0.00 0.005 0.000 0.000 2231.03 2271.25 2190.81 195.88 2164.56 0 0 0 15.62 30.00 30.00

70.11 18983 -146.63 -1.30 -80.00 2230.5 2270.3 2190.6 196.1 2163.9 3.24 -3.43 11 130.82 37.74 10.02 3.80 0.005 0.258 0.118 3607.25 3664.94 3549.56 1476.06 682.88 0 0 0 15.88 15.72 15.81

359.32 3205 -146.63 -1.12 0.00 3608.7 3664.8 3552.5 1476.2 683.2 35.89 -11.79 68 366.26 0.00 0.31 3.42 0.000 0.197 0.058 3609.03 3665.19 3552.88 1521.69 2173.00 0 0 0 30.00 15.88 15.95

554.69 548 -146.63 -1.12 -80.00 3609.3 3665.8 3552.9 1521.2 2172.6 53.82 -8.94 103 561.90 0.00 0.00 3.83 0.000 0.000 0.118 3608.44 3665.38 3551.50 1521.25 682.06 0 0 0 30.00 30.00 15.96

787.92 1156 -146.63 -1.06 0.00 3609.7 3665.9 3553.5 1521.1 682.1 79.43 -11.46 149 795.35 0.00 0.00 3.42 0.000 0.000 0.059 3610.22 3666.88 3553.56 1521.50 2171.81 0 0 0 30.00 30.00 16.04

983.58 516 -146.63 -1.06 -80.00 3609.4 3665.6 3553.1 1521.2 2172.1 99.35 -10.38 169 990.86 0.00 0.00 3.81 0.000 0.000 0.119 3608.41 3664.81 3552.00 1521.56 679.81 0 0 0 30.00 30.00 16.02

1073.62 3205 -146.63 -1.02 0.00 3610.0 3666.4 3553.6 1521.1 679.4 110.05 -11.86 187 1081.18 0.00 0.17 3.41 0.000 0.199 0.058 3610.09 3666.62 3553.56 1545.50 2172.94 0 0 0 30.00 15.99 16.07

1264.77 160 -146.63 -1.09 0.00 3610.0 3666.2 3553.8 1545.2 2172.2 127.96 -9.62 206 1269.14 0.00 0.00 0.00 0.000 0.000 0.000 3610.44 3666.88 3554.00 1545.50 2173.50 0 0 0 30.00 30.00 30.00

1452.44 4257 -146.63 -1.18 0.00 3610.3 3666.9 3553.6 1545.5 2172.6 146.10 -9.36 226 1454.30 0.00 0.35 0.00 0.000 0.071 0.000 3611.59 3669.19 3554.00 1488.50 2173.25 0 0 0 30.00 16.11 30.00

1572 end dive: TARGET_DEPTH_EXCEEDED

state 1572 begin apogee

1573.64 10243 0.00 -0.28 0.00 3610.2 3667.0 3553.4 1488.3 2115.0 160.12 -12.03 238 1687.60 102.43 1.70 0.10 1.136 0.169 0.202 3009.09 3066.81 2951.38 1725.12 2178.94 0 0 0 12.09 16.07 15.75

1689 end apogee: CONTROL_FINISHED_OK

state 1689 begin climb

1688.74 10759 146.63 1.30 -80.00 3008.3 3066.4 2950.1 1724.8 2179.0 164.15 0.00 249 1811.95 104.66 2.63 3.94 1.102 0.124 0.122 2411.56 2480.88 2342.25 2108.06 684.50 0 0 0 11.87 15.74 15.50

1845.43 5253 146.63 1.09 0.00 2405.2 2475.2 2335.2 2108.2 684.1 148.44 16.54 277 1852.72 0.00 0.47 3.49 0.000 0.175 0.059 2403.94 2474.25 2333.62 2048.88 2168.81 0 0 0 30.00 15.57 15.63

2033.42 17030 146.63 1.12 -80.00 2403.0 2475.3 2330.8 2048.6 2168.2 125.80 11.27 297 2040.62 0.00 0.00 3.85 0.000 0.000 0.122 2406.78 2477.50 2336.06 2048.69 683.06 0 0 0 30.00 30.00 15.75

2103.38 17542 146.63 1.06 0.00 2401.9 2475.2 2328.5 2048.6 682.9 116.23 14.18 311 2110.80 0.00 0.00 3.45 0.000 0.000 0.059 2403.62 2476.25 2331.00 2046.75 2169.69 0 0 0 30.00 30.00 15.83

2299.12 17030 146.63 1.11 -80.00 2401.5 2474.9 2328.1 2048.9 2169.2 94.22 10.82 331 2306.43 0.00 0.00 3.84 0.000 0.000 0.122 2402.09 2475.62 2328.56 2048.88 684.25 0 0 0 30.00 30.00 15.88

2364.92 17542 146.63 1.05 0.00 2401.3 2475.6 2327.1 2049.1 684.4 85.56 13.62 344 2370.88 0.00 0.00 3.44 0.000 0.000 0.059 2399.84 2473.88 2325.81 2048.88 2170.56 0 0 0 30.00 30.00 15.94

2554.93 17030 146.63 1.11 -80.00 2401.1 2475.2 2326.9 2048.4 2170.1 64.85 10.46 364 2562.14 0.00 0.00 3.85 0.000 0.000 0.121 2399.28 2473.50 2325.06 2048.88 684.12 0 0 0 30.00 30.00 15.95

2590.61 17542 146.63 1.07 0.00 2401.1 2475.2 2326.9 2048.8 684.2 60.59 12.24 371 2596.58 0.00 0.00 3.42 0.000 0.000 0.059 2399.25 2472.94 2325.56 2048.38 2170.50 0 0 0 30.00 30.00 16.00

2780.62 17030 146.63 1.14 -80.00 2400.8 2474.9 2326.7 2048.4 2170.4 41.00 9.92 400 2787.51 0.00 0.00 3.82 0.000 0.000 0.121 2400.81 2475.00 2326.62 2049.00 681.88 0 0 0 30.00 30.00 15.99

2856.00 17542 146.63 1.10 0.00 2400.7 2475.4 2326.1 2048.8 681.8 32.60 11.43 415 2862.66 0.00 0.00 3.41 0.000 0.000 0.059 2401.12 2475.75 2326.50 2048.88 2170.25 0 0 0 30.00 30.00 16.04

3046.16 10403 165.05 1.22 0.00 2400.6 2474.8 2326.3 2048.4 2170.7 15.06 8.58 453 3062.59 14.34 0.28 0.00 0.901 0.077 0.000 2338.88 2414.06 2263.69 2097.19 2171.12 0 0 0 11.89 16.07 30.00

3244.07 10663 279.47 1.50 80.00 2333.3 2411.0 2255.6 2097.8 2170.7 5.47 2.76 492 3335.22 80.55 0.38 3.62 0.956 0.088 0.126 1870.38 1962.81 1777.94 2161.56 3614.50 0 0 0 11.98 16.05 15.78

3338.83 11431 439.02 1.82 0.00 1869.2 1961.8 1776.8 2160.8 3614.4 4.35 0.02 510 3361.59 15.41 0.44 3.50 0.845 0.071 0.051 1796.06 1888.06 1704.06 2240.44 2117.75 0 0 0 11.89 15.83 15.83

3362 end climb: NO_VERTICAL_VELOCITY

state 3362 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	5	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	3011.8953	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	1792.2649	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	17.983467	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.290956	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	6.3691401	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	250522,054331,4736.390,-12256.799,2,0.8,31,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,054638,4736.410,-12256.785,2,0.6,5,15.5	MHEAD_RNG_PITCHd_Wd	186.1,806,-20.2,-9.697,-23.56,1687,0.127
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.003056,-0.171863,-0.012984,1.109803,-0.039462,0.035294,-0.081485,1.047058,199.247574,-917.607300,-453.196869
TGT_LATLONG	4736.000,-12257.000

FREEZE	4.37,12.902,-1.492,0,1,0	FG_AHR_10Vo	15.306
SM_CCo	3590.09,216.36,0.914,0,501.1,527.8,474.3,615.69	MEM0	60132,1,0,0
SM_GC	1.70,0.00,13.20,0.10,0.000,0.067,0.153,497.9,525.2,470.6,193.2,2178.0,0,0,0,30.00,15.55,15.55	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	944576,32,102132,61
IRIDIUM_FIX	4738.33,-12256.21,250522,043242	DATA_FILE_SIZE	12933,514
TCM_TEMP	17.60	CAP_FILE_SIZE	341619,0
SC_FREEKB	3877184	SDSIZE	3887104,3870432
RAFOS_CLK	-2	SDFILEDIR	85,1
RAFOS_FIX	4736.600586,-12256.807617,250522,030300,2,510,3251.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	49.41	SOUNDSPEED	1465.0
TEMP	10.20	CURRENT	0.023,249.6,1
INTERNAL_PRESSURE	7.98188	MAGCAL	1.000000,-0.003685,-0.035832,-0.009165,1.081644,-0.109546,0.001723,-0.021633,1.055504,72.2,-872.6,-495.1,36,0.0281,1
_24V_AH	15.06,7.588	IMPLIED_C_PITCH	1790,18.32,257,1791.0,18.15
_10V_AH	15.00,0.000	IMPLIED_C_VBD	3027,22.360718,257,3019.5
FG_AHR_24Vo	6.523	GPS	250522,064912,4736.137,-12257.008,1,0.9,2,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	631	1135	10800.58	nil	0	0	0.00
Pitch_motor	29	258	116.55	nil	0	0	0.00
Roll_motor	65	201	199.58	nil	0	0	0.00
Iridium	119	240	432.34	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.05	nil	0	0	0.00
Core	2110	5	162.08	SciCon	3370	6	327.61
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1528	0	7.33
Compass	1027	5	77.07
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	-108.22	-1.25	0.00	496.2	520.8	471.6	196.1	2163.8	0.00	0.00	0	69.81	60.03	0.00	0.00	0.005	0.000	0.000	2231.03	2271.25	2190.81	195.88	2164.56	0	0	0	15.62	30.00	30.00
70.11	18983	-146.63	-1.30	-80.00	2230.5	2270.3	2190.6	196.1	2163.9	3.24	-3.43	11	130.82	37.74	10.02	3.80	0.005	0.258	0.118	3607.25	3664.94	3549.56	1476.06	682.88	0	0	0	15.88	15.72	15.81
359.32	3205	-146.63	-1.12	0.00	3608.7	3664.8	3552.5	1476.2	683.2	35.89	-11.79	68	366.26	0.00	0.31	3.42	0.000	0.197	0.058	3609.03	3665.19	3552.88	1521.69	2173.00	0	0	0	30.00	15.88	15.95
554.69	548	-146.63	-1.12	-80.00	3609.3	3665.8	3552.9	1521.2	2172.6	53.82	-8.94	103	561.90	0.00	0.00	3.83	0.000	0.000	0.118	3608.44	3665.38	3551.50	1521.25	682.06	0	0	0	30.00	30.00	15.96
787.92	1156	-146.63	-1.06	0.00	3609.7	3665.9	3553.5	1521.1	682.1	79.43	-11.46	149	795.35	0.00	0.00	3.42	0.000	0.000	0.059	3610.22	3666.88	3553.56	1521.50	2171.81	0	0	0	30.00	30.00	16.04
983.58	516	-146.63	-1.06	-80.00	3609.4	3665.6	3553.1	1521.2	2172.1	99.35	-10.38	169	990.86	0.00	0.00	3.81	0.000	0.000	0.119	3608.41	3664.81	3552.00	1521.56	679.81	0	0	0	30.00	30.00	16.02
1073.62	3205	-146.63	-1.02	0.00	3610.0	3666.4	3553.6	1521.1	679.4	110.05	-11.86	187	1081.18	0.00	0.17	3.41	0.000	0.199	0.058	3610.09	3666.62	3553.56	1545.50	2172.94	0	0	0	30.00	15.99	16.07
1264.77	160	-146.63	-1.09	0.00	3610.0	3666.2	3553.8	1545.2	2172.2	127.96	-9.62	206	1269.14	0.00	0.00	0.00	0.000	0.000	0.000	3610.44	3666.88	3554.00	1545.50	2173.50	0	0	0	30.00	30.00	30.00
1452.44	4257	-146.63	-1.18	0.00	3610.3	3666.9	3553.6	1545.5	2172.6	146.10	-9.36	226	1454.30	0.00	0.35	0.00	0.000	0.071	0.000	3611.59	3669.19	3554.00	1488.50	2173.25	0	0	0	30.00	16.11	30.00
1572	end dive: TARGET_DEPTH_EXCEEDED
state	1572	begin apogee
1573.64	10243	0.00	-0.28	0.00	3610.2	3667.0	3553.4	1488.3	2115.0	160.12	-12.03	238	1687.60	102.43	1.70	0.10	1.136	0.169	0.202	3009.09	3066.81	2951.38	1725.12	2178.94	0	0	0	12.09	16.07	15.75
1689	end apogee: CONTROL_FINISHED_OK
state	1689	begin climb
1688.74	10759	146.63	1.30	-80.00	3008.3	3066.4	2950.1	1724.8	2179.0	164.15	0.00	249	1811.95	104.66	2.63	3.94	1.102	0.124	0.122	2411.56	2480.88	2342.25	2108.06	684.50	0	0	0	11.87	15.74	15.50
1845.43	5253	146.63	1.09	0.00	2405.2	2475.2	2335.2	2108.2	684.1	148.44	16.54	277	1852.72	0.00	0.47	3.49	0.000	0.175	0.059	2403.94	2474.25	2333.62	2048.88	2168.81	0	0	0	30.00	15.57	15.63
2033.42	17030	146.63	1.12	-80.00	2403.0	2475.3	2330.8	2048.6	2168.2	125.80	11.27	297	2040.62	0.00	0.00	3.85	0.000	0.000	0.122	2406.78	2477.50	2336.06	2048.69	683.06	0	0	0	30.00	30.00	15.75
2103.38	17542	146.63	1.06	0.00	2401.9	2475.2	2328.5	2048.6	682.9	116.23	14.18	311	2110.80	0.00	0.00	3.45	0.000	0.000	0.059	2403.62	2476.25	2331.00	2046.75	2169.69	0	0	0	30.00	30.00	15.83
2299.12	17030	146.63	1.11	-80.00	2401.5	2474.9	2328.1	2048.9	2169.2	94.22	10.82	331	2306.43	0.00	0.00	3.84	0.000	0.000	0.122	2402.09	2475.62	2328.56	2048.88	684.25	0	0	0	30.00	30.00	15.88
2364.92	17542	146.63	1.05	0.00	2401.3	2475.6	2327.1	2049.1	684.4	85.56	13.62	344	2370.88	0.00	0.00	3.44	0.000	0.000	0.059	2399.84	2473.88	2325.81	2048.88	2170.56	0	0	0	30.00	30.00	15.94
2554.93	17030	146.63	1.11	-80.00	2401.1	2475.2	2326.9	2048.4	2170.1	64.85	10.46	364	2562.14	0.00	0.00	3.85	0.000	0.000	0.121	2399.28	2473.50	2325.06	2048.88	684.12	0	0	0	30.00	30.00	15.95
2590.61	17542	146.63	1.07	0.00	2401.1	2475.2	2326.9	2048.8	684.2	60.59	12.24	371	2596.58	0.00	0.00	3.42	0.000	0.000	0.059	2399.25	2472.94	2325.56	2048.38	2170.50	0	0	0	30.00	30.00	16.00
2780.62	17030	146.63	1.14	-80.00	2400.8	2474.9	2326.7	2048.4	2170.4	41.00	9.92	400	2787.51	0.00	0.00	3.82	0.000	0.000	0.121	2400.81	2475.00	2326.62	2049.00	681.88	0	0	0	30.00	30.00	15.99
2856.00	17542	146.63	1.10	0.00	2400.7	2475.4	2326.1	2048.8	681.8	32.60	11.43	415	2862.66	0.00	0.00	3.41	0.000	0.000	0.059	2401.12	2475.75	2326.50	2048.88	2170.25	0	0	0	30.00	30.00	16.04
3046.16	10403	165.05	1.22	0.00	2400.6	2474.8	2326.3	2048.4	2170.7	15.06	8.58	453	3062.59	14.34	0.28	0.00	0.901	0.077	0.000	2338.88	2414.06	2263.69	2097.19	2171.12	0	0	0	11.89	16.07	30.00
3244.07	10663	279.47	1.50	80.00	2333.3	2411.0	2255.6	2097.8	2170.7	5.47	2.76	492	3335.22	80.55	0.38	3.62	0.956	0.088	0.126	1870.38	1962.81	1777.94	2161.56	3614.50	0	0	0	11.98	16.05	15.78
3338.83	11431	439.02	1.82	0.00	1869.2	1961.8	1776.8	2160.8	3614.4	4.35	0.02	510	3361.59	15.41	0.44	3.50	0.845	0.071	0.051	1796.06	1888.06	1704.06	2240.44	2117.75	0	0	0	11.89	15.83	15.83
3362	end climb: NO_VERTICAL_VELOCITY
state	3362	begin surface