Glider dive log

Shilshole 16Mar22 * SG241 * Dive index * Mission links * Dive 5 * 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 5 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 7 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 6.9946709 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 11.633908 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 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 7 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 6.9946709 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 11.633908 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 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 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 5 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 160322,205430,4745.048,-12224.495,1,0.9,3,15.4 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 -56.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160322,205702,4745.051,-12224.486,2,0.9,4,15.4 MHEAD_RNG_PITCHd_Wd 195.9,2944,-17.6,-10.000,-21.21,2209,0.149

SPEED_LIMITS 0.173,0.258 D_GRID 188

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 1647466571,97.5,0,stop FG_AHR_24Vo 11.786

MODEM_MSG CACST,8,1,19020113024511.-313959,05,184,10,0142,0150,246,00,00,02,02,0,000,000,2,5,0,0,150,72.8,0.47,-100,2.53,-01,-0.23,-12,925,0025,0,0,00,00*28 FG_AHR_10Vo 7.030

FINISH -0.5,1.021349 MEM0 60148,1,0,0

SM_CCo 3426.47,126.07,0.997,0,1041.2,1136.1,946.2,480.50 MEM1 65508,1,0,0

SM_GC 0.67,126.07,11.60,0.09,0.997,0.109,0.148,1041.2,1136.1,946.2,202.1,2117.4,0,0,0,11.55,15.97,15.99 MEM2 994356,28,52332,66

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16112,564

IRIDIUM_FIX 4744.97,-12226.80,160322,205100 CAP_FILE_SIZE 184397,0

TCM_TEMP 11.90 SDSIZE 3887104,3874016

SC_FREEKB 3877248 SDFILEDIR 55,1

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 48.62 CURRENT 0.168,145.1,1

TEMP 9.15 MAGCAL 1.000000,0.011370,0.075679,0.004441,1.084044,-0.083475,0.005540,-0.026827,1.031216,409.9,-1121.9,-346.6,36,0.0249,0

INTERNAL_PRESSURE 8.55898 IMPLIED_C_PITCH 1743,15.87,356,0.0,0.00

_24V_AH 14.93,1.498 IMPLIED_C_VBD 2793,45.615284,356,0

_10V_AH 14.98,0.000 GPS 160322,215501,4744.509,-12224.524,1,1.9,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 581 1199 10411.54 nil 0 0 0.00

Pitch_motor 25 323 123.91 nil 0 0 0.00

Roll_motor 70 213 223.73 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 13 15 3.03 nil 0 0 0.00

Core 1922 5 147.42 SciCon 3282 6 341.30

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1403 0 6.73

Compass 1133 5 84.88

RAFOS 2226 40 1334.37

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

6.52 16386 -146.63 -0.88 0.00 1033.3 1114.5 952.1 198.5 2116.1 0.00 0.00 0 115.88 106.75 0.00 0.00 0.005 0.000 0.000 3149.19 3119.81 3178.56 198.88 2116.94 0 0 0 16.00 30.00 30.00

116.11 18727 -146.63 -0.88 80.00 3148.6 3119.8 3177.3 198.4 2116.7 4.28 -8.31 18 147.19 11.54 9.94 3.62 0.006 0.324 0.118 3596.41 3583.38 3609.44 1484.19 3618.69 0 0 0 16.00 15.81 15.91

180.17 1156 -146.63 -0.79 0.00 3596.3 3587.6 3605.0 1484.7 3618.9 15.86 -15.33 31 185.86 0.00 0.00 3.44 0.000 0.000 0.058 3598.19 3590.31 3606.06 1484.31 2119.31 0 0 0 30.00 30.00 15.95

370.19 516 -146.63 -0.79 -80.00 3597.9 3595.6 3600.2 1484.8 2117.8 38.85 -10.12 69 375.92 0.00 0.00 3.53 0.000 0.000 0.122 3598.41 3596.25 3600.56 1484.75 682.31 0 0 0 30.00 30.00 15.93

405.20 1028 -146.63 -0.79 0.00 3597.3 3595.2 3599.4 1484.8 682.1 42.58 -10.68 76 410.89 0.00 0.00 3.39 0.000 0.000 0.053 3598.56 3596.56 3600.56 1484.25 2174.62 0 0 0 30.00 30.00 15.97

595.24 388 -146.63 -0.82 80.00 3597.4 3595.8 3598.9 1484.3 2174.1 61.85 -10.17 114 600.93 0.00 0.00 3.49 0.000 0.000 0.119 3599.44 3597.69 3601.19 1484.62 3616.69 0 0 0 30.00 30.00 15.96

735.24 1028 -146.63 -0.82 0.00 3597.8 3596.0 3599.5 1485.2 3616.3 77.12 -11.10 142 740.95 0.00 0.00 3.41 0.000 0.000 0.055 3598.62 3597.44 3599.81 1484.25 2118.12 0 0 0 30.00 30.00 16.00

925.30 0 -146.63 -0.82 0.00 3598.4 3597.5 3599.2 1484.8 2116.4 94.61 -11.71 180 929.40 0.00 0.00 0.00 0.000 0.000 0.000 3598.25 3597.12 3599.38 1485.12 2116.44 0 0 0 30.00 30.00 30.00

1110.39 420 -146.63 -0.87 80.00 3598.5 3598.4 3598.6 1484.4 2116.3 114.34 -9.97 204 1115.30 0.00 0.00 3.62 0.000 0.000 0.116 3598.44 3598.00 3598.88 1484.81 3616.81 0 0 0 30.00 30.00 15.99

1150.31 1028 -146.63 -0.87 0.00 3598.0 3597.6 3598.4 1485.2 3615.6 119.32 -12.98 212 1155.28 0.00 0.00 3.41 0.000 0.000 0.056 3598.91 3598.31 3599.50 1484.56 2119.19 0 0 0 30.00 30.00 16.01

1460.35 420 -146.63 -0.92 80.00 3597.8 3597.4 3598.1 1484.8 2119.7 149.14 -8.45 244 1465.33 0.00 0.00 3.63 0.000 0.000 0.119 3598.00 3597.38 3598.62 1485.56 3617.25 0 0 0 30.00 30.00 16.00

1470 end dive: TARGET_DEPTH_EXCEEDED

state 1470 begin apogee

1475.10 10243 0.00 -0.20 0.00 3597.8 3597.6 3598.1 1484.7 2120.4 150.09 -8.61 246 1584.69 106.57 1.12 0.09 1.199 0.179 0.213 2997.50 3048.75 2946.25 1652.50 2178.00 0 0 0 11.62 15.95 15.63

1585 end apogee: CONTROL_FINISHED_OK

state 1585 begin climb

1585.51 10759 146.63 0.88 -80.00 2999.2 3050.2 2948.1 1652.6 2178.1 153.83 0.00 257 1706.69 111.14 1.75 3.81 1.134 0.142 0.123 2401.12 2467.38 2334.88 1915.31 680.81 0 0 0 11.50 15.61 15.42

1829.78 11431 218.97 1.01 0.00 2396.2 2458.7 2333.8 1915.0 681.0 140.26 6.65 305 1891.59 55.97 0.18 3.47 1.106 0.105 0.055 2108.62 2189.31 2027.94 1952.56 2173.00 0 0 0 11.73 15.66 15.67

2199.81 10663 258.64 1.18 80.00 2100.2 2175.4 2024.9 1952.7 2173.4 109.67 8.16 348 2236.46 31.16 0.19 3.59 1.068 0.112 0.126 1944.16 2030.81 1857.50 1991.75 3614.94 0 0 0 11.60 15.79 15.68

2354.81 1028 258.64 1.18 0.00 1940.1 2022.7 1857.4 1991.2 3615.9 93.46 11.45 379 2360.51 0.00 0.00 3.43 0.000 0.000 0.056 1941.12 2023.56 1858.69 1992.00 2121.31 0 0 0 30.00 30.00 15.82

2544.85 644 258.64 1.25 -80.00 1939.9 2022.2 1857.6 1991.8 2119.3 74.37 10.72 417 2550.56 0.00 0.00 3.53 0.000 0.000 0.120 1940.88 2023.00 1858.75 1992.06 683.38 0 0 0 30.00 30.00 15.86

2574.87 1156 258.64 1.29 0.00 1939.4 2021.2 1857.6 1992.2 683.6 70.97 11.20 423 2580.60 0.00 0.00 3.40 0.000 0.000 0.056 1940.88 2021.81 1859.94 1991.31 2172.62 0 0 0 30.00 30.00 15.91

2764.90 10663 302.42 1.42 80.00 1938.9 2020.7 1857.1 1991.9 2172.9 54.79 7.97 461 2806.14 32.31 0.31 3.54 1.046 0.096 0.125 1765.91 1862.88 1668.94 2052.94 3616.31 0 0 0 11.67 15.94 15.83

2849.90 5253 302.42 1.32 0.00 1763.1 1857.6 1668.7 2052.6 3616.9 44.76 13.79 478 2855.68 0.00 0.34 3.40 0.000 0.192 0.056 1763.47 1857.69 1669.25 2012.50 2119.75 0 0 0 30.00 15.83 15.89

3039.93 2693 302.42 1.40 -80.00 1762.1 1855.8 1668.5 2012.3 2118.9 23.89 10.10 516 3045.70 0.00 0.20 3.51 0.000 0.104 0.119 1763.97 1857.38 1670.56 2045.56 682.25 0 0 0 30.00 15.94 15.91

3074.97 1156 302.42 1.36 0.00 1761.8 1854.8 1668.8 2045.5 682.1 19.83 11.93 523 3080.61 0.00 0.00 3.39 0.000 0.000 0.056 1762.00 1855.06 1668.94 2045.62 2174.38 0 0 0 30.00 30.00 15.96

3255 end climb: SURFACE_DEPTH_REACHED

state 3255 begin surface coast

3280 end surface coast: CONTROL_FINISHED_OK

state 3280 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	5	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	7	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	6.9946709	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	11.633908	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	2150	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	160322,205430,4745.048,-12224.495,1,0.9,3,15.4	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	-56.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160322,205702,4745.051,-12224.486,2,0.9,4,15.4	MHEAD_RNG_PITCHd_Wd	195.9,2944,-17.6,-10.000,-21.21,2209,0.149
SPEED_LIMITS	0.173,0.258	D_GRID	188
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	1647466571,97.5,0,stop	FG_AHR_24Vo	11.786
MODEM_MSG	CACST,8,1,19020113024511.-313959,05,184,10,0142,0150,246,00,00,02,02,0,000,000,2,5,0,0,150,72.8,0.47,-100,2.53,-01,-0.23,-12,925,0025,0,0,00,00*28	FG_AHR_10Vo	7.030
FINISH	-0.5,1.021349	MEM0	60148,1,0,0
SM_CCo	3426.47,126.07,0.997,0,1041.2,1136.1,946.2,480.50	MEM1	65508,1,0,0
SM_GC	0.67,126.07,11.60,0.09,0.997,0.109,0.148,1041.2,1136.1,946.2,202.1,2117.4,0,0,0,11.55,15.97,15.99	MEM2	994356,28,52332,66
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16112,564
IRIDIUM_FIX	4744.97,-12226.80,160322,205100	CAP_FILE_SIZE	184397,0
TCM_TEMP	11.90	SDSIZE	3887104,3874016
SC_FREEKB	3877248	SDFILEDIR	55,1
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	48.62	CURRENT	0.168,145.1,1
TEMP	9.15	MAGCAL	1.000000,0.011370,0.075679,0.004441,1.084044,-0.083475,0.005540,-0.026827,1.031216,409.9,-1121.9,-346.6,36,0.0249,0
INTERNAL_PRESSURE	8.55898	IMPLIED_C_PITCH	1743,15.87,356,0.0,0.00
_24V_AH	14.93,1.498	IMPLIED_C_VBD	2793,45.615284,356,0
_10V_AH	14.98,0.000	GPS	160322,215501,4744.509,-12224.524,1,1.9,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	581	1199	10411.54	nil	0	0	0.00
Pitch_motor	25	323	123.91	nil	0	0	0.00
Roll_motor	70	213	223.73	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	13	15	3.03	nil	0	0	0.00
Core	1922	5	147.42	SciCon	3282	6	341.30
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1403	0	6.73
Compass	1133	5	84.88
RAFOS	2226	40	1334.37
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
6.52	16386	-146.63	-0.88	0.00	1033.3	1114.5	952.1	198.5	2116.1	0.00	0.00	0	115.88	106.75	0.00	0.00	0.005	0.000	0.000	3149.19	3119.81	3178.56	198.88	2116.94	0	0	0	16.00	30.00	30.00
116.11	18727	-146.63	-0.88	80.00	3148.6	3119.8	3177.3	198.4	2116.7	4.28	-8.31	18	147.19	11.54	9.94	3.62	0.006	0.324	0.118	3596.41	3583.38	3609.44	1484.19	3618.69	0	0	0	16.00	15.81	15.91
180.17	1156	-146.63	-0.79	0.00	3596.3	3587.6	3605.0	1484.7	3618.9	15.86	-15.33	31	185.86	0.00	0.00	3.44	0.000	0.000	0.058	3598.19	3590.31	3606.06	1484.31	2119.31	0	0	0	30.00	30.00	15.95
370.19	516	-146.63	-0.79	-80.00	3597.9	3595.6	3600.2	1484.8	2117.8	38.85	-10.12	69	375.92	0.00	0.00	3.53	0.000	0.000	0.122	3598.41	3596.25	3600.56	1484.75	682.31	0	0	0	30.00	30.00	15.93
405.20	1028	-146.63	-0.79	0.00	3597.3	3595.2	3599.4	1484.8	682.1	42.58	-10.68	76	410.89	0.00	0.00	3.39	0.000	0.000	0.053	3598.56	3596.56	3600.56	1484.25	2174.62	0	0	0	30.00	30.00	15.97
595.24	388	-146.63	-0.82	80.00	3597.4	3595.8	3598.9	1484.3	2174.1	61.85	-10.17	114	600.93	0.00	0.00	3.49	0.000	0.000	0.119	3599.44	3597.69	3601.19	1484.62	3616.69	0	0	0	30.00	30.00	15.96
735.24	1028	-146.63	-0.82	0.00	3597.8	3596.0	3599.5	1485.2	3616.3	77.12	-11.10	142	740.95	0.00	0.00	3.41	0.000	0.000	0.055	3598.62	3597.44	3599.81	1484.25	2118.12	0	0	0	30.00	30.00	16.00
925.30	0	-146.63	-0.82	0.00	3598.4	3597.5	3599.2	1484.8	2116.4	94.61	-11.71	180	929.40	0.00	0.00	0.00	0.000	0.000	0.000	3598.25	3597.12	3599.38	1485.12	2116.44	0	0	0	30.00	30.00	30.00
1110.39	420	-146.63	-0.87	80.00	3598.5	3598.4	3598.6	1484.4	2116.3	114.34	-9.97	204	1115.30	0.00	0.00	3.62	0.000	0.000	0.116	3598.44	3598.00	3598.88	1484.81	3616.81	0	0	0	30.00	30.00	15.99
1150.31	1028	-146.63	-0.87	0.00	3598.0	3597.6	3598.4	1485.2	3615.6	119.32	-12.98	212	1155.28	0.00	0.00	3.41	0.000	0.000	0.056	3598.91	3598.31	3599.50	1484.56	2119.19	0	0	0	30.00	30.00	16.01
1460.35	420	-146.63	-0.92	80.00	3597.8	3597.4	3598.1	1484.8	2119.7	149.14	-8.45	244	1465.33	0.00	0.00	3.63	0.000	0.000	0.119	3598.00	3597.38	3598.62	1485.56	3617.25	0	0	0	30.00	30.00	16.00
1470	end dive: TARGET_DEPTH_EXCEEDED
state	1470	begin apogee
1475.10	10243	0.00	-0.20	0.00	3597.8	3597.6	3598.1	1484.7	2120.4	150.09	-8.61	246	1584.69	106.57	1.12	0.09	1.199	0.179	0.213	2997.50	3048.75	2946.25	1652.50	2178.00	0	0	0	11.62	15.95	15.63
1585	end apogee: CONTROL_FINISHED_OK
state	1585	begin climb
1585.51	10759	146.63	0.88	-80.00	2999.2	3050.2	2948.1	1652.6	2178.1	153.83	0.00	257	1706.69	111.14	1.75	3.81	1.134	0.142	0.123	2401.12	2467.38	2334.88	1915.31	680.81	0	0	0	11.50	15.61	15.42
1829.78	11431	218.97	1.01	0.00	2396.2	2458.7	2333.8	1915.0	681.0	140.26	6.65	305	1891.59	55.97	0.18	3.47	1.106	0.105	0.055	2108.62	2189.31	2027.94	1952.56	2173.00	0	0	0	11.73	15.66	15.67
2199.81	10663	258.64	1.18	80.00	2100.2	2175.4	2024.9	1952.7	2173.4	109.67	8.16	348	2236.46	31.16	0.19	3.59	1.068	0.112	0.126	1944.16	2030.81	1857.50	1991.75	3614.94	0	0	0	11.60	15.79	15.68
2354.81	1028	258.64	1.18	0.00	1940.1	2022.7	1857.4	1991.2	3615.9	93.46	11.45	379	2360.51	0.00	0.00	3.43	0.000	0.000	0.056	1941.12	2023.56	1858.69	1992.00	2121.31	0	0	0	30.00	30.00	15.82
2544.85	644	258.64	1.25	-80.00	1939.9	2022.2	1857.6	1991.8	2119.3	74.37	10.72	417	2550.56	0.00	0.00	3.53	0.000	0.000	0.120	1940.88	2023.00	1858.75	1992.06	683.38	0	0	0	30.00	30.00	15.86
2574.87	1156	258.64	1.29	0.00	1939.4	2021.2	1857.6	1992.2	683.6	70.97	11.20	423	2580.60	0.00	0.00	3.40	0.000	0.000	0.056	1940.88	2021.81	1859.94	1991.31	2172.62	0	0	0	30.00	30.00	15.91
2764.90	10663	302.42	1.42	80.00	1938.9	2020.7	1857.1	1991.9	2172.9	54.79	7.97	461	2806.14	32.31	0.31	3.54	1.046	0.096	0.125	1765.91	1862.88	1668.94	2052.94	3616.31	0	0	0	11.67	15.94	15.83
2849.90	5253	302.42	1.32	0.00	1763.1	1857.6	1668.7	2052.6	3616.9	44.76	13.79	478	2855.68	0.00	0.34	3.40	0.000	0.192	0.056	1763.47	1857.69	1669.25	2012.50	2119.75	0	0	0	30.00	15.83	15.89
3039.93	2693	302.42	1.40	-80.00	1762.1	1855.8	1668.5	2012.3	2118.9	23.89	10.10	516	3045.70	0.00	0.20	3.51	0.000	0.104	0.119	1763.97	1857.38	1670.56	2045.56	682.25	0	0	0	30.00	15.94	15.91
3074.97	1156	302.42	1.36	0.00	1761.8	1854.8	1668.8	2045.5	682.1	19.83	11.93	523	3080.61	0.00	0.00	3.39	0.000	0.000	0.056	1762.00	1855.06	1668.94	2045.62	2174.38	0	0	0	30.00	30.00	15.96
3255	end climb: SURFACE_DEPTH_REACHED
state	3255	begin surface coast
3280	end surface coast: CONTROL_FINISHED_OK
state	3280	begin surface