Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 6 * 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 6 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 3019.4988 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 1791.022 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 18.152529 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.307148 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 6.5297437 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 15.307148 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.5297437 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 18.152529 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 1791.022 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 3019.4988 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 6 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 250522,064912,4736.137,-12257.008,1,0.9,2,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,065210,4736.156,-12256.999,2,0.8,4,15.5 MHEAD_RNG_PITCHd_Wd 13.6,1732,-17.1,-9.697,-20.82,2278,0.160

SPEED_LIMITS 0.168,0.255 D_GRID 166

TGT_NAME N IRON 1.000000,-0.003685,-0.035832,-0.009165,1.081644,-0.109546,0.001723,-0.021633,1.055504,72.227425,-872.630798,-495.129608

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

FREEZE 3.20,13.896,-1.427,0,1,0 FG_AHR_10Vo 15.324

SM_CCo 4078.14,164.66,0.912,0,500.6,526.2,474.9,617.77 MEM0 60132,1,0,0

SM_GC 1.69,0.00,12.51,0.09,0.000,0.066,0.144,498.0,523.8,472.2,193.6,2118.6,0,0,0,30.00,15.59,15.59 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 944588,32,102120,61

IRIDIUM_FIX 4735.53,-12254.47,250522,054444 DATA_FILE_SIZE 16130,576

TCM_TEMP 17.52 CAP_FILE_SIZE 375734,0

SC_FREEKB 3876864 SDSIZE 3887104,3870112

RAFOS_CLK -3 SDFILEDIR 92,1

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 49.36 SOUNDSPEED 1465.0

TEMP 10.03 CURRENT 0.013,266.5,1

INTERNAL_PRESSURE 7.97723 MAGCAL 1.000000,-0.000393,0.003437,-0.000799,1.079200,-0.106695,-0.009450,-0.060870,1.021276,40.9,-869.9,-474.5,36,0.0289,0

_24V_AH 15.05,7.761 IMPLIED_C_PITCH 1800,18.22,297,1795.6,18.19

_10V_AH 15.00,0.000 IMPLIED_C_VBD 3011,23.501535,297,3015.2

FG_AHR_24Vo 6.686 GPS 250522,080331,4736.404,-12256.636,30,1.1,34,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 639 1140 10983.31 nil 0 0 0.00

Pitch_motor 31 256 121.17 nil 0 0 0.00

Roll_motor 72 212 232.38 nil 0 0 0.00

Iridium 111 216 362.52 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 2304 5 176.96 SciCon 3912 6 378.08

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1868 0 8.97

Compass 1152 5 86.42

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

6.59 16386 -146.63 -1.12 0.00 496.9 521.2 472.6 191.2 2132.9 0.00 0.00 0 71.09 61.33 0.00 0.00 0.005 0.000 0.000 2277.31 2316.00 2238.62 191.00 2132.88 0 0 0 15.86 30.00 30.00

71.39 18727 -146.63 -1.12 80.00 2276.8 2314.9 2238.8 191.1 2132.9 3.37 -3.29 12 132.04 35.29 10.43 3.67 0.005 0.256 0.124 3617.88 3675.19 3560.56 1518.50 3619.75 0 0 0 15.88 15.72 15.81

135.56 3237 -146.63 -0.66 0.00 3616.7 3673.5 3559.9 1518.2 3620.6 7.88 -7.34 24 143.73 0.00 0.80 3.48 0.000 0.188 0.051 3618.12 3674.75 3561.50 1631.12 2119.69 0 0 0 30.00 15.78 15.85

328.63 4517 -146.63 -0.78 80.00 3617.9 3674.8 3561.0 1631.5 2120.0 21.13 -6.45 61 339.34 0.00 0.28 3.71 0.000 0.081 0.122 3617.94 3674.56 3561.31 1586.00 3618.00 0 0 0 30.00 15.90 15.88

567.79 1060 -146.63 -0.78 0.00 3618.4 3674.4 3562.4 1585.6 3617.5 42.52 -8.95 109 574.50 0.00 0.00 3.47 0.000 0.000 0.054 3618.41 3674.31 3562.50 1586.06 2121.38 0 0 0 30.00 30.00 15.98

763.00 420 -146.63 -0.82 80.00 3618.7 3675.1 3562.4 1585.8 2121.1 56.56 -7.25 139 770.04 0.00 0.00 3.68 0.000 0.000 0.120 3619.62 3674.88 3564.38 1586.12 3616.69 0 0 0 30.00 30.00 15.99

950.60 1060 -146.63 -0.82 0.00 3618.8 3674.6 3563.1 1585.9 3616.6 73.66 -9.17 176 956.58 0.00 0.00 3.49 0.000 0.000 0.054 3618.22 3674.00 3562.44 1585.88 2121.62 0 0 0 30.00 30.00 16.05

1140.69 160 -146.63 -0.86 0.00 3618.9 3674.8 3563.1 1586.3 2121.9 88.94 -7.96 196 1142.26 0.00 0.00 0.00 0.000 0.000 0.000 3618.25 3673.81 3562.69 1585.75 2121.69 0 0 0 30.00 30.00 30.00

1330.70 160 -146.63 -0.90 0.00 3619.2 3674.6 3563.9 1585.9 2121.6 104.36 -8.11 215 1332.28 0.00 0.00 0.00 0.000 0.000 0.000 3617.81 3673.19 3562.44 1586.06 2121.62 0 0 0 30.00 30.00 30.00

1525.71 4517 -146.63 -0.95 80.00 3619.3 3674.2 3564.4 1586.2 2121.2 119.66 -8.19 234 1536.32 0.00 0.17 3.68 0.000 0.094 0.124 3619.44 3674.75 3564.12 1545.44 3615.75 0 0 0 30.00 16.09 16.06

1589.07 3205 -146.63 -0.87 0.00 3619.4 3674.8 3564.0 1545.3 3615.6 127.17 -11.48 247 1596.73 0.00 0.31 3.48 0.000 0.178 0.055 3619.34 3674.56 3564.12 1582.50 2123.38 0 0 0 30.00 16.07 16.11

1779.97 160 -146.63 -0.93 0.00 3619.4 3674.7 3564.1 1582.1 2123.2 142.99 -8.24 267 1781.54 0.00 0.00 0.00 0.000 0.000 0.000 3619.00 3674.38 3563.62 1582.38 2123.44 0 0 0 30.00 30.00 30.00

1969.87 4517 -146.63 -0.99 80.00 3619.4 3675.0 3563.8 1582.4 2123.3 158.37 -8.11 286 1977.13 0.00 0.28 3.67 0.000 0.081 0.124 3618.84 3674.19 3563.50 1535.50 3616.06 0 0 0 30.00 16.14 16.10

1990 end dive: TARGET_DEPTH_EXCEEDED

state 1990 begin apogee

1995.88 10243 0.00 -0.28 0.00 3619.6 3674.6 3564.6 1535.4 2121.4 160.50 -8.78 290 2105.66 102.22 1.38 0.09 1.141 0.165 0.212 3018.91 3075.31 2962.50 1725.06 2178.19 0 0 0 11.95 16.09 15.75

2107 end apogee: CONTROL_FINISHED_OK

state 2107 begin climb

2107.11 10243 146.63 1.12 0.00 3017.0 3074.3 2959.8 1725.4 2178.6 164.74 0.00 301 2223.55 106.26 2.32 0.00 1.102 0.123 0.000 2420.78 2491.06 2350.50 2064.25 2178.31 0 0 0 11.79 15.75 30.00

2410.11 644 146.63 1.03 -80.00 2414.2 2488.7 2339.8 2063.8 2178.5 135.46 11.84 336 2417.18 0.00 0.00 3.86 0.000 0.000 0.125 2415.56 2490.19 2340.94 2062.94 684.19 0 0 0 30.00 30.00 15.73

2499.94 21639 146.63 0.82 0.00 2411.3 2485.7 2336.9 2064.6 684.3 122.71 14.51 354 2507.77 0.00 0.62 3.48 0.000 0.163 0.060 2412.69 2486.94 2338.44 1984.12 2169.88 0 0 0 30.00 15.78 15.83

2695.73 10919 189.18 0.96 -80.00 2410.2 2484.9 2335.4 1983.4 2169.8 106.40 7.79 374 2741.43 31.83 0.31 3.88 1.020 0.076 0.126 2245.81 2324.75 2166.88 2033.56 684.44 0 0 0 11.92 15.92 15.76

2779.90 5253 189.18 0.88 0.00 2242.1 2322.1 2162.1 2033.1 684.6 96.96 13.10 390 2787.17 0.00 0.31 3.48 0.000 0.165 0.059 2240.50 2320.31 2160.69 1997.06 2169.69 0 0 0 30.00 15.81 15.84

2969.96 10919 211.22 1.01 -80.00 2240.0 2322.0 2158.1 1996.4 2168.8 79.78 8.71 410 2997.26 17.76 0.29 3.88 0.956 0.078 0.126 2154.81 2236.44 2073.19 2045.88 684.25 0 0 0 11.96 15.93 15.83

3045.01 5253 211.22 0.93 0.00 2153.1 2235.3 2070.8 2045.4 684.2 70.53 13.51 425 3052.73 0.00 0.28 3.49 0.000 0.160 0.060 2155.44 2237.31 2073.56 2009.19 2173.19 0 0 0 30.00 15.85 15.90

3240.80 10919 219.38 1.04 -80.00 2151.1 2234.3 2067.9 2009.6 2172.6 51.32 9.33 445 3257.56 7.84 0.25 3.85 0.782 0.081 0.126 2125.09 2209.56 2040.62 2052.19 684.38 0 0 0 11.98 15.98 15.90

3296.02 5253 219.38 0.97 0.00 2121.4 2205.4 2037.4 2052.6 684.4 44.43 13.50 456 3302.91 0.00 0.26 3.46 0.000 0.164 0.060 2121.97 2205.75 2038.19 2019.31 2170.25 0 0 0 30.00 15.91 15.95

3487.67 10919 233.07 1.09 -80.00 2120.5 2205.6 2035.5 2018.8 2169.8 25.83 9.08 494 3510.43 12.20 0.25 3.84 0.873 0.081 0.126 2066.62 2153.06 1980.19 2063.06 683.12 0 0 0 11.99 16.01 15.92

3578.89 1156 233.07 1.03 0.00 2064.8 2150.6 1978.9 2062.9 683.0 14.97 12.16 512 3585.58 0.00 0.00 3.45 0.000 0.000 0.059 2067.69 2153.75 1981.62 2063.31 2169.88 0 0 0 30.00 30.00 15.99

3769.06 10403 378.18 1.37 0.00 2062.9 2149.8 1976.1 2063.4 2169.9 4.25 3.18 550 3875.35 100.28 0.40 0.00 0.949 0.083 0.000 1477.25 1565.25 1389.25 2129.06 2170.56 0 0 0 11.94 16.02 30.00

3904 end climb: NO_VERTICAL_VELOCITY

state 3904 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	6	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	3019.4988	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	1791.022	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	18.152529	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.307148	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	6.5297437	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	250522,064912,4736.137,-12257.008,1,0.9,2,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,065210,4736.156,-12256.999,2,0.8,4,15.5	MHEAD_RNG_PITCHd_Wd	13.6,1732,-17.1,-9.697,-20.82,2278,0.160
SPEED_LIMITS	0.168,0.255	D_GRID	166
TGT_NAME	N	IRON	1.000000,-0.003685,-0.035832,-0.009165,1.081644,-0.109546,0.001723,-0.021633,1.055504,72.227425,-872.630798,-495.129608
TGT_LATLONG	4737.000,-12256.400

FREEZE	3.20,13.896,-1.427,0,1,0	FG_AHR_10Vo	15.324
SM_CCo	4078.14,164.66,0.912,0,500.6,526.2,474.9,617.77	MEM0	60132,1,0,0
SM_GC	1.69,0.00,12.51,0.09,0.000,0.066,0.144,498.0,523.8,472.2,193.6,2118.6,0,0,0,30.00,15.59,15.59	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	944588,32,102120,61
IRIDIUM_FIX	4735.53,-12254.47,250522,054444	DATA_FILE_SIZE	16130,576
TCM_TEMP	17.52	CAP_FILE_SIZE	375734,0
SC_FREEKB	3876864	SDSIZE	3887104,3870112
RAFOS_CLK	-3	SDFILEDIR	92,1
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	49.36	SOUNDSPEED	1465.0
TEMP	10.03	CURRENT	0.013,266.5,1
INTERNAL_PRESSURE	7.97723	MAGCAL	1.000000,-0.000393,0.003437,-0.000799,1.079200,-0.106695,-0.009450,-0.060870,1.021276,40.9,-869.9,-474.5,36,0.0289,0
_24V_AH	15.05,7.761	IMPLIED_C_PITCH	1800,18.22,297,1795.6,18.19
_10V_AH	15.00,0.000	IMPLIED_C_VBD	3011,23.501535,297,3015.2
FG_AHR_24Vo	6.686	GPS	250522,080331,4736.404,-12256.636,30,1.1,34,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	639	1140	10983.31	nil	0	0	0.00
Pitch_motor	31	256	121.17	nil	0	0	0.00
Roll_motor	72	212	232.38	nil	0	0	0.00
Iridium	111	216	362.52	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	2304	5	176.96	SciCon	3912	6	378.08
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1868	0	8.97
Compass	1152	5	86.42
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
6.59	16386	-146.63	-1.12	0.00	496.9	521.2	472.6	191.2	2132.9	0.00	0.00	0	71.09	61.33	0.00	0.00	0.005	0.000	0.000	2277.31	2316.00	2238.62	191.00	2132.88	0	0	0	15.86	30.00	30.00
71.39	18727	-146.63	-1.12	80.00	2276.8	2314.9	2238.8	191.1	2132.9	3.37	-3.29	12	132.04	35.29	10.43	3.67	0.005	0.256	0.124	3617.88	3675.19	3560.56	1518.50	3619.75	0	0	0	15.88	15.72	15.81
135.56	3237	-146.63	-0.66	0.00	3616.7	3673.5	3559.9	1518.2	3620.6	7.88	-7.34	24	143.73	0.00	0.80	3.48	0.000	0.188	0.051	3618.12	3674.75	3561.50	1631.12	2119.69	0	0	0	30.00	15.78	15.85
328.63	4517	-146.63	-0.78	80.00	3617.9	3674.8	3561.0	1631.5	2120.0	21.13	-6.45	61	339.34	0.00	0.28	3.71	0.000	0.081	0.122	3617.94	3674.56	3561.31	1586.00	3618.00	0	0	0	30.00	15.90	15.88
567.79	1060	-146.63	-0.78	0.00	3618.4	3674.4	3562.4	1585.6	3617.5	42.52	-8.95	109	574.50	0.00	0.00	3.47	0.000	0.000	0.054	3618.41	3674.31	3562.50	1586.06	2121.38	0	0	0	30.00	30.00	15.98
763.00	420	-146.63	-0.82	80.00	3618.7	3675.1	3562.4	1585.8	2121.1	56.56	-7.25	139	770.04	0.00	0.00	3.68	0.000	0.000	0.120	3619.62	3674.88	3564.38	1586.12	3616.69	0	0	0	30.00	30.00	15.99
950.60	1060	-146.63	-0.82	0.00	3618.8	3674.6	3563.1	1585.9	3616.6	73.66	-9.17	176	956.58	0.00	0.00	3.49	0.000	0.000	0.054	3618.22	3674.00	3562.44	1585.88	2121.62	0	0	0	30.00	30.00	16.05
1140.69	160	-146.63	-0.86	0.00	3618.9	3674.8	3563.1	1586.3	2121.9	88.94	-7.96	196	1142.26	0.00	0.00	0.00	0.000	0.000	0.000	3618.25	3673.81	3562.69	1585.75	2121.69	0	0	0	30.00	30.00	30.00
1330.70	160	-146.63	-0.90	0.00	3619.2	3674.6	3563.9	1585.9	2121.6	104.36	-8.11	215	1332.28	0.00	0.00	0.00	0.000	0.000	0.000	3617.81	3673.19	3562.44	1586.06	2121.62	0	0	0	30.00	30.00	30.00
1525.71	4517	-146.63	-0.95	80.00	3619.3	3674.2	3564.4	1586.2	2121.2	119.66	-8.19	234	1536.32	0.00	0.17	3.68	0.000	0.094	0.124	3619.44	3674.75	3564.12	1545.44	3615.75	0	0	0	30.00	16.09	16.06
1589.07	3205	-146.63	-0.87	0.00	3619.4	3674.8	3564.0	1545.3	3615.6	127.17	-11.48	247	1596.73	0.00	0.31	3.48	0.000	0.178	0.055	3619.34	3674.56	3564.12	1582.50	2123.38	0	0	0	30.00	16.07	16.11
1779.97	160	-146.63	-0.93	0.00	3619.4	3674.7	3564.1	1582.1	2123.2	142.99	-8.24	267	1781.54	0.00	0.00	0.00	0.000	0.000	0.000	3619.00	3674.38	3563.62	1582.38	2123.44	0	0	0	30.00	30.00	30.00
1969.87	4517	-146.63	-0.99	80.00	3619.4	3675.0	3563.8	1582.4	2123.3	158.37	-8.11	286	1977.13	0.00	0.28	3.67	0.000	0.081	0.124	3618.84	3674.19	3563.50	1535.50	3616.06	0	0	0	30.00	16.14	16.10
1990	end dive: TARGET_DEPTH_EXCEEDED
state	1990	begin apogee
1995.88	10243	0.00	-0.28	0.00	3619.6	3674.6	3564.6	1535.4	2121.4	160.50	-8.78	290	2105.66	102.22	1.38	0.09	1.141	0.165	0.212	3018.91	3075.31	2962.50	1725.06	2178.19	0	0	0	11.95	16.09	15.75
2107	end apogee: CONTROL_FINISHED_OK
state	2107	begin climb
2107.11	10243	146.63	1.12	0.00	3017.0	3074.3	2959.8	1725.4	2178.6	164.74	0.00	301	2223.55	106.26	2.32	0.00	1.102	0.123	0.000	2420.78	2491.06	2350.50	2064.25	2178.31	0	0	0	11.79	15.75	30.00
2410.11	644	146.63	1.03	-80.00	2414.2	2488.7	2339.8	2063.8	2178.5	135.46	11.84	336	2417.18	0.00	0.00	3.86	0.000	0.000	0.125	2415.56	2490.19	2340.94	2062.94	684.19	0	0	0	30.00	30.00	15.73
2499.94	21639	146.63	0.82	0.00	2411.3	2485.7	2336.9	2064.6	684.3	122.71	14.51	354	2507.77	0.00	0.62	3.48	0.000	0.163	0.060	2412.69	2486.94	2338.44	1984.12	2169.88	0	0	0	30.00	15.78	15.83
2695.73	10919	189.18	0.96	-80.00	2410.2	2484.9	2335.4	1983.4	2169.8	106.40	7.79	374	2741.43	31.83	0.31	3.88	1.020	0.076	0.126	2245.81	2324.75	2166.88	2033.56	684.44	0	0	0	11.92	15.92	15.76
2779.90	5253	189.18	0.88	0.00	2242.1	2322.1	2162.1	2033.1	684.6	96.96	13.10	390	2787.17	0.00	0.31	3.48	0.000	0.165	0.059	2240.50	2320.31	2160.69	1997.06	2169.69	0	0	0	30.00	15.81	15.84
2969.96	10919	211.22	1.01	-80.00	2240.0	2322.0	2158.1	1996.4	2168.8	79.78	8.71	410	2997.26	17.76	0.29	3.88	0.956	0.078	0.126	2154.81	2236.44	2073.19	2045.88	684.25	0	0	0	11.96	15.93	15.83
3045.01	5253	211.22	0.93	0.00	2153.1	2235.3	2070.8	2045.4	684.2	70.53	13.51	425	3052.73	0.00	0.28	3.49	0.000	0.160	0.060	2155.44	2237.31	2073.56	2009.19	2173.19	0	0	0	30.00	15.85	15.90
3240.80	10919	219.38	1.04	-80.00	2151.1	2234.3	2067.9	2009.6	2172.6	51.32	9.33	445	3257.56	7.84	0.25	3.85	0.782	0.081	0.126	2125.09	2209.56	2040.62	2052.19	684.38	0	0	0	11.98	15.98	15.90
3296.02	5253	219.38	0.97	0.00	2121.4	2205.4	2037.4	2052.6	684.4	44.43	13.50	456	3302.91	0.00	0.26	3.46	0.000	0.164	0.060	2121.97	2205.75	2038.19	2019.31	2170.25	0	0	0	30.00	15.91	15.95
3487.67	10919	233.07	1.09	-80.00	2120.5	2205.6	2035.5	2018.8	2169.8	25.83	9.08	494	3510.43	12.20	0.25	3.84	0.873	0.081	0.126	2066.62	2153.06	1980.19	2063.06	683.12	0	0	0	11.99	16.01	15.92
3578.89	1156	233.07	1.03	0.00	2064.8	2150.6	1978.9	2062.9	683.0	14.97	12.16	512	3585.58	0.00	0.00	3.45	0.000	0.000	0.059	2067.69	2153.75	1981.62	2063.31	2169.88	0	0	0	30.00	30.00	15.99
3769.06	10403	378.18	1.37	0.00	2062.9	2149.8	1976.1	2063.4	2169.9	4.25	3.18	550	3875.35	100.28	0.40	0.00	0.949	0.083	0.000	1477.25	1565.25	1389.25	2129.06	2170.56	0	0	0	11.94	16.02	30.00
3904	end climb: NO_VERTICAL_VELOCITY
state	3904	begin surface