Glider dive log

HoodCanal 24May22.01 * SG241 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 241 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

MISSION 7 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_VALID 4

DIVE 7 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_INT 0

STOP_T 0 SM_CC 611.3277 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_FLARE 3 FILEMGR 0 VBD_MIN 500 INT_PRESSURE_YINT -1.4

D_TGT 160 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDER 0

D_ABORT 175 COMM_SEQ 7 C_VBD 3031.5942 DEEPGLIDERMB 0

D_NO_BLEED 500 PROTOCOL 9 VBD_DBAND 2 MOTHERBOARD 6

D_BOOST 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE1 -1

T_BOOST 0 NOCOMM_ACTION 163 VBD_LP_IGNORE 0 DEVICE2 -1

D_FINISH 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE3 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_SAFE 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

D_CALL 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 7

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

SURFACE_URGENCY_FORCE 0 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_DIVE 55 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_MISSION 75 T_RSLEEP 1 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_ABORT 1440 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 69

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_NO_W 60 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_LOITER 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

T_EPIRB 0 PITCH_MIN 210 AH0_24V 575 NAV_DEVICE 6

USE_BATHY -1 PITCH_MAX 3628 AH0_10V 0 NAV2_DEVICE 6

USE_ICE 0 C_PITCH 1751.046 MINV_24V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 37

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18.424255 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 19.694254 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 28.9359 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_YINT -189.03369 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022588584 SEABIRD_C_G -10

MASS 72520 C_PITCH_AUTO_MAX 200 COMPASS_USE 49156 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 215 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3820 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

AH0_10V 0 D_OFFGRID 100 N_DIVES 0 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_PITCH 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SURF 2 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_TGT 160 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_SUPPLY 2 SM_CC 611.3277

ALTIM_SENSITIVITY 2 FG_AHR_10V 19.694254 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.9359 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 18.424255 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAX 3628 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_MIN 210 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_TIMEOUT 30 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 55

COMPASS2_DEVICE -1 ID 241 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_DEVICE 69 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_GAIN 0 T_GPS 5

COMPASS_USE 49156 INT_PRESSURE_YINT -1.4 PRESSURE_DEVICE 37 T_LOITER 0

C_PITCH 1751.046 KALMAN_USE 2 PRESSURE_SLOPE 0.00022588584 T_MISSION 75

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_YINT -189.03369 T_NO_W 60

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PROTOCOL 9 T_RSLEEP 1

C_ROLL_CLIMB 2150 LOGGERDEVICE3 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_ROLL_DIVE 2150 LOGGERDEVICE4 -1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD 3031.5942 LOGGERS 7 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -1

DBDW 0 LOITER_D_TOP 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDER 0 LOITER_N_DIVE 0 RHO 1.023 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOITER_W_DBAND 0 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE1 -1 MASS 72520 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_10V 1.5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE3 -1 MAXI_24V 5 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE4 -1 MAX_BUOY 150 ROLL_MAX 3820 VBD_MIN 500

DEVICE5 -1 MINV_10V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DEVICE6 -1 MINV_24V 11 ROLL_MIN 215 W_ADJ_DBAND 0

DIVE 7 MISSION 7 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_ABORT 175 MOTHERBOARD 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_BOOST 0 NAV2_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_CALL 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FINISH 0 NAV_MODE 2 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_FLARE 3 NETWORK_DEVICE 1 SEABIRD_C_G -10

D_NO_BLEED 500 NOCOMM_ACTION 163 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 250522,092542,4736.783,-12256.501,3,1.3,6,15.5 TGT_RADIUS 300.000

_CALLS 4 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.25 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250522,093515,4736.900,-12256.397,3,1.3,5,15.5 MHEAD_RNG_PITCHd_Wd 193.4,1829,-17.1,-9.697,-20.82,2278,0.137

SPEED_LIMITS 0.168,0.255 D_GRID 167

TGT_NAME S IRON 1.000000,0.006547,0.022242,0.012131,1.081932,-0.055335,0.007637,-0.051540,1.005757,438.739624,-1310.312012,-201.126175

TGT_LATLONG 4736.000,-12257.000

Post-dive calculations and measurements:

FINISH 1.7,1.019444 FG_AHR_10Vo 19.711

SM_CCo 3805.30,160.37,0.884,0,540.1,603.2,476.9,611.03 MEM0 60132,1,0,0

SM_GC 1.18,160.37,12.02,3.43,0.884,0.086,0.045,540.1,603.2,476.9,197.8,2113.9,0,0,0,11.82,15.76,15.81 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 944660,30,102068,62

IRIDIUM_FIX 4738.33,-12256.21,250522,093107 DATA_FILE_SIZE 12927,515

TCM_TEMP 13.05 CAP_FILE_SIZE 337638,0

SC_FREEKB 3876544 SDSIZE 3887104,3869184

RAFOS_CLK -4 SDFILEDIR 104,1

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

HUMID 48.98 SOUNDSPEED 1465.0

TEMP 10.47 CURRENT 0.069, 62.0,1

INTERNAL_PRESSURE 8.10903 MAGCAL 1.000000,0.011777,0.047012,0.009896,1.094204,-0.046889,0.011168,-0.044870,0.997345,415.3,-1314.9,-184.8,26,0.0262,0

_24V_AH 14.83,8.913 IMPLIED_C_PITCH 1735,14.97,267,1742.9,16.70

_10V_AH 14.88,0.000 IMPLIED_C_VBD 3033,41.205654,250,3032.2

FG_AHR_24Vo 29.098 GPS 250522,104001,4736.747,-12256.487,9,0.9,31,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 679 1074 10837.45 nil 0 0 0.00

Pitch_motor 31 287 135.77 nil 0 0 0.00

Roll_motor 49 171 126.93 nil 0 0 0.00

Iridium 332 201 993.43 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.16 nil 0 0 0.00

Core 2402 5 183.06 SciCon 3616 6 370.45

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1779 0 8.48

Compass 1029 5 76.60

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

6.51 16386 -146.63 -1.11 0.00 528.5 600.9 456.1 195.0 2186.2 0.00 0.00 0 91.78 81.35 0.00 0.00 0.005 0.000 0.000 2444.88 2412.19 2477.56 194.94 2187.00 0 0 0 15.93 30.00 30.00

92.08 18983 -146.63 -1.11 -80.00 2443.8 2411.4 2476.1 194.8 2187.1 3.42 -2.86 16 141.44 34.96 4.29 3.66 0.005 0.287 0.113 3628.47 3608.81 3648.12 712.62 679.62 0 0 0 15.97 15.79 15.80

369.26 3205 -146.63 0.17 0.00 3629.5 3611.8 3647.2 712.7 679.6 77.76 -31.66 71 390.51 0.00 8.36 3.42 0.000 0.251 0.058 3629.50 3618.19 3640.81 1791.00 2180.00 0 0 0 30.00 15.77 15.94

574.08 4517 -146.63 -0.71 80.00 3631.9 3625.2 3638.6 1790.7 2180.1 86.35 -5.05 92 586.26 0.00 1.50 3.49 0.000 0.141 0.110 3632.47 3625.81 3639.12 1573.94 3617.38 0 0 0 30.00 15.99 16.00

719.18 5285 -146.63 -0.91 0.00 3631.6 3625.3 3637.9 1573.9 3617.9 93.85 -5.38 121 726.88 0.00 0.29 3.38 0.000 0.092 0.045 3632.50 3626.19 3638.81 1518.88 2111.06 0 0 0 30.00 16.02 16.04

907.98 160 -146.63 -0.94 0.00 3631.7 3625.8 3637.5 1518.8 2111.5 106.54 -7.46 141 909.59 0.00 0.00 0.00 0.000 0.000 0.000 3631.06 3625.31 3636.81 1519.00 2110.75 0 0 0 30.00 30.00 30.00

1098.00 160 -146.63 -0.98 0.00 3632.0 3625.9 3638.2 1518.9 2111.0 120.95 -7.76 160 1099.61 0.00 0.00 0.00 0.000 0.000 0.000 3631.09 3624.94 3637.25 1518.75 2110.62 0 0 0 30.00 30.00 30.00

1288.02 420 -146.63 -1.02 80.00 3632.0 3625.8 3638.2 1518.8 2111.2 135.67 -7.71 179 1295.23 0.00 0.00 3.63 0.000 0.000 0.106 3632.19 3625.50 3638.88 1518.44 3617.75 0 0 0 30.00 30.00 16.09

1358.04 1060 -146.63 -1.02 0.00 3631.6 3625.4 3637.9 1518.6 3617.9 142.06 -9.38 193 1365.60 0.00 0.00 3.38 0.000 0.000 0.047 3632.38 3625.88 3638.88 1518.00 2115.38 0 0 0 30.00 30.00 16.12

1546.92 160 -146.63 -1.06 0.00 3631.8 3625.6 3638.0 1518.2 2115.2 157.41 -8.20 213 1548.53 0.00 0.00 0.00 0.000 0.000 0.000 3631.22 3625.31 3637.12 1518.25 2115.25 0 0 0 30.00 30.00 30.00

1587 end dive: TARGET_DEPTH_EXCEEDED

state 1587 begin apogee

1588.06 10243 0.00 -0.27 0.00 3631.9 3625.6 3638.3 1518.6 2185.5 160.72 -8.22 217 1708.08 111.06 1.22 0.11 1.075 0.149 0.172 3029.56 3083.06 2976.06 1686.38 2106.06 0 0 0 12.03 16.08 15.75

1709 end apogee: CONTROL_FINISHED_OK

state 1709 begin climb

1709.21 10243 146.63 1.11 0.00 3029.4 3082.4 2976.3 1686.3 2105.9 164.06 0.00 228 1834.29 114.89 2.29 0.00 1.032 0.114 0.000 2431.62 2499.50 2363.75 2021.56 2105.88 0 0 0 11.82 15.74 30.00

2017.82 4485 146.63 0.98 80.00 2426.1 2488.1 2364.2 2021.9 2105.9 133.51 12.65 269 2025.44 0.00 0.33 3.72 0.000 0.172 0.106 2427.12 2488.75 2365.50 1983.38 3616.38 0 0 0 30.00 15.72 15.76

2074.03 21639 146.63 0.86 0.00 2424.0 2484.1 2363.9 1983.3 3616.5 126.50 12.56 280 2081.45 0.00 0.20 3.43 0.000 0.190 0.047 2424.59 2484.62 2364.56 1953.00 2117.25 0 0 0 30.00 15.74 15.82

2269.09 10403 173.25 0.93 0.00 2423.8 2484.0 2363.6 1952.2 2116.8 109.25 8.50 300 2293.39 21.86 0.20 0.00 0.962 0.090 0.000 2324.44 2392.50 2256.38 1986.06 2117.38 0 0 0 11.84 15.91 30.00

2478.96 260 173.25 0.93 80.00 2321.2 2386.8 2255.6 1985.9 2117.6 87.42 10.51 321 2486.34 0.00 0.00 3.66 0.000 0.000 0.108 2323.06 2388.12 2258.00 1986.12 3619.25 0 0 0 30.00 30.00 15.90

2544.90 5253 173.25 0.84 0.00 2319.6 2383.8 2255.3 1986.3 3619.4 79.44 12.35 334 2552.36 0.00 0.31 3.40 0.000 0.179 0.047 2318.44 2382.81 2254.06 1947.44 2118.25 0 0 0 30.00 15.88 15.95

2735.98 10403 212.00 0.97 0.00 2319.7 2383.9 2255.5 1947.7 2119.1 63.34 7.96 354 2772.13 31.29 0.28 0.00 0.959 0.082 0.000 2166.91 2243.56 2090.25 1993.25 2118.38 0 0 0 11.76 15.99 30.00

2955.87 260 212.00 0.97 80.00 2162.4 2236.2 2088.6 1993.2 2118.4 40.44 10.29 387 2962.94 0.00 0.00 3.68 0.000 0.000 0.109 2161.94 2235.94 2087.94 1993.06 3617.81 0 0 0 30.00 30.00 15.94

3021.58 1156 212.00 0.93 0.00 2160.6 2233.1 2088.1 1992.9 3617.9 33.00 11.40 400 3028.37 0.00 0.00 3.40 0.000 0.000 0.047 2161.00 2233.75 2088.25 1993.69 2120.38 0 0 0 30.00 30.00 15.99

3212.00 8354 222.69 1.00 0.00 2160.6 2232.9 2088.2 1993.0 2119.7 14.70 9.22 438 3226.40 9.94 0.00 0.00 0.814 0.000 0.000 2122.22 2196.50 2047.94 1992.56 2119.19 0 0 0 11.83 30.00 30.00

3409.78 10663 379.59 1.37 80.00 2120.9 2193.7 2048.1 1992.9 2119.8 5.15 2.65 477 3538.47 114.13 0.56 3.73 0.915 0.077 0.107 1481.31 1592.38 1370.25 2090.25 3618.38 0 0 0 11.83 16.02 15.71

3577 end climb: SURFACE_DEPTH_REACHED

state 3577 begin surface coast

3607 end surface coast: CONTROL_FINISHED_OK

state 3607 begin surface

ID	241	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
MISSION	7	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_VALID	4
DIVE	7	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_INT	0
STOP_T	0	SM_CC	611.3277	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_FLARE	3	FILEMGR	0	VBD_MIN	500	INT_PRESSURE_YINT	-1.4
D_TGT	160	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDER	0
D_ABORT	175	COMM_SEQ	7	C_VBD	3031.5942	DEEPGLIDERMB	0
D_NO_BLEED	500	PROTOCOL	9	VBD_DBAND	2	MOTHERBOARD	6
D_BOOST	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE1	-1
T_BOOST	0	NOCOMM_ACTION	163	VBD_LP_IGNORE	0	DEVICE2	-1
D_FINISH	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE3	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_SAFE	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
D_CALL	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	7
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
SURFACE_URGENCY_FORCE	0	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_DIVE	55	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_MISSION	75	T_RSLEEP	1	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_ABORT	1440	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	69
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_NO_W	60	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_LOITER	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
T_EPIRB	0	PITCH_MIN	210	AH0_24V	575	NAV_DEVICE	6
USE_BATHY	-1	PITCH_MAX	3628	AH0_10V	0	NAV2_DEVICE	6
USE_ICE	0	C_PITCH	1751.046	MINV_24V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	37
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18.424255	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	19.694254	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	28.9359	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-189.03369	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022588584	SEABIRD_C_G	-10
MASS	72520	C_PITCH_AUTO_MAX	200	COMPASS_USE	49156	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	215	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3820	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2150	ALTIM_PULSE	3

GPS1	250522,092542,4736.783,-12256.501,3,1.3,6,15.5	TGT_RADIUS	300.000
_CALLS	4	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.25	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250522,093515,4736.900,-12256.397,3,1.3,5,15.5	MHEAD_RNG_PITCHd_Wd	193.4,1829,-17.1,-9.697,-20.82,2278,0.137
SPEED_LIMITS	0.168,0.255	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.006547,0.022242,0.012131,1.081932,-0.055335,0.007637,-0.051540,1.005757,438.739624,-1310.312012,-201.126175
TGT_LATLONG	4736.000,-12257.000

FINISH	1.7,1.019444	FG_AHR_10Vo	19.711
SM_CCo	3805.30,160.37,0.884,0,540.1,603.2,476.9,611.03	MEM0	60132,1,0,0
SM_GC	1.18,160.37,12.02,3.43,0.884,0.086,0.045,540.1,603.2,476.9,197.8,2113.9,0,0,0,11.82,15.76,15.81	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	944660,30,102068,62
IRIDIUM_FIX	4738.33,-12256.21,250522,093107	DATA_FILE_SIZE	12927,515
TCM_TEMP	13.05	CAP_FILE_SIZE	337638,0
SC_FREEKB	3876544	SDSIZE	3887104,3869184
RAFOS_CLK	-4	SDFILEDIR	104,1
RAFOS_FIX	4732.259766,-12300.614258,250522,030300,3,255,2968.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	48.98	SOUNDSPEED	1465.0
TEMP	10.47	CURRENT	0.069, 62.0,1
INTERNAL_PRESSURE	8.10903	MAGCAL	1.000000,0.011777,0.047012,0.009896,1.094204,-0.046889,0.011168,-0.044870,0.997345,415.3,-1314.9,-184.8,26,0.0262,0
_24V_AH	14.83,8.913	IMPLIED_C_PITCH	1735,14.97,267,1742.9,16.70
_10V_AH	14.88,0.000	IMPLIED_C_VBD	3033,41.205654,250,3032.2
FG_AHR_24Vo	29.098	GPS	250522,104001,4736.747,-12256.487,9,0.9,31,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	679	1074	10837.45	nil	0	0	0.00
Pitch_motor	31	287	135.77	nil	0	0	0.00
Roll_motor	49	171	126.93	nil	0	0	0.00
Iridium	332	201	993.43	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.16	nil	0	0	0.00
Core	2402	5	183.06	SciCon	3616	6	370.45
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1779	0	8.48
Compass	1029	5	76.60
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
6.51	16386	-146.63	-1.11	0.00	528.5	600.9	456.1	195.0	2186.2	0.00	0.00	0	91.78	81.35	0.00	0.00	0.005	0.000	0.000	2444.88	2412.19	2477.56	194.94	2187.00	0	0	0	15.93	30.00	30.00
92.08	18983	-146.63	-1.11	-80.00	2443.8	2411.4	2476.1	194.8	2187.1	3.42	-2.86	16	141.44	34.96	4.29	3.66	0.005	0.287	0.113	3628.47	3608.81	3648.12	712.62	679.62	0	0	0	15.97	15.79	15.80
369.26	3205	-146.63	0.17	0.00	3629.5	3611.8	3647.2	712.7	679.6	77.76	-31.66	71	390.51	0.00	8.36	3.42	0.000	0.251	0.058	3629.50	3618.19	3640.81	1791.00	2180.00	0	0	0	30.00	15.77	15.94
574.08	4517	-146.63	-0.71	80.00	3631.9	3625.2	3638.6	1790.7	2180.1	86.35	-5.05	92	586.26	0.00	1.50	3.49	0.000	0.141	0.110	3632.47	3625.81	3639.12	1573.94	3617.38	0	0	0	30.00	15.99	16.00
719.18	5285	-146.63	-0.91	0.00	3631.6	3625.3	3637.9	1573.9	3617.9	93.85	-5.38	121	726.88	0.00	0.29	3.38	0.000	0.092	0.045	3632.50	3626.19	3638.81	1518.88	2111.06	0	0	0	30.00	16.02	16.04
907.98	160	-146.63	-0.94	0.00	3631.7	3625.8	3637.5	1518.8	2111.5	106.54	-7.46	141	909.59	0.00	0.00	0.00	0.000	0.000	0.000	3631.06	3625.31	3636.81	1519.00	2110.75	0	0	0	30.00	30.00	30.00
1098.00	160	-146.63	-0.98	0.00	3632.0	3625.9	3638.2	1518.9	2111.0	120.95	-7.76	160	1099.61	0.00	0.00	0.00	0.000	0.000	0.000	3631.09	3624.94	3637.25	1518.75	2110.62	0	0	0	30.00	30.00	30.00
1288.02	420	-146.63	-1.02	80.00	3632.0	3625.8	3638.2	1518.8	2111.2	135.67	-7.71	179	1295.23	0.00	0.00	3.63	0.000	0.000	0.106	3632.19	3625.50	3638.88	1518.44	3617.75	0	0	0	30.00	30.00	16.09
1358.04	1060	-146.63	-1.02	0.00	3631.6	3625.4	3637.9	1518.6	3617.9	142.06	-9.38	193	1365.60	0.00	0.00	3.38	0.000	0.000	0.047	3632.38	3625.88	3638.88	1518.00	2115.38	0	0	0	30.00	30.00	16.12
1546.92	160	-146.63	-1.06	0.00	3631.8	3625.6	3638.0	1518.2	2115.2	157.41	-8.20	213	1548.53	0.00	0.00	0.00	0.000	0.000	0.000	3631.22	3625.31	3637.12	1518.25	2115.25	0	0	0	30.00	30.00	30.00
1587	end dive: TARGET_DEPTH_EXCEEDED
state	1587	begin apogee
1588.06	10243	0.00	-0.27	0.00	3631.9	3625.6	3638.3	1518.6	2185.5	160.72	-8.22	217	1708.08	111.06	1.22	0.11	1.075	0.149	0.172	3029.56	3083.06	2976.06	1686.38	2106.06	0	0	0	12.03	16.08	15.75
1709	end apogee: CONTROL_FINISHED_OK
state	1709	begin climb
1709.21	10243	146.63	1.11	0.00	3029.4	3082.4	2976.3	1686.3	2105.9	164.06	0.00	228	1834.29	114.89	2.29	0.00	1.032	0.114	0.000	2431.62	2499.50	2363.75	2021.56	2105.88	0	0	0	11.82	15.74	30.00
2017.82	4485	146.63	0.98	80.00	2426.1	2488.1	2364.2	2021.9	2105.9	133.51	12.65	269	2025.44	0.00	0.33	3.72	0.000	0.172	0.106	2427.12	2488.75	2365.50	1983.38	3616.38	0	0	0	30.00	15.72	15.76
2074.03	21639	146.63	0.86	0.00	2424.0	2484.1	2363.9	1983.3	3616.5	126.50	12.56	280	2081.45	0.00	0.20	3.43	0.000	0.190	0.047	2424.59	2484.62	2364.56	1953.00	2117.25	0	0	0	30.00	15.74	15.82
2269.09	10403	173.25	0.93	0.00	2423.8	2484.0	2363.6	1952.2	2116.8	109.25	8.50	300	2293.39	21.86	0.20	0.00	0.962	0.090	0.000	2324.44	2392.50	2256.38	1986.06	2117.38	0	0	0	11.84	15.91	30.00
2478.96	260	173.25	0.93	80.00	2321.2	2386.8	2255.6	1985.9	2117.6	87.42	10.51	321	2486.34	0.00	0.00	3.66	0.000	0.000	0.108	2323.06	2388.12	2258.00	1986.12	3619.25	0	0	0	30.00	30.00	15.90
2544.90	5253	173.25	0.84	0.00	2319.6	2383.8	2255.3	1986.3	3619.4	79.44	12.35	334	2552.36	0.00	0.31	3.40	0.000	0.179	0.047	2318.44	2382.81	2254.06	1947.44	2118.25	0	0	0	30.00	15.88	15.95
2735.98	10403	212.00	0.97	0.00	2319.7	2383.9	2255.5	1947.7	2119.1	63.34	7.96	354	2772.13	31.29	0.28	0.00	0.959	0.082	0.000	2166.91	2243.56	2090.25	1993.25	2118.38	0	0	0	11.76	15.99	30.00
2955.87	260	212.00	0.97	80.00	2162.4	2236.2	2088.6	1993.2	2118.4	40.44	10.29	387	2962.94	0.00	0.00	3.68	0.000	0.000	0.109	2161.94	2235.94	2087.94	1993.06	3617.81	0	0	0	30.00	30.00	15.94
3021.58	1156	212.00	0.93	0.00	2160.6	2233.1	2088.1	1992.9	3617.9	33.00	11.40	400	3028.37	0.00	0.00	3.40	0.000	0.000	0.047	2161.00	2233.75	2088.25	1993.69	2120.38	0	0	0	30.00	30.00	15.99
3212.00	8354	222.69	1.00	0.00	2160.6	2232.9	2088.2	1993.0	2119.7	14.70	9.22	438	3226.40	9.94	0.00	0.00	0.814	0.000	0.000	2122.22	2196.50	2047.94	1992.56	2119.19	0	0	0	11.83	30.00	30.00
3409.78	10663	379.59	1.37	80.00	2120.9	2193.7	2048.1	1992.9	2119.8	5.15	2.65	477	3538.47	114.13	0.56	3.73	0.915	0.077	0.107	1481.31	1592.38	1370.25	2090.25	3618.38	0	0	0	11.83	16.02	15.71
3577	end climb: SURFACE_DEPTH_REACHED
state	3577	begin surface coast
3607	end surface coast: CONTROL_FINISHED_OK
state	3607	begin surface