Glider dive log

HoodCanal 24May22.01 * SG240 * Dive index * Mission links * Dive 9 * 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 9 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 3005.0413 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 1790.9065 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 17.948826 MAXI_10V 1.5 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_10V 15.356235 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 FG_AHR_24V 7.0086899 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 15.356235 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.0086899 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 17.948826 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 1790.9065 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 3005.0413 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 9 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 250522,100932,4737.187,-12256.281,1,1.2,3,15.5 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 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 250522,101223,4737.227,-12256.239,2,1.2,4,15.5 MHEAD_RNG_PITCHd_Wd 199.6,465,-19.1,-9.697,-22.57,1870,0.160

SPEED_LIMITS 0.168,0.255 D_GRID 162

TGT_NAME N IRON 1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099

TGT_LATLONG 4737.000,-12256.400

Post-dive calculations and measurements:

FREEZE 4.20,12.704,-1.475,0,1,0 FG_AHR_10Vo 15.372

SM_CCo 3768.59,237.18,0.920,0,500.8,513.6,488.0,614.28 MEM0 60132,1,0,0

SM_GC 1.59,0.00,12.62,3.52,0.000,0.070,0.063,497.5,509.5,485.4,196.1,2167.6,0,0,0,30.00,15.57,15.57 MEM1 65508,1,0,0

SUPER 19,71,254,1,0,0 MEM2 944524,32,102164,62

IRIDIUM_FIX 4738.92,-12346.72,250522,091533 DATA_FILE_SIZE 12937,502

TCM_TEMP 17.60 CAP_FILE_SIZE 333417,0

SC_FREEKB 3875904 SDSIZE 3887104,3869312

RAFOS_CLK -2 SDFILEDIR 113,1

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 49.34 SOUNDSPEED 1465.0

TEMP 10.15 CURRENT 0.118, 38.0,1

INTERNAL_PRESSURE 7.98325 MAGCAL 1.000000,0.003131,0.014798,0.009205,1.088038,-0.066167,0.010746,-0.045007,0.989132,21.7,-897.2,-432.1,29,0.0298,0

_24V_AH 15.05,8.262 IMPLIED_C_PITCH 1791,18.11,271,1790.9,18.03

_10V_AH 15.00,0.000 IMPLIED_C_VBD 3021,21.959269,271,3012.8

FG_AHR_24Vo 7.163 GPS 250522,111830,4737.139,-12256.429,30,1.3,31,15.5

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 631 1133 10777.55 nil 0 0 0.00

Pitch_motor 30 255 117.94 nil 0 0 0.00

Roll_motor 57 207 178.97 nil 0 0 0.00

Iridium 104 211 334.80 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.13 nil 0 0 0.00

Core 2089 5 160.48 SciCon 3525 6 343.58

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1690 0 8.11

Compass 1021 5 76.63

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

6.68 16386 -120.16 -1.21 0.00 497.4 509.4 485.4 189.8 2130.9 0.00 0.00 0 71.18 61.35 0.00 0.00 0.005 0.000 0.000 2281.03 2320.31 2241.75 189.94 2130.56 0 0 0 15.85 30.00 30.00

71.49 18467 -146.63 -1.24 0.00 2280.5 2319.2 2241.9 189.8 2130.1 3.33 -3.32 12 125.29 34.53 10.23 0.00 0.005 0.256 0.000 3601.69 3656.94 3546.44 1488.75 2130.38 0 0 0 15.87 15.72 30.00

313.73 388 -146.63 -1.15 80.00 3603.8 3657.4 3550.1 1488.7 2130.2 26.84 -10.85 59 324.21 0.00 0.00 3.71 0.000 0.000 0.125 3604.12 3658.50 3549.75 1488.88 3617.25 0 0 0 30.00 30.00 15.87

422.72 3205 -146.63 -0.97 0.00 3603.6 3657.4 3549.8 1487.8 3617.4 41.00 -12.82 81 429.71 0.00 0.50 3.44 0.000 0.184 0.053 3603.34 3657.50 3549.19 1557.12 2121.38 0 0 0 30.00 15.89 15.95

613.29 420 -146.63 -1.03 80.00 3604.0 3657.9 3550.1 1557.4 2121.5 56.65 -7.89 111 620.52 0.00 0.00 3.68 0.000 0.000 0.120 3603.28 3656.94 3549.62 1557.81 3616.69 0 0 0 30.00 30.00 15.96

649.04 1060 -146.63 -1.03 0.00 3604.3 3657.9 3550.7 1557.2 3616.9 59.96 -8.85 118 655.22 0.00 0.00 3.42 0.000 0.000 0.053 3605.00 3658.25 3551.75 1556.62 2121.81 0 0 0 30.00 30.00 16.00

839.17 4257 -146.63 -1.09 0.00 3604.5 3658.5 3550.5 1556.9 2121.8 75.17 -7.84 138 841.04 0.00 0.29 0.00 0.000 0.078 0.000 3604.41 3657.50 3551.31 1510.38 2121.44 0 0 0 30.00 16.03 30.00

1027.13 2437 -146.63 -1.05 80.00 3604.5 3658.0 3551.0 1510.2 2121.6 94.52 -10.78 157 1034.67 0.00 0.25 3.66 0.000 0.179 0.121 3603.53 3657.56 3549.50 1536.62 3615.38 0 0 0 30.00 16.02 16.02

1063.23 1156 -146.63 -0.99 0.00 3604.6 3657.9 3551.3 1536.9 3615.4 98.69 -11.53 164 1069.38 0.00 0.00 3.42 0.000 0.000 0.055 3604.38 3658.12 3550.62 1536.38 2120.38 0 0 0 30.00 30.00 16.07

1253.22 32 -146.63 -0.99 0.00 3604.6 3658.1 3551.1 1536.2 2120.2 116.80 -9.19 184 1254.83 0.00 0.00 0.00 0.000 0.000 0.000 3604.22 3658.06 3550.38 1536.81 2120.44 0 0 0 30.00 30.00 30.00

1443.28 128 -146.63 -1.02 0.00 3604.7 3657.6 3551.8 1536.6 2120.2 135.01 -9.99 203 1444.89 0.00 0.00 0.00 0.000 0.000 0.000 3603.94 3657.06 3550.81 1536.75 2120.75 0 0 0 30.00 30.00 30.00

1627.36 160 -146.63 -1.06 0.00 3604.6 3657.5 3551.8 1536.9 2120.4 152.65 -9.53 222 1628.97 0.00 0.00 0.00 0.000 0.000 0.000 3603.47 3657.38 3549.56 1536.75 2120.19 0 0 0 30.00 30.00 30.00

1707 end dive: TARGET_DEPTH_EXCEEDED

state 1707 begin apogee

1708.60 10243 0.00 -0.28 0.00 3604.7 3657.9 3551.4 1536.4 2178.4 160.07 -9.12 230 1818.98 102.48 1.27 0.09 1.133 0.154 0.207 3005.56 3060.31 2950.81 1723.81 2118.81 0 0 0 12.16 16.08 15.76

1820 end apogee: CONTROL_FINISHED_OK

state 1820 begin climb

1820.27 10243 146.63 1.24 0.00 3003.5 3059.8 2947.2 1723.2 2118.1 163.50 0.00 240 1936.94 105.38 2.54 0.00 1.098 0.119 0.000 2408.88 2475.69 2342.06 2091.75 2118.75 0 0 0 11.93 15.74 30.00

2120.40 644 146.63 1.15 -80.00 2399.3 2471.1 2327.5 2091.4 2118.9 130.06 13.51 275 2132.36 0.00 0.00 3.67 0.000 0.000 0.129 2400.34 2472.25 2328.44 2091.94 684.06 0 0 0 30.00 30.00 15.71

2215.21 21639 146.63 0.94 0.00 2396.9 2467.8 2326.1 2091.5 684.4 114.79 16.93 294 2223.26 0.00 0.62 3.44 0.000 0.169 0.061 2400.56 2471.75 2329.38 2010.88 2170.75 0 0 0 30.00 15.76 15.82

2407.02 10919 156.37 1.05 -80.00 2396.5 2468.1 2324.9 2010.5 2170.2 95.82 9.16 314 2424.05 8.53 0.25 3.74 0.823 0.076 0.125 2366.50 2440.44 2292.56 2056.31 682.94 0 0 0 11.94 15.92 15.85

2467.62 5253 156.37 0.94 0.00 2363.7 2436.8 2290.6 2055.9 683.1 88.10 14.02 326 2475.08 0.00 0.34 3.42 0.000 0.166 0.060 2363.81 2438.75 2288.88 2011.06 2169.88 0 0 0 30.00 15.87 15.90

2662.70 10919 175.00 1.07 -80.00 2363.0 2437.0 2288.9 2011.0 2170.0 70.03 8.68 346 2689.16 15.61 0.28 3.73 0.937 0.073 0.127 2289.94 2364.44 2215.44 2059.56 682.88 0 0 0 12.00 15.98 15.88

2719.02 5253 175.00 0.98 0.00 2288.5 2363.4 2213.5 2059.4 683.0 63.12 13.39 357 2726.85 0.00 0.30 3.43 0.000 0.168 0.059 2289.50 2364.31 2214.69 2021.50 2169.25 0 0 0 30.00 15.87 15.91

2908.07 2725 177.69 1.10 -80.00 2287.3 2362.8 2211.8 2021.2 2168.9 44.87 9.55 382 2915.15 0.00 0.25 3.71 0.000 0.077 0.127 2288.03 2363.56 2212.50 2066.31 683.31 0 0 0 30.00 15.98 15.94

2948.71 5253 177.69 1.02 0.00 2286.7 2362.8 2210.6 2066.7 682.8 39.79 13.17 390 2955.75 0.00 0.29 3.39 0.000 0.164 0.059 2287.38 2363.31 2211.44 2029.00 2170.62 0 0 0 30.00 15.94 15.99

3139.37 10403 191.26 1.13 0.00 2286.2 2362.6 2209.8 2029.1 2170.4 21.58 8.95 428 3155.33 14.01 0.25 0.00 0.897 0.079 0.000 2224.44 2302.12 2146.75 2073.81 2170.56 0 0 0 11.99 16.03 30.00

3337.89 10919 264.52 1.38 -80.00 2220.5 2300.4 2140.7 2073.9 2169.9 4.30 5.69 467 3403.20 52.81 0.33 3.74 0.948 0.086 0.125 1924.16 2012.25 1836.06 2130.75 683.12 0 0 0 12.06 16.01 15.83

3517 end climb: NO_VERTICAL_VELOCITY

state 3517 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	9	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	3005.0413	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	1790.9065	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	17.948826	MAXI_10V	1.5	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_10V	15.356235	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	FG_AHR_24V	7.0086899	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	250522,100932,4737.187,-12256.281,1,1.2,3,15.5	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	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	250522,101223,4737.227,-12256.239,2,1.2,4,15.5	MHEAD_RNG_PITCHd_Wd	199.6,465,-19.1,-9.697,-22.57,1870,0.160
SPEED_LIMITS	0.168,0.255	D_GRID	162
TGT_NAME	N	IRON	1.000000,0.003185,0.120530,-0.000879,1.090121,-0.056068,0.018160,-0.009387,1.003343,-80.211082,-908.014526,-417.389099
TGT_LATLONG	4737.000,-12256.400

FREEZE	4.20,12.704,-1.475,0,1,0	FG_AHR_10Vo	15.372
SM_CCo	3768.59,237.18,0.920,0,500.8,513.6,488.0,614.28	MEM0	60132,1,0,0
SM_GC	1.59,0.00,12.62,3.52,0.000,0.070,0.063,497.5,509.5,485.4,196.1,2167.6,0,0,0,30.00,15.57,15.57	MEM1	65508,1,0,0
SUPER	19,71,254,1,0,0	MEM2	944524,32,102164,62
IRIDIUM_FIX	4738.92,-12346.72,250522,091533	DATA_FILE_SIZE	12937,502
TCM_TEMP	17.60	CAP_FILE_SIZE	333417,0
SC_FREEKB	3875904	SDSIZE	3887104,3869312
RAFOS_CLK	-2	SDFILEDIR	113,1
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	49.34	SOUNDSPEED	1465.0
TEMP	10.15	CURRENT	0.118, 38.0,1
INTERNAL_PRESSURE	7.98325	MAGCAL	1.000000,0.003131,0.014798,0.009205,1.088038,-0.066167,0.010746,-0.045007,0.989132,21.7,-897.2,-432.1,29,0.0298,0
_24V_AH	15.05,8.262	IMPLIED_C_PITCH	1791,18.11,271,1790.9,18.03
_10V_AH	15.00,0.000	IMPLIED_C_VBD	3021,21.959269,271,3012.8
FG_AHR_24Vo	7.163	GPS	250522,111830,4737.139,-12256.429,30,1.3,31,15.5

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	631	1133	10777.55	nil	0	0	0.00
Pitch_motor	30	255	117.94	nil	0	0	0.00
Roll_motor	57	207	178.97	nil	0	0	0.00
Iridium	104	211	334.80	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.13	nil	0	0	0.00
Core	2089	5	160.48	SciCon	3525	6	343.58
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1690	0	8.11
Compass	1021	5	76.63
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
6.68	16386	-120.16	-1.21	0.00	497.4	509.4	485.4	189.8	2130.9	0.00	0.00	0	71.18	61.35	0.00	0.00	0.005	0.000	0.000	2281.03	2320.31	2241.75	189.94	2130.56	0	0	0	15.85	30.00	30.00
71.49	18467	-146.63	-1.24	0.00	2280.5	2319.2	2241.9	189.8	2130.1	3.33	-3.32	12	125.29	34.53	10.23	0.00	0.005	0.256	0.000	3601.69	3656.94	3546.44	1488.75	2130.38	0	0	0	15.87	15.72	30.00
313.73	388	-146.63	-1.15	80.00	3603.8	3657.4	3550.1	1488.7	2130.2	26.84	-10.85	59	324.21	0.00	0.00	3.71	0.000	0.000	0.125	3604.12	3658.50	3549.75	1488.88	3617.25	0	0	0	30.00	30.00	15.87
422.72	3205	-146.63	-0.97	0.00	3603.6	3657.4	3549.8	1487.8	3617.4	41.00	-12.82	81	429.71	0.00	0.50	3.44	0.000	0.184	0.053	3603.34	3657.50	3549.19	1557.12	2121.38	0	0	0	30.00	15.89	15.95
613.29	420	-146.63	-1.03	80.00	3604.0	3657.9	3550.1	1557.4	2121.5	56.65	-7.89	111	620.52	0.00	0.00	3.68	0.000	0.000	0.120	3603.28	3656.94	3549.62	1557.81	3616.69	0	0	0	30.00	30.00	15.96
649.04	1060	-146.63	-1.03	0.00	3604.3	3657.9	3550.7	1557.2	3616.9	59.96	-8.85	118	655.22	0.00	0.00	3.42	0.000	0.000	0.053	3605.00	3658.25	3551.75	1556.62	2121.81	0	0	0	30.00	30.00	16.00
839.17	4257	-146.63	-1.09	0.00	3604.5	3658.5	3550.5	1556.9	2121.8	75.17	-7.84	138	841.04	0.00	0.29	0.00	0.000	0.078	0.000	3604.41	3657.50	3551.31	1510.38	2121.44	0	0	0	30.00	16.03	30.00
1027.13	2437	-146.63	-1.05	80.00	3604.5	3658.0	3551.0	1510.2	2121.6	94.52	-10.78	157	1034.67	0.00	0.25	3.66	0.000	0.179	0.121	3603.53	3657.56	3549.50	1536.62	3615.38	0	0	0	30.00	16.02	16.02
1063.23	1156	-146.63	-0.99	0.00	3604.6	3657.9	3551.3	1536.9	3615.4	98.69	-11.53	164	1069.38	0.00	0.00	3.42	0.000	0.000	0.055	3604.38	3658.12	3550.62	1536.38	2120.38	0	0	0	30.00	30.00	16.07
1253.22	32	-146.63	-0.99	0.00	3604.6	3658.1	3551.1	1536.2	2120.2	116.80	-9.19	184	1254.83	0.00	0.00	0.00	0.000	0.000	0.000	3604.22	3658.06	3550.38	1536.81	2120.44	0	0	0	30.00	30.00	30.00
1443.28	128	-146.63	-1.02	0.00	3604.7	3657.6	3551.8	1536.6	2120.2	135.01	-9.99	203	1444.89	0.00	0.00	0.00	0.000	0.000	0.000	3603.94	3657.06	3550.81	1536.75	2120.75	0	0	0	30.00	30.00	30.00
1627.36	160	-146.63	-1.06	0.00	3604.6	3657.5	3551.8	1536.9	2120.4	152.65	-9.53	222	1628.97	0.00	0.00	0.00	0.000	0.000	0.000	3603.47	3657.38	3549.56	1536.75	2120.19	0	0	0	30.00	30.00	30.00
1707	end dive: TARGET_DEPTH_EXCEEDED
state	1707	begin apogee
1708.60	10243	0.00	-0.28	0.00	3604.7	3657.9	3551.4	1536.4	2178.4	160.07	-9.12	230	1818.98	102.48	1.27	0.09	1.133	0.154	0.207	3005.56	3060.31	2950.81	1723.81	2118.81	0	0	0	12.16	16.08	15.76
1820	end apogee: CONTROL_FINISHED_OK
state	1820	begin climb
1820.27	10243	146.63	1.24	0.00	3003.5	3059.8	2947.2	1723.2	2118.1	163.50	0.00	240	1936.94	105.38	2.54	0.00	1.098	0.119	0.000	2408.88	2475.69	2342.06	2091.75	2118.75	0	0	0	11.93	15.74	30.00
2120.40	644	146.63	1.15	-80.00	2399.3	2471.1	2327.5	2091.4	2118.9	130.06	13.51	275	2132.36	0.00	0.00	3.67	0.000	0.000	0.129	2400.34	2472.25	2328.44	2091.94	684.06	0	0	0	30.00	30.00	15.71
2215.21	21639	146.63	0.94	0.00	2396.9	2467.8	2326.1	2091.5	684.4	114.79	16.93	294	2223.26	0.00	0.62	3.44	0.000	0.169	0.061	2400.56	2471.75	2329.38	2010.88	2170.75	0	0	0	30.00	15.76	15.82
2407.02	10919	156.37	1.05	-80.00	2396.5	2468.1	2324.9	2010.5	2170.2	95.82	9.16	314	2424.05	8.53	0.25	3.74	0.823	0.076	0.125	2366.50	2440.44	2292.56	2056.31	682.94	0	0	0	11.94	15.92	15.85
2467.62	5253	156.37	0.94	0.00	2363.7	2436.8	2290.6	2055.9	683.1	88.10	14.02	326	2475.08	0.00	0.34	3.42	0.000	0.166	0.060	2363.81	2438.75	2288.88	2011.06	2169.88	0	0	0	30.00	15.87	15.90
2662.70	10919	175.00	1.07	-80.00	2363.0	2437.0	2288.9	2011.0	2170.0	70.03	8.68	346	2689.16	15.61	0.28	3.73	0.937	0.073	0.127	2289.94	2364.44	2215.44	2059.56	682.88	0	0	0	12.00	15.98	15.88
2719.02	5253	175.00	0.98	0.00	2288.5	2363.4	2213.5	2059.4	683.0	63.12	13.39	357	2726.85	0.00	0.30	3.43	0.000	0.168	0.059	2289.50	2364.31	2214.69	2021.50	2169.25	0	0	0	30.00	15.87	15.91
2908.07	2725	177.69	1.10	-80.00	2287.3	2362.8	2211.8	2021.2	2168.9	44.87	9.55	382	2915.15	0.00	0.25	3.71	0.000	0.077	0.127	2288.03	2363.56	2212.50	2066.31	683.31	0	0	0	30.00	15.98	15.94
2948.71	5253	177.69	1.02	0.00	2286.7	2362.8	2210.6	2066.7	682.8	39.79	13.17	390	2955.75	0.00	0.29	3.39	0.000	0.164	0.059	2287.38	2363.31	2211.44	2029.00	2170.62	0	0	0	30.00	15.94	15.99
3139.37	10403	191.26	1.13	0.00	2286.2	2362.6	2209.8	2029.1	2170.4	21.58	8.95	428	3155.33	14.01	0.25	0.00	0.897	0.079	0.000	2224.44	2302.12	2146.75	2073.81	2170.56	0	0	0	11.99	16.03	30.00
3337.89	10919	264.52	1.38	-80.00	2220.5	2300.4	2140.7	2073.9	2169.9	4.30	5.69	467	3403.20	52.81	0.33	3.74	0.948	0.086	0.125	1924.16	2012.25	1836.06	2130.75	683.12	0	0	0	12.06	16.01	15.83
3517	end climb: NO_VERTICAL_VELOCITY
state	3517	begin surface