Glider dive log

HoodCanal 19Jun23 * SG253 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 253 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

MISSION 4 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 11 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 686.83997 ROLL_MAXERRORS 1 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT 1.7

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3300 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 7

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1600 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 14 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 0.74134135 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 4.9541688 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 2 PRESSURE_YINT -186.595 SEABIRD_T_J 4.3e-06

MASS 72374 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022830076 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 240 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3850 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2025 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 30 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.74134135 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 4.9541688 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.015 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 14 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 205 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 253 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT 1.7 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1600 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022830076 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -186.595 T_NO_W 120

C_ROLL_CLIMB 2025 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2025 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3300 LOGGERS 7 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72374 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 11 ROLL_MAX 3850 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 11 MISSION 4 ROLL_MIN 240 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 200623,033432,4736.922,-12256.351,25,1.0,26,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,033748,4736.927,-12256.339,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 189.1,1899,-17.6,-10.000,-21.21,2209,0.179

SPEED_LIMITS 0.173,0.258 D_GRID 167

TGT_NAME S IRON 1.000000,-0.006289,-0.103783,0.017979,1.081607,0.030067,0.020919,0.047099,1.154394,-285.290741,-1580.992920,269.721954

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687235415,6.3,0,stop FG_AHR_24Vo 5.162

FREEZE 6.32,14.431,-1.496,0,1,0 FG_AHR_10Vo 0.761

SURF forcing MEM0 60020,1,0,0

SM_CCo 3503.16,255.37,1.037,0,500.9,573.2,428.5,686.63 MEM1 65508,1,0,0

SM_GC 1.64,0.00,11.57,3.51,0.000,0.082,0.071,497.2,567.2,427.2,192.6,1998.8,0,0,0,30.00,15.57,15.58 MEM2 945700,33,100848,68

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12929,451

IRIDIUM_FIX 4738.33,-12256.21,200623,024715 CAP_FILE_SIZE 174370,0

TCM_TEMP 15.72 SDSIZE 3887104,3871072

SC_FREEKB 3875136 SDFILEDIR 112,12

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 SOUNDSPEED 1465.0

HUMID 44.18 CURRENT 0.046, 54.6,1

TEMP 10.64 MAGCAL 1.000000,-0.001627,-0.023006,0.012487,1.064874,0.086938,0.023498,0.031618,1.070633,-815.2,-1919.1,522.2,35,0.0089,1

INTERNAL_PRESSURE 7.93448 IMPLIED_C_PITCH 1618,13.91,231,0.0,0.00

_24V_AH 14.97,4.710 IMPLIED_C_VBD 3076,21.821310,231,0

_10V_AH 15.00,0.000 GPS 200623,043915,4736.593,-12256.444,3,0.7,6,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 715 1218 13053.24 nil 0 0 0.00

Pitch_motor 25 289 112.57 nil 0 0 0.00

Roll_motor 63 226 215.57 nil 0 0 0.00

Iridium 125 141 263.90 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.12 nil 0 0 0.00

Core 2170 5 166.71 SciCon 3226 6 331.28

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1340 0 6.43

Compass 1131 5 84.88

RAFOS 310 40 186.55

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.77 16386 -146.63 -1.44 0.00 494.6 566.4 422.8 189.6 1999.8 0.00 0.00 0 62.13 50.17 0.00 0.00 0.005 0.000 0.000 1810.62 1847.19 1774.06 189.25 2000.62 0 0 0 15.92 30.00 30.00

62.66 18983 -146.63 -1.44 -80.00 1843.0 1909.6 1776.4 189.1 1999.9 3.07 -3.44 10 140.15 50.47 8.33 3.54 0.005 0.289 0.149 3898.81 3878.56 3919.06 1250.75 558.38 0 0 0 15.94 15.77 15.85

179.22 3205 -146.63 -1.30 0.00 3899.8 3878.2 3921.3 1250.0 558.1 19.09 -17.26 31 187.52 0.00 0.23 3.41 0.000 0.235 0.069 3900.16 3878.38 3921.94 1284.00 2047.38 0 0 0 30.00 15.85 15.91

369.21 644 -146.63 -1.27 -80.00 3901.2 3879.2 3923.1 1284.2 2048.1 44.66 -12.26 68 377.81 0.00 0.00 3.68 0.000 0.000 0.143 3900.56 3878.88 3922.25 1284.44 557.31 0 0 0 30.00 30.00 15.93

467.00 3205 -146.63 -1.20 0.00 3901.0 3879.2 3922.8 1283.9 557.0 58.26 -14.60 87 475.82 0.00 0.17 3.42 0.000 0.217 0.067 3847.16 3771.69 3922.62 1309.38 2048.69 0 0 0 30.00 15.93 15.99

661.85 260 -146.63 -1.20 80.00 3901.5 3879.9 3923.2 1310.3 2048.9 80.71 -11.07 107 669.66 0.00 0.00 3.53 0.000 0.000 0.137 3901.91 3879.88 3923.94 1310.62 3488.06 0 0 0 30.00 30.00 16.00

708.68 1028 -146.63 -1.20 0.00 3901.6 3879.8 3923.5 1310.0 3488.3 86.52 -12.75 116 716.39 0.00 0.00 3.42 0.000 0.000 0.076 3901.50 3879.94 3923.06 1310.62 2008.75 0 0 0 30.00 30.00 16.03

900.70 0 -146.63 -1.20 0.00 3902.1 3880.5 3923.6 1309.9 2008.2 106.59 -10.51 136 902.56 0.00 0.00 0.00 0.000 0.000 0.000 3901.56 3879.69 3923.44 1310.38 2008.19 0 0 0 30.00 30.00 30.00

1090.70 516 -146.63 -1.20 -80.00 3901.9 3880.1 3923.8 1310.6 2007.9 127.19 -10.75 155 1099.52 0.00 0.00 3.58 0.000 0.000 0.155 3901.72 3880.00 3923.44 1310.56 558.50 0 0 0 30.00 30.00 16.04

1138.55 1028 -146.63 -1.20 0.00 3902.3 3880.3 3924.3 1310.2 557.8 132.99 -12.63 164 1146.15 0.00 0.00 3.40 0.000 0.000 0.067 3902.25 3879.62 3924.88 1310.62 2049.88 0 0 0 30.00 30.00 16.09

1296 end dive: TARGET_DEPTH_EXCEEDED

state 1297 begin apogee

1298.19 10243 0.00 -0.36 0.00 3902.2 3880.4 3924.0 1310.3 1999.4 150.27 -10.79 178 1411.15 99.98 1.38 0.09 1.219 0.158 0.226 3296.88 3356.62 3237.12 1514.81 2052.88 0 0 0 11.87 16.04 15.67

1412 end apogee: CONTROL_FINISHED_OK

state 1412 begin climb

1412.59 10243 146.63 1.44 0.00 3297.3 3358.0 3236.7 1514.2 2052.7 154.27 0.00 188 1539.68 107.78 2.91 0.00 1.166 0.118 0.000 2699.44 2800.00 2598.88 1950.25 2052.25 0 0 0 11.56 15.68 30.00

1723.84 16774 146.63 1.40 80.00 2692.3 2790.7 2593.9 1949.4 2052.2 126.78 11.09 219 1732.81 0.00 0.00 3.61 0.000 0.000 0.138 2693.47 2791.38 2595.56 1950.12 3489.44 0 0 0 30.00 30.00 15.74

1792.05 21639 146.63 1.31 0.00 2692.6 2790.9 2594.3 1949.7 3489.7 117.99 13.33 232 1801.27 0.00 0.35 3.46 0.000 0.208 0.073 2695.06 2793.19 2596.94 1910.56 2000.56 0 0 0 30.00 15.76 15.82

1986.97 8742 173.54 1.34 -80.00 2691.0 2789.5 2592.4 1910.2 2001.0 100.11 8.75 252 2018.14 20.58 0.00 3.62 1.089 0.000 0.154 2586.56 2689.62 2483.50 1909.88 556.75 0 0 0 11.73 30.00 15.79

2056.90 1028 173.54 1.34 0.00 2586.8 2686.3 2487.2 1910.2 556.7 93.04 12.18 264 2068.20 0.00 0.00 3.46 0.000 0.000 0.069 2586.88 2685.38 2488.38 1910.44 2049.62 0 0 0 30.00 30.00 15.85

2252.28 8226 201.42 1.38 0.00 2585.8 2686.4 2485.1 1909.9 2049.7 74.36 8.71 285 2277.73 22.25 0.00 0.00 1.101 0.000 0.000 2480.12 2585.06 2375.19 1910.88 2050.00 0 0 0 11.72 30.00 30.00

2462.55 10663 225.72 1.44 80.00 2473.2 2578.7 2367.7 1910.6 2050.0 55.23 8.87 306 2497.45 21.17 0.29 3.58 1.079 0.073 0.139 2376.12 2484.12 2268.12 1961.25 3489.62 0 0 0 11.76 15.95 15.83

2536.68 1156 225.72 1.40 0.00 2376.6 2483.9 2269.2 1960.9 3489.2 46.96 12.68 320 2545.22 0.00 0.00 3.48 0.000 0.000 0.078 2379.59 2487.31 2271.88 1961.19 1999.81 0 0 0 30.00 30.00 15.88

2728.21 516 225.72 1.40 -80.00 2373.6 2482.9 2264.3 1960.9 1999.4 25.04 10.31 357 2737.03 0.00 0.00 3.58 0.000 0.000 0.152 2369.94 2479.75 2260.12 1961.38 559.38 0 0 0 30.00 30.00 15.91

2771.29 5253 225.72 1.36 0.00 2372.6 2481.8 2263.4 1960.7 559.2 19.82 12.54 365 2780.28 0.00 0.31 3.43 0.000 0.190 0.069 2373.50 2481.94 2265.06 1923.56 2050.31 0 0 0 30.00 15.90 15.96

2964.57 10663 339.36 1.58 80.00 2371.8 2481.9 2261.8 1922.6 2050.4 7.10 4.74 403 3071.52 87.58 0.42 3.61 1.074 0.071 0.138 1912.53 2025.56 1799.50 1993.62 3489.62 0 0 0 11.79 16.01 15.68

3221 end climb: NO_VERTICAL_VELOCITY

state 3221 begin surface

ID	253	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	ALTIM_PULSE	3
MISSION	4	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	11	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	686.83997	ROLL_MAXERRORS	1	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	1.7
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3300	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	7
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1600	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	14	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	0.74134135	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	4.9541688	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-186.595	SEABIRD_T_J	4.3e-06
MASS	72374	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022830076	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	240	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3850	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2025	ALTIM_FREQUENCY	13

GPS1	200623,033432,4736.922,-12256.351,25,1.0,26,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,033748,4736.927,-12256.339,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	189.1,1899,-17.6,-10.000,-21.21,2209,0.179
SPEED_LIMITS	0.173,0.258	D_GRID	167
TGT_NAME	S	IRON	1.000000,-0.006289,-0.103783,0.017979,1.081607,0.030067,0.020919,0.047099,1.154394,-285.290741,-1580.992920,269.721954
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687235415,6.3,0,stop	FG_AHR_24Vo	5.162
FREEZE	6.32,14.431,-1.496,0,1,0	FG_AHR_10Vo	0.761
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3503.16,255.37,1.037,0,500.9,573.2,428.5,686.63	MEM1	65508,1,0,0
SM_GC	1.64,0.00,11.57,3.51,0.000,0.082,0.071,497.2,567.2,427.2,192.6,1998.8,0,0,0,30.00,15.57,15.58	MEM2	945700,33,100848,68
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12929,451
IRIDIUM_FIX	4738.33,-12256.21,200623,024715	CAP_FILE_SIZE	174370,0
TCM_TEMP	15.72	SDSIZE	3887104,3871072
SC_FREEKB	3875136	SDFILEDIR	112,12
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	44.18	CURRENT	0.046, 54.6,1
TEMP	10.64	MAGCAL	1.000000,-0.001627,-0.023006,0.012487,1.064874,0.086938,0.023498,0.031618,1.070633,-815.2,-1919.1,522.2,35,0.0089,1
INTERNAL_PRESSURE	7.93448	IMPLIED_C_PITCH	1618,13.91,231,0.0,0.00
_24V_AH	14.97,4.710	IMPLIED_C_VBD	3076,21.821310,231,0
_10V_AH	15.00,0.000	GPS	200623,043915,4736.593,-12256.444,3,0.7,6,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	715	1218	13053.24	nil	0	0	0.00
Pitch_motor	25	289	112.57	nil	0	0	0.00
Roll_motor	63	226	215.57	nil	0	0	0.00
Iridium	125	141	263.90	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.12	nil	0	0	0.00
Core	2170	5	166.71	SciCon	3226	6	331.28
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1340	0	6.43
Compass	1131	5	84.88
RAFOS	310	40	186.55
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.77	16386	-146.63	-1.44	0.00	494.6	566.4	422.8	189.6	1999.8	0.00	0.00	0	62.13	50.17	0.00	0.00	0.005	0.000	0.000	1810.62	1847.19	1774.06	189.25	2000.62	0	0	0	15.92	30.00	30.00
62.66	18983	-146.63	-1.44	-80.00	1843.0	1909.6	1776.4	189.1	1999.9	3.07	-3.44	10	140.15	50.47	8.33	3.54	0.005	0.289	0.149	3898.81	3878.56	3919.06	1250.75	558.38	0	0	0	15.94	15.77	15.85
179.22	3205	-146.63	-1.30	0.00	3899.8	3878.2	3921.3	1250.0	558.1	19.09	-17.26	31	187.52	0.00	0.23	3.41	0.000	0.235	0.069	3900.16	3878.38	3921.94	1284.00	2047.38	0	0	0	30.00	15.85	15.91
369.21	644	-146.63	-1.27	-80.00	3901.2	3879.2	3923.1	1284.2	2048.1	44.66	-12.26	68	377.81	0.00	0.00	3.68	0.000	0.000	0.143	3900.56	3878.88	3922.25	1284.44	557.31	0	0	0	30.00	30.00	15.93
467.00	3205	-146.63	-1.20	0.00	3901.0	3879.2	3922.8	1283.9	557.0	58.26	-14.60	87	475.82	0.00	0.17	3.42	0.000	0.217	0.067	3847.16	3771.69	3922.62	1309.38	2048.69	0	0	0	30.00	15.93	15.99
661.85	260	-146.63	-1.20	80.00	3901.5	3879.9	3923.2	1310.3	2048.9	80.71	-11.07	107	669.66	0.00	0.00	3.53	0.000	0.000	0.137	3901.91	3879.88	3923.94	1310.62	3488.06	0	0	0	30.00	30.00	16.00
708.68	1028	-146.63	-1.20	0.00	3901.6	3879.8	3923.5	1310.0	3488.3	86.52	-12.75	116	716.39	0.00	0.00	3.42	0.000	0.000	0.076	3901.50	3879.94	3923.06	1310.62	2008.75	0	0	0	30.00	30.00	16.03
900.70	0	-146.63	-1.20	0.00	3902.1	3880.5	3923.6	1309.9	2008.2	106.59	-10.51	136	902.56	0.00	0.00	0.00	0.000	0.000	0.000	3901.56	3879.69	3923.44	1310.38	2008.19	0	0	0	30.00	30.00	30.00
1090.70	516	-146.63	-1.20	-80.00	3901.9	3880.1	3923.8	1310.6	2007.9	127.19	-10.75	155	1099.52	0.00	0.00	3.58	0.000	0.000	0.155	3901.72	3880.00	3923.44	1310.56	558.50	0	0	0	30.00	30.00	16.04
1138.55	1028	-146.63	-1.20	0.00	3902.3	3880.3	3924.3	1310.2	557.8	132.99	-12.63	164	1146.15	0.00	0.00	3.40	0.000	0.000	0.067	3902.25	3879.62	3924.88	1310.62	2049.88	0	0	0	30.00	30.00	16.09
1296	end dive: TARGET_DEPTH_EXCEEDED
state	1297	begin apogee
1298.19	10243	0.00	-0.36	0.00	3902.2	3880.4	3924.0	1310.3	1999.4	150.27	-10.79	178	1411.15	99.98	1.38	0.09	1.219	0.158	0.226	3296.88	3356.62	3237.12	1514.81	2052.88	0	0	0	11.87	16.04	15.67
1412	end apogee: CONTROL_FINISHED_OK
state	1412	begin climb
1412.59	10243	146.63	1.44	0.00	3297.3	3358.0	3236.7	1514.2	2052.7	154.27	0.00	188	1539.68	107.78	2.91	0.00	1.166	0.118	0.000	2699.44	2800.00	2598.88	1950.25	2052.25	0	0	0	11.56	15.68	30.00
1723.84	16774	146.63	1.40	80.00	2692.3	2790.7	2593.9	1949.4	2052.2	126.78	11.09	219	1732.81	0.00	0.00	3.61	0.000	0.000	0.138	2693.47	2791.38	2595.56	1950.12	3489.44	0	0	0	30.00	30.00	15.74
1792.05	21639	146.63	1.31	0.00	2692.6	2790.9	2594.3	1949.7	3489.7	117.99	13.33	232	1801.27	0.00	0.35	3.46	0.000	0.208	0.073	2695.06	2793.19	2596.94	1910.56	2000.56	0	0	0	30.00	15.76	15.82
1986.97	8742	173.54	1.34	-80.00	2691.0	2789.5	2592.4	1910.2	2001.0	100.11	8.75	252	2018.14	20.58	0.00	3.62	1.089	0.000	0.154	2586.56	2689.62	2483.50	1909.88	556.75	0	0	0	11.73	30.00	15.79
2056.90	1028	173.54	1.34	0.00	2586.8	2686.3	2487.2	1910.2	556.7	93.04	12.18	264	2068.20	0.00	0.00	3.46	0.000	0.000	0.069	2586.88	2685.38	2488.38	1910.44	2049.62	0	0	0	30.00	30.00	15.85
2252.28	8226	201.42	1.38	0.00	2585.8	2686.4	2485.1	1909.9	2049.7	74.36	8.71	285	2277.73	22.25	0.00	0.00	1.101	0.000	0.000	2480.12	2585.06	2375.19	1910.88	2050.00	0	0	0	11.72	30.00	30.00
2462.55	10663	225.72	1.44	80.00	2473.2	2578.7	2367.7	1910.6	2050.0	55.23	8.87	306	2497.45	21.17	0.29	3.58	1.079	0.073	0.139	2376.12	2484.12	2268.12	1961.25	3489.62	0	0	0	11.76	15.95	15.83
2536.68	1156	225.72	1.40	0.00	2376.6	2483.9	2269.2	1960.9	3489.2	46.96	12.68	320	2545.22	0.00	0.00	3.48	0.000	0.000	0.078	2379.59	2487.31	2271.88	1961.19	1999.81	0	0	0	30.00	30.00	15.88
2728.21	516	225.72	1.40	-80.00	2373.6	2482.9	2264.3	1960.9	1999.4	25.04	10.31	357	2737.03	0.00	0.00	3.58	0.000	0.000	0.152	2369.94	2479.75	2260.12	1961.38	559.38	0	0	0	30.00	30.00	15.91
2771.29	5253	225.72	1.36	0.00	2372.6	2481.8	2263.4	1960.7	559.2	19.82	12.54	365	2780.28	0.00	0.31	3.43	0.000	0.190	0.069	2373.50	2481.94	2265.06	1923.56	2050.31	0	0	0	30.00	15.90	15.96
2964.57	10663	339.36	1.58	80.00	2371.8	2481.9	2261.8	1922.6	2050.4	7.10	4.74	403	3071.52	87.58	0.42	3.61	1.074	0.071	0.138	1912.53	2025.56	1799.50	1993.62	3489.62	0	0	0	11.79	16.01	15.68
3221	end climb: NO_VERTICAL_VELOCITY
state	3221	begin surface