Glider dive log

HoodCanal 19Jun23 * SG253 * Dive index * Mission links * Dive 12 * 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 12 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 0.76153409 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 5.1702766 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 0.76153409 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 5.1702766 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 12 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 200623,043915,4736.593,-12256.444,3,0.7,6,15.4 TGT_RADIUS 300.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,044643,4736.610,-12256.421,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 191.4,1310,-17.6,-10.000,-21.21,2209,0.132

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,-0.001627,-0.023006,0.012487,1.064874,0.086938,0.023498,0.031618,1.070633,-815.191162,-1919.098877,522.196289

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687239014,57.1,0,stop FG_AHR_24Vo 5.377

FREEZE 6.29,14.115,-1.496,0,1,0 FG_AHR_10Vo 0.782

SURF forcing MEM0 60020,1,0,0

SM_CCo 3654.49,252.27,1.032,0,500.7,572.6,428.8,686.66 MEM1 65508,1,0,0

SM_GC 1.95,0.00,11.65,3.54,0.000,0.083,0.077,497.2,566.2,428.2,192.3,2002.0,0,0,0,30.00,15.58,15.58 MEM2 945736,33,100812,68

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12903,488

IRIDIUM_FIX 4736.99,-12254.47,200623,044027 CAP_FILE_SIZE 185044,0

TCM_TEMP 15.72 SDSIZE 3887104,3870784

SC_FREEKB 3874816 SDFILEDIR 119,13

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 44.38 CURRENT 0.035, 49.0,1

TEMP 10.65 MAGCAL 1.000000,0.003943,-0.021467,0.012815,1.064171,0.077518,0.006321,0.040989,1.101012,-836.0,-1875.8,383.7,29,0.0091,0

INTERNAL_PRESSURE 7.93507 IMPLIED_C_PITCH 1622,13.91,242,0.0,0.00

_24V_AH 14.97,4.923 IMPLIED_C_VBD 3127,26.910839,242,0

_10V_AH 15.00,0.000 GPS 200623,055101,4736.276,-12256.598,1,0.9,28,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 716 1206 12938.83 nil 0 0 0.00

Pitch_motor 25 303 116.59 nil 0 0 0.00

Roll_motor 70 226 240.27 nil 0 0 0.00

Iridium 259 158 614.53 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 2422 5 186.06 SciCon 3381 6 348.46

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1492 0 7.16

Compass 1216 5 91.26

RAFOS 316 40 189.67

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

7.14 16386 -146.63 -1.44 0.00 494.2 561.8 426.6 191.8 2052.8 0.00 0.00 0 67.89 55.17 0.00 0.00 0.005 0.000 0.000 1955.16 2030.44 1879.88 192.31 2053.50 0 0 0 15.96 30.00 30.00

68.41 18727 -146.63 -1.44 80.00 1955.9 2029.8 1882.1 192.0 2053.5 3.13 -3.10 11 145.76 48.04 8.47 3.49 0.005 0.304 0.133 3897.34 3878.88 3915.81 1251.50 3490.12 0 0 0 15.99 15.82 15.91

189.83 3205 -146.63 -1.30 0.00 3898.2 3878.9 3917.6 1251.4 3490.2 17.49 -15.74 33 198.12 0.00 0.25 3.42 0.000 0.233 0.077 3897.62 3878.44 3916.81 1286.69 2010.44 0 0 0 30.00 15.88 15.95

380.69 128 -146.63 -1.25 0.00 3899.4 3879.6 3919.1 1286.4 2010.5 40.47 -11.04 70 384.62 0.00 0.00 0.00 0.000 0.000 0.000 3899.66 3880.00 3919.31 1287.00 2010.38 0 0 0 30.00 30.00 30.00

570.74 644 -146.63 -1.22 -80.00 3899.8 3879.5 3920.0 1286.4 2010.2 62.17 -12.10 98 579.38 0.00 0.00 3.58 0.000 0.000 0.153 3898.81 3878.75 3918.88 1286.50 559.44 0 0 0 30.00 30.00 15.98

632.78 3205 -146.63 -1.15 0.00 3900.1 3879.7 3920.5 1286.4 559.4 71.08 -14.52 110 641.11 0.00 0.25 3.40 0.000 0.203 0.067 3899.84 3879.75 3919.94 1323.44 2050.50 0 0 0 30.00 15.97 16.04

821.81 260 -146.63 -1.15 80.00 3900.1 3880.1 3920.0 1323.2 2049.8 91.63 -10.13 127 829.63 0.00 0.00 3.53 0.000 0.000 0.137 3899.91 3879.06 3920.75 1323.38 3489.38 0 0 0 30.00 30.00 16.01

858.64 1028 -146.63 -1.15 0.00 3900.1 3879.6 3920.6 1323.6 3490.1 95.68 -10.96 134 866.38 0.00 0.00 3.42 0.000 0.000 0.075 3900.62 3880.56 3920.69 1323.62 2007.69 0 0 0 30.00 30.00 16.03

1053.93 676 -146.63 -1.18 -80.00 3900.4 3880.4 3920.4 1323.3 2006.9 114.91 -9.71 154 1062.47 0.00 0.00 3.58 0.000 0.000 0.153 3900.22 3880.06 3920.38 1323.50 558.19 0 0 0 30.00 30.00 16.01

1115.70 1028 -146.63 -1.18 0.00 3900.7 3880.3 3921.0 1322.9 558.0 121.88 -11.38 166 1123.94 0.00 0.00 3.40 0.000 0.000 0.067 3900.72 3880.06 3921.38 1323.69 2050.69 0 0 0 30.00 30.00 16.07

1311.79 160 -146.63 -1.21 0.00 3900.6 3880.3 3920.9 1323.2 2050.9 139.85 -8.88 186 1313.65 0.00 0.00 0.00 0.000 0.000 0.000 3900.41 3880.69 3920.12 1323.19 2050.38 0 0 0 30.00 30.00 30.00

1431 end dive: TARGET_DEPTH_EXCEEDED

state 1431 begin apogee

1433.29 10243 0.00 -0.36 0.00 3900.6 3880.5 3920.8 1323.2 1999.3 150.88 -9.49 198 1552.22 99.79 1.29 0.09 1.206 0.156 0.227 3297.59 3361.62 3233.56 1515.75 2054.44 0 0 0 11.66 16.06 15.68

1553 end apogee: CONTROL_FINISHED_OK

state 1553 begin climb

1553.66 10503 146.63 1.44 80.00 3296.8 3361.6 3231.9 1515.7 2054.1 154.67 0.00 209 1685.31 105.14 2.91 3.65 1.187 0.114 0.138 2699.31 2808.25 2590.38 1951.62 3488.12 0 0 0 11.86 15.70 15.47

1718.76 1156 146.63 1.36 0.00 2698.3 2804.3 2592.3 1951.1 3488.1 143.16 10.55 238 1727.10 0.00 0.00 3.53 0.000 0.000 0.072 2697.91 2804.69 2591.12 1951.62 2000.88 0 0 0 30.00 30.00 15.62

1914.58 20871 146.63 1.31 80.00 2693.6 2797.9 2589.4 1951.2 2000.8 119.89 12.23 258 1924.10 0.00 0.34 3.71 0.000 0.194 0.134 2671.66 2755.81 2587.50 1908.75 3491.00 0 0 0 30.00 15.76 15.77

1953.33 17542 146.63 1.28 0.00 2693.8 2797.8 2589.9 1912.4 3490.6 115.22 12.05 265 1962.08 0.00 0.00 3.49 0.000 0.000 0.076 2687.44 2787.25 2587.62 1909.12 2001.44 0 0 0 30.00 30.00 15.83

2148.35 8742 168.21 1.31 -80.00 2692.1 2796.2 2588.0 1911.9 2001.7 96.83 9.00 285 2176.99 16.79 0.00 3.62 1.063 0.000 0.154 2611.19 2717.25 2505.12 1912.00 559.69 0 0 0 11.82 30.00 15.81

2201.03 1028 168.21 1.31 0.00 2609.3 2713.0 2505.6 1911.9 559.3 91.53 10.53 295 2208.95 0.00 0.00 3.43 0.000 0.000 0.069 2611.12 2716.00 2506.25 1912.31 2049.44 0 0 0 30.00 30.00 15.87

2396.15 8486 204.88 1.35 80.00 2608.2 2712.3 2504.2 1911.5 2049.7 74.15 8.30 315 2436.06 28.76 0.00 3.59 1.095 0.000 0.140 2464.69 2572.69 2356.69 1911.81 3493.19 0 0 0 11.74 30.00 15.81

2484.32 1028 204.88 1.35 0.00 2461.8 2569.9 2353.6 1912.0 3493.1 65.71 10.36 332 2492.74 0.00 0.00 3.48 0.000 0.000 0.073 2461.09 2568.56 2353.62 1912.00 2001.75 0 0 0 30.00 30.00 15.87

2675.82 10403 232.92 1.42 0.00 2458.6 2568.0 2349.2 1911.5 2001.4 48.55 8.70 353 2707.18 24.20 0.25 0.00 1.061 0.084 0.000 2347.59 2462.00 2233.19 1953.31 2001.62 0 0 0 11.72 15.95 30.00

2890.62 516 232.92 1.42 -80.00 2344.8 2459.4 2230.2 1952.9 2001.3 25.24 10.72 395 2899.53 0.00 0.00 3.61 0.000 0.000 0.154 2344.06 2457.81 2230.31 1952.94 559.38 0 0 0 30.00 30.00 15.89

2928.59 1028 232.92 1.42 0.00 2343.9 2458.8 2229.1 1952.9 559.6 20.58 12.32 402 2937.29 0.00 0.00 3.44 0.000 0.000 0.070 2341.34 2454.81 2227.88 1953.31 2049.69 0 0 0 30.00 30.00 15.94

3121.56 10663 344.73 1.61 80.00 2343.3 2458.3 2228.4 1953.6 2049.5 6.69 4.82 440 3227.79 86.43 0.22 3.61 1.059 0.092 0.137 1893.69 2010.44 1776.94 2000.56 3489.25 0 0 0 11.78 15.99 15.67

3375 end climb: NO_VERTICAL_VELOCITY

state 3376 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	12	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	0.76153409	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	5.1702766	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	200623,043915,4736.593,-12256.444,3,0.7,6,15.4	TGT_RADIUS	300.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,044643,4736.610,-12256.421,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	191.4,1310,-17.6,-10.000,-21.21,2209,0.132
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,-0.001627,-0.023006,0.012487,1.064874,0.086938,0.023498,0.031618,1.070633,-815.191162,-1919.098877,522.196289
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687239014,57.1,0,stop	FG_AHR_24Vo	5.377
FREEZE	6.29,14.115,-1.496,0,1,0	FG_AHR_10Vo	0.782
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3654.49,252.27,1.032,0,500.7,572.6,428.8,686.66	MEM1	65508,1,0,0
SM_GC	1.95,0.00,11.65,3.54,0.000,0.083,0.077,497.2,566.2,428.2,192.3,2002.0,0,0,0,30.00,15.58,15.58	MEM2	945736,33,100812,68
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12903,488
IRIDIUM_FIX	4736.99,-12254.47,200623,044027	CAP_FILE_SIZE	185044,0
TCM_TEMP	15.72	SDSIZE	3887104,3870784
SC_FREEKB	3874816	SDFILEDIR	119,13
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	44.38	CURRENT	0.035, 49.0,1
TEMP	10.65	MAGCAL	1.000000,0.003943,-0.021467,0.012815,1.064171,0.077518,0.006321,0.040989,1.101012,-836.0,-1875.8,383.7,29,0.0091,0
INTERNAL_PRESSURE	7.93507	IMPLIED_C_PITCH	1622,13.91,242,0.0,0.00
_24V_AH	14.97,4.923	IMPLIED_C_VBD	3127,26.910839,242,0
_10V_AH	15.00,0.000	GPS	200623,055101,4736.276,-12256.598,1,0.9,28,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	716	1206	12938.83	nil	0	0	0.00
Pitch_motor	25	303	116.59	nil	0	0	0.00
Roll_motor	70	226	240.27	nil	0	0	0.00
Iridium	259	158	614.53	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	2422	5	186.06	SciCon	3381	6	348.46
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1492	0	7.16
Compass	1216	5	91.26
RAFOS	316	40	189.67
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
7.14	16386	-146.63	-1.44	0.00	494.2	561.8	426.6	191.8	2052.8	0.00	0.00	0	67.89	55.17	0.00	0.00	0.005	0.000	0.000	1955.16	2030.44	1879.88	192.31	2053.50	0	0	0	15.96	30.00	30.00
68.41	18727	-146.63	-1.44	80.00	1955.9	2029.8	1882.1	192.0	2053.5	3.13	-3.10	11	145.76	48.04	8.47	3.49	0.005	0.304	0.133	3897.34	3878.88	3915.81	1251.50	3490.12	0	0	0	15.99	15.82	15.91
189.83	3205	-146.63	-1.30	0.00	3898.2	3878.9	3917.6	1251.4	3490.2	17.49	-15.74	33	198.12	0.00	0.25	3.42	0.000	0.233	0.077	3897.62	3878.44	3916.81	1286.69	2010.44	0	0	0	30.00	15.88	15.95
380.69	128	-146.63	-1.25	0.00	3899.4	3879.6	3919.1	1286.4	2010.5	40.47	-11.04	70	384.62	0.00	0.00	0.00	0.000	0.000	0.000	3899.66	3880.00	3919.31	1287.00	2010.38	0	0	0	30.00	30.00	30.00
570.74	644	-146.63	-1.22	-80.00	3899.8	3879.5	3920.0	1286.4	2010.2	62.17	-12.10	98	579.38	0.00	0.00	3.58	0.000	0.000	0.153	3898.81	3878.75	3918.88	1286.50	559.44	0	0	0	30.00	30.00	15.98
632.78	3205	-146.63	-1.15	0.00	3900.1	3879.7	3920.5	1286.4	559.4	71.08	-14.52	110	641.11	0.00	0.25	3.40	0.000	0.203	0.067	3899.84	3879.75	3919.94	1323.44	2050.50	0	0	0	30.00	15.97	16.04
821.81	260	-146.63	-1.15	80.00	3900.1	3880.1	3920.0	1323.2	2049.8	91.63	-10.13	127	829.63	0.00	0.00	3.53	0.000	0.000	0.137	3899.91	3879.06	3920.75	1323.38	3489.38	0	0	0	30.00	30.00	16.01
858.64	1028	-146.63	-1.15	0.00	3900.1	3879.6	3920.6	1323.6	3490.1	95.68	-10.96	134	866.38	0.00	0.00	3.42	0.000	0.000	0.075	3900.62	3880.56	3920.69	1323.62	2007.69	0	0	0	30.00	30.00	16.03
1053.93	676	-146.63	-1.18	-80.00	3900.4	3880.4	3920.4	1323.3	2006.9	114.91	-9.71	154	1062.47	0.00	0.00	3.58	0.000	0.000	0.153	3900.22	3880.06	3920.38	1323.50	558.19	0	0	0	30.00	30.00	16.01
1115.70	1028	-146.63	-1.18	0.00	3900.7	3880.3	3921.0	1322.9	558.0	121.88	-11.38	166	1123.94	0.00	0.00	3.40	0.000	0.000	0.067	3900.72	3880.06	3921.38	1323.69	2050.69	0	0	0	30.00	30.00	16.07
1311.79	160	-146.63	-1.21	0.00	3900.6	3880.3	3920.9	1323.2	2050.9	139.85	-8.88	186	1313.65	0.00	0.00	0.00	0.000	0.000	0.000	3900.41	3880.69	3920.12	1323.19	2050.38	0	0	0	30.00	30.00	30.00
1431	end dive: TARGET_DEPTH_EXCEEDED
state	1431	begin apogee
1433.29	10243	0.00	-0.36	0.00	3900.6	3880.5	3920.8	1323.2	1999.3	150.88	-9.49	198	1552.22	99.79	1.29	0.09	1.206	0.156	0.227	3297.59	3361.62	3233.56	1515.75	2054.44	0	0	0	11.66	16.06	15.68
1553	end apogee: CONTROL_FINISHED_OK
state	1553	begin climb
1553.66	10503	146.63	1.44	80.00	3296.8	3361.6	3231.9	1515.7	2054.1	154.67	0.00	209	1685.31	105.14	2.91	3.65	1.187	0.114	0.138	2699.31	2808.25	2590.38	1951.62	3488.12	0	0	0	11.86	15.70	15.47
1718.76	1156	146.63	1.36	0.00	2698.3	2804.3	2592.3	1951.1	3488.1	143.16	10.55	238	1727.10	0.00	0.00	3.53	0.000	0.000	0.072	2697.91	2804.69	2591.12	1951.62	2000.88	0	0	0	30.00	30.00	15.62
1914.58	20871	146.63	1.31	80.00	2693.6	2797.9	2589.4	1951.2	2000.8	119.89	12.23	258	1924.10	0.00	0.34	3.71	0.000	0.194	0.134	2671.66	2755.81	2587.50	1908.75	3491.00	0	0	0	30.00	15.76	15.77
1953.33	17542	146.63	1.28	0.00	2693.8	2797.8	2589.9	1912.4	3490.6	115.22	12.05	265	1962.08	0.00	0.00	3.49	0.000	0.000	0.076	2687.44	2787.25	2587.62	1909.12	2001.44	0	0	0	30.00	30.00	15.83
2148.35	8742	168.21	1.31	-80.00	2692.1	2796.2	2588.0	1911.9	2001.7	96.83	9.00	285	2176.99	16.79	0.00	3.62	1.063	0.000	0.154	2611.19	2717.25	2505.12	1912.00	559.69	0	0	0	11.82	30.00	15.81
2201.03	1028	168.21	1.31	0.00	2609.3	2713.0	2505.6	1911.9	559.3	91.53	10.53	295	2208.95	0.00	0.00	3.43	0.000	0.000	0.069	2611.12	2716.00	2506.25	1912.31	2049.44	0	0	0	30.00	30.00	15.87
2396.15	8486	204.88	1.35	80.00	2608.2	2712.3	2504.2	1911.5	2049.7	74.15	8.30	315	2436.06	28.76	0.00	3.59	1.095	0.000	0.140	2464.69	2572.69	2356.69	1911.81	3493.19	0	0	0	11.74	30.00	15.81
2484.32	1028	204.88	1.35	0.00	2461.8	2569.9	2353.6	1912.0	3493.1	65.71	10.36	332	2492.74	0.00	0.00	3.48	0.000	0.000	0.073	2461.09	2568.56	2353.62	1912.00	2001.75	0	0	0	30.00	30.00	15.87
2675.82	10403	232.92	1.42	0.00	2458.6	2568.0	2349.2	1911.5	2001.4	48.55	8.70	353	2707.18	24.20	0.25	0.00	1.061	0.084	0.000	2347.59	2462.00	2233.19	1953.31	2001.62	0	0	0	11.72	15.95	30.00
2890.62	516	232.92	1.42	-80.00	2344.8	2459.4	2230.2	1952.9	2001.3	25.24	10.72	395	2899.53	0.00	0.00	3.61	0.000	0.000	0.154	2344.06	2457.81	2230.31	1952.94	559.38	0	0	0	30.00	30.00	15.89
2928.59	1028	232.92	1.42	0.00	2343.9	2458.8	2229.1	1952.9	559.6	20.58	12.32	402	2937.29	0.00	0.00	3.44	0.000	0.000	0.070	2341.34	2454.81	2227.88	1953.31	2049.69	0	0	0	30.00	30.00	15.94
3121.56	10663	344.73	1.61	80.00	2343.3	2458.3	2228.4	1953.6	2049.5	6.69	4.82	440	3227.79	86.43	0.22	3.61	1.059	0.092	0.137	1893.69	2010.44	1776.94	2000.56	3489.25	0	0	0	11.78	15.99	15.67
3375	end climb: NO_VERTICAL_VELOCITY
state	3376	begin surface