Glider dive log

HoodCanal 19Jun23 * SG252 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 252 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

MISSION 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 20 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 699.10498 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 2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3350 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 60 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 210 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3615 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 0.68861997 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 6.89784 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 -179.55089 SEABIRD_T_J 4.3e-06

MASS 72278 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022626969 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 275 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3885 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 0.68861997 PHONE_SUPPLY 2 SM_CC 699.10498

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.89784 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 3615 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 210 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 252 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 2 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 0.00022626969 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -179.55089 T_NO_W 60

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 3350 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 72278 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 3885 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 20 MISSION 3 ROLL_MIN 275 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 200623,155131,4736.488,-12256.509,1,1.1,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,155436,4736.509,-12256.475,2,1.1,4,15.4 MHEAD_RNG_PITCHd_Wd 192.2,1112,-17.6,-10.000,-21.21,2209,0.137

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.015188,-0.026368,-0.008752,1.062011,-0.056960,-0.006738,-0.038463,0.987792,-236.468765,-1241.938110,-775.440735

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687278620,98.8,0,stop _10V_AH 14.96,0.000

NET xmit part outbox0004.n 934 0 FG_AHR_24Vo 7.152

NET_PING 1687279210,29,336.039001,11.400000,-0.476376 FG_AHR_10Vo 0.721

FREEZE 5.39,14.437,-1.485,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3534.80,276.27,1.165,0,500.6,525.8,475.3,698.97 MEM2 945704,33,100844,68

SM_GC 2.20,0.00,12.07,3.61,0.000,0.051,0.078,496.9,521.1,472.7,196.4,2012.3,0,0,0,30.00,15.59,15.56 DATA_FILE_SIZE 12964,492

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 203765,0

IRIDIUM_FIX 4736.87,-12256.21,200623,144918 SDSIZE 3887104,3868160

TCM_TEMP -86.40 SDFILEDIR 182,21

SC_FREEKB 3872384 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.083, 34.6,1

HUMID 52.51 MAGCAL 1.000000,0.007618,-0.068469,-0.006983,1.070171,-0.022348,0.004559,-0.034667,0.964904,-194.2,-1264.1,-753.7,31,0.0278,0

TEMP 10.66 IMPLIED_C_PITCH 1763,12.96,233,0.0,0.00

INTERNAL_PRESSURE 7.9687 IMPLIED_C_VBD 3267,14.864911,233,0

_24V_AH 14.92,7.401 GPS 200623,165710,4736.279,-12256.584,40,1.4,41,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 803 1368 16398.17 nil 0 0 0.00

Pitch_motor 25 274 104.87 nil 0 0 0.00

Roll_motor 80 319 383.75 nil 0 0 0.00

Iridium 117 150 264.65 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.98 nil 0 0 0.00

Core 2239 5 171.54 SciCon 3235 6 310.80

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1266 0 6.06

Compass 1029 5 76.97

RAFOS 312 40 187.18

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

6.72 16386 -146.63 -1.44 0.00 495.1 517.1 473.1 191.4 2037.8 0.00 0.00 0 50.98 39.82 0.00 0.00 0.005 0.000 0.000 1691.66 1713.75 1669.56 191.44 2038.12 0 0 0 15.93 30.00 30.00

51.51 18727 -146.63 -1.44 80.00 1692.8 1716.2 1669.4 191.2 2037.6 3.09 -4.02 8 140.71 61.10 8.10 3.61 0.005 0.275 0.139 3948.56 3953.44 3943.69 1253.25 3491.75 0 0 0 15.94 15.78 15.86

149.44 3205 -146.63 -1.23 0.00 3950.0 3955.4 3944.7 1253.0 3491.4 11.94 -14.08 25 157.93 0.00 0.34 3.54 0.000 0.206 0.078 3949.78 3955.44 3944.12 1302.69 2010.94 0 0 0 30.00 15.86 15.89

339.99 2437 -146.63 -1.12 80.00 3951.2 3957.1 3945.3 1302.9 2010.9 39.96 -14.64 57 352.67 0.00 0.17 3.73 0.000 0.196 0.137 3950.62 3956.62 3944.62 1329.75 3490.69 0 0 0 30.00 15.84 15.87

461.54 3205 -146.63 -1.01 0.00 3951.7 3958.4 3945.0 1329.7 3491.7 57.93 -15.34 81 470.54 0.00 0.17 3.55 0.000 0.196 0.080 3952.06 3958.94 3945.19 1357.19 2010.56 0 0 0 30.00 15.90 15.92

656.56 388 -146.63 -0.96 80.00 3951.3 3958.5 3944.1 1357.1 2010.6 81.09 -11.69 101 665.35 0.00 0.00 3.70 0.000 0.000 0.139 3951.53 3958.44 3944.62 1357.44 3491.56 0 0 0 30.00 30.00 15.97

744.21 3205 -146.63 -0.89 0.00 3951.8 3958.8 3944.9 1357.8 3491.1 92.54 -13.26 118 753.21 0.00 0.19 3.52 0.000 0.189 0.080 3951.28 3958.75 3943.81 1388.31 2010.88 0 0 0 30.00 15.98 16.00

939.07 260 -146.63 -0.89 80.00 3952.2 3959.2 3945.2 1388.0 2011.0 113.50 -10.56 138 952.02 0.00 0.00 3.71 0.000 0.000 0.140 3952.31 3960.38 3944.25 1387.75 3493.06 0 0 0 30.00 30.00 15.29

1040.88 1156 -146.63 -0.85 0.00 3952.3 3959.8 3944.9 1387.2 3492.6 125.39 -11.84 158 1049.59 0.00 0.00 3.52 0.000 0.000 0.081 3951.50 3958.88 3944.12 1387.94 2010.25 0 0 0 30.00 30.00 16.02

1235.73 260 -146.63 -0.85 80.00 3953.0 3960.9 3945.0 1387.3 2009.6 146.34 -10.67 178 1244.84 0.00 0.00 3.68 0.000 0.000 0.140 3952.75 3960.62 3944.88 1387.38 3489.94 0 0 0 30.00 30.00 16.05

1268 end dive: TARGET_DEPTH_EXCEEDED

state 1268 begin apogee

1276.07 10243 0.00 -0.36 0.00 3952.6 3960.6 3944.7 1388.0 2010.8 150.07 -11.38 184 1403.24 113.21 0.83 0.05 1.368 0.148 0.320 3348.75 3387.00 3310.50 1515.69 2038.19 0 0 0 12.07 16.05 15.62

1404 end apogee: CONTROL_FINISHED_OK

state 1405 begin climb

1404.71 10759 146.63 1.44 -80.00 3348.0 3386.3 3309.7 1515.6 2037.9 157.82 0.00 196 1554.38 119.90 2.87 4.16 1.325 0.118 0.189 2749.56 2798.69 2700.44 1951.06 560.88 0 0 0 11.92 15.65 15.36

1582.61 11431 201.35 1.56 0.00 2746.7 2793.2 2700.2 1952.1 561.0 149.37 7.47 227 1645.64 46.95 0.16 3.62 1.283 0.091 0.076 2526.53 2581.81 2471.25 1989.06 2038.44 0 0 0 11.73 15.57 15.56

1829.57 8614 220.09 1.66 80.00 2522.3 2578.3 2466.3 1989.0 2038.8 127.91 9.13 257 1858.30 16.64 0.00 3.72 1.210 0.000 0.148 2451.25 2508.06 2394.44 1989.50 3490.06 0 0 0 11.83 30.00 15.67

1976.45 3205 220.09 1.72 0.00 2449.0 2505.6 2392.3 1989.2 3490.0 112.90 10.33 286 1985.09 0.00 0.17 3.60 0.000 0.092 0.084 2447.59 2504.31 2390.88 2027.88 2013.06 0 0 0 30.00 15.84 15.80

2172.30 388 220.09 1.78 80.00 2447.8 2505.8 2389.9 2035.0 2013.0 92.43 10.64 306 2181.39 0.00 0.00 3.74 0.000 0.000 0.143 2445.09 2502.81 2387.38 2035.00 3489.12 0 0 0 30.00 30.00 15.85

2250.15 1028 220.09 1.78 0.00 2447.8 2505.2 2390.4 2035.1 3489.0 83.58 11.56 321 2259.21 0.00 0.00 3.57 0.000 0.000 0.082 2445.69 2502.38 2389.00 2034.56 2011.06 0 0 0 30.00 30.00 15.90

2445.46 8614 225.59 1.84 80.00 2447.5 2505.1 2389.9 2034.6 2010.7 64.59 9.74 341 2463.36 7.01 0.00 3.72 0.985 0.000 0.145 2427.91 2485.38 2370.44 2034.38 3490.38 0 0 0 12.12 30.00 15.93

2581.51 1156 225.59 1.88 0.00 2428.6 2485.7 2371.4 2034.6 3490.7 49.99 10.63 368 2589.86 0.00 0.00 3.56 0.000 0.000 0.082 2428.44 2484.94 2371.94 2034.88 2007.38 0 0 0 30.00 30.00 15.99

2774.32 10663 249.47 1.97 80.00 2428.0 2485.2 2370.8 2034.9 2007.8 32.25 8.89 405 2811.09 24.47 0.26 3.73 1.213 0.075 0.141 2330.62 2388.94 2272.31 2092.31 3492.62 0 0 0 12.06 16.01 15.87

2874.83 1028 249.47 1.97 0.00 2330.2 2388.1 2272.3 2091.8 3492.4 20.77 12.16 424 2883.68 0.00 0.00 3.55 0.000 0.000 0.079 2331.16 2390.31 2272.00 2091.81 2010.38 0 0 0 30.00 30.00 15.92

3067.62 10663 362.38 2.20 80.00 2327.8 2387.6 2268.0 2092.0 2011.1 5.27 4.77 462 3185.59 97.75 0.25 3.78 1.218 0.079 0.139 1870.72 1945.75 1795.69 2145.50 3488.81 0 0 0 11.87 16.02 15.65

3229 end climb: NO_VERTICAL_VELOCITY

state 3230 begin surface

ID	252	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	ALTIM_PULSE	3
MISSION	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	20	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	699.10498	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	2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3350	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	60	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	210	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3615	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	0.68861997	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	6.89784	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	-179.55089	SEABIRD_T_J	4.3e-06
MASS	72278	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022626969	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	275	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3885	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	200623,155131,4736.488,-12256.509,1,1.1,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,155436,4736.509,-12256.475,2,1.1,4,15.4	MHEAD_RNG_PITCHd_Wd	192.2,1112,-17.6,-10.000,-21.21,2209,0.137
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.015188,-0.026368,-0.008752,1.062011,-0.056960,-0.006738,-0.038463,0.987792,-236.468765,-1241.938110,-775.440735
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687278620,98.8,0,stop	_10V_AH	14.96,0.000
NET	xmit part outbox0004.n 934 0	FG_AHR_24Vo	7.152
NET_PING	1687279210,29,336.039001,11.400000,-0.476376	FG_AHR_10Vo	0.721
FREEZE	5.39,14.437,-1.485,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3534.80,276.27,1.165,0,500.6,525.8,475.3,698.97	MEM2	945704,33,100844,68
SM_GC	2.20,0.00,12.07,3.61,0.000,0.051,0.078,496.9,521.1,472.7,196.4,2012.3,0,0,0,30.00,15.59,15.56	DATA_FILE_SIZE	12964,492
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	203765,0
IRIDIUM_FIX	4736.87,-12256.21,200623,144918	SDSIZE	3887104,3868160
TCM_TEMP	-86.40	SDFILEDIR	182,21
SC_FREEKB	3872384	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.083, 34.6,1
HUMID	52.51	MAGCAL	1.000000,0.007618,-0.068469,-0.006983,1.070171,-0.022348,0.004559,-0.034667,0.964904,-194.2,-1264.1,-753.7,31,0.0278,0
TEMP	10.66	IMPLIED_C_PITCH	1763,12.96,233,0.0,0.00
INTERNAL_PRESSURE	7.9687	IMPLIED_C_VBD	3267,14.864911,233,0
_24V_AH	14.92,7.401	GPS	200623,165710,4736.279,-12256.584,40,1.4,41,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	803	1368	16398.17	nil	0	0	0.00
Pitch_motor	25	274	104.87	nil	0	0	0.00
Roll_motor	80	319	383.75	nil	0	0	0.00
Iridium	117	150	264.65	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.98	nil	0	0	0.00
Core	2239	5	171.54	SciCon	3235	6	310.80
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1266	0	6.06
Compass	1029	5	76.97
RAFOS	312	40	187.18
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
6.72	16386	-146.63	-1.44	0.00	495.1	517.1	473.1	191.4	2037.8	0.00	0.00	0	50.98	39.82	0.00	0.00	0.005	0.000	0.000	1691.66	1713.75	1669.56	191.44	2038.12	0	0	0	15.93	30.00	30.00
51.51	18727	-146.63	-1.44	80.00	1692.8	1716.2	1669.4	191.2	2037.6	3.09	-4.02	8	140.71	61.10	8.10	3.61	0.005	0.275	0.139	3948.56	3953.44	3943.69	1253.25	3491.75	0	0	0	15.94	15.78	15.86
149.44	3205	-146.63	-1.23	0.00	3950.0	3955.4	3944.7	1253.0	3491.4	11.94	-14.08	25	157.93	0.00	0.34	3.54	0.000	0.206	0.078	3949.78	3955.44	3944.12	1302.69	2010.94	0	0	0	30.00	15.86	15.89
339.99	2437	-146.63	-1.12	80.00	3951.2	3957.1	3945.3	1302.9	2010.9	39.96	-14.64	57	352.67	0.00	0.17	3.73	0.000	0.196	0.137	3950.62	3956.62	3944.62	1329.75	3490.69	0	0	0	30.00	15.84	15.87
461.54	3205	-146.63	-1.01	0.00	3951.7	3958.4	3945.0	1329.7	3491.7	57.93	-15.34	81	470.54	0.00	0.17	3.55	0.000	0.196	0.080	3952.06	3958.94	3945.19	1357.19	2010.56	0	0	0	30.00	15.90	15.92
656.56	388	-146.63	-0.96	80.00	3951.3	3958.5	3944.1	1357.1	2010.6	81.09	-11.69	101	665.35	0.00	0.00	3.70	0.000	0.000	0.139	3951.53	3958.44	3944.62	1357.44	3491.56	0	0	0	30.00	30.00	15.97
744.21	3205	-146.63	-0.89	0.00	3951.8	3958.8	3944.9	1357.8	3491.1	92.54	-13.26	118	753.21	0.00	0.19	3.52	0.000	0.189	0.080	3951.28	3958.75	3943.81	1388.31	2010.88	0	0	0	30.00	15.98	16.00
939.07	260	-146.63	-0.89	80.00	3952.2	3959.2	3945.2	1388.0	2011.0	113.50	-10.56	138	952.02	0.00	0.00	3.71	0.000	0.000	0.140	3952.31	3960.38	3944.25	1387.75	3493.06	0	0	0	30.00	30.00	15.29
1040.88	1156	-146.63	-0.85	0.00	3952.3	3959.8	3944.9	1387.2	3492.6	125.39	-11.84	158	1049.59	0.00	0.00	3.52	0.000	0.000	0.081	3951.50	3958.88	3944.12	1387.94	2010.25	0	0	0	30.00	30.00	16.02
1235.73	260	-146.63	-0.85	80.00	3953.0	3960.9	3945.0	1387.3	2009.6	146.34	-10.67	178	1244.84	0.00	0.00	3.68	0.000	0.000	0.140	3952.75	3960.62	3944.88	1387.38	3489.94	0	0	0	30.00	30.00	16.05
1268	end dive: TARGET_DEPTH_EXCEEDED
state	1268	begin apogee
1276.07	10243	0.00	-0.36	0.00	3952.6	3960.6	3944.7	1388.0	2010.8	150.07	-11.38	184	1403.24	113.21	0.83	0.05	1.368	0.148	0.320	3348.75	3387.00	3310.50	1515.69	2038.19	0	0	0	12.07	16.05	15.62
1404	end apogee: CONTROL_FINISHED_OK
state	1405	begin climb
1404.71	10759	146.63	1.44	-80.00	3348.0	3386.3	3309.7	1515.6	2037.9	157.82	0.00	196	1554.38	119.90	2.87	4.16	1.325	0.118	0.189	2749.56	2798.69	2700.44	1951.06	560.88	0	0	0	11.92	15.65	15.36
1582.61	11431	201.35	1.56	0.00	2746.7	2793.2	2700.2	1952.1	561.0	149.37	7.47	227	1645.64	46.95	0.16	3.62	1.283	0.091	0.076	2526.53	2581.81	2471.25	1989.06	2038.44	0	0	0	11.73	15.57	15.56
1829.57	8614	220.09	1.66	80.00	2522.3	2578.3	2466.3	1989.0	2038.8	127.91	9.13	257	1858.30	16.64	0.00	3.72	1.210	0.000	0.148	2451.25	2508.06	2394.44	1989.50	3490.06	0	0	0	11.83	30.00	15.67
1976.45	3205	220.09	1.72	0.00	2449.0	2505.6	2392.3	1989.2	3490.0	112.90	10.33	286	1985.09	0.00	0.17	3.60	0.000	0.092	0.084	2447.59	2504.31	2390.88	2027.88	2013.06	0	0	0	30.00	15.84	15.80
2172.30	388	220.09	1.78	80.00	2447.8	2505.8	2389.9	2035.0	2013.0	92.43	10.64	306	2181.39	0.00	0.00	3.74	0.000	0.000	0.143	2445.09	2502.81	2387.38	2035.00	3489.12	0	0	0	30.00	30.00	15.85
2250.15	1028	220.09	1.78	0.00	2447.8	2505.2	2390.4	2035.1	3489.0	83.58	11.56	321	2259.21	0.00	0.00	3.57	0.000	0.000	0.082	2445.69	2502.38	2389.00	2034.56	2011.06	0	0	0	30.00	30.00	15.90
2445.46	8614	225.59	1.84	80.00	2447.5	2505.1	2389.9	2034.6	2010.7	64.59	9.74	341	2463.36	7.01	0.00	3.72	0.985	0.000	0.145	2427.91	2485.38	2370.44	2034.38	3490.38	0	0	0	12.12	30.00	15.93
2581.51	1156	225.59	1.88	0.00	2428.6	2485.7	2371.4	2034.6	3490.7	49.99	10.63	368	2589.86	0.00	0.00	3.56	0.000	0.000	0.082	2428.44	2484.94	2371.94	2034.88	2007.38	0	0	0	30.00	30.00	15.99
2774.32	10663	249.47	1.97	80.00	2428.0	2485.2	2370.8	2034.9	2007.8	32.25	8.89	405	2811.09	24.47	0.26	3.73	1.213	0.075	0.141	2330.62	2388.94	2272.31	2092.31	3492.62	0	0	0	12.06	16.01	15.87
2874.83	1028	249.47	1.97	0.00	2330.2	2388.1	2272.3	2091.8	3492.4	20.77	12.16	424	2883.68	0.00	0.00	3.55	0.000	0.000	0.079	2331.16	2390.31	2272.00	2091.81	2010.38	0	0	0	30.00	30.00	15.92
3067.62	10663	362.38	2.20	80.00	2327.8	2387.6	2268.0	2092.0	2011.1	5.27	4.77	462	3185.59	97.75	0.25	3.78	1.218	0.079	0.139	1870.72	1945.75	1795.69	2145.50	3488.81	0	0	0	11.87	16.02	15.65
3229	end climb: NO_VERTICAL_VELOCITY
state	3230	begin surface