Glider dive log

HoodCanal 19Jun23 * SG253 * Dive index * Mission links * Dive 21 * 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 21 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 0.96050757 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 7.0264163 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 0.96050757 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.0264163 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 21 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 200623,134339,4736.592,-12256.517,6,1.0,26,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,134649,4736.607,-12256.487,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 189.8,1278,-17.6,-10.000,-21.21,2209,0.163

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,0.002241,-0.061658,0.018716,1.048444,0.064963,0.023296,0.048226,1.050715,-555.339233,-1822.087158,622.209961

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0002.n 948 0 _10V_AH 15.00,0.000

NET_PING 1687271712,29,440.325012,11.700000,-0.612890 FG_AHR_24Vo 7.231

NAV 1687271415,56.6,0,stop FG_AHR_10Vo 0.992

FREEZE 5.28,13.951,-1.525,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3609.66,258.67,1.014,0,500.6,577.9,423.2,686.70 MEM2 945680,34,100848,68

SM_GC 2.16,0.00,11.92,0.09,0.000,0.073,0.157,497.0,571.3,422.8,189.4,2053.2,0,0,0,30.00,15.57,15.57 DATA_FILE_SIZE 12916,473

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 168810,0

IRIDIUM_FIX 4735.53,-12254.47,200623,125100 SDSIZE 3887104,3868032

TCM_TEMP 15.72 SDFILEDIR 187,22

SC_FREEKB 3871936 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 0.062, 37.2,1

HUMID 44.08 MAGCAL 1.000000,-0.042017,0.063690,0.045049,1.138043,0.088176,-0.115324,0.052527,1.459267,-1296.5,-1759.9,-1167.5,32,0.0460,0

TEMP 10.63 IMPLIED_C_PITCH 1615,13.89,241,0.0,0.00

INTERNAL_PRESSURE 7.93418 IMPLIED_C_VBD 3099,24.859463,241,0

_24V_AH 14.97,6.763 GPS 200623,145005,4736.318,-12256.592,7,1.4,10,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 726 1192 12973.56 nil 0 0 0.00

Pitch_motor 26 294 116.90 nil 0 0 0.00

Roll_motor 43 220 141.97 nil 0 0 0.00

Iridium 120 155 280.69 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.00 nil 0 0 0.00

Core 2317 5 177.97 SciCon 3330 6 336.86

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1290 0 6.20

Compass 1187 5 89.09

RAFOS 306 40 184.14

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

6.86 16386 -146.63 -1.44 0.00 493.1 563.5 422.7 189.6 1999.6 0.00 0.00 0 62.20 50.17 0.00 0.00 0.005 0.000 0.000 1847.28 1908.56 1786.00 189.31 1999.62 0 0 0 15.84 30.00 30.00

62.73 18727 -146.63 -1.44 80.00 1865.4 1943.3 1787.5 189.5 1999.5 3.26 -3.49 10 150.65 57.42 8.59 3.68 0.005 0.295 0.130 3899.03 3876.81 3921.25 1251.44 3491.38 0 0 0 15.90 15.74 15.84

179.72 3205 -146.63 -1.30 0.00 3899.8 3877.9 3921.6 1251.7 3491.0 13.73 -11.85 31 188.02 0.00 0.23 3.40 0.000 0.227 0.072 3899.22 3877.31 3921.12 1284.25 2005.25 0 0 0 30.00 15.81 15.89

372.05 128 -146.63 -1.26 0.00 3900.4 3879.1 3921.7 1284.4 2005.8 35.83 -11.56 69 376.04 0.00 0.00 0.00 0.000 0.000 0.000 3900.41 3879.38 3921.44 1284.44 2006.19 0 0 0 30.00 30.00 30.00

563.46 516 -146.63 -1.26 -80.00 3900.7 3879.3 3922.0 1284.8 2005.3 58.52 -12.09 99 571.28 0.00 0.00 3.53 0.000 0.000 0.144 3900.31 3878.62 3922.00 1284.88 558.69 0 0 0 30.00 30.00 15.92

624.68 3205 -146.63 -1.20 0.00 3901.0 3879.8 3922.2 1284.7 558.6 67.07 -14.42 111 633.03 0.00 0.17 3.40 0.000 0.217 0.064 3900.81 3879.50 3922.12 1310.12 2050.56 0 0 0 30.00 15.91 15.98

814.55 260 -146.63 -1.20 80.00 3901.2 3880.1 3922.2 1310.1 2050.1 87.31 -10.54 129 822.37 0.00 0.00 3.53 0.000 0.000 0.134 3901.50 3880.06 3922.94 1310.00 3491.12 0 0 0 30.00 30.00 15.96

851.38 1028 -146.63 -1.20 0.00 3901.0 3880.1 3921.9 1309.7 3490.9 91.73 -12.15 136 859.10 0.00 0.00 3.41 0.000 0.000 0.072 3900.47 3879.38 3921.56 1310.19 2003.06 0 0 0 30.00 30.00 15.99

1046.41 0 -146.63 -1.20 0.00 3901.2 3880.1 3922.2 1309.9 2002.7 112.55 -10.17 156 1048.27 0.00 0.00 0.00 0.000 0.000 0.000 3900.56 3879.75 3921.38 1310.12 2002.44 0 0 0 30.00 30.00 30.00

1236.43 0 -146.63 -1.20 0.00 3901.5 3880.3 3922.6 1310.0 2002.6 132.35 -10.50 175 1238.29 0.00 0.00 0.00 0.000 0.000 0.000 3900.62 3879.81 3921.44 1310.44 2002.00 0 0 0 30.00 30.00 30.00

1406 end dive: TARGET_DEPTH_EXCEEDED

state 1406 begin apogee

1408.18 10243 0.00 -0.36 0.00 3901.4 3880.0 3922.8 1310.1 2054.9 150.66 -11.14 192 1523.26 101.22 1.41 0.10 1.192 0.158 0.220 3296.72 3361.88 3231.56 1514.88 1993.44 0 0 0 11.90 16.01 15.65

1524 end apogee: CONTROL_FINISHED_OK

state 1525 begin climb

1524.73 10503 146.63 1.44 80.00 3297.1 3362.0 3232.2 1514.4 1992.9 155.00 0.00 202 1656.33 106.27 2.96 3.82 1.164 0.118 0.134 2698.66 2811.25 2586.06 1951.38 3490.06 0 0 0 11.63 15.67 15.46

1719.32 1028 146.63 1.44 0.00 2696.6 2805.6 2587.6 1951.1 3490.7 141.02 11.97 236 1732.49 0.00 0.00 3.53 0.000 0.000 0.075 2699.50 2808.38 2590.62 1951.44 1999.81 0 0 0 30.00 30.00 15.60

1919.53 16514 146.63 1.39 0.00 2692.2 2799.8 2584.7 1951.5 1999.6 118.72 11.11 257 1921.43 0.00 0.00 0.00 0.000 0.000 0.000 2689.81 2798.50 2581.12 1951.81 1999.56 0 0 0 30.00 30.00 30.00

2109.56 16774 146.63 1.36 80.00 2691.4 2798.8 2584.0 1951.2 1999.6 97.07 11.23 276 2118.48 0.00 0.00 3.69 0.000 0.000 0.134 2690.16 2797.31 2583.00 1951.44 3491.38 0 0 0 30.00 30.00 15.87

2161.94 21639 146.63 1.28 0.00 2692.2 2799.2 2585.2 1951.1 3491.4 90.81 11.77 286 2171.84 0.00 0.41 3.46 0.000 0.193 0.075 2690.12 2796.88 2583.38 1903.38 1997.81 0 0 0 30.00 15.86 15.92

2355.91 8226 187.83 1.33 0.00 2690.5 2797.2 2583.7 1903.2 1998.4 74.75 8.09 306 2392.34 31.23 0.00 0.00 1.091 0.000 0.000 2531.19 2643.94 2418.44 1902.62 1997.94 0 0 0 11.80 30.00 30.00

2583.70 10663 218.60 1.40 80.00 2527.0 2638.1 2415.8 1903.2 1997.9 56.59 8.57 329 2623.47 26.01 0.29 3.71 1.061 0.075 0.136 2409.59 2523.94 2295.25 1952.06 3491.06 0 0 0 11.80 15.92 15.80

2652.71 1156 218.60 1.37 0.00 2405.9 2519.6 2292.1 1951.6 3491.4 48.06 12.38 342 2661.24 0.00 0.00 3.48 0.000 0.000 0.075 2406.38 2517.62 2295.12 1952.62 1999.06 0 0 0 30.00 30.00 15.85

2845.26 0 218.60 1.37 0.00 2403.1 2517.2 2289.0 1952.1 1999.3 26.16 11.09 380 2849.34 0.00 0.00 0.00 0.000 0.000 0.000 2403.44 2517.56 2289.31 1951.81 1999.62 0 0 0 30.00 30.00 30.00

3030.74 8226 244.63 1.40 0.00 2401.8 2516.9 2286.7 1952.2 1999.6 8.24 8.79 416 3057.08 22.48 0.00 0.00 1.019 0.000 0.000 2300.19 2419.69 2180.69 1952.50 1999.56 0 0 0 11.82 30.00 30.00

3241.33 10663 470.40 1.77 80.00 2296.2 2415.4 2177.1 1951.9 1999.0 5.82 -0.46 458 3323.20 73.35 0.48 0.00 1.047 0.070 0.000 1921.31 2042.56 1800.06 2040.69 1999.62 0 0 0 11.80 15.95 30.00

3324 end climb: NO_VERTICAL_VELOCITY

state 3324 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	21	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	0.96050757	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	7.0264163	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	200623,134339,4736.592,-12256.517,6,1.0,26,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,134649,4736.607,-12256.487,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	189.8,1278,-17.6,-10.000,-21.21,2209,0.163
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.002241,-0.061658,0.018716,1.048444,0.064963,0.023296,0.048226,1.050715,-555.339233,-1822.087158,622.209961
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NET	xmit part outbox0002.n 948 0	_10V_AH	15.00,0.000
NET_PING	1687271712,29,440.325012,11.700000,-0.612890	FG_AHR_24Vo	7.231
NAV	1687271415,56.6,0,stop	FG_AHR_10Vo	0.992
FREEZE	5.28,13.951,-1.525,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3609.66,258.67,1.014,0,500.6,577.9,423.2,686.70	MEM2	945680,34,100848,68
SM_GC	2.16,0.00,11.92,0.09,0.000,0.073,0.157,497.0,571.3,422.8,189.4,2053.2,0,0,0,30.00,15.57,15.57	DATA_FILE_SIZE	12916,473
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	168810,0
IRIDIUM_FIX	4735.53,-12254.47,200623,125100	SDSIZE	3887104,3868032
TCM_TEMP	15.72	SDFILEDIR	187,22
SC_FREEKB	3871936	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	0.062, 37.2,1
HUMID	44.08	MAGCAL	1.000000,-0.042017,0.063690,0.045049,1.138043,0.088176,-0.115324,0.052527,1.459267,-1296.5,-1759.9,-1167.5,32,0.0460,0
TEMP	10.63	IMPLIED_C_PITCH	1615,13.89,241,0.0,0.00
INTERNAL_PRESSURE	7.93418	IMPLIED_C_VBD	3099,24.859463,241,0
_24V_AH	14.97,6.763	GPS	200623,145005,4736.318,-12256.592,7,1.4,10,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	726	1192	12973.56	nil	0	0	0.00
Pitch_motor	26	294	116.90	nil	0	0	0.00
Roll_motor	43	220	141.97	nil	0	0	0.00
Iridium	120	155	280.69	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.00	nil	0	0	0.00
Core	2317	5	177.97	SciCon	3330	6	336.86
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1290	0	6.20
Compass	1187	5	89.09
RAFOS	306	40	184.14
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
6.86	16386	-146.63	-1.44	0.00	493.1	563.5	422.7	189.6	1999.6	0.00	0.00	0	62.20	50.17	0.00	0.00	0.005	0.000	0.000	1847.28	1908.56	1786.00	189.31	1999.62	0	0	0	15.84	30.00	30.00
62.73	18727	-146.63	-1.44	80.00	1865.4	1943.3	1787.5	189.5	1999.5	3.26	-3.49	10	150.65	57.42	8.59	3.68	0.005	0.295	0.130	3899.03	3876.81	3921.25	1251.44	3491.38	0	0	0	15.90	15.74	15.84
179.72	3205	-146.63	-1.30	0.00	3899.8	3877.9	3921.6	1251.7	3491.0	13.73	-11.85	31	188.02	0.00	0.23	3.40	0.000	0.227	0.072	3899.22	3877.31	3921.12	1284.25	2005.25	0	0	0	30.00	15.81	15.89
372.05	128	-146.63	-1.26	0.00	3900.4	3879.1	3921.7	1284.4	2005.8	35.83	-11.56	69	376.04	0.00	0.00	0.00	0.000	0.000	0.000	3900.41	3879.38	3921.44	1284.44	2006.19	0	0	0	30.00	30.00	30.00
563.46	516	-146.63	-1.26	-80.00	3900.7	3879.3	3922.0	1284.8	2005.3	58.52	-12.09	99	571.28	0.00	0.00	3.53	0.000	0.000	0.144	3900.31	3878.62	3922.00	1284.88	558.69	0	0	0	30.00	30.00	15.92
624.68	3205	-146.63	-1.20	0.00	3901.0	3879.8	3922.2	1284.7	558.6	67.07	-14.42	111	633.03	0.00	0.17	3.40	0.000	0.217	0.064	3900.81	3879.50	3922.12	1310.12	2050.56	0	0	0	30.00	15.91	15.98
814.55	260	-146.63	-1.20	80.00	3901.2	3880.1	3922.2	1310.1	2050.1	87.31	-10.54	129	822.37	0.00	0.00	3.53	0.000	0.000	0.134	3901.50	3880.06	3922.94	1310.00	3491.12	0	0	0	30.00	30.00	15.96
851.38	1028	-146.63	-1.20	0.00	3901.0	3880.1	3921.9	1309.7	3490.9	91.73	-12.15	136	859.10	0.00	0.00	3.41	0.000	0.000	0.072	3900.47	3879.38	3921.56	1310.19	2003.06	0	0	0	30.00	30.00	15.99
1046.41	0	-146.63	-1.20	0.00	3901.2	3880.1	3922.2	1309.9	2002.7	112.55	-10.17	156	1048.27	0.00	0.00	0.00	0.000	0.000	0.000	3900.56	3879.75	3921.38	1310.12	2002.44	0	0	0	30.00	30.00	30.00
1236.43	0	-146.63	-1.20	0.00	3901.5	3880.3	3922.6	1310.0	2002.6	132.35	-10.50	175	1238.29	0.00	0.00	0.00	0.000	0.000	0.000	3900.62	3879.81	3921.44	1310.44	2002.00	0	0	0	30.00	30.00	30.00
1406	end dive: TARGET_DEPTH_EXCEEDED
state	1406	begin apogee
1408.18	10243	0.00	-0.36	0.00	3901.4	3880.0	3922.8	1310.1	2054.9	150.66	-11.14	192	1523.26	101.22	1.41	0.10	1.192	0.158	0.220	3296.72	3361.88	3231.56	1514.88	1993.44	0	0	0	11.90	16.01	15.65
1524	end apogee: CONTROL_FINISHED_OK
state	1525	begin climb
1524.73	10503	146.63	1.44	80.00	3297.1	3362.0	3232.2	1514.4	1992.9	155.00	0.00	202	1656.33	106.27	2.96	3.82	1.164	0.118	0.134	2698.66	2811.25	2586.06	1951.38	3490.06	0	0	0	11.63	15.67	15.46
1719.32	1028	146.63	1.44	0.00	2696.6	2805.6	2587.6	1951.1	3490.7	141.02	11.97	236	1732.49	0.00	0.00	3.53	0.000	0.000	0.075	2699.50	2808.38	2590.62	1951.44	1999.81	0	0	0	30.00	30.00	15.60
1919.53	16514	146.63	1.39	0.00	2692.2	2799.8	2584.7	1951.5	1999.6	118.72	11.11	257	1921.43	0.00	0.00	0.00	0.000	0.000	0.000	2689.81	2798.50	2581.12	1951.81	1999.56	0	0	0	30.00	30.00	30.00
2109.56	16774	146.63	1.36	80.00	2691.4	2798.8	2584.0	1951.2	1999.6	97.07	11.23	276	2118.48	0.00	0.00	3.69	0.000	0.000	0.134	2690.16	2797.31	2583.00	1951.44	3491.38	0	0	0	30.00	30.00	15.87
2161.94	21639	146.63	1.28	0.00	2692.2	2799.2	2585.2	1951.1	3491.4	90.81	11.77	286	2171.84	0.00	0.41	3.46	0.000	0.193	0.075	2690.12	2796.88	2583.38	1903.38	1997.81	0	0	0	30.00	15.86	15.92
2355.91	8226	187.83	1.33	0.00	2690.5	2797.2	2583.7	1903.2	1998.4	74.75	8.09	306	2392.34	31.23	0.00	0.00	1.091	0.000	0.000	2531.19	2643.94	2418.44	1902.62	1997.94	0	0	0	11.80	30.00	30.00
2583.70	10663	218.60	1.40	80.00	2527.0	2638.1	2415.8	1903.2	1997.9	56.59	8.57	329	2623.47	26.01	0.29	3.71	1.061	0.075	0.136	2409.59	2523.94	2295.25	1952.06	3491.06	0	0	0	11.80	15.92	15.80
2652.71	1156	218.60	1.37	0.00	2405.9	2519.6	2292.1	1951.6	3491.4	48.06	12.38	342	2661.24	0.00	0.00	3.48	0.000	0.000	0.075	2406.38	2517.62	2295.12	1952.62	1999.06	0	0	0	30.00	30.00	15.85
2845.26	0	218.60	1.37	0.00	2403.1	2517.2	2289.0	1952.1	1999.3	26.16	11.09	380	2849.34	0.00	0.00	0.00	0.000	0.000	0.000	2403.44	2517.56	2289.31	1951.81	1999.62	0	0	0	30.00	30.00	30.00
3030.74	8226	244.63	1.40	0.00	2401.8	2516.9	2286.7	1952.2	1999.6	8.24	8.79	416	3057.08	22.48	0.00	0.00	1.019	0.000	0.000	2300.19	2419.69	2180.69	1952.50	1999.56	0	0	0	11.82	30.00	30.00
3241.33	10663	470.40	1.77	80.00	2296.2	2415.4	2177.1	1951.9	1999.0	5.82	-0.46	458	3323.20	73.35	0.48	0.00	1.047	0.070	0.000	1921.31	2042.56	1800.06	2040.69	1999.62	0	0	0	11.80	15.95	30.00
3324	end climb: NO_VERTICAL_VELOCITY
state	3324	begin surface