Glider dive log

Shilshole 05Apr23 * SG236 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 236 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

MISSION 1 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 4 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 4 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 613.25 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 0

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3162 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 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 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 2 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 -1

USE_BATHY -6 PITCH_MIN 200 AH0_24V 575 NAV_DEVICE -1

USE_ICE 0 PITCH_MAX 3920 AH0_10V 575 NAV2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2170 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 21

APOGEE_PITCH -5 PITCH_GAIN 20 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 0.083633527 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 0.65356225 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.028999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -167.40657 SEABIRD_T_J 4.3e-06

MASS 71878 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022672296 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 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 700 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3350 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 2100 ALTIM_FREQUENCY 13

AH0_10V 575 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 4 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 0.083633527 PHONE_SUPPLY 2 SM_CC 613.25

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0.65356225 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.028999999 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 20 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 100000 HD_C 1.6e-05 PITCH_MAX 3920 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 236 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 49156 INT_PRESSURE_YINT 0 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 2170 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022672296 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -167.40657 T_NO_W 120

C_ROLL_CLIMB 2100 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2100 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3162 LOGGERS 1 RAFOS_DEVICE -1 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 -6

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 71878 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 3350 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 4 MISSION 1 ROLL_MIN 700 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE 21

D_BOOST 0 NAV2_DEVICE -1 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE -1 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 050423,194534,4744.395,-12224.217,1,1.3,3,15.3 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -51.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050423,194719,4744.395,-12224.214,2,1.3,4,15.3 MHEAD_RNG_PITCHd_Wd 192.4,1925,-17.6,-10.000,-21.21,2209,0.198

SPEED_LIMITS 0.173,0.258 D_GRID 175

TGT_NAME NW IRON 1.000000,-0.005229,0.041461,0.013680,1.080573,-0.049045,-0.021721,-0.003154,1.113446,21.763788,-613.908020,-694.507935

TGT_LATLONG 4743.500,-12225.000 OSC 8000307

Post-dive calculations and measurements:

FINISH -0.1,1.022170 FG_AHR_24Vo 0.799

SURF forcing FG_AHR_10Vo 0.107

SM_CCo 3977.29,363.10,0.707,0,662.7,681.5,643.9,613.07 MEM0 60116,1,0,0

SM_GC 0.93,363.10,14.47,2.93,0.707,0.057,0.073,662.7,681.5,643.9,188.6,2076.6,0,0,0,12.60,15.52,14.51 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 997336,29,49392,63

IRIDIUM_FIX 4744.97,-12226.80,050423,194305 DATA_FILE_SIZE 16137,594

TCM_TEMP 15.07 CAP_FILE_SIZE 209783,0

XPDR_PINGS 16,14.0,11.5 SDSIZE 3887104,3876704

SC_FREEKB 3877280 SDFILEDIR 45,5

HUMID 47.12 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TEMP 8.91 CURRENT 0.125,194.9,1

INTERNAL_PRESSURE 8.62864 IMPLIED_C_PITCH 2179,12.97,385,0.0,0.00

_24V_AH 14.84,0.788 IMPLIED_C_VBD 3265,18.677906,385,0

_10V_AH 14.88,0.077 GPS 050423,205407,4743.742,-12224.641,1,1.4,4,15.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 804 878 10491.96 nil 0 0 0.00

Pitch_motor 34 248 126.65 nil 0 0 0.00

Roll_motor 63 233 220.60 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 24.93 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 2123 6 214.84 SciCon 3576 11 592.66

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1496 2 44.54

Compass 1271 5 94.62

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.27 16386 -146.63 -1.06 0.00 662.1 667.1 657.2 180.3 2080.1 0.00 0.00 0 164.80 155.04 0.00 0.00 0.005 0.000 0.000 3666.78 3674.25 3659.31 180.00 2079.94 0 0 0 15.80 30.00 30.00

165.16 18727 -146.63 -1.06 80.00 3665.9 3672.9 3658.8 180.2 2079.6 3.56 -1.83 30 192.94 2.35 12.88 3.13 0.014 0.248 0.133 3757.66 3753.06 3762.25 1912.19 3358.75 0 0 0 15.83 15.80 15.78

276.32 1188 -146.63 -1.13 0.00 3759.0 3753.9 3764.1 1911.6 3359.3 16.34 -7.96 51 282.67 0.00 0.00 2.94 0.000 0.000 0.071 3759.88 3754.81 3764.94 1911.94 2073.88 0 0 0 30.00 30.00 15.92

466.34 4257 -146.63 -1.23 0.00 3758.8 3753.7 3764.0 1911.7 2073.4 26.94 -5.38 89 471.02 0.00 0.35 0.00 0.000 0.074 0.000 3758.88 3753.88 3763.88 1854.50 2073.38 0 0 0 30.00 15.93 30.00

656.27 548 -146.63 -1.23 -80.00 3758.9 3753.5 3764.4 1854.5 2073.9 42.00 -8.11 127 662.91 0.00 0.00 3.37 0.000 0.000 0.142 3758.94 3753.62 3764.25 1854.75 688.75 0 0 0 30.00 30.00 15.95

696.31 1060 -146.63 -1.23 0.00 3758.5 3753.4 3763.6 1854.6 688.5 45.50 -8.75 135 702.86 0.00 0.00 3.29 0.000 0.000 0.076 3760.16 3754.44 3765.88 1854.50 2121.69 0 0 0 30.00 30.00 15.97

886.30 292 -146.63 -1.23 80.00 3759.2 3754.2 3764.2 1854.2 2122.0 61.23 -8.68 173 892.80 0.00 0.00 3.03 0.000 0.000 0.134 3760.44 3754.81 3766.06 1854.81 3360.31 0 0 0 30.00 30.00 15.95

951.38 3237 -146.63 -1.20 0.00 3758.8 3753.6 3764.0 1854.6 3360.6 67.16 -9.09 186 957.93 0.00 0.24 2.94 0.000 0.157 0.071 3759.19 3754.38 3764.00 1882.25 2075.12 0 0 0 30.00 15.95 15.98

1141.42 160 -146.63 -1.26 0.00 3759.1 3753.8 3764.4 1881.6 2075.3 79.71 -6.48 224 1145.82 0.00 0.00 0.00 0.000 0.000 0.000 3758.09 3753.06 3763.12 1882.88 2075.12 0 0 0 30.00 30.00 30.00

1326.42 4517 -146.63 -1.32 80.00 3759.1 3753.6 3764.5 1882.4 2074.8 90.25 -6.02 261 1333.07 0.00 0.29 3.15 0.000 0.082 0.131 3758.91 3753.44 3764.38 1829.81 3360.25 0 0 0 30.00 15.98 15.95

1406.42 3205 -146.63 -1.24 0.00 3759.0 3753.6 3764.4 1830.1 3360.8 97.69 -10.21 277 1413.05 0.00 0.32 2.95 0.000 0.155 0.072 3760.56 3755.31 3765.81 1869.31 2076.00 0 0 0 30.00 15.97 15.99

1596.47 420 -146.63 -1.29 80.00 3759.3 3754.0 3764.7 1870.3 2076.0 112.11 -7.63 299 1602.14 0.00 0.00 3.15 0.000 0.000 0.132 3759.34 3753.44 3765.25 1870.06 3358.81 0 0 0 30.00 30.00 16.01

1620.71 1188 -146.63 -1.33 0.00 3759.3 3753.9 3764.6 1870.3 3358.7 114.10 -7.85 304 1627.81 0.00 0.00 2.94 0.000 0.000 0.071 3760.38 3755.12 3765.62 1869.88 2072.62 0 0 0 30.00 30.00 16.01

1936.48 4517 -146.63 -1.38 80.00 3758.9 3753.4 3764.4 1870.0 2072.4 136.32 -8.08 336 1942.45 0.00 0.31 3.14 0.000 0.082 0.130 3759.59 3754.94 3764.25 1814.56 3360.19 0 0 0 30.00 16.03 15.99

1980.69 3205 -146.63 -1.28 0.00 3759.4 3753.9 3764.9 1815.0 3359.8 141.15 -11.23 345 1988.09 0.00 0.38 2.94 0.000 0.152 0.072 3759.03 3753.31 3764.75 1861.50 2074.56 0 0 0 30.00 16.00 16.02

2086 end dive: TARGET_DEPTH_EXCEEDED

state 2086 begin apogee

2087.74 10243 0.00 -0.25 0.00 3759.6 3754.2 3765.0 1861.4 2121.9 150.07 -8.23 356 2212.98 115.56 1.67 0.08 0.878 0.129 0.233 3161.47 3149.88 3173.06 2113.12 2076.81 0 0 0 12.50 16.02 15.65

2213 end apogee: CONTROL_FINISHED_OK

state 2213 begin climb

2213.96 10759 146.63 1.06 -80.00 3160.8 3148.3 3173.2 2113.4 2076.8 152.12 0.00 368 2351.95 125.28 2.04 3.50 0.847 0.073 0.141 2560.72 2543.44 2578.00 2435.38 689.69 0 0 0 12.52 15.72 15.40

2354.66 9382 196.41 1.16 0.00 2562.8 2545.0 2580.6 2435.3 689.6 145.25 7.69 386 2405.21 43.49 0.00 3.40 0.810 0.000 0.074 2360.00 2336.81 2383.19 2435.94 2121.12 0 0 0 12.41 30.00 15.52

2708.50 2177 196.41 1.27 0.00 2358.2 2332.9 2383.4 2435.7 2120.8 106.01 10.94 426 2710.30 0.00 0.28 0.00 0.000 0.074 0.000 2355.59 2330.06 2381.12 2493.31 2121.56 0 0 0 30.00 15.80 30.00

3013.46 516 196.41 1.27 -80.00 2356.8 2330.6 2382.9 2493.0 2121.6 65.07 13.82 482 3020.24 0.00 0.00 3.53 0.000 0.000 0.141 2359.50 2332.69 2386.31 2493.69 690.31 0 0 0 30.00 30.00 15.85

3043.57 5253 196.41 1.22 0.00 2357.3 2331.0 2383.7 2493.2 690.4 60.67 14.97 488 3050.43 0.00 0.31 3.31 0.000 0.164 0.076 2357.22 2330.81 2383.62 2458.88 2118.06 0 0 0 30.00 15.76 15.87

3233.75 2693 196.41 1.33 -80.00 2356.1 2329.1 2383.1 2458.5 2118.3 39.68 10.41 526 3240.59 0.00 0.25 3.50 0.000 0.078 0.141 2359.03 2331.25 2386.81 2508.50 689.75 0 0 0 30.00 15.94 15.88

3268.92 5253 196.41 1.28 0.00 2356.4 2329.4 2383.5 2509.2 690.0 35.08 13.62 533 3275.77 0.00 0.31 3.31 0.000 0.170 0.075 2356.50 2329.69 2383.31 2471.38 2121.19 0 0 0 30.00 15.84 15.90

3459.10 2437 196.41 1.38 80.00 2356.0 2328.7 2383.2 2470.3 2120.8 14.21 11.20 571 3465.78 0.00 0.25 3.04 0.000 0.079 0.132 2356.22 2329.50 2382.94 2519.94 3359.19 0 0 0 30.00 15.94 15.89

3554 end climb: SURFACE_DEPTH_REACHED

state 3554 begin surface coast

3574 end surface coast: CONTROL_FINISHED_OK

state 3574 begin surface

ID	236	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
MISSION	1	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	4	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	4	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	613.25	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	0
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3162	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	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	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	2	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	-1
USE_BATHY	-6	PITCH_MIN	200	AH0_24V	575	NAV_DEVICE	-1
USE_ICE	0	PITCH_MAX	3920	AH0_10V	575	NAV2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2170	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	21
APOGEE_PITCH	-5	PITCH_GAIN	20	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	0.083633527	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	0.65356225	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.028999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-167.40657	SEABIRD_T_J	4.3e-06
MASS	71878	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022672296	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	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	700	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3350	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	2100	ALTIM_FREQUENCY	13

GPS1	050423,194534,4744.395,-12224.217,1,1.3,3,15.3	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-51.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050423,194719,4744.395,-12224.214,2,1.3,4,15.3	MHEAD_RNG_PITCHd_Wd	192.4,1925,-17.6,-10.000,-21.21,2209,0.198
SPEED_LIMITS	0.173,0.258	D_GRID	175
TGT_NAME	NW	IRON	1.000000,-0.005229,0.041461,0.013680,1.080573,-0.049045,-0.021721,-0.003154,1.113446,21.763788,-613.908020,-694.507935
TGT_LATLONG	4743.500,-12225.000	OSC	8000307

FINISH	-0.1,1.022170	FG_AHR_24Vo	0.799
SURF	forcing	FG_AHR_10Vo	0.107
SM_CCo	3977.29,363.10,0.707,0,662.7,681.5,643.9,613.07	MEM0	60116,1,0,0
SM_GC	0.93,363.10,14.47,2.93,0.707,0.057,0.073,662.7,681.5,643.9,188.6,2076.6,0,0,0,12.60,15.52,14.51	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	997336,29,49392,63
IRIDIUM_FIX	4744.97,-12226.80,050423,194305	DATA_FILE_SIZE	16137,594
TCM_TEMP	15.07	CAP_FILE_SIZE	209783,0
XPDR_PINGS	16,14.0,11.5	SDSIZE	3887104,3876704
SC_FREEKB	3877280	SDFILEDIR	45,5
HUMID	47.12	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TEMP	8.91	CURRENT	0.125,194.9,1
INTERNAL_PRESSURE	8.62864	IMPLIED_C_PITCH	2179,12.97,385,0.0,0.00
_24V_AH	14.84,0.788	IMPLIED_C_VBD	3265,18.677906,385,0
_10V_AH	14.88,0.077	GPS	050423,205407,4743.742,-12224.641,1,1.4,4,15.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	804	878	10491.96	nil	0	0	0.00
Pitch_motor	34	248	126.65	nil	0	0	0.00
Roll_motor	63	233	220.60	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	24.93	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	2123	6	214.84	SciCon	3576	11	592.66
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1496	2	44.54
Compass	1271	5	94.62
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.27	16386	-146.63	-1.06	0.00	662.1	667.1	657.2	180.3	2080.1	0.00	0.00	0	164.80	155.04	0.00	0.00	0.005	0.000	0.000	3666.78	3674.25	3659.31	180.00	2079.94	0	0	0	15.80	30.00	30.00
165.16	18727	-146.63	-1.06	80.00	3665.9	3672.9	3658.8	180.2	2079.6	3.56	-1.83	30	192.94	2.35	12.88	3.13	0.014	0.248	0.133	3757.66	3753.06	3762.25	1912.19	3358.75	0	0	0	15.83	15.80	15.78
276.32	1188	-146.63	-1.13	0.00	3759.0	3753.9	3764.1	1911.6	3359.3	16.34	-7.96	51	282.67	0.00	0.00	2.94	0.000	0.000	0.071	3759.88	3754.81	3764.94	1911.94	2073.88	0	0	0	30.00	30.00	15.92
466.34	4257	-146.63	-1.23	0.00	3758.8	3753.7	3764.0	1911.7	2073.4	26.94	-5.38	89	471.02	0.00	0.35	0.00	0.000	0.074	0.000	3758.88	3753.88	3763.88	1854.50	2073.38	0	0	0	30.00	15.93	30.00
656.27	548	-146.63	-1.23	-80.00	3758.9	3753.5	3764.4	1854.5	2073.9	42.00	-8.11	127	662.91	0.00	0.00	3.37	0.000	0.000	0.142	3758.94	3753.62	3764.25	1854.75	688.75	0	0	0	30.00	30.00	15.95
696.31	1060	-146.63	-1.23	0.00	3758.5	3753.4	3763.6	1854.6	688.5	45.50	-8.75	135	702.86	0.00	0.00	3.29	0.000	0.000	0.076	3760.16	3754.44	3765.88	1854.50	2121.69	0	0	0	30.00	30.00	15.97
886.30	292	-146.63	-1.23	80.00	3759.2	3754.2	3764.2	1854.2	2122.0	61.23	-8.68	173	892.80	0.00	0.00	3.03	0.000	0.000	0.134	3760.44	3754.81	3766.06	1854.81	3360.31	0	0	0	30.00	30.00	15.95
951.38	3237	-146.63	-1.20	0.00	3758.8	3753.6	3764.0	1854.6	3360.6	67.16	-9.09	186	957.93	0.00	0.24	2.94	0.000	0.157	0.071	3759.19	3754.38	3764.00	1882.25	2075.12	0	0	0	30.00	15.95	15.98
1141.42	160	-146.63	-1.26	0.00	3759.1	3753.8	3764.4	1881.6	2075.3	79.71	-6.48	224	1145.82	0.00	0.00	0.00	0.000	0.000	0.000	3758.09	3753.06	3763.12	1882.88	2075.12	0	0	0	30.00	30.00	30.00
1326.42	4517	-146.63	-1.32	80.00	3759.1	3753.6	3764.5	1882.4	2074.8	90.25	-6.02	261	1333.07	0.00	0.29	3.15	0.000	0.082	0.131	3758.91	3753.44	3764.38	1829.81	3360.25	0	0	0	30.00	15.98	15.95
1406.42	3205	-146.63	-1.24	0.00	3759.0	3753.6	3764.4	1830.1	3360.8	97.69	-10.21	277	1413.05	0.00	0.32	2.95	0.000	0.155	0.072	3760.56	3755.31	3765.81	1869.31	2076.00	0	0	0	30.00	15.97	15.99
1596.47	420	-146.63	-1.29	80.00	3759.3	3754.0	3764.7	1870.3	2076.0	112.11	-7.63	299	1602.14	0.00	0.00	3.15	0.000	0.000	0.132	3759.34	3753.44	3765.25	1870.06	3358.81	0	0	0	30.00	30.00	16.01
1620.71	1188	-146.63	-1.33	0.00	3759.3	3753.9	3764.6	1870.3	3358.7	114.10	-7.85	304	1627.81	0.00	0.00	2.94	0.000	0.000	0.071	3760.38	3755.12	3765.62	1869.88	2072.62	0	0	0	30.00	30.00	16.01
1936.48	4517	-146.63	-1.38	80.00	3758.9	3753.4	3764.4	1870.0	2072.4	136.32	-8.08	336	1942.45	0.00	0.31	3.14	0.000	0.082	0.130	3759.59	3754.94	3764.25	1814.56	3360.19	0	0	0	30.00	16.03	15.99
1980.69	3205	-146.63	-1.28	0.00	3759.4	3753.9	3764.9	1815.0	3359.8	141.15	-11.23	345	1988.09	0.00	0.38	2.94	0.000	0.152	0.072	3759.03	3753.31	3764.75	1861.50	2074.56	0	0	0	30.00	16.00	16.02
2086	end dive: TARGET_DEPTH_EXCEEDED
state	2086	begin apogee
2087.74	10243	0.00	-0.25	0.00	3759.6	3754.2	3765.0	1861.4	2121.9	150.07	-8.23	356	2212.98	115.56	1.67	0.08	0.878	0.129	0.233	3161.47	3149.88	3173.06	2113.12	2076.81	0	0	0	12.50	16.02	15.65
2213	end apogee: CONTROL_FINISHED_OK
state	2213	begin climb
2213.96	10759	146.63	1.06	-80.00	3160.8	3148.3	3173.2	2113.4	2076.8	152.12	0.00	368	2351.95	125.28	2.04	3.50	0.847	0.073	0.141	2560.72	2543.44	2578.00	2435.38	689.69	0	0	0	12.52	15.72	15.40
2354.66	9382	196.41	1.16	0.00	2562.8	2545.0	2580.6	2435.3	689.6	145.25	7.69	386	2405.21	43.49	0.00	3.40	0.810	0.000	0.074	2360.00	2336.81	2383.19	2435.94	2121.12	0	0	0	12.41	30.00	15.52
2708.50	2177	196.41	1.27	0.00	2358.2	2332.9	2383.4	2435.7	2120.8	106.01	10.94	426	2710.30	0.00	0.28	0.00	0.000	0.074	0.000	2355.59	2330.06	2381.12	2493.31	2121.56	0	0	0	30.00	15.80	30.00
3013.46	516	196.41	1.27	-80.00	2356.8	2330.6	2382.9	2493.0	2121.6	65.07	13.82	482	3020.24	0.00	0.00	3.53	0.000	0.000	0.141	2359.50	2332.69	2386.31	2493.69	690.31	0	0	0	30.00	30.00	15.85
3043.57	5253	196.41	1.22	0.00	2357.3	2331.0	2383.7	2493.2	690.4	60.67	14.97	488	3050.43	0.00	0.31	3.31	0.000	0.164	0.076	2357.22	2330.81	2383.62	2458.88	2118.06	0	0	0	30.00	15.76	15.87
3233.75	2693	196.41	1.33	-80.00	2356.1	2329.1	2383.1	2458.5	2118.3	39.68	10.41	526	3240.59	0.00	0.25	3.50	0.000	0.078	0.141	2359.03	2331.25	2386.81	2508.50	689.75	0	0	0	30.00	15.94	15.88
3268.92	5253	196.41	1.28	0.00	2356.4	2329.4	2383.5	2509.2	690.0	35.08	13.62	533	3275.77	0.00	0.31	3.31	0.000	0.170	0.075	2356.50	2329.69	2383.31	2471.38	2121.19	0	0	0	30.00	15.84	15.90
3459.10	2437	196.41	1.38	80.00	2356.0	2328.7	2383.2	2470.3	2120.8	14.21	11.20	571	3465.78	0.00	0.25	3.04	0.000	0.079	0.132	2356.22	2329.50	2382.94	2519.94	3359.19	0	0	0	30.00	15.94	15.89
3554	end climb: SURFACE_DEPTH_REACHED
state	3554	begin surface coast
3574	end surface coast: CONTROL_FINISHED_OK
state	3574	begin surface