Glider dive log

Shilshole 12May23 * SG245 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 245 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2125 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 0

N_DIVES 4 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 637.77997 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 -1.9

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3100 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 360 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 65 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 1.5 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 -6 PITCH_MIN 215 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1500 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 18 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 0.40508729 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 1.1534362 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -191.68106 SEABIRD_T_J 4.3e-06

MASS 72244 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022631494 SEABIRD_C_G -10

NAV_MODE 1 C_PITCH_AUTO_MAX 0 COMPASS_USE 16388 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 235 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 2125 ALTIM_FREQUENCY 13

AH0_10V 0 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 0.40508729 PHONE_SUPPLY 2 SM_CC 637.77997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 1.1534362 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 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 18 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 3600 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 215 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 25 T_BOOST 0

COMPASS2_DEVICE -1 ID 245 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 16388 INT_PRESSURE_YINT -1.9 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1500 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022631494 T_MISSION 65

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -191.68106 T_NO_W 60

C_ROLL_CLIMB 2125 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2125 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3100 LOGGERS 1 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 1.5 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 72244 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 2 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 360

DIVE 4 MISSION 1 ROLL_MIN 235 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 1 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 0

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 120523,193219,4743.557,-12224.408,1,1.1,4,15.3 KALMAN_CONTROL 0.000,0.000

_CALLS 1 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_DEPTHo 1.11 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -37.7 MHEAD_RNG_PITCHd_Wd 249.1,738,-18.6,-10.000,-22.12,1993,0.200

GPS2 120523,193421,4743.539,-12224.410,2,1.1,5,15.3 D_GRID 174

SPEED_LIMITS 0.173,0.258 IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-1080.000000,-1444.000000,49.000000

TGT_NAME NW OSC 8000266

TGT_LATLONG 4743.500,-12225.000 WARN HSCICON 3,0,0,0,0,0

TGT_RADIUS 100.000

Post-dive calculations and measurements:

NAV 1683921550,127.2,start _10V_AH 14.78,0.000

WARN HSCICON 3,0,0,0,0,0 FG_AHR_24Vo 1.312

FREEZE 4.51,11.255,-1.516,0,1,0 FG_AHR_10Vo 0.444

SURF forcing MEM0 60116,1,0,0

SM_CCo 3693.40,255.41,0.919,0,500.9,585.2,416.5,637.57 MEM1 65508,1,0,0

SM_GC 1.00,0.00,11.00,0.08,0.000,0.072,0.178,499.2,582.4,416.1,209.8,2102.5,0,0,0,30.00,15.47,15.45 MEM2 993724,25,52464,94

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12959,500

IRIDIUM_FIX 4744.47,-12222.38,120523,192849 CAP_FILE_SIZE 204053,0

TCM_TEMP 15.47 SDSIZE 3887104,3873984

SC_FREEKB 3877440 SDFILEDIR 51,5

RAFOS_CLK -2 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 54.11 MAGCAL 1.000000,-0.004374,-0.115383,0.009241,1.123893,0.170135,0.060877,0.004942,1.057173,-412.2,-2239.6,-145.2,24,0.0109,0

TEMP 10.49 IMPLIED_C_PITCH 1536,17.47,258,0.0,0.00

INTERNAL_PRESSURE 8.03489 IMPLIED_C_VBD 3226,30.527519,258,0

_24V_AH 14.79,1.003 GPS 120523,203843,4743.665,-12224.908,2,1.9,3,15.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 701 1130 11731.46 nil 0 0 0.00

Pitch_motor 23 241 83.99 nil 0 0 0.00

Roll_motor 57 229 195.74 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.27 nil 0 0 0.00

Core 2088 5 158.04 SciCon 3413 7 368.95

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1478 0 6.99

Compass 1245 5 92.08

RAFOS 16 40 9.98

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

7.10 16386 -132.14 -1.20 0.00 502.2 580.6 423.9 206.9 2097.8 0.00 0.00 0 134.97 118.29 0.00 0.00 0.005 0.000 0.000 3240.19 3316.19 3164.19 207.12 2098.38 0 0 0 16.13 30.00 30.00

135.56 18727 -146.63 -1.21 80.00 3241.0 3316.2 3165.8 206.9 2097.7 3.02 -1.88 23 176.27 13.22 7.45 3.67 0.006 0.241 0.121 3698.12 3784.44 3611.81 1207.44 3591.06 0 0 0 16.14 15.92 15.98

405.53 3205 -146.63 -1.02 0.00 3700.5 3784.5 3616.5 1207.4 3591.6 34.58 -13.91 75 414.19 0.00 0.32 3.43 0.000 0.178 0.056 3699.62 3783.50 3615.75 1254.94 2099.69 0 0 0 30.00 15.95 16.06

603.27 292 -146.63 -1.02 80.00 3700.2 3784.1 3616.4 1255.5 2099.3 51.89 -7.67 112 612.02 0.00 0.00 3.64 0.000 0.000 0.120 3700.16 3783.38 3616.94 1254.88 3591.62 0 0 0 30.00 30.00 16.03

651.35 3237 -146.63 -0.89 0.00 3700.2 3783.9 3616.6 1255.2 3591.6 56.00 -8.69 121 660.02 0.00 0.19 3.41 0.000 0.181 0.054 3701.47 3785.69 3617.25 1286.19 2097.94 0 0 0 30.00 15.97 16.06

846.18 292 -146.63 -0.89 80.00 3700.5 3784.1 3616.9 1286.2 2097.2 69.94 -7.57 141 854.94 0.00 0.00 3.66 0.000 0.000 0.122 3700.22 3783.38 3617.06 1286.31 3591.44 0 0 0 30.00 30.00 16.02

874.09 1060 -146.63 -0.89 0.00 3700.5 3784.0 3617.1 1286.7 3591.8 72.39 -8.12 146 882.65 0.00 0.00 3.41 0.000 0.000 0.054 3701.44 3784.88 3618.00 1286.38 2097.62 0 0 0 30.00 30.00 16.08

1069.10 292 -146.63 -0.89 80.00 3700.6 3783.8 3617.4 1286.8 2097.5 89.92 -9.43 166 1077.96 0.00 0.00 3.67 0.000 0.000 0.122 3700.25 3783.38 3617.12 1286.38 3593.94 0 0 0 30.00 30.00 16.05

1227.23 1156 -146.63 -0.83 0.00 3700.8 3783.8 3617.8 1286.4 3593.6 106.25 -10.23 197 1235.68 0.00 0.00 3.42 0.000 0.000 0.056 3701.62 3784.56 3618.69 1286.38 2099.06 0 0 0 30.00 30.00 16.10

1422.34 160 -146.63 -0.88 0.00 3701.0 3783.9 3618.1 1286.2 2098.2 123.77 -8.77 217 1424.25 0.00 0.00 0.00 0.000 0.000 0.000 3700.75 3783.88 3617.62 1286.12 2098.94 0 0 0 30.00 30.00 30.00

1614.05 420 -146.63 -0.94 80.00 3700.4 3783.7 3617.1 1286.1 2098.9 139.71 -8.40 235 1622.60 0.00 0.00 3.68 0.000 0.000 0.127 3700.03 3782.94 3617.12 1286.62 3591.00 0 0 0 30.00 30.00 16.01

1651.66 1028 -146.63 -0.94 0.00 3700.7 3783.8 3617.7 1286.2 3591.2 143.59 -10.19 242 1660.31 0.00 0.00 3.44 0.000 0.000 0.056 3700.56 3783.50 3617.62 1286.25 2099.88 0 0 0 30.00 30.00 16.04

1726 end dive: TARGET_DEPTH_EXCEEDED

state 1727 begin apogee

1728.47 10243 0.00 -0.28 0.00 3700.6 3783.4 3617.8 1286.2 2147.3 150.59 -9.17 250 1849.83 108.32 0.98 0.08 1.130 0.135 0.229 3097.84 3188.56 3007.12 1436.56 2100.69 0 0 0 10.61 15.95 15.38

1851 end apogee: CONTROL_FINISHED_OK

state 1851 begin climb

1851.38 10759 146.63 1.21 -80.00 3096.9 3187.1 3006.8 1436.1 2100.1 154.83 0.00 261 1986.10 111.81 2.42 3.89 1.083 0.109 0.162 2500.97 2591.69 2410.25 1796.94 659.88 0 0 0 10.83 15.42 15.20

1989.66 1156 146.63 1.17 0.00 2497.6 2586.1 2409.1 1797.5 660.0 144.33 12.05 284 1998.71 0.00 0.00 3.64 0.000 0.000 0.070 2500.62 2588.75 2412.50 1796.12 2142.06 0 0 0 30.00 30.00 15.38

2185.17 0 146.63 1.17 0.00 2495.1 2585.9 2404.3 1797.2 2141.4 118.25 13.53 304 2187.08 0.00 0.00 0.00 0.000 0.000 0.000 2494.31 2585.44 2403.19 1796.88 2141.56 0 0 0 30.00 30.00 30.00

2375.17 16386 146.63 1.17 0.00 2493.6 2585.6 2401.6 1797.2 2141.8 93.80 12.19 323 2377.09 0.00 0.00 0.00 0.000 0.000 0.000 2493.00 2585.50 2400.50 1796.75 2141.44 0 0 0 30.00 30.00 30.00

2565.19 16646 146.63 1.17 80.00 2493.5 2586.2 2400.7 1796.8 2141.9 73.09 10.42 342 2574.02 0.00 0.00 3.63 0.000 0.000 0.133 2492.22 2585.31 2399.12 1797.81 3591.38 0 0 0 30.00 30.00 15.81

2667.47 21639 146.63 1.06 0.00 2492.6 2585.5 2399.8 1797.8 3590.9 59.15 14.89 362 2676.92 0.00 0.37 3.50 0.000 0.193 0.062 2495.19 2587.25 2403.12 1751.44 2100.75 0 0 0 30.00 15.78 15.86

2858.39 10403 158.30 1.19 0.00 2492.3 2585.2 2399.4 1751.6 2101.1 38.16 9.40 392 2874.47 10.02 0.25 0.00 0.861 0.079 0.000 2452.78 2548.12 2357.44 1798.25 2101.00 0 0 0 10.78 15.88 30.00

3058.78 8870 167.93 1.24 -80.00 2451.4 2546.8 2355.9 1797.6 2101.2 19.40 9.51 432 3078.24 9.65 0.00 3.73 0.839 0.000 0.160 2413.97 2513.06 2314.88 1798.00 658.62 0 0 0 11.01 30.00 15.77

3132.57 9382 178.96 1.21 0.00 2411.6 2509.8 2313.4 1797.6 658.7 12.40 9.43 446 3156.29 10.57 0.00 3.52 0.845 0.000 0.070 2368.69 2469.19 2268.19 1798.44 2145.62 0 0 0 10.93 30.00 15.84

3340.61 10403 359.83 1.58 0.00 2366.5 2468.2 2264.8 1797.9 2145.2 5.03 0.72 487 3412.43 64.43 0.54 0.00 0.953 0.062 0.000 2012.38 2130.00 1894.75 1893.94 2145.62 0 0 0 11.00 15.84 30.00

3413 end climb: NO_VERTICAL_VELOCITY

state 3413 begin surface

ID	245	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2125	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	0
N_DIVES	4	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	637.77997	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	-1.9
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3100	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	360	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	65	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	1.5	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	-6	PITCH_MIN	215	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1500	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	18	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	0.40508729	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	1.1534362	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-191.68106	SEABIRD_T_J	4.3e-06
MASS	72244	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022631494	SEABIRD_C_G	-10
NAV_MODE	1	C_PITCH_AUTO_MAX	0	COMPASS_USE	16388	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	235	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	2125	ALTIM_FREQUENCY	13

GPS1	120523,193219,4743.557,-12224.408,1,1.1,4,15.3	KALMAN_CONTROL	0.000,0.000
_CALLS	1	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_DEPTHo	1.11	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-37.7	MHEAD_RNG_PITCHd_Wd	249.1,738,-18.6,-10.000,-22.12,1993,0.200
GPS2	120523,193421,4743.539,-12224.410,2,1.1,5,15.3	D_GRID	174
SPEED_LIMITS	0.173,0.258	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,-1080.000000,-1444.000000,49.000000
TGT_NAME	NW	OSC	8000266
TGT_LATLONG	4743.500,-12225.000	WARN	HSCICON 3,0,0,0,0,0
TGT_RADIUS	100.000

NAV	1683921550,127.2,start	_10V_AH	14.78,0.000
WARN	HSCICON 3,0,0,0,0,0	FG_AHR_24Vo	1.312
FREEZE	4.51,11.255,-1.516,0,1,0	FG_AHR_10Vo	0.444
SURF	forcing	MEM0	60116,1,0,0
SM_CCo	3693.40,255.41,0.919,0,500.9,585.2,416.5,637.57	MEM1	65508,1,0,0
SM_GC	1.00,0.00,11.00,0.08,0.000,0.072,0.178,499.2,582.4,416.1,209.8,2102.5,0,0,0,30.00,15.47,15.45	MEM2	993724,25,52464,94
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12959,500
IRIDIUM_FIX	4744.47,-12222.38,120523,192849	CAP_FILE_SIZE	204053,0
TCM_TEMP	15.47	SDSIZE	3887104,3873984
SC_FREEKB	3877440	SDFILEDIR	51,5
RAFOS_CLK	-2	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	54.11	MAGCAL	1.000000,-0.004374,-0.115383,0.009241,1.123893,0.170135,0.060877,0.004942,1.057173,-412.2,-2239.6,-145.2,24,0.0109,0
TEMP	10.49	IMPLIED_C_PITCH	1536,17.47,258,0.0,0.00
INTERNAL_PRESSURE	8.03489	IMPLIED_C_VBD	3226,30.527519,258,0
_24V_AH	14.79,1.003	GPS	120523,203843,4743.665,-12224.908,2,1.9,3,15.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	701	1130	11731.46	nil	0	0	0.00
Pitch_motor	23	241	83.99	nil	0	0	0.00
Roll_motor	57	229	195.74	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.27	nil	0	0	0.00
Core	2088	5	158.04	SciCon	3413	7	368.95
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1478	0	6.99
Compass	1245	5	92.08
RAFOS	16	40	9.98
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
7.10	16386	-132.14	-1.20	0.00	502.2	580.6	423.9	206.9	2097.8	0.00	0.00	0	134.97	118.29	0.00	0.00	0.005	0.000	0.000	3240.19	3316.19	3164.19	207.12	2098.38	0	0	0	16.13	30.00	30.00
135.56	18727	-146.63	-1.21	80.00	3241.0	3316.2	3165.8	206.9	2097.7	3.02	-1.88	23	176.27	13.22	7.45	3.67	0.006	0.241	0.121	3698.12	3784.44	3611.81	1207.44	3591.06	0	0	0	16.14	15.92	15.98
405.53	3205	-146.63	-1.02	0.00	3700.5	3784.5	3616.5	1207.4	3591.6	34.58	-13.91	75	414.19	0.00	0.32	3.43	0.000	0.178	0.056	3699.62	3783.50	3615.75	1254.94	2099.69	0	0	0	30.00	15.95	16.06
603.27	292	-146.63	-1.02	80.00	3700.2	3784.1	3616.4	1255.5	2099.3	51.89	-7.67	112	612.02	0.00	0.00	3.64	0.000	0.000	0.120	3700.16	3783.38	3616.94	1254.88	3591.62	0	0	0	30.00	30.00	16.03
651.35	3237	-146.63	-0.89	0.00	3700.2	3783.9	3616.6	1255.2	3591.6	56.00	-8.69	121	660.02	0.00	0.19	3.41	0.000	0.181	0.054	3701.47	3785.69	3617.25	1286.19	2097.94	0	0	0	30.00	15.97	16.06
846.18	292	-146.63	-0.89	80.00	3700.5	3784.1	3616.9	1286.2	2097.2	69.94	-7.57	141	854.94	0.00	0.00	3.66	0.000	0.000	0.122	3700.22	3783.38	3617.06	1286.31	3591.44	0	0	0	30.00	30.00	16.02
874.09	1060	-146.63	-0.89	0.00	3700.5	3784.0	3617.1	1286.7	3591.8	72.39	-8.12	146	882.65	0.00	0.00	3.41	0.000	0.000	0.054	3701.44	3784.88	3618.00	1286.38	2097.62	0	0	0	30.00	30.00	16.08
1069.10	292	-146.63	-0.89	80.00	3700.6	3783.8	3617.4	1286.8	2097.5	89.92	-9.43	166	1077.96	0.00	0.00	3.67	0.000	0.000	0.122	3700.25	3783.38	3617.12	1286.38	3593.94	0	0	0	30.00	30.00	16.05
1227.23	1156	-146.63	-0.83	0.00	3700.8	3783.8	3617.8	1286.4	3593.6	106.25	-10.23	197	1235.68	0.00	0.00	3.42	0.000	0.000	0.056	3701.62	3784.56	3618.69	1286.38	2099.06	0	0	0	30.00	30.00	16.10
1422.34	160	-146.63	-0.88	0.00	3701.0	3783.9	3618.1	1286.2	2098.2	123.77	-8.77	217	1424.25	0.00	0.00	0.00	0.000	0.000	0.000	3700.75	3783.88	3617.62	1286.12	2098.94	0	0	0	30.00	30.00	30.00
1614.05	420	-146.63	-0.94	80.00	3700.4	3783.7	3617.1	1286.1	2098.9	139.71	-8.40	235	1622.60	0.00	0.00	3.68	0.000	0.000	0.127	3700.03	3782.94	3617.12	1286.62	3591.00	0	0	0	30.00	30.00	16.01
1651.66	1028	-146.63	-0.94	0.00	3700.7	3783.8	3617.7	1286.2	3591.2	143.59	-10.19	242	1660.31	0.00	0.00	3.44	0.000	0.000	0.056	3700.56	3783.50	3617.62	1286.25	2099.88	0	0	0	30.00	30.00	16.04
1726	end dive: TARGET_DEPTH_EXCEEDED
state	1727	begin apogee
1728.47	10243	0.00	-0.28	0.00	3700.6	3783.4	3617.8	1286.2	2147.3	150.59	-9.17	250	1849.83	108.32	0.98	0.08	1.130	0.135	0.229	3097.84	3188.56	3007.12	1436.56	2100.69	0	0	0	10.61	15.95	15.38
1851	end apogee: CONTROL_FINISHED_OK
state	1851	begin climb
1851.38	10759	146.63	1.21	-80.00	3096.9	3187.1	3006.8	1436.1	2100.1	154.83	0.00	261	1986.10	111.81	2.42	3.89	1.083	0.109	0.162	2500.97	2591.69	2410.25	1796.94	659.88	0	0	0	10.83	15.42	15.20
1989.66	1156	146.63	1.17	0.00	2497.6	2586.1	2409.1	1797.5	660.0	144.33	12.05	284	1998.71	0.00	0.00	3.64	0.000	0.000	0.070	2500.62	2588.75	2412.50	1796.12	2142.06	0	0	0	30.00	30.00	15.38
2185.17	0	146.63	1.17	0.00	2495.1	2585.9	2404.3	1797.2	2141.4	118.25	13.53	304	2187.08	0.00	0.00	0.00	0.000	0.000	0.000	2494.31	2585.44	2403.19	1796.88	2141.56	0	0	0	30.00	30.00	30.00
2375.17	16386	146.63	1.17	0.00	2493.6	2585.6	2401.6	1797.2	2141.8	93.80	12.19	323	2377.09	0.00	0.00	0.00	0.000	0.000	0.000	2493.00	2585.50	2400.50	1796.75	2141.44	0	0	0	30.00	30.00	30.00
2565.19	16646	146.63	1.17	80.00	2493.5	2586.2	2400.7	1796.8	2141.9	73.09	10.42	342	2574.02	0.00	0.00	3.63	0.000	0.000	0.133	2492.22	2585.31	2399.12	1797.81	3591.38	0	0	0	30.00	30.00	15.81
2667.47	21639	146.63	1.06	0.00	2492.6	2585.5	2399.8	1797.8	3590.9	59.15	14.89	362	2676.92	0.00	0.37	3.50	0.000	0.193	0.062	2495.19	2587.25	2403.12	1751.44	2100.75	0	0	0	30.00	15.78	15.86
2858.39	10403	158.30	1.19	0.00	2492.3	2585.2	2399.4	1751.6	2101.1	38.16	9.40	392	2874.47	10.02	0.25	0.00	0.861	0.079	0.000	2452.78	2548.12	2357.44	1798.25	2101.00	0	0	0	10.78	15.88	30.00
3058.78	8870	167.93	1.24	-80.00	2451.4	2546.8	2355.9	1797.6	2101.2	19.40	9.51	432	3078.24	9.65	0.00	3.73	0.839	0.000	0.160	2413.97	2513.06	2314.88	1798.00	658.62	0	0	0	11.01	30.00	15.77
3132.57	9382	178.96	1.21	0.00	2411.6	2509.8	2313.4	1797.6	658.7	12.40	9.43	446	3156.29	10.57	0.00	3.52	0.845	0.000	0.070	2368.69	2469.19	2268.19	1798.44	2145.62	0	0	0	10.93	30.00	15.84
3340.61	10403	359.83	1.58	0.00	2366.5	2468.2	2264.8	1797.9	2145.2	5.03	0.72	487	3412.43	64.43	0.54	0.00	0.953	0.062	0.000	2012.38	2130.00	1894.75	1893.94	2145.62	0	0	0	11.00	15.84	30.00
3413	end climb: NO_VERTICAL_VELOCITY
state	3413	begin surface