Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

MISSION 10 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 7 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 6

N_DIVES 10 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 719.29327 ROLL_MAXERRORS 1 XPDR_INT 13

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

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 0.5

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3400 DEEPGLIDERMB 0

D_BOOST 3 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 0.0040000002 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 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 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 96

USE_BATHY -10 PITCH_MIN 230 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3900 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2200 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 20 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 0.51608652 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 3.4384646 SEABIRD_T_H 0.00062267116

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.1947648e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -158.29968 SEABIRD_T_J 2.2037441e-06

MASS 72024 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_G -9.9419231

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1.1375728

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0016241658

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002088599

HD_A 0.00281838 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0139236 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_MIN 1200 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 4000 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 2750 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1.1375728

AH0_24V 575 D_PITCH 0 N_DIVES 10 SEABIRD_C_I -0.0016241658

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.0002088599

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0042874566

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00062267116

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.51608652 PHONE_SUPPLY 2 SM_CC 719.29327

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 3.4384646 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 45 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 0.00281838 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0139236 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAX 3900 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 230 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 25 T_BOOST 0

COMPASS2_DEVICE -1 ID 235 PITCH_VBD_SHIFT 0.0040000002 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 0.5 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 2200 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022957686 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -158.29968 T_NO_W 120

C_ROLL_CLIMB 2750 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2750 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3400 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 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 72024 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 4000 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 7 MISSION 10 ROLL_MIN 1200 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 3 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 7.0 XPDR_INT 13

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -9.9419231

Pre-dive calculations and measurements:

GPS1 200623,235358,4735.993,-12256.860,1,1.6,4,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,235929,4736.004,-12256.897,2,1.5,5,15.4 MHEAD_RNG_PITCHd_Wd 29.0,1110,-19.3,-10.000,-24.09,2233,0.177

SPEED_LIMITS 0.100,0.224 D_GRID 166

TGT_NAME N IRON 1.000000,-0.048398,-0.037872,-0.060514,1.030610,-0.091922,0.081652,-0.071848,0.956713,-882.089905,-173.742386,478.247131

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NAV 1687308014,83.9,0,stop FG_AHR_24Vo 3.589

FREEZE 3.43,15.336,-1.393,0,1,0 FG_AHR_10Vo 0.552

SURF forcing MEM0 60020,1,0,0

SM_CCo 3900.79,0.06,0.369,0,499.2,417.3,581.1,711.56 MEM1 65508,1,0,0

SM_GC 2.60,0.06,16.11,0.09,0.369,0.049,0.161,499.2,417.3,581.1,217.4,2724.5,0,0,0,15.86,15.68,15.68 MEM2 945180,23,101568,68

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16121,574

IRIDIUM_FIX 4735.53,-12254.47,200623,235514 CAP_FILE_SIZE 197726,0

TCM_TEMP 14.23 SDSIZE 3918848,3905504

SC_FREEKB 3876448 SDFILEDIR 111,8

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 49.82 CURRENT 0.077,283.3,1

TEMP 11.80 MAGCAL 1.000000,0.002299,-0.020144,-0.099753,1.098893,0.046851,0.022421,-0.182653,1.010711,-882.1,-74.3,289.4,36,0.0604,1

INTERNAL_PRESSURE 8.52358 IMPLIED_C_PITCH 2212,16.15,254,2206.1,18.07

_24V_AH 14.97,4.204 IMPLIED_C_VBD 3489,26.804266,254,3444.4

_10V_AH 15.00,0.000 GPS 210623,010549,4736.222,-12256.727,20,1.0,30,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 752 937 10560.16 nil 0 0 0.00

Pitch_motor 37 264 150.03 nil 0 0 0.00

Roll_motor 67 244 245.74 nil 0 0 0.00

Iridium 199 187 560.72 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.20 nil 0 0 0.00

Core 2336 5 179.41 SciCon 3652 6 358.86

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1668 0 8.01

Compass 1142 5 85.69

RAFOS 2045 40 1227.02

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.84 16386 -146.63 -1.55 0.00 499.1 423.5 574.6 218.8 2774.9 0.00 0.00 0 87.34 77.82 0.00 0.00 0.005 0.000 0.000 2230.69 2224.50 2236.88 218.75 2775.56 0 0 0 15.97 30.00 30.00

87.59 18727 -146.63 -1.55 80.00 2229.8 2222.6 2236.9 218.6 2774.3 3.12 -1.43 13 167.16 51.55 12.80 2.98 0.005 0.265 0.122 3959.56 3944.81 3974.31 1823.56 4010.62 0 0 0 15.98 15.81 15.90

395.36 19623 -146.63 -1.30 0.00 3961.9 3944.9 3978.9 1823.2 4010.2 34.42 -9.66 73 401.18 0.00 0.44 2.93 0.000 0.167 0.065 3962.81 3946.19 3979.44 1887.44 2725.81 0 0 0 30.00 15.93 15.99

585.40 420 -146.63 -1.24 80.00 3962.0 3944.9 3979.2 1887.7 2724.8 50.15 -8.75 111 591.34 0.00 0.00 3.12 0.000 0.000 0.118 3963.00 3945.12 3980.88 1887.00 4009.50 0 0 0 30.00 30.00 15.98

734.69 3237 -146.63 -1.14 0.00 3962.7 3945.3 3980.0 1886.9 4009.3 64.32 -9.44 141 741.13 0.00 0.25 2.94 0.000 0.168 0.065 3962.81 3944.88 3980.75 1925.88 2723.44 0 0 0 30.00 15.98 16.04

930.38 548 -146.63 -1.14 -80.00 3962.7 3944.5 3980.9 1926.3 2723.1 79.83 -7.94 161 936.47 0.00 0.00 3.48 0.000 0.000 0.129 3963.75 3945.94 3981.56 1926.56 1279.69 0 0 0 30.00 30.00 16.01

1005.45 1188 -146.63 -1.10 0.00 3962.9 3944.4 3981.4 1926.3 1279.2 86.52 -9.21 176 1011.48 0.00 0.00 3.39 0.000 0.000 0.061 3964.06 3944.56 3983.56 1926.44 2773.12 0 0 0 30.00 30.00 16.06

1200.48 676 -146.63 -1.14 -80.00 3964.0 3945.1 3982.9 1926.3 2772.4 101.89 -7.91 196 1206.61 0.00 0.00 3.60 0.000 0.000 0.125 3964.41 3945.75 3983.06 1926.31 1281.00 0 0 0 30.00 30.00 16.03

1269.71 1060 -146.63 -1.14 0.00 3964.0 3944.1 3983.9 1925.8 1281.1 108.38 -9.36 210 1276.21 0.00 0.00 3.40 0.000 0.000 0.062 3964.47 3945.94 3983.00 1926.38 2771.88 0 0 0 30.00 30.00 16.08

1465.53 676 -146.63 -1.18 -80.00 3963.9 3944.2 3983.6 1926.4 2772.6 123.98 -8.21 230 1471.62 0.00 0.00 3.60 0.000 0.000 0.126 3964.72 3945.69 3983.75 1924.56 1279.75 0 0 0 30.00 30.00 16.04

1520.47 1060 -146.63 -1.18 0.00 3964.2 3944.8 3983.6 1927.2 1280.2 129.19 -9.63 241 1526.55 0.00 0.00 3.39 0.000 0.000 0.063 3965.12 3945.62 3984.62 1925.50 2772.94 0 0 0 30.00 30.00 16.08

1715.57 4257 -146.63 -1.23 0.00 3963.3 3944.2 3982.4 1926.2 2773.2 144.88 -8.12 261 1717.32 0.00 0.23 0.00 0.000 0.082 0.000 3964.81 3945.31 3984.31 1882.75 2772.75 0 0 0 30.00 16.08 30.00

1770 end dive: TARGET_DEPTH_EXCEEDED

state 1770 begin apogee

1770.88 10243 0.00 -0.25 0.00 3964.3 3945.8 3982.9 1883.3 2725.8 150.10 -9.68 266 1874.13 97.57 1.83 0.07 0.937 0.140 0.244 3400.28 3330.44 3470.12 2141.56 2770.44 0 0 0 11.69 16.04 15.76

1876 end apogee: CONTROL_FINISHED_OK

state 1876 begin climb

1876.52 10503 146.63 1.55 80.00 3397.8 3328.8 3466.8 2140.6 2770.6 152.17 0.00 276 1997.14 108.25 2.85 3.09 0.897 0.087 0.119 2800.72 2710.00 2891.44 2583.06 4011.12 0 0 0 11.77 15.76 15.57

2005.32 5253 146.63 1.34 0.00 2796.9 2708.8 2885.0 2583.1 4011.3 140.53 14.42 300 2011.55 0.00 0.51 3.01 0.000 0.204 0.061 2797.06 2708.75 2885.38 2519.06 2723.75 0 0 0 30.00 15.59 15.64

2200.25 16902 146.63 1.34 -80.00 2791.2 2704.4 2877.9 2518.8 2723.6 112.92 14.00 320 2206.47 0.00 0.00 3.53 0.000 0.000 0.129 2789.34 2700.88 2877.81 2518.56 1282.00 0 0 0 30.00 30.00 15.83

2239.61 17542 146.63 1.23 0.00 2790.2 2704.1 2876.4 2518.2 1282.2 106.82 15.55 328 2246.11 0.00 0.00 3.44 0.000 0.000 0.060 2791.22 2705.19 2877.25 2518.75 2772.31 0 0 0 30.00 30.00 15.90

2435.27 16902 146.63 1.23 -80.00 2789.3 2703.6 2875.1 2519.2 2772.5 81.46 12.43 348 2441.52 0.00 0.00 3.62 0.000 0.000 0.125 2790.47 2703.75 2877.19 2519.38 1280.81 0 0 0 30.00 30.00 15.94

2573.29 21639 146.63 1.15 0.00 2788.3 2703.2 2873.4 2518.6 1280.8 61.80 14.51 375 2579.66 0.00 0.31 3.40 0.000 0.207 0.060 2787.50 2702.44 2872.56 2472.38 2768.94 0 0 0 30.00 15.94 16.00

2763.33 10919 187.18 1.42 -80.00 2788.1 2703.2 2873.0 2473.2 2769.6 44.05 8.14 401 2801.90 30.50 0.49 3.61 0.786 0.067 0.126 2633.00 2544.50 2721.50 2557.06 1281.88 0 0 0 11.67 16.05 15.94

2840.07 5253 187.18 1.31 0.00 2631.1 2545.7 2716.5 2556.4 1281.9 34.53 15.11 416 2847.07 0.00 0.35 3.39 0.000 0.204 0.061 2630.00 2544.81 2715.19 2511.50 2771.44 0 0 0 30.00 15.92 16.00

3030.27 10919 212.50 1.52 -80.00 2628.2 2544.1 2712.2 2511.3 2770.9 14.41 8.84 454 3061.40 21.08 0.38 3.62 0.736 0.071 0.127 2531.38 2444.56 2618.19 2580.38 1282.69 0 0 0 11.77 16.04 15.95

3288.27 11303 444.33 2.45 0.00 2525.6 2443.5 2607.7 2581.5 1282.7 6.66 -0.62 505 3472.10 170.79 1.30 3.38 0.765 0.059 0.058 1586.19 1486.12 1686.25 2804.00 2776.56 0 0 0 11.74 16.05 16.06

3640 end climb: NO_VERTICAL_VELOCITY

state 3640 begin surface

ID	235	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
MISSION	10	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	7	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	6
N_DIVES	10	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	719.29327	ROLL_MAXERRORS	1	XPDR_INT	13
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
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	0.5
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3400	DEEPGLIDERMB	0
D_BOOST	3	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	0.0040000002	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	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	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	96
USE_BATHY	-10	PITCH_MIN	230	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3900	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2200	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	20	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	0.51608652	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	3.4384646	SEABIRD_T_H	0.00062267116
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.1947648e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-158.29968	SEABIRD_T_J	2.2037441e-06
MASS	72024	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_G	-9.9419231
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1.1375728
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0016241658
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002088599
HD_A	0.00281838	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0139236	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_MIN	1200	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	4000	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	2750	ALTIM_FREQUENCY	13

GPS1	200623,235358,4735.993,-12256.860,1,1.6,4,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,235929,4736.004,-12256.897,2,1.5,5,15.4	MHEAD_RNG_PITCHd_Wd	29.0,1110,-19.3,-10.000,-24.09,2233,0.177
SPEED_LIMITS	0.100,0.224	D_GRID	166
TGT_NAME	N	IRON	1.000000,-0.048398,-0.037872,-0.060514,1.030610,-0.091922,0.081652,-0.071848,0.956713,-882.089905,-173.742386,478.247131
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NAV	1687308014,83.9,0,stop	FG_AHR_24Vo	3.589
FREEZE	3.43,15.336,-1.393,0,1,0	FG_AHR_10Vo	0.552
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3900.79,0.06,0.369,0,499.2,417.3,581.1,711.56	MEM1	65508,1,0,0
SM_GC	2.60,0.06,16.11,0.09,0.369,0.049,0.161,499.2,417.3,581.1,217.4,2724.5,0,0,0,15.86,15.68,15.68	MEM2	945180,23,101568,68
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16121,574
IRIDIUM_FIX	4735.53,-12254.47,200623,235514	CAP_FILE_SIZE	197726,0
TCM_TEMP	14.23	SDSIZE	3918848,3905504
SC_FREEKB	3876448	SDFILEDIR	111,8
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	49.82	CURRENT	0.077,283.3,1
TEMP	11.80	MAGCAL	1.000000,0.002299,-0.020144,-0.099753,1.098893,0.046851,0.022421,-0.182653,1.010711,-882.1,-74.3,289.4,36,0.0604,1
INTERNAL_PRESSURE	8.52358	IMPLIED_C_PITCH	2212,16.15,254,2206.1,18.07
_24V_AH	14.97,4.204	IMPLIED_C_VBD	3489,26.804266,254,3444.4
_10V_AH	15.00,0.000	GPS	210623,010549,4736.222,-12256.727,20,1.0,30,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	752	937	10560.16	nil	0	0	0.00
Pitch_motor	37	264	150.03	nil	0	0	0.00
Roll_motor	67	244	245.74	nil	0	0	0.00
Iridium	199	187	560.72	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.20	nil	0	0	0.00
Core	2336	5	179.41	SciCon	3652	6	358.86
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1668	0	8.01
Compass	1142	5	85.69
RAFOS	2045	40	1227.02
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.84	16386	-146.63	-1.55	0.00	499.1	423.5	574.6	218.8	2774.9	0.00	0.00	0	87.34	77.82	0.00	0.00	0.005	0.000	0.000	2230.69	2224.50	2236.88	218.75	2775.56	0	0	0	15.97	30.00	30.00
87.59	18727	-146.63	-1.55	80.00	2229.8	2222.6	2236.9	218.6	2774.3	3.12	-1.43	13	167.16	51.55	12.80	2.98	0.005	0.265	0.122	3959.56	3944.81	3974.31	1823.56	4010.62	0	0	0	15.98	15.81	15.90
395.36	19623	-146.63	-1.30	0.00	3961.9	3944.9	3978.9	1823.2	4010.2	34.42	-9.66	73	401.18	0.00	0.44	2.93	0.000	0.167	0.065	3962.81	3946.19	3979.44	1887.44	2725.81	0	0	0	30.00	15.93	15.99
585.40	420	-146.63	-1.24	80.00	3962.0	3944.9	3979.2	1887.7	2724.8	50.15	-8.75	111	591.34	0.00	0.00	3.12	0.000	0.000	0.118	3963.00	3945.12	3980.88	1887.00	4009.50	0	0	0	30.00	30.00	15.98
734.69	3237	-146.63	-1.14	0.00	3962.7	3945.3	3980.0	1886.9	4009.3	64.32	-9.44	141	741.13	0.00	0.25	2.94	0.000	0.168	0.065	3962.81	3944.88	3980.75	1925.88	2723.44	0	0	0	30.00	15.98	16.04
930.38	548	-146.63	-1.14	-80.00	3962.7	3944.5	3980.9	1926.3	2723.1	79.83	-7.94	161	936.47	0.00	0.00	3.48	0.000	0.000	0.129	3963.75	3945.94	3981.56	1926.56	1279.69	0	0	0	30.00	30.00	16.01
1005.45	1188	-146.63	-1.10	0.00	3962.9	3944.4	3981.4	1926.3	1279.2	86.52	-9.21	176	1011.48	0.00	0.00	3.39	0.000	0.000	0.061	3964.06	3944.56	3983.56	1926.44	2773.12	0	0	0	30.00	30.00	16.06
1200.48	676	-146.63	-1.14	-80.00	3964.0	3945.1	3982.9	1926.3	2772.4	101.89	-7.91	196	1206.61	0.00	0.00	3.60	0.000	0.000	0.125	3964.41	3945.75	3983.06	1926.31	1281.00	0	0	0	30.00	30.00	16.03
1269.71	1060	-146.63	-1.14	0.00	3964.0	3944.1	3983.9	1925.8	1281.1	108.38	-9.36	210	1276.21	0.00	0.00	3.40	0.000	0.000	0.062	3964.47	3945.94	3983.00	1926.38	2771.88	0	0	0	30.00	30.00	16.08
1465.53	676	-146.63	-1.18	-80.00	3963.9	3944.2	3983.6	1926.4	2772.6	123.98	-8.21	230	1471.62	0.00	0.00	3.60	0.000	0.000	0.126	3964.72	3945.69	3983.75	1924.56	1279.75	0	0	0	30.00	30.00	16.04
1520.47	1060	-146.63	-1.18	0.00	3964.2	3944.8	3983.6	1927.2	1280.2	129.19	-9.63	241	1526.55	0.00	0.00	3.39	0.000	0.000	0.063	3965.12	3945.62	3984.62	1925.50	2772.94	0	0	0	30.00	30.00	16.08
1715.57	4257	-146.63	-1.23	0.00	3963.3	3944.2	3982.4	1926.2	2773.2	144.88	-8.12	261	1717.32	0.00	0.23	0.00	0.000	0.082	0.000	3964.81	3945.31	3984.31	1882.75	2772.75	0	0	0	30.00	16.08	30.00
1770	end dive: TARGET_DEPTH_EXCEEDED
state	1770	begin apogee
1770.88	10243	0.00	-0.25	0.00	3964.3	3945.8	3982.9	1883.3	2725.8	150.10	-9.68	266	1874.13	97.57	1.83	0.07	0.937	0.140	0.244	3400.28	3330.44	3470.12	2141.56	2770.44	0	0	0	11.69	16.04	15.76
1876	end apogee: CONTROL_FINISHED_OK
state	1876	begin climb
1876.52	10503	146.63	1.55	80.00	3397.8	3328.8	3466.8	2140.6	2770.6	152.17	0.00	276	1997.14	108.25	2.85	3.09	0.897	0.087	0.119	2800.72	2710.00	2891.44	2583.06	4011.12	0	0	0	11.77	15.76	15.57
2005.32	5253	146.63	1.34	0.00	2796.9	2708.8	2885.0	2583.1	4011.3	140.53	14.42	300	2011.55	0.00	0.51	3.01	0.000	0.204	0.061	2797.06	2708.75	2885.38	2519.06	2723.75	0	0	0	30.00	15.59	15.64
2200.25	16902	146.63	1.34	-80.00	2791.2	2704.4	2877.9	2518.8	2723.6	112.92	14.00	320	2206.47	0.00	0.00	3.53	0.000	0.000	0.129	2789.34	2700.88	2877.81	2518.56	1282.00	0	0	0	30.00	30.00	15.83
2239.61	17542	146.63	1.23	0.00	2790.2	2704.1	2876.4	2518.2	1282.2	106.82	15.55	328	2246.11	0.00	0.00	3.44	0.000	0.000	0.060	2791.22	2705.19	2877.25	2518.75	2772.31	0	0	0	30.00	30.00	15.90
2435.27	16902	146.63	1.23	-80.00	2789.3	2703.6	2875.1	2519.2	2772.5	81.46	12.43	348	2441.52	0.00	0.00	3.62	0.000	0.000	0.125	2790.47	2703.75	2877.19	2519.38	1280.81	0	0	0	30.00	30.00	15.94
2573.29	21639	146.63	1.15	0.00	2788.3	2703.2	2873.4	2518.6	1280.8	61.80	14.51	375	2579.66	0.00	0.31	3.40	0.000	0.207	0.060	2787.50	2702.44	2872.56	2472.38	2768.94	0	0	0	30.00	15.94	16.00
2763.33	10919	187.18	1.42	-80.00	2788.1	2703.2	2873.0	2473.2	2769.6	44.05	8.14	401	2801.90	30.50	0.49	3.61	0.786	0.067	0.126	2633.00	2544.50	2721.50	2557.06	1281.88	0	0	0	11.67	16.05	15.94
2840.07	5253	187.18	1.31	0.00	2631.1	2545.7	2716.5	2556.4	1281.9	34.53	15.11	416	2847.07	0.00	0.35	3.39	0.000	0.204	0.061	2630.00	2544.81	2715.19	2511.50	2771.44	0	0	0	30.00	15.92	16.00
3030.27	10919	212.50	1.52	-80.00	2628.2	2544.1	2712.2	2511.3	2770.9	14.41	8.84	454	3061.40	21.08	0.38	3.62	0.736	0.071	0.127	2531.38	2444.56	2618.19	2580.38	1282.69	0	0	0	11.77	16.04	15.95
3288.27	11303	444.33	2.45	0.00	2525.6	2443.5	2607.7	2581.5	1282.7	6.66	-0.62	505	3472.10	170.79	1.30	3.38	0.765	0.059	0.058	1586.19	1486.12	1686.25	2804.00	2776.56	0	0	0	11.74	16.05	16.06
3640	end climb: NO_VERTICAL_VELOCITY
state	3640	begin surface