Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 8 * 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 8 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 6

N_DIVES 15 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 722.25165 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 3444.3606 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 2206.0537 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 18.0741 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 0.55313265 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 3.5964141 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 15 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 0.55313265 PHONE_SUPPLY 2 SM_CC 722.25165

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 3.5964141 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 18.0741 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 2206.0537 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 3444.3606 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 8 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 210623,010549,4736.222,-12256.727,20,1.0,30,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,010911,4736.241,-12256.732,2,0.9,4,15.4 MHEAD_RNG_PITCHd_Wd 35.3,627,-19.3,-10.000,-24.09,2233,0.154

SPEED_LIMITS 0.100,0.224 D_GRID 168

TGT_NAME N IRON 1.000000,0.002299,-0.020144,-0.099753,1.098893,0.046851,0.022421,-0.182653,1.010711,-882.087219,-74.285187,289.438354

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NAV 1687311257,119.4,0,stop FG_AHR_24Vo 3.747

FINISH 0.3,1.017473 FG_AHR_10Vo 0.576

SURF forcing MEM0 60020,1,0,0

SM_CCo 3949.00,140.93,0.794,0,501.0,426.1,575.9,721.92 MEM1 65508,1,0,0

SM_GC 1.67,140.93,17.26,0.09,0.794,0.097,0.162,501.0,426.1,575.9,217.8,2722.1,0,0,0,11.85,15.82,15.87 MEM2 934708,25,111940,71

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 16125,599

IRIDIUM_FIX 4735.53,-12254.47,200623,235725 CAP_FILE_SIZE 196402,0

TCM_TEMP 15.25 SDSIZE 3918848,3905216

SC_FREEKB 3876128 SDFILEDIR 119,9

RAFOS_CLK -1 ERRORS 0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 SOUNDSPEED 1465.0

HUMID 49.79 CURRENT 0.042,210.4,1

TEMP 11.73 MAGCAL 1.000000,0.002139,0.037086,-0.092539,1.107271,-0.024798,0.002084,-0.033311,1.127177,-929.9,-27.2,214.7,29,0.0489,1

INTERNAL_PRESSURE 8.52433 IMPLIED_C_PITCH 2209,16.36,258,2207.6,17.22

_24V_AH 14.82,4.372 IMPLIED_C_VBD 3508,22.236595,195,3476.2

_10V_AH 14.90,0.000 GPS 210623,021553,4736.259,-12256.458,1,0.9,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 751 943 10512.70 nil 0 0 0.00

Pitch_motor 39 264 153.76 nil 0 0 0.00

Roll_motor 66 234 230.38 nil 0 0 0.00

Iridium 128 212 406.78 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.96 nil 0 0 0.00

Core 2354 5 179.65 SciCon 3786 6 366.90

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1623 0 7.74

Compass 1195 5 89.04

RAFOS 313 40 187.00

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.90 16386 -146.63 -1.65 0.00 498.5 418.0 579.0 217.2 2773.9 0.00 0.00 0 80.83 71.28 0.00 0.00 0.005 0.000 0.000 2107.03 2100.44 2113.62 217.44 2774.25 0 0 0 15.95 30.00 30.00

81.08 18727 -146.63 -1.65 80.00 2106.2 2097.9 2114.4 217.2 2773.5 3.12 -2.26 14 165.74 60.71 12.59 2.99 0.005 0.265 0.122 3960.00 3945.25 3974.75 1805.31 4010.50 0 0 0 15.98 15.80 15.91

252.22 19591 -146.63 -1.39 0.00 3961.2 3945.0 3977.4 1805.6 4010.1 16.49 -11.64 47 258.07 0.00 0.44 2.94 0.000 0.171 0.064 3962.03 3946.25 3977.81 1870.06 2724.06 0 0 0 30.00 15.90 15.97

442.37 16806 -146.63 -1.30 80.00 3962.1 3944.9 3979.3 1871.2 2724.8 32.19 -8.11 85 448.00 0.00 0.00 3.12 0.000 0.000 0.118 3962.25 3945.38 3979.12 1871.50 4011.06 0 0 0 30.00 30.00 15.99

676.62 3205 -146.63 -1.16 0.00 3962.5 3946.4 3978.5 1870.7 4012.3 54.99 -10.08 132 683.16 0.00 0.35 2.91 0.000 0.160 0.064 3963.41 3946.62 3980.19 1925.38 2723.81 0 0 0 30.00 16.02 16.08

869.34 292 -146.63 -1.16 80.00 3962.9 3944.6 3981.2 1926.3 2724.7 69.80 -7.64 152 875.29 0.00 0.00 3.09 0.000 0.000 0.119 3963.06 3944.69 3981.44 1925.81 4010.88 0 0 0 30.00 30.00 16.07

954.35 1060 -146.63 -1.16 0.00 3963.2 3944.9 3981.4 1926.4 4011.1 77.07 -8.62 169 959.26 0.00 0.00 2.91 0.000 0.000 0.064 3963.69 3945.00 3982.38 1926.19 2725.25 0 0 0 30.00 30.00 16.11

1144.36 548 -146.63 -1.16 -80.00 3964.5 3945.7 3983.4 1926.1 2725.0 91.87 -7.66 189 1150.48 0.00 0.00 3.45 0.000 0.000 0.129 3964.22 3944.88 3983.56 1927.31 1280.44 0 0 0 30.00 30.00 16.10

1220.90 1060 -146.63 -1.16 0.00 3964.5 3945.0 3984.0 1926.2 1280.6 99.07 -9.67 203 1227.41 0.00 0.00 3.39 0.000 0.000 0.062 3964.09 3945.19 3983.00 1926.81 2771.94 0 0 0 30.00 30.00 16.13

1416.71 160 -146.63 -1.20 0.00 3964.2 3945.6 3982.9 1926.2 2771.5 114.78 -8.19 223 1418.25 0.00 0.00 0.00 0.000 0.000 0.000 3965.19 3946.25 3984.12 1926.38 2772.31 0 0 0 30.00 30.00 30.00

1606.72 676 -146.63 -1.25 -80.00 3964.4 3945.1 3983.7 1926.1 2772.3 129.68 -7.97 242 1612.82 0.00 0.00 3.58 0.000 0.000 0.126 3965.12 3945.25 3985.00 1926.31 1279.94 0 0 0 30.00 30.00 16.11

1691.63 1028 -146.63 -1.25 0.00 3964.3 3944.4 3984.2 1926.1 1279.9 137.84 -10.10 259 1697.76 0.00 0.00 3.38 0.000 0.000 0.064 3963.91 3944.06 3983.75 1925.50 2771.38 0 0 0 30.00 30.00 16.15

1837 end dive: TARGET_DEPTH_EXCEEDED

state 1837 begin apogee

1837.96 10243 0.00 -0.28 0.00 3964.3 3945.2 3983.5 1926.2 2726.8 150.10 -8.19 274 1932.75 89.49 1.41 0.08 0.944 0.129 0.235 3441.19 3372.75 3509.62 2142.25 2773.88 0 0 0 11.86 16.12 15.85

1934 end apogee: CONTROL_FINISHED_OK

state 1934 begin climb

1935.14 10503 146.63 1.65 80.00 3440.8 3372.4 3509.1 2141.7 2773.6 151.85 0.00 283 2056.20 106.93 2.94 3.06 0.901 0.085 0.120 2846.28 2757.56 2935.00 2613.62 4010.00 0 0 0 11.87 15.86 15.63

2088.66 5253 146.63 1.33 0.00 2838.7 2752.9 2924.4 2613.4 4010.6 135.40 18.27 312 2095.39 0.00 0.70 2.99 0.000 0.214 0.061 2839.16 2754.00 2924.31 2522.44 2723.81 0 0 0 30.00 15.67 15.74

2284.40 17030 146.63 1.29 -80.00 2835.2 2749.3 2921.1 2522.0 2723.8 107.65 13.61 332 2290.54 0.00 0.00 3.51 0.000 0.000 0.129 2837.78 2751.19 2924.38 2522.25 1280.69 0 0 0 30.00 30.00 15.87

2369.41 21639 146.63 1.17 0.00 2834.5 2750.0 2919.0 2521.7 1281.1 94.38 15.88 349 2375.72 0.00 0.28 3.42 0.000 0.212 0.060 2834.16 2749.50 2918.81 2483.31 2772.81 0 0 0 30.00 15.87 15.95

2564.42 17030 146.63 1.22 -80.00 2833.9 2748.8 2919.0 2482.6 2772.0 72.50 10.91 369 2570.54 0.00 0.00 3.60 0.000 0.000 0.125 2834.19 2748.50 2919.88 2483.25 1281.56 0 0 0 30.00 30.00 15.98

2692.32 17414 146.63 1.22 0.00 2833.0 2748.5 2917.5 2482.8 1282.0 57.66 11.24 394 2698.44 0.00 0.00 3.39 0.000 0.000 0.060 2831.78 2747.75 2915.81 2482.62 2773.94 0 0 0 30.00 30.00 16.05

2882.43 10919 185.13 1.46 -80.00 2832.2 2747.2 2917.1 2483.0 2773.6 40.97 8.24 424 2920.01 29.08 0.51 3.61 0.784 0.067 0.125 2688.69 2599.31 2778.06 2572.00 1279.69 0 0 0 11.84 16.07 15.96

3033.20 5253 185.13 1.30 0.00 2682.1 2598.2 2766.1 2572.5 1280.2 19.48 15.92 454 3040.24 0.00 0.44 3.40 0.000 0.206 0.061 2681.56 2597.44 2765.69 2515.12 2773.12 0 0 0 30.00 15.95 16.03

3224.41 10919 323.30 2.01 -80.00 2680.1 2595.1 2765.1 2514.7 2773.1 7.22 3.67 492 3340.56 105.26 1.12 3.66 0.767 0.058 0.123 2122.03 2017.62 2226.44 2703.50 1280.00 0 0 0 11.71 16.04 15.77

3358.70 11303 526.49 2.82 0.00 2120.0 2017.2 2222.8 2703.8 1279.7 6.08 0.69 518 3517.67 147.98 1.14 3.43 0.752 0.058 0.057 1297.59 1195.50 1399.69 2899.94 2776.56 0 0 0 11.68 15.82 15.85

3621 end climb: SURFACE_DEPTH_REACHED

state 3621 begin surface coast

3775 end surface coast: CONTROL_FINISHED_OK

state 3775 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	8	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	6
N_DIVES	15	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	722.25165	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	3444.3606	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	2206.0537	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	18.0741	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	0.55313265	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	3.5964141	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	210623,010549,4736.222,-12256.727,20,1.0,30,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,010911,4736.241,-12256.732,2,0.9,4,15.4	MHEAD_RNG_PITCHd_Wd	35.3,627,-19.3,-10.000,-24.09,2233,0.154
SPEED_LIMITS	0.100,0.224	D_GRID	168
TGT_NAME	N	IRON	1.000000,0.002299,-0.020144,-0.099753,1.098893,0.046851,0.022421,-0.182653,1.010711,-882.087219,-74.285187,289.438354
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

NAV	1687311257,119.4,0,stop	FG_AHR_24Vo	3.747
FINISH	0.3,1.017473	FG_AHR_10Vo	0.576
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3949.00,140.93,0.794,0,501.0,426.1,575.9,721.92	MEM1	65508,1,0,0
SM_GC	1.67,140.93,17.26,0.09,0.794,0.097,0.162,501.0,426.1,575.9,217.8,2722.1,0,0,0,11.85,15.82,15.87	MEM2	934708,25,111940,71
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	16125,599
IRIDIUM_FIX	4735.53,-12254.47,200623,235725	CAP_FILE_SIZE	196402,0
TCM_TEMP	15.25	SDSIZE	3918848,3905216
SC_FREEKB	3876128	SDFILEDIR	119,9
RAFOS_CLK	-1	ERRORS	0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	49.79	CURRENT	0.042,210.4,1
TEMP	11.73	MAGCAL	1.000000,0.002139,0.037086,-0.092539,1.107271,-0.024798,0.002084,-0.033311,1.127177,-929.9,-27.2,214.7,29,0.0489,1
INTERNAL_PRESSURE	8.52433	IMPLIED_C_PITCH	2209,16.36,258,2207.6,17.22
_24V_AH	14.82,4.372	IMPLIED_C_VBD	3508,22.236595,195,3476.2
_10V_AH	14.90,0.000	GPS	210623,021553,4736.259,-12256.458,1,0.9,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	751	943	10512.70	nil	0	0	0.00
Pitch_motor	39	264	153.76	nil	0	0	0.00
Roll_motor	66	234	230.38	nil	0	0	0.00
Iridium	128	212	406.78	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.96	nil	0	0	0.00
Core	2354	5	179.65	SciCon	3786	6	366.90
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1623	0	7.74
Compass	1195	5	89.04
RAFOS	313	40	187.00
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.90	16386	-146.63	-1.65	0.00	498.5	418.0	579.0	217.2	2773.9	0.00	0.00	0	80.83	71.28	0.00	0.00	0.005	0.000	0.000	2107.03	2100.44	2113.62	217.44	2774.25	0	0	0	15.95	30.00	30.00
81.08	18727	-146.63	-1.65	80.00	2106.2	2097.9	2114.4	217.2	2773.5	3.12	-2.26	14	165.74	60.71	12.59	2.99	0.005	0.265	0.122	3960.00	3945.25	3974.75	1805.31	4010.50	0	0	0	15.98	15.80	15.91
252.22	19591	-146.63	-1.39	0.00	3961.2	3945.0	3977.4	1805.6	4010.1	16.49	-11.64	47	258.07	0.00	0.44	2.94	0.000	0.171	0.064	3962.03	3946.25	3977.81	1870.06	2724.06	0	0	0	30.00	15.90	15.97
442.37	16806	-146.63	-1.30	80.00	3962.1	3944.9	3979.3	1871.2	2724.8	32.19	-8.11	85	448.00	0.00	0.00	3.12	0.000	0.000	0.118	3962.25	3945.38	3979.12	1871.50	4011.06	0	0	0	30.00	30.00	15.99
676.62	3205	-146.63	-1.16	0.00	3962.5	3946.4	3978.5	1870.7	4012.3	54.99	-10.08	132	683.16	0.00	0.35	2.91	0.000	0.160	0.064	3963.41	3946.62	3980.19	1925.38	2723.81	0	0	0	30.00	16.02	16.08
869.34	292	-146.63	-1.16	80.00	3962.9	3944.6	3981.2	1926.3	2724.7	69.80	-7.64	152	875.29	0.00	0.00	3.09	0.000	0.000	0.119	3963.06	3944.69	3981.44	1925.81	4010.88	0	0	0	30.00	30.00	16.07
954.35	1060	-146.63	-1.16	0.00	3963.2	3944.9	3981.4	1926.4	4011.1	77.07	-8.62	169	959.26	0.00	0.00	2.91	0.000	0.000	0.064	3963.69	3945.00	3982.38	1926.19	2725.25	0	0	0	30.00	30.00	16.11
1144.36	548	-146.63	-1.16	-80.00	3964.5	3945.7	3983.4	1926.1	2725.0	91.87	-7.66	189	1150.48	0.00	0.00	3.45	0.000	0.000	0.129	3964.22	3944.88	3983.56	1927.31	1280.44	0	0	0	30.00	30.00	16.10
1220.90	1060	-146.63	-1.16	0.00	3964.5	3945.0	3984.0	1926.2	1280.6	99.07	-9.67	203	1227.41	0.00	0.00	3.39	0.000	0.000	0.062	3964.09	3945.19	3983.00	1926.81	2771.94	0	0	0	30.00	30.00	16.13
1416.71	160	-146.63	-1.20	0.00	3964.2	3945.6	3982.9	1926.2	2771.5	114.78	-8.19	223	1418.25	0.00	0.00	0.00	0.000	0.000	0.000	3965.19	3946.25	3984.12	1926.38	2772.31	0	0	0	30.00	30.00	30.00
1606.72	676	-146.63	-1.25	-80.00	3964.4	3945.1	3983.7	1926.1	2772.3	129.68	-7.97	242	1612.82	0.00	0.00	3.58	0.000	0.000	0.126	3965.12	3945.25	3985.00	1926.31	1279.94	0	0	0	30.00	30.00	16.11
1691.63	1028	-146.63	-1.25	0.00	3964.3	3944.4	3984.2	1926.1	1279.9	137.84	-10.10	259	1697.76	0.00	0.00	3.38	0.000	0.000	0.064	3963.91	3944.06	3983.75	1925.50	2771.38	0	0	0	30.00	30.00	16.15
1837	end dive: TARGET_DEPTH_EXCEEDED
state	1837	begin apogee
1837.96	10243	0.00	-0.28	0.00	3964.3	3945.2	3983.5	1926.2	2726.8	150.10	-8.19	274	1932.75	89.49	1.41	0.08	0.944	0.129	0.235	3441.19	3372.75	3509.62	2142.25	2773.88	0	0	0	11.86	16.12	15.85
1934	end apogee: CONTROL_FINISHED_OK
state	1934	begin climb
1935.14	10503	146.63	1.65	80.00	3440.8	3372.4	3509.1	2141.7	2773.6	151.85	0.00	283	2056.20	106.93	2.94	3.06	0.901	0.085	0.120	2846.28	2757.56	2935.00	2613.62	4010.00	0	0	0	11.87	15.86	15.63
2088.66	5253	146.63	1.33	0.00	2838.7	2752.9	2924.4	2613.4	4010.6	135.40	18.27	312	2095.39	0.00	0.70	2.99	0.000	0.214	0.061	2839.16	2754.00	2924.31	2522.44	2723.81	0	0	0	30.00	15.67	15.74
2284.40	17030	146.63	1.29	-80.00	2835.2	2749.3	2921.1	2522.0	2723.8	107.65	13.61	332	2290.54	0.00	0.00	3.51	0.000	0.000	0.129	2837.78	2751.19	2924.38	2522.25	1280.69	0	0	0	30.00	30.00	15.87
2369.41	21639	146.63	1.17	0.00	2834.5	2750.0	2919.0	2521.7	1281.1	94.38	15.88	349	2375.72	0.00	0.28	3.42	0.000	0.212	0.060	2834.16	2749.50	2918.81	2483.31	2772.81	0	0	0	30.00	15.87	15.95
2564.42	17030	146.63	1.22	-80.00	2833.9	2748.8	2919.0	2482.6	2772.0	72.50	10.91	369	2570.54	0.00	0.00	3.60	0.000	0.000	0.125	2834.19	2748.50	2919.88	2483.25	1281.56	0	0	0	30.00	30.00	15.98
2692.32	17414	146.63	1.22	0.00	2833.0	2748.5	2917.5	2482.8	1282.0	57.66	11.24	394	2698.44	0.00	0.00	3.39	0.000	0.000	0.060	2831.78	2747.75	2915.81	2482.62	2773.94	0	0	0	30.00	30.00	16.05
2882.43	10919	185.13	1.46	-80.00	2832.2	2747.2	2917.1	2483.0	2773.6	40.97	8.24	424	2920.01	29.08	0.51	3.61	0.784	0.067	0.125	2688.69	2599.31	2778.06	2572.00	1279.69	0	0	0	11.84	16.07	15.96
3033.20	5253	185.13	1.30	0.00	2682.1	2598.2	2766.1	2572.5	1280.2	19.48	15.92	454	3040.24	0.00	0.44	3.40	0.000	0.206	0.061	2681.56	2597.44	2765.69	2515.12	2773.12	0	0	0	30.00	15.95	16.03
3224.41	10919	323.30	2.01	-80.00	2680.1	2595.1	2765.1	2514.7	2773.1	7.22	3.67	492	3340.56	105.26	1.12	3.66	0.767	0.058	0.123	2122.03	2017.62	2226.44	2703.50	1280.00	0	0	0	11.71	16.04	15.77
3358.70	11303	526.49	2.82	0.00	2120.0	2017.2	2222.8	2703.8	1279.7	6.08	0.69	518	3517.67	147.98	1.14	3.43	0.752	0.058	0.057	1297.59	1195.50	1399.69	2899.94	2776.56	0	0	0	11.68	15.82	15.85
3621	end climb: SURFACE_DEPTH_REACHED
state	3621	begin surface coast
3775	end surface coast: CONTROL_FINISHED_OK
state	3775	begin surface