Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 9 * 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 9 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 730.05817 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 3476.1851 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 2207.6333 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 17.217802 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 0.57903636 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 3.7546997 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 0.57903636 PHONE_SUPPLY 2 SM_CC 730.05817

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 3.7546997 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 17.217802 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 2207.6333 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 3476.1851 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 9 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 210623,021553,4736.259,-12256.458,1,0.9,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.65 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,021916,4736.266,-12256.477,2,0.9,3,15.4 MHEAD_RNG_PITCHd_Wd 351.4,488,-22.0,-10.000,-26.51,1782,0.152

SPEED_LIMITS 0.100,0.224 D_GRID 169

TGT_NAME N IRON 1.000000,0.002139,0.037086,-0.092539,1.107271,-0.024798,0.002084,-0.033311,1.127177,-929.903076,-27.236910,214.725464

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NAV 1687314855,78.5,0,stop FG_AHR_24Vo 3.904

FREEZE 3.67,15.745,-1.374,0,1,0 FG_AHR_10Vo 0.598

SURF forcing MEM0 60020,1,0,0

SM_CCo 3564.07,153.68,0.734,0,500.2,411.7,588.7,729.97 MEM1 65508,1,0,0

SM_GC 1.83,0.00,17.53,0.09,0.000,0.057,0.155,496.7,411.5,581.9,215.1,2723.5,0,0,0,30.00,15.64,15.67 MEM2 945188,23,101560,68

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16127,549

IRIDIUM_FIX 4735.53,-12254.47,210623,010705 CAP_FILE_SIZE 194542,0

TCM_TEMP 14.31 SDSIZE 3918848,3904928

SC_FREEKB 3875808 SDFILEDIR 126,10

RAFOS_CLK -1 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 49.33 CURRENT 0.010,124.4,1

TEMP 11.81 MAGCAL 1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-894.0,-40.1,230.3,35,0.0401,1

INTERNAL_PRESSURE 8.52129 IMPLIED_C_PITCH 2207,16.38,230,2207.3,16.80

_24V_AH 15.03,4.536 IMPLIED_C_VBD 3506,21.250301,162,3491.0

_10V_AH 15.00,0.000 GPS 210623,032156,4736.478,-12256.308,1,0.9,30,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 750 937 10579.99 nil 0 0 0.00

Pitch_motor 40 272 163.82 nil 0 0 0.00

Roll_motor 66 237 235.98 nil 0 0 0.00

Iridium 133 204 408.42 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 11 15 2.68 nil 0 0 0.00

Core 2213 5 170.02 SciCon 3415 6 335.83

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1483 0 7.12

Compass 1101 5 82.59

RAFOS 316 40 189.94

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

7.86 16386 -116.84 -1.75 0.00 496.4 425.0 567.9 217.6 2766.1 0.00 0.00 0 91.12 81.54 0.00 0.00 0.005 0.000 0.000 2311.56 2302.69 2320.44 217.50 2766.31 0 0 0 15.89 30.00 30.00

91.37 18727 -146.63 -1.87 80.00 2310.0 2300.5 2319.4 217.6 2765.1 3.33 -2.22 16 159.45 44.12 12.00 3.03 0.005 0.272 0.122 3959.56 3945.25 3973.88 1754.38 4012.12 0 0 0 15.95 15.76 15.85

173.46 19623 -146.63 -1.49 0.00 3960.5 3945.8 3975.2 1754.2 4012.2 10.47 -6.85 31 182.54 0.00 0.62 2.95 0.000 0.179 0.064 3960.84 3946.06 3975.62 1845.38 2728.06 0 0 0 30.00 15.82 15.87

366.91 16806 -146.63 -1.45 80.00 3962.1 3945.9 3978.2 1845.6 2727.8 28.45 -8.96 70 372.50 0.00 0.00 3.10 0.000 0.000 0.118 3963.19 3946.69 3979.69 1844.06 4011.06 0 0 0 30.00 30.00 15.94

599.89 3205 -146.63 -1.35 0.00 3962.3 3945.1 3979.5 1844.9 4011.7 51.87 -10.62 115 606.42 0.00 0.23 2.92 0.000 0.173 0.064 3962.75 3945.25 3980.25 1882.50 2723.69 0 0 0 30.00 15.97 16.03

795.61 292 -146.63 -1.35 80.00 3963.0 3945.5 3980.5 1881.8 2724.8 70.17 -9.92 135 801.63 0.00 0.00 3.13 0.000 0.000 0.118 3963.62 3945.94 3981.31 1881.81 4011.12 0 0 0 30.00 30.00 15.98

885.50 1028 -146.63 -1.35 0.00 3962.8 3945.8 3979.9 1882.6 4010.7 80.16 -10.93 153 891.86 0.00 0.00 2.92 0.000 0.000 0.065 3963.66 3946.44 3980.88 1882.12 2725.19 0 0 0 30.00 30.00 16.07

1081.35 676 -146.63 -1.38 -80.00 3964.4 3946.1 3982.6 1882.2 2725.5 98.29 -9.14 173 1087.41 0.00 0.00 3.47 0.000 0.000 0.129 3963.94 3945.62 3982.25 1882.00 1280.38 0 0 0 30.00 30.00 16.06

1150.59 1156 -146.63 -1.34 0.00 3963.8 3945.7 3981.8 1882.0 1280.3 106.31 -11.59 187 1157.10 0.00 0.00 3.39 0.000 0.000 0.062 3964.81 3946.31 3983.31 1882.62 2771.38 0 0 0 30.00 30.00 16.10

1346.39 676 -146.63 -1.38 -80.00 3964.6 3945.9 3983.4 1882.1 2771.6 124.94 -9.25 207 1352.49 0.00 0.00 3.57 0.000 0.000 0.123 3965.41 3946.81 3984.00 1882.62 1280.12 0 0 0 30.00 30.00 16.10

1408.61 1156 -146.63 -1.34 0.00 3964.1 3944.4 3983.7 1882.4 1280.5 132.36 -12.22 219 1415.11 0.00 0.00 3.39 0.000 0.000 0.063 3964.75 3946.00 3983.50 1881.94 2771.25 0 0 0 30.00 30.00 16.13

1584 end dive: TARGET_DEPTH_EXCEEDED

state 1584 begin apogee

1585.56 10243 0.00 -0.29 0.00 3964.8 3945.9 3983.6 1882.2 2726.8 150.40 -10.05 237 1677.14 84.32 1.74 0.08 0.938 0.138 0.237 3474.25 3407.75 3540.75 2137.69 2774.19 0 0 0 11.91 16.11 15.85

1679 end apogee: CONTROL_FINISHED_OK

state 1679 begin climb

1679.59 10503 146.63 1.87 80.00 3473.1 3407.2 3539.1 2138.0 2773.8 152.29 0.00 246 1800.00 107.28 3.35 3.05 0.901 0.082 0.117 2876.66 2792.38 2960.94 2667.06 4011.12 0 0 0 11.70 15.86 15.63

1817.46 5253 146.63 1.53 0.00 2871.7 2791.3 2952.0 2667.6 4010.1 137.61 17.74 272 1824.18 0.00 0.75 2.99 0.000 0.223 0.060 2871.81 2790.81 2952.81 2574.44 2723.88 0 0 0 30.00 15.64 15.72

2006.19 17030 146.63 1.48 -80.00 2867.2 2785.0 2949.4 2574.1 2723.5 107.83 15.37 292 2012.34 0.00 0.00 3.53 0.000 0.000 0.127 2869.38 2786.44 2952.31 2575.06 1280.50 0 0 0 30.00 30.00 15.85

2155.50 21639 146.63 1.33 0.00 2865.8 2786.5 2945.0 2573.8 1281.1 81.30 18.03 322 2162.27 0.00 0.35 3.41 0.000 0.222 0.059 2865.16 2785.31 2945.00 2524.06 2770.38 0 0 0 30.00 15.87 15.96

2351.23 17030 146.63 1.40 -80.00 2864.4 2783.8 2945.1 2523.9 2770.9 59.02 10.38 342 2357.37 0.00 0.00 3.60 0.000 0.000 0.123 2865.81 2784.69 2946.94 2523.06 1281.50 0 0 0 30.00 30.00 15.98

2456.18 17414 146.63 1.40 0.00 2864.2 2783.6 2944.9 2523.8 1281.8 46.33 12.14 363 2461.99 0.00 0.00 3.38 0.000 0.000 0.059 2864.91 2784.44 2945.38 2524.19 2773.62 0 0 0 30.00 30.00 16.05

2644.37 10919 158.51 1.53 -80.00 2863.5 2782.2 2944.8 2523.9 2773.8 27.60 9.32 400 2660.88 9.59 0.37 3.60 0.665 0.072 0.124 2828.22 2744.31 2912.12 2589.88 1280.94 0 0 0 11.82 16.07 16.01

2709.34 5253 158.51 1.40 0.00 2826.4 2743.7 2909.1 2589.5 1280.9 19.93 12.45 413 2716.38 0.00 0.38 3.38 0.000 0.219 0.059 2829.44 2747.06 2911.81 2539.31 2771.38 0 0 0 30.00 15.97 16.07

2899.62 10919 266.19 1.96 -80.00 2825.6 2742.2 2908.9 2541.4 2771.7 8.50 3.82 451 2994.65 83.40 0.89 3.63 0.774 0.060 0.122 2390.31 2292.88 2487.75 2694.06 1279.81 0 0 0 11.87 16.08 15.84

3017.81 11303 419.46 2.57 0.00 2384.5 2289.9 2479.1 2693.8 1280.2 7.04 1.20 474 3140.12 112.55 0.84 3.41 0.754 0.061 0.057 1762.59 1661.38 1863.81 2842.50 2777.56 0 0 0 11.74 15.89 15.90

3324.34 10275 592.11 3.26 0.00 1754.2 1660.1 1848.2 2841.9 2776.8 4.30 0.09 534 3402.48 74.36 0.96 0.00 0.746 0.056 0.000 1355.66 1259.56 1451.75 3011.12 2776.94 0 0 0 11.55 15.87 30.00

3403 end climb: NO_VERTICAL_VELOCITY

state 3403 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	9	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	730.05817	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	3476.1851	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	2207.6333	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	17.217802	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	0.57903636	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	3.7546997	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	210623,021553,4736.259,-12256.458,1,0.9,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.65	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,021916,4736.266,-12256.477,2,0.9,3,15.4	MHEAD_RNG_PITCHd_Wd	351.4,488,-22.0,-10.000,-26.51,1782,0.152
SPEED_LIMITS	0.100,0.224	D_GRID	169
TGT_NAME	N	IRON	1.000000,0.002139,0.037086,-0.092539,1.107271,-0.024798,0.002084,-0.033311,1.127177,-929.903076,-27.236910,214.725464
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

NAV	1687314855,78.5,0,stop	FG_AHR_24Vo	3.904
FREEZE	3.67,15.745,-1.374,0,1,0	FG_AHR_10Vo	0.598
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3564.07,153.68,0.734,0,500.2,411.7,588.7,729.97	MEM1	65508,1,0,0
SM_GC	1.83,0.00,17.53,0.09,0.000,0.057,0.155,496.7,411.5,581.9,215.1,2723.5,0,0,0,30.00,15.64,15.67	MEM2	945188,23,101560,68
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16127,549
IRIDIUM_FIX	4735.53,-12254.47,210623,010705	CAP_FILE_SIZE	194542,0
TCM_TEMP	14.31	SDSIZE	3918848,3904928
SC_FREEKB	3875808	SDFILEDIR	126,10
RAFOS_CLK	-1	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	49.33	CURRENT	0.010,124.4,1
TEMP	11.81	MAGCAL	1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-894.0,-40.1,230.3,35,0.0401,1
INTERNAL_PRESSURE	8.52129	IMPLIED_C_PITCH	2207,16.38,230,2207.3,16.80
_24V_AH	15.03,4.536	IMPLIED_C_VBD	3506,21.250301,162,3491.0
_10V_AH	15.00,0.000	GPS	210623,032156,4736.478,-12256.308,1,0.9,30,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	750	937	10579.99	nil	0	0	0.00
Pitch_motor	40	272	163.82	nil	0	0	0.00
Roll_motor	66	237	235.98	nil	0	0	0.00
Iridium	133	204	408.42	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	11	15	2.68	nil	0	0	0.00
Core	2213	5	170.02	SciCon	3415	6	335.83
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1483	0	7.12
Compass	1101	5	82.59
RAFOS	316	40	189.94
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
7.86	16386	-116.84	-1.75	0.00	496.4	425.0	567.9	217.6	2766.1	0.00	0.00	0	91.12	81.54	0.00	0.00	0.005	0.000	0.000	2311.56	2302.69	2320.44	217.50	2766.31	0	0	0	15.89	30.00	30.00
91.37	18727	-146.63	-1.87	80.00	2310.0	2300.5	2319.4	217.6	2765.1	3.33	-2.22	16	159.45	44.12	12.00	3.03	0.005	0.272	0.122	3959.56	3945.25	3973.88	1754.38	4012.12	0	0	0	15.95	15.76	15.85
173.46	19623	-146.63	-1.49	0.00	3960.5	3945.8	3975.2	1754.2	4012.2	10.47	-6.85	31	182.54	0.00	0.62	2.95	0.000	0.179	0.064	3960.84	3946.06	3975.62	1845.38	2728.06	0	0	0	30.00	15.82	15.87
366.91	16806	-146.63	-1.45	80.00	3962.1	3945.9	3978.2	1845.6	2727.8	28.45	-8.96	70	372.50	0.00	0.00	3.10	0.000	0.000	0.118	3963.19	3946.69	3979.69	1844.06	4011.06	0	0	0	30.00	30.00	15.94
599.89	3205	-146.63	-1.35	0.00	3962.3	3945.1	3979.5	1844.9	4011.7	51.87	-10.62	115	606.42	0.00	0.23	2.92	0.000	0.173	0.064	3962.75	3945.25	3980.25	1882.50	2723.69	0	0	0	30.00	15.97	16.03
795.61	292	-146.63	-1.35	80.00	3963.0	3945.5	3980.5	1881.8	2724.8	70.17	-9.92	135	801.63	0.00	0.00	3.13	0.000	0.000	0.118	3963.62	3945.94	3981.31	1881.81	4011.12	0	0	0	30.00	30.00	15.98
885.50	1028	-146.63	-1.35	0.00	3962.8	3945.8	3979.9	1882.6	4010.7	80.16	-10.93	153	891.86	0.00	0.00	2.92	0.000	0.000	0.065	3963.66	3946.44	3980.88	1882.12	2725.19	0	0	0	30.00	30.00	16.07
1081.35	676	-146.63	-1.38	-80.00	3964.4	3946.1	3982.6	1882.2	2725.5	98.29	-9.14	173	1087.41	0.00	0.00	3.47	0.000	0.000	0.129	3963.94	3945.62	3982.25	1882.00	1280.38	0	0	0	30.00	30.00	16.06
1150.59	1156	-146.63	-1.34	0.00	3963.8	3945.7	3981.8	1882.0	1280.3	106.31	-11.59	187	1157.10	0.00	0.00	3.39	0.000	0.000	0.062	3964.81	3946.31	3983.31	1882.62	2771.38	0	0	0	30.00	30.00	16.10
1346.39	676	-146.63	-1.38	-80.00	3964.6	3945.9	3983.4	1882.1	2771.6	124.94	-9.25	207	1352.49	0.00	0.00	3.57	0.000	0.000	0.123	3965.41	3946.81	3984.00	1882.62	1280.12	0	0	0	30.00	30.00	16.10
1408.61	1156	-146.63	-1.34	0.00	3964.1	3944.4	3983.7	1882.4	1280.5	132.36	-12.22	219	1415.11	0.00	0.00	3.39	0.000	0.000	0.063	3964.75	3946.00	3983.50	1881.94	2771.25	0	0	0	30.00	30.00	16.13
1584	end dive: TARGET_DEPTH_EXCEEDED
state	1584	begin apogee
1585.56	10243	0.00	-0.29	0.00	3964.8	3945.9	3983.6	1882.2	2726.8	150.40	-10.05	237	1677.14	84.32	1.74	0.08	0.938	0.138	0.237	3474.25	3407.75	3540.75	2137.69	2774.19	0	0	0	11.91	16.11	15.85
1679	end apogee: CONTROL_FINISHED_OK
state	1679	begin climb
1679.59	10503	146.63	1.87	80.00	3473.1	3407.2	3539.1	2138.0	2773.8	152.29	0.00	246	1800.00	107.28	3.35	3.05	0.901	0.082	0.117	2876.66	2792.38	2960.94	2667.06	4011.12	0	0	0	11.70	15.86	15.63
1817.46	5253	146.63	1.53	0.00	2871.7	2791.3	2952.0	2667.6	4010.1	137.61	17.74	272	1824.18	0.00	0.75	2.99	0.000	0.223	0.060	2871.81	2790.81	2952.81	2574.44	2723.88	0	0	0	30.00	15.64	15.72
2006.19	17030	146.63	1.48	-80.00	2867.2	2785.0	2949.4	2574.1	2723.5	107.83	15.37	292	2012.34	0.00	0.00	3.53	0.000	0.000	0.127	2869.38	2786.44	2952.31	2575.06	1280.50	0	0	0	30.00	30.00	15.85
2155.50	21639	146.63	1.33	0.00	2865.8	2786.5	2945.0	2573.8	1281.1	81.30	18.03	322	2162.27	0.00	0.35	3.41	0.000	0.222	0.059	2865.16	2785.31	2945.00	2524.06	2770.38	0	0	0	30.00	15.87	15.96
2351.23	17030	146.63	1.40	-80.00	2864.4	2783.8	2945.1	2523.9	2770.9	59.02	10.38	342	2357.37	0.00	0.00	3.60	0.000	0.000	0.123	2865.81	2784.69	2946.94	2523.06	1281.50	0	0	0	30.00	30.00	15.98
2456.18	17414	146.63	1.40	0.00	2864.2	2783.6	2944.9	2523.8	1281.8	46.33	12.14	363	2461.99	0.00	0.00	3.38	0.000	0.000	0.059	2864.91	2784.44	2945.38	2524.19	2773.62	0	0	0	30.00	30.00	16.05
2644.37	10919	158.51	1.53	-80.00	2863.5	2782.2	2944.8	2523.9	2773.8	27.60	9.32	400	2660.88	9.59	0.37	3.60	0.665	0.072	0.124	2828.22	2744.31	2912.12	2589.88	1280.94	0	0	0	11.82	16.07	16.01
2709.34	5253	158.51	1.40	0.00	2826.4	2743.7	2909.1	2589.5	1280.9	19.93	12.45	413	2716.38	0.00	0.38	3.38	0.000	0.219	0.059	2829.44	2747.06	2911.81	2539.31	2771.38	0	0	0	30.00	15.97	16.07
2899.62	10919	266.19	1.96	-80.00	2825.6	2742.2	2908.9	2541.4	2771.7	8.50	3.82	451	2994.65	83.40	0.89	3.63	0.774	0.060	0.122	2390.31	2292.88	2487.75	2694.06	1279.81	0	0	0	11.87	16.08	15.84
3017.81	11303	419.46	2.57	0.00	2384.5	2289.9	2479.1	2693.8	1280.2	7.04	1.20	474	3140.12	112.55	0.84	3.41	0.754	0.061	0.057	1762.59	1661.38	1863.81	2842.50	2777.56	0	0	0	11.74	15.89	15.90
3324.34	10275	592.11	3.26	0.00	1754.2	1660.1	1848.2	2841.9	2776.8	4.30	0.09	534	3402.48	74.36	0.96	0.00	0.746	0.056	0.000	1355.66	1259.56	1451.75	3011.12	2776.94	0	0	0	11.55	15.87	30.00
3403	end climb: NO_VERTICAL_VELOCITY
state	3403	begin surface