Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 10 * 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 10 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 733.68915 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 3490.9873 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 2207.3389 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 16.798813 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 0.59909177 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 3.9112353 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 0.59909177 PHONE_SUPPLY 2 SM_CC 733.68915

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 3.9112353 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 16.798813 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 2207.3389 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 3490.9873 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 10 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 210623,032156,4736.478,-12256.308,1,0.9,30,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -67.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,032522,4736.499,-12256.322,3,0.7,3,15.4 MHEAD_RNG_PITCHd_Wd 197.5,1178,-19.3,-10.000,-24.09,2233,0.167

SPEED_LIMITS 0.100,0.224 D_GRID 168

TGT_NAME S IRON 1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018

TGT_LATLONG 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NAV 1687321874,0.2,start _10V_AH 15.00,0.000

NET xmit part outbox0005.n 962 0 FG_AHR_24Vo 4.060

NET_PING 1687321360,29,331.693512,5.300000,59.564560 FG_AHR_10Vo 0.644

FREEZE 6.61,14.086,-1.518,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3803.00,283.11,0.752,0,500.3,411.5,589.1,733.37 MEM2 945120,25,101588,68

SM_GC 1.86,0.00,16.65,0.09,0.000,0.052,0.159,496.9,412.1,581.8,216.5,2725.2,0,0,0,30.00,15.64,15.64 DATA_FILE_SIZE 12943,531

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 200691,0

IRIDIUM_FIX 4736.87,-12256.21,210623,021705 SDSIZE 3918848,3904576

TCM_TEMP 12.93 SDFILEDIR 134,11

SC_FREEKB 3875488 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.019, 24.9,1

HUMID 49.60 MAGCAL 1.000000,0.015076,0.062763,-0.091754,1.110158,-0.043108,-0.043726,0.022541,1.096130,-954.8,-20.9,246.7,36,0.0534,0

TEMP 11.83 IMPLIED_C_PITCH 2204,16.35,263,2205.6,16.57

INTERNAL_PRESSURE 8.52 IMPLIED_C_VBD 3502,23.856899,167,3496.4

_24V_AH 14.98,4.724 GPS 210623,043148,4736.290,-12256.594,1,0.9,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 754 947 10714.08 nil 0 0 0.00

Pitch_motor 39 277 166.02 nil 0 0 0.00

Roll_motor 61 232 213.83 nil 0 0 0.00

Iridium 134 187 376.23 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 11 15 2.69 nil 0 0 0.00

Core 2205 5 169.35 SciCon 3519 6 346.64

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1600 0 7.68

Compass 1069 5 80.18

RAFOS 2250 40 1350.55

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 -146.63 -1.74 0.00 494.4 414.6 574.2 215.1 2773.0 0.00 0.00 0 91.10 81.48 0.00 0.00 0.005 0.000 0.000 2323.22 2313.44 2333.00 215.19 2773.25 0 0 0 15.97 30.00 30.00

91.35 18983 -146.63 -1.74 -80.00 2322.5 2312.2 2332.8 215.0 2772.8 3.52 -2.47 16 159.71 43.65 12.43 3.61 0.005 0.278 0.121 3959.75 3944.31 3975.19 1785.69 1278.31 0 0 0 16.02 15.82 15.92

172.81 19623 -146.63 -1.36 0.00 3960.2 3944.2 3976.2 1785.9 1278.8 11.28 -8.03 32 179.79 0.00 0.64 3.41 0.000 0.180 0.060 3960.91 3945.12 3976.69 1876.50 2767.75 0 0 0 30.00 15.90 15.95

361.66 16546 -146.63 -1.30 0.00 3962.1 3945.1 3979.2 1879.0 2767.8 27.09 -7.18 68 365.25 0.00 0.00 0.00 0.000 0.000 0.000 3962.28 3945.31 3979.25 1878.81 2766.81 0 0 0 30.00 30.00 30.00

550.38 18855 -146.63 -1.23 80.00 3962.5 3945.0 3979.9 1878.7 2767.2 42.85 -8.82 105 556.08 0.00 0.20 3.00 0.000 0.174 0.118 3962.75 3944.56 3980.94 1909.94 4012.88 0 0 0 30.00 15.99 16.00

600.38 17574 -146.63 -1.18 0.00 3962.8 3945.2 3980.3 1909.7 4012.2 47.27 -8.83 115 605.89 0.00 0.00 2.91 0.000 0.000 0.062 3963.12 3945.50 3980.75 1909.38 2723.56 0 0 0 30.00 30.00 16.05

795.32 32 -146.63 -1.18 0.00 3963.8 3945.2 3982.4 1909.8 2723.4 62.27 -7.64 138 796.84 0.00 0.00 0.00 0.000 0.000 0.000 3963.78 3945.81 3981.75 1909.69 2723.75 0 0 0 30.00 30.00 30.00

985.33 32 -146.63 -1.18 0.00 3964.2 3945.2 3983.1 1909.6 2723.5 77.42 -8.06 157 986.85 0.00 0.00 0.00 0.000 0.000 0.000 3964.72 3944.62 3984.81 1909.75 2723.44 0 0 0 30.00 30.00 30.00

1168.33 548 -146.63 -1.18 -80.00 3964.3 3944.9 3983.8 1909.3 2723.2 93.40 -8.58 176 1174.46 0.00 0.00 3.47 0.000 0.000 0.128 3964.47 3945.50 3983.44 1910.06 1280.81 0 0 0 30.00 30.00 16.09

1277.65 3205 -146.63 -1.13 0.00 3964.9 3946.4 3983.4 1909.1 1281.0 104.75 -10.49 198 1284.25 0.00 0.17 3.38 0.000 0.176 0.062 3965.78 3946.62 3984.94 1936.06 2771.56 0 0 0 30.00 16.06 16.14

1473.46 160 -146.63 -1.18 0.00 3964.9 3944.9 3984.9 1936.3 2771.1 120.13 -7.73 218 1474.98 0.00 0.00 0.00 0.000 0.000 0.000 3964.84 3944.88 3984.81 1936.12 2771.69 0 0 0 30.00 30.00 30.00

1658.44 4773 -146.63 -1.24 -80.00 3964.8 3945.3 3984.2 1936.4 2771.1 134.31 -7.58 237 1664.93 0.00 0.26 3.58 0.000 0.077 0.126 3964.94 3944.50 3985.38 1887.75 1279.50 0 0 0 30.00 16.16 16.13

1703.43 3205 -146.63 -1.12 0.00 3964.3 3944.6 3984.1 1887.9 1279.7 139.13 -11.30 246 1710.05 0.00 0.38 3.38 0.000 0.165 0.064 3964.06 3944.81 3983.31 1936.19 2770.88 0 0 0 30.00 16.12 16.17

1838 end dive: TARGET_DEPTH_EXCEEDED

state 1838 begin apogee

1839.71 10243 0.00 -0.30 0.00 3964.6 3945.3 3983.8 1936.6 2725.8 150.34 -7.98 260 1926.68 81.01 1.36 0.08 0.947 0.128 0.233 3490.06 3423.00 3557.12 2137.56 2771.50 0 0 0 11.80 16.13 15.89

1928 end apogee: CONTROL_FINISHED_OK

state 1928 begin climb

1929.16 10503 146.63 1.74 80.00 3487.8 3422.2 3553.4 2137.1 2772.5 151.81 0.00 268 2050.89 106.92 3.17 3.06 0.904 0.081 0.118 2890.81 2807.12 2974.50 2631.56 4010.81 0 0 0 11.80 15.90 15.64

2074.17 5253 146.63 1.36 0.00 2885.8 2805.4 2966.1 2632.6 4011.8 137.74 16.45 294 2080.71 0.00 0.79 3.01 0.000 0.215 0.061 2883.44 2803.25 2963.62 2531.94 2724.69 0 0 0 30.00 15.66 15.73

2271.04 17030 146.63 1.29 -80.00 2881.1 2800.2 2962.1 2532.0 2724.7 110.41 13.67 314 2279.99 0.00 0.00 3.56 0.000 0.000 0.128 2883.47 2803.00 2963.94 2531.00 1282.06 0 0 0 30.00 30.00 15.79

2389.60 21639 146.63 1.14 0.00 2879.9 2799.3 2960.6 2531.5 1281.8 92.10 14.68 338 2396.13 0.00 0.38 3.42 0.000 0.203 0.060 2879.09 2797.94 2960.25 2476.69 2771.62 0 0 0 30.00 15.81 15.89

2584.69 10919 154.94 1.23 -80.00 2879.0 2797.9 2960.1 2476.8 2770.4 73.22 9.62 358 2600.58 6.91 0.21 3.63 0.616 0.083 0.125 2856.59 2774.06 2939.12 2517.44 1281.19 0 0 0 11.71 15.94 15.90

2708.97 5253 154.94 1.13 0.00 2855.5 2773.6 2937.4 2517.2 1281.3 56.96 13.02 383 2715.86 0.00 0.33 3.40 0.000 0.203 0.060 2857.81 2775.44 2940.19 2475.75 2771.06 0 0 0 30.00 15.90 15.97

2900.85 10919 202.04 1.41 -80.00 2854.3 2771.0 2937.6 2475.6 2771.2 40.35 7.84 412 2948.17 36.95 0.50 3.64 0.793 0.063 0.125 2663.94 2574.00 2753.88 2560.06 1281.12 0 0 0 11.75 15.94 15.82

2986.43 5253 202.04 1.28 0.00 2660.3 2573.3 2747.4 2559.8 1281.2 30.50 13.74 429 2993.67 0.00 0.38 3.42 0.000 0.202 0.059 2661.66 2575.56 2747.75 2509.38 2773.25 0 0 0 30.00 15.80 15.88

3176.93 10919 256.09 1.62 -80.00 2658.4 2573.2 2743.7 2512.4 2772.6 12.77 7.52 467 3230.56 43.28 0.56 3.66 0.762 0.062 0.125 2443.56 2349.75 2537.38 2610.81 1281.06 0 0 0 11.74 15.93 15.79

3238.84 9382 284.25 1.68 0.00 2440.7 2348.3 2533.1 2610.7 1280.7 7.78 8.71 479 3271.00 23.61 0.00 3.43 0.720 0.000 0.058 2331.72 2230.44 2433.00 2611.25 2774.50 0 0 0 11.82 30.00 15.84

3454.88 10919 505.37 2.67 -80.00 2321.4 2224.4 2418.4 2610.9 2774.8 7.04 -0.13 521 3507.30 48.06 1.49 0.00 0.755 0.054 0.000 2079.12 1979.00 2179.25 2867.50 2774.81 0 0 0 11.72 15.82 30.00

3508 end climb: NO_VERTICAL_VELOCITY

state 3508 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	10	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	733.68915	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	3490.9873	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	2207.3389	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	16.798813	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	0.59909177	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	3.9112353	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	210623,032156,4736.478,-12256.308,1,0.9,30,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,032522,4736.499,-12256.322,3,0.7,3,15.4	MHEAD_RNG_PITCHd_Wd	197.5,1178,-19.3,-10.000,-24.09,2233,0.167
SPEED_LIMITS	0.100,0.224	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018
TGT_LATLONG	4735.950,-12256.800	OSC	8000307

NAV	1687321874,0.2,start	_10V_AH	15.00,0.000
NET	xmit part outbox0005.n 962 0	FG_AHR_24Vo	4.060
NET_PING	1687321360,29,331.693512,5.300000,59.564560	FG_AHR_10Vo	0.644
FREEZE	6.61,14.086,-1.518,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3803.00,283.11,0.752,0,500.3,411.5,589.1,733.37	MEM2	945120,25,101588,68
SM_GC	1.86,0.00,16.65,0.09,0.000,0.052,0.159,496.9,412.1,581.8,216.5,2725.2,0,0,0,30.00,15.64,15.64	DATA_FILE_SIZE	12943,531
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	200691,0
IRIDIUM_FIX	4736.87,-12256.21,210623,021705	SDSIZE	3918848,3904576
TCM_TEMP	12.93	SDFILEDIR	134,11
SC_FREEKB	3875488	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.019, 24.9,1
HUMID	49.60	MAGCAL	1.000000,0.015076,0.062763,-0.091754,1.110158,-0.043108,-0.043726,0.022541,1.096130,-954.8,-20.9,246.7,36,0.0534,0
TEMP	11.83	IMPLIED_C_PITCH	2204,16.35,263,2205.6,16.57
INTERNAL_PRESSURE	8.52	IMPLIED_C_VBD	3502,23.856899,167,3496.4
_24V_AH	14.98,4.724	GPS	210623,043148,4736.290,-12256.594,1,0.9,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	754	947	10714.08	nil	0	0	0.00
Pitch_motor	39	277	166.02	nil	0	0	0.00
Roll_motor	61	232	213.83	nil	0	0	0.00
Iridium	134	187	376.23	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	11	15	2.69	nil	0	0	0.00
Core	2205	5	169.35	SciCon	3519	6	346.64
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1600	0	7.68
Compass	1069	5	80.18
RAFOS	2250	40	1350.55
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	-146.63	-1.74	0.00	494.4	414.6	574.2	215.1	2773.0	0.00	0.00	0	91.10	81.48	0.00	0.00	0.005	0.000	0.000	2323.22	2313.44	2333.00	215.19	2773.25	0	0	0	15.97	30.00	30.00
91.35	18983	-146.63	-1.74	-80.00	2322.5	2312.2	2332.8	215.0	2772.8	3.52	-2.47	16	159.71	43.65	12.43	3.61	0.005	0.278	0.121	3959.75	3944.31	3975.19	1785.69	1278.31	0	0	0	16.02	15.82	15.92
172.81	19623	-146.63	-1.36	0.00	3960.2	3944.2	3976.2	1785.9	1278.8	11.28	-8.03	32	179.79	0.00	0.64	3.41	0.000	0.180	0.060	3960.91	3945.12	3976.69	1876.50	2767.75	0	0	0	30.00	15.90	15.95
361.66	16546	-146.63	-1.30	0.00	3962.1	3945.1	3979.2	1879.0	2767.8	27.09	-7.18	68	365.25	0.00	0.00	0.00	0.000	0.000	0.000	3962.28	3945.31	3979.25	1878.81	2766.81	0	0	0	30.00	30.00	30.00
550.38	18855	-146.63	-1.23	80.00	3962.5	3945.0	3979.9	1878.7	2767.2	42.85	-8.82	105	556.08	0.00	0.20	3.00	0.000	0.174	0.118	3962.75	3944.56	3980.94	1909.94	4012.88	0	0	0	30.00	15.99	16.00
600.38	17574	-146.63	-1.18	0.00	3962.8	3945.2	3980.3	1909.7	4012.2	47.27	-8.83	115	605.89	0.00	0.00	2.91	0.000	0.000	0.062	3963.12	3945.50	3980.75	1909.38	2723.56	0	0	0	30.00	30.00	16.05
795.32	32	-146.63	-1.18	0.00	3963.8	3945.2	3982.4	1909.8	2723.4	62.27	-7.64	138	796.84	0.00	0.00	0.00	0.000	0.000	0.000	3963.78	3945.81	3981.75	1909.69	2723.75	0	0	0	30.00	30.00	30.00
985.33	32	-146.63	-1.18	0.00	3964.2	3945.2	3983.1	1909.6	2723.5	77.42	-8.06	157	986.85	0.00	0.00	0.00	0.000	0.000	0.000	3964.72	3944.62	3984.81	1909.75	2723.44	0	0	0	30.00	30.00	30.00
1168.33	548	-146.63	-1.18	-80.00	3964.3	3944.9	3983.8	1909.3	2723.2	93.40	-8.58	176	1174.46	0.00	0.00	3.47	0.000	0.000	0.128	3964.47	3945.50	3983.44	1910.06	1280.81	0	0	0	30.00	30.00	16.09
1277.65	3205	-146.63	-1.13	0.00	3964.9	3946.4	3983.4	1909.1	1281.0	104.75	-10.49	198	1284.25	0.00	0.17	3.38	0.000	0.176	0.062	3965.78	3946.62	3984.94	1936.06	2771.56	0	0	0	30.00	16.06	16.14
1473.46	160	-146.63	-1.18	0.00	3964.9	3944.9	3984.9	1936.3	2771.1	120.13	-7.73	218	1474.98	0.00	0.00	0.00	0.000	0.000	0.000	3964.84	3944.88	3984.81	1936.12	2771.69	0	0	0	30.00	30.00	30.00
1658.44	4773	-146.63	-1.24	-80.00	3964.8	3945.3	3984.2	1936.4	2771.1	134.31	-7.58	237	1664.93	0.00	0.26	3.58	0.000	0.077	0.126	3964.94	3944.50	3985.38	1887.75	1279.50	0	0	0	30.00	16.16	16.13
1703.43	3205	-146.63	-1.12	0.00	3964.3	3944.6	3984.1	1887.9	1279.7	139.13	-11.30	246	1710.05	0.00	0.38	3.38	0.000	0.165	0.064	3964.06	3944.81	3983.31	1936.19	2770.88	0	0	0	30.00	16.12	16.17
1838	end dive: TARGET_DEPTH_EXCEEDED
state	1838	begin apogee
1839.71	10243	0.00	-0.30	0.00	3964.6	3945.3	3983.8	1936.6	2725.8	150.34	-7.98	260	1926.68	81.01	1.36	0.08	0.947	0.128	0.233	3490.06	3423.00	3557.12	2137.56	2771.50	0	0	0	11.80	16.13	15.89
1928	end apogee: CONTROL_FINISHED_OK
state	1928	begin climb
1929.16	10503	146.63	1.74	80.00	3487.8	3422.2	3553.4	2137.1	2772.5	151.81	0.00	268	2050.89	106.92	3.17	3.06	0.904	0.081	0.118	2890.81	2807.12	2974.50	2631.56	4010.81	0	0	0	11.80	15.90	15.64
2074.17	5253	146.63	1.36	0.00	2885.8	2805.4	2966.1	2632.6	4011.8	137.74	16.45	294	2080.71	0.00	0.79	3.01	0.000	0.215	0.061	2883.44	2803.25	2963.62	2531.94	2724.69	0	0	0	30.00	15.66	15.73
2271.04	17030	146.63	1.29	-80.00	2881.1	2800.2	2962.1	2532.0	2724.7	110.41	13.67	314	2279.99	0.00	0.00	3.56	0.000	0.000	0.128	2883.47	2803.00	2963.94	2531.00	1282.06	0	0	0	30.00	30.00	15.79
2389.60	21639	146.63	1.14	0.00	2879.9	2799.3	2960.6	2531.5	1281.8	92.10	14.68	338	2396.13	0.00	0.38	3.42	0.000	0.203	0.060	2879.09	2797.94	2960.25	2476.69	2771.62	0	0	0	30.00	15.81	15.89
2584.69	10919	154.94	1.23	-80.00	2879.0	2797.9	2960.1	2476.8	2770.4	73.22	9.62	358	2600.58	6.91	0.21	3.63	0.616	0.083	0.125	2856.59	2774.06	2939.12	2517.44	1281.19	0	0	0	11.71	15.94	15.90
2708.97	5253	154.94	1.13	0.00	2855.5	2773.6	2937.4	2517.2	1281.3	56.96	13.02	383	2715.86	0.00	0.33	3.40	0.000	0.203	0.060	2857.81	2775.44	2940.19	2475.75	2771.06	0	0	0	30.00	15.90	15.97
2900.85	10919	202.04	1.41	-80.00	2854.3	2771.0	2937.6	2475.6	2771.2	40.35	7.84	412	2948.17	36.95	0.50	3.64	0.793	0.063	0.125	2663.94	2574.00	2753.88	2560.06	1281.12	0	0	0	11.75	15.94	15.82
2986.43	5253	202.04	1.28	0.00	2660.3	2573.3	2747.4	2559.8	1281.2	30.50	13.74	429	2993.67	0.00	0.38	3.42	0.000	0.202	0.059	2661.66	2575.56	2747.75	2509.38	2773.25	0	0	0	30.00	15.80	15.88
3176.93	10919	256.09	1.62	-80.00	2658.4	2573.2	2743.7	2512.4	2772.6	12.77	7.52	467	3230.56	43.28	0.56	3.66	0.762	0.062	0.125	2443.56	2349.75	2537.38	2610.81	1281.06	0	0	0	11.74	15.93	15.79
3238.84	9382	284.25	1.68	0.00	2440.7	2348.3	2533.1	2610.7	1280.7	7.78	8.71	479	3271.00	23.61	0.00	3.43	0.720	0.000	0.058	2331.72	2230.44	2433.00	2611.25	2774.50	0	0	0	11.82	30.00	15.84
3454.88	10919	505.37	2.67	-80.00	2321.4	2224.4	2418.4	2610.9	2774.8	7.04	-0.13	521	3507.30	48.06	1.49	0.00	0.755	0.054	0.000	2079.12	1979.00	2179.25	2867.50	2774.81	0	0	0	11.72	15.82	30.00
3508	end climb: NO_VERTICAL_VELOCITY
state	3508	begin surface