Glider dive log

HoodCanal 19Jun23 * SG252 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 252 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

MISSION 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 11 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 699.10498 ROLL_MAXERRORS 1 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT 2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3350 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 7

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 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 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 210 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3615 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1600 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 14 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 0.47957397 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 4.5889869 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 2 PRESSURE_YINT -179.55089 SEABIRD_T_J 4.3e-06

MASS 72278 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022626969 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 275 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3885 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 2025 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 30 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.47957397 PHONE_SUPPLY 2 SM_CC 699.10498

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 4.5889869 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.015 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 14 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3615 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 210 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 252 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT 2 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1600 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022626969 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -179.55089 T_NO_W 60

C_ROLL_CLIMB 2025 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2025 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3350 LOGGERS 7 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 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 72278 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 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 3885 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 11 MISSION 3 ROLL_MIN 275 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 200623,062053,4736.627,-12256.520,2,1.4,8,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,062404,4736.637,-12256.508,2,1.3,3,15.4 MHEAD_RNG_PITCHd_Wd 186.8,1323,-17.6,-10.000,-21.21,2209,0.165

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,0.010733,-0.029004,-0.008672,1.062098,-0.050153,-0.010455,-0.029693,0.998692,-230.055832,-1242.332642,-779.298889

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687244659,58.7,0,stop FG_AHR_24Vo 4.841

FREEZE 6.44,13.913,-1.512,0,1,0 FG_AHR_10Vo 0.499

SURF forcing MEM0 60020,1,0,0

SM_CCo 3457.20,306.54,1.173,0,500.9,526.6,475.2,698.88 MEM1 65508,1,0,0

SM_GC 1.91,0.00,12.07,3.62,0.000,0.056,0.083,497.4,522.6,472.3,196.3,2012.2,0,0,0,30.00,15.60,15.58 MEM2 945652,35,100856,68

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12888,478

IRIDIUM_FIX 4735.53,-12254.47,200623,052454 CAP_FILE_SIZE 182109,0

TCM_TEMP -86.41 SDSIZE 3887104,3871072

SC_FREEKB 3875264 SDFILEDIR 110,12

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 52.57 CURRENT 0.027, 7.2,1

TEMP 10.77 MAGCAL 1.000000,0.011448,-0.024307,0.004555,1.077559,-0.081030,-0.024407,-0.029566,1.049330,-234.0,-1220.2,-819.0,36,0.0234,1

INTERNAL_PRESSURE 7.9719 IMPLIED_C_PITCH 1765,12.91,222,0.0,0.00

_24V_AH 14.94,5.045 IMPLIED_C_VBD 3288,18.075857,222,0

_10V_AH 15.00,0.000 GPS 200623,072453,4736.309,-12256.665,4,1.2,14,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 792 1362 16129.37 nil 0 0 0.00

Pitch_motor 25 274 104.00 nil 0 0 0.00

Roll_motor 65 311 306.03 nil 0 0 0.00

Iridium 125 153 287.42 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.92 nil 0 0 0.00

Core 2090 5 160.56 SciCon 3125 6 300.19

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1312 0 6.30

Compass 1002 5 75.20

RAFOS 316 40 190.08

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.70 16386 -146.63 -1.44 0.00 495.5 520.1 471.0 195.8 2012.3 0.00 0.00 0 59.20 47.49 0.00 0.00 0.005 0.000 0.000 1896.84 1915.06 1878.62 196.38 2012.19 0 0 0 15.14 30.00 30.00

59.73 18727 -146.63 -1.44 80.00 1896.8 1914.2 1879.4 196.6 2012.4 3.45 -4.01 9 136.79 49.35 7.98 3.64 0.005 0.274 0.138 3948.28 3953.38 3943.19 1253.25 3491.19 0 0 0 15.96 15.79 15.88

250.54 3205 -146.63 -1.24 0.00 3950.2 3955.9 3944.5 1252.7 3491.0 34.14 -19.25 45 259.03 0.00 0.31 3.56 0.000 0.200 0.082 3950.28 3956.81 3943.75 1299.69 2011.00 0 0 0 30.00 15.91 15.93

447.70 388 -146.63 -1.14 80.00 3950.9 3957.9 3943.8 1299.8 2011.1 62.78 -14.31 74 456.62 0.00 0.00 3.64 0.000 0.000 0.133 3950.31 3957.44 3943.19 1300.19 3490.00 0 0 0 30.00 30.00 16.00

535.48 3205 -146.63 -1.01 0.00 3950.8 3958.1 3943.5 1300.4 3490.6 77.11 -16.61 91 544.66 0.00 0.37 3.53 0.000 0.180 0.083 3950.25 3956.69 3943.81 1355.81 2011.00 0 0 0 30.00 16.00 16.01

734.50 388 -146.63 -0.97 80.00 3951.6 3958.8 3944.4 1356.1 2010.8 100.40 -10.89 112 743.28 0.00 0.00 3.63 0.000 0.000 0.136 3950.78 3957.69 3943.88 1355.38 3491.00 0 0 0 30.00 30.00 16.04

806.36 3205 -146.63 -0.90 0.00 3951.3 3958.6 3944.1 1355.8 3490.4 109.74 -13.52 126 814.83 0.00 0.17 3.54 0.000 0.193 0.085 3951.47 3958.44 3944.50 1383.56 2011.69 0 0 0 30.00 16.03 16.05

1001.98 260 -146.63 -0.90 80.00 3951.7 3959.2 3944.1 1383.1 2011.6 130.54 -10.47 146 1010.94 0.00 0.00 3.64 0.000 0.000 0.138 3950.88 3958.50 3943.25 1383.75 3492.19 0 0 0 30.00 30.00 16.08

1099.81 1156 -146.63 -0.86 0.00 3951.7 3959.4 3944.0 1383.7 3491.6 141.97 -11.89 165 1108.63 0.00 0.00 3.53 0.000 0.000 0.086 3950.62 3958.00 3943.25 1383.62 2010.88 0 0 0 30.00 30.00 16.09

1175 end dive: TARGET_DEPTH_EXCEEDED

state 1175 begin apogee

1176.38 10243 0.00 -0.36 0.00 3951.8 3959.3 3944.2 1383.9 2040.4 150.48 -11.27 173 1305.48 113.77 0.86 0.06 1.363 0.143 0.312 3348.97 3388.19 3309.75 1516.50 2013.75 0 0 0 12.02 16.08 15.64

1307 end apogee: CONTROL_FINISHED_OK

state 1307 begin climb

1306.92 10759 146.63 1.44 -80.00 3348.0 3387.1 3309.0 1516.7 2013.2 158.43 0.00 185 1453.68 120.68 2.84 4.07 1.321 0.117 0.198 2750.78 2801.44 2700.12 1950.38 562.00 0 0 0 11.82 15.68 15.41

1477.70 11431 208.31 1.56 0.00 2747.7 2794.9 2700.5 1950.4 562.2 151.42 7.14 215 1545.95 52.19 0.17 3.58 1.284 0.094 0.077 2499.44 2556.12 2442.75 1991.44 2040.62 0 0 0 11.67 15.59 15.57

1729.86 8614 220.29 1.65 80.00 2493.8 2550.4 2437.1 1991.6 2040.1 127.51 9.45 246 1753.27 11.15 0.00 3.66 1.134 0.000 0.145 2452.12 2507.44 2396.81 1990.75 3489.94 0 0 0 11.91 30.00 15.71

1905.14 1156 220.29 1.71 0.00 2449.2 2506.1 2392.2 1991.9 3490.3 108.84 10.44 280 1914.03 0.00 0.00 3.60 0.000 0.000 0.087 2445.94 2503.06 2388.81 1991.69 2012.25 0 0 0 30.00 30.00 15.84

2095.51 10663 248.90 1.83 80.00 2447.8 2505.3 2390.4 1990.9 2012.1 91.28 8.67 298 2135.03 26.15 0.31 3.72 1.241 0.069 0.142 2335.38 2395.81 2274.94 2059.75 3491.31 0 0 0 12.03 15.94 15.81

2188.76 1028 248.90 1.83 0.00 2331.9 2391.5 2272.2 2059.5 3491.1 80.31 12.48 316 2197.95 0.00 0.00 3.60 0.000 0.000 0.086 2330.75 2390.31 2271.19 2059.94 2013.25 0 0 0 30.00 30.00 15.85

2387.08 388 248.90 1.88 80.00 2330.2 2390.2 2270.1 2060.2 2012.2 58.68 10.85 336 2395.48 0.00 0.00 3.68 0.000 0.000 0.141 2317.06 2365.88 2268.25 2057.75 3488.81 0 0 0 30.00 30.00 15.92

2487.95 1028 248.90 1.88 0.00 2329.9 2389.9 2269.8 2060.1 3488.6 46.27 12.05 355 2496.81 0.00 0.00 3.57 0.000 0.000 0.086 2329.75 2389.44 2270.06 2060.00 2011.62 0 0 0 30.00 30.00 15.95

2680.64 128 248.90 1.93 0.00 2329.1 2388.8 2269.4 2060.2 2012.0 26.17 10.03 393 2684.55 0.00 0.00 0.00 0.000 0.000 0.000 2328.28 2387.31 2269.25 2059.94 2012.06 0 0 0 30.00 30.00 30.00

2865.78 10663 323.00 2.10 80.00 2328.5 2388.6 2268.4 2060.4 2012.5 10.50 6.57 430 2946.54 64.80 0.30 3.73 1.218 0.073 0.143 2029.25 2096.75 1961.75 2124.75 3490.81 0 0 0 11.95 16.08 15.80

3119 end climb: NO_VERTICAL_VELOCITY

state 3119 begin surface

ID	252	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	ALTIM_PULSE	3
MISSION	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	11	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	699.10498	ROLL_MAXERRORS	1	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3350	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	7
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	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	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	210	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3615	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1600	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	14	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	0.47957397	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	4.5889869	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-179.55089	SEABIRD_T_J	4.3e-06
MASS	72278	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022626969	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	275	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3885	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	2025	ALTIM_FREQUENCY	13

GPS1	200623,062053,4736.627,-12256.520,2,1.4,8,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,062404,4736.637,-12256.508,2,1.3,3,15.4	MHEAD_RNG_PITCHd_Wd	186.8,1323,-17.6,-10.000,-21.21,2209,0.165
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.010733,-0.029004,-0.008672,1.062098,-0.050153,-0.010455,-0.029693,0.998692,-230.055832,-1242.332642,-779.298889
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687244659,58.7,0,stop	FG_AHR_24Vo	4.841
FREEZE	6.44,13.913,-1.512,0,1,0	FG_AHR_10Vo	0.499
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3457.20,306.54,1.173,0,500.9,526.6,475.2,698.88	MEM1	65508,1,0,0
SM_GC	1.91,0.00,12.07,3.62,0.000,0.056,0.083,497.4,522.6,472.3,196.3,2012.2,0,0,0,30.00,15.60,15.58	MEM2	945652,35,100856,68
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12888,478
IRIDIUM_FIX	4735.53,-12254.47,200623,052454	CAP_FILE_SIZE	182109,0
TCM_TEMP	-86.41	SDSIZE	3887104,3871072
SC_FREEKB	3875264	SDFILEDIR	110,12
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	52.57	CURRENT	0.027, 7.2,1
TEMP	10.77	MAGCAL	1.000000,0.011448,-0.024307,0.004555,1.077559,-0.081030,-0.024407,-0.029566,1.049330,-234.0,-1220.2,-819.0,36,0.0234,1
INTERNAL_PRESSURE	7.9719	IMPLIED_C_PITCH	1765,12.91,222,0.0,0.00
_24V_AH	14.94,5.045	IMPLIED_C_VBD	3288,18.075857,222,0
_10V_AH	15.00,0.000	GPS	200623,072453,4736.309,-12256.665,4,1.2,14,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	792	1362	16129.37	nil	0	0	0.00
Pitch_motor	25	274	104.00	nil	0	0	0.00
Roll_motor	65	311	306.03	nil	0	0	0.00
Iridium	125	153	287.42	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.92	nil	0	0	0.00
Core	2090	5	160.56	SciCon	3125	6	300.19
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1312	0	6.30
Compass	1002	5	75.20
RAFOS	316	40	190.08
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.70	16386	-146.63	-1.44	0.00	495.5	520.1	471.0	195.8	2012.3	0.00	0.00	0	59.20	47.49	0.00	0.00	0.005	0.000	0.000	1896.84	1915.06	1878.62	196.38	2012.19	0	0	0	15.14	30.00	30.00
59.73	18727	-146.63	-1.44	80.00	1896.8	1914.2	1879.4	196.6	2012.4	3.45	-4.01	9	136.79	49.35	7.98	3.64	0.005	0.274	0.138	3948.28	3953.38	3943.19	1253.25	3491.19	0	0	0	15.96	15.79	15.88
250.54	3205	-146.63	-1.24	0.00	3950.2	3955.9	3944.5	1252.7	3491.0	34.14	-19.25	45	259.03	0.00	0.31	3.56	0.000	0.200	0.082	3950.28	3956.81	3943.75	1299.69	2011.00	0	0	0	30.00	15.91	15.93
447.70	388	-146.63	-1.14	80.00	3950.9	3957.9	3943.8	1299.8	2011.1	62.78	-14.31	74	456.62	0.00	0.00	3.64	0.000	0.000	0.133	3950.31	3957.44	3943.19	1300.19	3490.00	0	0	0	30.00	30.00	16.00
535.48	3205	-146.63	-1.01	0.00	3950.8	3958.1	3943.5	1300.4	3490.6	77.11	-16.61	91	544.66	0.00	0.37	3.53	0.000	0.180	0.083	3950.25	3956.69	3943.81	1355.81	2011.00	0	0	0	30.00	16.00	16.01
734.50	388	-146.63	-0.97	80.00	3951.6	3958.8	3944.4	1356.1	2010.8	100.40	-10.89	112	743.28	0.00	0.00	3.63	0.000	0.000	0.136	3950.78	3957.69	3943.88	1355.38	3491.00	0	0	0	30.00	30.00	16.04
806.36	3205	-146.63	-0.90	0.00	3951.3	3958.6	3944.1	1355.8	3490.4	109.74	-13.52	126	814.83	0.00	0.17	3.54	0.000	0.193	0.085	3951.47	3958.44	3944.50	1383.56	2011.69	0	0	0	30.00	16.03	16.05
1001.98	260	-146.63	-0.90	80.00	3951.7	3959.2	3944.1	1383.1	2011.6	130.54	-10.47	146	1010.94	0.00	0.00	3.64	0.000	0.000	0.138	3950.88	3958.50	3943.25	1383.75	3492.19	0	0	0	30.00	30.00	16.08
1099.81	1156	-146.63	-0.86	0.00	3951.7	3959.4	3944.0	1383.7	3491.6	141.97	-11.89	165	1108.63	0.00	0.00	3.53	0.000	0.000	0.086	3950.62	3958.00	3943.25	1383.62	2010.88	0	0	0	30.00	30.00	16.09
1175	end dive: TARGET_DEPTH_EXCEEDED
state	1175	begin apogee
1176.38	10243	0.00	-0.36	0.00	3951.8	3959.3	3944.2	1383.9	2040.4	150.48	-11.27	173	1305.48	113.77	0.86	0.06	1.363	0.143	0.312	3348.97	3388.19	3309.75	1516.50	2013.75	0	0	0	12.02	16.08	15.64
1307	end apogee: CONTROL_FINISHED_OK
state	1307	begin climb
1306.92	10759	146.63	1.44	-80.00	3348.0	3387.1	3309.0	1516.7	2013.2	158.43	0.00	185	1453.68	120.68	2.84	4.07	1.321	0.117	0.198	2750.78	2801.44	2700.12	1950.38	562.00	0	0	0	11.82	15.68	15.41
1477.70	11431	208.31	1.56	0.00	2747.7	2794.9	2700.5	1950.4	562.2	151.42	7.14	215	1545.95	52.19	0.17	3.58	1.284	0.094	0.077	2499.44	2556.12	2442.75	1991.44	2040.62	0	0	0	11.67	15.59	15.57
1729.86	8614	220.29	1.65	80.00	2493.8	2550.4	2437.1	1991.6	2040.1	127.51	9.45	246	1753.27	11.15	0.00	3.66	1.134	0.000	0.145	2452.12	2507.44	2396.81	1990.75	3489.94	0	0	0	11.91	30.00	15.71
1905.14	1156	220.29	1.71	0.00	2449.2	2506.1	2392.2	1991.9	3490.3	108.84	10.44	280	1914.03	0.00	0.00	3.60	0.000	0.000	0.087	2445.94	2503.06	2388.81	1991.69	2012.25	0	0	0	30.00	30.00	15.84
2095.51	10663	248.90	1.83	80.00	2447.8	2505.3	2390.4	1990.9	2012.1	91.28	8.67	298	2135.03	26.15	0.31	3.72	1.241	0.069	0.142	2335.38	2395.81	2274.94	2059.75	3491.31	0	0	0	12.03	15.94	15.81
2188.76	1028	248.90	1.83	0.00	2331.9	2391.5	2272.2	2059.5	3491.1	80.31	12.48	316	2197.95	0.00	0.00	3.60	0.000	0.000	0.086	2330.75	2390.31	2271.19	2059.94	2013.25	0	0	0	30.00	30.00	15.85
2387.08	388	248.90	1.88	80.00	2330.2	2390.2	2270.1	2060.2	2012.2	58.68	10.85	336	2395.48	0.00	0.00	3.68	0.000	0.000	0.141	2317.06	2365.88	2268.25	2057.75	3488.81	0	0	0	30.00	30.00	15.92
2487.95	1028	248.90	1.88	0.00	2329.9	2389.9	2269.8	2060.1	3488.6	46.27	12.05	355	2496.81	0.00	0.00	3.57	0.000	0.000	0.086	2329.75	2389.44	2270.06	2060.00	2011.62	0	0	0	30.00	30.00	15.95
2680.64	128	248.90	1.93	0.00	2329.1	2388.8	2269.4	2060.2	2012.0	26.17	10.03	393	2684.55	0.00	0.00	0.00	0.000	0.000	0.000	2328.28	2387.31	2269.25	2059.94	2012.06	0	0	0	30.00	30.00	30.00
2865.78	10663	323.00	2.10	80.00	2328.5	2388.6	2268.4	2060.4	2012.5	10.50	6.57	430	2946.54	64.80	0.30	3.73	1.218	0.073	0.143	2029.25	2096.75	1961.75	2124.75	3490.81	0	0	0	11.95	16.08	15.80
3119	end climb: NO_VERTICAL_VELOCITY
state	3119	begin surface