Glider dive log

HoodCanal 19Jun23 * SG252 * Dive index * Mission links * Dive 17 * 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 17 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 0.6002273 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 6.1201158 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 0.6002273 PHONE_SUPPLY 2 SM_CC 699.10498

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.1201158 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 17 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 200623,123629,4736.611,-12256.419,1,1.8,30,15.4 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 -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,123929,4736.623,-12256.396,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 193.0,1343,-17.6,-10.000,-21.21,2209,0.160

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,0.015188,-0.026368,-0.008752,1.062011,-0.056960,-0.006738,-0.038463,0.987792,-236.468765,-1241.938110,-775.440735

TGT_LATLONG 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NET xmit part outbox0001.n 921 0 _10V_AH 14.97,0.000

NET_PING 1687267822,29,367.867493,0.400000,-0.514632 FG_AHR_24Vo 6.371

NAV 1687267814,5.2,0,stop FG_AHR_10Vo 0.634

FREEZE 5.16,13.547,-1.531,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3517.17,330.42,1.174,0,500.9,526.9,475.0,698.88 MEM2 945804,28,100844,68

SM_GC 2.62,0.00,12.10,3.60,0.000,0.063,0.082,496.9,522.5,471.3,194.7,2010.2,0,0,0,30.00,15.59,15.57 DATA_FILE_SIZE 12931,484

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 191252,0

IRIDIUM_FIX 4736.87,-12256.21,200623,113847 SDSIZE 3887104,3869248

TCM_TEMP -86.37 SDFILEDIR 155,18

SC_FREEKB 3873344 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.033, 40.2,1

HUMID 52.47 MAGCAL 1.000000,0.013343,-0.044236,-0.008097,1.058809,-0.042183,0.027340,-0.049137,0.955831,-212.6,-1251.9,-744.8,29,0.0275,0

TEMP 10.78 IMPLIED_C_PITCH 1768,13.06,220,0.0,0.00

INTERNAL_PRESSURE 7.96953 IMPLIED_C_VBD 3291,17.662355,220,0

_24V_AH 14.92,6.605 GPS 200623,134106,4736.339,-12256.616,1,0.6,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 794 1356 16080.39 nil 0 0 0.00

Pitch_motor 25 280 107.31 nil 0 0 0.00

Roll_motor 65 328 322.75 nil 0 0 0.00

Iridium 113 155 262.58 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.17 nil 0 0 0.00

Core 2147 5 164.60 SciCon 3158 6 303.65

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1278 0 6.12

Compass 1015 5 76.00

RAFOS 310 40 185.69

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

6.72 16386 -146.63 -1.44 0.00 495.2 519.2 471.2 193.9 2038.4 0.00 0.00 0 61.98 50.03 0.00 0.00 0.005 0.000 0.000 1967.06 1996.81 1937.31 194.06 2038.81 0 0 0 15.08 30.00 30.00

62.51 18467 -146.63 -1.44 0.00 1967.6 1997.6 1937.5 193.9 2038.6 3.18 -3.09 9 137.11 54.14 8.22 0.00 0.005 0.280 0.000 3947.59 3951.50 3943.69 1253.12 2038.31 0 0 0 15.89 15.75 30.00

320.79 2437 -146.63 -1.29 80.00 3951.1 3957.7 3944.5 1253.1 2039.2 35.56 -16.03 59 329.20 0.00 0.25 3.59 0.000 0.202 0.140 3950.75 3957.62 3943.88 1289.94 3491.75 0 0 0 30.00 15.90 15.93

467.96 3205 -146.63 -1.14 0.00 3951.2 3958.7 3943.7 1289.6 3491.6 60.09 -16.40 88 477.14 0.00 0.24 3.54 0.000 0.200 0.081 3950.69 3957.62 3943.75 1326.31 2009.69 0 0 0 30.00 15.96 15.98

659.12 388 -146.63 -1.06 80.00 3951.2 3959.1 3943.2 1327.2 2009.2 84.51 -12.08 108 672.08 0.00 0.00 3.70 0.000 0.000 0.140 3951.81 3959.12 3944.50 1326.56 3491.12 0 0 0 30.00 30.00 15.96

755.20 3205 -146.63 -0.95 0.00 3951.5 3958.7 3944.2 1326.6 3491.1 98.59 -15.23 127 763.73 0.00 0.28 3.54 0.000 0.186 0.082 3950.78 3958.12 3943.44 1370.12 2010.94 0 0 0 30.00 15.98 16.00

950.97 388 -146.63 -0.92 80.00 3952.2 3960.4 3944.0 1370.4 2011.2 120.29 -10.89 147 959.76 0.00 0.00 3.67 0.000 0.000 0.141 3951.91 3960.50 3943.31 1370.38 3491.81 0 0 0 30.00 30.00 16.04

1068.63 1156 -146.63 -0.86 0.00 3952.7 3961.3 3944.1 1370.4 3491.1 134.77 -12.47 170 1077.35 0.00 0.00 3.53 0.000 0.000 0.085 3952.53 3961.31 3943.75 1370.25 2010.56 0 0 0 30.00 30.00 16.06

1215 end dive: TARGET_DEPTH_EXCEEDED

state 1215 begin apogee

1216.83 10243 0.00 -0.36 0.00 3953.0 3962.5 3943.6 1370.5 2037.2 150.47 -10.82 183 1345.86 115.04 0.96 0.06 1.356 0.148 0.328 3348.94 3388.56 3309.31 1514.94 2012.06 0 0 0 12.22 16.01 15.57

1347 end apogee: CONTROL_FINISHED_OK

state 1347 begin climb

1347.32 10759 146.63 1.44 -80.00 3347.6 3387.3 3307.9 1515.5 2011.8 157.89 0.00 195 1494.40 119.90 2.88 4.06 1.317 0.117 0.194 2749.56 2799.25 2699.88 1951.19 562.56 0 0 0 11.76 15.61 15.38

1548.43 9382 186.91 1.53 0.00 2745.9 2792.3 2699.5 1951.2 562.2 147.53 8.13 231 1594.59 34.59 0.00 3.59 1.267 0.000 0.077 2587.00 2639.00 2535.00 1950.25 2038.94 0 0 0 11.91 30.00 15.62

1778.51 10663 237.92 1.69 80.00 2581.8 2633.5 2530.1 1951.0 2039.0 129.74 7.64 258 1838.88 42.46 0.35 3.74 1.276 0.065 0.150 2377.62 2439.75 2315.50 2025.00 3489.56 0 0 0 11.90 15.82 15.58

1932.02 1156 237.92 1.73 0.00 2374.8 2435.9 2313.7 2025.3 3489.6 112.41 12.30 287 1940.46 0.00 0.00 3.62 0.000 0.000 0.084 2376.50 2438.88 2314.12 2025.00 2009.88 0 0 0 30.00 30.00 15.73

2127.81 388 237.92 1.79 80.00 2372.7 2435.4 2309.9 2025.2 2010.8 91.24 10.04 307 2136.90 0.00 0.00 3.74 0.000 0.000 0.145 2370.91 2433.56 2308.25 2025.56 3488.62 0 0 0 30.00 30.00 15.85

2210.04 1156 237.92 1.84 0.00 2372.2 2434.7 2309.8 2025.2 3488.6 81.90 11.36 323 2218.38 0.00 0.00 3.56 0.000 0.000 0.083 2372.19 2433.88 2310.50 2025.31 2009.00 0 0 0 30.00 30.00 15.89

2411.26 2469 241.78 1.91 80.00 2372.0 2434.8 2309.2 2025.2 2008.4 62.78 9.82 343 2423.08 0.00 0.23 3.74 0.000 0.077 0.145 2370.75 2432.19 2309.31 2075.62 3488.75 0 0 0 30.00 15.97 15.07

2501.03 1028 241.78 1.91 0.00 2371.9 2434.3 2309.6 2075.6 3488.4 51.14 12.32 360 2509.55 0.00 0.00 3.55 0.000 0.000 0.082 2372.56 2434.88 2310.25 2076.25 2010.31 0 0 0 30.00 30.00 15.95

2692.01 388 241.78 1.95 80.00 2371.6 2433.6 2309.6 2075.8 2010.3 29.64 10.90 397 2700.88 0.00 0.00 3.70 0.000 0.000 0.143 2371.31 2433.44 2309.19 2075.69 3490.88 0 0 0 30.00 30.00 15.99

2744.60 1028 241.78 1.95 0.00 2371.2 2433.2 2309.2 2076.1 3490.2 23.65 11.39 407 2753.47 0.00 0.00 3.52 0.000 0.000 0.081 2368.34 2430.31 2306.38 2077.06 2008.44 0 0 0 30.00 30.00 16.01

2937.40 10663 293.08 2.08 80.00 2370.7 2432.6 2308.7 2076.2 2008.5 6.02 7.62 445 3000.38 48.23 0.17 3.74 1.216 0.093 0.144 2153.69 2220.44 2086.94 2120.75 3490.31 0 0 0 11.96 16.09 15.85

3153 end climb: NO_VERTICAL_VELOCITY

state 3153 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	17	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	0.6002273	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	6.1201158	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	200623,123629,4736.611,-12256.419,1,1.8,30,15.4	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	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,123929,4736.623,-12256.396,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	193.0,1343,-17.6,-10.000,-21.21,2209,0.160
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.015188,-0.026368,-0.008752,1.062011,-0.056960,-0.006738,-0.038463,0.987792,-236.468765,-1241.938110,-775.440735
TGT_LATLONG	4735.950,-12256.800	OSC	8000307

NET	xmit part outbox0001.n 921 0	_10V_AH	14.97,0.000
NET_PING	1687267822,29,367.867493,0.400000,-0.514632	FG_AHR_24Vo	6.371
NAV	1687267814,5.2,0,stop	FG_AHR_10Vo	0.634
FREEZE	5.16,13.547,-1.531,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3517.17,330.42,1.174,0,500.9,526.9,475.0,698.88	MEM2	945804,28,100844,68
SM_GC	2.62,0.00,12.10,3.60,0.000,0.063,0.082,496.9,522.5,471.3,194.7,2010.2,0,0,0,30.00,15.59,15.57	DATA_FILE_SIZE	12931,484
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	191252,0
IRIDIUM_FIX	4736.87,-12256.21,200623,113847	SDSIZE	3887104,3869248
TCM_TEMP	-86.37	SDFILEDIR	155,18
SC_FREEKB	3873344	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.033, 40.2,1
HUMID	52.47	MAGCAL	1.000000,0.013343,-0.044236,-0.008097,1.058809,-0.042183,0.027340,-0.049137,0.955831,-212.6,-1251.9,-744.8,29,0.0275,0
TEMP	10.78	IMPLIED_C_PITCH	1768,13.06,220,0.0,0.00
INTERNAL_PRESSURE	7.96953	IMPLIED_C_VBD	3291,17.662355,220,0
_24V_AH	14.92,6.605	GPS	200623,134106,4736.339,-12256.616,1,0.6,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	794	1356	16080.39	nil	0	0	0.00
Pitch_motor	25	280	107.31	nil	0	0	0.00
Roll_motor	65	328	322.75	nil	0	0	0.00
Iridium	113	155	262.58	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.17	nil	0	0	0.00
Core	2147	5	164.60	SciCon	3158	6	303.65
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1278	0	6.12
Compass	1015	5	76.00
RAFOS	310	40	185.69
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
6.72	16386	-146.63	-1.44	0.00	495.2	519.2	471.2	193.9	2038.4	0.00	0.00	0	61.98	50.03	0.00	0.00	0.005	0.000	0.000	1967.06	1996.81	1937.31	194.06	2038.81	0	0	0	15.08	30.00	30.00
62.51	18467	-146.63	-1.44	0.00	1967.6	1997.6	1937.5	193.9	2038.6	3.18	-3.09	9	137.11	54.14	8.22	0.00	0.005	0.280	0.000	3947.59	3951.50	3943.69	1253.12	2038.31	0	0	0	15.89	15.75	30.00
320.79	2437	-146.63	-1.29	80.00	3951.1	3957.7	3944.5	1253.1	2039.2	35.56	-16.03	59	329.20	0.00	0.25	3.59	0.000	0.202	0.140	3950.75	3957.62	3943.88	1289.94	3491.75	0	0	0	30.00	15.90	15.93
467.96	3205	-146.63	-1.14	0.00	3951.2	3958.7	3943.7	1289.6	3491.6	60.09	-16.40	88	477.14	0.00	0.24	3.54	0.000	0.200	0.081	3950.69	3957.62	3943.75	1326.31	2009.69	0	0	0	30.00	15.96	15.98
659.12	388	-146.63	-1.06	80.00	3951.2	3959.1	3943.2	1327.2	2009.2	84.51	-12.08	108	672.08	0.00	0.00	3.70	0.000	0.000	0.140	3951.81	3959.12	3944.50	1326.56	3491.12	0	0	0	30.00	30.00	15.96
755.20	3205	-146.63	-0.95	0.00	3951.5	3958.7	3944.2	1326.6	3491.1	98.59	-15.23	127	763.73	0.00	0.28	3.54	0.000	0.186	0.082	3950.78	3958.12	3943.44	1370.12	2010.94	0	0	0	30.00	15.98	16.00
950.97	388	-146.63	-0.92	80.00	3952.2	3960.4	3944.0	1370.4	2011.2	120.29	-10.89	147	959.76	0.00	0.00	3.67	0.000	0.000	0.141	3951.91	3960.50	3943.31	1370.38	3491.81	0	0	0	30.00	30.00	16.04
1068.63	1156	-146.63	-0.86	0.00	3952.7	3961.3	3944.1	1370.4	3491.1	134.77	-12.47	170	1077.35	0.00	0.00	3.53	0.000	0.000	0.085	3952.53	3961.31	3943.75	1370.25	2010.56	0	0	0	30.00	30.00	16.06
1215	end dive: TARGET_DEPTH_EXCEEDED
state	1215	begin apogee
1216.83	10243	0.00	-0.36	0.00	3953.0	3962.5	3943.6	1370.5	2037.2	150.47	-10.82	183	1345.86	115.04	0.96	0.06	1.356	0.148	0.328	3348.94	3388.56	3309.31	1514.94	2012.06	0	0	0	12.22	16.01	15.57
1347	end apogee: CONTROL_FINISHED_OK
state	1347	begin climb
1347.32	10759	146.63	1.44	-80.00	3347.6	3387.3	3307.9	1515.5	2011.8	157.89	0.00	195	1494.40	119.90	2.88	4.06	1.317	0.117	0.194	2749.56	2799.25	2699.88	1951.19	562.56	0	0	0	11.76	15.61	15.38
1548.43	9382	186.91	1.53	0.00	2745.9	2792.3	2699.5	1951.2	562.2	147.53	8.13	231	1594.59	34.59	0.00	3.59	1.267	0.000	0.077	2587.00	2639.00	2535.00	1950.25	2038.94	0	0	0	11.91	30.00	15.62
1778.51	10663	237.92	1.69	80.00	2581.8	2633.5	2530.1	1951.0	2039.0	129.74	7.64	258	1838.88	42.46	0.35	3.74	1.276	0.065	0.150	2377.62	2439.75	2315.50	2025.00	3489.56	0	0	0	11.90	15.82	15.58
1932.02	1156	237.92	1.73	0.00	2374.8	2435.9	2313.7	2025.3	3489.6	112.41	12.30	287	1940.46	0.00	0.00	3.62	0.000	0.000	0.084	2376.50	2438.88	2314.12	2025.00	2009.88	0	0	0	30.00	30.00	15.73
2127.81	388	237.92	1.79	80.00	2372.7	2435.4	2309.9	2025.2	2010.8	91.24	10.04	307	2136.90	0.00	0.00	3.74	0.000	0.000	0.145	2370.91	2433.56	2308.25	2025.56	3488.62	0	0	0	30.00	30.00	15.85
2210.04	1156	237.92	1.84	0.00	2372.2	2434.7	2309.8	2025.2	3488.6	81.90	11.36	323	2218.38	0.00	0.00	3.56	0.000	0.000	0.083	2372.19	2433.88	2310.50	2025.31	2009.00	0	0	0	30.00	30.00	15.89
2411.26	2469	241.78	1.91	80.00	2372.0	2434.8	2309.2	2025.2	2008.4	62.78	9.82	343	2423.08	0.00	0.23	3.74	0.000	0.077	0.145	2370.75	2432.19	2309.31	2075.62	3488.75	0	0	0	30.00	15.97	15.07
2501.03	1028	241.78	1.91	0.00	2371.9	2434.3	2309.6	2075.6	3488.4	51.14	12.32	360	2509.55	0.00	0.00	3.55	0.000	0.000	0.082	2372.56	2434.88	2310.25	2076.25	2010.31	0	0	0	30.00	30.00	15.95
2692.01	388	241.78	1.95	80.00	2371.6	2433.6	2309.6	2075.8	2010.3	29.64	10.90	397	2700.88	0.00	0.00	3.70	0.000	0.000	0.143	2371.31	2433.44	2309.19	2075.69	3490.88	0	0	0	30.00	30.00	15.99
2744.60	1028	241.78	1.95	0.00	2371.2	2433.2	2309.2	2076.1	3490.2	23.65	11.39	407	2753.47	0.00	0.00	3.52	0.000	0.000	0.081	2368.34	2430.31	2306.38	2077.06	2008.44	0	0	0	30.00	30.00	16.01
2937.40	10663	293.08	2.08	80.00	2370.7	2432.6	2308.7	2076.2	2008.5	6.02	7.62	445	3000.38	48.23	0.17	3.74	1.216	0.093	0.144	2153.69	2220.44	2086.94	2120.75	3490.31	0	0	0	11.96	16.09	15.85
3153	end climb: NO_VERTICAL_VELOCITY
state	3153	begin surface