Glider dive log

HoodCanal 19Jun23 * SG253 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 253 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

MISSION 4 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 686.83997 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 1.7

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3300 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 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 205 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 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 0.85732871 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 6.2079482 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 -186.595 SEABIRD_T_J 4.3e-06

MASS 72374 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022830076 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 240 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3850 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 0.85732871 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.2079482 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 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 205 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 253 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 1.7 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 0.00022830076 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -186.595 T_NO_W 120

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 3300 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 72374 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 3850 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 17 MISSION 4 ROLL_MIN 240 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 200623,094548,4736.595,-12256.611,1,0.9,3,15.4 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 -59.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,094859,4736.603,-12256.598,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 178.4,1234,-17.6,-10.000,-21.21,2209,0.177

SPEED_LIMITS 0.173,0.258 D_GRID 167

TGT_NAME S IRON 1.000000,-0.001627,-0.023006,0.012487,1.064874,0.086938,0.023498,0.031618,1.070633,-815.191162,-1919.098877,522.196289

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687257020,62.9,0,stop FG_AHR_24Vo 6.411

FREEZE 4.78,15.086,-1.453,0,1,0 FG_AHR_10Vo 0.877

SURF forcing MEM0 60020,1,0,0

SM_CCo 3534.49,213.05,1.011,0,500.0,587.4,412.6,686.84 MEM1 65508,1,0,0

SM_GC 1.93,0.00,11.70,3.50,0.000,0.067,0.066,497.0,581.3,412.8,190.4,2052.7,0,0,0,30.00,15.58,15.57 MEM2 945720,32,100848,68

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12920,457

IRIDIUM_FIX 4735.53,-12254.47,200623,085413 CAP_FILE_SIZE 164600,0

TCM_TEMP 15.68 SDSIZE 3887104,3869344

SC_FREEKB 3873216 SDFILEDIR 154,18

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 44.33 CURRENT 0.011,187.0,1

TEMP 10.64 MAGCAL 1.000000,0.006622,-0.017852,0.018967,1.069923,0.080378,0.024268,0.039154,1.059991,-849.9,-1897.3,669.6,31,0.0099,0

INTERNAL_PRESSURE 7.92812 IMPLIED_C_PITCH 1621,13.76,242,0.0,0.00

_24V_AH 14.99,5.951 IMPLIED_C_VBD 3094,22.047600,242,0

_10V_AH 15.00,0.000 GPS 200623,105104,4736.180,-12256.743,10,1.5,13,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 721 1199 12975.02 nil 0 0 0.00

Pitch_motor 25 277 107.01 nil 0 0 0.00

Roll_motor 50 228 171.16 nil 0 0 0.00

Iridium 119 152 272.85 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 2193 5 168.43 SciCon 3304 6 340.58

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1390 0 6.67

Compass 1153 5 86.48

RAFOS 317 40 190.23

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

6.78 16386 -146.63 -1.44 0.00 494.4 568.8 420.1 191.4 2049.4 0.00 0.00 0 51.33 40.19 0.00 0.00 0.005 0.000 0.000 1597.94 1659.38 1536.50 191.44 2050.19 0 0 0 15.89 30.00 30.00

51.85 18727 -146.63 -1.44 80.00 1605.6 1673.8 1537.4 191.4 2050.1 3.02 -3.74 8 145.36 62.76 8.35 3.57 0.005 0.278 0.135 3899.56 3794.94 4004.19 1250.12 3489.69 0 0 0 15.91 15.76 15.85

268.23 3205 -146.63 -1.32 0.00 3901.3 3801.0 4001.6 1250.6 3489.2 30.61 -15.45 48 276.44 0.00 0.20 3.42 0.000 0.222 0.074 3900.91 3800.44 4001.38 1279.81 2007.06 0 0 0 30.00 15.87 15.93

460.58 644 -146.63 -1.29 -80.00 3902.3 3805.2 3999.4 1279.1 2007.5 53.92 -11.60 83 469.23 0.00 0.00 3.57 0.000 0.000 0.144 3902.72 3805.25 4000.19 1279.56 556.81 0 0 0 30.00 30.00 15.94

528.41 3205 -146.63 -1.22 0.00 3902.6 3806.4 3998.8 1279.1 557.1 63.12 -14.11 96 537.25 0.00 0.17 3.41 0.000 0.213 0.065 3901.78 3805.12 3998.44 1305.56 2048.44 0 0 0 30.00 15.95 16.00

726.48 516 -146.63 -1.22 -80.00 3903.2 3808.1 3998.3 1305.1 2049.2 85.41 -10.85 114 735.41 0.00 0.00 3.68 0.000 0.000 0.142 3862.59 3727.06 3998.12 1305.00 560.12 0 0 0 30.00 30.00 15.96

754.43 1028 -146.63 -1.22 0.00 3903.3 3808.0 3998.7 1305.1 559.5 88.96 -12.72 119 762.04 0.00 0.00 3.40 0.000 0.000 0.065 3889.19 3779.94 3998.44 1304.88 2049.69 0 0 0 30.00 30.00 16.01

949.45 0 -146.63 -1.22 0.00 3903.7 3808.6 3998.7 1305.6 2050.6 109.99 -10.53 139 951.31 0.00 0.00 0.00 0.000 0.000 0.000 3903.12 3808.31 3997.94 1306.06 2050.56 0 0 0 30.00 30.00 30.00

1139.48 0 -146.63 -1.22 0.00 3903.8 3809.1 3998.5 1305.9 2049.9 129.82 -10.62 158 1141.35 0.00 0.00 0.00 0.000 0.000 0.000 3903.19 3808.81 3997.56 1305.38 2050.50 0 0 0 30.00 30.00 30.00

1330 end dive: TARGET_DEPTH_EXCEEDED

state 1330 begin apogee

1331.33 10243 0.00 -0.36 0.00 3903.7 3809.5 3997.8 1305.9 2000.6 150.32 -10.57 177 1443.79 99.75 1.42 0.09 1.200 0.159 0.228 3298.97 3327.88 3270.06 1514.50 2054.69 0 0 0 11.84 16.05 15.69

1445 end apogee: CONTROL_FINISHED_OK

state 1445 begin climb

1445.24 10503 146.63 1.44 80.00 3297.6 3328.4 3266.9 1514.6 2054.2 153.95 0.00 187 1576.63 105.44 2.92 3.66 1.177 0.116 0.136 2702.12 2788.12 2616.12 1950.62 3488.50 0 0 0 11.66 15.70 15.46

1610.07 1156 146.63 1.36 0.00 2698.1 2783.2 2612.9 1951.5 3488.8 142.78 10.45 216 1618.30 0.00 0.00 3.50 0.000 0.000 0.070 2698.09 2783.56 2612.62 1951.44 2000.88 0 0 0 30.00 30.00 15.62

1805.90 20871 146.63 1.31 80.00 2693.2 2781.2 2605.1 1951.2 2000.8 121.48 11.30 236 1815.42 0.00 0.35 3.72 0.000 0.188 0.132 2692.16 2779.94 2604.38 1911.50 3490.56 0 0 0 30.00 15.76 15.78

1864.66 17542 146.63 1.28 0.00 2693.6 2781.6 2605.7 1911.3 3490.5 115.04 10.79 247 1873.40 0.00 0.00 3.46 0.000 0.000 0.075 2691.28 2778.50 2604.06 1911.38 1999.38 0 0 0 30.00 30.00 15.84

2059.61 8226 179.69 1.32 0.00 2691.4 2779.5 2603.4 1911.3 1999.7 97.74 8.47 267 2090.74 24.80 0.00 0.00 1.104 0.000 0.000 2565.28 2656.31 2474.25 1911.12 1999.81 0 0 0 11.82 30.00 30.00

2279.63 8226 186.19 1.33 0.00 2560.7 2652.5 2468.9 1911.5 1999.0 77.97 9.70 289 2289.41 6.84 0.00 0.00 0.823 0.000 0.000 2540.59 2631.19 2450.00 1911.00 1999.62 0 0 0 11.73 30.00 30.00

2480.25 10403 215.10 1.40 0.00 2536.4 2629.3 2443.4 1911.5 1999.2 60.26 8.66 309 2512.10 25.26 0.22 0.00 1.067 0.083 0.000 2424.22 2520.94 2327.50 1949.50 2000.12 0 0 0 11.83 15.98 30.00

2693.36 0 215.10 1.40 0.00 2417.5 2516.4 2318.5 1948.8 1999.4 37.09 10.63 341 2697.44 0.00 0.00 0.00 0.000 0.000 0.000 2417.12 2517.50 2316.75 1948.94 1999.25 0 0 0 30.00 30.00 30.00

2878.50 8486 234.40 1.42 80.00 2416.6 2516.2 2317.1 1948.9 1999.1 19.32 9.11 378 2908.20 17.69 0.00 3.71 1.009 0.000 0.138 2342.72 2445.94 2239.50 1948.88 3490.94 0 0 0 11.78 30.00 15.90

2942.26 1028 234.40 1.42 0.00 2342.3 2444.4 2240.2 1948.8 3491.4 12.93 10.35 390 2950.98 0.00 0.00 3.43 0.000 0.000 0.076 2339.59 2442.62 2236.56 1949.62 2000.19 0 0 0 30.00 30.00 15.95

3135.24 10919 399.30 1.70 -80.00 2339.8 2444.2 2235.3 1949.0 1999.6 5.93 2.36 428 3284.15 125.77 0.38 3.65 1.044 0.076 0.150 1670.06 1782.94 1557.19 2021.38 558.00 0 0 0 11.77 16.00 15.59

3298 end climb: NO_VERTICAL_VELOCITY

state 3298 begin surface

ID	253	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	ALTIM_PULSE	3
MISSION	4	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	686.83997	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	1.7
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3300	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	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	205	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	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	0.85732871	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	6.2079482	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	-186.595	SEABIRD_T_J	4.3e-06
MASS	72374	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022830076	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	240	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3850	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	200623,094548,4736.595,-12256.611,1,0.9,3,15.4	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	-59.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,094859,4736.603,-12256.598,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	178.4,1234,-17.6,-10.000,-21.21,2209,0.177
SPEED_LIMITS	0.173,0.258	D_GRID	167
TGT_NAME	S	IRON	1.000000,-0.001627,-0.023006,0.012487,1.064874,0.086938,0.023498,0.031618,1.070633,-815.191162,-1919.098877,522.196289
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687257020,62.9,0,stop	FG_AHR_24Vo	6.411
FREEZE	4.78,15.086,-1.453,0,1,0	FG_AHR_10Vo	0.877
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3534.49,213.05,1.011,0,500.0,587.4,412.6,686.84	MEM1	65508,1,0,0
SM_GC	1.93,0.00,11.70,3.50,0.000,0.067,0.066,497.0,581.3,412.8,190.4,2052.7,0,0,0,30.00,15.58,15.57	MEM2	945720,32,100848,68
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12920,457
IRIDIUM_FIX	4735.53,-12254.47,200623,085413	CAP_FILE_SIZE	164600,0
TCM_TEMP	15.68	SDSIZE	3887104,3869344
SC_FREEKB	3873216	SDFILEDIR	154,18
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	44.33	CURRENT	0.011,187.0,1
TEMP	10.64	MAGCAL	1.000000,0.006622,-0.017852,0.018967,1.069923,0.080378,0.024268,0.039154,1.059991,-849.9,-1897.3,669.6,31,0.0099,0
INTERNAL_PRESSURE	7.92812	IMPLIED_C_PITCH	1621,13.76,242,0.0,0.00
_24V_AH	14.99,5.951	IMPLIED_C_VBD	3094,22.047600,242,0
_10V_AH	15.00,0.000	GPS	200623,105104,4736.180,-12256.743,10,1.5,13,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	721	1199	12975.02	nil	0	0	0.00
Pitch_motor	25	277	107.01	nil	0	0	0.00
Roll_motor	50	228	171.16	nil	0	0	0.00
Iridium	119	152	272.85	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	2193	5	168.43	SciCon	3304	6	340.58
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1390	0	6.67
Compass	1153	5	86.48
RAFOS	317	40	190.23
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
6.78	16386	-146.63	-1.44	0.00	494.4	568.8	420.1	191.4	2049.4	0.00	0.00	0	51.33	40.19	0.00	0.00	0.005	0.000	0.000	1597.94	1659.38	1536.50	191.44	2050.19	0	0	0	15.89	30.00	30.00
51.85	18727	-146.63	-1.44	80.00	1605.6	1673.8	1537.4	191.4	2050.1	3.02	-3.74	8	145.36	62.76	8.35	3.57	0.005	0.278	0.135	3899.56	3794.94	4004.19	1250.12	3489.69	0	0	0	15.91	15.76	15.85
268.23	3205	-146.63	-1.32	0.00	3901.3	3801.0	4001.6	1250.6	3489.2	30.61	-15.45	48	276.44	0.00	0.20	3.42	0.000	0.222	0.074	3900.91	3800.44	4001.38	1279.81	2007.06	0	0	0	30.00	15.87	15.93
460.58	644	-146.63	-1.29	-80.00	3902.3	3805.2	3999.4	1279.1	2007.5	53.92	-11.60	83	469.23	0.00	0.00	3.57	0.000	0.000	0.144	3902.72	3805.25	4000.19	1279.56	556.81	0	0	0	30.00	30.00	15.94
528.41	3205	-146.63	-1.22	0.00	3902.6	3806.4	3998.8	1279.1	557.1	63.12	-14.11	96	537.25	0.00	0.17	3.41	0.000	0.213	0.065	3901.78	3805.12	3998.44	1305.56	2048.44	0	0	0	30.00	15.95	16.00
726.48	516	-146.63	-1.22	-80.00	3903.2	3808.1	3998.3	1305.1	2049.2	85.41	-10.85	114	735.41	0.00	0.00	3.68	0.000	0.000	0.142	3862.59	3727.06	3998.12	1305.00	560.12	0	0	0	30.00	30.00	15.96
754.43	1028	-146.63	-1.22	0.00	3903.3	3808.0	3998.7	1305.1	559.5	88.96	-12.72	119	762.04	0.00	0.00	3.40	0.000	0.000	0.065	3889.19	3779.94	3998.44	1304.88	2049.69	0	0	0	30.00	30.00	16.01
949.45	0	-146.63	-1.22	0.00	3903.7	3808.6	3998.7	1305.6	2050.6	109.99	-10.53	139	951.31	0.00	0.00	0.00	0.000	0.000	0.000	3903.12	3808.31	3997.94	1306.06	2050.56	0	0	0	30.00	30.00	30.00
1139.48	0	-146.63	-1.22	0.00	3903.8	3809.1	3998.5	1305.9	2049.9	129.82	-10.62	158	1141.35	0.00	0.00	0.00	0.000	0.000	0.000	3903.19	3808.81	3997.56	1305.38	2050.50	0	0	0	30.00	30.00	30.00
1330	end dive: TARGET_DEPTH_EXCEEDED
state	1330	begin apogee
1331.33	10243	0.00	-0.36	0.00	3903.7	3809.5	3997.8	1305.9	2000.6	150.32	-10.57	177	1443.79	99.75	1.42	0.09	1.200	0.159	0.228	3298.97	3327.88	3270.06	1514.50	2054.69	0	0	0	11.84	16.05	15.69
1445	end apogee: CONTROL_FINISHED_OK
state	1445	begin climb
1445.24	10503	146.63	1.44	80.00	3297.6	3328.4	3266.9	1514.6	2054.2	153.95	0.00	187	1576.63	105.44	2.92	3.66	1.177	0.116	0.136	2702.12	2788.12	2616.12	1950.62	3488.50	0	0	0	11.66	15.70	15.46
1610.07	1156	146.63	1.36	0.00	2698.1	2783.2	2612.9	1951.5	3488.8	142.78	10.45	216	1618.30	0.00	0.00	3.50	0.000	0.000	0.070	2698.09	2783.56	2612.62	1951.44	2000.88	0	0	0	30.00	30.00	15.62
1805.90	20871	146.63	1.31	80.00	2693.2	2781.2	2605.1	1951.2	2000.8	121.48	11.30	236	1815.42	0.00	0.35	3.72	0.000	0.188	0.132	2692.16	2779.94	2604.38	1911.50	3490.56	0	0	0	30.00	15.76	15.78
1864.66	17542	146.63	1.28	0.00	2693.6	2781.6	2605.7	1911.3	3490.5	115.04	10.79	247	1873.40	0.00	0.00	3.46	0.000	0.000	0.075	2691.28	2778.50	2604.06	1911.38	1999.38	0	0	0	30.00	30.00	15.84
2059.61	8226	179.69	1.32	0.00	2691.4	2779.5	2603.4	1911.3	1999.7	97.74	8.47	267	2090.74	24.80	0.00	0.00	1.104	0.000	0.000	2565.28	2656.31	2474.25	1911.12	1999.81	0	0	0	11.82	30.00	30.00
2279.63	8226	186.19	1.33	0.00	2560.7	2652.5	2468.9	1911.5	1999.0	77.97	9.70	289	2289.41	6.84	0.00	0.00	0.823	0.000	0.000	2540.59	2631.19	2450.00	1911.00	1999.62	0	0	0	11.73	30.00	30.00
2480.25	10403	215.10	1.40	0.00	2536.4	2629.3	2443.4	1911.5	1999.2	60.26	8.66	309	2512.10	25.26	0.22	0.00	1.067	0.083	0.000	2424.22	2520.94	2327.50	1949.50	2000.12	0	0	0	11.83	15.98	30.00
2693.36	0	215.10	1.40	0.00	2417.5	2516.4	2318.5	1948.8	1999.4	37.09	10.63	341	2697.44	0.00	0.00	0.00	0.000	0.000	0.000	2417.12	2517.50	2316.75	1948.94	1999.25	0	0	0	30.00	30.00	30.00
2878.50	8486	234.40	1.42	80.00	2416.6	2516.2	2317.1	1948.9	1999.1	19.32	9.11	378	2908.20	17.69	0.00	3.71	1.009	0.000	0.138	2342.72	2445.94	2239.50	1948.88	3490.94	0	0	0	11.78	30.00	15.90
2942.26	1028	234.40	1.42	0.00	2342.3	2444.4	2240.2	1948.8	3491.4	12.93	10.35	390	2950.98	0.00	0.00	3.43	0.000	0.000	0.076	2339.59	2442.62	2236.56	1949.62	2000.19	0	0	0	30.00	30.00	15.95
3135.24	10919	399.30	1.70	-80.00	2339.8	2444.2	2235.3	1949.0	1999.6	5.93	2.36	428	3284.15	125.77	0.38	3.65	1.044	0.076	0.150	1670.06	1782.94	1557.19	2021.38	558.00	0	0	0	11.77	16.00	15.59
3298	end climb: NO_VERTICAL_VELOCITY
state	3298	begin surface