Glider dive log

HoodCanal 19Jun23 * SG252 * Dive index * Mission links * Dive 18 * 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 18 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 0.63491488 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 6.3760195 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 0.63491488 PHONE_SUPPLY 2 SM_CC 699.10498

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 6.3760195 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 18 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 200623,134106,4736.339,-12256.616,1,0.6,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.78 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,134408,4736.354,-12256.587,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 186.8,793,-17.6,-10.000,-21.21,2209,0.126

SPEED_LIMITS 0.173,0.258 D_GRID 168

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 outbox0002.n 938 0 _10V_AH 14.99,0.000

NET_PING 1687271419,29,512.053528,5.700000,-0.708900 FG_AHR_24Vo 6.632

NAV 1687271411,34.4,0,stop FG_AHR_10Vo 0.662

FREEZE 5.42,13.305,-1.546,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3628.24,358.29,1.181,0,500.9,528.2,473.6,698.89 MEM2 945600,38,100848,68

SM_GC 2.35,0.00,12.44,0.05,0.000,0.063,0.212,497.0,523.2,470.7,193.1,2038.6,0,0,0,30.00,15.57,15.57 DATA_FILE_SIZE 12910,490

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 193894,0

IRIDIUM_FIX 4738.33,-12256.21,200623,123736 SDSIZE 3887104,3868896

TCM_TEMP -86.44 SDFILEDIR 164,19

SC_FREEKB 3873024 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 0.042, 17.4,1

HUMID 52.42 MAGCAL 1.000000,0.014337,-0.064161,-0.007459,1.054766,-0.024432,0.006265,-0.051276,0.970602,-201.3,-1263.4,-770.9,32,0.0279,0

TEMP 10.75 IMPLIED_C_PITCH 1759,12.98,233,0.0,0.00

INTERNAL_PRESSURE 7.96802 IMPLIED_C_VBD 3253,18.967651,233,0

_24V_AH 14.92,6.870 GPS 200623,144809,4736.062,-12256.727,1,0.9,41,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 801 1366 16345.90 nil 0 0 0.00

Pitch_motor 26 285 111.71 nil 0 0 0.00

Roll_motor 70 308 324.69 nil 0 0 0.00

Iridium 118 147 261.99 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.10 nil 0 0 0.00

Core 2148 5 164.89 SciCon 3239 6 310.49

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1362 0 6.54

Compass 1028 5 77.10

RAFOS 314 40 188.39

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

6.88 16386 -146.63 -1.44 0.00 494.7 518.0 471.4 193.9 2037.6 0.00 0.00 0 51.05 39.83 0.00 0.00 0.005 0.000 0.000 1694.06 1731.25 1656.88 194.06 2038.06 0 0 0 15.91 30.00 30.00

51.58 18727 -146.63 -1.44 80.00 1695.1 1732.6 1657.6 193.6 2038.1 3.04 -3.89 8 139.61 60.12 8.19 3.60 0.005 0.285 0.138 3949.31 3954.75 3943.88 1251.81 3491.56 0 0 0 15.94 15.78 15.86

223.33 3205 -146.63 -1.23 0.00 3950.2 3957.0 3943.3 1251.9 3491.9 25.94 -19.06 40 231.84 0.00 0.36 3.54 0.000 0.210 0.080 3950.09 3956.44 3943.75 1304.50 2011.00 0 0 0 30.00 15.89 15.92

414.90 2437 -146.63 -1.12 80.00 3950.9 3957.9 3943.9 1304.8 2011.2 54.76 -14.40 74 423.97 0.00 0.17 3.69 0.000 0.195 0.137 3950.84 3957.94 3943.75 1330.69 3490.38 0 0 0 30.00 15.91 15.93

447.05 1156 -146.63 -1.01 0.00 3951.0 3958.0 3944.0 1331.4 3490.8 59.50 -14.38 80 455.24 0.00 0.00 3.53 0.000 0.000 0.080 3950.56 3958.06 3943.06 1331.31 2009.56 0 0 0 30.00 30.00 15.95

642.84 2437 -146.63 -0.94 80.00 3951.6 3959.2 3944.0 1331.6 2009.7 85.28 -13.15 100 652.01 0.00 0.26 3.68 0.000 0.181 0.139 3950.41 3958.31 3942.50 1372.75 3492.75 0 0 0 30.00 15.98 16.00

735.11 1156 -146.63 -0.89 0.00 3951.3 3958.9 3943.8 1373.1 3492.3 97.98 -13.91 118 743.27 0.00 0.00 3.52 0.000 0.000 0.081 3951.28 3958.81 3943.75 1372.81 2009.00 0 0 0 30.00 30.00 16.02

933.10 260 -146.63 -0.89 80.00 3951.8 3960.1 3943.5 1372.7 2009.1 119.78 -11.00 136 944.14 0.00 0.00 3.69 0.000 0.000 0.139 3951.22 3959.50 3942.94 1372.88 3490.00 0 0 0 30.00 30.00 14.98

1017.07 3205 -146.63 -0.84 0.00 3952.2 3960.4 3943.9 1372.6 3489.4 130.60 -12.21 152 1026.08 0.00 0.17 3.51 0.000 0.184 0.081 3951.50 3959.69 3943.31 1399.69 2011.75 0 0 0 30.00 15.97 16.00

1212.03 292 -146.63 -0.84 80.00 3952.3 3961.2 3943.4 1399.3 2011.1 149.94 -9.77 172 1217.92 0.00 0.00 2.51 0.000 0.000 0.132 3953.00 3961.81 3944.19 1399.12 3034.88 0 0 0 30.00 30.00 16.03

1218 end dive: TARGET_DEPTH_EXCEEDED

state 1218 begin apogee

1224.68 10243 0.00 -0.36 0.00 3952.6 3961.2 3943.9 1399.2 2009.4 150.35 -9.73 173 1354.88 115.94 0.75 0.06 1.366 0.146 0.308 3348.66 3389.50 3307.81 1515.38 2039.00 0 0 0 12.19 16.02 15.60

1356 end apogee: CONTROL_FINISHED_OK

state 1356 begin climb

1356.35 10759 146.63 1.44 -80.00 3347.4 3387.2 3307.6 1515.6 2038.9 158.14 0.00 185 1502.99 119.46 2.87 4.09 1.327 0.118 0.191 2749.50 2800.38 2698.62 1950.69 562.19 0 0 0 11.77 15.63 15.39

1570.42 11431 201.13 1.55 0.00 2746.2 2793.1 2699.3 1950.5 562.2 147.96 7.48 223 1631.41 45.94 0.15 3.59 1.291 0.099 0.078 2529.00 2584.25 2473.75 1988.81 2040.56 0 0 0 11.93 15.64 15.64

1815.33 8614 215.43 1.65 80.00 2523.5 2580.0 2467.0 1988.7 2040.4 126.48 9.34 253 1839.52 13.11 0.00 3.71 1.177 0.000 0.151 2469.81 2527.06 2412.56 1989.62 3488.81 0 0 0 11.91 30.00 15.70

1928.43 3205 215.43 1.71 0.00 2468.5 2524.8 2412.1 1989.4 3489.1 114.94 10.53 275 1937.63 0.00 0.14 3.59 0.000 0.099 0.084 2467.22 2525.56 2408.88 2031.44 2011.12 0 0 0 30.00 15.83 15.80

2129.43 420 217.65 1.76 80.00 2468.0 2525.5 2410.4 2031.0 2011.4 94.82 9.90 295 2141.52 0.00 0.00 3.74 0.000 0.000 0.146 2466.62 2523.38 2409.88 2029.88 3488.69 0 0 0 30.00 30.00 15.88

2210.25 1028 217.65 1.76 0.00 2467.2 2524.4 2410.1 2031.2 3489.1 85.32 11.04 311 2219.33 0.00 0.00 3.55 0.000 0.000 0.083 2465.16 2522.06 2408.25 2031.12 2010.69 0 0 0 30.00 30.00 15.94

2405.55 420 217.93 1.82 80.00 2466.6 2523.7 2409.6 2031.1 2010.9 66.37 9.99 331 2414.44 0.00 0.00 3.70 0.000 0.000 0.145 2465.09 2523.19 2407.00 2031.19 3488.88 0 0 0 30.00 30.00 15.98

2547.60 1156 217.93 1.86 0.00 2466.7 2523.1 2410.2 2030.9 3488.8 51.45 10.31 359 2555.96 0.00 0.00 3.53 0.000 0.000 0.083 2466.66 2523.00 2410.31 2031.31 2011.31 0 0 0 30.00 30.00 16.02

2744.56 10403 231.35 1.94 0.00 2466.0 2522.4 2409.5 2031.2 2011.1 34.41 9.38 394 2764.98 16.77 0.23 0.00 1.189 0.077 0.000 2405.12 2463.88 2346.38 2082.69 2010.56 0 0 0 12.08 16.04 30.00

2949.00 8614 249.47 2.00 80.00 2402.8 2462.6 2343.0 2082.2 2011.0 13.16 9.16 435 2978.68 18.28 0.00 3.71 1.183 0.000 0.146 2332.44 2392.31 2272.56 2081.75 3488.69 0 0 0 12.00 30.00 15.92

3207.71 11431 478.58 2.35 0.00 2328.4 2387.5 2269.2 2082.9 3489.0 5.61 -0.61 486 3232.60 14.16 0.52 3.51 1.151 0.060 0.078 2277.44 2337.56 2217.31 2184.88 2010.88 0 0 0 12.02 16.02 16.01

3233 end climb: NO_VERTICAL_VELOCITY

state 3233 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	18	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	0.63491488	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	6.3760195	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	200623,134106,4736.339,-12256.616,1,0.6,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.78	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,134408,4736.354,-12256.587,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	186.8,793,-17.6,-10.000,-21.21,2209,0.126
SPEED_LIMITS	0.173,0.258	D_GRID	168
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 outbox0002.n 938 0	_10V_AH	14.99,0.000
NET_PING	1687271419,29,512.053528,5.700000,-0.708900	FG_AHR_24Vo	6.632
NAV	1687271411,34.4,0,stop	FG_AHR_10Vo	0.662
FREEZE	5.42,13.305,-1.546,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3628.24,358.29,1.181,0,500.9,528.2,473.6,698.89	MEM2	945600,38,100848,68
SM_GC	2.35,0.00,12.44,0.05,0.000,0.063,0.212,497.0,523.2,470.7,193.1,2038.6,0,0,0,30.00,15.57,15.57	DATA_FILE_SIZE	12910,490
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	193894,0
IRIDIUM_FIX	4738.33,-12256.21,200623,123736	SDSIZE	3887104,3868896
TCM_TEMP	-86.44	SDFILEDIR	164,19
SC_FREEKB	3873024	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	0.042, 17.4,1
HUMID	52.42	MAGCAL	1.000000,0.014337,-0.064161,-0.007459,1.054766,-0.024432,0.006265,-0.051276,0.970602,-201.3,-1263.4,-770.9,32,0.0279,0
TEMP	10.75	IMPLIED_C_PITCH	1759,12.98,233,0.0,0.00
INTERNAL_PRESSURE	7.96802	IMPLIED_C_VBD	3253,18.967651,233,0
_24V_AH	14.92,6.870	GPS	200623,144809,4736.062,-12256.727,1,0.9,41,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	801	1366	16345.90	nil	0	0	0.00
Pitch_motor	26	285	111.71	nil	0	0	0.00
Roll_motor	70	308	324.69	nil	0	0	0.00
Iridium	118	147	261.99	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.10	nil	0	0	0.00
Core	2148	5	164.89	SciCon	3239	6	310.49
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1362	0	6.54
Compass	1028	5	77.10
RAFOS	314	40	188.39
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
6.88	16386	-146.63	-1.44	0.00	494.7	518.0	471.4	193.9	2037.6	0.00	0.00	0	51.05	39.83	0.00	0.00	0.005	0.000	0.000	1694.06	1731.25	1656.88	194.06	2038.06	0	0	0	15.91	30.00	30.00
51.58	18727	-146.63	-1.44	80.00	1695.1	1732.6	1657.6	193.6	2038.1	3.04	-3.89	8	139.61	60.12	8.19	3.60	0.005	0.285	0.138	3949.31	3954.75	3943.88	1251.81	3491.56	0	0	0	15.94	15.78	15.86
223.33	3205	-146.63	-1.23	0.00	3950.2	3957.0	3943.3	1251.9	3491.9	25.94	-19.06	40	231.84	0.00	0.36	3.54	0.000	0.210	0.080	3950.09	3956.44	3943.75	1304.50	2011.00	0	0	0	30.00	15.89	15.92
414.90	2437	-146.63	-1.12	80.00	3950.9	3957.9	3943.9	1304.8	2011.2	54.76	-14.40	74	423.97	0.00	0.17	3.69	0.000	0.195	0.137	3950.84	3957.94	3943.75	1330.69	3490.38	0	0	0	30.00	15.91	15.93
447.05	1156	-146.63	-1.01	0.00	3951.0	3958.0	3944.0	1331.4	3490.8	59.50	-14.38	80	455.24	0.00	0.00	3.53	0.000	0.000	0.080	3950.56	3958.06	3943.06	1331.31	2009.56	0	0	0	30.00	30.00	15.95
642.84	2437	-146.63	-0.94	80.00	3951.6	3959.2	3944.0	1331.6	2009.7	85.28	-13.15	100	652.01	0.00	0.26	3.68	0.000	0.181	0.139	3950.41	3958.31	3942.50	1372.75	3492.75	0	0	0	30.00	15.98	16.00
735.11	1156	-146.63	-0.89	0.00	3951.3	3958.9	3943.8	1373.1	3492.3	97.98	-13.91	118	743.27	0.00	0.00	3.52	0.000	0.000	0.081	3951.28	3958.81	3943.75	1372.81	2009.00	0	0	0	30.00	30.00	16.02
933.10	260	-146.63	-0.89	80.00	3951.8	3960.1	3943.5	1372.7	2009.1	119.78	-11.00	136	944.14	0.00	0.00	3.69	0.000	0.000	0.139	3951.22	3959.50	3942.94	1372.88	3490.00	0	0	0	30.00	30.00	14.98
1017.07	3205	-146.63	-0.84	0.00	3952.2	3960.4	3943.9	1372.6	3489.4	130.60	-12.21	152	1026.08	0.00	0.17	3.51	0.000	0.184	0.081	3951.50	3959.69	3943.31	1399.69	2011.75	0	0	0	30.00	15.97	16.00
1212.03	292	-146.63	-0.84	80.00	3952.3	3961.2	3943.4	1399.3	2011.1	149.94	-9.77	172	1217.92	0.00	0.00	2.51	0.000	0.000	0.132	3953.00	3961.81	3944.19	1399.12	3034.88	0	0	0	30.00	30.00	16.03
1218	end dive: TARGET_DEPTH_EXCEEDED
state	1218	begin apogee
1224.68	10243	0.00	-0.36	0.00	3952.6	3961.2	3943.9	1399.2	2009.4	150.35	-9.73	173	1354.88	115.94	0.75	0.06	1.366	0.146	0.308	3348.66	3389.50	3307.81	1515.38	2039.00	0	0	0	12.19	16.02	15.60
1356	end apogee: CONTROL_FINISHED_OK
state	1356	begin climb
1356.35	10759	146.63	1.44	-80.00	3347.4	3387.2	3307.6	1515.6	2038.9	158.14	0.00	185	1502.99	119.46	2.87	4.09	1.327	0.118	0.191	2749.50	2800.38	2698.62	1950.69	562.19	0	0	0	11.77	15.63	15.39
1570.42	11431	201.13	1.55	0.00	2746.2	2793.1	2699.3	1950.5	562.2	147.96	7.48	223	1631.41	45.94	0.15	3.59	1.291	0.099	0.078	2529.00	2584.25	2473.75	1988.81	2040.56	0	0	0	11.93	15.64	15.64
1815.33	8614	215.43	1.65	80.00	2523.5	2580.0	2467.0	1988.7	2040.4	126.48	9.34	253	1839.52	13.11	0.00	3.71	1.177	0.000	0.151	2469.81	2527.06	2412.56	1989.62	3488.81	0	0	0	11.91	30.00	15.70
1928.43	3205	215.43	1.71	0.00	2468.5	2524.8	2412.1	1989.4	3489.1	114.94	10.53	275	1937.63	0.00	0.14	3.59	0.000	0.099	0.084	2467.22	2525.56	2408.88	2031.44	2011.12	0	0	0	30.00	15.83	15.80
2129.43	420	217.65	1.76	80.00	2468.0	2525.5	2410.4	2031.0	2011.4	94.82	9.90	295	2141.52	0.00	0.00	3.74	0.000	0.000	0.146	2466.62	2523.38	2409.88	2029.88	3488.69	0	0	0	30.00	30.00	15.88
2210.25	1028	217.65	1.76	0.00	2467.2	2524.4	2410.1	2031.2	3489.1	85.32	11.04	311	2219.33	0.00	0.00	3.55	0.000	0.000	0.083	2465.16	2522.06	2408.25	2031.12	2010.69	0	0	0	30.00	30.00	15.94
2405.55	420	217.93	1.82	80.00	2466.6	2523.7	2409.6	2031.1	2010.9	66.37	9.99	331	2414.44	0.00	0.00	3.70	0.000	0.000	0.145	2465.09	2523.19	2407.00	2031.19	3488.88	0	0	0	30.00	30.00	15.98
2547.60	1156	217.93	1.86	0.00	2466.7	2523.1	2410.2	2030.9	3488.8	51.45	10.31	359	2555.96	0.00	0.00	3.53	0.000	0.000	0.083	2466.66	2523.00	2410.31	2031.31	2011.31	0	0	0	30.00	30.00	16.02
2744.56	10403	231.35	1.94	0.00	2466.0	2522.4	2409.5	2031.2	2011.1	34.41	9.38	394	2764.98	16.77	0.23	0.00	1.189	0.077	0.000	2405.12	2463.88	2346.38	2082.69	2010.56	0	0	0	12.08	16.04	30.00
2949.00	8614	249.47	2.00	80.00	2402.8	2462.6	2343.0	2082.2	2011.0	13.16	9.16	435	2978.68	18.28	0.00	3.71	1.183	0.000	0.146	2332.44	2392.31	2272.56	2081.75	3488.69	0	0	0	12.00	30.00	15.92
3207.71	11431	478.58	2.35	0.00	2328.4	2387.5	2269.2	2082.9	3489.0	5.61	-0.61	486	3232.60	14.16	0.52	3.51	1.151	0.060	0.078	2277.44	2337.56	2217.31	2184.88	2010.88	0	0	0	12.02	16.02	16.01
3233	end climb: NO_VERTICAL_VELOCITY
state	3233	begin surface