Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 252 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 19 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 30 SM_CC 699.10498 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 2

D_SURF 2 FILEMGR 0 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 150 COMM_SEQ 7 C_VBD 3350 MOTHERBOARD 6

D_ABORT 175 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 50 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 1 UNCOM_BLEED 20 DEVICE6 -1

D_SAFE 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 7

D_CALL 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 50 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 66

T_MISSION 75 T_RSLEEP 3 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 60 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 210 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3615 MINV_24V 11 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 1600 MINV_10V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_10V 1.5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 14 FG_AHR_10V 1.5588244 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 12.114336 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.015 PRESSURE_YINT -179.75725 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00022626969 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72278 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 275 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3885 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2025 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 4

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 131 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 30 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_TGT 150 N_GPS 100440 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 0 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 1.5588244 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 12.114336 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_ADJ_DBAND 2 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_ADJ_GAIN 0.015 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_CNV 0.0041299998 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.003 PITCH_GAIN 14 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_C 1.6e-05 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 10000 HEADING -1 PITCH_MAX 3615 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 1440

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 T_BOOST 0

COMM_SEQ 7 ID 252 PITCH_TIMEOUT 30 T_DIVE 50

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0012300001 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 2 PITCH_W_DBAND 0 T_GPS 5

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1600 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022626969 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -179.75725 T_RSLEEP 3

C_ROLL_CLIMB 2025 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2025 LOGGERS 7 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 3350 LOITER_DBDW 0 RAFOS_DEVICE 96 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RAFOS_MMODEM 0 USE_BATHY -10

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 0

DEEPGLIDER 0 LOITER_W_DBAND 0 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72278 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 1.5 ROLL_ADJ_DBAND 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 11 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 11 ROLL_MAX 3885 VBD_TIMEOUT 720

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 19 MOTHERBOARD 6 ROLL_MIN 275 XPDR_DEVICE -1

D_ABORT 175 NAV2_DEVICE 6 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_BOOST 0 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 0

D_CALL 0 NAV4_DEVICE -1 SC_PROFILE 3.0 XPDR_REP 0

D_FINISH 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 4

D_FLARE 3 NAV_MODE 2 SC_XMITPROFILE 3.0

D_NO_BLEED 50 NETBOX 1 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 260623,121331,4736.288,-12256.754,1,1.8,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,121643,4736.311,-12256.720,2,1.8,4,15.4 MHEAD_RNG_PITCHd_Wd 177.9,675,-17.6,-10.000,-21.21,2209,0.131

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET xmit ok outbox0015.n 886 14 _10V_AH 14.90,0.000

NET_PING 1687783962,29,570.178467,5.900000,-0.756501 FG_AHR_24Vo 12.367

NAV 1687784344,63.3,start FG_AHR_10Vo 1.608

FREEZE 5.40,14.446,-1.510,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3640.45,317.11,1.176,0,500.9,527.0,474.8,698.89 MEM2 945480,25,101108,74

SM_GC 1.55,0.00,12.10,0.06,0.000,0.056,0.207,497.8,522.9,472.8,191.8,2040.4,0,0,0,30.00,15.57,15.54 DATA_FILE_SIZE 12942,503

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 197541,0

IRIDIUM_FIX 4736.40,-12251.79,260623,110852 SDSIZE 3887104,3866656

TCM_TEMP -86.33 SDFILEDIR 196,20

SC_FREEKB 3872704 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 4736.460938,-12257.000000,260623,020200,2,510,0.36 CURRENT 0.043, 61.7,1

HUMID 52.11 IMPLIED_C_PITCH 1768,13.11,232,0.0,0.00

TEMP 11.18 IMPLIED_C_VBD 3322,24.952143,232,0

INTERNAL_PRESSURE 7.98518 GPS 260623,132032,4735.952,-12256.768,1,0.9,22,15.4

_24V_AH 14.86,13.022

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 801 1350 16085.43 nil 0 0 0.00

Pitch_motor 25 262 97.99 nil 0 0 0.00

Roll_motor 73 295 321.39 nil 0 0 0.00

Iridium 121 143 257.85 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 2243 5 171.11 SciCon 3297 6 320.10

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1328 0 6.34

Compass 1057 5 78.80

RAFOS 1019 40 607.47

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

7.00 16386 -146.63 -1.44 0.00 495.0 517.5 472.5 187.8 2010.6 0.00 0.00 0 62.01 49.79 0.00 0.00 0.005 0.000 0.000 1956.66 1977.75 1935.56 187.75 2012.12 0 0 0 15.88 30.00 30.00

62.54 18727 -146.63 -1.44 80.00 1956.5 1977.3 1935.7 188.0 2011.8 3.24 -3.88 10 144.33 52.12 7.89 3.72 0.005 0.262 0.136 3948.94 3953.44 3944.44 1253.19 3491.31 0 0 0 15.89 15.76 15.84

148.06 3205 -146.63 -1.21 0.00 3949.7 3955.1 3944.2 1253.6 3492.1 12.26 -15.63 25 156.59 0.00 0.37 3.51 0.000 0.200 0.077 3949.50 3954.75 3944.25 1308.44 2006.31 0 0 0 30.00 15.82 15.86

337.82 388 -146.63 -1.11 80.00 3951.0 3958.2 3943.8 1308.2 2007.3 39.34 -13.29 61 349.82 0.00 0.00 3.79 0.000 0.000 0.131 3952.31 3958.81 3945.81 1308.06 3492.50 0 0 0 30.00 30.00 15.42

368.87 3205 -146.63 -0.90 0.00 3951.0 3957.8 3944.1 1308.0 3492.2 43.80 -14.33 67 381.73 0.00 0.50 3.51 0.000 0.173 0.077 3950.69 3957.19 3944.19 1384.44 2007.06 0 0 0 30.00 15.79 15.83

565.70 292 -146.63 -0.90 80.00 3951.6 3958.9 3944.3 1384.8 2007.0 64.54 -9.81 92 574.72 0.00 0.00 3.76 0.000 0.000 0.134 3950.53 3957.25 3943.81 1384.12 3490.62 0 0 0 30.00 30.00 15.82

718.03 1156 -146.63 -0.84 0.00 3951.6 3958.8 3944.4 1383.9 3489.8 82.44 -12.09 122 726.22 0.00 0.00 3.53 0.000 0.000 0.080 3952.75 3959.50 3946.00 1384.56 2009.56 0 0 0 30.00 30.00 15.92

913.66 260 -146.63 -0.84 80.00 3952.6 3960.4 3944.7 1384.3 2009.7 103.29 -10.26 142 922.74 0.00 0.00 3.71 0.000 0.000 0.136 3952.38 3960.69 3944.06 1384.25 3492.25 0 0 0 30.00 30.00 15.97

1025.85 1156 -146.63 -0.80 0.00 3952.8 3961.0 3944.6 1384.4 3492.0 115.63 -10.86 164 1034.05 0.00 0.00 3.52 0.000 0.000 0.080 3952.56 3960.44 3944.69 1384.62 2009.25 0 0 0 30.00 30.00 16.01

1221.27 292 -146.63 -0.80 80.00 3952.9 3961.6 3944.1 1384.5 2009.1 134.33 -9.89 184 1233.27 0.00 0.00 3.69 0.000 0.000 0.138 3954.03 3962.88 3945.19 1384.56 3489.19 0 0 0 30.00 30.00 16.02

1312.27 3205 -146.63 -0.76 0.00 3952.8 3961.3 3944.3 1384.7 3489.6 145.44 -11.92 202 1321.42 0.00 0.21 3.48 0.000 0.167 0.082 3952.97 3961.56 3944.38 1418.62 2008.81 0 0 0 30.00 16.04 16.05

1367 end dive: TARGET_DEPTH_EXCEEDED

state 1367 begin apogee

1368.81 10243 0.00 -0.36 0.00 3953.5 3962.8 3944.2 1419.3 2041.6 150.65 -9.32 208 1500.34 117.43 0.61 0.07 1.350 0.134 0.295 3348.19 3387.56 3308.81 1516.25 2010.94 0 0 0 12.07 16.05 15.62

1501 end apogee: CONTROL_FINISHED_OK

state 1501 begin climb

1501.88 10759 146.63 1.44 -80.00 3348.2 3387.6 3308.8 1516.1 2011.1 157.12 0.00 220 1651.63 123.31 2.79 4.03 1.309 0.111 0.187 2752.12 2801.62 2702.62 1950.94 560.88 0 0 0 11.98 15.65 15.39

1685.64 11431 212.82 1.57 0.00 2747.5 2794.4 2700.6 1952.0 561.1 148.07 6.93 249 1758.70 56.87 0.17 3.62 1.276 0.089 0.077 2481.09 2538.94 2423.25 1992.56 2039.31 0 0 0 11.90 15.59 15.58

1942.62 8614 223.09 1.65 80.00 2476.1 2534.0 2418.1 1992.5 2039.2 124.43 9.52 281 1962.78 9.95 0.00 3.71 1.095 0.000 0.149 2439.03 2498.62 2379.44 1993.00 3487.88 0 0 0 11.79 30.00 15.71

2055.94 1156 223.09 1.71 0.00 2438.1 2495.7 2380.4 1992.8 3487.6 112.21 10.76 303 2064.32 0.00 0.00 3.58 0.000 0.000 0.083 2437.31 2494.94 2379.69 1992.81 2010.31 0 0 0 30.00 30.00 15.81

2245.81 10663 237.28 1.81 80.00 2437.1 2496.3 2377.9 1992.8 2008.9 94.23 9.34 323 2270.39 13.97 0.28 3.78 1.172 0.069 0.145 2346.03 2371.81 2320.25 2056.62 3490.12 0 0 0 12.00 15.92 15.83

2323.36 1028 237.28 1.81 0.00 2380.9 2440.3 2321.5 2058.5 3489.9 84.58 13.23 338 2331.91 0.00 0.00 3.54 0.000 0.000 0.083 2382.12 2441.56 2322.69 2058.69 2007.62 0 0 0 30.00 30.00 15.88

2521.70 388 237.28 1.86 80.00 2379.5 2439.9 2319.1 2058.6 2007.2 63.30 11.34 357 2533.38 0.00 0.00 3.76 0.000 0.000 0.144 2375.81 2432.75 2318.88 2057.38 3489.81 0 0 0 30.00 30.00 15.93

2572.16 1028 237.28 1.86 0.00 2379.5 2439.4 2319.6 2058.9 3488.8 55.72 12.20 367 2581.18 0.00 0.00 3.52 0.000 0.000 0.083 2378.00 2438.12 2317.88 2058.19 2009.00 0 0 0 30.00 30.00 15.95

2762.31 388 237.28 1.91 80.00 2379.2 2439.6 2318.8 2059.0 2008.9 35.37 10.44 400 2771.17 0.00 0.00 3.74 0.000 0.000 0.144 2379.91 2440.44 2319.38 2058.38 3490.19 0 0 0 30.00 30.00 15.96

2854.90 1028 237.28 1.91 0.00 2379.0 2439.5 2318.6 2058.1 3490.2 24.75 11.45 418 2863.74 0.00 0.00 3.51 0.000 0.000 0.082 2380.69 2439.50 2321.88 2057.94 2009.88 0 0 0 30.00 30.00 15.99

3046.48 10403 306.69 2.06 0.00 2378.4 2439.0 2317.8 2059.4 2009.7 8.66 6.79 455 3116.96 61.19 0.25 0.00 1.218 0.074 0.000 2099.81 2167.75 2031.88 2118.06 2009.88 0 0 0 12.06 16.03 30.00

3290 end climb: NO_VERTICAL_VELOCITY

state 3291 begin surface

ID	252	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	19	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	30	SM_CC	699.10498	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	2
D_SURF	2	FILEMGR	0	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	150	COMM_SEQ	7	C_VBD	3350	MOTHERBOARD	6
D_ABORT	175	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	50	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	1	UNCOM_BLEED	20	DEVICE6	-1
D_SAFE	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	7
D_CALL	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	50	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	66
T_MISSION	75	T_RSLEEP	3	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	60	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	210	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3615	MINV_24V	11	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	1600	MINV_10V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_10V	1.5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	14	FG_AHR_10V	1.5588244	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	12.114336	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.015	PRESSURE_YINT	-179.75725	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00022626969	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72278	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	275	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3885	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2025	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	4

GPS1	260623,121331,4736.288,-12256.754,1,1.8,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,121643,4736.311,-12256.720,2,1.8,4,15.4	MHEAD_RNG_PITCHd_Wd	177.9,675,-17.6,-10.000,-21.21,2209,0.131
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NET	xmit ok outbox0015.n 886 14	_10V_AH	14.90,0.000
NET_PING	1687783962,29,570.178467,5.900000,-0.756501	FG_AHR_24Vo	12.367
NAV	1687784344,63.3,start	FG_AHR_10Vo	1.608
FREEZE	5.40,14.446,-1.510,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3640.45,317.11,1.176,0,500.9,527.0,474.8,698.89	MEM2	945480,25,101108,74
SM_GC	1.55,0.00,12.10,0.06,0.000,0.056,0.207,497.8,522.9,472.8,191.8,2040.4,0,0,0,30.00,15.57,15.54	DATA_FILE_SIZE	12942,503
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	197541,0
IRIDIUM_FIX	4736.40,-12251.79,260623,110852	SDSIZE	3887104,3866656
TCM_TEMP	-86.33	SDFILEDIR	196,20
SC_FREEKB	3872704	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	4736.460938,-12257.000000,260623,020200,2,510,0.36	CURRENT	0.043, 61.7,1
HUMID	52.11	IMPLIED_C_PITCH	1768,13.11,232,0.0,0.00
TEMP	11.18	IMPLIED_C_VBD	3322,24.952143,232,0
INTERNAL_PRESSURE	7.98518	GPS	260623,132032,4735.952,-12256.768,1,0.9,22,15.4
_24V_AH	14.86,13.022

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	801	1350	16085.43	nil	0	0	0.00
Pitch_motor	25	262	97.99	nil	0	0	0.00
Roll_motor	73	295	321.39	nil	0	0	0.00
Iridium	121	143	257.85	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	2243	5	171.11	SciCon	3297	6	320.10
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1328	0	6.34
Compass	1057	5	78.80
RAFOS	1019	40	607.47
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
7.00	16386	-146.63	-1.44	0.00	495.0	517.5	472.5	187.8	2010.6	0.00	0.00	0	62.01	49.79	0.00	0.00	0.005	0.000	0.000	1956.66	1977.75	1935.56	187.75	2012.12	0	0	0	15.88	30.00	30.00
62.54	18727	-146.63	-1.44	80.00	1956.5	1977.3	1935.7	188.0	2011.8	3.24	-3.88	10	144.33	52.12	7.89	3.72	0.005	0.262	0.136	3948.94	3953.44	3944.44	1253.19	3491.31	0	0	0	15.89	15.76	15.84
148.06	3205	-146.63	-1.21	0.00	3949.7	3955.1	3944.2	1253.6	3492.1	12.26	-15.63	25	156.59	0.00	0.37	3.51	0.000	0.200	0.077	3949.50	3954.75	3944.25	1308.44	2006.31	0	0	0	30.00	15.82	15.86
337.82	388	-146.63	-1.11	80.00	3951.0	3958.2	3943.8	1308.2	2007.3	39.34	-13.29	61	349.82	0.00	0.00	3.79	0.000	0.000	0.131	3952.31	3958.81	3945.81	1308.06	3492.50	0	0	0	30.00	30.00	15.42
368.87	3205	-146.63	-0.90	0.00	3951.0	3957.8	3944.1	1308.0	3492.2	43.80	-14.33	67	381.73	0.00	0.50	3.51	0.000	0.173	0.077	3950.69	3957.19	3944.19	1384.44	2007.06	0	0	0	30.00	15.79	15.83
565.70	292	-146.63	-0.90	80.00	3951.6	3958.9	3944.3	1384.8	2007.0	64.54	-9.81	92	574.72	0.00	0.00	3.76	0.000	0.000	0.134	3950.53	3957.25	3943.81	1384.12	3490.62	0	0	0	30.00	30.00	15.82
718.03	1156	-146.63	-0.84	0.00	3951.6	3958.8	3944.4	1383.9	3489.8	82.44	-12.09	122	726.22	0.00	0.00	3.53	0.000	0.000	0.080	3952.75	3959.50	3946.00	1384.56	2009.56	0	0	0	30.00	30.00	15.92
913.66	260	-146.63	-0.84	80.00	3952.6	3960.4	3944.7	1384.3	2009.7	103.29	-10.26	142	922.74	0.00	0.00	3.71	0.000	0.000	0.136	3952.38	3960.69	3944.06	1384.25	3492.25	0	0	0	30.00	30.00	15.97
1025.85	1156	-146.63	-0.80	0.00	3952.8	3961.0	3944.6	1384.4	3492.0	115.63	-10.86	164	1034.05	0.00	0.00	3.52	0.000	0.000	0.080	3952.56	3960.44	3944.69	1384.62	2009.25	0	0	0	30.00	30.00	16.01
1221.27	292	-146.63	-0.80	80.00	3952.9	3961.6	3944.1	1384.5	2009.1	134.33	-9.89	184	1233.27	0.00	0.00	3.69	0.000	0.000	0.138	3954.03	3962.88	3945.19	1384.56	3489.19	0	0	0	30.00	30.00	16.02
1312.27	3205	-146.63	-0.76	0.00	3952.8	3961.3	3944.3	1384.7	3489.6	145.44	-11.92	202	1321.42	0.00	0.21	3.48	0.000	0.167	0.082	3952.97	3961.56	3944.38	1418.62	2008.81	0	0	0	30.00	16.04	16.05
1367	end dive: TARGET_DEPTH_EXCEEDED
state	1367	begin apogee
1368.81	10243	0.00	-0.36	0.00	3953.5	3962.8	3944.2	1419.3	2041.6	150.65	-9.32	208	1500.34	117.43	0.61	0.07	1.350	0.134	0.295	3348.19	3387.56	3308.81	1516.25	2010.94	0	0	0	12.07	16.05	15.62
1501	end apogee: CONTROL_FINISHED_OK
state	1501	begin climb
1501.88	10759	146.63	1.44	-80.00	3348.2	3387.6	3308.8	1516.1	2011.1	157.12	0.00	220	1651.63	123.31	2.79	4.03	1.309	0.111	0.187	2752.12	2801.62	2702.62	1950.94	560.88	0	0	0	11.98	15.65	15.39
1685.64	11431	212.82	1.57	0.00	2747.5	2794.4	2700.6	1952.0	561.1	148.07	6.93	249	1758.70	56.87	0.17	3.62	1.276	0.089	0.077	2481.09	2538.94	2423.25	1992.56	2039.31	0	0	0	11.90	15.59	15.58
1942.62	8614	223.09	1.65	80.00	2476.1	2534.0	2418.1	1992.5	2039.2	124.43	9.52	281	1962.78	9.95	0.00	3.71	1.095	0.000	0.149	2439.03	2498.62	2379.44	1993.00	3487.88	0	0	0	11.79	30.00	15.71
2055.94	1156	223.09	1.71	0.00	2438.1	2495.7	2380.4	1992.8	3487.6	112.21	10.76	303	2064.32	0.00	0.00	3.58	0.000	0.000	0.083	2437.31	2494.94	2379.69	1992.81	2010.31	0	0	0	30.00	30.00	15.81
2245.81	10663	237.28	1.81	80.00	2437.1	2496.3	2377.9	1992.8	2008.9	94.23	9.34	323	2270.39	13.97	0.28	3.78	1.172	0.069	0.145	2346.03	2371.81	2320.25	2056.62	3490.12	0	0	0	12.00	15.92	15.83
2323.36	1028	237.28	1.81	0.00	2380.9	2440.3	2321.5	2058.5	3489.9	84.58	13.23	338	2331.91	0.00	0.00	3.54	0.000	0.000	0.083	2382.12	2441.56	2322.69	2058.69	2007.62	0	0	0	30.00	30.00	15.88
2521.70	388	237.28	1.86	80.00	2379.5	2439.9	2319.1	2058.6	2007.2	63.30	11.34	357	2533.38	0.00	0.00	3.76	0.000	0.000	0.144	2375.81	2432.75	2318.88	2057.38	3489.81	0	0	0	30.00	30.00	15.93
2572.16	1028	237.28	1.86	0.00	2379.5	2439.4	2319.6	2058.9	3488.8	55.72	12.20	367	2581.18	0.00	0.00	3.52	0.000	0.000	0.083	2378.00	2438.12	2317.88	2058.19	2009.00	0	0	0	30.00	30.00	15.95
2762.31	388	237.28	1.91	80.00	2379.2	2439.6	2318.8	2059.0	2008.9	35.37	10.44	400	2771.17	0.00	0.00	3.74	0.000	0.000	0.144	2379.91	2440.44	2319.38	2058.38	3490.19	0	0	0	30.00	30.00	15.96
2854.90	1028	237.28	1.91	0.00	2379.0	2439.5	2318.6	2058.1	3490.2	24.75	11.45	418	2863.74	0.00	0.00	3.51	0.000	0.000	0.082	2380.69	2439.50	2321.88	2057.94	2009.88	0	0	0	30.00	30.00	15.99
3046.48	10403	306.69	2.06	0.00	2378.4	2439.0	2317.8	2059.4	2009.7	8.66	6.79	455	3116.96	61.19	0.25	0.00	1.218	0.074	0.000	2099.81	2167.75	2031.88	2118.06	2009.88	0	0	0	12.06	16.03	30.00
3290	end climb: NO_VERTICAL_VELOCITY
state	3291	begin surface