Glider dive log

HoodCanal 19Jun23 * SG253 * Dive index * Mission links * Dive 2 * 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 2 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 2 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 0.57261044 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 3.0709803 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 2 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 0.57261044 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 3.0709803 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 2 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 190623,182035,4736.985,-12256.028,1,1.8,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190623,182342,4737.000,-12255.999,2,1.8,4,15.4 MHEAD_RNG_PITCHd_Wd 209.2,489,-17.6,-10.000,-21.21,2209,0.212

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.015319,-0.012851,0.020988,1.058931,0.058930,0.017119,0.031812,1.083081,53.526585,-1124.022827,1026.322266

TGT_LATLONG 4736.830,-12256.300 OSC 8000266

Post-dive calculations and measurements:

NAV 1687201451,75.0,0,stop FG_AHR_24Vo 3.277

FREEZE 6.48,13.793,-1.533,0,1,0 FG_AHR_10Vo 0.593

SURF forcing MEM0 60020,1,0,0

SM_CCo 3609.30,218.28,1.052,0,500.7,577.6,423.9,686.66 MEM1 65508,1,0,0

SM_GC 1.62,0.00,11.84,0.10,0.000,0.083,0.165,497.7,572.5,422.8,191.4,1995.8,0,0,0,30.00,15.56,15.57 MEM2 945768,31,100820,68

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12952,472

IRIDIUM_FIX 4736.87,-12256.21,190623,181658 CAP_FILE_SIZE 189592,0

TCM_TEMP 15.77 SDSIZE 3887104,3873696

SC_FREEKB 3878016 SDFILEDIR 48,3

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 44.36 CURRENT 0.045, 58.8,1

TEMP 10.79 MAGCAL 1.000000,0.000725,-0.032619,0.015905,1.073974,0.049161,-0.001642,0.031785,1.147384,-789.6,-1670.3,167.1,22,0.0119,1

INTERNAL_PRESSURE 7.94115 IMPLIED_C_PITCH 1618,14.32,244,0.0,0.00

_24V_AH 14.97,2.842 IMPLIED_C_VBD 3135,41.633621,244,0

_10V_AH 15.00,0.000 GPS 190623,192701,4736.754,-12256.305,1,0.9,20,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 709 1233 13087.53 nil 0 0 0.00

Pitch_motor 25 293 112.73 nil 0 0 0.00

Roll_motor 63 232 222.71 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.11 nil 0 0 0.00

Core 2141 5 164.50 SciCon 3369 6 343.18

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1381 0 6.63

Compass 1187 5 89.04

RAFOS 308 40 185.28

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

7.22 16386 -146.63 -1.44 0.00 497.3 573.2 421.4 193.7 2049.8 0.00 0.00 0 79.20 65.57 0.00 0.00 0.005 0.000 0.000 2211.22 2280.88 2141.56 193.88 2050.00 0 0 0 14.82 30.00 30.00

79.72 18727 -146.63 -1.44 80.00 2212.0 2281.1 2142.8 193.9 2049.9 3.14 -2.15 12 147.12 39.74 8.12 3.57 0.005 0.294 0.136 3896.84 3872.56 3921.12 1251.75 3490.06 0 0 0 16.05 15.87 15.95

226.30 3205 -146.63 -1.33 0.00 3899.9 3874.5 3925.4 1251.2 3490.6 20.67 -11.81 39 234.94 0.00 0.18 3.48 0.000 0.238 0.076 3899.19 3874.12 3924.25 1278.00 2012.19 0 0 0 30.00 15.91 15.98

419.55 676 -146.63 -1.29 -80.00 3902.1 3876.8 3927.4 1278.2 2012.1 38.59 -9.04 76 427.90 0.00 0.00 3.58 0.000 0.000 0.144 3901.38 3876.31 3926.44 1278.00 559.94 0 0 0 30.00 30.00 15.98

510.77 3205 -146.63 -1.21 0.00 3902.2 3876.9 3927.6 1278.4 559.2 49.08 -12.26 93 523.22 0.00 0.20 3.41 0.000 0.218 0.066 3902.12 3876.88 3927.38 1307.19 2050.94 0 0 0 30.00 15.96 16.02

710.54 260 -146.63 -1.21 80.00 3902.3 3876.8 3927.9 1307.8 2051.9 68.39 -10.05 114 718.28 0.00 0.00 3.49 0.000 0.000 0.135 3902.19 3876.62 3927.75 1308.19 3489.62 0 0 0 30.00 30.00 16.04

777.47 1156 -146.63 -1.17 0.00 3902.5 3877.1 3927.9 1307.6 3489.7 76.08 -11.71 127 786.03 0.00 0.00 3.44 0.000 0.000 0.075 3903.09 3878.06 3928.12 1308.19 2010.00 0 0 0 30.00 30.00 16.05

972.31 516 -146.63 -1.17 -80.00 3902.9 3877.9 3927.9 1307.7 2010.1 97.18 -11.12 147 981.17 0.00 0.00 3.58 0.000 0.000 0.148 3903.41 3877.62 3929.19 1308.25 558.25 0 0 0 30.00 30.00 16.04

1030.42 1156 -146.63 -1.14 0.00 3902.7 3877.2 3928.2 1308.1 558.2 104.41 -12.78 158 1039.05 0.00 0.00 3.39 0.000 0.000 0.068 3902.06 3876.69 3927.44 1308.19 2050.38 0 0 0 30.00 30.00 16.10

1228.55 0 -146.63 -1.14 0.00 3902.8 3877.6 3927.9 1308.0 2051.5 126.84 -11.28 179 1230.46 0.00 0.00 0.00 0.000 0.000 0.000 3902.12 3876.94 3927.31 1307.94 2051.19 0 0 0 30.00 30.00 30.00

1418.58 0 -146.63 -1.14 0.00 3902.8 3877.6 3928.0 1307.2 2051.8 147.50 -10.61 198 1420.49 0.00 0.00 0.00 0.000 0.000 0.000 3902.09 3876.75 3927.44 1307.88 2051.31 0 0 0 30.00 30.00 30.00

1448 end dive: TARGET_DEPTH_EXCEEDED

state 1448 begin apogee

1450.36 10243 0.00 -0.36 0.00 3902.6 3877.4 3927.9 1307.7 2000.8 150.70 -10.65 201 1563.41 99.48 1.38 0.09 1.233 0.162 0.233 3297.62 3361.00 3234.25 1514.44 2052.50 0 0 0 11.65 16.06 15.72

1564 end apogee: CONTROL_FINISHED_OK

state 1564 begin climb

1564.84 10503 146.63 1.44 80.00 3297.3 3361.6 3233.1 1514.6 2051.8 154.64 0.00 211 1695.48 104.57 2.89 3.67 1.206 0.119 0.135 2698.16 2795.12 2601.19 1950.94 3490.75 0 0 0 11.59 15.72 15.46

1708.15 9382 149.97 1.37 0.00 2697.8 2793.1 2602.5 1950.9 3491.2 145.55 9.85 227 1726.97 4.59 0.00 3.54 0.597 0.000 0.076 2686.69 2782.56 2590.81 1951.00 2000.69 0 0 0 11.47 30.00 15.56

1913.78 4485 149.97 1.32 80.00 2683.2 2776.8 2589.7 1951.3 2000.2 122.01 11.60 249 1923.30 0.00 0.33 3.70 0.000 0.193 0.132 2681.91 2776.31 2587.50 1914.00 3489.62 0 0 0 30.00 15.75 15.77

1986.75 1156 149.97 1.27 0.00 2683.1 2776.6 2589.6 1913.3 3489.6 113.43 11.63 263 1994.98 0.00 0.00 3.49 0.000 0.000 0.077 2682.06 2776.19 2587.94 1913.69 2000.81 0 0 0 30.00 30.00 15.84

2178.94 8226 174.40 1.30 0.00 2680.7 2774.1 2587.3 1913.3 2000.6 95.04 8.87 281 2201.08 19.22 0.00 0.00 1.096 0.000 0.000 2584.16 2681.19 2487.12 1914.12 2001.06 0 0 0 11.53 30.00 30.00

2388.96 8742 188.17 1.32 -80.00 2582.8 2679.6 2486.1 1913.3 2000.4 75.83 9.36 302 2413.73 11.85 0.00 3.61 1.012 0.000 0.154 2529.28 2625.50 2433.06 1913.81 559.50 0 0 0 11.63 30.00 15.82

2452.79 1028 188.17 1.32 0.00 2528.9 2625.2 2432.5 1914.1 559.2 69.42 10.89 314 2460.72 0.00 0.00 3.45 0.000 0.000 0.070 2529.78 2627.31 2432.25 1914.62 2049.50 0 0 0 30.00 30.00 15.89

2647.91 8486 215.42 1.36 80.00 2528.0 2625.4 2430.7 1913.2 2049.0 51.92 8.74 334 2683.03 22.40 0.00 3.57 1.079 0.000 0.141 2418.00 2518.50 2317.50 1914.00 3489.06 0 0 0 11.57 30.00 15.84

2772.18 1028 215.42 1.36 0.00 2418.7 2517.8 2319.6 1913.1 3490.2 38.79 11.19 358 2780.88 0.00 0.00 3.47 0.000 0.000 0.079 2414.31 2508.62 2320.00 1912.12 1999.69 0 0 0 30.00 30.00 15.91

2963.85 10919 238.31 1.43 -80.00 2416.2 2517.2 2315.1 1913.9 2000.4 21.06 8.94 395 2994.86 19.64 0.25 3.59 1.036 0.086 0.154 2323.84 2426.94 2220.75 1954.81 559.50 0 0 0 11.49 15.96 15.85

3058.93 1028 238.31 1.43 0.00 2323.9 2424.8 2223.0 1954.9 559.3 10.73 11.17 413 3067.63 0.00 0.00 3.44 0.000 0.000 0.071 2320.97 2422.06 2219.88 1955.12 2048.44 0 0 0 30.00 30.00 15.93

3251.93 10919 452.45 1.77 -80.00 2321.9 2424.6 2219.1 1954.8 2049.0 7.43 0.08 451 3366.75 103.71 0.45 0.00 1.093 0.078 0.000 1752.78 1856.38 1649.19 2037.69 2049.38 0 0 0 11.62 15.98 30.00

3367 end climb: NO_VERTICAL_VELOCITY

state 3367 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	2	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	2	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	0.57261044	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	3.0709803	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	190623,182035,4736.985,-12256.028,1,1.8,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190623,182342,4737.000,-12255.999,2,1.8,4,15.4	MHEAD_RNG_PITCHd_Wd	209.2,489,-17.6,-10.000,-21.21,2209,0.212
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.015319,-0.012851,0.020988,1.058931,0.058930,0.017119,0.031812,1.083081,53.526585,-1124.022827,1026.322266
TGT_LATLONG	4736.830,-12256.300	OSC	8000266

NAV	1687201451,75.0,0,stop	FG_AHR_24Vo	3.277
FREEZE	6.48,13.793,-1.533,0,1,0	FG_AHR_10Vo	0.593
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3609.30,218.28,1.052,0,500.7,577.6,423.9,686.66	MEM1	65508,1,0,0
SM_GC	1.62,0.00,11.84,0.10,0.000,0.083,0.165,497.7,572.5,422.8,191.4,1995.8,0,0,0,30.00,15.56,15.57	MEM2	945768,31,100820,68
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12952,472
IRIDIUM_FIX	4736.87,-12256.21,190623,181658	CAP_FILE_SIZE	189592,0
TCM_TEMP	15.77	SDSIZE	3887104,3873696
SC_FREEKB	3878016	SDFILEDIR	48,3
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	44.36	CURRENT	0.045, 58.8,1
TEMP	10.79	MAGCAL	1.000000,0.000725,-0.032619,0.015905,1.073974,0.049161,-0.001642,0.031785,1.147384,-789.6,-1670.3,167.1,22,0.0119,1
INTERNAL_PRESSURE	7.94115	IMPLIED_C_PITCH	1618,14.32,244,0.0,0.00
_24V_AH	14.97,2.842	IMPLIED_C_VBD	3135,41.633621,244,0
_10V_AH	15.00,0.000	GPS	190623,192701,4736.754,-12256.305,1,0.9,20,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	709	1233	13087.53	nil	0	0	0.00
Pitch_motor	25	293	112.73	nil	0	0	0.00
Roll_motor	63	232	222.71	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.11	nil	0	0	0.00
Core	2141	5	164.50	SciCon	3369	6	343.18
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1381	0	6.63
Compass	1187	5	89.04
RAFOS	308	40	185.28
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
7.22	16386	-146.63	-1.44	0.00	497.3	573.2	421.4	193.7	2049.8	0.00	0.00	0	79.20	65.57	0.00	0.00	0.005	0.000	0.000	2211.22	2280.88	2141.56	193.88	2050.00	0	0	0	14.82	30.00	30.00
79.72	18727	-146.63	-1.44	80.00	2212.0	2281.1	2142.8	193.9	2049.9	3.14	-2.15	12	147.12	39.74	8.12	3.57	0.005	0.294	0.136	3896.84	3872.56	3921.12	1251.75	3490.06	0	0	0	16.05	15.87	15.95
226.30	3205	-146.63	-1.33	0.00	3899.9	3874.5	3925.4	1251.2	3490.6	20.67	-11.81	39	234.94	0.00	0.18	3.48	0.000	0.238	0.076	3899.19	3874.12	3924.25	1278.00	2012.19	0	0	0	30.00	15.91	15.98
419.55	676	-146.63	-1.29	-80.00	3902.1	3876.8	3927.4	1278.2	2012.1	38.59	-9.04	76	427.90	0.00	0.00	3.58	0.000	0.000	0.144	3901.38	3876.31	3926.44	1278.00	559.94	0	0	0	30.00	30.00	15.98
510.77	3205	-146.63	-1.21	0.00	3902.2	3876.9	3927.6	1278.4	559.2	49.08	-12.26	93	523.22	0.00	0.20	3.41	0.000	0.218	0.066	3902.12	3876.88	3927.38	1307.19	2050.94	0	0	0	30.00	15.96	16.02
710.54	260	-146.63	-1.21	80.00	3902.3	3876.8	3927.9	1307.8	2051.9	68.39	-10.05	114	718.28	0.00	0.00	3.49	0.000	0.000	0.135	3902.19	3876.62	3927.75	1308.19	3489.62	0	0	0	30.00	30.00	16.04
777.47	1156	-146.63	-1.17	0.00	3902.5	3877.1	3927.9	1307.6	3489.7	76.08	-11.71	127	786.03	0.00	0.00	3.44	0.000	0.000	0.075	3903.09	3878.06	3928.12	1308.19	2010.00	0	0	0	30.00	30.00	16.05
972.31	516	-146.63	-1.17	-80.00	3902.9	3877.9	3927.9	1307.7	2010.1	97.18	-11.12	147	981.17	0.00	0.00	3.58	0.000	0.000	0.148	3903.41	3877.62	3929.19	1308.25	558.25	0	0	0	30.00	30.00	16.04
1030.42	1156	-146.63	-1.14	0.00	3902.7	3877.2	3928.2	1308.1	558.2	104.41	-12.78	158	1039.05	0.00	0.00	3.39	0.000	0.000	0.068	3902.06	3876.69	3927.44	1308.19	2050.38	0	0	0	30.00	30.00	16.10
1228.55	0	-146.63	-1.14	0.00	3902.8	3877.6	3927.9	1308.0	2051.5	126.84	-11.28	179	1230.46	0.00	0.00	0.00	0.000	0.000	0.000	3902.12	3876.94	3927.31	1307.94	2051.19	0	0	0	30.00	30.00	30.00
1418.58	0	-146.63	-1.14	0.00	3902.8	3877.6	3928.0	1307.2	2051.8	147.50	-10.61	198	1420.49	0.00	0.00	0.00	0.000	0.000	0.000	3902.09	3876.75	3927.44	1307.88	2051.31	0	0	0	30.00	30.00	30.00
1448	end dive: TARGET_DEPTH_EXCEEDED
state	1448	begin apogee
1450.36	10243	0.00	-0.36	0.00	3902.6	3877.4	3927.9	1307.7	2000.8	150.70	-10.65	201	1563.41	99.48	1.38	0.09	1.233	0.162	0.233	3297.62	3361.00	3234.25	1514.44	2052.50	0	0	0	11.65	16.06	15.72
1564	end apogee: CONTROL_FINISHED_OK
state	1564	begin climb
1564.84	10503	146.63	1.44	80.00	3297.3	3361.6	3233.1	1514.6	2051.8	154.64	0.00	211	1695.48	104.57	2.89	3.67	1.206	0.119	0.135	2698.16	2795.12	2601.19	1950.94	3490.75	0	0	0	11.59	15.72	15.46
1708.15	9382	149.97	1.37	0.00	2697.8	2793.1	2602.5	1950.9	3491.2	145.55	9.85	227	1726.97	4.59	0.00	3.54	0.597	0.000	0.076	2686.69	2782.56	2590.81	1951.00	2000.69	0	0	0	11.47	30.00	15.56
1913.78	4485	149.97	1.32	80.00	2683.2	2776.8	2589.7	1951.3	2000.2	122.01	11.60	249	1923.30	0.00	0.33	3.70	0.000	0.193	0.132	2681.91	2776.31	2587.50	1914.00	3489.62	0	0	0	30.00	15.75	15.77
1986.75	1156	149.97	1.27	0.00	2683.1	2776.6	2589.6	1913.3	3489.6	113.43	11.63	263	1994.98	0.00	0.00	3.49	0.000	0.000	0.077	2682.06	2776.19	2587.94	1913.69	2000.81	0	0	0	30.00	30.00	15.84
2178.94	8226	174.40	1.30	0.00	2680.7	2774.1	2587.3	1913.3	2000.6	95.04	8.87	281	2201.08	19.22	0.00	0.00	1.096	0.000	0.000	2584.16	2681.19	2487.12	1914.12	2001.06	0	0	0	11.53	30.00	30.00
2388.96	8742	188.17	1.32	-80.00	2582.8	2679.6	2486.1	1913.3	2000.4	75.83	9.36	302	2413.73	11.85	0.00	3.61	1.012	0.000	0.154	2529.28	2625.50	2433.06	1913.81	559.50	0	0	0	11.63	30.00	15.82
2452.79	1028	188.17	1.32	0.00	2528.9	2625.2	2432.5	1914.1	559.2	69.42	10.89	314	2460.72	0.00	0.00	3.45	0.000	0.000	0.070	2529.78	2627.31	2432.25	1914.62	2049.50	0	0	0	30.00	30.00	15.89
2647.91	8486	215.42	1.36	80.00	2528.0	2625.4	2430.7	1913.2	2049.0	51.92	8.74	334	2683.03	22.40	0.00	3.57	1.079	0.000	0.141	2418.00	2518.50	2317.50	1914.00	3489.06	0	0	0	11.57	30.00	15.84
2772.18	1028	215.42	1.36	0.00	2418.7	2517.8	2319.6	1913.1	3490.2	38.79	11.19	358	2780.88	0.00	0.00	3.47	0.000	0.000	0.079	2414.31	2508.62	2320.00	1912.12	1999.69	0	0	0	30.00	30.00	15.91
2963.85	10919	238.31	1.43	-80.00	2416.2	2517.2	2315.1	1913.9	2000.4	21.06	8.94	395	2994.86	19.64	0.25	3.59	1.036	0.086	0.154	2323.84	2426.94	2220.75	1954.81	559.50	0	0	0	11.49	15.96	15.85
3058.93	1028	238.31	1.43	0.00	2323.9	2424.8	2223.0	1954.9	559.3	10.73	11.17	413	3067.63	0.00	0.00	3.44	0.000	0.000	0.071	2320.97	2422.06	2219.88	1955.12	2048.44	0	0	0	30.00	30.00	15.93
3251.93	10919	452.45	1.77	-80.00	2321.9	2424.6	2219.1	1954.8	2049.0	7.43	0.08	451	3366.75	103.71	0.45	0.00	1.093	0.078	0.000	1752.78	1856.38	1649.19	2037.69	2049.38	0	0	0	11.62	15.98	30.00
3367	end climb: NO_VERTICAL_VELOCITY
state	3367	begin surface