Glider dive log

HoodCanal 14Jun23 * SG242 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 FIX_MISSING_TIMEOUT 7 C_ROLL_CLIMB 1900 ALTIM_PULSE 3

MISSION 7 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

DIVE 3 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 3 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 575 ROLL_MAXERRORS 0 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 1 XPDR_REP 0

D_FLARE 3 FILEMGR 2 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -3.2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 2850 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 0 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 3 VBD_TIMEOUT 800 DEVICE3 -1

D_SAFE 500 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 4 CALL_TRIES 3 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 6 CALL_WAIT 60 VBD_MAXERRORS 2 DEVICE6 -1

SURFACE_URGENCY_TRY 6 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_FORCE 12 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 3 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 70 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 400 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 400 COMPASS2_DEVICE -1

T_NO_W 480 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 700 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 10800 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 220 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE -1

ICE_FREEZE_MARGIN 0.07 C_PITCH 1712.5951 MINV_24V 0 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 13.807438 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.22403 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 26.85626 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.0099999998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -182.40242 SEABIRD_T_J 4.3e-06

MASS 72380 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 16388 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 6

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 195 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3800 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 210 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1980 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 3 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 500 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 0 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 210 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 6 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 42.22403 PHONE_SUPPLY 2 SM_CC 575

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 26.85626 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 2 PITCH_ADJ_GAIN 0.0099999998 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 7 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 6

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 13.807438 SURFACE_URGENCY_FORCE 12

CALL_TRIES 3 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 6

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 2 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 0 HEAD_ERRBAND 20 PITCH_MIN 220 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 242 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 16388 INT_PRESSURE_YINT -3.2 PITCH_W_GAIN 0 T_GPS 3

C_PITCH 1712.5951 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022512203 T_MISSION 70

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -182.40242 T_NO_W 480

C_ROLL_CLIMB 1900 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 1980 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 2850 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 400 RAFOS_HIT_WINDOW 10800 UNCOM_BLEED 400

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 700 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX 3

DBDW 0 LOITER_D_TOP 400 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 2 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72380 ROLL_ADJ_DBAND 0.029999999 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 5 ROLL_ADJ_GAIN 1 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 2

DEVICE5 -1 MINV_10V 0 ROLL_MAX 3800 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 0 VBD_TIMEOUT 800

DIVE 3 MISSION 7 ROLL_MIN 195 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE -1 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 4 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 3 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 140623,190134,4736.728,-12256.526,1,1.2,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140623,190450,4736.737,-12256.527,2,1.1,4,15.4 MHEAD_RNG_PITCHd_Wd 14.2,511,-19.5,-10.000,-22.91,1831,0.130

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME N IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,720.000000,-990.000000,-762.000000

TGT_LATLONG 4737.000,-12256.400 OSC 8000225

Post-dive calculations and measurements:

NAV 1686772745,6.7,start FG_AHR_24Vo 27.020

FINISH 0.9,1.016657 FG_AHR_10Vo 42.265

SURF forcing MEM0 60020,1,0,0

SM_CCo 3927.07,10.57,0.805,0,506.3,407.7,605.0,574.90 MEM1 65508,1,0,0

SM_GC 2.29,10.57,12.98,0.26,0.805,0.060,0.084,506.3,407.7,605.0,206.6,2019.2,0,0,0,10.95,15.69,15.72 MEM2 931032,24,115556,75

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 16105,595

IRIDIUM_FIX 4732.93,-12152.54,140623,185845 CAP_FILE_SIZE 180558,0

TCM_TEMP 16.46 SDSIZE 3887104,3869280

SC_FREEKB 3877824 SDFILEDIR 61,4

RAFOS_CLK 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4536.390625,-12300.000000,140623,181822,5,255,125.87 SOUNDSPEED 1465.0

HUMID 50.73 CURRENT 0.088,248.8,1

TEMP 12.27 MAGCAL 1.000000,0.014365,0.096909,-0.020975,1.032397,-0.015411,0.030417,-0.158465,0.882166,642.3,-841.5,-495.4,26,0.0281,0

INTERNAL_PRESSURE 8.30167 IMPLIED_C_PITCH 1730,13.60,257,1721.1,13.71

_24V_AH 15.04,30.336 IMPLIED_C_VBD 2820,43.235748,257,0

_10V_AH 15.00,0.000 GPS 140623,201237,4736.938,-12256.633,75,1.4,82,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 659 1135 11269.51 nil 0 0 0.00

Pitch_motor 26 225 90.57 nil 0 0 0.00

Roll_motor 42 186 118.93 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 3.03 nil 0 0 0.00

Core 2351 5 180.59 SciCon 3889 6 390.84

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1600 0 7.68

Compass 1254 5 94.08

RAFOS 1571 40 942.79

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

6.46 16386 -121.20 -1.56 0.00 498.1 401.6 594.6 204.0 2018.3 0.00 0.00 0 97.76 84.86 0.00 0.00 0.005 0.000 0.000 2488.59 2448.06 2529.12 204.12 2018.44 0 0 0 16.04 30.00 30.00

98.19 18727 -146.63 -1.59 80.00 2487.0 2445.6 2528.4 204.1 2018.1 3.22 -2.12 17 158.00 33.52 8.11 3.37 0.005 0.225 0.106 3445.84 3407.56 3484.12 1327.62 3450.31 0 0 0 16.03 15.77 15.91

176.61 1156 -146.63 -1.51 0.00 3447.2 3407.2 3487.1 1327.4 3449.9 8.12 -10.62 31 184.36 0.00 0.00 3.36 0.000 0.000 0.056 3446.19 3406.12 3486.25 1327.56 1949.69 0 0 0 30.00 30.00 15.93

366.06 2725 -146.63 -1.48 -80.00 3448.9 3408.1 3489.8 1327.6 1949.2 23.52 -6.31 68 373.99 0.00 0.17 3.44 0.000 0.179 0.117 3448.97 3406.06 3491.88 1355.31 510.38 0 0 0 30.00 15.82 15.90

602.63 1156 -146.63 -1.43 0.15 3448.8 3407.9 3489.6 1355.6 510.0 44.20 -10.07 115 610.38 0.00 0.00 3.38 0.000 0.000 0.050 3451.06 3409.56 3492.56 1355.38 2019.88 0 0 0 30.00 30.00 15.95

798.94 548 -146.63 -1.43 -80.00 3449.2 3407.4 3491.1 1355.6 2020.4 62.22 -8.85 141 807.17 0.00 0.00 3.65 0.000 0.000 0.117 3449.03 3406.25 3491.81 1355.19 510.38 0 0 0 30.00 30.00 15.90

968.99 1156 -146.63 -1.40 -0.17 3448.7 3406.9 3490.6 1355.8 510.6 81.86 -12.01 174 976.17 0.00 0.00 3.39 0.000 0.000 0.051 3450.19 3407.75 3492.62 1355.62 2013.12 0 0 0 30.00 30.00 15.94

1163.99 32 -146.63 -1.40 -0.17 3448.8 3406.6 3490.9 1355.5 2013.1 100.70 -9.53 194 1165.79 0.00 0.00 0.00 0.000 0.000 0.000 3448.19 3406.38 3490.00 1355.38 2013.69 0 0 0 30.00 30.00 30.00

1353.85 0 -146.63 -1.40 -0.17 3448.3 3406.4 3490.2 1356.0 2014.7 120.26 -10.39 213 1355.64 0.00 0.00 0.00 0.000 0.000 0.000 3447.91 3406.69 3489.12 1355.25 2014.06 0 0 0 30.00 30.00 30.00

1543.95 32 -146.63 -1.40 -0.17 3448.6 3406.2 3491.0 1355.3 2013.8 139.04 -9.89 232 1545.74 0.00 0.00 0.00 0.000 0.000 0.000 3447.44 3405.31 3489.56 1355.38 2014.25 0 0 0 30.00 30.00 30.00

1664 end dive: TARGET_DEPTH_EXCEEDED

state 1664 begin apogee

1665.95 10243 0.00 -0.36 0.00 3448.7 3406.4 3490.9 1355.5 1867.8 150.96 -9.85 244 1789.13 110.64 1.74 0.10 1.136 0.121 0.186 2853.38 2743.50 2963.25 1626.38 1937.81 0 0 0 10.73 15.89 15.65

1790 end apogee: CONTROL_FINISHED_OK

state 1790 begin climb

1790.82 11271 146.63 1.59 0.00 2850.1 2741.0 2959.2 1626.2 1937.8 153.92 0.00 255 1920.67 111.50 3.01 0.12 1.102 0.084 0.149 2252.47 2144.88 2360.06 2102.75 1868.19 0 0 0 10.99 15.68 15.69

2104.43 128 146.63 1.57 0.00 2245.3 2143.3 2347.4 2102.9 1867.9 118.97 13.44 297 2106.22 0.00 0.00 0.00 0.000 0.000 0.000 2244.22 2142.88 2345.56 2102.06 1868.12 0 0 0 30.00 30.00 30.00

2294.28 16514 146.63 1.56 0.00 2243.5 2142.1 2344.9 2103.0 1867.3 95.68 11.95 316 2296.07 0.00 0.00 0.00 0.000 0.000 0.000 2242.72 2142.19 2343.25 2102.38 1867.94 0 0 0 30.00 30.00 30.00

2484.30 16774 146.63 1.55 80.00 2242.9 2142.2 2343.6 2102.9 1867.5 74.29 11.10 335 2492.71 0.00 0.00 3.62 0.000 0.000 0.107 2244.09 2142.94 2345.25 2103.12 3367.00 0 0 0 30.00 30.00 15.89

2585.62 17542 146.63 1.51 0.09 2242.8 2142.5 2343.1 2102.4 3367.1 61.74 11.89 355 2593.24 0.00 0.00 3.38 0.000 0.000 0.063 2243.19 2142.38 2344.00 2102.81 1873.88 0 0 0 30.00 30.00 15.96

2774.32 16386 146.63 1.51 0.09 2242.5 2142.1 2342.9 2102.8 1873.1 42.70 10.35 382 2778.25 0.00 0.00 0.00 0.000 0.000 0.000 2242.47 2142.25 2342.69 2102.88 1873.75 0 0 0 30.00 30.00 30.00

2959.34 8226 177.58 1.55 0.09 2241.7 2141.8 2341.6 2102.7 1873.6 25.78 8.27 419 2986.54 23.61 0.00 0.00 0.985 0.000 0.000 2124.28 2019.06 2229.50 2103.12 1873.50 0 0 0 10.66 30.00 30.00

3170.22 8870 237.13 1.64 -80.00 2120.8 2019.2 2222.2 2102.8 1873.5 9.27 6.67 461 3237.96 44.92 0.00 3.57 0.989 0.000 0.132 1883.28 1775.50 1991.06 2102.62 432.81 0 0 0 11.02 30.00 15.78

3271.69 11431 303.91 1.74 0.22 1878.3 1771.9 1984.8 2102.6 432.8 3.70 6.27 478 3335.38 49.47 0.19 3.47 0.966 0.073 0.053 1609.75 1502.75 1716.75 2153.38 1949.12 0 0 0 11.10 15.82 15.68

3519.13 10663 483.83 2.03 80.00 1604.1 1501.2 1707.1 2153.3 1949.4 4.03 -0.06 526 3667.17 130.39 0.29 3.53 0.971 0.058 0.108 877.22 767.44 987.00 2220.50 3370.75 0 0 0 10.89 15.84 15.51

3680.90 11431 645.27 2.27 0.37 876.4 767.4 985.4 2220.6 3369.8 2.47 0.98 556 3753.25 60.15 0.25 3.46 0.937 0.066 0.059 553.66 440.56 666.75 2277.31 1878.75 0 0 0 10.98 15.65 15.65

3754 end climb: SURFACE_DEPTH_REACHED

state 3754 begin surface coast

3886 end surface coast: CONTROL_FINISHED_OK

state 3886 begin surface

ID	242	FIX_MISSING_TIMEOUT	7	C_ROLL_CLIMB	1900	ALTIM_PULSE	3
MISSION	7	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
DIVE	3	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	3	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	575	ROLL_MAXERRORS	0	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	1	XPDR_REP	0
D_FLARE	3	FILEMGR	2	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-3.2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	2850	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	0	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	3	VBD_TIMEOUT	800	DEVICE3	-1
D_SAFE	500	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	4	CALL_TRIES	3	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	6	CALL_WAIT	60	VBD_MAXERRORS	2	DEVICE6	-1
SURFACE_URGENCY_TRY	6	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_FORCE	12	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	3	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	70	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	400	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	400	COMPASS2_DEVICE	-1
T_NO_W	480	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	700	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	10800	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	220	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	-1
ICE_FREEZE_MARGIN	0.07	C_PITCH	1712.5951	MINV_24V	0	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	13.807438	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.22403	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	26.85626	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0099999998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-182.40242	SEABIRD_T_J	4.3e-06
MASS	72380	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	16388	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	6
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	195	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3800	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	210	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1980	ALTIM_FREQUENCY	13

GPS1	140623,190134,4736.728,-12256.526,1,1.2,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140623,190450,4736.737,-12256.527,2,1.1,4,15.4	MHEAD_RNG_PITCHd_Wd	14.2,511,-19.5,-10.000,-22.91,1831,0.130
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	N	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,720.000000,-990.000000,-762.000000
TGT_LATLONG	4737.000,-12256.400	OSC	8000225

NAV	1686772745,6.7,start	FG_AHR_24Vo	27.020
FINISH	0.9,1.016657	FG_AHR_10Vo	42.265
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3927.07,10.57,0.805,0,506.3,407.7,605.0,574.90	MEM1	65508,1,0,0
SM_GC	2.29,10.57,12.98,0.26,0.805,0.060,0.084,506.3,407.7,605.0,206.6,2019.2,0,0,0,10.95,15.69,15.72	MEM2	931032,24,115556,75
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	16105,595
IRIDIUM_FIX	4732.93,-12152.54,140623,185845	CAP_FILE_SIZE	180558,0
TCM_TEMP	16.46	SDSIZE	3887104,3869280
SC_FREEKB	3877824	SDFILEDIR	61,4
RAFOS_CLK	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4536.390625,-12300.000000,140623,181822,5,255,125.87	SOUNDSPEED	1465.0
HUMID	50.73	CURRENT	0.088,248.8,1
TEMP	12.27	MAGCAL	1.000000,0.014365,0.096909,-0.020975,1.032397,-0.015411,0.030417,-0.158465,0.882166,642.3,-841.5,-495.4,26,0.0281,0
INTERNAL_PRESSURE	8.30167	IMPLIED_C_PITCH	1730,13.60,257,1721.1,13.71
_24V_AH	15.04,30.336	IMPLIED_C_VBD	2820,43.235748,257,0
_10V_AH	15.00,0.000	GPS	140623,201237,4736.938,-12256.633,75,1.4,82,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	659	1135	11269.51	nil	0	0	0.00
Pitch_motor	26	225	90.57	nil	0	0	0.00
Roll_motor	42	186	118.93	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	3.03	nil	0	0	0.00
Core	2351	5	180.59	SciCon	3889	6	390.84
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1600	0	7.68
Compass	1254	5	94.08
RAFOS	1571	40	942.79
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
6.46	16386	-121.20	-1.56	0.00	498.1	401.6	594.6	204.0	2018.3	0.00	0.00	0	97.76	84.86	0.00	0.00	0.005	0.000	0.000	2488.59	2448.06	2529.12	204.12	2018.44	0	0	0	16.04	30.00	30.00
98.19	18727	-146.63	-1.59	80.00	2487.0	2445.6	2528.4	204.1	2018.1	3.22	-2.12	17	158.00	33.52	8.11	3.37	0.005	0.225	0.106	3445.84	3407.56	3484.12	1327.62	3450.31	0	0	0	16.03	15.77	15.91
176.61	1156	-146.63	-1.51	0.00	3447.2	3407.2	3487.1	1327.4	3449.9	8.12	-10.62	31	184.36	0.00	0.00	3.36	0.000	0.000	0.056	3446.19	3406.12	3486.25	1327.56	1949.69	0	0	0	30.00	30.00	15.93
366.06	2725	-146.63	-1.48	-80.00	3448.9	3408.1	3489.8	1327.6	1949.2	23.52	-6.31	68	373.99	0.00	0.17	3.44	0.000	0.179	0.117	3448.97	3406.06	3491.88	1355.31	510.38	0	0	0	30.00	15.82	15.90
602.63	1156	-146.63	-1.43	0.15	3448.8	3407.9	3489.6	1355.6	510.0	44.20	-10.07	115	610.38	0.00	0.00	3.38	0.000	0.000	0.050	3451.06	3409.56	3492.56	1355.38	2019.88	0	0	0	30.00	30.00	15.95
798.94	548	-146.63	-1.43	-80.00	3449.2	3407.4	3491.1	1355.6	2020.4	62.22	-8.85	141	807.17	0.00	0.00	3.65	0.000	0.000	0.117	3449.03	3406.25	3491.81	1355.19	510.38	0	0	0	30.00	30.00	15.90
968.99	1156	-146.63	-1.40	-0.17	3448.7	3406.9	3490.6	1355.8	510.6	81.86	-12.01	174	976.17	0.00	0.00	3.39	0.000	0.000	0.051	3450.19	3407.75	3492.62	1355.62	2013.12	0	0	0	30.00	30.00	15.94
1163.99	32	-146.63	-1.40	-0.17	3448.8	3406.6	3490.9	1355.5	2013.1	100.70	-9.53	194	1165.79	0.00	0.00	0.00	0.000	0.000	0.000	3448.19	3406.38	3490.00	1355.38	2013.69	0	0	0	30.00	30.00	30.00
1353.85	0	-146.63	-1.40	-0.17	3448.3	3406.4	3490.2	1356.0	2014.7	120.26	-10.39	213	1355.64	0.00	0.00	0.00	0.000	0.000	0.000	3447.91	3406.69	3489.12	1355.25	2014.06	0	0	0	30.00	30.00	30.00
1543.95	32	-146.63	-1.40	-0.17	3448.6	3406.2	3491.0	1355.3	2013.8	139.04	-9.89	232	1545.74	0.00	0.00	0.00	0.000	0.000	0.000	3447.44	3405.31	3489.56	1355.38	2014.25	0	0	0	30.00	30.00	30.00
1664	end dive: TARGET_DEPTH_EXCEEDED
state	1664	begin apogee
1665.95	10243	0.00	-0.36	0.00	3448.7	3406.4	3490.9	1355.5	1867.8	150.96	-9.85	244	1789.13	110.64	1.74	0.10	1.136	0.121	0.186	2853.38	2743.50	2963.25	1626.38	1937.81	0	0	0	10.73	15.89	15.65
1790	end apogee: CONTROL_FINISHED_OK
state	1790	begin climb
1790.82	11271	146.63	1.59	0.00	2850.1	2741.0	2959.2	1626.2	1937.8	153.92	0.00	255	1920.67	111.50	3.01	0.12	1.102	0.084	0.149	2252.47	2144.88	2360.06	2102.75	1868.19	0	0	0	10.99	15.68	15.69
2104.43	128	146.63	1.57	0.00	2245.3	2143.3	2347.4	2102.9	1867.9	118.97	13.44	297	2106.22	0.00	0.00	0.00	0.000	0.000	0.000	2244.22	2142.88	2345.56	2102.06	1868.12	0	0	0	30.00	30.00	30.00
2294.28	16514	146.63	1.56	0.00	2243.5	2142.1	2344.9	2103.0	1867.3	95.68	11.95	316	2296.07	0.00	0.00	0.00	0.000	0.000	0.000	2242.72	2142.19	2343.25	2102.38	1867.94	0	0	0	30.00	30.00	30.00
2484.30	16774	146.63	1.55	80.00	2242.9	2142.2	2343.6	2102.9	1867.5	74.29	11.10	335	2492.71	0.00	0.00	3.62	0.000	0.000	0.107	2244.09	2142.94	2345.25	2103.12	3367.00	0	0	0	30.00	30.00	15.89
2585.62	17542	146.63	1.51	0.09	2242.8	2142.5	2343.1	2102.4	3367.1	61.74	11.89	355	2593.24	0.00	0.00	3.38	0.000	0.000	0.063	2243.19	2142.38	2344.00	2102.81	1873.88	0	0	0	30.00	30.00	15.96
2774.32	16386	146.63	1.51	0.09	2242.5	2142.1	2342.9	2102.8	1873.1	42.70	10.35	382	2778.25	0.00	0.00	0.00	0.000	0.000	0.000	2242.47	2142.25	2342.69	2102.88	1873.75	0	0	0	30.00	30.00	30.00
2959.34	8226	177.58	1.55	0.09	2241.7	2141.8	2341.6	2102.7	1873.6	25.78	8.27	419	2986.54	23.61	0.00	0.00	0.985	0.000	0.000	2124.28	2019.06	2229.50	2103.12	1873.50	0	0	0	10.66	30.00	30.00
3170.22	8870	237.13	1.64	-80.00	2120.8	2019.2	2222.2	2102.8	1873.5	9.27	6.67	461	3237.96	44.92	0.00	3.57	0.989	0.000	0.132	1883.28	1775.50	1991.06	2102.62	432.81	0	0	0	11.02	30.00	15.78
3271.69	11431	303.91	1.74	0.22	1878.3	1771.9	1984.8	2102.6	432.8	3.70	6.27	478	3335.38	49.47	0.19	3.47	0.966	0.073	0.053	1609.75	1502.75	1716.75	2153.38	1949.12	0	0	0	11.10	15.82	15.68
3519.13	10663	483.83	2.03	80.00	1604.1	1501.2	1707.1	2153.3	1949.4	4.03	-0.06	526	3667.17	130.39	0.29	3.53	0.971	0.058	0.108	877.22	767.44	987.00	2220.50	3370.75	0	0	0	10.89	15.84	15.51
3680.90	11431	645.27	2.27	0.37	876.4	767.4	985.4	2220.6	3369.8	2.47	0.98	556	3753.25	60.15	0.25	3.46	0.937	0.066	0.059	553.66	440.56	666.75	2277.31	1878.75	0	0	0	10.98	15.65	15.65
3754	end climb: SURFACE_DEPTH_REACHED
state	3754	begin surface coast
3886	end surface coast: CONTROL_FINISHED_OK
state	3886	begin surface