Glider dive log

Shilshole 05Apr23 * SG528 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 528 TGT_DEFAULT_LON -12218 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 1.9639999e-06

MISSION 4 TGT_AUTO_DEFAULT 0 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 3

DIVE 4 SM_CC 613.25 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

N_DIVES 4 N_FILEKB 8 VBD_MIN 500 DEEPGLIDERMB 0

STOP_T 0 FILEMGR 0 VBD_MAX 3960 MOTHERBOARD 6

D_SURF 2 CALL_NDIVES 1 C_VBD 3200 DEVICE1 -1

D_FLARE 3 COMM_SEQ 7 VBD_DBAND 2 DEVICE2 -1

D_TGT 150 PROTOCOL 9 VBD_CNV -0.24529999 DEVICE3 -1

D_ABORT 175 N_NOCOMM 1 VBD_LP_IGNORE 0 DEVICE4 -1

D_NO_BLEED 50 NOCOMM_ACTION 131 VBD_TIMEOUT 720 DEVICE5 -1

D_BOOST 0 N_NOSURFACE 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_BOOST 0 UPLOAD_DIVES_MAX -1 UNCOM_BLEED 20 LOGGERS 7

D_FINISH 0 NETBOX 1 VBD_MAXERRORS 1 LOGGERDEVICE1 6

D_PITCH 0 CALL_TRIES 5 C_VBD_AUTO_DELTA 0 LOGGERDEVICE2 19

D_SAFE 0 CALL_WAIT 60 C_VBD_AUTO_MAX 0 LOGGERDEVICE3 -1

D_CALL 0 CAPUPLOAD 0 W_ADJ_DBAND 0 LOGGERDEVICE4 -1

SURFACE_URGENCY 0 CAPMAXSIZE 100000 DBDW 0 COMPASS_DEVICE 34

SURFACE_URGENCY_TRY 0 T_GPS 5 LOITER_W_DBAND 0 COMPASS2_DEVICE -1

SURFACE_URGENCY_FORCE 0 N_GPS 100440 LOITER_DBDW 0 PHONE_DEVICE 33

T_DIVE 50 T_RSLEEP 2 LOITER_D_TOP 0 GPS_DEVICE 48

T_MISSION 65 STROBE 0 LOITER_D_BOTTOM 0 RAFOS_DEVICE -1

T_ABORT 1440 RAFOS_PEAK_OFFSET 0 LOITER_N_DIVE 0 NAV_DEVICE -1

T_TURN 225 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 NAV2_DEVICE -1

T_TURN_SAMPINT -5 RAFOS_HIT_WINDOW 3600 AH0_24V 350 NETWORK_DEVICE -1

T_NO_W 120 RAFOS_MMODEM 0 AH0_10V 0 PRESSURE_DEVICE 41

T_LOITER 0 PITCH_MIN 200 MINV_24V 11 XPDR_DEVICE 21

T_EPIRB 0 PITCH_MAX 3970 MINV_10V 11 SIM_W 0

USE_BATHY -6 C_PITCH 2150 MAXI_24V 5 SEABIRD_T_G 0.0044244844

USE_ICE 0 PITCH_DBAND 0.1 MAXI_10V 1.5 SEABIRD_T_H 0.00064698409

ICE_FREEZE_MARGIN 0.30000001 PITCH_CNV 0.003125763 FG_AHR_10V 0.87156373 SEABIRD_T_I 2.7614331e-05

D_OFFGRID 100 PITCH_GAIN 45 FG_AHR_24V 4.372354 SEABIRD_T_J 3.4337004e-06

RELAUNCH 1 PITCH_TIMEOUT 20 PHONE_SUPPLY 2 SEABIRD_C_G -9.9323845

APOGEE_PITCH -5 PITCH_MAXERRORS 1 PRESSURE_YINT -175.34706 SEABIRD_C_H 1.1413088

MAX_BUOY 150 PITCH_ADJ_GAIN 0.015 PRESSURE_SLOPE 0.00021603379 SEABIRD_C_I -0.0018536064

GLIDE_SLOPE 30 PITCH_ADJ_DBAND 1 COMPASS_USE 16388 SEABIRD_C_J 0.00022970721

SPEED_FACTOR 1 C_PITCH_AUTO_DELTA 0 ALTIM_PING_FIT 0 OPTIONS 0

RHO 1.023 C_PITCH_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SC_RECORDABOVE 2000.0

MASS 56000 PITCH_GAIN_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SC_PROFILE 3.0

NAV_MODE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 SC_XMITPROFILE 3.0

FERRY_MAX 45 PITCH_W_GAIN 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_NDIVE 1.0

KALMAN_USE 2 PITCH_W_DBAND 0 ALTIM_PING_DEPTH 0 TM_RECORDABOVE 2000.0

HD_A 0.003 ROLL_MIN 225 ALTIM_PING_DELTA 0 TM_PROFILE 3.0

HD_B 0.0099999998 ROLL_MAX 3500 ALTIM_FREQUENCY 13 TM_XMITPROFILE 3.0

HD_C 1.6e-05 ROLL_DEG 40 ALTIM_PULSE 3 TM_NDIVE 1.0

HEADING -1 C_ROLL_DIVE 1750 ALTIM_SENSITIVITY 2 TM_XMITRAW 0.0

ESCAPE_HEADING 0 C_ROLL_CLIMB 1700 XPDR_VALID 4 TM_LOGSAMPLE 0.0

ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 XPDR_INHIBIT 90

FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 XPDR_INT 0

TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_REP 0

AH0_10V 0 D_SAFE 0 N_NOCOMM 1 SEABIRD_T_J 3.4337004e-06

AH0_24V 350 D_SURF 2 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 OPTIONS 0 SM_CC 613.25

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PHONE_DEVICE 33 SPEED_FACTOR 1

ALTIM_PING_DELTA 0 ESCAPE_HEADING_DELTA 10 PHONE_SUPPLY 2 STOP_T 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_ADJ_DBAND 1 STROBE 0

ALTIM_PING_FIT 0 FG_AHR_10V 0.87156373 PITCH_ADJ_GAIN 0.015 SURFACE_URGENCY 0

ALTIM_PULSE 3 FG_AHR_24V 4.372354 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_SENSITIVITY 2 FILEMGR 0 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_TOP_MIN_OBSTACLE 1 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 45 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 HD_A 0.003 PITCH_MAX 3970 TM_LOGSAMPLE 0.0

CALL_NDIVES 1 HD_B 0.0099999998 PITCH_MAXERRORS 1 TM_NDIVE 1.0

CALL_TRIES 5 HD_C 1.6e-05 PITCH_MIN 200 TM_PROFILE 3.0

CALL_WAIT 60 HEADING -1 PITCH_TIMEOUT 20 TM_RECORDABOVE 2000.0

CAPMAXSIZE 100000 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0012300001 TM_XMITPROFILE 3.0

CAPUPLOAD 0 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 TM_XMITRAW 0.0

CF8_MAXERRORS 20 ID 528 PITCH_W_GAIN 0 T_ABORT 1440

COMM_SEQ 7 INT_PRESSURE_SLOPE 1.9639999e-06 PRESSURE_DEVICE 41 T_BOOST 0

COMPASS2_DEVICE -1 INT_PRESSURE_YINT 3 PRESSURE_SLOPE 0.00021603379 T_DIVE 50

COMPASS_DEVICE 34 KALMAN_USE 2 PRESSURE_YINT -175.34706 T_EPIRB 0

COMPASS_USE 16388 LOGGERDEVICE1 6 PROTOCOL 9 T_GPS 5

C_PITCH 2150 LOGGERDEVICE2 19 RAFOS_CORR_THRESH 60 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 RAFOS_DEVICE -1 T_MISSION 65

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

C_ROLL_CLIMB 1700 LOGGERS 7 RAFOS_MMODEM 0 T_RSLEEP 2

C_ROLL_DIVE 1750 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN 225

C_VBD 3200 LOITER_D_BOTTOM 0 RELAUNCH 1 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RHO 1.023 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_W_DBAND 0 ROLL_ADJ_GAIN 0 USE_BATHY -6

DEEPGLIDER 0 MASS 56000 ROLL_CNV 0.028270001 USE_ICE 0

DEEPGLIDERMB 0 MAXI_10V 1.5 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE1 -1 MAXI_24V 5 ROLL_MAX 3500 VBD_DBAND 2

DEVICE2 -1 MAX_BUOY 150 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE3 -1 MINV_10V 11 ROLL_MIN 225 VBD_MAX 3960

DEVICE4 -1 MINV_24V 11 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 4 SC_NDIVE 1.0 VBD_MIN 500

DEVICE6 -1 MOTHERBOARD 6 SC_PROFILE 3.0 VBD_TIMEOUT 720

DIVE 4 NAV2_DEVICE -1 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_ABORT 175 NAV_DEVICE -1 SC_XMITPROFILE 3.0 XPDR_DEVICE 21

D_BOOST 0 NAV_MODE 2 SEABIRD_C_G -9.9323845 XPDR_INHIBIT 90

D_CALL 0 NETBOX 1 SEABIRD_C_H 1.1413088 XPDR_INT 0

D_FINISH 0 NETWORK_DEVICE -1 SEABIRD_C_I -0.0018536064 XPDR_REP 0

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_J 0.00022970721 XPDR_VALID 4

D_NO_BLEED 50 N_DIVES 4 SEABIRD_T_G 0.0044244844

D_OFFGRID 100 N_FILEKB 8 SEABIRD_T_H 0.00064698409

D_PITCH 0 N_GPS 100440 SEABIRD_T_I 2.7614331e-05

Pre-dive calculations and measurements:

GPS1 050423,185853,4744.933,-12223.582,1,1.2,3,15.3 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -47.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 050423,190132,4744.945,-12223.569,8,0.9,21,15.3 MHEAD_RNG_PITCHd_Wd 198.7,3216,-17.6,-10.000,-21.21,2209,0.169

SPEED_LIMITS 0.173,0.258 D_GRID 132

TGT_NAME NW IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,78.000000,20.000000,8.000000

TGT_LATLONG 4743.500,-12225.000 OSC 8000348

Post-dive calculations and measurements:

WARN HTMICL TMICL logging already stopped FG_AHR_24Vo 4.569

FINISH 0.4,1.022920 FG_AHR_10Vo 1.002

SURF forcing MEM0 60116,1,0,0

SM_CCo 3564.18,288.28,0.882,0,699.9,557.6,842.2,613.27 MEM1 65508,1,0,0

SM_GC 1.01,288.28,4.28,0.12,0.882,0.076,0.142,699.9,557.6,842.2,190.9,1758.4,0,0,0,12.10,15.71,15.71 MEM2 997416,25,49392,63

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12912,452

IRIDIUM_FIX 4745.33,-12219.67,050423,185620 CAP_FILE_SIZE 197838,0

TCM_TEMP 12.30 SDSIZE 3887104,3873312

XPDR_PINGS 19,12.0,11.5 SDFILEDIR 63,5

SC_FREEKB 3873472 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TM_FREEKB 7631968 CURRENT 0.105,169.7,1

HUMID 52.96 MAGCAL 1.000000,0.009483,-0.000054,-0.000357,1.034653,0.015111,0.012528,-0.004095,1.031669,77.6,10.6,-2.2,20,0.0091,0

TEMP 9.09 IMPLIED_C_PITCH 2118,28.83,118,0.0,0.00

INTERNAL_PRESSURE 8.21591 IMPLIED_C_VBD 3244,29.877743,118,0

_24V_AH 14.65,3.031 GPS 050423,200138,4744.679,-12223.766,1,1.2,3,15.3

_10V_AH 14.68,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 612 1055 9470.42 nil 0 0 0.00

Pitch_motor 11 384 66.44 nil 0 0 0.00

Roll_motor 37 341 187.92 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 4 420 29.23 nil 0 0 0.00

GPS 30 15 6.76 nil 0 0 0.00

Core 290 6 28.99 SciCon 1103 120 1949.89

Fast 0 0 0.00 TMICL 3138 10 476.74

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 573 2 16.83

Compass 1860 5 136.57

RAFOS 0 0 0.00

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15.15 16386 -146.63 -0.57 0.00 697.1 548.7 845.4 202.1 1762.4 0.00 0.00 0 181.72 116.84 0.00 0.05 0.005 0.000 0.341 3796.75 4053.25 3540.25 201.94 1731.06 0 0 0 15.53 30.00 15.81

182.24 2597 -146.63 -0.57 -40.00 3798.1 4055.8 3540.4 202.0 1730.9 2.49 -3.95 27 206.21 0.00 5.59 1.88 0.000 0.384 0.139 3799.50 4058.75 3540.25 1968.31 325.06 0 0 0 30.00 15.58 15.72

214.86 3205 -146.63 -0.01 0.00 3801.0 4062.1 3539.9 1967.8 318.8 12.71 -19.97 30 226.77 0.00 0.40 1.94 0.000 0.184 0.160 3801.75 4061.88 3541.62 2147.19 1755.75 0 0 0 30.00 15.69 15.69

414.75 4257 -146.63 -0.30 0.00 3801.2 4062.4 3540.1 2147.5 1755.7 25.70 -5.71 56 424.87 0.00 0.21 0.00 0.000 0.114 0.000 3802.56 4062.81 3542.31 2042.38 1755.31 0 0 0 30.00 15.77 30.00

605.96 4773 -146.63 -0.44 -40.00 3801.2 4062.4 3540.1 2043.1 1755.4 34.59 -3.80 81 617.85 0.00 0.09 1.90 0.000 0.104 0.166 3800.88 4062.69 3539.06 2000.00 325.31 0 0 0 30.00 15.77 15.58

709.40 1188 -146.63 -0.49 0.00 3801.6 4063.0 3540.1 1999.8 325.2 39.50 -5.01 94 720.94 0.00 0.00 1.88 0.000 0.000 0.155 3800.97 4062.62 3539.31 1999.94 1756.81 0 0 0 30.00 30.00 15.59

901.98 420 -146.63 -0.51 40.00 3801.6 4062.8 3540.4 1999.6 1757.1 53.52 -8.24 119 913.62 0.00 0.00 1.84 0.000 0.000 0.163 3803.31 4063.56 3543.06 1998.62 3170.56 0 0 0 30.00 30.00 15.43

967.32 1188 -146.63 -0.57 0.00 3801.6 4062.8 3540.4 1999.8 3170.8 58.90 -8.15 127 978.75 0.00 0.00 1.80 0.000 0.000 0.123 3801.59 4062.75 3540.44 1999.62 1733.44 0 0 0 30.00 30.00 15.58

1160.89 4773 -146.63 -0.59 -40.00 3801.6 4062.9 3540.4 1999.4 1730.0 74.13 -8.47 152 1172.79 0.00 0.10 1.82 0.000 0.104 0.149 3800.97 4062.44 3539.50 1948.94 326.81 0 0 0 30.00 15.76 15.59

1181.15 1060 -146.63 -0.59 0.00 3801.4 4062.8 3540.0 1949.4 326.8 75.84 -8.47 154 1192.80 0.00 0.00 1.89 0.000 0.000 0.145 3801.41 4062.81 3540.00 1949.19 1757.00 0 0 0 30.00 30.00 15.56

1374.67 420 -146.63 -0.54 40.00 3801.5 4062.7 3540.2 1949.1 1756.9 94.98 -9.71 179 1386.31 0.00 0.00 1.85 0.000 0.000 0.161 3801.12 4062.38 3539.88 1945.50 3172.31 0 0 0 30.00 30.00 15.54

1409.92 3237 -146.63 -0.49 0.00 3801.3 4062.6 3540.1 1945.1 3172.8 98.26 -9.36 183 1421.84 0.00 0.12 1.83 0.000 0.208 0.130 3801.25 4062.81 3539.69 1995.62 1739.75 0 0 0 30.00 15.64 15.54

1607.75 420 -146.63 -0.51 40.00 3801.2 4062.7 3539.7 1995.0 1732.9 111.99 -7.59 203 1615.27 0.00 0.00 1.89 0.000 0.000 0.162 3801.38 4062.44 3540.31 1988.81 3170.50 0 0 0 30.00 30.00 15.54

1655.96 1188 -146.63 -0.54 0.00 3801.6 4062.7 3540.5 1989.2 3171.1 115.14 -6.08 211 1668.36 0.00 0.00 1.80 0.000 0.000 0.120 3802.12 4062.69 3541.56 1989.00 1732.12 0 0 0 30.00 30.00 15.52

1906 end dive: TARGET_DEPTH_EXCEEDED

state 1906 begin apogee

1908.06 10243 0.00 -0.11 0.00 3801.4 4062.5 3540.4 1989.4 1678.2 132.16 -5.84 236 2035.87 82.14 0.29 0.05 1.056 0.186 0.252 3196.19 3265.75 3126.62 2118.06 1707.19 0 0 0 11.98 15.65 15.19

2044 end apogee: CONTROL_FINISHED_OK

state 2044 begin climb

2044.17 10759 146.63 0.57 -40.00 3195.1 3263.6 3126.6 2117.6 1707.1 132.70 0.00 248 2173.05 80.91 0.47 1.99 1.033 0.130 0.172 2598.19 2588.81 2607.56 2344.38 278.44 0 0 0 12.01 15.35 15.00

2210.85 17414 146.63 0.57 0.00 2594.1 2580.9 2607.2 2344.0 278.1 114.52 13.00 278 2218.15 0.00 0.00 1.90 0.000 0.000 0.145 2592.06 2579.19 2604.94 2344.50 1707.81 0 0 0 30.00 30.00 15.24

2521.71 16774 146.63 0.53 40.00 2593.0 2579.2 2606.8 2344.8 1708.3 70.47 14.56 329 2528.12 0.00 0.00 1.83 0.000 0.000 0.151 2594.00 2579.31 2608.69 2345.38 3120.56 0 0 0 30.00 30.00 15.50

2546.09 21639 146.63 0.46 0.00 2591.2 2575.2 2607.1 2344.7 3120.6 66.71 15.03 334 2553.40 0.00 0.15 1.84 0.000 0.232 0.133 2590.62 2576.19 2605.06 2291.31 1690.25 0 0 0 30.00 15.62 15.51

2736.44 8870 173.62 0.53 -40.00 2591.2 2575.6 2606.8 2291.8 1682.4 48.27 8.75 372 2780.57 23.11 0.00 1.84 0.861 0.000 0.150 2488.78 2490.75 2486.81 2295.75 277.38 0 0 0 12.18 30.00 15.37

2803.62 11431 196.72 0.63 0.00 2487.1 2487.9 2486.2 2295.1 277.1 42.32 8.93 385 2842.84 21.12 0.12 1.87 0.844 0.089 0.140 2394.53 2397.06 2392.00 2357.38 1708.38 0 0 0 12.15 15.60 15.45

3025.81 388 196.72 0.61 40.00 2391.8 2392.4 2391.3 2356.8 1708.4 14.41 12.71 429 3032.97 0.00 0.00 1.84 0.000 0.000 0.153 2392.44 2391.56 2393.31 2356.38 3122.88 0 0 0 30.00 30.00 15.49

3070.79 1028 196.72 0.61 0.00 2390.0 2389.0 2390.9 2356.6 3122.8 8.29 13.20 438 3077.99 0.00 0.00 1.85 0.000 0.000 0.131 2390.88 2389.56 2392.19 2363.31 1686.50 0 0 0 30.00 30.00 15.51

3121 end climb: SURFACE_DEPTH_REACHED

state 3122 begin surface coast

3142 end surface coast: CONTROL_FINISHED_OK

state 3142 begin surface

ID	528	TGT_DEFAULT_LON	-12218	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	1.9639999e-06
MISSION	4	TGT_AUTO_DEFAULT	0	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	3
DIVE	4	SM_CC	613.25	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
N_DIVES	4	N_FILEKB	8	VBD_MIN	500	DEEPGLIDERMB	0
STOP_T	0	FILEMGR	0	VBD_MAX	3960	MOTHERBOARD	6
D_SURF	2	CALL_NDIVES	1	C_VBD	3200	DEVICE1	-1
D_FLARE	3	COMM_SEQ	7	VBD_DBAND	2	DEVICE2	-1
D_TGT	150	PROTOCOL	9	VBD_CNV	-0.24529999	DEVICE3	-1
D_ABORT	175	N_NOCOMM	1	VBD_LP_IGNORE	0	DEVICE4	-1
D_NO_BLEED	50	NOCOMM_ACTION	131	VBD_TIMEOUT	720	DEVICE5	-1
D_BOOST	0	N_NOSURFACE	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_BOOST	0	UPLOAD_DIVES_MAX	-1	UNCOM_BLEED	20	LOGGERS	7
D_FINISH	0	NETBOX	1	VBD_MAXERRORS	1	LOGGERDEVICE1	6
D_PITCH	0	CALL_TRIES	5	C_VBD_AUTO_DELTA	0	LOGGERDEVICE2	19
D_SAFE	0	CALL_WAIT	60	C_VBD_AUTO_MAX	0	LOGGERDEVICE3	-1
D_CALL	0	CAPUPLOAD	0	W_ADJ_DBAND	0	LOGGERDEVICE4	-1
SURFACE_URGENCY	0	CAPMAXSIZE	100000	DBDW	0	COMPASS_DEVICE	34
SURFACE_URGENCY_TRY	0	T_GPS	5	LOITER_W_DBAND	0	COMPASS2_DEVICE	-1
SURFACE_URGENCY_FORCE	0	N_GPS	100440	LOITER_DBDW	0	PHONE_DEVICE	33
T_DIVE	50	T_RSLEEP	2	LOITER_D_TOP	0	GPS_DEVICE	48
T_MISSION	65	STROBE	0	LOITER_D_BOTTOM	0	RAFOS_DEVICE	-1
T_ABORT	1440	RAFOS_PEAK_OFFSET	0	LOITER_N_DIVE	0	NAV_DEVICE	-1
T_TURN	225	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	NAV2_DEVICE	-1
T_TURN_SAMPINT	-5	RAFOS_HIT_WINDOW	3600	AH0_24V	350	NETWORK_DEVICE	-1
T_NO_W	120	RAFOS_MMODEM	0	AH0_10V	0	PRESSURE_DEVICE	41
T_LOITER	0	PITCH_MIN	200	MINV_24V	11	XPDR_DEVICE	21
T_EPIRB	0	PITCH_MAX	3970	MINV_10V	11	SIM_W	0
USE_BATHY	-6	C_PITCH	2150	MAXI_24V	5	SEABIRD_T_G	0.0044244844
USE_ICE	0	PITCH_DBAND	0.1	MAXI_10V	1.5	SEABIRD_T_H	0.00064698409
ICE_FREEZE_MARGIN	0.30000001	PITCH_CNV	0.003125763	FG_AHR_10V	0.87156373	SEABIRD_T_I	2.7614331e-05
D_OFFGRID	100	PITCH_GAIN	45	FG_AHR_24V	4.372354	SEABIRD_T_J	3.4337004e-06
RELAUNCH	1	PITCH_TIMEOUT	20	PHONE_SUPPLY	2	SEABIRD_C_G	-9.9323845
APOGEE_PITCH	-5	PITCH_MAXERRORS	1	PRESSURE_YINT	-175.34706	SEABIRD_C_H	1.1413088
MAX_BUOY	150	PITCH_ADJ_GAIN	0.015	PRESSURE_SLOPE	0.00021603379	SEABIRD_C_I	-0.0018536064
GLIDE_SLOPE	30	PITCH_ADJ_DBAND	1	COMPASS_USE	16388	SEABIRD_C_J	0.00022970721
SPEED_FACTOR	1	C_PITCH_AUTO_DELTA	0	ALTIM_PING_FIT	0	OPTIONS	0
RHO	1.023	C_PITCH_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SC_RECORDABOVE	2000.0
MASS	56000	PITCH_GAIN_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SC_PROFILE	3.0
NAV_MODE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	SC_XMITPROFILE	3.0
FERRY_MAX	45	PITCH_W_GAIN	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_NDIVE	1.0
KALMAN_USE	2	PITCH_W_DBAND	0	ALTIM_PING_DEPTH	0	TM_RECORDABOVE	2000.0
HD_A	0.003	ROLL_MIN	225	ALTIM_PING_DELTA	0	TM_PROFILE	3.0
HD_B	0.0099999998	ROLL_MAX	3500	ALTIM_FREQUENCY	13	TM_XMITPROFILE	3.0
HD_C	1.6e-05	ROLL_DEG	40	ALTIM_PULSE	3	TM_NDIVE	1.0
HEADING	-1	C_ROLL_DIVE	1750	ALTIM_SENSITIVITY	2	TM_XMITRAW	0.0
ESCAPE_HEADING	0	C_ROLL_CLIMB	1700	XPDR_VALID	4	TM_LOGSAMPLE	0.0
ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	XPDR_INHIBIT	90
FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	XPDR_INT	0
TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_REP	0

GPS1	050423,185853,4744.933,-12223.582,1,1.2,3,15.3	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-47.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	050423,190132,4744.945,-12223.569,8,0.9,21,15.3	MHEAD_RNG_PITCHd_Wd	198.7,3216,-17.6,-10.000,-21.21,2209,0.169
SPEED_LIMITS	0.173,0.258	D_GRID	132
TGT_NAME	NW	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,78.000000,20.000000,8.000000
TGT_LATLONG	4743.500,-12225.000	OSC	8000348

WARN	HTMICL TMICL logging already stopped	FG_AHR_24Vo	4.569
FINISH	0.4,1.022920	FG_AHR_10Vo	1.002
SURF	forcing	MEM0	60116,1,0,0
SM_CCo	3564.18,288.28,0.882,0,699.9,557.6,842.2,613.27	MEM1	65508,1,0,0
SM_GC	1.01,288.28,4.28,0.12,0.882,0.076,0.142,699.9,557.6,842.2,190.9,1758.4,0,0,0,12.10,15.71,15.71	MEM2	997416,25,49392,63
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12912,452
IRIDIUM_FIX	4745.33,-12219.67,050423,185620	CAP_FILE_SIZE	197838,0
TCM_TEMP	12.30	SDSIZE	3887104,3873312
XPDR_PINGS	19,12.0,11.5	SDFILEDIR	63,5
SC_FREEKB	3873472	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TM_FREEKB	7631968	CURRENT	0.105,169.7,1
HUMID	52.96	MAGCAL	1.000000,0.009483,-0.000054,-0.000357,1.034653,0.015111,0.012528,-0.004095,1.031669,77.6,10.6,-2.2,20,0.0091,0
TEMP	9.09	IMPLIED_C_PITCH	2118,28.83,118,0.0,0.00
INTERNAL_PRESSURE	8.21591	IMPLIED_C_VBD	3244,29.877743,118,0
_24V_AH	14.65,3.031	GPS	050423,200138,4744.679,-12223.766,1,1.2,3,15.3
_10V_AH	14.68,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	612	1055	9470.42	nil	0	0	0.00
Pitch_motor	11	384	66.44	nil	0	0	0.00
Roll_motor	37	341	187.92	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	4	420	29.23	nil	0	0	0.00
GPS	30	15	6.76	nil	0	0	0.00
Core	290	6	28.99	SciCon	1103	120	1949.89
Fast	0	0	0.00	TMICL	3138	10	476.74
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	573	2	16.83
Compass	1860	5	136.57
RAFOS	0	0	0.00
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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15.15	16386	-146.63	-0.57	0.00	697.1	548.7	845.4	202.1	1762.4	0.00	0.00	0	181.72	116.84	0.00	0.05	0.005	0.000	0.341	3796.75	4053.25	3540.25	201.94	1731.06	0	0	0	15.53	30.00	15.81
182.24	2597	-146.63	-0.57	-40.00	3798.1	4055.8	3540.4	202.0	1730.9	2.49	-3.95	27	206.21	0.00	5.59	1.88	0.000	0.384	0.139	3799.50	4058.75	3540.25	1968.31	325.06	0	0	0	30.00	15.58	15.72
214.86	3205	-146.63	-0.01	0.00	3801.0	4062.1	3539.9	1967.8	318.8	12.71	-19.97	30	226.77	0.00	0.40	1.94	0.000	0.184	0.160	3801.75	4061.88	3541.62	2147.19	1755.75	0	0	0	30.00	15.69	15.69
414.75	4257	-146.63	-0.30	0.00	3801.2	4062.4	3540.1	2147.5	1755.7	25.70	-5.71	56	424.87	0.00	0.21	0.00	0.000	0.114	0.000	3802.56	4062.81	3542.31	2042.38	1755.31	0	0	0	30.00	15.77	30.00
605.96	4773	-146.63	-0.44	-40.00	3801.2	4062.4	3540.1	2043.1	1755.4	34.59	-3.80	81	617.85	0.00	0.09	1.90	0.000	0.104	0.166	3800.88	4062.69	3539.06	2000.00	325.31	0	0	0	30.00	15.77	15.58
709.40	1188	-146.63	-0.49	0.00	3801.6	4063.0	3540.1	1999.8	325.2	39.50	-5.01	94	720.94	0.00	0.00	1.88	0.000	0.000	0.155	3800.97	4062.62	3539.31	1999.94	1756.81	0	0	0	30.00	30.00	15.59
901.98	420	-146.63	-0.51	40.00	3801.6	4062.8	3540.4	1999.6	1757.1	53.52	-8.24	119	913.62	0.00	0.00	1.84	0.000	0.000	0.163	3803.31	4063.56	3543.06	1998.62	3170.56	0	0	0	30.00	30.00	15.43
967.32	1188	-146.63	-0.57	0.00	3801.6	4062.8	3540.4	1999.8	3170.8	58.90	-8.15	127	978.75	0.00	0.00	1.80	0.000	0.000	0.123	3801.59	4062.75	3540.44	1999.62	1733.44	0	0	0	30.00	30.00	15.58
1160.89	4773	-146.63	-0.59	-40.00	3801.6	4062.9	3540.4	1999.4	1730.0	74.13	-8.47	152	1172.79	0.00	0.10	1.82	0.000	0.104	0.149	3800.97	4062.44	3539.50	1948.94	326.81	0	0	0	30.00	15.76	15.59
1181.15	1060	-146.63	-0.59	0.00	3801.4	4062.8	3540.0	1949.4	326.8	75.84	-8.47	154	1192.80	0.00	0.00	1.89	0.000	0.000	0.145	3801.41	4062.81	3540.00	1949.19	1757.00	0	0	0	30.00	30.00	15.56
1374.67	420	-146.63	-0.54	40.00	3801.5	4062.7	3540.2	1949.1	1756.9	94.98	-9.71	179	1386.31	0.00	0.00	1.85	0.000	0.000	0.161	3801.12	4062.38	3539.88	1945.50	3172.31	0	0	0	30.00	30.00	15.54
1409.92	3237	-146.63	-0.49	0.00	3801.3	4062.6	3540.1	1945.1	3172.8	98.26	-9.36	183	1421.84	0.00	0.12	1.83	0.000	0.208	0.130	3801.25	4062.81	3539.69	1995.62	1739.75	0	0	0	30.00	15.64	15.54
1607.75	420	-146.63	-0.51	40.00	3801.2	4062.7	3539.7	1995.0	1732.9	111.99	-7.59	203	1615.27	0.00	0.00	1.89	0.000	0.000	0.162	3801.38	4062.44	3540.31	1988.81	3170.50	0	0	0	30.00	30.00	15.54
1655.96	1188	-146.63	-0.54	0.00	3801.6	4062.7	3540.5	1989.2	3171.1	115.14	-6.08	211	1668.36	0.00	0.00	1.80	0.000	0.000	0.120	3802.12	4062.69	3541.56	1989.00	1732.12	0	0	0	30.00	30.00	15.52
1906	end dive: TARGET_DEPTH_EXCEEDED
state	1906	begin apogee
1908.06	10243	0.00	-0.11	0.00	3801.4	4062.5	3540.4	1989.4	1678.2	132.16	-5.84	236	2035.87	82.14	0.29	0.05	1.056	0.186	0.252	3196.19	3265.75	3126.62	2118.06	1707.19	0	0	0	11.98	15.65	15.19
2044	end apogee: CONTROL_FINISHED_OK
state	2044	begin climb
2044.17	10759	146.63	0.57	-40.00	3195.1	3263.6	3126.6	2117.6	1707.1	132.70	0.00	248	2173.05	80.91	0.47	1.99	1.033	0.130	0.172	2598.19	2588.81	2607.56	2344.38	278.44	0	0	0	12.01	15.35	15.00
2210.85	17414	146.63	0.57	0.00	2594.1	2580.9	2607.2	2344.0	278.1	114.52	13.00	278	2218.15	0.00	0.00	1.90	0.000	0.000	0.145	2592.06	2579.19	2604.94	2344.50	1707.81	0	0	0	30.00	30.00	15.24
2521.71	16774	146.63	0.53	40.00	2593.0	2579.2	2606.8	2344.8	1708.3	70.47	14.56	329	2528.12	0.00	0.00	1.83	0.000	0.000	0.151	2594.00	2579.31	2608.69	2345.38	3120.56	0	0	0	30.00	30.00	15.50
2546.09	21639	146.63	0.46	0.00	2591.2	2575.2	2607.1	2344.7	3120.6	66.71	15.03	334	2553.40	0.00	0.15	1.84	0.000	0.232	0.133	2590.62	2576.19	2605.06	2291.31	1690.25	0	0	0	30.00	15.62	15.51
2736.44	8870	173.62	0.53	-40.00	2591.2	2575.6	2606.8	2291.8	1682.4	48.27	8.75	372	2780.57	23.11	0.00	1.84	0.861	0.000	0.150	2488.78	2490.75	2486.81	2295.75	277.38	0	0	0	12.18	30.00	15.37
2803.62	11431	196.72	0.63	0.00	2487.1	2487.9	2486.2	2295.1	277.1	42.32	8.93	385	2842.84	21.12	0.12	1.87	0.844	0.089	0.140	2394.53	2397.06	2392.00	2357.38	1708.38	0	0	0	12.15	15.60	15.45
3025.81	388	196.72	0.61	40.00	2391.8	2392.4	2391.3	2356.8	1708.4	14.41	12.71	429	3032.97	0.00	0.00	1.84	0.000	0.000	0.153	2392.44	2391.56	2393.31	2356.38	3122.88	0	0	0	30.00	30.00	15.49
3070.79	1028	196.72	0.61	0.00	2390.0	2389.0	2390.9	2356.6	3122.8	8.29	13.20	438	3077.99	0.00	0.00	1.85	0.000	0.000	0.131	2390.88	2389.56	2392.19	2363.31	1686.50	0	0	0	30.00	30.00	15.51
3121	end climb: SURFACE_DEPTH_REACHED
state	3122	begin surface coast
3142	end surface coast: CONTROL_FINISHED_OK
state	3142	begin surface