Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

MISSION 10 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 5 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 6

N_DIVES 8 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 711.45984 ROLL_MAXERRORS 1 XPDR_INT 13

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

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 0.5

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3400.3662 DEEPGLIDERMB 0

D_BOOST 3 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 0.0040000002 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 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 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 2 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 230 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3900 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2201.155 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 18 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 0.47636721 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 3.1279783 SEABIRD_T_H 0.00062267116

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.1947648e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -158.29968 SEABIRD_T_J 2.2037441e-06

MASS 72024 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_G -9.9419231

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1.1375728

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0016241658

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002088599

HD_A 0.00281838 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0139236 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_MIN 1200 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 4000 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 2750 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1.1375728

AH0_24V 575 D_PITCH 0 N_DIVES 8 SEABIRD_C_I -0.0016241658

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.0002088599

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0042874566

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00062267116

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.47636721 PHONE_SUPPLY 2 SM_CC 711.45984

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 3.1279783 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 18 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.00281838 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0139236 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAX 3900 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 230 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 25 T_BOOST 0

COMPASS2_DEVICE -1 ID 235 PITCH_VBD_SHIFT 0.0040000002 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 0.5 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 2201.155 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022957686 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -158.29968 T_NO_W 120

C_ROLL_CLIMB 2750 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2750 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3400.3662 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 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 72024 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 2 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 4000 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 5 MISSION 10 ROLL_MIN 1200 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 3 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 7.0 XPDR_INT 13

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -9.9419231

Pre-dive calculations and measurements:

GPS1 200623,214850,4736.548,-12256.319,1,0.7,2,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,215054,4736.547,-12256.285,2,0.7,5,15.4 MHEAD_RNG_PITCHd_Wd 194.4,1278,-19.3,-10.000,-24.09,2233,0.231

SPEED_LIMITS 0.100,0.224 D_GRID 168

TGT_NAME S IRON 1.000000,-0.048398,-0.037872,-0.060514,1.030610,-0.091922,0.081652,-0.071848,0.956713,-882.089905,-173.742386,478.247131

TGT_LATLONG 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NET xmit part outbox0004.n 889 0 _10V_AH 15.00,0.000

NET_PING 1687298562,29,768.925476,8.600000,-1.021987 FG_AHR_24Vo 3.276

NAV 1687300451,75.0,0,stop FG_AHR_10Vo 0.499

FREEZE 4.82,14.832,-1.455,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3914.66,257.90,0.750,0,500.4,411.6,589.2,711.26 MEM2 945132,24,101596,68

SM_GC 1.70,0.00,15.90,0.08,0.000,0.055,0.163,497.0,411.6,582.3,221.5,2727.1,0,0,0,30.00,15.67,15.68 DATA_FILE_SIZE 16171,573

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 201083,0

IRIDIUM_FIX 4735.53,-12254.47,200623,214614 SDSIZE 3918848,3906112

TCM_TEMP 13.59 SDFILEDIR 96,6

SC_FREEKB 3877088 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.082,241.6,1

HUMID 49.76 MAGCAL 1.000000,-0.039059,-0.307126,-0.172538,1.204356,-0.133606,0.200074,-0.116154,1.135457,-583.1,108.6,250.2,36,0.0833,0

TEMP 11.79 IMPLIED_C_PITCH 2213,16.27,264,2207.1,17.13

INTERNAL_PRESSURE 8.51983 IMPLIED_C_VBD 3493,33.246712,264,3446.5

_24V_AH 15.03,3.857 GPS 200623,225858,4736.281,-12256.726,1,2.0,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 742 935 10450.36 nil 0 0 0.00

Pitch_motor 37 263 147.47 nil 0 0 0.00

Roll_motor 53 231 186.93 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 3.08 nil 0 0 0.00

Core 2102 5 161.47 SciCon 3649 6 353.81

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1694 0 8.13

Compass 1150 5 86.29

RAFOS 308 40 184.90

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.87 16386 -146.63 -1.66 0.00 501.6 424.8 578.4 218.7 2724.6 0.00 0.00 0 86.08 76.56 0.00 0.00 0.005 0.000 0.000 2222.75 2215.31 2230.19 218.88 2724.88 0 0 0 15.22 30.00 30.00

86.33 18467 -146.63 -1.66 0.00 2221.5 2212.6 2230.4 218.7 2724.9 3.09 -2.16 15 157.31 51.66 12.31 0.00 0.005 0.263 0.000 3958.53 3942.69 3974.38 1798.62 2724.62 0 0 0 16.10 15.92 30.00

340.64 18855 -146.63 -1.46 80.00 3961.4 3943.8 3979.1 1798.8 2724.3 20.85 -7.13 65 346.32 0.00 0.34 3.09 0.000 0.169 0.119 3962.09 3944.38 3979.81 1850.19 4011.88 0 0 0 30.00 16.03 16.04

545.61 19623 -146.63 -1.27 0.00 3962.1 3943.6 3980.6 1849.4 4012.5 37.68 -9.39 106 551.25 0.00 0.29 2.88 0.000 0.161 0.064 3962.44 3944.19 3980.69 1894.56 2723.00 0 0 0 30.00 16.05 16.12

738.20 676 -146.63 -1.23 -80.00 3963.5 3944.3 3982.8 1894.2 2722.6 51.66 -7.64 142 743.78 0.00 0.00 3.43 0.000 0.000 0.125 3964.09 3944.50 3983.69 1894.25 1279.38 0 0 0 30.00 30.00 16.06

802.00 3237 -146.63 -1.11 0.00 3963.0 3943.2 3982.8 1894.4 1278.4 57.87 -9.83 155 808.21 0.00 0.25 3.37 0.000 0.168 0.058 3964.19 3944.00 3984.38 1932.75 2772.06 0 0 0 30.00 16.05 16.12

997.03 160 -146.63 -1.15 0.00 3963.9 3943.4 3984.4 1933.4 2771.4 73.15 -7.61 175 998.55 0.00 0.00 0.00 0.000 0.000 0.000 3964.16 3943.12 3985.19 1933.19 2771.38 0 0 0 30.00 30.00 30.00

1187.07 676 -146.63 -1.19 -80.00 3963.9 3943.8 3984.0 1933.2 2772.1 88.19 -7.70 194 1193.14 0.00 0.00 3.55 0.000 0.000 0.124 3963.56 3944.69 3982.44 1932.81 1279.38 0 0 0 30.00 30.00 16.12

1231.97 1060 -146.63 -1.19 0.00 3963.6 3943.3 3983.9 1933.4 1279.1 92.17 -8.93 203 1238.06 0.00 0.00 3.37 0.000 0.000 0.061 3964.09 3943.19 3985.00 1932.56 2773.25 0 0 0 30.00 30.00 16.17

1426.06 4773 -146.63 -1.25 -80.00 3963.7 3943.5 3983.8 1933.3 2773.0 107.10 -7.84 223 1432.34 0.00 0.29 3.56 0.000 0.086 0.125 3964.41 3944.38 3984.44 1881.00 1280.88 0 0 0 30.00 16.17 16.14

1475.29 3205 -146.63 -1.10 0.00 3964.5 3943.3 3985.6 1881.5 1281.2 112.69 -11.78 233 1482.05 0.00 0.41 3.36 0.000 0.159 0.062 3964.84 3944.62 3985.06 1934.12 2769.12 0 0 0 30.00 16.11 16.18

1671.08 676 -146.63 -1.16 -80.00 3963.7 3943.4 3983.9 1934.8 2769.3 129.47 -8.18 253 1677.20 0.00 0.00 3.55 0.000 0.000 0.126 3963.47 3943.12 3983.81 1935.62 1279.81 0 0 0 30.00 30.00 16.15

1726.02 1060 -146.63 -1.16 0.00 3964.0 3944.3 3983.6 1935.4 1280.2 134.70 -9.67 264 1732.10 0.00 0.00 3.37 0.000 0.000 0.063 3964.59 3943.88 3985.31 1934.94 2772.12 0 0 0 30.00 30.00 16.20

1916 end dive: TARGET_DEPTH_EXCEEDED

state 1916 begin apogee

1917.31 10243 0.00 -0.28 0.00 3963.6 3943.6 3983.6 1935.4 2724.1 150.42 -8.01 284 2020.34 96.64 1.37 0.08 0.936 0.123 0.231 3401.28 3330.38 3472.19 2135.31 2771.50 0 0 0 11.78 16.15 15.85

2022 end apogee: CONTROL_FINISHED_OK

state 2022 begin climb

2022.75 10503 146.63 1.66 80.00 3397.0 3326.2 3467.8 2135.9 2770.6 152.36 0.00 294 2142.02 107.43 3.07 3.05 0.897 0.088 0.118 2801.12 2708.88 2893.38 2608.12 4010.12 0 0 0 11.74 15.86 15.65

2194.49 21639 146.63 1.36 0.00 2793.5 2708.8 2878.2 2606.9 4009.4 131.49 19.40 327 2201.15 0.00 0.64 2.97 0.000 0.208 0.062 2795.75 2710.56 2880.94 2522.81 2723.12 0 0 0 30.00 15.70 15.78

2384.63 17030 146.63 1.33 -80.00 2790.6 2703.9 2877.2 2524.2 2723.4 103.95 13.70 346 2390.75 0.00 0.00 3.52 0.000 0.000 0.129 2790.97 2704.06 2877.88 2525.06 1280.38 0 0 0 30.00 30.00 15.86

2568.41 21639 146.63 1.22 0.00 2788.5 2703.9 2873.1 2524.3 1279.9 75.01 15.14 382 2575.36 0.00 0.22 3.41 0.000 0.211 0.061 2787.91 2703.69 2872.12 2490.50 2771.19 0 0 0 30.00 15.88 15.97

2758.58 160 149.10 1.29 0.00 2787.8 2702.9 2872.6 2490.8 2771.5 54.94 9.89 402 2760.10 0.00 0.00 0.00 0.000 0.000 0.000 2788.81 2702.94 2874.69 2490.75 2771.19 0 0 0 30.00 30.00 30.00

2943.62 10919 164.49 1.43 -80.00 2787.2 2702.6 2871.9 2491.1 2771.1 36.79 9.29 434 2965.39 13.97 0.39 3.60 0.726 0.073 0.126 2727.66 2639.50 2815.81 2558.50 1280.50 0 0 0 11.68 16.06 16.00

3132.31 5253 164.49 1.32 0.00 2724.0 2638.8 2809.2 2558.1 1280.8 12.82 12.20 471 3139.32 0.00 0.34 3.38 0.000 0.203 0.060 2724.97 2640.69 2809.25 2512.31 2772.06 0 0 0 30.00 15.98 16.07

3322.57 10403 351.12 2.22 0.00 2722.3 2636.1 2808.4 2515.1 2773.6 7.46 1.45 509 3468.74 138.79 1.42 0.00 0.770 0.060 0.000 1967.66 1861.75 2073.56 2750.75 2773.69 0 0 0 11.68 16.08 30.00

3647 end climb: NO_VERTICAL_VELOCITY

state 3647 begin surface

ID	235	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
MISSION	10	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	5	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	6
N_DIVES	8	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	711.45984	ROLL_MAXERRORS	1	XPDR_INT	13
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
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	0.5
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3400.3662	DEEPGLIDERMB	0
D_BOOST	3	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	0.0040000002	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	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	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	2	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	230	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3900	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2201.155	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	18	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	0.47636721	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	3.1279783	SEABIRD_T_H	0.00062267116
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.1947648e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-158.29968	SEABIRD_T_J	2.2037441e-06
MASS	72024	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_G	-9.9419231
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1.1375728
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0016241658
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002088599
HD_A	0.00281838	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0139236	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_MIN	1200	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	4000	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	2750	ALTIM_FREQUENCY	13

GPS1	200623,214850,4736.548,-12256.319,1,0.7,2,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,215054,4736.547,-12256.285,2,0.7,5,15.4	MHEAD_RNG_PITCHd_Wd	194.4,1278,-19.3,-10.000,-24.09,2233,0.231
SPEED_LIMITS	0.100,0.224	D_GRID	168
TGT_NAME	S	IRON	1.000000,-0.048398,-0.037872,-0.060514,1.030610,-0.091922,0.081652,-0.071848,0.956713,-882.089905,-173.742386,478.247131
TGT_LATLONG	4735.950,-12256.800	OSC	8000307

NET	xmit part outbox0004.n 889 0	_10V_AH	15.00,0.000
NET_PING	1687298562,29,768.925476,8.600000,-1.021987	FG_AHR_24Vo	3.276
NAV	1687300451,75.0,0,stop	FG_AHR_10Vo	0.499
FREEZE	4.82,14.832,-1.455,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3914.66,257.90,0.750,0,500.4,411.6,589.2,711.26	MEM2	945132,24,101596,68
SM_GC	1.70,0.00,15.90,0.08,0.000,0.055,0.163,497.0,411.6,582.3,221.5,2727.1,0,0,0,30.00,15.67,15.68	DATA_FILE_SIZE	16171,573
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	201083,0
IRIDIUM_FIX	4735.53,-12254.47,200623,214614	SDSIZE	3918848,3906112
TCM_TEMP	13.59	SDFILEDIR	96,6
SC_FREEKB	3877088	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.082,241.6,1
HUMID	49.76	MAGCAL	1.000000,-0.039059,-0.307126,-0.172538,1.204356,-0.133606,0.200074,-0.116154,1.135457,-583.1,108.6,250.2,36,0.0833,0
TEMP	11.79	IMPLIED_C_PITCH	2213,16.27,264,2207.1,17.13
INTERNAL_PRESSURE	8.51983	IMPLIED_C_VBD	3493,33.246712,264,3446.5
_24V_AH	15.03,3.857	GPS	200623,225858,4736.281,-12256.726,1,2.0,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	742	935	10450.36	nil	0	0	0.00
Pitch_motor	37	263	147.47	nil	0	0	0.00
Roll_motor	53	231	186.93	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	3.08	nil	0	0	0.00
Core	2102	5	161.47	SciCon	3649	6	353.81
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1694	0	8.13
Compass	1150	5	86.29
RAFOS	308	40	184.90
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.87	16386	-146.63	-1.66	0.00	501.6	424.8	578.4	218.7	2724.6	0.00	0.00	0	86.08	76.56	0.00	0.00	0.005	0.000	0.000	2222.75	2215.31	2230.19	218.88	2724.88	0	0	0	15.22	30.00	30.00
86.33	18467	-146.63	-1.66	0.00	2221.5	2212.6	2230.4	218.7	2724.9	3.09	-2.16	15	157.31	51.66	12.31	0.00	0.005	0.263	0.000	3958.53	3942.69	3974.38	1798.62	2724.62	0	0	0	16.10	15.92	30.00
340.64	18855	-146.63	-1.46	80.00	3961.4	3943.8	3979.1	1798.8	2724.3	20.85	-7.13	65	346.32	0.00	0.34	3.09	0.000	0.169	0.119	3962.09	3944.38	3979.81	1850.19	4011.88	0	0	0	30.00	16.03	16.04
545.61	19623	-146.63	-1.27	0.00	3962.1	3943.6	3980.6	1849.4	4012.5	37.68	-9.39	106	551.25	0.00	0.29	2.88	0.000	0.161	0.064	3962.44	3944.19	3980.69	1894.56	2723.00	0	0	0	30.00	16.05	16.12
738.20	676	-146.63	-1.23	-80.00	3963.5	3944.3	3982.8	1894.2	2722.6	51.66	-7.64	142	743.78	0.00	0.00	3.43	0.000	0.000	0.125	3964.09	3944.50	3983.69	1894.25	1279.38	0	0	0	30.00	30.00	16.06
802.00	3237	-146.63	-1.11	0.00	3963.0	3943.2	3982.8	1894.4	1278.4	57.87	-9.83	155	808.21	0.00	0.25	3.37	0.000	0.168	0.058	3964.19	3944.00	3984.38	1932.75	2772.06	0	0	0	30.00	16.05	16.12
997.03	160	-146.63	-1.15	0.00	3963.9	3943.4	3984.4	1933.4	2771.4	73.15	-7.61	175	998.55	0.00	0.00	0.00	0.000	0.000	0.000	3964.16	3943.12	3985.19	1933.19	2771.38	0	0	0	30.00	30.00	30.00
1187.07	676	-146.63	-1.19	-80.00	3963.9	3943.8	3984.0	1933.2	2772.1	88.19	-7.70	194	1193.14	0.00	0.00	3.55	0.000	0.000	0.124	3963.56	3944.69	3982.44	1932.81	1279.38	0	0	0	30.00	30.00	16.12
1231.97	1060	-146.63	-1.19	0.00	3963.6	3943.3	3983.9	1933.4	1279.1	92.17	-8.93	203	1238.06	0.00	0.00	3.37	0.000	0.000	0.061	3964.09	3943.19	3985.00	1932.56	2773.25	0	0	0	30.00	30.00	16.17
1426.06	4773	-146.63	-1.25	-80.00	3963.7	3943.5	3983.8	1933.3	2773.0	107.10	-7.84	223	1432.34	0.00	0.29	3.56	0.000	0.086	0.125	3964.41	3944.38	3984.44	1881.00	1280.88	0	0	0	30.00	16.17	16.14
1475.29	3205	-146.63	-1.10	0.00	3964.5	3943.3	3985.6	1881.5	1281.2	112.69	-11.78	233	1482.05	0.00	0.41	3.36	0.000	0.159	0.062	3964.84	3944.62	3985.06	1934.12	2769.12	0	0	0	30.00	16.11	16.18
1671.08	676	-146.63	-1.16	-80.00	3963.7	3943.4	3983.9	1934.8	2769.3	129.47	-8.18	253	1677.20	0.00	0.00	3.55	0.000	0.000	0.126	3963.47	3943.12	3983.81	1935.62	1279.81	0	0	0	30.00	30.00	16.15
1726.02	1060	-146.63	-1.16	0.00	3964.0	3944.3	3983.6	1935.4	1280.2	134.70	-9.67	264	1732.10	0.00	0.00	3.37	0.000	0.000	0.063	3964.59	3943.88	3985.31	1934.94	2772.12	0	0	0	30.00	30.00	16.20
1916	end dive: TARGET_DEPTH_EXCEEDED
state	1916	begin apogee
1917.31	10243	0.00	-0.28	0.00	3963.6	3943.6	3983.6	1935.4	2724.1	150.42	-8.01	284	2020.34	96.64	1.37	0.08	0.936	0.123	0.231	3401.28	3330.38	3472.19	2135.31	2771.50	0	0	0	11.78	16.15	15.85
2022	end apogee: CONTROL_FINISHED_OK
state	2022	begin climb
2022.75	10503	146.63	1.66	80.00	3397.0	3326.2	3467.8	2135.9	2770.6	152.36	0.00	294	2142.02	107.43	3.07	3.05	0.897	0.088	0.118	2801.12	2708.88	2893.38	2608.12	4010.12	0	0	0	11.74	15.86	15.65
2194.49	21639	146.63	1.36	0.00	2793.5	2708.8	2878.2	2606.9	4009.4	131.49	19.40	327	2201.15	0.00	0.64	2.97	0.000	0.208	0.062	2795.75	2710.56	2880.94	2522.81	2723.12	0	0	0	30.00	15.70	15.78
2384.63	17030	146.63	1.33	-80.00	2790.6	2703.9	2877.2	2524.2	2723.4	103.95	13.70	346	2390.75	0.00	0.00	3.52	0.000	0.000	0.129	2790.97	2704.06	2877.88	2525.06	1280.38	0	0	0	30.00	30.00	15.86
2568.41	21639	146.63	1.22	0.00	2788.5	2703.9	2873.1	2524.3	1279.9	75.01	15.14	382	2575.36	0.00	0.22	3.41	0.000	0.211	0.061	2787.91	2703.69	2872.12	2490.50	2771.19	0	0	0	30.00	15.88	15.97
2758.58	160	149.10	1.29	0.00	2787.8	2702.9	2872.6	2490.8	2771.5	54.94	9.89	402	2760.10	0.00	0.00	0.00	0.000	0.000	0.000	2788.81	2702.94	2874.69	2490.75	2771.19	0	0	0	30.00	30.00	30.00
2943.62	10919	164.49	1.43	-80.00	2787.2	2702.6	2871.9	2491.1	2771.1	36.79	9.29	434	2965.39	13.97	0.39	3.60	0.726	0.073	0.126	2727.66	2639.50	2815.81	2558.50	1280.50	0	0	0	11.68	16.06	16.00
3132.31	5253	164.49	1.32	0.00	2724.0	2638.8	2809.2	2558.1	1280.8	12.82	12.20	471	3139.32	0.00	0.34	3.38	0.000	0.203	0.060	2724.97	2640.69	2809.25	2512.31	2772.06	0	0	0	30.00	15.98	16.07
3322.57	10403	351.12	2.22	0.00	2722.3	2636.1	2808.4	2515.1	2773.6	7.46	1.45	509	3468.74	138.79	1.42	0.00	0.770	0.060	0.000	1967.66	1861.75	2073.56	2750.75	2773.69	0	0	0	11.68	16.08	30.00
3647	end climb: NO_VERTICAL_VELOCITY
state	3647	begin surface