Glider dive log

HoodCanal 14Jun23 * SG242 * Dive index * Mission links * Dive 5 * 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 5 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 5 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 1708.1615 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 13.405869 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.334324 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 27.226357 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 114692 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 5 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 42.334324 PHONE_SUPPLY 2 SM_CC 575

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 27.226357 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 13.405869 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 114692 INT_PRESSURE_YINT -3.2 PITCH_W_GAIN 0 T_GPS 3

C_PITCH 1708.1615 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 5 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 140623,215738,4736.862,-12256.366,1,1.6,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140623,220058,4736.863,-12256.368,1,1.6,3,15.4 MHEAD_RNG_PITCHd_Wd 191.6,1783,-17.6,-10.000,-21.21,2209,0.136

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.016041,0.079816,-0.017868,1.027864,-0.020822,0.028195,-0.156783,0.884719,661.664612,-834.674255,-504.894135

TGT_LATLONG 4736.000,-12257.000 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0000.n 2231 0 _10V_AH 15.00,0.000

NET_PING 1686783794,0,253.933487,5.500000,-3.327188 FG_AHR_24Vo 27.391

NAV 1686783543,8.7,start FG_AHR_10Vo 42.384

f6a68fd4f0ae1e26;1;60;00020001cc9c639e5dc5dc80ca000010017a91ed4d1fa9e15c3c4c000400039938c738bb8bb901940000202ef523da800000001c20113197a91ed6bc*4F MEM0 60020,1,0,0

FINISH 1.8,1.017720 MEM1 65508,1,0,0

SURF forcing MEM2 946096,21,100632,71

SM_CCo 4240.45,61.62,0.963,0,506.6,413.1,600.1,574.84 DATA_FILE_SIZE 16128,629

SM_GC 1.92,61.62,12.38,0.28,0.963,0.058,0.084,506.6,413.1,600.1,205.5,2018.8,0,0,0,11.05,15.77,15.81 CAP_FILE_SIZE 189772,0

SUPER 19,71,254,1,0,0 SDSIZE 3887104,3868640

IRIDIUM_FIX 4735.53,-12254.47,140623,215458 SDFILEDIR 77,6

TCM_TEMP 16.21 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3877184 SOUNDSPEED 1465.0

RAFOS_CLK 1 CURRENT 0.023,161.0,1

RAFOS_FIX 4909.127441,-12300.000000,140623,212101,10,255,50.10 MAGCAL 1.000000,0.041329,0.007885,-0.021997,1.045981,-0.040379,-0.014190,-0.069568,0.998277,727.7,-832.5,-655.4,36,0.0307,0

HUMID 50.28 IMPLIED_C_PITCH 1728,13.52,280,1718.3,13.46

TEMP 12.15 IMPLIED_C_VBD 2823,46.342285,280,0

INTERNAL_PRESSURE 8.28696 GPS 140623,231301,4736.487,-12256.498,2,0.7,29,15.4

_24V_AH 15.00,30.781

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 657 1136 11216.53 nil 0 0 0.00

Pitch_motor 26 224 89.93 nil 0 0 0.00

Roll_motor 42 170 107.95 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 2.94 nil 0 0 0.00

Core 2457 5 188.73 SciCon 4147 6 419.70

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1749 0 8.40

Compass 1319 5 98.97

RAFOS 1809 40 1085.72

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

7.52 16386 -146.63 -1.49 0.00 504.2 414.6 593.9 200.0 2018.5 0.00 0.00 0 82.85 69.89 0.00 0.00 0.005 0.000 0.000 2160.19 2120.00 2200.38 200.38 2019.94 0 0 0 16.05 30.00 30.00

83.28 18727 -146.63 -1.49 80.00 2159.8 2119.1 2200.4 200.4 2019.5 3.08 -2.44 14 156.13 45.26 8.27 3.44 0.005 0.225 0.109 3446.28 3408.38 3484.19 1347.56 3448.69 0 0 0 14.92 15.20 15.92

384.83 1188 -146.63 -1.43 0.00 3448.2 3406.3 3490.2 1347.3 3448.4 23.78 -7.02 72 392.50 0.00 0.00 3.39 0.000 0.000 0.054 3449.06 3408.06 3490.06 1346.50 1944.88 0 0 0 30.00 30.00 15.96

576.25 676 -146.63 -1.39 -80.00 3448.1 3405.8 3490.4 1347.5 1945.1 37.09 -7.78 110 583.94 0.00 0.00 3.46 0.000 0.000 0.118 3448.03 3405.94 3490.12 1347.56 510.44 0 0 0 30.00 30.00 15.92

803.06 3205 -146.63 -1.33 0.17 3448.1 3406.2 3489.9 1348.0 510.3 60.73 -10.57 154 810.90 0.00 0.25 3.41 0.000 0.156 0.049 3449.66 3407.62 3491.69 1388.62 2020.12 0 0 0 30.00 15.87 15.96

998.83 32 -146.63 -1.33 0.17 3448.6 3405.9 3491.3 1388.7 2020.9 77.17 -8.23 174 1000.57 0.00 0.00 0.00 0.000 0.000 0.000 3447.78 3405.50 3490.06 1388.38 2020.19 0 0 0 30.00 30.00 30.00

1188.81 32 -146.63 -1.33 0.17 3448.9 3406.8 3491.1 1389.0 2020.5 94.09 -9.06 193 1190.60 0.00 0.00 0.00 0.000 0.000 0.000 3447.56 3405.50 3489.62 1388.19 2020.56 0 0 0 30.00 30.00 30.00

1378.86 32 -146.63 -1.33 0.17 3448.6 3406.0 3491.2 1388.6 2021.8 111.36 -9.14 212 1380.66 0.00 0.00 0.00 0.000 0.000 0.000 3448.28 3405.75 3490.81 1388.12 2021.50 0 0 0 30.00 30.00 30.00

1568.84 32 -146.63 -1.33 0.17 3448.2 3406.2 3490.2 1388.3 2022.1 127.44 -8.52 231 1570.63 0.00 0.00 0.00 0.000 0.000 0.000 3447.03 3404.94 3489.12 1388.75 2021.88 0 0 0 30.00 30.00 30.00

1758.87 548 -146.63 -1.33 -80.00 3448.1 3405.6 3490.6 1388.1 2021.4 143.72 -8.78 250 1767.35 0.00 0.00 3.67 0.000 0.000 0.123 3447.53 3404.00 3491.06 1388.62 511.50 0 0 0 30.00 30.00 15.97

1816.04 1156 -146.63 -1.31 0.12 3448.2 3405.7 3490.8 1388.6 511.4 149.64 -10.59 261 1821.56 0.00 0.00 2.55 0.000 0.000 0.054 3449.31 3406.69 3491.94 1388.62 1636.94 0 0 0 30.00 30.00 16.04

1822 end dive: TARGET_DEPTH_EXCEEDED

state 1822 begin apogee

1824.14 10243 0.00 -0.37 0.00 3448.2 3405.4 3491.0 1388.9 1942.1 150.09 -10.53 262 1947.08 110.37 1.48 0.14 1.137 0.118 0.171 2850.38 2742.25 2958.50 1621.44 1867.00 0 0 0 10.91 15.94 15.61

1948 end apogee: CONTROL_FINISHED_OK

state 1948 begin climb

1948.77 11271 146.63 1.49 0.00 2848.7 2741.2 2956.2 1621.3 1867.1 153.65 0.00 274 2077.64 112.36 2.85 0.10 1.072 0.084 0.135 2252.09 2144.12 2360.06 2076.25 1936.50 0 0 0 11.16 15.67 15.70

2261.33 644 146.63 1.47 -80.00 2244.4 2141.0 2347.8 2075.9 1937.0 125.11 11.39 316 2269.77 0.00 0.00 3.70 0.000 0.000 0.129 2243.88 2140.88 2346.88 2075.94 433.94 0 0 0 30.00 30.00 15.79

2352.69 21639 146.63 1.40 -0.05 2242.9 2140.1 2345.6 2075.7 434.0 111.70 15.01 334 2360.71 0.00 0.27 3.42 0.000 0.163 0.053 2245.44 2141.94 2348.94 2042.38 1934.62 0 0 0 30.00 15.81 15.87

2541.57 16646 146.63 1.40 80.00 2242.2 2139.1 2345.3 2041.4 1936.6 91.99 10.04 354 2549.58 0.00 0.00 3.46 0.000 0.000 0.112 2241.34 2138.44 2344.25 2041.50 3367.25 0 0 0 30.00 30.00 15.88

2638.26 17542 146.63 1.39 -0.05 2242.3 2139.6 2345.1 2041.3 3367.8 81.94 10.40 373 2645.42 0.00 0.00 3.40 0.000 0.000 0.062 2244.16 2140.81 2347.50 2041.50 1871.88 0 0 0 30.00 30.00 15.94

2833.20 8226 181.33 1.43 -0.05 2241.8 2139.8 2343.9 2041.3 1872.0 64.75 8.39 393 2864.54 26.61 0.00 0.00 1.020 0.000 0.000 2109.62 2003.19 2216.06 2041.81 1871.81 0 0 0 10.91 30.00 30.00

3048.43 8354 197.70 1.47 -0.05 2104.8 2000.9 2208.8 2041.4 1872.6 45.36 9.24 419 3064.65 14.04 0.00 0.00 0.940 0.000 0.000 2044.22 1938.56 2149.88 2042.00 1871.69 0 0 0 10.96 30.00 30.00

3247.91 10663 214.00 1.51 80.00 2040.5 1937.1 2143.8 2041.3 1872.7 27.50 9.25 458 3272.66 14.61 0.23 3.62 0.939 0.064 0.113 1974.59 1871.06 2078.12 2095.31 3365.44 0 0 0 11.05 15.96 15.86

3326.32 5253 214.00 1.49 0.05 1974.1 1870.9 2077.3 2094.9 3365.2 19.08 10.46 473 3334.58 0.00 0.24 3.39 0.000 0.159 0.063 1973.91 1871.25 2076.56 2062.44 1873.81 0 0 0 30.00 15.87 15.94

3519.59 10403 321.39 1.67 0.05 1972.9 1870.6 2075.2 2062.9 1874.0 6.03 5.03 508 3606.48 78.76 0.33 0.00 0.992 0.055 0.000 1539.47 1434.31 1644.62 2128.81 1873.88 0 0 0 10.93 15.95 30.00

3790.94 10919 534.06 1.99 -80.00 1531.8 1429.7 1634.0 2129.1 1873.4 3.36 0.15 560 3925.67 124.19 0.38 0.00 0.976 0.055 0.000 848.16 738.62 957.69 2206.94 1874.25 0 0 0 11.23 15.82 30.00

3926 end climb: SURFACE_DEPTH_REACHED

state 3926 begin surface coast

4144 end surface coast: CONTROL_FINISHED_OK

state 4144 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	5	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	5	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	1708.1615	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	13.405869	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.334324	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	27.226357	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	114692	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	140623,215738,4736.862,-12256.366,1,1.6,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140623,220058,4736.863,-12256.368,1,1.6,3,15.4	MHEAD_RNG_PITCHd_Wd	191.6,1783,-17.6,-10.000,-21.21,2209,0.136
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.016041,0.079816,-0.017868,1.027864,-0.020822,0.028195,-0.156783,0.884719,661.664612,-834.674255,-504.894135
TGT_LATLONG	4736.000,-12257.000	OSC	8000266

NET	xmit part outbox0000.n 2231 0	_10V_AH	15.00,0.000
NET_PING	1686783794,0,253.933487,5.500000,-3.327188	FG_AHR_24Vo	27.391
NAV	1686783543,8.7,start	FG_AHR_10Vo	42.384
f6a68fd4f0ae1e26;1;60;00020001cc9c639e5dc5dc80ca000010017a91ed4d1fa9e15c3c4c000400039938c738bb8bb901940000202ef523da800000001c20113197a91ed6bc*4F		MEM0	60020,1,0,0
FINISH	1.8,1.017720	MEM1	65508,1,0,0
SURF	forcing	MEM2	946096,21,100632,71
SM_CCo	4240.45,61.62,0.963,0,506.6,413.1,600.1,574.84	DATA_FILE_SIZE	16128,629
SM_GC	1.92,61.62,12.38,0.28,0.963,0.058,0.084,506.6,413.1,600.1,205.5,2018.8,0,0,0,11.05,15.77,15.81	CAP_FILE_SIZE	189772,0
SUPER	19,71,254,1,0,0	SDSIZE	3887104,3868640
IRIDIUM_FIX	4735.53,-12254.47,140623,215458	SDFILEDIR	77,6
TCM_TEMP	16.21	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3877184	SOUNDSPEED	1465.0
RAFOS_CLK	1	CURRENT	0.023,161.0,1
RAFOS_FIX	4909.127441,-12300.000000,140623,212101,10,255,50.10	MAGCAL	1.000000,0.041329,0.007885,-0.021997,1.045981,-0.040379,-0.014190,-0.069568,0.998277,727.7,-832.5,-655.4,36,0.0307,0
HUMID	50.28	IMPLIED_C_PITCH	1728,13.52,280,1718.3,13.46
TEMP	12.15	IMPLIED_C_VBD	2823,46.342285,280,0
INTERNAL_PRESSURE	8.28696	GPS	140623,231301,4736.487,-12256.498,2,0.7,29,15.4
_24V_AH	15.00,30.781

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	657	1136	11216.53	nil	0	0	0.00
Pitch_motor	26	224	89.93	nil	0	0	0.00
Roll_motor	42	170	107.95	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	2.94	nil	0	0	0.00
Core	2457	5	188.73	SciCon	4147	6	419.70
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1749	0	8.40
Compass	1319	5	98.97
RAFOS	1809	40	1085.72
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
7.52	16386	-146.63	-1.49	0.00	504.2	414.6	593.9	200.0	2018.5	0.00	0.00	0	82.85	69.89	0.00	0.00	0.005	0.000	0.000	2160.19	2120.00	2200.38	200.38	2019.94	0	0	0	16.05	30.00	30.00
83.28	18727	-146.63	-1.49	80.00	2159.8	2119.1	2200.4	200.4	2019.5	3.08	-2.44	14	156.13	45.26	8.27	3.44	0.005	0.225	0.109	3446.28	3408.38	3484.19	1347.56	3448.69	0	0	0	14.92	15.20	15.92
384.83	1188	-146.63	-1.43	0.00	3448.2	3406.3	3490.2	1347.3	3448.4	23.78	-7.02	72	392.50	0.00	0.00	3.39	0.000	0.000	0.054	3449.06	3408.06	3490.06	1346.50	1944.88	0	0	0	30.00	30.00	15.96
576.25	676	-146.63	-1.39	-80.00	3448.1	3405.8	3490.4	1347.5	1945.1	37.09	-7.78	110	583.94	0.00	0.00	3.46	0.000	0.000	0.118	3448.03	3405.94	3490.12	1347.56	510.44	0	0	0	30.00	30.00	15.92
803.06	3205	-146.63	-1.33	0.17	3448.1	3406.2	3489.9	1348.0	510.3	60.73	-10.57	154	810.90	0.00	0.25	3.41	0.000	0.156	0.049	3449.66	3407.62	3491.69	1388.62	2020.12	0	0	0	30.00	15.87	15.96
998.83	32	-146.63	-1.33	0.17	3448.6	3405.9	3491.3	1388.7	2020.9	77.17	-8.23	174	1000.57	0.00	0.00	0.00	0.000	0.000	0.000	3447.78	3405.50	3490.06	1388.38	2020.19	0	0	0	30.00	30.00	30.00
1188.81	32	-146.63	-1.33	0.17	3448.9	3406.8	3491.1	1389.0	2020.5	94.09	-9.06	193	1190.60	0.00	0.00	0.00	0.000	0.000	0.000	3447.56	3405.50	3489.62	1388.19	2020.56	0	0	0	30.00	30.00	30.00
1378.86	32	-146.63	-1.33	0.17	3448.6	3406.0	3491.2	1388.6	2021.8	111.36	-9.14	212	1380.66	0.00	0.00	0.00	0.000	0.000	0.000	3448.28	3405.75	3490.81	1388.12	2021.50	0	0	0	30.00	30.00	30.00
1568.84	32	-146.63	-1.33	0.17	3448.2	3406.2	3490.2	1388.3	2022.1	127.44	-8.52	231	1570.63	0.00	0.00	0.00	0.000	0.000	0.000	3447.03	3404.94	3489.12	1388.75	2021.88	0	0	0	30.00	30.00	30.00
1758.87	548	-146.63	-1.33	-80.00	3448.1	3405.6	3490.6	1388.1	2021.4	143.72	-8.78	250	1767.35	0.00	0.00	3.67	0.000	0.000	0.123	3447.53	3404.00	3491.06	1388.62	511.50	0	0	0	30.00	30.00	15.97
1816.04	1156	-146.63	-1.31	0.12	3448.2	3405.7	3490.8	1388.6	511.4	149.64	-10.59	261	1821.56	0.00	0.00	2.55	0.000	0.000	0.054	3449.31	3406.69	3491.94	1388.62	1636.94	0	0	0	30.00	30.00	16.04
1822	end dive: TARGET_DEPTH_EXCEEDED
state	1822	begin apogee
1824.14	10243	0.00	-0.37	0.00	3448.2	3405.4	3491.0	1388.9	1942.1	150.09	-10.53	262	1947.08	110.37	1.48	0.14	1.137	0.118	0.171	2850.38	2742.25	2958.50	1621.44	1867.00	0	0	0	10.91	15.94	15.61
1948	end apogee: CONTROL_FINISHED_OK
state	1948	begin climb
1948.77	11271	146.63	1.49	0.00	2848.7	2741.2	2956.2	1621.3	1867.1	153.65	0.00	274	2077.64	112.36	2.85	0.10	1.072	0.084	0.135	2252.09	2144.12	2360.06	2076.25	1936.50	0	0	0	11.16	15.67	15.70
2261.33	644	146.63	1.47	-80.00	2244.4	2141.0	2347.8	2075.9	1937.0	125.11	11.39	316	2269.77	0.00	0.00	3.70	0.000	0.000	0.129	2243.88	2140.88	2346.88	2075.94	433.94	0	0	0	30.00	30.00	15.79
2352.69	21639	146.63	1.40	-0.05	2242.9	2140.1	2345.6	2075.7	434.0	111.70	15.01	334	2360.71	0.00	0.27	3.42	0.000	0.163	0.053	2245.44	2141.94	2348.94	2042.38	1934.62	0	0	0	30.00	15.81	15.87
2541.57	16646	146.63	1.40	80.00	2242.2	2139.1	2345.3	2041.4	1936.6	91.99	10.04	354	2549.58	0.00	0.00	3.46	0.000	0.000	0.112	2241.34	2138.44	2344.25	2041.50	3367.25	0	0	0	30.00	30.00	15.88
2638.26	17542	146.63	1.39	-0.05	2242.3	2139.6	2345.1	2041.3	3367.8	81.94	10.40	373	2645.42	0.00	0.00	3.40	0.000	0.000	0.062	2244.16	2140.81	2347.50	2041.50	1871.88	0	0	0	30.00	30.00	15.94
2833.20	8226	181.33	1.43	-0.05	2241.8	2139.8	2343.9	2041.3	1872.0	64.75	8.39	393	2864.54	26.61	0.00	0.00	1.020	0.000	0.000	2109.62	2003.19	2216.06	2041.81	1871.81	0	0	0	10.91	30.00	30.00
3048.43	8354	197.70	1.47	-0.05	2104.8	2000.9	2208.8	2041.4	1872.6	45.36	9.24	419	3064.65	14.04	0.00	0.00	0.940	0.000	0.000	2044.22	1938.56	2149.88	2042.00	1871.69	0	0	0	10.96	30.00	30.00
3247.91	10663	214.00	1.51	80.00	2040.5	1937.1	2143.8	2041.3	1872.7	27.50	9.25	458	3272.66	14.61	0.23	3.62	0.939	0.064	0.113	1974.59	1871.06	2078.12	2095.31	3365.44	0	0	0	11.05	15.96	15.86
3326.32	5253	214.00	1.49	0.05	1974.1	1870.9	2077.3	2094.9	3365.2	19.08	10.46	473	3334.58	0.00	0.24	3.39	0.000	0.159	0.063	1973.91	1871.25	2076.56	2062.44	1873.81	0	0	0	30.00	15.87	15.94
3519.59	10403	321.39	1.67	0.05	1972.9	1870.6	2075.2	2062.9	1874.0	6.03	5.03	508	3606.48	78.76	0.33	0.00	0.992	0.055	0.000	1539.47	1434.31	1644.62	2128.81	1873.88	0	0	0	10.93	15.95	30.00
3790.94	10919	534.06	1.99	-80.00	1531.8	1429.7	1634.0	2129.1	1873.4	3.36	0.15	560	3925.67	124.19	0.38	0.00	0.976	0.055	0.000	848.16	738.62	957.69	2206.94	1874.25	0	0	0	11.23	15.82	30.00
3926	end climb: SURFACE_DEPTH_REACHED
state	3926	begin surface coast
4144	end surface coast: CONTROL_FINISHED_OK
state	4144	begin surface