Glider dive log

Shilshole 11May23 * SG243 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 243 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2100.5762 ALTIM_PULSE 3

MISSION 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 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 637.77997 ROLL_MAXERRORS 0 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 1 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0.029999999 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -1.7

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 2899.9695 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 129 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 10 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 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 65 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 120 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 60 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 -6 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1754.5004 MINV_24V 10 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 10 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 13.224691 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 53.003674 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 101.03506 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 2 PRESSURE_YINT -165.78093 SEABIRD_T_J 4.3e-06

MASS 72547 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022387519 SEABIRD_C_G -10

NAV_MODE 0 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 2

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 285 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3890 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 180 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2101.8667 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 129 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 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 180 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 2 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 53.003674 PHONE_SUPPLY 2 SM_CC 637.77997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 101.03506 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.015 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 13.224691 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

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 3600 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 HEAD_ERRBAND 10 PITCH_MIN 205 T_ABORT 120

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 243 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 -1.7 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1754.5004 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022387519 T_MISSION 65

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -165.78093 T_NO_W 60

C_ROLL_CLIMB 2100.5762 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2101.8667 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 2899.9695 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 400 RAFOS_HIT_WINDOW 10800 UNCOM_BLEED 400

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 700 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 400 RAFOS_PEAK_OFFSET 0 USE_BATHY -6

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 72547 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 10 ROLL_MAX 3890 VBD_MIN 500

DEVICE6 -1 MINV_24V 10 ROLL_MAXERRORS 0 VBD_TIMEOUT 720

DIVE 5 MISSION 3 ROLL_MIN 285 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 10 NAV_MODE 0 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 110523,193859,4743.027,-12223.996,1,1.1,4,15.3 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.26 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -42.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 110523,194051,4743.021,-12224.012,2,1.1,6,15.3 MHEAD_RNG_PITCHd_Wd 345.6,888,-17.6,-10.000,-21.21,2209,0.198

SPEED_LIMITS 0.173,0.258 D_GRID 165

TGT_NAME NE IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,74.000000,-1178.000000,-906.000000

TGT_LATLONG 4743.500,-12224.000 OSC 8000307

Post-dive calculations and measurements:

NAV 1683835144,109.3,start _10V_AH 14.82,0.000

FREEZE 0.27,11.965,-1.511,0,1,0 FG_AHR_24Vo 101.207

FINISH 0.3,1.020963 FG_AHR_10Vo 53.041

SURF forcing MEM0 60116,1,0,0

SM_CCo 3479.51,253.07,1.095,0,501.1,392.2,610.0,588.20 MEM1 65508,1,0,0

SM_GC 1.25,253.07,12.01,3.34,1.095,0.059,0.053,501.1,392.2,610.0,189.8,2093.8,0,0,0,11.05,15.85,15.89 MEM2 995008,27,51660,68

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12960,497

IRIDIUM_FIX 4741.67,-12220.67,110523,193713 CAP_FILE_SIZE 190972,0

TCM_TEMP 12.18 SDSIZE 3887104,3873344

SC_FREEKB 3877184 SDFILEDIR 68,6

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 0.000000,0.000000,010170,000000,0,0,0.00 SOUNDSPEED 1465.0

HUMID 55.27 MAGCAL 1.000000,-0.007810,0.123768,0.024100,1.032279,-0.082199,-0.001294,-0.041435,0.966889,-51.9,-1140.6,-842.0,21,0.0267,0

TEMP 10.15 IMPLIED_C_PITCH 1789,13.05,250,1771.7,13.14

INTERNAL_PRESSURE 8.67974 IMPLIED_C_VBD 2864,25.913301,250,2881.8

_24V_AH 14.81,80.754 GPS 110523,204002,4743.547,-12223.904,20,0.9,21,15.3

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 632 1291 12094.81 nil 0 0 0.00

Pitch_motor 26 250 99.05 nil 0 0 0.00

Roll_motor 70 191 199.09 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 15 15 3.44 nil 0 0 0.00

Core 1806 5 137.09 SciCon 3186 7 342.65

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1440 0 6.83

Compass 1036 5 76.77

RAFOS 10 40 5.98

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

7.84 16386 -146.63 -1.51 0.00 500.5 390.8 610.2 189.8 2064.7 0.00 0.00 0 123.94 111.71 0.00 0.00 0.005 0.000 0.000 3095.00 3051.50 3138.50 189.12 2065.00 0 0 0 15.95 30.00 30.00

124.31 18727 -146.63 -1.51 80.00 3093.8 3050.3 3137.2 189.2 2064.9 3.06 -3.62 22 160.03 11.85 9.20 3.64 0.007 0.251 0.109 3494.19 3445.56 3542.81 1387.44 3567.19 0 0 0 15.98 15.65 15.83

378.42 3205 -146.63 -1.41 0.00 3494.7 3445.4 3543.9 1387.6 3567.9 36.73 -13.41 72 385.24 0.00 0.17 3.40 0.000 0.198 0.052 3494.94 3445.75 3544.12 1412.94 2073.31 0 0 0 30.00 15.73 15.91

573.58 260 -146.63 -1.41 80.00 3495.2 3446.1 3544.2 1413.2 2073.5 56.34 -10.13 105 580.64 0.00 0.00 3.61 0.000 0.000 0.109 3495.78 3446.19 3545.38 1413.12 3566.56 0 0 0 30.00 30.00 15.86

663.27 1156 -146.63 -1.35 0.32 3495.3 3446.1 3544.5 1413.2 3566.4 67.46 -12.33 123 670.63 0.00 0.00 3.38 0.000 0.000 0.051 3494.84 3445.06 3544.62 1413.38 2075.56 0 0 0 30.00 30.00 15.92

859.02 260 -146.63 -1.35 80.00 3495.2 3446.1 3544.3 1413.6 2075.6 86.81 -10.22 143 866.02 0.00 0.00 3.60 0.000 0.000 0.109 3494.16 3444.75 3543.56 1413.69 3568.06 0 0 0 30.00 30.00 15.88

958.67 3205 -146.63 -1.29 0.48 3495.2 3446.0 3544.4 1413.0 3567.5 98.67 -12.76 163 966.44 0.00 0.22 3.36 0.000 0.181 0.051 3495.00 3446.31 3543.69 1444.75 2081.94 0 0 0 30.00 15.81 15.95

1148.71 548 -146.63 -1.29 -80.00 3496.3 3447.1 3545.6 1444.2 2082.1 117.17 -9.28 182 1155.90 0.00 0.00 3.55 0.000 0.000 0.119 3494.69 3445.75 3543.62 1444.25 633.88 0 0 0 30.00 30.00 15.83

1164.32 1060 -146.63 -1.29 0.48 3495.8 3446.4 3545.2 1444.6 634.4 118.62 -9.28 185 1170.39 0.00 0.00 3.42 0.000 0.000 0.050 3496.06 3446.44 3545.69 1444.19 2135.56 0 0 0 30.00 30.00 15.89

1354.37 292 -146.63 -1.29 80.00 3495.3 3445.9 3544.7 1444.9 2136.8 135.83 -8.72 205 1361.47 0.00 0.00 3.44 0.000 0.000 0.112 3494.22 3444.69 3543.75 1444.19 3567.81 0 0 0 30.00 30.00 15.84

1494 end dive: TARGET_DEPTH_EXCEEDED

state 1494 begin apogee

1500.40 10243 0.00 -0.38 0.00 3495.7 3445.9 3545.4 1444.2 2070.1 150.48 -10.15 233 1610.69 100.79 1.53 0.10 1.291 0.154 0.192 2897.09 2807.06 2987.12 1664.44 2130.06 0 0 0 11.05 15.73 15.64

1612 end apogee: CONTROL_FINISHED_OK

state 1612 begin climb

1612.56 10759 146.63 1.51 -80.00 2895.8 2805.2 2986.5 1664.8 2130.2 154.59 0.00 244 1736.93 105.97 3.10 3.73 1.227 0.140 0.118 2300.47 2188.50 2412.44 2122.56 634.19 0 0 0 11.15 15.65 15.66

1739.70 1156 146.63 1.46 0.00 2296.2 2185.4 2406.9 2122.6 633.9 145.31 10.10 267 1747.20 0.00 0.00 3.48 0.000 0.000 0.051 2295.03 2184.81 2405.25 2122.44 2125.75 0 0 0 30.00 30.00 15.58

1935.34 16646 146.63 1.46 80.00 2291.5 2181.4 2401.6 2122.8 2126.2 125.66 10.27 287 1942.53 0.00 0.00 3.52 0.000 0.000 0.118 2289.06 2180.12 2398.00 2122.88 3564.00 0 0 0 30.00 30.00 15.68

2115.24 21639 146.63 1.42 0.11 2290.5 2181.6 2399.5 2122.3 3564.3 104.82 11.72 323 2123.04 0.00 0.23 3.41 0.000 0.175 0.052 2293.06 2183.88 2402.25 2092.38 2073.94 0 0 0 30.00 15.71 15.80

2310.78 8486 176.55 1.46 80.00 2290.0 2181.1 2398.8 2092.4 2073.5 87.57 8.61 343 2344.30 22.58 0.00 3.64 1.167 0.000 0.117 2175.25 2062.12 2288.38 2092.62 3565.00 0 0 0 11.14 30.00 15.79

2402.71 9254 191.44 1.47 0.26 2173.5 2062.9 2284.1 2091.9 3565.5 79.28 9.31 361 2425.31 12.85 0.00 3.39 1.099 0.000 0.052 2116.25 2002.12 2230.38 2091.81 2077.88 0 0 0 11.18 30.00 15.84

2612.88 10663 207.72 1.53 80.00 2113.0 2001.4 2224.6 2092.1 2077.7 60.61 9.25 384 2635.76 13.71 0.22 3.63 1.099 0.086 0.117 2050.84 1937.06 2164.62 2131.25 3565.50 0 0 0 10.88 15.81 15.80

2688.35 1028 207.72 1.53 0.51 2047.5 1936.2 2158.8 2131.2 3565.2 51.47 12.76 399 2695.98 0.00 0.00 3.38 0.000 0.000 0.052 2046.81 1936.06 2157.56 2131.81 2081.56 0 0 0 30.00 30.00 15.83

2879.15 0 207.72 1.53 0.51 2046.7 1935.7 2157.6 2131.4 2080.5 30.28 10.48 436 2883.63 0.00 0.00 0.00 0.000 0.000 0.000 2047.06 1935.19 2158.94 2131.06 2081.25 0 0 0 30.00 30.00 30.00

3064.27 292 209.48 1.53 80.00 2045.9 1935.6 2156.3 2131.3 2081.2 11.60 9.92 473 3071.20 0.00 0.00 3.62 0.000 0.000 0.116 2045.16 1934.50 2155.81 2132.75 3568.50 0 0 0 30.00 30.00 15.81

3160 end climb: SURFACE_DEPTH_REACHED

state 3160 begin surface coast

3185 end surface coast: CONTROL_FINISHED_OK

state 3185 begin surface

ID	243	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2100.5762	ALTIM_PULSE	3
MISSION	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	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	637.77997	ROLL_MAXERRORS	0	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	1	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0.029999999	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-1.7
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	2899.9695	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	129	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	10	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	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	65	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	120	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	60	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	-6	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1754.5004	MINV_24V	10	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	10	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	13.224691	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	53.003674	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	101.03506	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-165.78093	SEABIRD_T_J	4.3e-06
MASS	72547	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022387519	SEABIRD_C_G	-10
NAV_MODE	0	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	2
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	285	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3890	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	180	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2101.8667	ALTIM_FREQUENCY	13

GPS1	110523,193859,4743.027,-12223.996,1,1.1,4,15.3	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.26	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-42.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	110523,194051,4743.021,-12224.012,2,1.1,6,15.3	MHEAD_RNG_PITCHd_Wd	345.6,888,-17.6,-10.000,-21.21,2209,0.198
SPEED_LIMITS	0.173,0.258	D_GRID	165
TGT_NAME	NE	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,74.000000,-1178.000000,-906.000000
TGT_LATLONG	4743.500,-12224.000	OSC	8000307

NAV	1683835144,109.3,start	_10V_AH	14.82,0.000
FREEZE	0.27,11.965,-1.511,0,1,0	FG_AHR_24Vo	101.207
FINISH	0.3,1.020963	FG_AHR_10Vo	53.041
SURF	forcing	MEM0	60116,1,0,0
SM_CCo	3479.51,253.07,1.095,0,501.1,392.2,610.0,588.20	MEM1	65508,1,0,0
SM_GC	1.25,253.07,12.01,3.34,1.095,0.059,0.053,501.1,392.2,610.0,189.8,2093.8,0,0,0,11.05,15.85,15.89	MEM2	995008,27,51660,68
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12960,497
IRIDIUM_FIX	4741.67,-12220.67,110523,193713	CAP_FILE_SIZE	190972,0
TCM_TEMP	12.18	SDSIZE	3887104,3873344
SC_FREEKB	3877184	SDFILEDIR	68,6
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	0.000000,0.000000,010170,000000,0,0,0.00	SOUNDSPEED	1465.0
HUMID	55.27	MAGCAL	1.000000,-0.007810,0.123768,0.024100,1.032279,-0.082199,-0.001294,-0.041435,0.966889,-51.9,-1140.6,-842.0,21,0.0267,0
TEMP	10.15	IMPLIED_C_PITCH	1789,13.05,250,1771.7,13.14
INTERNAL_PRESSURE	8.67974	IMPLIED_C_VBD	2864,25.913301,250,2881.8
_24V_AH	14.81,80.754	GPS	110523,204002,4743.547,-12223.904,20,0.9,21,15.3

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	632	1291	12094.81	nil	0	0	0.00
Pitch_motor	26	250	99.05	nil	0	0	0.00
Roll_motor	70	191	199.09	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	15	15	3.44	nil	0	0	0.00
Core	1806	5	137.09	SciCon	3186	7	342.65
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1440	0	6.83
Compass	1036	5	76.77
RAFOS	10	40	5.98
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
7.84	16386	-146.63	-1.51	0.00	500.5	390.8	610.2	189.8	2064.7	0.00	0.00	0	123.94	111.71	0.00	0.00	0.005	0.000	0.000	3095.00	3051.50	3138.50	189.12	2065.00	0	0	0	15.95	30.00	30.00
124.31	18727	-146.63	-1.51	80.00	3093.8	3050.3	3137.2	189.2	2064.9	3.06	-3.62	22	160.03	11.85	9.20	3.64	0.007	0.251	0.109	3494.19	3445.56	3542.81	1387.44	3567.19	0	0	0	15.98	15.65	15.83
378.42	3205	-146.63	-1.41	0.00	3494.7	3445.4	3543.9	1387.6	3567.9	36.73	-13.41	72	385.24	0.00	0.17	3.40	0.000	0.198	0.052	3494.94	3445.75	3544.12	1412.94	2073.31	0	0	0	30.00	15.73	15.91
573.58	260	-146.63	-1.41	80.00	3495.2	3446.1	3544.2	1413.2	2073.5	56.34	-10.13	105	580.64	0.00	0.00	3.61	0.000	0.000	0.109	3495.78	3446.19	3545.38	1413.12	3566.56	0	0	0	30.00	30.00	15.86
663.27	1156	-146.63	-1.35	0.32	3495.3	3446.1	3544.5	1413.2	3566.4	67.46	-12.33	123	670.63	0.00	0.00	3.38	0.000	0.000	0.051	3494.84	3445.06	3544.62	1413.38	2075.56	0	0	0	30.00	30.00	15.92
859.02	260	-146.63	-1.35	80.00	3495.2	3446.1	3544.3	1413.6	2075.6	86.81	-10.22	143	866.02	0.00	0.00	3.60	0.000	0.000	0.109	3494.16	3444.75	3543.56	1413.69	3568.06	0	0	0	30.00	30.00	15.88
958.67	3205	-146.63	-1.29	0.48	3495.2	3446.0	3544.4	1413.0	3567.5	98.67	-12.76	163	966.44	0.00	0.22	3.36	0.000	0.181	0.051	3495.00	3446.31	3543.69	1444.75	2081.94	0	0	0	30.00	15.81	15.95
1148.71	548	-146.63	-1.29	-80.00	3496.3	3447.1	3545.6	1444.2	2082.1	117.17	-9.28	182	1155.90	0.00	0.00	3.55	0.000	0.000	0.119	3494.69	3445.75	3543.62	1444.25	633.88	0	0	0	30.00	30.00	15.83
1164.32	1060	-146.63	-1.29	0.48	3495.8	3446.4	3545.2	1444.6	634.4	118.62	-9.28	185	1170.39	0.00	0.00	3.42	0.000	0.000	0.050	3496.06	3446.44	3545.69	1444.19	2135.56	0	0	0	30.00	30.00	15.89
1354.37	292	-146.63	-1.29	80.00	3495.3	3445.9	3544.7	1444.9	2136.8	135.83	-8.72	205	1361.47	0.00	0.00	3.44	0.000	0.000	0.112	3494.22	3444.69	3543.75	1444.19	3567.81	0	0	0	30.00	30.00	15.84
1494	end dive: TARGET_DEPTH_EXCEEDED
state	1494	begin apogee
1500.40	10243	0.00	-0.38	0.00	3495.7	3445.9	3545.4	1444.2	2070.1	150.48	-10.15	233	1610.69	100.79	1.53	0.10	1.291	0.154	0.192	2897.09	2807.06	2987.12	1664.44	2130.06	0	0	0	11.05	15.73	15.64
1612	end apogee: CONTROL_FINISHED_OK
state	1612	begin climb
1612.56	10759	146.63	1.51	-80.00	2895.8	2805.2	2986.5	1664.8	2130.2	154.59	0.00	244	1736.93	105.97	3.10	3.73	1.227	0.140	0.118	2300.47	2188.50	2412.44	2122.56	634.19	0	0	0	11.15	15.65	15.66
1739.70	1156	146.63	1.46	0.00	2296.2	2185.4	2406.9	2122.6	633.9	145.31	10.10	267	1747.20	0.00	0.00	3.48	0.000	0.000	0.051	2295.03	2184.81	2405.25	2122.44	2125.75	0	0	0	30.00	30.00	15.58
1935.34	16646	146.63	1.46	80.00	2291.5	2181.4	2401.6	2122.8	2126.2	125.66	10.27	287	1942.53	0.00	0.00	3.52	0.000	0.000	0.118	2289.06	2180.12	2398.00	2122.88	3564.00	0	0	0	30.00	30.00	15.68
2115.24	21639	146.63	1.42	0.11	2290.5	2181.6	2399.5	2122.3	3564.3	104.82	11.72	323	2123.04	0.00	0.23	3.41	0.000	0.175	0.052	2293.06	2183.88	2402.25	2092.38	2073.94	0	0	0	30.00	15.71	15.80
2310.78	8486	176.55	1.46	80.00	2290.0	2181.1	2398.8	2092.4	2073.5	87.57	8.61	343	2344.30	22.58	0.00	3.64	1.167	0.000	0.117	2175.25	2062.12	2288.38	2092.62	3565.00	0	0	0	11.14	30.00	15.79
2402.71	9254	191.44	1.47	0.26	2173.5	2062.9	2284.1	2091.9	3565.5	79.28	9.31	361	2425.31	12.85	0.00	3.39	1.099	0.000	0.052	2116.25	2002.12	2230.38	2091.81	2077.88	0	0	0	11.18	30.00	15.84
2612.88	10663	207.72	1.53	80.00	2113.0	2001.4	2224.6	2092.1	2077.7	60.61	9.25	384	2635.76	13.71	0.22	3.63	1.099	0.086	0.117	2050.84	1937.06	2164.62	2131.25	3565.50	0	0	0	10.88	15.81	15.80
2688.35	1028	207.72	1.53	0.51	2047.5	1936.2	2158.8	2131.2	3565.2	51.47	12.76	399	2695.98	0.00	0.00	3.38	0.000	0.000	0.052	2046.81	1936.06	2157.56	2131.81	2081.56	0	0	0	30.00	30.00	15.83
2879.15	0	207.72	1.53	0.51	2046.7	1935.7	2157.6	2131.4	2080.5	30.28	10.48	436	2883.63	0.00	0.00	0.00	0.000	0.000	0.000	2047.06	1935.19	2158.94	2131.06	2081.25	0	0	0	30.00	30.00	30.00
3064.27	292	209.48	1.53	80.00	2045.9	1935.6	2156.3	2131.3	2081.2	11.60	9.92	473	3071.20	0.00	0.00	3.62	0.000	0.000	0.116	2045.16	1934.50	2155.81	2132.75	3568.50	0	0	0	30.00	30.00	15.81
3160	end climb: SURFACE_DEPTH_REACHED
state	3160	begin surface coast
3185	end surface coast: CONTROL_FINISHED_OK
state	3185	begin surface