Glider dive log

HoodCanal 19Jun23 * SG252 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 252 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

MISSION 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 8 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 699.10498 ROLL_MAXERRORS 1 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

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 2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3350 DEEPGLIDERMB 0

D_BOOST 0 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 0.0012300001 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 LOGGERS 7

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 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 3 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 60 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 210 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3615 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1600 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 14 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 0.42375529 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 3.82762 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 -179.55089 SEABIRD_T_J 4.3e-06

MASS 72278 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022626969 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 275 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3885 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 2025 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 30 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 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.42375529 PHONE_SUPPLY 2 SM_CC 699.10498

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 3.82762 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 14 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3615 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 210 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 252 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 2 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1600 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022626969 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -179.55089 T_NO_W 60

C_ROLL_CLIMB 2025 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2025 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3350 LOGGERS 7 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 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 72278 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 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 3885 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 8 MISSION 3 ROLL_MIN 275 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 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 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 200623,031621,4736.353,-12256.462,2,0.8,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,031939,4736.349,-12256.453,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 200.9,856,-17.6,-10.000,-21.21,2209,0.157

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,0.038334,-0.018923,-0.049440,1.166098,-0.010501,-0.078735,0.017244,1.118553,-234.082230,-1254.545410,-869.140137

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687233853,31.4,0,stop FG_AHR_24Vo 4.079

FREEZE 5.90,14.328,-1.498,0,1,0 FG_AHR_10Vo 0.442

SURF forcing MEM0 60020,1,0,0

SM_CCo 3466.77,297.51,1.174,0,500.9,528.9,472.8,698.89 MEM1 65508,1,0,0

SM_GC 2.24,0.00,12.19,0.05,0.000,0.060,0.229,498.2,525.3,471.1,195.1,2038.2,0,0,0,30.00,15.60,15.59 MEM2 945740,32,100828,68

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12953,485

IRIDIUM_FIX 4735.53,-12254.47,200623,021412 CAP_FILE_SIZE 181930,0

TCM_TEMP -86.31 SDSIZE 3887104,3871936

SC_FREEKB 3876224 SDFILEDIR 89,9

RAFOS_CLK 0 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 52.82 CURRENT 0.009, 62.3,1

TEMP 10.91 MAGCAL 1.000000,-0.001301,-0.015864,-0.026785,1.052280,-0.150877,-0.068082,-0.031905,1.068546,-245.4,-1169.5,-840.4,31,0.0298,0

INTERNAL_PRESSURE 7.97504 IMPLIED_C_PITCH 1764,12.82,222,0.0,0.00

_24V_AH 14.97,4.269 IMPLIED_C_VBD 3238,14.612064,222,0

_10V_AH 15.00,0.000 GPS 200623,042058,4736.037,-12256.768,0,2.0,41,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 786 1366 16097.12 nil 0 0 0.00

Pitch_motor 25 271 103.60 nil 0 0 0.00

Roll_motor 65 328 321.35 nil 0 0 0.00

Iridium 130 128 250.83 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.16 nil 0 0 0.00

Core 2109 5 162.04 SciCon 3144 6 299.75

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1318 0 6.33

Compass 1015 5 76.19

RAFOS 308 40 185.31

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.96 16386 -146.63 -1.44 0.00 496.3 522.6 470.1 194.1 2037.2 0.00 0.00 0 56.53 44.83 0.00 0.00 0.005 0.000 0.000 1813.66 1835.62 1791.69 194.44 2037.38 0 0 0 15.97 30.00 30.00

57.06 18983 -146.63 -1.44 -80.00 1813.6 1836.2 1791.0 194.1 2037.6 3.40 -4.45 9 134.33 49.65 7.99 3.80 0.005 0.272 0.182 3948.47 3952.75 3944.19 1251.75 560.94 0 0 0 15.99 15.82 15.89

138.05 3205 -146.63 -1.21 0.00 3949.2 3954.5 3943.9 1252.1 560.8 14.04 -15.79 23 146.49 0.00 0.38 3.47 0.000 0.211 0.080 3949.88 3954.62 3945.12 1306.31 2040.25 0 0 0 30.00 15.87 15.93

329.17 2437 -146.63 -1.10 80.00 3950.5 3956.8 3944.3 1306.4 2039.8 44.39 -15.59 60 337.79 0.00 0.17 3.59 0.000 0.188 0.148 3950.94 3958.00 3943.88 1334.75 3489.38 0 0 0 30.00 15.96 15.97

470.90 1156 -146.63 -1.00 0.00 3950.8 3957.3 3944.4 1334.5 3489.1 66.24 -15.28 88 479.07 0.00 0.00 3.51 0.000 0.000 0.086 3950.94 3957.38 3944.50 1335.00 2009.50 0 0 0 30.00 30.00 16.02

666.79 2437 -146.63 -0.94 80.00 3951.2 3958.4 3943.9 1335.2 2009.4 92.26 -13.30 108 675.91 0.00 0.25 3.65 0.000 0.172 0.147 3951.62 3959.06 3944.19 1375.25 3491.12 0 0 0 30.00 16.03 16.05

759.00 1156 -146.63 -0.89 0.00 3951.6 3959.0 3944.1 1375.4 3491.4 104.71 -13.05 126 767.10 0.00 0.00 3.49 0.000 0.000 0.086 3950.78 3957.88 3943.69 1375.50 2011.12 0 0 0 30.00 30.00 16.07

949.63 260 -146.63 -0.89 80.00 3951.8 3959.2 3944.4 1375.4 2010.9 124.93 -10.58 146 958.59 0.00 0.00 3.64 0.000 0.000 0.147 3951.00 3958.50 3943.50 1375.00 3489.25 0 0 0 30.00 30.00 16.08

1027.46 1156 -146.63 -0.85 0.00 3951.5 3958.9 3944.0 1375.2 3489.0 134.10 -11.87 161 1036.08 0.00 0.00 3.48 0.000 0.000 0.087 3950.88 3958.12 3943.62 1375.19 2012.12 0 0 0 30.00 30.00 16.10

1172 end dive: TARGET_DEPTH_EXCEEDED

state 1172 begin apogee

1174.04 10243 0.00 -0.36 0.00 3952.0 3959.6 3944.4 1375.4 2037.2 150.06 -10.96 176 1299.81 112.75 0.92 0.06 1.367 0.142 0.329 3351.75 3391.44 3312.06 1515.69 2013.25 0 0 0 11.93 16.11 15.67

1301 end apogee: CONTROL_FINISHED_OK

state 1301 begin climb

1301.25 10759 146.63 1.44 -80.00 3348.0 3388.4 3307.7 1516.1 2013.3 156.56 0.00 187 1447.79 118.82 2.83 3.99 1.323 0.115 0.200 2753.56 2805.00 2702.12 1951.06 560.88 0 0 0 11.67 15.70 15.43

1486.03 11431 209.15 1.56 0.00 2746.8 2794.3 2699.3 1950.4 561.4 148.04 7.10 220 1552.81 52.47 0.17 3.58 1.287 0.093 0.083 2498.31 2556.31 2440.31 1991.19 2039.19 0 0 0 11.72 15.64 15.63

1736.74 8614 235.30 1.67 80.00 2490.1 2547.6 2432.5 1991.1 2039.2 126.80 8.79 250 1771.73 22.20 0.00 3.70 1.240 0.000 0.158 2388.94 2448.31 2329.56 1991.56 3488.50 0 0 0 11.75 30.00 15.69

1894.89 3205 235.30 1.74 0.00 2386.6 2446.4 2326.8 1991.4 3488.1 111.05 10.17 281 1903.54 0.00 0.17 3.56 0.000 0.090 0.090 2384.56 2445.19 2323.94 2031.25 2009.81 0 0 0 30.00 15.86 15.83

2095.41 388 235.30 1.79 80.00 2385.6 2446.2 2325.0 2037.7 2010.4 90.72 10.35 301 2107.50 0.00 0.00 3.72 0.000 0.000 0.152 2385.12 2444.81 2325.44 2037.12 3489.31 0 0 0 30.00 30.00 15.90

2190.64 1156 235.30 1.82 0.00 2385.4 2445.4 2325.4 2037.2 3488.9 79.11 11.63 320 2198.99 0.00 0.00 3.53 0.000 0.000 0.088 2383.56 2443.25 2323.88 2037.44 2010.94 0 0 0 30.00 30.00 15.96

2383.76 8614 239.47 1.89 80.00 2385.0 2445.1 2325.0 2037.1 2010.4 59.73 9.81 338 2400.57 5.51 0.00 3.69 0.859 0.000 0.152 2372.25 2432.56 2311.94 2037.50 3490.38 0 0 0 11.79 30.00 15.97

2484.49 3205 239.47 1.93 0.00 2372.8 2432.1 2313.5 2037.6 3490.4 48.72 11.14 358 2493.46 0.00 0.17 3.52 0.000 0.094 0.087 2372.84 2433.06 2312.62 2077.62 2012.12 0 0 0 30.00 16.01 15.99

2678.38 388 239.47 1.96 80.00 2372.3 2431.6 2313.0 2078.1 2011.8 27.68 10.25 396 2687.15 0.00 0.00 3.67 0.000 0.000 0.149 2369.81 2429.31 2310.31 2079.44 3487.88 0 0 0 30.00 30.00 16.01

2724.20 1028 239.47 1.96 0.00 2372.5 2431.8 2313.3 2079.2 3487.4 22.53 11.34 404 2732.97 0.00 0.00 3.49 0.000 0.000 0.086 2369.78 2428.75 2310.81 2079.69 2013.12 0 0 0 30.00 30.00 16.03

2916.91 10403 334.61 2.14 0.00 2371.6 2430.8 2312.4 2079.2 2012.7 7.64 5.59 442 3009.47 82.97 0.25 0.00 1.223 0.077 0.000 1985.09 2055.38 1914.81 2135.88 2012.75 0 0 0 11.88 16.09 30.00

3138 end climb: NO_VERTICAL_VELOCITY

state 3138 begin surface

ID	252	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	ALTIM_PULSE	3
MISSION	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	8	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	699.10498	ROLL_MAXERRORS	1	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
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	2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3350	DEEPGLIDERMB	0
D_BOOST	0	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	0.0012300001	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	LOGGERS	7
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	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	3	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	60	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	210	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3615	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1600	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	14	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	0.42375529	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	3.82762	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	-179.55089	SEABIRD_T_J	4.3e-06
MASS	72278	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022626969	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	275	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3885	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	2025	ALTIM_FREQUENCY	13

GPS1	200623,031621,4736.353,-12256.462,2,0.8,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,031939,4736.349,-12256.453,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	200.9,856,-17.6,-10.000,-21.21,2209,0.157
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.038334,-0.018923,-0.049440,1.166098,-0.010501,-0.078735,0.017244,1.118553,-234.082230,-1254.545410,-869.140137
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687233853,31.4,0,stop	FG_AHR_24Vo	4.079
FREEZE	5.90,14.328,-1.498,0,1,0	FG_AHR_10Vo	0.442
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3466.77,297.51,1.174,0,500.9,528.9,472.8,698.89	MEM1	65508,1,0,0
SM_GC	2.24,0.00,12.19,0.05,0.000,0.060,0.229,498.2,525.3,471.1,195.1,2038.2,0,0,0,30.00,15.60,15.59	MEM2	945740,32,100828,68
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12953,485
IRIDIUM_FIX	4735.53,-12254.47,200623,021412	CAP_FILE_SIZE	181930,0
TCM_TEMP	-86.31	SDSIZE	3887104,3871936
SC_FREEKB	3876224	SDFILEDIR	89,9
RAFOS_CLK	0	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	52.82	CURRENT	0.009, 62.3,1
TEMP	10.91	MAGCAL	1.000000,-0.001301,-0.015864,-0.026785,1.052280,-0.150877,-0.068082,-0.031905,1.068546,-245.4,-1169.5,-840.4,31,0.0298,0
INTERNAL_PRESSURE	7.97504	IMPLIED_C_PITCH	1764,12.82,222,0.0,0.00
_24V_AH	14.97,4.269	IMPLIED_C_VBD	3238,14.612064,222,0
_10V_AH	15.00,0.000	GPS	200623,042058,4736.037,-12256.768,0,2.0,41,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	786	1366	16097.12	nil	0	0	0.00
Pitch_motor	25	271	103.60	nil	0	0	0.00
Roll_motor	65	328	321.35	nil	0	0	0.00
Iridium	130	128	250.83	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.16	nil	0	0	0.00
Core	2109	5	162.04	SciCon	3144	6	299.75
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1318	0	6.33
Compass	1015	5	76.19
RAFOS	308	40	185.31
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.96	16386	-146.63	-1.44	0.00	496.3	522.6	470.1	194.1	2037.2	0.00	0.00	0	56.53	44.83	0.00	0.00	0.005	0.000	0.000	1813.66	1835.62	1791.69	194.44	2037.38	0	0	0	15.97	30.00	30.00
57.06	18983	-146.63	-1.44	-80.00	1813.6	1836.2	1791.0	194.1	2037.6	3.40	-4.45	9	134.33	49.65	7.99	3.80	0.005	0.272	0.182	3948.47	3952.75	3944.19	1251.75	560.94	0	0	0	15.99	15.82	15.89
138.05	3205	-146.63	-1.21	0.00	3949.2	3954.5	3943.9	1252.1	560.8	14.04	-15.79	23	146.49	0.00	0.38	3.47	0.000	0.211	0.080	3949.88	3954.62	3945.12	1306.31	2040.25	0	0	0	30.00	15.87	15.93
329.17	2437	-146.63	-1.10	80.00	3950.5	3956.8	3944.3	1306.4	2039.8	44.39	-15.59	60	337.79	0.00	0.17	3.59	0.000	0.188	0.148	3950.94	3958.00	3943.88	1334.75	3489.38	0	0	0	30.00	15.96	15.97
470.90	1156	-146.63	-1.00	0.00	3950.8	3957.3	3944.4	1334.5	3489.1	66.24	-15.28	88	479.07	0.00	0.00	3.51	0.000	0.000	0.086	3950.94	3957.38	3944.50	1335.00	2009.50	0	0	0	30.00	30.00	16.02
666.79	2437	-146.63	-0.94	80.00	3951.2	3958.4	3943.9	1335.2	2009.4	92.26	-13.30	108	675.91	0.00	0.25	3.65	0.000	0.172	0.147	3951.62	3959.06	3944.19	1375.25	3491.12	0	0	0	30.00	16.03	16.05
759.00	1156	-146.63	-0.89	0.00	3951.6	3959.0	3944.1	1375.4	3491.4	104.71	-13.05	126	767.10	0.00	0.00	3.49	0.000	0.000	0.086	3950.78	3957.88	3943.69	1375.50	2011.12	0	0	0	30.00	30.00	16.07
949.63	260	-146.63	-0.89	80.00	3951.8	3959.2	3944.4	1375.4	2010.9	124.93	-10.58	146	958.59	0.00	0.00	3.64	0.000	0.000	0.147	3951.00	3958.50	3943.50	1375.00	3489.25	0	0	0	30.00	30.00	16.08
1027.46	1156	-146.63	-0.85	0.00	3951.5	3958.9	3944.0	1375.2	3489.0	134.10	-11.87	161	1036.08	0.00	0.00	3.48	0.000	0.000	0.087	3950.88	3958.12	3943.62	1375.19	2012.12	0	0	0	30.00	30.00	16.10
1172	end dive: TARGET_DEPTH_EXCEEDED
state	1172	begin apogee
1174.04	10243	0.00	-0.36	0.00	3952.0	3959.6	3944.4	1375.4	2037.2	150.06	-10.96	176	1299.81	112.75	0.92	0.06	1.367	0.142	0.329	3351.75	3391.44	3312.06	1515.69	2013.25	0	0	0	11.93	16.11	15.67
1301	end apogee: CONTROL_FINISHED_OK
state	1301	begin climb
1301.25	10759	146.63	1.44	-80.00	3348.0	3388.4	3307.7	1516.1	2013.3	156.56	0.00	187	1447.79	118.82	2.83	3.99	1.323	0.115	0.200	2753.56	2805.00	2702.12	1951.06	560.88	0	0	0	11.67	15.70	15.43
1486.03	11431	209.15	1.56	0.00	2746.8	2794.3	2699.3	1950.4	561.4	148.04	7.10	220	1552.81	52.47	0.17	3.58	1.287	0.093	0.083	2498.31	2556.31	2440.31	1991.19	2039.19	0	0	0	11.72	15.64	15.63
1736.74	8614	235.30	1.67	80.00	2490.1	2547.6	2432.5	1991.1	2039.2	126.80	8.79	250	1771.73	22.20	0.00	3.70	1.240	0.000	0.158	2388.94	2448.31	2329.56	1991.56	3488.50	0	0	0	11.75	30.00	15.69
1894.89	3205	235.30	1.74	0.00	2386.6	2446.4	2326.8	1991.4	3488.1	111.05	10.17	281	1903.54	0.00	0.17	3.56	0.000	0.090	0.090	2384.56	2445.19	2323.94	2031.25	2009.81	0	0	0	30.00	15.86	15.83
2095.41	388	235.30	1.79	80.00	2385.6	2446.2	2325.0	2037.7	2010.4	90.72	10.35	301	2107.50	0.00	0.00	3.72	0.000	0.000	0.152	2385.12	2444.81	2325.44	2037.12	3489.31	0	0	0	30.00	30.00	15.90
2190.64	1156	235.30	1.82	0.00	2385.4	2445.4	2325.4	2037.2	3488.9	79.11	11.63	320	2198.99	0.00	0.00	3.53	0.000	0.000	0.088	2383.56	2443.25	2323.88	2037.44	2010.94	0	0	0	30.00	30.00	15.96
2383.76	8614	239.47	1.89	80.00	2385.0	2445.1	2325.0	2037.1	2010.4	59.73	9.81	338	2400.57	5.51	0.00	3.69	0.859	0.000	0.152	2372.25	2432.56	2311.94	2037.50	3490.38	0	0	0	11.79	30.00	15.97
2484.49	3205	239.47	1.93	0.00	2372.8	2432.1	2313.5	2037.6	3490.4	48.72	11.14	358	2493.46	0.00	0.17	3.52	0.000	0.094	0.087	2372.84	2433.06	2312.62	2077.62	2012.12	0	0	0	30.00	16.01	15.99
2678.38	388	239.47	1.96	80.00	2372.3	2431.6	2313.0	2078.1	2011.8	27.68	10.25	396	2687.15	0.00	0.00	3.67	0.000	0.000	0.149	2369.81	2429.31	2310.31	2079.44	3487.88	0	0	0	30.00	30.00	16.01
2724.20	1028	239.47	1.96	0.00	2372.5	2431.8	2313.3	2079.2	3487.4	22.53	11.34	404	2732.97	0.00	0.00	3.49	0.000	0.000	0.086	2369.78	2428.75	2310.81	2079.69	2013.12	0	0	0	30.00	30.00	16.03
2916.91	10403	334.61	2.14	0.00	2371.6	2430.8	2312.4	2079.2	2012.7	7.64	5.59	442	3009.47	82.97	0.25	0.00	1.223	0.077	0.000	1985.09	2055.38	1914.81	2135.88	2012.75	0	0	0	11.88	16.09	30.00
3138	end climb: NO_VERTICAL_VELOCITY
state	3138	begin surface