Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 246 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 10 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 25 SM_CC 686.83997 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 2.2

D_SURF 2 FILEMGR 0 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 150 COMM_SEQ 7 C_VBD 3300 MOTHERBOARD 6

D_ABORT 175 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 50 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 1 UNCOM_BLEED 20 DEVICE6 -1

D_SAFE 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 7

D_CALL 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 50 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 66

T_MISSION 75 T_RSLEEP 3 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 60 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 200 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3610 MINV_24V 11 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 1600 MINV_10V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_10V 1.5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 15 FG_AHR_10V 0.07093998 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 7.8817253 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.015 PRESSURE_YINT -171.01021 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00022436336 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72348 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 265 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3880 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2540 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2550 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 4

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 131 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 25 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_TGT 150 N_GPS 100440 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 0 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0.07093998 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 7.8817253 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_ADJ_DBAND 1 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_ADJ_GAIN 0.015 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_CNV 0.0041299998 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.003 PITCH_GAIN 15 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_C 1.6e-05 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HEADING -1 PITCH_MAX 3610 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 1440

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 200 T_BOOST 0

COMM_SEQ 7 ID 246 PITCH_TIMEOUT 30 T_DIVE 50

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0012300001 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 2.2 PITCH_W_DBAND 0 T_GPS 5

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1600 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022436336 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -171.01021 T_RSLEEP 3

C_ROLL_CLIMB 2550 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2540 LOGGERS 7 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 3300 LOITER_DBDW 0 RAFOS_DEVICE 96 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RAFOS_MMODEM 0 USE_BATHY -10

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 0

DEEPGLIDER 0 LOITER_W_DBAND 0 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72348 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 1.5 ROLL_ADJ_DBAND 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 11 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 11 ROLL_MAX 3880 VBD_TIMEOUT 720

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 10 MOTHERBOARD 6 ROLL_MIN 265 XPDR_DEVICE -1

D_ABORT 175 NAV2_DEVICE 6 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_BOOST 0 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 0

D_CALL 0 NAV4_DEVICE -1 SC_PROFILE 3.0 XPDR_REP 0

D_FINISH 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 4

D_FLARE 3 NAV_MODE 2 SC_XMITPROFILE 3.0

D_NO_BLEED 50 NETBOX 1 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 240623,092244,4736.332,-12256.506,1,0.9,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,092556,4736.352,-12256.451,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 199.6,862,-17.6,-10.000,-21.21,2209,0.117

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,0.013708,0.049567,-0.021847,1.030712,-0.087614,-0.023299,-0.079788,1.036775,335.212769,-582.515198,-652.953918

TGT_LATLONG 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NAV 1687600743,69.9,start _10V_AH 14.88,0.000

NET xmit part outbox0008.n 991 0 FG_AHR_24Vo 8.057

NET_PING 1687600819,29,412.174469,10.200000,-0.546322 FG_AHR_10Vo 0.077

FREEZE 8.09,13.835,-1.523,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3121.35,285.67,0.890,0,500.8,451.6,550.1,686.64 MEM2 945576,35,100912,69

SM_GC 2.54,0.00,10.69,0.10,0.000,0.027,0.108,497.3,449.6,545.0,184.8,2500.1,0,0,0,30.00,15.27,15.27 DATA_FILE_SIZE 9746,401

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 220185,0

IRIDIUM_FIX 4734.67,-12257.15,240623,082610 SDSIZE 3887104,3869120

TCM_TEMP 15.36 SDFILEDIR 123,11

SC_FREEKB 3875552 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 4736.677734,-12257.000000,240623,020201,4,255,0.30 CURRENT 0.051, 37.3,1

HUMID 52.48 MAGCAL 1.000000,0.035681,-0.013277,-0.028256,1.032868,-0.017617,0.011370,-0.042922,0.898428,385.1,-633.0,-548.6,36,0.0250,1

TEMP 10.47 IMPLIED_C_PITCH 1598,19.35,209,0.0,0.00

INTERNAL_PRESSURE 8.54262 IMPLIED_C_VBD 3113,19.167416,209,0

_24V_AH 14.87,8.389 GPS 240623,102041,4736.179,-12256.724,1,1.2,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 715 1076 11444.40 nil 0 0 0.00

Pitch_motor 24 250 89.88 nil 0 0 0.00

Roll_motor 27 177 71.45 nil 0 0 0.00

Iridium 126 175 331.56 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.11 nil 0 0 0.00

Core 1847 5 140.72 SciCon 2827 9 387.05

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1258 0 5.99

Compass 916 5 68.22

RAFOS 755 40 449.55

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

6.69 16386 -146.63 -1.35 0.00 494.1 455.7 532.6 182.6 2563.9 0.00 0.00 0 59.82 50.71 0.00 0.00 0.005 0.000 0.000 1737.25 1708.62 1765.88 182.38 2564.25 0 0 0 15.55 30.00 30.00

60.09 18467 -146.63 -1.35 0.00 1739.0 1710.5 1767.5 182.2 2564.6 3.11 -2.10 10 133.90 58.94 8.31 0.00 0.005 0.250 0.000 3897.38 3860.88 3933.88 1272.75 2564.38 0 0 0 15.56 15.41 30.00

315.90 2437 -146.63 -1.24 80.00 3900.8 3862.3 3939.2 1272.8 2564.1 41.44 -16.25 60 321.88 0.00 0.20 3.32 0.000 0.184 0.107 3901.31 3863.06 3939.56 1301.31 3889.81 0 0 0 30.00 15.54 15.55

450.17 3205 -146.63 -1.09 0.00 3900.9 3862.9 3939.0 1301.4 3890.0 66.79 -19.16 87 456.81 0.00 0.23 3.12 0.000 0.173 0.015 3901.88 3863.69 3940.06 1337.50 2489.25 0 0 0 30.00 15.60 15.66

645.96 388 -146.63 -1.07 80.00 3901.7 3862.8 3940.5 1338.0 2488.5 90.74 -12.19 107 652.09 0.00 0.00 3.49 0.000 0.000 0.106 3901.62 3862.88 3940.38 1337.88 3889.56 0 0 0 30.00 30.00 15.66

715.19 3205 -146.63 -0.98 0.00 3901.7 3862.9 3940.5 1337.9 3889.6 101.39 -16.09 121 721.83 0.00 0.16 3.11 0.000 0.172 0.015 3902.38 3863.56 3941.19 1364.06 2488.06 0 0 0 30.00 15.66 15.72

911.03 128 -146.63 -1.00 0.00 3902.2 3862.7 3941.7 1363.8 2487.1 122.82 -10.25 141 912.61 0.00 0.00 0.00 0.000 0.000 0.000 3901.84 3862.44 3941.25 1364.00 2487.12 0 0 0 30.00 30.00 30.00

1094.77 388 -146.63 -1.02 80.00 3902.2 3862.8 3941.7 1364.2 2487.5 141.10 -10.09 159 1101.04 0.00 0.00 3.48 0.000 0.000 0.110 3902.72 3863.31 3942.12 1364.44 3890.06 0 0 0 30.00 30.00 15.71

1148.69 1156 -146.63 -0.97 0.00 3902.3 3862.9 3941.8 1364.8 3890.7 148.16 -13.57 169 1155.98 0.00 0.00 3.13 0.000 0.000 0.016 3902.59 3863.31 3941.88 1364.94 2486.44 0 0 0 30.00 30.00 15.72

1165 end dive: TARGET_DEPTH_EXCEEDED

state 1165 begin apogee

1166.06 10243 0.00 -0.33 0.00 3902.4 3863.2 3941.6 1364.6 2569.1 150.05 -12.80 171 1280.07 106.21 1.03 0.08 1.076 0.124 0.177 3298.62 3249.00 3348.25 1520.94 2514.88 0 0 0 11.89 15.65 15.34

1282 end apogee: CONTROL_FINISHED_OK

state 1282 begin climb

1281.85 10243 146.63 1.35 0.00 3296.2 3246.6 3345.9 1520.8 2515.1 155.13 0.00 182 1403.13 110.53 2.66 0.00 1.045 0.088 0.000 2699.59 2630.94 2768.25 1930.44 2514.56 0 0 0 11.60 15.31 30.00

1586.76 20611 146.63 1.22 0.00 2690.3 2622.6 2758.0 1929.9 2514.2 117.37 16.84 213 1588.63 0.00 0.35 0.00 0.000 0.178 0.000 2689.41 2622.56 2756.25 1890.44 2514.56 0 0 0 30.00 15.41 30.00

1776.76 16514 146.63 1.13 0.00 2688.9 2621.4 2756.4 1890.4 2514.4 91.75 12.48 232 1778.33 0.00 0.00 0.00 0.000 0.000 0.000 2687.31 2619.50 2755.12 1890.06 2515.00 0 0 0 30.00 30.00 30.00

1967.87 20611 146.63 1.06 0.00 2687.7 2619.6 2755.8 1890.6 2514.9 69.87 11.88 250 1971.20 0.00 0.28 0.00 0.000 0.168 0.000 2688.50 2620.75 2756.25 1850.12 2515.06 0 0 0 30.00 15.59 30.00

2151.83 8354 153.56 1.03 0.00 2687.3 2619.4 2755.2 1850.7 2514.8 50.24 9.68 269 2161.24 5.91 0.00 0.00 0.642 0.000 0.000 2671.03 2603.25 2738.81 1850.12 2514.56 0 0 0 11.69 30.00 30.00

2341.89 8870 183.91 1.03 -80.00 2669.5 2600.4 2738.6 1850.6 2514.9 32.62 8.59 306 2375.04 25.17 0.00 3.48 0.911 0.000 0.080 2546.22 2473.50 2618.94 1850.56 1080.94 0 0 0 11.67 30.00 15.52

2403.49 9382 204.12 1.04 0.00 2544.6 2472.4 2616.7 1850.3 1080.7 27.25 9.06 318 2430.10 17.32 0.00 3.49 0.860 0.000 0.040 2466.69 2389.00 2544.38 1848.31 2564.25 0 0 0 11.71 30.00 15.56

2613.76 10403 277.78 1.16 0.00 2458.2 2379.5 2536.9 1850.5 2564.9 9.39 6.59 360 2671.98 54.65 0.25 0.00 0.907 0.046 0.000 2165.41 2075.31 2255.50 1892.25 2564.88 0 0 0 11.56 15.60 30.00

2821 end climb: NO_VERTICAL_VELOCITY

state 2821 begin surface

ID	246	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	10	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	25	SM_CC	686.83997	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	2.2
D_SURF	2	FILEMGR	0	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	150	COMM_SEQ	7	C_VBD	3300	MOTHERBOARD	6
D_ABORT	175	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	50	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	1	UNCOM_BLEED	20	DEVICE6	-1
D_SAFE	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	7
D_CALL	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	50	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	66
T_MISSION	75	T_RSLEEP	3	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	60	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	200	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3610	MINV_24V	11	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	1600	MINV_10V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_10V	1.5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	15	FG_AHR_10V	0.07093998	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	7.8817253	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.015	PRESSURE_YINT	-171.01021	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00022436336	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72348	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	265	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3880	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2540	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2550	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	4

GPS1	240623,092244,4736.332,-12256.506,1,0.9,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,092556,4736.352,-12256.451,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	199.6,862,-17.6,-10.000,-21.21,2209,0.117
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.013708,0.049567,-0.021847,1.030712,-0.087614,-0.023299,-0.079788,1.036775,335.212769,-582.515198,-652.953918
TGT_LATLONG	4735.950,-12256.800	OSC	8000307

NAV	1687600743,69.9,start	_10V_AH	14.88,0.000
NET	xmit part outbox0008.n 991 0	FG_AHR_24Vo	8.057
NET_PING	1687600819,29,412.174469,10.200000,-0.546322	FG_AHR_10Vo	0.077
FREEZE	8.09,13.835,-1.523,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3121.35,285.67,0.890,0,500.8,451.6,550.1,686.64	MEM2	945576,35,100912,69
SM_GC	2.54,0.00,10.69,0.10,0.000,0.027,0.108,497.3,449.6,545.0,184.8,2500.1,0,0,0,30.00,15.27,15.27	DATA_FILE_SIZE	9746,401
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	220185,0
IRIDIUM_FIX	4734.67,-12257.15,240623,082610	SDSIZE	3887104,3869120
TCM_TEMP	15.36	SDFILEDIR	123,11
SC_FREEKB	3875552	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	4736.677734,-12257.000000,240623,020201,4,255,0.30	CURRENT	0.051, 37.3,1
HUMID	52.48	MAGCAL	1.000000,0.035681,-0.013277,-0.028256,1.032868,-0.017617,0.011370,-0.042922,0.898428,385.1,-633.0,-548.6,36,0.0250,1
TEMP	10.47	IMPLIED_C_PITCH	1598,19.35,209,0.0,0.00
INTERNAL_PRESSURE	8.54262	IMPLIED_C_VBD	3113,19.167416,209,0
_24V_AH	14.87,8.389	GPS	240623,102041,4736.179,-12256.724,1,1.2,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	715	1076	11444.40	nil	0	0	0.00
Pitch_motor	24	250	89.88	nil	0	0	0.00
Roll_motor	27	177	71.45	nil	0	0	0.00
Iridium	126	175	331.56	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.11	nil	0	0	0.00
Core	1847	5	140.72	SciCon	2827	9	387.05
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1258	0	5.99
Compass	916	5	68.22
RAFOS	755	40	449.55
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
6.69	16386	-146.63	-1.35	0.00	494.1	455.7	532.6	182.6	2563.9	0.00	0.00	0	59.82	50.71	0.00	0.00	0.005	0.000	0.000	1737.25	1708.62	1765.88	182.38	2564.25	0	0	0	15.55	30.00	30.00
60.09	18467	-146.63	-1.35	0.00	1739.0	1710.5	1767.5	182.2	2564.6	3.11	-2.10	10	133.90	58.94	8.31	0.00	0.005	0.250	0.000	3897.38	3860.88	3933.88	1272.75	2564.38	0	0	0	15.56	15.41	30.00
315.90	2437	-146.63	-1.24	80.00	3900.8	3862.3	3939.2	1272.8	2564.1	41.44	-16.25	60	321.88	0.00	0.20	3.32	0.000	0.184	0.107	3901.31	3863.06	3939.56	1301.31	3889.81	0	0	0	30.00	15.54	15.55
450.17	3205	-146.63	-1.09	0.00	3900.9	3862.9	3939.0	1301.4	3890.0	66.79	-19.16	87	456.81	0.00	0.23	3.12	0.000	0.173	0.015	3901.88	3863.69	3940.06	1337.50	2489.25	0	0	0	30.00	15.60	15.66
645.96	388	-146.63	-1.07	80.00	3901.7	3862.8	3940.5	1338.0	2488.5	90.74	-12.19	107	652.09	0.00	0.00	3.49	0.000	0.000	0.106	3901.62	3862.88	3940.38	1337.88	3889.56	0	0	0	30.00	30.00	15.66
715.19	3205	-146.63	-0.98	0.00	3901.7	3862.9	3940.5	1337.9	3889.6	101.39	-16.09	121	721.83	0.00	0.16	3.11	0.000	0.172	0.015	3902.38	3863.56	3941.19	1364.06	2488.06	0	0	0	30.00	15.66	15.72
911.03	128	-146.63	-1.00	0.00	3902.2	3862.7	3941.7	1363.8	2487.1	122.82	-10.25	141	912.61	0.00	0.00	0.00	0.000	0.000	0.000	3901.84	3862.44	3941.25	1364.00	2487.12	0	0	0	30.00	30.00	30.00
1094.77	388	-146.63	-1.02	80.00	3902.2	3862.8	3941.7	1364.2	2487.5	141.10	-10.09	159	1101.04	0.00	0.00	3.48	0.000	0.000	0.110	3902.72	3863.31	3942.12	1364.44	3890.06	0	0	0	30.00	30.00	15.71
1148.69	1156	-146.63	-0.97	0.00	3902.3	3862.9	3941.8	1364.8	3890.7	148.16	-13.57	169	1155.98	0.00	0.00	3.13	0.000	0.000	0.016	3902.59	3863.31	3941.88	1364.94	2486.44	0	0	0	30.00	30.00	15.72
1165	end dive: TARGET_DEPTH_EXCEEDED
state	1165	begin apogee
1166.06	10243	0.00	-0.33	0.00	3902.4	3863.2	3941.6	1364.6	2569.1	150.05	-12.80	171	1280.07	106.21	1.03	0.08	1.076	0.124	0.177	3298.62	3249.00	3348.25	1520.94	2514.88	0	0	0	11.89	15.65	15.34
1282	end apogee: CONTROL_FINISHED_OK
state	1282	begin climb
1281.85	10243	146.63	1.35	0.00	3296.2	3246.6	3345.9	1520.8	2515.1	155.13	0.00	182	1403.13	110.53	2.66	0.00	1.045	0.088	0.000	2699.59	2630.94	2768.25	1930.44	2514.56	0	0	0	11.60	15.31	30.00
1586.76	20611	146.63	1.22	0.00	2690.3	2622.6	2758.0	1929.9	2514.2	117.37	16.84	213	1588.63	0.00	0.35	0.00	0.000	0.178	0.000	2689.41	2622.56	2756.25	1890.44	2514.56	0	0	0	30.00	15.41	30.00
1776.76	16514	146.63	1.13	0.00	2688.9	2621.4	2756.4	1890.4	2514.4	91.75	12.48	232	1778.33	0.00	0.00	0.00	0.000	0.000	0.000	2687.31	2619.50	2755.12	1890.06	2515.00	0	0	0	30.00	30.00	30.00
1967.87	20611	146.63	1.06	0.00	2687.7	2619.6	2755.8	1890.6	2514.9	69.87	11.88	250	1971.20	0.00	0.28	0.00	0.000	0.168	0.000	2688.50	2620.75	2756.25	1850.12	2515.06	0	0	0	30.00	15.59	30.00
2151.83	8354	153.56	1.03	0.00	2687.3	2619.4	2755.2	1850.7	2514.8	50.24	9.68	269	2161.24	5.91	0.00	0.00	0.642	0.000	0.000	2671.03	2603.25	2738.81	1850.12	2514.56	0	0	0	11.69	30.00	30.00
2341.89	8870	183.91	1.03	-80.00	2669.5	2600.4	2738.6	1850.6	2514.9	32.62	8.59	306	2375.04	25.17	0.00	3.48	0.911	0.000	0.080	2546.22	2473.50	2618.94	1850.56	1080.94	0	0	0	11.67	30.00	15.52
2403.49	9382	204.12	1.04	0.00	2544.6	2472.4	2616.7	1850.3	1080.7	27.25	9.06	318	2430.10	17.32	0.00	3.49	0.860	0.000	0.040	2466.69	2389.00	2544.38	1848.31	2564.25	0	0	0	11.71	30.00	15.56
2613.76	10403	277.78	1.16	0.00	2458.2	2379.5	2536.9	1850.5	2564.9	9.39	6.59	360	2671.98	54.65	0.25	0.00	0.907	0.046	0.000	2165.41	2075.31	2255.50	1892.25	2564.88	0	0	0	11.56	15.60	30.00
2821	end climb: NO_VERTICAL_VELOCITY
state	2821	begin surface