Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 252 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 14 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 30 SM_CC 699.10498 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 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 3350 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 10000 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 210 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3615 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 14 FG_AHR_10V 1.3150016 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 10.82971 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 -179.75725 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00022626969 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72278 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 275 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3885 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 2025 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 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 30 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 1.3150016 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.82971 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_ADJ_DBAND 2 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 14 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 10000 HEADING -1 PITCH_MAX 3615 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 210 T_BOOST 0

COMM_SEQ 7 ID 252 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 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 0.00022626969 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -179.75725 T_RSLEEP 3

C_ROLL_CLIMB 2025 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2025 LOGGERS 7 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 3350 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 72278 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 3885 VBD_TIMEOUT 720

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 14 MOTHERBOARD 6 ROLL_MIN 275 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 260623,064721,4736.091,-12256.442,0,1.1,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,065034,4736.094,-12256.428,2,1.1,5,15.4 MHEAD_RNG_PITCHd_Wd 333.7,808,-17.6,-10.000,-21.21,2209,0.145

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME N IRON 1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NAV 1687765906,0.2,0,stop _10V_AH 14.98,0.000

NET xmit ok outbox0010.n 912 15 FG_AHR_24Vo 11.081

NET_PING 1687765061,29,580.505981,10.900000,-0.773130 FG_AHR_10Vo 1.366

FREEZE 4.62,14.082,-1.522,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3520.44,293.79,1.158,0,500.8,526.4,475.1,698.92 MEM2 945440,26,101128,74

SM_GC 1.54,0.00,12.49,0.06,0.000,0.060,0.203,498.1,522.9,473.2,190.4,2040.1,0,0,0,30.00,15.58,15.55 DATA_FILE_SIZE 12936,483

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 191311,0

IRIDIUM_FIX 4735.53,-12254.47,260623,054635 SDSIZE 3887104,3868352

TCM_TEMP -86.25 SDFILEDIR 154,15

SC_FREEKB 3874304 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

RAFOS_FIX 4736.460938,-12257.000000,260623,020200,2,510,0.36 CURRENT 0.049, 84.0,1

HUMID 52.60 MAGCAL 1.000000,0.019070,-0.039812,-0.008749,1.101850,-0.038697,-0.154284,-0.184121,1.190651,-209.1,-1226.5,-883.1,34,0.0560,0

TEMP 11.29 IMPLIED_C_PITCH 1758,13.44,223,0.0,0.00

INTERNAL_PRESSURE 8.00341 IMPLIED_C_VBD 3301,16.993811,223,0

_24V_AH 14.91,11.629 GPS 260623,075232,4736.473,-12256.383,26,1.1,27,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 805 1345 16146.83 nil 0 0 0.00

Pitch_motor 26 265 102.97 nil 0 0 0.00

Roll_motor 66 312 309.08 nil 0 0 0.00

Iridium 124 158 295.16 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.28 nil 0 0 0.00

Core 2221 5 170.38 SciCon 3201 6 306.69

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1259 0 6.04

Compass 1015 5 76.07

RAFOS 2159 40 1293.90

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.99 16386 -146.63 -1.44 0.00 495.4 516.9 473.9 193.2 2012.2 0.00 0.00 0 72.79 59.80 0.00 0.00 0.005 0.000 0.000 2209.31 2224.25 2194.38 192.75 2012.19 0 0 0 15.93 30.00 30.00

73.32 18983 -146.63 -1.44 -80.00 2209.6 2225.7 2193.4 192.9 2012.4 3.30 -3.40 12 148.08 45.58 7.84 3.80 0.005 0.265 0.171 3949.06 3953.50 3944.62 1252.06 559.94 0 0 0 15.17 15.81 15.87

336.84 3205 -146.63 -1.24 0.00 3949.8 3954.9 3944.8 1252.2 559.9 45.74 -17.84 62 345.35 0.00 0.33 3.55 0.000 0.199 0.077 3950.38 3956.12 3944.62 1301.62 2036.81 0 0 0 30.00 15.93 15.97

532.62 388 -146.63 -1.14 80.00 3951.2 3957.9 3944.6 1301.4 2036.7 72.35 -13.14 84 541.43 0.00 0.00 3.67 0.000 0.000 0.144 3951.22 3957.31 3945.12 1301.75 3489.38 0 0 0 30.00 30.00 15.98

684.53 3205 -146.63 -1.01 0.00 3951.2 3957.8 3944.5 1301.8 3489.4 95.76 -15.48 114 693.18 0.00 0.34 3.51 0.000 0.171 0.079 3951.31 3958.56 3944.06 1357.44 2010.19 0 0 0 30.00 15.99 16.01

880.32 388 -146.63 -0.97 80.00 3951.9 3959.4 3944.4 1356.8 2010.3 117.11 -10.58 134 889.21 0.00 0.00 3.72 0.000 0.000 0.137 3951.72 3959.38 3944.06 1358.06 3489.75 0 0 0 30.00 30.00 16.02

962.28 1156 -146.63 -0.90 0.00 3951.9 3959.2 3944.7 1357.8 3489.9 126.98 -12.40 150 970.44 0.00 0.00 3.52 0.000 0.000 0.080 3952.09 3959.06 3945.12 1357.94 2009.44 0 0 0 30.00 30.00 16.03

1158.07 2437 -146.63 -0.87 80.00 3952.7 3961.0 3944.4 1357.7 2010.1 148.50 -11.08 170 1167.33 0.00 0.22 3.76 0.000 0.172 0.137 3952.09 3960.00 3944.19 1391.75 3490.06 0 0 0 30.00 15.87 15.89

1176 end dive: TARGET_DEPTH_EXCEEDED

state 1176 begin apogee

1184.11 10243 0.00 -0.36 0.00 3952.7 3960.8 3944.6 1391.7 2009.2 150.47 -11.03 173 1314.36 116.02 0.80 0.05 1.345 0.141 0.313 3349.19 3388.81 3309.56 1516.50 2037.94 0 0 0 11.93 15.89 15.53

1315 end apogee: CONTROL_FINISHED_OK

state 1315 begin climb

1315.85 10759 146.63 1.44 -80.00 3348.0 3387.2 3308.8 1516.4 2038.0 157.98 0.00 185 1464.69 121.94 2.81 4.10 1.305 0.111 0.187 2748.12 2797.56 2698.69 1950.56 561.25 0 0 0 11.87 15.56 15.37

1557.94 9382 164.73 1.50 0.00 2745.6 2790.6 2700.6 1950.5 561.1 144.16 9.16 229 1587.60 16.67 0.00 3.62 1.192 0.000 0.078 2676.50 2723.12 2629.88 1951.31 2039.25 0 0 0 11.90 30.00 15.66

1773.72 10663 209.03 1.64 80.00 2673.9 2722.2 2625.7 1951.4 2038.6 127.19 7.95 253 1824.95 37.78 0.28 3.75 1.268 0.072 0.148 2494.69 2549.50 2439.88 2012.38 3489.06 0 0 0 12.06 15.80 15.64

1926.63 1156 209.03 1.68 0.00 2493.2 2548.3 2438.2 2012.5 3488.7 110.39 11.42 282 1935.57 0.00 0.00 3.62 0.000 0.000 0.081 2492.69 2546.88 2438.50 2012.56 2009.75 0 0 0 30.00 30.00 15.73

2122.41 388 209.03 1.74 80.00 2491.4 2547.4 2435.4 2012.4 2009.4 90.39 10.35 302 2131.52 0.00 0.00 3.79 0.000 0.000 0.144 2489.81 2545.19 2434.44 2013.12 3489.69 0 0 0 30.00 30.00 15.83

2191.43 1156 209.03 1.78 0.00 2490.8 2546.1 2435.6 2012.9 3489.4 82.96 10.71 315 2200.32 0.00 0.00 3.55 0.000 0.000 0.081 2493.88 2549.38 2438.38 2013.00 2007.88 0 0 0 30.00 30.00 15.89

2386.54 10663 227.04 1.87 80.00 2490.3 2545.7 2435.0 2013.1 2007.9 65.08 9.17 335 2415.87 18.19 0.23 3.76 1.191 0.071 0.144 2422.25 2479.31 2365.19 2067.19 3489.44 0 0 0 12.06 15.98 15.88

2453.82 1028 227.04 1.87 0.00 2422.3 2479.3 2365.3 2066.9 3489.2 57.39 12.20 348 2462.36 0.00 0.00 3.55 0.000 0.000 0.080 2422.72 2480.94 2364.50 2066.94 2008.62 0 0 0 30.00 30.00 15.92

2644.80 388 227.04 1.90 80.00 2421.2 2479.1 2363.4 2066.9 2008.5 36.36 11.03 379 2653.65 0.00 0.00 3.74 0.000 0.000 0.142 2419.25 2476.25 2362.25 2066.62 3490.56 0 0 0 30.00 30.00 15.97

2712.37 1028 227.04 1.90 0.00 2420.6 2478.1 2363.1 2066.9 3490.2 28.11 12.57 392 2721.22 0.00 0.00 3.52 0.000 0.000 0.080 2418.72 2475.38 2362.06 2066.50 2009.25 0 0 0 30.00 30.00 16.00

2902.60 8354 267.40 2.00 0.00 2420.2 2477.7 2362.8 2067.2 2009.2 10.31 8.13 428 2945.28 37.15 0.00 0.00 1.208 0.000 0.000 2259.00 2320.25 2197.75 2066.56 2009.25 0 0 0 12.11 30.00 30.00

3129.30 10403 479.09 2.39 0.00 2253.5 2316.4 2190.6 2066.9 2008.9 4.86 0.20 473 3195.24 58.13 0.70 0.00 1.204 0.056 0.000 1986.75 2056.31 1917.19 2194.94 2009.12 0 0 0 12.01 16.00 30.00

3196 end climb: NO_VERTICAL_VELOCITY

state 3196 begin surface

ID	252	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	14	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	30	SM_CC	699.10498	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	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	3350	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	10000	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	210	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3615	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	14	FG_AHR_10V	1.3150016	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	10.82971	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	-179.75725	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00022626969	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72278	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	275	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3885	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	2025	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	4

GPS1	260623,064721,4736.091,-12256.442,0,1.1,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,065034,4736.094,-12256.428,2,1.1,5,15.4	MHEAD_RNG_PITCHd_Wd	333.7,808,-17.6,-10.000,-21.21,2209,0.145
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	N	IRON	1.000000,0.018357,-0.029010,-0.012713,1.044321,-0.080826,-0.024471,-0.021310,1.001907,-188.967865,-1190.018799,-718.943909
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NAV	1687765906,0.2,0,stop	_10V_AH	14.98,0.000
NET	xmit ok outbox0010.n 912 15	FG_AHR_24Vo	11.081
NET_PING	1687765061,29,580.505981,10.900000,-0.773130	FG_AHR_10Vo	1.366
FREEZE	4.62,14.082,-1.522,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3520.44,293.79,1.158,0,500.8,526.4,475.1,698.92	MEM2	945440,26,101128,74
SM_GC	1.54,0.00,12.49,0.06,0.000,0.060,0.203,498.1,522.9,473.2,190.4,2040.1,0,0,0,30.00,15.58,15.55	DATA_FILE_SIZE	12936,483
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	191311,0
IRIDIUM_FIX	4735.53,-12254.47,260623,054635	SDSIZE	3887104,3868352
TCM_TEMP	-86.25	SDFILEDIR	154,15
SC_FREEKB	3874304	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
RAFOS_FIX	4736.460938,-12257.000000,260623,020200,2,510,0.36	CURRENT	0.049, 84.0,1
HUMID	52.60	MAGCAL	1.000000,0.019070,-0.039812,-0.008749,1.101850,-0.038697,-0.154284,-0.184121,1.190651,-209.1,-1226.5,-883.1,34,0.0560,0
TEMP	11.29	IMPLIED_C_PITCH	1758,13.44,223,0.0,0.00
INTERNAL_PRESSURE	8.00341	IMPLIED_C_VBD	3301,16.993811,223,0
_24V_AH	14.91,11.629	GPS	260623,075232,4736.473,-12256.383,26,1.1,27,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	805	1345	16146.83	nil	0	0	0.00
Pitch_motor	26	265	102.97	nil	0	0	0.00
Roll_motor	66	312	309.08	nil	0	0	0.00
Iridium	124	158	295.16	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.28	nil	0	0	0.00
Core	2221	5	170.38	SciCon	3201	6	306.69
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1259	0	6.04
Compass	1015	5	76.07
RAFOS	2159	40	1293.90
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.99	16386	-146.63	-1.44	0.00	495.4	516.9	473.9	193.2	2012.2	0.00	0.00	0	72.79	59.80	0.00	0.00	0.005	0.000	0.000	2209.31	2224.25	2194.38	192.75	2012.19	0	0	0	15.93	30.00	30.00
73.32	18983	-146.63	-1.44	-80.00	2209.6	2225.7	2193.4	192.9	2012.4	3.30	-3.40	12	148.08	45.58	7.84	3.80	0.005	0.265	0.171	3949.06	3953.50	3944.62	1252.06	559.94	0	0	0	15.17	15.81	15.87
336.84	3205	-146.63	-1.24	0.00	3949.8	3954.9	3944.8	1252.2	559.9	45.74	-17.84	62	345.35	0.00	0.33	3.55	0.000	0.199	0.077	3950.38	3956.12	3944.62	1301.62	2036.81	0	0	0	30.00	15.93	15.97
532.62	388	-146.63	-1.14	80.00	3951.2	3957.9	3944.6	1301.4	2036.7	72.35	-13.14	84	541.43	0.00	0.00	3.67	0.000	0.000	0.144	3951.22	3957.31	3945.12	1301.75	3489.38	0	0	0	30.00	30.00	15.98
684.53	3205	-146.63	-1.01	0.00	3951.2	3957.8	3944.5	1301.8	3489.4	95.76	-15.48	114	693.18	0.00	0.34	3.51	0.000	0.171	0.079	3951.31	3958.56	3944.06	1357.44	2010.19	0	0	0	30.00	15.99	16.01
880.32	388	-146.63	-0.97	80.00	3951.9	3959.4	3944.4	1356.8	2010.3	117.11	-10.58	134	889.21	0.00	0.00	3.72	0.000	0.000	0.137	3951.72	3959.38	3944.06	1358.06	3489.75	0	0	0	30.00	30.00	16.02
962.28	1156	-146.63	-0.90	0.00	3951.9	3959.2	3944.7	1357.8	3489.9	126.98	-12.40	150	970.44	0.00	0.00	3.52	0.000	0.000	0.080	3952.09	3959.06	3945.12	1357.94	2009.44	0	0	0	30.00	30.00	16.03
1158.07	2437	-146.63	-0.87	80.00	3952.7	3961.0	3944.4	1357.7	2010.1	148.50	-11.08	170	1167.33	0.00	0.22	3.76	0.000	0.172	0.137	3952.09	3960.00	3944.19	1391.75	3490.06	0	0	0	30.00	15.87	15.89
1176	end dive: TARGET_DEPTH_EXCEEDED
state	1176	begin apogee
1184.11	10243	0.00	-0.36	0.00	3952.7	3960.8	3944.6	1391.7	2009.2	150.47	-11.03	173	1314.36	116.02	0.80	0.05	1.345	0.141	0.313	3349.19	3388.81	3309.56	1516.50	2037.94	0	0	0	11.93	15.89	15.53
1315	end apogee: CONTROL_FINISHED_OK
state	1315	begin climb
1315.85	10759	146.63	1.44	-80.00	3348.0	3387.2	3308.8	1516.4	2038.0	157.98	0.00	185	1464.69	121.94	2.81	4.10	1.305	0.111	0.187	2748.12	2797.56	2698.69	1950.56	561.25	0	0	0	11.87	15.56	15.37
1557.94	9382	164.73	1.50	0.00	2745.6	2790.6	2700.6	1950.5	561.1	144.16	9.16	229	1587.60	16.67	0.00	3.62	1.192	0.000	0.078	2676.50	2723.12	2629.88	1951.31	2039.25	0	0	0	11.90	30.00	15.66
1773.72	10663	209.03	1.64	80.00	2673.9	2722.2	2625.7	1951.4	2038.6	127.19	7.95	253	1824.95	37.78	0.28	3.75	1.268	0.072	0.148	2494.69	2549.50	2439.88	2012.38	3489.06	0	0	0	12.06	15.80	15.64
1926.63	1156	209.03	1.68	0.00	2493.2	2548.3	2438.2	2012.5	3488.7	110.39	11.42	282	1935.57	0.00	0.00	3.62	0.000	0.000	0.081	2492.69	2546.88	2438.50	2012.56	2009.75	0	0	0	30.00	30.00	15.73
2122.41	388	209.03	1.74	80.00	2491.4	2547.4	2435.4	2012.4	2009.4	90.39	10.35	302	2131.52	0.00	0.00	3.79	0.000	0.000	0.144	2489.81	2545.19	2434.44	2013.12	3489.69	0	0	0	30.00	30.00	15.83
2191.43	1156	209.03	1.78	0.00	2490.8	2546.1	2435.6	2012.9	3489.4	82.96	10.71	315	2200.32	0.00	0.00	3.55	0.000	0.000	0.081	2493.88	2549.38	2438.38	2013.00	2007.88	0	0	0	30.00	30.00	15.89
2386.54	10663	227.04	1.87	80.00	2490.3	2545.7	2435.0	2013.1	2007.9	65.08	9.17	335	2415.87	18.19	0.23	3.76	1.191	0.071	0.144	2422.25	2479.31	2365.19	2067.19	3489.44	0	0	0	12.06	15.98	15.88
2453.82	1028	227.04	1.87	0.00	2422.3	2479.3	2365.3	2066.9	3489.2	57.39	12.20	348	2462.36	0.00	0.00	3.55	0.000	0.000	0.080	2422.72	2480.94	2364.50	2066.94	2008.62	0	0	0	30.00	30.00	15.92
2644.80	388	227.04	1.90	80.00	2421.2	2479.1	2363.4	2066.9	2008.5	36.36	11.03	379	2653.65	0.00	0.00	3.74	0.000	0.000	0.142	2419.25	2476.25	2362.25	2066.62	3490.56	0	0	0	30.00	30.00	15.97
2712.37	1028	227.04	1.90	0.00	2420.6	2478.1	2363.1	2066.9	3490.2	28.11	12.57	392	2721.22	0.00	0.00	3.52	0.000	0.000	0.080	2418.72	2475.38	2362.06	2066.50	2009.25	0	0	0	30.00	30.00	16.00
2902.60	8354	267.40	2.00	0.00	2420.2	2477.7	2362.8	2067.2	2009.2	10.31	8.13	428	2945.28	37.15	0.00	0.00	1.208	0.000	0.000	2259.00	2320.25	2197.75	2066.56	2009.25	0	0	0	12.11	30.00	30.00
3129.30	10403	479.09	2.39	0.00	2253.5	2316.4	2190.6	2066.9	2008.9	4.86	0.20	473	3195.24	58.13	0.70	0.00	1.204	0.056	0.000	1986.75	2056.31	1917.19	2194.94	2009.12	0	0	0	12.01	16.00	30.00
3196	end climb: NO_VERTICAL_VELOCITY
state	3196	begin surface