Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 16 * 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 16 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 1.4126022 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 11.342372 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 1.4126022 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.342372 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 16 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 260623,085841,4736.272,-12256.694,1,0.8,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,090155,4736.283,-12256.668,2,0.8,5,15.4 MHEAD_RNG_PITCHd_Wd 183.4,638,-17.6,-10.000,-21.21,2209,0.137

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NAV 1687773754,0.1,start _10V_AH 14.93,0.000

NET xmit part outbox0012.n 906 14 FG_AHR_24Vo 11.593

NET_PING 1687772266,29,504.850525,6.500000,-0.672345 FG_AHR_10Vo 1.458

FREEZE 5.29,13.928,-1.533,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3487.11,312.71,1.167,0,501.0,526.2,475.8,698.86 MEM2 945356,29,101152,74

SM_GC 1.21,0.00,12.43,0.05,0.000,0.056,0.212,498.0,522.1,473.8,193.7,2039.8,0,0,0,30.00,15.58,15.57 DATA_FILE_SIZE 12948,464

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 187603,0

IRIDIUM_FIX 4736.87,-12256.21,260623,075340 SDSIZE 3887104,3867680

TCM_TEMP -86.30 SDFILEDIR 171,17

SC_FREEKB 3873664 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 0.047, 43.4,1

HUMID 52.56 MAGCAL 1.000000,0.023431,-0.018655,-0.031230,1.061106,0.000947,-0.019830,-0.055711,0.976843,-199.5,-1263.7,-712.1,28,0.0370,0

TEMP 11.09 IMPLIED_C_PITCH 1764,13.10,220,0.0,0.00

INTERNAL_PRESSURE 7.99211 IMPLIED_C_VBD 3296,16.686913,220,0

_24V_AH 14.89,12.186 GPS 260623,100331,4735.975,-12256.761,29,0.7,30,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 802 1348 16109.97 nil 0 0 0.00

Pitch_motor 25 263 101.98 nil 0 0 0.00

Roll_motor 58 321 280.93 nil 0 0 0.00

Iridium 126 161 303.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 2138 5 163.45 SciCon 3148 6 304.09

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1290 0 6.17

Compass 983 5 73.39

RAFOS 1683 40 1005.65

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

7.00 16386 -146.63 -1.44 0.00 495.2 517.8 472.6 191.3 2010.8 0.00 0.00 0 57.57 45.76 0.00 0.00 0.005 0.000 0.000 1849.09 1868.38 1829.81 192.00 2011.06 0 0 0 15.91 30.00 30.00

58.10 18727 -146.63 -1.44 80.00 1849.4 1869.7 1829.1 191.6 2011.0 3.08 -3.04 7 145.02 57.12 7.90 3.69 0.005 0.263 0.136 3949.06 3953.69 3944.44 1253.31 3491.88 0 0 0 15.93 15.79 15.86

273.76 3205 -146.63 -1.24 0.00 3950.7 3957.1 3944.3 1253.0 3492.4 35.30 -19.14 48 282.26 0.00 0.32 3.50 0.000 0.193 0.078 3950.41 3956.06 3944.75 1303.50 2009.56 0 0 0 30.00 15.89 15.92

464.10 388 -146.63 -1.14 80.00 3952.0 3958.7 3945.3 1303.6 2009.2 62.08 -13.44 75 476.44 0.00 0.00 3.77 0.000 0.000 0.133 3951.38 3958.31 3944.44 1303.31 3489.75 0 0 0 30.00 30.00 15.42

555.31 3205 -146.63 -1.01 0.00 3951.8 3958.6 3945.0 1303.2 3488.9 75.80 -15.37 93 564.53 0.00 0.36 3.51 0.000 0.173 0.078 3951.91 3958.31 3945.50 1359.12 2007.94 0 0 0 30.00 15.82 15.85

750.33 388 -146.63 -0.97 80.00 3951.8 3958.9 3944.8 1359.2 2008.1 98.75 -11.23 113 759.23 0.00 0.00 3.73 0.000 0.000 0.136 3951.41 3958.06 3944.75 1359.44 3490.56 0 0 0 30.00 30.00 15.91

852.41 1156 -146.63 -0.90 0.00 3951.8 3958.5 3945.2 1359.4 3490.1 111.81 -13.07 133 860.49 0.00 0.00 3.54 0.000 0.000 0.079 3952.38 3959.69 3945.06 1359.19 2009.31 0 0 0 30.00 30.00 15.94

1048.12 2437 -146.63 -0.86 80.00 3952.7 3960.9 3944.5 1359.4 2009.4 133.61 -11.04 153 1057.38 0.00 0.20 3.71 0.000 0.174 0.138 3952.94 3960.62 3945.25 1393.50 3489.94 0 0 0 30.00 15.96 15.97

1120.47 1156 -146.63 -0.83 0.00 3952.6 3960.8 3944.4 1392.6 3490.0 141.68 -10.94 167 1128.63 0.00 0.00 3.51 0.000 0.000 0.081 3953.19 3961.25 3945.12 1392.69 2009.12 0 0 0 30.00 30.00 15.99

1212 end dive: TARGET_DEPTH_EXCEEDED

state 1212 begin apogee

1214.04 10243 0.00 -0.36 0.00 3953.0 3961.1 3945.0 1393.2 2038.8 150.22 -9.80 176 1344.44 116.06 0.80 0.06 1.348 0.134 0.321 3348.88 3388.00 3309.75 1517.06 2011.75 0 0 0 11.95 15.97 15.55

1345 end apogee: CONTROL_FINISHED_OK

state 1345 begin climb

1345.96 10759 146.63 1.44 -80.00 3347.8 3386.9 3308.6 1517.1 2010.6 157.43 0.00 188 1494.10 121.02 2.81 4.03 1.310 0.110 0.187 2750.69 2800.31 2701.06 1950.88 562.12 0 0 0 11.85 15.58 15.37

1543.54 9382 181.20 1.53 0.00 2746.4 2792.4 2700.4 1950.5 562.3 147.33 8.40 223 1585.70 30.35 0.00 3.62 1.250 0.000 0.076 2607.84 2660.00 2555.69 1950.88 2040.56 0 0 0 11.97 30.00 15.61

1769.64 10663 229.69 1.68 80.00 2605.2 2655.3 2555.2 1950.5 2040.2 129.62 7.75 249 1826.73 40.90 0.34 3.74 1.272 0.066 0.149 2413.28 2473.62 2352.94 2023.88 3488.25 0 0 0 11.87 15.81 15.63

1905.65 1156 229.69 1.71 0.00 2408.7 2467.6 2349.8 2023.9 3487.8 114.42 11.95 275 1914.68 0.00 0.00 3.61 0.000 0.000 0.082 2407.34 2465.69 2349.00 2023.88 2011.00 0 0 0 30.00 30.00 15.75

2100.66 388 229.69 1.77 80.00 2407.7 2466.9 2348.4 2023.5 2011.2 93.15 10.73 295 2113.86 0.00 0.00 3.75 0.000 0.000 0.142 2404.38 2463.94 2344.81 2024.06 3490.56 0 0 0 30.00 30.00 15.76

2158.83 1156 229.69 1.81 0.00 2407.1 2466.8 2347.4 2024.1 3489.7 86.37 11.69 305 2171.41 0.00 0.00 3.56 0.000 0.000 0.081 2408.91 2469.38 2348.44 2024.12 2010.75 0 0 0 30.00 30.00 15.85

2358.95 10403 238.97 1.89 0.00 2406.8 2466.4 2347.1 2024.9 2010.1 66.68 9.57 326 2372.36 9.94 0.20 0.00 1.091 0.078 0.000 2374.47 2433.19 2315.75 2073.19 2009.88 0 0 0 12.19 15.99 30.00

2557.69 388 238.97 1.93 80.00 2373.7 2433.8 2313.6 2073.6 2010.5 44.22 11.10 350 2566.67 0.00 0.00 3.72 0.000 0.000 0.144 2372.12 2432.44 2311.81 2073.69 3490.25 0 0 0 30.00 30.00 15.96

2680.40 1028 238.97 1.93 0.00 2373.0 2432.4 2313.5 2073.7 3490.4 29.25 11.92 374 2691.18 0.00 0.00 3.52 0.000 0.000 0.081 2372.78 2432.19 2313.38 2073.62 2011.00 0 0 0 30.00 30.00 15.99

2875.12 8354 265.71 2.01 0.00 2372.7 2432.6 2312.8 2073.9 2011.1 10.20 8.76 412 2906.63 25.83 0.00 0.00 1.197 0.000 0.000 2263.75 2325.25 2202.25 2073.25 2011.19 0 0 0 12.11 30.00 30.00

3092.50 10663 476.85 2.39 80.00 2261.4 2323.2 2199.6 2073.9 2010.8 5.76 0.22 455 3141.58 42.83 0.63 0.00 1.205 0.056 0.000 2072.22 2138.44 2006.00 2193.50 2010.94 0 0 0 12.09 16.02 30.00

3142 end climb: NO_VERTICAL_VELOCITY

state 3142 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	16	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	1.4126022	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	11.342372	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	260623,085841,4736.272,-12256.694,1,0.8,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,090155,4736.283,-12256.668,2,0.8,5,15.4	MHEAD_RNG_PITCHd_Wd	183.4,638,-17.6,-10.000,-21.21,2209,0.137
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000307

NAV	1687773754,0.1,start	_10V_AH	14.93,0.000
NET	xmit part outbox0012.n 906 14	FG_AHR_24Vo	11.593
NET_PING	1687772266,29,504.850525,6.500000,-0.672345	FG_AHR_10Vo	1.458
FREEZE	5.29,13.928,-1.533,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3487.11,312.71,1.167,0,501.0,526.2,475.8,698.86	MEM2	945356,29,101152,74
SM_GC	1.21,0.00,12.43,0.05,0.000,0.056,0.212,498.0,522.1,473.8,193.7,2039.8,0,0,0,30.00,15.58,15.57	DATA_FILE_SIZE	12948,464
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	187603,0
IRIDIUM_FIX	4736.87,-12256.21,260623,075340	SDSIZE	3887104,3867680
TCM_TEMP	-86.30	SDFILEDIR	171,17
SC_FREEKB	3873664	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	0.047, 43.4,1
HUMID	52.56	MAGCAL	1.000000,0.023431,-0.018655,-0.031230,1.061106,0.000947,-0.019830,-0.055711,0.976843,-199.5,-1263.7,-712.1,28,0.0370,0
TEMP	11.09	IMPLIED_C_PITCH	1764,13.10,220,0.0,0.00
INTERNAL_PRESSURE	7.99211	IMPLIED_C_VBD	3296,16.686913,220,0
_24V_AH	14.89,12.186	GPS	260623,100331,4735.975,-12256.761,29,0.7,30,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	802	1348	16109.97	nil	0	0	0.00
Pitch_motor	25	263	101.98	nil	0	0	0.00
Roll_motor	58	321	280.93	nil	0	0	0.00
Iridium	126	161	303.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	2138	5	163.45	SciCon	3148	6	304.09
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1290	0	6.17
Compass	983	5	73.39
RAFOS	1683	40	1005.65
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
7.00	16386	-146.63	-1.44	0.00	495.2	517.8	472.6	191.3	2010.8	0.00	0.00	0	57.57	45.76	0.00	0.00	0.005	0.000	0.000	1849.09	1868.38	1829.81	192.00	2011.06	0	0	0	15.91	30.00	30.00
58.10	18727	-146.63	-1.44	80.00	1849.4	1869.7	1829.1	191.6	2011.0	3.08	-3.04	7	145.02	57.12	7.90	3.69	0.005	0.263	0.136	3949.06	3953.69	3944.44	1253.31	3491.88	0	0	0	15.93	15.79	15.86
273.76	3205	-146.63	-1.24	0.00	3950.7	3957.1	3944.3	1253.0	3492.4	35.30	-19.14	48	282.26	0.00	0.32	3.50	0.000	0.193	0.078	3950.41	3956.06	3944.75	1303.50	2009.56	0	0	0	30.00	15.89	15.92
464.10	388	-146.63	-1.14	80.00	3952.0	3958.7	3945.3	1303.6	2009.2	62.08	-13.44	75	476.44	0.00	0.00	3.77	0.000	0.000	0.133	3951.38	3958.31	3944.44	1303.31	3489.75	0	0	0	30.00	30.00	15.42
555.31	3205	-146.63	-1.01	0.00	3951.8	3958.6	3945.0	1303.2	3488.9	75.80	-15.37	93	564.53	0.00	0.36	3.51	0.000	0.173	0.078	3951.91	3958.31	3945.50	1359.12	2007.94	0	0	0	30.00	15.82	15.85
750.33	388	-146.63	-0.97	80.00	3951.8	3958.9	3944.8	1359.2	2008.1	98.75	-11.23	113	759.23	0.00	0.00	3.73	0.000	0.000	0.136	3951.41	3958.06	3944.75	1359.44	3490.56	0	0	0	30.00	30.00	15.91
852.41	1156	-146.63	-0.90	0.00	3951.8	3958.5	3945.2	1359.4	3490.1	111.81	-13.07	133	860.49	0.00	0.00	3.54	0.000	0.000	0.079	3952.38	3959.69	3945.06	1359.19	2009.31	0	0	0	30.00	30.00	15.94
1048.12	2437	-146.63	-0.86	80.00	3952.7	3960.9	3944.5	1359.4	2009.4	133.61	-11.04	153	1057.38	0.00	0.20	3.71	0.000	0.174	0.138	3952.94	3960.62	3945.25	1393.50	3489.94	0	0	0	30.00	15.96	15.97
1120.47	1156	-146.63	-0.83	0.00	3952.6	3960.8	3944.4	1392.6	3490.0	141.68	-10.94	167	1128.63	0.00	0.00	3.51	0.000	0.000	0.081	3953.19	3961.25	3945.12	1392.69	2009.12	0	0	0	30.00	30.00	15.99
1212	end dive: TARGET_DEPTH_EXCEEDED
state	1212	begin apogee
1214.04	10243	0.00	-0.36	0.00	3953.0	3961.1	3945.0	1393.2	2038.8	150.22	-9.80	176	1344.44	116.06	0.80	0.06	1.348	0.134	0.321	3348.88	3388.00	3309.75	1517.06	2011.75	0	0	0	11.95	15.97	15.55
1345	end apogee: CONTROL_FINISHED_OK
state	1345	begin climb
1345.96	10759	146.63	1.44	-80.00	3347.8	3386.9	3308.6	1517.1	2010.6	157.43	0.00	188	1494.10	121.02	2.81	4.03	1.310	0.110	0.187	2750.69	2800.31	2701.06	1950.88	562.12	0	0	0	11.85	15.58	15.37
1543.54	9382	181.20	1.53	0.00	2746.4	2792.4	2700.4	1950.5	562.3	147.33	8.40	223	1585.70	30.35	0.00	3.62	1.250	0.000	0.076	2607.84	2660.00	2555.69	1950.88	2040.56	0	0	0	11.97	30.00	15.61
1769.64	10663	229.69	1.68	80.00	2605.2	2655.3	2555.2	1950.5	2040.2	129.62	7.75	249	1826.73	40.90	0.34	3.74	1.272	0.066	0.149	2413.28	2473.62	2352.94	2023.88	3488.25	0	0	0	11.87	15.81	15.63
1905.65	1156	229.69	1.71	0.00	2408.7	2467.6	2349.8	2023.9	3487.8	114.42	11.95	275	1914.68	0.00	0.00	3.61	0.000	0.000	0.082	2407.34	2465.69	2349.00	2023.88	2011.00	0	0	0	30.00	30.00	15.75
2100.66	388	229.69	1.77	80.00	2407.7	2466.9	2348.4	2023.5	2011.2	93.15	10.73	295	2113.86	0.00	0.00	3.75	0.000	0.000	0.142	2404.38	2463.94	2344.81	2024.06	3490.56	0	0	0	30.00	30.00	15.76
2158.83	1156	229.69	1.81	0.00	2407.1	2466.8	2347.4	2024.1	3489.7	86.37	11.69	305	2171.41	0.00	0.00	3.56	0.000	0.000	0.081	2408.91	2469.38	2348.44	2024.12	2010.75	0	0	0	30.00	30.00	15.85
2358.95	10403	238.97	1.89	0.00	2406.8	2466.4	2347.1	2024.9	2010.1	66.68	9.57	326	2372.36	9.94	0.20	0.00	1.091	0.078	0.000	2374.47	2433.19	2315.75	2073.19	2009.88	0	0	0	12.19	15.99	30.00
2557.69	388	238.97	1.93	80.00	2373.7	2433.8	2313.6	2073.6	2010.5	44.22	11.10	350	2566.67	0.00	0.00	3.72	0.000	0.000	0.144	2372.12	2432.44	2311.81	2073.69	3490.25	0	0	0	30.00	30.00	15.96
2680.40	1028	238.97	1.93	0.00	2373.0	2432.4	2313.5	2073.7	3490.4	29.25	11.92	374	2691.18	0.00	0.00	3.52	0.000	0.000	0.081	2372.78	2432.19	2313.38	2073.62	2011.00	0	0	0	30.00	30.00	15.99
2875.12	8354	265.71	2.01	0.00	2372.7	2432.6	2312.8	2073.9	2011.1	10.20	8.76	412	2906.63	25.83	0.00	0.00	1.197	0.000	0.000	2263.75	2325.25	2202.25	2073.25	2011.19	0	0	0	12.11	30.00	30.00
3092.50	10663	476.85	2.39	80.00	2261.4	2323.2	2199.6	2073.9	2010.8	5.76	0.22	455	3141.58	42.83	0.63	0.00	1.205	0.056	0.000	2072.22	2138.44	2006.00	2193.50	2010.94	0	0	0	12.09	16.02	30.00
3142	end climb: NO_VERTICAL_VELOCITY
state	3142	begin surface