Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 18 * 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 18 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 1.5060064 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 11.856993 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 1.5060064 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.856993 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 18 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 260623,110744,4736.457,-12256.522,1,0.7,2,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 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 260623,111056,4736.479,-12256.495,2,0.7,5,15.4 MHEAD_RNG_PITCHd_Wd 194.3,1050,-17.6,-10.000,-21.21,2209,0.132

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:

NET xmit part outbox0014.n 930 14 _10V_AH 14.91,0.000

NET_PING 1687780361,29,163.602005,14.200000,-0.216221 FG_AHR_24Vo 12.110

NAV 1687780742,21.6,start FG_AHR_10Vo 1.556

FREEZE 5.94,13.686,-1.542,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3583.20,323.54,1.166,0,501.0,527.1,474.9,698.87 MEM2 945380,29,101128,74

SM_GC 1.38,0.00,12.47,0.06,0.000,0.062,0.205,497.5,522.9,472.1,187.8,2040.5,0,0,0,30.00,15.55,15.55 DATA_FILE_SIZE 12925,473

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 192995,0

IRIDIUM_FIX 4736.40,-12251.79,260623,100439 SDSIZE 3887104,3867008

TCM_TEMP -86.30 SDFILEDIR 188,19

SC_FREEKB 3873024 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 0.068, 26.9,1

HUMID 52.47 IMPLIED_C_PITCH 1755,13.19,228,0.0,0.00

TEMP 11.25 IMPLIED_C_VBD 3282,26.446871,225,0

INTERNAL_PRESSURE 7.99956 GPS 260623,121331,4736.288,-12256.754,1,1.8,4,15.4

_24V_AH 14.88,12.741

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 807 1350 16234.40 nil 0 0 0.00

Pitch_motor 25 262 101.40 nil 0 0 0.00

Roll_motor 65 311 305.75 nil 0 0 0.00

Iridium 124 153 283.32 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.19 nil 0 0 0.00

Core 2188 5 167.05 SciCon 3231 6 313.95

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1322 0 6.31

Compass 1003 5 74.81

RAFOS 1367 40 815.74

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

6.75 16386 -146.63 -1.44 0.00 495.2 517.1 473.4 192.0 2012.2 0.00 0.00 0 61.74 49.78 0.00 0.00 0.005 0.000 0.000 1955.84 1974.12 1937.56 191.75 2012.81 0 0 0 15.90 30.00 30.00

62.27 18983 -146.63 -1.44 -80.00 1956.4 1976.0 1936.9 191.6 2011.6 3.10 -3.81 10 140.74 50.92 7.85 3.87 0.005 0.263 0.172 3948.69 3953.19 3944.19 1252.25 558.75 0 0 0 15.92 15.78 15.83

144.47 3205 -146.63 -1.22 0.00 3949.6 3954.4 3944.8 1252.4 558.4 12.15 -14.80 24 153.00 0.00 0.36 3.52 0.000 0.200 0.075 3951.00 3955.88 3946.12 1306.44 2035.94 0 0 0 30.00 15.82 15.87

336.71 2437 -146.63 -1.11 80.00 3951.6 3958.1 3945.1 1306.5 2035.9 39.13 -13.21 62 345.54 0.00 0.17 3.66 0.000 0.197 0.141 3898.00 3851.31 3944.69 1332.94 3489.75 0 0 0 30.00 15.90 15.91

478.66 1156 -146.63 -1.00 0.00 3951.6 3958.6 3944.6 1334.2 3489.8 59.29 -14.00 90 486.87 0.00 0.00 3.54 0.000 0.000 0.080 3952.06 3958.94 3945.19 1334.00 2009.94 0 0 0 30.00 30.00 15.95

670.11 2437 -146.63 -0.94 80.00 3952.0 3958.9 3945.1 1333.7 2009.6 82.43 -12.45 109 681.63 0.00 0.26 3.73 0.000 0.168 0.136 3952.03 3958.94 3945.12 1376.56 3488.50 0 0 0 30.00 15.94 15.26

749.72 1156 -146.63 -0.88 0.00 3952.4 3959.7 3945.1 1376.4 3489.5 92.91 -12.25 124 757.90 0.00 0.00 3.53 0.000 0.000 0.080 3952.69 3959.69 3945.69 1376.38 2007.38 0 0 0 30.00 30.00 15.95

946.32 292 -146.63 -0.88 80.00 3952.8 3960.9 3944.8 1376.6 2007.4 113.12 -9.97 144 957.62 0.00 0.00 3.71 0.000 0.000 0.138 3952.75 3961.38 3944.12 1376.56 3490.38 0 0 0 30.00 30.00 15.98

1080.80 1156 -146.63 -0.83 0.00 3952.9 3961.4 3944.5 1376.8 3490.7 128.80 -11.98 171 1088.88 0.00 0.00 3.51 0.000 0.000 0.081 3941.09 3937.31 3944.88 1376.31 2008.38 0 0 0 30.00 30.00 16.03

1276.34 260 -146.63 -0.83 80.00 3953.5 3962.0 3945.0 1376.4 2008.5 149.16 -10.42 191 1285.30 0.00 0.00 3.69 0.000 0.000 0.138 3952.94 3961.50 3944.38 1376.94 3490.31 0 0 0 30.00 30.00 16.06

1288 end dive: TARGET_DEPTH_EXCEEDED

state 1288 begin apogee

1296.47 10243 0.00 -0.36 0.00 3953.5 3962.0 3945.0 1376.7 2009.5 150.54 -10.59 193 1425.85 115.68 0.90 0.05 1.351 0.145 0.311 3349.72 3389.00 3310.44 1516.38 2039.44 0 0 0 12.01 16.03 15.63

1427 end apogee: CONTROL_FINISHED_OK

state 1427 begin climb

1427.37 10759 146.63 1.44 -80.00 3348.8 3388.1 3309.4 1516.7 2039.4 157.55 0.00 205 1576.33 122.38 2.79 4.11 1.309 0.111 0.188 2750.81 2800.62 2701.00 1951.31 562.50 0 0 0 11.80 15.65 15.41

1636.00 11431 182.31 1.67 0.00 2746.3 2792.2 2700.4 1951.4 562.2 146.15 8.35 241 1682.47 31.92 0.32 3.61 1.250 0.068 0.077 2604.62 2654.44 2554.81 2023.44 2040.75 0 0 0 11.72 15.57 15.57

1866.29 388 182.31 1.71 80.00 2601.1 2651.4 2550.8 2022.8 2040.3 123.73 10.44 268 1875.42 0.00 0.00 3.72 0.000 0.000 0.146 2600.81 2652.44 2549.19 2022.81 3489.62 0 0 0 30.00 30.00 15.71

1934.16 1028 182.31 1.71 0.00 2600.4 2650.6 2550.3 2023.3 3490.2 115.71 12.02 281 1943.27 0.00 0.00 3.57 0.000 0.000 0.082 2602.03 2652.69 2551.38 2022.69 2009.56 0 0 0 30.00 30.00 15.78

2133.55 8614 190.18 1.76 80.00 2599.9 2650.5 2549.4 2023.6 2010.0 95.37 9.64 301 2154.53 8.07 0.00 3.76 1.038 0.000 0.141 2572.41 2621.44 2523.38 2023.44 3489.12 0 0 0 12.12 30.00 15.83

2198.26 1028 190.18 1.76 0.00 2573.1 2622.6 2523.6 2023.1 3489.9 88.55 10.92 313 2207.37 0.00 0.00 3.54 0.000 0.000 0.081 2570.91 2621.62 2520.19 2022.94 2009.62 0 0 0 30.00 30.00 15.89

2393.56 8354 206.69 1.83 0.00 2572.3 2622.7 2521.9 2024.0 2010.1 70.32 9.24 333 2414.37 18.02 0.00 0.00 1.194 0.000 0.000 2503.00 2556.25 2449.75 2023.62 2010.06 0 0 0 12.02 30.00 30.00

2602.57 10663 228.88 1.91 80.00 2504.1 2558.2 2449.9 2023.4 2009.9 51.03 8.97 354 2638.21 23.06 0.24 3.74 1.201 0.074 0.142 2383.59 2408.94 2358.25 2076.12 3488.19 0 0 0 12.10 15.98 15.86

2771.96 1028 228.88 1.91 0.00 2413.8 2470.8 2356.8 2077.9 3487.9 30.74 12.44 387 2780.84 0.00 0.00 3.52 0.000 0.000 0.082 2411.84 2468.19 2355.50 2078.19 2009.81 0 0 0 30.00 30.00 15.94

2966.55 8354 256.79 1.99 0.00 2412.4 2470.1 2354.8 2078.4 2009.2 10.94 8.71 422 2998.16 26.47 0.00 0.00 1.187 0.000 0.000 2302.25 2362.25 2242.25 2078.06 2009.44 0 0 0 11.98 30.00 30.00

3182.10 10663 472.05 2.36 80.00 2297.8 2359.5 2236.2 2078.3 2009.8 6.36 0.03 465 3225.63 37.85 0.57 0.00 1.195 0.057 0.000 2131.78 2196.19 2067.38 2187.44 2009.88 0 0 0 12.05 15.96 30.00

3226 end climb: NO_VERTICAL_VELOCITY

state 3226 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	18	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	1.5060064	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	11.856993	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	260623,110744,4736.457,-12256.522,1,0.7,2,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	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	260623,111056,4736.479,-12256.495,2,0.7,5,15.4	MHEAD_RNG_PITCHd_Wd	194.3,1050,-17.6,-10.000,-21.21,2209,0.132
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

NET	xmit part outbox0014.n 930 14	_10V_AH	14.91,0.000
NET_PING	1687780361,29,163.602005,14.200000,-0.216221	FG_AHR_24Vo	12.110
NAV	1687780742,21.6,start	FG_AHR_10Vo	1.556
FREEZE	5.94,13.686,-1.542,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3583.20,323.54,1.166,0,501.0,527.1,474.9,698.87	MEM2	945380,29,101128,74
SM_GC	1.38,0.00,12.47,0.06,0.000,0.062,0.205,497.5,522.9,472.1,187.8,2040.5,0,0,0,30.00,15.55,15.55	DATA_FILE_SIZE	12925,473
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	192995,0
IRIDIUM_FIX	4736.40,-12251.79,260623,100439	SDSIZE	3887104,3867008
TCM_TEMP	-86.30	SDFILEDIR	188,19
SC_FREEKB	3873024	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	0.068, 26.9,1
HUMID	52.47	IMPLIED_C_PITCH	1755,13.19,228,0.0,0.00
TEMP	11.25	IMPLIED_C_VBD	3282,26.446871,225,0
INTERNAL_PRESSURE	7.99956	GPS	260623,121331,4736.288,-12256.754,1,1.8,4,15.4
_24V_AH	14.88,12.741

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	807	1350	16234.40	nil	0	0	0.00
Pitch_motor	25	262	101.40	nil	0	0	0.00
Roll_motor	65	311	305.75	nil	0	0	0.00
Iridium	124	153	283.32	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.19	nil	0	0	0.00
Core	2188	5	167.05	SciCon	3231	6	313.95
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1322	0	6.31
Compass	1003	5	74.81
RAFOS	1367	40	815.74
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
6.75	16386	-146.63	-1.44	0.00	495.2	517.1	473.4	192.0	2012.2	0.00	0.00	0	61.74	49.78	0.00	0.00	0.005	0.000	0.000	1955.84	1974.12	1937.56	191.75	2012.81	0	0	0	15.90	30.00	30.00
62.27	18983	-146.63	-1.44	-80.00	1956.4	1976.0	1936.9	191.6	2011.6	3.10	-3.81	10	140.74	50.92	7.85	3.87	0.005	0.263	0.172	3948.69	3953.19	3944.19	1252.25	558.75	0	0	0	15.92	15.78	15.83
144.47	3205	-146.63	-1.22	0.00	3949.6	3954.4	3944.8	1252.4	558.4	12.15	-14.80	24	153.00	0.00	0.36	3.52	0.000	0.200	0.075	3951.00	3955.88	3946.12	1306.44	2035.94	0	0	0	30.00	15.82	15.87
336.71	2437	-146.63	-1.11	80.00	3951.6	3958.1	3945.1	1306.5	2035.9	39.13	-13.21	62	345.54	0.00	0.17	3.66	0.000	0.197	0.141	3898.00	3851.31	3944.69	1332.94	3489.75	0	0	0	30.00	15.90	15.91
478.66	1156	-146.63	-1.00	0.00	3951.6	3958.6	3944.6	1334.2	3489.8	59.29	-14.00	90	486.87	0.00	0.00	3.54	0.000	0.000	0.080	3952.06	3958.94	3945.19	1334.00	2009.94	0	0	0	30.00	30.00	15.95
670.11	2437	-146.63	-0.94	80.00	3952.0	3958.9	3945.1	1333.7	2009.6	82.43	-12.45	109	681.63	0.00	0.26	3.73	0.000	0.168	0.136	3952.03	3958.94	3945.12	1376.56	3488.50	0	0	0	30.00	15.94	15.26
749.72	1156	-146.63	-0.88	0.00	3952.4	3959.7	3945.1	1376.4	3489.5	92.91	-12.25	124	757.90	0.00	0.00	3.53	0.000	0.000	0.080	3952.69	3959.69	3945.69	1376.38	2007.38	0	0	0	30.00	30.00	15.95
946.32	292	-146.63	-0.88	80.00	3952.8	3960.9	3944.8	1376.6	2007.4	113.12	-9.97	144	957.62	0.00	0.00	3.71	0.000	0.000	0.138	3952.75	3961.38	3944.12	1376.56	3490.38	0	0	0	30.00	30.00	15.98
1080.80	1156	-146.63	-0.83	0.00	3952.9	3961.4	3944.5	1376.8	3490.7	128.80	-11.98	171	1088.88	0.00	0.00	3.51	0.000	0.000	0.081	3941.09	3937.31	3944.88	1376.31	2008.38	0	0	0	30.00	30.00	16.03
1276.34	260	-146.63	-0.83	80.00	3953.5	3962.0	3945.0	1376.4	2008.5	149.16	-10.42	191	1285.30	0.00	0.00	3.69	0.000	0.000	0.138	3952.94	3961.50	3944.38	1376.94	3490.31	0	0	0	30.00	30.00	16.06
1288	end dive: TARGET_DEPTH_EXCEEDED
state	1288	begin apogee
1296.47	10243	0.00	-0.36	0.00	3953.5	3962.0	3945.0	1376.7	2009.5	150.54	-10.59	193	1425.85	115.68	0.90	0.05	1.351	0.145	0.311	3349.72	3389.00	3310.44	1516.38	2039.44	0	0	0	12.01	16.03	15.63
1427	end apogee: CONTROL_FINISHED_OK
state	1427	begin climb
1427.37	10759	146.63	1.44	-80.00	3348.8	3388.1	3309.4	1516.7	2039.4	157.55	0.00	205	1576.33	122.38	2.79	4.11	1.309	0.111	0.188	2750.81	2800.62	2701.00	1951.31	562.50	0	0	0	11.80	15.65	15.41
1636.00	11431	182.31	1.67	0.00	2746.3	2792.2	2700.4	1951.4	562.2	146.15	8.35	241	1682.47	31.92	0.32	3.61	1.250	0.068	0.077	2604.62	2654.44	2554.81	2023.44	2040.75	0	0	0	11.72	15.57	15.57
1866.29	388	182.31	1.71	80.00	2601.1	2651.4	2550.8	2022.8	2040.3	123.73	10.44	268	1875.42	0.00	0.00	3.72	0.000	0.000	0.146	2600.81	2652.44	2549.19	2022.81	3489.62	0	0	0	30.00	30.00	15.71
1934.16	1028	182.31	1.71	0.00	2600.4	2650.6	2550.3	2023.3	3490.2	115.71	12.02	281	1943.27	0.00	0.00	3.57	0.000	0.000	0.082	2602.03	2652.69	2551.38	2022.69	2009.56	0	0	0	30.00	30.00	15.78
2133.55	8614	190.18	1.76	80.00	2599.9	2650.5	2549.4	2023.6	2010.0	95.37	9.64	301	2154.53	8.07	0.00	3.76	1.038	0.000	0.141	2572.41	2621.44	2523.38	2023.44	3489.12	0	0	0	12.12	30.00	15.83
2198.26	1028	190.18	1.76	0.00	2573.1	2622.6	2523.6	2023.1	3489.9	88.55	10.92	313	2207.37	0.00	0.00	3.54	0.000	0.000	0.081	2570.91	2621.62	2520.19	2022.94	2009.62	0	0	0	30.00	30.00	15.89
2393.56	8354	206.69	1.83	0.00	2572.3	2622.7	2521.9	2024.0	2010.1	70.32	9.24	333	2414.37	18.02	0.00	0.00	1.194	0.000	0.000	2503.00	2556.25	2449.75	2023.62	2010.06	0	0	0	12.02	30.00	30.00
2602.57	10663	228.88	1.91	80.00	2504.1	2558.2	2449.9	2023.4	2009.9	51.03	8.97	354	2638.21	23.06	0.24	3.74	1.201	0.074	0.142	2383.59	2408.94	2358.25	2076.12	3488.19	0	0	0	12.10	15.98	15.86
2771.96	1028	228.88	1.91	0.00	2413.8	2470.8	2356.8	2077.9	3487.9	30.74	12.44	387	2780.84	0.00	0.00	3.52	0.000	0.000	0.082	2411.84	2468.19	2355.50	2078.19	2009.81	0	0	0	30.00	30.00	15.94
2966.55	8354	256.79	1.99	0.00	2412.4	2470.1	2354.8	2078.4	2009.2	10.94	8.71	422	2998.16	26.47	0.00	0.00	1.187	0.000	0.000	2302.25	2362.25	2242.25	2078.06	2009.44	0	0	0	11.98	30.00	30.00
3182.10	10663	472.05	2.36	80.00	2297.8	2359.5	2236.2	2078.3	2009.8	6.36	0.03	465	3225.63	37.85	0.57	0.00	1.195	0.057	0.000	2131.78	2196.19	2067.38	2187.44	2009.88	0	0	0	12.05	15.96	30.00
3226	end climb: NO_VERTICAL_VELOCITY
state	3226	begin surface