Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 244 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 5 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 20 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 30 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 2.3

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 360 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 1

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 2 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 1500 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 2.5344093 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 12.239439 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 0.0049999999 PRESSURE_YINT -192.53183 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00022440785 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72540 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 230 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3835 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 2300 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2185 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 2.5344093 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 12.239439 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 0.0049999999 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 244 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 2.3 PITCH_W_DBAND 0 T_GPS 5

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1500 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022440785 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -192.53183 T_RSLEEP 2

C_ROLL_CLIMB 2185 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2300 LOGGERS 1 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 72540 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 3835 VBD_TIMEOUT 360

DEVICE6 -1 MISSION 5 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 20 MOTHERBOARD 6 ROLL_MIN 230 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 260623,110559,4736.592,-12256.636,2,1.3,8,15.4 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 -61.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,110923,4736.611,-12256.598,3,1.0,6,15.4 MHEAD_RNG_PITCHd_Wd 177.7,1249,-17.6,-10.000,-21.21,2209,0.143

SPEED_LIMITS 0.173,0.258 D_GRID 167

TGT_NAME S IRON 1.000000,0.018578,-0.010770,-0.007994,1.021638,-0.091232,0.015590,-0.021777,1.023026,647.804810,-303.574219,-314.831451

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0017.n 906 12 _10V_AH 14.89,0.000

NET_PING 1687780061,29,178.302002,12.800000,-0.239510 FG_AHR_24Vo 12.377

NAV 1687780744,6.3,start FG_AHR_10Vo 2.546

FREEZE 6.09,13.429,-1.551,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3331.89,268.08,0.709,0,500.8,443.1,558.5,686.65 MEM2 945500,35,100948,71

SM_GC 1.50,0.00,11.17,0.37,0.000,0.042,0.068,495.7,441.7,549.7,186.3,2320.4,0,0,0,30.00,15.32,15.32 DATA_FILE_SIZE 12918,442

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 164912,0

IRIDIUM_FIX 4736.00,-12258.89,260623,100748 SDSIZE 3887104,3866528

TCM_TEMP 18.29 SDFILEDIR 207,21

SC_FREEKB 3872352 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 4734.876465,-12256.874023,260623,020200,4,255,1.51 CURRENT 0.053, 23.9,1

HUMID 56.60 MAGCAL 1.000000,0.021169,-0.061174,-0.032134,1.041446,-0.075284,0.072375,-0.084996,1.051749,693.8,-296.5,-336.5,26,0.0314,0

TEMP 10.72 IMPLIED_C_PITCH 1526,16.17,218,0.0,0.00

INTERNAL_PRESSURE 8.27938 IMPLIED_C_VBD 3401,17.318768,218,0

_24V_AH 14.80,8.643 GPS 260623,120750,4736.355,-12256.672,3,1.2,7,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 674 887 8869.24 nil 0 0 0.00

Pitch_motor 23 240 85.20 nil 0 0 0.00

Roll_motor 50 168 125.73 nil 0 0 0.00

Iridium 136 130 264.82 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.52 nil 0 0 0.00

Core 2040 5 155.56 SciCon 3040 7 350.04

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1291 0 6.15

Compass 931 5 69.36

RAFOS 1275 40 759.53

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

6.60 16386 -146.63 -1.35 0.00 493.6 442.1 545.1 185.2 2271.2 0.00 0.00 0 61.49 49.74 0.00 0.00 0.005 0.000 0.000 1922.97 1909.06 1936.88 185.12 2271.56 0 0 0 15.54 30.00 30.00

62.01 18467 -146.63 -1.35 0.00 1926.3 1909.6 1943.1 185.1 2270.9 3.40 -4.33 10 135.71 52.33 7.57 0.00 0.005 0.240 0.000 3898.31 3884.88 3911.75 1172.19 2271.12 0 0 0 15.58 15.42 30.00

319.43 388 -146.63 -1.32 80.00 3901.8 3885.9 3917.7 1171.9 2270.9 31.79 -11.19 60 327.46 0.00 0.00 3.69 0.000 0.000 0.093 3901.66 3885.69 3917.62 1172.12 3767.56 0 0 0 30.00 30.00 15.57

396.13 1156 -146.63 -1.27 0.00 3902.2 3886.3 3918.2 1172.2 3767.5 42.41 -14.21 75 404.04 0.00 0.00 3.37 0.000 0.000 0.015 3901.91 3886.12 3917.69 1172.00 2266.25 0 0 0 30.00 30.00 15.63

586.23 2177 -146.63 -1.24 0.00 3902.5 3886.0 3919.0 1172.4 2264.7 63.85 -10.88 100 588.39 0.00 0.19 0.00 0.000 0.158 0.000 3901.75 3885.75 3917.75 1201.12 2265.06 0 0 0 30.00 15.50 30.00

776.33 420 -146.63 -1.23 80.00 3903.0 3886.1 3919.9 1201.2 2265.1 82.17 -9.79 119 785.12 0.00 0.00 3.72 0.000 0.000 0.094 3902.50 3886.06 3918.94 1201.25 3766.88 0 0 0 30.00 30.00 15.54

823.90 1156 -146.63 -1.20 0.00 3903.2 3886.4 3919.9 1201.4 3766.3 87.77 -12.18 128 831.41 0.00 0.00 3.37 0.000 0.000 0.015 3903.72 3886.81 3920.62 1200.94 2265.88 0 0 0 30.00 30.00 15.62

1019.01 420 -146.63 -1.18 80.00 3903.4 3886.1 3920.8 1200.8 2265.6 106.71 -9.54 148 1027.76 0.00 0.00 3.69 0.000 0.000 0.093 3904.06 3887.19 3920.94 1201.69 3767.75 0 0 0 30.00 30.00 15.61

1056.62 1156 -146.63 -1.16 0.00 3903.7 3886.6 3920.9 1201.0 3767.6 111.04 -11.43 155 1065.10 0.00 0.00 3.35 0.000 0.000 0.015 3903.56 3886.50 3920.62 1201.06 2267.38 0 0 0 30.00 30.00 15.68

1251.69 420 -146.63 -1.14 80.00 3904.1 3886.5 3921.8 1201.3 2266.1 129.67 -9.18 175 1260.38 0.00 0.00 3.69 0.000 0.000 0.095 3904.22 3887.44 3921.00 1201.06 3767.69 0 0 0 30.00 30.00 15.67

1289.20 3205 -146.63 -1.12 0.00 3904.2 3886.9 3921.4 1201.3 3767.5 133.79 -10.92 182 1297.96 0.00 0.19 3.34 0.000 0.156 0.015 3905.38 3888.12 3922.62 1230.81 2266.50 0 0 0 30.00 15.68 15.74

1478 end dive: TARGET_DEPTH_EXCEEDED

state 1478 begin apogee

1480.15 10243 0.00 -0.33 0.00 3904.4 3886.9 3921.8 1230.2 2152.7 150.31 -8.69 202 1599.26 104.22 1.28 0.09 0.888 0.115 0.169 3299.34 3243.06 3355.62 1421.75 2209.75 0 0 0 11.53 15.67 15.41

1600 end apogee: CONTROL_FINISHED_OK

state 1600 begin climb

1600.80 10759 146.63 1.35 -80.00 3295.9 3240.9 3350.9 1421.9 2210.0 153.56 0.00 213 1730.65 105.18 2.66 3.80 0.868 0.077 0.114 2700.56 2617.94 2783.19 1831.81 720.12 0 0 0 11.27 15.43 15.22

1789.49 17542 146.63 1.33 0.00 2693.0 2615.9 2770.0 1830.9 720.3 135.39 14.87 247 1798.41 0.00 0.00 3.54 0.000 0.000 0.035 2691.28 2613.81 2768.75 1831.31 2202.25 0 0 0 30.00 30.00 15.38

1984.50 16774 146.63 1.32 80.00 2690.9 2613.2 2768.7 1831.5 2202.2 106.60 15.15 267 1993.39 0.00 0.00 3.60 0.000 0.000 0.096 2689.44 2611.88 2767.00 1831.88 3651.75 0 0 0 30.00 30.00 15.51

2082.25 17542 146.63 1.29 0.00 2690.3 2613.4 2767.2 1831.6 3651.4 89.29 17.78 286 2090.94 0.00 0.00 3.39 0.000 0.000 0.019 2687.91 2611.88 2763.94 1831.56 2157.25 0 0 0 30.00 30.00 15.59

2272.40 16514 146.63 1.28 0.00 2689.4 2612.6 2766.1 1831.4 2157.2 63.96 13.15 305 2276.16 0.00 0.00 0.00 0.000 0.000 0.000 2689.50 2612.81 2766.19 1831.75 2157.81 0 0 0 30.00 30.00 30.00

2457.27 16774 146.63 1.28 80.00 2689.5 2612.2 2766.7 1831.4 2157.4 40.83 12.03 331 2466.00 0.00 0.00 3.69 0.000 0.000 0.094 2687.66 2611.88 2763.44 1831.44 3651.38 0 0 0 30.00 30.00 15.63

2549.83 21639 146.63 1.25 0.00 2688.9 2612.2 2765.5 1831.8 3651.1 27.62 14.38 349 2558.68 0.00 0.28 3.39 0.000 0.181 0.019 2687.97 2610.50 2765.44 1797.75 2157.81 0 0 0 30.00 15.61 15.69

2742.53 10403 229.23 1.37 0.00 2688.1 2610.8 2765.4 1797.9 2157.3 11.58 6.17 387 2807.67 57.31 0.25 0.00 0.730 0.056 0.000 2363.47 2260.94 2466.00 1840.94 2157.44 0 0 0 11.46 15.75 30.00

2991.73 10919 446.22 1.66 -80.00 2355.0 2254.4 2455.6 1841.5 2157.2 6.47 -0.05 434 3035.09 38.01 0.40 0.00 0.712 0.046 0.000 2144.72 2032.81 2256.62 1912.50 2157.88 0 0 0 11.62 15.65 30.00

3035 end climb: NO_VERTICAL_VELOCITY

state 3036 begin surface

ID	244	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	5	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	20	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	30	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	2.3
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	360	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	1
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	2	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	1500	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	2.5344093	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	12.239439	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	0.0049999999	PRESSURE_YINT	-192.53183	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00022440785	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72540	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	230	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3835	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	2300	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2185	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	4

GPS1	260623,110559,4736.592,-12256.636,2,1.3,8,15.4	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	-61.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,110923,4736.611,-12256.598,3,1.0,6,15.4	MHEAD_RNG_PITCHd_Wd	177.7,1249,-17.6,-10.000,-21.21,2209,0.143
SPEED_LIMITS	0.173,0.258	D_GRID	167
TGT_NAME	S	IRON	1.000000,0.018578,-0.010770,-0.007994,1.021638,-0.091232,0.015590,-0.021777,1.023026,647.804810,-303.574219,-314.831451
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NET	xmit part outbox0017.n 906 12	_10V_AH	14.89,0.000
NET_PING	1687780061,29,178.302002,12.800000,-0.239510	FG_AHR_24Vo	12.377
NAV	1687780744,6.3,start	FG_AHR_10Vo	2.546
FREEZE	6.09,13.429,-1.551,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3331.89,268.08,0.709,0,500.8,443.1,558.5,686.65	MEM2	945500,35,100948,71
SM_GC	1.50,0.00,11.17,0.37,0.000,0.042,0.068,495.7,441.7,549.7,186.3,2320.4,0,0,0,30.00,15.32,15.32	DATA_FILE_SIZE	12918,442
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	164912,0
IRIDIUM_FIX	4736.00,-12258.89,260623,100748	SDSIZE	3887104,3866528
TCM_TEMP	18.29	SDFILEDIR	207,21
SC_FREEKB	3872352	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	4734.876465,-12256.874023,260623,020200,4,255,1.51	CURRENT	0.053, 23.9,1
HUMID	56.60	MAGCAL	1.000000,0.021169,-0.061174,-0.032134,1.041446,-0.075284,0.072375,-0.084996,1.051749,693.8,-296.5,-336.5,26,0.0314,0
TEMP	10.72	IMPLIED_C_PITCH	1526,16.17,218,0.0,0.00
INTERNAL_PRESSURE	8.27938	IMPLIED_C_VBD	3401,17.318768,218,0
_24V_AH	14.80,8.643	GPS	260623,120750,4736.355,-12256.672,3,1.2,7,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	674	887	8869.24	nil	0	0	0.00
Pitch_motor	23	240	85.20	nil	0	0	0.00
Roll_motor	50	168	125.73	nil	0	0	0.00
Iridium	136	130	264.82	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.52	nil	0	0	0.00
Core	2040	5	155.56	SciCon	3040	7	350.04
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1291	0	6.15
Compass	931	5	69.36
RAFOS	1275	40	759.53
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
6.60	16386	-146.63	-1.35	0.00	493.6	442.1	545.1	185.2	2271.2	0.00	0.00	0	61.49	49.74	0.00	0.00	0.005	0.000	0.000	1922.97	1909.06	1936.88	185.12	2271.56	0	0	0	15.54	30.00	30.00
62.01	18467	-146.63	-1.35	0.00	1926.3	1909.6	1943.1	185.1	2270.9	3.40	-4.33	10	135.71	52.33	7.57	0.00	0.005	0.240	0.000	3898.31	3884.88	3911.75	1172.19	2271.12	0	0	0	15.58	15.42	30.00
319.43	388	-146.63	-1.32	80.00	3901.8	3885.9	3917.7	1171.9	2270.9	31.79	-11.19	60	327.46	0.00	0.00	3.69	0.000	0.000	0.093	3901.66	3885.69	3917.62	1172.12	3767.56	0	0	0	30.00	30.00	15.57
396.13	1156	-146.63	-1.27	0.00	3902.2	3886.3	3918.2	1172.2	3767.5	42.41	-14.21	75	404.04	0.00	0.00	3.37	0.000	0.000	0.015	3901.91	3886.12	3917.69	1172.00	2266.25	0	0	0	30.00	30.00	15.63
586.23	2177	-146.63	-1.24	0.00	3902.5	3886.0	3919.0	1172.4	2264.7	63.85	-10.88	100	588.39	0.00	0.19	0.00	0.000	0.158	0.000	3901.75	3885.75	3917.75	1201.12	2265.06	0	0	0	30.00	15.50	30.00
776.33	420	-146.63	-1.23	80.00	3903.0	3886.1	3919.9	1201.2	2265.1	82.17	-9.79	119	785.12	0.00	0.00	3.72	0.000	0.000	0.094	3902.50	3886.06	3918.94	1201.25	3766.88	0	0	0	30.00	30.00	15.54
823.90	1156	-146.63	-1.20	0.00	3903.2	3886.4	3919.9	1201.4	3766.3	87.77	-12.18	128	831.41	0.00	0.00	3.37	0.000	0.000	0.015	3903.72	3886.81	3920.62	1200.94	2265.88	0	0	0	30.00	30.00	15.62
1019.01	420	-146.63	-1.18	80.00	3903.4	3886.1	3920.8	1200.8	2265.6	106.71	-9.54	148	1027.76	0.00	0.00	3.69	0.000	0.000	0.093	3904.06	3887.19	3920.94	1201.69	3767.75	0	0	0	30.00	30.00	15.61
1056.62	1156	-146.63	-1.16	0.00	3903.7	3886.6	3920.9	1201.0	3767.6	111.04	-11.43	155	1065.10	0.00	0.00	3.35	0.000	0.000	0.015	3903.56	3886.50	3920.62	1201.06	2267.38	0	0	0	30.00	30.00	15.68
1251.69	420	-146.63	-1.14	80.00	3904.1	3886.5	3921.8	1201.3	2266.1	129.67	-9.18	175	1260.38	0.00	0.00	3.69	0.000	0.000	0.095	3904.22	3887.44	3921.00	1201.06	3767.69	0	0	0	30.00	30.00	15.67
1289.20	3205	-146.63	-1.12	0.00	3904.2	3886.9	3921.4	1201.3	3767.5	133.79	-10.92	182	1297.96	0.00	0.19	3.34	0.000	0.156	0.015	3905.38	3888.12	3922.62	1230.81	2266.50	0	0	0	30.00	15.68	15.74
1478	end dive: TARGET_DEPTH_EXCEEDED
state	1478	begin apogee
1480.15	10243	0.00	-0.33	0.00	3904.4	3886.9	3921.8	1230.2	2152.7	150.31	-8.69	202	1599.26	104.22	1.28	0.09	0.888	0.115	0.169	3299.34	3243.06	3355.62	1421.75	2209.75	0	0	0	11.53	15.67	15.41
1600	end apogee: CONTROL_FINISHED_OK
state	1600	begin climb
1600.80	10759	146.63	1.35	-80.00	3295.9	3240.9	3350.9	1421.9	2210.0	153.56	0.00	213	1730.65	105.18	2.66	3.80	0.868	0.077	0.114	2700.56	2617.94	2783.19	1831.81	720.12	0	0	0	11.27	15.43	15.22
1789.49	17542	146.63	1.33	0.00	2693.0	2615.9	2770.0	1830.9	720.3	135.39	14.87	247	1798.41	0.00	0.00	3.54	0.000	0.000	0.035	2691.28	2613.81	2768.75	1831.31	2202.25	0	0	0	30.00	30.00	15.38
1984.50	16774	146.63	1.32	80.00	2690.9	2613.2	2768.7	1831.5	2202.2	106.60	15.15	267	1993.39	0.00	0.00	3.60	0.000	0.000	0.096	2689.44	2611.88	2767.00	1831.88	3651.75	0	0	0	30.00	30.00	15.51
2082.25	17542	146.63	1.29	0.00	2690.3	2613.4	2767.2	1831.6	3651.4	89.29	17.78	286	2090.94	0.00	0.00	3.39	0.000	0.000	0.019	2687.91	2611.88	2763.94	1831.56	2157.25	0	0	0	30.00	30.00	15.59
2272.40	16514	146.63	1.28	0.00	2689.4	2612.6	2766.1	1831.4	2157.2	63.96	13.15	305	2276.16	0.00	0.00	0.00	0.000	0.000	0.000	2689.50	2612.81	2766.19	1831.75	2157.81	0	0	0	30.00	30.00	30.00
2457.27	16774	146.63	1.28	80.00	2689.5	2612.2	2766.7	1831.4	2157.4	40.83	12.03	331	2466.00	0.00	0.00	3.69	0.000	0.000	0.094	2687.66	2611.88	2763.44	1831.44	3651.38	0	0	0	30.00	30.00	15.63
2549.83	21639	146.63	1.25	0.00	2688.9	2612.2	2765.5	1831.8	3651.1	27.62	14.38	349	2558.68	0.00	0.28	3.39	0.000	0.181	0.019	2687.97	2610.50	2765.44	1797.75	2157.81	0	0	0	30.00	15.61	15.69
2742.53	10403	229.23	1.37	0.00	2688.1	2610.8	2765.4	1797.9	2157.3	11.58	6.17	387	2807.67	57.31	0.25	0.00	0.730	0.056	0.000	2363.47	2260.94	2466.00	1840.94	2157.44	0	0	0	11.46	15.75	30.00
2991.73	10919	446.22	1.66	-80.00	2355.0	2254.4	2455.6	1841.5	2157.2	6.47	-0.05	434	3035.09	38.01	0.40	0.00	0.712	0.046	0.000	2144.72	2032.81	2256.62	1912.50	2157.88	0	0	0	11.62	15.65	30.00
3035	end climb: NO_VERTICAL_VELOCITY
state	3036	begin surface