Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 22 * 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 22 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 2.5571227 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 12.523484 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 2.5571227 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 12.523484 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 22 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 260623,130842,4736.117,-12256.553,0,0.9,2,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.50 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 260623,131154,4736.128,-12256.511,2,0.9,5,15.4 MHEAD_RNG_PITCHd_Wd 212.2,488,-22.3,-10.000,-25.45,1424,0.132

SPEED_LIMITS 0.173,0.258 D_GRID 166

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 outbox0019.n 877 13 _10V_AH 14.92,0.000

NET_PING 1687786362,29,656.733032,0.100000,-0.876272 FG_AHR_24Vo 12.660

NAV 1687788204,0.1,start FG_AHR_10Vo 2.564

FREEZE 5.46,13.706,-1.540,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2935.66,287.85,0.712,0,500.2,439.1,561.2,686.80 MEM2 945592,29,100976,71

SM_GC 1.28,0.00,11.19,3.20,0.000,0.040,0.016,495.8,438.3,553.4,186.2,2267.6,0,0,0,30.00,15.37,15.38 DATA_FILE_SIZE 9752,397

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 163252,0

IRIDIUM_FIX 4736.87,-12256.21,260623,120903 SDSIZE 3887104,3865856

TCM_TEMP 18.54 SDFILEDIR 225,23

SC_FREEKB 3871712 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 4734.876465,-12256.874023,260623,020200,4,255,1.51 CURRENT 0.034, 34.7,1

HUMID 56.44 MAGCAL 1.000000,-0.003849,0.049009,-0.011152,1.049454,-0.033671,-0.027028,-0.034896,0.977353,621.3,-333.8,-296.9,19,0.0309,0

TEMP 10.89 IMPLIED_C_PITCH 1523,15.91,165,0.0,0.00

INTERNAL_PRESSURE 8.28463 IMPLIED_C_VBD 3381,17.763195,165,0

_24V_AH 14.84,8.960 GPS 260623,140426,4735.972,-12256.798,1,1.6,30,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 670 884 8792.46 nil 0 0 0.00

Pitch_motor 24 238 85.75 nil 0 0 0.00

Roll_motor 57 157 133.13 nil 0 0 0.00

Iridium 126 128 240.57 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.24 nil 0 0 0.00

Core 1767 5 135.04 SciCon 2622 7 301.70

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1135 0 5.42

Compass 839 5 62.61

RAFOS 1115 40 665.94

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

6.54 16386 -93.99 -1.60 0.00 493.3 440.2 546.4 181.2 2327.9 0.00 0.00 0 61.40 49.69 0.00 0.00 0.005 0.000 0.000 1909.66 1896.56 1922.75 181.19 2328.25 0 0 0 15.55 30.00 30.00

61.92 18727 -146.63 -1.67 80.00 1913.2 1897.9 1928.6 181.5 2328.6 3.02 -3.36 10 139.24 51.65 7.01 3.53 0.005 0.239 0.092 3899.16 3886.50 3911.81 1096.75 3769.38 0 0 0 15.56 15.41 15.51

142.90 1156 -146.63 -1.61 0.00 3900.7 3887.9 3913.5 1096.8 3769.2 12.34 -14.17 24 150.88 0.00 0.00 3.42 0.000 0.000 0.016 3900.31 3887.75 3912.88 1096.62 2269.81 0 0 0 30.00 30.00 15.57

331.62 128 -146.63 -1.58 0.00 3902.3 3887.9 3916.8 1096.7 2268.4 42.08 -14.77 60 335.10 0.00 0.00 0.00 0.000 0.000 0.000 3902.75 3888.19 3917.31 1096.88 2268.62 0 0 0 30.00 30.00 30.00

521.02 2437 -146.63 -1.55 80.00 3902.8 3887.9 3917.7 1096.6 2268.4 69.00 -14.49 85 530.16 0.00 0.19 3.71 0.000 0.172 0.092 3903.25 3888.62 3917.88 1125.25 3766.44 0 0 0 30.00 15.52 15.52

563.19 1156 -146.63 -1.51 0.00 3903.0 3888.1 3917.9 1124.8 3766.5 75.98 -16.82 93 571.22 0.00 0.00 3.43 0.000 0.000 0.015 3903.81 3888.31 3919.31 1124.94 2267.19 0 0 0 30.00 30.00 15.58

758.97 388 -146.63 -1.50 80.00 3903.5 3888.1 3918.9 1125.0 2267.0 101.08 -12.54 113 767.75 0.00 0.00 3.69 0.000 0.000 0.091 3902.66 3887.44 3917.88 1125.31 3769.44 0 0 0 30.00 30.00 15.57

796.53 1156 -146.63 -1.47 0.00 3903.7 3888.5 3918.9 1125.4 3769.0 106.97 -16.43 120 805.14 0.00 0.00 3.41 0.000 0.000 0.015 3902.62 3887.12 3918.12 1125.31 2268.44 0 0 0 30.00 30.00 15.64

991.56 388 -146.63 -1.45 80.00 3903.9 3887.6 3920.2 1125.1 2268.4 132.18 -12.62 140 1000.35 0.00 0.00 3.67 0.000 0.000 0.092 3904.97 3889.06 3920.88 1124.94 3767.81 0 0 0 30.00 30.00 15.64

1039.15 3205 -146.63 -1.42 0.00 3903.8 3888.0 3919.5 1125.1 3767.6 139.38 -15.91 149 1048.13 0.00 0.22 3.43 0.000 0.172 0.016 3904.72 3889.56 3919.88 1158.75 2267.31 0 0 0 30.00 15.65 15.68

1134 end dive: TARGET_DEPTH_EXCEEDED

state 1134 begin apogee

1135.91 10243 0.00 -0.33 0.00 3904.1 3888.3 3919.9 1159.3 2154.4 150.92 -11.45 159 1258.14 104.71 1.79 0.09 0.884 0.127 0.157 3296.84 3240.69 3353.00 1421.12 2210.56 0 0 0 11.61 15.66 15.40

1259 end apogee: CONTROL_FINISHED_OK

state 1259 begin climb

1259.67 10759 146.63 1.67 -80.00 3296.0 3240.9 3351.1 1421.1 2210.9 153.93 0.00 171 1391.08 105.41 3.19 3.87 0.870 0.076 0.114 2699.94 2618.50 2781.38 1906.19 717.44 0 0 0 11.24 15.40 15.20

1424.17 17542 146.63 1.64 0.00 2693.9 2617.0 2770.9 1906.3 717.7 134.76 19.27 200 1432.47 0.00 0.00 3.54 0.000 0.000 0.034 2693.28 2616.38 2770.19 1906.06 2203.38 0 0 0 30.00 30.00 15.34

1619.93 16774 146.63 1.63 80.00 2690.9 2615.4 2766.4 1905.5 2203.8 98.78 17.97 220 1628.82 0.00 0.00 3.57 0.000 0.000 0.093 2689.16 2613.44 2764.88 1906.25 3653.06 0 0 0 30.00 30.00 15.49

1687.67 17542 146.63 1.60 0.00 2690.2 2614.8 2765.6 1905.6 3652.8 84.85 21.63 233 1696.46 0.00 0.00 3.43 0.000 0.000 0.019 2689.00 2614.25 2763.75 1906.31 2159.12 0 0 0 30.00 30.00 15.57

1882.68 16774 146.63 1.59 80.00 2689.8 2614.5 2765.2 1906.1 2158.4 51.62 15.90 253 1891.67 0.00 0.00 3.67 0.000 0.000 0.090 2688.22 2612.50 2763.94 1905.69 3651.62 0 0 0 30.00 30.00 15.60

1945.51 21639 146.63 1.56 0.00 2689.2 2614.2 2764.1 1905.6 3651.2 40.15 18.30 265 1954.34 0.00 0.28 3.39 0.000 0.186 0.018 2689.09 2613.69 2764.50 1874.00 2157.44 0 0 0 30.00 15.57 15.66

2139.28 16514 146.63 1.57 0.00 2689.1 2614.2 2763.9 1874.6 2157.4 15.21 10.60 303 2143.19 0.00 0.00 0.00 0.000 0.000 0.000 2687.62 2613.00 2762.25 1875.00 2157.44 0 0 0 30.00 30.00 30.00

2324.40 10663 250.17 1.72 80.00 2688.6 2613.1 2764.1 1874.6 2157.6 7.69 2.56 340 2413.99 70.89 0.31 3.71 0.733 0.048 0.090 2277.31 2169.19 2385.44 1927.88 3651.44 0 0 0 11.61 15.72 15.52

2618 end climb: NO_VERTICAL_VELOCITY

state 2618 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	22	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	2.5571227	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	12.523484	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	260623,130842,4736.117,-12256.553,0,0.9,2,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	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	260623,131154,4736.128,-12256.511,2,0.9,5,15.4	MHEAD_RNG_PITCHd_Wd	212.2,488,-22.3,-10.000,-25.45,1424,0.132
SPEED_LIMITS	0.173,0.258	D_GRID	166
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 outbox0019.n 877 13	_10V_AH	14.92,0.000
NET_PING	1687786362,29,656.733032,0.100000,-0.876272	FG_AHR_24Vo	12.660
NAV	1687788204,0.1,start	FG_AHR_10Vo	2.564
FREEZE	5.46,13.706,-1.540,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2935.66,287.85,0.712,0,500.2,439.1,561.2,686.80	MEM2	945592,29,100976,71
SM_GC	1.28,0.00,11.19,3.20,0.000,0.040,0.016,495.8,438.3,553.4,186.2,2267.6,0,0,0,30.00,15.37,15.38	DATA_FILE_SIZE	9752,397
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	163252,0
IRIDIUM_FIX	4736.87,-12256.21,260623,120903	SDSIZE	3887104,3865856
TCM_TEMP	18.54	SDFILEDIR	225,23
SC_FREEKB	3871712	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	4734.876465,-12256.874023,260623,020200,4,255,1.51	CURRENT	0.034, 34.7,1
HUMID	56.44	MAGCAL	1.000000,-0.003849,0.049009,-0.011152,1.049454,-0.033671,-0.027028,-0.034896,0.977353,621.3,-333.8,-296.9,19,0.0309,0
TEMP	10.89	IMPLIED_C_PITCH	1523,15.91,165,0.0,0.00
INTERNAL_PRESSURE	8.28463	IMPLIED_C_VBD	3381,17.763195,165,0
_24V_AH	14.84,8.960	GPS	260623,140426,4735.972,-12256.798,1,1.6,30,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	670	884	8792.46	nil	0	0	0.00
Pitch_motor	24	238	85.75	nil	0	0	0.00
Roll_motor	57	157	133.13	nil	0	0	0.00
Iridium	126	128	240.57	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.24	nil	0	0	0.00
Core	1767	5	135.04	SciCon	2622	7	301.70
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1135	0	5.42
Compass	839	5	62.61
RAFOS	1115	40	665.94
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
6.54	16386	-93.99	-1.60	0.00	493.3	440.2	546.4	181.2	2327.9	0.00	0.00	0	61.40	49.69	0.00	0.00	0.005	0.000	0.000	1909.66	1896.56	1922.75	181.19	2328.25	0	0	0	15.55	30.00	30.00
61.92	18727	-146.63	-1.67	80.00	1913.2	1897.9	1928.6	181.5	2328.6	3.02	-3.36	10	139.24	51.65	7.01	3.53	0.005	0.239	0.092	3899.16	3886.50	3911.81	1096.75	3769.38	0	0	0	15.56	15.41	15.51
142.90	1156	-146.63	-1.61	0.00	3900.7	3887.9	3913.5	1096.8	3769.2	12.34	-14.17	24	150.88	0.00	0.00	3.42	0.000	0.000	0.016	3900.31	3887.75	3912.88	1096.62	2269.81	0	0	0	30.00	30.00	15.57
331.62	128	-146.63	-1.58	0.00	3902.3	3887.9	3916.8	1096.7	2268.4	42.08	-14.77	60	335.10	0.00	0.00	0.00	0.000	0.000	0.000	3902.75	3888.19	3917.31	1096.88	2268.62	0	0	0	30.00	30.00	30.00
521.02	2437	-146.63	-1.55	80.00	3902.8	3887.9	3917.7	1096.6	2268.4	69.00	-14.49	85	530.16	0.00	0.19	3.71	0.000	0.172	0.092	3903.25	3888.62	3917.88	1125.25	3766.44	0	0	0	30.00	15.52	15.52
563.19	1156	-146.63	-1.51	0.00	3903.0	3888.1	3917.9	1124.8	3766.5	75.98	-16.82	93	571.22	0.00	0.00	3.43	0.000	0.000	0.015	3903.81	3888.31	3919.31	1124.94	2267.19	0	0	0	30.00	30.00	15.58
758.97	388	-146.63	-1.50	80.00	3903.5	3888.1	3918.9	1125.0	2267.0	101.08	-12.54	113	767.75	0.00	0.00	3.69	0.000	0.000	0.091	3902.66	3887.44	3917.88	1125.31	3769.44	0	0	0	30.00	30.00	15.57
796.53	1156	-146.63	-1.47	0.00	3903.7	3888.5	3918.9	1125.4	3769.0	106.97	-16.43	120	805.14	0.00	0.00	3.41	0.000	0.000	0.015	3902.62	3887.12	3918.12	1125.31	2268.44	0	0	0	30.00	30.00	15.64
991.56	388	-146.63	-1.45	80.00	3903.9	3887.6	3920.2	1125.1	2268.4	132.18	-12.62	140	1000.35	0.00	0.00	3.67	0.000	0.000	0.092	3904.97	3889.06	3920.88	1124.94	3767.81	0	0	0	30.00	30.00	15.64
1039.15	3205	-146.63	-1.42	0.00	3903.8	3888.0	3919.5	1125.1	3767.6	139.38	-15.91	149	1048.13	0.00	0.22	3.43	0.000	0.172	0.016	3904.72	3889.56	3919.88	1158.75	2267.31	0	0	0	30.00	15.65	15.68
1134	end dive: TARGET_DEPTH_EXCEEDED
state	1134	begin apogee
1135.91	10243	0.00	-0.33	0.00	3904.1	3888.3	3919.9	1159.3	2154.4	150.92	-11.45	159	1258.14	104.71	1.79	0.09	0.884	0.127	0.157	3296.84	3240.69	3353.00	1421.12	2210.56	0	0	0	11.61	15.66	15.40
1259	end apogee: CONTROL_FINISHED_OK
state	1259	begin climb
1259.67	10759	146.63	1.67	-80.00	3296.0	3240.9	3351.1	1421.1	2210.9	153.93	0.00	171	1391.08	105.41	3.19	3.87	0.870	0.076	0.114	2699.94	2618.50	2781.38	1906.19	717.44	0	0	0	11.24	15.40	15.20
1424.17	17542	146.63	1.64	0.00	2693.9	2617.0	2770.9	1906.3	717.7	134.76	19.27	200	1432.47	0.00	0.00	3.54	0.000	0.000	0.034	2693.28	2616.38	2770.19	1906.06	2203.38	0	0	0	30.00	30.00	15.34
1619.93	16774	146.63	1.63	80.00	2690.9	2615.4	2766.4	1905.5	2203.8	98.78	17.97	220	1628.82	0.00	0.00	3.57	0.000	0.000	0.093	2689.16	2613.44	2764.88	1906.25	3653.06	0	0	0	30.00	30.00	15.49
1687.67	17542	146.63	1.60	0.00	2690.2	2614.8	2765.6	1905.6	3652.8	84.85	21.63	233	1696.46	0.00	0.00	3.43	0.000	0.000	0.019	2689.00	2614.25	2763.75	1906.31	2159.12	0	0	0	30.00	30.00	15.57
1882.68	16774	146.63	1.59	80.00	2689.8	2614.5	2765.2	1906.1	2158.4	51.62	15.90	253	1891.67	0.00	0.00	3.67	0.000	0.000	0.090	2688.22	2612.50	2763.94	1905.69	3651.62	0	0	0	30.00	30.00	15.60
1945.51	21639	146.63	1.56	0.00	2689.2	2614.2	2764.1	1905.6	3651.2	40.15	18.30	265	1954.34	0.00	0.28	3.39	0.000	0.186	0.018	2689.09	2613.69	2764.50	1874.00	2157.44	0	0	0	30.00	15.57	15.66
2139.28	16514	146.63	1.57	0.00	2689.1	2614.2	2763.9	1874.6	2157.4	15.21	10.60	303	2143.19	0.00	0.00	0.00	0.000	0.000	0.000	2687.62	2613.00	2762.25	1875.00	2157.44	0	0	0	30.00	30.00	30.00
2324.40	10663	250.17	1.72	80.00	2688.6	2613.1	2764.1	1874.6	2157.6	7.69	2.56	340	2413.99	70.89	0.31	3.71	0.733	0.048	0.090	2277.31	2169.19	2385.44	1927.88	3651.44	0	0	0	11.61	15.72	15.52
2618	end climb: NO_VERTICAL_VELOCITY
state	2618	begin surface