Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 245 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 3 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 -1.9

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 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 215 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3600 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 2 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18 FG_AHR_10V 1.3222926 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 7.0899549 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 0.029999999 PRESSURE_YINT -191.55725 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00022631494 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72244 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 1 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 235 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3850 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 2275 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2180 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 0

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 131 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 3 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 1.3222926 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 7.0899549 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 0.029999999 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 18 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 3600 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 215 T_BOOST 0

COMM_SEQ 7 ID 245 PITCH_TIMEOUT 25 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 -1.9 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 0.00022631494 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -191.55725 T_RSLEEP 3

C_ROLL_CLIMB 2180 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2275 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 72244 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 2 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 3850 VBD_TIMEOUT 360

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 3 MOTHERBOARD 6 ROLL_MIN 235 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 0

D_FLARE 3 NAV_MODE 1 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 240623,025546,4735.957,-12256.762,2,0.9,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,025927,4735.961,-12256.726,2,0.9,4,15.4 MHEAD_RNG_PITCHd_Wd 1.5,1100,-17.6,-10.000,-21.21,2209,0.140

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.023397,-0.070985,-0.008082,1.141953,0.157444,0.005634,0.018041,1.117201,-310.103485,-1960.599121,-49.624283

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NAV 1687579309,0.3,start _10V_AH 14.89,0.000

NET xmit part outbox0002.n 973 0 FG_AHR_24Vo 7.265

NET_PING 1687578615,29,259.626007,11.800000,-0.343989 FG_AHR_10Vo 1.367

FREEZE 6.05,14.037,-1.514,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3588.49,295.73,0.913,0,501.2,586.2,416.1,686.55 MEM2 944400,35,101648,91

SM_GC 1.35,0.00,10.28,3.38,0.000,0.047,0.055,498.2,581.1,415.3,196.7,2248.7,0,0,0,30.00,15.58,15.60 DATA_FILE_SIZE 12970,438

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 169188,0

IRIDIUM_FIX 4735.53,-12254.47,240623,014230 SDSIZE 3887104,3872128

TCM_TEMP 16.03 SDFILEDIR 61,4

SC_FREEKB 3877824 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1403.0

RAFOS_FIX 4736.868652,-12257.000000,240623,020201,3,255,0.49 MAGCAL 1.000000,-0.001492,-0.040474,0.013320,1.162299,0.135163,0.023587,0.033163,1.076443,-467.8,-1876.3,153.3,31,0.0183,0

HUMID 56.07 IMPLIED_C_PITCH 1539,18.08,244,0.0,0.00

TEMP 11.79 IMPLIED_C_VBD 3318,17.108761,244,0

INTERNAL_PRESSURE 8.11768 GPS 240623,040239,4736.314,-12256.620,17,1.5,17,15.4

_24V_AH 14.92,7.478

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 730 1101 11998.66 nil 0 0 0.00

Pitch_motor 22 265 90.87 nil 0 0 0.00

Roll_motor 52 208 161.81 nil 0 0 0.00

Iridium 154 198 457.52 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 2174 5 165.80 SciCon 3271 7 342.40

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1408 0 6.71

Compass 1116 5 83.15

RAFOS 2124 40 1265.57

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

6.77 16386 -146.63 -1.16 0.00 495.3 574.6 416.1 197.8 2249.6 0.00 0.00 0 75.14 63.60 0.00 0.00 0.005 0.000 0.000 2093.75 2183.88 2003.62 197.88 2249.94 0 0 0 15.93 30.00 30.00

75.66 18983 -146.63 -1.16 -80.00 2095.3 2183.3 2007.4 197.6 2249.6 3.28 -1.86 10 153.01 49.60 8.04 3.72 0.005 0.265 0.126 3897.06 3982.00 3812.12 1219.38 808.38 0 0 0 15.95 15.75 15.84

379.33 3205 -146.63 -0.93 0.00 3899.7 3982.9 3816.5 1219.4 808.0 42.08 -13.69 67 388.33 0.00 0.40 3.67 0.000 0.177 0.063 3900.78 3982.75 3818.81 1274.19 2291.94 0 0 0 30.00 15.83 15.88

577.57 160 -146.63 -0.88 0.00 3900.7 3983.1 3818.2 1274.6 2292.2 61.67 -9.38 94 579.43 0.00 0.00 0.00 0.000 0.000 0.000 3899.88 3982.62 3817.12 1274.12 2292.56 0 0 0 30.00 30.00 30.00

767.61 160 -146.63 -0.84 0.00 3900.9 3982.2 3819.6 1274.8 2291.9 80.73 -9.88 113 769.47 0.00 0.00 0.00 0.000 0.000 0.000 3900.75 3983.00 3818.50 1274.31 2291.94 0 0 0 30.00 30.00 30.00

957.65 2469 -146.63 -0.80 80.00 3901.7 3983.9 3819.4 1274.4 2292.2 99.28 -9.58 132 966.79 0.00 0.20 3.84 0.000 0.169 0.125 3901.50 3984.50 3818.50 1307.94 3741.12 0 0 0 30.00 15.93 15.94

1010.18 1156 -146.63 -0.74 0.00 3901.6 3983.8 3819.5 1308.1 3741.6 104.65 -10.09 142 1018.35 0.00 0.00 3.54 0.000 0.000 0.049 3902.44 3984.38 3820.50 1308.00 2245.81 0 0 0 30.00 30.00 16.00

1212.27 676 -146.63 -0.78 -80.00 3902.6 3984.6 3820.6 1307.7 2246.1 120.91 -8.37 162 1224.30 0.00 0.00 3.70 0.000 0.000 0.134 3902.09 3984.06 3820.12 1308.12 808.19 0 0 0 30.00 30.00 15.92

1237.78 1188 -146.63 -0.82 0.00 3902.4 3984.5 3820.4 1308.1 807.9 123.85 -8.78 167 1245.86 0.00 0.00 3.56 0.000 0.000 0.065 3902.91 3984.25 3821.56 1307.69 2293.31 0 0 0 30.00 30.00 15.98

1433.57 420 -146.63 -0.87 80.00 3902.9 3985.1 3820.8 1307.7 2293.4 140.33 -8.44 187 1442.43 0.00 0.00 3.82 0.000 0.000 0.128 3902.91 3984.62 3821.19 1308.44 3740.06 0 0 0 30.00 30.00 15.95

1511.63 1156 -146.63 -0.83 0.00 3902.8 3984.8 3820.8 1307.9 3740.1 148.44 -10.80 202 1520.36 0.00 0.00 3.51 0.000 0.000 0.049 3902.66 3984.62 3820.69 1308.06 2245.81 0 0 0 30.00 30.00 16.00

1536 end dive: TARGET_DEPTH_EXCEEDED

state 1536 begin apogee

1538.37 10243 0.00 -0.28 0.00 3903.2 3985.1 3821.2 1307.9 2146.9 150.82 -9.78 205 1663.31 112.08 0.84 0.09 1.101 0.131 0.208 3298.72 3397.75 3199.69 1435.88 2204.56 0 0 0 11.13 15.94 15.44

1664 end apogee: CONTROL_FINISHED_OK

state 1665 begin climb

1664.78 10243 146.63 1.16 0.00 3296.6 3395.2 3197.9 1435.9 2204.5 155.80 0.00 216 1795.26 114.89 2.34 0.00 1.062 0.107 0.000 2700.41 2804.38 2596.44 1783.25 2204.38 0 0 0 11.55 15.51 30.00

1979.44 16514 146.63 1.12 0.00 2694.0 2794.7 2593.4 1784.0 2204.4 123.65 13.27 247 1981.34 0.00 0.00 0.00 0.000 0.000 0.000 2693.56 2794.56 2592.56 1784.12 2204.31 0 0 0 30.00 30.00 30.00

2162.61 16386 146.63 1.12 0.00 2692.8 2794.4 2591.1 1783.5 2204.4 100.38 12.61 266 2172.14 0.00 0.00 0.00 0.000 0.000 0.000 2693.22 2794.81 2591.62 1783.25 2204.12 0 0 0 30.00 30.00 30.00

2362.61 16646 146.63 1.12 80.00 2692.6 2794.8 2590.4 1783.3 2203.9 76.02 11.63 286 2371.94 0.00 0.00 3.86 0.000 0.000 0.140 2691.47 2793.50 2589.44 1783.38 3646.62 0 0 0 30.00 30.00 15.90

2415.38 21639 146.63 0.99 0.00 2691.7 2793.2 2590.1 1783.2 3646.6 68.76 13.97 296 2425.29 0.00 0.38 3.55 0.000 0.171 0.061 2694.56 2796.12 2593.00 1733.19 2156.38 0 0 0 30.00 15.90 15.97

2609.55 10403 178.35 1.12 0.00 2691.5 2793.2 2589.8 1733.5 2156.6 50.99 8.53 316 2640.97 24.91 0.27 0.00 0.958 0.076 0.000 2571.28 2678.38 2464.19 1782.12 2156.75 0 0 0 11.22 16.01 30.00

2825.90 388 178.35 1.15 80.00 2566.1 2672.6 2459.6 1782.3 2156.5 28.30 10.55 355 2834.91 0.00 0.00 3.92 0.000 0.000 0.138 2564.97 2671.31 2458.62 1782.56 3649.50 0 0 0 30.00 30.00 15.87

2869.14 1156 178.35 1.09 0.00 2565.0 2671.6 2458.4 1782.9 3649.2 22.97 12.62 363 2877.78 0.00 0.00 3.57 0.000 0.000 0.060 2568.38 2674.94 2461.81 1783.00 2156.25 0 0 0 30.00 30.00 15.93

3059.44 10663 272.05 1.31 80.00 2564.6 2671.8 2457.5 1783.1 2156.4 7.58 5.66 399 3145.70 69.49 0.22 4.05 0.938 0.077 0.133 2188.53 2315.75 2061.31 1827.19 3645.19 0 0 0 11.39 15.85 15.52

3265 end climb: NO_VERTICAL_VELOCITY

state 3265 begin surface

ID	245	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	3	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	-1.9
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	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	215	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3600	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	2	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18	FG_AHR_10V	1.3222926	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	7.0899549	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	0.029999999	PRESSURE_YINT	-191.55725	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00022631494	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72244	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	1	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	235	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3850	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	2275	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2180	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	0

GPS1	240623,025546,4735.957,-12256.762,2,0.9,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,025927,4735.961,-12256.726,2,0.9,4,15.4	MHEAD_RNG_PITCHd_Wd	1.5,1100,-17.6,-10.000,-21.21,2209,0.140
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.023397,-0.070985,-0.008082,1.141953,0.157444,0.005634,0.018041,1.117201,-310.103485,-1960.599121,-49.624283
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

NAV	1687579309,0.3,start	_10V_AH	14.89,0.000
NET	xmit part outbox0002.n 973 0	FG_AHR_24Vo	7.265
NET_PING	1687578615,29,259.626007,11.800000,-0.343989	FG_AHR_10Vo	1.367
FREEZE	6.05,14.037,-1.514,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3588.49,295.73,0.913,0,501.2,586.2,416.1,686.55	MEM2	944400,35,101648,91
SM_GC	1.35,0.00,10.28,3.38,0.000,0.047,0.055,498.2,581.1,415.3,196.7,2248.7,0,0,0,30.00,15.58,15.60	DATA_FILE_SIZE	12970,438
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	169188,0
IRIDIUM_FIX	4735.53,-12254.47,240623,014230	SDSIZE	3887104,3872128
TCM_TEMP	16.03	SDFILEDIR	61,4
SC_FREEKB	3877824	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1403.0
RAFOS_FIX	4736.868652,-12257.000000,240623,020201,3,255,0.49	MAGCAL	1.000000,-0.001492,-0.040474,0.013320,1.162299,0.135163,0.023587,0.033163,1.076443,-467.8,-1876.3,153.3,31,0.0183,0
HUMID	56.07	IMPLIED_C_PITCH	1539,18.08,244,0.0,0.00
TEMP	11.79	IMPLIED_C_VBD	3318,17.108761,244,0
INTERNAL_PRESSURE	8.11768	GPS	240623,040239,4736.314,-12256.620,17,1.5,17,15.4
_24V_AH	14.92,7.478

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	730	1101	11998.66	nil	0	0	0.00
Pitch_motor	22	265	90.87	nil	0	0	0.00
Roll_motor	52	208	161.81	nil	0	0	0.00
Iridium	154	198	457.52	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	2174	5	165.80	SciCon	3271	7	342.40
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1408	0	6.71
Compass	1116	5	83.15
RAFOS	2124	40	1265.57
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
6.77	16386	-146.63	-1.16	0.00	495.3	574.6	416.1	197.8	2249.6	0.00	0.00	0	75.14	63.60	0.00	0.00	0.005	0.000	0.000	2093.75	2183.88	2003.62	197.88	2249.94	0	0	0	15.93	30.00	30.00
75.66	18983	-146.63	-1.16	-80.00	2095.3	2183.3	2007.4	197.6	2249.6	3.28	-1.86	10	153.01	49.60	8.04	3.72	0.005	0.265	0.126	3897.06	3982.00	3812.12	1219.38	808.38	0	0	0	15.95	15.75	15.84
379.33	3205	-146.63	-0.93	0.00	3899.7	3982.9	3816.5	1219.4	808.0	42.08	-13.69	67	388.33	0.00	0.40	3.67	0.000	0.177	0.063	3900.78	3982.75	3818.81	1274.19	2291.94	0	0	0	30.00	15.83	15.88
577.57	160	-146.63	-0.88	0.00	3900.7	3983.1	3818.2	1274.6	2292.2	61.67	-9.38	94	579.43	0.00	0.00	0.00	0.000	0.000	0.000	3899.88	3982.62	3817.12	1274.12	2292.56	0	0	0	30.00	30.00	30.00
767.61	160	-146.63	-0.84	0.00	3900.9	3982.2	3819.6	1274.8	2291.9	80.73	-9.88	113	769.47	0.00	0.00	0.00	0.000	0.000	0.000	3900.75	3983.00	3818.50	1274.31	2291.94	0	0	0	30.00	30.00	30.00
957.65	2469	-146.63	-0.80	80.00	3901.7	3983.9	3819.4	1274.4	2292.2	99.28	-9.58	132	966.79	0.00	0.20	3.84	0.000	0.169	0.125	3901.50	3984.50	3818.50	1307.94	3741.12	0	0	0	30.00	15.93	15.94
1010.18	1156	-146.63	-0.74	0.00	3901.6	3983.8	3819.5	1308.1	3741.6	104.65	-10.09	142	1018.35	0.00	0.00	3.54	0.000	0.000	0.049	3902.44	3984.38	3820.50	1308.00	2245.81	0	0	0	30.00	30.00	16.00
1212.27	676	-146.63	-0.78	-80.00	3902.6	3984.6	3820.6	1307.7	2246.1	120.91	-8.37	162	1224.30	0.00	0.00	3.70	0.000	0.000	0.134	3902.09	3984.06	3820.12	1308.12	808.19	0	0	0	30.00	30.00	15.92
1237.78	1188	-146.63	-0.82	0.00	3902.4	3984.5	3820.4	1308.1	807.9	123.85	-8.78	167	1245.86	0.00	0.00	3.56	0.000	0.000	0.065	3902.91	3984.25	3821.56	1307.69	2293.31	0	0	0	30.00	30.00	15.98
1433.57	420	-146.63	-0.87	80.00	3902.9	3985.1	3820.8	1307.7	2293.4	140.33	-8.44	187	1442.43	0.00	0.00	3.82	0.000	0.000	0.128	3902.91	3984.62	3821.19	1308.44	3740.06	0	0	0	30.00	30.00	15.95
1511.63	1156	-146.63	-0.83	0.00	3902.8	3984.8	3820.8	1307.9	3740.1	148.44	-10.80	202	1520.36	0.00	0.00	3.51	0.000	0.000	0.049	3902.66	3984.62	3820.69	1308.06	2245.81	0	0	0	30.00	30.00	16.00
1536	end dive: TARGET_DEPTH_EXCEEDED
state	1536	begin apogee
1538.37	10243	0.00	-0.28	0.00	3903.2	3985.1	3821.2	1307.9	2146.9	150.82	-9.78	205	1663.31	112.08	0.84	0.09	1.101	0.131	0.208	3298.72	3397.75	3199.69	1435.88	2204.56	0	0	0	11.13	15.94	15.44
1664	end apogee: CONTROL_FINISHED_OK
state	1665	begin climb
1664.78	10243	146.63	1.16	0.00	3296.6	3395.2	3197.9	1435.9	2204.5	155.80	0.00	216	1795.26	114.89	2.34	0.00	1.062	0.107	0.000	2700.41	2804.38	2596.44	1783.25	2204.38	0	0	0	11.55	15.51	30.00
1979.44	16514	146.63	1.12	0.00	2694.0	2794.7	2593.4	1784.0	2204.4	123.65	13.27	247	1981.34	0.00	0.00	0.00	0.000	0.000	0.000	2693.56	2794.56	2592.56	1784.12	2204.31	0	0	0	30.00	30.00	30.00
2162.61	16386	146.63	1.12	0.00	2692.8	2794.4	2591.1	1783.5	2204.4	100.38	12.61	266	2172.14	0.00	0.00	0.00	0.000	0.000	0.000	2693.22	2794.81	2591.62	1783.25	2204.12	0	0	0	30.00	30.00	30.00
2362.61	16646	146.63	1.12	80.00	2692.6	2794.8	2590.4	1783.3	2203.9	76.02	11.63	286	2371.94	0.00	0.00	3.86	0.000	0.000	0.140	2691.47	2793.50	2589.44	1783.38	3646.62	0	0	0	30.00	30.00	15.90
2415.38	21639	146.63	0.99	0.00	2691.7	2793.2	2590.1	1783.2	3646.6	68.76	13.97	296	2425.29	0.00	0.38	3.55	0.000	0.171	0.061	2694.56	2796.12	2593.00	1733.19	2156.38	0	0	0	30.00	15.90	15.97
2609.55	10403	178.35	1.12	0.00	2691.5	2793.2	2589.8	1733.5	2156.6	50.99	8.53	316	2640.97	24.91	0.27	0.00	0.958	0.076	0.000	2571.28	2678.38	2464.19	1782.12	2156.75	0	0	0	11.22	16.01	30.00
2825.90	388	178.35	1.15	80.00	2566.1	2672.6	2459.6	1782.3	2156.5	28.30	10.55	355	2834.91	0.00	0.00	3.92	0.000	0.000	0.138	2564.97	2671.31	2458.62	1782.56	3649.50	0	0	0	30.00	30.00	15.87
2869.14	1156	178.35	1.09	0.00	2565.0	2671.6	2458.4	1782.9	3649.2	22.97	12.62	363	2877.78	0.00	0.00	3.57	0.000	0.000	0.060	2568.38	2674.94	2461.81	1783.00	2156.25	0	0	0	30.00	30.00	15.93
3059.44	10663	272.05	1.31	80.00	2564.6	2671.8	2457.5	1783.1	2156.4	7.58	5.66	399	3145.70	69.49	0.22	4.05	0.938	0.077	0.133	2188.53	2315.75	2061.31	1827.19	3645.19	0	0	0	11.39	15.85	15.52
3265	end climb: NO_VERTICAL_VELOCITY
state	3265	begin surface