Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 4 * 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 4 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 10 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 1.3705668 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 7.2710619 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 10 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 1.3705668 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 7.2710619 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 4 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 240623,040239,4736.314,-12256.620,17,1.5,17,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,040554,4736.327,-12256.588,3,1.5,6,15.4 MHEAD_RNG_PITCHd_Wd 6.0,404,-27.2,-10.000,-30.00,969,0.124

SPEED_LIMITS 0.173,0.258 D_GRID 168

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 8000266

Post-dive calculations and measurements:

NET xmit part outbox0003.n 905 0 _10V_AH 14.89,0.000

NET_PING 1687581311,29,503.528992,10.600000,-0.673630 FG_AHR_24Vo 7.443

NAV 1687582449,0.3,0,stop FG_AHR_10Vo 1.409

FREEZE 4.73,14.675,-1.495,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2746.29,266.77,0.901,0,500.5,585.9,415.1,686.72 MEM2 944352,37,101656,91

SM_GC 1.40,0.00,11.26,0.21,0.000,0.052,0.130,497.7,581.3,414.1,197.9,2291.9,0,0,0,30.00,15.49,15.49 DATA_FILE_SIZE 9746,367

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 161326,0

IRIDIUM_FIX 4738.33,-12256.21,240623,025653 SDSIZE 3887104,3871808

TCM_TEMP 16.12 SDFILEDIR 70,5

SC_FREEKB 3877504 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 4736.868652,-12257.000000,240623,020201,3,255,0.49 MAGCAL 1.000000,0.011800,-0.049558,0.016157,1.120609,0.121531,0.034671,0.066439,1.046075,-399.5,-1913.4,417.5,29,0.0139,0

HUMID 54.76 IMPLIED_C_PITCH 1525,17.89,145,0.0,0.00

TEMP 12.02 IMPLIED_C_VBD 3304,19.487223,145,0

INTERNAL_PRESSURE 8.11756 GPS 240623,045501,4736.584,-12256.421,3,0.7,30,15.4

_24V_AH 14.89,7.685

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 725 1094 11829.16 nil 0 0 0.00

Pitch_motor 25 259 98.31 nil 0 0 0.00

Roll_motor 52 211 166.04 nil 0 0 0.00

Iridium 122 195 356.64 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.48 nil 0 0 0.00

Core 1838 5 140.16 SciCon 2459 6 255.83

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 903 0 4.31

Compass 929 5 69.20

RAFOS 2079 40 1238.75

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

7.04 16386 -63.69 -1.59 0.00 495.2 573.6 416.7 196.4 2296.2 0.00 0.00 0 70.14 58.60 0.00 0.00 0.005 0.000 0.000 1970.06 2057.56 1882.56 196.56 2295.81 0 0 0 14.11 30.00 30.00

70.67 18983 -139.22 -1.68 -80.00 1972.0 2059.6 1884.4 196.5 2295.6 3.05 -2.02 10 147.65 52.54 7.06 3.82 0.005 0.260 0.123 3869.22 3954.31 3784.12 1093.06 807.81 0 0 0 15.80 15.62 15.73

376.00 3205 -139.22 -1.52 0.00 3870.7 3953.4 3788.0 1093.6 808.2 56.57 -18.59 69 384.19 0.00 0.28 3.59 0.000 0.198 0.064 3871.22 3953.75 3788.69 1132.81 2293.69 0 0 0 30.00 15.79 15.87

571.92 644 -139.22 -1.49 -80.00 3871.4 3953.2 3789.6 1133.1 2292.9 87.76 -16.48 89 580.88 0.00 0.00 3.82 0.000 0.000 0.126 3873.19 3955.12 3791.25 1132.62 807.94 0 0 0 30.00 30.00 15.86

630.06 1156 -139.22 -1.42 0.00 3872.0 3954.0 3790.0 1132.8 807.8 97.93 -17.37 100 638.79 0.00 0.00 3.54 0.000 0.000 0.064 3871.78 3953.44 3790.12 1132.75 2295.00 0 0 0 30.00 30.00 15.92

821.28 0 -139.22 -1.42 0.00 3872.3 3954.6 3790.1 1132.7 2295.3 128.37 -16.53 119 829.76 0.00 0.00 0.00 0.000 0.000 0.000 3872.62 3954.62 3790.62 1132.62 2294.75 0 0 0 30.00 30.00 30.00

955 end dive: TARGET_DEPTH_EXCEEDED

state 955 begin apogee

957.70 10243 0.00 -0.28 0.00 3872.8 3954.4 3791.3 1132.6 2148.8 151.57 -16.78 133 1078.30 106.93 2.12 0.09 1.095 0.162 0.211 3298.75 3400.12 3197.38 1434.75 2201.88 0 0 0 11.31 15.82 15.35

1079 end apogee: CONTROL_FINISHED_OK

state 1079 begin climb

1079.72 10759 139.22 1.68 -80.00 3297.0 3397.5 3196.4 1435.0 2201.7 157.23 0.00 144 1215.85 109.92 3.23 4.11 1.061 0.104 0.156 2731.41 2834.38 2628.44 1911.56 714.19 0 0 0 11.29 15.43 15.25

1220.03 1028 139.22 1.68 0.00 2727.6 2827.9 2627.2 1911.2 714.1 140.69 19.31 168 1229.05 0.00 0.00 3.67 0.000 0.000 0.080 2726.22 2826.56 2625.88 1911.31 2194.81 0 0 0 30.00 30.00 15.44

1414.93 260 139.22 1.68 80.00 2724.3 2825.2 2623.5 1911.5 2195.6 101.41 19.46 188 1424.16 0.00 0.00 3.75 0.000 0.000 0.137 2723.84 2824.38 2623.31 1912.00 3643.75 0 0 0 30.00 30.00 15.74

1457.60 21639 139.22 1.54 0.00 2723.9 2824.1 2623.7 1911.2 3644.0 91.75 23.46 196 1467.52 0.00 0.36 3.57 0.000 0.205 0.059 2724.84 2824.81 2624.88 1867.56 2158.00 0 0 0 30.00 15.72 15.81

1651.70 18823 139.22 1.63 80.00 2722.9 2823.7 2622.2 1867.2 2157.6 59.71 15.84 216 1661.25 0.00 0.20 3.81 0.000 0.087 0.135 2724.09 2824.44 2623.75 1905.75 3646.56 0 0 0 30.00 15.90 15.88

1733.24 21639 139.22 1.50 0.00 2722.9 2823.6 2622.3 1905.2 3646.4 44.15 20.01 230 1746.15 0.00 0.37 3.56 0.000 0.212 0.060 2722.88 2823.50 2622.25 1859.56 2156.62 0 0 0 30.00 15.81 15.88

1930.32 19079 139.22 1.64 -80.00 2722.5 2823.5 2621.6 1859.2 2156.4 17.02 12.33 269 1939.56 0.00 0.27 3.72 0.000 0.082 0.151 2724.66 2825.88 2623.44 1906.50 715.56 0 0 0 30.00 15.93 15.88

1958.64 17414 139.22 1.64 0.00 2721.8 2822.2 2621.3 1906.2 715.4 13.39 12.80 274 1967.46 0.00 0.00 3.56 0.000 0.000 0.077 2724.62 2825.12 2624.12 1907.00 2197.50 0 0 0 30.00 30.00 15.94

2151.73 10919 237.43 1.88 -80.00 2722.2 2822.7 2621.6 1906.6 2197.2 9.47 -0.37 312 2242.30 72.68 0.29 3.94 0.937 0.076 0.148 2331.59 2451.75 2211.44 1964.81 714.12 0 0 0 11.31 15.98 15.59

2336.22 9382 316.37 2.02 0.00 2322.9 2437.5 2208.4 1964.9 714.5 6.77 1.66 345 2409.69 58.11 0.00 3.61 0.915 0.000 0.075 2010.72 2144.75 1876.69 1965.06 2196.25 0 0 0 11.32 30.00 15.75

2453 end climb: NO_VERTICAL_VELOCITY

state 2453 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	4	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	10	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	1.3705668	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	7.2710619	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	240623,040239,4736.314,-12256.620,17,1.5,17,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,040554,4736.327,-12256.588,3,1.5,6,15.4	MHEAD_RNG_PITCHd_Wd	6.0,404,-27.2,-10.000,-30.00,969,0.124
SPEED_LIMITS	0.173,0.258	D_GRID	168
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	8000266

NET	xmit part outbox0003.n 905 0	_10V_AH	14.89,0.000
NET_PING	1687581311,29,503.528992,10.600000,-0.673630	FG_AHR_24Vo	7.443
NAV	1687582449,0.3,0,stop	FG_AHR_10Vo	1.409
FREEZE	4.73,14.675,-1.495,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2746.29,266.77,0.901,0,500.5,585.9,415.1,686.72	MEM2	944352,37,101656,91
SM_GC	1.40,0.00,11.26,0.21,0.000,0.052,0.130,497.7,581.3,414.1,197.9,2291.9,0,0,0,30.00,15.49,15.49	DATA_FILE_SIZE	9746,367
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	161326,0
IRIDIUM_FIX	4738.33,-12256.21,240623,025653	SDSIZE	3887104,3871808
TCM_TEMP	16.12	SDFILEDIR	70,5
SC_FREEKB	3877504	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	4736.868652,-12257.000000,240623,020201,3,255,0.49	MAGCAL	1.000000,0.011800,-0.049558,0.016157,1.120609,0.121531,0.034671,0.066439,1.046075,-399.5,-1913.4,417.5,29,0.0139,0
HUMID	54.76	IMPLIED_C_PITCH	1525,17.89,145,0.0,0.00
TEMP	12.02	IMPLIED_C_VBD	3304,19.487223,145,0
INTERNAL_PRESSURE	8.11756	GPS	240623,045501,4736.584,-12256.421,3,0.7,30,15.4
_24V_AH	14.89,7.685

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	725	1094	11829.16	nil	0	0	0.00
Pitch_motor	25	259	98.31	nil	0	0	0.00
Roll_motor	52	211	166.04	nil	0	0	0.00
Iridium	122	195	356.64	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.48	nil	0	0	0.00
Core	1838	5	140.16	SciCon	2459	6	255.83
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	903	0	4.31
Compass	929	5	69.20
RAFOS	2079	40	1238.75
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
7.04	16386	-63.69	-1.59	0.00	495.2	573.6	416.7	196.4	2296.2	0.00	0.00	0	70.14	58.60	0.00	0.00	0.005	0.000	0.000	1970.06	2057.56	1882.56	196.56	2295.81	0	0	0	14.11	30.00	30.00
70.67	18983	-139.22	-1.68	-80.00	1972.0	2059.6	1884.4	196.5	2295.6	3.05	-2.02	10	147.65	52.54	7.06	3.82	0.005	0.260	0.123	3869.22	3954.31	3784.12	1093.06	807.81	0	0	0	15.80	15.62	15.73
376.00	3205	-139.22	-1.52	0.00	3870.7	3953.4	3788.0	1093.6	808.2	56.57	-18.59	69	384.19	0.00	0.28	3.59	0.000	0.198	0.064	3871.22	3953.75	3788.69	1132.81	2293.69	0	0	0	30.00	15.79	15.87
571.92	644	-139.22	-1.49	-80.00	3871.4	3953.2	3789.6	1133.1	2292.9	87.76	-16.48	89	580.88	0.00	0.00	3.82	0.000	0.000	0.126	3873.19	3955.12	3791.25	1132.62	807.94	0	0	0	30.00	30.00	15.86
630.06	1156	-139.22	-1.42	0.00	3872.0	3954.0	3790.0	1132.8	807.8	97.93	-17.37	100	638.79	0.00	0.00	3.54	0.000	0.000	0.064	3871.78	3953.44	3790.12	1132.75	2295.00	0	0	0	30.00	30.00	15.92
821.28	0	-139.22	-1.42	0.00	3872.3	3954.6	3790.1	1132.7	2295.3	128.37	-16.53	119	829.76	0.00	0.00	0.00	0.000	0.000	0.000	3872.62	3954.62	3790.62	1132.62	2294.75	0	0	0	30.00	30.00	30.00
955	end dive: TARGET_DEPTH_EXCEEDED
state	955	begin apogee
957.70	10243	0.00	-0.28	0.00	3872.8	3954.4	3791.3	1132.6	2148.8	151.57	-16.78	133	1078.30	106.93	2.12	0.09	1.095	0.162	0.211	3298.75	3400.12	3197.38	1434.75	2201.88	0	0	0	11.31	15.82	15.35
1079	end apogee: CONTROL_FINISHED_OK
state	1079	begin climb
1079.72	10759	139.22	1.68	-80.00	3297.0	3397.5	3196.4	1435.0	2201.7	157.23	0.00	144	1215.85	109.92	3.23	4.11	1.061	0.104	0.156	2731.41	2834.38	2628.44	1911.56	714.19	0	0	0	11.29	15.43	15.25
1220.03	1028	139.22	1.68	0.00	2727.6	2827.9	2627.2	1911.2	714.1	140.69	19.31	168	1229.05	0.00	0.00	3.67	0.000	0.000	0.080	2726.22	2826.56	2625.88	1911.31	2194.81	0	0	0	30.00	30.00	15.44
1414.93	260	139.22	1.68	80.00	2724.3	2825.2	2623.5	1911.5	2195.6	101.41	19.46	188	1424.16	0.00	0.00	3.75	0.000	0.000	0.137	2723.84	2824.38	2623.31	1912.00	3643.75	0	0	0	30.00	30.00	15.74
1457.60	21639	139.22	1.54	0.00	2723.9	2824.1	2623.7	1911.2	3644.0	91.75	23.46	196	1467.52	0.00	0.36	3.57	0.000	0.205	0.059	2724.84	2824.81	2624.88	1867.56	2158.00	0	0	0	30.00	15.72	15.81
1651.70	18823	139.22	1.63	80.00	2722.9	2823.7	2622.2	1867.2	2157.6	59.71	15.84	216	1661.25	0.00	0.20	3.81	0.000	0.087	0.135	2724.09	2824.44	2623.75	1905.75	3646.56	0	0	0	30.00	15.90	15.88
1733.24	21639	139.22	1.50	0.00	2722.9	2823.6	2622.3	1905.2	3646.4	44.15	20.01	230	1746.15	0.00	0.37	3.56	0.000	0.212	0.060	2722.88	2823.50	2622.25	1859.56	2156.62	0	0	0	30.00	15.81	15.88
1930.32	19079	139.22	1.64	-80.00	2722.5	2823.5	2621.6	1859.2	2156.4	17.02	12.33	269	1939.56	0.00	0.27	3.72	0.000	0.082	0.151	2724.66	2825.88	2623.44	1906.50	715.56	0	0	0	30.00	15.93	15.88
1958.64	17414	139.22	1.64	0.00	2721.8	2822.2	2621.3	1906.2	715.4	13.39	12.80	274	1967.46	0.00	0.00	3.56	0.000	0.000	0.077	2724.62	2825.12	2624.12	1907.00	2197.50	0	0	0	30.00	30.00	15.94
2151.73	10919	237.43	1.88	-80.00	2722.2	2822.7	2621.6	1906.6	2197.2	9.47	-0.37	312	2242.30	72.68	0.29	3.94	0.937	0.076	0.148	2331.59	2451.75	2211.44	1964.81	714.12	0	0	0	11.31	15.98	15.59
2336.22	9382	316.37	2.02	0.00	2322.9	2437.5	2208.4	1964.9	714.5	6.77	1.66	345	2409.69	58.11	0.00	3.61	0.915	0.000	0.075	2010.72	2144.75	1876.69	1965.06	2196.25	0	0	0	11.32	30.00	15.75
2453	end climb: NO_VERTICAL_VELOCITY
state	2453	begin surface