Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 57 * 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 57 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 58 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 2.8292043 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 17.465103 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 58 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 2.8292043 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 17.465103 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 57 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 270623,225923,4736.006,-12256.618,2,1.3,5,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,230235,4736.011,-12256.590,2,1.3,5,15.4 MHEAD_RNG_PITCHd_Wd 350.1,973,-17.6,-10.000,-21.21,2209,0.163

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.036082,-0.034244,-0.005116,1.054451,-0.044594,0.015811,-0.079421,0.964608,659.104187,-325.351990,-258.992126

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NAV 1687908971,92.2,0,stop FG_AHR_24Vo 17.605

FREEZE 5.34,12.307,-1.583,0,1,0 FG_AHR_10Vo 2.830

SURF forcing MEM0 59804,1,0,0

SM_CCo 3238.05,296.60,0.707,0,500.3,438.1,562.6,686.76 MEM1 65508,1,0,0

SM_GC 1.73,0.00,10.83,0.37,0.000,0.032,0.060,495.2,437.8,552.8,190.1,2323.4,0,0,0,30.00,15.35,15.34 MEM2 945540,30,101008,71

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12944,451

IRIDIUM_FIX 4735.53,-12254.47,270623,221123 CAP_FILE_SIZE 163982,0

TCM_TEMP 18.29 SDSIZE 3887104,3854432

SC_FREEKB 3860512 SDFILEDIR 511,58

RAFOS_CLK -1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_FIX 4736.203613,-12257.000000,270623,191900,4,255,0.49 SOUNDSPEED 1465.0

HUMID 56.52 CURRENT 0.029,137.4,1

TEMP 10.59 MAGCAL 1.000000,0.033130,-0.017734,-0.013856,1.037184,-0.015500,0.025544,-0.051810,0.960682,651.4,-343.4,-274.2,30,0.0304,0

INTERNAL_PRESSURE 8.27172 IMPLIED_C_PITCH 1536,16.63,210,0.0,0.00

_24V_AH 14.88,14.492 IMPLIED_C_VBD 3425,18.246674,210,0

_10V_AH 14.95,0.000 GPS 270623,235940,4736.157,-12256.417,24,1.0,25,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 680 881 8920.25 nil 0 0 0.00

Pitch_motor 23 228 80.77 nil 0 0 0.00

Roll_motor 58 163 142.59 nil 0 0 0.00

Iridium 121 130 234.62 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.38 nil 0 0 0.00

Core 1881 5 144.01 SciCon 2916 7 326.69

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1310 0 6.27

Compass 931 5 69.64

RAFOS 1972 40 1179.53

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

6.43 16386 -146.63 -1.35 0.00 493.1 438.0 548.1 186.8 2267.7 0.00 0.00 0 50.77 39.99 0.00 0.00 0.005 0.000 0.000 1675.31 1668.44 1682.19 186.50 2267.81 0 0 0 15.40 30.00 30.00

51.31 18983 -146.63 -1.35 -80.00 1678.2 1668.5 1687.9 186.2 2267.2 3.41 -4.07 6 138.99 59.69 7.72 3.64 0.005 0.228 0.097 3898.84 3881.88 3915.81 1172.06 832.88 0 0 0 15.61 15.45 15.52

177.66 1156 -146.63 -1.30 0.00 3900.4 3883.1 3917.8 1172.1 833.3 13.75 -12.74 29 185.77 0.00 0.00 3.57 0.000 0.000 0.031 3901.12 3883.88 3918.38 1172.06 2318.69 0 0 0 30.00 30.00 15.57

369.39 388 -146.63 -1.27 80.00 3901.4 3882.8 3920.0 1171.7 2317.6 35.71 -11.33 67 377.85 0.00 0.00 3.59 0.000 0.000 0.089 3901.22 3882.62 3919.81 1171.88 3768.94 0 0 0 30.00 30.00 15.59

606.67 3205 -146.63 -1.22 0.00 3902.4 3883.4 3921.5 1171.7 3769.4 68.05 -13.36 114 615.68 0.00 0.22 3.48 0.000 0.152 0.013 3901.66 3882.88 3920.44 1204.56 2266.69 0 0 0 30.00 15.61 15.67

801.77 420 -146.63 -1.21 80.00 3903.3 3883.1 3923.4 1204.4 2265.6 86.31 -9.14 134 810.58 0.00 0.00 3.72 0.000 0.000 0.089 3902.12 3882.62 3921.62 1204.88 3768.06 0 0 0 30.00 30.00 15.64

1039.42 1156 -146.63 -1.18 0.00 3903.4 3883.7 3923.1 1204.5 3768.1 114.37 -11.46 181 1048.15 0.00 0.00 3.52 0.000 0.000 0.014 3902.72 3883.44 3922.00 1205.00 2267.81 0 0 0 30.00 30.00 15.70

1234.53 420 -146.63 -1.17 80.00 3904.0 3883.8 3924.1 1204.8 2266.1 132.07 -8.92 201 1243.34 0.00 0.00 3.72 0.000 0.000 0.091 3903.69 3883.12 3924.25 1204.19 3768.12 0 0 0 30.00 30.00 15.67

1352.16 1156 -146.63 -1.14 0.00 3903.5 3883.2 3923.8 1204.8 3767.6 145.08 -11.60 224 1360.87 0.00 0.00 3.56 0.000 0.000 0.014 3903.78 3883.38 3924.19 1203.94 2265.94 0 0 0 30.00 30.00 15.73

1407 end dive: TARGET_DEPTH_EXCEEDED

state 1407 begin apogee

1408.93 10243 0.00 -0.33 0.00 3903.8 3883.6 3923.9 1204.6 2152.2 150.43 -9.54 230 1529.70 106.17 1.50 0.09 0.881 0.110 0.163 3298.56 3243.75 3353.38 1421.12 2209.25 0 0 0 11.55 15.68 15.40

1531 end apogee: CONTROL_FINISHED_OK

state 1531 begin climb

1531.38 10759 146.63 1.35 -80.00 3296.1 3242.1 3350.1 1421.8 2209.9 153.29 0.00 241 1664.28 108.36 2.71 3.92 0.861 0.072 0.111 2696.53 2615.62 2777.44 1832.31 720.00 0 0 0 11.47 15.39 15.18

1667.38 1156 146.63 1.34 0.00 2696.0 2617.2 2774.8 1831.6 720.2 142.24 12.44 262 1675.80 0.00 0.00 3.60 0.000 0.000 0.031 2695.53 2617.19 2773.88 1830.69 2202.44 0 0 0 30.00 30.00 15.29

1863.14 16774 146.63 1.33 80.00 2692.1 2614.5 2769.7 1831.4 2201.9 113.26 15.13 282 1872.13 0.00 0.00 3.62 0.000 0.000 0.091 2690.09 2612.44 2767.75 1831.50 3653.19 0 0 0 30.00 30.00 15.43

1940.99 17542 146.63 1.30 0.00 2691.2 2614.2 2768.2 1831.6 3652.8 99.26 18.28 297 1949.91 0.00 0.00 3.52 0.000 0.000 0.016 2692.44 2616.88 2768.00 1831.50 2157.62 0 0 0 30.00 30.00 15.50

2136.00 16514 146.63 1.29 0.00 2690.5 2613.2 2767.7 1831.5 2157.5 70.83 13.55 317 2137.92 0.00 0.00 0.00 0.000 0.000 0.000 2689.19 2612.19 2766.19 1831.56 2157.50 0 0 0 30.00 30.00 30.00

2321.03 16774 146.63 1.28 80.00 2689.8 2613.6 2766.1 1831.4 2157.2 47.85 11.69 337 2329.78 0.00 0.00 3.69 0.000 0.000 0.090 2688.31 2612.06 2764.56 1831.81 3652.62 0 0 0 30.00 30.00 15.63

2393.61 21639 146.63 1.26 0.00 2689.7 2613.6 2765.8 1831.4 3652.6 37.21 15.04 351 2402.68 0.00 0.26 3.51 0.000 0.183 0.016 2690.88 2615.50 2766.25 1799.69 2157.75 0 0 0 30.00 15.61 15.69

2584.18 8614 154.47 1.28 80.00 2689.0 2612.6 2765.4 1799.5 2157.5 17.44 9.64 388 2602.58 6.51 0.00 3.68 0.531 0.000 0.091 2668.62 2590.69 2746.56 1799.62 3654.25 0 0 0 11.63 30.00 15.66

2646.43 1156 154.47 1.27 0.00 2667.1 2590.1 2744.0 1799.8 3654.2 11.08 10.34 400 2655.09 0.00 0.00 3.54 0.000 0.000 0.016 2665.78 2588.50 2743.06 1799.94 2156.44 0 0 0 30.00 30.00 15.73

2838.96 10663 353.95 1.54 80.00 2666.1 2587.6 2744.6 1799.4 2156.9 6.39 0.76 438 2910.04 63.05 0.51 0.00 0.730 0.038 0.000 2308.53 2206.00 2411.06 1883.25 2156.56 0 0 0 11.53 15.75 30.00

2911 end climb: NO_VERTICAL_VELOCITY

state 2911 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	57	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	58	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	2.8292043	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	17.465103	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	270623,225923,4736.006,-12256.618,2,1.3,5,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,230235,4736.011,-12256.590,2,1.3,5,15.4	MHEAD_RNG_PITCHd_Wd	350.1,973,-17.6,-10.000,-21.21,2209,0.163
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.036082,-0.034244,-0.005116,1.054451,-0.044594,0.015811,-0.079421,0.964608,659.104187,-325.351990,-258.992126
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NAV	1687908971,92.2,0,stop	FG_AHR_24Vo	17.605
FREEZE	5.34,12.307,-1.583,0,1,0	FG_AHR_10Vo	2.830
SURF	forcing	MEM0	59804,1,0,0
SM_CCo	3238.05,296.60,0.707,0,500.3,438.1,562.6,686.76	MEM1	65508,1,0,0
SM_GC	1.73,0.00,10.83,0.37,0.000,0.032,0.060,495.2,437.8,552.8,190.1,2323.4,0,0,0,30.00,15.35,15.34	MEM2	945540,30,101008,71
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12944,451
IRIDIUM_FIX	4735.53,-12254.47,270623,221123	CAP_FILE_SIZE	163982,0
TCM_TEMP	18.29	SDSIZE	3887104,3854432
SC_FREEKB	3860512	SDFILEDIR	511,58
RAFOS_CLK	-1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_FIX	4736.203613,-12257.000000,270623,191900,4,255,0.49	SOUNDSPEED	1465.0
HUMID	56.52	CURRENT	0.029,137.4,1
TEMP	10.59	MAGCAL	1.000000,0.033130,-0.017734,-0.013856,1.037184,-0.015500,0.025544,-0.051810,0.960682,651.4,-343.4,-274.2,30,0.0304,0
INTERNAL_PRESSURE	8.27172	IMPLIED_C_PITCH	1536,16.63,210,0.0,0.00
_24V_AH	14.88,14.492	IMPLIED_C_VBD	3425,18.246674,210,0
_10V_AH	14.95,0.000	GPS	270623,235940,4736.157,-12256.417,24,1.0,25,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	680	881	8920.25	nil	0	0	0.00
Pitch_motor	23	228	80.77	nil	0	0	0.00
Roll_motor	58	163	142.59	nil	0	0	0.00
Iridium	121	130	234.62	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.38	nil	0	0	0.00
Core	1881	5	144.01	SciCon	2916	7	326.69
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1310	0	6.27
Compass	931	5	69.64
RAFOS	1972	40	1179.53
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
6.43	16386	-146.63	-1.35	0.00	493.1	438.0	548.1	186.8	2267.7	0.00	0.00	0	50.77	39.99	0.00	0.00	0.005	0.000	0.000	1675.31	1668.44	1682.19	186.50	2267.81	0	0	0	15.40	30.00	30.00
51.31	18983	-146.63	-1.35	-80.00	1678.2	1668.5	1687.9	186.2	2267.2	3.41	-4.07	6	138.99	59.69	7.72	3.64	0.005	0.228	0.097	3898.84	3881.88	3915.81	1172.06	832.88	0	0	0	15.61	15.45	15.52
177.66	1156	-146.63	-1.30	0.00	3900.4	3883.1	3917.8	1172.1	833.3	13.75	-12.74	29	185.77	0.00	0.00	3.57	0.000	0.000	0.031	3901.12	3883.88	3918.38	1172.06	2318.69	0	0	0	30.00	30.00	15.57
369.39	388	-146.63	-1.27	80.00	3901.4	3882.8	3920.0	1171.7	2317.6	35.71	-11.33	67	377.85	0.00	0.00	3.59	0.000	0.000	0.089	3901.22	3882.62	3919.81	1171.88	3768.94	0	0	0	30.00	30.00	15.59
606.67	3205	-146.63	-1.22	0.00	3902.4	3883.4	3921.5	1171.7	3769.4	68.05	-13.36	114	615.68	0.00	0.22	3.48	0.000	0.152	0.013	3901.66	3882.88	3920.44	1204.56	2266.69	0	0	0	30.00	15.61	15.67
801.77	420	-146.63	-1.21	80.00	3903.3	3883.1	3923.4	1204.4	2265.6	86.31	-9.14	134	810.58	0.00	0.00	3.72	0.000	0.000	0.089	3902.12	3882.62	3921.62	1204.88	3768.06	0	0	0	30.00	30.00	15.64
1039.42	1156	-146.63	-1.18	0.00	3903.4	3883.7	3923.1	1204.5	3768.1	114.37	-11.46	181	1048.15	0.00	0.00	3.52	0.000	0.000	0.014	3902.72	3883.44	3922.00	1205.00	2267.81	0	0	0	30.00	30.00	15.70
1234.53	420	-146.63	-1.17	80.00	3904.0	3883.8	3924.1	1204.8	2266.1	132.07	-8.92	201	1243.34	0.00	0.00	3.72	0.000	0.000	0.091	3903.69	3883.12	3924.25	1204.19	3768.12	0	0	0	30.00	30.00	15.67
1352.16	1156	-146.63	-1.14	0.00	3903.5	3883.2	3923.8	1204.8	3767.6	145.08	-11.60	224	1360.87	0.00	0.00	3.56	0.000	0.000	0.014	3903.78	3883.38	3924.19	1203.94	2265.94	0	0	0	30.00	30.00	15.73
1407	end dive: TARGET_DEPTH_EXCEEDED
state	1407	begin apogee
1408.93	10243	0.00	-0.33	0.00	3903.8	3883.6	3923.9	1204.6	2152.2	150.43	-9.54	230	1529.70	106.17	1.50	0.09	0.881	0.110	0.163	3298.56	3243.75	3353.38	1421.12	2209.25	0	0	0	11.55	15.68	15.40
1531	end apogee: CONTROL_FINISHED_OK
state	1531	begin climb
1531.38	10759	146.63	1.35	-80.00	3296.1	3242.1	3350.1	1421.8	2209.9	153.29	0.00	241	1664.28	108.36	2.71	3.92	0.861	0.072	0.111	2696.53	2615.62	2777.44	1832.31	720.00	0	0	0	11.47	15.39	15.18
1667.38	1156	146.63	1.34	0.00	2696.0	2617.2	2774.8	1831.6	720.2	142.24	12.44	262	1675.80	0.00	0.00	3.60	0.000	0.000	0.031	2695.53	2617.19	2773.88	1830.69	2202.44	0	0	0	30.00	30.00	15.29
1863.14	16774	146.63	1.33	80.00	2692.1	2614.5	2769.7	1831.4	2201.9	113.26	15.13	282	1872.13	0.00	0.00	3.62	0.000	0.000	0.091	2690.09	2612.44	2767.75	1831.50	3653.19	0	0	0	30.00	30.00	15.43
1940.99	17542	146.63	1.30	0.00	2691.2	2614.2	2768.2	1831.6	3652.8	99.26	18.28	297	1949.91	0.00	0.00	3.52	0.000	0.000	0.016	2692.44	2616.88	2768.00	1831.50	2157.62	0	0	0	30.00	30.00	15.50
2136.00	16514	146.63	1.29	0.00	2690.5	2613.2	2767.7	1831.5	2157.5	70.83	13.55	317	2137.92	0.00	0.00	0.00	0.000	0.000	0.000	2689.19	2612.19	2766.19	1831.56	2157.50	0	0	0	30.00	30.00	30.00
2321.03	16774	146.63	1.28	80.00	2689.8	2613.6	2766.1	1831.4	2157.2	47.85	11.69	337	2329.78	0.00	0.00	3.69	0.000	0.000	0.090	2688.31	2612.06	2764.56	1831.81	3652.62	0	0	0	30.00	30.00	15.63
2393.61	21639	146.63	1.26	0.00	2689.7	2613.6	2765.8	1831.4	3652.6	37.21	15.04	351	2402.68	0.00	0.26	3.51	0.000	0.183	0.016	2690.88	2615.50	2766.25	1799.69	2157.75	0	0	0	30.00	15.61	15.69
2584.18	8614	154.47	1.28	80.00	2689.0	2612.6	2765.4	1799.5	2157.5	17.44	9.64	388	2602.58	6.51	0.00	3.68	0.531	0.000	0.091	2668.62	2590.69	2746.56	1799.62	3654.25	0	0	0	11.63	30.00	15.66
2646.43	1156	154.47	1.27	0.00	2667.1	2590.1	2744.0	1799.8	3654.2	11.08	10.34	400	2655.09	0.00	0.00	3.54	0.000	0.000	0.016	2665.78	2588.50	2743.06	1799.94	2156.44	0	0	0	30.00	30.00	15.73
2838.96	10663	353.95	1.54	80.00	2666.1	2587.6	2744.6	1799.4	2156.9	6.39	0.76	438	2910.04	63.05	0.51	0.00	0.730	0.038	0.000	2308.53	2206.00	2411.06	1883.25	2156.56	0	0	0	11.53	15.75	30.00
2911	end climb: NO_VERTICAL_VELOCITY
state	2911	begin surface