Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 6 * 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 6 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 25 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 1.4611881 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 7.6359062 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 25 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 1.4611881 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 7.6359062 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 6 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 240623,060359,4736.393,-12256.389,0,1.2,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,060726,4736.421,-12256.326,2,1.1,4,15.4 MHEAD_RNG_PITCHd_Wd 198.8,1053,-17.6,-10.000,-21.21,2209,0.136

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0005.n 942 0 _10V_AH 14.77,0.000

NET_PING 1687589418,29,459.967499,11.600000,-0.610860 FG_AHR_24Vo 7.814

NAV 1687589941,25.5,start FG_AHR_10Vo 1.510

FREEZE 7.23,15.431,-1.456,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3737.66,251.66,0.911,0,500.5,586.4,414.5,686.72 MEM2 944440,33,101648,91

SM_GC 2.34,0.00,10.67,0.32,0.000,0.049,0.113,497.4,581.1,413.8,197.8,2295.2,0,0,0,30.00,15.46,15.44 DATA_FILE_SIZE 12901,483

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 189837,0

IRIDIUM_FIX 4735.53,-12254.47,240623,045609 SDSIZE 3887104,3871072

TCM_TEMP 15.56 SDFILEDIR 88,7

SC_FREEKB 3876864 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 1.000000,0.016206,-0.084570,0.010971,1.101194,0.145169,0.041848,0.065542,1.006552,-190.5,-2068.0,635.7,36,0.0124,0

HUMID 53.73 IMPLIED_C_PITCH 1543,18.76,274,0.0,0.00

TEMP 10.92 IMPLIED_C_VBD 3358,19.373077,274,0

INTERNAL_PRESSURE 8.05759 GPS 240623,071236,4736.139,-12256.557,2,1.1,4,15.4

_24V_AH 14.80,8.121

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 737 1110 12129.57 nil 0 0 0.00

Pitch_motor 25 249 92.53 nil 0 0 0.00

Roll_motor 67 211 211.16 nil 0 0 0.00

Iridium 135 210 421.44 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 2349 5 177.71 SciCon 3467 7 366.08

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1413 0 6.68

Compass 1209 5 89.35

RAFOS 1884 40 1113.11

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

7.11 16386 -146.63 -1.16 0.00 496.2 570.6 421.9 202.9 2251.4 0.00 0.00 0 67.96 56.38 0.00 0.00 0.005 0.000 0.000 1931.81 2020.12 1843.50 203.06 2251.44 0 0 0 15.73 30.00 30.00

68.47 18727 -146.63 -1.16 80.00 1934.2 2025.2 1843.2 203.1 2251.8 3.03 -2.74 11 150.82 53.62 7.93 3.90 0.005 0.250 0.122 3898.44 3985.75 3811.12 1220.12 3742.19 0 0 0 15.77 15.60 15.69

244.88 3205 -146.63 -0.79 0.00 3900.8 3985.7 3815.8 1219.8 3740.9 28.52 -15.82 44 253.63 0.00 0.63 3.53 0.000 0.180 0.048 3901.09 3986.19 3816.00 1309.56 2243.75 0 0 0 30.00 15.72 15.79

437.70 292 -146.63 -0.79 80.00 3901.1 3985.6 3816.6 1308.9 2243.9 45.99 -8.11 82 446.50 0.00 0.00 3.85 0.000 0.000 0.124 3901.03 3985.62 3816.44 1309.25 3741.44 0 0 0 30.00 30.00 15.81

509.99 3237 -146.63 -0.68 0.00 3901.3 3985.9 3816.8 1309.8 3741.1 52.96 -9.88 96 518.35 0.00 0.19 3.54 0.000 0.170 0.047 3902.22 3985.31 3819.12 1337.44 2244.62 0 0 0 30.00 15.79 15.87

705.81 676 -146.63 -0.74 -80.00 3902.3 3986.1 3818.6 1337.2 2244.6 67.40 -7.05 116 714.59 0.00 0.00 3.71 0.000 0.000 0.132 3903.22 3986.69 3819.75 1337.38 807.69 0 0 0 30.00 30.00 15.84

738.05 5285 -146.63 -0.79 0.00 3902.1 3985.7 3818.5 1337.4 807.8 69.88 -7.49 121 750.51 0.00 0.25 3.57 0.000 0.068 0.063 3902.44 3985.69 3819.19 1288.81 2295.56 0 0 0 30.00 15.82 15.84

937.70 292 -146.63 -0.79 80.00 3902.6 3985.6 3819.6 1288.4 2296.1 87.98 -9.15 142 946.55 0.00 0.00 3.66 0.000 0.000 0.128 3902.97 3986.31 3819.62 1288.50 3741.38 0 0 0 30.00 30.00 15.82

995.74 3205 -146.63 -0.66 0.00 3902.9 3985.9 3819.9 1288.0 3741.0 94.59 -12.01 153 1004.98 0.00 0.40 3.55 0.000 0.155 0.046 3903.41 3986.50 3820.31 1345.00 2244.62 0 0 0 30.00 15.82 15.88

1190.95 4257 -146.63 -0.75 0.00 3903.3 3986.5 3820.2 1344.6 2244.9 109.57 -7.27 173 1193.11 0.00 0.20 0.00 0.000 0.079 0.000 3903.38 3986.69 3820.06 1301.38 2244.94 0 0 0 30.00 15.91 30.00

1380.74 292 -146.63 -0.75 80.00 3903.2 3986.2 3820.2 1301.2 2245.4 126.31 -8.77 192 1389.88 0.00 0.00 3.77 0.000 0.000 0.128 3903.91 3987.19 3820.62 1301.75 3744.12 0 0 0 30.00 30.00 15.94

1413.33 3205 -146.63 -0.68 0.00 3903.4 3986.6 3820.3 1301.3 3743.6 129.68 -10.08 198 1422.08 0.00 0.25 3.52 0.000 0.157 0.046 3903.56 3986.31 3820.81 1336.50 2245.31 0 0 0 30.00 15.92 16.00

1609.25 160 -146.63 -0.76 0.00 3903.3 3986.4 3820.2 1336.2 2245.0 144.45 -7.24 218 1611.16 0.00 0.00 0.00 0.000 0.000 0.000 3903.06 3986.25 3819.88 1336.56 2244.94 0 0 0 30.00 30.00 30.00

1692 end dive: TARGET_DEPTH_EXCEEDED

state 1692 begin apogee

1694.66 10243 0.00 -0.28 0.00 3903.8 3986.9 3820.6 1336.7 2149.8 150.62 -7.40 227 1819.78 112.57 0.65 0.09 1.111 0.129 0.212 3301.34 3400.62 3202.06 1435.38 2202.94 0 0 0 11.32 15.90 15.35

1822 end apogee: CONTROL_FINISHED_OK

state 1822 begin climb

1822.70 10759 146.63 1.16 -80.00 3296.9 3396.4 3197.5 1435.8 2203.3 155.34 0.00 238 1965.03 115.50 2.36 4.13 1.072 0.108 0.157 2702.31 2805.88 2598.75 1783.38 714.25 0 0 0 11.42 15.42 15.22

1984.27 5253 146.63 1.06 0.00 2695.4 2795.3 2595.6 1783.4 714.2 142.38 12.95 266 1993.73 0.00 0.28 3.70 0.000 0.191 0.077 2694.50 2794.38 2594.62 1753.06 2194.62 0 0 0 30.00 15.41 15.46

2180.79 16514 146.63 1.09 0.00 2693.1 2793.9 2592.4 1752.2 2194.4 120.22 11.91 285 2184.34 0.00 0.00 0.00 0.000 0.000 0.000 2693.69 2794.38 2593.00 1752.44 2194.00 0 0 0 30.00 30.00 30.00

2365.43 16774 146.63 1.14 80.00 2692.2 2794.0 2590.3 1752.1 2194.5 98.84 10.18 304 2374.48 0.00 0.00 3.76 0.000 0.000 0.143 2691.53 2792.50 2590.56 1752.62 3643.44 0 0 0 30.00 30.00 15.76

2403.70 17542 146.63 1.08 0.00 2691.7 2792.8 2590.6 1751.8 3644.4 94.27 11.97 311 2412.56 0.00 0.00 3.59 0.000 0.000 0.059 2690.81 2791.50 2590.12 1752.06 2158.12 0 0 0 30.00 30.00 15.83

2599.32 10663 158.60 1.15 80.00 2691.3 2792.5 2590.2 1752.4 2157.6 74.25 9.45 331 2623.27 10.53 0.20 3.87 0.874 0.084 0.140 2652.16 2754.19 2550.12 1787.19 3646.06 0 0 0 11.51 15.78 15.69

2682.53 5253 158.60 1.02 0.00 2649.9 2751.5 2548.3 1787.9 3645.1 63.57 13.63 347 2691.89 0.00 0.34 3.59 0.000 0.188 0.059 2652.72 2754.56 2550.88 1742.19 2156.88 0 0 0 30.00 15.73 15.80

2877.62 10403 169.54 1.12 0.00 2649.6 2751.9 2547.2 1743.4 2156.5 44.51 9.49 372 2893.04 10.71 0.22 0.00 0.865 0.083 0.000 2607.78 2711.88 2503.69 1781.06 2156.75 0 0 0 11.26 15.89 30.00

3077.13 8614 185.12 1.17 80.00 2604.4 2708.1 2500.7 1781.4 2156.0 24.20 9.28 410 3101.44 13.98 0.00 3.85 0.894 0.000 0.140 2544.72 2653.62 2435.81 1781.69 3645.31 0 0 0 11.43 30.00 15.78

3140.68 1156 185.12 1.13 0.00 2540.7 2649.2 2432.2 1781.4 3645.2 17.42 11.31 422 3149.34 0.00 0.00 3.58 0.000 0.000 0.058 2540.94 2649.50 2432.38 1782.19 2156.62 0 0 0 30.00 30.00 15.83

3333.58 10403 339.32 1.46 0.00 2539.7 2649.2 2430.1 1781.4 2156.2 7.88 2.86 460 3457.73 112.93 0.46 0.00 0.944 0.064 0.000 1916.72 2055.50 1777.94 1863.56 2156.62 0 0 0 11.39 15.86 30.00

3461 end climb: NO_VERTICAL_VELOCITY

state 3462 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	6	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	25	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	1.4611881	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	7.6359062	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	240623,060359,4736.393,-12256.389,0,1.2,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,060726,4736.421,-12256.326,2,1.1,4,15.4	MHEAD_RNG_PITCHd_Wd	198.8,1053,-17.6,-10.000,-21.21,2209,0.136
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000266

NET	xmit part outbox0005.n 942 0	_10V_AH	14.77,0.000
NET_PING	1687589418,29,459.967499,11.600000,-0.610860	FG_AHR_24Vo	7.814
NAV	1687589941,25.5,start	FG_AHR_10Vo	1.510
FREEZE	7.23,15.431,-1.456,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3737.66,251.66,0.911,0,500.5,586.4,414.5,686.72	MEM2	944440,33,101648,91
SM_GC	2.34,0.00,10.67,0.32,0.000,0.049,0.113,497.4,581.1,413.8,197.8,2295.2,0,0,0,30.00,15.46,15.44	DATA_FILE_SIZE	12901,483
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	189837,0
IRIDIUM_FIX	4735.53,-12254.47,240623,045609	SDSIZE	3887104,3871072
TCM_TEMP	15.56	SDFILEDIR	88,7
SC_FREEKB	3876864	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	1.000000,0.016206,-0.084570,0.010971,1.101194,0.145169,0.041848,0.065542,1.006552,-190.5,-2068.0,635.7,36,0.0124,0
HUMID	53.73	IMPLIED_C_PITCH	1543,18.76,274,0.0,0.00
TEMP	10.92	IMPLIED_C_VBD	3358,19.373077,274,0
INTERNAL_PRESSURE	8.05759	GPS	240623,071236,4736.139,-12256.557,2,1.1,4,15.4
_24V_AH	14.80,8.121

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	737	1110	12129.57	nil	0	0	0.00
Pitch_motor	25	249	92.53	nil	0	0	0.00
Roll_motor	67	211	211.16	nil	0	0	0.00
Iridium	135	210	421.44	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	2349	5	177.71	SciCon	3467	7	366.08
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1413	0	6.68
Compass	1209	5	89.35
RAFOS	1884	40	1113.11
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
7.11	16386	-146.63	-1.16	0.00	496.2	570.6	421.9	202.9	2251.4	0.00	0.00	0	67.96	56.38	0.00	0.00	0.005	0.000	0.000	1931.81	2020.12	1843.50	203.06	2251.44	0	0	0	15.73	30.00	30.00
68.47	18727	-146.63	-1.16	80.00	1934.2	2025.2	1843.2	203.1	2251.8	3.03	-2.74	11	150.82	53.62	7.93	3.90	0.005	0.250	0.122	3898.44	3985.75	3811.12	1220.12	3742.19	0	0	0	15.77	15.60	15.69
244.88	3205	-146.63	-0.79	0.00	3900.8	3985.7	3815.8	1219.8	3740.9	28.52	-15.82	44	253.63	0.00	0.63	3.53	0.000	0.180	0.048	3901.09	3986.19	3816.00	1309.56	2243.75	0	0	0	30.00	15.72	15.79
437.70	292	-146.63	-0.79	80.00	3901.1	3985.6	3816.6	1308.9	2243.9	45.99	-8.11	82	446.50	0.00	0.00	3.85	0.000	0.000	0.124	3901.03	3985.62	3816.44	1309.25	3741.44	0	0	0	30.00	30.00	15.81
509.99	3237	-146.63	-0.68	0.00	3901.3	3985.9	3816.8	1309.8	3741.1	52.96	-9.88	96	518.35	0.00	0.19	3.54	0.000	0.170	0.047	3902.22	3985.31	3819.12	1337.44	2244.62	0	0	0	30.00	15.79	15.87
705.81	676	-146.63	-0.74	-80.00	3902.3	3986.1	3818.6	1337.2	2244.6	67.40	-7.05	116	714.59	0.00	0.00	3.71	0.000	0.000	0.132	3903.22	3986.69	3819.75	1337.38	807.69	0	0	0	30.00	30.00	15.84
738.05	5285	-146.63	-0.79	0.00	3902.1	3985.7	3818.5	1337.4	807.8	69.88	-7.49	121	750.51	0.00	0.25	3.57	0.000	0.068	0.063	3902.44	3985.69	3819.19	1288.81	2295.56	0	0	0	30.00	15.82	15.84
937.70	292	-146.63	-0.79	80.00	3902.6	3985.6	3819.6	1288.4	2296.1	87.98	-9.15	142	946.55	0.00	0.00	3.66	0.000	0.000	0.128	3902.97	3986.31	3819.62	1288.50	3741.38	0	0	0	30.00	30.00	15.82
995.74	3205	-146.63	-0.66	0.00	3902.9	3985.9	3819.9	1288.0	3741.0	94.59	-12.01	153	1004.98	0.00	0.40	3.55	0.000	0.155	0.046	3903.41	3986.50	3820.31	1345.00	2244.62	0	0	0	30.00	15.82	15.88
1190.95	4257	-146.63	-0.75	0.00	3903.3	3986.5	3820.2	1344.6	2244.9	109.57	-7.27	173	1193.11	0.00	0.20	0.00	0.000	0.079	0.000	3903.38	3986.69	3820.06	1301.38	2244.94	0	0	0	30.00	15.91	30.00
1380.74	292	-146.63	-0.75	80.00	3903.2	3986.2	3820.2	1301.2	2245.4	126.31	-8.77	192	1389.88	0.00	0.00	3.77	0.000	0.000	0.128	3903.91	3987.19	3820.62	1301.75	3744.12	0	0	0	30.00	30.00	15.94
1413.33	3205	-146.63	-0.68	0.00	3903.4	3986.6	3820.3	1301.3	3743.6	129.68	-10.08	198	1422.08	0.00	0.25	3.52	0.000	0.157	0.046	3903.56	3986.31	3820.81	1336.50	2245.31	0	0	0	30.00	15.92	16.00
1609.25	160	-146.63	-0.76	0.00	3903.3	3986.4	3820.2	1336.2	2245.0	144.45	-7.24	218	1611.16	0.00	0.00	0.00	0.000	0.000	0.000	3903.06	3986.25	3819.88	1336.56	2244.94	0	0	0	30.00	30.00	30.00
1692	end dive: TARGET_DEPTH_EXCEEDED
state	1692	begin apogee
1694.66	10243	0.00	-0.28	0.00	3903.8	3986.9	3820.6	1336.7	2149.8	150.62	-7.40	227	1819.78	112.57	0.65	0.09	1.111	0.129	0.212	3301.34	3400.62	3202.06	1435.38	2202.94	0	0	0	11.32	15.90	15.35
1822	end apogee: CONTROL_FINISHED_OK
state	1822	begin climb
1822.70	10759	146.63	1.16	-80.00	3296.9	3396.4	3197.5	1435.8	2203.3	155.34	0.00	238	1965.03	115.50	2.36	4.13	1.072	0.108	0.157	2702.31	2805.88	2598.75	1783.38	714.25	0	0	0	11.42	15.42	15.22
1984.27	5253	146.63	1.06	0.00	2695.4	2795.3	2595.6	1783.4	714.2	142.38	12.95	266	1993.73	0.00	0.28	3.70	0.000	0.191	0.077	2694.50	2794.38	2594.62	1753.06	2194.62	0	0	0	30.00	15.41	15.46
2180.79	16514	146.63	1.09	0.00	2693.1	2793.9	2592.4	1752.2	2194.4	120.22	11.91	285	2184.34	0.00	0.00	0.00	0.000	0.000	0.000	2693.69	2794.38	2593.00	1752.44	2194.00	0	0	0	30.00	30.00	30.00
2365.43	16774	146.63	1.14	80.00	2692.2	2794.0	2590.3	1752.1	2194.5	98.84	10.18	304	2374.48	0.00	0.00	3.76	0.000	0.000	0.143	2691.53	2792.50	2590.56	1752.62	3643.44	0	0	0	30.00	30.00	15.76
2403.70	17542	146.63	1.08	0.00	2691.7	2792.8	2590.6	1751.8	3644.4	94.27	11.97	311	2412.56	0.00	0.00	3.59	0.000	0.000	0.059	2690.81	2791.50	2590.12	1752.06	2158.12	0	0	0	30.00	30.00	15.83
2599.32	10663	158.60	1.15	80.00	2691.3	2792.5	2590.2	1752.4	2157.6	74.25	9.45	331	2623.27	10.53	0.20	3.87	0.874	0.084	0.140	2652.16	2754.19	2550.12	1787.19	3646.06	0	0	0	11.51	15.78	15.69
2682.53	5253	158.60	1.02	0.00	2649.9	2751.5	2548.3	1787.9	3645.1	63.57	13.63	347	2691.89	0.00	0.34	3.59	0.000	0.188	0.059	2652.72	2754.56	2550.88	1742.19	2156.88	0	0	0	30.00	15.73	15.80
2877.62	10403	169.54	1.12	0.00	2649.6	2751.9	2547.2	1743.4	2156.5	44.51	9.49	372	2893.04	10.71	0.22	0.00	0.865	0.083	0.000	2607.78	2711.88	2503.69	1781.06	2156.75	0	0	0	11.26	15.89	30.00
3077.13	8614	185.12	1.17	80.00	2604.4	2708.1	2500.7	1781.4	2156.0	24.20	9.28	410	3101.44	13.98	0.00	3.85	0.894	0.000	0.140	2544.72	2653.62	2435.81	1781.69	3645.31	0	0	0	11.43	30.00	15.78
3140.68	1156	185.12	1.13	0.00	2540.7	2649.2	2432.2	1781.4	3645.2	17.42	11.31	422	3149.34	0.00	0.00	3.58	0.000	0.000	0.058	2540.94	2649.50	2432.38	1782.19	2156.62	0	0	0	30.00	30.00	15.83
3333.58	10403	339.32	1.46	0.00	2539.7	2649.2	2430.1	1781.4	2156.2	7.88	2.86	460	3457.73	112.93	0.46	0.00	0.944	0.064	0.000	1916.72	2055.50	1777.94	1863.56	2156.62	0	0	0	11.39	15.86	30.00
3461	end climb: NO_VERTICAL_VELOCITY
state	3462	begin surface