Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 8 * 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 8 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 1.5428567 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 8.0018797 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 1.5428567 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 8.0018797 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 8 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 240623,080452,4736.043,-12256.680,18,1.0,32,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,080755,4736.062,-12256.626,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 357.3,889,-17.6,-10.000,-21.21,2209,0.158

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.024095,-0.047657,0.005368,1.105636,0.136376,0.023928,0.051750,1.005479,-401.326324,-2002.055054,566.946838

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0007.n 916 0 _10V_AH 14.76,0.000

NET_PING 1687596619,29,411.502502,11.600000,-0.546835 FG_AHR_24Vo 8.180

NAV 1687597144,12.1,start FG_AHR_10Vo 1.587

FREEZE 7.60,13.594,-1.543,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3602.64,290.70,0.914,0,501.2,583.8,418.7,686.53 MEM2 944220,45,101628,91

SM_GC 2.14,0.00,11.00,0.31,0.000,0.054,0.108,497.4,578.2,416.6,199.9,2293.5,0,0,0,30.00,15.43,15.43 DATA_FILE_SIZE 12906,450

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 177536,0

IRIDIUM_FIX 4738.33,-12256.21,240623,071351 SDSIZE 3887104,3870368

TCM_TEMP 15.56 SDFILEDIR 106,9

SC_FREEKB 3876224 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 1.000000,0.005793,-0.056479,0.010775,1.131431,0.146460,0.018151,0.068113,1.048393,-378.1,-2043.1,326.5,25,0.0131,0

HUMID 53.12 IMPLIED_C_PITCH 1533,18.59,247,0.0,0.00

TEMP 10.89 IMPLIED_C_VBD 3323,16.929241,247,0

INTERNAL_PRESSURE 8.05325 GPS 240623,091050,4736.512,-12256.453,0,0.8,3,15.4

_24V_AH 14.79,8.544

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 739 1105 12101.53 nil 0 0 0.00

Pitch_motor 24 255 93.13 nil 0 0 0.00

Roll_motor 59 208 183.74 nil 0 0 0.00

Iridium 111 194 320.32 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.10 nil 0 0 0.00

Core 2155 5 162.90 SciCon 3289 7 343.65

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1405 0 6.64

Compass 1134 5 83.72

RAFOS 1836 40 1084.12

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

6.80 16386 -146.63 -1.16 0.00 494.4 567.4 421.4 196.4 2252.9 0.00 0.00 0 73.04 61.54 0.00 0.00 0.005 0.000 0.000 2049.06 2139.56 1958.56 196.56 2253.25 0 0 0 15.78 30.00 30.00

73.56 18983 -146.63 -1.16 -80.00 2051.4 2141.6 1961.2 196.1 2253.1 3.13 -2.80 12 146.84 47.31 8.06 3.73 0.005 0.256 0.130 3898.88 3984.62 3813.12 1219.81 807.94 0 0 0 15.80 15.64 15.71

375.95 3205 -146.63 -0.94 0.00 3900.5 3984.0 3816.9 1219.8 807.8 44.89 -14.36 70 384.44 0.00 0.39 3.55 0.000 0.171 0.065 3900.41 3984.25 3816.56 1273.69 2293.25 0 0 0 30.00 15.78 15.83

573.64 160 -146.63 -0.88 0.00 3901.3 3984.1 3818.5 1273.8 2293.4 65.30 -9.77 94 575.51 0.00 0.00 0.00 0.000 0.000 0.000 3900.91 3983.88 3817.94 1273.69 2293.69 0 0 0 30.00 30.00 30.00

764.27 2693 -146.63 -0.83 -80.00 3901.8 3984.8 3818.8 1274.1 2292.9 84.35 -10.11 113 773.16 0.00 0.17 3.85 0.000 0.176 0.131 3901.75 3984.19 3819.31 1301.69 808.06 0 0 0 30.00 15.76 15.76

792.26 1060 -146.63 -0.83 0.00 3901.9 3984.2 3819.6 1301.6 808.1 87.14 -9.84 118 801.03 0.00 0.00 3.56 0.000 0.000 0.065 3901.75 3983.69 3819.81 1301.44 2295.12 0 0 0 30.00 30.00 15.83

987.30 32 -146.63 -0.83 0.00 3902.1 3984.7 3819.5 1301.8 2294.8 103.99 -8.61 138 989.16 0.00 0.00 0.00 0.000 0.000 0.000 3902.00 3984.06 3819.94 1301.19 2294.62 0 0 0 30.00 30.00 30.00

1177.33 292 -146.63 -0.83 80.00 3902.6 3985.2 3820.1 1301.6 2294.7 119.56 -8.25 157 1186.17 0.00 0.00 3.63 0.000 0.000 0.131 3902.50 3984.81 3820.19 1301.56 3742.00 0 0 0 30.00 30.00 15.88

1235.36 1156 -146.63 -0.76 0.00 3902.8 3984.8 3820.7 1301.5 3742.4 125.75 -11.15 168 1243.95 0.00 0.00 3.47 0.000 0.000 0.048 3903.00 3985.38 3820.62 1301.56 2246.31 0 0 0 30.00 30.00 15.94

1430.49 160 -146.63 -0.79 0.00 3902.7 3985.0 3820.3 1301.8 2245.9 143.21 -8.66 188 1432.35 0.00 0.00 0.00 0.000 0.000 0.000 3902.53 3984.88 3820.19 1301.62 2245.81 0 0 0 30.00 30.00 30.00

1510 end dive: TARGET_DEPTH_EXCEEDED

state 1510 begin apogee

1512.08 10243 0.00 -0.28 0.00 3902.7 3984.6 3820.8 1301.6 2148.4 150.28 -8.83 196 1636.63 112.64 0.88 0.10 1.106 0.128 0.208 3298.09 3394.31 3201.88 1435.81 2204.81 0 0 0 11.47 15.95 15.36

1638 end apogee: CONTROL_FINISHED_OK

state 1638 begin climb

1638.12 10759 146.63 1.16 -80.00 3296.8 3392.0 3201.6 1436.1 2204.2 155.35 0.00 208 1780.59 116.95 2.36 4.09 1.068 0.106 0.157 2701.75 2800.75 2602.75 1783.56 715.44 0 0 0 11.16 15.42 15.21

1809.83 5253 146.63 1.05 0.00 2694.6 2789.3 2599.9 1783.8 715.5 141.19 12.87 238 1819.17 0.00 0.29 3.65 0.000 0.190 0.079 2695.84 2790.31 2601.38 1748.81 2193.75 0 0 0 30.00 15.42 15.47

2004.87 16774 146.63 1.09 80.00 2692.2 2788.4 2596.0 1748.4 2193.7 118.31 11.26 258 2013.91 0.00 0.00 3.70 0.000 0.000 0.141 2692.78 2789.12 2596.44 1748.94 3645.50 0 0 0 30.00 30.00 15.70

2053.13 17542 146.63 1.03 0.00 2691.5 2787.6 2595.3 1749.0 3645.6 112.25 12.94 267 2062.01 0.00 0.00 3.57 0.000 0.000 0.058 2693.72 2790.25 2597.19 1748.88 2156.38 0 0 0 30.00 30.00 15.78

2242.86 16774 146.63 1.08 80.00 2691.0 2787.3 2594.7 1748.8 2156.3 91.61 10.37 286 2252.01 0.00 0.00 3.81 0.000 0.000 0.139 2689.25 2785.88 2592.62 1748.75 3645.44 0 0 0 30.00 30.00 15.79

2285.45 17542 146.63 1.03 0.00 2690.8 2787.1 2594.4 1748.9 3645.3 86.32 12.66 294 2293.81 0.00 0.00 3.56 0.000 0.000 0.058 2690.97 2787.44 2594.50 1748.94 2156.69 0 0 0 30.00 30.00 15.84

2481.34 8354 154.22 1.10 0.00 2690.5 2787.4 2593.6 1748.6 2156.5 66.83 9.65 314 2490.95 6.89 0.00 0.00 0.747 0.000 0.000 2669.94 2767.00 2572.88 1749.06 2156.31 0 0 0 11.38 30.00 30.00

2676.36 10663 170.80 1.19 80.00 2668.4 2766.2 2570.5 1748.9 2156.4 48.36 9.23 335 2705.83 15.43 0.28 3.82 0.918 0.077 0.140 2601.19 2700.75 2501.62 1796.69 3645.00 0 0 0 11.30 15.85 15.72

2770.06 5253 170.80 1.07 0.00 2598.2 2696.9 2499.4 1796.4 3644.8 36.52 13.78 353 2779.27 0.00 0.32 3.56 0.000 0.187 0.058 2597.59 2696.44 2498.75 1755.56 2156.56 0 0 0 30.00 15.75 15.82

2963.57 10663 208.22 1.21 80.00 2596.9 2696.8 2497.1 1755.4 2156.4 19.33 8.27 391 3005.88 29.95 0.28 3.84 0.939 0.080 0.140 2450.75 2559.56 2341.94 1804.69 3644.75 0 0 0 11.51 15.90 15.69

3024.92 1028 208.22 1.21 0.00 2445.7 2553.8 2337.7 1804.8 3645.2 13.46 10.01 402 3033.74 0.00 0.00 3.57 0.000 0.000 0.057 2446.47 2554.88 2338.06 1804.56 2156.50 0 0 0 30.00 30.00 15.76

3217.99 10403 408.41 1.63 0.00 2443.3 2552.8 2333.8 1804.8 2156.5 7.98 0.73 438 3283.54 58.54 0.58 0.00 0.939 0.060 0.000 2134.34 2259.38 2009.31 1905.38 2157.19 0 0 0 11.45 15.81 30.00

3284 end climb: NO_VERTICAL_VELOCITY

state 3284 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	8	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	1.5428567	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	8.0018797	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	240623,080452,4736.043,-12256.680,18,1.0,32,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,080755,4736.062,-12256.626,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	357.3,889,-17.6,-10.000,-21.21,2209,0.158
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.024095,-0.047657,0.005368,1.105636,0.136376,0.023928,0.051750,1.005479,-401.326324,-2002.055054,566.946838
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	xmit part outbox0007.n 916 0	_10V_AH	14.76,0.000
NET_PING	1687596619,29,411.502502,11.600000,-0.546835	FG_AHR_24Vo	8.180
NAV	1687597144,12.1,start	FG_AHR_10Vo	1.587
FREEZE	7.60,13.594,-1.543,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3602.64,290.70,0.914,0,501.2,583.8,418.7,686.53	MEM2	944220,45,101628,91
SM_GC	2.14,0.00,11.00,0.31,0.000,0.054,0.108,497.4,578.2,416.6,199.9,2293.5,0,0,0,30.00,15.43,15.43	DATA_FILE_SIZE	12906,450
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	177536,0
IRIDIUM_FIX	4738.33,-12256.21,240623,071351	SDSIZE	3887104,3870368
TCM_TEMP	15.56	SDFILEDIR	106,9
SC_FREEKB	3876224	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	1.000000,0.005793,-0.056479,0.010775,1.131431,0.146460,0.018151,0.068113,1.048393,-378.1,-2043.1,326.5,25,0.0131,0
HUMID	53.12	IMPLIED_C_PITCH	1533,18.59,247,0.0,0.00
TEMP	10.89	IMPLIED_C_VBD	3323,16.929241,247,0
INTERNAL_PRESSURE	8.05325	GPS	240623,091050,4736.512,-12256.453,0,0.8,3,15.4
_24V_AH	14.79,8.544

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	739	1105	12101.53	nil	0	0	0.00
Pitch_motor	24	255	93.13	nil	0	0	0.00
Roll_motor	59	208	183.74	nil	0	0	0.00
Iridium	111	194	320.32	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.10	nil	0	0	0.00
Core	2155	5	162.90	SciCon	3289	7	343.65
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1405	0	6.64
Compass	1134	5	83.72
RAFOS	1836	40	1084.12
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
6.80	16386	-146.63	-1.16	0.00	494.4	567.4	421.4	196.4	2252.9	0.00	0.00	0	73.04	61.54	0.00	0.00	0.005	0.000	0.000	2049.06	2139.56	1958.56	196.56	2253.25	0	0	0	15.78	30.00	30.00
73.56	18983	-146.63	-1.16	-80.00	2051.4	2141.6	1961.2	196.1	2253.1	3.13	-2.80	12	146.84	47.31	8.06	3.73	0.005	0.256	0.130	3898.88	3984.62	3813.12	1219.81	807.94	0	0	0	15.80	15.64	15.71
375.95	3205	-146.63	-0.94	0.00	3900.5	3984.0	3816.9	1219.8	807.8	44.89	-14.36	70	384.44	0.00	0.39	3.55	0.000	0.171	0.065	3900.41	3984.25	3816.56	1273.69	2293.25	0	0	0	30.00	15.78	15.83
573.64	160	-146.63	-0.88	0.00	3901.3	3984.1	3818.5	1273.8	2293.4	65.30	-9.77	94	575.51	0.00	0.00	0.00	0.000	0.000	0.000	3900.91	3983.88	3817.94	1273.69	2293.69	0	0	0	30.00	30.00	30.00
764.27	2693	-146.63	-0.83	-80.00	3901.8	3984.8	3818.8	1274.1	2292.9	84.35	-10.11	113	773.16	0.00	0.17	3.85	0.000	0.176	0.131	3901.75	3984.19	3819.31	1301.69	808.06	0	0	0	30.00	15.76	15.76
792.26	1060	-146.63	-0.83	0.00	3901.9	3984.2	3819.6	1301.6	808.1	87.14	-9.84	118	801.03	0.00	0.00	3.56	0.000	0.000	0.065	3901.75	3983.69	3819.81	1301.44	2295.12	0	0	0	30.00	30.00	15.83
987.30	32	-146.63	-0.83	0.00	3902.1	3984.7	3819.5	1301.8	2294.8	103.99	-8.61	138	989.16	0.00	0.00	0.00	0.000	0.000	0.000	3902.00	3984.06	3819.94	1301.19	2294.62	0	0	0	30.00	30.00	30.00
1177.33	292	-146.63	-0.83	80.00	3902.6	3985.2	3820.1	1301.6	2294.7	119.56	-8.25	157	1186.17	0.00	0.00	3.63	0.000	0.000	0.131	3902.50	3984.81	3820.19	1301.56	3742.00	0	0	0	30.00	30.00	15.88
1235.36	1156	-146.63	-0.76	0.00	3902.8	3984.8	3820.7	1301.5	3742.4	125.75	-11.15	168	1243.95	0.00	0.00	3.47	0.000	0.000	0.048	3903.00	3985.38	3820.62	1301.56	2246.31	0	0	0	30.00	30.00	15.94
1430.49	160	-146.63	-0.79	0.00	3902.7	3985.0	3820.3	1301.8	2245.9	143.21	-8.66	188	1432.35	0.00	0.00	0.00	0.000	0.000	0.000	3902.53	3984.88	3820.19	1301.62	2245.81	0	0	0	30.00	30.00	30.00
1510	end dive: TARGET_DEPTH_EXCEEDED
state	1510	begin apogee
1512.08	10243	0.00	-0.28	0.00	3902.7	3984.6	3820.8	1301.6	2148.4	150.28	-8.83	196	1636.63	112.64	0.88	0.10	1.106	0.128	0.208	3298.09	3394.31	3201.88	1435.81	2204.81	0	0	0	11.47	15.95	15.36
1638	end apogee: CONTROL_FINISHED_OK
state	1638	begin climb
1638.12	10759	146.63	1.16	-80.00	3296.8	3392.0	3201.6	1436.1	2204.2	155.35	0.00	208	1780.59	116.95	2.36	4.09	1.068	0.106	0.157	2701.75	2800.75	2602.75	1783.56	715.44	0	0	0	11.16	15.42	15.21
1809.83	5253	146.63	1.05	0.00	2694.6	2789.3	2599.9	1783.8	715.5	141.19	12.87	238	1819.17	0.00	0.29	3.65	0.000	0.190	0.079	2695.84	2790.31	2601.38	1748.81	2193.75	0	0	0	30.00	15.42	15.47
2004.87	16774	146.63	1.09	80.00	2692.2	2788.4	2596.0	1748.4	2193.7	118.31	11.26	258	2013.91	0.00	0.00	3.70	0.000	0.000	0.141	2692.78	2789.12	2596.44	1748.94	3645.50	0	0	0	30.00	30.00	15.70
2053.13	17542	146.63	1.03	0.00	2691.5	2787.6	2595.3	1749.0	3645.6	112.25	12.94	267	2062.01	0.00	0.00	3.57	0.000	0.000	0.058	2693.72	2790.25	2597.19	1748.88	2156.38	0	0	0	30.00	30.00	15.78
2242.86	16774	146.63	1.08	80.00	2691.0	2787.3	2594.7	1748.8	2156.3	91.61	10.37	286	2252.01	0.00	0.00	3.81	0.000	0.000	0.139	2689.25	2785.88	2592.62	1748.75	3645.44	0	0	0	30.00	30.00	15.79
2285.45	17542	146.63	1.03	0.00	2690.8	2787.1	2594.4	1748.9	3645.3	86.32	12.66	294	2293.81	0.00	0.00	3.56	0.000	0.000	0.058	2690.97	2787.44	2594.50	1748.94	2156.69	0	0	0	30.00	30.00	15.84
2481.34	8354	154.22	1.10	0.00	2690.5	2787.4	2593.6	1748.6	2156.5	66.83	9.65	314	2490.95	6.89	0.00	0.00	0.747	0.000	0.000	2669.94	2767.00	2572.88	1749.06	2156.31	0	0	0	11.38	30.00	30.00
2676.36	10663	170.80	1.19	80.00	2668.4	2766.2	2570.5	1748.9	2156.4	48.36	9.23	335	2705.83	15.43	0.28	3.82	0.918	0.077	0.140	2601.19	2700.75	2501.62	1796.69	3645.00	0	0	0	11.30	15.85	15.72
2770.06	5253	170.80	1.07	0.00	2598.2	2696.9	2499.4	1796.4	3644.8	36.52	13.78	353	2779.27	0.00	0.32	3.56	0.000	0.187	0.058	2597.59	2696.44	2498.75	1755.56	2156.56	0	0	0	30.00	15.75	15.82
2963.57	10663	208.22	1.21	80.00	2596.9	2696.8	2497.1	1755.4	2156.4	19.33	8.27	391	3005.88	29.95	0.28	3.84	0.939	0.080	0.140	2450.75	2559.56	2341.94	1804.69	3644.75	0	0	0	11.51	15.90	15.69
3024.92	1028	208.22	1.21	0.00	2445.7	2553.8	2337.7	1804.8	3645.2	13.46	10.01	402	3033.74	0.00	0.00	3.57	0.000	0.000	0.057	2446.47	2554.88	2338.06	1804.56	2156.50	0	0	0	30.00	30.00	15.76
3217.99	10403	408.41	1.63	0.00	2443.3	2552.8	2333.8	1804.8	2156.5	7.98	0.73	438	3283.54	58.54	0.58	0.00	0.939	0.060	0.000	2134.34	2259.38	2009.31	1905.38	2157.19	0	0	0	11.45	15.81	30.00
3284	end climb: NO_VERTICAL_VELOCITY
state	3284	begin surface