Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 246 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 9 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 2.2

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 720 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 7

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 200 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3610 MINV_24V 11 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 1600 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 0.062614433 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 7.6989331 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 0.015 PRESSURE_YINT -171.01021 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00022436336 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72348 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 265 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3880 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 2540 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2550 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 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 0.062614433 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 7.6989331 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 0.015 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 246 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 2.2 PITCH_W_DBAND 0 T_GPS 5

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1600 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022436336 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -171.01021 T_RSLEEP 3

C_ROLL_CLIMB 2550 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2540 LOGGERS 7 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 72348 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 3880 VBD_TIMEOUT 720

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 9 MOTHERBOARD 6 ROLL_MIN 265 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 240623,082502,4736.432,-12256.525,43,0.7,44,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.13 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,082803,4736.449,-12256.476,3,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 197.1,1009,-17.6,-10.000,-21.21,2209,0.118

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.013708,0.049567,-0.021847,1.030712,-0.087614,-0.023299,-0.079788,1.036775,335.212769,-582.515198,-652.953918

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687597146,86.7,start _10V_AH 14.90,0.000

NET xmit part outbox0007.n 915 0 FG_AHR_24Vo 7.876

NET_PING 1687598108,29,376.474487,-0.600000,-0.500435 FG_AHR_10Vo 0.071

FREEZE 7.29,15.445,-1.454,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3114.55,235.07,0.878,0,501.2,457.6,544.8,686.56 MEM2 945708,30,100880,69

SM_GC 2.13,0.00,10.66,3.20,0.000,0.025,0.016,496.8,454.7,538.8,185.8,2490.4,0,0,0,30.00,15.28,15.29 DATA_FILE_SIZE 9747,427

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 247039,0

IRIDIUM_FIX 4737.46,-12258.89,240623,072749 SDSIZE 3887104,3869472

TCM_TEMP 15.22 SDFILEDIR 114,10

SC_FREEKB 3875872 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 4736.677734,-12257.000000,240623,020201,4,255,0.30 CURRENT 0.053, 53.8,1

HUMID 52.47 MAGCAL 1.000000,0.034770,0.015375,-0.023475,1.052649,0.042235,-0.016673,-0.106072,0.919298,358.4,-669.7,-581.9,36,0.0310,0

TEMP 10.41 IMPLIED_C_PITCH 1588,18.86,211,0.0,0.00

INTERNAL_PRESSURE 8.54572 IMPLIED_C_VBD 3123,21.235668,211,0

_24V_AH 14.85,8.186 GPS 240623,092244,4736.332,-12256.506,1,0.9,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 715 1071 11373.04 nil 0 0 0.00

Pitch_motor 24 255 92.06 nil 0 0 0.00

Roll_motor 56 197 165.60 nil 0 0 0.00

Iridium 119 173 309.13 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.92 nil 0 0 0.00

Core 1915 5 146.15 SciCon 2873 9 394.99

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1225 0 5.84

Compass 954 5 71.12

RAFOS 724 40 431.95

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.62 16386 -146.63 -1.35 0.00 494.1 452.1 536.1 181.1 2509.2 0.00 0.00 0 51.80 43.01 0.00 0.00 0.005 0.000 0.000 1571.97 1542.38 1601.56 181.06 2510.19 0 0 0 15.56 30.00 30.00

52.08 18983 -146.63 -1.35 -80.00 1572.5 1543.4 1601.6 180.9 2509.3 3.25 -2.89 8 139.25 63.85 8.34 3.46 0.005 0.255 0.076 3900.12 3863.50 3936.75 1271.81 1069.56 0 0 0 14.50 15.43 15.50

327.61 3205 -146.63 -1.23 0.00 3900.9 3863.5 3938.3 1271.7 1069.6 44.97 -15.62 62 334.69 0.00 0.22 3.52 0.000 0.182 0.039 3900.97 3863.25 3938.69 1303.56 2556.81 0 0 0 30.00 15.57 15.61

523.00 644 -146.63 -1.16 -80.00 3901.6 3863.7 3939.4 1303.7 2556.2 72.06 -13.23 85 529.17 0.00 0.00 3.58 0.000 0.000 0.067 3902.47 3864.12 3940.81 1303.44 1069.69 0 0 0 30.00 30.00 15.65

758.06 3205 -146.63 -1.11 0.00 3901.8 3863.8 3939.8 1303.9 1069.9 104.59 -13.21 132 764.56 0.00 0.17 3.48 0.000 0.162 0.039 3901.88 3863.75 3940.00 1331.31 2555.06 0 0 0 30.00 15.69 15.72

947.91 644 -146.63 -1.10 -80.00 3901.8 3863.8 3939.8 1331.8 2555.9 127.33 -11.77 151 954.00 0.00 0.00 3.57 0.000 0.000 0.069 3902.75 3864.56 3940.94 1331.38 1071.19 0 0 0 30.00 30.00 15.71

1019.57 1028 -146.63 -1.10 0.00 3901.9 3863.7 3940.2 1331.6 1070.2 135.98 -11.93 165 1026.39 0.00 0.00 3.47 0.000 0.000 0.039 3902.62 3864.62 3940.62 1331.56 2553.75 0 0 0 30.00 30.00 15.69

1146 end dive: TARGET_DEPTH_EXCEEDED

state 1146 begin apogee

1146.94 10243 0.00 -0.33 0.00 3902.1 3863.8 3940.4 1331.5 2516.5 150.72 -12.01 178 1261.13 106.24 1.25 0.10 1.071 0.130 0.198 3299.12 3252.50 3345.75 1520.56 2570.38 0 0 0 11.66 15.64 15.30

1262 end apogee: CONTROL_FINISHED_OK

state 1263 begin climb

1262.51 10759 146.63 1.35 -80.00 3297.0 3249.4 3344.5 1520.5 2570.2 156.00 0.00 189 1389.46 110.54 2.68 3.67 1.042 0.095 0.072 2699.44 2633.44 2765.44 1929.69 1079.69 0 0 0 11.45 15.32 15.15

1392.19 5253 146.63 1.21 0.00 2696.2 2631.2 2761.3 1929.2 1079.9 145.81 11.54 210 1399.18 0.00 0.37 3.56 0.000 0.173 0.038 2697.84 2633.06 2762.62 1887.25 2563.81 0 0 0 30.00 15.17 15.21

1588.12 16514 146.63 1.12 0.00 2690.5 2624.2 2756.8 1888.6 2565.2 118.99 13.78 230 1589.69 0.00 0.00 0.00 0.000 0.000 0.000 2689.59 2623.62 2755.56 1888.69 2564.38 0 0 0 30.00 30.00 30.00

1778.14 21127 146.63 1.03 -80.00 2689.0 2623.0 2754.9 1889.0 2564.0 93.44 13.17 249 1785.50 0.00 0.31 3.57 0.000 0.166 0.073 2687.94 2623.00 2752.88 1845.06 1080.81 0 0 0 30.00 15.55 15.57

1846.93 17542 146.63 0.99 0.00 2688.0 2622.7 2753.2 1845.0 1080.8 85.13 11.54 261 1853.95 0.00 0.00 3.48 0.000 0.000 0.040 2689.44 2624.12 2754.75 1844.75 2566.19 0 0 0 30.00 30.00 15.60

2042.93 16514 146.63 0.95 0.00 2687.1 2621.9 2752.3 1844.6 2566.6 65.41 10.09 281 2044.52 0.00 0.00 0.00 0.000 0.000 0.000 2685.81 2620.31 2751.31 1844.94 2566.50 0 0 0 30.00 30.00 30.00

2228.01 8870 166.80 0.94 -80.00 2687.2 2621.7 2752.6 1844.6 2566.3 47.82 9.07 301 2254.18 16.07 0.00 3.58 0.880 0.000 0.072 2617.94 2550.69 2685.19 1843.56 1081.19 0 0 0 11.48 30.00 15.55

2283.03 9382 173.00 0.92 0.00 2614.0 2546.8 2681.2 1845.1 1080.8 42.59 9.71 312 2298.88 6.93 0.00 3.48 0.684 0.000 0.039 2592.03 2522.88 2661.19 1844.81 2565.81 0 0 0 11.62 30.00 15.59

2483.08 8870 191.84 0.93 -80.00 2588.5 2518.2 2658.9 1844.6 2565.3 23.50 9.13 352 2509.24 16.37 0.00 3.59 0.861 0.000 0.071 2514.00 2441.69 2586.31 1844.94 1079.44 0 0 0 11.64 30.00 15.55

2542.77 9254 201.39 0.94 0.00 2512.4 2440.3 2584.5 1844.8 1079.3 17.93 9.56 364 2559.62 9.57 0.00 3.48 0.761 0.000 0.038 2478.53 2404.31 2552.75 1844.50 2565.88 0 0 0 11.55 30.00 15.57

2743.31 10663 351.21 1.17 80.00 2470.8 2394.4 2547.1 1844.4 2565.8 8.28 3.06 404 2862.42 107.44 0.29 3.42 0.914 0.042 0.118 1863.75 1771.50 1956.00 1894.81 3889.25 0 0 0 11.51 15.61 15.24

2866 end climb: NO_VERTICAL_VELOCITY

state 2866 begin surface

ID	246	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	9	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	2.2
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	720	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	7
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	200	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3610	MINV_24V	11	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	1600	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	0.062614433	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	7.6989331	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	0.015	PRESSURE_YINT	-171.01021	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00022436336	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72348	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	265	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3880	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	2540	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2550	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	4

GPS1	240623,082502,4736.432,-12256.525,43,0.7,44,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.13	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,082803,4736.449,-12256.476,3,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	197.1,1009,-17.6,-10.000,-21.21,2209,0.118
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.013708,0.049567,-0.021847,1.030712,-0.087614,-0.023299,-0.079788,1.036775,335.212769,-582.515198,-652.953918
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687597146,86.7,start	_10V_AH	14.90,0.000
NET	xmit part outbox0007.n 915 0	FG_AHR_24Vo	7.876
NET_PING	1687598108,29,376.474487,-0.600000,-0.500435	FG_AHR_10Vo	0.071
FREEZE	7.29,15.445,-1.454,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3114.55,235.07,0.878,0,501.2,457.6,544.8,686.56	MEM2	945708,30,100880,69
SM_GC	2.13,0.00,10.66,3.20,0.000,0.025,0.016,496.8,454.7,538.8,185.8,2490.4,0,0,0,30.00,15.28,15.29	DATA_FILE_SIZE	9747,427
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	247039,0
IRIDIUM_FIX	4737.46,-12258.89,240623,072749	SDSIZE	3887104,3869472
TCM_TEMP	15.22	SDFILEDIR	114,10
SC_FREEKB	3875872	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	4736.677734,-12257.000000,240623,020201,4,255,0.30	CURRENT	0.053, 53.8,1
HUMID	52.47	MAGCAL	1.000000,0.034770,0.015375,-0.023475,1.052649,0.042235,-0.016673,-0.106072,0.919298,358.4,-669.7,-581.9,36,0.0310,0
TEMP	10.41	IMPLIED_C_PITCH	1588,18.86,211,0.0,0.00
INTERNAL_PRESSURE	8.54572	IMPLIED_C_VBD	3123,21.235668,211,0
_24V_AH	14.85,8.186	GPS	240623,092244,4736.332,-12256.506,1,0.9,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	715	1071	11373.04	nil	0	0	0.00
Pitch_motor	24	255	92.06	nil	0	0	0.00
Roll_motor	56	197	165.60	nil	0	0	0.00
Iridium	119	173	309.13	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.92	nil	0	0	0.00
Core	1915	5	146.15	SciCon	2873	9	394.99
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1225	0	5.84
Compass	954	5	71.12
RAFOS	724	40	431.95
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.62	16386	-146.63	-1.35	0.00	494.1	452.1	536.1	181.1	2509.2	0.00	0.00	0	51.80	43.01	0.00	0.00	0.005	0.000	0.000	1571.97	1542.38	1601.56	181.06	2510.19	0	0	0	15.56	30.00	30.00
52.08	18983	-146.63	-1.35	-80.00	1572.5	1543.4	1601.6	180.9	2509.3	3.25	-2.89	8	139.25	63.85	8.34	3.46	0.005	0.255	0.076	3900.12	3863.50	3936.75	1271.81	1069.56	0	0	0	14.50	15.43	15.50
327.61	3205	-146.63	-1.23	0.00	3900.9	3863.5	3938.3	1271.7	1069.6	44.97	-15.62	62	334.69	0.00	0.22	3.52	0.000	0.182	0.039	3900.97	3863.25	3938.69	1303.56	2556.81	0	0	0	30.00	15.57	15.61
523.00	644	-146.63	-1.16	-80.00	3901.6	3863.7	3939.4	1303.7	2556.2	72.06	-13.23	85	529.17	0.00	0.00	3.58	0.000	0.000	0.067	3902.47	3864.12	3940.81	1303.44	1069.69	0	0	0	30.00	30.00	15.65
758.06	3205	-146.63	-1.11	0.00	3901.8	3863.8	3939.8	1303.9	1069.9	104.59	-13.21	132	764.56	0.00	0.17	3.48	0.000	0.162	0.039	3901.88	3863.75	3940.00	1331.31	2555.06	0	0	0	30.00	15.69	15.72
947.91	644	-146.63	-1.10	-80.00	3901.8	3863.8	3939.8	1331.8	2555.9	127.33	-11.77	151	954.00	0.00	0.00	3.57	0.000	0.000	0.069	3902.75	3864.56	3940.94	1331.38	1071.19	0	0	0	30.00	30.00	15.71
1019.57	1028	-146.63	-1.10	0.00	3901.9	3863.7	3940.2	1331.6	1070.2	135.98	-11.93	165	1026.39	0.00	0.00	3.47	0.000	0.000	0.039	3902.62	3864.62	3940.62	1331.56	2553.75	0	0	0	30.00	30.00	15.69
1146	end dive: TARGET_DEPTH_EXCEEDED
state	1146	begin apogee
1146.94	10243	0.00	-0.33	0.00	3902.1	3863.8	3940.4	1331.5	2516.5	150.72	-12.01	178	1261.13	106.24	1.25	0.10	1.071	0.130	0.198	3299.12	3252.50	3345.75	1520.56	2570.38	0	0	0	11.66	15.64	15.30
1262	end apogee: CONTROL_FINISHED_OK
state	1263	begin climb
1262.51	10759	146.63	1.35	-80.00	3297.0	3249.4	3344.5	1520.5	2570.2	156.00	0.00	189	1389.46	110.54	2.68	3.67	1.042	0.095	0.072	2699.44	2633.44	2765.44	1929.69	1079.69	0	0	0	11.45	15.32	15.15
1392.19	5253	146.63	1.21	0.00	2696.2	2631.2	2761.3	1929.2	1079.9	145.81	11.54	210	1399.18	0.00	0.37	3.56	0.000	0.173	0.038	2697.84	2633.06	2762.62	1887.25	2563.81	0	0	0	30.00	15.17	15.21
1588.12	16514	146.63	1.12	0.00	2690.5	2624.2	2756.8	1888.6	2565.2	118.99	13.78	230	1589.69	0.00	0.00	0.00	0.000	0.000	0.000	2689.59	2623.62	2755.56	1888.69	2564.38	0	0	0	30.00	30.00	30.00
1778.14	21127	146.63	1.03	-80.00	2689.0	2623.0	2754.9	1889.0	2564.0	93.44	13.17	249	1785.50	0.00	0.31	3.57	0.000	0.166	0.073	2687.94	2623.00	2752.88	1845.06	1080.81	0	0	0	30.00	15.55	15.57
1846.93	17542	146.63	0.99	0.00	2688.0	2622.7	2753.2	1845.0	1080.8	85.13	11.54	261	1853.95	0.00	0.00	3.48	0.000	0.000	0.040	2689.44	2624.12	2754.75	1844.75	2566.19	0	0	0	30.00	30.00	15.60
2042.93	16514	146.63	0.95	0.00	2687.1	2621.9	2752.3	1844.6	2566.6	65.41	10.09	281	2044.52	0.00	0.00	0.00	0.000	0.000	0.000	2685.81	2620.31	2751.31	1844.94	2566.50	0	0	0	30.00	30.00	30.00
2228.01	8870	166.80	0.94	-80.00	2687.2	2621.7	2752.6	1844.6	2566.3	47.82	9.07	301	2254.18	16.07	0.00	3.58	0.880	0.000	0.072	2617.94	2550.69	2685.19	1843.56	1081.19	0	0	0	11.48	30.00	15.55
2283.03	9382	173.00	0.92	0.00	2614.0	2546.8	2681.2	1845.1	1080.8	42.59	9.71	312	2298.88	6.93	0.00	3.48	0.684	0.000	0.039	2592.03	2522.88	2661.19	1844.81	2565.81	0	0	0	11.62	30.00	15.59
2483.08	8870	191.84	0.93	-80.00	2588.5	2518.2	2658.9	1844.6	2565.3	23.50	9.13	352	2509.24	16.37	0.00	3.59	0.861	0.000	0.071	2514.00	2441.69	2586.31	1844.94	1079.44	0	0	0	11.64	30.00	15.55
2542.77	9254	201.39	0.94	0.00	2512.4	2440.3	2584.5	1844.8	1079.3	17.93	9.56	364	2559.62	9.57	0.00	3.48	0.761	0.000	0.038	2478.53	2404.31	2552.75	1844.50	2565.88	0	0	0	11.55	30.00	15.57
2743.31	10663	351.21	1.17	80.00	2470.8	2394.4	2547.1	1844.4	2565.8	8.28	3.06	404	2862.42	107.44	0.29	3.42	0.914	0.042	0.118	1863.75	1771.50	1956.00	1894.81	3889.25	0	0	0	11.51	15.61	15.24
2866	end climb: NO_VERTICAL_VELOCITY
state	2866	begin surface