Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 9 * 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 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 -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 1.5902462 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 8.187911 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 1.5902462 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 8.187911 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 9 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 240623,091050,4736.512,-12256.453,0,0.8,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.65 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 240623,091421,4736.532,-12256.397,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 189.6,1189,-17.6,-10.000,-21.21,2209,0.141

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0008.n 953 0 _10V_AH 14.75,0.000

NET_PING 1687601115,29,427.914001,12.500000,-0.568582 FG_AHR_24Vo 8.368

NAV 1687600742,58.9,start FG_AHR_10Vo 1.641

FREEZE 8.69,12.608,-1.574,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3714.45,324.99,0.919,0,500.9,584.2,417.6,686.62 MEM2 944484,30,101664,91

SM_GC 1.76,0.00,10.85,0.32,0.000,0.051,0.112,497.5,579.1,415.9,196.3,2293.5,0,0,0,30.00,15.44,15.43 DATA_FILE_SIZE 12915,467

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 175084,0

IRIDIUM_FIX 4736.00,-12258.89,240623,080601 SDSIZE 3887104,3870016

TCM_TEMP 15.55 SDFILEDIR 115,10

SC_FREEKB 3875904 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 1.000000,0.002188,-0.049471,0.011962,1.129187,0.121141,0.013157,0.069288,1.068528,-433.7,-1902.8,213.2,24,0.0165,0

HUMID 52.87 IMPLIED_C_PITCH 1540,18.53,266,0.0,0.00

TEMP 10.84 IMPLIED_C_VBD 3324,19.907675,266,0

INTERNAL_PRESSURE 8.03947 GPS 240623,101910,4736.245,-12256.595,1,1.0,5,15.4

_24V_AH 14.77,8.762

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 733 1113 12072.60 nil 0 0 0.00

Pitch_motor 23 264 93.68 nil 0 0 0.00

Roll_motor 52 213 166.54 nil 0 0 0.00

Iridium 138 196 402.04 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.98 nil 0 0 0.00

Core 2226 5 168.12 SciCon 3364 7 353.34

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1437 0 6.78

Compass 1166 5 86.02

RAFOS 1478 40 872.40

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

6.78 16386 -146.63 -1.16 0.00 494.7 571.1 418.4 200.5 2249.6 0.00 0.00 0 67.63 56.47 0.00 0.00 0.005 0.000 0.000 1938.06 2024.69 1851.44 200.19 2248.75 0 0 0 15.75 30.00 30.00

68.15 18727 -146.63 -1.16 80.00 1939.5 2028.2 1850.8 200.5 2249.3 3.37 -3.37 11 145.12 48.38 8.19 3.77 0.005 0.264 0.127 3899.28 3986.12 3812.44 1219.75 3742.69 0 0 0 15.77 15.60 15.69

259.18 3205 -146.63 -0.79 0.00 3901.2 3986.6 3815.8 1219.9 3742.2 31.32 -16.78 47 267.88 0.00 0.66 3.55 0.000 0.183 0.048 3901.19 3986.38 3816.00 1310.38 2245.94 0 0 0 30.00 15.72 15.80

449.50 32 -146.63 -0.79 0.00 3901.5 3986.4 3816.7 1310.8 2246.2 48.91 -8.30 83 453.51 0.00 0.00 0.00 0.000 0.000 0.000 3901.19 3985.56 3816.81 1310.50 2246.50 0 0 0 30.00 30.00 30.00

634.53 32 -146.63 -0.79 0.00 3902.2 3986.5 3818.0 1310.5 2246.3 64.56 -8.34 103 636.40 0.00 0.00 0.00 0.000 0.000 0.000 3901.62 3985.19 3818.06 1310.75 2246.31 0 0 0 30.00 30.00 30.00

824.57 292 -146.63 -0.79 80.00 3902.7 3986.1 3819.3 1310.6 2246.2 81.09 -9.02 122 833.58 0.00 0.00 3.81 0.000 0.000 0.130 3902.16 3985.75 3818.56 1310.62 3742.88 0 0 0 30.00 30.00 15.87

892.77 1156 -146.63 -0.72 0.00 3903.0 3986.2 3819.8 1310.1 3742.4 88.67 -11.26 135 901.44 0.00 0.00 3.51 0.000 0.000 0.048 3903.19 3986.31 3820.06 1310.50 2246.25 0 0 0 30.00 30.00 15.93

1087.76 32 -146.63 -0.72 0.00 3902.9 3986.0 3819.8 1310.8 2246.6 105.58 -7.87 155 1089.73 0.00 0.00 0.00 0.000 0.000 0.000 3903.44 3986.75 3820.12 1310.56 2246.38 0 0 0 30.00 30.00 30.00

1277.41 420 -146.63 -0.76 80.00 3903.2 3986.1 3820.2 1310.8 2245.8 121.59 -8.06 174 1286.00 0.00 0.00 3.82 0.000 0.000 0.131 3904.56 3987.31 3821.81 1310.25 3742.62 0 0 0 30.00 30.00 15.88

1319.32 1060 -146.63 -0.76 0.00 3903.2 3986.1 3820.4 1310.8 3742.6 125.67 -9.31 182 1327.55 0.00 0.00 3.51 0.000 0.000 0.047 3903.91 3986.62 3821.19 1310.69 2245.75 0 0 0 30.00 30.00 15.94

1515.28 160 -146.63 -0.80 0.00 3903.5 3986.1 3820.8 1310.6 2245.9 142.03 -8.32 202 1517.14 0.00 0.00 0.00 0.000 0.000 0.000 3903.41 3985.81 3821.00 1310.75 2246.12 0 0 0 30.00 30.00 30.00

1615 end dive: TARGET_DEPTH_EXCEEDED

state 1615 begin apogee

1616.87 10243 0.00 -0.28 0.00 3903.5 3986.1 3820.8 1310.9 2150.1 150.25 -8.13 212 1741.60 112.38 0.83 0.09 1.114 0.135 0.214 3298.00 3394.75 3201.25 1435.19 2204.88 0 0 0 11.49 15.94 15.37

1743 end apogee: CONTROL_FINISHED_OK

state 1743 begin climb

1743.08 10759 146.63 1.16 -80.00 3296.6 3392.2 3200.9 1435.1 2204.8 154.41 0.00 223 1886.08 116.94 2.38 4.16 1.073 0.108 0.158 2701.66 2801.50 2601.81 1783.38 715.56 0 0 0 11.11 15.42 15.18

1930.32 21639 146.63 1.06 0.00 2694.1 2788.7 2599.4 1783.2 715.4 137.44 14.26 255 1939.67 0.00 0.28 3.68 0.000 0.190 0.080 2693.31 2788.50 2598.12 1751.12 2192.44 0 0 0 30.00 15.41 15.47

2121.24 16774 146.63 1.10 80.00 2691.9 2788.2 2595.5 1751.1 2193.2 115.31 11.72 274 2133.08 0.00 0.00 3.80 0.000 0.000 0.142 2692.88 2788.69 2597.06 1751.00 3643.81 0 0 0 30.00 30.00 14.32

2161.74 17542 146.63 0.98 0.00 2691.4 2787.8 2595.0 1750.6 3644.1 109.51 12.54 281 2170.05 0.00 0.00 3.61 0.000 0.000 0.058 2692.28 2788.31 2596.25 1750.38 2158.81 0 0 0 30.00 30.00 15.62

2357.32 16514 146.63 1.03 0.00 2691.0 2787.5 2594.5 1751.1 2159.2 88.30 10.24 301 2359.22 0.00 0.00 0.00 0.000 0.000 0.000 2690.66 2787.38 2593.94 1750.12 2158.50 0 0 0 30.00 30.00 30.00

2547.42 8614 155.14 1.10 80.00 2690.7 2787.8 2593.6 1751.1 2158.8 70.02 9.61 320 2565.29 7.79 0.00 3.83 0.799 0.000 0.142 2665.81 2763.81 2567.81 1750.81 3643.69 0 0 0 11.41 30.00 15.80

2643.75 1156 155.14 1.07 0.00 2664.1 2762.5 2565.7 1750.4 3643.4 59.33 11.31 339 2664.74 0.00 0.00 3.55 0.000 0.000 0.057 2664.97 2763.56 2566.38 1750.81 2157.94 0 0 0 30.00 30.00 15.89

2849.03 10403 183.16 1.17 0.00 2663.2 2761.8 2564.5 1750.7 2158.1 40.35 8.70 369 2876.79 23.69 0.24 0.00 0.951 0.079 0.000 2551.62 2656.62 2446.62 1792.62 2157.31 0 0 0 11.46 15.90 30.00

3059.22 388 183.16 1.20 80.00 2546.4 2650.6 2442.1 1791.9 2157.8 18.05 10.25 409 3071.91 0.00 0.00 3.88 0.000 0.000 0.140 2546.84 2651.19 2442.50 1792.88 3645.25 0 0 0 30.00 30.00 15.68

3116.14 1156 183.16 1.14 0.00 2545.3 2649.4 2441.2 1793.0 3644.8 12.14 10.21 420 3124.81 0.00 0.00 3.57 0.000 0.000 0.059 2545.56 2650.06 2441.06 1792.62 2157.19 0 0 0 30.00 30.00 15.77

3309.10 10663 402.17 1.56 80.00 2544.7 2649.1 2440.3 1793.6 2157.0 8.97 -0.14 458 3358.13 43.31 0.55 0.00 0.943 0.060 0.000 2326.59 2443.12 2210.06 1887.94 2157.62 0 0 0 11.52 15.82 30.00

3359 end climb: NO_VERTICAL_VELOCITY

state 3359 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	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	-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	1.5902462	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	8.187911	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	240623,091050,4736.512,-12256.453,0,0.8,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.65	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	240623,091421,4736.532,-12256.397,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	189.6,1189,-17.6,-10.000,-21.21,2209,0.141
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000266

NET	xmit part outbox0008.n 953 0	_10V_AH	14.75,0.000
NET_PING	1687601115,29,427.914001,12.500000,-0.568582	FG_AHR_24Vo	8.368
NAV	1687600742,58.9,start	FG_AHR_10Vo	1.641
FREEZE	8.69,12.608,-1.574,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3714.45,324.99,0.919,0,500.9,584.2,417.6,686.62	MEM2	944484,30,101664,91
SM_GC	1.76,0.00,10.85,0.32,0.000,0.051,0.112,497.5,579.1,415.9,196.3,2293.5,0,0,0,30.00,15.44,15.43	DATA_FILE_SIZE	12915,467
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	175084,0
IRIDIUM_FIX	4736.00,-12258.89,240623,080601	SDSIZE	3887104,3870016
TCM_TEMP	15.55	SDFILEDIR	115,10
SC_FREEKB	3875904	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	1.000000,0.002188,-0.049471,0.011962,1.129187,0.121141,0.013157,0.069288,1.068528,-433.7,-1902.8,213.2,24,0.0165,0
HUMID	52.87	IMPLIED_C_PITCH	1540,18.53,266,0.0,0.00
TEMP	10.84	IMPLIED_C_VBD	3324,19.907675,266,0
INTERNAL_PRESSURE	8.03947	GPS	240623,101910,4736.245,-12256.595,1,1.0,5,15.4
_24V_AH	14.77,8.762

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	733	1113	12072.60	nil	0	0	0.00
Pitch_motor	23	264	93.68	nil	0	0	0.00
Roll_motor	52	213	166.54	nil	0	0	0.00
Iridium	138	196	402.04	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.98	nil	0	0	0.00
Core	2226	5	168.12	SciCon	3364	7	353.34
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1437	0	6.78
Compass	1166	5	86.02
RAFOS	1478	40	872.40
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
6.78	16386	-146.63	-1.16	0.00	494.7	571.1	418.4	200.5	2249.6	0.00	0.00	0	67.63	56.47	0.00	0.00	0.005	0.000	0.000	1938.06	2024.69	1851.44	200.19	2248.75	0	0	0	15.75	30.00	30.00
68.15	18727	-146.63	-1.16	80.00	1939.5	2028.2	1850.8	200.5	2249.3	3.37	-3.37	11	145.12	48.38	8.19	3.77	0.005	0.264	0.127	3899.28	3986.12	3812.44	1219.75	3742.69	0	0	0	15.77	15.60	15.69
259.18	3205	-146.63	-0.79	0.00	3901.2	3986.6	3815.8	1219.9	3742.2	31.32	-16.78	47	267.88	0.00	0.66	3.55	0.000	0.183	0.048	3901.19	3986.38	3816.00	1310.38	2245.94	0	0	0	30.00	15.72	15.80
449.50	32	-146.63	-0.79	0.00	3901.5	3986.4	3816.7	1310.8	2246.2	48.91	-8.30	83	453.51	0.00	0.00	0.00	0.000	0.000	0.000	3901.19	3985.56	3816.81	1310.50	2246.50	0	0	0	30.00	30.00	30.00
634.53	32	-146.63	-0.79	0.00	3902.2	3986.5	3818.0	1310.5	2246.3	64.56	-8.34	103	636.40	0.00	0.00	0.00	0.000	0.000	0.000	3901.62	3985.19	3818.06	1310.75	2246.31	0	0	0	30.00	30.00	30.00
824.57	292	-146.63	-0.79	80.00	3902.7	3986.1	3819.3	1310.6	2246.2	81.09	-9.02	122	833.58	0.00	0.00	3.81	0.000	0.000	0.130	3902.16	3985.75	3818.56	1310.62	3742.88	0	0	0	30.00	30.00	15.87
892.77	1156	-146.63	-0.72	0.00	3903.0	3986.2	3819.8	1310.1	3742.4	88.67	-11.26	135	901.44	0.00	0.00	3.51	0.000	0.000	0.048	3903.19	3986.31	3820.06	1310.50	2246.25	0	0	0	30.00	30.00	15.93
1087.76	32	-146.63	-0.72	0.00	3902.9	3986.0	3819.8	1310.8	2246.6	105.58	-7.87	155	1089.73	0.00	0.00	0.00	0.000	0.000	0.000	3903.44	3986.75	3820.12	1310.56	2246.38	0	0	0	30.00	30.00	30.00
1277.41	420	-146.63	-0.76	80.00	3903.2	3986.1	3820.2	1310.8	2245.8	121.59	-8.06	174	1286.00	0.00	0.00	3.82	0.000	0.000	0.131	3904.56	3987.31	3821.81	1310.25	3742.62	0	0	0	30.00	30.00	15.88
1319.32	1060	-146.63	-0.76	0.00	3903.2	3986.1	3820.4	1310.8	3742.6	125.67	-9.31	182	1327.55	0.00	0.00	3.51	0.000	0.000	0.047	3903.91	3986.62	3821.19	1310.69	2245.75	0	0	0	30.00	30.00	15.94
1515.28	160	-146.63	-0.80	0.00	3903.5	3986.1	3820.8	1310.6	2245.9	142.03	-8.32	202	1517.14	0.00	0.00	0.00	0.000	0.000	0.000	3903.41	3985.81	3821.00	1310.75	2246.12	0	0	0	30.00	30.00	30.00
1615	end dive: TARGET_DEPTH_EXCEEDED
state	1615	begin apogee
1616.87	10243	0.00	-0.28	0.00	3903.5	3986.1	3820.8	1310.9	2150.1	150.25	-8.13	212	1741.60	112.38	0.83	0.09	1.114	0.135	0.214	3298.00	3394.75	3201.25	1435.19	2204.88	0	0	0	11.49	15.94	15.37
1743	end apogee: CONTROL_FINISHED_OK
state	1743	begin climb
1743.08	10759	146.63	1.16	-80.00	3296.6	3392.2	3200.9	1435.1	2204.8	154.41	0.00	223	1886.08	116.94	2.38	4.16	1.073	0.108	0.158	2701.66	2801.50	2601.81	1783.38	715.56	0	0	0	11.11	15.42	15.18
1930.32	21639	146.63	1.06	0.00	2694.1	2788.7	2599.4	1783.2	715.4	137.44	14.26	255	1939.67	0.00	0.28	3.68	0.000	0.190	0.080	2693.31	2788.50	2598.12	1751.12	2192.44	0	0	0	30.00	15.41	15.47
2121.24	16774	146.63	1.10	80.00	2691.9	2788.2	2595.5	1751.1	2193.2	115.31	11.72	274	2133.08	0.00	0.00	3.80	0.000	0.000	0.142	2692.88	2788.69	2597.06	1751.00	3643.81	0	0	0	30.00	30.00	14.32
2161.74	17542	146.63	0.98	0.00	2691.4	2787.8	2595.0	1750.6	3644.1	109.51	12.54	281	2170.05	0.00	0.00	3.61	0.000	0.000	0.058	2692.28	2788.31	2596.25	1750.38	2158.81	0	0	0	30.00	30.00	15.62
2357.32	16514	146.63	1.03	0.00	2691.0	2787.5	2594.5	1751.1	2159.2	88.30	10.24	301	2359.22	0.00	0.00	0.00	0.000	0.000	0.000	2690.66	2787.38	2593.94	1750.12	2158.50	0	0	0	30.00	30.00	30.00
2547.42	8614	155.14	1.10	80.00	2690.7	2787.8	2593.6	1751.1	2158.8	70.02	9.61	320	2565.29	7.79	0.00	3.83	0.799	0.000	0.142	2665.81	2763.81	2567.81	1750.81	3643.69	0	0	0	11.41	30.00	15.80
2643.75	1156	155.14	1.07	0.00	2664.1	2762.5	2565.7	1750.4	3643.4	59.33	11.31	339	2664.74	0.00	0.00	3.55	0.000	0.000	0.057	2664.97	2763.56	2566.38	1750.81	2157.94	0	0	0	30.00	30.00	15.89
2849.03	10403	183.16	1.17	0.00	2663.2	2761.8	2564.5	1750.7	2158.1	40.35	8.70	369	2876.79	23.69	0.24	0.00	0.951	0.079	0.000	2551.62	2656.62	2446.62	1792.62	2157.31	0	0	0	11.46	15.90	30.00
3059.22	388	183.16	1.20	80.00	2546.4	2650.6	2442.1	1791.9	2157.8	18.05	10.25	409	3071.91	0.00	0.00	3.88	0.000	0.000	0.140	2546.84	2651.19	2442.50	1792.88	3645.25	0	0	0	30.00	30.00	15.68
3116.14	1156	183.16	1.14	0.00	2545.3	2649.4	2441.2	1793.0	3644.8	12.14	10.21	420	3124.81	0.00	0.00	3.57	0.000	0.000	0.059	2545.56	2650.06	2441.06	1792.62	2157.19	0	0	0	30.00	30.00	15.77
3309.10	10663	402.17	1.56	80.00	2544.7	2649.1	2440.3	1793.6	2157.0	8.97	-0.14	458	3358.13	43.31	0.55	0.00	0.943	0.060	0.000	2326.59	2443.12	2210.06	1887.94	2157.62	0	0	0	11.52	15.82	30.00
3359	end climb: NO_VERTICAL_VELOCITY
state	3359	begin surface