Glider dive log

HoodCanal 18Jun23 * SG246 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 246 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2550 ALTIM_PULSE 3

MISSION 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 3 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 4 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 686.83997 ROLL_MAXERRORS 1 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT 2.2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3300 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 7

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 200 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1600 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 15 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 0.0071307598 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 2.0464382 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -171.61913 SEABIRD_T_J 4.3e-06

MASS 72348 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022436336 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 265 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3880 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2540 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 4 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.0071307598 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 2.0464382 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.015 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 15 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAX 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 246 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT 2.2 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1600 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022436336 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -171.61913 T_NO_W 60

C_ROLL_CLIMB 2550 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2540 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3300 LOGGERS 7 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72348 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 11 ROLL_MAX 3880 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 3 MISSION 3 ROLL_MIN 265 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 180623,190321,4736.911,-12256.481,1,1.4,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180623,190625,4736.898,-12256.508,2,1.0,4,15.4 MHEAD_RNG_PITCHd_Wd 188.4,1773,-17.6,-10.000,-21.21,2209,0.143

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.055977,-0.172755,-0.054096,1.108344,-0.071580,-0.013828,-0.053057,0.920541,540.480530,-557.983215,-471.144592

TGT_LATLONG 4736.000,-12257.000 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230618194533.118403,18,747,28,0165,0150,22,01,01,00,01,1,001,121,0,5,2,0,150,4.7,2.90,-100,0.10,-01,-0.11,50,10000,5000,0,1,00,00*4F _24V_AH 14.73,2.272

NAV 1687118769,1.7,0,stop _10V_AH 14.77,0.000

FINISH 1.7,1.018553 FG_AHR_24Vo 2.219

SURF forcing FG_AHR_10Vo 0.008

SM_CCo 3552.50,170.35,0.870,0,500.6,464.8,536.4,686.69 MEM0 60020,1,0,0

SM_GC 1.65,170.35,11.06,3.20,0.870,0.057,0.028,500.6,464.8,536.4,191.9,2499.7,0,0,0,11.25,15.33,15.36 MEM1 65508,1,0,0

SUPER 27,71,254,1,0,0 MEM2 945188,31,101220,77

IRIDIUM_FIX 4735.53,-12254.47,180623,185940 DATA_FILE_SIZE 12913,486

TCM_TEMP 15.43 CAP_FILE_SIZE 285636,0

SC_FREEKB 3877600 SDSIZE 3887104,3873632

RAFOS_CLK 1 SDFILEDIR 53,4

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 52.04 SOUNDSPEED 1465.0

TEMP 10.01 CURRENT 0.104,194.6,1

INTERNAL_PRESSURE 8.54128 GPS 180623,200701,4736.456,-12256.775,28,0.7,29,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 729 1040 11180.00 nil 0 0 0.00

Pitch_motor 25 258 95.88 nil 0 0 0.00

Roll_motor 55 217 179.45 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 2013 5 152.29 SciCon 3349 8 396.46

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1392 0 6.58

Compass 1134 5 83.76

RAFOS 1893 40 1118.49

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

6.59 16386 -146.63 -1.35 0.00 497.1 454.2 540.0 188.2 2512.9 0.00 0.00 0 85.76 75.00 0.00 0.00 0.005 0.000 0.000 2325.19 2290.19 2360.19 188.38 2513.50 0 0 0 15.70 30.00 30.00

86.10 18983 -146.63 -1.35 -80.00 2327.6 2291.8 2363.4 188.1 2513.0 3.07 -2.14 9 161.00 52.34 8.22 3.49 0.005 0.259 0.084 3897.19 3858.38 3936.00 1271.88 1070.69 0 0 0 15.74 15.55 15.64

389.40 3205 -146.63 -1.23 0.00 3900.1 3862.3 3937.8 1272.1 1070.9 31.09 -10.38 69 396.65 0.00 0.20 3.46 0.000 0.187 0.042 3900.28 3862.44 3938.12 1301.06 2557.31 0 0 0 30.00 15.62 15.67

578.39 644 -146.63 -1.16 -80.00 3900.6 3862.3 3938.9 1301.3 2557.2 49.58 -10.63 106 584.44 0.00 0.00 3.58 0.000 0.000 0.077 3901.69 3863.25 3940.12 1300.75 1071.12 0 0 0 30.00 30.00 15.63

698.41 3205 -146.63 -1.08 0.00 3900.8 3862.6 3939.1 1301.2 1070.9 63.49 -11.86 130 704.91 0.00 0.24 3.48 0.000 0.175 0.042 3902.22 3863.75 3940.69 1337.75 2556.25 0 0 0 30.00 15.63 15.68

893.41 128 -146.63 -1.07 0.00 3901.2 3862.6 3939.8 1338.1 2555.6 84.91 -11.21 150 894.98 0.00 0.00 0.00 0.000 0.000 0.000 3900.62 3861.81 3939.44 1338.31 2556.19 0 0 0 30.00 30.00 30.00

1083.58 0 -146.63 -1.07 0.00 3901.3 3862.8 3939.8 1337.9 2556.2 105.53 -10.55 169 1085.15 0.00 0.00 0.00 0.000 0.000 0.000 3900.66 3862.06 3939.25 1338.12 2556.12 0 0 0 30.00 30.00 30.00

1273.34 516 -146.63 -1.07 -80.00 3901.0 3862.5 3939.5 1337.9 2555.8 125.75 -10.82 188 1279.83 0.00 0.00 3.62 0.000 0.000 0.085 3900.81 3862.38 3939.25 1338.44 1069.94 0 0 0 30.00 30.00 15.67

1308.38 1028 -146.63 -1.07 0.00 3901.0 3862.4 3939.7 1338.6 1070.2 129.65 -11.13 195 1314.74 0.00 0.00 3.49 0.000 0.000 0.045 3900.94 3862.38 3939.50 1338.06 2554.56 0 0 0 30.00 30.00 15.68

1504 end dive: TARGET_DEPTH_EXCEEDED

state 1504 begin apogee

1504.82 10243 0.00 -0.33 0.00 3901.1 3861.9 3940.2 1338.2 2521.8 150.33 -10.35 215 1619.07 104.72 1.20 0.09 1.040 0.136 0.218 3299.59 3253.19 3346.00 1521.56 2569.06 0 0 0 11.36 15.67 15.33

1620 end apogee: CONTROL_FINISHED_OK

state 1620 begin climb

1620.03 10759 146.63 1.35 -80.00 3297.2 3250.4 3343.9 1521.8 2568.9 154.23 0.00 226 1746.64 110.33 2.68 3.72 1.010 0.099 0.084 2698.06 2638.69 2757.44 1929.94 1081.81 0 0 0 11.21 15.36 15.15

1749.43 5285 147.55 1.20 0.00 2696.9 2637.1 2756.6 1930.1 1082.3 144.72 9.96 242 1756.40 0.00 0.41 3.57 0.000 0.190 0.042 2699.47 2639.12 2759.81 1884.19 2564.50 0 0 0 30.00 15.16 15.21

1945.31 388 147.55 1.10 80.00 2690.8 2629.4 2752.1 1885.0 2565.6 118.98 13.47 262 1951.31 0.00 0.00 3.36 0.000 0.000 0.122 2691.62 2629.81 2753.44 1885.19 3889.75 0 0 0 30.00 30.00 15.43

2010.33 21639 147.55 0.90 0.00 2689.9 2629.6 2750.3 1884.6 3889.7 108.12 17.72 275 2017.58 0.00 0.50 3.13 0.000 0.180 0.026 2688.38 2628.06 2748.69 1813.88 2509.31 0 0 0 30.00 15.45 15.53

2205.39 8870 158.69 0.89 -80.00 2688.8 2627.5 2750.0 1813.9 2509.0 87.31 9.48 295 2222.02 10.02 0.00 3.47 0.797 0.000 0.090 2653.94 2591.19 2716.69 1813.94 1080.88 0 0 0 11.29 30.00 15.54

2280.43 1156 158.69 0.87 0.00 2648.7 2586.6 2710.8 1814.1 1080.9 79.66 10.29 310 2286.78 0.00 0.00 3.52 0.000 0.000 0.048 2648.34 2586.12 2710.56 1814.00 2562.94 0 0 0 30.00 30.00 15.58

2470.35 8226 182.41 0.90 0.00 2647.5 2584.1 2710.9 1813.6 2563.0 62.14 8.90 330 2494.10 19.83 0.00 0.00 0.892 0.000 0.000 2555.09 2489.56 2620.62 1814.25 2563.00 0 0 0 11.21 30.00 30.00

2675.40 8742 215.72 0.94 -80.00 2549.5 2482.2 2616.7 1813.3 2563.1 44.05 8.46 358 2712.20 26.59 0.00 3.63 0.899 0.000 0.089 2418.66 2346.62 2490.69 1813.94 1081.69 0 0 0 11.29 30.00 15.52

2750.66 9382 232.90 0.98 0.00 2414.2 2342.1 2486.2 1814.1 1082.1 37.30 9.20 373 2772.71 14.82 0.00 3.52 0.829 0.000 0.047 2348.78 2274.06 2423.50 1814.44 2564.62 0 0 0 11.44 30.00 15.56

2953.68 10403 264.17 1.05 0.00 2342.4 2266.6 2418.1 1813.6 2564.1 18.92 8.55 413 2983.89 24.52 0.31 0.00 0.867 0.060 0.000 2224.16 2145.69 2302.62 1861.38 2563.62 0 0 0 11.31 15.62 30.00

3168.96 10663 437.24 1.32 80.00 2213.7 2133.5 2293.9 1863.1 2564.4 3.99 1.98 452 3302.45 121.15 0.36 3.44 0.886 0.059 0.129 1516.81 1430.38 1603.25 1927.00 3888.12 0 0 0 11.24 15.60 15.20

3311 end climb: SURFACE_DEPTH_REACHED

state 3311 begin surface coast

3346 end surface coast: CONTROL_FINISHED_OK

state 3346 begin surface

ID	246	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2550	ALTIM_PULSE	3
MISSION	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	3	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	4	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	686.83997	ROLL_MAXERRORS	1	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	2.2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3300	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	7
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	200	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1600	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	15	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	0.0071307598	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	2.0464382	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-171.61913	SEABIRD_T_J	4.3e-06
MASS	72348	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022436336	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	265	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3880	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2540	ALTIM_FREQUENCY	13

GPS1	180623,190321,4736.911,-12256.481,1,1.4,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180623,190625,4736.898,-12256.508,2,1.0,4,15.4	MHEAD_RNG_PITCHd_Wd	188.4,1773,-17.6,-10.000,-21.21,2209,0.143
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.055977,-0.172755,-0.054096,1.108344,-0.071580,-0.013828,-0.053057,0.920541,540.480530,-557.983215,-471.144592
TGT_LATLONG	4736.000,-12257.000	OSC	8000266

NET	CACST,8,0,20230618194533.118403,18,747,28,0165,0150,22,01,01,00,01,1,001,121,0,5,2,0,150,4.7,2.90,-100,0.10,-01,-0.11,50,10000,5000,0,1,00,00*4F	_24V_AH	14.73,2.272
NAV	1687118769,1.7,0,stop	_10V_AH	14.77,0.000
FINISH	1.7,1.018553	FG_AHR_24Vo	2.219
SURF	forcing	FG_AHR_10Vo	0.008
SM_CCo	3552.50,170.35,0.870,0,500.6,464.8,536.4,686.69	MEM0	60020,1,0,0
SM_GC	1.65,170.35,11.06,3.20,0.870,0.057,0.028,500.6,464.8,536.4,191.9,2499.7,0,0,0,11.25,15.33,15.36	MEM1	65508,1,0,0
SUPER	27,71,254,1,0,0	MEM2	945188,31,101220,77
IRIDIUM_FIX	4735.53,-12254.47,180623,185940	DATA_FILE_SIZE	12913,486
TCM_TEMP	15.43	CAP_FILE_SIZE	285636,0
SC_FREEKB	3877600	SDSIZE	3887104,3873632
RAFOS_CLK	1	SDFILEDIR	53,4
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	52.04	SOUNDSPEED	1465.0
TEMP	10.01	CURRENT	0.104,194.6,1
INTERNAL_PRESSURE	8.54128	GPS	180623,200701,4736.456,-12256.775,28,0.7,29,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	729	1040	11180.00	nil	0	0	0.00
Pitch_motor	25	258	95.88	nil	0	0	0.00
Roll_motor	55	217	179.45	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	2013	5	152.29	SciCon	3349	8	396.46
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1392	0	6.58
Compass	1134	5	83.76
RAFOS	1893	40	1118.49
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
6.59	16386	-146.63	-1.35	0.00	497.1	454.2	540.0	188.2	2512.9	0.00	0.00	0	85.76	75.00	0.00	0.00	0.005	0.000	0.000	2325.19	2290.19	2360.19	188.38	2513.50	0	0	0	15.70	30.00	30.00
86.10	18983	-146.63	-1.35	-80.00	2327.6	2291.8	2363.4	188.1	2513.0	3.07	-2.14	9	161.00	52.34	8.22	3.49	0.005	0.259	0.084	3897.19	3858.38	3936.00	1271.88	1070.69	0	0	0	15.74	15.55	15.64
389.40	3205	-146.63	-1.23	0.00	3900.1	3862.3	3937.8	1272.1	1070.9	31.09	-10.38	69	396.65	0.00	0.20	3.46	0.000	0.187	0.042	3900.28	3862.44	3938.12	1301.06	2557.31	0	0	0	30.00	15.62	15.67
578.39	644	-146.63	-1.16	-80.00	3900.6	3862.3	3938.9	1301.3	2557.2	49.58	-10.63	106	584.44	0.00	0.00	3.58	0.000	0.000	0.077	3901.69	3863.25	3940.12	1300.75	1071.12	0	0	0	30.00	30.00	15.63
698.41	3205	-146.63	-1.08	0.00	3900.8	3862.6	3939.1	1301.2	1070.9	63.49	-11.86	130	704.91	0.00	0.24	3.48	0.000	0.175	0.042	3902.22	3863.75	3940.69	1337.75	2556.25	0	0	0	30.00	15.63	15.68
893.41	128	-146.63	-1.07	0.00	3901.2	3862.6	3939.8	1338.1	2555.6	84.91	-11.21	150	894.98	0.00	0.00	0.00	0.000	0.000	0.000	3900.62	3861.81	3939.44	1338.31	2556.19	0	0	0	30.00	30.00	30.00
1083.58	0	-146.63	-1.07	0.00	3901.3	3862.8	3939.8	1337.9	2556.2	105.53	-10.55	169	1085.15	0.00	0.00	0.00	0.000	0.000	0.000	3900.66	3862.06	3939.25	1338.12	2556.12	0	0	0	30.00	30.00	30.00
1273.34	516	-146.63	-1.07	-80.00	3901.0	3862.5	3939.5	1337.9	2555.8	125.75	-10.82	188	1279.83	0.00	0.00	3.62	0.000	0.000	0.085	3900.81	3862.38	3939.25	1338.44	1069.94	0	0	0	30.00	30.00	15.67
1308.38	1028	-146.63	-1.07	0.00	3901.0	3862.4	3939.7	1338.6	1070.2	129.65	-11.13	195	1314.74	0.00	0.00	3.49	0.000	0.000	0.045	3900.94	3862.38	3939.50	1338.06	2554.56	0	0	0	30.00	30.00	15.68
1504	end dive: TARGET_DEPTH_EXCEEDED
state	1504	begin apogee
1504.82	10243	0.00	-0.33	0.00	3901.1	3861.9	3940.2	1338.2	2521.8	150.33	-10.35	215	1619.07	104.72	1.20	0.09	1.040	0.136	0.218	3299.59	3253.19	3346.00	1521.56	2569.06	0	0	0	11.36	15.67	15.33
1620	end apogee: CONTROL_FINISHED_OK
state	1620	begin climb
1620.03	10759	146.63	1.35	-80.00	3297.2	3250.4	3343.9	1521.8	2568.9	154.23	0.00	226	1746.64	110.33	2.68	3.72	1.010	0.099	0.084	2698.06	2638.69	2757.44	1929.94	1081.81	0	0	0	11.21	15.36	15.15
1749.43	5285	147.55	1.20	0.00	2696.9	2637.1	2756.6	1930.1	1082.3	144.72	9.96	242	1756.40	0.00	0.41	3.57	0.000	0.190	0.042	2699.47	2639.12	2759.81	1884.19	2564.50	0	0	0	30.00	15.16	15.21
1945.31	388	147.55	1.10	80.00	2690.8	2629.4	2752.1	1885.0	2565.6	118.98	13.47	262	1951.31	0.00	0.00	3.36	0.000	0.000	0.122	2691.62	2629.81	2753.44	1885.19	3889.75	0	0	0	30.00	30.00	15.43
2010.33	21639	147.55	0.90	0.00	2689.9	2629.6	2750.3	1884.6	3889.7	108.12	17.72	275	2017.58	0.00	0.50	3.13	0.000	0.180	0.026	2688.38	2628.06	2748.69	1813.88	2509.31	0	0	0	30.00	15.45	15.53
2205.39	8870	158.69	0.89	-80.00	2688.8	2627.5	2750.0	1813.9	2509.0	87.31	9.48	295	2222.02	10.02	0.00	3.47	0.797	0.000	0.090	2653.94	2591.19	2716.69	1813.94	1080.88	0	0	0	11.29	30.00	15.54
2280.43	1156	158.69	0.87	0.00	2648.7	2586.6	2710.8	1814.1	1080.9	79.66	10.29	310	2286.78	0.00	0.00	3.52	0.000	0.000	0.048	2648.34	2586.12	2710.56	1814.00	2562.94	0	0	0	30.00	30.00	15.58
2470.35	8226	182.41	0.90	0.00	2647.5	2584.1	2710.9	1813.6	2563.0	62.14	8.90	330	2494.10	19.83	0.00	0.00	0.892	0.000	0.000	2555.09	2489.56	2620.62	1814.25	2563.00	0	0	0	11.21	30.00	30.00
2675.40	8742	215.72	0.94	-80.00	2549.5	2482.2	2616.7	1813.3	2563.1	44.05	8.46	358	2712.20	26.59	0.00	3.63	0.899	0.000	0.089	2418.66	2346.62	2490.69	1813.94	1081.69	0	0	0	11.29	30.00	15.52
2750.66	9382	232.90	0.98	0.00	2414.2	2342.1	2486.2	1814.1	1082.1	37.30	9.20	373	2772.71	14.82	0.00	3.52	0.829	0.000	0.047	2348.78	2274.06	2423.50	1814.44	2564.62	0	0	0	11.44	30.00	15.56
2953.68	10403	264.17	1.05	0.00	2342.4	2266.6	2418.1	1813.6	2564.1	18.92	8.55	413	2983.89	24.52	0.31	0.00	0.867	0.060	0.000	2224.16	2145.69	2302.62	1861.38	2563.62	0	0	0	11.31	15.62	30.00
3168.96	10663	437.24	1.32	80.00	2213.7	2133.5	2293.9	1863.1	2564.4	3.99	1.98	452	3302.45	121.15	0.36	3.44	0.886	0.059	0.129	1516.81	1430.38	1603.25	1927.00	3888.12	0	0	0	11.24	15.60	15.20
3311	end climb: SURFACE_DEPTH_REACHED
state	3311	begin surface coast
3346	end surface coast: CONTROL_FINISHED_OK
state	3346	begin surface