Glider dive log

HoodCanal 18Jun23 * SG246 * Dive index * Mission links * Dive 6 * 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 6 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 6 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 15 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 0.0087928623 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 2.5852168 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 6 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 0.0087928623 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 2.5852168 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 15 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 6 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 180623,220732,4736.266,-12256.834,6,1.1,10,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.50 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180623,221254,4736.227,-12256.876,2,1.1,3,15.4 MHEAD_RNG_PITCHd_Wd 8.2,1550,-17.6,-10.000,-21.21,2209,0.130

SPEED_LIMITS 0.173,0.258 D_GRID 167

TGT_NAME N IRON 1.000000,0.013690,-0.005527,-0.010391,1.001253,-0.047822,0.012203,-0.031994,0.960892,371.087799,-615.530334,-619.740479

TGT_LATLONG 4737.000,-12256.400 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230618221519.700155,18,489,26,0138,0150,22,01,01,00,01,1,012,121,0,5,7,0,150,13.8,4.79,-100,-1.79,-01,0.54,42,10000,5000,0,1,00,00*77 FG_AHR_24Vo 2.759

NAV 1687129451,4.5,0,stop FG_AHR_10Vo 0.009

FREEZE 4.49,14.427,-1.510,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3331.17,267.47,0.886,0,500.8,450.8,550.8,686.65 MEM2 945088,37,101200,77

SM_GC 1.45,0.00,10.51,3.57,0.000,0.050,0.056,497.4,448.3,546.4,192.2,2553.7,0,0,0,30.00,15.27,15.26 DATA_FILE_SIZE 12895,431

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 242974,0

IRIDIUM_FIX 4735.53,-12254.47,180623,220841 SDSIZE 3887104,3872736

TCM_TEMP 15.31 SDFILEDIR 74,7

SC_FREEKB 3876640 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1412.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.098,214.6,1

HUMID 51.48 MAGCAL 1.000000,0.007754,0.003079,-0.008429,1.037673,-0.087575,0.011102,-0.018820,0.969588,366.7,-590.7,-626.9,27,0.0252,1

TEMP 10.28 IMPLIED_C_PITCH 1567,18.20,225,0.0,0.00

INTERNAL_PRESSURE 8.54789 IMPLIED_C_VBD 3018,19.082701,225,0

_24V_AH 14.91,2.832 GPS 180623,231131,4736.412,-12256.785,3,0.9,22,15.4

_10V_AH 14.93,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 718 1072 11491.02 nil 0 0 0.00

Pitch_motor 24 269 98.28 nil 0 0 0.00

Roll_motor 48 234 170.71 nil 0 0 0.00

Iridium 200 177 530.62 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.89 nil 0 0 0.00

Core 1993 5 152.40 SciCon 3055 9 421.04

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1467 0 7.01

Compass 994 5 74.26

RAFOS 308 40 184.01

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

6.72 16386 -146.63 -1.35 0.00 496.0 453.1 538.9 189.6 2559.9 0.00 0.00 0 80.53 70.70 0.00 0.00 0.005 0.000 0.000 2153.41 2121.62 2185.19 189.75 2560.12 0 0 0 15.61 30.00 30.00

80.81 18467 -146.63 -1.35 0.00 2154.4 2122.7 2186.2 189.5 2559.6 3.03 -2.37 14 145.34 51.08 8.36 0.00 0.005 0.269 0.000 3896.53 3857.56 3935.50 1271.75 2559.62 0 0 0 14.88 15.44 30.00

328.66 644 -146.63 -1.27 -80.00 3899.9 3860.0 3939.8 1271.6 2560.6 37.06 -15.74 63 334.57 0.00 0.00 3.64 0.000 0.000 0.085 3899.44 3859.69 3939.19 1272.50 1071.19 0 0 0 30.00 30.00 15.60

393.67 3205 -146.63 -1.20 0.00 3900.4 3861.4 3939.4 1272.0 1070.8 47.03 -15.10 76 400.78 0.00 0.26 3.51 0.000 0.181 0.046 3900.81 3861.56 3940.06 1310.38 2556.00 0 0 0 30.00 15.60 15.64

589.09 388 -146.63 -1.18 80.00 3900.9 3861.1 3940.8 1310.2 2556.1 71.76 -12.80 98 595.16 0.00 0.00 3.34 0.000 0.000 0.123 3902.34 3862.62 3942.06 1311.06 3888.56 0 0 0 30.00 30.00 15.65

618.33 1156 -146.63 -1.09 0.00 3901.2 3861.2 3941.2 1310.8 3888.6 76.09 -14.83 104 624.81 0.00 0.00 3.15 0.000 0.000 0.024 3900.97 3861.06 3940.88 1311.12 2497.75 0 0 0 30.00 30.00 15.71

814.33 0 -146.63 -1.09 0.00 3901.6 3861.5 3941.7 1311.1 2497.4 100.84 -12.61 124 815.91 0.00 0.00 0.00 0.000 0.000 0.000 3901.09 3860.56 3941.62 1311.06 2496.88 0 0 0 30.00 30.00 30.00

1004.12 516 -146.63 -1.09 -80.00 3901.7 3861.6 3941.8 1311.6 2497.1 125.16 -12.26 143 1016.25 0.00 0.00 3.46 0.000 0.000 0.089 3901.50 3861.81 3941.19 1311.44 1072.06 0 0 0 30.00 30.00 15.71

1033.80 1028 -146.63 -1.09 0.00 3901.6 3861.7 3941.6 1311.1 1072.0 128.97 -12.66 148 1040.90 0.00 0.00 3.47 0.000 0.000 0.045 3901.91 3862.62 3941.19 1311.00 2554.50 0 0 0 30.00 30.00 15.73

1210 end dive: TARGET_DEPTH_EXCEEDED

state 1210 begin apogee

1211.21 10243 0.00 -0.33 0.00 3901.9 3862.2 3941.5 1311.3 2522.0 150.48 -12.37 166 1323.36 104.36 1.39 0.09 1.073 0.145 0.235 3298.94 3255.12 3342.75 1520.56 2566.81 0 0 0 11.40 15.71 15.32

1325 end apogee: CONTROL_FINISHED_OK

state 1325 begin climb

1324.69 10243 146.63 1.35 0.00 3297.6 3253.6 3341.6 1520.8 2567.7 155.22 0.00 177 1445.01 110.43 2.71 0.00 1.043 0.104 0.000 2703.44 2645.62 2761.25 1929.69 2567.25 0 0 0 11.44 15.35 30.00

1628.67 21127 146.63 1.21 -80.00 2691.0 2632.4 2749.6 1930.1 2567.4 121.17 15.32 208 1636.08 0.00 0.37 3.68 0.000 0.173 0.087 2693.75 2634.81 2752.69 1888.56 1080.94 0 0 0 30.00 15.41 15.41

1674.72 17542 146.63 1.10 0.00 2689.6 2630.6 2748.6 1888.2 1080.9 114.57 14.15 217 1680.82 0.00 0.00 3.54 0.000 0.000 0.046 2692.47 2633.12 2751.81 1886.75 2562.94 0 0 0 30.00 30.00 15.48

1869.72 21127 146.63 1.01 -80.00 2689.0 2629.6 2748.4 1888.1 2562.9 91.40 11.65 237 1877.13 0.00 0.34 3.62 0.000 0.178 0.084 2687.56 2628.25 2746.88 1840.12 1080.94 0 0 0 30.00 15.53 15.54

1927.75 17542 146.63 0.96 0.00 2687.8 2628.1 2747.5 1840.1 1080.6 85.32 10.38 248 1933.84 0.00 0.00 3.52 0.000 0.000 0.046 2686.59 2626.88 2746.31 1840.06 2564.56 0 0 0 30.00 30.00 15.57

2122.78 8354 176.47 0.96 0.00 2687.6 2627.4 2747.7 1840.0 2564.4 67.14 8.62 268 2148.24 23.01 0.00 0.00 0.925 0.000 0.000 2578.34 2516.69 2640.00 1839.81 2564.06 0 0 0 11.38 30.00 30.00

2332.81 420 177.81 0.94 80.00 2573.1 2508.9 2637.2 1839.7 2563.8 46.31 9.94 293 2338.72 0.00 0.00 3.37 0.000 0.000 0.133 2573.81 2510.19 2637.44 1840.19 3891.44 0 0 0 30.00 30.00 15.58

2372.78 5253 177.81 0.84 0.00 2572.6 2509.1 2636.1 1839.7 3891.0 41.75 11.66 301 2378.86 0.00 0.28 3.16 0.000 0.177 0.033 2575.06 2511.06 2639.06 1797.62 2509.69 0 0 0 30.00 15.59 15.66

2559.91 10403 247.65 0.94 0.00 2571.8 2507.5 2636.1 1797.5 2508.9 27.62 6.77 338 2616.92 53.33 0.24 0.00 0.930 0.064 0.000 2288.56 2214.44 2362.69 1837.00 2508.94 0 0 0 11.54 15.70 30.00

2801.08 8870 299.76 1.05 -80.00 2279.9 2201.6 2358.2 1837.1 2509.2 7.49 7.59 382 2849.16 38.10 0.00 3.56 0.889 0.000 0.097 2077.16 1994.06 2160.25 1836.44 1081.81 0 0 0 11.34 30.00 15.41

3049 end climb: NO_VERTICAL_VELOCITY

state 3049 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	6	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	6	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	15	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	0.0087928623	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	2.5852168	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	180623,220732,4736.266,-12256.834,6,1.1,10,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.50	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180623,221254,4736.227,-12256.876,2,1.1,3,15.4	MHEAD_RNG_PITCHd_Wd	8.2,1550,-17.6,-10.000,-21.21,2209,0.130
SPEED_LIMITS	0.173,0.258	D_GRID	167
TGT_NAME	N	IRON	1.000000,0.013690,-0.005527,-0.010391,1.001253,-0.047822,0.012203,-0.031994,0.960892,371.087799,-615.530334,-619.740479
TGT_LATLONG	4737.000,-12256.400	OSC	8000266

NET	CACST,8,0,20230618221519.700155,18,489,26,0138,0150,22,01,01,00,01,1,012,121,0,5,7,0,150,13.8,4.79,-100,-1.79,-01,0.54,42,10000,5000,0,1,00,00*77	FG_AHR_24Vo	2.759
NAV	1687129451,4.5,0,stop	FG_AHR_10Vo	0.009
FREEZE	4.49,14.427,-1.510,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3331.17,267.47,0.886,0,500.8,450.8,550.8,686.65	MEM2	945088,37,101200,77
SM_GC	1.45,0.00,10.51,3.57,0.000,0.050,0.056,497.4,448.3,546.4,192.2,2553.7,0,0,0,30.00,15.27,15.26	DATA_FILE_SIZE	12895,431
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	242974,0
IRIDIUM_FIX	4735.53,-12254.47,180623,220841	SDSIZE	3887104,3872736
TCM_TEMP	15.31	SDFILEDIR	74,7
SC_FREEKB	3876640	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1412.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.098,214.6,1
HUMID	51.48	MAGCAL	1.000000,0.007754,0.003079,-0.008429,1.037673,-0.087575,0.011102,-0.018820,0.969588,366.7,-590.7,-626.9,27,0.0252,1
TEMP	10.28	IMPLIED_C_PITCH	1567,18.20,225,0.0,0.00
INTERNAL_PRESSURE	8.54789	IMPLIED_C_VBD	3018,19.082701,225,0
_24V_AH	14.91,2.832	GPS	180623,231131,4736.412,-12256.785,3,0.9,22,15.4
_10V_AH	14.93,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	718	1072	11491.02	nil	0	0	0.00
Pitch_motor	24	269	98.28	nil	0	0	0.00
Roll_motor	48	234	170.71	nil	0	0	0.00
Iridium	200	177	530.62	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.89	nil	0	0	0.00
Core	1993	5	152.40	SciCon	3055	9	421.04
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1467	0	7.01
Compass	994	5	74.26
RAFOS	308	40	184.01
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
6.72	16386	-146.63	-1.35	0.00	496.0	453.1	538.9	189.6	2559.9	0.00	0.00	0	80.53	70.70	0.00	0.00	0.005	0.000	0.000	2153.41	2121.62	2185.19	189.75	2560.12	0	0	0	15.61	30.00	30.00
80.81	18467	-146.63	-1.35	0.00	2154.4	2122.7	2186.2	189.5	2559.6	3.03	-2.37	14	145.34	51.08	8.36	0.00	0.005	0.269	0.000	3896.53	3857.56	3935.50	1271.75	2559.62	0	0	0	14.88	15.44	30.00
328.66	644	-146.63	-1.27	-80.00	3899.9	3860.0	3939.8	1271.6	2560.6	37.06	-15.74	63	334.57	0.00	0.00	3.64	0.000	0.000	0.085	3899.44	3859.69	3939.19	1272.50	1071.19	0	0	0	30.00	30.00	15.60
393.67	3205	-146.63	-1.20	0.00	3900.4	3861.4	3939.4	1272.0	1070.8	47.03	-15.10	76	400.78	0.00	0.26	3.51	0.000	0.181	0.046	3900.81	3861.56	3940.06	1310.38	2556.00	0	0	0	30.00	15.60	15.64
589.09	388	-146.63	-1.18	80.00	3900.9	3861.1	3940.8	1310.2	2556.1	71.76	-12.80	98	595.16	0.00	0.00	3.34	0.000	0.000	0.123	3902.34	3862.62	3942.06	1311.06	3888.56	0	0	0	30.00	30.00	15.65
618.33	1156	-146.63	-1.09	0.00	3901.2	3861.2	3941.2	1310.8	3888.6	76.09	-14.83	104	624.81	0.00	0.00	3.15	0.000	0.000	0.024	3900.97	3861.06	3940.88	1311.12	2497.75	0	0	0	30.00	30.00	15.71
814.33	0	-146.63	-1.09	0.00	3901.6	3861.5	3941.7	1311.1	2497.4	100.84	-12.61	124	815.91	0.00	0.00	0.00	0.000	0.000	0.000	3901.09	3860.56	3941.62	1311.06	2496.88	0	0	0	30.00	30.00	30.00
1004.12	516	-146.63	-1.09	-80.00	3901.7	3861.6	3941.8	1311.6	2497.1	125.16	-12.26	143	1016.25	0.00	0.00	3.46	0.000	0.000	0.089	3901.50	3861.81	3941.19	1311.44	1072.06	0	0	0	30.00	30.00	15.71
1033.80	1028	-146.63	-1.09	0.00	3901.6	3861.7	3941.6	1311.1	1072.0	128.97	-12.66	148	1040.90	0.00	0.00	3.47	0.000	0.000	0.045	3901.91	3862.62	3941.19	1311.00	2554.50	0	0	0	30.00	30.00	15.73
1210	end dive: TARGET_DEPTH_EXCEEDED
state	1210	begin apogee
1211.21	10243	0.00	-0.33	0.00	3901.9	3862.2	3941.5	1311.3	2522.0	150.48	-12.37	166	1323.36	104.36	1.39	0.09	1.073	0.145	0.235	3298.94	3255.12	3342.75	1520.56	2566.81	0	0	0	11.40	15.71	15.32
1325	end apogee: CONTROL_FINISHED_OK
state	1325	begin climb
1324.69	10243	146.63	1.35	0.00	3297.6	3253.6	3341.6	1520.8	2567.7	155.22	0.00	177	1445.01	110.43	2.71	0.00	1.043	0.104	0.000	2703.44	2645.62	2761.25	1929.69	2567.25	0	0	0	11.44	15.35	30.00
1628.67	21127	146.63	1.21	-80.00	2691.0	2632.4	2749.6	1930.1	2567.4	121.17	15.32	208	1636.08	0.00	0.37	3.68	0.000	0.173	0.087	2693.75	2634.81	2752.69	1888.56	1080.94	0	0	0	30.00	15.41	15.41
1674.72	17542	146.63	1.10	0.00	2689.6	2630.6	2748.6	1888.2	1080.9	114.57	14.15	217	1680.82	0.00	0.00	3.54	0.000	0.000	0.046	2692.47	2633.12	2751.81	1886.75	2562.94	0	0	0	30.00	30.00	15.48
1869.72	21127	146.63	1.01	-80.00	2689.0	2629.6	2748.4	1888.1	2562.9	91.40	11.65	237	1877.13	0.00	0.34	3.62	0.000	0.178	0.084	2687.56	2628.25	2746.88	1840.12	1080.94	0	0	0	30.00	15.53	15.54
1927.75	17542	146.63	0.96	0.00	2687.8	2628.1	2747.5	1840.1	1080.6	85.32	10.38	248	1933.84	0.00	0.00	3.52	0.000	0.000	0.046	2686.59	2626.88	2746.31	1840.06	2564.56	0	0	0	30.00	30.00	15.57
2122.78	8354	176.47	0.96	0.00	2687.6	2627.4	2747.7	1840.0	2564.4	67.14	8.62	268	2148.24	23.01	0.00	0.00	0.925	0.000	0.000	2578.34	2516.69	2640.00	1839.81	2564.06	0	0	0	11.38	30.00	30.00
2332.81	420	177.81	0.94	80.00	2573.1	2508.9	2637.2	1839.7	2563.8	46.31	9.94	293	2338.72	0.00	0.00	3.37	0.000	0.000	0.133	2573.81	2510.19	2637.44	1840.19	3891.44	0	0	0	30.00	30.00	15.58
2372.78	5253	177.81	0.84	0.00	2572.6	2509.1	2636.1	1839.7	3891.0	41.75	11.66	301	2378.86	0.00	0.28	3.16	0.000	0.177	0.033	2575.06	2511.06	2639.06	1797.62	2509.69	0	0	0	30.00	15.59	15.66
2559.91	10403	247.65	0.94	0.00	2571.8	2507.5	2636.1	1797.5	2508.9	27.62	6.77	338	2616.92	53.33	0.24	0.00	0.930	0.064	0.000	2288.56	2214.44	2362.69	1837.00	2508.94	0	0	0	11.54	15.70	30.00
2801.08	8870	299.76	1.05	-80.00	2279.9	2201.6	2358.2	1837.1	2509.2	7.49	7.59	382	2849.16	38.10	0.00	3.56	0.889	0.000	0.097	2077.16	1994.06	2160.25	1836.44	1081.81	0	0	0	11.34	30.00	15.41
3049	end climb: NO_VERTICAL_VELOCITY
state	3049	begin surface