Glider dive log

HoodCanal 18Jun23 * SG246 * Dive index * Mission links * Dive 21 * 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 21 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 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 0.020200394 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 5.2906303 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 30 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 0.020200394 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 5.2906303 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 21 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 190623,123926,4735.990,-12256.757,1,0.9,4,15.4 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 -62.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190623,124229,4735.987,-12256.746,2,0.9,5,15.4 MHEAD_RNG_PITCHd_Wd 1.4,1658,-17.6,-10.000,-21.21,2209,0.185

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.030783,0.016588,-0.017205,1.025325,-0.060167,-0.002949,-0.046149,0.982722,358.254730,-608.330811,-628.953003

TGT_LATLONG 4736.830,-12256.300 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230619132511.844573,18,10087,40,0139,0150,07,01,01,00,01,1,029,246,0,5,1,0,150,-1.1,2.55,-100,0.45,-01,0.21,67,10000,5000,0,-1,00,00*65 _10V_AH 14.92,0.000

NET_PING 1687181113,29,494.903992,-1.100000,-0.469196 FG_AHR_24Vo 5.463

NAV 1687181415,5.3,0,stop FG_AHR_10Vo 0.021

FREEZE 4.52,15.215,-1.479,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3182.16,208.38,0.870,0,501.1,451.1,551.0,686.58 MEM2 945692,31,100876,69

SM_GC 2.14,0.00,10.82,0.09,0.000,0.031,0.114,496.9,448.2,545.6,183.4,2503.6,0,0,0,30.00,15.26,15.27 DATA_FILE_SIZE 9729,410

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 230756,0

IRIDIUM_FIX 4737.86,-12251.79,190623,115049 SDSIZE 3887104,3868352

TCM_TEMP 15.18 SDFILEDIR 180,22

SC_FREEKB 3871840 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1440.7

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.050, 52.4,1

HUMID 51.33 MAGCAL 1.000000,0.021180,0.020820,-0.009477,1.048246,-0.052837,0.027059,-0.027848,0.949580,351.6,-607.8,-601.3,36,0.0270,0

TEMP 9.91 IMPLIED_C_PITCH 1567,18.29,217,0.0,0.00

INTERNAL_PRESSURE 8.52854 IMPLIED_C_VBD 3069,18.933575,217,0

_24V_AH 14.87,5.566 GPS 190623,133824,4736.392,-12256.508,6,0.8,13,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 713 1070 11358.36 nil 0 0 0.00

Pitch_motor 24 249 92.30 nil 0 0 0.00

Roll_motor 34 206 107.00 nil 0 0 0.00

Iridium 120 184 330.08 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.20 nil 0 0 0.00

Core 1892 5 144.57 SciCon 2969 9 410.19

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1346 0 6.43

Compass 941 5 70.25

RAFOS 308 40 183.83

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

6.63 16386 -146.63 -1.35 0.00 495.0 453.9 536.0 184.5 2508.2 0.00 0.00 0 64.91 55.71 0.00 0.00 0.005 0.000 0.000 1875.59 1848.88 1902.31 184.69 2508.00 0 0 0 15.53 30.00 30.00

65.20 18983 -146.63 -1.35 -80.00 1877.3 1850.6 1904.1 184.8 2508.1 3.34 -3.43 11 140.66 56.82 8.24 3.46 0.005 0.250 0.078 3898.53 3862.69 3934.38 1271.62 1070.38 0 0 0 14.55 15.41 15.50

304.01 1156 -146.63 -1.26 0.00 3900.2 3862.9 3937.5 1271.6 1070.8 35.47 -15.65 58 309.88 0.00 0.00 3.51 0.000 0.000 0.040 3900.72 3863.62 3937.81 1271.81 2555.75 0 0 0 30.00 30.00 15.60

494.02 2177 -146.63 -1.19 0.00 3900.6 3863.0 3938.2 1271.8 2554.4 63.23 -14.27 87 495.80 0.00 0.28 0.00 0.000 0.162 0.000 3902.31 3864.88 3939.75 1312.75 2555.12 0 0 0 30.00 15.63 30.00

684.03 128 -146.63 -1.17 0.00 3901.0 3862.8 3939.3 1313.4 2555.6 86.91 -12.47 106 685.57 0.00 0.00 0.00 0.000 0.000 0.000 3900.41 3862.31 3938.50 1313.56 2555.19 0 0 0 30.00 30.00 30.00

871.10 644 -146.63 -1.15 -80.00 3901.1 3862.6 3939.5 1313.2 2556.1 108.93 -11.96 125 877.48 0.00 0.00 3.59 0.000 0.000 0.074 3901.41 3863.31 3939.50 1313.44 1070.81 0 0 0 30.00 30.00 15.69

906.09 1028 -146.63 -1.15 0.00 3901.1 3863.1 3939.1 1313.6 1070.6 113.16 -12.09 132 912.45 0.00 0.00 3.46 0.000 0.000 0.037 3902.62 3864.19 3941.06 1312.56 2555.12 0 0 0 30.00 30.00 15.72

1096.87 0 -146.63 -1.15 0.00 3901.1 3862.9 3939.2 1313.0 2555.7 135.86 -12.12 150 1098.44 0.00 0.00 0.00 0.000 0.000 0.000 3901.16 3862.81 3939.50 1313.38 2555.44 0 0 0 30.00 30.00 30.00

1217 end dive: TARGET_DEPTH_EXCEEDED

state 1217 begin apogee

1218.27 10243 0.00 -0.33 0.00 3901.2 3862.4 3940.1 1313.3 2517.4 150.27 -12.07 162 1337.68 105.25 1.36 0.09 1.071 0.129 0.206 3301.31 3254.38 3348.25 1519.88 2570.06 0 0 0 11.75 15.67 15.32

1339 end apogee: CONTROL_FINISHED_OK

state 1339 begin climb

1339.03 10243 146.63 1.35 0.00 3295.9 3248.2 3343.6 1520.3 2569.6 154.69 0.00 173 1460.50 112.00 2.67 0.00 1.038 0.088 0.000 2701.03 2637.44 2764.62 1931.19 2570.31 0 0 0 11.50 15.34 30.00

1644.12 20611 146.63 1.21 0.00 2690.7 2627.2 2754.1 1930.5 2569.8 118.70 15.62 204 1645.99 0.00 0.36 0.00 0.000 0.149 0.000 2693.03 2630.38 2755.69 1887.50 2568.94 0 0 0 30.00 15.39 30.00

1834.14 16514 146.63 1.12 0.00 2688.8 2624.9 2752.7 1888.3 2569.1 92.83 12.78 223 1835.71 0.00 0.00 0.00 0.000 0.000 0.000 2687.56 2623.25 2751.88 1888.69 2569.94 0 0 0 30.00 30.00 30.00

2024.39 21127 146.63 1.04 -80.00 2688.4 2623.9 2752.9 1889.1 2569.3 69.87 11.81 242 2031.76 0.00 0.29 3.63 0.000 0.155 0.078 2688.16 2623.25 2753.06 1845.62 1079.38 0 0 0 30.00 15.57 15.58

2080.22 1188 150.15 1.00 0.00 2686.8 2623.0 2750.6 1845.9 1079.4 64.26 9.84 253 2086.50 0.00 0.00 3.51 0.000 0.000 0.041 2685.88 2622.12 2749.62 1846.38 2564.94 0 0 0 30.00 30.00 15.62

2270.47 8614 168.71 0.98 80.00 2686.5 2622.3 2750.7 1846.2 2564.2 46.88 9.14 275 2296.81 17.32 0.00 3.33 0.883 0.000 0.119 2610.72 2544.00 2677.44 1845.88 3888.56 0 0 0 11.65 30.00 15.57

2355.20 5253 168.71 0.88 0.00 2607.3 2541.9 2672.6 1845.8 3889.2 37.46 12.20 292 2361.26 0.00 0.26 3.12 0.000 0.157 0.017 2607.81 2542.75 2672.88 1805.62 2499.25 0 0 0 30.00 15.59 15.65

2543.68 10919 239.32 0.98 -80.00 2604.9 2537.2 2672.6 1805.4 2499.2 23.01 6.73 329 2607.66 53.62 0.23 3.48 0.920 0.046 0.081 2320.12 2240.75 2399.50 1848.94 1080.75 0 0 0 11.58 15.65 15.42

2660.98 1028 239.32 0.98 0.00 2316.2 2236.2 2396.2 1848.2 1080.9 12.38 10.05 352 2667.12 0.00 0.00 3.53 0.000 0.000 0.041 2316.34 2236.06 2396.62 1849.19 2564.56 0 0 0 30.00 30.00 15.52

2851.34 10919 405.95 1.25 -80.00 2312.9 2229.7 2396.1 1849.0 2564.4 5.35 2.28 389 2961.15 104.35 0.34 0.00 0.900 0.037 0.000 1716.69 1623.69 1809.69 1914.50 2564.69 0 0 0 11.67 15.62 30.00

2962 end climb: NO_VERTICAL_VELOCITY

state 2962 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	21	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	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	0.020200394	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	5.2906303	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	190623,123926,4735.990,-12256.757,1,0.9,4,15.4	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	-62.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190623,124229,4735.987,-12256.746,2,0.9,5,15.4	MHEAD_RNG_PITCHd_Wd	1.4,1658,-17.6,-10.000,-21.21,2209,0.185
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.030783,0.016588,-0.017205,1.025325,-0.060167,-0.002949,-0.046149,0.982722,358.254730,-608.330811,-628.953003
TGT_LATLONG	4736.830,-12256.300	OSC	8000266

NET	CACST,8,0,20230619132511.844573,18,10087,40,0139,0150,07,01,01,00,01,1,029,246,0,5,1,0,150,-1.1,2.55,-100,0.45,-01,0.21,67,10000,5000,0,-1,00,00*65	_10V_AH	14.92,0.000
NET_PING	1687181113,29,494.903992,-1.100000,-0.469196	FG_AHR_24Vo	5.463
NAV	1687181415,5.3,0,stop	FG_AHR_10Vo	0.021
FREEZE	4.52,15.215,-1.479,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3182.16,208.38,0.870,0,501.1,451.1,551.0,686.58	MEM2	945692,31,100876,69
SM_GC	2.14,0.00,10.82,0.09,0.000,0.031,0.114,496.9,448.2,545.6,183.4,2503.6,0,0,0,30.00,15.26,15.27	DATA_FILE_SIZE	9729,410
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	230756,0
IRIDIUM_FIX	4737.86,-12251.79,190623,115049	SDSIZE	3887104,3868352
TCM_TEMP	15.18	SDFILEDIR	180,22
SC_FREEKB	3871840	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1440.7
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.050, 52.4,1
HUMID	51.33	MAGCAL	1.000000,0.021180,0.020820,-0.009477,1.048246,-0.052837,0.027059,-0.027848,0.949580,351.6,-607.8,-601.3,36,0.0270,0
TEMP	9.91	IMPLIED_C_PITCH	1567,18.29,217,0.0,0.00
INTERNAL_PRESSURE	8.52854	IMPLIED_C_VBD	3069,18.933575,217,0
_24V_AH	14.87,5.566	GPS	190623,133824,4736.392,-12256.508,6,0.8,13,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	713	1070	11358.36	nil	0	0	0.00
Pitch_motor	24	249	92.30	nil	0	0	0.00
Roll_motor	34	206	107.00	nil	0	0	0.00
Iridium	120	184	330.08	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.20	nil	0	0	0.00
Core	1892	5	144.57	SciCon	2969	9	410.19
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1346	0	6.43
Compass	941	5	70.25
RAFOS	308	40	183.83
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
6.63	16386	-146.63	-1.35	0.00	495.0	453.9	536.0	184.5	2508.2	0.00	0.00	0	64.91	55.71	0.00	0.00	0.005	0.000	0.000	1875.59	1848.88	1902.31	184.69	2508.00	0	0	0	15.53	30.00	30.00
65.20	18983	-146.63	-1.35	-80.00	1877.3	1850.6	1904.1	184.8	2508.1	3.34	-3.43	11	140.66	56.82	8.24	3.46	0.005	0.250	0.078	3898.53	3862.69	3934.38	1271.62	1070.38	0	0	0	14.55	15.41	15.50
304.01	1156	-146.63	-1.26	0.00	3900.2	3862.9	3937.5	1271.6	1070.8	35.47	-15.65	58	309.88	0.00	0.00	3.51	0.000	0.000	0.040	3900.72	3863.62	3937.81	1271.81	2555.75	0	0	0	30.00	30.00	15.60
494.02	2177	-146.63	-1.19	0.00	3900.6	3863.0	3938.2	1271.8	2554.4	63.23	-14.27	87	495.80	0.00	0.28	0.00	0.000	0.162	0.000	3902.31	3864.88	3939.75	1312.75	2555.12	0	0	0	30.00	15.63	30.00
684.03	128	-146.63	-1.17	0.00	3901.0	3862.8	3939.3	1313.4	2555.6	86.91	-12.47	106	685.57	0.00	0.00	0.00	0.000	0.000	0.000	3900.41	3862.31	3938.50	1313.56	2555.19	0	0	0	30.00	30.00	30.00
871.10	644	-146.63	-1.15	-80.00	3901.1	3862.6	3939.5	1313.2	2556.1	108.93	-11.96	125	877.48	0.00	0.00	3.59	0.000	0.000	0.074	3901.41	3863.31	3939.50	1313.44	1070.81	0	0	0	30.00	30.00	15.69
906.09	1028	-146.63	-1.15	0.00	3901.1	3863.1	3939.1	1313.6	1070.6	113.16	-12.09	132	912.45	0.00	0.00	3.46	0.000	0.000	0.037	3902.62	3864.19	3941.06	1312.56	2555.12	0	0	0	30.00	30.00	15.72
1096.87	0	-146.63	-1.15	0.00	3901.1	3862.9	3939.2	1313.0	2555.7	135.86	-12.12	150	1098.44	0.00	0.00	0.00	0.000	0.000	0.000	3901.16	3862.81	3939.50	1313.38	2555.44	0	0	0	30.00	30.00	30.00
1217	end dive: TARGET_DEPTH_EXCEEDED
state	1217	begin apogee
1218.27	10243	0.00	-0.33	0.00	3901.2	3862.4	3940.1	1313.3	2517.4	150.27	-12.07	162	1337.68	105.25	1.36	0.09	1.071	0.129	0.206	3301.31	3254.38	3348.25	1519.88	2570.06	0	0	0	11.75	15.67	15.32
1339	end apogee: CONTROL_FINISHED_OK
state	1339	begin climb
1339.03	10243	146.63	1.35	0.00	3295.9	3248.2	3343.6	1520.3	2569.6	154.69	0.00	173	1460.50	112.00	2.67	0.00	1.038	0.088	0.000	2701.03	2637.44	2764.62	1931.19	2570.31	0	0	0	11.50	15.34	30.00
1644.12	20611	146.63	1.21	0.00	2690.7	2627.2	2754.1	1930.5	2569.8	118.70	15.62	204	1645.99	0.00	0.36	0.00	0.000	0.149	0.000	2693.03	2630.38	2755.69	1887.50	2568.94	0	0	0	30.00	15.39	30.00
1834.14	16514	146.63	1.12	0.00	2688.8	2624.9	2752.7	1888.3	2569.1	92.83	12.78	223	1835.71	0.00	0.00	0.00	0.000	0.000	0.000	2687.56	2623.25	2751.88	1888.69	2569.94	0	0	0	30.00	30.00	30.00
2024.39	21127	146.63	1.04	-80.00	2688.4	2623.9	2752.9	1889.1	2569.3	69.87	11.81	242	2031.76	0.00	0.29	3.63	0.000	0.155	0.078	2688.16	2623.25	2753.06	1845.62	1079.38	0	0	0	30.00	15.57	15.58
2080.22	1188	150.15	1.00	0.00	2686.8	2623.0	2750.6	1845.9	1079.4	64.26	9.84	253	2086.50	0.00	0.00	3.51	0.000	0.000	0.041	2685.88	2622.12	2749.62	1846.38	2564.94	0	0	0	30.00	30.00	15.62
2270.47	8614	168.71	0.98	80.00	2686.5	2622.3	2750.7	1846.2	2564.2	46.88	9.14	275	2296.81	17.32	0.00	3.33	0.883	0.000	0.119	2610.72	2544.00	2677.44	1845.88	3888.56	0	0	0	11.65	30.00	15.57
2355.20	5253	168.71	0.88	0.00	2607.3	2541.9	2672.6	1845.8	3889.2	37.46	12.20	292	2361.26	0.00	0.26	3.12	0.000	0.157	0.017	2607.81	2542.75	2672.88	1805.62	2499.25	0	0	0	30.00	15.59	15.65
2543.68	10919	239.32	0.98	-80.00	2604.9	2537.2	2672.6	1805.4	2499.2	23.01	6.73	329	2607.66	53.62	0.23	3.48	0.920	0.046	0.081	2320.12	2240.75	2399.50	1848.94	1080.75	0	0	0	11.58	15.65	15.42
2660.98	1028	239.32	0.98	0.00	2316.2	2236.2	2396.2	1848.2	1080.9	12.38	10.05	352	2667.12	0.00	0.00	3.53	0.000	0.000	0.041	2316.34	2236.06	2396.62	1849.19	2564.56	0	0	0	30.00	30.00	15.52
2851.34	10919	405.95	1.25	-80.00	2312.9	2229.7	2396.1	1849.0	2564.4	5.35	2.28	389	2961.15	104.35	0.34	0.00	0.900	0.037	0.000	1716.69	1623.69	1809.69	1914.50	2564.69	0	0	0	11.67	15.62	30.00
2962	end climb: NO_VERTICAL_VELOCITY
state	2962	begin surface