Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 31 * 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 31 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 40 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 0.16236469 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 11.638752 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 40 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 0.16236469 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.638752 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 31 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 250623,044831,4736.024,-12256.892,22,0.8,23,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.05 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,045356,4736.015,-12256.921,2,0.6,4,15.4 MHEAD_RNG_PITCHd_Wd 18.0,1107,-17.6,-10.000,-21.21,2209,0.122

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.027139,0.015273,-0.020746,1.037745,-0.058205,0.006569,-0.048895,0.944787,353.119629,-606.368530,-590.530945

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NAV 1687672166,0.7,start _24V_AH 14.85,12.541

NET xmit ok outbox0023.n 947 15 _10V_AH 14.90,0.000

NET_PING 1687671014,29,616.148987,10.900000,-0.819819 FG_AHR_24Vo 11.814

MODEM_MSG CACST,8,0,20230625052500.423053,18,31504,38,0453,0000,246,02,02,01,03,1,029,121,0,5,1,0,150,1.0,7.19,-100,-4.19,-01,0.16,69,925,0025,0,1,00,00*12 FG_AHR_10Vo 0.173

FREEZE 4.04,14.300,-1.519,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3190.36,237.04,0.874,0,500.3,450.8,549.8,686.77 MEM2 945652,32,100896,69

SM_GC 2.50,0.00,10.91,0.10,0.000,0.023,0.100,497.1,449.1,545.1,180.9,2499.2,0,0,0,30.00,15.28,15.28 DATA_FILE_SIZE 12911,428

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 245150,0

IRIDIUM_FIX 4736.00,-12258.89,250623,044943 SDSIZE 3887104,3862048

TCM_TEMP 15.42 SDFILEDIR 295,32

SC_FREEKB 3868832 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 0,1687669200,47.60500,-122.95000,0.366,536.4 CURRENT 0.027,176.1,1

RAFOS_FIX 4704.634277,-12319.102539,250623,050500,4,255,34.60 IMPLIED_C_PITCH 1603,20.38,214,0.0,0.00

HUMID 51.82 IMPLIED_C_VBD 3145,25.630531,214,0

TEMP 10.28 GPS 250623,055004,4736.196,-12256.573,3,1.3,4,15.4

INTERNAL_PRESSURE 8.53791

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 727 1062 11472.69 nil 0 0 0.00

Pitch_motor 24 238 88.12 nil 0 0 0.00

Roll_motor 41 179 109.88 nil 0 0 0.00

Iridium 197 166 488.50 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.05 nil 0 0 0.00

Core 2044 5 155.97 SciCon 2948 9 405.34

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1308 0 6.24

Compass 966 5 72.01

RAFOS 2068 40 1232.92

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 0.00 492.9 449.6 536.2 181.1 2564.4 0.00 0.00 0 56.91 47.94 0.00 0.00 0.005 0.000 0.000 1685.97 1657.62 1714.31 181.19 2565.19 0 0 0 15.57 30.00 30.00

57.20 18727 -146.63 -1.35 80.00 1687.3 1659.0 1715.6 181.4 2565.3 3.02 -2.20 9 151.15 72.89 8.16 3.34 0.005 0.238 0.102 3898.81 3862.94 3934.69 1273.38 3891.81 0 0 0 15.58 15.44 15.54

378.65 3205 -146.63 -1.15 0.00 3901.4 3864.0 3938.9 1273.2 3891.7 53.22 -18.08 70 385.06 0.00 0.35 3.20 0.000 0.174 0.010 3901.97 3864.69 3939.25 1323.69 2488.25 0 0 0 30.00 15.51 15.01

574.01 388 -146.63 -1.10 80.00 3901.7 3864.0 3939.4 1323.5 2486.9 77.68 -12.43 90 579.91 0.00 0.00 3.58 0.000 0.000 0.098 3902.06 3864.38 3939.75 1324.62 3889.19 0 0 0 30.00 30.00 15.50

709.09 3205 -146.63 -0.98 0.00 3902.0 3864.4 3939.6 1323.8 3889.2 98.68 -16.41 117 715.43 0.00 0.25 3.15 0.000 0.159 0.013 3901.88 3864.25 3939.50 1362.88 2487.38 0 0 0 30.00 15.52 15.60

904.27 0 -146.63 -0.98 0.00 3902.7 3864.1 3941.3 1362.9 2486.4 119.68 -10.27 137 905.84 0.00 0.00 0.00 0.000 0.000 0.000 3902.22 3864.12 3940.31 1362.81 2486.31 0 0 0 30.00 30.00 30.00

1094.05 260 -146.63 -0.98 80.00 3902.8 3864.6 3941.0 1362.8 2486.3 139.12 -10.15 156 1100.45 0.00 0.00 3.54 0.000 0.000 0.102 3902.44 3864.19 3940.69 1363.62 3891.75 0 0 0 30.00 30.00 15.61

1133.38 1156 -146.63 -0.93 0.00 3902.6 3864.7 3940.5 1363.4 3891.3 143.99 -12.75 164 1140.22 0.00 0.00 3.15 0.000 0.000 0.013 3903.00 3864.88 3941.12 1363.69 2485.56 0 0 0 30.00 30.00 15.66

1199 end dive: TARGET_DEPTH_EXCEEDED

state 1200 begin apogee

1200.74 10243 0.00 -0.33 0.00 3902.9 3864.9 3940.9 1363.9 2566.9 150.80 -10.04 171 1314.79 106.14 1.03 0.08 1.062 0.117 0.179 3298.34 3250.31 3346.38 1520.88 2511.50 0 0 0 11.68 15.62 15.30

1316 end apogee: CONTROL_FINISHED_OK

state 1316 begin climb

1316.25 10243 146.63 1.35 0.00 3296.0 3248.0 3343.9 1520.8 2512.0 155.56 0.00 182 1439.81 112.18 2.66 0.00 1.032 0.085 0.000 2701.03 2634.25 2767.81 1929.62 2512.38 0 0 0 11.61 15.30 30.00

1623.43 20871 146.63 1.22 80.00 2690.0 2624.0 2755.9 1929.7 2511.7 115.94 16.11 214 1630.78 0.00 0.34 3.52 0.000 0.164 0.102 2693.12 2626.69 2759.56 1890.94 3889.62 0 0 0 30.00 15.36 15.40

1673.42 21639 146.63 1.04 0.00 2688.9 2623.5 2754.4 1890.9 3890.0 106.94 18.04 224 1680.53 0.00 0.32 3.17 0.000 0.175 0.014 2692.41 2627.25 2757.56 1845.75 2497.81 0 0 0 30.00 15.41 15.47

1869.44 17030 146.63 1.00 -80.00 2687.3 2620.9 2753.8 1845.9 2497.9 84.35 10.94 244 1875.50 0.00 0.00 3.47 0.000 0.000 0.072 2688.53 2623.19 2753.88 1843.19 1079.88 0 0 0 30.00 30.00 15.52

1908.45 17542 146.63 0.95 0.00 2686.7 2621.0 2752.4 1845.9 1079.8 79.67 11.78 252 1915.26 0.00 0.00 3.54 0.000 0.000 0.034 2687.97 2621.88 2754.06 1845.88 2566.81 0 0 0 30.00 30.00 15.52

2104.53 16546 148.50 0.92 0.00 2685.9 2619.7 2752.2 1845.1 2566.4 59.59 9.91 272 2106.11 0.00 0.00 0.00 0.000 0.000 0.000 2684.50 2618.44 2750.56 1845.75 2566.81 0 0 0 30.00 30.00 30.00

2287.68 12451 168.39 0.91 0.00 2685.8 2619.3 2752.2 1845.8 2566.9 41.51 9.08 299 2307.89 16.88 0.20 0.00 0.873 0.158 0.000 2613.38 2545.12 2681.62 1814.06 2566.50 0 0 0 11.70 15.57 30.00

2492.64 8742 203.86 0.95 -80.00 2606.3 2535.5 2677.2 1815.6 2567.1 24.88 8.36 340 2530.31 28.49 0.00 3.65 0.900 0.000 0.072 2467.84 2391.62 2544.06 1814.69 1079.19 0 0 0 11.89 30.00 15.51

2634.01 11431 251.81 1.05 0.00 2459.6 2384.5 2534.7 1815.9 1079.8 13.00 7.78 368 2681.57 36.85 0.29 3.53 0.892 0.042 0.038 2274.78 2191.19 2358.38 1866.25 2566.69 0 0 0 11.65 15.62 15.59

2865.27 10919 443.50 1.36 -80.00 2262.1 2175.6 2348.6 1867.2 2566.9 4.70 1.12 414 2938.29 68.97 0.38 0.00 0.897 0.036 0.000 1880.12 1787.88 1972.38 1941.69 2566.62 0 0 0 11.72 15.60 30.00

2939 end climb: NO_VERTICAL_VELOCITY

state 2939 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	31	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	40	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	0.16236469	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	11.638752	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	250623,044831,4736.024,-12256.892,22,0.8,23,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.05	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,045356,4736.015,-12256.921,2,0.6,4,15.4	MHEAD_RNG_PITCHd_Wd	18.0,1107,-17.6,-10.000,-21.21,2209,0.122
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.027139,0.015273,-0.020746,1.037745,-0.058205,0.006569,-0.048895,0.944787,353.119629,-606.368530,-590.530945
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NAV	1687672166,0.7,start	_24V_AH	14.85,12.541
NET	xmit ok outbox0023.n 947 15	_10V_AH	14.90,0.000
NET_PING	1687671014,29,616.148987,10.900000,-0.819819	FG_AHR_24Vo	11.814
MODEM_MSG	CACST,8,0,20230625052500.423053,18,31504,38,0453,0000,246,02,02,01,03,1,029,121,0,5,1,0,150,1.0,7.19,-100,-4.19,-01,0.16,69,925,0025,0,1,00,00*12	FG_AHR_10Vo	0.173
FREEZE	4.04,14.300,-1.519,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3190.36,237.04,0.874,0,500.3,450.8,549.8,686.77	MEM2	945652,32,100896,69
SM_GC	2.50,0.00,10.91,0.10,0.000,0.023,0.100,497.1,449.1,545.1,180.9,2499.2,0,0,0,30.00,15.28,15.28	DATA_FILE_SIZE	12911,428
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	245150,0
IRIDIUM_FIX	4736.00,-12258.89,250623,044943	SDSIZE	3887104,3862048
TCM_TEMP	15.42	SDFILEDIR	295,32
SC_FREEKB	3868832	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	0,1687669200,47.60500,-122.95000,0.366,536.4	CURRENT	0.027,176.1,1
RAFOS_FIX	4704.634277,-12319.102539,250623,050500,4,255,34.60	IMPLIED_C_PITCH	1603,20.38,214,0.0,0.00
HUMID	51.82	IMPLIED_C_VBD	3145,25.630531,214,0
TEMP	10.28	GPS	250623,055004,4736.196,-12256.573,3,1.3,4,15.4
INTERNAL_PRESSURE	8.53791

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	727	1062	11472.69	nil	0	0	0.00
Pitch_motor	24	238	88.12	nil	0	0	0.00
Roll_motor	41	179	109.88	nil	0	0	0.00
Iridium	197	166	488.50	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.05	nil	0	0	0.00
Core	2044	5	155.97	SciCon	2948	9	405.34
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1308	0	6.24
Compass	966	5	72.01
RAFOS	2068	40	1232.92
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	492.9	449.6	536.2	181.1	2564.4	0.00	0.00	0	56.91	47.94	0.00	0.00	0.005	0.000	0.000	1685.97	1657.62	1714.31	181.19	2565.19	0	0	0	15.57	30.00	30.00
57.20	18727	-146.63	-1.35	80.00	1687.3	1659.0	1715.6	181.4	2565.3	3.02	-2.20	9	151.15	72.89	8.16	3.34	0.005	0.238	0.102	3898.81	3862.94	3934.69	1273.38	3891.81	0	0	0	15.58	15.44	15.54
378.65	3205	-146.63	-1.15	0.00	3901.4	3864.0	3938.9	1273.2	3891.7	53.22	-18.08	70	385.06	0.00	0.35	3.20	0.000	0.174	0.010	3901.97	3864.69	3939.25	1323.69	2488.25	0	0	0	30.00	15.51	15.01
574.01	388	-146.63	-1.10	80.00	3901.7	3864.0	3939.4	1323.5	2486.9	77.68	-12.43	90	579.91	0.00	0.00	3.58	0.000	0.000	0.098	3902.06	3864.38	3939.75	1324.62	3889.19	0	0	0	30.00	30.00	15.50
709.09	3205	-146.63	-0.98	0.00	3902.0	3864.4	3939.6	1323.8	3889.2	98.68	-16.41	117	715.43	0.00	0.25	3.15	0.000	0.159	0.013	3901.88	3864.25	3939.50	1362.88	2487.38	0	0	0	30.00	15.52	15.60
904.27	0	-146.63	-0.98	0.00	3902.7	3864.1	3941.3	1362.9	2486.4	119.68	-10.27	137	905.84	0.00	0.00	0.00	0.000	0.000	0.000	3902.22	3864.12	3940.31	1362.81	2486.31	0	0	0	30.00	30.00	30.00
1094.05	260	-146.63	-0.98	80.00	3902.8	3864.6	3941.0	1362.8	2486.3	139.12	-10.15	156	1100.45	0.00	0.00	3.54	0.000	0.000	0.102	3902.44	3864.19	3940.69	1363.62	3891.75	0	0	0	30.00	30.00	15.61
1133.38	1156	-146.63	-0.93	0.00	3902.6	3864.7	3940.5	1363.4	3891.3	143.99	-12.75	164	1140.22	0.00	0.00	3.15	0.000	0.000	0.013	3903.00	3864.88	3941.12	1363.69	2485.56	0	0	0	30.00	30.00	15.66
1199	end dive: TARGET_DEPTH_EXCEEDED
state	1200	begin apogee
1200.74	10243	0.00	-0.33	0.00	3902.9	3864.9	3940.9	1363.9	2566.9	150.80	-10.04	171	1314.79	106.14	1.03	0.08	1.062	0.117	0.179	3298.34	3250.31	3346.38	1520.88	2511.50	0	0	0	11.68	15.62	15.30
1316	end apogee: CONTROL_FINISHED_OK
state	1316	begin climb
1316.25	10243	146.63	1.35	0.00	3296.0	3248.0	3343.9	1520.8	2512.0	155.56	0.00	182	1439.81	112.18	2.66	0.00	1.032	0.085	0.000	2701.03	2634.25	2767.81	1929.62	2512.38	0	0	0	11.61	15.30	30.00
1623.43	20871	146.63	1.22	80.00	2690.0	2624.0	2755.9	1929.7	2511.7	115.94	16.11	214	1630.78	0.00	0.34	3.52	0.000	0.164	0.102	2693.12	2626.69	2759.56	1890.94	3889.62	0	0	0	30.00	15.36	15.40
1673.42	21639	146.63	1.04	0.00	2688.9	2623.5	2754.4	1890.9	3890.0	106.94	18.04	224	1680.53	0.00	0.32	3.17	0.000	0.175	0.014	2692.41	2627.25	2757.56	1845.75	2497.81	0	0	0	30.00	15.41	15.47
1869.44	17030	146.63	1.00	-80.00	2687.3	2620.9	2753.8	1845.9	2497.9	84.35	10.94	244	1875.50	0.00	0.00	3.47	0.000	0.000	0.072	2688.53	2623.19	2753.88	1843.19	1079.88	0	0	0	30.00	30.00	15.52
1908.45	17542	146.63	0.95	0.00	2686.7	2621.0	2752.4	1845.9	1079.8	79.67	11.78	252	1915.26	0.00	0.00	3.54	0.000	0.000	0.034	2687.97	2621.88	2754.06	1845.88	2566.81	0	0	0	30.00	30.00	15.52
2104.53	16546	148.50	0.92	0.00	2685.9	2619.7	2752.2	1845.1	2566.4	59.59	9.91	272	2106.11	0.00	0.00	0.00	0.000	0.000	0.000	2684.50	2618.44	2750.56	1845.75	2566.81	0	0	0	30.00	30.00	30.00
2287.68	12451	168.39	0.91	0.00	2685.8	2619.3	2752.2	1845.8	2566.9	41.51	9.08	299	2307.89	16.88	0.20	0.00	0.873	0.158	0.000	2613.38	2545.12	2681.62	1814.06	2566.50	0	0	0	11.70	15.57	30.00
2492.64	8742	203.86	0.95	-80.00	2606.3	2535.5	2677.2	1815.6	2567.1	24.88	8.36	340	2530.31	28.49	0.00	3.65	0.900	0.000	0.072	2467.84	2391.62	2544.06	1814.69	1079.19	0	0	0	11.89	30.00	15.51
2634.01	11431	251.81	1.05	0.00	2459.6	2384.5	2534.7	1815.9	1079.8	13.00	7.78	368	2681.57	36.85	0.29	3.53	0.892	0.042	0.038	2274.78	2191.19	2358.38	1866.25	2566.69	0	0	0	11.65	15.62	15.59
2865.27	10919	443.50	1.36	-80.00	2262.1	2175.6	2348.6	1867.2	2566.9	4.70	1.12	414	2938.29	68.97	0.38	0.00	0.897	0.036	0.000	1880.12	1787.88	1972.38	1941.69	2566.62	0	0	0	11.72	15.60	30.00
2939	end climb: NO_VERTICAL_VELOCITY
state	2939	begin surface