Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 44 * 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 44 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 50 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 2 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 0.28022304 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.973166 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 50 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 0.28022304 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.973166 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 44 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 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 250623,163313,4736.434,-12256.347,2,1.6,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,163619,4736.443,-12256.354,2,1.6,4,15.4 MHEAD_RNG_PITCHd_Wd 198.7,1069,-17.6,-10.000,-21.21,2209,0.190

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NAV 1687714034,3.9,1,stop _24V_AH 14.90,15.123

NET CACST,8,0,20230625171519.268995,18,32767,45,0125,0150,07,00,00,00,00,1,012,121,0,5,6,0,150,3.8,3.73,-100,-0.73,-01,-0.09,74,10000,5000,0,1,00,00*6B _10V_AH 14.95,0.000

MODEM_MSG CACST,8,0,20230625172500.389999,18,5238,37,0192,0000,246,03,03,00,03,1,029,121,0,5,1,0,150,1.3,3.53,-100,-0.53,-01,0.03,68,925,0025,0,1,00,00*26 FG_AHR_24Vo 14.148

FREEZE 3.83,13.619,-1.531,0,1,0 FG_AHR_10Vo 0.280

SURF forcing MEM0 59828,1,0,0

SM_CCo 3405.11,294.92,0.892,0,500.8,455.1,546.4,686.65 MEM1 65508,1,0,0

SM_GC 2.31,0.00,10.24,3.23,0.000,0.022,0.015,495.9,451.8,540.0,179.8,2492.4,0,0,0,30.00,15.30,15.29 MEM2 945620,33,100908,69

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12905,444

IRIDIUM_FIX 4739.35,-12328.10,250623,155007 CAP_FILE_SIZE 237782,0

TCM_TEMP 15.36 SDSIZE 3887104,3857632

SC_FREEKB 3864672 SDFILEDIR 402,45

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0

MODEM 3,1687713900,47.60220,-122.95120,0.390,571.3 SOUNDSPEED 1411.1

RAFOS_FIX 4736.327148,-12257.140625,250623,161600,4,255,0.38 CURRENT 0.008, 19.2,1

HUMID 51.75 IMPLIED_C_PITCH 1598,19.33,225,0.0,0.00

TEMP 10.34 IMPLIED_C_VBD 3134,22.472008,225,0

INTERNAL_PRESSURE 8.53947 GPS 250623,173611,4736.178,-12256.694,13,1.9,15,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 717 1081 11567.72 nil 0 0 0.00

Pitch_motor 23 248 86.62 nil 0 0 0.00

Roll_motor 41 135 83.41 nil 0 0 0.00

Iridium 118 166 293.59 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.11 nil 0 0 0.00

Core 1907 5 145.99 SciCon 3102 9 426.14

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1465 0 7.01

Compass 1007 5 75.34

RAFOS 2181 40 1304.69

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

6.52 16386 -146.63 -1.35 0.00 493.5 450.4 536.6 179.9 2563.7 0.00 0.00 0 64.75 55.65 0.00 0.00 0.005 0.000 0.000 1868.06 1839.88 1896.25 179.94 2563.88 0 0 0 15.57 30.00 30.00

65.02 18983 -146.63 -1.35 -80.00 1869.2 1840.8 1897.6 179.9 2564.0 3.31 -2.36 11 145.06 60.76 8.23 3.61 0.005 0.249 0.064 3898.81 3862.25 3935.38 1271.50 1068.44 0 0 0 15.61 15.42 15.53

193.40 3205 -146.63 -1.19 0.00 3900.1 3863.2 3936.9 1272.0 1068.6 13.74 -11.59 36 200.50 0.00 0.29 3.52 0.000 0.181 0.033 3900.09 3862.88 3937.31 1314.69 2556.94 0 0 0 30.00 15.53 15.58

383.83 388 -146.63 -1.11 80.00 3900.8 3862.8 3938.8 1315.0 2556.9 38.46 -12.85 74 389.61 0.00 0.00 3.39 0.000 0.000 0.103 3901.03 3863.38 3938.69 1315.06 3889.12 0 0 0 30.00 30.00 15.60

499.45 3205 -146.63 -0.97 0.00 3900.9 3863.1 3938.7 1315.1 3890.1 58.43 -17.65 95 506.10 0.00 0.33 3.14 0.000 0.163 0.012 3902.22 3864.62 3939.81 1365.94 2484.56 0 0 0 30.00 15.59 15.65

695.16 0 -146.63 -0.97 0.00 3901.7 3863.4 3940.0 1365.9 2484.8 80.44 -11.11 115 696.73 0.00 0.00 0.00 0.000 0.000 0.000 3901.34 3862.69 3940.00 1366.31 2484.38 0 0 0 30.00 30.00 30.00

885.16 260 -146.63 -0.97 80.00 3901.8 3863.0 3940.6 1365.9 2484.9 100.40 -10.44 134 891.61 0.00 0.00 3.61 0.000 0.000 0.101 3901.44 3862.75 3940.12 1366.75 3891.44 0 0 0 30.00 30.00 15.64

920.23 1156 -146.63 -0.92 0.00 3901.7 3862.9 3940.5 1366.8 3891.4 104.78 -12.63 141 928.21 0.00 0.00 3.14 0.000 0.000 0.012 3902.47 3863.75 3941.19 1366.12 2483.69 0 0 0 30.00 30.00 15.64

1111.58 32 -146.63 -0.92 0.00 3901.9 3862.8 3941.1 1366.6 2483.9 123.98 -9.53 161 1113.15 0.00 0.00 0.00 0.000 0.000 0.000 3901.50 3862.12 3940.88 1366.38 2483.62 0 0 0 30.00 30.00 30.00

1301.88 388 -146.63 -0.94 80.00 3902.2 3863.2 3941.2 1366.8 2483.9 143.85 -10.57 180 1307.94 0.00 0.00 3.58 0.000 0.000 0.103 3901.69 3862.69 3940.69 1366.81 3888.69 0 0 0 30.00 30.00 15.70

1350 end dive: TARGET_DEPTH_EXCEEDED

state 1350 begin apogee

1355.64 10243 0.00 -0.33 0.00 3902.1 3863.2 3940.9 1366.6 2494.3 150.09 -13.33 188 1469.09 105.72 1.00 0.15 1.081 0.124 0.136 3296.84 3251.06 3342.62 1520.81 2566.88 0 0 0 11.99 15.69 15.33

1471 end apogee: CONTROL_FINISHED_OK

state 1471 begin climb

1470.59 10243 146.63 1.35 0.00 3297.2 3250.8 3343.8 1520.7 2567.2 155.47 0.00 199 1591.90 110.60 2.64 0.00 1.047 0.084 0.000 2698.34 2633.38 2763.31 1931.12 2567.56 0 0 0 11.54 15.34 30.00

1775.51 21127 146.63 1.22 -80.00 2689.9 2625.8 2754.0 1930.8 2566.9 117.97 15.65 230 1782.94 0.00 0.35 3.63 0.000 0.159 0.070 2688.12 2623.94 2752.31 1890.12 1080.12 0 0 0 30.00 15.39 15.42

1841.36 17542 146.63 1.13 0.00 2688.2 2624.4 2751.9 1890.0 1079.9 108.05 14.55 243 1847.70 0.00 0.00 3.54 0.000 0.000 0.036 2689.44 2625.31 2753.56 1889.94 2565.56 0 0 0 30.00 30.00 15.47

2036.61 20611 146.63 1.05 0.00 2687.4 2622.6 2752.2 1890.1 2565.7 81.51 12.95 263 2038.43 0.00 0.28 0.00 0.000 0.160 0.000 2687.09 2622.38 2751.81 1847.88 2566.06 0 0 0 30.00 15.51 30.00

2226.64 16514 146.63 1.01 0.00 2686.6 2620.9 2752.2 1847.8 2565.9 60.89 10.51 282 2228.21 0.00 0.00 0.00 0.000 0.000 0.000 2685.16 2619.62 2750.69 1848.19 2565.12 0 0 0 30.00 30.00 30.00

2411.74 8354 164.84 1.00 0.00 2686.0 2620.6 2751.4 1847.8 2565.8 42.81 9.16 308 2427.73 14.24 0.00 0.00 0.864 0.000 0.000 2626.94 2560.19 2693.69 1847.94 2565.69 0 0 0 11.78 30.00 30.00

2611.78 8354 183.25 1.00 0.00 2621.3 2553.2 2689.4 1847.6 2565.4 24.31 9.15 348 2631.78 15.93 0.00 0.00 0.864 0.000 0.000 2550.62 2480.94 2620.31 1847.38 2565.75 0 0 0 11.67 30.00 30.00

2816.77 8486 263.19 1.10 80.00 2545.3 2473.8 2616.8 1848.0 2565.7 8.69 6.30 389 2885.97 60.04 0.00 3.46 0.916 0.000 0.113 2221.97 2138.19 2305.75 1847.75 3888.75 0 0 0 11.59 30.00 15.38

3095 end climb: NO_VERTICAL_VELOCITY

state 3095 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	44	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	50	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	2	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	0.28022304	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.973166	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	250623,163313,4736.434,-12256.347,2,1.6,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,163619,4736.443,-12256.354,2,1.6,4,15.4	MHEAD_RNG_PITCHd_Wd	198.7,1069,-17.6,-10.000,-21.21,2209,0.190
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000307

NAV	1687714034,3.9,1,stop	_24V_AH	14.90,15.123
NET	CACST,8,0,20230625171519.268995,18,32767,45,0125,0150,07,00,00,00,00,1,012,121,0,5,6,0,150,3.8,3.73,-100,-0.73,-01,-0.09,74,10000,5000,0,1,00,00*6B	_10V_AH	14.95,0.000
MODEM_MSG	CACST,8,0,20230625172500.389999,18,5238,37,0192,0000,246,03,03,00,03,1,029,121,0,5,1,0,150,1.3,3.53,-100,-0.53,-01,0.03,68,925,0025,0,1,00,00*26	FG_AHR_24Vo	14.148
FREEZE	3.83,13.619,-1.531,0,1,0	FG_AHR_10Vo	0.280
SURF	forcing	MEM0	59828,1,0,0
SM_CCo	3405.11,294.92,0.892,0,500.8,455.1,546.4,686.65	MEM1	65508,1,0,0
SM_GC	2.31,0.00,10.24,3.23,0.000,0.022,0.015,495.9,451.8,540.0,179.8,2492.4,0,0,0,30.00,15.30,15.29	MEM2	945620,33,100908,69
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12905,444
IRIDIUM_FIX	4739.35,-12328.10,250623,155007	CAP_FILE_SIZE	237782,0
TCM_TEMP	15.36	SDSIZE	3887104,3857632
SC_FREEKB	3864672	SDFILEDIR	402,45
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
MODEM	3,1687713900,47.60220,-122.95120,0.390,571.3	SOUNDSPEED	1411.1
RAFOS_FIX	4736.327148,-12257.140625,250623,161600,4,255,0.38	CURRENT	0.008, 19.2,1
HUMID	51.75	IMPLIED_C_PITCH	1598,19.33,225,0.0,0.00
TEMP	10.34	IMPLIED_C_VBD	3134,22.472008,225,0
INTERNAL_PRESSURE	8.53947	GPS	250623,173611,4736.178,-12256.694,13,1.9,15,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	717	1081	11567.72	nil	0	0	0.00
Pitch_motor	23	248	86.62	nil	0	0	0.00
Roll_motor	41	135	83.41	nil	0	0	0.00
Iridium	118	166	293.59	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.11	nil	0	0	0.00
Core	1907	5	145.99	SciCon	3102	9	426.14
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1465	0	7.01
Compass	1007	5	75.34
RAFOS	2181	40	1304.69
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
6.52	16386	-146.63	-1.35	0.00	493.5	450.4	536.6	179.9	2563.7	0.00	0.00	0	64.75	55.65	0.00	0.00	0.005	0.000	0.000	1868.06	1839.88	1896.25	179.94	2563.88	0	0	0	15.57	30.00	30.00
65.02	18983	-146.63	-1.35	-80.00	1869.2	1840.8	1897.6	179.9	2564.0	3.31	-2.36	11	145.06	60.76	8.23	3.61	0.005	0.249	0.064	3898.81	3862.25	3935.38	1271.50	1068.44	0	0	0	15.61	15.42	15.53
193.40	3205	-146.63	-1.19	0.00	3900.1	3863.2	3936.9	1272.0	1068.6	13.74	-11.59	36	200.50	0.00	0.29	3.52	0.000	0.181	0.033	3900.09	3862.88	3937.31	1314.69	2556.94	0	0	0	30.00	15.53	15.58
383.83	388	-146.63	-1.11	80.00	3900.8	3862.8	3938.8	1315.0	2556.9	38.46	-12.85	74	389.61	0.00	0.00	3.39	0.000	0.000	0.103	3901.03	3863.38	3938.69	1315.06	3889.12	0	0	0	30.00	30.00	15.60
499.45	3205	-146.63	-0.97	0.00	3900.9	3863.1	3938.7	1315.1	3890.1	58.43	-17.65	95	506.10	0.00	0.33	3.14	0.000	0.163	0.012	3902.22	3864.62	3939.81	1365.94	2484.56	0	0	0	30.00	15.59	15.65
695.16	0	-146.63	-0.97	0.00	3901.7	3863.4	3940.0	1365.9	2484.8	80.44	-11.11	115	696.73	0.00	0.00	0.00	0.000	0.000	0.000	3901.34	3862.69	3940.00	1366.31	2484.38	0	0	0	30.00	30.00	30.00
885.16	260	-146.63	-0.97	80.00	3901.8	3863.0	3940.6	1365.9	2484.9	100.40	-10.44	134	891.61	0.00	0.00	3.61	0.000	0.000	0.101	3901.44	3862.75	3940.12	1366.75	3891.44	0	0	0	30.00	30.00	15.64
920.23	1156	-146.63	-0.92	0.00	3901.7	3862.9	3940.5	1366.8	3891.4	104.78	-12.63	141	928.21	0.00	0.00	3.14	0.000	0.000	0.012	3902.47	3863.75	3941.19	1366.12	2483.69	0	0	0	30.00	30.00	15.64
1111.58	32	-146.63	-0.92	0.00	3901.9	3862.8	3941.1	1366.6	2483.9	123.98	-9.53	161	1113.15	0.00	0.00	0.00	0.000	0.000	0.000	3901.50	3862.12	3940.88	1366.38	2483.62	0	0	0	30.00	30.00	30.00
1301.88	388	-146.63	-0.94	80.00	3902.2	3863.2	3941.2	1366.8	2483.9	143.85	-10.57	180	1307.94	0.00	0.00	3.58	0.000	0.000	0.103	3901.69	3862.69	3940.69	1366.81	3888.69	0	0	0	30.00	30.00	15.70
1350	end dive: TARGET_DEPTH_EXCEEDED
state	1350	begin apogee
1355.64	10243	0.00	-0.33	0.00	3902.1	3863.2	3940.9	1366.6	2494.3	150.09	-13.33	188	1469.09	105.72	1.00	0.15	1.081	0.124	0.136	3296.84	3251.06	3342.62	1520.81	2566.88	0	0	0	11.99	15.69	15.33
1471	end apogee: CONTROL_FINISHED_OK
state	1471	begin climb
1470.59	10243	146.63	1.35	0.00	3297.2	3250.8	3343.8	1520.7	2567.2	155.47	0.00	199	1591.90	110.60	2.64	0.00	1.047	0.084	0.000	2698.34	2633.38	2763.31	1931.12	2567.56	0	0	0	11.54	15.34	30.00
1775.51	21127	146.63	1.22	-80.00	2689.9	2625.8	2754.0	1930.8	2566.9	117.97	15.65	230	1782.94	0.00	0.35	3.63	0.000	0.159	0.070	2688.12	2623.94	2752.31	1890.12	1080.12	0	0	0	30.00	15.39	15.42
1841.36	17542	146.63	1.13	0.00	2688.2	2624.4	2751.9	1890.0	1079.9	108.05	14.55	243	1847.70	0.00	0.00	3.54	0.000	0.000	0.036	2689.44	2625.31	2753.56	1889.94	2565.56	0	0	0	30.00	30.00	15.47
2036.61	20611	146.63	1.05	0.00	2687.4	2622.6	2752.2	1890.1	2565.7	81.51	12.95	263	2038.43	0.00	0.28	0.00	0.000	0.160	0.000	2687.09	2622.38	2751.81	1847.88	2566.06	0	0	0	30.00	15.51	30.00
2226.64	16514	146.63	1.01	0.00	2686.6	2620.9	2752.2	1847.8	2565.9	60.89	10.51	282	2228.21	0.00	0.00	0.00	0.000	0.000	0.000	2685.16	2619.62	2750.69	1848.19	2565.12	0	0	0	30.00	30.00	30.00
2411.74	8354	164.84	1.00	0.00	2686.0	2620.6	2751.4	1847.8	2565.8	42.81	9.16	308	2427.73	14.24	0.00	0.00	0.864	0.000	0.000	2626.94	2560.19	2693.69	1847.94	2565.69	0	0	0	11.78	30.00	30.00
2611.78	8354	183.25	1.00	0.00	2621.3	2553.2	2689.4	1847.6	2565.4	24.31	9.15	348	2631.78	15.93	0.00	0.00	0.864	0.000	0.000	2550.62	2480.94	2620.31	1847.38	2565.75	0	0	0	11.67	30.00	30.00
2816.77	8486	263.19	1.10	80.00	2545.3	2473.8	2616.8	1848.0	2565.7	8.69	6.30	389	2885.97	60.04	0.00	3.46	0.916	0.000	0.113	2221.97	2138.19	2305.75	1847.75	3888.75	0	0	0	11.59	30.00	15.38
3095	end climb: NO_VERTICAL_VELOCITY
state	3095	begin surface