Glider dive log

HoodCanal 15Jun23 * SG246 * Dive index * Mission links * Dive 2 * 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 2 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 2 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 2 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 0.0025992268 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 1.4057118 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 -171.75082 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 2 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 0.0025992268 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 1.4057118 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 -171.75082 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 2 MISSION 2 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 150623,210020,4736.536,-12256.073,1,0.9,3,15.4 TGT_RADIUS 100.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 150623,210318,4736.549,-12256.051,2,0.9,4,15.4 MHEAD_RNG_PITCHd_Wd 52.0,40770,-17.6,-10.000,-21.21,2209,0.134

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME NW 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 4743.500,-12225.000 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0001.n 695 0 _24V_AH 14.81,1.604

NET_PING 1686864466,50,557.008484,4.900000,-74.364418 _10V_AH 14.78,0.000

a857051101f50190;1;32;7e4dc9b643ac38d1b10880290bbd5ccf100000000018149869eae678579b9f32*17 FG_AHR_24Vo 1.577

MODEM_MSG CACST,8,1,20230615212509.226544,18,32767,45,0101,0000,246,03,03,00,03,-1,-01,-01,1,3,0,0,150,-33.9,0.62,-100,2.38,-01,0.03,55,925,0025,0,-1,00,00*20 FG_AHR_10Vo 0.005

NAV 1686866589,1.7,start MEM0 60020,1,0,0

FREEZE 4.75,14.386,-1.513,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 930596,23,115992,76

SM_CCo 3509.67,264.78,0.867,0,500.7,445.9,555.4,686.68 DATA_FILE_SIZE 12938,485

SM_GC 1.94,0.00,10.61,0.09,0.000,0.038,0.118,498.0,449.7,546.2,192.4,2509.8,0,0,0,30.00,15.27,15.29 CAP_FILE_SIZE 263225,0

SUPER 19,71,254,1,0,0 SDSIZE 3887104,3874048

IRIDIUM_FIX 4730.31,-12113.68,150623,205640 SDFILEDIR 46,3

TCM_TEMP 15.77 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3877920 SOUNDSPEED 1465.0

RAFOS_CLK 1 CURRENT 0.048,153.4,1

MODEM 0,1686863121,47.50000,-123.00000,321.996,471724.8 MAGCAL 1.000000,-0.022804,-0.178775,0.013303,1.040993,-0.462475,0.248773,0.557301,0.654883,540.2,-321.2,-535.8,31,0.0920,0

RAFOS_FIX 4514.587891,-18023700480.000000,150623,212116,5,255,33736024064.00 IMPLIED_C_PITCH 1585,19.77,245,0.0,0.00

HUMID 53.02 IMPLIED_C_VBD 3110,43.740578,245,0

TEMP 10.82 GPS 150623,220455,4736.522,-12255.505,37,0.9,38,15.4

INTERNAL_PRESSURE 8.57771

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 721 1024 10952.08 nil 0 0 0.00

Pitch_motor 24 256 93.10 nil 0 0 0.00

Roll_motor 40 173 105.41 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 3.03 nil 0 0 0.00

Core 1902 5 143.95 SciCon 3233 9 443.58

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1419 0 6.72

Compass 1077 5 79.63

RAFOS 1655 40 979.00

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

6.71 16386 -146.63 -1.35 0.00 497.8 460.4 535.1 188.2 2509.3 0.00 0.00 0 75.34 65.72 0.00 0.00 0.005 0.000 0.000 2161.91 2131.88 2191.94 187.94 2509.12 0 0 0 15.69 30.00 30.00

75.62 18727 -146.63 -1.35 80.00 2163.5 2133.6 2193.4 188.2 2508.9 3.30 -2.89 13 147.24 50.72 8.43 3.41 0.005 0.257 0.102 3897.22 3861.62 3932.81 1271.56 3891.12 0 0 0 15.70 15.49 15.60

375.80 3205 -146.63 -1.17 0.00 3900.1 3865.1 3935.1 1271.5 3890.6 40.44 -15.28 71 381.73 0.00 0.32 3.12 0.000 0.171 0.022 3900.31 3865.31 3935.31 1318.56 2495.44 0 0 0 30.00 15.54 15.65

571.11 388 -146.63 -1.13 80.00 3901.2 3865.2 3937.2 1318.4 2494.2 60.09 -10.28 100 577.13 0.00 0.00 3.44 0.000 0.000 0.105 3902.31 3865.50 3939.12 1317.94 3892.50 0 0 0 30.00 30.00 15.59

725.89 3205 -146.63 -1.03 0.00 3901.4 3864.8 3938.0 1318.1 3892.6 82.08 -15.28 131 732.24 0.00 0.22 3.14 0.000 0.173 0.023 3900.97 3865.00 3936.94 1352.81 2495.88 0 0 0 30.00 15.56 15.68

920.83 0 -146.63 -1.03 0.00 3901.6 3864.8 3938.5 1352.8 2495.5 103.00 -10.30 151 922.40 0.00 0.00 0.00 0.000 0.000 0.000 3901.22 3864.38 3938.06 1352.69 2495.44 0 0 0 30.00 30.00 30.00

1111.18 388 -146.63 -1.05 80.00 3901.5 3864.8 3938.3 1353.0 2495.6 122.48 -10.12 170 1117.20 0.00 0.00 3.45 0.000 0.000 0.112 3902.31 3865.50 3939.12 1353.62 3891.50 0 0 0 30.00 30.00 15.62

1185.95 1156 -146.63 -1.01 0.00 3901.8 3865.2 3938.2 1353.5 3891.0 132.10 -13.51 185 1192.08 0.00 0.00 3.14 0.000 0.000 0.025 3901.69 3865.19 3938.19 1353.12 2495.25 0 0 0 30.00 30.00 15.68

1361 end dive: TARGET_DEPTH_EXCEEDED

state 1361 begin apogee

1362.32 10243 0.00 -0.33 0.00 3901.9 3865.2 3938.7 1353.7 2567.8 150.52 -10.01 203 1477.03 105.22 1.12 0.08 1.024 0.129 0.174 3301.19 3249.69 3352.69 1520.56 2521.94 0 0 0 10.92 15.63 15.27

1478 end apogee: CONTROL_FINISHED_OK

state 1478 begin climb

1478.30 10503 146.63 1.35 80.00 3297.3 3245.5 3349.2 1520.4 2521.2 154.99 0.00 214 1605.58 111.82 2.70 3.52 1.001 0.091 0.111 2699.12 2634.19 2764.06 1930.94 3888.50 0 0 0 11.04 15.30 15.12

1619.21 5253 146.63 1.14 0.00 2696.4 2634.0 2758.8 1930.7 3888.7 143.97 13.67 240 1626.47 0.00 0.51 3.18 0.000 0.183 0.024 2699.50 2637.12 2761.88 1869.25 2507.00 0 0 0 30.00 15.19 15.29

1814.25 16514 146.63 1.06 0.00 2691.7 2627.6 2755.8 1870.6 2506.8 119.83 12.13 260 1815.83 0.00 0.00 0.00 0.000 0.000 0.000 2689.97 2625.62 2754.31 1870.12 2507.00 0 0 0 30.00 30.00 30.00

2004.27 20611 146.63 0.98 0.00 2689.9 2626.0 2753.8 1871.1 2506.6 97.53 11.40 279 2006.09 0.00 0.28 0.00 0.000 0.165 0.000 2693.16 2629.12 2757.19 1827.94 2505.94 0 0 0 30.00 15.57 30.00

2192.30 16514 146.63 0.94 0.00 2688.7 2623.6 2753.8 1829.2 2506.8 78.17 10.13 298 2193.88 0.00 0.00 0.00 0.000 0.000 0.000 2687.12 2622.12 2752.12 1829.81 2506.50 0 0 0 30.00 30.00 30.00

2382.39 8870 153.39 0.92 -80.00 2687.9 2623.2 2752.6 1830.1 2506.5 60.14 9.69 317 2394.77 5.75 0.00 3.47 0.613 0.000 0.088 2672.03 2607.12 2736.94 1829.69 1081.25 0 0 0 10.92 30.00 15.66

2472.46 9382 170.01 0.90 0.00 2671.4 2606.0 2736.8 1829.9 1081.1 51.39 9.23 335 2494.30 15.11 0.00 3.47 0.852 0.000 0.047 2605.34 2537.25 2673.44 1830.25 2565.75 0 0 0 11.11 30.00 15.70

2675.80 8354 195.67 0.91 0.00 2600.3 2531.1 2669.5 1829.8 2565.2 34.18 8.81 375 2701.05 20.97 0.00 0.00 0.874 0.000 0.000 2499.38 2427.00 2571.75 1829.62 2565.69 0 0 0 11.14 30.00 30.00

2885.75 8742 238.38 0.97 -80.00 2494.4 2421.1 2567.7 1829.4 2565.8 16.26 8.02 417 2928.38 32.67 0.00 3.64 0.880 0.000 0.085 2327.22 2247.06 2407.38 1830.06 1080.31 0 0 0 11.05 30.00 15.53

3016.83 11431 305.25 1.09 0.00 2322.4 2241.2 2403.6 1830.1 1080.7 6.27 6.90 443 3075.83 49.12 0.27 3.50 0.874 0.070 0.046 2053.50 1963.62 2143.38 1872.12 2564.12 0 0 0 11.10 15.62 15.60

3231 end climb: NO_VERTICAL_VELOCITY

state 3231 begin surface

ID	246	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2550	ALTIM_PULSE	3
MISSION	2	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	2	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	2	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	0.0025992268	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	1.4057118	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	-171.75082	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	150623,210020,4736.536,-12256.073,1,0.9,3,15.4	TGT_RADIUS	100.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	150623,210318,4736.549,-12256.051,2,0.9,4,15.4	MHEAD_RNG_PITCHd_Wd	52.0,40770,-17.6,-10.000,-21.21,2209,0.134
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	NW	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	4743.500,-12225.000	OSC	8000266

NET	xmit part outbox0001.n 695 0	_24V_AH	14.81,1.604
NET_PING	1686864466,50,557.008484,4.900000,-74.364418	_10V_AH	14.78,0.000
a857051101f50190;1;32;7e4dc9b643ac38d1b10880290bbd5ccf100000000018149869eae678579b9f32*17		FG_AHR_24Vo	1.577
MODEM_MSG	CACST,8,1,20230615212509.226544,18,32767,45,0101,0000,246,03,03,00,03,-1,-01,-01,1,3,0,0,150,-33.9,0.62,-100,2.38,-01,0.03,55,925,0025,0,-1,00,00*20	FG_AHR_10Vo	0.005
NAV	1686866589,1.7,start	MEM0	60020,1,0,0
FREEZE	4.75,14.386,-1.513,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	930596,23,115992,76
SM_CCo	3509.67,264.78,0.867,0,500.7,445.9,555.4,686.68	DATA_FILE_SIZE	12938,485
SM_GC	1.94,0.00,10.61,0.09,0.000,0.038,0.118,498.0,449.7,546.2,192.4,2509.8,0,0,0,30.00,15.27,15.29	CAP_FILE_SIZE	263225,0
SUPER	19,71,254,1,0,0	SDSIZE	3887104,3874048
IRIDIUM_FIX	4730.31,-12113.68,150623,205640	SDFILEDIR	46,3
TCM_TEMP	15.77	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3877920	SOUNDSPEED	1465.0
RAFOS_CLK	1	CURRENT	0.048,153.4,1
MODEM	0,1686863121,47.50000,-123.00000,321.996,471724.8	MAGCAL	1.000000,-0.022804,-0.178775,0.013303,1.040993,-0.462475,0.248773,0.557301,0.654883,540.2,-321.2,-535.8,31,0.0920,0
RAFOS_FIX	4514.587891,-18023700480.000000,150623,212116,5,255,33736024064.00	IMPLIED_C_PITCH	1585,19.77,245,0.0,0.00
HUMID	53.02	IMPLIED_C_VBD	3110,43.740578,245,0
TEMP	10.82	GPS	150623,220455,4736.522,-12255.505,37,0.9,38,15.4
INTERNAL_PRESSURE	8.57771

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	721	1024	10952.08	nil	0	0	0.00
Pitch_motor	24	256	93.10	nil	0	0	0.00
Roll_motor	40	173	105.41	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	3.03	nil	0	0	0.00
Core	1902	5	143.95	SciCon	3233	9	443.58
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1419	0	6.72
Compass	1077	5	79.63
RAFOS	1655	40	979.00
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
6.71	16386	-146.63	-1.35	0.00	497.8	460.4	535.1	188.2	2509.3	0.00	0.00	0	75.34	65.72	0.00	0.00	0.005	0.000	0.000	2161.91	2131.88	2191.94	187.94	2509.12	0	0	0	15.69	30.00	30.00
75.62	18727	-146.63	-1.35	80.00	2163.5	2133.6	2193.4	188.2	2508.9	3.30	-2.89	13	147.24	50.72	8.43	3.41	0.005	0.257	0.102	3897.22	3861.62	3932.81	1271.56	3891.12	0	0	0	15.70	15.49	15.60
375.80	3205	-146.63	-1.17	0.00	3900.1	3865.1	3935.1	1271.5	3890.6	40.44	-15.28	71	381.73	0.00	0.32	3.12	0.000	0.171	0.022	3900.31	3865.31	3935.31	1318.56	2495.44	0	0	0	30.00	15.54	15.65
571.11	388	-146.63	-1.13	80.00	3901.2	3865.2	3937.2	1318.4	2494.2	60.09	-10.28	100	577.13	0.00	0.00	3.44	0.000	0.000	0.105	3902.31	3865.50	3939.12	1317.94	3892.50	0	0	0	30.00	30.00	15.59
725.89	3205	-146.63	-1.03	0.00	3901.4	3864.8	3938.0	1318.1	3892.6	82.08	-15.28	131	732.24	0.00	0.22	3.14	0.000	0.173	0.023	3900.97	3865.00	3936.94	1352.81	2495.88	0	0	0	30.00	15.56	15.68
920.83	0	-146.63	-1.03	0.00	3901.6	3864.8	3938.5	1352.8	2495.5	103.00	-10.30	151	922.40	0.00	0.00	0.00	0.000	0.000	0.000	3901.22	3864.38	3938.06	1352.69	2495.44	0	0	0	30.00	30.00	30.00
1111.18	388	-146.63	-1.05	80.00	3901.5	3864.8	3938.3	1353.0	2495.6	122.48	-10.12	170	1117.20	0.00	0.00	3.45	0.000	0.000	0.112	3902.31	3865.50	3939.12	1353.62	3891.50	0	0	0	30.00	30.00	15.62
1185.95	1156	-146.63	-1.01	0.00	3901.8	3865.2	3938.2	1353.5	3891.0	132.10	-13.51	185	1192.08	0.00	0.00	3.14	0.000	0.000	0.025	3901.69	3865.19	3938.19	1353.12	2495.25	0	0	0	30.00	30.00	15.68
1361	end dive: TARGET_DEPTH_EXCEEDED
state	1361	begin apogee
1362.32	10243	0.00	-0.33	0.00	3901.9	3865.2	3938.7	1353.7	2567.8	150.52	-10.01	203	1477.03	105.22	1.12	0.08	1.024	0.129	0.174	3301.19	3249.69	3352.69	1520.56	2521.94	0	0	0	10.92	15.63	15.27
1478	end apogee: CONTROL_FINISHED_OK
state	1478	begin climb
1478.30	10503	146.63	1.35	80.00	3297.3	3245.5	3349.2	1520.4	2521.2	154.99	0.00	214	1605.58	111.82	2.70	3.52	1.001	0.091	0.111	2699.12	2634.19	2764.06	1930.94	3888.50	0	0	0	11.04	15.30	15.12
1619.21	5253	146.63	1.14	0.00	2696.4	2634.0	2758.8	1930.7	3888.7	143.97	13.67	240	1626.47	0.00	0.51	3.18	0.000	0.183	0.024	2699.50	2637.12	2761.88	1869.25	2507.00	0	0	0	30.00	15.19	15.29
1814.25	16514	146.63	1.06	0.00	2691.7	2627.6	2755.8	1870.6	2506.8	119.83	12.13	260	1815.83	0.00	0.00	0.00	0.000	0.000	0.000	2689.97	2625.62	2754.31	1870.12	2507.00	0	0	0	30.00	30.00	30.00
2004.27	20611	146.63	0.98	0.00	2689.9	2626.0	2753.8	1871.1	2506.6	97.53	11.40	279	2006.09	0.00	0.28	0.00	0.000	0.165	0.000	2693.16	2629.12	2757.19	1827.94	2505.94	0	0	0	30.00	15.57	30.00
2192.30	16514	146.63	0.94	0.00	2688.7	2623.6	2753.8	1829.2	2506.8	78.17	10.13	298	2193.88	0.00	0.00	0.00	0.000	0.000	0.000	2687.12	2622.12	2752.12	1829.81	2506.50	0	0	0	30.00	30.00	30.00
2382.39	8870	153.39	0.92	-80.00	2687.9	2623.2	2752.6	1830.1	2506.5	60.14	9.69	317	2394.77	5.75	0.00	3.47	0.613	0.000	0.088	2672.03	2607.12	2736.94	1829.69	1081.25	0	0	0	10.92	30.00	15.66
2472.46	9382	170.01	0.90	0.00	2671.4	2606.0	2736.8	1829.9	1081.1	51.39	9.23	335	2494.30	15.11	0.00	3.47	0.852	0.000	0.047	2605.34	2537.25	2673.44	1830.25	2565.75	0	0	0	11.11	30.00	15.70
2675.80	8354	195.67	0.91	0.00	2600.3	2531.1	2669.5	1829.8	2565.2	34.18	8.81	375	2701.05	20.97	0.00	0.00	0.874	0.000	0.000	2499.38	2427.00	2571.75	1829.62	2565.69	0	0	0	11.14	30.00	30.00
2885.75	8742	238.38	0.97	-80.00	2494.4	2421.1	2567.7	1829.4	2565.8	16.26	8.02	417	2928.38	32.67	0.00	3.64	0.880	0.000	0.085	2327.22	2247.06	2407.38	1830.06	1080.31	0	0	0	11.05	30.00	15.53
3016.83	11431	305.25	1.09	0.00	2322.4	2241.2	2403.6	1830.1	1080.7	6.27	6.90	443	3075.83	49.12	0.27	3.50	0.874	0.070	0.046	2053.50	1963.62	2143.38	1872.12	2564.12	0	0	0	11.10	15.62	15.60
3231	end climb: NO_VERTICAL_VELOCITY
state	3231	begin surface