Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 39 * 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 39 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 0.23305705 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.067131 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 0.23305705 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.067131 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 39 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 250623,115302,4736.445,-12256.305,32,0.8,33,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,115612,4736.453,-12256.294,3,0.6,5,15.4 MHEAD_RNG_PITCHd_Wd 205.4,1125,-17.6,-10.000,-21.21,2209,0.147

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 8000266

Post-dive calculations and measurements:

NAV 1687697684,0.7,0,stop _24V_AH 14.88,14.119

MODEM_MSG CACST,8,0,20230625122500.511811,18,32767,39,0194,0000,246,03,03,01,04,1,029,121,0,5,1,0,150,-4.3,8.64,-100,-5.64,-01,-0.27,65,925,0025,0,1,00,00*17 _10V_AH 14.91,0.000

NET xmit part outbox0031.n 1557 24 FG_AHR_24Vo 13.243

NET_PING 1687696211,29,741.231018,13.500000,-0.987248 FG_AHR_10Vo 0.244

FREEZE 4.25,14.426,-1.508,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3366.64,277.67,0.888,0,500.2,455.4,544.9,686.80 MEM2 945592,35,100896,69

SM_GC 2.01,0.00,10.60,3.22,0.000,0.022,0.014,496.2,452.6,539.9,182.1,2488.1,0,0,0,30.00,15.26,15.27 DATA_FILE_SIZE 12959,443

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 251164,0

IRIDIUM_FIX 4736.40,-12251.79,250623,110501 SDSIZE 3887104,3859360

TCM_TEMP 15.47 SDFILEDIR 361,40

SC_FREEKB 3866272 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687694400,47.60500,-122.95000,0.857,1256.0 CURRENT 0.018, 59.6,1

RAFOS_FIX -31223.960938,59702.367188,250623,121200,3,255,38865.92 MAGCAL 1.000000,0.041207,-0.135986,0.013545,1.137971,-0.107251,0.264575,-0.036062,0.901689,496.3,-580.7,-546.1,29,0.0815,0

HUMID 51.90 IMPLIED_C_PITCH 1598,19.31,229,0.0,0.00

TEMP 10.42 IMPLIED_C_VBD 3129,20.989470,229,0

INTERNAL_PRESSURE 8.54193 GPS 250623,125514,4736.210,-12256.627,7,0.8,9,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 725 1076 11619.08 nil 0 0 0.00

Pitch_motor 23 249 88.77 nil 0 0 0.00

Roll_motor 47 178 126.83 nil 0 0 0.00

Iridium 123 176 323.84 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.22 nil 0 0 0.00

Core 2030 5 155.04 SciCon 3081 9 422.76

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1325 0 6.32

Compass 1000 5 74.60

RAFOS 2558 40 1526.01

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

6.67 16386 -146.63 -1.35 0.00 493.9 455.5 532.3 180.8 2508.9 0.00 0.00 0 59.97 50.88 0.00 0.00 0.005 0.000 0.000 1757.62 1727.44 1787.81 181.19 2509.19 0 0 0 15.54 30.00 30.00

60.24 18983 -146.63 -1.35 -80.00 1759.4 1729.1 1789.8 181.1 2509.1 3.11 -2.16 10 156.24 68.29 8.24 3.48 0.005 0.249 0.067 3898.00 3861.12 3934.88 1271.81 1068.75 0 0 0 15.56 15.42 15.52

194.58 3205 -146.63 -1.21 0.00 3900.0 3863.0 3937.0 1271.8 1068.9 16.38 -17.29 34 205.16 0.00 0.24 3.51 0.000 0.182 0.035 3900.31 3862.44 3938.19 1307.88 2558.44 0 0 0 30.00 15.27 15.55

388.50 388 -146.63 -1.13 80.00 3900.3 3862.4 3938.2 1307.4 2558.5 44.11 -14.14 72 394.29 0.00 0.00 3.35 0.000 0.000 0.106 3901.56 3863.75 3939.38 1307.50 3890.00 0 0 0 30.00 30.00 15.56

472.79 3205 -146.63 -0.98 0.00 3900.7 3862.4 3938.9 1307.6 3889.8 59.06 -18.35 89 479.46 0.00 0.36 3.16 0.000 0.159 0.013 3900.78 3862.88 3938.69 1362.56 2487.06 0 0 0 30.00 15.57 15.63

668.48 260 -146.63 -0.98 80.00 3901.0 3862.3 3939.6 1362.6 2486.9 81.42 -10.92 109 674.85 0.00 0.00 3.54 0.000 0.000 0.102 3902.31 3863.38 3941.25 1363.69 3890.00 0 0 0 30.00 30.00 15.61

723.59 1156 -146.63 -0.92 0.00 3901.1 3862.7 3939.5 1363.9 3890.1 88.44 -13.13 120 729.73 0.00 0.00 3.12 0.000 0.000 0.013 3902.25 3863.38 3941.12 1363.88 2483.56 0 0 0 30.00 30.00 15.66

918.53 0 -146.63 -0.92 0.00 3901.6 3862.6 3940.6 1363.6 2483.4 109.18 -10.44 140 920.10 0.00 0.00 0.00 0.000 0.000 0.000 3900.88 3861.94 3939.81 1363.88 2483.62 0 0 0 30.00 30.00 30.00

1103.41 260 -146.63 -0.92 80.00 3901.6 3862.6 3940.5 1363.5 2483.1 127.08 -10.33 158 1113.12 0.00 0.00 3.53 0.000 0.000 0.103 3901.88 3862.56 3941.19 1363.88 3889.56 0 0 0 30.00 30.00 15.62

1152.09 3205 -146.63 -0.87 0.00 3901.5 3862.4 3940.6 1363.5 3889.9 133.88 -13.61 168 1158.37 0.00 0.17 3.12 0.000 0.162 0.013 3902.28 3863.25 3941.31 1391.38 2488.25 0 0 0 30.00 15.64 15.70

1327 end dive: TARGET_DEPTH_EXCEEDED

state 1327 begin apogee

1328.46 10243 0.00 -0.33 0.00 3901.6 3862.5 3940.7 1391.4 2568.4 150.40 -9.05 186 1442.60 105.78 0.85 0.08 1.077 0.115 0.178 3298.50 3255.81 3341.19 1521.88 2512.00 0 0 0 11.75 15.66 15.33

1444 end apogee: CONTROL_FINISHED_OK

state 1444 begin climb

1444.08 10243 146.63 1.35 0.00 3296.5 3252.9 3340.1 1521.9 2511.8 154.96 0.00 197 1566.22 110.76 2.64 0.00 1.042 0.084 0.000 2701.22 2641.06 2761.38 1930.75 2511.69 0 0 0 11.75 15.33 30.00

1749.84 20611 146.63 1.22 -80.00 2690.1 2630.1 2750.1 1931.1 2512.8 117.68 15.51 236 1751.71 0.00 0.35 0.00 0.000 0.159 0.000 2688.75 2628.69 2748.81 1891.06 2511.94 0 0 0 30.00 15.39 30.00

1939.87 17030 146.63 1.14 -80.00 2688.4 2628.2 2748.7 1891.4 2512.1 91.38 13.15 255 1945.91 0.00 0.00 3.48 0.000 0.000 0.074 2689.38 2628.94 2749.81 1891.56 1079.94 0 0 0 30.00 30.00 15.53

1974.89 21639 146.63 1.05 0.00 2687.4 2627.9 2746.9 1891.4 1079.9 86.75 13.23 262 1982.13 0.00 0.29 3.49 0.000 0.170 0.036 2686.31 2626.88 2745.75 1849.38 2567.06 0 0 0 30.00 15.52 15.56

2166.87 16514 146.63 1.01 0.00 2686.7 2626.0 2747.4 1849.4 2567.2 65.84 10.31 282 2176.23 0.00 0.00 0.00 0.000 0.000 0.000 2686.81 2626.19 2747.44 1849.19 2567.31 0 0 0 30.00 30.00 30.00

2356.95 8354 159.17 0.99 0.00 2686.0 2624.8 2747.1 1849.5 2567.3 47.44 9.42 303 2371.17 10.15 0.00 0.00 0.803 0.000 0.000 2649.66 2587.69 2711.62 1849.19 2567.56 0 0 0 11.58 30.00 30.00

2552.00 8870 191.93 1.01 -80.00 2645.8 2581.8 2709.9 1849.3 2566.6 29.91 8.48 342 2588.96 26.82 0.00 3.62 0.909 0.000 0.070 2515.78 2449.81 2581.75 1847.19 1079.56 0 0 0 11.65 30.00 15.49

2607.33 9254 206.17 1.02 0.00 2511.4 2445.4 2577.4 1849.3 1079.6 24.88 9.34 353 2629.36 12.85 0.00 3.51 0.815 0.000 0.035 2458.09 2388.94 2527.25 1849.12 2569.94 0 0 0 11.63 30.00 15.53

2813.05 10663 290.05 1.15 80.00 2450.9 2379.2 2522.6 1849.2 2569.2 8.59 6.11 394 2886.36 61.90 0.22 3.40 0.906 0.049 0.114 2113.53 2034.50 2192.56 1890.06 3889.75 0 0 0 11.69 15.64 15.36

3074 end climb: NO_VERTICAL_VELOCITY

state 3074 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	39	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	0.23305705	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.067131	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	250623,115302,4736.445,-12256.305,32,0.8,33,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,115612,4736.453,-12256.294,3,0.6,5,15.4	MHEAD_RNG_PITCHd_Wd	205.4,1125,-17.6,-10.000,-21.21,2209,0.147
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	8000266

NAV	1687697684,0.7,0,stop	_24V_AH	14.88,14.119
MODEM_MSG	CACST,8,0,20230625122500.511811,18,32767,39,0194,0000,246,03,03,01,04,1,029,121,0,5,1,0,150,-4.3,8.64,-100,-5.64,-01,-0.27,65,925,0025,0,1,00,00*17	_10V_AH	14.91,0.000
NET	xmit part outbox0031.n 1557 24	FG_AHR_24Vo	13.243
NET_PING	1687696211,29,741.231018,13.500000,-0.987248	FG_AHR_10Vo	0.244
FREEZE	4.25,14.426,-1.508,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3366.64,277.67,0.888,0,500.2,455.4,544.9,686.80	MEM2	945592,35,100896,69
SM_GC	2.01,0.00,10.60,3.22,0.000,0.022,0.014,496.2,452.6,539.9,182.1,2488.1,0,0,0,30.00,15.26,15.27	DATA_FILE_SIZE	12959,443
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	251164,0
IRIDIUM_FIX	4736.40,-12251.79,250623,110501	SDSIZE	3887104,3859360
TCM_TEMP	15.47	SDFILEDIR	361,40
SC_FREEKB	3866272	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687694400,47.60500,-122.95000,0.857,1256.0	CURRENT	0.018, 59.6,1
RAFOS_FIX	-31223.960938,59702.367188,250623,121200,3,255,38865.92	MAGCAL	1.000000,0.041207,-0.135986,0.013545,1.137971,-0.107251,0.264575,-0.036062,0.901689,496.3,-580.7,-546.1,29,0.0815,0
HUMID	51.90	IMPLIED_C_PITCH	1598,19.31,229,0.0,0.00
TEMP	10.42	IMPLIED_C_VBD	3129,20.989470,229,0
INTERNAL_PRESSURE	8.54193	GPS	250623,125514,4736.210,-12256.627,7,0.8,9,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	725	1076	11619.08	nil	0	0	0.00
Pitch_motor	23	249	88.77	nil	0	0	0.00
Roll_motor	47	178	126.83	nil	0	0	0.00
Iridium	123	176	323.84	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.22	nil	0	0	0.00
Core	2030	5	155.04	SciCon	3081	9	422.76
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1325	0	6.32
Compass	1000	5	74.60
RAFOS	2558	40	1526.01
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
6.67	16386	-146.63	-1.35	0.00	493.9	455.5	532.3	180.8	2508.9	0.00	0.00	0	59.97	50.88	0.00	0.00	0.005	0.000	0.000	1757.62	1727.44	1787.81	181.19	2509.19	0	0	0	15.54	30.00	30.00
60.24	18983	-146.63	-1.35	-80.00	1759.4	1729.1	1789.8	181.1	2509.1	3.11	-2.16	10	156.24	68.29	8.24	3.48	0.005	0.249	0.067	3898.00	3861.12	3934.88	1271.81	1068.75	0	0	0	15.56	15.42	15.52
194.58	3205	-146.63	-1.21	0.00	3900.0	3863.0	3937.0	1271.8	1068.9	16.38	-17.29	34	205.16	0.00	0.24	3.51	0.000	0.182	0.035	3900.31	3862.44	3938.19	1307.88	2558.44	0	0	0	30.00	15.27	15.55
388.50	388	-146.63	-1.13	80.00	3900.3	3862.4	3938.2	1307.4	2558.5	44.11	-14.14	72	394.29	0.00	0.00	3.35	0.000	0.000	0.106	3901.56	3863.75	3939.38	1307.50	3890.00	0	0	0	30.00	30.00	15.56
472.79	3205	-146.63	-0.98	0.00	3900.7	3862.4	3938.9	1307.6	3889.8	59.06	-18.35	89	479.46	0.00	0.36	3.16	0.000	0.159	0.013	3900.78	3862.88	3938.69	1362.56	2487.06	0	0	0	30.00	15.57	15.63
668.48	260	-146.63	-0.98	80.00	3901.0	3862.3	3939.6	1362.6	2486.9	81.42	-10.92	109	674.85	0.00	0.00	3.54	0.000	0.000	0.102	3902.31	3863.38	3941.25	1363.69	3890.00	0	0	0	30.00	30.00	15.61
723.59	1156	-146.63	-0.92	0.00	3901.1	3862.7	3939.5	1363.9	3890.1	88.44	-13.13	120	729.73	0.00	0.00	3.12	0.000	0.000	0.013	3902.25	3863.38	3941.12	1363.88	2483.56	0	0	0	30.00	30.00	15.66
918.53	0	-146.63	-0.92	0.00	3901.6	3862.6	3940.6	1363.6	2483.4	109.18	-10.44	140	920.10	0.00	0.00	0.00	0.000	0.000	0.000	3900.88	3861.94	3939.81	1363.88	2483.62	0	0	0	30.00	30.00	30.00
1103.41	260	-146.63	-0.92	80.00	3901.6	3862.6	3940.5	1363.5	2483.1	127.08	-10.33	158	1113.12	0.00	0.00	3.53	0.000	0.000	0.103	3901.88	3862.56	3941.19	1363.88	3889.56	0	0	0	30.00	30.00	15.62
1152.09	3205	-146.63	-0.87	0.00	3901.5	3862.4	3940.6	1363.5	3889.9	133.88	-13.61	168	1158.37	0.00	0.17	3.12	0.000	0.162	0.013	3902.28	3863.25	3941.31	1391.38	2488.25	0	0	0	30.00	15.64	15.70
1327	end dive: TARGET_DEPTH_EXCEEDED
state	1327	begin apogee
1328.46	10243	0.00	-0.33	0.00	3901.6	3862.5	3940.7	1391.4	2568.4	150.40	-9.05	186	1442.60	105.78	0.85	0.08	1.077	0.115	0.178	3298.50	3255.81	3341.19	1521.88	2512.00	0	0	0	11.75	15.66	15.33
1444	end apogee: CONTROL_FINISHED_OK
state	1444	begin climb
1444.08	10243	146.63	1.35	0.00	3296.5	3252.9	3340.1	1521.9	2511.8	154.96	0.00	197	1566.22	110.76	2.64	0.00	1.042	0.084	0.000	2701.22	2641.06	2761.38	1930.75	2511.69	0	0	0	11.75	15.33	30.00
1749.84	20611	146.63	1.22	-80.00	2690.1	2630.1	2750.1	1931.1	2512.8	117.68	15.51	236	1751.71	0.00	0.35	0.00	0.000	0.159	0.000	2688.75	2628.69	2748.81	1891.06	2511.94	0	0	0	30.00	15.39	30.00
1939.87	17030	146.63	1.14	-80.00	2688.4	2628.2	2748.7	1891.4	2512.1	91.38	13.15	255	1945.91	0.00	0.00	3.48	0.000	0.000	0.074	2689.38	2628.94	2749.81	1891.56	1079.94	0	0	0	30.00	30.00	15.53
1974.89	21639	146.63	1.05	0.00	2687.4	2627.9	2746.9	1891.4	1079.9	86.75	13.23	262	1982.13	0.00	0.29	3.49	0.000	0.170	0.036	2686.31	2626.88	2745.75	1849.38	2567.06	0	0	0	30.00	15.52	15.56
2166.87	16514	146.63	1.01	0.00	2686.7	2626.0	2747.4	1849.4	2567.2	65.84	10.31	282	2176.23	0.00	0.00	0.00	0.000	0.000	0.000	2686.81	2626.19	2747.44	1849.19	2567.31	0	0	0	30.00	30.00	30.00
2356.95	8354	159.17	0.99	0.00	2686.0	2624.8	2747.1	1849.5	2567.3	47.44	9.42	303	2371.17	10.15	0.00	0.00	0.803	0.000	0.000	2649.66	2587.69	2711.62	1849.19	2567.56	0	0	0	11.58	30.00	30.00
2552.00	8870	191.93	1.01	-80.00	2645.8	2581.8	2709.9	1849.3	2566.6	29.91	8.48	342	2588.96	26.82	0.00	3.62	0.909	0.000	0.070	2515.78	2449.81	2581.75	1847.19	1079.56	0	0	0	11.65	30.00	15.49
2607.33	9254	206.17	1.02	0.00	2511.4	2445.4	2577.4	1849.3	1079.6	24.88	9.34	353	2629.36	12.85	0.00	3.51	0.815	0.000	0.035	2458.09	2388.94	2527.25	1849.12	2569.94	0	0	0	11.63	30.00	15.53
2813.05	10663	290.05	1.15	80.00	2450.9	2379.2	2522.6	1849.2	2569.2	8.59	6.11	394	2886.36	61.90	0.22	3.40	0.906	0.049	0.114	2113.53	2034.50	2192.56	1890.06	3889.75	0	0	0	11.69	15.64	15.36
3074	end climb: NO_VERTICAL_VELOCITY
state	3074	begin surface