Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 42 * 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 42 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 0.26296216 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.611723 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 0.26296216 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.611723 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 42 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 250623,144902,4736.154,-12256.733,22,0.8,23,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.09 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,145217,4736.157,-12256.715,2,0.9,4,15.4 MHEAD_RNG_PITCHd_Wd 3.2,755,-17.6,-10.000,-21.21,2209,0.131

SPEED_LIMITS 0.173,0.258 D_GRID 168

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 1687708080,0.7,start _24V_AH 14.82,14.720

NET xmit part outbox0034.n 1789 18 _10V_AH 14.89,0.000

NET_PING 1687707012,29,395.398499,6.900000,-0.525738 FG_AHR_24Vo 13.788

MODEM_MSG CACST,8,1,20230625152500.277665,18,32767,45,0409,0000,07,01,01,00,01,-1,-01,-01,2,3,1,0,150,9.5,6.50,-100,-3.50,-01,0.23,44,925,0025,0,-1,00,00*2C FG_AHR_10Vo 0.280

FREEZE 3.71,14.245,-1.497,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3197.91,264.35,0.888,0,500.4,455.3,545.5,686.74 MEM2 945608,34,100900,69

SM_GC 2.26,0.00,10.55,3.55,0.000,0.019,0.033,496.0,452.2,539.7,178.4,2558.1,0,0,0,30.00,15.29,15.28 DATA_FILE_SIZE 12932,449

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 245586,0

IRIDIUM_FIX 4734.27,-12304.24,250623,134703 SDSIZE 3887104,3858272

TCM_TEMP 15.52 SDFILEDIR 387,43

SC_FREEKB 3865312 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 0,1687705200,47.60500,-122.95000,0.189,277.3 CURRENT 0.025,130.5,1

RAFOS_FIX 4736.068359,-12257.107422,250623,151500,4,255,0.26 MAGCAL 1.000000,0.015900,0.047862,-0.013157,1.065824,-0.054586,-0.011027,-0.070540,0.973274,328.9,-600.0,-611.8,36,0.0303,0

HUMID 51.43 IMPLIED_C_PITCH 1602,19.37,210,0.0,0.00

TEMP 10.32 IMPLIED_C_VBD 3152,25.068865,210,0

INTERNAL_PRESSURE 8.53361 GPS 250623,154840,4736.317,-12256.637,2,1.2,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 732 1077 11700.06 nil 0 0 0.00

Pitch_motor 23 250 88.99 nil 0 0 0.00

Roll_motor 42 176 111.39 nil 0 0 0.00

Iridium 126 171 322.59 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 1984 5 151.31 SciCon 2924 9 401.90

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1218 0 5.80

Compass 1003 5 74.72

RAFOS 1930 40 1149.78

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

6.76 16386 -146.63 -1.35 0.00 493.3 448.3 538.3 181.1 2562.8 0.00 0.00 0 70.39 60.86 0.00 0.00 0.005 0.000 0.000 1970.78 1942.00 1999.56 181.00 2563.25 0 0 0 15.54 30.00 30.00

70.67 18727 -146.63 -1.35 80.00 1971.6 1941.7 2001.5 181.1 2562.6 3.28 -2.16 12 155.95 66.01 8.23 3.33 0.005 0.251 0.104 3898.00 3862.62 3933.38 1271.38 3889.69 0 0 0 15.57 15.41 15.52

354.30 3205 -146.63 -1.14 0.00 3900.1 3864.1 3936.2 1271.9 3890.4 50.74 -20.47 68 360.21 0.00 0.37 3.14 0.000 0.175 0.013 3900.44 3864.12 3936.75 1325.62 2488.06 0 0 0 30.00 15.55 15.65

543.71 644 -146.63 -1.10 -80.00 3901.2 3863.9 3938.4 1325.7 2487.4 75.61 -12.27 87 549.81 0.00 0.00 3.45 0.000 0.000 0.069 3900.81 3863.94 3937.69 1325.75 1071.00 0 0 0 30.00 30.00 15.55

778.81 1156 -146.63 -1.07 0.00 3901.3 3863.9 3938.8 1325.7 1070.9 104.81 -12.46 134 785.13 0.00 0.00 3.54 0.000 0.000 0.036 3902.91 3865.44 3940.38 1325.94 2555.75 0 0 0 30.00 30.00 15.63

974.04 644 -146.63 -1.04 -80.00 3901.4 3863.9 3938.8 1326.0 2555.9 128.19 -12.01 154 980.22 0.00 0.00 3.61 0.000 0.000 0.065 3901.91 3864.19 3939.62 1325.75 1069.81 0 0 0 30.00 30.00 15.63

1048.84 3205 -146.63 -1.02 0.00 3901.7 3864.2 3939.2 1326.2 1069.8 137.69 -12.38 169 1055.33 0.00 0.17 3.53 0.000 0.153 0.035 3902.41 3864.75 3940.06 1354.81 2559.69 0 0 0 30.00 15.61 15.66

1164 end dive: TARGET_DEPTH_EXCEEDED

state 1164 begin apogee

1165.39 10243 0.00 -0.33 0.00 3901.7 3863.6 3939.7 1354.9 2512.0 150.30 -10.81 181 1279.55 106.24 1.09 0.11 1.078 0.123 0.176 3298.38 3250.00 3346.75 1521.00 2570.19 0 0 0 11.80 15.62 15.28

1281 end apogee: CONTROL_FINISHED_OK

state 1281 begin climb

1281.14 10759 146.63 1.35 -80.00 3296.0 3247.6 3344.4 1521.2 2569.8 155.45 0.00 192 1412.58 112.66 2.65 3.77 1.044 0.088 0.065 2701.72 2633.19 2770.25 1931.00 1080.94 0 0 0 11.71 15.30 15.06

1446.28 21639 146.63 1.21 0.00 2694.0 2626.9 2761.1 1930.9 1081.2 139.50 15.68 222 1453.89 0.00 0.38 3.61 0.000 0.177 0.034 2696.88 2629.38 2764.38 1888.56 2566.31 0 0 0 30.00 15.16 15.16

1641.28 16514 146.63 1.12 0.00 2689.7 2621.0 2758.4 1888.9 2566.1 111.55 14.01 242 1642.90 0.00 0.00 0.00 0.000 0.000 0.000 2688.50 2619.62 2757.38 1888.88 2565.88 0 0 0 30.00 30.00 30.00

1831.32 20611 146.63 1.04 0.00 2688.9 2619.7 2758.1 1888.7 2565.9 85.50 13.29 261 1833.18 0.00 0.28 0.00 0.000 0.162 0.000 2691.78 2622.94 2760.62 1846.44 2565.88 0 0 0 30.00 15.47 30.00

2021.34 17030 146.63 1.01 -80.00 2688.5 2619.1 2758.0 1847.5 2566.1 65.82 10.28 280 2028.65 0.00 0.00 3.64 0.000 0.000 0.066 2686.06 2617.50 2754.62 1847.56 1081.12 0 0 0 30.00 30.00 15.56

2087.37 17542 146.63 0.96 0.00 2686.7 2619.0 2754.4 1847.5 1081.1 58.59 11.15 293 2093.61 0.00 0.00 3.52 0.000 0.000 0.035 2685.41 2618.00 2752.81 1847.94 2564.62 0 0 0 30.00 30.00 15.60

2277.82 8354 170.69 0.96 0.00 2686.6 2618.9 2754.2 1847.0 2564.8 40.13 8.89 322 2302.73 18.82 0.00 0.00 0.893 0.000 0.000 2602.44 2531.31 2673.56 1848.00 2565.06 0 0 0 11.65 30.00 30.00

2487.36 8226 195.64 0.99 0.00 2596.4 2523.8 2669.1 1847.4 2564.9 21.27 8.84 364 2512.80 20.82 0.00 0.00 0.883 0.000 0.000 2501.34 2425.62 2577.06 1847.81 2564.94 0 0 0 11.46 30.00 30.00

2697.51 10919 308.92 1.16 -80.00 2494.1 2416.2 2571.9 1847.3 2564.4 5.78 4.75 406 2793.70 82.68 0.25 3.69 0.913 0.043 0.066 2037.16 1945.69 2128.62 1891.31 1079.50 0 0 0 11.75 15.61 15.32

2918 end climb: NO_VERTICAL_VELOCITY

state 2918 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	42	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	0.26296216	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.611723	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	250623,144902,4736.154,-12256.733,22,0.8,23,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.09	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,145217,4736.157,-12256.715,2,0.9,4,15.4	MHEAD_RNG_PITCHd_Wd	3.2,755,-17.6,-10.000,-21.21,2209,0.131
SPEED_LIMITS	0.173,0.258	D_GRID	168
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	1687708080,0.7,start	_24V_AH	14.82,14.720
NET	xmit part outbox0034.n 1789 18	_10V_AH	14.89,0.000
NET_PING	1687707012,29,395.398499,6.900000,-0.525738	FG_AHR_24Vo	13.788
MODEM_MSG	CACST,8,1,20230625152500.277665,18,32767,45,0409,0000,07,01,01,00,01,-1,-01,-01,2,3,1,0,150,9.5,6.50,-100,-3.50,-01,0.23,44,925,0025,0,-1,00,00*2C	FG_AHR_10Vo	0.280
FREEZE	3.71,14.245,-1.497,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3197.91,264.35,0.888,0,500.4,455.3,545.5,686.74	MEM2	945608,34,100900,69
SM_GC	2.26,0.00,10.55,3.55,0.000,0.019,0.033,496.0,452.2,539.7,178.4,2558.1,0,0,0,30.00,15.29,15.28	DATA_FILE_SIZE	12932,449
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	245586,0
IRIDIUM_FIX	4734.27,-12304.24,250623,134703	SDSIZE	3887104,3858272
TCM_TEMP	15.52	SDFILEDIR	387,43
SC_FREEKB	3865312	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	0,1687705200,47.60500,-122.95000,0.189,277.3	CURRENT	0.025,130.5,1
RAFOS_FIX	4736.068359,-12257.107422,250623,151500,4,255,0.26	MAGCAL	1.000000,0.015900,0.047862,-0.013157,1.065824,-0.054586,-0.011027,-0.070540,0.973274,328.9,-600.0,-611.8,36,0.0303,0
HUMID	51.43	IMPLIED_C_PITCH	1602,19.37,210,0.0,0.00
TEMP	10.32	IMPLIED_C_VBD	3152,25.068865,210,0
INTERNAL_PRESSURE	8.53361	GPS	250623,154840,4736.317,-12256.637,2,1.2,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	732	1077	11700.06	nil	0	0	0.00
Pitch_motor	23	250	88.99	nil	0	0	0.00
Roll_motor	42	176	111.39	nil	0	0	0.00
Iridium	126	171	322.59	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	1984	5	151.31	SciCon	2924	9	401.90
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1218	0	5.80
Compass	1003	5	74.72
RAFOS	1930	40	1149.78
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
6.76	16386	-146.63	-1.35	0.00	493.3	448.3	538.3	181.1	2562.8	0.00	0.00	0	70.39	60.86	0.00	0.00	0.005	0.000	0.000	1970.78	1942.00	1999.56	181.00	2563.25	0	0	0	15.54	30.00	30.00
70.67	18727	-146.63	-1.35	80.00	1971.6	1941.7	2001.5	181.1	2562.6	3.28	-2.16	12	155.95	66.01	8.23	3.33	0.005	0.251	0.104	3898.00	3862.62	3933.38	1271.38	3889.69	0	0	0	15.57	15.41	15.52
354.30	3205	-146.63	-1.14	0.00	3900.1	3864.1	3936.2	1271.9	3890.4	50.74	-20.47	68	360.21	0.00	0.37	3.14	0.000	0.175	0.013	3900.44	3864.12	3936.75	1325.62	2488.06	0	0	0	30.00	15.55	15.65
543.71	644	-146.63	-1.10	-80.00	3901.2	3863.9	3938.4	1325.7	2487.4	75.61	-12.27	87	549.81	0.00	0.00	3.45	0.000	0.000	0.069	3900.81	3863.94	3937.69	1325.75	1071.00	0	0	0	30.00	30.00	15.55
778.81	1156	-146.63	-1.07	0.00	3901.3	3863.9	3938.8	1325.7	1070.9	104.81	-12.46	134	785.13	0.00	0.00	3.54	0.000	0.000	0.036	3902.91	3865.44	3940.38	1325.94	2555.75	0	0	0	30.00	30.00	15.63
974.04	644	-146.63	-1.04	-80.00	3901.4	3863.9	3938.8	1326.0	2555.9	128.19	-12.01	154	980.22	0.00	0.00	3.61	0.000	0.000	0.065	3901.91	3864.19	3939.62	1325.75	1069.81	0	0	0	30.00	30.00	15.63
1048.84	3205	-146.63	-1.02	0.00	3901.7	3864.2	3939.2	1326.2	1069.8	137.69	-12.38	169	1055.33	0.00	0.17	3.53	0.000	0.153	0.035	3902.41	3864.75	3940.06	1354.81	2559.69	0	0	0	30.00	15.61	15.66
1164	end dive: TARGET_DEPTH_EXCEEDED
state	1164	begin apogee
1165.39	10243	0.00	-0.33	0.00	3901.7	3863.6	3939.7	1354.9	2512.0	150.30	-10.81	181	1279.55	106.24	1.09	0.11	1.078	0.123	0.176	3298.38	3250.00	3346.75	1521.00	2570.19	0	0	0	11.80	15.62	15.28
1281	end apogee: CONTROL_FINISHED_OK
state	1281	begin climb
1281.14	10759	146.63	1.35	-80.00	3296.0	3247.6	3344.4	1521.2	2569.8	155.45	0.00	192	1412.58	112.66	2.65	3.77	1.044	0.088	0.065	2701.72	2633.19	2770.25	1931.00	1080.94	0	0	0	11.71	15.30	15.06
1446.28	21639	146.63	1.21	0.00	2694.0	2626.9	2761.1	1930.9	1081.2	139.50	15.68	222	1453.89	0.00	0.38	3.61	0.000	0.177	0.034	2696.88	2629.38	2764.38	1888.56	2566.31	0	0	0	30.00	15.16	15.16
1641.28	16514	146.63	1.12	0.00	2689.7	2621.0	2758.4	1888.9	2566.1	111.55	14.01	242	1642.90	0.00	0.00	0.00	0.000	0.000	0.000	2688.50	2619.62	2757.38	1888.88	2565.88	0	0	0	30.00	30.00	30.00
1831.32	20611	146.63	1.04	0.00	2688.9	2619.7	2758.1	1888.7	2565.9	85.50	13.29	261	1833.18	0.00	0.28	0.00	0.000	0.162	0.000	2691.78	2622.94	2760.62	1846.44	2565.88	0	0	0	30.00	15.47	30.00
2021.34	17030	146.63	1.01	-80.00	2688.5	2619.1	2758.0	1847.5	2566.1	65.82	10.28	280	2028.65	0.00	0.00	3.64	0.000	0.000	0.066	2686.06	2617.50	2754.62	1847.56	1081.12	0	0	0	30.00	30.00	15.56
2087.37	17542	146.63	0.96	0.00	2686.7	2619.0	2754.4	1847.5	1081.1	58.59	11.15	293	2093.61	0.00	0.00	3.52	0.000	0.000	0.035	2685.41	2618.00	2752.81	1847.94	2564.62	0	0	0	30.00	30.00	15.60
2277.82	8354	170.69	0.96	0.00	2686.6	2618.9	2754.2	1847.0	2564.8	40.13	8.89	322	2302.73	18.82	0.00	0.00	0.893	0.000	0.000	2602.44	2531.31	2673.56	1848.00	2565.06	0	0	0	11.65	30.00	30.00
2487.36	8226	195.64	0.99	0.00	2596.4	2523.8	2669.1	1847.4	2564.9	21.27	8.84	364	2512.80	20.82	0.00	0.00	0.883	0.000	0.000	2501.34	2425.62	2577.06	1847.81	2564.94	0	0	0	11.46	30.00	30.00
2697.51	10919	308.92	1.16	-80.00	2494.1	2416.2	2571.9	1847.3	2564.4	5.78	4.75	406	2793.70	82.68	0.25	3.69	0.913	0.043	0.066	2037.16	1945.69	2128.62	1891.31	1079.50	0	0	0	11.75	15.61	15.32
2918	end climb: NO_VERTICAL_VELOCITY
state	2918	begin surface