Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 40 * 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 40 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 0.24440125 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.249595 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 0.24440125 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.249595 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 40 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 250623,125514,4736.210,-12256.627,7,0.8,9,15.4 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 -61.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,125838,4736.212,-12256.621,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 192.4,534,-24.2,-10.000,-27.23,1213,0.132

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 1687700706,0.7,start _24V_AH 14.87,14.313

NET CACST,8,1,20230625133008.721683,18,31661,45,0099,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,15.5,1.34,-100,1.66,-01,0.00,72,10000,5000,0,-1,00,00*58 _10V_AH 14.89,0.000

NET_PING 1687698914,29,467.687988,3.100000,-0.621985 FG_AHR_24Vo 13.423

MODEM_MSG CACST,8,1,20230625132000.274436,18,32767,45,0206,0000,246,04,04,00,06,-1,-01,-01,1,3,0,0,150,-36.1,0.62,-100,2.38,-01,0.04,42,925,0025,0,-1,00,00*26 FG_AHR_10Vo 0.247

FREEZE 7.32,12.612,-1.568,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2646.30,305.61,0.877,0,500.8,450.1,551.4,686.66 MEM2 945640,33,100888,69

SM_GC 1.92,0.00,11.19,0.10,0.000,0.020,0.101,496.3,447.6,545.0,185.9,2499.8,0,0,0,30.00,15.30,15.29 DATA_FILE_SIZE 9770,346

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 217828,0

IRIDIUM_FIX 4735.92,-12247.38,250623,115409 SDSIZE 3887104,3859008

TCM_TEMP 15.42 SDFILEDIR 370,41

SC_FREEKB 3865952 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 0,1687698000,47.60500,-122.95000,0.714,1045.5 CURRENT 0.013,163.0,1

RAFOS_FIX -31223.960938,59702.367188,250623,121200,3,255,38865.92 MAGCAL 1.000000,0.061747,-0.156748,-0.024928,1.163276,0.034368,0.191447,-0.236959,0.991431,504.7,-658.8,-636.5,31,0.0698,0

HUMID 51.83 IMPLIED_C_PITCH 1607,18.64,153,0.0,0.00

TEMP 10.40 IMPLIED_C_VBD 3164,20.028587,153,0

INTERNAL_PRESSURE 8.54825 GPS 250623,134546,4735.964,-12256.861,2,1.2,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 723 1068 11503.31 nil 0 0 0.00

Pitch_motor 25 255 97.70 nil 0 0 0.00

Roll_motor 41 142 88.61 nil 0 0 0.00

Iridium 137 168 345.53 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.98 nil 0 0 0.00

Core 1575 5 120.11 SciCon 2332 9 320.43

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1045 0 4.98

Compass 784 5 58.38

RAFOS 1686 40 1004.75

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 -79.95 -1.71 0.00 494.0 453.2 534.8 182.2 2561.6 0.00 0.00 0 67.81 58.42 0.00 0.00 0.005 0.000 0.000 1916.56 1891.12 1942.00 182.00 2562.00 0 0 0 14.86 30.00 30.00

68.09 18983 -146.63 -1.80 -80.00 1918.5 1893.2 1943.8 182.4 2561.8 3.21 -2.10 9 152.10 64.17 7.49 3.61 0.005 0.255 0.066 3899.38 3867.25 3931.50 1165.31 1069.50 0 0 0 15.56 15.39 15.51

155.44 3205 -146.63 -1.60 0.00 3899.3 3867.6 3931.1 1165.3 1069.8 9.29 -11.21 26 162.53 0.00 0.33 3.49 0.000 0.199 0.031 3899.25 3867.06 3931.44 1211.75 2558.88 0 0 0 30.00 15.47 15.53

345.85 388 -146.63 -1.53 80.00 3901.2 3867.3 3935.0 1211.8 2558.9 45.28 -18.00 64 351.63 0.00 0.00 3.31 0.000 0.000 0.100 3901.25 3867.19 3935.31 1211.69 3890.00 0 0 0 30.00 30.00 15.55

495.88 3205 -146.63 -1.37 0.00 3901.4 3867.8 3935.1 1211.5 3889.6 81.26 -24.65 94 502.08 0.00 0.38 3.12 0.000 0.186 0.012 3900.62 3866.75 3934.50 1268.94 2486.31 0 0 0 30.00 15.56 15.64

690.83 0 -146.63 -1.37 0.00 3902.8 3867.4 3938.2 1269.2 2485.6 112.17 -15.07 114 692.36 0.00 0.00 0.00 0.000 0.000 0.000 3902.25 3867.12 3937.38 1269.38 2485.56 0 0 0 30.00 30.00 30.00

880.96 388 -146.63 -1.38 80.00 3903.0 3867.1 3938.8 1269.1 2485.8 140.50 -14.79 133 887.28 0.00 0.00 3.54 0.000 0.000 0.101 3903.06 3867.88 3938.25 1270.44 3888.50 0 0 0 30.00 30.00 15.63

936 end dive: TARGET_DEPTH_EXCEEDED

state 936 begin apogee

941.82 10243 0.00 -0.33 0.00 3902.8 3867.7 3938.0 1270.5 2496.8 150.74 -19.72 144 1057.86 107.15 1.69 0.14 1.069 0.148 0.142 3296.38 3246.38 3346.38 1520.56 2568.19 0 0 0 11.84 15.62 15.24

1059 end apogee: CONTROL_FINISHED_OK

state 1059 begin climb

1059.38 10759 146.63 1.80 -80.00 3296.0 3246.2 3345.9 1520.6 2568.2 157.74 0.00 155 1187.91 111.04 3.38 3.69 1.041 0.084 0.067 2697.75 2629.38 2766.12 2037.62 1080.62 0 0 0 11.53 15.27 15.12

1190.64 5253 146.63 1.66 0.00 2696.2 2627.4 2764.9 2037.8 1081.0 143.83 15.10 171 1197.60 0.00 0.37 3.57 0.000 0.199 0.031 2698.94 2630.88 2767.00 1997.00 2568.81 0 0 0 30.00 15.13 15.19

1386.56 16514 146.63 1.58 0.00 2689.8 2620.6 2758.9 1998.0 2569.5 106.03 19.09 191 1388.14 0.00 0.00 0.00 0.000 0.000 0.000 2688.41 2619.81 2757.00 1997.62 2569.50 0 0 0 30.00 30.00 30.00

1576.58 21127 146.63 1.50 -80.00 2688.4 2619.2 2757.6 1997.9 2569.0 72.03 17.30 210 1583.88 0.00 0.28 3.60 0.000 0.183 0.066 2691.62 2622.25 2761.00 1957.88 1079.88 0 0 0 30.00 15.48 15.51

1606.52 17542 146.63 1.45 0.00 2687.6 2619.2 2756.0 1958.4 1079.4 66.91 16.55 216 1613.30 0.00 0.00 3.49 0.000 0.000 0.034 2688.41 2620.00 2756.81 1958.06 2564.69 0 0 0 30.00 30.00 15.52

1797.56 17030 146.63 1.41 -80.00 2687.0 2618.1 2755.9 1957.1 2565.4 39.88 14.02 242 1804.40 0.00 0.00 3.57 0.000 0.000 0.065 2689.69 2620.44 2758.94 1958.19 1079.50 0 0 0 30.00 30.00 15.59

1861.61 21639 146.63 1.37 0.00 2685.9 2617.7 2754.2 1957.8 1079.6 30.87 13.68 254 1872.88 0.00 0.21 3.50 0.000 0.191 0.034 2686.16 2617.75 2754.56 1926.19 2566.62 0 0 0 30.00 15.56 15.61

2056.66 8226 178.34 1.40 0.00 2685.5 2616.4 2754.5 1925.3 2566.4 11.54 7.33 293 2083.19 23.92 0.00 0.00 0.880 0.000 0.000 2574.19 2500.62 2647.75 1924.62 2566.25 0 0 0 11.67 30.00 30.00

2266.89 10663 291.08 1.59 80.00 2564.3 2488.2 2640.4 1926.1 2566.1 7.45 0.49 335 2324.18 53.53 0.41 0.00 0.906 0.032 0.000 2282.28 2194.00 2370.56 1996.38 2566.81 0 0 0 11.69 15.69 30.00

2325 end climb: NO_VERTICAL_VELOCITY

state 2325 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	40	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	0.24440125	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.249595	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	250623,125514,4736.210,-12256.627,7,0.8,9,15.4	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	-61.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,125838,4736.212,-12256.621,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	192.4,534,-24.2,-10.000,-27.23,1213,0.132
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	1687700706,0.7,start	_24V_AH	14.87,14.313
NET	CACST,8,1,20230625133008.721683,18,31661,45,0099,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,15.5,1.34,-100,1.66,-01,0.00,72,10000,5000,0,-1,00,00*58	_10V_AH	14.89,0.000
NET_PING	1687698914,29,467.687988,3.100000,-0.621985	FG_AHR_24Vo	13.423
MODEM_MSG	CACST,8,1,20230625132000.274436,18,32767,45,0206,0000,246,04,04,00,06,-1,-01,-01,1,3,0,0,150,-36.1,0.62,-100,2.38,-01,0.04,42,925,0025,0,-1,00,00*26	FG_AHR_10Vo	0.247
FREEZE	7.32,12.612,-1.568,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2646.30,305.61,0.877,0,500.8,450.1,551.4,686.66	MEM2	945640,33,100888,69
SM_GC	1.92,0.00,11.19,0.10,0.000,0.020,0.101,496.3,447.6,545.0,185.9,2499.8,0,0,0,30.00,15.30,15.29	DATA_FILE_SIZE	9770,346
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	217828,0
IRIDIUM_FIX	4735.92,-12247.38,250623,115409	SDSIZE	3887104,3859008
TCM_TEMP	15.42	SDFILEDIR	370,41
SC_FREEKB	3865952	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	0,1687698000,47.60500,-122.95000,0.714,1045.5	CURRENT	0.013,163.0,1
RAFOS_FIX	-31223.960938,59702.367188,250623,121200,3,255,38865.92	MAGCAL	1.000000,0.061747,-0.156748,-0.024928,1.163276,0.034368,0.191447,-0.236959,0.991431,504.7,-658.8,-636.5,31,0.0698,0
HUMID	51.83	IMPLIED_C_PITCH	1607,18.64,153,0.0,0.00
TEMP	10.40	IMPLIED_C_VBD	3164,20.028587,153,0
INTERNAL_PRESSURE	8.54825	GPS	250623,134546,4735.964,-12256.861,2,1.2,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	723	1068	11503.31	nil	0	0	0.00
Pitch_motor	25	255	97.70	nil	0	0	0.00
Roll_motor	41	142	88.61	nil	0	0	0.00
Iridium	137	168	345.53	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.98	nil	0	0	0.00
Core	1575	5	120.11	SciCon	2332	9	320.43
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1045	0	4.98
Compass	784	5	58.38
RAFOS	1686	40	1004.75
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	-79.95	-1.71	0.00	494.0	453.2	534.8	182.2	2561.6	0.00	0.00	0	67.81	58.42	0.00	0.00	0.005	0.000	0.000	1916.56	1891.12	1942.00	182.00	2562.00	0	0	0	14.86	30.00	30.00
68.09	18983	-146.63	-1.80	-80.00	1918.5	1893.2	1943.8	182.4	2561.8	3.21	-2.10	9	152.10	64.17	7.49	3.61	0.005	0.255	0.066	3899.38	3867.25	3931.50	1165.31	1069.50	0	0	0	15.56	15.39	15.51
155.44	3205	-146.63	-1.60	0.00	3899.3	3867.6	3931.1	1165.3	1069.8	9.29	-11.21	26	162.53	0.00	0.33	3.49	0.000	0.199	0.031	3899.25	3867.06	3931.44	1211.75	2558.88	0	0	0	30.00	15.47	15.53
345.85	388	-146.63	-1.53	80.00	3901.2	3867.3	3935.0	1211.8	2558.9	45.28	-18.00	64	351.63	0.00	0.00	3.31	0.000	0.000	0.100	3901.25	3867.19	3935.31	1211.69	3890.00	0	0	0	30.00	30.00	15.55
495.88	3205	-146.63	-1.37	0.00	3901.4	3867.8	3935.1	1211.5	3889.6	81.26	-24.65	94	502.08	0.00	0.38	3.12	0.000	0.186	0.012	3900.62	3866.75	3934.50	1268.94	2486.31	0	0	0	30.00	15.56	15.64
690.83	0	-146.63	-1.37	0.00	3902.8	3867.4	3938.2	1269.2	2485.6	112.17	-15.07	114	692.36	0.00	0.00	0.00	0.000	0.000	0.000	3902.25	3867.12	3937.38	1269.38	2485.56	0	0	0	30.00	30.00	30.00
880.96	388	-146.63	-1.38	80.00	3903.0	3867.1	3938.8	1269.1	2485.8	140.50	-14.79	133	887.28	0.00	0.00	3.54	0.000	0.000	0.101	3903.06	3867.88	3938.25	1270.44	3888.50	0	0	0	30.00	30.00	15.63
936	end dive: TARGET_DEPTH_EXCEEDED
state	936	begin apogee
941.82	10243	0.00	-0.33	0.00	3902.8	3867.7	3938.0	1270.5	2496.8	150.74	-19.72	144	1057.86	107.15	1.69	0.14	1.069	0.148	0.142	3296.38	3246.38	3346.38	1520.56	2568.19	0	0	0	11.84	15.62	15.24
1059	end apogee: CONTROL_FINISHED_OK
state	1059	begin climb
1059.38	10759	146.63	1.80	-80.00	3296.0	3246.2	3345.9	1520.6	2568.2	157.74	0.00	155	1187.91	111.04	3.38	3.69	1.041	0.084	0.067	2697.75	2629.38	2766.12	2037.62	1080.62	0	0	0	11.53	15.27	15.12
1190.64	5253	146.63	1.66	0.00	2696.2	2627.4	2764.9	2037.8	1081.0	143.83	15.10	171	1197.60	0.00	0.37	3.57	0.000	0.199	0.031	2698.94	2630.88	2767.00	1997.00	2568.81	0	0	0	30.00	15.13	15.19
1386.56	16514	146.63	1.58	0.00	2689.8	2620.6	2758.9	1998.0	2569.5	106.03	19.09	191	1388.14	0.00	0.00	0.00	0.000	0.000	0.000	2688.41	2619.81	2757.00	1997.62	2569.50	0	0	0	30.00	30.00	30.00
1576.58	21127	146.63	1.50	-80.00	2688.4	2619.2	2757.6	1997.9	2569.0	72.03	17.30	210	1583.88	0.00	0.28	3.60	0.000	0.183	0.066	2691.62	2622.25	2761.00	1957.88	1079.88	0	0	0	30.00	15.48	15.51
1606.52	17542	146.63	1.45	0.00	2687.6	2619.2	2756.0	1958.4	1079.4	66.91	16.55	216	1613.30	0.00	0.00	3.49	0.000	0.000	0.034	2688.41	2620.00	2756.81	1958.06	2564.69	0	0	0	30.00	30.00	15.52
1797.56	17030	146.63	1.41	-80.00	2687.0	2618.1	2755.9	1957.1	2565.4	39.88	14.02	242	1804.40	0.00	0.00	3.57	0.000	0.000	0.065	2689.69	2620.44	2758.94	1958.19	1079.50	0	0	0	30.00	30.00	15.59
1861.61	21639	146.63	1.37	0.00	2685.9	2617.7	2754.2	1957.8	1079.6	30.87	13.68	254	1872.88	0.00	0.21	3.50	0.000	0.191	0.034	2686.16	2617.75	2754.56	1926.19	2566.62	0	0	0	30.00	15.56	15.61
2056.66	8226	178.34	1.40	0.00	2685.5	2616.4	2754.5	1925.3	2566.4	11.54	7.33	293	2083.19	23.92	0.00	0.00	0.880	0.000	0.000	2574.19	2500.62	2647.75	1924.62	2566.25	0	0	0	11.67	30.00	30.00
2266.89	10663	291.08	1.59	80.00	2564.3	2488.2	2640.4	1926.1	2566.1	7.45	0.49	335	2324.18	53.53	0.41	0.00	0.906	0.032	0.000	2282.28	2194.00	2370.56	1996.38	2566.81	0	0	0	11.69	15.69	30.00
2325	end climb: NO_VERTICAL_VELOCITY
state	2325	begin surface