Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 245 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 15 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 25 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 -1.9

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 360 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 1 UNCOM_BLEED 20 DEVICE6 -1

D_SAFE 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 1

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 215 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3600 MINV_24V 11 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 1500 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 2 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18 FG_AHR_10V 1.8444219 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 9.297965 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 0.029999999 PRESSURE_YINT -191.55725 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00022631494 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72244 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 1 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 235 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3850 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 2275 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2180 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 0

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 131 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 25 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 1.8444219 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 9.297965 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 0.029999999 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 18 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 3600 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 215 T_BOOST 0

COMM_SEQ 7 ID 245 PITCH_TIMEOUT 25 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 -1.9 PITCH_W_DBAND 0 T_GPS 5

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1500 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022631494 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -191.55725 T_RSLEEP 3

C_ROLL_CLIMB 2180 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2275 LOGGERS 1 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 72244 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 2 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 3850 VBD_TIMEOUT 360

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 15 MOTHERBOARD 6 ROLL_MIN 235 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 0

D_FLARE 3 NAV_MODE 1 SC_XMITPROFILE 3.0

D_NO_BLEED 50 NETBOX 1 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 240623,151059,4736.480,-12256.364,2,1.1,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.66 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,151538,4736.496,-12256.357,2,1.1,4,15.4 MHEAD_RNG_PITCHd_Wd 193.3,1152,-17.6,-10.000,-21.21,2209,0.174

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.024095,-0.047657,0.005368,1.105636,0.136376,0.023928,0.051750,1.005479,-401.326324,-2002.055054,566.946838

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230624160509.735920,18,32767,45,0101,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,15.5,5.90,-100,-2.90,-01,0.00,73,10000,5000,0,-1,00,00*57 _24V_AH 14.77,10.049

NET_PING 1687622712,29,266.417999,15.500000,-0.352551 _10V_AH 14.74,0.000

MODEM_MSG CACST,8,1,20230624152000.493118,18,32767,45,0103,0000,07,00,00,00,03,-1,-01,-01,1,3,0,0,150,3.5,0.74,-100,2.26,-01,0.16,62,925,0025,0,-1,00,00*03 FG_AHR_24Vo 9.477

NAV 1687622344,57.1,start FG_AHR_10Vo 1.893

FREEZE 4.59,14.601,-1.487,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3746.98,271.28,0.912,0,500.7,582.4,419.1,686.66 MEM2 944412,35,101636,91

SM_GC 1.45,0.00,11.28,0.22,0.000,0.050,0.122,496.8,576.8,416.8,197.8,2291.1,0,0,0,30.00,15.42,15.41 DATA_FILE_SIZE 16169,512

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 183423,0

IRIDIUM_FIX 4735.53,-12254.47,240623,141913 SDSIZE 3887104,3868032

TCM_TEMP 15.63 SDFILEDIR 165,16

SC_FREEKB 3873984 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 0,1687618800,47.60500,-122.95000,0.528,773.9 MAGCAL 1.000000,0.007549,-0.077875,0.008990,1.134980,0.120893,0.060135,0.015397,1.055152,-208.9,-1821.6,317.5,36,0.0404,0

RAFOS_FIX 4736.366211,-12257.000000,240623,151500,2,510,3.20 IMPLIED_C_PITCH 1543,18.61,252,0.0,0.00

HUMID 52.35 IMPLIED_C_VBD 3329,17.413492,252,0

TEMP 11.03 GPS 240623,162109,4736.352,-12256.684,1,1.0,16,15.4

INTERNAL_PRESSURE 8.0443

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 743 1102 12101.02 nil 0 0 0.00

Pitch_motor 26 255 98.55 nil 0 0 0.00

Roll_motor 58 215 186.86 nil 0 0 0.00

Iridium 207 226 691.74 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 2442 5 184.34 SciCon 3454 7 365.29

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1376 0 6.49

Compass 1264 5 93.20

RAFOS 1462 40 862.44

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.80 16386 -146.63 -1.16 0.00 495.0 572.5 417.6 204.2 2295.8 0.00 0.00 0 67.69 56.39 0.00 0.00 0.005 0.000 0.000 1938.47 2020.56 1856.38 204.19 2295.69 0 0 0 15.70 30.00 30.00

68.21 18983 -146.63 -1.16 -80.00 1941.8 2025.8 1857.8 204.0 2295.6 3.19 -3.03 11 151.47 55.33 8.15 3.89 0.005 0.256 0.124 3898.41 3985.81 3811.00 1219.81 809.31 0 0 0 15.73 15.58 15.67

378.19 3205 -146.63 -0.91 0.00 3900.4 3985.8 3815.1 1219.9 808.7 40.12 -13.44 69 387.43 0.00 0.45 3.69 0.000 0.174 0.063 3901.69 3986.44 3816.94 1280.44 2293.62 0 0 0 30.00 15.64 15.69

576.66 420 -146.63 -0.86 80.00 3901.3 3986.6 3816.0 1281.0 2293.2 59.50 -9.75 98 585.42 0.00 0.00 3.79 0.000 0.000 0.125 3902.00 3986.38 3817.62 1281.31 3741.25 0 0 0 30.00 30.00 15.74

816.38 3205 -146.63 -0.71 0.00 3902.0 3986.1 3817.9 1281.2 3741.5 89.04 -12.92 145 825.53 0.00 0.32 3.55 0.000 0.161 0.047 3901.62 3985.88 3817.38 1329.12 2245.38 0 0 0 30.00 15.84 15.91

1011.50 420 -146.63 -0.77 80.00 3902.6 3986.5 3818.6 1329.0 2245.1 104.52 -7.68 165 1020.47 0.00 0.00 3.94 0.000 0.000 0.127 3902.16 3986.19 3818.12 1329.06 3742.31 0 0 0 30.00 30.00 15.90

1144.44 1060 -146.63 -0.77 0.00 3902.8 3986.3 3819.3 1329.2 3742.4 116.89 -9.46 190 1156.39 0.00 0.00 3.55 0.000 0.000 0.047 3903.03 3986.19 3819.88 1328.94 2247.88 0 0 0 30.00 30.00 15.95

1344.10 4257 -146.63 -0.85 0.00 3902.9 3986.2 3819.6 1328.9 2247.9 131.68 -6.93 211 1346.36 0.00 0.29 0.00 0.000 0.066 0.000 3902.78 3986.19 3819.38 1274.62 2248.12 0 0 0 30.00 15.98 30.00

1533.95 292 -146.63 -0.85 80.00 3902.9 3986.4 3819.3 1274.7 2246.8 149.63 -9.30 230 1539.84 0.00 0.00 2.53 0.000 0.000 0.117 3903.62 3986.81 3820.44 1274.38 3216.25 0 0 0 30.00 30.00 15.99

1540 end dive: TARGET_DEPTH_EXCEEDED

state 1540 begin apogee

1546.58 10243 0.00 -0.28 0.00 3903.0 3986.4 3819.5 1274.6 2154.6 150.05 -9.23 231 1672.98 112.92 1.14 0.09 1.102 0.144 0.216 3299.16 3397.69 3200.62 1435.62 2201.00 0 0 0 11.49 15.97 15.38

1674 end apogee: CONTROL_FINISHED_OK

state 1674 begin climb

1674.50 10759 146.63 1.16 -80.00 3296.2 3394.1 3198.4 1435.9 2200.9 155.40 0.00 243 1818.19 117.33 2.39 4.18 1.065 0.107 0.157 2699.16 2800.06 2598.25 1783.69 715.56 0 0 0 11.36 15.44 15.17

1832.41 1156 146.63 1.08 0.00 2695.6 2793.8 2597.5 1783.7 715.4 141.40 14.15 269 1841.68 0.00 0.00 3.83 0.000 0.000 0.075 2696.59 2794.38 2598.81 1783.81 2194.00 0 0 0 30.00 30.00 15.38

2027.45 20611 146.63 1.04 0.00 2693.3 2791.5 2595.2 1783.2 2194.3 115.52 12.94 289 2029.87 0.00 0.31 0.00 0.000 0.178 0.000 2695.19 2792.44 2597.94 1746.88 2194.38 0 0 0 30.00 15.62 30.00

2217.58 16806 146.81 1.09 80.00 2692.5 2790.9 2594.1 1745.4 2193.7 95.26 9.99 308 2226.63 0.00 0.00 3.89 0.000 0.000 0.140 2691.91 2790.25 2593.56 1746.75 3645.00 0 0 0 30.00 30.00 15.74

2290.09 17542 146.81 1.05 0.00 2691.1 2788.6 2593.6 1746.6 3644.5 86.21 12.57 322 2298.55 0.00 0.00 3.62 0.000 0.000 0.056 2692.81 2790.88 2594.75 1746.62 2159.06 0 0 0 30.00 30.00 15.82

2485.99 10403 152.50 1.13 0.00 2690.7 2788.8 2592.6 1746.4 2157.4 66.66 9.74 342 2495.82 5.59 0.20 0.00 0.652 0.085 0.000 2676.88 2776.38 2577.38 1782.06 2157.56 0 0 0 11.51 15.90 30.00

2679.67 0 152.50 1.13 0.00 2675.7 2775.8 2575.7 1782.3 2157.2 46.21 10.37 364 2683.75 0.00 0.00 0.00 0.000 0.000 0.000 2675.84 2775.50 2576.19 1782.38 2157.31 0 0 0 30.00 30.00 30.00

2864.72 260 152.50 1.13 80.00 2675.4 2775.3 2575.6 1782.4 2157.4 27.29 10.00 401 2873.92 0.00 0.00 4.00 0.000 0.000 0.138 2674.88 2774.75 2575.00 1783.00 3645.12 0 0 0 30.00 30.00 15.86

2967.53 5253 152.50 1.02 0.00 2674.4 2774.1 2574.8 1782.9 3645.9 16.00 10.81 420 2980.77 0.00 0.31 3.64 0.000 0.185 0.058 2675.53 2775.69 2575.38 1743.94 2156.69 0 0 0 30.00 15.81 15.88

3165.07 10919 306.81 1.37 -80.00 2674.2 2773.8 2574.6 1743.9 2156.8 7.01 2.85 459 3300.16 115.32 0.60 3.98 0.943 0.059 0.148 2045.97 2177.62 1914.31 1844.31 715.25 0 0 0 11.46 15.90 15.34

3429.51 11431 524.94 1.82 0.00 2038.3 2162.6 1914.1 1844.2 715.4 4.68 -0.10 509 3449.11 8.97 0.64 3.74 0.769 0.058 0.067 2008.78 2135.44 1882.12 1954.50 2196.88 0 0 0 11.33 15.64 15.64

3450 end climb: NO_VERTICAL_VELOCITY

state 3450 begin surface

ID	245	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	15	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	25	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	-1.9
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	360	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	1	UNCOM_BLEED	20	DEVICE6	-1
D_SAFE	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	1
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	215	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3600	MINV_24V	11	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	1500	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	2	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18	FG_AHR_10V	1.8444219	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	9.297965	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	0.029999999	PRESSURE_YINT	-191.55725	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00022631494	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72244	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	1	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	235	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3850	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	2275	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2180	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	0

GPS1	240623,151059,4736.480,-12256.364,2,1.1,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.66	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,151538,4736.496,-12256.357,2,1.1,4,15.4	MHEAD_RNG_PITCHd_Wd	193.3,1152,-17.6,-10.000,-21.21,2209,0.174
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.024095,-0.047657,0.005368,1.105636,0.136376,0.023928,0.051750,1.005479,-401.326324,-2002.055054,566.946838
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NET	CACST,8,0,20230624160509.735920,18,32767,45,0101,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,15.5,5.90,-100,-2.90,-01,0.00,73,10000,5000,0,-1,00,00*57	_24V_AH	14.77,10.049
NET_PING	1687622712,29,266.417999,15.500000,-0.352551	_10V_AH	14.74,0.000
MODEM_MSG	CACST,8,1,20230624152000.493118,18,32767,45,0103,0000,07,00,00,00,03,-1,-01,-01,1,3,0,0,150,3.5,0.74,-100,2.26,-01,0.16,62,925,0025,0,-1,00,00*03	FG_AHR_24Vo	9.477
NAV	1687622344,57.1,start	FG_AHR_10Vo	1.893
FREEZE	4.59,14.601,-1.487,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3746.98,271.28,0.912,0,500.7,582.4,419.1,686.66	MEM2	944412,35,101636,91
SM_GC	1.45,0.00,11.28,0.22,0.000,0.050,0.122,496.8,576.8,416.8,197.8,2291.1,0,0,0,30.00,15.42,15.41	DATA_FILE_SIZE	16169,512
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	183423,0
IRIDIUM_FIX	4735.53,-12254.47,240623,141913	SDSIZE	3887104,3868032
TCM_TEMP	15.63	SDFILEDIR	165,16
SC_FREEKB	3873984	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	0,1687618800,47.60500,-122.95000,0.528,773.9	MAGCAL	1.000000,0.007549,-0.077875,0.008990,1.134980,0.120893,0.060135,0.015397,1.055152,-208.9,-1821.6,317.5,36,0.0404,0
RAFOS_FIX	4736.366211,-12257.000000,240623,151500,2,510,3.20	IMPLIED_C_PITCH	1543,18.61,252,0.0,0.00
HUMID	52.35	IMPLIED_C_VBD	3329,17.413492,252,0
TEMP	11.03	GPS	240623,162109,4736.352,-12256.684,1,1.0,16,15.4
INTERNAL_PRESSURE	8.0443

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	743	1102	12101.02	nil	0	0	0.00
Pitch_motor	26	255	98.55	nil	0	0	0.00
Roll_motor	58	215	186.86	nil	0	0	0.00
Iridium	207	226	691.74	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	2442	5	184.34	SciCon	3454	7	365.29
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1376	0	6.49
Compass	1264	5	93.20
RAFOS	1462	40	862.44
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.80	16386	-146.63	-1.16	0.00	495.0	572.5	417.6	204.2	2295.8	0.00	0.00	0	67.69	56.39	0.00	0.00	0.005	0.000	0.000	1938.47	2020.56	1856.38	204.19	2295.69	0	0	0	15.70	30.00	30.00
68.21	18983	-146.63	-1.16	-80.00	1941.8	2025.8	1857.8	204.0	2295.6	3.19	-3.03	11	151.47	55.33	8.15	3.89	0.005	0.256	0.124	3898.41	3985.81	3811.00	1219.81	809.31	0	0	0	15.73	15.58	15.67
378.19	3205	-146.63	-0.91	0.00	3900.4	3985.8	3815.1	1219.9	808.7	40.12	-13.44	69	387.43	0.00	0.45	3.69	0.000	0.174	0.063	3901.69	3986.44	3816.94	1280.44	2293.62	0	0	0	30.00	15.64	15.69
576.66	420	-146.63	-0.86	80.00	3901.3	3986.6	3816.0	1281.0	2293.2	59.50	-9.75	98	585.42	0.00	0.00	3.79	0.000	0.000	0.125	3902.00	3986.38	3817.62	1281.31	3741.25	0	0	0	30.00	30.00	15.74
816.38	3205	-146.63	-0.71	0.00	3902.0	3986.1	3817.9	1281.2	3741.5	89.04	-12.92	145	825.53	0.00	0.32	3.55	0.000	0.161	0.047	3901.62	3985.88	3817.38	1329.12	2245.38	0	0	0	30.00	15.84	15.91
1011.50	420	-146.63	-0.77	80.00	3902.6	3986.5	3818.6	1329.0	2245.1	104.52	-7.68	165	1020.47	0.00	0.00	3.94	0.000	0.000	0.127	3902.16	3986.19	3818.12	1329.06	3742.31	0	0	0	30.00	30.00	15.90
1144.44	1060	-146.63	-0.77	0.00	3902.8	3986.3	3819.3	1329.2	3742.4	116.89	-9.46	190	1156.39	0.00	0.00	3.55	0.000	0.000	0.047	3903.03	3986.19	3819.88	1328.94	2247.88	0	0	0	30.00	30.00	15.95
1344.10	4257	-146.63	-0.85	0.00	3902.9	3986.2	3819.6	1328.9	2247.9	131.68	-6.93	211	1346.36	0.00	0.29	0.00	0.000	0.066	0.000	3902.78	3986.19	3819.38	1274.62	2248.12	0	0	0	30.00	15.98	30.00
1533.95	292	-146.63	-0.85	80.00	3902.9	3986.4	3819.3	1274.7	2246.8	149.63	-9.30	230	1539.84	0.00	0.00	2.53	0.000	0.000	0.117	3903.62	3986.81	3820.44	1274.38	3216.25	0	0	0	30.00	30.00	15.99
1540	end dive: TARGET_DEPTH_EXCEEDED
state	1540	begin apogee
1546.58	10243	0.00	-0.28	0.00	3903.0	3986.4	3819.5	1274.6	2154.6	150.05	-9.23	231	1672.98	112.92	1.14	0.09	1.102	0.144	0.216	3299.16	3397.69	3200.62	1435.62	2201.00	0	0	0	11.49	15.97	15.38
1674	end apogee: CONTROL_FINISHED_OK
state	1674	begin climb
1674.50	10759	146.63	1.16	-80.00	3296.2	3394.1	3198.4	1435.9	2200.9	155.40	0.00	243	1818.19	117.33	2.39	4.18	1.065	0.107	0.157	2699.16	2800.06	2598.25	1783.69	715.56	0	0	0	11.36	15.44	15.17
1832.41	1156	146.63	1.08	0.00	2695.6	2793.8	2597.5	1783.7	715.4	141.40	14.15	269	1841.68	0.00	0.00	3.83	0.000	0.000	0.075	2696.59	2794.38	2598.81	1783.81	2194.00	0	0	0	30.00	30.00	15.38
2027.45	20611	146.63	1.04	0.00	2693.3	2791.5	2595.2	1783.2	2194.3	115.52	12.94	289	2029.87	0.00	0.31	0.00	0.000	0.178	0.000	2695.19	2792.44	2597.94	1746.88	2194.38	0	0	0	30.00	15.62	30.00
2217.58	16806	146.81	1.09	80.00	2692.5	2790.9	2594.1	1745.4	2193.7	95.26	9.99	308	2226.63	0.00	0.00	3.89	0.000	0.000	0.140	2691.91	2790.25	2593.56	1746.75	3645.00	0	0	0	30.00	30.00	15.74
2290.09	17542	146.81	1.05	0.00	2691.1	2788.6	2593.6	1746.6	3644.5	86.21	12.57	322	2298.55	0.00	0.00	3.62	0.000	0.000	0.056	2692.81	2790.88	2594.75	1746.62	2159.06	0	0	0	30.00	30.00	15.82
2485.99	10403	152.50	1.13	0.00	2690.7	2788.8	2592.6	1746.4	2157.4	66.66	9.74	342	2495.82	5.59	0.20	0.00	0.652	0.085	0.000	2676.88	2776.38	2577.38	1782.06	2157.56	0	0	0	11.51	15.90	30.00
2679.67	0	152.50	1.13	0.00	2675.7	2775.8	2575.7	1782.3	2157.2	46.21	10.37	364	2683.75	0.00	0.00	0.00	0.000	0.000	0.000	2675.84	2775.50	2576.19	1782.38	2157.31	0	0	0	30.00	30.00	30.00
2864.72	260	152.50	1.13	80.00	2675.4	2775.3	2575.6	1782.4	2157.4	27.29	10.00	401	2873.92	0.00	0.00	4.00	0.000	0.000	0.138	2674.88	2774.75	2575.00	1783.00	3645.12	0	0	0	30.00	30.00	15.86
2967.53	5253	152.50	1.02	0.00	2674.4	2774.1	2574.8	1782.9	3645.9	16.00	10.81	420	2980.77	0.00	0.31	3.64	0.000	0.185	0.058	2675.53	2775.69	2575.38	1743.94	2156.69	0	0	0	30.00	15.81	15.88
3165.07	10919	306.81	1.37	-80.00	2674.2	2773.8	2574.6	1743.9	2156.8	7.01	2.85	459	3300.16	115.32	0.60	3.98	0.943	0.059	0.148	2045.97	2177.62	1914.31	1844.31	715.25	0	0	0	11.46	15.90	15.34
3429.51	11431	524.94	1.82	0.00	2038.3	2162.6	1914.1	1844.2	715.4	4.68	-0.10	509	3449.11	8.97	0.64	3.74	0.769	0.058	0.067	2008.78	2135.44	1882.12	1954.50	2196.88	0	0	0	11.33	15.64	15.64
3450	end climb: NO_VERTICAL_VELOCITY
state	3450	begin surface