Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 15 * 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 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 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 1 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 0.097239666 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 8.7862844 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 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 0.097239666 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 8.7862844 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 15 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 1 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 240623,135714,4736.405,-12256.385,8,0.9,11,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.14 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,140022,4736.410,-12256.396,3,1.5,9,15.4 MHEAD_RNG_PITCHd_Wd 198.0,989,-17.6,-10.000,-21.21,2209,0.141

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.035681,-0.013277,-0.028256,1.032868,-0.017617,0.011370,-0.042922,0.898428,385.126373,-632.977478,-548.622559

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687618548,0.7,0,stop _24V_AH 14.86,9.393

NET xmit ok outbox0013.n 922 15 _10V_AH 14.93,0.000

NET_PING 1687617012,29,478.138489,13.300000,-0.636131 FG_AHR_24Vo 8.962

MODEM_MSG CACST,8,1,20230624142000.342524,18,32767,45,0141,0000,246,03,03,00,05,-1,-01,-01,1,3,0,0,150,-39.1,0.55,-100,2.45,-01,0.04,54,925,0025,0,-1,00,00*24 FG_AHR_10Vo 0.107

FREEZE 5.15,14.445,-1.487,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3184.40,227.04,0.881,0,500.4,451.6,549.3,686.73 MEM2 945620,33,100908,69

SM_GC 2.30,0.00,11.15,0.12,0.000,0.026,0.133,496.3,449.0,543.6,183.8,2561.7,0,0,0,30.00,15.26,15.23 DATA_FILE_SIZE 9756,419

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 252416,0

IRIDIUM_FIX 4735.53,-12254.47,240623,130441 SDSIZE 3887104,3867360

TCM_TEMP 15.32 SDFILEDIR 167,16

SC_FREEKB 3873952 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 1,1687615800,47.60500,-122.95000,0.396,579.4 CURRENT 0.007,258.3,1

RAFOS_FIX 4736.593750,-12257.000000,240623,141400,2,510,0.70 MAGCAL 1.000000,0.069620,-0.110520,0.044448,0.990726,-0.051144,0.183071,-0.050689,1.240412,454.1,-656.4,-801.4,24,0.0552,0

HUMID 52.10 IMPLIED_C_PITCH 1589,19.22,214,0.0,0.00

TEMP 10.40 IMPLIED_C_VBD 3114,19.657448,214,0

INTERNAL_PRESSURE 8.54209 GPS 240623,145622,4736.121,-12256.694,3,1.3,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 715 1075 11432.13 nil 0 0 0.00

Pitch_motor 25 258 97.98 nil 0 0 0.00

Roll_motor 54 163 132.29 nil 0 0 0.00

Iridium 118 175 307.98 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 18 15 4.05 nil 0 0 0.00

Core 1988 5 152.01 SciCon 2951 9 405.47

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1236 0 5.91

Compass 951 5 71.02

RAFOS 2278 40 1360.55

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

6.61 16386 -146.63 -1.35 0.00 494.2 452.4 535.9 191.4 2564.3 0.00 0.00 0 52.05 43.28 0.00 0.00 0.005 0.000 0.000 1590.00 1559.25 1620.75 190.94 2565.25 0 0 0 14.94 30.00 30.00

52.33 18983 -146.63 -1.35 -80.00 1591.1 1560.9 1621.3 190.8 2565.0 3.22 -2.94 5 137.81 66.43 8.30 3.60 0.005 0.258 0.072 3898.31 3862.81 3933.81 1271.25 1068.56 0 0 0 15.57 15.40 15.51

351.19 3205 -146.63 -1.24 0.00 3900.8 3864.5 3937.1 1271.4 1068.6 46.39 -16.00 64 358.30 0.00 0.20 3.51 0.000 0.183 0.037 3900.69 3863.81 3937.56 1300.81 2557.19 0 0 0 30.00 15.55 15.59

546.61 388 -146.63 -1.17 80.00 3901.3 3864.2 3938.3 1300.6 2557.1 74.44 -14.43 86 552.68 0.00 0.00 3.34 0.000 0.000 0.109 3901.25 3864.19 3938.31 1301.62 3889.94 0 0 0 30.00 30.00 15.59

591.62 3205 -146.63 -1.04 0.00 3901.2 3864.4 3938.1 1301.8 3889.9 82.07 -17.70 95 597.83 0.00 0.31 3.12 0.000 0.166 0.015 3902.28 3865.38 3939.19 1349.81 2487.94 0 0 0 30.00 15.57 15.65

786.56 260 -146.63 -1.04 80.00 3901.8 3864.5 3939.2 1350.1 2488.1 105.71 -11.12 115 793.00 0.00 0.00 3.53 0.000 0.000 0.106 3902.81 3865.62 3940.00 1350.94 3892.25 0 0 0 30.00 30.00 15.62

811.92 1156 -146.63 -1.00 0.00 3901.9 3864.6 3939.2 1350.8 3892.2 108.81 -11.71 120 817.83 0.00 0.00 3.12 0.000 0.000 0.015 3902.25 3865.06 3939.44 1350.56 2486.62 0 0 0 30.00 30.00 15.69

1006.87 260 -146.63 -1.00 80.00 3902.1 3864.6 3939.5 1350.3 2485.4 130.01 -10.62 140 1018.62 0.00 0.00 3.56 0.000 0.000 0.107 3902.31 3864.69 3939.94 1351.25 3888.75 0 0 0 30.00 30.00 15.47

1047.02 1156 -146.63 -0.94 0.00 3901.8 3864.4 3939.2 1351.1 3888.7 135.18 -13.43 148 1053.16 0.00 0.00 3.13 0.000 0.000 0.015 3902.81 3864.81 3940.81 1351.44 2488.12 0 0 0 30.00 30.00 15.56

1182 end dive: TARGET_DEPTH_EXCEEDED

state 1182 begin apogee

1183.39 10243 0.00 -0.33 0.00 3902.2 3864.5 3939.9 1351.6 2566.8 150.40 -11.04 162 1297.69 106.50 1.13 0.08 1.076 0.127 0.163 3299.19 3252.44 3345.94 1521.19 2513.12 0 0 0 11.72 15.55 15.28

1299 end apogee: CONTROL_FINISHED_OK

state 1299 begin climb

1299.09 10243 146.63 1.35 0.00 3296.3 3248.6 3344.1 1521.0 2512.8 155.96 0.00 173 1421.40 110.99 2.67 0.00 1.044 0.089 0.000 2700.75 2634.06 2767.44 1927.75 2513.12 0 0 0 11.57 15.25 30.00

1605.02 21127 146.63 1.22 -80.00 2690.5 2624.9 2756.1 1930.4 2512.8 118.95 16.62 204 1612.43 0.00 0.34 3.47 0.000 0.162 0.077 2693.75 2628.00 2759.50 1891.25 1080.94 0 0 0 30.00 15.38 15.42

1630.83 17542 146.63 1.12 0.00 2689.2 2624.2 2754.2 1890.8 1080.6 114.91 15.50 209 1637.17 0.00 0.00 3.51 0.000 0.000 0.037 2690.06 2624.75 2755.38 1888.69 2563.94 0 0 0 30.00 30.00 15.45

1819.22 20611 146.63 1.04 0.00 2688.3 2622.5 2754.2 1890.9 2564.6 89.34 12.67 229 1821.09 0.00 0.31 0.00 0.000 0.162 0.000 2688.53 2623.19 2753.88 1845.31 2564.25 0 0 0 30.00 15.50 30.00

2009.30 676 150.18 1.00 -80.00 2687.8 2621.2 2754.4 1845.5 2564.2 69.66 9.84 248 2016.35 0.00 0.00 3.56 0.000 0.000 0.072 2690.22 2622.75 2757.69 1845.25 1081.00 0 0 0 30.00 30.00 15.61

2089.01 1156 150.18 0.97 0.00 2686.4 2620.8 2752.1 1845.2 1080.9 61.07 10.57 264 2096.02 0.00 0.00 3.47 0.000 0.000 0.038 2688.50 2622.56 2754.44 1845.62 2566.12 0 0 0 30.00 30.00 15.64

2279.85 8614 172.83 0.96 80.00 2686.4 2620.4 2752.3 1845.1 2566.1 43.32 8.95 290 2307.11 20.22 0.00 3.33 0.903 0.000 0.117 2595.12 2526.00 2664.25 1845.75 3888.94 0 0 0 11.68 30.00 15.59

2340.76 5253 172.83 0.86 0.00 2590.0 2523.0 2656.9 1844.6 3889.1 36.78 12.26 302 2347.54 0.00 0.28 3.10 0.000 0.161 0.016 2593.22 2525.88 2660.56 1802.88 2495.75 0 0 0 30.00 15.59 15.65

2531.23 10403 224.97 0.95 0.00 2587.2 2517.4 2657.1 1802.9 2495.2 21.13 7.59 340 2576.94 40.17 0.22 0.00 0.921 0.049 0.000 2380.81 2303.19 2458.44 1841.50 2496.06 0 0 0 11.66 15.71 30.00

2757.68 10663 336.82 1.14 80.00 2372.9 2292.2 2453.5 1841.6 2496.1 5.28 4.82 383 2848.08 80.41 0.20 3.62 0.908 0.052 0.114 1923.34 1831.81 2014.88 1887.06 3889.88 0 0 0 11.78 15.62 15.32

2916.78 11431 553.68 1.48 0.00 1916.7 1827.2 2006.1 1887.4 3889.4 5.22 -0.04 414 2944.06 20.21 0.42 3.17 0.838 0.035 0.017 1819.28 1728.69 1909.88 1969.06 2499.69 0 0 0 11.50 15.45 15.45

2945 end climb: NO_VERTICAL_VELOCITY

state 2945 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	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	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	1	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	0.097239666	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	8.7862844	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	240623,135714,4736.405,-12256.385,8,0.9,11,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.14	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,140022,4736.410,-12256.396,3,1.5,9,15.4	MHEAD_RNG_PITCHd_Wd	198.0,989,-17.6,-10.000,-21.21,2209,0.141
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.035681,-0.013277,-0.028256,1.032868,-0.017617,0.011370,-0.042922,0.898428,385.126373,-632.977478,-548.622559
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687618548,0.7,0,stop	_24V_AH	14.86,9.393
NET	xmit ok outbox0013.n 922 15	_10V_AH	14.93,0.000
NET_PING	1687617012,29,478.138489,13.300000,-0.636131	FG_AHR_24Vo	8.962
MODEM_MSG	CACST,8,1,20230624142000.342524,18,32767,45,0141,0000,246,03,03,00,05,-1,-01,-01,1,3,0,0,150,-39.1,0.55,-100,2.45,-01,0.04,54,925,0025,0,-1,00,00*24	FG_AHR_10Vo	0.107
FREEZE	5.15,14.445,-1.487,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3184.40,227.04,0.881,0,500.4,451.6,549.3,686.73	MEM2	945620,33,100908,69
SM_GC	2.30,0.00,11.15,0.12,0.000,0.026,0.133,496.3,449.0,543.6,183.8,2561.7,0,0,0,30.00,15.26,15.23	DATA_FILE_SIZE	9756,419
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	252416,0
IRIDIUM_FIX	4735.53,-12254.47,240623,130441	SDSIZE	3887104,3867360
TCM_TEMP	15.32	SDFILEDIR	167,16
SC_FREEKB	3873952	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	1,1687615800,47.60500,-122.95000,0.396,579.4	CURRENT	0.007,258.3,1
RAFOS_FIX	4736.593750,-12257.000000,240623,141400,2,510,0.70	MAGCAL	1.000000,0.069620,-0.110520,0.044448,0.990726,-0.051144,0.183071,-0.050689,1.240412,454.1,-656.4,-801.4,24,0.0552,0
HUMID	52.10	IMPLIED_C_PITCH	1589,19.22,214,0.0,0.00
TEMP	10.40	IMPLIED_C_VBD	3114,19.657448,214,0
INTERNAL_PRESSURE	8.54209	GPS	240623,145622,4736.121,-12256.694,3,1.3,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	715	1075	11432.13	nil	0	0	0.00
Pitch_motor	25	258	97.98	nil	0	0	0.00
Roll_motor	54	163	132.29	nil	0	0	0.00
Iridium	118	175	307.98	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	18	15	4.05	nil	0	0	0.00
Core	1988	5	152.01	SciCon	2951	9	405.47
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1236	0	5.91
Compass	951	5	71.02
RAFOS	2278	40	1360.55
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
6.61	16386	-146.63	-1.35	0.00	494.2	452.4	535.9	191.4	2564.3	0.00	0.00	0	52.05	43.28	0.00	0.00	0.005	0.000	0.000	1590.00	1559.25	1620.75	190.94	2565.25	0	0	0	14.94	30.00	30.00
52.33	18983	-146.63	-1.35	-80.00	1591.1	1560.9	1621.3	190.8	2565.0	3.22	-2.94	5	137.81	66.43	8.30	3.60	0.005	0.258	0.072	3898.31	3862.81	3933.81	1271.25	1068.56	0	0	0	15.57	15.40	15.51
351.19	3205	-146.63	-1.24	0.00	3900.8	3864.5	3937.1	1271.4	1068.6	46.39	-16.00	64	358.30	0.00	0.20	3.51	0.000	0.183	0.037	3900.69	3863.81	3937.56	1300.81	2557.19	0	0	0	30.00	15.55	15.59
546.61	388	-146.63	-1.17	80.00	3901.3	3864.2	3938.3	1300.6	2557.1	74.44	-14.43	86	552.68	0.00	0.00	3.34	0.000	0.000	0.109	3901.25	3864.19	3938.31	1301.62	3889.94	0	0	0	30.00	30.00	15.59
591.62	3205	-146.63	-1.04	0.00	3901.2	3864.4	3938.1	1301.8	3889.9	82.07	-17.70	95	597.83	0.00	0.31	3.12	0.000	0.166	0.015	3902.28	3865.38	3939.19	1349.81	2487.94	0	0	0	30.00	15.57	15.65
786.56	260	-146.63	-1.04	80.00	3901.8	3864.5	3939.2	1350.1	2488.1	105.71	-11.12	115	793.00	0.00	0.00	3.53	0.000	0.000	0.106	3902.81	3865.62	3940.00	1350.94	3892.25	0	0	0	30.00	30.00	15.62
811.92	1156	-146.63	-1.00	0.00	3901.9	3864.6	3939.2	1350.8	3892.2	108.81	-11.71	120	817.83	0.00	0.00	3.12	0.000	0.000	0.015	3902.25	3865.06	3939.44	1350.56	2486.62	0	0	0	30.00	30.00	15.69
1006.87	260	-146.63	-1.00	80.00	3902.1	3864.6	3939.5	1350.3	2485.4	130.01	-10.62	140	1018.62	0.00	0.00	3.56	0.000	0.000	0.107	3902.31	3864.69	3939.94	1351.25	3888.75	0	0	0	30.00	30.00	15.47
1047.02	1156	-146.63	-0.94	0.00	3901.8	3864.4	3939.2	1351.1	3888.7	135.18	-13.43	148	1053.16	0.00	0.00	3.13	0.000	0.000	0.015	3902.81	3864.81	3940.81	1351.44	2488.12	0	0	0	30.00	30.00	15.56
1182	end dive: TARGET_DEPTH_EXCEEDED
state	1182	begin apogee
1183.39	10243	0.00	-0.33	0.00	3902.2	3864.5	3939.9	1351.6	2566.8	150.40	-11.04	162	1297.69	106.50	1.13	0.08	1.076	0.127	0.163	3299.19	3252.44	3345.94	1521.19	2513.12	0	0	0	11.72	15.55	15.28
1299	end apogee: CONTROL_FINISHED_OK
state	1299	begin climb
1299.09	10243	146.63	1.35	0.00	3296.3	3248.6	3344.1	1521.0	2512.8	155.96	0.00	173	1421.40	110.99	2.67	0.00	1.044	0.089	0.000	2700.75	2634.06	2767.44	1927.75	2513.12	0	0	0	11.57	15.25	30.00
1605.02	21127	146.63	1.22	-80.00	2690.5	2624.9	2756.1	1930.4	2512.8	118.95	16.62	204	1612.43	0.00	0.34	3.47	0.000	0.162	0.077	2693.75	2628.00	2759.50	1891.25	1080.94	0	0	0	30.00	15.38	15.42
1630.83	17542	146.63	1.12	0.00	2689.2	2624.2	2754.2	1890.8	1080.6	114.91	15.50	209	1637.17	0.00	0.00	3.51	0.000	0.000	0.037	2690.06	2624.75	2755.38	1888.69	2563.94	0	0	0	30.00	30.00	15.45
1819.22	20611	146.63	1.04	0.00	2688.3	2622.5	2754.2	1890.9	2564.6	89.34	12.67	229	1821.09	0.00	0.31	0.00	0.000	0.162	0.000	2688.53	2623.19	2753.88	1845.31	2564.25	0	0	0	30.00	15.50	30.00
2009.30	676	150.18	1.00	-80.00	2687.8	2621.2	2754.4	1845.5	2564.2	69.66	9.84	248	2016.35	0.00	0.00	3.56	0.000	0.000	0.072	2690.22	2622.75	2757.69	1845.25	1081.00	0	0	0	30.00	30.00	15.61
2089.01	1156	150.18	0.97	0.00	2686.4	2620.8	2752.1	1845.2	1080.9	61.07	10.57	264	2096.02	0.00	0.00	3.47	0.000	0.000	0.038	2688.50	2622.56	2754.44	1845.62	2566.12	0	0	0	30.00	30.00	15.64
2279.85	8614	172.83	0.96	80.00	2686.4	2620.4	2752.3	1845.1	2566.1	43.32	8.95	290	2307.11	20.22	0.00	3.33	0.903	0.000	0.117	2595.12	2526.00	2664.25	1845.75	3888.94	0	0	0	11.68	30.00	15.59
2340.76	5253	172.83	0.86	0.00	2590.0	2523.0	2656.9	1844.6	3889.1	36.78	12.26	302	2347.54	0.00	0.28	3.10	0.000	0.161	0.016	2593.22	2525.88	2660.56	1802.88	2495.75	0	0	0	30.00	15.59	15.65
2531.23	10403	224.97	0.95	0.00	2587.2	2517.4	2657.1	1802.9	2495.2	21.13	7.59	340	2576.94	40.17	0.22	0.00	0.921	0.049	0.000	2380.81	2303.19	2458.44	1841.50	2496.06	0	0	0	11.66	15.71	30.00
2757.68	10663	336.82	1.14	80.00	2372.9	2292.2	2453.5	1841.6	2496.1	5.28	4.82	383	2848.08	80.41	0.20	3.62	0.908	0.052	0.114	1923.34	1831.81	2014.88	1887.06	3889.88	0	0	0	11.78	15.62	15.32
2916.78	11431	553.68	1.48	0.00	1916.7	1827.2	2006.1	1887.4	3889.4	5.22	-0.04	414	2944.06	20.21	0.42	3.17	0.838	0.035	0.017	1819.28	1728.69	1909.88	1969.06	2499.69	0	0	0	11.50	15.45	15.45
2945	end climb: NO_VERTICAL_VELOCITY
state	2945	begin surface