Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 16 * 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 16 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 1.8962615 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 9.4850006 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 1.8962615 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 9.4850006 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 16 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 240623,162109,4736.352,-12256.684,1,1.0,16,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,162449,4736.362,-12256.673,2,1.0,5,15.4 MHEAD_RNG_PITCHd_Wd 176.3,779,-17.6,-10.000,-21.21,2209,0.136

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:

MODEM_MSG CACST,8,1,20230624172000.609064,18,8736,39,0094,0000,07,00,00,00,01,-1,-01,-01,1,3,0,0,150,-36.7,0.65,-100,2.35,-01,0.05,73,925,0025,0,-1,00,00*2B _24V_AH 14.81,10.290

NAV 1687627738,0.4,3,stop _10V_AH 14.81,0.000

NET CACST,8,0,20230624170508.083771,18,32767,45,0119,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,6.3,2.18,-100,0.82,-01,0.23,65,10000,5000,0,-1,00,00*47 FG_AHR_24Vo 9.665

NET_PING 1687626310,29,526.997986,6.300000,-0.700799 FG_AHR_10Vo 1.945

FREEZE 4.44,14.517,-1.500,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3700.33,247.38,0.913,0,500.0,583.2,416.8,686.84 MEM2 944304,39,101664,91

SM_GC 1.77,0.00,10.76,0.34,0.000,0.047,0.103,497.0,577.9,416.2,197.5,2293.9,0,0,0,30.00,15.41,15.41 DATA_FILE_SIZE 12922,467

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 186696,0

IRIDIUM_FIX 4739.67,-12257.95,240623,151213 SDSIZE 3887104,3867712

TCM_TEMP 15.47 SDFILEDIR 173,17

SC_FREEKB 3873664 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 0,1687622400,47.60500,-122.95000,0.138,202.1 MAGCAL 1.000000,0.005514,-0.123733,0.001807,1.155643,0.096427,0.052826,0.000278,1.037628,137.2,-1687.6,476.6,36,0.0408,0

RAFOS_FIX 4736.423340,-12257.000000,240623,171700,3,255,0.13 IMPLIED_C_PITCH 1540,18.94,259,0.0,0.00

HUMID 52.00 IMPLIED_C_VBD 3329,21.762741,259,0

TEMP 10.70 GPS 240623,172931,4736.001,-12256.847,1,1.5,5,15.4

INTERNAL_PRESSURE 8.03619

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 743 1112 12255.85 nil 0 0 0.00

Pitch_motor 25 257 98.39 nil 0 0 0.00

Roll_motor 61 201 184.52 nil 0 0 0.00

Iridium 146 207 450.92 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.29 nil 0 0 0.00

Core 2346 5 177.95 SciCon 3434 7 362.41

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1395 0 6.61

Compass 1176 5 87.10

RAFOS 2637 40 1562.23

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

7.07 16386 -146.63 -1.16 0.00 494.1 570.6 417.5 196.5 2252.6 0.00 0.00 0 62.55 51.32 0.00 0.00 0.005 0.000 0.000 1807.34 1881.75 1732.94 196.62 2252.38 0 0 0 15.73 30.00 30.00

63.08 18727 -146.63 -1.16 80.00 1810.0 1887.4 1732.6 196.4 2252.9 3.05 -2.96 10 152.09 60.83 8.28 4.01 0.005 0.258 0.121 3899.06 3986.56 3811.56 1219.81 3741.25 0 0 0 15.76 15.59 15.70

321.19 3205 -146.63 -0.80 0.00 3900.4 3985.8 3814.9 1219.9 3740.8 35.02 -15.06 59 329.99 0.00 0.63 3.60 0.000 0.178 0.046 3901.84 3986.88 3816.81 1306.50 2245.06 0 0 0 30.00 15.79 15.86

514.04 292 -146.63 -0.80 80.00 3901.0 3985.6 3816.4 1307.3 2245.4 52.03 -8.40 95 523.23 0.00 0.00 3.97 0.000 0.000 0.124 3901.22 3986.31 3816.12 1307.75 3741.56 0 0 0 30.00 30.00 15.87

566.63 3205 -146.63 -0.69 0.00 3901.4 3985.9 3816.9 1307.4 3741.2 57.40 -10.40 105 575.14 0.00 0.17 3.57 0.000 0.171 0.044 3901.81 3985.88 3817.75 1334.31 2247.75 0 0 0 30.00 15.87 15.94

759.50 160 -146.63 -0.75 0.00 3902.3 3986.5 3818.1 1334.0 2247.4 72.24 -7.53 125 761.37 0.00 0.00 0.00 0.000 0.000 0.000 3901.72 3985.38 3818.06 1334.12 2246.69 0 0 0 30.00 30.00 30.00

949.52 4517 -146.63 -0.81 80.00 3902.8 3986.1 3819.4 1334.1 2247.1 86.62 -7.57 144 958.86 0.00 0.26 4.00 0.000 0.068 0.125 3903.31 3986.38 3820.25 1283.44 3741.19 0 0 0 30.00 15.90 15.86

972.34 3237 -146.63 -0.78 0.00 3902.2 3985.7 3818.8 1283.6 3741.1 89.00 -8.68 148 980.78 0.00 0.22 3.57 0.000 0.162 0.044 3902.75 3986.25 3819.25 1313.19 2246.31 0 0 0 30.00 15.86 15.92

1163.10 420 -146.63 -0.82 80.00 3902.9 3985.8 3820.0 1313.5 2246.0 105.73 -8.51 167 1172.05 0.00 0.00 3.97 0.000 0.000 0.126 3903.72 3986.56 3820.88 1314.44 3739.62 0 0 0 30.00 30.00 15.88

1211.24 1156 -146.63 -0.76 0.00 3902.6 3986.1 3819.1 1314.1 3739.3 110.47 -10.09 176 1220.13 0.00 0.00 3.55 0.000 0.000 0.045 3902.72 3986.31 3819.12 1314.69 2245.94 0 0 0 30.00 30.00 15.94

1406.39 160 -146.63 -0.82 0.00 3902.9 3986.1 3819.8 1314.7 2245.8 127.29 -8.73 196 1408.30 0.00 0.00 0.00 0.000 0.000 0.000 3902.66 3986.12 3819.19 1314.31 2246.44 0 0 0 30.00 30.00 30.00

1596.41 420 -146.63 -0.87 80.00 3903.2 3986.5 3819.9 1314.2 2246.6 143.14 -8.25 215 1605.66 0.00 0.00 4.01 0.000 0.000 0.128 3902.62 3985.56 3819.69 1314.81 3741.69 0 0 0 30.00 30.00 15.88

1656.07 5125 -146.63 -0.87 0.00 3903.2 3986.4 3820.0 1314.4 3740.9 149.13 -10.45 226 1665.41 0.00 0.19 3.58 0.000 0.077 0.046 3903.16 3985.56 3820.75 1272.31 2246.19 0 0 0 30.00 15.95 15.95

1671 end dive: TARGET_DEPTH_EXCEEDED

state 1671 begin apogee

1672.97 10243 0.00 -0.28 0.00 3903.2 3986.3 3820.0 1272.4 2150.9 150.71 -10.40 228 1799.16 113.24 1.14 0.09 1.112 0.139 0.202 3298.59 3397.62 3199.56 1435.12 2202.12 0 0 0 11.49 15.92 15.35

1800 end apogee: CONTROL_FINISHED_OK

state 1800 begin climb

1800.68 10243 146.63 1.16 0.00 3296.1 3393.9 3198.2 1434.9 2202.2 155.67 0.00 239 1933.72 117.64 2.39 0.00 1.074 0.110 0.000 2703.62 2806.31 2600.94 1782.75 2201.69 0 0 0 11.39 15.41 30.00

2122.10 16774 146.63 1.13 80.00 2692.9 2791.4 2594.4 1784.0 2201.7 122.69 12.96 270 2131.45 0.00 0.00 4.03 0.000 0.000 0.142 2696.34 2794.56 2598.12 1783.12 3644.00 0 0 0 30.00 30.00 15.60

2150.69 21639 146.63 1.02 0.00 2692.8 2791.2 2594.3 1783.1 3644.4 118.61 14.16 275 2160.15 0.00 0.35 3.70 0.000 0.190 0.058 2691.38 2789.44 2593.31 1742.12 2158.81 0 0 0 30.00 15.61 15.67

2345.73 16774 146.63 1.08 80.00 2692.3 2790.9 2593.7 1741.5 2159.0 97.44 10.19 295 2355.08 0.00 0.00 4.08 0.000 0.000 0.138 2692.44 2791.56 2593.31 1741.38 3645.19 0 0 0 30.00 30.00 15.72

2388.73 17414 146.63 1.08 0.00 2691.8 2790.2 2593.4 1741.9 3645.2 92.65 11.49 302 2401.01 0.00 0.00 3.67 0.000 0.000 0.056 2693.84 2791.81 2595.88 1741.56 2157.81 0 0 0 30.00 30.00 15.75

2588.47 10403 169.21 1.18 0.00 2691.2 2790.0 2592.5 1741.9 2157.6 73.57 8.95 323 2610.85 18.68 0.31 0.00 0.954 0.072 0.000 2608.22 2710.44 2506.00 1795.38 2158.31 0 0 0 11.56 15.82 30.00

2794.84 260 169.21 1.18 80.00 2604.8 2705.1 2504.4 1795.6 2158.2 49.18 12.22 345 2804.18 0.00 0.00 4.10 0.000 0.000 0.137 2605.03 2705.44 2504.62 1795.62 3642.81 0 0 0 30.00 30.00 15.75

2898.41 5253 169.21 1.07 0.00 2603.5 2703.7 2503.4 1794.6 3643.5 35.13 13.33 365 2907.66 0.00 0.34 3.64 0.000 0.187 0.057 2603.62 2704.12 2503.12 1753.25 2159.44 0 0 0 30.00 15.76 15.82

3091.99 10403 206.82 1.21 0.00 2603.2 2703.9 2502.5 1752.9 2159.0 17.29 8.26 403 3129.31 30.42 0.28 0.00 0.937 0.079 0.000 2454.97 2565.94 2344.00 1804.50 2159.00 0 0 0 11.38 15.85 30.00

3312.89 10919 368.32 1.55 -80.00 2448.2 2559.9 2336.6 1803.9 2159.1 5.75 2.52 446 3427.83 104.46 0.46 0.00 0.938 0.063 0.000 1880.50 2017.12 1743.88 1887.56 2159.12 0 0 0 11.31 15.77 30.00

3428 end climb: NO_VERTICAL_VELOCITY

state 3428 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	16	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	1.8962615	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	9.4850006	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	240623,162109,4736.352,-12256.684,1,1.0,16,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,162449,4736.362,-12256.673,2,1.0,5,15.4	MHEAD_RNG_PITCHd_Wd	176.3,779,-17.6,-10.000,-21.21,2209,0.136
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

MODEM_MSG	CACST,8,1,20230624172000.609064,18,8736,39,0094,0000,07,00,00,00,01,-1,-01,-01,1,3,0,0,150,-36.7,0.65,-100,2.35,-01,0.05,73,925,0025,0,-1,00,00*2B	_24V_AH	14.81,10.290
NAV	1687627738,0.4,3,stop	_10V_AH	14.81,0.000
NET	CACST,8,0,20230624170508.083771,18,32767,45,0119,0113,07,00,00,00,00,1,029,245,0,5,1,0,150,6.3,2.18,-100,0.82,-01,0.23,65,10000,5000,0,-1,00,00*47	FG_AHR_24Vo	9.665
NET_PING	1687626310,29,526.997986,6.300000,-0.700799	FG_AHR_10Vo	1.945
FREEZE	4.44,14.517,-1.500,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3700.33,247.38,0.913,0,500.0,583.2,416.8,686.84	MEM2	944304,39,101664,91
SM_GC	1.77,0.00,10.76,0.34,0.000,0.047,0.103,497.0,577.9,416.2,197.5,2293.9,0,0,0,30.00,15.41,15.41	DATA_FILE_SIZE	12922,467
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	186696,0
IRIDIUM_FIX	4739.67,-12257.95,240623,151213	SDSIZE	3887104,3867712
TCM_TEMP	15.47	SDFILEDIR	173,17
SC_FREEKB	3873664	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	0,1687622400,47.60500,-122.95000,0.138,202.1	MAGCAL	1.000000,0.005514,-0.123733,0.001807,1.155643,0.096427,0.052826,0.000278,1.037628,137.2,-1687.6,476.6,36,0.0408,0
RAFOS_FIX	4736.423340,-12257.000000,240623,171700,3,255,0.13	IMPLIED_C_PITCH	1540,18.94,259,0.0,0.00
HUMID	52.00	IMPLIED_C_VBD	3329,21.762741,259,0
TEMP	10.70	GPS	240623,172931,4736.001,-12256.847,1,1.5,5,15.4
INTERNAL_PRESSURE	8.03619

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	743	1112	12255.85	nil	0	0	0.00
Pitch_motor	25	257	98.39	nil	0	0	0.00
Roll_motor	61	201	184.52	nil	0	0	0.00
Iridium	146	207	450.92	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.29	nil	0	0	0.00
Core	2346	5	177.95	SciCon	3434	7	362.41
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1395	0	6.61
Compass	1176	5	87.10
RAFOS	2637	40	1562.23
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
7.07	16386	-146.63	-1.16	0.00	494.1	570.6	417.5	196.5	2252.6	0.00	0.00	0	62.55	51.32	0.00	0.00	0.005	0.000	0.000	1807.34	1881.75	1732.94	196.62	2252.38	0	0	0	15.73	30.00	30.00
63.08	18727	-146.63	-1.16	80.00	1810.0	1887.4	1732.6	196.4	2252.9	3.05	-2.96	10	152.09	60.83	8.28	4.01	0.005	0.258	0.121	3899.06	3986.56	3811.56	1219.81	3741.25	0	0	0	15.76	15.59	15.70
321.19	3205	-146.63	-0.80	0.00	3900.4	3985.8	3814.9	1219.9	3740.8	35.02	-15.06	59	329.99	0.00	0.63	3.60	0.000	0.178	0.046	3901.84	3986.88	3816.81	1306.50	2245.06	0	0	0	30.00	15.79	15.86
514.04	292	-146.63	-0.80	80.00	3901.0	3985.6	3816.4	1307.3	2245.4	52.03	-8.40	95	523.23	0.00	0.00	3.97	0.000	0.000	0.124	3901.22	3986.31	3816.12	1307.75	3741.56	0	0	0	30.00	30.00	15.87
566.63	3205	-146.63	-0.69	0.00	3901.4	3985.9	3816.9	1307.4	3741.2	57.40	-10.40	105	575.14	0.00	0.17	3.57	0.000	0.171	0.044	3901.81	3985.88	3817.75	1334.31	2247.75	0	0	0	30.00	15.87	15.94
759.50	160	-146.63	-0.75	0.00	3902.3	3986.5	3818.1	1334.0	2247.4	72.24	-7.53	125	761.37	0.00	0.00	0.00	0.000	0.000	0.000	3901.72	3985.38	3818.06	1334.12	2246.69	0	0	0	30.00	30.00	30.00
949.52	4517	-146.63	-0.81	80.00	3902.8	3986.1	3819.4	1334.1	2247.1	86.62	-7.57	144	958.86	0.00	0.26	4.00	0.000	0.068	0.125	3903.31	3986.38	3820.25	1283.44	3741.19	0	0	0	30.00	15.90	15.86
972.34	3237	-146.63	-0.78	0.00	3902.2	3985.7	3818.8	1283.6	3741.1	89.00	-8.68	148	980.78	0.00	0.22	3.57	0.000	0.162	0.044	3902.75	3986.25	3819.25	1313.19	2246.31	0	0	0	30.00	15.86	15.92
1163.10	420	-146.63	-0.82	80.00	3902.9	3985.8	3820.0	1313.5	2246.0	105.73	-8.51	167	1172.05	0.00	0.00	3.97	0.000	0.000	0.126	3903.72	3986.56	3820.88	1314.44	3739.62	0	0	0	30.00	30.00	15.88
1211.24	1156	-146.63	-0.76	0.00	3902.6	3986.1	3819.1	1314.1	3739.3	110.47	-10.09	176	1220.13	0.00	0.00	3.55	0.000	0.000	0.045	3902.72	3986.31	3819.12	1314.69	2245.94	0	0	0	30.00	30.00	15.94
1406.39	160	-146.63	-0.82	0.00	3902.9	3986.1	3819.8	1314.7	2245.8	127.29	-8.73	196	1408.30	0.00	0.00	0.00	0.000	0.000	0.000	3902.66	3986.12	3819.19	1314.31	2246.44	0	0	0	30.00	30.00	30.00
1596.41	420	-146.63	-0.87	80.00	3903.2	3986.5	3819.9	1314.2	2246.6	143.14	-8.25	215	1605.66	0.00	0.00	4.01	0.000	0.000	0.128	3902.62	3985.56	3819.69	1314.81	3741.69	0	0	0	30.00	30.00	15.88
1656.07	5125	-146.63	-0.87	0.00	3903.2	3986.4	3820.0	1314.4	3740.9	149.13	-10.45	226	1665.41	0.00	0.19	3.58	0.000	0.077	0.046	3903.16	3985.56	3820.75	1272.31	2246.19	0	0	0	30.00	15.95	15.95
1671	end dive: TARGET_DEPTH_EXCEEDED
state	1671	begin apogee
1672.97	10243	0.00	-0.28	0.00	3903.2	3986.3	3820.0	1272.4	2150.9	150.71	-10.40	228	1799.16	113.24	1.14	0.09	1.112	0.139	0.202	3298.59	3397.62	3199.56	1435.12	2202.12	0	0	0	11.49	15.92	15.35
1800	end apogee: CONTROL_FINISHED_OK
state	1800	begin climb
1800.68	10243	146.63	1.16	0.00	3296.1	3393.9	3198.2	1434.9	2202.2	155.67	0.00	239	1933.72	117.64	2.39	0.00	1.074	0.110	0.000	2703.62	2806.31	2600.94	1782.75	2201.69	0	0	0	11.39	15.41	30.00
2122.10	16774	146.63	1.13	80.00	2692.9	2791.4	2594.4	1784.0	2201.7	122.69	12.96	270	2131.45	0.00	0.00	4.03	0.000	0.000	0.142	2696.34	2794.56	2598.12	1783.12	3644.00	0	0	0	30.00	30.00	15.60
2150.69	21639	146.63	1.02	0.00	2692.8	2791.2	2594.3	1783.1	3644.4	118.61	14.16	275	2160.15	0.00	0.35	3.70	0.000	0.190	0.058	2691.38	2789.44	2593.31	1742.12	2158.81	0	0	0	30.00	15.61	15.67
2345.73	16774	146.63	1.08	80.00	2692.3	2790.9	2593.7	1741.5	2159.0	97.44	10.19	295	2355.08	0.00	0.00	4.08	0.000	0.000	0.138	2692.44	2791.56	2593.31	1741.38	3645.19	0	0	0	30.00	30.00	15.72
2388.73	17414	146.63	1.08	0.00	2691.8	2790.2	2593.4	1741.9	3645.2	92.65	11.49	302	2401.01	0.00	0.00	3.67	0.000	0.000	0.056	2693.84	2791.81	2595.88	1741.56	2157.81	0	0	0	30.00	30.00	15.75
2588.47	10403	169.21	1.18	0.00	2691.2	2790.0	2592.5	1741.9	2157.6	73.57	8.95	323	2610.85	18.68	0.31	0.00	0.954	0.072	0.000	2608.22	2710.44	2506.00	1795.38	2158.31	0	0	0	11.56	15.82	30.00
2794.84	260	169.21	1.18	80.00	2604.8	2705.1	2504.4	1795.6	2158.2	49.18	12.22	345	2804.18	0.00	0.00	4.10	0.000	0.000	0.137	2605.03	2705.44	2504.62	1795.62	3642.81	0	0	0	30.00	30.00	15.75
2898.41	5253	169.21	1.07	0.00	2603.5	2703.7	2503.4	1794.6	3643.5	35.13	13.33	365	2907.66	0.00	0.34	3.64	0.000	0.187	0.057	2603.62	2704.12	2503.12	1753.25	2159.44	0	0	0	30.00	15.76	15.82
3091.99	10403	206.82	1.21	0.00	2603.2	2703.9	2502.5	1752.9	2159.0	17.29	8.26	403	3129.31	30.42	0.28	0.00	0.937	0.079	0.000	2454.97	2565.94	2344.00	1804.50	2159.00	0	0	0	11.38	15.85	30.00
3312.89	10919	368.32	1.55	-80.00	2448.2	2559.9	2336.6	1803.9	2159.1	5.75	2.52	446	3427.83	104.46	0.46	0.00	0.938	0.063	0.000	1880.50	2017.12	1743.88	1887.56	2159.12	0	0	0	11.31	15.77	30.00
3428	end climb: NO_VERTICAL_VELOCITY
state	3428	begin surface