Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 2 * 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 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 3 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 0.023433939 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 6.446701 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 3 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 0.023433939 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 6.446701 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 2 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 240623,013722,4736.375,-12256.553,1,1.3,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,014016,4736.375,-12256.540,2,1.3,6,15.4 MHEAD_RNG_PITCHd_Wd 185.6,851,-17.6,-10.000,-21.21,2209,0.131

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,-0.012776,-0.198512,-0.083828,1.040785,-0.056017,0.027593,-0.092865,1.070599,476.132324,-545.813538,-619.296936

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687573634,18.4,4,stop _10V_AH 15.00,0.000

NET CACST,8,0,20230624021532.339329,18,25913,44,0145,0150,07,00,00,00,00,1,029,121,0,5,3,0,150,6.9,2.56,-100,0.44,-01,0.29,64,10000,5000,0,1,00,00*6B FG_AHR_24Vo 6.613

MODEM_MSG CACST,8,1,20230624022501.490424,18,14816,35,0175,0000,246,02,02,01,03,-1,-01,-01,2,3,1,0,150,4.0,4.10,-100,-1.10,-01,0.19,67,925,0025,0,-1,00,00*14 FG_AHR_10Vo 0.024

FREEZE 5.30,14.816,-1.470,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3409.55,225.88,0.851,0,500.8,459.4,542.2,686.64 MEM2 945760,27,100888,69

SM_GC 2.39,0.00,10.65,3.14,0.000,0.025,0.016,497.1,456.6,537.7,184.9,2496.2,0,0,0,30.00,15.48,15.46 DATA_FILE_SIZE 12950,468

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 260119,0

IRIDIUM_FIX 4736.00,-12258.89,240623,013345 SDSIZE 3887104,3872000

TCM_TEMP 16.79 SDFILEDIR 52,3

SC_FREEKB 3878112 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 0,1687572000,47.60500,-122.95000,0.215,307.9 CURRENT 0.055,188.1,1

RAFOS_FIX 4736.677734,-12257.000000,240623,020201,4,255,0.30 MAGCAL 1.000000,0.035163,-0.190490,-0.087788,1.023598,-0.009267,0.107516,-0.201858,0.973144,485.5,-568.3,-557.8,27,0.0604,0

HUMID 58.24 IMPLIED_C_PITCH 1593,19.74,239,0.0,0.00

TEMP 12.40 IMPLIED_C_VBD 3236,35.366253,239,0

INTERNAL_PRESSURE 8.67366 GPS 240623,024010,4735.937,-12256.778,14,1.7,15,15.4

_24V_AH 15.10,6.781

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 721 1014 11050.47 nil 0 0 0.00

Pitch_motor 24 233 85.24 nil 0 0 0.00

Roll_motor 45 167 115.36 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.54 nil 0 0 0.00

Core 1870 5 143.66 SciCon 3174 9 441.30

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1450 0 6.96

Compass 1031 5 77.35

RAFOS 2177 40 1306.75

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

6.70 16386 -146.63 -1.35 0.00 492.6 455.4 529.8 188.5 2496.7 0.00 0.00 0 85.63 75.67 0.00 0.00 0.005 0.000 0.000 2327.41 2296.50 2358.31 188.56 2497.19 0 0 0 15.92 30.00 30.00

85.91 18727 -146.63 -1.35 80.00 2328.2 2296.5 2360.0 188.6 2497.0 3.13 -1.62 15 150.88 43.14 7.93 3.29 0.005 0.234 0.085 3897.97 3861.19 3934.75 1272.75 3892.62 0 0 0 15.95 15.77 15.85

281.45 3205 -146.63 -1.14 0.00 3900.0 3862.4 3937.7 1272.9 3892.9 30.54 -15.36 51 287.29 0.00 0.36 3.05 0.000 0.164 0.011 3900.66 3863.19 3938.12 1325.50 2481.81 0 0 0 30.00 15.79 15.90

471.43 128 -146.63 -1.08 0.00 3900.9 3862.6 3939.2 1325.9 2481.9 49.52 -10.43 89 475.15 0.00 0.00 0.00 0.000 0.000 0.000 3900.97 3862.25 3939.69 1325.62 2481.62 0 0 0 30.00 30.00 30.00

661.50 388 -146.63 -1.04 80.00 3901.2 3862.5 3939.9 1325.8 2481.4 69.31 -10.65 109 667.71 0.00 0.00 3.38 0.000 0.000 0.088 3902.34 3863.31 3941.38 1325.69 3891.56 0 0 0 30.00 30.00 15.85

727.29 3205 -146.63 -0.91 0.00 3901.3 3862.4 3940.2 1325.9 3891.6 78.38 -14.46 122 733.62 0.00 0.35 3.06 0.000 0.146 0.011 3901.06 3861.75 3940.38 1382.56 2480.50 0 0 0 30.00 15.84 15.93

922.36 160 -146.63 -0.93 0.00 3902.2 3863.5 3940.9 1382.2 2481.0 97.43 -9.61 142 923.93 0.00 0.00 0.00 0.000 0.000 0.000 3901.59 3862.50 3940.69 1382.25 2480.12 0 0 0 30.00 30.00 30.00

1114.91 420 -146.63 -0.95 80.00 3901.9 3862.6 3941.3 1382.2 2480.6 113.41 -8.59 160 1120.85 0.00 0.00 3.39 0.000 0.000 0.093 3903.62 3864.00 3943.25 1381.88 3892.69 0 0 0 30.00 30.00 15.87

1172.72 1156 -146.63 -0.92 0.00 3902.0 3862.6 3941.4 1382.6 3892.5 120.39 -10.94 171 1183.33 0.00 0.00 3.08 0.000 0.000 0.012 3902.00 3862.62 3941.38 1382.56 2481.94 0 0 0 30.00 30.00 15.86

1372.80 420 -146.63 -0.96 80.00 3901.8 3862.4 3941.2 1382.6 2481.6 138.27 -8.90 192 1378.71 0.00 0.00 3.40 0.000 0.000 0.096 3903.47 3863.81 3943.12 1382.31 3892.50 0 0 0 30.00 30.00 15.86

1421.73 1156 -146.63 -0.94 0.00 3901.8 3862.6 3940.9 1382.7 3892.5 143.76 -11.51 202 1428.29 0.00 0.00 3.07 0.000 0.000 0.013 3902.94 3863.69 3942.19 1382.00 2483.12 0 0 0 30.00 30.00 15.92

1488 end dive: TARGET_DEPTH_EXCEEDED

state 1488 begin apogee

1489.09 10243 0.00 -0.33 0.00 3902.2 3863.2 3941.2 1381.4 2570.6 150.01 -9.26 209 1602.67 104.99 0.88 0.08 1.015 0.101 0.167 3301.44 3253.06 3349.81 1521.88 2509.62 0 0 0 11.40 15.85 15.55

1604 end apogee: CONTROL_FINISHED_OK

state 1604 begin climb

1604.13 10243 146.63 1.35 0.00 3295.8 3247.4 3344.2 1521.9 2510.0 154.56 0.00 220 1725.16 110.08 2.59 0.00 0.986 0.074 0.000 2697.94 2631.88 2764.00 1931.12 2509.75 0 0 0 11.49 15.56 30.00

1908.55 20611 146.63 1.21 80.00 2690.1 2625.0 2755.2 1931.1 2509.7 114.50 17.27 259 1910.42 0.00 0.35 0.00 0.000 0.137 0.000 2688.38 2623.25 2753.50 1887.88 2509.75 0 0 0 30.00 15.60 30.00

2098.82 16774 146.63 1.13 80.00 2687.3 2622.2 2752.3 1887.9 2509.8 87.32 12.86 278 2104.80 0.00 0.00 3.39 0.000 0.000 0.097 2688.31 2623.31 2753.31 1887.25 3889.88 0 0 0 30.00 30.00 15.68

2147.83 21639 146.63 0.95 0.00 2687.0 2622.9 2751.1 1887.8 3889.8 79.51 16.48 288 2154.95 0.00 0.44 3.06 0.000 0.147 0.014 2687.97 2623.62 2752.31 1824.00 2493.38 0 0 0 30.00 15.65 15.75

2343.65 8870 155.82 0.94 -80.00 2685.4 2620.1 2750.7 1823.9 2493.5 59.28 9.57 308 2359.28 7.39 0.00 3.32 0.682 0.000 0.066 2664.69 2597.12 2732.25 1823.69 1076.94 0 0 0 11.35 30.00 15.73

2397.91 9382 161.09 0.93 0.00 2660.4 2594.1 2726.7 1824.2 1077.1 53.99 9.76 319 2411.37 6.68 0.00 3.44 0.644 0.000 0.033 2642.34 2575.06 2709.62 1823.25 2566.94 0 0 0 11.51 30.00 15.75

2593.85 8226 171.48 0.95 0.00 2637.6 2569.6 2705.6 1823.4 2566.2 35.17 9.52 354 2608.14 10.22 0.00 0.00 0.760 0.000 0.000 2598.62 2529.00 2668.25 1823.50 2566.94 0 0 0 11.44 30.00 30.00

2790.23 8226 220.64 1.01 0.00 2593.5 2523.4 2663.6 1823.9 2566.1 18.41 7.72 393 2830.32 37.86 0.00 0.00 0.877 0.000 0.000 2401.66 2323.94 2479.38 1824.06 2567.12 0 0 0 11.58 30.00 30.00

3015.75 10663 361.70 1.27 80.00 2389.3 2309.8 2468.9 1823.8 2566.8 6.18 3.47 438 3127.15 99.38 0.57 3.31 0.878 0.035 0.104 1821.88 1730.12 1913.62 1916.31 3890.25 0 0 0 11.52 15.79 15.48

3171 end climb: NO_VERTICAL_VELOCITY

state 3171 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	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	3	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	0.023433939	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	6.446701	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	240623,013722,4736.375,-12256.553,1,1.3,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,014016,4736.375,-12256.540,2,1.3,6,15.4	MHEAD_RNG_PITCHd_Wd	185.6,851,-17.6,-10.000,-21.21,2209,0.131
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,-0.012776,-0.198512,-0.083828,1.040785,-0.056017,0.027593,-0.092865,1.070599,476.132324,-545.813538,-619.296936
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687573634,18.4,4,stop	_10V_AH	15.00,0.000
NET	CACST,8,0,20230624021532.339329,18,25913,44,0145,0150,07,00,00,00,00,1,029,121,0,5,3,0,150,6.9,2.56,-100,0.44,-01,0.29,64,10000,5000,0,1,00,00*6B	FG_AHR_24Vo	6.613
MODEM_MSG	CACST,8,1,20230624022501.490424,18,14816,35,0175,0000,246,02,02,01,03,-1,-01,-01,2,3,1,0,150,4.0,4.10,-100,-1.10,-01,0.19,67,925,0025,0,-1,00,00*14	FG_AHR_10Vo	0.024
FREEZE	5.30,14.816,-1.470,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3409.55,225.88,0.851,0,500.8,459.4,542.2,686.64	MEM2	945760,27,100888,69
SM_GC	2.39,0.00,10.65,3.14,0.000,0.025,0.016,497.1,456.6,537.7,184.9,2496.2,0,0,0,30.00,15.48,15.46	DATA_FILE_SIZE	12950,468
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	260119,0
IRIDIUM_FIX	4736.00,-12258.89,240623,013345	SDSIZE	3887104,3872000
TCM_TEMP	16.79	SDFILEDIR	52,3
SC_FREEKB	3878112	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	0,1687572000,47.60500,-122.95000,0.215,307.9	CURRENT	0.055,188.1,1
RAFOS_FIX	4736.677734,-12257.000000,240623,020201,4,255,0.30	MAGCAL	1.000000,0.035163,-0.190490,-0.087788,1.023598,-0.009267,0.107516,-0.201858,0.973144,485.5,-568.3,-557.8,27,0.0604,0
HUMID	58.24	IMPLIED_C_PITCH	1593,19.74,239,0.0,0.00
TEMP	12.40	IMPLIED_C_VBD	3236,35.366253,239,0
INTERNAL_PRESSURE	8.67366	GPS	240623,024010,4735.937,-12256.778,14,1.7,15,15.4
_24V_AH	15.10,6.781

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	721	1014	11050.47	nil	0	0	0.00
Pitch_motor	24	233	85.24	nil	0	0	0.00
Roll_motor	45	167	115.36	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.54	nil	0	0	0.00
Core	1870	5	143.66	SciCon	3174	9	441.30
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1450	0	6.96
Compass	1031	5	77.35
RAFOS	2177	40	1306.75
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
6.70	16386	-146.63	-1.35	0.00	492.6	455.4	529.8	188.5	2496.7	0.00	0.00	0	85.63	75.67	0.00	0.00	0.005	0.000	0.000	2327.41	2296.50	2358.31	188.56	2497.19	0	0	0	15.92	30.00	30.00
85.91	18727	-146.63	-1.35	80.00	2328.2	2296.5	2360.0	188.6	2497.0	3.13	-1.62	15	150.88	43.14	7.93	3.29	0.005	0.234	0.085	3897.97	3861.19	3934.75	1272.75	3892.62	0	0	0	15.95	15.77	15.85
281.45	3205	-146.63	-1.14	0.00	3900.0	3862.4	3937.7	1272.9	3892.9	30.54	-15.36	51	287.29	0.00	0.36	3.05	0.000	0.164	0.011	3900.66	3863.19	3938.12	1325.50	2481.81	0	0	0	30.00	15.79	15.90
471.43	128	-146.63	-1.08	0.00	3900.9	3862.6	3939.2	1325.9	2481.9	49.52	-10.43	89	475.15	0.00	0.00	0.00	0.000	0.000	0.000	3900.97	3862.25	3939.69	1325.62	2481.62	0	0	0	30.00	30.00	30.00
661.50	388	-146.63	-1.04	80.00	3901.2	3862.5	3939.9	1325.8	2481.4	69.31	-10.65	109	667.71	0.00	0.00	3.38	0.000	0.000	0.088	3902.34	3863.31	3941.38	1325.69	3891.56	0	0	0	30.00	30.00	15.85
727.29	3205	-146.63	-0.91	0.00	3901.3	3862.4	3940.2	1325.9	3891.6	78.38	-14.46	122	733.62	0.00	0.35	3.06	0.000	0.146	0.011	3901.06	3861.75	3940.38	1382.56	2480.50	0	0	0	30.00	15.84	15.93
922.36	160	-146.63	-0.93	0.00	3902.2	3863.5	3940.9	1382.2	2481.0	97.43	-9.61	142	923.93	0.00	0.00	0.00	0.000	0.000	0.000	3901.59	3862.50	3940.69	1382.25	2480.12	0	0	0	30.00	30.00	30.00
1114.91	420	-146.63	-0.95	80.00	3901.9	3862.6	3941.3	1382.2	2480.6	113.41	-8.59	160	1120.85	0.00	0.00	3.39	0.000	0.000	0.093	3903.62	3864.00	3943.25	1381.88	3892.69	0	0	0	30.00	30.00	15.87
1172.72	1156	-146.63	-0.92	0.00	3902.0	3862.6	3941.4	1382.6	3892.5	120.39	-10.94	171	1183.33	0.00	0.00	3.08	0.000	0.000	0.012	3902.00	3862.62	3941.38	1382.56	2481.94	0	0	0	30.00	30.00	15.86
1372.80	420	-146.63	-0.96	80.00	3901.8	3862.4	3941.2	1382.6	2481.6	138.27	-8.90	192	1378.71	0.00	0.00	3.40	0.000	0.000	0.096	3903.47	3863.81	3943.12	1382.31	3892.50	0	0	0	30.00	30.00	15.86
1421.73	1156	-146.63	-0.94	0.00	3901.8	3862.6	3940.9	1382.7	3892.5	143.76	-11.51	202	1428.29	0.00	0.00	3.07	0.000	0.000	0.013	3902.94	3863.69	3942.19	1382.00	2483.12	0	0	0	30.00	30.00	15.92
1488	end dive: TARGET_DEPTH_EXCEEDED
state	1488	begin apogee
1489.09	10243	0.00	-0.33	0.00	3902.2	3863.2	3941.2	1381.4	2570.6	150.01	-9.26	209	1602.67	104.99	0.88	0.08	1.015	0.101	0.167	3301.44	3253.06	3349.81	1521.88	2509.62	0	0	0	11.40	15.85	15.55
1604	end apogee: CONTROL_FINISHED_OK
state	1604	begin climb
1604.13	10243	146.63	1.35	0.00	3295.8	3247.4	3344.2	1521.9	2510.0	154.56	0.00	220	1725.16	110.08	2.59	0.00	0.986	0.074	0.000	2697.94	2631.88	2764.00	1931.12	2509.75	0	0	0	11.49	15.56	30.00
1908.55	20611	146.63	1.21	80.00	2690.1	2625.0	2755.2	1931.1	2509.7	114.50	17.27	259	1910.42	0.00	0.35	0.00	0.000	0.137	0.000	2688.38	2623.25	2753.50	1887.88	2509.75	0	0	0	30.00	15.60	30.00
2098.82	16774	146.63	1.13	80.00	2687.3	2622.2	2752.3	1887.9	2509.8	87.32	12.86	278	2104.80	0.00	0.00	3.39	0.000	0.000	0.097	2688.31	2623.31	2753.31	1887.25	3889.88	0	0	0	30.00	30.00	15.68
2147.83	21639	146.63	0.95	0.00	2687.0	2622.9	2751.1	1887.8	3889.8	79.51	16.48	288	2154.95	0.00	0.44	3.06	0.000	0.147	0.014	2687.97	2623.62	2752.31	1824.00	2493.38	0	0	0	30.00	15.65	15.75
2343.65	8870	155.82	0.94	-80.00	2685.4	2620.1	2750.7	1823.9	2493.5	59.28	9.57	308	2359.28	7.39	0.00	3.32	0.682	0.000	0.066	2664.69	2597.12	2732.25	1823.69	1076.94	0	0	0	11.35	30.00	15.73
2397.91	9382	161.09	0.93	0.00	2660.4	2594.1	2726.7	1824.2	1077.1	53.99	9.76	319	2411.37	6.68	0.00	3.44	0.644	0.000	0.033	2642.34	2575.06	2709.62	1823.25	2566.94	0	0	0	11.51	30.00	15.75
2593.85	8226	171.48	0.95	0.00	2637.6	2569.6	2705.6	1823.4	2566.2	35.17	9.52	354	2608.14	10.22	0.00	0.00	0.760	0.000	0.000	2598.62	2529.00	2668.25	1823.50	2566.94	0	0	0	11.44	30.00	30.00
2790.23	8226	220.64	1.01	0.00	2593.5	2523.4	2663.6	1823.9	2566.1	18.41	7.72	393	2830.32	37.86	0.00	0.00	0.877	0.000	0.000	2401.66	2323.94	2479.38	1824.06	2567.12	0	0	0	11.58	30.00	30.00
3015.75	10663	361.70	1.27	80.00	2389.3	2309.8	2468.9	1823.8	2566.8	6.18	3.47	438	3127.15	99.38	0.57	3.31	0.878	0.035	0.104	1821.88	1730.12	1913.62	1916.31	3890.25	0	0	0	11.52	15.79	15.48
3171	end climb: NO_VERTICAL_VELOCITY
state	3171	begin surface