Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 21 * 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 21 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 30 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 540 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 2 UNCOM_BLEED 20 DEVICE6 -1

D_SAFE 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 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 2.1354587 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 10.423257 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 30 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 2.1354587 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.423257 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 540

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 21 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 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 240623,220100,4736.321,-12256.460,27,0.8,27,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,220421,4736.320,-12256.438,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 198.0,821,-17.6,-10.000,-21.21,2209,0.135

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,0.000239,-0.088745,0.014388,1.124289,0.141184,0.030123,0.057146,1.051938,-173.616623,-1968.657471,319.410034

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230624225019.434038,18,32767,45,0103,0113,07,00,00,00,00,1,012,121,0,5,7,0,150,9.3,8.64,-100,-5.64,-01,-0.05,75,10000,5000,0,1,01,00*6D _24V_AH 14.78,11.391

MODEM_MSG CACST,8,1,20230624222500.532530,18,25118,43,0130,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,-4.2,2.29,-100,0.71,-01,-0.01,88,925,0025,0,-1,00,00*04 _10V_AH 14.74,0.000

NAV 1687647560,4.4,start FG_AHR_24Vo 10.603

NET_PING 1687646112,29,740.022034,13.100000,-0.988922 FG_AHR_10Vo 2.178

FREEZE 4.46,14.461,-1.492,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3556.16,247.32,0.906,0,500.9,576.6,425.2,686.62 MEM2 944352,37,101656,91

SM_GC 1.65,0.00,10.81,4.07,0.000,0.049,0.068,497.4,570.9,423.9,196.2,2286.1,0,0,0,30.00,15.42,15.41 DATA_FILE_SIZE 12940,456

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 192872,0

IRIDIUM_FIX 4736.87,-12256.21,240623,205457 SDSIZE 3887104,3865984

TCM_TEMP 15.39 SDFILEDIR 217,22

SC_FREEKB 3872064 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 0,1687644000,47.60500,-122.95000,0.509,746.0 MAGCAL 1.000000,0.008902,-0.074451,0.008482,1.100989,0.134700,0.045723,0.073014,1.050180,-261.8,-1948.2,293.4,36,0.0102,1

RAFOS_FIX 4736.584961,-12257.000000,240623,222200,3,255,2.52 IMPLIED_C_PITCH 1543,19.28,237,0.0,0.00

HUMID 51.93 IMPLIED_C_VBD 3307,19.830719,237,0

TEMP 10.67 GPS 240623,230642,4735.963,-12256.681,1,1.0,3,15.4

INTERNAL_PRESSURE 8.04171

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 746 1096 12096.61 nil 0 0 0.00

Pitch_motor 25 252 96.75 nil 0 0 0.00

Roll_motor 69 205 210.71 nil 0 0 0.00

Iridium 127 199 375.91 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.94 nil 0 0 0.00

Core 2228 5 168.16 SciCon 3289 7 346.68

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1348 0 6.36

Compass 1141 5 84.12

RAFOS 2064 40 1217.40

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

7.06 16386 -146.63 -1.16 0.00 494.4 572.2 416.7 197.6 2250.2 0.00 0.00 0 67.52 56.09 0.00 0.00 0.005 0.000 0.000 1936.44 2021.75 1851.12 197.75 2250.50 0 0 0 14.19 30.00 30.00

68.05 18727 -146.63 -1.16 80.00 1939.1 2027.9 1850.2 197.8 2250.2 3.23 -2.93 10 150.70 52.74 8.35 4.04 0.005 0.252 0.122 3898.41 3986.06 3810.75 1219.69 3742.94 0 0 0 15.75 15.59 15.67

379.82 3205 -146.63 -0.79 0.00 3900.2 3984.8 3815.6 1219.4 3743.1 48.60 -16.81 70 388.66 0.00 0.67 3.56 0.000 0.177 0.047 3900.06 3985.62 3814.50 1310.81 2245.94 0 0 0 30.00 15.75 15.82

572.70 548 -146.63 -0.79 -80.00 3900.9 3985.1 3816.8 1311.1 2246.2 67.01 -8.89 90 581.63 0.00 0.00 3.77 0.000 0.000 0.130 3901.44 3984.62 3818.25 1310.19 809.06 0 0 0 30.00 30.00 15.80

740.78 1060 -146.63 -0.79 0.00 3901.4 3985.2 3817.6 1309.8 808.7 83.70 -9.94 123 749.61 0.00 0.00 3.69 0.000 0.000 0.064 3902.34 3985.50 3819.19 1311.31 2292.00 0 0 0 30.00 30.00 15.86

936.64 160 -146.63 -0.82 0.00 3902.0 3985.8 3818.2 1310.9 2291.9 100.55 -8.84 143 944.81 0.00 0.00 0.00 0.000 0.000 0.000 3902.00 3985.31 3818.69 1310.50 2292.00 0 0 0 30.00 30.00 30.00

1125.99 420 -146.63 -0.86 80.00 3902.5 3985.6 3819.4 1310.2 2292.2 116.85 -8.35 162 1134.97 0.00 0.00 3.93 0.000 0.000 0.130 3902.31 3985.44 3819.19 1310.88 3741.25 0 0 0 30.00 30.00 15.84

1158.29 1060 -146.63 -0.86 0.00 3902.3 3985.7 3818.9 1310.7 3741.1 120.11 -9.30 168 1166.52 0.00 0.00 3.57 0.000 0.000 0.046 3903.25 3986.44 3820.06 1310.75 2244.75 0 0 0 30.00 30.00 15.90

1354.38 4517 -146.63 -0.91 80.00 3902.4 3985.7 3819.1 1310.6 2244.9 136.90 -8.50 188 1367.23 0.00 0.26 4.01 0.000 0.068 0.126 3902.69 3986.19 3819.19 1261.69 3741.25 0 0 0 30.00 15.91 15.88

1406.41 3205 -146.63 -0.75 0.00 3902.8 3986.1 3819.5 1261.8 3741.1 143.32 -13.14 198 1415.84 0.00 0.44 3.54 0.000 0.157 0.045 3902.66 3986.19 3819.12 1318.56 2246.12 0 0 0 30.00 15.88 15.93

1481 end dive: TARGET_DEPTH_EXCEEDED

state 1481 begin apogee

1483.17 10243 0.00 -0.28 0.00 3902.8 3985.9 3819.6 1318.6 2150.5 150.32 -8.66 206 1612.50 113.75 0.80 0.09 1.097 0.128 0.206 3299.97 3398.12 3201.81 1435.88 2202.50 0 0 0 11.66 15.91 15.34

1613 end apogee: CONTROL_FINISHED_OK

state 1613 begin climb

1614.04 10243 146.63 1.16 0.00 3296.6 3393.9 3199.2 1436.3 2202.3 155.18 0.00 218 1747.16 117.66 2.40 0.00 1.064 0.106 0.000 2701.66 2803.81 2599.50 1783.44 2202.31 0 0 0 11.29 15.40 30.00

1928.14 16646 146.63 1.16 80.00 2693.2 2791.3 2595.2 1783.4 2202.4 123.71 13.25 250 1937.81 0.00 0.00 4.06 0.000 0.000 0.142 2692.41 2790.50 2594.31 1783.56 3644.31 0 0 0 30.00 30.00 15.56

1967.05 21639 146.63 1.02 0.00 2692.6 2790.4 2594.8 1783.7 3643.8 118.03 15.20 257 1976.52 0.00 0.34 3.65 0.000 0.191 0.058 2691.50 2789.94 2593.06 1743.00 2158.88 0 0 0 30.00 15.58 15.65

2162.17 8614 151.50 1.09 80.00 2692.0 2790.3 2593.6 1742.9 2159.0 97.44 9.77 277 2176.84 4.95 0.00 4.09 0.586 0.000 0.138 2680.31 2779.25 2581.38 1742.81 3644.00 0 0 0 11.65 30.00 15.73

2200.89 1028 151.50 1.09 0.00 2680.5 2779.3 2581.8 1742.9 3644.2 93.14 11.09 284 2209.95 0.00 0.00 3.60 0.000 0.000 0.054 2681.50 2780.69 2582.31 1742.50 2156.81 0 0 0 30.00 30.00 15.80

2400.20 10663 165.77 1.18 80.00 2680.2 2779.2 2581.1 1742.8 2156.9 73.74 9.34 304 2426.20 13.94 0.31 4.10 0.917 0.073 0.137 2624.12 2725.50 2522.75 1797.19 3644.50 0 0 0 11.61 15.85 15.73

2460.44 5253 165.77 1.05 0.00 2619.8 2719.7 2519.8 1796.2 3643.9 66.16 13.79 315 2469.87 0.00 0.36 3.61 0.000 0.190 0.056 2620.81 2720.94 2520.69 1750.75 2157.88 0 0 0 30.00 15.73 15.79

2655.55 10663 174.63 1.14 80.00 2618.4 2719.8 2517.0 1750.9 2157.4 46.37 9.59 338 2676.10 9.03 0.20 4.09 0.819 0.087 0.138 2584.66 2687.19 2482.12 1785.81 3642.94 0 0 0 11.41 15.82 15.74

2724.86 5253 174.63 1.06 0.00 2584.4 2686.9 2481.9 1785.5 3642.6 37.52 13.56 350 2738.21 0.00 0.28 3.61 0.000 0.192 0.056 2584.84 2687.56 2482.12 1751.19 2155.94 0 0 0 30.00 15.70 15.72

2922.53 10403 206.66 1.20 0.00 2583.9 2687.1 2480.8 1750.8 2156.2 19.43 8.52 389 2954.63 26.62 0.28 0.00 0.931 0.077 0.000 2458.91 2569.88 2347.94 1801.12 2155.94 0 0 0 11.64 15.87 30.00

3138.98 10919 347.82 1.52 -80.00 2449.8 2560.9 2338.6 1801.6 2156.4 5.01 3.46 432 3263.69 104.03 0.43 3.95 0.933 0.064 0.147 1878.53 2013.44 1743.62 1879.62 715.44 0 0 0 11.53 15.83 15.35

3283 end climb: NO_VERTICAL_VELOCITY

state 3283 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	21	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	30	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	540	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	2	UNCOM_BLEED	20	DEVICE6	-1
D_SAFE	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	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	2.1354587	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	10.423257	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	240623,220100,4736.321,-12256.460,27,0.8,27,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,220421,4736.320,-12256.438,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	198.0,821,-17.6,-10.000,-21.21,2209,0.135
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.000239,-0.088745,0.014388,1.124289,0.141184,0.030123,0.057146,1.051938,-173.616623,-1968.657471,319.410034
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NET	CACST,8,0,20230624225019.434038,18,32767,45,0103,0113,07,00,00,00,00,1,012,121,0,5,7,0,150,9.3,8.64,-100,-5.64,-01,-0.05,75,10000,5000,0,1,01,00*6D	_24V_AH	14.78,11.391
MODEM_MSG	CACST,8,1,20230624222500.532530,18,25118,43,0130,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,-4.2,2.29,-100,0.71,-01,-0.01,88,925,0025,0,-1,00,00*04	_10V_AH	14.74,0.000
NAV	1687647560,4.4,start	FG_AHR_24Vo	10.603
NET_PING	1687646112,29,740.022034,13.100000,-0.988922	FG_AHR_10Vo	2.178
FREEZE	4.46,14.461,-1.492,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3556.16,247.32,0.906,0,500.9,576.6,425.2,686.62	MEM2	944352,37,101656,91
SM_GC	1.65,0.00,10.81,4.07,0.000,0.049,0.068,497.4,570.9,423.9,196.2,2286.1,0,0,0,30.00,15.42,15.41	DATA_FILE_SIZE	12940,456
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	192872,0
IRIDIUM_FIX	4736.87,-12256.21,240623,205457	SDSIZE	3887104,3865984
TCM_TEMP	15.39	SDFILEDIR	217,22
SC_FREEKB	3872064	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	0,1687644000,47.60500,-122.95000,0.509,746.0	MAGCAL	1.000000,0.008902,-0.074451,0.008482,1.100989,0.134700,0.045723,0.073014,1.050180,-261.8,-1948.2,293.4,36,0.0102,1
RAFOS_FIX	4736.584961,-12257.000000,240623,222200,3,255,2.52	IMPLIED_C_PITCH	1543,19.28,237,0.0,0.00
HUMID	51.93	IMPLIED_C_VBD	3307,19.830719,237,0
TEMP	10.67	GPS	240623,230642,4735.963,-12256.681,1,1.0,3,15.4
INTERNAL_PRESSURE	8.04171

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	746	1096	12096.61	nil	0	0	0.00
Pitch_motor	25	252	96.75	nil	0	0	0.00
Roll_motor	69	205	210.71	nil	0	0	0.00
Iridium	127	199	375.91	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.94	nil	0	0	0.00
Core	2228	5	168.16	SciCon	3289	7	346.68
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1348	0	6.36
Compass	1141	5	84.12
RAFOS	2064	40	1217.40
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
7.06	16386	-146.63	-1.16	0.00	494.4	572.2	416.7	197.6	2250.2	0.00	0.00	0	67.52	56.09	0.00	0.00	0.005	0.000	0.000	1936.44	2021.75	1851.12	197.75	2250.50	0	0	0	14.19	30.00	30.00
68.05	18727	-146.63	-1.16	80.00	1939.1	2027.9	1850.2	197.8	2250.2	3.23	-2.93	10	150.70	52.74	8.35	4.04	0.005	0.252	0.122	3898.41	3986.06	3810.75	1219.69	3742.94	0	0	0	15.75	15.59	15.67
379.82	3205	-146.63	-0.79	0.00	3900.2	3984.8	3815.6	1219.4	3743.1	48.60	-16.81	70	388.66	0.00	0.67	3.56	0.000	0.177	0.047	3900.06	3985.62	3814.50	1310.81	2245.94	0	0	0	30.00	15.75	15.82
572.70	548	-146.63	-0.79	-80.00	3900.9	3985.1	3816.8	1311.1	2246.2	67.01	-8.89	90	581.63	0.00	0.00	3.77	0.000	0.000	0.130	3901.44	3984.62	3818.25	1310.19	809.06	0	0	0	30.00	30.00	15.80
740.78	1060	-146.63	-0.79	0.00	3901.4	3985.2	3817.6	1309.8	808.7	83.70	-9.94	123	749.61	0.00	0.00	3.69	0.000	0.000	0.064	3902.34	3985.50	3819.19	1311.31	2292.00	0	0	0	30.00	30.00	15.86
936.64	160	-146.63	-0.82	0.00	3902.0	3985.8	3818.2	1310.9	2291.9	100.55	-8.84	143	944.81	0.00	0.00	0.00	0.000	0.000	0.000	3902.00	3985.31	3818.69	1310.50	2292.00	0	0	0	30.00	30.00	30.00
1125.99	420	-146.63	-0.86	80.00	3902.5	3985.6	3819.4	1310.2	2292.2	116.85	-8.35	162	1134.97	0.00	0.00	3.93	0.000	0.000	0.130	3902.31	3985.44	3819.19	1310.88	3741.25	0	0	0	30.00	30.00	15.84
1158.29	1060	-146.63	-0.86	0.00	3902.3	3985.7	3818.9	1310.7	3741.1	120.11	-9.30	168	1166.52	0.00	0.00	3.57	0.000	0.000	0.046	3903.25	3986.44	3820.06	1310.75	2244.75	0	0	0	30.00	30.00	15.90
1354.38	4517	-146.63	-0.91	80.00	3902.4	3985.7	3819.1	1310.6	2244.9	136.90	-8.50	188	1367.23	0.00	0.26	4.01	0.000	0.068	0.126	3902.69	3986.19	3819.19	1261.69	3741.25	0	0	0	30.00	15.91	15.88
1406.41	3205	-146.63	-0.75	0.00	3902.8	3986.1	3819.5	1261.8	3741.1	143.32	-13.14	198	1415.84	0.00	0.44	3.54	0.000	0.157	0.045	3902.66	3986.19	3819.12	1318.56	2246.12	0	0	0	30.00	15.88	15.93
1481	end dive: TARGET_DEPTH_EXCEEDED
state	1481	begin apogee
1483.17	10243	0.00	-0.28	0.00	3902.8	3985.9	3819.6	1318.6	2150.5	150.32	-8.66	206	1612.50	113.75	0.80	0.09	1.097	0.128	0.206	3299.97	3398.12	3201.81	1435.88	2202.50	0	0	0	11.66	15.91	15.34
1613	end apogee: CONTROL_FINISHED_OK
state	1613	begin climb
1614.04	10243	146.63	1.16	0.00	3296.6	3393.9	3199.2	1436.3	2202.3	155.18	0.00	218	1747.16	117.66	2.40	0.00	1.064	0.106	0.000	2701.66	2803.81	2599.50	1783.44	2202.31	0	0	0	11.29	15.40	30.00
1928.14	16646	146.63	1.16	80.00	2693.2	2791.3	2595.2	1783.4	2202.4	123.71	13.25	250	1937.81	0.00	0.00	4.06	0.000	0.000	0.142	2692.41	2790.50	2594.31	1783.56	3644.31	0	0	0	30.00	30.00	15.56
1967.05	21639	146.63	1.02	0.00	2692.6	2790.4	2594.8	1783.7	3643.8	118.03	15.20	257	1976.52	0.00	0.34	3.65	0.000	0.191	0.058	2691.50	2789.94	2593.06	1743.00	2158.88	0	0	0	30.00	15.58	15.65
2162.17	8614	151.50	1.09	80.00	2692.0	2790.3	2593.6	1742.9	2159.0	97.44	9.77	277	2176.84	4.95	0.00	4.09	0.586	0.000	0.138	2680.31	2779.25	2581.38	1742.81	3644.00	0	0	0	11.65	30.00	15.73
2200.89	1028	151.50	1.09	0.00	2680.5	2779.3	2581.8	1742.9	3644.2	93.14	11.09	284	2209.95	0.00	0.00	3.60	0.000	0.000	0.054	2681.50	2780.69	2582.31	1742.50	2156.81	0	0	0	30.00	30.00	15.80
2400.20	10663	165.77	1.18	80.00	2680.2	2779.2	2581.1	1742.8	2156.9	73.74	9.34	304	2426.20	13.94	0.31	4.10	0.917	0.073	0.137	2624.12	2725.50	2522.75	1797.19	3644.50	0	0	0	11.61	15.85	15.73
2460.44	5253	165.77	1.05	0.00	2619.8	2719.7	2519.8	1796.2	3643.9	66.16	13.79	315	2469.87	0.00	0.36	3.61	0.000	0.190	0.056	2620.81	2720.94	2520.69	1750.75	2157.88	0	0	0	30.00	15.73	15.79
2655.55	10663	174.63	1.14	80.00	2618.4	2719.8	2517.0	1750.9	2157.4	46.37	9.59	338	2676.10	9.03	0.20	4.09	0.819	0.087	0.138	2584.66	2687.19	2482.12	1785.81	3642.94	0	0	0	11.41	15.82	15.74
2724.86	5253	174.63	1.06	0.00	2584.4	2686.9	2481.9	1785.5	3642.6	37.52	13.56	350	2738.21	0.00	0.28	3.61	0.000	0.192	0.056	2584.84	2687.56	2482.12	1751.19	2155.94	0	0	0	30.00	15.70	15.72
2922.53	10403	206.66	1.20	0.00	2583.9	2687.1	2480.8	1750.8	2156.2	19.43	8.52	389	2954.63	26.62	0.28	0.00	0.931	0.077	0.000	2458.91	2569.88	2347.94	1801.12	2155.94	0	0	0	11.64	15.87	30.00
3138.98	10919	347.82	1.52	-80.00	2449.8	2560.9	2338.6	1801.6	2156.4	5.01	3.46	432	3263.69	104.03	0.43	3.95	0.933	0.064	0.147	1878.53	2013.44	1743.62	1879.62	715.44	0	0	0	11.53	15.83	15.35
3283	end climb: NO_VERTICAL_VELOCITY
state	3283	begin surface