Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 21 * 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 21 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 0.12127575 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 9.848587 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 0.12127575 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 9.848587 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 21 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 240623,190157,4736.599,-12256.431,9,1.1,11,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.12 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,190510,4736.609,-12256.407,2,0.8,20,15.4 MHEAD_RNG_PITCHd_Wd 190.4,1315,-17.6,-10.000,-21.21,2209,0.176

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,0.027139,0.015273,-0.020746,1.037745,-0.058205,0.006569,-0.048895,0.944787,353.119629,-606.368530,-590.530945

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230624194531.115736,18,32767,45,0101,0150,07,00,00,00,00,1,029,121,0,5,3,0,150,10.2,4.88,-100,-1.88,-01,-0.22,77,10000,5000,0,1,00,00*5A _10V_AH 14.89,0.000

MODEM_MSG CACST,8,1,20230624192500.275438,18,32767,45,0232,0000,07,00,00,00,02,-1,-01,-01,2,3,1,0,150,2.1,3.54,-100,-0.54,-01,-0.24,46,925,0025,0,-1,00,00*0B FG_AHR_24Vo 10.023

NAV 1687636987,0.8,start FG_AHR_10Vo 0.122

FREEZE 5.01,14.606,-1.487,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3331.99,223.97,0.883,0,500.9,456.5,545.3,686.62 MEM2 945636,32,100912,69

SM_GC 2.75,0.00,10.69,3.55,0.000,0.023,0.036,496.5,453.5,539.6,185.6,2557.3,0,0,0,30.00,15.29,15.28 DATA_FILE_SIZE 12953,451

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 258411,0

IRIDIUM_FIX 4742.83,-12515.52,240623,181714 SDSIZE 3887104,3865408

TCM_TEMP 15.17 SDFILEDIR 215,22

SC_FREEKB 3872032 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 1,1687633800,47.60500,-122.95000,0.419,590.0 CURRENT 0.049, 24.6,1

RAFOS_FIX 4736.626465,-12257.000000,240623,191900,3,255,0.62 MAGCAL 1.000000,0.014581,0.056343,-0.012812,1.033168,-0.097489,-0.009701,-0.037266,1.013491,318.6,-575.7,-631.7,25,0.0256,0

HUMID 52.02 IMPLIED_C_PITCH 1591,19.40,242,0.0,0.00

TEMP 10.11 IMPLIED_C_VBD 3128,17.948465,242,0

INTERNAL_PRESSURE 8.53647 GPS 240623,200402,4736.385,-12256.653,15,1.2,20,15.4

_24V_AH 14.88,10.547

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 715 1072 11418.79 nil 0 0 0.00

Pitch_motor 24 248 90.95 nil 0 0 0.00

Roll_motor 62 144 133.87 nil 0 0 0.00

Iridium 112 178 299.71 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 29 15 6.57 nil 0 0 0.00

Core 1940 5 147.90 SciCon 3102 9 424.98

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1441 0 6.87

Compass 1004 5 74.76

RAFOS 2018 40 1202.44

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.60 16386 -146.63 -1.35 0.00 493.7 451.0 536.4 181.1 2563.0 0.00 0.00 0 54.53 45.70 0.00 0.00 0.005 0.000 0.000 1652.22 1623.50 1680.94 181.06 2563.06 0 0 0 15.55 30.00 30.00

54.81 18727 -146.63 -1.35 80.00 1652.8 1623.8 1681.9 181.1 2562.2 3.23 -2.68 9 144.15 67.99 8.26 3.32 0.005 0.248 0.106 3898.47 3862.50 3934.44 1272.81 3890.38 0 0 0 15.56 15.41 15.50

242.48 3205 -146.63 -1.13 0.00 3899.5 3863.1 3936.0 1273.4 3890.1 28.18 -21.21 46 248.40 0.00 0.38 3.12 0.000 0.178 0.015 3900.31 3863.44 3937.19 1326.94 2489.19 0 0 0 30.00 15.51 15.59

437.51 128 -146.63 -1.08 0.00 3900.8 3863.3 3938.2 1327.2 2488.9 53.63 -12.12 82 439.04 0.00 0.00 0.00 0.000 0.000 0.000 3900.12 3862.12 3938.12 1326.38 2489.25 0 0 0 30.00 30.00 30.00

627.51 388 -146.63 -1.05 80.00 3900.9 3863.0 3938.8 1327.3 2488.9 77.24 -12.49 101 633.67 0.00 0.00 3.54 0.000 0.000 0.103 3901.88 3863.75 3940.00 1326.81 3891.19 0 0 0 30.00 30.00 15.59

682.52 3205 -146.63 -0.94 0.00 3900.8 3863.2 3938.5 1327.1 3891.4 85.78 -16.08 112 688.69 0.00 0.28 3.12 0.000 0.155 0.015 3901.69 3863.56 3939.81 1371.38 2487.88 0 0 0 30.00 15.61 15.66

877.58 388 -146.63 -0.96 80.00 3901.5 3863.1 3939.8 1373.0 2488.6 106.99 -10.26 132 883.90 0.00 0.00 3.53 0.000 0.000 0.105 3900.91 3862.50 3939.31 1373.12 3890.94 0 0 0 30.00 30.00 15.63

922.58 1156 -146.63 -0.92 0.00 3901.5 3863.1 3939.9 1373.1 3891.1 112.50 -12.87 141 928.72 0.00 0.00 3.13 0.000 0.000 0.014 3902.78 3864.38 3941.19 1372.44 2486.25 0 0 0 30.00 30.00 15.69

1117.65 160 -146.63 -0.94 0.00 3901.6 3862.9 3940.2 1372.8 2485.4 132.10 -9.79 161 1119.23 0.00 0.00 0.00 0.000 0.000 0.000 3901.03 3862.56 3939.50 1372.62 2485.38 0 0 0 30.00 30.00 30.00

1300.95 420 -146.63 -0.97 80.00 3901.7 3863.0 3940.3 1372.8 2485.6 149.35 -9.53 179 1306.97 0.00 0.00 3.54 0.000 0.000 0.106 3901.31 3862.75 3939.88 1372.88 3889.62 0 0 0 30.00 30.00 15.67

1310 end dive: TARGET_DEPTH_EXCEEDED

state 1310 begin apogee

1315.45 10243 0.00 -0.33 0.00 3901.5 3863.1 3939.9 1372.6 2498.3 150.62 -9.63 181 1428.52 105.76 0.96 0.14 1.073 0.123 0.144 3298.38 3251.25 3345.50 1520.69 2567.88 0 0 0 11.73 15.68 15.34

1430 end apogee: CONTROL_FINISHED_OK

state 1430 begin climb

1429.94 10759 146.63 1.35 -80.00 3296.7 3248.7 3344.7 1521.9 2567.6 155.50 0.00 192 1559.10 110.74 2.64 3.65 1.040 0.087 0.070 2699.88 2633.00 2766.75 1930.69 1080.88 0 0 0 11.61 15.34 15.16

1602.51 21639 146.63 1.21 0.00 2693.5 2628.1 2758.9 1930.8 1080.9 137.94 16.48 224 1610.13 0.00 0.37 3.56 0.000 0.179 0.036 2692.22 2627.38 2757.06 1888.31 2565.44 0 0 0 30.00 15.27 15.30

1797.76 17030 146.63 1.12 -80.00 2689.8 2622.6 2757.1 1888.8 2566.0 110.08 13.55 244 1803.88 0.00 0.00 3.59 0.000 0.000 0.068 2688.97 2622.50 2755.44 1888.62 1079.69 0 0 0 30.00 30.00 15.49

1816.78 21639 146.63 1.04 0.00 2688.8 2622.6 2754.9 1889.0 1078.6 107.40 13.33 248 1823.99 0.00 0.30 3.50 0.000 0.178 0.035 2689.22 2623.25 2755.19 1846.81 2566.31 0 0 0 30.00 15.47 15.52

2012.79 16514 146.63 1.00 0.00 2687.8 2621.0 2754.7 1846.8 2566.9 85.46 11.02 268 2014.37 0.00 0.00 0.00 0.000 0.000 0.000 2686.38 2619.38 2753.38 1846.44 2566.88 0 0 0 30.00 30.00 30.00

2202.62 17062 147.69 0.96 -80.00 2687.2 2620.4 2754.1 1846.4 2567.0 65.75 9.95 287 2208.92 0.00 0.00 3.57 0.000 0.000 0.070 2685.53 2618.75 2752.31 1846.94 1079.56 0 0 0 30.00 30.00 15.63

2247.60 17542 147.69 0.92 0.00 2686.4 2620.2 2752.6 1846.9 1079.6 61.23 10.09 296 2253.90 0.00 0.00 3.46 0.000 0.000 0.037 2684.72 2618.19 2751.25 1846.75 2565.12 0 0 0 30.00 30.00 15.66

2436.91 20611 147.69 0.89 0.00 2686.1 2619.9 2752.2 1846.3 2565.1 43.32 10.09 321 2441.14 0.00 0.24 0.00 0.000 0.161 0.000 2687.50 2621.00 2754.00 1806.94 2565.00 0 0 0 30.00 15.63 30.00

2621.92 8742 200.75 0.95 -80.00 2685.9 2619.6 2752.2 1807.9 2565.1 28.53 7.54 358 2670.21 40.46 0.00 3.62 0.931 0.000 0.072 2478.16 2403.12 2553.19 1808.19 1079.75 0 0 0 11.68 30.00 15.52

2703.65 11431 234.97 1.03 0.00 2474.4 2400.0 2548.8 1808.2 1079.4 21.96 8.42 374 2741.05 27.02 0.30 3.52 0.887 0.041 0.036 2338.34 2258.00 2418.69 1861.81 2567.00 0 0 0 11.77 15.56 15.55

2925.73 10919 367.10 1.21 -80.00 2331.6 2248.3 2414.9 1861.3 2567.2 5.74 3.88 418 3031.79 93.56 0.20 3.66 0.904 0.053 0.067 1800.41 1707.75 1893.06 1904.75 1079.44 0 0 0 11.67 15.60 15.33

3096 end climb: NO_VERTICAL_VELOCITY

state 3096 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	21	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	0.12127575	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	9.848587	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	240623,190157,4736.599,-12256.431,9,1.1,11,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.12	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,190510,4736.609,-12256.407,2,0.8,20,15.4	MHEAD_RNG_PITCHd_Wd	190.4,1315,-17.6,-10.000,-21.21,2209,0.176
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.027139,0.015273,-0.020746,1.037745,-0.058205,0.006569,-0.048895,0.944787,353.119629,-606.368530,-590.530945
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NET	CACST,8,0,20230624194531.115736,18,32767,45,0101,0150,07,00,00,00,00,1,029,121,0,5,3,0,150,10.2,4.88,-100,-1.88,-01,-0.22,77,10000,5000,0,1,00,00*5A	_10V_AH	14.89,0.000
MODEM_MSG	CACST,8,1,20230624192500.275438,18,32767,45,0232,0000,07,00,00,00,02,-1,-01,-01,2,3,1,0,150,2.1,3.54,-100,-0.54,-01,-0.24,46,925,0025,0,-1,00,00*0B	FG_AHR_24Vo	10.023
NAV	1687636987,0.8,start	FG_AHR_10Vo	0.122
FREEZE	5.01,14.606,-1.487,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3331.99,223.97,0.883,0,500.9,456.5,545.3,686.62	MEM2	945636,32,100912,69
SM_GC	2.75,0.00,10.69,3.55,0.000,0.023,0.036,496.5,453.5,539.6,185.6,2557.3,0,0,0,30.00,15.29,15.28	DATA_FILE_SIZE	12953,451
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	258411,0
IRIDIUM_FIX	4742.83,-12515.52,240623,181714	SDSIZE	3887104,3865408
TCM_TEMP	15.17	SDFILEDIR	215,22
SC_FREEKB	3872032	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	1,1687633800,47.60500,-122.95000,0.419,590.0	CURRENT	0.049, 24.6,1
RAFOS_FIX	4736.626465,-12257.000000,240623,191900,3,255,0.62	MAGCAL	1.000000,0.014581,0.056343,-0.012812,1.033168,-0.097489,-0.009701,-0.037266,1.013491,318.6,-575.7,-631.7,25,0.0256,0
HUMID	52.02	IMPLIED_C_PITCH	1591,19.40,242,0.0,0.00
TEMP	10.11	IMPLIED_C_VBD	3128,17.948465,242,0
INTERNAL_PRESSURE	8.53647	GPS	240623,200402,4736.385,-12256.653,15,1.2,20,15.4
_24V_AH	14.88,10.547

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	715	1072	11418.79	nil	0	0	0.00
Pitch_motor	24	248	90.95	nil	0	0	0.00
Roll_motor	62	144	133.87	nil	0	0	0.00
Iridium	112	178	299.71	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	29	15	6.57	nil	0	0	0.00
Core	1940	5	147.90	SciCon	3102	9	424.98
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1441	0	6.87
Compass	1004	5	74.76
RAFOS	2018	40	1202.44
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.60	16386	-146.63	-1.35	0.00	493.7	451.0	536.4	181.1	2563.0	0.00	0.00	0	54.53	45.70	0.00	0.00	0.005	0.000	0.000	1652.22	1623.50	1680.94	181.06	2563.06	0	0	0	15.55	30.00	30.00
54.81	18727	-146.63	-1.35	80.00	1652.8	1623.8	1681.9	181.1	2562.2	3.23	-2.68	9	144.15	67.99	8.26	3.32	0.005	0.248	0.106	3898.47	3862.50	3934.44	1272.81	3890.38	0	0	0	15.56	15.41	15.50
242.48	3205	-146.63	-1.13	0.00	3899.5	3863.1	3936.0	1273.4	3890.1	28.18	-21.21	46	248.40	0.00	0.38	3.12	0.000	0.178	0.015	3900.31	3863.44	3937.19	1326.94	2489.19	0	0	0	30.00	15.51	15.59
437.51	128	-146.63	-1.08	0.00	3900.8	3863.3	3938.2	1327.2	2488.9	53.63	-12.12	82	439.04	0.00	0.00	0.00	0.000	0.000	0.000	3900.12	3862.12	3938.12	1326.38	2489.25	0	0	0	30.00	30.00	30.00
627.51	388	-146.63	-1.05	80.00	3900.9	3863.0	3938.8	1327.3	2488.9	77.24	-12.49	101	633.67	0.00	0.00	3.54	0.000	0.000	0.103	3901.88	3863.75	3940.00	1326.81	3891.19	0	0	0	30.00	30.00	15.59
682.52	3205	-146.63	-0.94	0.00	3900.8	3863.2	3938.5	1327.1	3891.4	85.78	-16.08	112	688.69	0.00	0.28	3.12	0.000	0.155	0.015	3901.69	3863.56	3939.81	1371.38	2487.88	0	0	0	30.00	15.61	15.66
877.58	388	-146.63	-0.96	80.00	3901.5	3863.1	3939.8	1373.0	2488.6	106.99	-10.26	132	883.90	0.00	0.00	3.53	0.000	0.000	0.105	3900.91	3862.50	3939.31	1373.12	3890.94	0	0	0	30.00	30.00	15.63
922.58	1156	-146.63	-0.92	0.00	3901.5	3863.1	3939.9	1373.1	3891.1	112.50	-12.87	141	928.72	0.00	0.00	3.13	0.000	0.000	0.014	3902.78	3864.38	3941.19	1372.44	2486.25	0	0	0	30.00	30.00	15.69
1117.65	160	-146.63	-0.94	0.00	3901.6	3862.9	3940.2	1372.8	2485.4	132.10	-9.79	161	1119.23	0.00	0.00	0.00	0.000	0.000	0.000	3901.03	3862.56	3939.50	1372.62	2485.38	0	0	0	30.00	30.00	30.00
1300.95	420	-146.63	-0.97	80.00	3901.7	3863.0	3940.3	1372.8	2485.6	149.35	-9.53	179	1306.97	0.00	0.00	3.54	0.000	0.000	0.106	3901.31	3862.75	3939.88	1372.88	3889.62	0	0	0	30.00	30.00	15.67
1310	end dive: TARGET_DEPTH_EXCEEDED
state	1310	begin apogee
1315.45	10243	0.00	-0.33	0.00	3901.5	3863.1	3939.9	1372.6	2498.3	150.62	-9.63	181	1428.52	105.76	0.96	0.14	1.073	0.123	0.144	3298.38	3251.25	3345.50	1520.69	2567.88	0	0	0	11.73	15.68	15.34
1430	end apogee: CONTROL_FINISHED_OK
state	1430	begin climb
1429.94	10759	146.63	1.35	-80.00	3296.7	3248.7	3344.7	1521.9	2567.6	155.50	0.00	192	1559.10	110.74	2.64	3.65	1.040	0.087	0.070	2699.88	2633.00	2766.75	1930.69	1080.88	0	0	0	11.61	15.34	15.16
1602.51	21639	146.63	1.21	0.00	2693.5	2628.1	2758.9	1930.8	1080.9	137.94	16.48	224	1610.13	0.00	0.37	3.56	0.000	0.179	0.036	2692.22	2627.38	2757.06	1888.31	2565.44	0	0	0	30.00	15.27	15.30
1797.76	17030	146.63	1.12	-80.00	2689.8	2622.6	2757.1	1888.8	2566.0	110.08	13.55	244	1803.88	0.00	0.00	3.59	0.000	0.000	0.068	2688.97	2622.50	2755.44	1888.62	1079.69	0	0	0	30.00	30.00	15.49
1816.78	21639	146.63	1.04	0.00	2688.8	2622.6	2754.9	1889.0	1078.6	107.40	13.33	248	1823.99	0.00	0.30	3.50	0.000	0.178	0.035	2689.22	2623.25	2755.19	1846.81	2566.31	0	0	0	30.00	15.47	15.52
2012.79	16514	146.63	1.00	0.00	2687.8	2621.0	2754.7	1846.8	2566.9	85.46	11.02	268	2014.37	0.00	0.00	0.00	0.000	0.000	0.000	2686.38	2619.38	2753.38	1846.44	2566.88	0	0	0	30.00	30.00	30.00
2202.62	17062	147.69	0.96	-80.00	2687.2	2620.4	2754.1	1846.4	2567.0	65.75	9.95	287	2208.92	0.00	0.00	3.57	0.000	0.000	0.070	2685.53	2618.75	2752.31	1846.94	1079.56	0	0	0	30.00	30.00	15.63
2247.60	17542	147.69	0.92	0.00	2686.4	2620.2	2752.6	1846.9	1079.6	61.23	10.09	296	2253.90	0.00	0.00	3.46	0.000	0.000	0.037	2684.72	2618.19	2751.25	1846.75	2565.12	0	0	0	30.00	30.00	15.66
2436.91	20611	147.69	0.89	0.00	2686.1	2619.9	2752.2	1846.3	2565.1	43.32	10.09	321	2441.14	0.00	0.24	0.00	0.000	0.161	0.000	2687.50	2621.00	2754.00	1806.94	2565.00	0	0	0	30.00	15.63	30.00
2621.92	8742	200.75	0.95	-80.00	2685.9	2619.6	2752.2	1807.9	2565.1	28.53	7.54	358	2670.21	40.46	0.00	3.62	0.931	0.000	0.072	2478.16	2403.12	2553.19	1808.19	1079.75	0	0	0	11.68	30.00	15.52
2703.65	11431	234.97	1.03	0.00	2474.4	2400.0	2548.8	1808.2	1079.4	21.96	8.42	374	2741.05	27.02	0.30	3.52	0.887	0.041	0.036	2338.34	2258.00	2418.69	1861.81	2567.00	0	0	0	11.77	15.56	15.55
2925.73	10919	367.10	1.21	-80.00	2331.6	2248.3	2414.9	1861.3	2567.2	5.74	3.88	418	3031.79	93.56	0.20	3.66	0.904	0.053	0.067	1800.41	1707.75	1893.06	1904.75	1079.44	0	0	0	11.67	15.60	15.33
3096	end climb: NO_VERTICAL_VELOCITY
state	3096	begin surface