Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 22 * 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 22 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 0.12180258 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 10.02962 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 0.12180258 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.02962 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 22 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 240623,200402,4736.385,-12256.653,15,1.2,20,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.16 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,200714,4736.401,-12256.618,3,1.1,6,15.4 MHEAD_RNG_PITCHd_Wd 181.6,865,-17.6,-10.000,-21.21,2209,0.130

SPEED_LIMITS 0.173,0.258 D_GRID 168

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 CARFP,2023-06-24T20:45:32.087076,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027c34a4;1;13;213f68c87c34a46d1f83815c39;1;1;e4,*70 _24V_AH 14.83,10.748

NET_PING 1687638613,29,232.438492,11.800000,-0.310554 _10V_AH 14.88,0.000

MODEM_MSG CACST,8,0,20230624202500.171622,18,26072,44,0209,0000,07,01,01,00,01,1,029,121,0,5,1,0,150,11.6,10.12,-100,-7.12,-01,0.07,45,925,0025,0,1,00,00*29 FG_AHR_24Vo 10.205

NAV 1687640343,5.5,start FG_AHR_10Vo 0.125

FREEZE 5.61,13.993,-1.524,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3423.43,293.21,0.892,0,500.9,452.4,549.4,686.62 MEM2 945460,41,100908,69

SM_GC 2.40,0.00,10.20,0.10,0.000,0.015,0.103,496.7,449.8,543.6,182.2,2499.9,0,0,0,30.00,15.28,15.26 DATA_FILE_SIZE 12932,434

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 238325,0

IRIDIUM_FIX 4734.67,-12257.15,240623,190302 SDSIZE 3887104,3865024

TCM_TEMP 15.14 SDFILEDIR 224,23

SC_FREEKB 3871712 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1436.4

MODEM 1,1687637400,47.60500,-122.95000,0.172,252.3 CURRENT 0.041, 29.9,1

RAFOS_FIX 4728.243652,-12224.582031,240623,202000,3,255,40.20 MAGCAL 1.000000,0.017112,-0.002984,-0.036674,1.037075,-0.045690,0.004590,-0.021575,1.056879,366.1,-612.7,-677.2,23,0.0259,0

HUMID 51.62 IMPLIED_C_PITCH 1592,19.01,234,0.0,0.00

TEMP 10.05 IMPLIED_C_VBD 3109,20.036932,234,0

INTERNAL_PRESSURE 8.53438 GPS 240623,210715,4736.115,-12256.749,10,1.2,17,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 715 1079 11451.32 nil 0 0 0.00

Pitch_motor 23 243 84.63 nil 0 0 0.00

Roll_motor 34 142 72.90 nil 0 0 0.00

Iridium 124 180 331.03 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 1948 5 148.43 SciCon 3120 9 427.25

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1448 0 6.90

Compass 1006 5 74.88

RAFOS 1889 40 1124.80

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

6.75 16386 -146.63 -1.35 0.00 493.8 453.4 534.2 178.3 2505.6 0.00 0.00 0 54.70 45.69 0.00 0.00 0.005 0.000 0.000 1636.19 1605.38 1667.00 178.38 2505.50 0 0 0 15.51 30.00 30.00

54.98 18727 -146.63 -1.35 80.00 1637.8 1606.9 1668.6 178.5 2505.9 3.05 -2.33 9 144.37 68.31 8.24 3.47 0.005 0.244 0.105 3898.41 3860.75 3936.06 1272.62 3890.19 0 0 0 15.53 15.41 15.49

147.74 3237 -146.63 -1.13 0.00 3898.6 3861.7 3935.4 1272.9 3890.2 9.90 -9.05 27 153.62 0.00 0.40 3.15 0.000 0.200 0.013 3898.56 3861.75 3935.38 1327.00 2488.56 0 0 0 30.00 15.47 15.55

337.71 644 -146.63 -1.06 -80.00 3900.6 3861.9 3939.2 1327.1 2487.8 35.83 -13.58 65 343.54 0.00 0.00 3.44 0.000 0.000 0.072 3902.06 3863.81 3940.31 1327.31 1071.56 0 0 0 30.00 30.00 15.56

382.73 3205 -146.63 -0.99 0.00 3900.8 3862.1 3939.5 1327.0 1071.3 41.96 -13.62 74 389.80 0.00 0.21 3.50 0.000 0.165 0.036 3900.78 3861.75 3939.81 1361.62 2557.94 0 0 0 30.00 15.55 15.59

574.10 0 -146.63 -0.99 0.00 3901.4 3862.3 3940.4 1361.4 2558.6 63.66 -11.51 99 575.64 0.00 0.00 0.00 0.000 0.000 0.000 3900.75 3861.25 3940.25 1361.75 2558.75 0 0 0 30.00 30.00 30.00

764.42 0 -146.63 -0.99 0.00 3901.8 3862.8 3940.8 1361.6 2559.4 85.29 -11.04 118 765.99 0.00 0.00 0.00 0.000 0.000 0.000 3901.25 3861.56 3940.94 1361.50 2558.56 0 0 0 30.00 30.00 30.00

954.45 0 -146.63 -0.99 0.00 3901.5 3862.4 3940.6 1361.6 2558.4 105.98 -10.95 137 956.02 0.00 0.00 0.00 0.000 0.000 0.000 3901.47 3862.19 3940.75 1361.62 2558.44 0 0 0 30.00 30.00 30.00

1144.48 0 -146.63 -0.99 0.00 3901.9 3862.8 3941.0 1360.9 2558.8 125.99 -10.43 156 1146.05 0.00 0.00 0.00 0.000 0.000 0.000 3901.31 3862.12 3940.50 1361.56 2558.31 0 0 0 30.00 30.00 30.00

1334.51 260 -146.63 -0.99 80.00 3902.1 3863.2 3940.9 1361.6 2558.6 145.94 -10.65 175 1344.23 0.00 0.00 3.36 0.000 0.000 0.115 3902.66 3863.81 3941.50 1361.38 3889.88 0 0 0 30.00 30.00 15.09

1368 end dive: TARGET_DEPTH_EXCEEDED

state 1368 begin apogee

1373.96 10243 0.00 -0.33 0.00 3901.8 3862.9 3940.6 1361.6 2498.9 150.05 -12.36 181 1486.35 105.48 1.04 0.14 1.080 0.128 0.142 3297.00 3252.94 3341.06 1521.38 2567.88 0 0 0 11.69 15.65 15.30

1488 end apogee: CONTROL_FINISHED_OK

state 1488 begin climb

1487.78 10243 146.63 1.35 0.00 3296.6 3252.3 3340.9 1521.0 2567.6 155.76 0.00 192 1609.09 110.38 2.67 0.00 1.047 0.089 0.000 2698.28 2637.31 2759.25 1930.75 2567.25 0 0 0 11.64 15.31 30.00

1792.70 21127 146.63 1.22 -80.00 2690.3 2628.6 2752.0 1930.7 2567.1 118.53 16.17 223 1800.13 0.00 0.34 3.61 0.000 0.164 0.074 2688.62 2627.25 2750.00 1891.00 1079.81 0 0 0 30.00 15.42 15.43

1838.79 17542 146.63 1.13 0.00 2688.9 2628.0 2749.8 1891.6 1079.6 111.63 14.80 232 1844.88 0.00 0.00 3.53 0.000 0.000 0.039 2690.53 2629.31 2751.75 1890.88 2564.44 0 0 0 30.00 30.00 15.48

2033.77 21127 146.63 1.04 -80.00 2687.5 2624.9 2750.0 1890.9 2564.4 86.45 12.69 252 2041.09 0.00 0.30 3.58 0.000 0.164 0.071 2687.41 2625.50 2749.31 1845.50 1080.88 0 0 0 30.00 15.53 15.57

2073.74 17542 146.63 1.00 0.00 2686.9 2624.8 2749.1 1847.6 1080.5 81.55 11.90 260 2080.56 0.00 0.00 3.54 0.000 0.000 0.037 2688.38 2625.69 2751.06 1847.25 2565.44 0 0 0 30.00 30.00 15.60

2263.05 16514 146.63 0.96 0.00 2686.5 2623.7 2749.2 1847.4 2565.6 62.23 10.25 279 2272.19 0.00 0.00 0.00 0.000 0.000 0.000 2686.31 2623.38 2749.25 1847.50 2565.19 0 0 0 30.00 30.00 30.00

2453.13 8354 160.02 0.94 0.00 2686.0 2622.8 2749.2 1847.6 2565.9 43.93 9.38 304 2467.87 10.73 0.00 0.00 0.819 0.000 0.000 2644.75 2581.19 2708.31 1847.38 2565.31 0 0 0 11.60 30.00 30.00

2653.19 8354 191.04 0.96 0.00 2641.2 2576.4 2706.1 1847.2 2565.6 26.13 8.56 344 2683.53 25.27 0.00 0.00 0.908 0.000 0.000 2519.03 2451.06 2587.00 1847.12 2565.81 0 0 0 11.77 30.00 30.00

2868.54 8226 266.47 1.05 0.00 2511.9 2442.5 2581.2 1847.0 2565.4 8.73 6.51 387 2930.08 55.99 0.00 0.00 0.914 0.000 0.000 2212.72 2133.25 2292.19 1847.06 2565.50 0 0 0 11.83 30.00 30.00

3113 end climb: NO_VERTICAL_VELOCITY

state 3113 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	22	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	0.12180258	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	10.02962	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	240623,200402,4736.385,-12256.653,15,1.2,20,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.16	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,200714,4736.401,-12256.618,3,1.1,6,15.4	MHEAD_RNG_PITCHd_Wd	181.6,865,-17.6,-10.000,-21.21,2209,0.130
SPEED_LIMITS	0.173,0.258	D_GRID	168
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	CARFP,2023-06-24T20:45:32.087076,0,29,121,1,1,0,0,1;8;081d7903203000ff,1;5;ac027c34a4;1;13;213f68c87c34a46d1f83815c39;1;1;e4,*70	_24V_AH	14.83,10.748
NET_PING	1687638613,29,232.438492,11.800000,-0.310554	_10V_AH	14.88,0.000
MODEM_MSG	CACST,8,0,20230624202500.171622,18,26072,44,0209,0000,07,01,01,00,01,1,029,121,0,5,1,0,150,11.6,10.12,-100,-7.12,-01,0.07,45,925,0025,0,1,00,00*29	FG_AHR_24Vo	10.205
NAV	1687640343,5.5,start	FG_AHR_10Vo	0.125
FREEZE	5.61,13.993,-1.524,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3423.43,293.21,0.892,0,500.9,452.4,549.4,686.62	MEM2	945460,41,100908,69
SM_GC	2.40,0.00,10.20,0.10,0.000,0.015,0.103,496.7,449.8,543.6,182.2,2499.9,0,0,0,30.00,15.28,15.26	DATA_FILE_SIZE	12932,434
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	238325,0
IRIDIUM_FIX	4734.67,-12257.15,240623,190302	SDSIZE	3887104,3865024
TCM_TEMP	15.14	SDFILEDIR	224,23
SC_FREEKB	3871712	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1436.4
MODEM	1,1687637400,47.60500,-122.95000,0.172,252.3	CURRENT	0.041, 29.9,1
RAFOS_FIX	4728.243652,-12224.582031,240623,202000,3,255,40.20	MAGCAL	1.000000,0.017112,-0.002984,-0.036674,1.037075,-0.045690,0.004590,-0.021575,1.056879,366.1,-612.7,-677.2,23,0.0259,0
HUMID	51.62	IMPLIED_C_PITCH	1592,19.01,234,0.0,0.00
TEMP	10.05	IMPLIED_C_VBD	3109,20.036932,234,0
INTERNAL_PRESSURE	8.53438	GPS	240623,210715,4736.115,-12256.749,10,1.2,17,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	715	1079	11451.32	nil	0	0	0.00
Pitch_motor	23	243	84.63	nil	0	0	0.00
Roll_motor	34	142	72.90	nil	0	0	0.00
Iridium	124	180	331.03	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	1948	5	148.43	SciCon	3120	9	427.25
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1448	0	6.90
Compass	1006	5	74.88
RAFOS	1889	40	1124.80
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
6.75	16386	-146.63	-1.35	0.00	493.8	453.4	534.2	178.3	2505.6	0.00	0.00	0	54.70	45.69	0.00	0.00	0.005	0.000	0.000	1636.19	1605.38	1667.00	178.38	2505.50	0	0	0	15.51	30.00	30.00
54.98	18727	-146.63	-1.35	80.00	1637.8	1606.9	1668.6	178.5	2505.9	3.05	-2.33	9	144.37	68.31	8.24	3.47	0.005	0.244	0.105	3898.41	3860.75	3936.06	1272.62	3890.19	0	0	0	15.53	15.41	15.49
147.74	3237	-146.63	-1.13	0.00	3898.6	3861.7	3935.4	1272.9	3890.2	9.90	-9.05	27	153.62	0.00	0.40	3.15	0.000	0.200	0.013	3898.56	3861.75	3935.38	1327.00	2488.56	0	0	0	30.00	15.47	15.55
337.71	644	-146.63	-1.06	-80.00	3900.6	3861.9	3939.2	1327.1	2487.8	35.83	-13.58	65	343.54	0.00	0.00	3.44	0.000	0.000	0.072	3902.06	3863.81	3940.31	1327.31	1071.56	0	0	0	30.00	30.00	15.56
382.73	3205	-146.63	-0.99	0.00	3900.8	3862.1	3939.5	1327.0	1071.3	41.96	-13.62	74	389.80	0.00	0.21	3.50	0.000	0.165	0.036	3900.78	3861.75	3939.81	1361.62	2557.94	0	0	0	30.00	15.55	15.59
574.10	0	-146.63	-0.99	0.00	3901.4	3862.3	3940.4	1361.4	2558.6	63.66	-11.51	99	575.64	0.00	0.00	0.00	0.000	0.000	0.000	3900.75	3861.25	3940.25	1361.75	2558.75	0	0	0	30.00	30.00	30.00
764.42	0	-146.63	-0.99	0.00	3901.8	3862.8	3940.8	1361.6	2559.4	85.29	-11.04	118	765.99	0.00	0.00	0.00	0.000	0.000	0.000	3901.25	3861.56	3940.94	1361.50	2558.56	0	0	0	30.00	30.00	30.00
954.45	0	-146.63	-0.99	0.00	3901.5	3862.4	3940.6	1361.6	2558.4	105.98	-10.95	137	956.02	0.00	0.00	0.00	0.000	0.000	0.000	3901.47	3862.19	3940.75	1361.62	2558.44	0	0	0	30.00	30.00	30.00
1144.48	0	-146.63	-0.99	0.00	3901.9	3862.8	3941.0	1360.9	2558.8	125.99	-10.43	156	1146.05	0.00	0.00	0.00	0.000	0.000	0.000	3901.31	3862.12	3940.50	1361.56	2558.31	0	0	0	30.00	30.00	30.00
1334.51	260	-146.63	-0.99	80.00	3902.1	3863.2	3940.9	1361.6	2558.6	145.94	-10.65	175	1344.23	0.00	0.00	3.36	0.000	0.000	0.115	3902.66	3863.81	3941.50	1361.38	3889.88	0	0	0	30.00	30.00	15.09
1368	end dive: TARGET_DEPTH_EXCEEDED
state	1368	begin apogee
1373.96	10243	0.00	-0.33	0.00	3901.8	3862.9	3940.6	1361.6	2498.9	150.05	-12.36	181	1486.35	105.48	1.04	0.14	1.080	0.128	0.142	3297.00	3252.94	3341.06	1521.38	2567.88	0	0	0	11.69	15.65	15.30
1488	end apogee: CONTROL_FINISHED_OK
state	1488	begin climb
1487.78	10243	146.63	1.35	0.00	3296.6	3252.3	3340.9	1521.0	2567.6	155.76	0.00	192	1609.09	110.38	2.67	0.00	1.047	0.089	0.000	2698.28	2637.31	2759.25	1930.75	2567.25	0	0	0	11.64	15.31	30.00
1792.70	21127	146.63	1.22	-80.00	2690.3	2628.6	2752.0	1930.7	2567.1	118.53	16.17	223	1800.13	0.00	0.34	3.61	0.000	0.164	0.074	2688.62	2627.25	2750.00	1891.00	1079.81	0	0	0	30.00	15.42	15.43
1838.79	17542	146.63	1.13	0.00	2688.9	2628.0	2749.8	1891.6	1079.6	111.63	14.80	232	1844.88	0.00	0.00	3.53	0.000	0.000	0.039	2690.53	2629.31	2751.75	1890.88	2564.44	0	0	0	30.00	30.00	15.48
2033.77	21127	146.63	1.04	-80.00	2687.5	2624.9	2750.0	1890.9	2564.4	86.45	12.69	252	2041.09	0.00	0.30	3.58	0.000	0.164	0.071	2687.41	2625.50	2749.31	1845.50	1080.88	0	0	0	30.00	15.53	15.57
2073.74	17542	146.63	1.00	0.00	2686.9	2624.8	2749.1	1847.6	1080.5	81.55	11.90	260	2080.56	0.00	0.00	3.54	0.000	0.000	0.037	2688.38	2625.69	2751.06	1847.25	2565.44	0	0	0	30.00	30.00	15.60
2263.05	16514	146.63	0.96	0.00	2686.5	2623.7	2749.2	1847.4	2565.6	62.23	10.25	279	2272.19	0.00	0.00	0.00	0.000	0.000	0.000	2686.31	2623.38	2749.25	1847.50	2565.19	0	0	0	30.00	30.00	30.00
2453.13	8354	160.02	0.94	0.00	2686.0	2622.8	2749.2	1847.6	2565.9	43.93	9.38	304	2467.87	10.73	0.00	0.00	0.819	0.000	0.000	2644.75	2581.19	2708.31	1847.38	2565.31	0	0	0	11.60	30.00	30.00
2653.19	8354	191.04	0.96	0.00	2641.2	2576.4	2706.1	1847.2	2565.6	26.13	8.56	344	2683.53	25.27	0.00	0.00	0.908	0.000	0.000	2519.03	2451.06	2587.00	1847.12	2565.81	0	0	0	11.77	30.00	30.00
2868.54	8226	266.47	1.05	0.00	2511.9	2442.5	2581.2	1847.0	2565.4	8.73	6.51	387	2930.08	55.99	0.00	0.00	0.914	0.000	0.000	2212.72	2133.25	2292.19	1847.06	2565.50	0	0	0	11.83	30.00	30.00
3113	end climb: NO_VERTICAL_VELOCITY
state	3113	begin surface