Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 24 * 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 24 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 0.1253686 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 10.385221 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 0.1253686 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.385221 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 24 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 240623,215331,4735.930,-12256.719,32,0.8,33,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.05 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,215630,4735.927,-12256.708,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 358.1,1156,-17.6,-10.000,-21.21,2209,0.156

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N 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 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NAV 1687647245,0.9,0,stop _24V_AH 14.91,11.145

NET CACST,8,1,20230624224524.463888,18,813,29,0106,0150,07,01,01,00,01,-1,-01,-01,1,3,1553,0,150,25.2,0.56,-100,2.44,-01,3.09,56,10000,5000,0,-1,00,00*6C _10V_AH 14.92,0.000

MODEM_MSG CACST,8,1,20230624222500.383775,18,32767,45,0265,0000,246,02,02,00,02,-1,-01,-01,2,3,1,0,150,4.0,2.72,-100,0.28,-01,0.27,72,925,0025,0,-1,00,00*31 FG_AHR_24Vo 10.559

NET_PING 1687645812,29,539.216980,10.700000,-0.718433 FG_AHR_10Vo 0.128

FREEZE 5.45,13.445,-1.554,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3314.49,271.85,0.879,0,500.3,450.6,550.1,686.76 MEM2 945640,32,100908,69

SM_GC 2.54,0.00,10.78,0.10,0.000,0.023,0.102,496.5,448.2,544.9,181.0,2500.4,0,0,0,30.00,15.26,15.26 DATA_FILE_SIZE 12916,427

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 247187,0

IRIDIUM_FIX 4736.00,-12258.89,240623,210823 SDSIZE 3887104,3864384

TCM_TEMP 15.25 SDFILEDIR 240,25

SC_FREEKB 3871072 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1400.7

MODEM 0,1687644000,47.60500,-122.95000,0.461,675.1 CURRENT 0.011, 72.7,1

RAFOS_FIX 4736.083984,-12256.957031,240623,212100,3,255,-11.53 MAGCAL 1.000000,0.022724,0.034997,-0.013534,1.028035,-0.017010,-0.022529,-0.067020,0.934554,331.5,-634.6,-591.6,32,0.0266,0

HUMID 51.68 IMPLIED_C_PITCH 1587,18.98,227,0.0,0.00

TEMP 10.23 IMPLIED_C_VBD 3141,20.739372,227,0

INTERNAL_PRESSURE 8.53996 GPS 240623,225438,4736.271,-12256.602,2,1.3,5,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 720 1068 11471.70 nil 0 0 0.00

Pitch_motor 24 239 86.80 nil 0 0 0.00

Roll_motor 42 191 121.84 nil 0 0 0.00

Iridium 114 168 289.23 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.93 nil 0 0 0.00

Core 1900 5 145.21 SciCon 3035 9 416.73

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1398 0 6.68

Compass 974 5 72.73

RAFOS 2301 40 1373.55

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

6.63 16386 -146.63 -1.35 0.00 493.3 449.6 536.9 183.5 2563.2 0.00 0.00 0 64.90 55.69 0.00 0.00 0.005 0.000 0.000 1862.69 1834.00 1891.38 183.50 2562.88 0 0 0 15.57 30.00 30.00

65.18 18983 -146.63 -1.35 -80.00 1864.0 1834.8 1893.3 183.6 2562.9 3.26 -2.50 11 142.85 58.38 8.13 3.60 0.005 0.240 0.067 3898.91 3861.94 3935.88 1271.94 1068.50 0 0 0 15.62 15.44 15.33

369.33 3205 -146.63 -1.24 0.00 3900.6 3862.9 3938.2 1272.2 1068.8 42.98 -15.16 69 376.38 0.00 0.19 3.53 0.000 0.177 0.036 3900.88 3863.44 3938.31 1300.12 2557.06 0 0 0 30.00 15.57 15.60

559.68 644 -146.63 -1.17 -80.00 3901.2 3863.3 3939.1 1300.0 2557.0 68.49 -13.19 93 565.85 0.00 0.00 3.59 0.000 0.000 0.064 3901.53 3863.88 3939.19 1300.00 1070.31 0 0 0 30.00 30.00 15.61

618.95 3205 -146.63 -1.11 0.00 3901.5 3863.6 3939.5 1300.1 1069.9 76.67 -13.45 105 625.77 0.00 0.21 3.52 0.000 0.157 0.034 3902.62 3864.50 3940.75 1333.25 2556.12 0 0 0 30.00 15.61 15.63

814.76 128 -146.63 -1.08 0.00 3902.0 3863.8 3940.1 1333.1 2556.2 100.20 -11.92 125 816.34 0.00 0.00 0.00 0.000 0.000 0.000 3901.47 3862.56 3940.38 1333.19 2556.12 0 0 0 30.00 30.00 30.00

1005.03 388 -146.63 -1.06 80.00 3902.3 3863.9 3940.7 1333.2 2555.9 122.57 -11.66 144 1011.02 0.00 0.00 3.38 0.000 0.000 0.109 3901.97 3863.94 3940.00 1334.00 3890.44 0 0 0 30.00 30.00 15.65

1034.03 3205 -146.63 -0.99 0.00 3902.3 3863.8 3940.8 1334.3 3889.9 126.63 -13.51 150 1040.81 0.00 0.16 3.14 0.000 0.162 0.014 3902.50 3864.12 3940.88 1360.50 2487.88 0 0 0 30.00 15.64 15.70

1229.74 0 -146.63 -0.99 0.00 3902.4 3863.8 3940.9 1360.2 2486.6 147.52 -10.49 170 1231.31 0.00 0.00 0.00 0.000 0.000 0.000 3901.97 3863.81 3940.12 1360.38 2487.00 0 0 0 30.00 30.00 30.00

1260 end dive: TARGET_DEPTH_EXCEEDED

state 1260 begin apogee

1261.18 10243 0.00 -0.33 0.00 3902.5 3864.1 3940.8 1360.6 2566.5 150.57 -10.29 173 1375.38 105.56 1.04 0.07 1.068 0.118 0.191 3299.88 3252.62 3347.12 1520.81 2512.69 0 0 0 11.71 15.65 15.33

1377 end apogee: CONTROL_FINISHED_OK

state 1377 begin climb

1377.15 10759 146.63 1.35 -80.00 3296.4 3248.9 3343.8 1521.4 2513.1 155.37 0.00 184 1504.38 111.92 2.64 3.58 1.035 0.083 0.073 2699.78 2633.38 2766.19 1928.25 1079.62 0 0 0 11.53 15.33 15.14

1507.10 5253 146.63 1.21 0.00 2696.8 2631.4 2762.3 1930.8 1079.7 144.49 11.79 204 1514.37 0.00 0.38 3.61 0.000 0.176 0.035 2697.38 2631.25 2763.50 1888.81 2565.50 0 0 0 30.00 15.17 15.21

1702.78 17030 146.63 1.12 -80.00 2690.3 2624.0 2756.6 1888.7 2565.9 117.18 14.71 224 1709.20 0.00 0.00 3.64 0.000 0.000 0.067 2690.31 2624.31 2756.31 1888.62 1079.56 0 0 0 30.00 30.00 15.43

1732.04 21639 146.63 1.03 0.00 2689.4 2624.1 2754.6 1888.6 1079.9 112.77 14.63 230 1739.11 0.00 0.32 3.55 0.000 0.173 0.036 2691.22 2625.94 2756.50 1842.56 2565.81 0 0 0 30.00 15.40 15.46

1928.07 16514 146.63 0.99 0.00 2688.3 2621.9 2754.7 1843.1 2565.8 90.31 11.19 250 1929.63 0.00 0.00 0.00 0.000 0.000 0.000 2686.78 2620.44 2753.12 1842.81 2565.75 0 0 0 30.00 30.00 30.00

2111.32 16514 146.63 0.95 0.00 2687.1 2621.0 2753.1 1843.1 2565.7 70.71 10.18 269 2112.90 0.00 0.00 0.00 0.000 0.000 0.000 2685.34 2618.94 2751.75 1843.25 2565.81 0 0 0 30.00 30.00 30.00

2301.50 16546 148.02 0.92 0.00 2686.3 2619.8 2752.9 1843.2 2565.9 52.00 9.94 288 2303.07 0.00 0.00 0.00 0.000 0.000 0.000 2685.00 2618.62 2751.38 1842.81 2565.19 0 0 0 30.00 30.00 30.00

2486.46 8870 162.68 0.92 -80.00 2685.8 2619.8 2751.9 1842.7 2565.7 35.23 9.32 322 2508.24 12.73 0.00 3.61 0.844 0.000 0.073 2636.47 2569.12 2703.81 1843.19 1078.56 0 0 0 11.71 30.00 15.62

2541.93 9382 175.99 0.91 0.00 2632.1 2565.3 2698.9 1842.9 1078.5 30.06 9.38 333 2563.64 12.51 0.00 3.53 0.828 0.000 0.037 2583.75 2515.00 2652.50 1842.81 2565.94 0 0 0 11.72 30.00 15.66

2747.24 8226 211.04 0.95 0.00 2574.2 2503.0 2645.4 1842.9 2565.4 12.14 8.38 374 2777.93 27.72 0.00 0.00 0.895 0.000 0.000 2436.91 2361.31 2512.50 1843.06 2565.62 0 0 0 11.81 30.00 30.00

2959.71 10919 406.42 1.26 -80.00 2429.8 2352.4 2507.3 1843.4 2566.0 6.50 0.95 414 3027.49 63.81 0.44 0.00 0.910 0.033 0.000 2084.59 1997.19 2172.00 1916.88 2565.81 0 0 0 11.68 15.64 30.00

3028 end climb: NO_VERTICAL_VELOCITY

state 3028 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	24	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	0.1253686	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	10.385221	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	240623,215331,4735.930,-12256.719,32,0.8,33,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.05	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,215630,4735.927,-12256.708,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	358.1,1156,-17.6,-10.000,-21.21,2209,0.156
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	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	4736.530,-12256.470	OSC	8000307

NAV	1687647245,0.9,0,stop	_24V_AH	14.91,11.145
NET	CACST,8,1,20230624224524.463888,18,813,29,0106,0150,07,01,01,00,01,-1,-01,-01,1,3,1553,0,150,25.2,0.56,-100,2.44,-01,3.09,56,10000,5000,0,-1,00,00*6C	_10V_AH	14.92,0.000
MODEM_MSG	CACST,8,1,20230624222500.383775,18,32767,45,0265,0000,246,02,02,00,02,-1,-01,-01,2,3,1,0,150,4.0,2.72,-100,0.28,-01,0.27,72,925,0025,0,-1,00,00*31	FG_AHR_24Vo	10.559
NET_PING	1687645812,29,539.216980,10.700000,-0.718433	FG_AHR_10Vo	0.128
FREEZE	5.45,13.445,-1.554,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3314.49,271.85,0.879,0,500.3,450.6,550.1,686.76	MEM2	945640,32,100908,69
SM_GC	2.54,0.00,10.78,0.10,0.000,0.023,0.102,496.5,448.2,544.9,181.0,2500.4,0,0,0,30.00,15.26,15.26	DATA_FILE_SIZE	12916,427
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	247187,0
IRIDIUM_FIX	4736.00,-12258.89,240623,210823	SDSIZE	3887104,3864384
TCM_TEMP	15.25	SDFILEDIR	240,25
SC_FREEKB	3871072	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1400.7
MODEM	0,1687644000,47.60500,-122.95000,0.461,675.1	CURRENT	0.011, 72.7,1
RAFOS_FIX	4736.083984,-12256.957031,240623,212100,3,255,-11.53	MAGCAL	1.000000,0.022724,0.034997,-0.013534,1.028035,-0.017010,-0.022529,-0.067020,0.934554,331.5,-634.6,-591.6,32,0.0266,0
HUMID	51.68	IMPLIED_C_PITCH	1587,18.98,227,0.0,0.00
TEMP	10.23	IMPLIED_C_VBD	3141,20.739372,227,0
INTERNAL_PRESSURE	8.53996	GPS	240623,225438,4736.271,-12256.602,2,1.3,5,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	720	1068	11471.70	nil	0	0	0.00
Pitch_motor	24	239	86.80	nil	0	0	0.00
Roll_motor	42	191	121.84	nil	0	0	0.00
Iridium	114	168	289.23	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.93	nil	0	0	0.00
Core	1900	5	145.21	SciCon	3035	9	416.73
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1398	0	6.68
Compass	974	5	72.73
RAFOS	2301	40	1373.55
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
6.63	16386	-146.63	-1.35	0.00	493.3	449.6	536.9	183.5	2563.2	0.00	0.00	0	64.90	55.69	0.00	0.00	0.005	0.000	0.000	1862.69	1834.00	1891.38	183.50	2562.88	0	0	0	15.57	30.00	30.00
65.18	18983	-146.63	-1.35	-80.00	1864.0	1834.8	1893.3	183.6	2562.9	3.26	-2.50	11	142.85	58.38	8.13	3.60	0.005	0.240	0.067	3898.91	3861.94	3935.88	1271.94	1068.50	0	0	0	15.62	15.44	15.33
369.33	3205	-146.63	-1.24	0.00	3900.6	3862.9	3938.2	1272.2	1068.8	42.98	-15.16	69	376.38	0.00	0.19	3.53	0.000	0.177	0.036	3900.88	3863.44	3938.31	1300.12	2557.06	0	0	0	30.00	15.57	15.60
559.68	644	-146.63	-1.17	-80.00	3901.2	3863.3	3939.1	1300.0	2557.0	68.49	-13.19	93	565.85	0.00	0.00	3.59	0.000	0.000	0.064	3901.53	3863.88	3939.19	1300.00	1070.31	0	0	0	30.00	30.00	15.61
618.95	3205	-146.63	-1.11	0.00	3901.5	3863.6	3939.5	1300.1	1069.9	76.67	-13.45	105	625.77	0.00	0.21	3.52	0.000	0.157	0.034	3902.62	3864.50	3940.75	1333.25	2556.12	0	0	0	30.00	15.61	15.63
814.76	128	-146.63	-1.08	0.00	3902.0	3863.8	3940.1	1333.1	2556.2	100.20	-11.92	125	816.34	0.00	0.00	0.00	0.000	0.000	0.000	3901.47	3862.56	3940.38	1333.19	2556.12	0	0	0	30.00	30.00	30.00
1005.03	388	-146.63	-1.06	80.00	3902.3	3863.9	3940.7	1333.2	2555.9	122.57	-11.66	144	1011.02	0.00	0.00	3.38	0.000	0.000	0.109	3901.97	3863.94	3940.00	1334.00	3890.44	0	0	0	30.00	30.00	15.65
1034.03	3205	-146.63	-0.99	0.00	3902.3	3863.8	3940.8	1334.3	3889.9	126.63	-13.51	150	1040.81	0.00	0.16	3.14	0.000	0.162	0.014	3902.50	3864.12	3940.88	1360.50	2487.88	0	0	0	30.00	15.64	15.70
1229.74	0	-146.63	-0.99	0.00	3902.4	3863.8	3940.9	1360.2	2486.6	147.52	-10.49	170	1231.31	0.00	0.00	0.00	0.000	0.000	0.000	3901.97	3863.81	3940.12	1360.38	2487.00	0	0	0	30.00	30.00	30.00
1260	end dive: TARGET_DEPTH_EXCEEDED
state	1260	begin apogee
1261.18	10243	0.00	-0.33	0.00	3902.5	3864.1	3940.8	1360.6	2566.5	150.57	-10.29	173	1375.38	105.56	1.04	0.07	1.068	0.118	0.191	3299.88	3252.62	3347.12	1520.81	2512.69	0	0	0	11.71	15.65	15.33
1377	end apogee: CONTROL_FINISHED_OK
state	1377	begin climb
1377.15	10759	146.63	1.35	-80.00	3296.4	3248.9	3343.8	1521.4	2513.1	155.37	0.00	184	1504.38	111.92	2.64	3.58	1.035	0.083	0.073	2699.78	2633.38	2766.19	1928.25	1079.62	0	0	0	11.53	15.33	15.14
1507.10	5253	146.63	1.21	0.00	2696.8	2631.4	2762.3	1930.8	1079.7	144.49	11.79	204	1514.37	0.00	0.38	3.61	0.000	0.176	0.035	2697.38	2631.25	2763.50	1888.81	2565.50	0	0	0	30.00	15.17	15.21
1702.78	17030	146.63	1.12	-80.00	2690.3	2624.0	2756.6	1888.7	2565.9	117.18	14.71	224	1709.20	0.00	0.00	3.64	0.000	0.000	0.067	2690.31	2624.31	2756.31	1888.62	1079.56	0	0	0	30.00	30.00	15.43
1732.04	21639	146.63	1.03	0.00	2689.4	2624.1	2754.6	1888.6	1079.9	112.77	14.63	230	1739.11	0.00	0.32	3.55	0.000	0.173	0.036	2691.22	2625.94	2756.50	1842.56	2565.81	0	0	0	30.00	15.40	15.46
1928.07	16514	146.63	0.99	0.00	2688.3	2621.9	2754.7	1843.1	2565.8	90.31	11.19	250	1929.63	0.00	0.00	0.00	0.000	0.000	0.000	2686.78	2620.44	2753.12	1842.81	2565.75	0	0	0	30.00	30.00	30.00
2111.32	16514	146.63	0.95	0.00	2687.1	2621.0	2753.1	1843.1	2565.7	70.71	10.18	269	2112.90	0.00	0.00	0.00	0.000	0.000	0.000	2685.34	2618.94	2751.75	1843.25	2565.81	0	0	0	30.00	30.00	30.00
2301.50	16546	148.02	0.92	0.00	2686.3	2619.8	2752.9	1843.2	2565.9	52.00	9.94	288	2303.07	0.00	0.00	0.00	0.000	0.000	0.000	2685.00	2618.62	2751.38	1842.81	2565.19	0	0	0	30.00	30.00	30.00
2486.46	8870	162.68	0.92	-80.00	2685.8	2619.8	2751.9	1842.7	2565.7	35.23	9.32	322	2508.24	12.73	0.00	3.61	0.844	0.000	0.073	2636.47	2569.12	2703.81	1843.19	1078.56	0	0	0	11.71	30.00	15.62
2541.93	9382	175.99	0.91	0.00	2632.1	2565.3	2698.9	1842.9	1078.5	30.06	9.38	333	2563.64	12.51	0.00	3.53	0.828	0.000	0.037	2583.75	2515.00	2652.50	1842.81	2565.94	0	0	0	11.72	30.00	15.66
2747.24	8226	211.04	0.95	0.00	2574.2	2503.0	2645.4	1842.9	2565.4	12.14	8.38	374	2777.93	27.72	0.00	0.00	0.895	0.000	0.000	2436.91	2361.31	2512.50	1843.06	2565.62	0	0	0	11.81	30.00	30.00
2959.71	10919	406.42	1.26	-80.00	2429.8	2352.4	2507.3	1843.4	2566.0	6.50	0.95	414	3027.49	63.81	0.44	0.00	0.910	0.033	0.000	2084.59	1997.19	2172.00	1916.88	2565.81	0	0	0	11.68	15.64	30.00
3028	end climb: NO_VERTICAL_VELOCITY
state	3028	begin surface