Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 26 * 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 26 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 40 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 0.12813149 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 10.740819 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 40 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 0.12813149 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.740819 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 26 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 240623,235559,4736.403,-12256.575,1,1.1,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,235840,4736.388,-12256.582,2,1.1,4,15.4 MHEAD_RNG_PITCHd_Wd 181.6,855,-18.0,-10.000,-21.61,2110,0.159

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 8000307

Post-dive calculations and measurements:

NAV 1687654597,0.7,0,stop _24V_AH 14.89,11.547

NET CACST,8,0,20230625004540.222298,18,32767,45,0102,0150,07,00,00,00,00,1,029,121,0,5,3,0,150,10.8,7.75,-100,-4.75,-01,-0.29,78,10000,5000,0,1,00,00*58 _10V_AH 14.94,0.000

NET_PING 1687653915,29,344.985016,10.700000,-0.457651 FG_AHR_24Vo 10.915

MODEM_MSG CACST,8,1,20230625002000.476513,18,18427,42,0363,0000,246,04,04,00,06,-1,-01,-01,1,3,0,0,150,-37.6,0.61,-100,2.39,-01,0.21,45,925,0025,0,-1,00,00*2A FG_AHR_10Vo 0.139

FREEZE 4.75,14.703,-1.490,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3332.03,218.35,0.860,0,500.6,459.4,541.9,686.69 MEM2 945664,32,100884,69

SM_GC 2.30,0.00,10.86,3.60,0.000,0.024,0.038,496.9,456.0,537.8,182.4,2555.0,0,0,0,30.00,15.27,15.26 DATA_FILE_SIZE 12950,492

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 281544,0

IRIDIUM_FIX 4735.53,-12254.47,240623,235220 SDSIZE 3887104,3863712

TCM_TEMP 15.31 SDFILEDIR 255,27

SC_FREEKB 3870432 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 0,1687651200,47.60500,-122.95000,0.588,866.7 CURRENT 0.056,205.5,1

RAFOS_FIX 4712.108887,-12250.769531,250623,000000,4,255,66.99 MAGCAL 1.000000,0.253033,-0.480158,-0.140030,0.805358,0.400305,0.483710,-0.456494,0.679686,735.1,-788.0,-720.5,23,0.1261,0

HUMID 51.92 IMPLIED_C_PITCH 1604,20.41,232,0.0,0.00

TEMP 10.48 IMPLIED_C_VBD 3164,115.816124,229,0

INTERNAL_PRESSURE 8.54652 GPS 250623,005732,4736.178,-12256.924,27,0.8,28,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 723 1035 11159.63 nil 0 0 0.00

Pitch_motor 24 239 87.70 nil 0 0 0.00

Roll_motor 60 144 131.07 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 1957 5 149.77 SciCon 3104 9 429.75

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1292 0 6.18

Compass 1066 5 79.66

RAFOS 2428 40 1451.19

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

6.58 16386 -139.96 -1.38 0.00 493.5 453.8 533.2 199.6 2567.5 0.00 0.00 0 68.62 59.31 0.00 0.00 0.005 0.000 0.000 1973.38 1943.44 2003.31 199.75 2567.81 0 0 0 14.68 30.00 30.00

68.90 18727 -146.63 -1.38 80.00 1974.2 1944.0 2004.5 199.7 2567.8 3.16 -2.10 9 144.53 56.19 7.97 3.34 0.005 0.239 0.102 3897.72 3858.38 3937.06 1264.19 3889.25 0 0 0 14.64 14.96 15.52

247.86 3205 -146.63 -1.15 0.00 3900.4 3863.1 3937.7 1263.7 3890.2 22.20 -12.96 44 253.80 0.00 0.40 3.13 0.000 0.172 0.013 3901.59 3863.75 3939.44 1320.81 2487.75 0 0 0 30.00 15.54 15.60

437.93 420 -146.63 -1.08 80.00 3900.8 3862.9 3938.7 1321.2 2488.2 40.20 -9.51 82 443.87 0.00 0.00 3.54 0.000 0.000 0.096 3901.56 3863.06 3940.06 1321.62 3891.12 0 0 0 30.00 30.00 15.59

672.23 3205 -146.63 -0.93 0.00 3901.2 3863.4 3939.1 1321.5 3890.7 74.58 -16.10 129 679.09 0.00 0.35 3.12 0.000 0.155 0.013 3901.75 3863.50 3940.00 1376.00 2483.62 0 0 0 30.00 15.61 15.68

867.97 292 -146.63 -0.93 80.00 3902.0 3862.8 3941.2 1376.5 2482.9 94.45 -9.70 149 874.32 0.00 0.00 3.56 0.000 0.000 0.099 3901.38 3862.81 3939.94 1376.31 3888.81 0 0 0 30.00 30.00 15.64

1100.58 1156 -146.63 -0.89 0.00 3901.8 3863.4 3940.2 1376.3 3889.2 124.37 -12.57 195 1107.20 0.00 0.00 3.15 0.000 0.000 0.013 3902.50 3863.50 3941.50 1376.38 2484.75 0 0 0 30.00 30.00 15.56

1296.41 420 -146.63 -0.92 80.00 3901.9 3862.7 3941.1 1376.6 2485.8 142.78 -9.11 215 1302.67 0.00 0.00 3.55 0.000 0.000 0.102 3902.75 3863.38 3942.12 1376.69 3890.88 0 0 0 30.00 30.00 15.58

1362 end dive: TARGET_DEPTH_EXCEEDED

state 1362 begin apogee

1367.22 10243 0.00 -0.33 0.00 3902.1 3863.1 3941.1 1376.5 2494.9 150.48 -12.42 228 1481.05 106.14 0.94 0.15 1.036 0.119 0.131 3297.25 3253.12 3341.38 1521.56 2567.81 0 0 0 11.76 15.57 15.28

1483 end apogee: CONTROL_FINISHED_OK

state 1483 begin climb

1482.49 10759 146.63 1.38 -80.00 3296.7 3252.4 3341.1 1520.5 2567.8 155.79 0.00 239 1609.65 110.95 2.70 3.66 1.007 0.085 0.067 2697.97 2638.06 2757.88 1937.06 1080.69 0 0 0 11.64 15.28 15.14

1663.06 21639 146.63 1.24 0.00 2692.9 2632.5 2753.4 1936.7 1080.8 135.75 17.55 273 1670.66 0.00 0.38 3.58 0.000 0.179 0.035 2691.47 2631.00 2751.94 1894.69 2567.31 0 0 0 30.00 15.25 15.30

1856.42 16774 146.63 1.15 80.00 2689.5 2627.1 2752.0 1894.7 2566.9 107.55 15.02 293 1866.23 0.00 0.00 3.34 0.000 0.000 0.108 2690.66 2628.31 2753.00 1895.06 3888.75 0 0 0 30.00 30.00 15.45

1885.09 21639 146.63 0.99 0.00 2688.9 2627.2 2750.6 1895.1 3888.1 101.79 17.70 299 1891.53 0.00 0.43 3.12 0.000 0.169 0.014 2687.25 2625.44 2749.06 1834.62 2496.38 0 0 0 30.00 15.46 15.54

2080.40 16546 147.99 0.97 0.00 2687.3 2623.9 2750.8 1835.0 2497.6 79.74 9.93 319 2081.97 0.00 0.00 0.00 0.000 0.000 0.000 2685.75 2622.75 2748.75 1834.88 2497.12 0 0 0 30.00 30.00 30.00

2270.43 8870 158.91 0.97 -80.00 2686.2 2623.1 2749.2 1834.1 2497.1 61.19 9.47 338 2286.94 9.93 0.00 3.40 0.787 0.000 0.075 2647.50 2584.81 2710.19 1834.75 1079.81 0 0 0 11.64 30.00 15.60

2315.38 9382 163.00 0.96 0.00 2647.4 2584.6 2710.3 1833.9 1079.6 56.83 9.80 347 2327.78 5.67 0.00 3.52 0.598 0.000 0.036 2631.50 2568.06 2694.94 1834.75 2566.00 0 0 0 11.77 30.00 15.64

2511.38 32 165.88 0.96 0.00 2629.6 2564.9 2694.4 1834.2 2565.1 37.87 9.86 380 2515.12 0.00 0.00 0.00 0.000 0.000 0.000 2629.47 2564.88 2694.06 1834.38 2565.19 0 0 0 30.00 30.00 30.00

2714.67 8486 204.05 1.01 80.00 2628.0 2563.0 2693.0 1834.8 2565.9 21.28 8.15 417 2761.81 32.26 0.00 3.39 0.894 0.000 0.115 2464.53 2395.12 2533.94 1834.31 3888.69 0 0 0 11.69 30.00 15.54

2770.59 9254 227.64 1.04 0.00 2462.9 2394.3 2531.5 1834.6 3888.6 15.14 8.86 427 2797.34 19.53 0.00 3.13 0.836 0.000 0.015 2373.12 2299.44 2446.81 1834.75 2498.00 0 0 0 11.68 30.00 15.60

2981.04 10919 376.70 1.32 -80.00 2361.3 2284.6 2438.0 1834.0 2497.2 5.40 2.77 469 3097.53 105.17 0.58 3.50 0.889 0.034 0.072 1761.12 1674.00 1848.25 1929.69 1080.94 0 0 0 11.63 15.62 15.30

3101 end climb: NO_VERTICAL_VELOCITY

state 3102 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	26	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	40	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	0.12813149	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	10.740819	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	240623,235559,4736.403,-12256.575,1,1.1,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,235840,4736.388,-12256.582,2,1.1,4,15.4	MHEAD_RNG_PITCHd_Wd	181.6,855,-18.0,-10.000,-21.61,2110,0.159
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	8000307

NAV	1687654597,0.7,0,stop	_24V_AH	14.89,11.547
NET	CACST,8,0,20230625004540.222298,18,32767,45,0102,0150,07,00,00,00,00,1,029,121,0,5,3,0,150,10.8,7.75,-100,-4.75,-01,-0.29,78,10000,5000,0,1,00,00*58	_10V_AH	14.94,0.000
NET_PING	1687653915,29,344.985016,10.700000,-0.457651	FG_AHR_24Vo	10.915
MODEM_MSG	CACST,8,1,20230625002000.476513,18,18427,42,0363,0000,246,04,04,00,06,-1,-01,-01,1,3,0,0,150,-37.6,0.61,-100,2.39,-01,0.21,45,925,0025,0,-1,00,00*2A	FG_AHR_10Vo	0.139
FREEZE	4.75,14.703,-1.490,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3332.03,218.35,0.860,0,500.6,459.4,541.9,686.69	MEM2	945664,32,100884,69
SM_GC	2.30,0.00,10.86,3.60,0.000,0.024,0.038,496.9,456.0,537.8,182.4,2555.0,0,0,0,30.00,15.27,15.26	DATA_FILE_SIZE	12950,492
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	281544,0
IRIDIUM_FIX	4735.53,-12254.47,240623,235220	SDSIZE	3887104,3863712
TCM_TEMP	15.31	SDFILEDIR	255,27
SC_FREEKB	3870432	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	0,1687651200,47.60500,-122.95000,0.588,866.7	CURRENT	0.056,205.5,1
RAFOS_FIX	4712.108887,-12250.769531,250623,000000,4,255,66.99	MAGCAL	1.000000,0.253033,-0.480158,-0.140030,0.805358,0.400305,0.483710,-0.456494,0.679686,735.1,-788.0,-720.5,23,0.1261,0
HUMID	51.92	IMPLIED_C_PITCH	1604,20.41,232,0.0,0.00
TEMP	10.48	IMPLIED_C_VBD	3164,115.816124,229,0
INTERNAL_PRESSURE	8.54652	GPS	250623,005732,4736.178,-12256.924,27,0.8,28,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	723	1035	11159.63	nil	0	0	0.00
Pitch_motor	24	239	87.70	nil	0	0	0.00
Roll_motor	60	144	131.07	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	1957	5	149.77	SciCon	3104	9	429.75
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1292	0	6.18
Compass	1066	5	79.66
RAFOS	2428	40	1451.19
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
6.58	16386	-139.96	-1.38	0.00	493.5	453.8	533.2	199.6	2567.5	0.00	0.00	0	68.62	59.31	0.00	0.00	0.005	0.000	0.000	1973.38	1943.44	2003.31	199.75	2567.81	0	0	0	14.68	30.00	30.00
68.90	18727	-146.63	-1.38	80.00	1974.2	1944.0	2004.5	199.7	2567.8	3.16	-2.10	9	144.53	56.19	7.97	3.34	0.005	0.239	0.102	3897.72	3858.38	3937.06	1264.19	3889.25	0	0	0	14.64	14.96	15.52
247.86	3205	-146.63	-1.15	0.00	3900.4	3863.1	3937.7	1263.7	3890.2	22.20	-12.96	44	253.80	0.00	0.40	3.13	0.000	0.172	0.013	3901.59	3863.75	3939.44	1320.81	2487.75	0	0	0	30.00	15.54	15.60
437.93	420	-146.63	-1.08	80.00	3900.8	3862.9	3938.7	1321.2	2488.2	40.20	-9.51	82	443.87	0.00	0.00	3.54	0.000	0.000	0.096	3901.56	3863.06	3940.06	1321.62	3891.12	0	0	0	30.00	30.00	15.59
672.23	3205	-146.63	-0.93	0.00	3901.2	3863.4	3939.1	1321.5	3890.7	74.58	-16.10	129	679.09	0.00	0.35	3.12	0.000	0.155	0.013	3901.75	3863.50	3940.00	1376.00	2483.62	0	0	0	30.00	15.61	15.68
867.97	292	-146.63	-0.93	80.00	3902.0	3862.8	3941.2	1376.5	2482.9	94.45	-9.70	149	874.32	0.00	0.00	3.56	0.000	0.000	0.099	3901.38	3862.81	3939.94	1376.31	3888.81	0	0	0	30.00	30.00	15.64
1100.58	1156	-146.63	-0.89	0.00	3901.8	3863.4	3940.2	1376.3	3889.2	124.37	-12.57	195	1107.20	0.00	0.00	3.15	0.000	0.000	0.013	3902.50	3863.50	3941.50	1376.38	2484.75	0	0	0	30.00	30.00	15.56
1296.41	420	-146.63	-0.92	80.00	3901.9	3862.7	3941.1	1376.6	2485.8	142.78	-9.11	215	1302.67	0.00	0.00	3.55	0.000	0.000	0.102	3902.75	3863.38	3942.12	1376.69	3890.88	0	0	0	30.00	30.00	15.58
1362	end dive: TARGET_DEPTH_EXCEEDED
state	1362	begin apogee
1367.22	10243	0.00	-0.33	0.00	3902.1	3863.1	3941.1	1376.5	2494.9	150.48	-12.42	228	1481.05	106.14	0.94	0.15	1.036	0.119	0.131	3297.25	3253.12	3341.38	1521.56	2567.81	0	0	0	11.76	15.57	15.28
1483	end apogee: CONTROL_FINISHED_OK
state	1483	begin climb
1482.49	10759	146.63	1.38	-80.00	3296.7	3252.4	3341.1	1520.5	2567.8	155.79	0.00	239	1609.65	110.95	2.70	3.66	1.007	0.085	0.067	2697.97	2638.06	2757.88	1937.06	1080.69	0	0	0	11.64	15.28	15.14
1663.06	21639	146.63	1.24	0.00	2692.9	2632.5	2753.4	1936.7	1080.8	135.75	17.55	273	1670.66	0.00	0.38	3.58	0.000	0.179	0.035	2691.47	2631.00	2751.94	1894.69	2567.31	0	0	0	30.00	15.25	15.30
1856.42	16774	146.63	1.15	80.00	2689.5	2627.1	2752.0	1894.7	2566.9	107.55	15.02	293	1866.23	0.00	0.00	3.34	0.000	0.000	0.108	2690.66	2628.31	2753.00	1895.06	3888.75	0	0	0	30.00	30.00	15.45
1885.09	21639	146.63	0.99	0.00	2688.9	2627.2	2750.6	1895.1	3888.1	101.79	17.70	299	1891.53	0.00	0.43	3.12	0.000	0.169	0.014	2687.25	2625.44	2749.06	1834.62	2496.38	0	0	0	30.00	15.46	15.54
2080.40	16546	147.99	0.97	0.00	2687.3	2623.9	2750.8	1835.0	2497.6	79.74	9.93	319	2081.97	0.00	0.00	0.00	0.000	0.000	0.000	2685.75	2622.75	2748.75	1834.88	2497.12	0	0	0	30.00	30.00	30.00
2270.43	8870	158.91	0.97	-80.00	2686.2	2623.1	2749.2	1834.1	2497.1	61.19	9.47	338	2286.94	9.93	0.00	3.40	0.787	0.000	0.075	2647.50	2584.81	2710.19	1834.75	1079.81	0	0	0	11.64	30.00	15.60
2315.38	9382	163.00	0.96	0.00	2647.4	2584.6	2710.3	1833.9	1079.6	56.83	9.80	347	2327.78	5.67	0.00	3.52	0.598	0.000	0.036	2631.50	2568.06	2694.94	1834.75	2566.00	0	0	0	11.77	30.00	15.64
2511.38	32	165.88	0.96	0.00	2629.6	2564.9	2694.4	1834.2	2565.1	37.87	9.86	380	2515.12	0.00	0.00	0.00	0.000	0.000	0.000	2629.47	2564.88	2694.06	1834.38	2565.19	0	0	0	30.00	30.00	30.00
2714.67	8486	204.05	1.01	80.00	2628.0	2563.0	2693.0	1834.8	2565.9	21.28	8.15	417	2761.81	32.26	0.00	3.39	0.894	0.000	0.115	2464.53	2395.12	2533.94	1834.31	3888.69	0	0	0	11.69	30.00	15.54
2770.59	9254	227.64	1.04	0.00	2462.9	2394.3	2531.5	1834.6	3888.6	15.14	8.86	427	2797.34	19.53	0.00	3.13	0.836	0.000	0.015	2373.12	2299.44	2446.81	1834.75	2498.00	0	0	0	11.68	30.00	15.60
2981.04	10919	376.70	1.32	-80.00	2361.3	2284.6	2438.0	1834.0	2497.2	5.40	2.77	469	3097.53	105.17	0.58	3.50	0.889	0.034	0.072	1761.12	1674.00	1848.25	1929.69	1080.94	0	0	0	11.63	15.62	15.30
3101	end climb: NO_VERTICAL_VELOCITY
state	3102	begin surface