Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 28 * 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 28 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 0.14559168 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 11.095016 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 0.14559168 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.095016 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 28 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 250623,014253,4735.911,-12256.786,8,0.7,10,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,014602,4735.901,-12256.800,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 9.6,1235,-17.6,-10.000,-21.21,2209,0.167

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 8000266

Post-dive calculations and measurements:

NAV 1687660035,35.2,3,stop _24V_AH 14.89,11.935

NET CACST,8,0,20230625021531.419098,18,32767,45,0107,0150,07,00,00,00,00,1,029,121,0,5,3,0,150,13.6,4.49,-100,-1.49,-01,0.13,67,10000,5000,0,1,00,00*71 _10V_AH 14.93,0.000

NET_PING 1687658416,29,560.584473,13.800000,-0.745364 FG_AHR_24Vo 11.269

MODEM_MSG CACST,8,1,20230625022500.506315,18,32767,39,0108,0000,07,01,01,01,01,-1,-01,-01,2,3,1,0,150,18.2,-0.55,-100,3.55,-01,0.12,37,925,0025,0,-1,00,00*15 FG_AHR_10Vo 0.153

FREEZE 4.31,14.571,-1.480,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3282.32,243.60,0.878,0,501.1,451.3,550.8,686.58 MEM2 945704,30,100884,69

SM_GC 2.55,0.00,10.63,0.12,0.000,0.022,0.132,497.1,448.9,545.2,182.2,2561.5,0,0,0,30.00,15.30,15.26 DATA_FILE_SIZE 9750,429

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 238721,0

IRIDIUM_FIX 4738.33,-12256.21,250623,005843 SDSIZE 3887104,3863040

TCM_TEMP 15.39 SDFILEDIR 272,29

SC_FREEKB 3869792 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1405.1

MODEM 0,1687658400,47.60500,-122.95000,0.398,567.9 CURRENT 0.044,210.7,1

RAFOS_FIX 4736.026855,-12256.841797,250623,020200,3,255,0.10 MAGCAL 1.000000,0.068694,-0.207312,-0.001743,1.005517,0.077093,0.213516,-0.433155,0.856682,540.6,-705.8,-606.3,36,0.1155,0

HUMID 51.92 IMPLIED_C_PITCH 1596,19.44,218,0.0,0.00

TEMP 10.34 IMPLIED_C_VBD 3134,21.357105,218,0

INTERNAL_PRESSURE 8.54316 GPS 250623,024339,4736.147,-12256.570,2,0.9,14,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 721 1065 11437.16 nil 0 0 0.00

Pitch_motor 24 246 88.67 nil 0 0 0.00

Roll_motor 34 189 97.37 nil 0 0 0.00

Iridium 123 158 290.79 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 1964 5 150.14 SciCon 3031 9 418.14

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1342 0 6.41

Compass 979 5 73.10

RAFOS 2016 40 1204.19

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

6.60 16386 -146.63 -1.35 0.00 493.5 452.4 534.6 179.8 2564.6 0.00 0.00 0 51.25 42.51 0.00 0.00 0.005 0.000 0.000 1575.06 1544.50 1605.62 179.94 2564.56 0 0 0 15.36 30.00 30.00

51.53 18467 -146.63 -1.35 0.00 1575.8 1545.9 1605.8 179.8 2564.4 3.28 -2.63 6 139.04 71.44 8.26 0.00 0.005 0.247 0.000 3897.28 3862.69 3931.88 1271.56 2564.94 0 0 0 15.54 15.42 30.00

322.32 2437 -146.63 -1.24 80.00 3900.3 3863.2 3937.4 1271.9 2565.1 35.63 -15.05 60 328.24 0.00 0.20 3.32 0.000 0.178 0.103 3900.56 3863.25 3937.88 1301.69 3890.31 0 0 0 30.00 15.55 15.56

388.09 3205 -146.63 -1.07 0.00 3900.3 3863.0 3937.6 1301.1 3889.9 46.95 -17.94 73 393.98 0.00 0.26 3.13 0.000 0.165 0.013 3900.84 3863.19 3938.50 1342.88 2486.81 0 0 0 30.00 15.59 15.65

578.10 128 -146.63 -1.05 0.00 3900.9 3863.0 3938.9 1342.3 2486.8 69.95 -11.77 94 579.63 0.00 0.00 0.00 0.000 0.000 0.000 3900.12 3862.19 3938.06 1342.81 2487.06 0 0 0 30.00 30.00 30.00

769.67 128 -146.63 -1.03 0.00 3900.8 3863.1 3938.4 1342.9 2486.9 90.76 -11.29 112 772.45 0.00 0.00 0.00 0.000 0.000 0.000 3900.94 3863.12 3938.75 1342.94 2486.88 0 0 0 30.00 30.00 30.00

953.55 260 -146.63 -1.03 80.00 3901.2 3863.4 3938.9 1342.9 2486.9 113.05 -11.61 131 959.93 0.00 0.00 3.54 0.000 0.000 0.101 3902.16 3864.00 3940.31 1342.75 3889.38 0 0 0 30.00 30.00 15.53

1042.88 3205 -146.63 -0.94 0.00 3900.8 3863.1 3938.4 1342.2 3890.1 126.69 -16.19 149 1049.89 0.00 0.19 3.15 0.000 0.158 0.014 3901.44 3863.62 3939.25 1373.31 2486.56 0 0 0 30.00 15.55 15.61

1238.67 128 -146.63 -0.97 0.00 3901.2 3863.1 3939.3 1373.6 2486.9 147.21 -10.06 169 1240.24 0.00 0.00 0.00 0.000 0.000 0.000 3900.91 3862.94 3938.88 1373.62 2486.81 0 0 0 30.00 30.00 30.00

1269 end dive: TARGET_DEPTH_EXCEEDED

state 1269 begin apogee

1270.02 10243 0.00 -0.33 0.00 3901.4 3863.6 3939.2 1373.1 2566.6 150.17 -9.93 172 1384.24 106.48 0.96 0.07 1.065 0.117 0.190 3300.50 3251.94 3349.06 1521.19 2513.94 0 0 0 11.71 15.61 15.30

1386 end apogee: CONTROL_FINISHED_OK

state 1386 begin climb

1385.69 10759 146.63 1.35 -80.00 3295.9 3247.6 3344.2 1520.9 2514.6 154.99 0.00 183 1513.96 112.66 2.66 3.57 1.030 0.084 0.072 2701.09 2633.44 2768.75 1931.62 1079.81 0 0 0 11.52 15.30 15.13

1516.69 5253 146.63 1.21 0.00 2696.8 2630.6 2763.0 1931.4 1079.9 144.05 11.38 200 1523.91 0.00 0.38 3.60 0.000 0.179 0.034 2697.00 2630.75 2763.25 1888.62 2568.12 0 0 0 30.00 15.15 15.20

1717.45 16514 146.63 1.12 0.00 2690.6 2623.1 2758.0 1889.2 2568.1 116.46 14.36 220 1721.74 0.00 0.00 0.00 0.000 0.000 0.000 2690.62 2623.00 2758.25 1889.00 2567.94 0 0 0 30.00 30.00 30.00

1902.61 20611 146.63 1.04 0.00 2690.1 2622.2 2757.9 1888.5 2568.1 90.73 13.14 239 1904.43 0.00 0.29 0.00 0.000 0.163 0.000 2691.06 2623.94 2758.19 1844.38 2567.12 0 0 0 30.00 15.49 30.00

2092.63 17030 146.63 1.00 -80.00 2688.2 2621.0 2755.4 1846.6 2567.7 69.75 11.09 258 2099.77 0.00 0.00 3.62 0.000 0.000 0.069 2687.72 2620.31 2755.12 1846.75 1078.50 0 0 0 30.00 30.00 15.57

2148.17 17542 146.63 0.96 0.00 2686.9 2620.7 2753.2 1846.8 1078.6 63.63 11.09 269 2154.51 0.00 0.00 3.53 0.000 0.000 0.036 2688.06 2621.75 2754.38 1846.19 2567.69 0 0 0 30.00 30.00 15.59

2338.48 8354 162.27 0.95 0.00 2686.7 2619.9 2753.4 1847.0 2567.7 45.30 9.28 293 2353.36 12.68 0.00 0.00 0.838 0.000 0.000 2636.31 2568.00 2704.62 1846.69 2567.69 0 0 0 11.67 30.00 30.00

2538.54 8354 175.58 0.94 0.00 2631.4 2562.0 2700.8 1846.8 2567.3 26.22 9.38 333 2553.39 12.26 0.00 0.00 0.820 0.000 0.000 2581.66 2511.56 2651.75 1846.94 2567.81 0 0 0 11.64 30.00 30.00

2735.57 8486 237.61 1.02 80.00 2576.8 2505.0 2648.5 1847.1 2567.6 9.89 7.13 372 2793.51 47.16 0.00 3.39 0.905 0.000 0.115 2328.72 2246.56 2410.88 1846.50 3888.81 0 0 0 11.82 30.00 15.47

2797.27 11431 338.39 1.17 0.00 2325.8 2245.2 2406.2 1845.8 3889.2 6.61 5.33 384 2881.40 72.38 0.28 3.15 0.887 0.039 0.015 1920.03 1826.94 2013.12 1892.62 2496.31 0 0 0 11.63 15.53 15.52

3025 end climb: NO_VERTICAL_VELOCITY

state 3025 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	28	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	0.14559168	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	11.095016	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	250623,014253,4735.911,-12256.786,8,0.7,10,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,014602,4735.901,-12256.800,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	9.6,1235,-17.6,-10.000,-21.21,2209,0.167
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	8000266

NAV	1687660035,35.2,3,stop	_24V_AH	14.89,11.935
NET	CACST,8,0,20230625021531.419098,18,32767,45,0107,0150,07,00,00,00,00,1,029,121,0,5,3,0,150,13.6,4.49,-100,-1.49,-01,0.13,67,10000,5000,0,1,00,00*71	_10V_AH	14.93,0.000
NET_PING	1687658416,29,560.584473,13.800000,-0.745364	FG_AHR_24Vo	11.269
MODEM_MSG	CACST,8,1,20230625022500.506315,18,32767,39,0108,0000,07,01,01,01,01,-1,-01,-01,2,3,1,0,150,18.2,-0.55,-100,3.55,-01,0.12,37,925,0025,0,-1,00,00*15	FG_AHR_10Vo	0.153
FREEZE	4.31,14.571,-1.480,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3282.32,243.60,0.878,0,501.1,451.3,550.8,686.58	MEM2	945704,30,100884,69
SM_GC	2.55,0.00,10.63,0.12,0.000,0.022,0.132,497.1,448.9,545.2,182.2,2561.5,0,0,0,30.00,15.30,15.26	DATA_FILE_SIZE	9750,429
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	238721,0
IRIDIUM_FIX	4738.33,-12256.21,250623,005843	SDSIZE	3887104,3863040
TCM_TEMP	15.39	SDFILEDIR	272,29
SC_FREEKB	3869792	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1405.1
MODEM	0,1687658400,47.60500,-122.95000,0.398,567.9	CURRENT	0.044,210.7,1
RAFOS_FIX	4736.026855,-12256.841797,250623,020200,3,255,0.10	MAGCAL	1.000000,0.068694,-0.207312,-0.001743,1.005517,0.077093,0.213516,-0.433155,0.856682,540.6,-705.8,-606.3,36,0.1155,0
HUMID	51.92	IMPLIED_C_PITCH	1596,19.44,218,0.0,0.00
TEMP	10.34	IMPLIED_C_VBD	3134,21.357105,218,0
INTERNAL_PRESSURE	8.54316	GPS	250623,024339,4736.147,-12256.570,2,0.9,14,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	721	1065	11437.16	nil	0	0	0.00
Pitch_motor	24	246	88.67	nil	0	0	0.00
Roll_motor	34	189	97.37	nil	0	0	0.00
Iridium	123	158	290.79	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	1964	5	150.14	SciCon	3031	9	418.14
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1342	0	6.41
Compass	979	5	73.10
RAFOS	2016	40	1204.19
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
6.60	16386	-146.63	-1.35	0.00	493.5	452.4	534.6	179.8	2564.6	0.00	0.00	0	51.25	42.51	0.00	0.00	0.005	0.000	0.000	1575.06	1544.50	1605.62	179.94	2564.56	0	0	0	15.36	30.00	30.00
51.53	18467	-146.63	-1.35	0.00	1575.8	1545.9	1605.8	179.8	2564.4	3.28	-2.63	6	139.04	71.44	8.26	0.00	0.005	0.247	0.000	3897.28	3862.69	3931.88	1271.56	2564.94	0	0	0	15.54	15.42	30.00
322.32	2437	-146.63	-1.24	80.00	3900.3	3863.2	3937.4	1271.9	2565.1	35.63	-15.05	60	328.24	0.00	0.20	3.32	0.000	0.178	0.103	3900.56	3863.25	3937.88	1301.69	3890.31	0	0	0	30.00	15.55	15.56
388.09	3205	-146.63	-1.07	0.00	3900.3	3863.0	3937.6	1301.1	3889.9	46.95	-17.94	73	393.98	0.00	0.26	3.13	0.000	0.165	0.013	3900.84	3863.19	3938.50	1342.88	2486.81	0	0	0	30.00	15.59	15.65
578.10	128	-146.63	-1.05	0.00	3900.9	3863.0	3938.9	1342.3	2486.8	69.95	-11.77	94	579.63	0.00	0.00	0.00	0.000	0.000	0.000	3900.12	3862.19	3938.06	1342.81	2487.06	0	0	0	30.00	30.00	30.00
769.67	128	-146.63	-1.03	0.00	3900.8	3863.1	3938.4	1342.9	2486.9	90.76	-11.29	112	772.45	0.00	0.00	0.00	0.000	0.000	0.000	3900.94	3863.12	3938.75	1342.94	2486.88	0	0	0	30.00	30.00	30.00
953.55	260	-146.63	-1.03	80.00	3901.2	3863.4	3938.9	1342.9	2486.9	113.05	-11.61	131	959.93	0.00	0.00	3.54	0.000	0.000	0.101	3902.16	3864.00	3940.31	1342.75	3889.38	0	0	0	30.00	30.00	15.53
1042.88	3205	-146.63	-0.94	0.00	3900.8	3863.1	3938.4	1342.2	3890.1	126.69	-16.19	149	1049.89	0.00	0.19	3.15	0.000	0.158	0.014	3901.44	3863.62	3939.25	1373.31	2486.56	0	0	0	30.00	15.55	15.61
1238.67	128	-146.63	-0.97	0.00	3901.2	3863.1	3939.3	1373.6	2486.9	147.21	-10.06	169	1240.24	0.00	0.00	0.00	0.000	0.000	0.000	3900.91	3862.94	3938.88	1373.62	2486.81	0	0	0	30.00	30.00	30.00
1269	end dive: TARGET_DEPTH_EXCEEDED
state	1269	begin apogee
1270.02	10243	0.00	-0.33	0.00	3901.4	3863.6	3939.2	1373.1	2566.6	150.17	-9.93	172	1384.24	106.48	0.96	0.07	1.065	0.117	0.190	3300.50	3251.94	3349.06	1521.19	2513.94	0	0	0	11.71	15.61	15.30
1386	end apogee: CONTROL_FINISHED_OK
state	1386	begin climb
1385.69	10759	146.63	1.35	-80.00	3295.9	3247.6	3344.2	1520.9	2514.6	154.99	0.00	183	1513.96	112.66	2.66	3.57	1.030	0.084	0.072	2701.09	2633.44	2768.75	1931.62	1079.81	0	0	0	11.52	15.30	15.13
1516.69	5253	146.63	1.21	0.00	2696.8	2630.6	2763.0	1931.4	1079.9	144.05	11.38	200	1523.91	0.00	0.38	3.60	0.000	0.179	0.034	2697.00	2630.75	2763.25	1888.62	2568.12	0	0	0	30.00	15.15	15.20
1717.45	16514	146.63	1.12	0.00	2690.6	2623.1	2758.0	1889.2	2568.1	116.46	14.36	220	1721.74	0.00	0.00	0.00	0.000	0.000	0.000	2690.62	2623.00	2758.25	1889.00	2567.94	0	0	0	30.00	30.00	30.00
1902.61	20611	146.63	1.04	0.00	2690.1	2622.2	2757.9	1888.5	2568.1	90.73	13.14	239	1904.43	0.00	0.29	0.00	0.000	0.163	0.000	2691.06	2623.94	2758.19	1844.38	2567.12	0	0	0	30.00	15.49	30.00
2092.63	17030	146.63	1.00	-80.00	2688.2	2621.0	2755.4	1846.6	2567.7	69.75	11.09	258	2099.77	0.00	0.00	3.62	0.000	0.000	0.069	2687.72	2620.31	2755.12	1846.75	1078.50	0	0	0	30.00	30.00	15.57
2148.17	17542	146.63	0.96	0.00	2686.9	2620.7	2753.2	1846.8	1078.6	63.63	11.09	269	2154.51	0.00	0.00	3.53	0.000	0.000	0.036	2688.06	2621.75	2754.38	1846.19	2567.69	0	0	0	30.00	30.00	15.59
2338.48	8354	162.27	0.95	0.00	2686.7	2619.9	2753.4	1847.0	2567.7	45.30	9.28	293	2353.36	12.68	0.00	0.00	0.838	0.000	0.000	2636.31	2568.00	2704.62	1846.69	2567.69	0	0	0	11.67	30.00	30.00
2538.54	8354	175.58	0.94	0.00	2631.4	2562.0	2700.8	1846.8	2567.3	26.22	9.38	333	2553.39	12.26	0.00	0.00	0.820	0.000	0.000	2581.66	2511.56	2651.75	1846.94	2567.81	0	0	0	11.64	30.00	30.00
2735.57	8486	237.61	1.02	80.00	2576.8	2505.0	2648.5	1847.1	2567.6	9.89	7.13	372	2793.51	47.16	0.00	3.39	0.905	0.000	0.115	2328.72	2246.56	2410.88	1846.50	3888.81	0	0	0	11.82	30.00	15.47
2797.27	11431	338.39	1.17	0.00	2325.8	2245.2	2406.2	1845.8	3889.2	6.61	5.33	384	2881.40	72.38	0.28	3.15	0.887	0.039	0.015	1920.03	1826.94	2013.12	1892.62	2496.31	0	0	0	11.63	15.53	15.52
3025	end climb: NO_VERTICAL_VELOCITY
state	3025	begin surface