Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 29 * 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 29 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 0.1529943 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 11.274961 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 0.1529943 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.274961 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 29 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 250623,024339,4736.147,-12256.570,2,0.9,14,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.09 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,024652,4736.139,-12256.586,3,0.9,5,15.4 MHEAD_RNG_PITCHd_Wd 359.1,739,-17.6,-10.000,-21.21,2209,0.126

SPEED_LIMITS 0.173,0.258 D_GRID 169

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 1687663635,40.6,4,stop _24V_AH 14.89,12.136

NET CACST,8,1,20230625033019.686136,18,1643,32,0117,0150,07,01,01,00,01,-1,-01,-01,2,3,7,0,150,4.2,6.12,-100,-3.12,-01,0.10,59,10000,5000,0,-1,00,00*7F _10V_AH 14.94,0.000

MODEM_MSG CACST,8,1,20230625032500.697016,18,20432,37,0265,0000,246,03,03,01,03,-1,-01,-01,2,3,1,0,150,4.7,6.86,-100,-3.86,-01,0.10,65,925,0025,0,-1,00,00*15 FG_AHR_24Vo 11.450

FREEZE 3.97,15.052,-1.462,0,1,0 FG_AHR_10Vo 0.154

SURF forcing MEM0 59828,1,0,0

SM_CCo 3288.12,206.54,0.879,0,500.4,451.0,549.9,686.73 MEM1 65508,1,0,0

SM_GC 2.49,0.00,10.78,0.12,0.000,0.028,0.130,496.8,448.9,544.7,186.1,2562.2,0,0,0,30.00,15.27,15.25 MEM2 945680,30,100908,69

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 12931,432

IRIDIUM_FIX 4733.21,-12257.15,250623,014403 CAP_FILE_SIZE 246007,0

TCM_TEMP 15.32 SDSIZE 3887104,3862720

SC_FREEKB 3869472 SDFILEDIR 280,30

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1687662000,47.60500,-122.95000,0.587,825.1 SOUNDSPEED 1402.2

RAFOS_FIX 4736.346191,-12257.331055,250623,030300,4,255,0.44 CURRENT 0.043,197.5,1

HUMID 51.86 IMPLIED_C_PITCH 1600,19.72,224,0.0,0.00

TEMP 10.24 IMPLIED_C_VBD 3119,18.735897,224,0

INTERNAL_PRESSURE 8.54359 GPS 250623,034426,4736.410,-12256.444,2,0.9,5,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 720 1072 11502.75 nil 0 0 0.00

Pitch_motor 24 247 90.87 nil 0 0 0.00

Roll_motor 48 178 129.76 nil 0 0 0.00

Iridium 125 166 310.93 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.21 nil 0 0 0.00

Core 1934 5 147.98 SciCon 3077 9 423.66

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1418 0 6.78

Compass 986 5 73.68

RAFOS 1969 40 1176.86

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

6.78 16386 -146.63 -1.35 0.00 493.6 450.1 537.1 181.0 2507.0 0.00 0.00 0 55.53 46.49 0.00 0.00 0.005 0.000 0.000 1654.84 1626.38 1683.31 181.06 2507.12 0 0 0 15.35 30.00 30.00

55.81 18727 -146.63 -1.35 80.00 1656.0 1628.1 1683.8 181.0 2507.1 3.06 -2.01 7 145.40 69.12 8.27 3.47 0.005 0.247 0.102 3898.44 3862.56 3934.31 1272.75 3890.00 0 0 0 15.56 15.42 15.51

318.75 3205 -146.63 -1.13 0.00 3900.9 3863.9 3938.0 1272.8 3889.7 45.19 -21.34 59 324.69 0.00 0.38 3.15 0.000 0.176 0.014 3902.25 3864.94 3939.56 1327.00 2488.31 0 0 0 30.00 15.54 15.63

513.77 388 -146.63 -1.09 80.00 3901.6 3864.1 3939.1 1327.7 2488.0 70.52 -12.63 82 519.91 0.00 0.00 3.56 0.000 0.000 0.100 3900.97 3863.25 3938.69 1326.94 3889.88 0 0 0 30.00 30.00 15.62

563.01 3205 -146.63 -0.97 0.00 3901.3 3863.6 3939.0 1327.1 3889.9 78.42 -16.41 92 569.65 0.00 0.25 3.14 0.000 0.161 0.013 3902.69 3865.00 3940.38 1365.94 2486.62 0 0 0 30.00 15.62 15.69

753.67 0 -146.63 -0.97 0.00 3901.8 3863.6 3940.1 1366.0 2486.6 99.05 -10.40 111 755.19 0.00 0.00 0.00 0.000 0.000 0.000 3901.38 3862.88 3939.88 1366.00 2487.00 0 0 0 30.00 30.00 30.00

943.76 292 -146.63 -0.97 80.00 3901.8 3863.2 3940.3 1366.4 2486.8 118.42 -9.88 130 950.11 0.00 0.00 3.56 0.000 0.000 0.104 3902.88 3865.12 3940.62 1365.25 3890.12 0 0 0 30.00 30.00 15.66

979.05 1156 -146.63 -0.93 0.00 3902.2 3863.9 3940.6 1366.5 3890.0 122.73 -12.63 137 984.93 0.00 0.00 3.14 0.000 0.000 0.014 3901.84 3863.38 3940.31 1366.62 2486.38 0 0 0 30.00 30.00 15.69

1173.83 128 -146.63 -0.95 0.00 3902.3 3863.9 3940.8 1366.6 2487.0 143.35 -10.23 157 1175.40 0.00 0.00 0.00 0.000 0.000 0.000 3902.09 3863.38 3940.81 1366.44 2486.50 0 0 0 30.00 30.00 30.00

1244 end dive: TARGET_DEPTH_EXCEEDED

state 1244 begin apogee

1245.19 10243 0.00 -0.33 0.00 3902.3 3863.4 3941.2 1366.7 2567.3 150.51 -10.22 164 1359.40 105.61 1.01 0.08 1.073 0.118 0.179 3299.06 3252.25 3345.88 1521.38 2509.06 0 0 0 11.69 15.67 15.33

1361 end apogee: CONTROL_FINISHED_OK

state 1361 begin climb

1360.87 10759 146.63 1.35 -80.00 3296.3 3248.9 3343.7 1521.1 2509.4 155.52 0.00 175 1488.10 111.72 2.66 3.57 1.039 0.085 0.073 2696.97 2630.94 2763.00 1930.88 1080.69 0 0 0 11.64 15.32 15.14

1490.83 5253 146.63 1.21 0.00 2696.3 2631.2 2761.4 1930.6 1080.9 144.95 11.48 193 1498.09 0.00 0.38 3.62 0.000 0.179 0.033 2695.69 2630.19 2761.19 1889.06 2564.75 0 0 0 30.00 15.16 15.21

1686.74 16514 146.63 1.12 0.00 2690.1 2623.5 2756.7 1888.9 2564.8 118.10 13.50 213 1695.88 0.00 0.00 0.00 0.000 0.000 0.000 2690.16 2623.56 2756.75 1888.81 2565.00 0 0 0 30.00 30.00 30.00

1876.75 21127 146.63 1.04 -80.00 2688.4 2622.9 2753.9 1889.0 2564.7 93.20 12.48 232 1884.12 0.00 0.29 3.63 0.000 0.165 0.070 2686.41 2620.31 2752.50 1847.06 1079.62 0 0 0 30.00 15.49 15.51

1926.76 17542 146.63 1.00 0.00 2687.0 2621.8 2752.1 1847.1 1079.6 87.34 11.36 242 1933.57 0.00 0.00 3.59 0.000 0.000 0.036 2689.12 2624.00 2754.25 1846.56 2565.44 0 0 0 30.00 30.00 15.54

2122.78 16514 146.63 0.96 0.00 2686.6 2620.9 2752.2 1847.1 2565.5 66.59 10.33 262 2124.35 0.00 0.00 0.00 0.000 0.000 0.000 2685.47 2619.56 2751.38 1846.88 2565.94 0 0 0 30.00 30.00 30.00

2307.82 8354 161.20 0.94 0.00 2686.0 2620.0 2752.0 1846.6 2565.2 48.50 9.32 282 2322.62 11.68 0.00 0.00 0.830 0.000 0.000 2644.06 2576.69 2711.44 1846.75 2565.75 0 0 0 11.63 30.00 30.00

2507.88 8870 176.35 0.94 -80.00 2637.0 2568.9 2705.1 1846.8 2565.8 30.14 9.30 322 2529.50 13.68 0.00 3.62 0.844 0.000 0.072 2579.22 2510.50 2647.94 1845.69 1080.62 0 0 0 11.68 30.00 15.58

2591.51 5253 176.35 0.92 0.00 2575.0 2505.9 2644.1 1847.2 1081.0 21.58 10.35 338 2598.76 0.00 0.19 3.58 0.000 0.164 0.037 2573.22 2504.12 2642.31 1816.69 2564.81 0 0 0 30.00 15.59 15.62

2782.46 10663 266.89 1.07 80.00 2572.9 2501.9 2643.9 1816.8 2564.4 8.36 5.81 376 2861.70 67.17 0.31 3.48 0.916 0.040 0.113 2208.97 2124.31 2293.62 1870.25 3887.62 0 0 0 11.78 15.71 15.42

2870.38 11431 392.14 1.24 0.00 2205.3 2122.0 2288.7 1869.5 3887.5 4.68 4.20 393 2970.89 88.18 0.19 3.16 0.889 0.050 0.015 1698.91 1606.56 1791.25 1911.81 2496.81 0 0 0 11.64 15.50 15.50

3070 end climb: NO_VERTICAL_VELOCITY

state 3070 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	29	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	0.1529943	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	11.274961	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	250623,024339,4736.147,-12256.570,2,0.9,14,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.09	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,024652,4736.139,-12256.586,3,0.9,5,15.4	MHEAD_RNG_PITCHd_Wd	359.1,739,-17.6,-10.000,-21.21,2209,0.126
SPEED_LIMITS	0.173,0.258	D_GRID	169
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	1687663635,40.6,4,stop	_24V_AH	14.89,12.136
NET	CACST,8,1,20230625033019.686136,18,1643,32,0117,0150,07,01,01,00,01,-1,-01,-01,2,3,7,0,150,4.2,6.12,-100,-3.12,-01,0.10,59,10000,5000,0,-1,00,00*7F	_10V_AH	14.94,0.000
MODEM_MSG	CACST,8,1,20230625032500.697016,18,20432,37,0265,0000,246,03,03,01,03,-1,-01,-01,2,3,1,0,150,4.7,6.86,-100,-3.86,-01,0.10,65,925,0025,0,-1,00,00*15	FG_AHR_24Vo	11.450
FREEZE	3.97,15.052,-1.462,0,1,0	FG_AHR_10Vo	0.154
SURF	forcing	MEM0	59828,1,0,0
SM_CCo	3288.12,206.54,0.879,0,500.4,451.0,549.9,686.73	MEM1	65508,1,0,0
SM_GC	2.49,0.00,10.78,0.12,0.000,0.028,0.130,496.8,448.9,544.7,186.1,2562.2,0,0,0,30.00,15.27,15.25	MEM2	945680,30,100908,69
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	12931,432
IRIDIUM_FIX	4733.21,-12257.15,250623,014403	CAP_FILE_SIZE	246007,0
TCM_TEMP	15.32	SDSIZE	3887104,3862720
SC_FREEKB	3869472	SDFILEDIR	280,30
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1687662000,47.60500,-122.95000,0.587,825.1	SOUNDSPEED	1402.2
RAFOS_FIX	4736.346191,-12257.331055,250623,030300,4,255,0.44	CURRENT	0.043,197.5,1
HUMID	51.86	IMPLIED_C_PITCH	1600,19.72,224,0.0,0.00
TEMP	10.24	IMPLIED_C_VBD	3119,18.735897,224,0
INTERNAL_PRESSURE	8.54359	GPS	250623,034426,4736.410,-12256.444,2,0.9,5,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	720	1072	11502.75	nil	0	0	0.00
Pitch_motor	24	247	90.87	nil	0	0	0.00
Roll_motor	48	178	129.76	nil	0	0	0.00
Iridium	125	166	310.93	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.21	nil	0	0	0.00
Core	1934	5	147.98	SciCon	3077	9	423.66
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1418	0	6.78
Compass	986	5	73.68
RAFOS	1969	40	1176.86
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
6.78	16386	-146.63	-1.35	0.00	493.6	450.1	537.1	181.0	2507.0	0.00	0.00	0	55.53	46.49	0.00	0.00	0.005	0.000	0.000	1654.84	1626.38	1683.31	181.06	2507.12	0	0	0	15.35	30.00	30.00
55.81	18727	-146.63	-1.35	80.00	1656.0	1628.1	1683.8	181.0	2507.1	3.06	-2.01	7	145.40	69.12	8.27	3.47	0.005	0.247	0.102	3898.44	3862.56	3934.31	1272.75	3890.00	0	0	0	15.56	15.42	15.51
318.75	3205	-146.63	-1.13	0.00	3900.9	3863.9	3938.0	1272.8	3889.7	45.19	-21.34	59	324.69	0.00	0.38	3.15	0.000	0.176	0.014	3902.25	3864.94	3939.56	1327.00	2488.31	0	0	0	30.00	15.54	15.63
513.77	388	-146.63	-1.09	80.00	3901.6	3864.1	3939.1	1327.7	2488.0	70.52	-12.63	82	519.91	0.00	0.00	3.56	0.000	0.000	0.100	3900.97	3863.25	3938.69	1326.94	3889.88	0	0	0	30.00	30.00	15.62
563.01	3205	-146.63	-0.97	0.00	3901.3	3863.6	3939.0	1327.1	3889.9	78.42	-16.41	92	569.65	0.00	0.25	3.14	0.000	0.161	0.013	3902.69	3865.00	3940.38	1365.94	2486.62	0	0	0	30.00	15.62	15.69
753.67	0	-146.63	-0.97	0.00	3901.8	3863.6	3940.1	1366.0	2486.6	99.05	-10.40	111	755.19	0.00	0.00	0.00	0.000	0.000	0.000	3901.38	3862.88	3939.88	1366.00	2487.00	0	0	0	30.00	30.00	30.00
943.76	292	-146.63	-0.97	80.00	3901.8	3863.2	3940.3	1366.4	2486.8	118.42	-9.88	130	950.11	0.00	0.00	3.56	0.000	0.000	0.104	3902.88	3865.12	3940.62	1365.25	3890.12	0	0	0	30.00	30.00	15.66
979.05	1156	-146.63	-0.93	0.00	3902.2	3863.9	3940.6	1366.5	3890.0	122.73	-12.63	137	984.93	0.00	0.00	3.14	0.000	0.000	0.014	3901.84	3863.38	3940.31	1366.62	2486.38	0	0	0	30.00	30.00	15.69
1173.83	128	-146.63	-0.95	0.00	3902.3	3863.9	3940.8	1366.6	2487.0	143.35	-10.23	157	1175.40	0.00	0.00	0.00	0.000	0.000	0.000	3902.09	3863.38	3940.81	1366.44	2486.50	0	0	0	30.00	30.00	30.00
1244	end dive: TARGET_DEPTH_EXCEEDED
state	1244	begin apogee
1245.19	10243	0.00	-0.33	0.00	3902.3	3863.4	3941.2	1366.7	2567.3	150.51	-10.22	164	1359.40	105.61	1.01	0.08	1.073	0.118	0.179	3299.06	3252.25	3345.88	1521.38	2509.06	0	0	0	11.69	15.67	15.33
1361	end apogee: CONTROL_FINISHED_OK
state	1361	begin climb
1360.87	10759	146.63	1.35	-80.00	3296.3	3248.9	3343.7	1521.1	2509.4	155.52	0.00	175	1488.10	111.72	2.66	3.57	1.039	0.085	0.073	2696.97	2630.94	2763.00	1930.88	1080.69	0	0	0	11.64	15.32	15.14
1490.83	5253	146.63	1.21	0.00	2696.3	2631.2	2761.4	1930.6	1080.9	144.95	11.48	193	1498.09	0.00	0.38	3.62	0.000	0.179	0.033	2695.69	2630.19	2761.19	1889.06	2564.75	0	0	0	30.00	15.16	15.21
1686.74	16514	146.63	1.12	0.00	2690.1	2623.5	2756.7	1888.9	2564.8	118.10	13.50	213	1695.88	0.00	0.00	0.00	0.000	0.000	0.000	2690.16	2623.56	2756.75	1888.81	2565.00	0	0	0	30.00	30.00	30.00
1876.75	21127	146.63	1.04	-80.00	2688.4	2622.9	2753.9	1889.0	2564.7	93.20	12.48	232	1884.12	0.00	0.29	3.63	0.000	0.165	0.070	2686.41	2620.31	2752.50	1847.06	1079.62	0	0	0	30.00	15.49	15.51
1926.76	17542	146.63	1.00	0.00	2687.0	2621.8	2752.1	1847.1	1079.6	87.34	11.36	242	1933.57	0.00	0.00	3.59	0.000	0.000	0.036	2689.12	2624.00	2754.25	1846.56	2565.44	0	0	0	30.00	30.00	15.54
2122.78	16514	146.63	0.96	0.00	2686.6	2620.9	2752.2	1847.1	2565.5	66.59	10.33	262	2124.35	0.00	0.00	0.00	0.000	0.000	0.000	2685.47	2619.56	2751.38	1846.88	2565.94	0	0	0	30.00	30.00	30.00
2307.82	8354	161.20	0.94	0.00	2686.0	2620.0	2752.0	1846.6	2565.2	48.50	9.32	282	2322.62	11.68	0.00	0.00	0.830	0.000	0.000	2644.06	2576.69	2711.44	1846.75	2565.75	0	0	0	11.63	30.00	30.00
2507.88	8870	176.35	0.94	-80.00	2637.0	2568.9	2705.1	1846.8	2565.8	30.14	9.30	322	2529.50	13.68	0.00	3.62	0.844	0.000	0.072	2579.22	2510.50	2647.94	1845.69	1080.62	0	0	0	11.68	30.00	15.58
2591.51	5253	176.35	0.92	0.00	2575.0	2505.9	2644.1	1847.2	1081.0	21.58	10.35	338	2598.76	0.00	0.19	3.58	0.000	0.164	0.037	2573.22	2504.12	2642.31	1816.69	2564.81	0	0	0	30.00	15.59	15.62
2782.46	10663	266.89	1.07	80.00	2572.9	2501.9	2643.9	1816.8	2564.4	8.36	5.81	376	2861.70	67.17	0.31	3.48	0.916	0.040	0.113	2208.97	2124.31	2293.62	1870.25	3887.62	0	0	0	11.78	15.71	15.42
2870.38	11431	392.14	1.24	0.00	2205.3	2122.0	2288.7	1869.5	3887.5	4.68	4.20	393	2970.89	88.18	0.19	3.16	0.889	0.050	0.015	1698.91	1606.56	1791.25	1911.81	2496.81	0	0	0	11.64	15.50	15.50
3070	end climb: NO_VERTICAL_VELOCITY
state	3070	begin surface