Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 30 * 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 30 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 0.15376605 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 11.45531 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 0.15376605 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.45531 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 30 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 250623,034426,4736.410,-12256.444,2,0.9,5,15.4 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 -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,034744,4736.407,-12256.458,3,1.0,6,15.4 MHEAD_RNG_PITCHd_Wd 193.0,947,-17.6,-10.000,-21.21,2209,0.134

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:

NAV 1687668456,0.7,start _24V_AH 14.86,12.337

NET CACST,8,0,20230625043040.284529,18,32767,45,0102,0150,07,00,00,00,00,1,029,121,0,5,2,0,150,14.9,4.40,-100,-1.40,-01,-0.06,73,10000,5000,0,1,00,00*5B _10V_AH 14.89,0.000

NET_PING 1687667411,29,429.869995,13.400000,-0.572761 FG_AHR_24Vo 11.631

MODEM_MSG CACST,8,0,20230625042500.290677,18,32767,45,0265,0000,126,02,02,00,02,1,029,121,0,5,1,0,150,4.8,12.21,-100,-9.21,-01,-0.06,65,925,0025,0,1,00,00*00 FG_AHR_10Vo 0.162

FREEZE 4.09,14.290,-1.512,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3450.85,260.76,0.887,0,500.3,451.1,549.5,686.76 MEM2 945568,36,100900,69

SM_GC 2.46,0.00,11.13,0.10,0.000,0.022,0.102,496.5,448.4,544.5,181.0,2498.4,0,0,0,30.00,15.29,15.30 DATA_FILE_SIZE 12929,464

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 263769,0

IRIDIUM_FIX 4737.86,-12251.79,250623,024447 SDSIZE 3887104,3862368

TCM_TEMP 15.35 SDFILEDIR 287,31

SC_FREEKB 3869152 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 0,1687665600,47.60500,-122.95000,0.465,652.4 CURRENT 0.052,225.2,1

RAFOS_FIX 4735.015625,-84250.210938,250623,040400,4,255,24131.31 IMPLIED_C_PITCH 1600,19.74,229,0.0,0.00

HUMID 51.89 IMPLIED_C_VBD 3132,19.779781,229,0

TEMP 10.40 GPS 250623,044831,4736.024,-12256.892,22,0.8,23,15.4

INTERNAL_PRESSURE 8.54789

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 724 1075 11575.50 nil 0 0 0.00

Pitch_motor 25 246 92.83 nil 0 0 0.00

Roll_motor 49 198 144.55 nil 0 0 0.00

Iridium 129 165 317.75 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.46 nil 0 0 0.00

Core 2086 5 159.04 SciCon 3182 9 436.65

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1376 0 6.56

Compass 1057 5 78.77

RAFOS 1922 40 1145.06

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 0.00 493.4 450.0 536.8 185.5 2508.4 0.00 0.00 0 51.41 42.53 0.00 0.00 0.005 0.000 0.000 1565.84 1535.38 1596.31 186.06 2509.31 0 0 0 15.35 30.00 30.00

51.69 18983 -146.63 -1.35 -80.00 1566.4 1535.3 1597.5 185.9 2509.1 3.19 -2.12 6 146.37 74.22 8.23 3.46 0.005 0.246 0.071 3899.06 3863.00 3935.12 1272.56 1069.94 0 0 0 15.55 15.41 15.49

149.76 3237 -146.63 -1.15 0.00 3898.8 3863.2 3934.5 1272.3 1069.9 9.10 -9.26 25 156.87 0.00 0.35 3.54 0.000 0.186 0.032 3899.38 3862.81 3935.94 1322.25 2558.06 0 0 0 30.00 15.48 15.53

340.92 388 -146.63 -1.08 80.00 3900.7 3862.9 3938.5 1322.4 2558.6 36.80 -13.34 63 346.77 0.00 0.00 3.40 0.000 0.000 0.105 3900.84 3862.75 3938.94 1322.94 3889.00 0 0 0 30.00 30.00 15.54

480.97 3205 -146.63 -0.94 0.00 3900.8 3862.9 3938.8 1323.1 3888.5 60.66 -18.41 91 487.16 0.00 0.32 3.12 0.000 0.158 0.013 3900.66 3862.31 3939.00 1373.62 2485.88 0 0 0 30.00 15.62 15.68

667.63 0 -146.63 -0.94 0.00 3901.8 3862.9 3940.8 1373.7 2484.9 79.74 -10.14 109 670.41 0.00 0.00 0.00 0.000 0.000 0.000 3901.94 3863.19 3940.69 1373.44 2484.69 0 0 0 30.00 30.00 30.00

852.67 420 -146.63 -0.96 80.00 3901.8 3863.2 3940.4 1374.3 2484.9 99.52 -9.85 128 859.75 0.00 0.00 3.65 0.000 0.000 0.102 3902.97 3863.69 3942.25 1374.06 3888.56 0 0 0 30.00 30.00 15.51

922.40 1156 -146.63 -0.92 0.00 3901.8 3863.1 3940.5 1373.9 3888.1 108.12 -12.43 142 929.25 0.00 0.00 3.15 0.000 0.000 0.013 3903.06 3864.56 3941.56 1373.38 2485.00 0 0 0 30.00 30.00 15.56

1118.22 420 -146.63 -0.94 80.00 3902.2 3863.1 3941.4 1374.0 2484.8 126.81 -9.30 162 1124.55 0.00 0.00 3.64 0.000 0.000 0.103 3903.47 3864.44 3942.50 1373.25 3889.88 0 0 0 30.00 30.00 15.58

1147.41 1156 -146.63 -0.92 0.00 3902.1 3863.0 3941.2 1374.2 3890.1 130.23 -11.39 168 1154.01 0.00 0.00 3.15 0.000 0.000 0.013 3903.50 3864.31 3942.69 1374.12 2485.25 0 0 0 30.00 30.00 15.64

1343.51 128 -146.63 -0.94 0.00 3902.7 3863.6 3941.8 1374.1 2485.6 149.97 -10.10 188 1345.11 0.00 0.00 0.00 0.000 0.000 0.000 3901.59 3862.88 3940.31 1373.88 2485.19 0 0 0 30.00 30.00 30.00

1354 end dive: TARGET_DEPTH_EXCEEDED

state 1354 begin apogee

1354.89 10243 0.00 -0.33 0.00 3902.2 3863.1 3941.3 1373.9 2565.8 150.99 -10.20 189 1469.60 106.36 0.96 0.06 1.076 0.117 0.199 3299.81 3252.75 3346.88 1522.38 2515.06 0 0 0 11.66 15.62 15.31

1471 end apogee: CONTROL_FINISHED_OK

state 1471 begin climb

1471.16 10759 146.63 1.35 -80.00 3296.3 3248.4 3344.1 1522.1 2515.4 156.18 0.00 200 1600.58 111.21 2.64 3.57 1.042 0.083 0.072 2701.44 2634.81 2768.06 1929.88 1081.00 0 0 0 11.67 15.30 15.12

1632.71 21639 146.63 1.21 0.00 2693.6 2628.8 2758.5 1931.1 1080.2 141.49 14.73 228 1644.24 0.00 0.38 3.62 0.000 0.180 0.034 2694.28 2628.81 2759.75 1889.94 2563.50 0 0 0 30.00 15.16 15.21

1832.69 16514 146.63 1.13 0.00 2689.3 2623.2 2755.5 1889.6 2564.4 113.49 14.03 249 1834.30 0.00 0.00 0.00 0.000 0.000 0.000 2687.75 2621.44 2754.06 1889.75 2564.81 0 0 0 30.00 30.00 30.00

2022.70 20611 146.63 1.04 0.00 2688.2 2622.1 2754.2 1889.9 2564.1 87.88 13.07 268 2024.57 0.00 0.29 0.00 0.000 0.167 0.000 2688.50 2622.06 2754.94 1848.06 2564.38 0 0 0 30.00 15.50 30.00

2212.70 17030 146.63 1.01 -80.00 2687.0 2620.4 2753.6 1847.8 2564.8 67.71 10.51 287 2220.02 0.00 0.00 3.61 0.000 0.000 0.070 2687.88 2621.56 2754.19 1846.44 1080.81 0 0 0 30.00 30.00 15.57

2252.74 17542 146.63 0.96 0.00 2686.0 2620.0 2752.1 1847.2 1080.9 63.32 10.82 295 2259.94 0.00 0.00 3.54 0.000 0.000 0.034 2689.16 2623.19 2755.12 1847.62 2564.75 0 0 0 30.00 30.00 15.59

2443.80 8870 159.43 0.95 -80.00 2685.8 2619.5 2752.0 1847.2 2564.5 44.95 9.41 319 2461.71 10.23 0.00 3.59 0.804 0.000 0.069 2650.47 2583.38 2717.56 1847.38 1078.31 0 0 0 11.67 30.00 15.60

2480.47 13479 164.57 0.92 0.00 2646.2 2579.3 2713.0 1847.4 1078.6 41.37 9.76 326 2496.72 6.53 0.19 3.53 0.664 0.169 0.034 2626.44 2558.44 2694.44 1818.12 2565.56 0 0 0 11.61 15.59 15.62

2681.68 8226 219.49 0.99 0.00 2623.4 2553.6 2693.2 1817.9 2565.0 25.48 7.46 366 2728.36 42.76 0.00 0.00 0.923 0.000 0.000 2402.84 2325.25 2480.44 1817.69 2565.75 0 0 0 11.74 30.00 30.00

2912.13 10403 304.09 1.15 0.00 2394.6 2315.0 2474.1 1817.6 2565.4 8.64 6.08 412 2980.07 61.50 0.44 0.00 0.905 0.034 0.000 2056.16 1968.12 2144.19 1892.06 2565.62 0 0 0 11.61 15.64 30.00

3163.81 10663 526.37 1.51 80.00 2047.8 1958.4 2137.1 1891.9 2565.9 4.14 -0.29 462 3173.88 8.14 0.45 0.00 0.709 0.035 0.000 2021.75 1933.38 2110.12 1978.06 2566.00 0 0 0 11.59 15.57 30.00

3174 end climb: NO_VERTICAL_VELOCITY

state 3175 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	30	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	0.15376605	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	11.45531	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	250623,034426,4736.410,-12256.444,2,0.9,5,15.4	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	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,034744,4736.407,-12256.458,3,1.0,6,15.4	MHEAD_RNG_PITCHd_Wd	193.0,947,-17.6,-10.000,-21.21,2209,0.134
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

NAV	1687668456,0.7,start	_24V_AH	14.86,12.337
NET	CACST,8,0,20230625043040.284529,18,32767,45,0102,0150,07,00,00,00,00,1,029,121,0,5,2,0,150,14.9,4.40,-100,-1.40,-01,-0.06,73,10000,5000,0,1,00,00*5B	_10V_AH	14.89,0.000
NET_PING	1687667411,29,429.869995,13.400000,-0.572761	FG_AHR_24Vo	11.631
MODEM_MSG	CACST,8,0,20230625042500.290677,18,32767,45,0265,0000,126,02,02,00,02,1,029,121,0,5,1,0,150,4.8,12.21,-100,-9.21,-01,-0.06,65,925,0025,0,1,00,00*00	FG_AHR_10Vo	0.162
FREEZE	4.09,14.290,-1.512,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3450.85,260.76,0.887,0,500.3,451.1,549.5,686.76	MEM2	945568,36,100900,69
SM_GC	2.46,0.00,11.13,0.10,0.000,0.022,0.102,496.5,448.4,544.5,181.0,2498.4,0,0,0,30.00,15.29,15.30	DATA_FILE_SIZE	12929,464
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	263769,0
IRIDIUM_FIX	4737.86,-12251.79,250623,024447	SDSIZE	3887104,3862368
TCM_TEMP	15.35	SDFILEDIR	287,31
SC_FREEKB	3869152	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	0,1687665600,47.60500,-122.95000,0.465,652.4	CURRENT	0.052,225.2,1
RAFOS_FIX	4735.015625,-84250.210938,250623,040400,4,255,24131.31	IMPLIED_C_PITCH	1600,19.74,229,0.0,0.00
HUMID	51.89	IMPLIED_C_VBD	3132,19.779781,229,0
TEMP	10.40	GPS	250623,044831,4736.024,-12256.892,22,0.8,23,15.4
INTERNAL_PRESSURE	8.54789

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	724	1075	11575.50	nil	0	0	0.00
Pitch_motor	25	246	92.83	nil	0	0	0.00
Roll_motor	49	198	144.55	nil	0	0	0.00
Iridium	129	165	317.75	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.46	nil	0	0	0.00
Core	2086	5	159.04	SciCon	3182	9	436.65
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1376	0	6.56
Compass	1057	5	78.77
RAFOS	1922	40	1145.06
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	493.4	450.0	536.8	185.5	2508.4	0.00	0.00	0	51.41	42.53	0.00	0.00	0.005	0.000	0.000	1565.84	1535.38	1596.31	186.06	2509.31	0	0	0	15.35	30.00	30.00
51.69	18983	-146.63	-1.35	-80.00	1566.4	1535.3	1597.5	185.9	2509.1	3.19	-2.12	6	146.37	74.22	8.23	3.46	0.005	0.246	0.071	3899.06	3863.00	3935.12	1272.56	1069.94	0	0	0	15.55	15.41	15.49
149.76	3237	-146.63	-1.15	0.00	3898.8	3863.2	3934.5	1272.3	1069.9	9.10	-9.26	25	156.87	0.00	0.35	3.54	0.000	0.186	0.032	3899.38	3862.81	3935.94	1322.25	2558.06	0	0	0	30.00	15.48	15.53
340.92	388	-146.63	-1.08	80.00	3900.7	3862.9	3938.5	1322.4	2558.6	36.80	-13.34	63	346.77	0.00	0.00	3.40	0.000	0.000	0.105	3900.84	3862.75	3938.94	1322.94	3889.00	0	0	0	30.00	30.00	15.54
480.97	3205	-146.63	-0.94	0.00	3900.8	3862.9	3938.8	1323.1	3888.5	60.66	-18.41	91	487.16	0.00	0.32	3.12	0.000	0.158	0.013	3900.66	3862.31	3939.00	1373.62	2485.88	0	0	0	30.00	15.62	15.68
667.63	0	-146.63	-0.94	0.00	3901.8	3862.9	3940.8	1373.7	2484.9	79.74	-10.14	109	670.41	0.00	0.00	0.00	0.000	0.000	0.000	3901.94	3863.19	3940.69	1373.44	2484.69	0	0	0	30.00	30.00	30.00
852.67	420	-146.63	-0.96	80.00	3901.8	3863.2	3940.4	1374.3	2484.9	99.52	-9.85	128	859.75	0.00	0.00	3.65	0.000	0.000	0.102	3902.97	3863.69	3942.25	1374.06	3888.56	0	0	0	30.00	30.00	15.51
922.40	1156	-146.63	-0.92	0.00	3901.8	3863.1	3940.5	1373.9	3888.1	108.12	-12.43	142	929.25	0.00	0.00	3.15	0.000	0.000	0.013	3903.06	3864.56	3941.56	1373.38	2485.00	0	0	0	30.00	30.00	15.56
1118.22	420	-146.63	-0.94	80.00	3902.2	3863.1	3941.4	1374.0	2484.8	126.81	-9.30	162	1124.55	0.00	0.00	3.64	0.000	0.000	0.103	3903.47	3864.44	3942.50	1373.25	3889.88	0	0	0	30.00	30.00	15.58
1147.41	1156	-146.63	-0.92	0.00	3902.1	3863.0	3941.2	1374.2	3890.1	130.23	-11.39	168	1154.01	0.00	0.00	3.15	0.000	0.000	0.013	3903.50	3864.31	3942.69	1374.12	2485.25	0	0	0	30.00	30.00	15.64
1343.51	128	-146.63	-0.94	0.00	3902.7	3863.6	3941.8	1374.1	2485.6	149.97	-10.10	188	1345.11	0.00	0.00	0.00	0.000	0.000	0.000	3901.59	3862.88	3940.31	1373.88	2485.19	0	0	0	30.00	30.00	30.00
1354	end dive: TARGET_DEPTH_EXCEEDED
state	1354	begin apogee
1354.89	10243	0.00	-0.33	0.00	3902.2	3863.1	3941.3	1373.9	2565.8	150.99	-10.20	189	1469.60	106.36	0.96	0.06	1.076	0.117	0.199	3299.81	3252.75	3346.88	1522.38	2515.06	0	0	0	11.66	15.62	15.31
1471	end apogee: CONTROL_FINISHED_OK
state	1471	begin climb
1471.16	10759	146.63	1.35	-80.00	3296.3	3248.4	3344.1	1522.1	2515.4	156.18	0.00	200	1600.58	111.21	2.64	3.57	1.042	0.083	0.072	2701.44	2634.81	2768.06	1929.88	1081.00	0	0	0	11.67	15.30	15.12
1632.71	21639	146.63	1.21	0.00	2693.6	2628.8	2758.5	1931.1	1080.2	141.49	14.73	228	1644.24	0.00	0.38	3.62	0.000	0.180	0.034	2694.28	2628.81	2759.75	1889.94	2563.50	0	0	0	30.00	15.16	15.21
1832.69	16514	146.63	1.13	0.00	2689.3	2623.2	2755.5	1889.6	2564.4	113.49	14.03	249	1834.30	0.00	0.00	0.00	0.000	0.000	0.000	2687.75	2621.44	2754.06	1889.75	2564.81	0	0	0	30.00	30.00	30.00
2022.70	20611	146.63	1.04	0.00	2688.2	2622.1	2754.2	1889.9	2564.1	87.88	13.07	268	2024.57	0.00	0.29	0.00	0.000	0.167	0.000	2688.50	2622.06	2754.94	1848.06	2564.38	0	0	0	30.00	15.50	30.00
2212.70	17030	146.63	1.01	-80.00	2687.0	2620.4	2753.6	1847.8	2564.8	67.71	10.51	287	2220.02	0.00	0.00	3.61	0.000	0.000	0.070	2687.88	2621.56	2754.19	1846.44	1080.81	0	0	0	30.00	30.00	15.57
2252.74	17542	146.63	0.96	0.00	2686.0	2620.0	2752.1	1847.2	1080.9	63.32	10.82	295	2259.94	0.00	0.00	3.54	0.000	0.000	0.034	2689.16	2623.19	2755.12	1847.62	2564.75	0	0	0	30.00	30.00	15.59
2443.80	8870	159.43	0.95	-80.00	2685.8	2619.5	2752.0	1847.2	2564.5	44.95	9.41	319	2461.71	10.23	0.00	3.59	0.804	0.000	0.069	2650.47	2583.38	2717.56	1847.38	1078.31	0	0	0	11.67	30.00	15.60
2480.47	13479	164.57	0.92	0.00	2646.2	2579.3	2713.0	1847.4	1078.6	41.37	9.76	326	2496.72	6.53	0.19	3.53	0.664	0.169	0.034	2626.44	2558.44	2694.44	1818.12	2565.56	0	0	0	11.61	15.59	15.62
2681.68	8226	219.49	0.99	0.00	2623.4	2553.6	2693.2	1817.9	2565.0	25.48	7.46	366	2728.36	42.76	0.00	0.00	0.923	0.000	0.000	2402.84	2325.25	2480.44	1817.69	2565.75	0	0	0	11.74	30.00	30.00
2912.13	10403	304.09	1.15	0.00	2394.6	2315.0	2474.1	1817.6	2565.4	8.64	6.08	412	2980.07	61.50	0.44	0.00	0.905	0.034	0.000	2056.16	1968.12	2144.19	1892.06	2565.62	0	0	0	11.61	15.64	30.00
3163.81	10663	526.37	1.51	80.00	2047.8	1958.4	2137.1	1891.9	2565.9	4.14	-0.29	462	3173.88	8.14	0.45	0.00	0.709	0.035	0.000	2021.75	1933.38	2110.12	1978.06	2566.00	0	0	0	11.59	15.57	30.00
3174	end climb: NO_VERTICAL_VELOCITY
state	3175	begin surface