Glider dive log

HoodCanal 23Jun23 * SG246 * Dive index * Mission links * Dive 41 * 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 41 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 50 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 2 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 0.24698058 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.428912 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 50 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 0.24698058 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.428912 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 41 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 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 250623,134546,4735.964,-12256.861,2,1.2,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,134858,4735.964,-12256.845,2,1.2,5,15.4 MHEAD_RNG_PITCHd_Wd 6.7,1148,-17.6,-10.000,-21.21,2209,0.160

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 1687704486,0.7,start _24V_AH 14.86,14.518

NET xmit ok outbox0033.n 1649 26 _10V_AH 14.88,0.000

NET_PING 1687703411,29,246.160492,12.700000,-0.327248 FG_AHR_24Vo 13.606

MODEM_MSG CACST,8,1,20230625142500.151087,18,32767,45,0103,0000,126,03,03,00,03,-1,-01,-01,2,3,1,0,150,9.7,4.38,-100,-1.38,-01,-0.05,60,925,0025,0,-1,00,00*33 FG_AHR_10Vo 0.263

FREEZE 3.84,13.966,-1.524,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3407.36,248.95,0.883,0,501.1,450.2,551.9,686.57 MEM2 945732,28,100896,69

SM_GC 1.98,0.00,10.94,0.10,0.000,0.020,0.101,496.2,447.6,544.8,181.2,2498.6,0,0,0,30.00,15.24,15.29 DATA_FILE_SIZE 12907,471

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 257610,0

IRIDIUM_FIX 4735.53,-12254.47,250623,125624 SDSIZE 3887104,3858656

TCM_TEMP 15.47 SDFILEDIR 378,42

SC_FREEKB 3865632 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 0,1687701600,47.60500,-122.95000,0.308,450.5 CURRENT 0.024,129.4,1

RAFOS_FIX 4736.141602,-12257.637695,250623,141400,4,255,0.48 MAGCAL 1.000000,0.012004,0.046167,-0.016749,1.049036,-0.034677,0.000572,-0.082909,0.943521,327.9,-610.4,-590.5,36,0.0254,0

HUMID 51.83 IMPLIED_C_PITCH 1594,19.39,238,0.0,0.00

TEMP 10.32 IMPLIED_C_VBD 3137,22.809385,238,0

INTERNAL_PRESSURE 8.53832 GPS 250623,144902,4736.154,-12256.733,22,0.8,23,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 730 1078 11706.53 nil 0 0 0.00

Pitch_motor 25 247 92.21 nil 0 0 0.00

Roll_motor 42 179 114.11 nil 0 0 0.00

Iridium 124 168 311.96 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.19 nil 0 0 0.00

Core 2156 5 164.32 SciCon 3152 9 432.81

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1272 0 6.06

Compass 1061 5 78.95

RAFOS 2077 40 1236.60

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

6.66 16386 -146.63 -1.35 0.00 493.6 449.4 537.8 180.9 2562.8 0.00 0.00 0 64.87 55.62 0.00 0.00 0.005 0.000 0.000 1858.28 1830.81 1885.75 181.31 2562.88 0 0 0 15.54 30.00 30.00

65.14 18727 -146.63 -1.35 80.00 1859.8 1833.7 1885.9 180.9 2562.2 3.05 -1.78 11 153.53 66.61 8.25 3.34 0.005 0.247 0.103 3898.06 3863.25 3932.88 1272.75 3891.38 0 0 0 15.54 15.40 15.50

241.86 3205 -146.63 -1.12 0.00 3899.1 3864.3 3933.9 1273.0 3891.5 28.70 -22.97 46 248.08 0.00 0.40 3.15 0.000 0.172 0.013 3900.12 3864.94 3935.31 1330.69 2488.06 0 0 0 30.00 15.53 15.60

431.89 644 -146.63 -1.07 -80.00 3900.3 3863.8 3936.8 1330.8 2487.2 54.22 -12.59 81 437.96 0.00 0.00 3.42 0.000 0.000 0.068 3900.31 3864.12 3936.50 1330.50 1071.06 0 0 0 30.00 30.00 15.61

663.54 3205 -146.63 -0.98 0.00 3900.7 3864.2 3937.2 1330.3 1070.1 84.06 -12.52 125 670.63 0.00 0.20 3.54 0.000 0.154 0.034 3901.12 3863.88 3938.38 1363.56 2556.19 0 0 0 30.00 15.57 15.57

859.74 516 -146.63 -0.98 -80.00 3901.4 3864.3 3938.5 1363.0 2556.0 104.56 -10.42 145 870.84 0.00 0.00 3.67 0.000 0.000 0.061 3902.12 3865.12 3939.12 1362.25 1071.06 0 0 0 30.00 30.00 14.97

969.27 1028 -146.63 -0.98 0.00 3901.5 3864.4 3938.6 1362.5 1070.9 116.36 -10.47 167 975.70 0.00 0.00 3.57 0.000 0.000 0.034 3901.69 3864.44 3938.94 1362.94 2556.50 0 0 0 30.00 30.00 15.50

1164.51 0 -146.63 -0.98 0.00 3901.2 3864.1 3938.3 1362.8 2556.4 135.88 -10.06 187 1166.08 0.00 0.00 0.00 0.000 0.000 0.000 3901.16 3864.19 3938.12 1363.25 2557.12 0 0 0 30.00 30.00 30.00

1305 end dive: TARGET_DEPTH_EXCEEDED

state 1305 begin apogee

1305.91 10243 0.00 -0.33 0.00 3901.5 3864.1 3938.9 1363.1 2513.0 150.53 -10.63 201 1419.80 106.89 1.03 0.11 1.078 0.118 0.179 3298.53 3249.25 3347.81 1522.19 2569.94 0 0 0 11.70 15.55 15.23

1421 end apogee: CONTROL_FINISHED_OK

state 1421 begin climb

1421.31 10759 146.63 1.35 -80.00 3296.3 3246.4 3346.2 1521.9 2569.6 155.55 0.00 212 1549.52 112.68 2.66 3.74 1.043 0.086 0.067 2697.00 2626.88 2767.12 1930.88 1081.12 0 0 0 11.51 15.26 14.52

1558.86 5253 146.63 1.21 0.00 2696.0 2626.7 2765.4 1931.0 1080.7 143.64 12.89 231 1570.00 0.00 0.37 3.62 0.000 0.173 0.033 2695.62 2625.50 2765.75 1889.94 2565.06 0 0 0 30.00 15.12 15.15

1758.66 17030 146.63 1.13 -80.00 2690.1 2620.1 2760.0 1889.9 2565.2 115.57 14.24 252 1765.83 0.00 0.00 3.65 0.000 0.000 0.066 2688.25 2618.12 2758.38 1889.88 1081.12 0 0 0 30.00 30.00 15.42

1798.46 21639 146.63 1.03 0.00 2689.5 2619.8 2759.2 1889.4 1080.8 109.53 14.90 260 1805.54 0.00 0.31 3.57 0.000 0.170 0.034 2689.31 2619.62 2759.00 1845.94 2564.62 0 0 0 30.00 15.42 15.45

1994.48 16514 146.63 1.00 0.00 2688.5 2618.2 2758.8 1845.4 2564.4 87.06 11.15 280 1996.07 0.00 0.00 0.00 0.000 0.000 0.000 2686.78 2616.31 2757.25 1845.69 2563.81 0 0 0 30.00 30.00 30.00

2184.55 16546 147.25 0.96 0.00 2687.8 2616.7 2758.8 1845.2 2565.0 67.59 9.97 299 2186.12 0.00 0.00 0.00 0.000 0.000 0.000 2685.94 2615.38 2756.50 1845.50 2564.56 0 0 0 30.00 30.00 30.00

2369.57 676 148.75 0.93 -80.00 2687.1 2616.1 2758.0 1845.2 2564.4 48.86 9.93 318 2376.50 0.00 0.00 3.61 0.000 0.000 0.067 2686.41 2615.56 2757.25 1845.56 1079.56 0 0 0 30.00 30.00 15.63

2429.95 13479 154.39 0.91 0.00 2686.2 2616.2 2756.3 1845.8 1079.6 42.95 9.74 330 2447.56 6.41 0.20 3.52 0.670 0.162 0.036 2670.03 2599.88 2740.19 1814.44 2565.75 0 0 0 11.64 15.03 15.66

2631.16 8226 203.97 0.97 0.00 2666.9 2595.2 2738.7 1814.2 2565.6 27.63 7.70 369 2673.53 39.25 0.00 0.00 0.932 0.000 0.000 2465.72 2385.88 2545.56 1814.25 2566.12 0 0 0 11.81 30.00 30.00

2857.22 10403 264.51 1.09 0.00 2459.1 2377.5 2540.6 1813.9 2565.4 10.27 7.20 414 2908.45 45.54 0.35 0.00 0.910 0.037 0.000 2220.59 2130.25 2310.94 1876.62 2565.44 0 0 0 11.59 15.63 30.00

3092.28 10403 472.70 1.41 -80.00 2209.4 2118.1 2300.8 1876.5 2565.5 4.41 0.36 461 3144.27 48.71 0.40 0.00 0.901 0.034 0.000 1947.81 1853.50 2042.12 1954.38 2565.81 0 0 0 11.75 15.62 30.00

3145 end climb: NO_VERTICAL_VELOCITY

state 3145 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	41	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	50	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	2	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	0.24698058	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.428912	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	250623,134546,4735.964,-12256.861,2,1.2,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,134858,4735.964,-12256.845,2,1.2,5,15.4	MHEAD_RNG_PITCHd_Wd	6.7,1148,-17.6,-10.000,-21.21,2209,0.160
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	1687704486,0.7,start	_24V_AH	14.86,14.518
NET	xmit ok outbox0033.n 1649 26	_10V_AH	14.88,0.000
NET_PING	1687703411,29,246.160492,12.700000,-0.327248	FG_AHR_24Vo	13.606
MODEM_MSG	CACST,8,1,20230625142500.151087,18,32767,45,0103,0000,126,03,03,00,03,-1,-01,-01,2,3,1,0,150,9.7,4.38,-100,-1.38,-01,-0.05,60,925,0025,0,-1,00,00*33	FG_AHR_10Vo	0.263
FREEZE	3.84,13.966,-1.524,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3407.36,248.95,0.883,0,501.1,450.2,551.9,686.57	MEM2	945732,28,100896,69
SM_GC	1.98,0.00,10.94,0.10,0.000,0.020,0.101,496.2,447.6,544.8,181.2,2498.6,0,0,0,30.00,15.24,15.29	DATA_FILE_SIZE	12907,471
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	257610,0
IRIDIUM_FIX	4735.53,-12254.47,250623,125624	SDSIZE	3887104,3858656
TCM_TEMP	15.47	SDFILEDIR	378,42
SC_FREEKB	3865632	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	0,1687701600,47.60500,-122.95000,0.308,450.5	CURRENT	0.024,129.4,1
RAFOS_FIX	4736.141602,-12257.637695,250623,141400,4,255,0.48	MAGCAL	1.000000,0.012004,0.046167,-0.016749,1.049036,-0.034677,0.000572,-0.082909,0.943521,327.9,-610.4,-590.5,36,0.0254,0
HUMID	51.83	IMPLIED_C_PITCH	1594,19.39,238,0.0,0.00
TEMP	10.32	IMPLIED_C_VBD	3137,22.809385,238,0
INTERNAL_PRESSURE	8.53832	GPS	250623,144902,4736.154,-12256.733,22,0.8,23,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	730	1078	11706.53	nil	0	0	0.00
Pitch_motor	25	247	92.21	nil	0	0	0.00
Roll_motor	42	179	114.11	nil	0	0	0.00
Iridium	124	168	311.96	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.19	nil	0	0	0.00
Core	2156	5	164.32	SciCon	3152	9	432.81
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1272	0	6.06
Compass	1061	5	78.95
RAFOS	2077	40	1236.60
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
6.66	16386	-146.63	-1.35	0.00	493.6	449.4	537.8	180.9	2562.8	0.00	0.00	0	64.87	55.62	0.00	0.00	0.005	0.000	0.000	1858.28	1830.81	1885.75	181.31	2562.88	0	0	0	15.54	30.00	30.00
65.14	18727	-146.63	-1.35	80.00	1859.8	1833.7	1885.9	180.9	2562.2	3.05	-1.78	11	153.53	66.61	8.25	3.34	0.005	0.247	0.103	3898.06	3863.25	3932.88	1272.75	3891.38	0	0	0	15.54	15.40	15.50
241.86	3205	-146.63	-1.12	0.00	3899.1	3864.3	3933.9	1273.0	3891.5	28.70	-22.97	46	248.08	0.00	0.40	3.15	0.000	0.172	0.013	3900.12	3864.94	3935.31	1330.69	2488.06	0	0	0	30.00	15.53	15.60
431.89	644	-146.63	-1.07	-80.00	3900.3	3863.8	3936.8	1330.8	2487.2	54.22	-12.59	81	437.96	0.00	0.00	3.42	0.000	0.000	0.068	3900.31	3864.12	3936.50	1330.50	1071.06	0	0	0	30.00	30.00	15.61
663.54	3205	-146.63	-0.98	0.00	3900.7	3864.2	3937.2	1330.3	1070.1	84.06	-12.52	125	670.63	0.00	0.20	3.54	0.000	0.154	0.034	3901.12	3863.88	3938.38	1363.56	2556.19	0	0	0	30.00	15.57	15.57
859.74	516	-146.63	-0.98	-80.00	3901.4	3864.3	3938.5	1363.0	2556.0	104.56	-10.42	145	870.84	0.00	0.00	3.67	0.000	0.000	0.061	3902.12	3865.12	3939.12	1362.25	1071.06	0	0	0	30.00	30.00	14.97
969.27	1028	-146.63	-0.98	0.00	3901.5	3864.4	3938.6	1362.5	1070.9	116.36	-10.47	167	975.70	0.00	0.00	3.57	0.000	0.000	0.034	3901.69	3864.44	3938.94	1362.94	2556.50	0	0	0	30.00	30.00	15.50
1164.51	0	-146.63	-0.98	0.00	3901.2	3864.1	3938.3	1362.8	2556.4	135.88	-10.06	187	1166.08	0.00	0.00	0.00	0.000	0.000	0.000	3901.16	3864.19	3938.12	1363.25	2557.12	0	0	0	30.00	30.00	30.00
1305	end dive: TARGET_DEPTH_EXCEEDED
state	1305	begin apogee
1305.91	10243	0.00	-0.33	0.00	3901.5	3864.1	3938.9	1363.1	2513.0	150.53	-10.63	201	1419.80	106.89	1.03	0.11	1.078	0.118	0.179	3298.53	3249.25	3347.81	1522.19	2569.94	0	0	0	11.70	15.55	15.23
1421	end apogee: CONTROL_FINISHED_OK
state	1421	begin climb
1421.31	10759	146.63	1.35	-80.00	3296.3	3246.4	3346.2	1521.9	2569.6	155.55	0.00	212	1549.52	112.68	2.66	3.74	1.043	0.086	0.067	2697.00	2626.88	2767.12	1930.88	1081.12	0	0	0	11.51	15.26	14.52
1558.86	5253	146.63	1.21	0.00	2696.0	2626.7	2765.4	1931.0	1080.7	143.64	12.89	231	1570.00	0.00	0.37	3.62	0.000	0.173	0.033	2695.62	2625.50	2765.75	1889.94	2565.06	0	0	0	30.00	15.12	15.15
1758.66	17030	146.63	1.13	-80.00	2690.1	2620.1	2760.0	1889.9	2565.2	115.57	14.24	252	1765.83	0.00	0.00	3.65	0.000	0.000	0.066	2688.25	2618.12	2758.38	1889.88	1081.12	0	0	0	30.00	30.00	15.42
1798.46	21639	146.63	1.03	0.00	2689.5	2619.8	2759.2	1889.4	1080.8	109.53	14.90	260	1805.54	0.00	0.31	3.57	0.000	0.170	0.034	2689.31	2619.62	2759.00	1845.94	2564.62	0	0	0	30.00	15.42	15.45
1994.48	16514	146.63	1.00	0.00	2688.5	2618.2	2758.8	1845.4	2564.4	87.06	11.15	280	1996.07	0.00	0.00	0.00	0.000	0.000	0.000	2686.78	2616.31	2757.25	1845.69	2563.81	0	0	0	30.00	30.00	30.00
2184.55	16546	147.25	0.96	0.00	2687.8	2616.7	2758.8	1845.2	2565.0	67.59	9.97	299	2186.12	0.00	0.00	0.00	0.000	0.000	0.000	2685.94	2615.38	2756.50	1845.50	2564.56	0	0	0	30.00	30.00	30.00
2369.57	676	148.75	0.93	-80.00	2687.1	2616.1	2758.0	1845.2	2564.4	48.86	9.93	318	2376.50	0.00	0.00	3.61	0.000	0.000	0.067	2686.41	2615.56	2757.25	1845.56	1079.56	0	0	0	30.00	30.00	15.63
2429.95	13479	154.39	0.91	0.00	2686.2	2616.2	2756.3	1845.8	1079.6	42.95	9.74	330	2447.56	6.41	0.20	3.52	0.670	0.162	0.036	2670.03	2599.88	2740.19	1814.44	2565.75	0	0	0	11.64	15.03	15.66
2631.16	8226	203.97	0.97	0.00	2666.9	2595.2	2738.7	1814.2	2565.6	27.63	7.70	369	2673.53	39.25	0.00	0.00	0.932	0.000	0.000	2465.72	2385.88	2545.56	1814.25	2566.12	0	0	0	11.81	30.00	30.00
2857.22	10403	264.51	1.09	0.00	2459.1	2377.5	2540.6	1813.9	2565.4	10.27	7.20	414	2908.45	45.54	0.35	0.00	0.910	0.037	0.000	2220.59	2130.25	2310.94	1876.62	2565.44	0	0	0	11.59	15.63	30.00
3092.28	10403	472.70	1.41	-80.00	2209.4	2118.1	2300.8	1876.5	2565.5	4.41	0.36	461	3144.27	48.71	0.40	0.00	0.901	0.034	0.000	1947.81	1853.50	2042.12	1954.38	2565.81	0	0	0	11.75	15.62	30.00
3145	end climb: NO_VERTICAL_VELOCITY
state	3145	begin surface