Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 245 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 5 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 10 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 -1.9

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 360 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 1

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 215 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3600 MINV_24V 11 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 1500 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 2 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 18 FG_AHR_10V 1.4102734 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 7.4489479 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 0.029999999 PRESSURE_YINT -191.55725 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00022631494 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72244 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 1 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 235 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3850 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 2275 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2180 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 0

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 131 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 10 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 1.4102734 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 7.4489479 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 0.029999999 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 18 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 3600 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 215 T_BOOST 0

COMM_SEQ 7 ID 245 PITCH_TIMEOUT 25 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 -1.9 PITCH_W_DBAND 0 T_GPS 5

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1500 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022631494 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -191.55725 T_RSLEEP 3

C_ROLL_CLIMB 2180 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2275 LOGGERS 1 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 72244 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 2 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 3850 VBD_TIMEOUT 360

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 5 MOTHERBOARD 6 ROLL_MIN 235 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 0

D_FLARE 3 NAV_MODE 1 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 240623,045501,4736.584,-12256.421,3,0.7,30,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,045807,4736.592,-12256.389,2,0.7,5,15.4 MHEAD_RNG_PITCHd_Wd 188.0,1295,-17.6,-10.000,-21.21,2209,0.159

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.023397,-0.070985,-0.008082,1.141953,0.157444,0.005634,0.018041,1.117201,-310.103485,-1960.599121,-49.624283

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687586344,2.3,start _24V_AH 14.64,7.902

NET CACST,8,1,20230624055011.944832,18,32767,45,0118,0113,07,00,00,00,00,-1,-01,-01,1,3,580,0,150,14.1,0.41,-100,2.59,-01,-0.03,73,10000,5000,0,-1,00,00*7B _10V_AH 14.64,0.000

NET_PING 1687584912,29,556.567505,14.500000,-0.743102 FG_AHR_24Vo 7.628

MODEM_MSG CACST,8,1,20230624052000.464571,18,32767,45,0104,0000,07,00,00,00,01,-1,-01,-01,1,3,0,0,150,-1.1,0.39,-100,2.61,-01,-0.19,69,925,0025,0,-1,00,00*0A FG_AHR_10Vo 1.458

FINISH 1.6,1.017282 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3893.93,92.89,0.917,0,501.1,578.8,423.4,686.58 MEM2 944384,35,101664,91

SM_GC 1.92,92.89,11.36,0.21,0.917,0.068,0.137,501.1,578.8,423.4,204.2,2291.9,0,0,0,11.20,15.67,15.66 DATA_FILE_SIZE 16147,569

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 189777,0

IRIDIUM_FIX 4738.33,-12256.21,240623,040348 SDSIZE 3887104,3871424

TCM_TEMP 16.39 SDFILEDIR 79,6

SC_FREEKB 3877184 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 2,1687584000,47.60500,-122.95000,0.465,680.6 MAGCAL 1.000000,0.015721,-0.073449,0.012981,1.104567,0.131220,0.055293,0.057860,0.985014,-234.4,-1999.9,771.8,36,0.0141,0

RAFOS_FIX 4736.868652,-12257.000000,240623,020201,3,255,0.49 IMPLIED_C_PITCH 1538,18.38,248,0.0,0.00

HUMID 53.88 IMPLIED_C_VBD 3336,17.848831,248,0

TEMP 11.60 GPS 240623,060359,4736.393,-12256.389,0,1.2,3,15.4

INTERNAL_PRESSURE 8.09018

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 736 1101 11874.54 nil 0 0 0.00

Pitch_motor 25 252 93.21 nil 0 0 0.00

Roll_motor 67 212 208.95 nil 0 0 0.00

Iridium 115 195 330.24 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.15 nil 0 0 0.00

Core 2622 5 196.59 SciCon 3769 7 389.34

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1332 0 6.24

Compass 1406 5 102.95

RAFOS 2193 40 1284.30

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.78 16386 -146.63 -1.16 0.00 495.2 574.2 416.3 197.8 2251.4 0.00 0.00 0 67.58 56.40 0.00 0.00 0.005 0.000 0.000 1932.38 2012.50 1852.25 197.81 2251.88 0 0 0 15.85 30.00 30.00

68.11 18983 -146.63 -1.16 -80.00 1935.8 2019.5 1852.2 197.8 2252.1 3.29 -2.89 9 150.86 55.19 7.93 3.71 0.005 0.252 0.128 3899.00 3986.75 3811.25 1219.56 804.25 0 0 0 15.86 15.69 15.77

386.15 3205 -146.63 -0.92 0.00 3900.7 3986.0 3815.4 1219.6 804.3 41.51 -13.16 69 398.16 0.00 0.43 3.58 0.000 0.171 0.063 3900.78 3986.75 3814.81 1278.38 2294.12 0 0 0 30.00 14.36 15.82

582.34 676 -146.63 -0.87 -80.00 3901.8 3986.7 3816.9 1278.4 2295.1 61.66 -9.28 95 591.22 0.00 0.00 3.83 0.000 0.000 0.127 3902.09 3985.69 3818.50 1278.81 807.75 0 0 0 30.00 30.00 15.81

820.55 3237 -146.63 -0.81 0.00 3902.3 3986.1 3818.5 1278.8 807.6 84.66 -9.90 142 829.42 0.00 0.17 3.57 0.000 0.170 0.066 3903.56 3987.94 3819.19 1306.75 2293.19 0 0 0 30.00 15.85 15.91

1015.42 548 -146.63 -0.81 -80.00 3902.9 3987.3 3818.4 1306.3 2293.2 101.69 -8.59 162 1024.45 0.00 0.00 3.82 0.000 0.000 0.132 3903.47 3987.88 3819.06 1306.56 807.75 0 0 0 30.00 30.00 15.87

1103.58 1060 -146.63 -0.81 0.00 3903.3 3987.6 3819.0 1306.2 807.9 109.92 -9.44 179 1112.36 0.00 0.00 3.55 0.000 0.000 0.065 3903.00 3987.31 3818.69 1306.69 2295.00 0 0 0 30.00 30.00 15.94

1294.11 292 -146.63 -0.81 80.00 3903.5 3987.2 3819.8 1306.7 2294.4 125.67 -8.74 198 1306.16 0.00 0.00 3.66 0.000 0.000 0.128 3903.69 3988.06 3819.31 1306.25 3742.06 0 0 0 30.00 30.00 15.87

1349.56 1156 -146.63 -0.75 0.00 3903.8 3987.7 3819.9 1307.1 3743.0 131.76 -10.35 209 1357.73 0.00 0.00 3.51 0.000 0.000 0.047 3904.09 3987.94 3820.25 1306.81 2246.06 0 0 0 30.00 30.00 15.94

1545.50 160 -146.63 -0.78 0.00 3904.2 3987.9 3820.4 1306.8 2246.5 148.38 -8.44 229 1547.41 0.00 0.00 0.00 0.000 0.000 0.000 3903.59 3988.06 3819.12 1306.31 2246.25 0 0 0 30.00 30.00 30.00

1565 end dive: TARGET_DEPTH_EXCEEDED

state 1565 begin apogee

1567.13 10243 0.00 -0.28 0.00 3903.8 3987.7 3820.0 1307.2 2149.2 150.09 -8.53 231 1691.94 112.36 0.85 0.09 1.102 0.131 0.212 3298.47 3398.69 3198.25 1436.12 2202.88 0 0 0 11.24 15.90 15.36

1693 end apogee: CONTROL_FINISHED_OK

state 1693 begin climb

1693.41 10759 146.63 1.16 -80.00 3296.8 3396.9 3196.8 1435.9 2202.6 154.69 0.00 242 1835.76 115.38 2.35 4.09 1.065 0.107 0.156 2699.56 2803.94 2595.19 1783.44 714.44 0 0 0 11.30 15.42 15.25

1845.00 1156 146.63 1.08 0.00 2696.6 2798.1 2595.0 1783.1 714.1 142.75 13.01 268 1853.95 0.00 0.00 3.69 0.000 0.000 0.076 2697.12 2798.75 2595.50 1783.62 2196.88 0 0 0 30.00 30.00 15.45

2040.04 20871 146.63 1.04 80.00 2693.6 2795.1 2592.1 1783.3 2196.1 116.06 13.50 288 2049.57 0.00 0.31 3.75 0.000 0.192 0.139 2693.25 2794.44 2592.06 1746.50 3646.50 0 0 0 30.00 15.69 15.73

2108.81 17542 146.63 0.98 0.00 2692.5 2793.6 2591.4 1746.2 3646.3 106.67 13.74 301 2117.70 0.00 0.00 3.56 0.000 0.000 0.058 2691.12 2792.12 2590.12 1746.31 2155.81 0 0 0 30.00 30.00 15.82

2300.84 16514 146.63 1.03 0.00 2691.8 2793.0 2590.5 1746.0 2156.7 86.27 10.00 321 2302.74 0.00 0.00 0.00 0.000 0.000 0.000 2691.06 2792.12 2590.00 1746.25 2156.62 0 0 0 30.00 30.00 30.00

2490.95 8614 156.48 1.11 80.00 2691.7 2793.4 2590.0 1746.4 2156.2 68.05 9.54 340 2509.99 8.84 0.00 3.83 0.827 0.000 0.140 2658.81 2762.12 2555.50 1746.25 3644.88 0 0 0 11.33 30.00 15.84

2559.05 1028 156.48 1.11 0.00 2659.1 2761.9 2556.2 1746.4 3644.5 60.74 11.21 353 2568.09 0.00 0.00 3.58 0.000 0.000 0.059 2657.25 2760.44 2554.06 1746.50 2157.06 0 0 0 30.00 30.00 15.91

2752.96 10403 175.73 1.21 0.00 2658.3 2762.2 2554.3 1746.3 2156.5 42.90 9.11 378 2774.14 17.00 0.33 0.00 0.926 0.070 0.000 2584.56 2692.31 2476.81 1804.75 2156.12 0 0 0 11.29 15.93 30.00

2958.12 260 175.73 1.21 80.00 2577.6 2684.0 2471.1 1804.8 2156.2 20.08 10.88 419 2967.22 0.00 0.00 3.83 0.000 0.000 0.139 2577.97 2684.50 2471.44 1805.00 3645.31 0 0 0 30.00 30.00 15.84

3051.48 5253 175.73 1.13 0.00 2576.4 2682.4 2470.4 1805.4 3645.2 9.65 10.67 437 3060.53 0.00 0.29 3.56 0.000 0.178 0.058 2575.03 2681.25 2468.81 1767.50 2153.69 0 0 0 30.00 15.84 15.89

3245.04 10919 415.25 1.61 -80.00 2575.9 2682.8 2468.9 1767.7 2153.6 9.45 -1.09 474 3442.12 172.46 0.81 3.90 0.940 0.057 0.150 1604.47 1734.62 1474.31 1900.50 715.50 0 0 0 11.32 15.93 15.31

3446.55 11431 559.65 1.92 0.00 1601.6 1728.4 1474.7 1900.1 715.4 4.44 3.31 510 3570.16 105.64 0.42 3.66 0.904 0.062 0.066 1018.50 1120.50 916.50 1977.31 2197.88 0 0 0 11.15 15.46 15.48

3684 end climb: SURFACE_DEPTH_REACHED

state 3685 begin surface coast

3765 end surface coast: NO_VERTICAL_VELOCITY

state 3765 begin surface

ID	245	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	5	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	10	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	-1.9
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	360	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	1
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	215	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3600	MINV_24V	11	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	1500	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	2	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	18	FG_AHR_10V	1.4102734	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	7.4489479	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	0.029999999	PRESSURE_YINT	-191.55725	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00022631494	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72244	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	1	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	235	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3850	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	2275	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2180	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	0

GPS1	240623,045501,4736.584,-12256.421,3,0.7,30,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,045807,4736.592,-12256.389,2,0.7,5,15.4	MHEAD_RNG_PITCHd_Wd	188.0,1295,-17.6,-10.000,-21.21,2209,0.159
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.023397,-0.070985,-0.008082,1.141953,0.157444,0.005634,0.018041,1.117201,-310.103485,-1960.599121,-49.624283
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687586344,2.3,start	_24V_AH	14.64,7.902
NET	CACST,8,1,20230624055011.944832,18,32767,45,0118,0113,07,00,00,00,00,-1,-01,-01,1,3,580,0,150,14.1,0.41,-100,2.59,-01,-0.03,73,10000,5000,0,-1,00,00*7B	_10V_AH	14.64,0.000
NET_PING	1687584912,29,556.567505,14.500000,-0.743102	FG_AHR_24Vo	7.628
MODEM_MSG	CACST,8,1,20230624052000.464571,18,32767,45,0104,0000,07,00,00,00,01,-1,-01,-01,1,3,0,0,150,-1.1,0.39,-100,2.61,-01,-0.19,69,925,0025,0,-1,00,00*0A	FG_AHR_10Vo	1.458
FINISH	1.6,1.017282	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3893.93,92.89,0.917,0,501.1,578.8,423.4,686.58	MEM2	944384,35,101664,91
SM_GC	1.92,92.89,11.36,0.21,0.917,0.068,0.137,501.1,578.8,423.4,204.2,2291.9,0,0,0,11.20,15.67,15.66	DATA_FILE_SIZE	16147,569
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	189777,0
IRIDIUM_FIX	4738.33,-12256.21,240623,040348	SDSIZE	3887104,3871424
TCM_TEMP	16.39	SDFILEDIR	79,6
SC_FREEKB	3877184	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	2,1687584000,47.60500,-122.95000,0.465,680.6	MAGCAL	1.000000,0.015721,-0.073449,0.012981,1.104567,0.131220,0.055293,0.057860,0.985014,-234.4,-1999.9,771.8,36,0.0141,0
RAFOS_FIX	4736.868652,-12257.000000,240623,020201,3,255,0.49	IMPLIED_C_PITCH	1538,18.38,248,0.0,0.00
HUMID	53.88	IMPLIED_C_VBD	3336,17.848831,248,0
TEMP	11.60	GPS	240623,060359,4736.393,-12256.389,0,1.2,3,15.4
INTERNAL_PRESSURE	8.09018

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	736	1101	11874.54	nil	0	0	0.00
Pitch_motor	25	252	93.21	nil	0	0	0.00
Roll_motor	67	212	208.95	nil	0	0	0.00
Iridium	115	195	330.24	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.15	nil	0	0	0.00
Core	2622	5	196.59	SciCon	3769	7	389.34
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1332	0	6.24
Compass	1406	5	102.95
RAFOS	2193	40	1284.30
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.78	16386	-146.63	-1.16	0.00	495.2	574.2	416.3	197.8	2251.4	0.00	0.00	0	67.58	56.40	0.00	0.00	0.005	0.000	0.000	1932.38	2012.50	1852.25	197.81	2251.88	0	0	0	15.85	30.00	30.00
68.11	18983	-146.63	-1.16	-80.00	1935.8	2019.5	1852.2	197.8	2252.1	3.29	-2.89	9	150.86	55.19	7.93	3.71	0.005	0.252	0.128	3899.00	3986.75	3811.25	1219.56	804.25	0	0	0	15.86	15.69	15.77
386.15	3205	-146.63	-0.92	0.00	3900.7	3986.0	3815.4	1219.6	804.3	41.51	-13.16	69	398.16	0.00	0.43	3.58	0.000	0.171	0.063	3900.78	3986.75	3814.81	1278.38	2294.12	0	0	0	30.00	14.36	15.82
582.34	676	-146.63	-0.87	-80.00	3901.8	3986.7	3816.9	1278.4	2295.1	61.66	-9.28	95	591.22	0.00	0.00	3.83	0.000	0.000	0.127	3902.09	3985.69	3818.50	1278.81	807.75	0	0	0	30.00	30.00	15.81
820.55	3237	-146.63	-0.81	0.00	3902.3	3986.1	3818.5	1278.8	807.6	84.66	-9.90	142	829.42	0.00	0.17	3.57	0.000	0.170	0.066	3903.56	3987.94	3819.19	1306.75	2293.19	0	0	0	30.00	15.85	15.91
1015.42	548	-146.63	-0.81	-80.00	3902.9	3987.3	3818.4	1306.3	2293.2	101.69	-8.59	162	1024.45	0.00	0.00	3.82	0.000	0.000	0.132	3903.47	3987.88	3819.06	1306.56	807.75	0	0	0	30.00	30.00	15.87
1103.58	1060	-146.63	-0.81	0.00	3903.3	3987.6	3819.0	1306.2	807.9	109.92	-9.44	179	1112.36	0.00	0.00	3.55	0.000	0.000	0.065	3903.00	3987.31	3818.69	1306.69	2295.00	0	0	0	30.00	30.00	15.94
1294.11	292	-146.63	-0.81	80.00	3903.5	3987.2	3819.8	1306.7	2294.4	125.67	-8.74	198	1306.16	0.00	0.00	3.66	0.000	0.000	0.128	3903.69	3988.06	3819.31	1306.25	3742.06	0	0	0	30.00	30.00	15.87
1349.56	1156	-146.63	-0.75	0.00	3903.8	3987.7	3819.9	1307.1	3743.0	131.76	-10.35	209	1357.73	0.00	0.00	3.51	0.000	0.000	0.047	3904.09	3987.94	3820.25	1306.81	2246.06	0	0	0	30.00	30.00	15.94
1545.50	160	-146.63	-0.78	0.00	3904.2	3987.9	3820.4	1306.8	2246.5	148.38	-8.44	229	1547.41	0.00	0.00	0.00	0.000	0.000	0.000	3903.59	3988.06	3819.12	1306.31	2246.25	0	0	0	30.00	30.00	30.00
1565	end dive: TARGET_DEPTH_EXCEEDED
state	1565	begin apogee
1567.13	10243	0.00	-0.28	0.00	3903.8	3987.7	3820.0	1307.2	2149.2	150.09	-8.53	231	1691.94	112.36	0.85	0.09	1.102	0.131	0.212	3298.47	3398.69	3198.25	1436.12	2202.88	0	0	0	11.24	15.90	15.36
1693	end apogee: CONTROL_FINISHED_OK
state	1693	begin climb
1693.41	10759	146.63	1.16	-80.00	3296.8	3396.9	3196.8	1435.9	2202.6	154.69	0.00	242	1835.76	115.38	2.35	4.09	1.065	0.107	0.156	2699.56	2803.94	2595.19	1783.44	714.44	0	0	0	11.30	15.42	15.25
1845.00	1156	146.63	1.08	0.00	2696.6	2798.1	2595.0	1783.1	714.1	142.75	13.01	268	1853.95	0.00	0.00	3.69	0.000	0.000	0.076	2697.12	2798.75	2595.50	1783.62	2196.88	0	0	0	30.00	30.00	15.45
2040.04	20871	146.63	1.04	80.00	2693.6	2795.1	2592.1	1783.3	2196.1	116.06	13.50	288	2049.57	0.00	0.31	3.75	0.000	0.192	0.139	2693.25	2794.44	2592.06	1746.50	3646.50	0	0	0	30.00	15.69	15.73
2108.81	17542	146.63	0.98	0.00	2692.5	2793.6	2591.4	1746.2	3646.3	106.67	13.74	301	2117.70	0.00	0.00	3.56	0.000	0.000	0.058	2691.12	2792.12	2590.12	1746.31	2155.81	0	0	0	30.00	30.00	15.82
2300.84	16514	146.63	1.03	0.00	2691.8	2793.0	2590.5	1746.0	2156.7	86.27	10.00	321	2302.74	0.00	0.00	0.00	0.000	0.000	0.000	2691.06	2792.12	2590.00	1746.25	2156.62	0	0	0	30.00	30.00	30.00
2490.95	8614	156.48	1.11	80.00	2691.7	2793.4	2590.0	1746.4	2156.2	68.05	9.54	340	2509.99	8.84	0.00	3.83	0.827	0.000	0.140	2658.81	2762.12	2555.50	1746.25	3644.88	0	0	0	11.33	30.00	15.84
2559.05	1028	156.48	1.11	0.00	2659.1	2761.9	2556.2	1746.4	3644.5	60.74	11.21	353	2568.09	0.00	0.00	3.58	0.000	0.000	0.059	2657.25	2760.44	2554.06	1746.50	2157.06	0	0	0	30.00	30.00	15.91
2752.96	10403	175.73	1.21	0.00	2658.3	2762.2	2554.3	1746.3	2156.5	42.90	9.11	378	2774.14	17.00	0.33	0.00	0.926	0.070	0.000	2584.56	2692.31	2476.81	1804.75	2156.12	0	0	0	11.29	15.93	30.00
2958.12	260	175.73	1.21	80.00	2577.6	2684.0	2471.1	1804.8	2156.2	20.08	10.88	419	2967.22	0.00	0.00	3.83	0.000	0.000	0.139	2577.97	2684.50	2471.44	1805.00	3645.31	0	0	0	30.00	30.00	15.84
3051.48	5253	175.73	1.13	0.00	2576.4	2682.4	2470.4	1805.4	3645.2	9.65	10.67	437	3060.53	0.00	0.29	3.56	0.000	0.178	0.058	2575.03	2681.25	2468.81	1767.50	2153.69	0	0	0	30.00	15.84	15.89
3245.04	10919	415.25	1.61	-80.00	2575.9	2682.8	2468.9	1767.7	2153.6	9.45	-1.09	474	3442.12	172.46	0.81	3.90	0.940	0.057	0.150	1604.47	1734.62	1474.31	1900.50	715.50	0	0	0	11.32	15.93	15.31
3446.55	11431	559.65	1.92	0.00	1601.6	1728.4	1474.7	1900.1	715.4	4.44	3.31	510	3570.16	105.64	0.42	3.66	0.904	0.062	0.066	1018.50	1120.50	916.50	1977.31	2197.88	0	0	0	11.15	15.46	15.48
3684	end climb: SURFACE_DEPTH_REACHED
state	3685	begin surface coast
3765	end surface coast: NO_VERTICAL_VELOCITY
state	3765	begin surface