Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 20 * 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 20 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 30 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 540 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 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 2.0896916 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 10.237121 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 30 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 2.0896916 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.237121 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 540

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 20 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 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 240623,205345,4736.512,-12256.544,0,1.5,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 240623,205718,4736.530,-12256.507,1,1.5,4,15.4 MHEAD_RNG_PITCHd_Wd 183.4,1135,-17.6,-10.000,-21.21,2209,0.143

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.000239,-0.088745,0.014388,1.124289,0.141184,0.030123,0.057146,1.051938,-173.616623,-1968.657471,319.410034

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687643987,0.4,start _24V_AH 14.79,11.174

NET xmit part outbox0017.n 1720 0 _10V_AH 14.79,0.000

MODEM_MSG CACST,8,1,20230624212000.444243,18,32767,45,0147,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-33.4,0.43,-100,2.57,-01,0.05,72,925,0025,0,-1,00,00*18 FG_AHR_24Vo 10.416

NET_PING 1687642512,29,589.985962,11.900000,-0.786519 FG_AHR_10Vo 2.132

FREEZE 5.19,14.161,-1.505,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3599.72,294.73,0.914,0,500.1,583.4,416.9,686.81 MEM2 944384,33,101704,91

SM_GC 1.74,0.00,10.45,0.34,0.000,0.047,0.108,497.6,578.8,416.5,197.6,2293.1,0,0,0,30.00,15.46,15.43 DATA_FILE_SIZE 12937,482

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 182565,0

IRIDIUM_FIX 4735.53,-12254.47,240623,194625 SDSIZE 3887104,3866336

TCM_TEMP 15.43 SDFILEDIR 208,21

SC_FREEKB 3872384 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 0,1687640400,47.60500,-122.95000,0.423,619.6 MAGCAL 1.000000,0.007196,-0.072154,0.010157,1.104871,0.125226,0.034663,0.072435,1.078512,-293.1,-1876.2,117.5,36,0.0115,0

RAFOS_FIX -175225.828125,131659.328125,240623,212100,3,255,1403046.25 IMPLIED_C_PITCH 1542,19.17,240,0.0,0.00

HUMID 52.17 IMPLIED_C_VBD 3298,16.773918,240,0

TEMP 10.48 GPS 240623,220100,4736.321,-12256.460,27,0.8,27,15.4

INTERNAL_PRESSURE 8.02931

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 743 1102 12121.87 nil 0 0 0.00

Pitch_motor 24 248 90.21 nil 0 0 0.00

Roll_motor 61 198 180.77 nil 0 0 0.00

Iridium 138 196 400.67 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.14 nil 0 0 0.00

Core 2250 5 170.41 SciCon 3282 7 343.62

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1332 0 6.31

Compass 1187 5 87.80

RAFOS 2203 40 1303.60

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.81 16386 -146.63 -1.16 0.00 494.4 571.9 416.9 196.2 2252.6 0.00 0.00 0 67.63 56.46 0.00 0.00 0.005 0.000 0.000 1942.16 2024.75 1859.56 196.81 2253.31 0 0 0 15.79 30.00 30.00

68.15 18727 -146.63 -1.16 80.00 1945.0 2030.7 1859.3 196.4 2253.2 3.40 -3.32 11 149.56 54.62 8.27 4.03 0.005 0.248 0.123 3898.53 3985.69 3811.38 1219.88 3740.75 0 0 0 15.79 15.63 15.71

378.67 3205 -146.63 -0.79 0.00 3901.0 3985.2 3816.8 1219.2 3741.8 48.28 -17.47 68 387.53 0.00 0.66 3.56 0.000 0.177 0.047 3901.62 3985.56 3817.69 1309.06 2246.19 0 0 0 30.00 15.77 15.83

571.57 548 -146.63 -0.79 -80.00 3901.8 3985.8 3817.8 1309.3 2245.1 67.19 -9.02 88 580.52 0.00 0.00 3.78 0.000 0.000 0.129 3901.72 3985.38 3818.06 1309.06 807.62 0 0 0 30.00 30.00 15.79

809.70 1060 -146.63 -0.79 0.00 3901.9 3985.6 3818.2 1308.9 807.6 90.50 -9.85 135 818.54 0.00 0.00 3.66 0.000 0.000 0.064 3903.59 3987.06 3820.12 1309.12 2290.94 0 0 0 30.00 30.00 15.87

1004.89 676 -146.63 -0.83 -80.00 3902.9 3986.8 3819.1 1309.4 2291.4 107.13 -8.42 155 1013.86 0.00 0.00 3.94 0.000 0.000 0.129 3902.59 3986.12 3819.06 1309.19 808.94 0 0 0 30.00 30.00 15.84

1077.35 1188 -146.63 -0.87 0.00 3902.8 3986.2 3819.4 1309.5 809.1 113.94 -9.36 169 1085.52 0.00 0.00 3.65 0.000 0.000 0.065 3903.41 3986.06 3820.75 1309.06 2290.81 0 0 0 30.00 30.00 15.88

1273.14 4517 -146.63 -0.91 80.00 3902.9 3985.9 3820.0 1309.4 2290.4 131.05 -8.79 189 1282.37 0.00 0.25 3.85 0.000 0.069 0.129 3903.03 3985.94 3820.12 1261.44 3740.50 0 0 0 30.00 15.90 15.86

1311.55 3205 -146.63 -0.74 0.00 3902.9 3985.8 3819.9 1261.2 3741.1 135.61 -11.98 196 1320.79 0.00 0.45 3.56 0.000 0.158 0.045 3902.91 3985.62 3820.19 1321.31 2244.75 0 0 0 30.00 15.87 15.92

1486 end dive: TARGET_DEPTH_EXCEEDED

state 1486 begin apogee

1488.31 10243 0.00 -0.28 0.00 3903.4 3986.6 3820.3 1321.1 2150.0 150.54 -7.98 214 1617.78 114.20 0.79 0.10 1.102 0.129 0.199 3299.59 3397.56 3201.62 1435.31 2204.25 0 0 0 11.49 15.87 15.29

1619 end apogee: CONTROL_FINISHED_OK

state 1619 begin climb

1619.30 10759 146.63 1.16 -80.00 3296.1 3393.4 3198.9 1435.9 2203.9 155.22 0.00 226 1762.02 117.50 2.43 4.17 1.067 0.106 0.154 2698.81 2799.19 2598.44 1783.62 715.44 0 0 0 11.29 15.36 15.14

1792.51 5253 146.63 1.06 0.00 2695.2 2792.2 2598.1 1783.2 715.4 140.43 13.09 256 1801.96 0.00 0.28 3.73 0.000 0.189 0.076 2693.72 2790.25 2597.19 1753.31 2192.25 0 0 0 30.00 15.38 15.43

1987.54 16774 146.63 1.10 80.00 2692.7 2790.8 2594.6 1753.3 2192.6 118.20 11.09 276 1996.79 0.00 0.00 3.98 0.000 0.000 0.139 2691.41 2789.31 2593.50 1752.75 3645.25 0 0 0 30.00 30.00 15.66

2080.24 17542 146.63 1.04 0.00 2691.3 2788.2 2594.5 1753.3 3644.7 105.80 13.54 294 2088.69 0.00 0.00 3.61 0.000 0.000 0.056 2692.12 2789.25 2595.00 1752.88 2157.75 0 0 0 30.00 30.00 15.77

2270.05 16514 146.63 1.09 0.00 2691.0 2787.9 2594.1 1753.2 2158.0 85.86 10.01 314 2279.53 0.00 0.00 0.00 0.000 0.000 0.000 2691.69 2789.06 2594.31 1753.44 2157.38 0 0 0 30.00 30.00 30.00

2470.17 10663 155.68 1.16 80.00 2690.7 2788.4 2592.9 1753.0 2157.5 66.60 9.58 334 2489.86 8.22 0.22 4.02 0.804 0.085 0.135 2665.94 2765.44 2566.44 1788.31 3644.19 0 0 0 11.64 15.86 15.78

2549.10 5253 155.68 1.03 0.00 2662.2 2760.9 2563.4 1788.1 3643.8 56.60 13.29 349 2558.61 0.00 0.34 3.61 0.000 0.186 0.057 2663.84 2763.00 2564.69 1744.69 2159.00 0 0 0 30.00 15.79 15.85

2744.19 10403 187.21 1.15 0.00 2661.3 2760.8 2561.9 1744.9 2158.9 38.31 8.54 381 2786.31 26.37 0.25 0.00 0.949 0.080 0.000 2532.56 2640.19 2424.94 1787.56 2159.31 0 0 0 11.49 15.92 30.00

2970.51 388 187.21 1.20 80.00 2529.0 2635.1 2422.9 1787.1 2158.8 15.02 10.08 424 2979.65 0.00 0.00 4.05 0.000 0.000 0.137 2528.34 2634.25 2422.44 1787.44 3643.19 0 0 0 30.00 30.00 15.77

3093.83 11303 282.42 1.31 0.00 2528.0 2633.9 2422.2 1787.4 3643.2 5.44 5.59 448 3182.69 71.54 0.20 3.60 0.938 0.086 0.052 2148.09 2275.69 2020.50 1827.88 2153.88 0 0 0 11.43 15.83 15.85

3277 end climb: NO_VERTICAL_VELOCITY

state 3277 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	20	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	30	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	540	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	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	2.0896916	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	10.237121	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	240623,205345,4736.512,-12256.544,0,1.5,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	240623,205718,4736.530,-12256.507,1,1.5,4,15.4	MHEAD_RNG_PITCHd_Wd	183.4,1135,-17.6,-10.000,-21.21,2209,0.143
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.000239,-0.088745,0.014388,1.124289,0.141184,0.030123,0.057146,1.051938,-173.616623,-1968.657471,319.410034
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687643987,0.4,start	_24V_AH	14.79,11.174
NET	xmit part outbox0017.n 1720 0	_10V_AH	14.79,0.000
MODEM_MSG	CACST,8,1,20230624212000.444243,18,32767,45,0147,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-33.4,0.43,-100,2.57,-01,0.05,72,925,0025,0,-1,00,00*18	FG_AHR_24Vo	10.416
NET_PING	1687642512,29,589.985962,11.900000,-0.786519	FG_AHR_10Vo	2.132
FREEZE	5.19,14.161,-1.505,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3599.72,294.73,0.914,0,500.1,583.4,416.9,686.81	MEM2	944384,33,101704,91
SM_GC	1.74,0.00,10.45,0.34,0.000,0.047,0.108,497.6,578.8,416.5,197.6,2293.1,0,0,0,30.00,15.46,15.43	DATA_FILE_SIZE	12937,482
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	182565,0
IRIDIUM_FIX	4735.53,-12254.47,240623,194625	SDSIZE	3887104,3866336
TCM_TEMP	15.43	SDFILEDIR	208,21
SC_FREEKB	3872384	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	0,1687640400,47.60500,-122.95000,0.423,619.6	MAGCAL	1.000000,0.007196,-0.072154,0.010157,1.104871,0.125226,0.034663,0.072435,1.078512,-293.1,-1876.2,117.5,36,0.0115,0
RAFOS_FIX	-175225.828125,131659.328125,240623,212100,3,255,1403046.25	IMPLIED_C_PITCH	1542,19.17,240,0.0,0.00
HUMID	52.17	IMPLIED_C_VBD	3298,16.773918,240,0
TEMP	10.48	GPS	240623,220100,4736.321,-12256.460,27,0.8,27,15.4
INTERNAL_PRESSURE	8.02931

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	743	1102	12121.87	nil	0	0	0.00
Pitch_motor	24	248	90.21	nil	0	0	0.00
Roll_motor	61	198	180.77	nil	0	0	0.00
Iridium	138	196	400.67	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.14	nil	0	0	0.00
Core	2250	5	170.41	SciCon	3282	7	343.62
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1332	0	6.31
Compass	1187	5	87.80
RAFOS	2203	40	1303.60
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.81	16386	-146.63	-1.16	0.00	494.4	571.9	416.9	196.2	2252.6	0.00	0.00	0	67.63	56.46	0.00	0.00	0.005	0.000	0.000	1942.16	2024.75	1859.56	196.81	2253.31	0	0	0	15.79	30.00	30.00
68.15	18727	-146.63	-1.16	80.00	1945.0	2030.7	1859.3	196.4	2253.2	3.40	-3.32	11	149.56	54.62	8.27	4.03	0.005	0.248	0.123	3898.53	3985.69	3811.38	1219.88	3740.75	0	0	0	15.79	15.63	15.71
378.67	3205	-146.63	-0.79	0.00	3901.0	3985.2	3816.8	1219.2	3741.8	48.28	-17.47	68	387.53	0.00	0.66	3.56	0.000	0.177	0.047	3901.62	3985.56	3817.69	1309.06	2246.19	0	0	0	30.00	15.77	15.83
571.57	548	-146.63	-0.79	-80.00	3901.8	3985.8	3817.8	1309.3	2245.1	67.19	-9.02	88	580.52	0.00	0.00	3.78	0.000	0.000	0.129	3901.72	3985.38	3818.06	1309.06	807.62	0	0	0	30.00	30.00	15.79
809.70	1060	-146.63	-0.79	0.00	3901.9	3985.6	3818.2	1308.9	807.6	90.50	-9.85	135	818.54	0.00	0.00	3.66	0.000	0.000	0.064	3903.59	3987.06	3820.12	1309.12	2290.94	0	0	0	30.00	30.00	15.87
1004.89	676	-146.63	-0.83	-80.00	3902.9	3986.8	3819.1	1309.4	2291.4	107.13	-8.42	155	1013.86	0.00	0.00	3.94	0.000	0.000	0.129	3902.59	3986.12	3819.06	1309.19	808.94	0	0	0	30.00	30.00	15.84
1077.35	1188	-146.63	-0.87	0.00	3902.8	3986.2	3819.4	1309.5	809.1	113.94	-9.36	169	1085.52	0.00	0.00	3.65	0.000	0.000	0.065	3903.41	3986.06	3820.75	1309.06	2290.81	0	0	0	30.00	30.00	15.88
1273.14	4517	-146.63	-0.91	80.00	3902.9	3985.9	3820.0	1309.4	2290.4	131.05	-8.79	189	1282.37	0.00	0.25	3.85	0.000	0.069	0.129	3903.03	3985.94	3820.12	1261.44	3740.50	0	0	0	30.00	15.90	15.86
1311.55	3205	-146.63	-0.74	0.00	3902.9	3985.8	3819.9	1261.2	3741.1	135.61	-11.98	196	1320.79	0.00	0.45	3.56	0.000	0.158	0.045	3902.91	3985.62	3820.19	1321.31	2244.75	0	0	0	30.00	15.87	15.92
1486	end dive: TARGET_DEPTH_EXCEEDED
state	1486	begin apogee
1488.31	10243	0.00	-0.28	0.00	3903.4	3986.6	3820.3	1321.1	2150.0	150.54	-7.98	214	1617.78	114.20	0.79	0.10	1.102	0.129	0.199	3299.59	3397.56	3201.62	1435.31	2204.25	0	0	0	11.49	15.87	15.29
1619	end apogee: CONTROL_FINISHED_OK
state	1619	begin climb
1619.30	10759	146.63	1.16	-80.00	3296.1	3393.4	3198.9	1435.9	2203.9	155.22	0.00	226	1762.02	117.50	2.43	4.17	1.067	0.106	0.154	2698.81	2799.19	2598.44	1783.62	715.44	0	0	0	11.29	15.36	15.14
1792.51	5253	146.63	1.06	0.00	2695.2	2792.2	2598.1	1783.2	715.4	140.43	13.09	256	1801.96	0.00	0.28	3.73	0.000	0.189	0.076	2693.72	2790.25	2597.19	1753.31	2192.25	0	0	0	30.00	15.38	15.43
1987.54	16774	146.63	1.10	80.00	2692.7	2790.8	2594.6	1753.3	2192.6	118.20	11.09	276	1996.79	0.00	0.00	3.98	0.000	0.000	0.139	2691.41	2789.31	2593.50	1752.75	3645.25	0	0	0	30.00	30.00	15.66
2080.24	17542	146.63	1.04	0.00	2691.3	2788.2	2594.5	1753.3	3644.7	105.80	13.54	294	2088.69	0.00	0.00	3.61	0.000	0.000	0.056	2692.12	2789.25	2595.00	1752.88	2157.75	0	0	0	30.00	30.00	15.77
2270.05	16514	146.63	1.09	0.00	2691.0	2787.9	2594.1	1753.2	2158.0	85.86	10.01	314	2279.53	0.00	0.00	0.00	0.000	0.000	0.000	2691.69	2789.06	2594.31	1753.44	2157.38	0	0	0	30.00	30.00	30.00
2470.17	10663	155.68	1.16	80.00	2690.7	2788.4	2592.9	1753.0	2157.5	66.60	9.58	334	2489.86	8.22	0.22	4.02	0.804	0.085	0.135	2665.94	2765.44	2566.44	1788.31	3644.19	0	0	0	11.64	15.86	15.78
2549.10	5253	155.68	1.03	0.00	2662.2	2760.9	2563.4	1788.1	3643.8	56.60	13.29	349	2558.61	0.00	0.34	3.61	0.000	0.186	0.057	2663.84	2763.00	2564.69	1744.69	2159.00	0	0	0	30.00	15.79	15.85
2744.19	10403	187.21	1.15	0.00	2661.3	2760.8	2561.9	1744.9	2158.9	38.31	8.54	381	2786.31	26.37	0.25	0.00	0.949	0.080	0.000	2532.56	2640.19	2424.94	1787.56	2159.31	0	0	0	11.49	15.92	30.00
2970.51	388	187.21	1.20	80.00	2529.0	2635.1	2422.9	1787.1	2158.8	15.02	10.08	424	2979.65	0.00	0.00	4.05	0.000	0.000	0.137	2528.34	2634.25	2422.44	1787.44	3643.19	0	0	0	30.00	30.00	15.77
3093.83	11303	282.42	1.31	0.00	2528.0	2633.9	2422.2	1787.4	3643.2	5.44	5.59	448	3182.69	71.54	0.20	3.60	0.938	0.086	0.052	2148.09	2275.69	2020.50	1827.88	2153.88	0	0	0	11.43	15.83	15.85
3277	end climb: NO_VERTICAL_VELOCITY
state	3277	begin surface