Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 24 * 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 24 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 -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 2.2877216 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 10.975257 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 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 2.2877216 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.975257 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 24 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 250623,011306,4736.480,-12256.514,1,1.2,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,011625,4736.470,-12256.517,2,1.2,5,15.4 MHEAD_RNG_PITCHd_Wd 184.8,1026,-17.6,-10.000,-21.21,2209,0.188

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.008902,-0.074451,0.008482,1.100989,0.134700,0.045723,0.073014,1.050180,-261.842438,-1948.178467,293.406006

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230625012500.753559,18,32767,45,0111,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,2.1,3.97,-100,-0.97,-01,0.12,86,925,0025,0,-1,00,00*2C _24V_AH 14.77,12.035

NAV 1687658347,79.4,start _10V_AH 14.73,0.000

NET CACST,8,0,20230625020531.509417,18,32767,45,0101,0113,07,00,00,00,00,1,000,120,0,5,5,0,150,14.7,10.41,-100,-7.41,-01,-0.04,70,10000,5000,0,5,00,00*62 FG_AHR_24Vo 11.156

NET_PING 1687658712,29,627.407959,14.700000,-0.834586 FG_AHR_10Vo 2.355

FREEZE 4.31,14.483,-1.500,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3809.50,287.28,0.912,0,501.0,581.8,420.2,686.59 MEM2 944432,34,101636,91

SM_GC 1.49,0.00,10.57,0.22,0.000,0.048,0.123,497.1,576.3,417.8,199.1,2291.0,0,0,0,30.00,15.42,15.40 DATA_FILE_SIZE 16132,518

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 213071,0

IRIDIUM_FIX 4734.48,-12234.15,250623,001926 SDSIZE 3887104,3865024

TCM_TEMP 15.56 SDFILEDIR 240,25

SC_FREEKB 3871104 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687654800,47.60500,-122.95000,0.736,1072.6 MAGCAL 1.000000,0.009623,-0.090888,-0.000554,1.111615,0.159113,0.086188,0.045965,1.011148,-147.6,-2095.9,522.5,27,0.0163,0

RAFOS_FIX 4736.131348,-12256.616211,250623,010100,3,255,1.24 IMPLIED_C_PITCH 1534,18.54,257,0.0,0.00

HUMID 52.15 IMPLIED_C_VBD 3326,17.687723,257,0

TEMP 10.89 GPS 250623,022309,4736.075,-12256.678,3,0.8,26,15.4

INTERNAL_PRESSURE 8.04424

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 750 1098 12177.24 nil 0 0 0.00

Pitch_motor 24 251 92.76 nil 0 0 0.00

Roll_motor 77 203 232.50 nil 0 0 0.00

Iridium 124 205 377.73 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.26 nil 0 0 0.00

Core 2557 5 192.86 SciCon 3501 7 368.52

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1230 0 5.80

Compass 1284 5 94.58

RAFOS 1338 40 788.37

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

6.88 16386 -146.63 -1.16 0.00 494.0 567.6 420.3 197.6 2253.1 0.00 0.00 0 73.13 61.53 0.00 0.00 0.005 0.000 0.000 2067.97 2148.19 1987.75 197.69 2252.88 0 0 0 15.72 30.00 30.00

73.65 18983 -146.63 -1.16 -80.00 2070.7 2150.6 1990.9 197.5 2253.2 3.50 -3.45 12 156.31 52.76 8.36 3.86 0.005 0.252 0.125 3897.88 3984.44 3811.31 1219.75 807.75 0 0 0 15.75 15.60 15.68

160.36 3205 -146.63 -0.85 0.00 3898.4 3982.7 3814.2 1220.1 807.6 9.82 -11.98 27 169.17 0.00 0.57 3.72 0.000 0.177 0.060 3898.62 3982.12 3815.12 1296.31 2293.56 0 0 0 30.00 15.68 15.73

352.57 676 -146.63 -0.80 -80.00 3900.1 3984.5 3815.6 1295.7 2293.5 28.24 -9.02 64 361.33 0.00 0.00 3.94 0.000 0.000 0.124 3900.03 3984.31 3815.75 1296.19 808.94 0 0 0 30.00 30.00 15.75

590.66 1188 -146.63 -0.76 0.00 3900.8 3984.4 3817.2 1296.1 808.8 52.03 -9.85 111 599.43 0.00 0.00 3.73 0.000 0.000 0.062 3900.28 3983.56 3817.00 1296.38 2291.44 0 0 0 30.00 30.00 15.84

785.52 548 -146.63 -0.76 -80.00 3901.1 3983.8 3818.5 1296.9 2291.9 69.18 -8.78 131 794.56 0.00 0.00 3.89 0.000 0.000 0.126 3900.91 3984.19 3817.62 1296.50 808.31 0 0 0 30.00 30.00 15.87

943.70 1060 -146.63 -0.76 0.00 3901.7 3984.3 3819.1 1296.1 809.1 84.93 -9.91 162 952.57 0.00 0.00 3.66 0.000 0.000 0.063 3901.81 3984.62 3819.00 1296.44 2292.38 0 0 0 30.00 30.00 15.95

1133.94 292 -146.63 -0.76 80.00 3901.9 3984.2 3819.6 1296.1 2292.1 101.70 -8.67 182 1146.63 0.00 0.00 3.91 0.000 0.000 0.125 3902.38 3984.75 3820.00 1296.62 3741.50 0 0 0 30.00 30.00 15.79

1170.25 3205 -146.63 -0.69 0.00 3901.7 3984.0 3819.4 1296.6 3741.4 105.44 -10.15 189 1183.52 0.00 0.26 3.58 0.000 0.154 0.043 3902.84 3984.94 3820.75 1335.69 2245.38 0 0 0 30.00 15.71 15.77

1368.12 420 -146.63 -0.78 80.00 3901.9 3984.4 3819.5 1335.3 2244.7 120.56 -7.23 210 1381.77 0.00 0.00 4.10 0.000 0.000 0.124 3902.50 3984.81 3820.19 1335.81 3739.81 0 0 0 30.00 30.00 15.51

1405.32 5285 -146.63 -0.81 0.00 3902.6 3984.9 3820.2 1335.4 3739.6 123.84 -8.26 217 1415.07 0.00 0.26 3.59 0.000 0.063 0.043 3902.44 3984.81 3820.06 1284.69 2245.25 0 0 0 30.00 15.61 15.63

1599.15 32 -146.63 -0.81 0.00 3902.3 3984.4 3820.2 1285.0 2244.6 142.00 -9.51 237 1601.06 0.00 0.00 0.00 0.000 0.000 0.000 3902.50 3984.81 3820.19 1285.19 2245.31 0 0 0 30.00 30.00 30.00

1683 end dive: TARGET_DEPTH_EXCEEDED

state 1684 begin apogee

1685.56 10243 0.00 -0.28 0.00 3902.6 3985.1 3820.1 1285.1 2149.8 150.11 -9.57 245 1815.78 115.06 1.08 0.09 1.099 0.132 0.204 3298.31 3392.56 3204.06 1435.50 2201.88 0 0 0 11.50 15.79 15.24

1817 end apogee: CONTROL_FINISHED_OK

state 1817 begin climb

1817.44 10759 146.63 1.16 -80.00 3296.4 3390.2 3202.7 1435.6 2201.6 155.52 0.00 257 1960.32 118.55 2.42 4.20 1.061 0.106 0.152 2700.22 2795.31 2605.12 1784.12 715.38 0 0 0 11.34 15.34 15.14

1996.88 5253 146.63 1.06 0.00 2694.5 2785.7 2603.3 1783.4 715.2 140.99 13.82 287 2009.77 0.00 0.28 3.86 0.000 0.187 0.075 2694.06 2784.88 2603.25 1752.56 2194.12 0 0 0 30.00 15.32 15.33

2196.55 16774 146.63 1.10 80.00 2691.9 2784.5 2599.2 1752.2 2193.2 117.54 11.39 308 2205.94 0.00 0.00 4.02 0.000 0.000 0.137 2694.06 2786.81 2601.31 1752.31 3645.69 0 0 0 30.00 30.00 15.63

2285.17 17542 146.63 1.04 0.00 2690.8 2782.9 2598.8 1752.1 3645.5 105.64 13.84 325 2294.16 0.00 0.00 3.62 0.000 0.000 0.055 2690.31 2782.62 2598.00 1752.44 2155.12 0 0 0 30.00 30.00 15.75

2480.19 16514 146.63 1.09 0.00 2690.2 2782.8 2597.7 1751.9 2154.9 84.41 10.32 345 2482.10 0.00 0.00 0.00 0.000 0.000 0.000 2689.53 2782.19 2596.88 1751.81 2155.44 0 0 0 30.00 30.00 30.00

2665.86 18823 146.63 1.15 80.00 2689.8 2782.9 2596.8 1751.9 2155.1 65.95 10.02 363 2675.56 0.00 0.20 4.01 0.000 0.087 0.135 2688.25 2781.38 2595.12 1786.62 3643.06 0 0 0 30.00 15.87 15.83

2754.83 21639 146.63 1.02 0.00 2689.5 2782.4 2596.6 1786.8 3642.9 54.19 13.83 380 2764.20 0.00 0.35 3.60 0.000 0.182 0.056 2688.38 2781.25 2595.50 1741.19 2156.56 0 0 0 30.00 15.81 15.88

2949.73 10663 184.54 1.15 80.00 2689.5 2783.1 2596.0 1741.3 2156.2 36.41 8.24 414 2992.26 29.94 0.27 4.09 0.951 0.075 0.137 2543.25 2643.19 2443.31 1787.62 3644.00 0 0 0 11.48 15.87 15.65

3006.50 1156 184.54 1.11 0.00 2543.1 2642.6 2443.7 1787.4 3643.4 30.58 11.18 424 3015.28 0.00 0.00 3.62 0.000 0.000 0.055 2542.75 2642.31 2443.19 1785.69 2158.56 0 0 0 30.00 30.00 15.72

3199.57 8870 222.11 1.21 -80.00 2540.4 2640.8 2440.1 1786.6 2158.7 11.41 8.26 462 3241.76 30.23 0.00 3.95 0.924 0.000 0.149 2394.03 2502.50 2285.56 1787.62 715.44 0 0 0 11.46 30.00 15.58

3246.09 11431 294.02 1.38 0.00 2389.3 2495.4 2283.2 1787.6 715.2 8.33 6.67 470 3316.07 55.15 0.32 3.71 0.914 0.072 0.066 2098.72 2221.00 1976.44 1844.00 2194.88 0 0 0 11.44 15.64 15.65

3495 end climb: NO_VERTICAL_VELOCITY

state 3495 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	24	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	-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	2.2877216	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	10.975257	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	250623,011306,4736.480,-12256.514,1,1.2,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,011625,4736.470,-12256.517,2,1.2,5,15.4	MHEAD_RNG_PITCHd_Wd	184.8,1026,-17.6,-10.000,-21.21,2209,0.188
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.008902,-0.074451,0.008482,1.100989,0.134700,0.045723,0.073014,1.050180,-261.842438,-1948.178467,293.406006
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

MODEM_MSG	CACST,8,1,20230625012500.753559,18,32767,45,0111,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,2.1,3.97,-100,-0.97,-01,0.12,86,925,0025,0,-1,00,00*2C	_24V_AH	14.77,12.035
NAV	1687658347,79.4,start	_10V_AH	14.73,0.000
NET	CACST,8,0,20230625020531.509417,18,32767,45,0101,0113,07,00,00,00,00,1,000,120,0,5,5,0,150,14.7,10.41,-100,-7.41,-01,-0.04,70,10000,5000,0,5,00,00*62	FG_AHR_24Vo	11.156
NET_PING	1687658712,29,627.407959,14.700000,-0.834586	FG_AHR_10Vo	2.355
FREEZE	4.31,14.483,-1.500,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3809.50,287.28,0.912,0,501.0,581.8,420.2,686.59	MEM2	944432,34,101636,91
SM_GC	1.49,0.00,10.57,0.22,0.000,0.048,0.123,497.1,576.3,417.8,199.1,2291.0,0,0,0,30.00,15.42,15.40	DATA_FILE_SIZE	16132,518
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	213071,0
IRIDIUM_FIX	4734.48,-12234.15,250623,001926	SDSIZE	3887104,3865024
TCM_TEMP	15.56	SDFILEDIR	240,25
SC_FREEKB	3871104	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687654800,47.60500,-122.95000,0.736,1072.6	MAGCAL	1.000000,0.009623,-0.090888,-0.000554,1.111615,0.159113,0.086188,0.045965,1.011148,-147.6,-2095.9,522.5,27,0.0163,0
RAFOS_FIX	4736.131348,-12256.616211,250623,010100,3,255,1.24	IMPLIED_C_PITCH	1534,18.54,257,0.0,0.00
HUMID	52.15	IMPLIED_C_VBD	3326,17.687723,257,0
TEMP	10.89	GPS	250623,022309,4736.075,-12256.678,3,0.8,26,15.4
INTERNAL_PRESSURE	8.04424

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	750	1098	12177.24	nil	0	0	0.00
Pitch_motor	24	251	92.76	nil	0	0	0.00
Roll_motor	77	203	232.50	nil	0	0	0.00
Iridium	124	205	377.73	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.26	nil	0	0	0.00
Core	2557	5	192.86	SciCon	3501	7	368.52
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1230	0	5.80
Compass	1284	5	94.58
RAFOS	1338	40	788.37
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
6.88	16386	-146.63	-1.16	0.00	494.0	567.6	420.3	197.6	2253.1	0.00	0.00	0	73.13	61.53	0.00	0.00	0.005	0.000	0.000	2067.97	2148.19	1987.75	197.69	2252.88	0	0	0	15.72	30.00	30.00
73.65	18983	-146.63	-1.16	-80.00	2070.7	2150.6	1990.9	197.5	2253.2	3.50	-3.45	12	156.31	52.76	8.36	3.86	0.005	0.252	0.125	3897.88	3984.44	3811.31	1219.75	807.75	0	0	0	15.75	15.60	15.68
160.36	3205	-146.63	-0.85	0.00	3898.4	3982.7	3814.2	1220.1	807.6	9.82	-11.98	27	169.17	0.00	0.57	3.72	0.000	0.177	0.060	3898.62	3982.12	3815.12	1296.31	2293.56	0	0	0	30.00	15.68	15.73
352.57	676	-146.63	-0.80	-80.00	3900.1	3984.5	3815.6	1295.7	2293.5	28.24	-9.02	64	361.33	0.00	0.00	3.94	0.000	0.000	0.124	3900.03	3984.31	3815.75	1296.19	808.94	0	0	0	30.00	30.00	15.75
590.66	1188	-146.63	-0.76	0.00	3900.8	3984.4	3817.2	1296.1	808.8	52.03	-9.85	111	599.43	0.00	0.00	3.73	0.000	0.000	0.062	3900.28	3983.56	3817.00	1296.38	2291.44	0	0	0	30.00	30.00	15.84
785.52	548	-146.63	-0.76	-80.00	3901.1	3983.8	3818.5	1296.9	2291.9	69.18	-8.78	131	794.56	0.00	0.00	3.89	0.000	0.000	0.126	3900.91	3984.19	3817.62	1296.50	808.31	0	0	0	30.00	30.00	15.87
943.70	1060	-146.63	-0.76	0.00	3901.7	3984.3	3819.1	1296.1	809.1	84.93	-9.91	162	952.57	0.00	0.00	3.66	0.000	0.000	0.063	3901.81	3984.62	3819.00	1296.44	2292.38	0	0	0	30.00	30.00	15.95
1133.94	292	-146.63	-0.76	80.00	3901.9	3984.2	3819.6	1296.1	2292.1	101.70	-8.67	182	1146.63	0.00	0.00	3.91	0.000	0.000	0.125	3902.38	3984.75	3820.00	1296.62	3741.50	0	0	0	30.00	30.00	15.79
1170.25	3205	-146.63	-0.69	0.00	3901.7	3984.0	3819.4	1296.6	3741.4	105.44	-10.15	189	1183.52	0.00	0.26	3.58	0.000	0.154	0.043	3902.84	3984.94	3820.75	1335.69	2245.38	0	0	0	30.00	15.71	15.77
1368.12	420	-146.63	-0.78	80.00	3901.9	3984.4	3819.5	1335.3	2244.7	120.56	-7.23	210	1381.77	0.00	0.00	4.10	0.000	0.000	0.124	3902.50	3984.81	3820.19	1335.81	3739.81	0	0	0	30.00	30.00	15.51
1405.32	5285	-146.63	-0.81	0.00	3902.6	3984.9	3820.2	1335.4	3739.6	123.84	-8.26	217	1415.07	0.00	0.26	3.59	0.000	0.063	0.043	3902.44	3984.81	3820.06	1284.69	2245.25	0	0	0	30.00	15.61	15.63
1599.15	32	-146.63	-0.81	0.00	3902.3	3984.4	3820.2	1285.0	2244.6	142.00	-9.51	237	1601.06	0.00	0.00	0.00	0.000	0.000	0.000	3902.50	3984.81	3820.19	1285.19	2245.31	0	0	0	30.00	30.00	30.00
1683	end dive: TARGET_DEPTH_EXCEEDED
state	1684	begin apogee
1685.56	10243	0.00	-0.28	0.00	3902.6	3985.1	3820.1	1285.1	2149.8	150.11	-9.57	245	1815.78	115.06	1.08	0.09	1.099	0.132	0.204	3298.31	3392.56	3204.06	1435.50	2201.88	0	0	0	11.50	15.79	15.24
1817	end apogee: CONTROL_FINISHED_OK
state	1817	begin climb
1817.44	10759	146.63	1.16	-80.00	3296.4	3390.2	3202.7	1435.6	2201.6	155.52	0.00	257	1960.32	118.55	2.42	4.20	1.061	0.106	0.152	2700.22	2795.31	2605.12	1784.12	715.38	0	0	0	11.34	15.34	15.14
1996.88	5253	146.63	1.06	0.00	2694.5	2785.7	2603.3	1783.4	715.2	140.99	13.82	287	2009.77	0.00	0.28	3.86	0.000	0.187	0.075	2694.06	2784.88	2603.25	1752.56	2194.12	0	0	0	30.00	15.32	15.33
2196.55	16774	146.63	1.10	80.00	2691.9	2784.5	2599.2	1752.2	2193.2	117.54	11.39	308	2205.94	0.00	0.00	4.02	0.000	0.000	0.137	2694.06	2786.81	2601.31	1752.31	3645.69	0	0	0	30.00	30.00	15.63
2285.17	17542	146.63	1.04	0.00	2690.8	2782.9	2598.8	1752.1	3645.5	105.64	13.84	325	2294.16	0.00	0.00	3.62	0.000	0.000	0.055	2690.31	2782.62	2598.00	1752.44	2155.12	0	0	0	30.00	30.00	15.75
2480.19	16514	146.63	1.09	0.00	2690.2	2782.8	2597.7	1751.9	2154.9	84.41	10.32	345	2482.10	0.00	0.00	0.00	0.000	0.000	0.000	2689.53	2782.19	2596.88	1751.81	2155.44	0	0	0	30.00	30.00	30.00
2665.86	18823	146.63	1.15	80.00	2689.8	2782.9	2596.8	1751.9	2155.1	65.95	10.02	363	2675.56	0.00	0.20	4.01	0.000	0.087	0.135	2688.25	2781.38	2595.12	1786.62	3643.06	0	0	0	30.00	15.87	15.83
2754.83	21639	146.63	1.02	0.00	2689.5	2782.4	2596.6	1786.8	3642.9	54.19	13.83	380	2764.20	0.00	0.35	3.60	0.000	0.182	0.056	2688.38	2781.25	2595.50	1741.19	2156.56	0	0	0	30.00	15.81	15.88
2949.73	10663	184.54	1.15	80.00	2689.5	2783.1	2596.0	1741.3	2156.2	36.41	8.24	414	2992.26	29.94	0.27	4.09	0.951	0.075	0.137	2543.25	2643.19	2443.31	1787.62	3644.00	0	0	0	11.48	15.87	15.65
3006.50	1156	184.54	1.11	0.00	2543.1	2642.6	2443.7	1787.4	3643.4	30.58	11.18	424	3015.28	0.00	0.00	3.62	0.000	0.000	0.055	2542.75	2642.31	2443.19	1785.69	2158.56	0	0	0	30.00	30.00	15.72
3199.57	8870	222.11	1.21	-80.00	2540.4	2640.8	2440.1	1786.6	2158.7	11.41	8.26	462	3241.76	30.23	0.00	3.95	0.924	0.000	0.149	2394.03	2502.50	2285.56	1787.62	715.44	0	0	0	11.46	30.00	15.58
3246.09	11431	294.02	1.38	0.00	2389.3	2495.4	2283.2	1787.6	715.2	8.33	6.67	470	3316.07	55.15	0.32	3.71	0.914	0.072	0.066	2098.72	2221.00	1976.44	1844.00	2194.88	0	0	0	11.44	15.64	15.65
3495	end climb: NO_VERTICAL_VELOCITY
state	3495	begin surface