Glider dive log

HoodCanal 23Jun23 * SG245 * Dive index * Mission links * Dive 25 * 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 25 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 2.3591752 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 25 FG_AHR_24V 11.164586 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 2.3591752 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 11.164586 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 25 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 250623,022309,4736.075,-12256.678,3,0.8,26,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,022655,4736.065,-12256.694,2,0.6,4,15.4 MHEAD_RNG_PITCHd_Wd 2.7,905,-17.6,-10.000,-21.21,2209,0.148

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N 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 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230625032000.665848,18,17677,42,0259,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.4,0.61,-100,2.39,-01,0.07,67,925,0025,0,-1,00,00*19 _24V_AH 14.82,12.276

NAV 1687663781,0.4,3,stop _10V_AH 14.80,0.000

NET CACST,8,0,20230625030519.527325,18,32767,45,0111,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,9.6,5.07,-100,-2.07,-01,0.12,63,10000,5000,0,1,00,00*4E FG_AHR_24Vo 11.344

NET_PING 1687662315,29,792.675049,8.900000,-1.055132 FG_AHR_10Vo 2.418

FREEZE 4.23,14.554,-1.501,0,1,0 MEM0 59828,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3615.54,259.21,0.902,0,500.7,582.1,419.3,686.67 MEM2 944452,33,101636,91

SM_GC 1.36,0.00,10.95,0.34,0.000,0.046,0.104,496.8,576.7,417.0,197.1,2294.5,0,0,0,30.00,15.42,15.40 DATA_FILE_SIZE 12951,460

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 195878,0

IRIDIUM_FIX 4734.67,-12257.15,250623,011416 SDSIZE 3887104,3864736

TCM_TEMP 15.56 SDFILEDIR 248,26

SC_FREEKB 3870784 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 0,1687658400,47.60500,-122.95000,0.427,625.9 MAGCAL 1.000000,0.009801,-0.088930,-0.001857,1.111509,0.152409,0.082301,0.049862,1.019160,-165.2,-2051.3,476.9,25,0.0153,0

RAFOS_FIX 4736.811035,-12257.536133,250623,020200,4,255,-15.09 IMPLIED_C_PITCH 1543,19.18,239,0.0,0.00

HUMID 52.13 IMPLIED_C_VBD 3326,19.011271,239,0

TEMP 10.91 GPS 250623,033023,4736.375,-12256.573,2,0.7,3,15.4

INTERNAL_PRESSURE 8.03946

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 750 1097 12197.12 nil 0 0 0.00

Pitch_motor 25 271 103.37 nil 0 0 0.00

Roll_motor 62 203 187.80 nil 0 0 0.00

Iridium 150 213 476.06 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.12 nil 0 0 0.00

Core 2408 5 182.51 SciCon 3337 7 356.63

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1241 0 5.88

Compass 1159 5 85.77

RAFOS 2601 40 1540.19

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

6.82 16386 -146.63 -1.16 0.00 494.5 570.5 418.5 199.1 2253.9 0.00 0.00 0 65.73 54.62 0.00 0.00 0.005 0.000 0.000 1894.34 1978.88 1809.81 199.12 2254.06 0 0 0 15.71 30.00 30.00

66.25 18727 -146.63 -1.16 80.00 1896.5 1983.6 1809.4 198.7 2253.5 3.24 -3.10 10 155.27 60.20 8.54 4.03 0.005 0.272 0.121 3898.69 3985.50 3811.88 1219.94 3741.50 0 0 0 15.78 15.60 15.71

384.41 3205 -146.63 -0.82 0.00 3901.5 3985.4 3817.6 1219.9 3741.6 46.21 -15.31 71 393.43 0.00 0.62 3.55 0.000 0.178 0.045 3901.78 3985.62 3817.94 1304.06 2245.00 0 0 0 30.00 15.82 15.89

583.25 32 -146.63 -0.82 0.00 3902.2 3985.1 3819.2 1303.9 2245.4 64.57 -9.00 94 591.47 0.00 0.00 0.00 0.000 0.000 0.000 3902.69 3986.06 3819.31 1304.19 2245.12 0 0 0 30.00 30.00 30.00

772.47 292 -146.63 -0.82 80.00 3902.7 3985.6 3819.8 1304.1 2244.7 81.37 -8.66 113 781.79 0.00 0.00 4.05 0.000 0.000 0.123 3902.53 3985.19 3819.88 1304.19 3741.31 0 0 0 30.00 30.00 15.66

830.99 1156 -146.63 -0.73 0.00 3902.5 3985.3 3819.8 1304.5 3741.4 87.44 -10.69 124 839.63 0.00 0.00 3.56 0.000 0.000 0.044 3902.69 3984.75 3820.62 1303.69 2246.00 0 0 0 30.00 30.00 15.75

1029.68 292 -146.63 -0.73 80.00 3902.8 3985.8 3819.7 1304.5 2245.6 104.98 -8.68 144 1038.87 0.00 0.00 4.04 0.000 0.000 0.124 3902.56 3984.94 3820.19 1303.94 3742.44 0 0 0 30.00 30.00 15.79

1068.03 3205 -146.63 -0.67 0.00 3903.0 3985.4 3820.5 1304.8 3742.2 108.87 -10.11 151 1077.08 0.00 0.23 3.58 0.000 0.157 0.044 3903.84 3986.56 3821.12 1338.31 2246.12 0 0 0 30.00 15.79 15.84

1263.20 4257 -146.63 -0.77 0.00 3903.1 3985.8 3820.4 1338.9 2246.5 124.23 -7.29 171 1265.51 0.00 0.22 0.00 0.000 0.071 0.000 3902.91 3985.88 3819.94 1296.62 2246.50 0 0 0 30.00 15.88 30.00

1453.02 292 -146.63 -0.77 80.00 3903.0 3985.5 3820.4 1295.6 2246.4 140.89 -9.03 190 1462.45 0.00 0.00 4.01 0.000 0.000 0.125 3903.00 3985.19 3820.81 1295.25 3741.88 0 0 0 30.00 30.00 15.83

1506.46 3205 -146.63 -0.68 0.00 3903.1 3985.8 3820.4 1295.4 3741.4 146.98 -11.70 200 1516.41 0.00 0.31 3.56 0.000 0.154 0.045 3903.72 3986.31 3821.12 1336.88 2246.62 0 0 0 30.00 15.86 15.91

1540 end dive: TARGET_DEPTH_EXCEEDED

state 1541 begin apogee

1542.45 10243 0.00 -0.28 0.00 3903.3 3985.8 3820.9 1338.2 2150.7 150.06 -9.19 204 1671.58 114.50 0.68 0.09 1.097 0.128 0.203 3298.94 3394.19 3203.69 1435.75 2200.62 0 0 0 11.56 15.87 15.31

1673 end apogee: CONTROL_FINISHED_OK

state 1673 begin climb

1673.13 10759 146.63 1.16 -80.00 3296.8 3391.3 3202.2 1436.2 2201.1 154.87 0.00 216 1816.46 118.32 2.43 4.24 1.063 0.107 0.153 2699.06 2796.19 2601.94 1783.62 715.62 0 0 0 11.31 15.38 15.18

1820.02 1156 146.63 1.10 0.00 2696.4 2791.0 2601.8 1783.5 715.5 144.11 11.14 230 1829.63 0.00 0.00 3.89 0.000 0.000 0.073 2695.12 2789.56 2600.69 1783.81 2193.75 0 0 0 30.00 30.00 15.35

2019.86 20871 146.63 1.06 80.00 2693.1 2787.6 2598.6 1783.3 2194.8 117.91 13.35 250 2033.15 0.00 0.27 4.01 0.000 0.182 0.137 2692.66 2787.06 2598.25 1752.56 3644.75 0 0 0 30.00 15.60 15.62

2082.39 17542 146.63 1.00 0.00 2691.9 2785.8 2598.1 1752.5 3645.2 109.13 14.29 262 2091.36 0.00 0.00 3.63 0.000 0.000 0.055 2694.62 2788.81 2600.44 1752.31 2157.00 0 0 0 30.00 30.00 15.70

2277.47 16514 146.63 1.05 0.00 2691.2 2786.1 2596.3 1752.2 2156.8 87.62 10.34 282 2286.37 0.00 0.00 0.00 0.000 0.000 0.000 2691.31 2786.62 2596.00 1752.12 2156.50 0 0 0 30.00 30.00 30.00

2467.58 420 149.60 1.11 80.00 2691.0 2786.3 2595.8 1752.1 2157.0 68.33 9.86 301 2476.86 0.00 0.00 4.09 0.000 0.000 0.135 2689.12 2784.75 2593.50 1752.25 3644.69 0 0 0 30.00 30.00 15.76

2556.09 1156 149.60 1.08 0.00 2690.1 2785.4 2594.8 1752.1 3645.8 57.90 11.96 318 2565.06 0.00 0.00 3.62 0.000 0.000 0.056 2689.88 2784.75 2595.00 1751.88 2158.75 0 0 0 30.00 30.00 15.83

2746.19 10663 178.84 1.18 80.00 2689.5 2784.6 2594.4 1752.1 2158.8 40.43 8.65 348 2786.93 25.83 0.25 4.12 0.946 0.081 0.136 2567.84 2668.75 2466.94 1794.12 3644.00 0 0 0 11.37 15.87 15.66

2821.15 5253 178.84 1.08 0.00 2566.2 2666.6 2465.9 1793.9 3643.9 32.08 12.60 362 2830.31 0.00 0.30 3.62 0.000 0.186 0.055 2565.09 2665.88 2464.31 1756.94 2157.56 0 0 0 30.00 15.69 15.74

3014.61 10403 227.45 1.25 0.00 2563.9 2665.1 2462.6 1757.2 2157.8 14.13 7.75 400 3058.94 38.38 0.34 0.00 0.933 0.075 0.000 2370.44 2481.75 2259.12 1812.81 2157.94 0 0 0 11.39 15.81 30.00

3242.64 10919 407.60 1.63 -80.00 2363.9 2474.8 2253.0 1813.5 2157.6 4.60 1.66 444 3330.22 79.02 0.53 0.00 0.929 0.059 0.000 1941.19 2070.31 1812.06 1907.44 2157.75 0 0 0 11.40 15.74 30.00

3331 end climb: NO_VERTICAL_VELOCITY

state 3331 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	25	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	2.3591752	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	25	FG_AHR_24V	11.164586	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	250623,022309,4736.075,-12256.678,3,0.8,26,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,022655,4736.065,-12256.694,2,0.6,4,15.4	MHEAD_RNG_PITCHd_Wd	2.7,905,-17.6,-10.000,-21.21,2209,0.148
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	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	4736.530,-12256.470	OSC	8000266

MODEM_MSG	CACST,8,1,20230625032000.665848,18,17677,42,0259,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-30.4,0.61,-100,2.39,-01,0.07,67,925,0025,0,-1,00,00*19	_24V_AH	14.82,12.276
NAV	1687663781,0.4,3,stop	_10V_AH	14.80,0.000
NET	CACST,8,0,20230625030519.527325,18,32767,45,0111,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,9.6,5.07,-100,-2.07,-01,0.12,63,10000,5000,0,1,00,00*4E	FG_AHR_24Vo	11.344
NET_PING	1687662315,29,792.675049,8.900000,-1.055132	FG_AHR_10Vo	2.418
FREEZE	4.23,14.554,-1.501,0,1,0	MEM0	59828,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3615.54,259.21,0.902,0,500.7,582.1,419.3,686.67	MEM2	944452,33,101636,91
SM_GC	1.36,0.00,10.95,0.34,0.000,0.046,0.104,496.8,576.7,417.0,197.1,2294.5,0,0,0,30.00,15.42,15.40	DATA_FILE_SIZE	12951,460
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	195878,0
IRIDIUM_FIX	4734.67,-12257.15,250623,011416	SDSIZE	3887104,3864736
TCM_TEMP	15.56	SDFILEDIR	248,26
SC_FREEKB	3870784	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	0,1687658400,47.60500,-122.95000,0.427,625.9	MAGCAL	1.000000,0.009801,-0.088930,-0.001857,1.111509,0.152409,0.082301,0.049862,1.019160,-165.2,-2051.3,476.9,25,0.0153,0
RAFOS_FIX	4736.811035,-12257.536133,250623,020200,4,255,-15.09	IMPLIED_C_PITCH	1543,19.18,239,0.0,0.00
HUMID	52.13	IMPLIED_C_VBD	3326,19.011271,239,0
TEMP	10.91	GPS	250623,033023,4736.375,-12256.573,2,0.7,3,15.4
INTERNAL_PRESSURE	8.03946

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	750	1097	12197.12	nil	0	0	0.00
Pitch_motor	25	271	103.37	nil	0	0	0.00
Roll_motor	62	203	187.80	nil	0	0	0.00
Iridium	150	213	476.06	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.12	nil	0	0	0.00
Core	2408	5	182.51	SciCon	3337	7	356.63
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1241	0	5.88
Compass	1159	5	85.77
RAFOS	2601	40	1540.19
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
6.82	16386	-146.63	-1.16	0.00	494.5	570.5	418.5	199.1	2253.9	0.00	0.00	0	65.73	54.62	0.00	0.00	0.005	0.000	0.000	1894.34	1978.88	1809.81	199.12	2254.06	0	0	0	15.71	30.00	30.00
66.25	18727	-146.63	-1.16	80.00	1896.5	1983.6	1809.4	198.7	2253.5	3.24	-3.10	10	155.27	60.20	8.54	4.03	0.005	0.272	0.121	3898.69	3985.50	3811.88	1219.94	3741.50	0	0	0	15.78	15.60	15.71
384.41	3205	-146.63	-0.82	0.00	3901.5	3985.4	3817.6	1219.9	3741.6	46.21	-15.31	71	393.43	0.00	0.62	3.55	0.000	0.178	0.045	3901.78	3985.62	3817.94	1304.06	2245.00	0	0	0	30.00	15.82	15.89
583.25	32	-146.63	-0.82	0.00	3902.2	3985.1	3819.2	1303.9	2245.4	64.57	-9.00	94	591.47	0.00	0.00	0.00	0.000	0.000	0.000	3902.69	3986.06	3819.31	1304.19	2245.12	0	0	0	30.00	30.00	30.00
772.47	292	-146.63	-0.82	80.00	3902.7	3985.6	3819.8	1304.1	2244.7	81.37	-8.66	113	781.79	0.00	0.00	4.05	0.000	0.000	0.123	3902.53	3985.19	3819.88	1304.19	3741.31	0	0	0	30.00	30.00	15.66
830.99	1156	-146.63	-0.73	0.00	3902.5	3985.3	3819.8	1304.5	3741.4	87.44	-10.69	124	839.63	0.00	0.00	3.56	0.000	0.000	0.044	3902.69	3984.75	3820.62	1303.69	2246.00	0	0	0	30.00	30.00	15.75
1029.68	292	-146.63	-0.73	80.00	3902.8	3985.8	3819.7	1304.5	2245.6	104.98	-8.68	144	1038.87	0.00	0.00	4.04	0.000	0.000	0.124	3902.56	3984.94	3820.19	1303.94	3742.44	0	0	0	30.00	30.00	15.79
1068.03	3205	-146.63	-0.67	0.00	3903.0	3985.4	3820.5	1304.8	3742.2	108.87	-10.11	151	1077.08	0.00	0.23	3.58	0.000	0.157	0.044	3903.84	3986.56	3821.12	1338.31	2246.12	0	0	0	30.00	15.79	15.84
1263.20	4257	-146.63	-0.77	0.00	3903.1	3985.8	3820.4	1338.9	2246.5	124.23	-7.29	171	1265.51	0.00	0.22	0.00	0.000	0.071	0.000	3902.91	3985.88	3819.94	1296.62	2246.50	0	0	0	30.00	15.88	30.00
1453.02	292	-146.63	-0.77	80.00	3903.0	3985.5	3820.4	1295.6	2246.4	140.89	-9.03	190	1462.45	0.00	0.00	4.01	0.000	0.000	0.125	3903.00	3985.19	3820.81	1295.25	3741.88	0	0	0	30.00	30.00	15.83
1506.46	3205	-146.63	-0.68	0.00	3903.1	3985.8	3820.4	1295.4	3741.4	146.98	-11.70	200	1516.41	0.00	0.31	3.56	0.000	0.154	0.045	3903.72	3986.31	3821.12	1336.88	2246.62	0	0	0	30.00	15.86	15.91
1540	end dive: TARGET_DEPTH_EXCEEDED
state	1541	begin apogee
1542.45	10243	0.00	-0.28	0.00	3903.3	3985.8	3820.9	1338.2	2150.7	150.06	-9.19	204	1671.58	114.50	0.68	0.09	1.097	0.128	0.203	3298.94	3394.19	3203.69	1435.75	2200.62	0	0	0	11.56	15.87	15.31
1673	end apogee: CONTROL_FINISHED_OK
state	1673	begin climb
1673.13	10759	146.63	1.16	-80.00	3296.8	3391.3	3202.2	1436.2	2201.1	154.87	0.00	216	1816.46	118.32	2.43	4.24	1.063	0.107	0.153	2699.06	2796.19	2601.94	1783.62	715.62	0	0	0	11.31	15.38	15.18
1820.02	1156	146.63	1.10	0.00	2696.4	2791.0	2601.8	1783.5	715.5	144.11	11.14	230	1829.63	0.00	0.00	3.89	0.000	0.000	0.073	2695.12	2789.56	2600.69	1783.81	2193.75	0	0	0	30.00	30.00	15.35
2019.86	20871	146.63	1.06	80.00	2693.1	2787.6	2598.6	1783.3	2194.8	117.91	13.35	250	2033.15	0.00	0.27	4.01	0.000	0.182	0.137	2692.66	2787.06	2598.25	1752.56	3644.75	0	0	0	30.00	15.60	15.62
2082.39	17542	146.63	1.00	0.00	2691.9	2785.8	2598.1	1752.5	3645.2	109.13	14.29	262	2091.36	0.00	0.00	3.63	0.000	0.000	0.055	2694.62	2788.81	2600.44	1752.31	2157.00	0	0	0	30.00	30.00	15.70
2277.47	16514	146.63	1.05	0.00	2691.2	2786.1	2596.3	1752.2	2156.8	87.62	10.34	282	2286.37	0.00	0.00	0.00	0.000	0.000	0.000	2691.31	2786.62	2596.00	1752.12	2156.50	0	0	0	30.00	30.00	30.00
2467.58	420	149.60	1.11	80.00	2691.0	2786.3	2595.8	1752.1	2157.0	68.33	9.86	301	2476.86	0.00	0.00	4.09	0.000	0.000	0.135	2689.12	2784.75	2593.50	1752.25	3644.69	0	0	0	30.00	30.00	15.76
2556.09	1156	149.60	1.08	0.00	2690.1	2785.4	2594.8	1752.1	3645.8	57.90	11.96	318	2565.06	0.00	0.00	3.62	0.000	0.000	0.056	2689.88	2784.75	2595.00	1751.88	2158.75	0	0	0	30.00	30.00	15.83
2746.19	10663	178.84	1.18	80.00	2689.5	2784.6	2594.4	1752.1	2158.8	40.43	8.65	348	2786.93	25.83	0.25	4.12	0.946	0.081	0.136	2567.84	2668.75	2466.94	1794.12	3644.00	0	0	0	11.37	15.87	15.66
2821.15	5253	178.84	1.08	0.00	2566.2	2666.6	2465.9	1793.9	3643.9	32.08	12.60	362	2830.31	0.00	0.30	3.62	0.000	0.186	0.055	2565.09	2665.88	2464.31	1756.94	2157.56	0	0	0	30.00	15.69	15.74
3014.61	10403	227.45	1.25	0.00	2563.9	2665.1	2462.6	1757.2	2157.8	14.13	7.75	400	3058.94	38.38	0.34	0.00	0.933	0.075	0.000	2370.44	2481.75	2259.12	1812.81	2157.94	0	0	0	11.39	15.81	30.00
3242.64	10919	407.60	1.63	-80.00	2363.9	2474.8	2253.0	1813.5	2157.6	4.60	1.66	444	3330.22	79.02	0.53	0.00	0.929	0.059	0.000	1941.19	2070.31	1812.06	1907.44	2157.75	0	0	0	11.40	15.74	30.00
3331	end climb: NO_VERTICAL_VELOCITY
state	3331	begin surface