Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 244 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 5 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 3 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 3 SM_CC 686.83997 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 2.3

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 2 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 60 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 200 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3610 MINV_24V 11 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 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 1.5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 15 FG_AHR_10V 2.4164369 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 9.8519669 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 0.0049999999 PRESSURE_YINT -192.53183 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 1 PRESSURE_SLOPE 0.00022440785 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72540 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 230 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3835 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 2300 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2185 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 4

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 131 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 3 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 2.4164369 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 9.8519669 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 0.0049999999 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_CNV 0.0041299998 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.003 PITCH_GAIN 15 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_C 1.6e-05 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HEADING -1 PITCH_MAX 3610 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 1440

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 200 T_BOOST 0

COMM_SEQ 7 ID 244 PITCH_TIMEOUT 30 T_DIVE 50

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0012300001 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 2.3 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 0.00022440785 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -192.53183 T_RSLEEP 2

C_ROLL_CLIMB 2185 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2300 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 72540 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 1.5 ROLL_ADJ_DBAND 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 11 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 11 ROLL_MAX 3835 VBD_TIMEOUT 360

DEVICE6 -1 MISSION 5 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 3 MOTHERBOARD 6 ROLL_MIN 230 XPDR_DEVICE -1

D_ABORT 175 NAV2_DEVICE 6 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_BOOST 0 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 0

D_CALL 0 NAV4_DEVICE -1 SC_PROFILE 3.0 XPDR_REP 0

D_FINISH 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 4

D_FLARE 3 NAV_MODE 2 SC_XMITPROFILE 3.0

D_NO_BLEED 50 NETBOX 1 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 250623,191103,4736.010,-12256.619,3,0.7,28,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,191433,4736.007,-12256.603,2,0.6,5,15.4 MHEAD_RNG_PITCHd_Wd 346.9,982,-17.6,-10.000,-21.21,2209,0.150

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.020385,0.015744,-0.083325,1.024714,-0.005145,-0.060386,-0.122288,0.986010,619.239502,-307.819427,-271.807800

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230625194739.534432,18,32767,45,0114,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,16.8,5.41,-100,-2.41,-01,0.12,60,10000,5000,0,-1,00,00*5C _24V_AH 14.87,6.007

MODEM_MSG CACST,8,0,20230625192500.476152,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,0.8,6.12,-100,-3.12,-01,0.12,86,925,0025,0,1,00,00*21 _10V_AH 14.93,0.000

NAV 1687723142,17.7,start FG_AHR_24Vo 9.989

NET_PING 1687721561,29,757.366516,11.500000,-1.010516 FG_AHR_10Vo 2.421

FREEZE 4.15,14.428,-1.502,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3267.23,235.69,0.707,0,500.1,442.0,558.2,686.82 MEM2 945512,34,100956,71

SM_GC 1.38,0.00,10.89,3.19,0.000,0.040,0.017,496.4,442.1,550.8,185.4,2266.9,0,0,0,30.00,15.35,15.37 DATA_FILE_SIZE 12945,438

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 168370,0

IRIDIUM_FIX 4736.40,-12251.79,250623,180549 SDSIZE 3887104,3872192

TCM_TEMP 18.39 SDFILEDIR 64,4

SC_FREEKB 3877792 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 0,1687719600,47.60500,-122.95000,0.493,722.6 CURRENT 0.064, 82.5,1

RAFOS_FIX 4735.935059,-12256.798828,250623,191900,4,255,0.45 MAGCAL 1.000000,0.051181,0.082193,-0.076396,1.034325,0.006617,-0.077734,-0.116718,1.031541,562.6,-340.0,-327.4,36,0.0566,0

HUMID 59.13 IMPLIED_C_PITCH 1527,16.06,220,0.0,0.00

TEMP 10.97 IMPLIED_C_VBD 3404,15.194741,220,0

INTERNAL_PRESSURE 8.30043 GPS 250623,201154,4736.376,-12256.388,1,0.7,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 684 886 9020.24 nil 0 0 0.00

Pitch_motor 23 224 78.31 nil 0 0 0.00

Roll_motor 57 184 157.99 nil 0 0 0.00

Iridium 146 154 335.84 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 1966 5 150.33 SciCon 3012 7 341.27

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1344 0 6.43

Compass 924 5 69.04

RAFOS 971 40 580.08

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

6.36 16386 -146.63 -1.35 0.00 494.3 441.9 546.7 184.1 2272.6 0.00 0.00 0 88.31 74.67 0.00 0.00 0.005 0.000 0.000 2512.47 2507.94 2517.00 184.06 2272.44 0 0 0 15.61 30.00 30.00

88.83 18727 -146.63 -1.35 80.00 2515.5 2510.0 2520.9 184.0 2272.6 3.38 -2.70 15 154.58 40.14 7.47 3.70 0.005 0.225 0.094 3898.75 3885.62 3911.88 1171.88 3767.69 0 0 0 15.66 15.48 15.56

341.90 1156 -146.63 -1.30 0.00 3901.3 3886.9 3915.7 1172.0 3767.8 37.88 -14.68 63 349.88 0.00 0.00 3.46 0.000 0.000 0.017 3901.62 3887.00 3916.25 1171.75 2268.69 0 0 0 30.00 30.00 15.66

538.57 128 -146.63 -1.27 0.00 3902.3 3887.4 3917.2 1171.8 2266.2 60.30 -11.27 93 540.44 0.00 0.00 0.00 0.000 0.000 0.000 3901.56 3886.25 3916.88 1172.19 2267.12 0 0 0 30.00 30.00 30.00

730.60 2177 -146.63 -1.25 0.00 3902.6 3887.1 3918.1 1172.0 2267.2 81.55 -11.26 112 732.77 0.00 0.18 0.00 0.000 0.159 0.000 3902.06 3887.06 3917.06 1199.88 2267.69 0 0 0 30.00 15.68 30.00

918.70 420 -146.63 -1.23 80.00 3902.7 3886.8 3918.5 1200.2 2267.2 100.23 -9.53 131 927.47 0.00 0.00 3.73 0.000 0.000 0.098 3902.84 3887.88 3917.81 1200.00 3767.56 0 0 0 30.00 30.00 15.72

996.27 1156 -146.63 -1.20 0.00 3903.1 3887.2 3918.9 1200.1 3767.8 109.68 -12.55 146 1004.87 0.00 0.00 3.42 0.000 0.000 0.016 3902.72 3886.75 3918.69 1200.25 2267.56 0 0 0 30.00 30.00 15.80

1195.45 160 -146.63 -1.19 0.00 3903.2 3887.3 3919.2 1200.1 2266.4 128.89 -9.56 167 1197.31 0.00 0.00 0.00 0.000 0.000 0.000 3902.72 3886.56 3918.88 1200.38 2266.62 0 0 0 30.00 30.00 30.00

1385.46 420 -146.63 -1.18 80.00 3903.3 3887.1 3919.6 1199.8 2266.7 146.23 -9.12 186 1394.24 0.00 0.00 3.72 0.000 0.000 0.099 3903.22 3887.62 3918.81 1200.75 3766.44 0 0 0 30.00 30.00 15.73

1423 end dive: TARGET_DEPTH_EXCEEDED

state 1423 begin apogee

1431.53 10243 0.00 -0.33 0.00 3903.4 3887.1 3919.8 1201.2 2157.4 150.40 -10.99 193 1548.21 103.36 1.49 0.09 0.887 0.119 0.185 3297.12 3240.12 3354.12 1421.19 2207.19 0 0 0 11.15 15.71 15.46

1549 end apogee: CONTROL_FINISHED_OK

state 1549 begin climb

1549.66 10759 146.63 1.35 -80.00 3296.1 3240.7 3351.5 1421.2 2207.1 153.98 0.00 204 1678.45 104.64 2.66 3.87 0.872 0.074 0.115 2699.41 2616.94 2781.88 1831.06 720.12 0 0 0 11.23 15.49 15.27

1711.47 17542 146.63 1.33 0.00 2694.0 2617.1 2770.8 1831.1 720.1 138.75 15.20 233 1719.61 0.00 0.00 3.59 0.000 0.000 0.038 2692.44 2615.56 2769.31 1831.44 2203.38 0 0 0 30.00 30.00 15.41

1905.23 16774 146.63 1.32 80.00 2691.2 2613.6 2768.9 1831.2 2203.4 110.09 14.42 253 1913.90 0.00 0.00 3.60 0.000 0.000 0.099 2692.47 2615.00 2769.94 1831.12 3650.31 0 0 0 30.00 30.00 15.54

1959.26 17542 146.63 1.29 0.00 2690.5 2613.7 2767.4 1831.6 3650.3 100.88 17.35 263 1967.29 0.00 0.00 3.42 0.000 0.000 0.019 2693.12 2616.56 2769.69 1831.62 2155.88 0 0 0 30.00 30.00 15.59

2155.02 16774 146.63 1.28 80.00 2689.6 2612.4 2766.8 1831.1 2156.4 72.75 14.19 283 2163.89 0.00 0.00 3.71 0.000 0.000 0.095 2691.47 2613.31 2769.62 1830.75 3650.94 0 0 0 30.00 30.00 15.63

2236.93 21639 146.63 1.25 0.00 2689.4 2613.1 2765.7 1831.1 3651.7 60.03 15.32 299 2245.23 0.00 0.27 3.40 0.000 0.178 0.020 2688.16 2611.75 2764.56 1798.69 2158.56 0 0 0 30.00 15.63 15.69

2427.69 16774 146.63 1.26 80.00 2688.8 2611.8 2765.7 1798.3 2158.4 39.18 10.49 328 2436.31 0.00 0.00 3.70 0.000 0.000 0.096 2689.91 2613.06 2766.75 1797.75 3649.81 0 0 0 30.00 30.00 15.69

2470.08 17542 146.63 1.24 0.00 2688.9 2612.4 2765.4 1798.2 3650.3 33.99 12.61 336 2478.35 0.00 0.00 3.38 0.000 0.000 0.019 2687.09 2609.62 2764.56 1798.56 2157.06 0 0 0 30.00 30.00 15.76

2661.40 8354 174.83 1.29 0.00 2688.4 2611.8 2765.1 1798.2 2157.3 15.67 8.69 372 2687.30 20.74 0.00 0.00 0.709 0.000 0.000 2587.44 2499.12 2675.75 1797.81 2157.44 0 0 0 11.17 30.00 30.00

2870.20 10663 329.64 1.50 80.00 2579.4 2492.3 2666.4 1798.2 2157.4 5.03 2.83 413 2994.15 104.92 0.46 3.78 0.730 0.045 0.096 1950.44 1822.88 2078.00 1871.50 3651.62 0 0 0 11.19 15.71 15.43

3008 end climb: NO_VERTICAL_VELOCITY

state 3008 begin surface

ID	244	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	5	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	3	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	3	SM_CC	686.83997	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	2.3
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	2	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	60	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	200	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3610	MINV_24V	11	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	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	1.5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	15	FG_AHR_10V	2.4164369	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	9.8519669	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	0.0049999999	PRESSURE_YINT	-192.53183	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	1	PRESSURE_SLOPE	0.00022440785	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72540	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	230	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3835	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	2300	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2185	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	4

GPS1	250623,191103,4736.010,-12256.619,3,0.7,28,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,191433,4736.007,-12256.603,2,0.6,5,15.4	MHEAD_RNG_PITCHd_Wd	346.9,982,-17.6,-10.000,-21.21,2209,0.150
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.020385,0.015744,-0.083325,1.024714,-0.005145,-0.060386,-0.122288,0.986010,619.239502,-307.819427,-271.807800
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	CACST,8,0,20230625194739.534432,18,32767,45,0114,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,16.8,5.41,-100,-2.41,-01,0.12,60,10000,5000,0,-1,00,00*5C	_24V_AH	14.87,6.007
MODEM_MSG	CACST,8,0,20230625192500.476152,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,0.8,6.12,-100,-3.12,-01,0.12,86,925,0025,0,1,00,00*21	_10V_AH	14.93,0.000
NAV	1687723142,17.7,start	FG_AHR_24Vo	9.989
NET_PING	1687721561,29,757.366516,11.500000,-1.010516	FG_AHR_10Vo	2.421
FREEZE	4.15,14.428,-1.502,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3267.23,235.69,0.707,0,500.1,442.0,558.2,686.82	MEM2	945512,34,100956,71
SM_GC	1.38,0.00,10.89,3.19,0.000,0.040,0.017,496.4,442.1,550.8,185.4,2266.9,0,0,0,30.00,15.35,15.37	DATA_FILE_SIZE	12945,438
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	168370,0
IRIDIUM_FIX	4736.40,-12251.79,250623,180549	SDSIZE	3887104,3872192
TCM_TEMP	18.39	SDFILEDIR	64,4
SC_FREEKB	3877792	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	0,1687719600,47.60500,-122.95000,0.493,722.6	CURRENT	0.064, 82.5,1
RAFOS_FIX	4735.935059,-12256.798828,250623,191900,4,255,0.45	MAGCAL	1.000000,0.051181,0.082193,-0.076396,1.034325,0.006617,-0.077734,-0.116718,1.031541,562.6,-340.0,-327.4,36,0.0566,0
HUMID	59.13	IMPLIED_C_PITCH	1527,16.06,220,0.0,0.00
TEMP	10.97	IMPLIED_C_VBD	3404,15.194741,220,0
INTERNAL_PRESSURE	8.30043	GPS	250623,201154,4736.376,-12256.388,1,0.7,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	684	886	9020.24	nil	0	0	0.00
Pitch_motor	23	224	78.31	nil	0	0	0.00
Roll_motor	57	184	157.99	nil	0	0	0.00
Iridium	146	154	335.84	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	1966	5	150.33	SciCon	3012	7	341.27
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1344	0	6.43
Compass	924	5	69.04
RAFOS	971	40	580.08
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
6.36	16386	-146.63	-1.35	0.00	494.3	441.9	546.7	184.1	2272.6	0.00	0.00	0	88.31	74.67	0.00	0.00	0.005	0.000	0.000	2512.47	2507.94	2517.00	184.06	2272.44	0	0	0	15.61	30.00	30.00
88.83	18727	-146.63	-1.35	80.00	2515.5	2510.0	2520.9	184.0	2272.6	3.38	-2.70	15	154.58	40.14	7.47	3.70	0.005	0.225	0.094	3898.75	3885.62	3911.88	1171.88	3767.69	0	0	0	15.66	15.48	15.56
341.90	1156	-146.63	-1.30	0.00	3901.3	3886.9	3915.7	1172.0	3767.8	37.88	-14.68	63	349.88	0.00	0.00	3.46	0.000	0.000	0.017	3901.62	3887.00	3916.25	1171.75	2268.69	0	0	0	30.00	30.00	15.66
538.57	128	-146.63	-1.27	0.00	3902.3	3887.4	3917.2	1171.8	2266.2	60.30	-11.27	93	540.44	0.00	0.00	0.00	0.000	0.000	0.000	3901.56	3886.25	3916.88	1172.19	2267.12	0	0	0	30.00	30.00	30.00
730.60	2177	-146.63	-1.25	0.00	3902.6	3887.1	3918.1	1172.0	2267.2	81.55	-11.26	112	732.77	0.00	0.18	0.00	0.000	0.159	0.000	3902.06	3887.06	3917.06	1199.88	2267.69	0	0	0	30.00	15.68	30.00
918.70	420	-146.63	-1.23	80.00	3902.7	3886.8	3918.5	1200.2	2267.2	100.23	-9.53	131	927.47	0.00	0.00	3.73	0.000	0.000	0.098	3902.84	3887.88	3917.81	1200.00	3767.56	0	0	0	30.00	30.00	15.72
996.27	1156	-146.63	-1.20	0.00	3903.1	3887.2	3918.9	1200.1	3767.8	109.68	-12.55	146	1004.87	0.00	0.00	3.42	0.000	0.000	0.016	3902.72	3886.75	3918.69	1200.25	2267.56	0	0	0	30.00	30.00	15.80
1195.45	160	-146.63	-1.19	0.00	3903.2	3887.3	3919.2	1200.1	2266.4	128.89	-9.56	167	1197.31	0.00	0.00	0.00	0.000	0.000	0.000	3902.72	3886.56	3918.88	1200.38	2266.62	0	0	0	30.00	30.00	30.00
1385.46	420	-146.63	-1.18	80.00	3903.3	3887.1	3919.6	1199.8	2266.7	146.23	-9.12	186	1394.24	0.00	0.00	3.72	0.000	0.000	0.099	3903.22	3887.62	3918.81	1200.75	3766.44	0	0	0	30.00	30.00	15.73
1423	end dive: TARGET_DEPTH_EXCEEDED
state	1423	begin apogee
1431.53	10243	0.00	-0.33	0.00	3903.4	3887.1	3919.8	1201.2	2157.4	150.40	-10.99	193	1548.21	103.36	1.49	0.09	0.887	0.119	0.185	3297.12	3240.12	3354.12	1421.19	2207.19	0	0	0	11.15	15.71	15.46
1549	end apogee: CONTROL_FINISHED_OK
state	1549	begin climb
1549.66	10759	146.63	1.35	-80.00	3296.1	3240.7	3351.5	1421.2	2207.1	153.98	0.00	204	1678.45	104.64	2.66	3.87	0.872	0.074	0.115	2699.41	2616.94	2781.88	1831.06	720.12	0	0	0	11.23	15.49	15.27
1711.47	17542	146.63	1.33	0.00	2694.0	2617.1	2770.8	1831.1	720.1	138.75	15.20	233	1719.61	0.00	0.00	3.59	0.000	0.000	0.038	2692.44	2615.56	2769.31	1831.44	2203.38	0	0	0	30.00	30.00	15.41
1905.23	16774	146.63	1.32	80.00	2691.2	2613.6	2768.9	1831.2	2203.4	110.09	14.42	253	1913.90	0.00	0.00	3.60	0.000	0.000	0.099	2692.47	2615.00	2769.94	1831.12	3650.31	0	0	0	30.00	30.00	15.54
1959.26	17542	146.63	1.29	0.00	2690.5	2613.7	2767.4	1831.6	3650.3	100.88	17.35	263	1967.29	0.00	0.00	3.42	0.000	0.000	0.019	2693.12	2616.56	2769.69	1831.62	2155.88	0	0	0	30.00	30.00	15.59
2155.02	16774	146.63	1.28	80.00	2689.6	2612.4	2766.8	1831.1	2156.4	72.75	14.19	283	2163.89	0.00	0.00	3.71	0.000	0.000	0.095	2691.47	2613.31	2769.62	1830.75	3650.94	0	0	0	30.00	30.00	15.63
2236.93	21639	146.63	1.25	0.00	2689.4	2613.1	2765.7	1831.1	3651.7	60.03	15.32	299	2245.23	0.00	0.27	3.40	0.000	0.178	0.020	2688.16	2611.75	2764.56	1798.69	2158.56	0	0	0	30.00	15.63	15.69
2427.69	16774	146.63	1.26	80.00	2688.8	2611.8	2765.7	1798.3	2158.4	39.18	10.49	328	2436.31	0.00	0.00	3.70	0.000	0.000	0.096	2689.91	2613.06	2766.75	1797.75	3649.81	0	0	0	30.00	30.00	15.69
2470.08	17542	146.63	1.24	0.00	2688.9	2612.4	2765.4	1798.2	3650.3	33.99	12.61	336	2478.35	0.00	0.00	3.38	0.000	0.000	0.019	2687.09	2609.62	2764.56	1798.56	2157.06	0	0	0	30.00	30.00	15.76
2661.40	8354	174.83	1.29	0.00	2688.4	2611.8	2765.1	1798.2	2157.3	15.67	8.69	372	2687.30	20.74	0.00	0.00	0.709	0.000	0.000	2587.44	2499.12	2675.75	1797.81	2157.44	0	0	0	11.17	30.00	30.00
2870.20	10663	329.64	1.50	80.00	2579.4	2492.3	2666.4	1798.2	2157.4	5.03	2.83	413	2994.15	104.92	0.46	3.78	0.730	0.045	0.096	1950.44	1822.88	2078.00	1871.50	3651.62	0	0	0	11.19	15.71	15.43
3008	end climb: NO_VERTICAL_VELOCITY
state	3008	begin surface