Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 11 * 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 11 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 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 2.4726543 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 10.981672 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 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 2.4726543 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.981672 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 11 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 260623,024431,4736.042,-12256.631,22,0.8,23,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,024755,4736.027,-12256.631,2,0.6,5,15.4 MHEAD_RNG_PITCHd_Wd 355.4,953,-17.6,-10.000,-21.21,2209,0.138

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.009555,0.001953,-0.008671,1.053118,-0.030747,0.006672,-0.069695,1.030933,623.929321,-332.083679,-312.394440

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NAV 1687750031,63.4,4,stop _24V_AH 14.90,7.266

NET xmit part outbox0009.n 914 0 _10V_AH 14.99,0.000

NET_PING 1687750360,29,720.702026,4.600000,-0.960705 FG_AHR_24Vo 11.120

MODEM_MSG CACST,8,0,20230626032500.474244,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-3.7,7.14,-100,-4.14,-01,0.07,89,925,0025,0,1,00,00*0B FG_AHR_10Vo 2.479

FREEZE 3.30,15.180,-1.484,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3565.66,233.74,0.701,0,500.3,445.2,555.4,686.77 MEM2 945396,39,100972,71

SM_GC 1.37,0.00,10.89,3.85,0.000,0.042,0.033,496.3,444.8,547.8,185.2,2318.0,0,0,0,30.00,15.38,15.37 DATA_FILE_SIZE 12924,487

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 187499,0

IRIDIUM_FIX 4735.53,-12254.47,260623,014642 SDSIZE 3887104,3869568

TCM_TEMP 18.69 SDFILEDIR 130,12

SC_FREEKB 3875232 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 0,1687748400,47.60500,-122.95000,0.408,597.4 CURRENT 0.037,179.0,1

RAFOS_FIX 4734.876465,-12256.874023,260623,020200,4,255,1.51 MAGCAL 1.000000,0.032869,-0.039667,-0.015509,1.038167,-0.022684,0.049329,-0.071156,0.968606,675.1,-347.2,-270.5,31,0.0318,1

HUMID 56.50 IMPLIED_C_PITCH 1523,16.06,224,0.0,0.00

TEMP 11.12 IMPLIED_C_VBD 3400,18.492130,224,0

INTERNAL_PRESSURE 8.29006 GPS 260623,035035,4736.312,-12256.531,0,0.7,2,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 686 872 8927.97 nil 0 0 0.00

Pitch_motor 23 241 84.71 nil 0 0 0.00

Roll_motor 71 185 198.35 nil 0 0 0.00

Iridium 139 151 314.42 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.14 nil 0 0 0.00

Core 2155 5 165.46 SciCon 3312 7 381.69

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1448 0 6.95

Compass 1026 5 76.93

RAFOS 1688 40 1012.29

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

6.34 16386 -146.63 -1.35 0.00 493.9 442.4 545.5 185.2 2327.6 0.00 0.00 0 76.36 63.79 0.00 0.00 0.005 0.000 0.000 2256.44 2244.94 2267.94 185.19 2328.00 0 0 0 14.91 30.00 30.00

76.88 18467 -146.63 -1.35 0.00 2258.9 2247.2 2270.6 185.1 2327.9 3.17 -2.82 12 139.66 42.36 7.56 0.00 0.005 0.241 0.000 3897.84 3884.81 3910.88 1172.12 2328.12 0 0 0 15.67 15.48 30.00

323.26 388 -146.63 -1.32 80.00 3902.2 3885.8 3918.6 1172.3 2327.9 32.61 -11.37 60 331.31 0.00 0.00 3.55 0.000 0.000 0.096 3901.62 3884.94 3918.31 1173.44 3767.69 0 0 0 30.00 30.00 15.64

364.97 1156 -146.63 -1.27 0.00 3902.1 3885.8 3918.4 1173.2 3767.7 38.29 -14.19 68 372.94 0.00 0.00 3.43 0.000 0.000 0.017 3902.16 3885.25 3919.06 1173.38 2267.75 0 0 0 30.00 30.00 15.70

556.64 2437 -146.63 -1.24 80.00 3902.8 3885.4 3920.1 1173.4 2266.7 59.65 -10.60 97 565.67 0.00 0.19 3.69 0.000 0.159 0.093 3902.25 3885.25 3919.25 1201.56 3769.81 0 0 0 30.00 15.65 15.67

594.46 1156 -146.63 -1.21 0.00 3902.8 3885.9 3919.6 1201.4 3769.5 64.13 -11.82 104 601.95 0.00 0.00 3.39 0.000 0.000 0.016 3902.25 3885.06 3919.44 1201.50 2267.00 0 0 0 30.00 30.00 15.74

783.45 420 -146.63 -1.19 80.00 3904.0 3886.2 3921.9 1201.6 2265.3 82.05 -9.50 123 792.11 0.00 0.00 3.69 0.000 0.000 0.094 3903.56 3885.38 3921.75 1201.12 3767.69 0 0 0 30.00 30.00 15.68

830.88 1156 -146.63 -1.16 0.00 3903.8 3886.1 3921.6 1201.1 3768.1 87.55 -11.92 132 838.39 0.00 0.00 3.37 0.000 0.000 0.017 3903.75 3885.62 3921.88 1201.38 2267.88 0 0 0 30.00 30.00 15.72

1026.00 160 -146.63 -1.15 0.00 3904.2 3885.7 3922.7 1201.4 2266.3 106.11 -9.41 152 1027.86 0.00 0.00 0.00 0.000 0.000 0.000 3903.78 3885.19 3922.38 1201.12 2266.06 0 0 0 30.00 30.00 30.00

1216.04 420 -146.63 -1.14 80.00 3904.7 3886.0 3923.4 1201.5 2266.1 123.28 -9.02 171 1224.83 0.00 0.00 3.70 0.000 0.000 0.097 3904.22 3885.38 3923.06 1202.00 3767.94 0 0 0 30.00 30.00 15.67

1293.62 3205 -146.63 -1.11 0.00 3904.6 3885.8 3923.4 1201.8 3768.3 132.15 -11.92 186 1302.47 0.00 0.20 3.38 0.000 0.162 0.017 3905.12 3886.88 3923.38 1232.75 2267.88 0 0 0 30.00 15.66 15.72

1488.56 292 -146.63 -1.11 80.00 3904.8 3885.9 3923.6 1233.2 2267.0 147.91 -7.86 206 1497.68 0.00 0.00 3.71 0.000 0.000 0.099 3904.75 3885.75 3923.75 1233.31 3766.25 0 0 0 30.00 30.00 15.67

1511 end dive: TARGET_DEPTH_EXCEEDED

state 1511 begin apogee

1518.87 10243 0.00 -0.33 0.00 3904.9 3885.9 3923.9 1233.1 2157.6 150.02 -8.32 210 1638.27 105.89 1.27 0.09 0.872 0.122 0.185 3298.06 3240.06 3356.06 1422.06 2208.38 0 0 0 11.44 15.67 15.42

1639 end apogee: CONTROL_FINISHED_OK

state 1640 begin climb

1639.78 10759 146.63 1.35 -80.00 3296.6 3240.9 3352.2 1421.9 2208.4 153.38 0.00 221 1771.69 107.93 2.69 3.83 0.859 0.076 0.117 2700.91 2613.44 2788.38 1831.50 718.50 0 0 0 11.38 15.42 14.63

1792.69 1156 146.63 1.33 0.00 2694.7 2612.6 2776.8 1831.6 718.8 140.39 13.22 247 1805.20 0.00 0.00 3.59 0.000 0.000 0.035 2694.06 2612.12 2776.00 1832.12 2202.12 0 0 0 30.00 30.00 15.28

1993.18 16774 146.63 1.32 80.00 2691.5 2610.6 2772.3 1832.2 2202.4 110.78 14.48 268 2002.14 0.00 0.00 3.63 0.000 0.000 0.097 2691.09 2611.50 2770.69 1831.75 3651.44 0 0 0 30.00 30.00 15.42

2040.98 17542 146.63 1.29 0.00 2691.0 2610.7 2771.4 1831.9 3651.6 102.69 17.74 277 2049.74 0.00 0.00 3.43 0.000 0.000 0.021 2690.66 2610.19 2771.12 1832.00 2158.38 0 0 0 30.00 30.00 15.50

2235.99 16514 146.63 1.28 0.00 2690.3 2609.9 2770.8 1832.4 2158.5 74.84 12.99 297 2237.89 0.00 0.00 0.00 0.000 0.000 0.000 2688.72 2608.12 2769.31 1831.69 2158.94 0 0 0 30.00 30.00 30.00

2426.01 16774 146.63 1.28 80.00 2689.9 2609.2 2770.6 1831.8 2158.6 51.18 11.80 316 2435.07 0.00 0.00 3.69 0.000 0.000 0.095 2691.28 2611.81 2770.75 1832.00 3650.31 0 0 0 30.00 30.00 15.61

2518.90 21639 146.63 1.25 0.00 2689.6 2609.2 2770.1 1831.5 3650.1 38.29 13.79 334 2527.73 0.00 0.28 3.39 0.000 0.176 0.021 2687.75 2607.94 2767.56 1797.50 2157.69 0 0 0 30.00 15.61 15.68

2709.68 8614 175.09 1.29 80.00 2689.2 2608.4 2770.1 1797.0 2157.1 21.28 8.68 371 2744.08 21.29 0.00 3.71 0.709 0.000 0.095 2580.59 2491.19 2670.00 1796.94 3653.81 0 0 0 11.41 30.00 15.59

2792.73 1028 175.09 1.29 0.00 2580.0 2492.2 2667.8 1797.5 3654.0 13.26 10.06 387 2801.43 0.00 0.00 3.41 0.000 0.000 0.018 2577.84 2489.50 2666.19 1797.06 2157.38 0 0 0 30.00 30.00 15.65

2985.28 10919 337.98 1.52 -80.00 2577.6 2488.6 2666.6 1797.3 2157.3 6.22 2.46 425 3118.71 111.97 0.49 3.68 0.721 0.045 0.117 1918.66 1792.31 2045.00 1875.19 715.19 0 0 0 11.55 15.70 15.40

3307 end climb: NO_VERTICAL_VELOCITY

state 3308 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	11	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	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	2.4726543	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	10.981672	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	260623,024431,4736.042,-12256.631,22,0.8,23,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,024755,4736.027,-12256.631,2,0.6,5,15.4	MHEAD_RNG_PITCHd_Wd	355.4,953,-17.6,-10.000,-21.21,2209,0.138
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.009555,0.001953,-0.008671,1.053118,-0.030747,0.006672,-0.069695,1.030933,623.929321,-332.083679,-312.394440
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

NAV	1687750031,63.4,4,stop	_24V_AH	14.90,7.266
NET	xmit part outbox0009.n 914 0	_10V_AH	14.99,0.000
NET_PING	1687750360,29,720.702026,4.600000,-0.960705	FG_AHR_24Vo	11.120
MODEM_MSG	CACST,8,0,20230626032500.474244,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-3.7,7.14,-100,-4.14,-01,0.07,89,925,0025,0,1,00,00*0B	FG_AHR_10Vo	2.479
FREEZE	3.30,15.180,-1.484,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3565.66,233.74,0.701,0,500.3,445.2,555.4,686.77	MEM2	945396,39,100972,71
SM_GC	1.37,0.00,10.89,3.85,0.000,0.042,0.033,496.3,444.8,547.8,185.2,2318.0,0,0,0,30.00,15.38,15.37	DATA_FILE_SIZE	12924,487
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	187499,0
IRIDIUM_FIX	4735.53,-12254.47,260623,014642	SDSIZE	3887104,3869568
TCM_TEMP	18.69	SDFILEDIR	130,12
SC_FREEKB	3875232	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	0,1687748400,47.60500,-122.95000,0.408,597.4	CURRENT	0.037,179.0,1
RAFOS_FIX	4734.876465,-12256.874023,260623,020200,4,255,1.51	MAGCAL	1.000000,0.032869,-0.039667,-0.015509,1.038167,-0.022684,0.049329,-0.071156,0.968606,675.1,-347.2,-270.5,31,0.0318,1
HUMID	56.50	IMPLIED_C_PITCH	1523,16.06,224,0.0,0.00
TEMP	11.12	IMPLIED_C_VBD	3400,18.492130,224,0
INTERNAL_PRESSURE	8.29006	GPS	260623,035035,4736.312,-12256.531,0,0.7,2,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	686	872	8927.97	nil	0	0	0.00
Pitch_motor	23	241	84.71	nil	0	0	0.00
Roll_motor	71	185	198.35	nil	0	0	0.00
Iridium	139	151	314.42	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.14	nil	0	0	0.00
Core	2155	5	165.46	SciCon	3312	7	381.69
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1448	0	6.95
Compass	1026	5	76.93
RAFOS	1688	40	1012.29
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
6.34	16386	-146.63	-1.35	0.00	493.9	442.4	545.5	185.2	2327.6	0.00	0.00	0	76.36	63.79	0.00	0.00	0.005	0.000	0.000	2256.44	2244.94	2267.94	185.19	2328.00	0	0	0	14.91	30.00	30.00
76.88	18467	-146.63	-1.35	0.00	2258.9	2247.2	2270.6	185.1	2327.9	3.17	-2.82	12	139.66	42.36	7.56	0.00	0.005	0.241	0.000	3897.84	3884.81	3910.88	1172.12	2328.12	0	0	0	15.67	15.48	30.00
323.26	388	-146.63	-1.32	80.00	3902.2	3885.8	3918.6	1172.3	2327.9	32.61	-11.37	60	331.31	0.00	0.00	3.55	0.000	0.000	0.096	3901.62	3884.94	3918.31	1173.44	3767.69	0	0	0	30.00	30.00	15.64
364.97	1156	-146.63	-1.27	0.00	3902.1	3885.8	3918.4	1173.2	3767.7	38.29	-14.19	68	372.94	0.00	0.00	3.43	0.000	0.000	0.017	3902.16	3885.25	3919.06	1173.38	2267.75	0	0	0	30.00	30.00	15.70
556.64	2437	-146.63	-1.24	80.00	3902.8	3885.4	3920.1	1173.4	2266.7	59.65	-10.60	97	565.67	0.00	0.19	3.69	0.000	0.159	0.093	3902.25	3885.25	3919.25	1201.56	3769.81	0	0	0	30.00	15.65	15.67
594.46	1156	-146.63	-1.21	0.00	3902.8	3885.9	3919.6	1201.4	3769.5	64.13	-11.82	104	601.95	0.00	0.00	3.39	0.000	0.000	0.016	3902.25	3885.06	3919.44	1201.50	2267.00	0	0	0	30.00	30.00	15.74
783.45	420	-146.63	-1.19	80.00	3904.0	3886.2	3921.9	1201.6	2265.3	82.05	-9.50	123	792.11	0.00	0.00	3.69	0.000	0.000	0.094	3903.56	3885.38	3921.75	1201.12	3767.69	0	0	0	30.00	30.00	15.68
830.88	1156	-146.63	-1.16	0.00	3903.8	3886.1	3921.6	1201.1	3768.1	87.55	-11.92	132	838.39	0.00	0.00	3.37	0.000	0.000	0.017	3903.75	3885.62	3921.88	1201.38	2267.88	0	0	0	30.00	30.00	15.72
1026.00	160	-146.63	-1.15	0.00	3904.2	3885.7	3922.7	1201.4	2266.3	106.11	-9.41	152	1027.86	0.00	0.00	0.00	0.000	0.000	0.000	3903.78	3885.19	3922.38	1201.12	2266.06	0	0	0	30.00	30.00	30.00
1216.04	420	-146.63	-1.14	80.00	3904.7	3886.0	3923.4	1201.5	2266.1	123.28	-9.02	171	1224.83	0.00	0.00	3.70	0.000	0.000	0.097	3904.22	3885.38	3923.06	1202.00	3767.94	0	0	0	30.00	30.00	15.67
1293.62	3205	-146.63	-1.11	0.00	3904.6	3885.8	3923.4	1201.8	3768.3	132.15	-11.92	186	1302.47	0.00	0.20	3.38	0.000	0.162	0.017	3905.12	3886.88	3923.38	1232.75	2267.88	0	0	0	30.00	15.66	15.72
1488.56	292	-146.63	-1.11	80.00	3904.8	3885.9	3923.6	1233.2	2267.0	147.91	-7.86	206	1497.68	0.00	0.00	3.71	0.000	0.000	0.099	3904.75	3885.75	3923.75	1233.31	3766.25	0	0	0	30.00	30.00	15.67
1511	end dive: TARGET_DEPTH_EXCEEDED
state	1511	begin apogee
1518.87	10243	0.00	-0.33	0.00	3904.9	3885.9	3923.9	1233.1	2157.6	150.02	-8.32	210	1638.27	105.89	1.27	0.09	0.872	0.122	0.185	3298.06	3240.06	3356.06	1422.06	2208.38	0	0	0	11.44	15.67	15.42
1639	end apogee: CONTROL_FINISHED_OK
state	1640	begin climb
1639.78	10759	146.63	1.35	-80.00	3296.6	3240.9	3352.2	1421.9	2208.4	153.38	0.00	221	1771.69	107.93	2.69	3.83	0.859	0.076	0.117	2700.91	2613.44	2788.38	1831.50	718.50	0	0	0	11.38	15.42	14.63
1792.69	1156	146.63	1.33	0.00	2694.7	2612.6	2776.8	1831.6	718.8	140.39	13.22	247	1805.20	0.00	0.00	3.59	0.000	0.000	0.035	2694.06	2612.12	2776.00	1832.12	2202.12	0	0	0	30.00	30.00	15.28
1993.18	16774	146.63	1.32	80.00	2691.5	2610.6	2772.3	1832.2	2202.4	110.78	14.48	268	2002.14	0.00	0.00	3.63	0.000	0.000	0.097	2691.09	2611.50	2770.69	1831.75	3651.44	0	0	0	30.00	30.00	15.42
2040.98	17542	146.63	1.29	0.00	2691.0	2610.7	2771.4	1831.9	3651.6	102.69	17.74	277	2049.74	0.00	0.00	3.43	0.000	0.000	0.021	2690.66	2610.19	2771.12	1832.00	2158.38	0	0	0	30.00	30.00	15.50
2235.99	16514	146.63	1.28	0.00	2690.3	2609.9	2770.8	1832.4	2158.5	74.84	12.99	297	2237.89	0.00	0.00	0.00	0.000	0.000	0.000	2688.72	2608.12	2769.31	1831.69	2158.94	0	0	0	30.00	30.00	30.00
2426.01	16774	146.63	1.28	80.00	2689.9	2609.2	2770.6	1831.8	2158.6	51.18	11.80	316	2435.07	0.00	0.00	3.69	0.000	0.000	0.095	2691.28	2611.81	2770.75	1832.00	3650.31	0	0	0	30.00	30.00	15.61
2518.90	21639	146.63	1.25	0.00	2689.6	2609.2	2770.1	1831.5	3650.1	38.29	13.79	334	2527.73	0.00	0.28	3.39	0.000	0.176	0.021	2687.75	2607.94	2767.56	1797.50	2157.69	0	0	0	30.00	15.61	15.68
2709.68	8614	175.09	1.29	80.00	2689.2	2608.4	2770.1	1797.0	2157.1	21.28	8.68	371	2744.08	21.29	0.00	3.71	0.709	0.000	0.095	2580.59	2491.19	2670.00	1796.94	3653.81	0	0	0	11.41	30.00	15.59
2792.73	1028	175.09	1.29	0.00	2580.0	2492.2	2667.8	1797.5	3654.0	13.26	10.06	387	2801.43	0.00	0.00	3.41	0.000	0.000	0.018	2577.84	2489.50	2666.19	1797.06	2157.38	0	0	0	30.00	30.00	15.65
2985.28	10919	337.98	1.52	-80.00	2577.6	2488.6	2666.6	1797.3	2157.3	6.22	2.46	425	3118.71	111.97	0.49	3.68	0.721	0.045	0.117	1918.66	1792.31	2045.00	1875.19	715.19	0	0	0	11.55	15.70	15.40
3307	end climb: NO_VERTICAL_VELOCITY
state	3308	begin surface