Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 23 * 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 23 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 2.5640917 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 12.66574 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 2.5640917 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 12.66574 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 23 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 260623,140426,4735.972,-12256.798,1,1.6,30,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,140753,4735.984,-12256.759,2,0.8,5,15.4 MHEAD_RNG_PITCHd_Wd 2.3,1073,-17.6,-10.000,-21.21,2209,0.150

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.018578,-0.010770,-0.007994,1.021638,-0.091232,0.015590,-0.021777,1.023026,647.804810,-303.574219,-314.831451

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NET CACST,8,0,20230626144737.797431,18,32767,45,0101,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,12.2,4.50,-100,-1.50,-01,-0.19,74,10000,5000,0,-1,00,00*7F _10V_AH 14.91,0.000

NET_PING 1687790861,29,313.768494,12.200000,-0.420110 FG_AHR_24Vo 12.804

NAV 1687791543,6.7,start FG_AHR_10Vo 2.573

FREEZE 6.69,13.023,-1.559,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3404.91,317.84,0.714,0,494.2,426.8,561.6,688.27 MEM2 945452,36,100976,71

SM_GC 1.46,0.00,11.04,0.37,0.000,0.037,0.064,495.4,438.7,552.1,185.8,2321.9,0,0,0,30.00,15.32,15.33 DATA_FILE_SIZE 12918,447

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 177362,0

IRIDIUM_FIX 4735.53,-12254.47,260623,130953 SDSIZE 3887104,3865504

TCM_TEMP 18.14 SDFILEDIR 233,24

SC_FREEKB 3871392 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

RAFOS_FIX 4734.876465,-12256.874023,260623,020200,4,255,1.51 CURRENT 0.007,107.6,1

HUMID 56.50 MAGCAL 1.000000,0.021859,-0.001826,-0.026587,1.035728,-0.060112,0.025099,-0.069031,0.999708,636.5,-316.6,-308.3,34,0.0293,1

TEMP 10.70 IMPLIED_C_PITCH 1525,15.96,226,0.0,0.00

INTERNAL_PRESSURE 8.28086 IMPLIED_C_VBD 3417,14.651038,226,0

_24V_AH 14.81,9.118 GPS 260623,150729,4736.321,-12256.626,1,1.0,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 680 888 8951.26 nil 0 0 0.00

Pitch_motor 23 238 84.56 nil 0 0 0.00

Roll_motor 65 184 177.65 nil 0 0 0.00

Iridium 141 140 294.64 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.25 nil 0 0 0.00

Core 2031 5 155.08 SciCon 3059 7 345.77

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1324 0 6.32

Compass 942 5 70.25

RAFOS 1372 40 818.27

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

6.25 16386 -146.63 -1.35 0.00 493.3 438.2 548.4 186.4 2329.8 0.00 0.00 0 66.53 54.72 0.00 0.00 0.005 0.000 0.000 2034.31 2016.12 2052.50 186.38 2329.81 0 0 0 15.58 30.00 30.00

67.05 18983 -146.63 -1.35 -80.00 2037.9 2018.4 2057.5 186.1 2329.1 3.02 -3.18 11 144.82 50.98 7.56 3.76 0.005 0.239 0.100 3898.88 3884.38 3913.38 1172.00 833.44 0 0 0 15.58 15.42 15.51

373.54 1156 -146.63 -1.32 0.00 3901.5 3886.4 3916.7 1172.4 833.6 40.09 -12.31 70 381.62 0.00 0.00 3.53 0.000 0.000 0.033 3900.91 3885.62 3916.19 1172.12 2318.88 0 0 0 30.00 30.00 15.62

565.30 128 -146.63 -1.29 0.00 3902.5 3886.7 3918.3 1172.2 2319.1 61.09 -10.96 98 574.24 0.00 0.00 0.00 0.000 0.000 0.000 3902.31 3886.50 3918.12 1171.94 2318.69 0 0 0 30.00 30.00 30.00

755.33 388 -146.63 -1.26 80.00 3902.9 3886.8 3919.0 1172.2 2318.2 81.69 -11.17 117 764.01 0.00 0.00 3.59 0.000 0.000 0.093 3902.69 3886.31 3919.06 1171.75 3769.44 0 0 0 30.00 30.00 15.52

797.04 3205 -146.63 -1.22 0.00 3902.9 3886.9 3918.8 1172.0 3768.7 87.05 -13.20 125 805.46 0.00 0.23 3.43 0.000 0.155 0.015 3903.00 3886.75 3919.25 1206.25 2263.81 0 0 0 30.00 15.52 15.58

992.93 160 -146.63 -1.21 0.00 3903.4 3887.1 3919.8 1205.9 2263.2 105.50 -9.31 145 994.79 0.00 0.00 0.00 0.000 0.000 0.000 3902.97 3886.19 3919.75 1206.25 2264.12 0 0 0 30.00 30.00 30.00

1182.96 420 -146.63 -1.20 80.00 3903.6 3886.9 3920.2 1206.0 2263.5 122.25 -8.66 164 1191.74 0.00 0.00 3.72 0.000 0.000 0.094 3902.84 3886.56 3919.12 1207.25 3766.94 0 0 0 30.00 30.00 15.63

1274.78 1156 -146.63 -1.17 0.00 3903.7 3887.3 3920.0 1206.8 3766.8 132.45 -11.39 182 1282.81 0.00 0.00 3.40 0.000 0.000 0.016 3904.19 3887.25 3921.12 1206.88 2267.50 0 0 0 30.00 30.00 15.71

1465.66 420 -146.63 -1.16 80.00 3903.8 3886.6 3921.0 1207.1 2266.2 149.55 -8.98 202 1478.09 0.00 0.00 3.71 0.000 0.000 0.094 3904.41 3887.56 3921.25 1207.06 3769.00 0 0 0 30.00 30.00 15.66

1481 end dive: TARGET_DEPTH_EXCEEDED

state 1481 begin apogee

1489.92 10243 0.00 -0.33 0.00 3903.8 3887.1 3920.5 1206.9 2158.9 151.21 -9.43 205 1608.50 104.51 1.46 0.08 0.888 0.122 0.184 3299.34 3241.75 3356.94 1421.69 2206.94 0 0 0 11.71 15.63 15.41

1610 end apogee: CONTROL_FINISHED_OK

state 1610 begin climb

1610.02 10759 146.63 1.35 -80.00 3296.3 3240.8 3351.8 1421.9 2207.2 154.85 0.00 216 1741.13 105.75 2.68 3.89 0.870 0.077 0.118 2697.12 2611.62 2782.62 1831.19 720.12 0 0 0 11.40 15.41 15.22

1779.21 17542 146.63 1.33 0.00 2693.3 2613.4 2773.3 1831.8 720.0 138.80 15.73 246 1787.53 0.00 0.00 3.57 0.000 0.000 0.035 2694.16 2614.44 2773.88 1831.69 2203.56 0 0 0 30.00 30.00 15.36

1975.00 16774 146.63 1.32 80.00 2691.3 2612.8 2769.8 1831.4 2203.4 109.44 14.39 266 1983.86 0.00 0.00 3.59 0.000 0.000 0.095 2691.34 2612.06 2770.62 1831.12 3650.38 0 0 0 30.00 30.00 15.50

2016.95 17542 146.63 1.29 0.00 2690.8 2612.9 2768.6 1831.5 3650.3 102.30 17.35 274 2025.15 0.00 0.00 3.45 0.000 0.000 0.020 2691.22 2612.88 2769.56 1831.38 2160.00 0 0 0 30.00 30.00 15.56

2215.72 16774 146.63 1.28 80.00 2690.0 2611.9 2768.1 1831.2 2160.2 74.42 13.29 295 2224.69 0.00 0.00 3.69 0.000 0.000 0.092 2690.97 2613.12 2768.81 1831.50 3651.50 0 0 0 30.00 30.00 15.59

2293.54 21639 146.63 1.25 0.00 2689.7 2612.5 2766.9 1831.5 3651.5 62.45 16.06 310 2302.74 0.00 0.28 3.42 0.000 0.178 0.021 2678.41 2588.81 2768.00 1796.19 2158.62 0 0 0 30.00 15.59 15.66

2485.56 16774 146.63 1.26 80.00 2689.2 2611.5 2767.0 1797.7 2158.0 40.55 10.79 338 2494.28 0.00 0.00 3.68 0.000 0.000 0.094 2690.09 2612.19 2768.00 1797.50 3652.81 0 0 0 30.00 30.00 15.65

2523.11 17542 146.63 1.24 0.00 2689.0 2611.6 2766.4 1797.4 3652.4 36.12 11.93 345 2531.79 0.00 0.00 3.41 0.000 0.000 0.020 2687.12 2610.25 2764.00 1797.38 2158.62 0 0 0 30.00 30.00 15.71

2715.64 8614 185.19 1.30 80.00 2688.7 2610.9 2766.4 1797.7 2159.1 18.49 8.21 383 2756.09 27.84 0.00 3.69 0.726 0.000 0.095 2542.59 2451.69 2633.50 1796.75 3650.12 0 0 0 11.56 30.00 15.61

2824.84 9254 206.84 1.33 0.00 2538.5 2448.6 2628.3 1797.3 3650.4 8.67 9.00 404 2854.16 16.94 0.00 3.44 0.674 0.000 0.019 2453.56 2355.75 2551.38 1797.12 2158.69 0 0 0 11.66 30.00 15.70

3049.46 10663 431.46 1.64 80.00 2448.9 2350.9 2546.8 1797.1 2158.6 6.75 -0.40 446 3053.90 1.82 0.69 0.00 0.089 0.047 0.000 2449.06 2349.88 2548.25 1902.62 2159.06 0 0 0 15.65 15.69 30.00

3055 end climb: NO_VERTICAL_VELOCITY

state 3055 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	23	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	2.5640917	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	12.66574	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	260623,140426,4735.972,-12256.798,1,1.6,30,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,140753,4735.984,-12256.759,2,0.8,5,15.4	MHEAD_RNG_PITCHd_Wd	2.3,1073,-17.6,-10.000,-21.21,2209,0.150
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.018578,-0.010770,-0.007994,1.021638,-0.091232,0.015590,-0.021777,1.023026,647.804810,-303.574219,-314.831451
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

NET	CACST,8,0,20230626144737.797431,18,32767,45,0101,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,12.2,4.50,-100,-1.50,-01,-0.19,74,10000,5000,0,-1,00,00*7F	_10V_AH	14.91,0.000
NET_PING	1687790861,29,313.768494,12.200000,-0.420110	FG_AHR_24Vo	12.804
NAV	1687791543,6.7,start	FG_AHR_10Vo	2.573
FREEZE	6.69,13.023,-1.559,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3404.91,317.84,0.714,0,494.2,426.8,561.6,688.27	MEM2	945452,36,100976,71
SM_GC	1.46,0.00,11.04,0.37,0.000,0.037,0.064,495.4,438.7,552.1,185.8,2321.9,0,0,0,30.00,15.32,15.33	DATA_FILE_SIZE	12918,447
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	177362,0
IRIDIUM_FIX	4735.53,-12254.47,260623,130953	SDSIZE	3887104,3865504
TCM_TEMP	18.14	SDFILEDIR	233,24
SC_FREEKB	3871392	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
RAFOS_FIX	4734.876465,-12256.874023,260623,020200,4,255,1.51	CURRENT	0.007,107.6,1
HUMID	56.50	MAGCAL	1.000000,0.021859,-0.001826,-0.026587,1.035728,-0.060112,0.025099,-0.069031,0.999708,636.5,-316.6,-308.3,34,0.0293,1
TEMP	10.70	IMPLIED_C_PITCH	1525,15.96,226,0.0,0.00
INTERNAL_PRESSURE	8.28086	IMPLIED_C_VBD	3417,14.651038,226,0
_24V_AH	14.81,9.118	GPS	260623,150729,4736.321,-12256.626,1,1.0,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	680	888	8951.26	nil	0	0	0.00
Pitch_motor	23	238	84.56	nil	0	0	0.00
Roll_motor	65	184	177.65	nil	0	0	0.00
Iridium	141	140	294.64	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.25	nil	0	0	0.00
Core	2031	5	155.08	SciCon	3059	7	345.77
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1324	0	6.32
Compass	942	5	70.25
RAFOS	1372	40	818.27
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
6.25	16386	-146.63	-1.35	0.00	493.3	438.2	548.4	186.4	2329.8	0.00	0.00	0	66.53	54.72	0.00	0.00	0.005	0.000	0.000	2034.31	2016.12	2052.50	186.38	2329.81	0	0	0	15.58	30.00	30.00
67.05	18983	-146.63	-1.35	-80.00	2037.9	2018.4	2057.5	186.1	2329.1	3.02	-3.18	11	144.82	50.98	7.56	3.76	0.005	0.239	0.100	3898.88	3884.38	3913.38	1172.00	833.44	0	0	0	15.58	15.42	15.51
373.54	1156	-146.63	-1.32	0.00	3901.5	3886.4	3916.7	1172.4	833.6	40.09	-12.31	70	381.62	0.00	0.00	3.53	0.000	0.000	0.033	3900.91	3885.62	3916.19	1172.12	2318.88	0	0	0	30.00	30.00	15.62
565.30	128	-146.63	-1.29	0.00	3902.5	3886.7	3918.3	1172.2	2319.1	61.09	-10.96	98	574.24	0.00	0.00	0.00	0.000	0.000	0.000	3902.31	3886.50	3918.12	1171.94	2318.69	0	0	0	30.00	30.00	30.00
755.33	388	-146.63	-1.26	80.00	3902.9	3886.8	3919.0	1172.2	2318.2	81.69	-11.17	117	764.01	0.00	0.00	3.59	0.000	0.000	0.093	3902.69	3886.31	3919.06	1171.75	3769.44	0	0	0	30.00	30.00	15.52
797.04	3205	-146.63	-1.22	0.00	3902.9	3886.9	3918.8	1172.0	3768.7	87.05	-13.20	125	805.46	0.00	0.23	3.43	0.000	0.155	0.015	3903.00	3886.75	3919.25	1206.25	2263.81	0	0	0	30.00	15.52	15.58
992.93	160	-146.63	-1.21	0.00	3903.4	3887.1	3919.8	1205.9	2263.2	105.50	-9.31	145	994.79	0.00	0.00	0.00	0.000	0.000	0.000	3902.97	3886.19	3919.75	1206.25	2264.12	0	0	0	30.00	30.00	30.00
1182.96	420	-146.63	-1.20	80.00	3903.6	3886.9	3920.2	1206.0	2263.5	122.25	-8.66	164	1191.74	0.00	0.00	3.72	0.000	0.000	0.094	3902.84	3886.56	3919.12	1207.25	3766.94	0	0	0	30.00	30.00	15.63
1274.78	1156	-146.63	-1.17	0.00	3903.7	3887.3	3920.0	1206.8	3766.8	132.45	-11.39	182	1282.81	0.00	0.00	3.40	0.000	0.000	0.016	3904.19	3887.25	3921.12	1206.88	2267.50	0	0	0	30.00	30.00	15.71
1465.66	420	-146.63	-1.16	80.00	3903.8	3886.6	3921.0	1207.1	2266.2	149.55	-8.98	202	1478.09	0.00	0.00	3.71	0.000	0.000	0.094	3904.41	3887.56	3921.25	1207.06	3769.00	0	0	0	30.00	30.00	15.66
1481	end dive: TARGET_DEPTH_EXCEEDED
state	1481	begin apogee
1489.92	10243	0.00	-0.33	0.00	3903.8	3887.1	3920.5	1206.9	2158.9	151.21	-9.43	205	1608.50	104.51	1.46	0.08	0.888	0.122	0.184	3299.34	3241.75	3356.94	1421.69	2206.94	0	0	0	11.71	15.63	15.41
1610	end apogee: CONTROL_FINISHED_OK
state	1610	begin climb
1610.02	10759	146.63	1.35	-80.00	3296.3	3240.8	3351.8	1421.9	2207.2	154.85	0.00	216	1741.13	105.75	2.68	3.89	0.870	0.077	0.118	2697.12	2611.62	2782.62	1831.19	720.12	0	0	0	11.40	15.41	15.22
1779.21	17542	146.63	1.33	0.00	2693.3	2613.4	2773.3	1831.8	720.0	138.80	15.73	246	1787.53	0.00	0.00	3.57	0.000	0.000	0.035	2694.16	2614.44	2773.88	1831.69	2203.56	0	0	0	30.00	30.00	15.36
1975.00	16774	146.63	1.32	80.00	2691.3	2612.8	2769.8	1831.4	2203.4	109.44	14.39	266	1983.86	0.00	0.00	3.59	0.000	0.000	0.095	2691.34	2612.06	2770.62	1831.12	3650.38	0	0	0	30.00	30.00	15.50
2016.95	17542	146.63	1.29	0.00	2690.8	2612.9	2768.6	1831.5	3650.3	102.30	17.35	274	2025.15	0.00	0.00	3.45	0.000	0.000	0.020	2691.22	2612.88	2769.56	1831.38	2160.00	0	0	0	30.00	30.00	15.56
2215.72	16774	146.63	1.28	80.00	2690.0	2611.9	2768.1	1831.2	2160.2	74.42	13.29	295	2224.69	0.00	0.00	3.69	0.000	0.000	0.092	2690.97	2613.12	2768.81	1831.50	3651.50	0	0	0	30.00	30.00	15.59
2293.54	21639	146.63	1.25	0.00	2689.7	2612.5	2766.9	1831.5	3651.5	62.45	16.06	310	2302.74	0.00	0.28	3.42	0.000	0.178	0.021	2678.41	2588.81	2768.00	1796.19	2158.62	0	0	0	30.00	15.59	15.66
2485.56	16774	146.63	1.26	80.00	2689.2	2611.5	2767.0	1797.7	2158.0	40.55	10.79	338	2494.28	0.00	0.00	3.68	0.000	0.000	0.094	2690.09	2612.19	2768.00	1797.50	3652.81	0	0	0	30.00	30.00	15.65
2523.11	17542	146.63	1.24	0.00	2689.0	2611.6	2766.4	1797.4	3652.4	36.12	11.93	345	2531.79	0.00	0.00	3.41	0.000	0.000	0.020	2687.12	2610.25	2764.00	1797.38	2158.62	0	0	0	30.00	30.00	15.71
2715.64	8614	185.19	1.30	80.00	2688.7	2610.9	2766.4	1797.7	2159.1	18.49	8.21	383	2756.09	27.84	0.00	3.69	0.726	0.000	0.095	2542.59	2451.69	2633.50	1796.75	3650.12	0	0	0	11.56	30.00	15.61
2824.84	9254	206.84	1.33	0.00	2538.5	2448.6	2628.3	1797.3	3650.4	8.67	9.00	404	2854.16	16.94	0.00	3.44	0.674	0.000	0.019	2453.56	2355.75	2551.38	1797.12	2158.69	0	0	0	11.66	30.00	15.70
3049.46	10663	431.46	1.64	80.00	2448.9	2350.9	2546.8	1797.1	2158.6	6.75	-0.40	446	3053.90	1.82	0.69	0.00	0.089	0.047	0.000	2449.06	2349.88	2548.25	1902.62	2159.06	0	0	0	15.65	15.69	30.00
3055	end climb: NO_VERTICAL_VELOCITY
state	3055	begin surface