Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 25 * 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 25 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 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 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 2.5731215 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 12.945189 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 2.5731215 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 12.945189 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 25 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 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 260623,155557,4736.583,-12256.490,1,1.6,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,155915,4736.598,-12256.452,3,1.4,5,15.4 MHEAD_RNG_PITCHd_Wd 190.8,1275,-17.6,-10.000,-21.21,2209,0.174

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,0.015448,0.007600,-0.013987,1.042997,-0.042429,0.022686,-0.088198,0.950735,632.884705,-335.695496,-256.128082

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687796833,153.2,4,stop _24V_AH 14.89,9.429

NET CACST,8,0,20230626164737.639815,18,32767,45,0103,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,11.9,7.53,-100,-4.53,-01,0.04,73,10000,5000,0,-1,00,00*58 _10V_AH 14.96,0.000

NET_PING 1687798059,29,196.636505,11.900000,-0.262632 FG_AHR_24Vo 13.083

MODEM_MSG CACST,8,1,20230626162500.166005,18,32767,45,0112,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,-7.3,1.32,-100,1.68,-01,-0.30,86,925,0025,0,-1,00,00*02 FG_AHR_10Vo 2.586

FREEZE 5.91,12.352,-1.579,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3378.86,295.11,0.718,0,500.4,440.2,560.7,686.73 MEM2 945464,36,100964,71

SM_GC 1.43,0.00,10.88,0.36,0.000,0.034,0.068,495.8,439.3,552.2,186.1,2321.3,0,0,0,30.00,15.36,15.35 DATA_FILE_SIZE 12941,431

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 178952,0

IRIDIUM_FIX 4735.06,-12250.06,260623,150839 SDSIZE 3887104,3864896

TCM_TEMP 18.22 SDFILEDIR 248,26

SC_FREEKB 3870752 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 0,1687795200,47.60500,-122.95000,0.742,1087.0 CURRENT 0.003,323.9,1

RAFOS_FIX 4736.563477,-12256.652344,260623,161600,4,255,0.17 MAGCAL 1.000000,-0.006976,-0.004361,-0.004905,1.092891,-0.019253,0.030395,-0.210772,0.942960,649.1,-340.8,-251.5,29,0.0422,0

HUMID 56.55 IMPLIED_C_PITCH 1526,16.11,226,0.0,0.00

TEMP 10.58 IMPLIED_C_VBD 3427,19.477114,226,0

INTERNAL_PRESSURE 8.27459 GPS 260623,165840,4736.273,-12256.703,2,1.0,17,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 676 887 8940.16 nil 0 0 0.00

Pitch_motor 23 235 82.61 nil 0 0 0.00

Roll_motor 58 175 152.30 nil 0 0 0.00

Iridium 132 136 269.29 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.19 nil 0 0 0.00

Core 1976 5 151.40 SciCon 3058 7 355.00

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1368 0 6.55

Compass 914 5 68.43

RAFOS 1637 40 979.93

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 0.00 493.5 438.9 548.0 186.4 2271.2 0.00 0.00 0 73.58 61.03 0.00 0.00 0.005 0.000 0.000 2201.66 2192.38 2210.94 186.06 2271.50 0 0 0 15.39 30.00 30.00

74.11 18727 -146.63 -1.35 80.00 2204.8 2194.2 2215.3 186.1 2271.4 3.26 -2.60 10 145.61 45.15 7.49 3.70 0.005 0.236 0.093 3899.16 3883.88 3914.44 1172.19 3766.94 0 0 0 15.59 15.45 15.53

185.86 1156 -146.63 -1.29 0.00 3900.6 3884.4 3916.8 1171.8 3766.7 15.88 -15.21 29 197.68 0.00 0.00 3.46 0.000 0.000 0.015 3900.97 3884.06 3917.88 1172.25 2266.94 0 0 0 30.00 30.00 15.55

381.79 388 -146.63 -1.26 80.00 3901.3 3884.0 3918.6 1171.9 2266.5 38.07 -10.39 68 390.53 0.00 0.00 3.73 0.000 0.000 0.091 3900.91 3883.31 3918.50 1171.69 3766.31 0 0 0 30.00 30.00 15.43

459.32 3205 -146.63 -1.21 0.00 3901.6 3884.1 3919.1 1172.1 3766.5 48.06 -13.25 83 468.09 0.00 0.25 3.48 0.000 0.157 0.015 3902.62 3885.25 3920.00 1208.25 2266.69 0 0 0 30.00 15.46 15.52

656.90 160 -146.63 -1.20 0.00 3902.2 3884.4 3920.1 1208.6 2266.5 66.70 -9.14 104 658.76 0.00 0.00 0.00 0.000 0.000 0.000 3901.72 3883.94 3919.50 1208.81 2266.00 0 0 0 30.00 30.00 30.00

846.91 160 -146.63 -1.18 0.00 3902.6 3884.2 3920.9 1208.7 2265.8 84.15 -9.28 123 848.78 0.00 0.00 0.00 0.000 0.000 0.000 3902.31 3884.12 3920.50 1208.88 2265.88 0 0 0 30.00 30.00 30.00

1036.92 420 -146.63 -1.17 80.00 3903.2 3884.6 3921.8 1208.8 2265.9 101.66 -9.16 142 1045.70 0.00 0.00 3.72 0.000 0.000 0.097 3902.19 3883.62 3920.75 1208.56 3766.81 0 0 0 30.00 30.00 15.61

1110.71 1156 -146.63 -1.14 0.00 3903.3 3884.7 3922.0 1208.4 3767.0 109.78 -11.57 155 1122.65 0.00 0.00 3.52 0.000 0.000 0.012 3903.72 3884.69 3922.75 1208.50 2268.25 0 0 0 30.00 30.00 15.06

1310.99 420 -146.63 -1.13 80.00 3903.4 3884.3 3922.5 1208.6 2267.4 128.82 -9.24 176 1320.02 0.00 0.00 3.71 0.000 0.000 0.096 3902.88 3883.81 3921.94 1209.44 3768.88 0 0 0 30.00 30.00 15.60

1353.12 1156 -146.63 -1.11 0.00 3903.5 3884.6 3922.3 1208.9 3768.8 133.52 -11.04 184 1361.33 0.00 0.00 3.46 0.000 0.000 0.015 3903.75 3884.75 3922.75 1208.81 2267.25 0 0 0 30.00 30.00 15.66

1549 end dive: TARGET_DEPTH_EXCEEDED

state 1549 begin apogee

1550.79 10243 0.00 -0.33 0.00 3903.5 3884.6 3922.4 1208.8 2155.4 150.92 -8.88 204 1670.36 105.15 1.42 0.09 0.888 0.115 0.176 3298.31 3242.62 3354.00 1422.06 2207.62 0 0 0 11.59 15.64 15.41

1672 end apogee: CONTROL_FINISHED_OK

state 1672 begin climb

1671.90 10759 146.63 1.35 -80.00 3296.1 3241.1 3351.1 1421.8 2208.1 153.41 0.00 215 1803.08 105.95 2.64 3.92 0.868 0.074 0.116 2697.62 2615.25 2780.00 1832.19 717.50 0 0 0 11.58 15.42 15.20

1816.92 1156 146.63 1.33 0.00 2695.4 2617.1 2773.6 1832.0 717.7 142.11 12.96 240 1825.79 0.00 0.00 3.56 0.000 0.000 0.033 2694.09 2615.94 2772.25 1832.19 2206.62 0 0 0 30.00 30.00 15.32

2007.40 16774 146.63 1.32 80.00 2691.5 2613.6 2769.4 1832.1 2207.1 114.15 14.98 260 2015.66 0.00 0.00 3.59 0.000 0.000 0.094 2689.59 2612.81 2766.38 1832.31 3652.88 0 0 0 30.00 30.00 15.44

2094.52 17542 146.63 1.29 0.00 2690.3 2613.4 2767.2 1831.8 3653.1 97.96 18.74 277 2103.31 0.00 0.00 3.45 0.000 0.000 0.019 2689.03 2612.25 2765.81 1832.00 2158.38 0 0 0 30.00 30.00 15.54

2289.53 16514 146.63 1.28 0.00 2689.5 2613.1 2765.9 1832.1 2158.9 69.81 13.42 297 2291.44 0.00 0.00 0.00 0.000 0.000 0.000 2688.09 2611.50 2764.69 1832.06 2158.56 0 0 0 30.00 30.00 30.00

2474.36 16646 146.63 1.28 80.00 2689.0 2612.7 2765.2 1832.4 2159.0 46.29 12.57 318 2483.28 0.00 0.00 3.65 0.000 0.000 0.093 2688.19 2611.31 2765.06 1831.69 3651.62 0 0 0 30.00 30.00 15.63

2542.12 21639 146.63 1.26 0.00 2689.2 2613.1 2765.4 1831.9 3651.1 36.74 14.44 331 2551.09 0.00 0.26 3.40 0.000 0.178 0.018 2689.06 2612.25 2765.88 1798.38 2156.62 0 0 0 30.00 15.63 15.70

2732.86 8614 176.31 1.30 80.00 2688.5 2612.0 2765.1 1798.9 2157.7 17.63 8.63 369 2766.95 21.25 0.00 3.68 0.726 0.000 0.094 2576.97 2490.56 2663.38 1799.38 3652.44 0 0 0 11.53 30.00 15.63

2810.78 1156 176.31 1.30 0.00 2574.8 2490.0 2659.5 1799.4 3652.5 10.09 10.80 384 2819.31 0.00 0.00 3.45 0.000 0.000 0.018 2573.25 2487.81 2658.69 1799.31 2158.75 0 0 0 30.00 30.00 15.69

3004.20 10919 390.05 1.59 -80.00 2572.7 2487.2 2658.2 1799.4 2158.6 6.43 0.10 422 3053.10 42.77 0.59 0.00 0.739 0.040 0.000 2329.31 2226.81 2431.81 1892.94 2158.81 0 0 0 11.38 15.70 30.00

3054 end climb: NO_VERTICAL_VELOCITY

state 3054 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	25	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	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	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	2.5731215	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	12.945189	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	260623,155557,4736.583,-12256.490,1,1.6,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,155915,4736.598,-12256.452,3,1.4,5,15.4	MHEAD_RNG_PITCHd_Wd	190.8,1275,-17.6,-10.000,-21.21,2209,0.174
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.015448,0.007600,-0.013987,1.042997,-0.042429,0.022686,-0.088198,0.950735,632.884705,-335.695496,-256.128082
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687796833,153.2,4,stop	_24V_AH	14.89,9.429
NET	CACST,8,0,20230626164737.639815,18,32767,45,0103,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,11.9,7.53,-100,-4.53,-01,0.04,73,10000,5000,0,-1,00,00*58	_10V_AH	14.96,0.000
NET_PING	1687798059,29,196.636505,11.900000,-0.262632	FG_AHR_24Vo	13.083
MODEM_MSG	CACST,8,1,20230626162500.166005,18,32767,45,0112,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,-7.3,1.32,-100,1.68,-01,-0.30,86,925,0025,0,-1,00,00*02	FG_AHR_10Vo	2.586
FREEZE	5.91,12.352,-1.579,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3378.86,295.11,0.718,0,500.4,440.2,560.7,686.73	MEM2	945464,36,100964,71
SM_GC	1.43,0.00,10.88,0.36,0.000,0.034,0.068,495.8,439.3,552.2,186.1,2321.3,0,0,0,30.00,15.36,15.35	DATA_FILE_SIZE	12941,431
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	178952,0
IRIDIUM_FIX	4735.06,-12250.06,260623,150839	SDSIZE	3887104,3864896
TCM_TEMP	18.22	SDFILEDIR	248,26
SC_FREEKB	3870752	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	0,1687795200,47.60500,-122.95000,0.742,1087.0	CURRENT	0.003,323.9,1
RAFOS_FIX	4736.563477,-12256.652344,260623,161600,4,255,0.17	MAGCAL	1.000000,-0.006976,-0.004361,-0.004905,1.092891,-0.019253,0.030395,-0.210772,0.942960,649.1,-340.8,-251.5,29,0.0422,0
HUMID	56.55	IMPLIED_C_PITCH	1526,16.11,226,0.0,0.00
TEMP	10.58	IMPLIED_C_VBD	3427,19.477114,226,0
INTERNAL_PRESSURE	8.27459	GPS	260623,165840,4736.273,-12256.703,2,1.0,17,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	676	887	8940.16	nil	0	0	0.00
Pitch_motor	23	235	82.61	nil	0	0	0.00
Roll_motor	58	175	152.30	nil	0	0	0.00
Iridium	132	136	269.29	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.19	nil	0	0	0.00
Core	1976	5	151.40	SciCon	3058	7	355.00
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1368	0	6.55
Compass	914	5	68.43
RAFOS	1637	40	979.93
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	493.5	438.9	548.0	186.4	2271.2	0.00	0.00	0	73.58	61.03	0.00	0.00	0.005	0.000	0.000	2201.66	2192.38	2210.94	186.06	2271.50	0	0	0	15.39	30.00	30.00
74.11	18727	-146.63	-1.35	80.00	2204.8	2194.2	2215.3	186.1	2271.4	3.26	-2.60	10	145.61	45.15	7.49	3.70	0.005	0.236	0.093	3899.16	3883.88	3914.44	1172.19	3766.94	0	0	0	15.59	15.45	15.53
185.86	1156	-146.63	-1.29	0.00	3900.6	3884.4	3916.8	1171.8	3766.7	15.88	-15.21	29	197.68	0.00	0.00	3.46	0.000	0.000	0.015	3900.97	3884.06	3917.88	1172.25	2266.94	0	0	0	30.00	30.00	15.55
381.79	388	-146.63	-1.26	80.00	3901.3	3884.0	3918.6	1171.9	2266.5	38.07	-10.39	68	390.53	0.00	0.00	3.73	0.000	0.000	0.091	3900.91	3883.31	3918.50	1171.69	3766.31	0	0	0	30.00	30.00	15.43
459.32	3205	-146.63	-1.21	0.00	3901.6	3884.1	3919.1	1172.1	3766.5	48.06	-13.25	83	468.09	0.00	0.25	3.48	0.000	0.157	0.015	3902.62	3885.25	3920.00	1208.25	2266.69	0	0	0	30.00	15.46	15.52
656.90	160	-146.63	-1.20	0.00	3902.2	3884.4	3920.1	1208.6	2266.5	66.70	-9.14	104	658.76	0.00	0.00	0.00	0.000	0.000	0.000	3901.72	3883.94	3919.50	1208.81	2266.00	0	0	0	30.00	30.00	30.00
846.91	160	-146.63	-1.18	0.00	3902.6	3884.2	3920.9	1208.7	2265.8	84.15	-9.28	123	848.78	0.00	0.00	0.00	0.000	0.000	0.000	3902.31	3884.12	3920.50	1208.88	2265.88	0	0	0	30.00	30.00	30.00
1036.92	420	-146.63	-1.17	80.00	3903.2	3884.6	3921.8	1208.8	2265.9	101.66	-9.16	142	1045.70	0.00	0.00	3.72	0.000	0.000	0.097	3902.19	3883.62	3920.75	1208.56	3766.81	0	0	0	30.00	30.00	15.61
1110.71	1156	-146.63	-1.14	0.00	3903.3	3884.7	3922.0	1208.4	3767.0	109.78	-11.57	155	1122.65	0.00	0.00	3.52	0.000	0.000	0.012	3903.72	3884.69	3922.75	1208.50	2268.25	0	0	0	30.00	30.00	15.06
1310.99	420	-146.63	-1.13	80.00	3903.4	3884.3	3922.5	1208.6	2267.4	128.82	-9.24	176	1320.02	0.00	0.00	3.71	0.000	0.000	0.096	3902.88	3883.81	3921.94	1209.44	3768.88	0	0	0	30.00	30.00	15.60
1353.12	1156	-146.63	-1.11	0.00	3903.5	3884.6	3922.3	1208.9	3768.8	133.52	-11.04	184	1361.33	0.00	0.00	3.46	0.000	0.000	0.015	3903.75	3884.75	3922.75	1208.81	2267.25	0	0	0	30.00	30.00	15.66
1549	end dive: TARGET_DEPTH_EXCEEDED
state	1549	begin apogee
1550.79	10243	0.00	-0.33	0.00	3903.5	3884.6	3922.4	1208.8	2155.4	150.92	-8.88	204	1670.36	105.15	1.42	0.09	0.888	0.115	0.176	3298.31	3242.62	3354.00	1422.06	2207.62	0	0	0	11.59	15.64	15.41
1672	end apogee: CONTROL_FINISHED_OK
state	1672	begin climb
1671.90	10759	146.63	1.35	-80.00	3296.1	3241.1	3351.1	1421.8	2208.1	153.41	0.00	215	1803.08	105.95	2.64	3.92	0.868	0.074	0.116	2697.62	2615.25	2780.00	1832.19	717.50	0	0	0	11.58	15.42	15.20
1816.92	1156	146.63	1.33	0.00	2695.4	2617.1	2773.6	1832.0	717.7	142.11	12.96	240	1825.79	0.00	0.00	3.56	0.000	0.000	0.033	2694.09	2615.94	2772.25	1832.19	2206.62	0	0	0	30.00	30.00	15.32
2007.40	16774	146.63	1.32	80.00	2691.5	2613.6	2769.4	1832.1	2207.1	114.15	14.98	260	2015.66	0.00	0.00	3.59	0.000	0.000	0.094	2689.59	2612.81	2766.38	1832.31	3652.88	0	0	0	30.00	30.00	15.44
2094.52	17542	146.63	1.29	0.00	2690.3	2613.4	2767.2	1831.8	3653.1	97.96	18.74	277	2103.31	0.00	0.00	3.45	0.000	0.000	0.019	2689.03	2612.25	2765.81	1832.00	2158.38	0	0	0	30.00	30.00	15.54
2289.53	16514	146.63	1.28	0.00	2689.5	2613.1	2765.9	1832.1	2158.9	69.81	13.42	297	2291.44	0.00	0.00	0.00	0.000	0.000	0.000	2688.09	2611.50	2764.69	1832.06	2158.56	0	0	0	30.00	30.00	30.00
2474.36	16646	146.63	1.28	80.00	2689.0	2612.7	2765.2	1832.4	2159.0	46.29	12.57	318	2483.28	0.00	0.00	3.65	0.000	0.000	0.093	2688.19	2611.31	2765.06	1831.69	3651.62	0	0	0	30.00	30.00	15.63
2542.12	21639	146.63	1.26	0.00	2689.2	2613.1	2765.4	1831.9	3651.1	36.74	14.44	331	2551.09	0.00	0.26	3.40	0.000	0.178	0.018	2689.06	2612.25	2765.88	1798.38	2156.62	0	0	0	30.00	15.63	15.70
2732.86	8614	176.31	1.30	80.00	2688.5	2612.0	2765.1	1798.9	2157.7	17.63	8.63	369	2766.95	21.25	0.00	3.68	0.726	0.000	0.094	2576.97	2490.56	2663.38	1799.38	3652.44	0	0	0	11.53	30.00	15.63
2810.78	1156	176.31	1.30	0.00	2574.8	2490.0	2659.5	1799.4	3652.5	10.09	10.80	384	2819.31	0.00	0.00	3.45	0.000	0.000	0.018	2573.25	2487.81	2658.69	1799.31	2158.75	0	0	0	30.00	30.00	15.69
3004.20	10919	390.05	1.59	-80.00	2572.7	2487.2	2658.2	1799.4	2158.6	6.43	0.10	422	3053.10	42.77	0.59	0.00	0.739	0.040	0.000	2329.31	2226.81	2431.81	1892.94	2158.81	0	0	0	11.38	15.70	30.00
3054	end climb: NO_VERTICAL_VELOCITY
state	3054	begin surface