Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 27 * 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 27 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 2.6002355 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.234252 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 2.6002355 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.234252 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 27 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 260623,175334,4736.018,-12256.772,1,1.0,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,175704,4736.035,-12256.730,3,1.0,6,15.4 MHEAD_RNG_PITCHd_Wd 4.7,972,-17.6,-10.000,-21.21,2209,0.159

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N 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 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NAV 1687804032,134.6,3,stop _24V_AH 14.86,9.747

NET xmit part outbox0023.n 1626 6 _10V_AH 14.95,0.000

NET_PING 1687805260,29,212.226013,4.400000,-0.283565 FG_AHR_24Vo 13.373

MODEM_MSG CACST,8,1,20230626182000.196773,18,32767,45,0104,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-34.2,-1.91,-100,4.91,-01,0.03,74,925,0025,0,-1,00,00*3E FG_AHR_10Vo 2.608

FREEZE 4.98,14.358,-1.512,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3373.07,266.95,0.709,0,500.3,441.9,558.8,686.76 MEM2 945536,33,100952,71

SM_GC 1.98,0.00,10.80,0.38,0.000,0.038,0.067,495.3,440.2,550.5,182.6,2320.3,0,0,0,30.00,15.35,15.34 DATA_FILE_SIZE 12916,437

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 162450,0

IRIDIUM_FIX 4735.53,-12254.47,260623,165947 SDSIZE 3887104,3864224

TCM_TEMP 18.23 SDFILEDIR 266,28

SC_FREEKB 3870112 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 0,1687802400,47.60500,-122.95000,0.457,669.4 CURRENT 0.029, 45.4,1

RAFOS_FIX 4736.483398,-12257.000000,260623,181800,3,255,0.65 MAGCAL 1.000000,0.034878,-0.040571,-0.002354,1.081662,0.025377,0.015676,-0.181234,0.935683,678.0,-380.7,-237.1,33,0.0475,0

HUMID 56.46 IMPLIED_C_PITCH 1526,15.96,223,0.0,0.00

TEMP 10.65 IMPLIED_C_VBD 3422,19.370535,223,0

INTERNAL_PRESSURE 8.2778 GPS 260623,185631,4736.418,-12256.560,24,1.4,25,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 686 884 9020.93 nil 0 0 0.00

Pitch_motor 23 239 83.04 nil 0 0 0.00

Roll_motor 43 165 107.32 nil 0 0 0.00

Iridium 141 139 294.31 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.46 nil 0 0 0.00

Core 1971 5 150.90 SciCon 3083 7 356.47

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1408 0 6.74

Compass 933 5 69.78

RAFOS 1690 40 1010.76

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

6.26 16386 -146.63 -1.35 0.00 494.7 446.6 542.8 188.8 2267.2 0.00 0.00 0 66.54 54.72 0.00 0.00 0.005 0.000 0.000 2044.72 2029.69 2059.75 188.94 2268.06 0 0 0 15.56 30.00 30.00

67.06 18983 -146.63 -1.35 -80.00 2046.3 2030.4 2062.2 189.0 2267.5 3.06 -3.21 11 144.91 51.53 7.53 3.59 0.005 0.240 0.103 3898.75 3882.81 3914.69 1171.94 833.81 0 0 0 15.40 15.43 15.49

375.61 1156 -146.63 -1.32 0.00 3901.4 3884.4 3918.4 1172.1 833.8 38.02 -11.69 67 386.41 0.00 0.00 3.58 0.000 0.000 0.034 3901.41 3884.06 3918.75 1171.81 2317.88 0 0 0 30.00 30.00 15.52

570.12 128 -146.63 -1.29 0.00 3902.0 3883.9 3920.1 1171.9 2317.9 59.02 -10.98 98 571.99 0.00 0.00 0.00 0.000 0.000 0.000 3901.94 3884.06 3919.81 1171.75 2317.94 0 0 0 30.00 30.00 30.00

760.14 128 -146.63 -1.27 0.00 3902.6 3884.5 3920.8 1171.9 2317.6 79.97 -11.02 117 762.01 0.00 0.00 0.00 0.000 0.000 0.000 3901.94 3883.62 3920.25 1172.06 2317.62 0 0 0 30.00 30.00 30.00

950.15 2177 -146.63 -1.24 0.00 3903.1 3884.4 3921.8 1172.2 2318.4 100.68 -11.15 136 952.31 0.00 0.19 0.00 0.000 0.161 0.000 3902.88 3884.50 3921.25 1201.12 2317.94 0 0 0 30.00 15.61 30.00

1140.27 160 -146.63 -1.23 0.00 3903.4 3884.4 3922.4 1201.2 2318.7 118.62 -9.40 155 1142.14 0.00 0.00 0.00 0.000 0.000 0.000 3903.22 3884.44 3922.00 1201.06 2318.12 0 0 0 30.00 30.00 30.00

1330.27 420 -146.63 -1.21 80.00 3903.7 3884.8 3922.7 1200.9 2318.4 136.54 -9.54 174 1338.88 0.00 0.00 3.59 0.000 0.000 0.099 3904.28 3885.75 3922.81 1201.06 3766.88 0 0 0 30.00 30.00 15.65

1371.92 1156 -146.63 -1.18 0.00 3903.8 3884.7 3922.9 1200.5 3766.5 141.36 -11.40 182 1379.97 0.00 0.00 3.41 0.000 0.000 0.016 3904.19 3885.06 3923.31 1201.19 2267.56 0 0 0 30.00 30.00 15.70

1468 end dive: TARGET_DEPTH_EXCEEDED

state 1468 begin apogee

1469.46 10243 0.00 -0.33 0.00 3903.8 3884.6 3923.1 1201.2 2152.5 150.64 -9.37 192 1588.48 105.32 1.48 0.09 0.884 0.115 0.165 3297.53 3242.12 3352.94 1421.75 2210.94 0 0 0 11.55 15.65 15.40

1590 end apogee: CONTROL_FINISHED_OK

state 1590 begin climb

1589.99 10759 146.63 1.35 -80.00 3295.9 3241.3 3350.5 1421.7 2210.8 153.53 0.00 203 1723.44 106.83 2.67 3.89 0.862 0.077 0.117 2698.25 2616.38 2780.12 1831.81 719.00 0 0 0 11.27 15.40 15.19

1731.52 1156 146.63 1.34 0.00 2695.4 2616.8 2774.1 1832.1 719.0 141.03 13.92 228 1739.91 0.00 0.00 3.62 0.000 0.000 0.034 2694.97 2617.44 2772.50 1831.88 2201.81 0 0 0 30.00 30.00 15.29

1927.29 16774 146.63 1.33 80.00 2691.8 2613.9 2769.6 1832.0 2201.9 112.39 14.72 248 1936.27 0.00 0.00 3.61 0.000 0.000 0.096 2694.16 2616.44 2771.88 1831.56 3650.75 0 0 0 30.00 30.00 15.46

1979.35 17542 146.63 1.29 0.00 2690.8 2614.1 2767.6 1831.6 3650.6 103.31 18.14 258 1987.55 0.00 0.00 3.45 0.000 0.000 0.018 2691.56 2614.25 2768.88 1831.50 2158.81 0 0 0 30.00 30.00 15.54

2175.18 16774 146.63 1.29 80.00 2690.0 2613.7 2766.3 1831.8 2159.0 74.96 13.41 278 2184.24 0.00 0.00 3.71 0.000 0.000 0.093 2689.66 2613.19 2766.12 1832.06 3651.19 0 0 0 30.00 30.00 15.58

2203.06 21639 146.63 1.27 0.00 2689.8 2613.6 2766.0 1831.9 3651.6 70.83 14.73 283 2212.25 0.00 0.25 3.42 0.000 0.185 0.017 2687.25 2611.38 2763.12 1801.44 2157.62 0 0 0 30.00 15.54 15.63

2393.10 16774 146.63 1.27 80.00 2689.2 2612.9 2765.6 1801.5 2157.3 49.04 10.93 303 2401.89 0.00 0.00 3.70 0.000 0.000 0.095 2683.59 2600.75 2766.44 1800.31 3651.12 0 0 0 30.00 30.00 15.64

2475.74 17542 146.63 1.26 0.00 2689.2 2612.7 2765.8 1801.6 3651.7 38.55 12.80 319 2484.32 0.00 0.00 3.42 0.000 0.000 0.018 2687.75 2611.31 2764.19 1801.25 2154.88 0 0 0 30.00 30.00 15.71

2668.16 8354 166.00 1.29 0.00 2688.8 2612.4 2765.2 1801.0 2155.1 19.49 9.10 357 2687.77 14.76 0.00 0.00 0.680 0.000 0.000 2621.38 2537.75 2705.00 1801.44 2154.94 0 0 0 11.58 30.00 30.00

2871.09 10403 289.70 1.46 0.00 2617.4 2534.4 2700.4 1801.7 2154.6 6.23 4.27 398 2969.18 86.57 0.38 0.00 0.728 0.047 0.000 2116.84 2002.69 2231.00 1864.06 2155.19 0 0 0 11.42 15.72 30.00

3078 end climb: NO_VERTICAL_VELOCITY

state 3078 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	27	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	2.6002355	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.234252	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	260623,175334,4736.018,-12256.772,1,1.0,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,175704,4736.035,-12256.730,3,1.0,6,15.4	MHEAD_RNG_PITCHd_Wd	4.7,972,-17.6,-10.000,-21.21,2209,0.159
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	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	4736.530,-12256.470	OSC	8000307

NAV	1687804032,134.6,3,stop	_24V_AH	14.86,9.747
NET	xmit part outbox0023.n 1626 6	_10V_AH	14.95,0.000
NET_PING	1687805260,29,212.226013,4.400000,-0.283565	FG_AHR_24Vo	13.373
MODEM_MSG	CACST,8,1,20230626182000.196773,18,32767,45,0104,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-34.2,-1.91,-100,4.91,-01,0.03,74,925,0025,0,-1,00,00*3E	FG_AHR_10Vo	2.608
FREEZE	4.98,14.358,-1.512,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3373.07,266.95,0.709,0,500.3,441.9,558.8,686.76	MEM2	945536,33,100952,71
SM_GC	1.98,0.00,10.80,0.38,0.000,0.038,0.067,495.3,440.2,550.5,182.6,2320.3,0,0,0,30.00,15.35,15.34	DATA_FILE_SIZE	12916,437
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	162450,0
IRIDIUM_FIX	4735.53,-12254.47,260623,165947	SDSIZE	3887104,3864224
TCM_TEMP	18.23	SDFILEDIR	266,28
SC_FREEKB	3870112	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	0,1687802400,47.60500,-122.95000,0.457,669.4	CURRENT	0.029, 45.4,1
RAFOS_FIX	4736.483398,-12257.000000,260623,181800,3,255,0.65	MAGCAL	1.000000,0.034878,-0.040571,-0.002354,1.081662,0.025377,0.015676,-0.181234,0.935683,678.0,-380.7,-237.1,33,0.0475,0
HUMID	56.46	IMPLIED_C_PITCH	1526,15.96,223,0.0,0.00
TEMP	10.65	IMPLIED_C_VBD	3422,19.370535,223,0
INTERNAL_PRESSURE	8.2778	GPS	260623,185631,4736.418,-12256.560,24,1.4,25,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	686	884	9020.93	nil	0	0	0.00
Pitch_motor	23	239	83.04	nil	0	0	0.00
Roll_motor	43	165	107.32	nil	0	0	0.00
Iridium	141	139	294.31	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.46	nil	0	0	0.00
Core	1971	5	150.90	SciCon	3083	7	356.47
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1408	0	6.74
Compass	933	5	69.78
RAFOS	1690	40	1010.76
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
6.26	16386	-146.63	-1.35	0.00	494.7	446.6	542.8	188.8	2267.2	0.00	0.00	0	66.54	54.72	0.00	0.00	0.005	0.000	0.000	2044.72	2029.69	2059.75	188.94	2268.06	0	0	0	15.56	30.00	30.00
67.06	18983	-146.63	-1.35	-80.00	2046.3	2030.4	2062.2	189.0	2267.5	3.06	-3.21	11	144.91	51.53	7.53	3.59	0.005	0.240	0.103	3898.75	3882.81	3914.69	1171.94	833.81	0	0	0	15.40	15.43	15.49
375.61	1156	-146.63	-1.32	0.00	3901.4	3884.4	3918.4	1172.1	833.8	38.02	-11.69	67	386.41	0.00	0.00	3.58	0.000	0.000	0.034	3901.41	3884.06	3918.75	1171.81	2317.88	0	0	0	30.00	30.00	15.52
570.12	128	-146.63	-1.29	0.00	3902.0	3883.9	3920.1	1171.9	2317.9	59.02	-10.98	98	571.99	0.00	0.00	0.00	0.000	0.000	0.000	3901.94	3884.06	3919.81	1171.75	2317.94	0	0	0	30.00	30.00	30.00
760.14	128	-146.63	-1.27	0.00	3902.6	3884.5	3920.8	1171.9	2317.6	79.97	-11.02	117	762.01	0.00	0.00	0.00	0.000	0.000	0.000	3901.94	3883.62	3920.25	1172.06	2317.62	0	0	0	30.00	30.00	30.00
950.15	2177	-146.63	-1.24	0.00	3903.1	3884.4	3921.8	1172.2	2318.4	100.68	-11.15	136	952.31	0.00	0.19	0.00	0.000	0.161	0.000	3902.88	3884.50	3921.25	1201.12	2317.94	0	0	0	30.00	15.61	30.00
1140.27	160	-146.63	-1.23	0.00	3903.4	3884.4	3922.4	1201.2	2318.7	118.62	-9.40	155	1142.14	0.00	0.00	0.00	0.000	0.000	0.000	3903.22	3884.44	3922.00	1201.06	2318.12	0	0	0	30.00	30.00	30.00
1330.27	420	-146.63	-1.21	80.00	3903.7	3884.8	3922.7	1200.9	2318.4	136.54	-9.54	174	1338.88	0.00	0.00	3.59	0.000	0.000	0.099	3904.28	3885.75	3922.81	1201.06	3766.88	0	0	0	30.00	30.00	15.65
1371.92	1156	-146.63	-1.18	0.00	3903.8	3884.7	3922.9	1200.5	3766.5	141.36	-11.40	182	1379.97	0.00	0.00	3.41	0.000	0.000	0.016	3904.19	3885.06	3923.31	1201.19	2267.56	0	0	0	30.00	30.00	15.70
1468	end dive: TARGET_DEPTH_EXCEEDED
state	1468	begin apogee
1469.46	10243	0.00	-0.33	0.00	3903.8	3884.6	3923.1	1201.2	2152.5	150.64	-9.37	192	1588.48	105.32	1.48	0.09	0.884	0.115	0.165	3297.53	3242.12	3352.94	1421.75	2210.94	0	0	0	11.55	15.65	15.40
1590	end apogee: CONTROL_FINISHED_OK
state	1590	begin climb
1589.99	10759	146.63	1.35	-80.00	3295.9	3241.3	3350.5	1421.7	2210.8	153.53	0.00	203	1723.44	106.83	2.67	3.89	0.862	0.077	0.117	2698.25	2616.38	2780.12	1831.81	719.00	0	0	0	11.27	15.40	15.19
1731.52	1156	146.63	1.34	0.00	2695.4	2616.8	2774.1	1832.1	719.0	141.03	13.92	228	1739.91	0.00	0.00	3.62	0.000	0.000	0.034	2694.97	2617.44	2772.50	1831.88	2201.81	0	0	0	30.00	30.00	15.29
1927.29	16774	146.63	1.33	80.00	2691.8	2613.9	2769.6	1832.0	2201.9	112.39	14.72	248	1936.27	0.00	0.00	3.61	0.000	0.000	0.096	2694.16	2616.44	2771.88	1831.56	3650.75	0	0	0	30.00	30.00	15.46
1979.35	17542	146.63	1.29	0.00	2690.8	2614.1	2767.6	1831.6	3650.6	103.31	18.14	258	1987.55	0.00	0.00	3.45	0.000	0.000	0.018	2691.56	2614.25	2768.88	1831.50	2158.81	0	0	0	30.00	30.00	15.54
2175.18	16774	146.63	1.29	80.00	2690.0	2613.7	2766.3	1831.8	2159.0	74.96	13.41	278	2184.24	0.00	0.00	3.71	0.000	0.000	0.093	2689.66	2613.19	2766.12	1832.06	3651.19	0	0	0	30.00	30.00	15.58
2203.06	21639	146.63	1.27	0.00	2689.8	2613.6	2766.0	1831.9	3651.6	70.83	14.73	283	2212.25	0.00	0.25	3.42	0.000	0.185	0.017	2687.25	2611.38	2763.12	1801.44	2157.62	0	0	0	30.00	15.54	15.63
2393.10	16774	146.63	1.27	80.00	2689.2	2612.9	2765.6	1801.5	2157.3	49.04	10.93	303	2401.89	0.00	0.00	3.70	0.000	0.000	0.095	2683.59	2600.75	2766.44	1800.31	3651.12	0	0	0	30.00	30.00	15.64
2475.74	17542	146.63	1.26	0.00	2689.2	2612.7	2765.8	1801.6	3651.7	38.55	12.80	319	2484.32	0.00	0.00	3.42	0.000	0.000	0.018	2687.75	2611.31	2764.19	1801.25	2154.88	0	0	0	30.00	30.00	15.71
2668.16	8354	166.00	1.29	0.00	2688.8	2612.4	2765.2	1801.0	2155.1	19.49	9.10	357	2687.77	14.76	0.00	0.00	0.680	0.000	0.000	2621.38	2537.75	2705.00	1801.44	2154.94	0	0	0	11.58	30.00	30.00
2871.09	10403	289.70	1.46	0.00	2617.4	2534.4	2700.4	1801.7	2154.6	6.23	4.27	398	2969.18	86.57	0.38	0.00	0.728	0.047	0.000	2116.84	2002.69	2231.00	1864.06	2155.19	0	0	0	11.42	15.72	30.00
3078	end climb: NO_VERTICAL_VELOCITY
state	3078	begin surface