Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 28 * 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 28 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 2.6077144 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.378339 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 2.6077144 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.378339 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 28 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 260623,185631,4736.418,-12256.560,24,1.4,25,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,190001,4736.439,-12256.518,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 188.5,971,-17.6,-10.000,-21.21,2209,0.117

SPEED_LIMITS 0.173,0.258 D_GRID 168

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 1687809671,0.1,start _24V_AH 14.85,9.908

NET CACST,8,1,20230626193236.740798,18,32767,45,0103,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,14.9,2.43,-100,0.57,-01,0.11,70,10000,5000,0,-1,00,00*5B _10V_AH 14.91,0.000

NET_PING 1687807069,29,242.911514,12.200000,-0.322649 FG_AHR_24Vo 13.517

MODEM_MSG CACST,8,0,20230626192500.169708,18,32767,45,0145,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-7.8,6.52,-100,-3.52,-01,0.09,90,925,0025,0,1,00,00*05 FG_AHR_10Vo 2.619

FREEZE 4.72,14.109,-1.523,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3521.92,258.16,0.708,0,501.0,443.1,558.8,686.60 MEM2 945580,29,100988,71

SM_GC 1.75,0.00,11.31,0.37,0.000,0.050,0.066,495.4,441.1,549.7,186.4,2321.2,0,0,0,30.00,15.35,15.36 DATA_FILE_SIZE 12951,467

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 171585,0

IRIDIUM_FIX 4734.96,-12238.55,260623,175454 SDSIZE 3887104,3863840

TCM_TEMP 18.34 SDFILEDIR 275,29

SC_FREEKB 3869792 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 1,1687806600,47.60500,-122.95000,0.170,248.9 CURRENT 0.019, 1.9,1

RAFOS_FIX 4736.225586,-12256.685547,260623,191900,3,255,0.30 MAGCAL 1.000000,0.044807,-0.038355,-0.018725,1.041371,-0.044847,-0.002066,0.032764,1.097237,661.3,-344.6,-376.7,34,0.0527,0

HUMID 56.44 IMPLIED_C_PITCH 1532,15.65,237,0.0,0.00

TEMP 10.80 IMPLIED_C_VBD 3410,23.376234,237,0

INTERNAL_PRESSURE 8.28852 GPS 260623,200147,4736.137,-12256.750,1,0.8,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 682 886 8988.43 nil 0 0 0.00

Pitch_motor 23 233 82.20 nil 0 0 0.00

Roll_motor 50 182 137.79 nil 0 0 0.00

Iridium 142 144 305.14 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.14 nil 0 0 0.00

Core 2116 5 161.53 SciCon 3241 7 371.22

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1423 0 6.79

Compass 984 5 73.39

RAFOS 1598 40 953.42

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 0.00 492.8 440.2 545.3 182.8 2271.2 0.00 0.00 0 62.73 51.06 0.00 0.00 0.005 0.000 0.000 1955.16 1940.12 1970.19 182.50 2271.50 0 0 0 15.38 30.00 30.00

63.24 18727 -146.63 -1.35 80.00 1957.8 1940.1 1975.5 182.7 2271.4 3.02 -2.62 8 143.01 53.38 7.50 3.73 0.005 0.234 0.093 3898.72 3884.62 3912.81 1172.12 3768.19 0 0 0 14.85 15.45 14.46

176.67 1156 -146.63 -1.28 0.00 3901.5 3886.2 3916.8 1172.2 3767.9 14.88 -15.50 28 184.68 0.00 0.00 3.42 0.000 0.000 0.015 3902.00 3886.94 3917.06 1172.00 2266.06 0 0 0 30.00 30.00 15.57

368.29 2437 -146.63 -1.25 80.00 3902.3 3886.3 3918.4 1172.0 2265.3 36.76 -11.42 66 377.35 0.00 0.17 3.73 0.000 0.166 0.092 3901.72 3885.38 3918.06 1199.00 3766.69 0 0 0 30.00 15.58 15.59

411.15 1156 -146.63 -1.21 0.00 3902.5 3886.2 3918.8 1199.0 3766.9 42.02 -12.58 74 419.43 0.00 0.00 3.40 0.000 0.000 0.014 3901.84 3885.38 3918.31 1198.38 2267.31 0 0 0 30.00 30.00 15.64

603.25 160 -146.63 -1.19 0.00 3903.0 3886.1 3919.8 1198.8 2266.0 61.33 -9.75 101 605.13 0.00 0.00 0.00 0.000 0.000 0.000 3902.75 3885.81 3919.69 1198.81 2266.00 0 0 0 30.00 30.00 30.00

793.27 420 -146.63 -1.17 80.00 3903.2 3886.0 3920.4 1198.6 2266.3 79.69 -9.61 120 802.06 0.00 0.00 3.72 0.000 0.000 0.095 3902.81 3885.75 3919.88 1199.06 3766.38 0 0 0 30.00 30.00 15.64

850.86 3205 -146.63 -1.14 0.00 3903.4 3886.4 3920.5 1198.9 3766.9 86.56 -12.42 131 859.79 0.00 0.17 3.40 0.000 0.161 0.014 3903.56 3886.38 3920.75 1226.88 2267.31 0 0 0 30.00 15.65 15.69

1041.04 160 -146.63 -1.13 0.00 3904.2 3886.3 3922.2 1226.8 2265.9 102.90 -8.39 150 1044.82 0.00 0.00 0.00 0.000 0.000 0.000 3904.19 3886.56 3921.81 1226.69 2266.38 0 0 0 30.00 30.00 30.00

1226.83 420 -146.63 -1.13 80.00 3904.3 3886.2 3922.4 1226.8 2266.1 118.42 -7.94 169 1235.63 0.00 0.00 3.78 0.000 0.000 0.100 3904.66 3886.44 3922.88 1226.81 3766.69 0 0 0 30.00 30.00 15.48

1318.77 1156 -146.63 -1.11 0.00 3904.4 3886.5 3922.3 1227.0 3766.8 127.39 -10.13 187 1326.96 0.00 0.00 3.44 0.000 0.000 0.015 3862.72 3802.69 3922.75 1227.00 2267.12 0 0 0 30.00 30.00 15.58

1514.45 292 -146.63 -1.11 80.00 3904.5 3886.2 3922.8 1227.1 2267.4 144.19 -8.70 207 1523.62 0.00 0.00 3.74 0.000 0.000 0.097 3905.31 3887.75 3922.88 1227.00 3766.69 0 0 0 30.00 30.00 15.58

1546.71 1156 -146.63 -1.09 0.00 3904.4 3886.2 3922.6 1227.1 3767.2 147.61 -10.33 213 1554.93 0.00 0.00 3.45 0.000 0.000 0.015 3904.62 3886.38 3922.88 1226.12 2267.12 0 0 0 30.00 30.00 15.63

1582 end dive: TARGET_DEPTH_EXCEEDED

state 1582 begin apogee

1584.28 10243 0.00 -0.33 0.00 3904.8 3886.8 3922.7 1226.8 2155.2 150.83 -9.28 217 1703.65 105.96 1.31 0.09 0.887 0.112 0.183 3299.81 3244.25 3355.38 1421.69 2208.69 0 0 0 11.50 15.60 15.36

1705 end apogee: CONTROL_FINISHED_OK

state 1705 begin climb

1705.18 10243 146.63 1.35 0.00 3295.8 3240.9 3350.6 1421.2 2208.6 154.09 0.00 228 1831.49 107.14 2.65 0.00 0.869 0.075 0.000 2699.47 2616.69 2782.25 1831.31 2208.62 0 0 0 11.33 15.38 30.00

2018.24 16514 146.63 1.34 -80.00 2691.5 2612.8 2770.3 1831.6 2208.4 118.58 14.94 267 2020.14 0.00 0.00 0.00 0.000 0.000 0.000 2690.25 2611.75 2768.75 1831.94 2209.00 0 0 0 30.00 30.00 30.00

2208.25 16774 146.63 1.34 80.00 2690.3 2612.6 2768.0 1831.3 2208.6 90.91 14.17 286 2217.11 0.00 0.00 3.60 0.000 0.000 0.096 2687.75 2609.88 2765.62 1831.12 3651.38 0 0 0 30.00 30.00 15.54

2285.97 17542 146.63 1.31 0.00 2689.8 2612.5 2767.0 1831.6 3651.4 78.29 16.59 301 2294.74 0.00 0.00 3.47 0.000 0.000 0.018 2690.75 2613.19 2768.31 1831.50 2158.50 0 0 0 30.00 30.00 15.63

2480.98 16514 146.63 1.30 0.00 2688.9 2611.5 2766.3 1831.0 2158.7 52.34 12.79 321 2482.89 0.00 0.00 0.00 0.000 0.000 0.000 2687.56 2610.00 2765.12 1831.62 2158.62 0 0 0 30.00 30.00 30.00

2665.82 16646 146.63 1.30 80.00 2688.6 2611.1 2766.0 1831.3 2158.8 30.21 11.02 356 2674.71 0.00 0.00 3.68 0.000 0.000 0.093 2688.66 2610.31 2767.00 1831.19 3650.69 0 0 0 30.00 30.00 15.68

2738.53 17542 146.63 1.28 0.00 2688.2 2610.8 2765.6 1831.6 3651.3 21.00 12.78 370 2747.06 0.00 0.00 3.44 0.000 0.000 0.018 2687.94 2610.56 2765.31 1831.38 2158.62 0 0 0 30.00 30.00 15.74

2932.18 8354 268.64 1.44 0.00 2687.6 2610.1 2765.1 1831.8 2158.5 6.31 4.35 408 3025.68 84.24 0.00 0.00 0.729 0.000 0.000 2204.78 2093.62 2315.94 1831.50 2159.06 0 0 0 11.38 30.00 30.00

3209.53 10663 479.14 1.73 80.00 2192.0 2086.2 2297.8 1831.3 2159.2 4.79 0.25 462 3236.48 22.72 0.57 0.00 0.690 0.045 0.000 2075.12 1962.62 2187.62 1929.31 2158.94 0 0 0 11.46 15.65 30.00

3237 end climb: NO_VERTICAL_VELOCITY

state 3237 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	28	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	2.6077144	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.378339	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	260623,185631,4736.418,-12256.560,24,1.4,25,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,190001,4736.439,-12256.518,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	188.5,971,-17.6,-10.000,-21.21,2209,0.117
SPEED_LIMITS	0.173,0.258	D_GRID	168
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	1687809671,0.1,start	_24V_AH	14.85,9.908
NET	CACST,8,1,20230626193236.740798,18,32767,45,0103,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,14.9,2.43,-100,0.57,-01,0.11,70,10000,5000,0,-1,00,00*5B	_10V_AH	14.91,0.000
NET_PING	1687807069,29,242.911514,12.200000,-0.322649	FG_AHR_24Vo	13.517
MODEM_MSG	CACST,8,0,20230626192500.169708,18,32767,45,0145,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-7.8,6.52,-100,-3.52,-01,0.09,90,925,0025,0,1,00,00*05	FG_AHR_10Vo	2.619
FREEZE	4.72,14.109,-1.523,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3521.92,258.16,0.708,0,501.0,443.1,558.8,686.60	MEM2	945580,29,100988,71
SM_GC	1.75,0.00,11.31,0.37,0.000,0.050,0.066,495.4,441.1,549.7,186.4,2321.2,0,0,0,30.00,15.35,15.36	DATA_FILE_SIZE	12951,467
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	171585,0
IRIDIUM_FIX	4734.96,-12238.55,260623,175454	SDSIZE	3887104,3863840
TCM_TEMP	18.34	SDFILEDIR	275,29
SC_FREEKB	3869792	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	1,1687806600,47.60500,-122.95000,0.170,248.9	CURRENT	0.019, 1.9,1
RAFOS_FIX	4736.225586,-12256.685547,260623,191900,3,255,0.30	MAGCAL	1.000000,0.044807,-0.038355,-0.018725,1.041371,-0.044847,-0.002066,0.032764,1.097237,661.3,-344.6,-376.7,34,0.0527,0
HUMID	56.44	IMPLIED_C_PITCH	1532,15.65,237,0.0,0.00
TEMP	10.80	IMPLIED_C_VBD	3410,23.376234,237,0
INTERNAL_PRESSURE	8.28852	GPS	260623,200147,4736.137,-12256.750,1,0.8,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	682	886	8988.43	nil	0	0	0.00
Pitch_motor	23	233	82.20	nil	0	0	0.00
Roll_motor	50	182	137.79	nil	0	0	0.00
Iridium	142	144	305.14	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.14	nil	0	0	0.00
Core	2116	5	161.53	SciCon	3241	7	371.22
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1423	0	6.79
Compass	984	5	73.39
RAFOS	1598	40	953.42
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	492.8	440.2	545.3	182.8	2271.2	0.00	0.00	0	62.73	51.06	0.00	0.00	0.005	0.000	0.000	1955.16	1940.12	1970.19	182.50	2271.50	0	0	0	15.38	30.00	30.00
63.24	18727	-146.63	-1.35	80.00	1957.8	1940.1	1975.5	182.7	2271.4	3.02	-2.62	8	143.01	53.38	7.50	3.73	0.005	0.234	0.093	3898.72	3884.62	3912.81	1172.12	3768.19	0	0	0	14.85	15.45	14.46
176.67	1156	-146.63	-1.28	0.00	3901.5	3886.2	3916.8	1172.2	3767.9	14.88	-15.50	28	184.68	0.00	0.00	3.42	0.000	0.000	0.015	3902.00	3886.94	3917.06	1172.00	2266.06	0	0	0	30.00	30.00	15.57
368.29	2437	-146.63	-1.25	80.00	3902.3	3886.3	3918.4	1172.0	2265.3	36.76	-11.42	66	377.35	0.00	0.17	3.73	0.000	0.166	0.092	3901.72	3885.38	3918.06	1199.00	3766.69	0	0	0	30.00	15.58	15.59
411.15	1156	-146.63	-1.21	0.00	3902.5	3886.2	3918.8	1199.0	3766.9	42.02	-12.58	74	419.43	0.00	0.00	3.40	0.000	0.000	0.014	3901.84	3885.38	3918.31	1198.38	2267.31	0	0	0	30.00	30.00	15.64
603.25	160	-146.63	-1.19	0.00	3903.0	3886.1	3919.8	1198.8	2266.0	61.33	-9.75	101	605.13	0.00	0.00	0.00	0.000	0.000	0.000	3902.75	3885.81	3919.69	1198.81	2266.00	0	0	0	30.00	30.00	30.00
793.27	420	-146.63	-1.17	80.00	3903.2	3886.0	3920.4	1198.6	2266.3	79.69	-9.61	120	802.06	0.00	0.00	3.72	0.000	0.000	0.095	3902.81	3885.75	3919.88	1199.06	3766.38	0	0	0	30.00	30.00	15.64
850.86	3205	-146.63	-1.14	0.00	3903.4	3886.4	3920.5	1198.9	3766.9	86.56	-12.42	131	859.79	0.00	0.17	3.40	0.000	0.161	0.014	3903.56	3886.38	3920.75	1226.88	2267.31	0	0	0	30.00	15.65	15.69
1041.04	160	-146.63	-1.13	0.00	3904.2	3886.3	3922.2	1226.8	2265.9	102.90	-8.39	150	1044.82	0.00	0.00	0.00	0.000	0.000	0.000	3904.19	3886.56	3921.81	1226.69	2266.38	0	0	0	30.00	30.00	30.00
1226.83	420	-146.63	-1.13	80.00	3904.3	3886.2	3922.4	1226.8	2266.1	118.42	-7.94	169	1235.63	0.00	0.00	3.78	0.000	0.000	0.100	3904.66	3886.44	3922.88	1226.81	3766.69	0	0	0	30.00	30.00	15.48
1318.77	1156	-146.63	-1.11	0.00	3904.4	3886.5	3922.3	1227.0	3766.8	127.39	-10.13	187	1326.96	0.00	0.00	3.44	0.000	0.000	0.015	3862.72	3802.69	3922.75	1227.00	2267.12	0	0	0	30.00	30.00	15.58
1514.45	292	-146.63	-1.11	80.00	3904.5	3886.2	3922.8	1227.1	2267.4	144.19	-8.70	207	1523.62	0.00	0.00	3.74	0.000	0.000	0.097	3905.31	3887.75	3922.88	1227.00	3766.69	0	0	0	30.00	30.00	15.58
1546.71	1156	-146.63	-1.09	0.00	3904.4	3886.2	3922.6	1227.1	3767.2	147.61	-10.33	213	1554.93	0.00	0.00	3.45	0.000	0.000	0.015	3904.62	3886.38	3922.88	1226.12	2267.12	0	0	0	30.00	30.00	15.63
1582	end dive: TARGET_DEPTH_EXCEEDED
state	1582	begin apogee
1584.28	10243	0.00	-0.33	0.00	3904.8	3886.8	3922.7	1226.8	2155.2	150.83	-9.28	217	1703.65	105.96	1.31	0.09	0.887	0.112	0.183	3299.81	3244.25	3355.38	1421.69	2208.69	0	0	0	11.50	15.60	15.36
1705	end apogee: CONTROL_FINISHED_OK
state	1705	begin climb
1705.18	10243	146.63	1.35	0.00	3295.8	3240.9	3350.6	1421.2	2208.6	154.09	0.00	228	1831.49	107.14	2.65	0.00	0.869	0.075	0.000	2699.47	2616.69	2782.25	1831.31	2208.62	0	0	0	11.33	15.38	30.00
2018.24	16514	146.63	1.34	-80.00	2691.5	2612.8	2770.3	1831.6	2208.4	118.58	14.94	267	2020.14	0.00	0.00	0.00	0.000	0.000	0.000	2690.25	2611.75	2768.75	1831.94	2209.00	0	0	0	30.00	30.00	30.00
2208.25	16774	146.63	1.34	80.00	2690.3	2612.6	2768.0	1831.3	2208.6	90.91	14.17	286	2217.11	0.00	0.00	3.60	0.000	0.000	0.096	2687.75	2609.88	2765.62	1831.12	3651.38	0	0	0	30.00	30.00	15.54
2285.97	17542	146.63	1.31	0.00	2689.8	2612.5	2767.0	1831.6	3651.4	78.29	16.59	301	2294.74	0.00	0.00	3.47	0.000	0.000	0.018	2690.75	2613.19	2768.31	1831.50	2158.50	0	0	0	30.00	30.00	15.63
2480.98	16514	146.63	1.30	0.00	2688.9	2611.5	2766.3	1831.0	2158.7	52.34	12.79	321	2482.89	0.00	0.00	0.00	0.000	0.000	0.000	2687.56	2610.00	2765.12	1831.62	2158.62	0	0	0	30.00	30.00	30.00
2665.82	16646	146.63	1.30	80.00	2688.6	2611.1	2766.0	1831.3	2158.8	30.21	11.02	356	2674.71	0.00	0.00	3.68	0.000	0.000	0.093	2688.66	2610.31	2767.00	1831.19	3650.69	0	0	0	30.00	30.00	15.68
2738.53	17542	146.63	1.28	0.00	2688.2	2610.8	2765.6	1831.6	3651.3	21.00	12.78	370	2747.06	0.00	0.00	3.44	0.000	0.000	0.018	2687.94	2610.56	2765.31	1831.38	2158.62	0	0	0	30.00	30.00	15.74
2932.18	8354	268.64	1.44	0.00	2687.6	2610.1	2765.1	1831.8	2158.5	6.31	4.35	408	3025.68	84.24	0.00	0.00	0.729	0.000	0.000	2204.78	2093.62	2315.94	1831.50	2159.06	0	0	0	11.38	30.00	30.00
3209.53	10663	479.14	1.73	80.00	2192.0	2086.2	2297.8	1831.3	2159.2	4.79	0.25	462	3236.48	22.72	0.57	0.00	0.690	0.045	0.000	2075.12	1962.62	2187.62	1929.31	2158.94	0	0	0	11.46	15.65	30.00
3237	end climb: NO_VERTICAL_VELOCITY
state	3237	begin surface