Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 31 * 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 31 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 40 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 2.6380651 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 13.792125 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 40 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 2.6380651 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 13.792125 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 31 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 260623,214602,4735.943,-12256.816,2,0.7,23,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,215051,4735.985,-12256.738,2,0.6,5,15.4 MHEAD_RNG_PITCHd_Wd 359.8,1063,-17.6,-10.000,-21.21,2209,0.168

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 1687818434,92.3,3,stop _24V_AH 14.87,10.369

NET xmit part outbox0027.n 860 0 _10V_AH 14.96,0.000

NET_PING 1687818760,29,203.128494,14.100000,-0.270509 FG_AHR_24Vo 13.929

MODEM_MSG CACST,8,1,20230626222500.151819,18,32767,45,0101,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-1.4,1.75,-100,1.25,-01,-0.42,88,925,0025,0,-1,00,00*05 FG_AHR_10Vo 2.642

FREEZE 5.74,13.850,-1.531,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3435.45,291.24,0.710,0,499.4,440.6,558.2,686.99 MEM2 945520,33,100968,71

SM_GC 1.88,0.00,10.59,0.37,0.000,0.033,0.067,495.7,440.4,550.9,186.6,2321.6,0,0,0,30.00,15.37,15.36 DATA_FILE_SIZE 12930,459

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 188213,0

IRIDIUM_FIX 4736.00,-12258.89,260623,205521 SDSIZE 3887104,3862848

TCM_TEMP 18.30 SDFILEDIR 300,32

SC_FREEKB 3868832 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 0,1687816800,47.60500,-122.95000,0.352,515.8 CURRENT 0.057, 46.5,1

RAFOS_FIX 193224.093750,149701.500000,260623,222200,3,255,118141.94 MAGCAL 1.000000,0.046070,-0.056778,-0.033500,1.079394,0.048858,0.041866,-0.232485,0.920895,667.0,-375.4,-251.9,32,0.0438,0

HUMID 56.41 IMPLIED_C_PITCH 1525,16.12,227,0.0,0.00

TEMP 10.70 IMPLIED_C_VBD 3445,18.570646,227,0

INTERNAL_PRESSURE 8.27259 GPS 260623,225049,4736.405,-12256.541,1,0.8,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 680 881 8910.26 nil 0 0 0.00

Pitch_motor 22 225 76.36 nil 0 0 0.00

Roll_motor 72 164 177.19 nil 0 0 0.00

Iridium 220 152 501.97 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.27 nil 0 0 0.00

Core 2055 5 157.44 SciCon 3117 7 357.14

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1430 0 6.85

Compass 964 5 72.12

RAFOS 1691 40 1011.91

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

6.38 16386 -146.63 -1.35 0.00 494.8 442.4 547.1 185.8 2271.3 0.00 0.00 0 66.68 54.69 0.00 0.00 0.005 0.000 0.000 2066.81 2055.44 2078.19 185.81 2271.44 0 0 0 15.61 30.00 30.00

67.20 18983 -146.63 -1.35 -80.00 2069.7 2056.8 2082.6 186.1 2271.2 3.36 -4.13 11 143.69 49.55 7.38 3.62 0.005 0.225 0.101 3898.72 3884.94 3912.50 1172.25 832.94 0 0 0 15.64 15.48 15.55

372.40 1156 -146.63 -1.32 0.00 3901.8 3887.2 3916.5 1171.8 833.0 35.50 -11.12 70 380.49 0.00 0.00 3.53 0.000 0.000 0.033 3901.75 3887.38 3916.12 1172.19 2318.62 0 0 0 30.00 30.00 15.67

562.36 644 -146.63 -1.29 -80.00 3902.6 3887.4 3917.8 1172.1 2318.2 54.18 -10.36 102 571.26 0.00 0.00 3.76 0.000 0.000 0.097 3903.22 3887.75 3918.69 1171.81 833.06 0 0 0 30.00 30.00 15.64

604.37 3205 -146.63 -1.25 0.00 3902.5 3887.4 3917.7 1172.2 832.9 58.97 -11.26 110 612.75 0.00 0.17 3.51 0.000 0.162 0.031 3903.16 3887.88 3918.44 1198.81 2319.44 0 0 0 30.00 15.64 15.68

800.16 420 -146.63 -1.23 80.00 3903.4 3887.4 3919.4 1198.8 2319.4 77.20 -8.96 130 808.80 0.00 0.00 3.55 0.000 0.000 0.092 3904.12 3888.38 3919.88 1199.50 3767.12 0 0 0 30.00 30.00 15.66

861.86 1156 -146.63 -1.20 0.00 3903.6 3887.8 3919.4 1199.4 3767.6 84.62 -12.47 142 869.91 0.00 0.00 3.43 0.000 0.000 0.015 3903.38 3887.44 3919.31 1200.25 2267.06 0 0 0 30.00 30.00 15.71

1057.74 420 -146.63 -1.18 80.00 3903.9 3887.4 3920.3 1199.8 2266.6 102.95 -9.03 162 1066.45 0.00 0.00 3.67 0.000 0.000 0.090 3903.12 3887.06 3919.19 1199.44 3767.81 0 0 0 30.00 30.00 15.68

1095.25 1156 -146.63 -1.15 0.00 3903.8 3887.2 3920.3 1199.9 3768.1 107.05 -10.81 169 1103.87 0.00 0.00 3.43 0.000 0.000 0.015 3903.25 3887.38 3919.12 1200.06 2266.94 0 0 0 30.00 30.00 15.73

1290.36 2469 -146.63 -1.14 80.00 3904.2 3887.8 3920.7 1199.8 2266.0 125.67 -9.14 189 1299.54 0.00 0.17 3.68 0.000 0.154 0.093 3903.31 3887.25 3919.38 1227.12 3766.31 0 0 0 30.00 15.67 15.68

1342.64 1156 -146.63 -1.12 0.00 3904.2 3887.9 3920.6 1227.1 3766.6 131.16 -10.66 199 1350.86 0.00 0.00 3.40 0.000 0.000 0.015 3904.69 3888.06 3921.31 1227.31 2266.44 0 0 0 30.00 30.00 15.74

1538.34 32 -146.63 -1.12 0.00 3904.0 3887.4 3920.6 1227.0 2264.6 147.43 -8.23 219 1540.25 0.00 0.00 0.00 0.000 0.000 0.000 3903.97 3887.56 3920.38 1226.81 2264.88 0 0 0 30.00 30.00 30.00

1584 end dive: TARGET_DEPTH_EXCEEDED

state 1584 begin apogee

1585.99 10243 0.00 -0.33 0.00 3904.4 3887.8 3921.1 1227.2 2152.4 150.64 -8.10 223 1704.39 104.79 1.29 0.09 0.881 0.111 0.165 3297.22 3241.56 3352.88 1422.94 2214.56 0 0 0 11.39 15.68 15.38

1706 end apogee: CONTROL_FINISHED_OK

state 1706 begin climb

1706.08 10759 146.63 1.35 -80.00 3295.7 3240.9 3350.4 1422.9 2214.5 153.46 0.00 234 1837.29 106.94 2.65 3.92 0.856 0.072 0.115 2697.94 2615.88 2780.00 1831.44 721.12 0 0 0 11.42 15.41 15.20

1851.14 1156 146.63 1.33 0.00 2694.4 2615.2 2773.7 1831.2 721.3 140.47 13.94 259 1860.03 0.00 0.00 3.56 0.000 0.000 0.034 2692.56 2614.94 2770.19 1831.56 2202.06 0 0 0 30.00 30.00 15.30

2046.14 16774 146.63 1.32 80.00 2691.2 2612.8 2769.7 1831.8 2202.2 110.91 14.93 279 2055.02 0.00 0.00 3.60 0.000 0.000 0.095 2690.69 2611.94 2769.44 1831.38 3652.19 0 0 0 30.00 30.00 15.43

2103.86 17542 146.63 1.29 0.00 2690.4 2612.9 2767.8 1831.4 3651.6 100.73 18.47 290 2112.65 0.00 0.00 3.49 0.000 0.000 0.018 2690.50 2611.81 2769.19 1831.12 2158.44 0 0 0 30.00 30.00 15.51

2298.88 16774 146.63 1.28 80.00 2689.4 2611.4 2767.4 1831.4 2158.9 72.79 13.62 310 2307.85 0.00 0.00 3.68 0.000 0.000 0.092 2687.06 2609.00 2765.12 1831.44 3653.19 0 0 0 30.00 30.00 15.57

2370.94 21639 146.63 1.25 0.00 2688.9 2611.5 2766.2 1831.4 3653.1 61.06 16.22 324 2379.55 0.00 0.27 3.46 0.000 0.187 0.018 2690.00 2612.38 2767.62 1798.00 2158.69 0 0 0 30.00 15.56 15.65

2561.56 16774 146.63 1.26 80.00 2688.2 2610.6 2765.7 1797.8 2159.0 39.80 10.52 352 2570.33 0.00 0.00 3.67 0.000 0.000 0.093 2687.81 2611.62 2764.00 1797.81 3650.56 0 0 0 30.00 30.00 15.61

2634.17 17542 146.63 1.25 0.00 2688.1 2610.8 2765.4 1797.9 3650.6 30.52 12.85 366 2642.71 0.00 0.00 3.45 0.000 0.000 0.018 2687.94 2610.50 2765.38 1798.00 2157.69 0 0 0 30.00 30.00 15.68

2826.56 8614 196.17 1.32 80.00 2687.8 2610.1 2765.5 1797.9 2157.9 12.86 7.71 404 2873.87 35.32 0.00 3.70 0.720 0.000 0.093 2496.38 2404.44 2588.31 1797.19 3653.12 0 0 0 11.77 30.00 15.59

2922.81 11431 248.91 1.40 0.00 2492.8 2402.8 2582.7 1797.6 3653.1 5.95 7.56 422 2974.43 37.55 0.28 3.46 0.711 0.055 0.016 2281.66 2175.81 2387.50 1846.50 2157.62 0 0 0 11.57 15.66 15.66

3113 end climb: NO_VERTICAL_VELOCITY

state 3113 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	31	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	40	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	2.6380651	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	13.792125	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	260623,214602,4735.943,-12256.816,2,0.7,23,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,215051,4735.985,-12256.738,2,0.6,5,15.4	MHEAD_RNG_PITCHd_Wd	359.8,1063,-17.6,-10.000,-21.21,2209,0.168
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	1687818434,92.3,3,stop	_24V_AH	14.87,10.369
NET	xmit part outbox0027.n 860 0	_10V_AH	14.96,0.000
NET_PING	1687818760,29,203.128494,14.100000,-0.270509	FG_AHR_24Vo	13.929
MODEM_MSG	CACST,8,1,20230626222500.151819,18,32767,45,0101,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-1.4,1.75,-100,1.25,-01,-0.42,88,925,0025,0,-1,00,00*05	FG_AHR_10Vo	2.642
FREEZE	5.74,13.850,-1.531,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3435.45,291.24,0.710,0,499.4,440.6,558.2,686.99	MEM2	945520,33,100968,71
SM_GC	1.88,0.00,10.59,0.37,0.000,0.033,0.067,495.7,440.4,550.9,186.6,2321.6,0,0,0,30.00,15.37,15.36	DATA_FILE_SIZE	12930,459
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	188213,0
IRIDIUM_FIX	4736.00,-12258.89,260623,205521	SDSIZE	3887104,3862848
TCM_TEMP	18.30	SDFILEDIR	300,32
SC_FREEKB	3868832	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	0,1687816800,47.60500,-122.95000,0.352,515.8	CURRENT	0.057, 46.5,1
RAFOS_FIX	193224.093750,149701.500000,260623,222200,3,255,118141.94	MAGCAL	1.000000,0.046070,-0.056778,-0.033500,1.079394,0.048858,0.041866,-0.232485,0.920895,667.0,-375.4,-251.9,32,0.0438,0
HUMID	56.41	IMPLIED_C_PITCH	1525,16.12,227,0.0,0.00
TEMP	10.70	IMPLIED_C_VBD	3445,18.570646,227,0
INTERNAL_PRESSURE	8.27259	GPS	260623,225049,4736.405,-12256.541,1,0.8,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	680	881	8910.26	nil	0	0	0.00
Pitch_motor	22	225	76.36	nil	0	0	0.00
Roll_motor	72	164	177.19	nil	0	0	0.00
Iridium	220	152	501.97	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.27	nil	0	0	0.00
Core	2055	5	157.44	SciCon	3117	7	357.14
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1430	0	6.85
Compass	964	5	72.12
RAFOS	1691	40	1011.91
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
6.38	16386	-146.63	-1.35	0.00	494.8	442.4	547.1	185.8	2271.3	0.00	0.00	0	66.68	54.69	0.00	0.00	0.005	0.000	0.000	2066.81	2055.44	2078.19	185.81	2271.44	0	0	0	15.61	30.00	30.00
67.20	18983	-146.63	-1.35	-80.00	2069.7	2056.8	2082.6	186.1	2271.2	3.36	-4.13	11	143.69	49.55	7.38	3.62	0.005	0.225	0.101	3898.72	3884.94	3912.50	1172.25	832.94	0	0	0	15.64	15.48	15.55
372.40	1156	-146.63	-1.32	0.00	3901.8	3887.2	3916.5	1171.8	833.0	35.50	-11.12	70	380.49	0.00	0.00	3.53	0.000	0.000	0.033	3901.75	3887.38	3916.12	1172.19	2318.62	0	0	0	30.00	30.00	15.67
562.36	644	-146.63	-1.29	-80.00	3902.6	3887.4	3917.8	1172.1	2318.2	54.18	-10.36	102	571.26	0.00	0.00	3.76	0.000	0.000	0.097	3903.22	3887.75	3918.69	1171.81	833.06	0	0	0	30.00	30.00	15.64
604.37	3205	-146.63	-1.25	0.00	3902.5	3887.4	3917.7	1172.2	832.9	58.97	-11.26	110	612.75	0.00	0.17	3.51	0.000	0.162	0.031	3903.16	3887.88	3918.44	1198.81	2319.44	0	0	0	30.00	15.64	15.68
800.16	420	-146.63	-1.23	80.00	3903.4	3887.4	3919.4	1198.8	2319.4	77.20	-8.96	130	808.80	0.00	0.00	3.55	0.000	0.000	0.092	3904.12	3888.38	3919.88	1199.50	3767.12	0	0	0	30.00	30.00	15.66
861.86	1156	-146.63	-1.20	0.00	3903.6	3887.8	3919.4	1199.4	3767.6	84.62	-12.47	142	869.91	0.00	0.00	3.43	0.000	0.000	0.015	3903.38	3887.44	3919.31	1200.25	2267.06	0	0	0	30.00	30.00	15.71
1057.74	420	-146.63	-1.18	80.00	3903.9	3887.4	3920.3	1199.8	2266.6	102.95	-9.03	162	1066.45	0.00	0.00	3.67	0.000	0.000	0.090	3903.12	3887.06	3919.19	1199.44	3767.81	0	0	0	30.00	30.00	15.68
1095.25	1156	-146.63	-1.15	0.00	3903.8	3887.2	3920.3	1199.9	3768.1	107.05	-10.81	169	1103.87	0.00	0.00	3.43	0.000	0.000	0.015	3903.25	3887.38	3919.12	1200.06	2266.94	0	0	0	30.00	30.00	15.73
1290.36	2469	-146.63	-1.14	80.00	3904.2	3887.8	3920.7	1199.8	2266.0	125.67	-9.14	189	1299.54	0.00	0.17	3.68	0.000	0.154	0.093	3903.31	3887.25	3919.38	1227.12	3766.31	0	0	0	30.00	15.67	15.68
1342.64	1156	-146.63	-1.12	0.00	3904.2	3887.9	3920.6	1227.1	3766.6	131.16	-10.66	199	1350.86	0.00	0.00	3.40	0.000	0.000	0.015	3904.69	3888.06	3921.31	1227.31	2266.44	0	0	0	30.00	30.00	15.74
1538.34	32	-146.63	-1.12	0.00	3904.0	3887.4	3920.6	1227.0	2264.6	147.43	-8.23	219	1540.25	0.00	0.00	0.00	0.000	0.000	0.000	3903.97	3887.56	3920.38	1226.81	2264.88	0	0	0	30.00	30.00	30.00
1584	end dive: TARGET_DEPTH_EXCEEDED
state	1584	begin apogee
1585.99	10243	0.00	-0.33	0.00	3904.4	3887.8	3921.1	1227.2	2152.4	150.64	-8.10	223	1704.39	104.79	1.29	0.09	0.881	0.111	0.165	3297.22	3241.56	3352.88	1422.94	2214.56	0	0	0	11.39	15.68	15.38
1706	end apogee: CONTROL_FINISHED_OK
state	1706	begin climb
1706.08	10759	146.63	1.35	-80.00	3295.7	3240.9	3350.4	1422.9	2214.5	153.46	0.00	234	1837.29	106.94	2.65	3.92	0.856	0.072	0.115	2697.94	2615.88	2780.00	1831.44	721.12	0	0	0	11.42	15.41	15.20
1851.14	1156	146.63	1.33	0.00	2694.4	2615.2	2773.7	1831.2	721.3	140.47	13.94	259	1860.03	0.00	0.00	3.56	0.000	0.000	0.034	2692.56	2614.94	2770.19	1831.56	2202.06	0	0	0	30.00	30.00	15.30
2046.14	16774	146.63	1.32	80.00	2691.2	2612.8	2769.7	1831.8	2202.2	110.91	14.93	279	2055.02	0.00	0.00	3.60	0.000	0.000	0.095	2690.69	2611.94	2769.44	1831.38	3652.19	0	0	0	30.00	30.00	15.43
2103.86	17542	146.63	1.29	0.00	2690.4	2612.9	2767.8	1831.4	3651.6	100.73	18.47	290	2112.65	0.00	0.00	3.49	0.000	0.000	0.018	2690.50	2611.81	2769.19	1831.12	2158.44	0	0	0	30.00	30.00	15.51
2298.88	16774	146.63	1.28	80.00	2689.4	2611.4	2767.4	1831.4	2158.9	72.79	13.62	310	2307.85	0.00	0.00	3.68	0.000	0.000	0.092	2687.06	2609.00	2765.12	1831.44	3653.19	0	0	0	30.00	30.00	15.57
2370.94	21639	146.63	1.25	0.00	2688.9	2611.5	2766.2	1831.4	3653.1	61.06	16.22	324	2379.55	0.00	0.27	3.46	0.000	0.187	0.018	2690.00	2612.38	2767.62	1798.00	2158.69	0	0	0	30.00	15.56	15.65
2561.56	16774	146.63	1.26	80.00	2688.2	2610.6	2765.7	1797.8	2159.0	39.80	10.52	352	2570.33	0.00	0.00	3.67	0.000	0.000	0.093	2687.81	2611.62	2764.00	1797.81	3650.56	0	0	0	30.00	30.00	15.61
2634.17	17542	146.63	1.25	0.00	2688.1	2610.8	2765.4	1797.9	3650.6	30.52	12.85	366	2642.71	0.00	0.00	3.45	0.000	0.000	0.018	2687.94	2610.50	2765.38	1798.00	2157.69	0	0	0	30.00	30.00	15.68
2826.56	8614	196.17	1.32	80.00	2687.8	2610.1	2765.5	1797.9	2157.9	12.86	7.71	404	2873.87	35.32	0.00	3.70	0.720	0.000	0.093	2496.38	2404.44	2588.31	1797.19	3653.12	0	0	0	11.77	30.00	15.59
2922.81	11431	248.91	1.40	0.00	2492.8	2402.8	2582.7	1797.6	3653.1	5.95	7.56	422	2974.43	37.55	0.28	3.46	0.711	0.055	0.016	2281.66	2175.81	2387.50	1846.50	2157.62	0	0	0	11.57	15.66	15.66
3113	end climb: NO_VERTICAL_VELOCITY
state	3113	begin surface