Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 33 * 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 33 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 2.6505182 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 14.078584 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 2.6505182 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.078584 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 33 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 260623,235800,4736.161,-12256.696,5,1.5,35,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,000123,4736.169,-12256.706,2,0.6,3,15.4 MHEAD_RNG_PITCHd_Wd 179.5,422,-27.2,-10.000,-30.00,969,0.139

SPEED_LIMITS 0.173,0.258 D_GRID 166

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 8000307

Post-dive calculations and measurements:

NAV 1687825634,87.6,2,stop _24V_AH 14.87,10.682

NET xmit part outbox0029.n 953 0 _10V_AH 14.97,0.000

NET_PING 1687825962,29,797.814026,6.200000,-1.062612 FG_AHR_24Vo 14.211

MODEM_MSG CACST,8,0,20230627002500.577002,18,32767,45,0103,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,1.8,10.24,-100,-7.24,-01,0.24,86,925,0025,0,1,00,00*12 FG_AHR_10Vo 2.655

FREEZE 4.98,13.707,-1.538,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2762.99,271.89,0.703,0,500.5,442.7,558.4,686.71 MEM2 945388,39,100980,71

SM_GC 1.45,0.00,11.89,0.38,0.000,0.037,0.060,495.2,441.3,549.0,186.6,2320.8,0,0,0,30.00,15.34,15.35 DATA_FILE_SIZE 9717,372

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 152884,0

IRIDIUM_FIX 4735.53,-12254.47,260623,225409 SDSIZE 3887104,3862208

TCM_TEMP 18.56 SDFILEDIR 317,34

SC_FREEKB 3868192 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 1,1687824600,47.60500,-122.95000,0.348,510.4 CURRENT 0.020,283.7,1

RAFOS_FIX 4736.252930,-12256.948242,270623,000000,2,510,0.24 MAGCAL 1.000000,0.033401,-0.031463,-0.030677,1.050235,-0.073923,0.069853,-0.063743,0.996094,657.3,-304.9,-296.2,32,0.0319,0

HUMID 56.25 IMPLIED_C_PITCH 1534,15.74,154,0.0,0.00

TEMP 11.17 IMPLIED_C_VBD 3346,14.284677,115,0

INTERNAL_PRESSURE 8.28703 GPS 270623,005021,4735.921,-12256.849,2,0.7,5,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 657 880 8608.66 nil 0 0 0.00

Pitch_motor 25 240 89.78 nil 0 0 0.00

Roll_motor 48 181 130.06 nil 0 0 0.00

Iridium 136 153 310.32 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.95 nil 0 0 0.00

Core 1695 5 129.92 SciCon 2467 7 284.77

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1061 0 5.08

Compass 804 5 60.24

RAFOS 1508 40 903.25

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

6.61 16386 -63.69 -1.89 0.00 493.0 439.9 546.1 186.4 2268.6 0.00 0.00 0 60.42 48.76 0.00 0.00 0.005 0.000 0.000 1906.53 1895.44 1917.62 186.31 2268.81 0 0 0 14.39 30.00 30.00

60.95 18983 -121.07 -1.96 -80.00 1910.7 1895.2 1926.1 186.4 2268.9 3.54 -3.94 7 136.78 50.24 6.43 3.62 0.005 0.241 0.099 3795.47 3780.38 3810.56 1024.62 833.81 0 0 0 14.92 15.42 15.49

140.46 1156 -121.07 -1.91 0.00 3795.5 3779.9 3811.1 1024.7 834.1 11.75 -14.52 21 148.52 0.00 0.00 3.54 0.000 0.000 0.033 3796.25 3780.75 3811.75 1024.50 2319.88 0 0 0 30.00 30.00 15.53

332.12 388 -121.07 -1.88 80.00 3797.2 3780.2 3814.3 1024.7 2319.4 43.04 -16.03 59 340.67 0.00 0.00 3.54 0.000 0.000 0.089 3797.00 3780.06 3813.94 1025.12 3768.56 0 0 0 30.00 30.00 15.56

389.46 3205 -121.07 -1.83 0.00 3797.3 3780.2 3814.4 1025.1 3769.2 53.88 -19.47 70 398.45 0.00 0.24 3.43 0.000 0.187 0.015 3796.78 3780.00 3813.56 1057.94 2268.12 0 0 0 30.00 15.54 15.61

584.48 388 -121.07 -1.81 80.00 3798.1 3780.7 3815.6 1058.5 2267.4 83.80 -15.46 90 593.31 0.00 0.00 3.65 0.000 0.000 0.087 3797.47 3779.81 3815.12 1058.81 3767.94 0 0 0 30.00 30.00 15.61

632.11 1156 -121.07 -1.77 0.00 3798.0 3780.5 3815.4 1058.6 3767.8 92.53 -18.93 99 640.72 0.00 0.00 3.42 0.000 0.000 0.015 3797.19 3779.56 3814.81 1058.62 2267.50 0 0 0 30.00 30.00 15.66

827.13 128 -121.07 -1.76 0.00 3798.4 3780.4 3816.4 1058.8 2266.8 121.86 -14.42 119 829.00 0.00 0.00 0.00 0.000 0.000 0.000 3797.81 3779.75 3815.88 1058.50 2267.06 0 0 0 30.00 30.00 30.00

1017.16 388 -121.07 -1.76 80.00 3798.6 3780.1 3817.0 1058.4 2266.3 149.66 -14.88 138 1022.84 0.00 0.00 2.46 0.000 0.000 0.081 3799.12 3780.44 3817.81 1058.94 3271.88 0 0 0 30.00 30.00 15.65

1023 end dive: TARGET_DEPTH_EXCEEDED

state 1023 begin apogee

1029.46 10243 0.00 -0.33 0.00 3798.7 3780.6 3816.8 1058.4 2157.2 150.31 -14.77 139 1133.80 88.24 2.51 0.09 0.880 0.145 0.181 3298.91 3245.12 3352.69 1420.56 2209.56 0 0 0 11.61 15.63 15.42

1135 end apogee: CONTROL_FINISHED_OK

state 1135 begin climb

1135.37 10759 121.07 1.96 -80.00 3296.0 3243.1 3348.9 1420.4 2209.4 154.58 0.00 149 1249.95 88.50 3.65 3.89 0.864 0.072 0.111 2805.22 2727.25 2883.19 1979.38 718.94 0 0 0 11.38 15.44 15.22

1298.80 17542 121.07 1.94 0.00 2797.5 2724.8 2870.1 1979.0 718.8 132.54 21.01 178 1307.68 0.00 0.00 3.56 0.000 0.000 0.034 2794.97 2722.50 2867.44 1979.12 2204.44 0 0 0 30.00 30.00 15.36

1493.62 16646 121.07 1.94 80.00 2795.0 2720.4 2869.6 1978.9 2204.0 93.34 19.55 198 1502.70 0.00 0.00 3.57 0.000 0.000 0.090 2796.84 2721.50 2872.19 1978.19 3653.00 0 0 0 30.00 30.00 15.47

1561.55 17542 121.07 1.91 0.00 2794.5 2720.6 2868.4 1979.2 3653.1 78.44 22.75 211 1570.33 0.00 0.00 3.45 0.000 0.000 0.017 2793.03 2719.44 2866.62 1979.31 2157.50 0 0 0 30.00 30.00 15.56

1751.38 16386 121.07 1.91 0.00 2793.4 2719.2 2867.7 1979.3 2157.7 44.42 16.87 233 1755.43 0.00 0.00 0.00 0.000 0.000 0.000 2793.00 2718.25 2867.75 1979.06 2157.50 0 0 0 30.00 30.00 30.00

1937.85 16646 121.07 1.91 80.00 2792.7 2718.9 2866.4 1978.5 2157.0 16.67 13.35 270 1946.88 0.00 0.00 3.64 0.000 0.000 0.087 2791.03 2716.69 2865.38 1978.88 3653.00 0 0 0 30.00 30.00 15.61

2145.84 9382 247.12 2.04 0.00 2792.2 2719.1 2865.4 1979.1 3652.9 9.85 -3.31 311 2251.20 87.25 0.00 3.42 0.725 0.000 0.014 2289.34 2184.81 2393.88 1979.31 2153.88 0 0 0 11.58 30.00 15.71

2435.05 10663 344.23 2.20 80.00 2280.3 2180.7 2379.9 1979.4 2153.6 5.08 -0.26 367 2461.82 22.92 0.34 0.00 0.683 0.048 0.000 2163.75 2059.00 2268.50 2041.12 2154.00 0 0 0 11.46 15.61 30.00

2462 end climb: NO_VERTICAL_VELOCITY

state 2462 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	33	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	2.6505182	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	14.078584	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	260623,235800,4736.161,-12256.696,5,1.5,35,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,000123,4736.169,-12256.706,2,0.6,3,15.4	MHEAD_RNG_PITCHd_Wd	179.5,422,-27.2,-10.000,-30.00,969,0.139
SPEED_LIMITS	0.173,0.258	D_GRID	166
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	8000307

NAV	1687825634,87.6,2,stop	_24V_AH	14.87,10.682
NET	xmit part outbox0029.n 953 0	_10V_AH	14.97,0.000
NET_PING	1687825962,29,797.814026,6.200000,-1.062612	FG_AHR_24Vo	14.211
MODEM_MSG	CACST,8,0,20230627002500.577002,18,32767,45,0103,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,1.8,10.24,-100,-7.24,-01,0.24,86,925,0025,0,1,00,00*12	FG_AHR_10Vo	2.655
FREEZE	4.98,13.707,-1.538,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2762.99,271.89,0.703,0,500.5,442.7,558.4,686.71	MEM2	945388,39,100980,71
SM_GC	1.45,0.00,11.89,0.38,0.000,0.037,0.060,495.2,441.3,549.0,186.6,2320.8,0,0,0,30.00,15.34,15.35	DATA_FILE_SIZE	9717,372
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	152884,0
IRIDIUM_FIX	4735.53,-12254.47,260623,225409	SDSIZE	3887104,3862208
TCM_TEMP	18.56	SDFILEDIR	317,34
SC_FREEKB	3868192	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	1,1687824600,47.60500,-122.95000,0.348,510.4	CURRENT	0.020,283.7,1
RAFOS_FIX	4736.252930,-12256.948242,270623,000000,2,510,0.24	MAGCAL	1.000000,0.033401,-0.031463,-0.030677,1.050235,-0.073923,0.069853,-0.063743,0.996094,657.3,-304.9,-296.2,32,0.0319,0
HUMID	56.25	IMPLIED_C_PITCH	1534,15.74,154,0.0,0.00
TEMP	11.17	IMPLIED_C_VBD	3346,14.284677,115,0
INTERNAL_PRESSURE	8.28703	GPS	270623,005021,4735.921,-12256.849,2,0.7,5,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	657	880	8608.66	nil	0	0	0.00
Pitch_motor	25	240	89.78	nil	0	0	0.00
Roll_motor	48	181	130.06	nil	0	0	0.00
Iridium	136	153	310.32	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.95	nil	0	0	0.00
Core	1695	5	129.92	SciCon	2467	7	284.77
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1061	0	5.08
Compass	804	5	60.24
RAFOS	1508	40	903.25
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
6.61	16386	-63.69	-1.89	0.00	493.0	439.9	546.1	186.4	2268.6	0.00	0.00	0	60.42	48.76	0.00	0.00	0.005	0.000	0.000	1906.53	1895.44	1917.62	186.31	2268.81	0	0	0	14.39	30.00	30.00
60.95	18983	-121.07	-1.96	-80.00	1910.7	1895.2	1926.1	186.4	2268.9	3.54	-3.94	7	136.78	50.24	6.43	3.62	0.005	0.241	0.099	3795.47	3780.38	3810.56	1024.62	833.81	0	0	0	14.92	15.42	15.49
140.46	1156	-121.07	-1.91	0.00	3795.5	3779.9	3811.1	1024.7	834.1	11.75	-14.52	21	148.52	0.00	0.00	3.54	0.000	0.000	0.033	3796.25	3780.75	3811.75	1024.50	2319.88	0	0	0	30.00	30.00	15.53
332.12	388	-121.07	-1.88	80.00	3797.2	3780.2	3814.3	1024.7	2319.4	43.04	-16.03	59	340.67	0.00	0.00	3.54	0.000	0.000	0.089	3797.00	3780.06	3813.94	1025.12	3768.56	0	0	0	30.00	30.00	15.56
389.46	3205	-121.07	-1.83	0.00	3797.3	3780.2	3814.4	1025.1	3769.2	53.88	-19.47	70	398.45	0.00	0.24	3.43	0.000	0.187	0.015	3796.78	3780.00	3813.56	1057.94	2268.12	0	0	0	30.00	15.54	15.61
584.48	388	-121.07	-1.81	80.00	3798.1	3780.7	3815.6	1058.5	2267.4	83.80	-15.46	90	593.31	0.00	0.00	3.65	0.000	0.000	0.087	3797.47	3779.81	3815.12	1058.81	3767.94	0	0	0	30.00	30.00	15.61
632.11	1156	-121.07	-1.77	0.00	3798.0	3780.5	3815.4	1058.6	3767.8	92.53	-18.93	99	640.72	0.00	0.00	3.42	0.000	0.000	0.015	3797.19	3779.56	3814.81	1058.62	2267.50	0	0	0	30.00	30.00	15.66
827.13	128	-121.07	-1.76	0.00	3798.4	3780.4	3816.4	1058.8	2266.8	121.86	-14.42	119	829.00	0.00	0.00	0.00	0.000	0.000	0.000	3797.81	3779.75	3815.88	1058.50	2267.06	0	0	0	30.00	30.00	30.00
1017.16	388	-121.07	-1.76	80.00	3798.6	3780.1	3817.0	1058.4	2266.3	149.66	-14.88	138	1022.84	0.00	0.00	2.46	0.000	0.000	0.081	3799.12	3780.44	3817.81	1058.94	3271.88	0	0	0	30.00	30.00	15.65
1023	end dive: TARGET_DEPTH_EXCEEDED
state	1023	begin apogee
1029.46	10243	0.00	-0.33	0.00	3798.7	3780.6	3816.8	1058.4	2157.2	150.31	-14.77	139	1133.80	88.24	2.51	0.09	0.880	0.145	0.181	3298.91	3245.12	3352.69	1420.56	2209.56	0	0	0	11.61	15.63	15.42
1135	end apogee: CONTROL_FINISHED_OK
state	1135	begin climb
1135.37	10759	121.07	1.96	-80.00	3296.0	3243.1	3348.9	1420.4	2209.4	154.58	0.00	149	1249.95	88.50	3.65	3.89	0.864	0.072	0.111	2805.22	2727.25	2883.19	1979.38	718.94	0	0	0	11.38	15.44	15.22
1298.80	17542	121.07	1.94	0.00	2797.5	2724.8	2870.1	1979.0	718.8	132.54	21.01	178	1307.68	0.00	0.00	3.56	0.000	0.000	0.034	2794.97	2722.50	2867.44	1979.12	2204.44	0	0	0	30.00	30.00	15.36
1493.62	16646	121.07	1.94	80.00	2795.0	2720.4	2869.6	1978.9	2204.0	93.34	19.55	198	1502.70	0.00	0.00	3.57	0.000	0.000	0.090	2796.84	2721.50	2872.19	1978.19	3653.00	0	0	0	30.00	30.00	15.47
1561.55	17542	121.07	1.91	0.00	2794.5	2720.6	2868.4	1979.2	3653.1	78.44	22.75	211	1570.33	0.00	0.00	3.45	0.000	0.000	0.017	2793.03	2719.44	2866.62	1979.31	2157.50	0	0	0	30.00	30.00	15.56
1751.38	16386	121.07	1.91	0.00	2793.4	2719.2	2867.7	1979.3	2157.7	44.42	16.87	233	1755.43	0.00	0.00	0.00	0.000	0.000	0.000	2793.00	2718.25	2867.75	1979.06	2157.50	0	0	0	30.00	30.00	30.00
1937.85	16646	121.07	1.91	80.00	2792.7	2718.9	2866.4	1978.5	2157.0	16.67	13.35	270	1946.88	0.00	0.00	3.64	0.000	0.000	0.087	2791.03	2716.69	2865.38	1978.88	3653.00	0	0	0	30.00	30.00	15.61
2145.84	9382	247.12	2.04	0.00	2792.2	2719.1	2865.4	1979.1	3652.9	9.85	-3.31	311	2251.20	87.25	0.00	3.42	0.725	0.000	0.014	2289.34	2184.81	2393.88	1979.31	2153.88	0	0	0	11.58	30.00	15.71
2435.05	10663	344.23	2.20	80.00	2280.3	2180.7	2379.9	1979.4	2153.6	5.08	-0.26	367	2461.82	22.92	0.34	0.00	0.683	0.048	0.000	2163.75	2059.00	2268.50	2041.12	2154.00	0	0	0	11.46	15.61	30.00
2462	end climb: NO_VERTICAL_VELOCITY
state	2462	begin surface