Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 34 * 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 34 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 2.6549799 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 14.217471 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 2.6549799 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.217471 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 34 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 270623,005021,4735.921,-12256.849,2,0.7,5,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,005532,4735.931,-12256.878,2,0.7,2,15.4 MHEAD_RNG_PITCHd_Wd 13.7,1221,-17.6,-10.000,-21.21,2209,0.172

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 8000266

Post-dive calculations and measurements:

NAV 1687829237,86.3,3,stop _24V_AH 14.87,10.842

NET CACST,8,1,20230627013310.629046,18,3600,35,0127,0150,07,01,01,00,01,-1,-01,-01,1,3,27,0,150,17.0,0.23,-100,2.77,-01,4.89,64,10000,5000,0,-1,00,00*57 _10V_AH 14.97,0.000

NET_PING 1687829558,29,422.876984,13.100000,-0.562544 FG_AHR_24Vo 14.353

MODEM_MSG CACST,8,0,20230627012500.422905,18,31085,44,0100,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-2.6,8.54,-100,-5.54,-01,-0.29,88,925,0025,0,1,00,00*21 FG_AHR_10Vo 2.662

FREEZE 5.12,15.125,-1.484,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3033.69,241.71,0.700,0,500.8,442.4,559.2,686.65 MEM2 945456,36,100972,71

SM_GC 2.23,0.00,10.94,0.37,0.000,0.038,0.062,495.6,440.4,550.8,184.1,2322.1,0,0,0,30.00,15.35,15.34 DATA_FILE_SIZE 9727,398

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 157447,0

IRIDIUM_FIX 4736.00,-12258.89,270623,005127 SDSIZE 3887104,3861888

TCM_TEMP 18.38 SDFILEDIR 325,35

SC_FREEKB 3867872 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 0,1687827600,47.60500,-122.95000,0.551,807.0 CURRENT 0.011,237.7,1

RAFOS_FIX 4736.188965,-12256.695312,270623,010100,3,255,0.61 MAGCAL 1.000000,0.018813,-0.015124,-0.011524,1.069445,-0.038159,0.018926,-0.093667,0.940870,652.6,-338.3,-240.6,33,0.0297,0

HUMID 56.36 IMPLIED_C_PITCH 1522,15.88,194,0.0,0.00

TEMP 10.76 IMPLIED_C_VBD 3444,17.782331,194,0

INTERNAL_PRESSURE 8.27797 GPS 270623,014925,4736.199,-12256.804,1,1.5,30,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 679 872 8824.28 nil 0 0 0.00

Pitch_motor 23 246 85.88 nil 0 0 0.00

Roll_motor 43 162 105.11 nil 0 0 0.00

Iridium 191 144 412.87 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.73 nil 0 0 0.00

Core 1902 5 145.80 SciCon 2771 7 320.90

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1269 0 6.08

Compass 836 5 62.62

RAFOS 1700 40 1018.05

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 0.00 492.7 441.2 544.1 186.4 2266.1 0.00 0.00 0 55.83 44.72 0.00 0.00 0.005 0.000 0.000 1785.41 1779.62 1791.19 186.38 2266.50 0 0 0 15.66 30.00 30.00

56.35 18983 -146.63 -1.35 -80.00 1787.2 1779.8 1794.7 186.4 2266.2 3.03 -4.00 9 136.46 58.43 4.93 3.58 0.005 0.246 0.096 3897.81 3888.44 3907.19 825.56 831.38 0 0 0 15.68 15.47 15.57

363.22 3205 -146.63 -1.22 0.00 3900.9 3891.2 3910.7 825.2 831.5 64.15 -24.14 67 377.56 0.00 2.71 3.51 0.000 0.189 0.033 3901.16 3891.06 3911.25 1203.69 2319.38 0 0 0 30.00 15.57 15.65

563.38 676 -146.63 -1.21 -80.00 3902.6 3891.2 3914.1 1203.9 2319.8 85.19 -9.04 88 572.17 0.00 0.00 3.79 0.000 0.000 0.097 3902.25 3890.44 3914.06 1203.56 834.25 0 0 0 30.00 30.00 15.51

731.09 1188 -146.63 -1.19 0.00 3903.3 3891.1 3915.6 1203.6 834.2 101.33 -9.57 121 739.70 0.00 0.00 3.54 0.000 0.000 0.032 3902.59 3890.56 3914.62 1203.81 2318.44 0 0 0 30.00 30.00 15.60

926.09 420 -146.63 -1.17 80.00 3904.1 3891.7 3916.6 1203.8 2318.0 118.01 -8.63 141 934.86 0.00 0.00 3.58 0.000 0.000 0.094 3904.16 3892.06 3916.25 1203.62 3766.75 0 0 0 30.00 30.00 15.60

987.89 1156 -146.63 -1.14 0.00 3904.2 3891.4 3917.0 1203.8 3766.7 124.92 -11.54 153 995.93 0.00 0.00 3.43 0.000 0.000 0.014 3904.09 3891.50 3916.69 1203.31 2266.44 0 0 0 30.00 30.00 15.67

1183.77 420 -146.63 -1.13 80.00 3904.3 3891.5 3917.2 1203.6 2266.4 142.40 -8.66 173 1192.46 0.00 0.00 3.69 0.000 0.000 0.091 3903.75 3890.75 3916.75 1203.75 3766.69 0 0 0 30.00 30.00 15.64

1221.25 3205 -146.63 -1.10 0.00 3904.5 3891.6 3917.4 1203.9 3766.6 146.35 -10.44 180 1230.13 0.00 0.20 3.44 0.000 0.154 0.014 3903.56 3890.75 3916.38 1234.50 2266.00 0 0 0 30.00 15.63 15.70

1266 end dive: TARGET_DEPTH_EXCEEDED

state 1266 begin apogee

1268.10 10243 0.00 -0.33 0.00 3904.5 3891.7 3917.3 1234.6 2152.4 150.26 -8.59 185 1387.41 105.27 1.25 0.09 0.873 0.108 0.162 3298.41 3243.81 3353.00 1421.75 2211.31 0 0 0 11.66 15.63 15.37

1389 end apogee: CONTROL_FINISHED_OK

state 1389 begin climb

1389.00 10243 146.63 1.35 0.00 3295.4 3241.4 3349.4 1421.6 2210.6 152.91 0.00 196 1515.09 107.23 2.67 0.00 0.855 0.073 0.000 2698.94 2617.75 2780.12 1831.75 2211.12 0 0 0 11.41 15.38 30.00

1698.84 16774 146.63 1.34 80.00 2691.8 2613.2 2770.4 1831.6 2211.2 114.88 15.02 227 1707.83 0.00 0.00 3.61 0.000 0.000 0.091 2689.69 2610.50 2768.88 1831.25 3651.44 0 0 0 30.00 30.00 15.42

1760.92 17542 146.63 1.31 0.00 2691.1 2612.8 2769.4 1831.6 3651.3 103.75 18.31 239 1769.12 0.00 0.00 3.46 0.000 0.000 0.017 2692.97 2614.00 2771.94 1831.25 2158.38 0 0 0 30.00 30.00 15.49

1956.69 16514 146.63 1.30 0.00 2690.1 2612.3 2767.8 1831.8 2159.1 74.94 14.26 259 1958.61 0.00 0.00 0.00 0.000 0.000 0.000 2688.53 2610.56 2766.50 1831.56 2159.12 0 0 0 30.00 30.00 30.00

2146.70 16774 146.63 1.30 80.00 2689.6 2611.8 2767.4 1831.6 2158.9 49.91 12.96 278 2155.42 0.00 0.00 3.67 0.000 0.000 0.090 2686.75 2609.50 2764.00 1831.81 3651.88 0 0 0 30.00 30.00 15.62

2252.09 21639 146.63 1.27 0.00 2689.2 2611.9 2766.5 1831.6 3651.8 33.83 15.64 298 2261.03 0.00 0.25 3.46 0.000 0.182 0.017 2687.75 2610.75 2764.75 1801.56 2157.56 0 0 0 30.00 15.62 15.69

2444.90 8354 186.79 1.33 0.00 2688.0 2610.5 2765.6 1801.6 2157.5 14.93 8.14 336 2477.76 28.99 0.00 0.00 0.713 0.000 0.000 2539.00 2450.88 2627.12 1801.81 2157.88 0 0 0 11.74 30.00 30.00

2661.61 10919 347.67 1.55 -80.00 2530.2 2441.8 2618.5 1801.9 2157.4 5.99 2.55 379 2765.57 93.50 0.52 0.00 0.723 0.039 0.000 1980.44 1860.25 2100.62 1884.25 2157.44 0 0 0 11.44 15.72 30.00

2766 end climb: NO_VERTICAL_VELOCITY

state 2766 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	34	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	2.6549799	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	14.217471	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	270623,005021,4735.921,-12256.849,2,0.7,5,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,005532,4735.931,-12256.878,2,0.7,2,15.4	MHEAD_RNG_PITCHd_Wd	13.7,1221,-17.6,-10.000,-21.21,2209,0.172
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	8000266

NAV	1687829237,86.3,3,stop	_24V_AH	14.87,10.842
NET	CACST,8,1,20230627013310.629046,18,3600,35,0127,0150,07,01,01,00,01,-1,-01,-01,1,3,27,0,150,17.0,0.23,-100,2.77,-01,4.89,64,10000,5000,0,-1,00,00*57	_10V_AH	14.97,0.000
NET_PING	1687829558,29,422.876984,13.100000,-0.562544	FG_AHR_24Vo	14.353
MODEM_MSG	CACST,8,0,20230627012500.422905,18,31085,44,0100,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-2.6,8.54,-100,-5.54,-01,-0.29,88,925,0025,0,1,00,00*21	FG_AHR_10Vo	2.662
FREEZE	5.12,15.125,-1.484,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3033.69,241.71,0.700,0,500.8,442.4,559.2,686.65	MEM2	945456,36,100972,71
SM_GC	2.23,0.00,10.94,0.37,0.000,0.038,0.062,495.6,440.4,550.8,184.1,2322.1,0,0,0,30.00,15.35,15.34	DATA_FILE_SIZE	9727,398
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	157447,0
IRIDIUM_FIX	4736.00,-12258.89,270623,005127	SDSIZE	3887104,3861888
TCM_TEMP	18.38	SDFILEDIR	325,35
SC_FREEKB	3867872	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	0,1687827600,47.60500,-122.95000,0.551,807.0	CURRENT	0.011,237.7,1
RAFOS_FIX	4736.188965,-12256.695312,270623,010100,3,255,0.61	MAGCAL	1.000000,0.018813,-0.015124,-0.011524,1.069445,-0.038159,0.018926,-0.093667,0.940870,652.6,-338.3,-240.6,33,0.0297,0
HUMID	56.36	IMPLIED_C_PITCH	1522,15.88,194,0.0,0.00
TEMP	10.76	IMPLIED_C_VBD	3444,17.782331,194,0
INTERNAL_PRESSURE	8.27797	GPS	270623,014925,4736.199,-12256.804,1,1.5,30,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	679	872	8824.28	nil	0	0	0.00
Pitch_motor	23	246	85.88	nil	0	0	0.00
Roll_motor	43	162	105.11	nil	0	0	0.00
Iridium	191	144	412.87	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.73	nil	0	0	0.00
Core	1902	5	145.80	SciCon	2771	7	320.90
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1269	0	6.08
Compass	836	5	62.62
RAFOS	1700	40	1018.05
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	492.7	441.2	544.1	186.4	2266.1	0.00	0.00	0	55.83	44.72	0.00	0.00	0.005	0.000	0.000	1785.41	1779.62	1791.19	186.38	2266.50	0	0	0	15.66	30.00	30.00
56.35	18983	-146.63	-1.35	-80.00	1787.2	1779.8	1794.7	186.4	2266.2	3.03	-4.00	9	136.46	58.43	4.93	3.58	0.005	0.246	0.096	3897.81	3888.44	3907.19	825.56	831.38	0	0	0	15.68	15.47	15.57
363.22	3205	-146.63	-1.22	0.00	3900.9	3891.2	3910.7	825.2	831.5	64.15	-24.14	67	377.56	0.00	2.71	3.51	0.000	0.189	0.033	3901.16	3891.06	3911.25	1203.69	2319.38	0	0	0	30.00	15.57	15.65
563.38	676	-146.63	-1.21	-80.00	3902.6	3891.2	3914.1	1203.9	2319.8	85.19	-9.04	88	572.17	0.00	0.00	3.79	0.000	0.000	0.097	3902.25	3890.44	3914.06	1203.56	834.25	0	0	0	30.00	30.00	15.51
731.09	1188	-146.63	-1.19	0.00	3903.3	3891.1	3915.6	1203.6	834.2	101.33	-9.57	121	739.70	0.00	0.00	3.54	0.000	0.000	0.032	3902.59	3890.56	3914.62	1203.81	2318.44	0	0	0	30.00	30.00	15.60
926.09	420	-146.63	-1.17	80.00	3904.1	3891.7	3916.6	1203.8	2318.0	118.01	-8.63	141	934.86	0.00	0.00	3.58	0.000	0.000	0.094	3904.16	3892.06	3916.25	1203.62	3766.75	0	0	0	30.00	30.00	15.60
987.89	1156	-146.63	-1.14	0.00	3904.2	3891.4	3917.0	1203.8	3766.7	124.92	-11.54	153	995.93	0.00	0.00	3.43	0.000	0.000	0.014	3904.09	3891.50	3916.69	1203.31	2266.44	0	0	0	30.00	30.00	15.67
1183.77	420	-146.63	-1.13	80.00	3904.3	3891.5	3917.2	1203.6	2266.4	142.40	-8.66	173	1192.46	0.00	0.00	3.69	0.000	0.000	0.091	3903.75	3890.75	3916.75	1203.75	3766.69	0	0	0	30.00	30.00	15.64
1221.25	3205	-146.63	-1.10	0.00	3904.5	3891.6	3917.4	1203.9	3766.6	146.35	-10.44	180	1230.13	0.00	0.20	3.44	0.000	0.154	0.014	3903.56	3890.75	3916.38	1234.50	2266.00	0	0	0	30.00	15.63	15.70
1266	end dive: TARGET_DEPTH_EXCEEDED
state	1266	begin apogee
1268.10	10243	0.00	-0.33	0.00	3904.5	3891.7	3917.3	1234.6	2152.4	150.26	-8.59	185	1387.41	105.27	1.25	0.09	0.873	0.108	0.162	3298.41	3243.81	3353.00	1421.75	2211.31	0	0	0	11.66	15.63	15.37
1389	end apogee: CONTROL_FINISHED_OK
state	1389	begin climb
1389.00	10243	146.63	1.35	0.00	3295.4	3241.4	3349.4	1421.6	2210.6	152.91	0.00	196	1515.09	107.23	2.67	0.00	0.855	0.073	0.000	2698.94	2617.75	2780.12	1831.75	2211.12	0	0	0	11.41	15.38	30.00
1698.84	16774	146.63	1.34	80.00	2691.8	2613.2	2770.4	1831.6	2211.2	114.88	15.02	227	1707.83	0.00	0.00	3.61	0.000	0.000	0.091	2689.69	2610.50	2768.88	1831.25	3651.44	0	0	0	30.00	30.00	15.42
1760.92	17542	146.63	1.31	0.00	2691.1	2612.8	2769.4	1831.6	3651.3	103.75	18.31	239	1769.12	0.00	0.00	3.46	0.000	0.000	0.017	2692.97	2614.00	2771.94	1831.25	2158.38	0	0	0	30.00	30.00	15.49
1956.69	16514	146.63	1.30	0.00	2690.1	2612.3	2767.8	1831.8	2159.1	74.94	14.26	259	1958.61	0.00	0.00	0.00	0.000	0.000	0.000	2688.53	2610.56	2766.50	1831.56	2159.12	0	0	0	30.00	30.00	30.00
2146.70	16774	146.63	1.30	80.00	2689.6	2611.8	2767.4	1831.6	2158.9	49.91	12.96	278	2155.42	0.00	0.00	3.67	0.000	0.000	0.090	2686.75	2609.50	2764.00	1831.81	3651.88	0	0	0	30.00	30.00	15.62
2252.09	21639	146.63	1.27	0.00	2689.2	2611.9	2766.5	1831.6	3651.8	33.83	15.64	298	2261.03	0.00	0.25	3.46	0.000	0.182	0.017	2687.75	2610.75	2764.75	1801.56	2157.56	0	0	0	30.00	15.62	15.69
2444.90	8354	186.79	1.33	0.00	2688.0	2610.5	2765.6	1801.6	2157.5	14.93	8.14	336	2477.76	28.99	0.00	0.00	0.713	0.000	0.000	2539.00	2450.88	2627.12	1801.81	2157.88	0	0	0	11.74	30.00	30.00
2661.61	10919	347.67	1.55	-80.00	2530.2	2441.8	2618.5	1801.9	2157.4	5.99	2.55	379	2765.57	93.50	0.52	0.00	0.723	0.039	0.000	1980.44	1860.25	2100.62	1884.25	2157.44	0	0	0	11.44	15.72	30.00
2766	end climb: NO_VERTICAL_VELOCITY
state	2766	begin surface