Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 35 * 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 35 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 2.6624408 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 14.358903 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 2.6624408 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.358903 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 35 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 270623,014925,4736.199,-12256.804,1,1.5,30,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,015442,4736.213,-12256.786,2,1.0,4,15.4 MHEAD_RNG_PITCHd_Wd 19.7,707,-18.5,-10.000,-22.03,2014,0.181

SPEED_LIMITS 0.173,0.258 D_GRID 168

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 1687832832,66.4,4,stop _10V_AH 14.97,0.000

NET CACST,8,1,20230627023254.115665,18,32767,45,0104,0150,07,00,00,00,00,-1,-01,-01,1,3,27,0,150,20.6,0.78,-100,2.22,-01,4.91,66,10000,5000,0,-1,00,00*68 FG_AHR_24Vo 14.495

MODEM_MSG CACST,8,0,20230627022500.085937,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-42.2,6.70,-100,-3.70,-01,0.10,90,925,0025,0,1,00,00*36 FG_AHR_10Vo 2.663

FREEZE 5.86,13.621,-1.540,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3003.93,296.15,0.705,0,500.5,441.9,559.1,686.71 MEM2 945472,33,101016,71

SM_GC 2.06,0.00,10.75,0.37,0.000,0.035,0.063,495.4,440.4,550.4,185.2,2323.2,0,0,0,30.00,15.34,15.35 DATA_FILE_SIZE 9727,398

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 167759,0

IRIDIUM_FIX 4736.00,-12258.89,270623,015032 SDSIZE 3887104,3861536

TCM_TEMP 18.36 SDFILEDIR 333,36

SC_FREEKB 3867552 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 0,1687831200,47.60500,-122.95000,0.166,243.4 CURRENT 0.021,151.5,1

RAFOS_FIX 4736.611816,-12257.440430,270623,020200,4,255,0.61 MAGCAL 1.000000,0.025809,-0.010841,-0.018199,1.080294,-0.035943,0.017343,-0.086117,0.968039,648.0,-340.3,-265.7,36,0.0286,0

HUMID 56.19 IMPLIED_C_PITCH 1529,15.92,186,0.0,0.00

TEMP 10.79 IMPLIED_C_VBD 3435,16.709558,186,0

INTERNAL_PRESSURE 8.27934 GPS 270623,024753,4736.458,-12256.603,9,1.7,12,15.4

_24V_AH 14.90,11.001

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 674 874 8795.44 nil 0 0 0.00

Pitch_motor 23 237 82.04 nil 0 0 0.00

Roll_motor 57 166 143.77 nil 0 0 0.00

Iridium 192 129 370.85 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 1823 5 139.75 SciCon 2681 7 308.51

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1261 0 6.04

Compass 836 5 62.64

RAFOS 1694 40 1014.88

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

6.59 16386 -133.49 -1.40 0.00 492.7 440.2 545.2 183.9 2268.1 0.00 0.00 0 56.04 44.71 0.00 0.00 0.005 0.000 0.000 1787.50 1780.69 1794.31 183.81 2268.44 0 0 0 15.65 30.00 30.00

56.56 18983 -146.63 -1.41 -80.00 1790.6 1781.2 1799.9 184.0 2268.0 3.10 -4.04 9 137.02 56.80 5.43 3.59 0.005 0.238 0.096 3897.84 3888.38 3907.31 891.56 832.94 0 0 0 15.68 15.45 15.58

364.41 3205 -146.63 -1.30 0.00 3900.8 3889.9 3911.6 892.0 832.8 60.58 -22.46 67 378.21 0.00 2.09 3.51 0.000 0.182 0.035 3901.88 3891.31 3912.44 1184.25 2318.88 0 0 0 30.00 15.57 15.65

564.56 644 -146.63 -1.28 -80.00 3902.6 3890.4 3914.7 1184.1 2318.9 83.56 -10.17 88 573.47 0.00 0.00 3.77 0.000 0.000 0.097 3902.12 3890.31 3913.94 1184.50 833.81 0 0 0 30.00 30.00 15.62

646.51 1156 -146.63 -1.26 0.00 3902.9 3890.7 3915.1 1184.6 833.9 92.68 -11.35 104 654.66 0.00 0.00 3.53 0.000 0.000 0.033 3903.16 3890.19 3916.12 1183.88 2318.38 0 0 0 30.00 30.00 15.67

842.37 420 -146.63 -1.25 80.00 3903.3 3890.3 3916.3 1184.7 2318.1 112.26 -9.56 124 851.01 0.00 0.00 3.57 0.000 0.000 0.095 3903.84 3890.62 3917.06 1184.38 3767.81 0 0 0 30.00 30.00 15.67

914.14 1156 -146.63 -1.21 0.00 3903.8 3890.7 3916.8 1184.6 3768.4 121.29 -12.87 138 922.10 0.00 0.00 3.46 0.000 0.000 0.015 3903.75 3891.12 3916.38 1184.31 2266.81 0 0 0 30.00 30.00 15.71

1109.92 2469 -146.63 -1.20 80.00 3904.1 3890.9 3917.2 1184.2 2266.3 141.05 -9.88 158 1119.01 0.00 0.17 3.71 0.000 0.155 0.093 3904.38 3890.62 3918.12 1211.94 3766.31 0 0 0 30.00 15.68 15.67

1147.81 1156 -146.63 -1.18 0.00 3904.0 3890.9 3917.1 1212.0 3766.6 145.17 -10.74 165 1156.43 0.00 0.00 3.45 0.000 0.000 0.015 3903.22 3890.19 3916.25 1211.75 2266.19 0 0 0 30.00 30.00 15.73

1202 end dive: TARGET_DEPTH_EXCEEDED

state 1202 begin apogee

1204.57 10243 0.00 -0.33 0.00 3904.3 3891.1 3917.5 1211.8 2151.4 150.27 -9.17 171 1324.02 105.06 1.40 0.09 0.875 0.108 0.167 3298.00 3243.62 3352.38 1421.69 2210.06 0 0 0 11.61 15.68 15.41

1325 end apogee: CONTROL_FINISHED_OK

state 1325 begin climb

1325.58 10759 146.63 1.41 -80.00 3295.6 3241.1 3350.0 1421.5 2209.8 153.10 0.00 182 1460.17 106.21 2.76 3.87 0.858 0.071 0.112 2697.44 2616.50 2778.38 1846.69 720.12 0 0 0 11.56 15.42 15.20

1463.26 1156 146.63 1.40 0.00 2695.7 2617.1 2774.2 1846.6 720.1 140.66 13.30 199 1471.59 0.00 0.00 3.57 0.000 0.000 0.033 2695.75 2617.12 2774.38 1846.81 2203.75 0 0 0 30.00 30.00 15.26

1659.02 16774 146.63 1.39 80.00 2692.0 2613.8 2770.2 1846.6 2203.6 109.05 16.24 219 1667.92 0.00 0.00 3.60 0.000 0.000 0.093 2677.12 2583.44 2770.81 1845.50 3651.75 0 0 0 30.00 30.00 15.44

1736.78 17542 146.63 1.35 0.00 2690.8 2613.5 2768.0 1847.1 3651.9 94.64 18.94 234 1745.60 0.00 0.00 3.42 0.000 0.000 0.017 2689.44 2612.06 2766.81 1846.94 2158.19 0 0 0 30.00 30.00 15.52

1931.90 16774 146.63 1.35 80.00 2689.9 2612.5 2767.2 1846.8 2157.0 64.85 14.97 254 1940.88 0.00 0.00 3.70 0.000 0.000 0.090 2688.16 2611.44 2764.88 1846.88 3651.56 0 0 0 30.00 30.00 15.56

2003.98 21639 146.63 1.32 0.00 2689.6 2612.8 2766.4 1846.8 3650.8 52.86 16.65 268 2012.51 0.00 0.28 3.37 0.000 0.200 0.017 2690.59 2614.12 2767.06 1813.75 2157.31 0 0 0 30.00 15.56 15.64

2194.76 16774 146.63 1.32 80.00 2689.2 2612.1 2766.2 1813.6 2157.2 30.23 11.33 304 2203.50 0.00 0.00 3.67 0.000 0.000 0.091 2689.16 2611.12 2767.19 1813.00 3652.06 0 0 0 30.00 30.00 15.64

2275.30 17542 146.63 1.31 0.00 2688.9 2611.9 2765.9 1813.1 3651.8 21.04 11.61 319 2283.76 0.00 0.00 3.36 0.000 0.000 0.017 2687.31 2609.88 2764.75 1813.19 2155.94 0 0 0 30.00 30.00 15.69

2467.61 10403 241.62 1.44 0.00 2688.2 2610.9 2765.6 1813.3 2156.3 7.07 5.17 357 2543.57 66.06 0.26 0.00 0.724 0.051 0.000 2309.75 2205.56 2413.94 1859.75 2156.62 0 0 0 11.54 15.72 30.00

2677 end climb: NO_VERTICAL_VELOCITY

state 2677 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	35	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	2.6624408	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	14.358903	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	270623,014925,4736.199,-12256.804,1,1.5,30,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,015442,4736.213,-12256.786,2,1.0,4,15.4	MHEAD_RNG_PITCHd_Wd	19.7,707,-18.5,-10.000,-22.03,2014,0.181
SPEED_LIMITS	0.173,0.258	D_GRID	168
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	1687832832,66.4,4,stop	_10V_AH	14.97,0.000
NET	CACST,8,1,20230627023254.115665,18,32767,45,0104,0150,07,00,00,00,00,-1,-01,-01,1,3,27,0,150,20.6,0.78,-100,2.22,-01,4.91,66,10000,5000,0,-1,00,00*68	FG_AHR_24Vo	14.495
MODEM_MSG	CACST,8,0,20230627022500.085937,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-42.2,6.70,-100,-3.70,-01,0.10,90,925,0025,0,1,00,00*36	FG_AHR_10Vo	2.663
FREEZE	5.86,13.621,-1.540,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3003.93,296.15,0.705,0,500.5,441.9,559.1,686.71	MEM2	945472,33,101016,71
SM_GC	2.06,0.00,10.75,0.37,0.000,0.035,0.063,495.4,440.4,550.4,185.2,2323.2,0,0,0,30.00,15.34,15.35	DATA_FILE_SIZE	9727,398
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	167759,0
IRIDIUM_FIX	4736.00,-12258.89,270623,015032	SDSIZE	3887104,3861536
TCM_TEMP	18.36	SDFILEDIR	333,36
SC_FREEKB	3867552	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	0,1687831200,47.60500,-122.95000,0.166,243.4	CURRENT	0.021,151.5,1
RAFOS_FIX	4736.611816,-12257.440430,270623,020200,4,255,0.61	MAGCAL	1.000000,0.025809,-0.010841,-0.018199,1.080294,-0.035943,0.017343,-0.086117,0.968039,648.0,-340.3,-265.7,36,0.0286,0
HUMID	56.19	IMPLIED_C_PITCH	1529,15.92,186,0.0,0.00
TEMP	10.79	IMPLIED_C_VBD	3435,16.709558,186,0
INTERNAL_PRESSURE	8.27934	GPS	270623,024753,4736.458,-12256.603,9,1.7,12,15.4
_24V_AH	14.90,11.001

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	674	874	8795.44	nil	0	0	0.00
Pitch_motor	23	237	82.04	nil	0	0	0.00
Roll_motor	57	166	143.77	nil	0	0	0.00
Iridium	192	129	370.85	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	1823	5	139.75	SciCon	2681	7	308.51
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1261	0	6.04
Compass	836	5	62.64
RAFOS	1694	40	1014.88
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
6.59	16386	-133.49	-1.40	0.00	492.7	440.2	545.2	183.9	2268.1	0.00	0.00	0	56.04	44.71	0.00	0.00	0.005	0.000	0.000	1787.50	1780.69	1794.31	183.81	2268.44	0	0	0	15.65	30.00	30.00
56.56	18983	-146.63	-1.41	-80.00	1790.6	1781.2	1799.9	184.0	2268.0	3.10	-4.04	9	137.02	56.80	5.43	3.59	0.005	0.238	0.096	3897.84	3888.38	3907.31	891.56	832.94	0	0	0	15.68	15.45	15.58
364.41	3205	-146.63	-1.30	0.00	3900.8	3889.9	3911.6	892.0	832.8	60.58	-22.46	67	378.21	0.00	2.09	3.51	0.000	0.182	0.035	3901.88	3891.31	3912.44	1184.25	2318.88	0	0	0	30.00	15.57	15.65
564.56	644	-146.63	-1.28	-80.00	3902.6	3890.4	3914.7	1184.1	2318.9	83.56	-10.17	88	573.47	0.00	0.00	3.77	0.000	0.000	0.097	3902.12	3890.31	3913.94	1184.50	833.81	0	0	0	30.00	30.00	15.62
646.51	1156	-146.63	-1.26	0.00	3902.9	3890.7	3915.1	1184.6	833.9	92.68	-11.35	104	654.66	0.00	0.00	3.53	0.000	0.000	0.033	3903.16	3890.19	3916.12	1183.88	2318.38	0	0	0	30.00	30.00	15.67
842.37	420	-146.63	-1.25	80.00	3903.3	3890.3	3916.3	1184.7	2318.1	112.26	-9.56	124	851.01	0.00	0.00	3.57	0.000	0.000	0.095	3903.84	3890.62	3917.06	1184.38	3767.81	0	0	0	30.00	30.00	15.67
914.14	1156	-146.63	-1.21	0.00	3903.8	3890.7	3916.8	1184.6	3768.4	121.29	-12.87	138	922.10	0.00	0.00	3.46	0.000	0.000	0.015	3903.75	3891.12	3916.38	1184.31	2266.81	0	0	0	30.00	30.00	15.71
1109.92	2469	-146.63	-1.20	80.00	3904.1	3890.9	3917.2	1184.2	2266.3	141.05	-9.88	158	1119.01	0.00	0.17	3.71	0.000	0.155	0.093	3904.38	3890.62	3918.12	1211.94	3766.31	0	0	0	30.00	15.68	15.67
1147.81	1156	-146.63	-1.18	0.00	3904.0	3890.9	3917.1	1212.0	3766.6	145.17	-10.74	165	1156.43	0.00	0.00	3.45	0.000	0.000	0.015	3903.22	3890.19	3916.25	1211.75	2266.19	0	0	0	30.00	30.00	15.73
1202	end dive: TARGET_DEPTH_EXCEEDED
state	1202	begin apogee
1204.57	10243	0.00	-0.33	0.00	3904.3	3891.1	3917.5	1211.8	2151.4	150.27	-9.17	171	1324.02	105.06	1.40	0.09	0.875	0.108	0.167	3298.00	3243.62	3352.38	1421.69	2210.06	0	0	0	11.61	15.68	15.41
1325	end apogee: CONTROL_FINISHED_OK
state	1325	begin climb
1325.58	10759	146.63	1.41	-80.00	3295.6	3241.1	3350.0	1421.5	2209.8	153.10	0.00	182	1460.17	106.21	2.76	3.87	0.858	0.071	0.112	2697.44	2616.50	2778.38	1846.69	720.12	0	0	0	11.56	15.42	15.20
1463.26	1156	146.63	1.40	0.00	2695.7	2617.1	2774.2	1846.6	720.1	140.66	13.30	199	1471.59	0.00	0.00	3.57	0.000	0.000	0.033	2695.75	2617.12	2774.38	1846.81	2203.75	0	0	0	30.00	30.00	15.26
1659.02	16774	146.63	1.39	80.00	2692.0	2613.8	2770.2	1846.6	2203.6	109.05	16.24	219	1667.92	0.00	0.00	3.60	0.000	0.000	0.093	2677.12	2583.44	2770.81	1845.50	3651.75	0	0	0	30.00	30.00	15.44
1736.78	17542	146.63	1.35	0.00	2690.8	2613.5	2768.0	1847.1	3651.9	94.64	18.94	234	1745.60	0.00	0.00	3.42	0.000	0.000	0.017	2689.44	2612.06	2766.81	1846.94	2158.19	0	0	0	30.00	30.00	15.52
1931.90	16774	146.63	1.35	80.00	2689.9	2612.5	2767.2	1846.8	2157.0	64.85	14.97	254	1940.88	0.00	0.00	3.70	0.000	0.000	0.090	2688.16	2611.44	2764.88	1846.88	3651.56	0	0	0	30.00	30.00	15.56
2003.98	21639	146.63	1.32	0.00	2689.6	2612.8	2766.4	1846.8	3650.8	52.86	16.65	268	2012.51	0.00	0.28	3.37	0.000	0.200	0.017	2690.59	2614.12	2767.06	1813.75	2157.31	0	0	0	30.00	15.56	15.64
2194.76	16774	146.63	1.32	80.00	2689.2	2612.1	2766.2	1813.6	2157.2	30.23	11.33	304	2203.50	0.00	0.00	3.67	0.000	0.000	0.091	2689.16	2611.12	2767.19	1813.00	3652.06	0	0	0	30.00	30.00	15.64
2275.30	17542	146.63	1.31	0.00	2688.9	2611.9	2765.9	1813.1	3651.8	21.04	11.61	319	2283.76	0.00	0.00	3.36	0.000	0.000	0.017	2687.31	2609.88	2764.75	1813.19	2155.94	0	0	0	30.00	30.00	15.69
2467.61	10403	241.62	1.44	0.00	2688.2	2610.9	2765.6	1813.3	2156.3	7.07	5.17	357	2543.57	66.06	0.26	0.00	0.724	0.051	0.000	2309.75	2205.56	2413.94	1859.75	2156.62	0	0	0	11.54	15.72	30.00
2677	end climb: NO_VERTICAL_VELOCITY
state	2677	begin surface