Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 36 * 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 36 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 2.6629989 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 14.500108 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 2.6629989 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.500108 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 36 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 270623,024753,4736.458,-12256.603,9,1.7,12,15.4 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 -62.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,025131,4736.482,-12256.553,2,0.8,28,15.4 MHEAD_RNG_PITCHd_Wd 185.5,1032,-17.6,-10.000,-21.21,2209,0.144

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 8000307

Post-dive calculations and measurements:

NAV 1687836434,87.4,3,stop _24V_AH 14.87,11.161

NET xmit part outbox0031.n 922 14 _10V_AH 14.98,0.000

NET_PING 1687835863,29,238.453506,2.500000,-0.316824 FG_AHR_24Vo 14.638

MODEM_MSG CACST,8,1,20230627032500.269079,18,32767,45,0101,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,-7.4,4.96,-100,-1.96,-01,0.26,89,925,0025,0,-1,00,00*02 FG_AHR_10Vo 2.670

FREEZE 5.95,12.064,-1.581,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3377.26,338.27,0.715,0,500.4,441.5,559.4,686.73 MEM2 945424,38,100964,71

SM_GC 2.06,0.00,11.06,0.38,0.000,0.041,0.058,495.1,439.8,550.4,185.1,2323.4,0,0,0,30.00,15.36,15.35 DATA_FILE_SIZE 12924,442

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 163704,0

IRIDIUM_FIX 4736.87,-12256.21,270623,015234 SDSIZE 3887104,3861248

TCM_TEMP 18.21 SDFILEDIR 341,37

SC_FREEKB 3867232 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 0,1687834800,47.60500,-122.95000,0.149,218.7 CURRENT 0.042,221.7,1

RAFOS_FIX 4736.391602,-12256.815430,270623,030300,3,255,0.18 MAGCAL 1.000000,0.023678,-0.031782,-0.003858,1.076532,-0.084197,0.003771,-0.089711,1.020923,668.5,-302.1,-317.5,36,0.0292,0

HUMID 56.36 IMPLIED_C_PITCH 1528,15.89,224,0.0,0.00

TEMP 10.61 IMPLIED_C_VBD 3425,16.011414,224,0

INTERNAL_PRESSURE 8.27233 GPS 270623,035043,4736.098,-12256.815,1,0.7,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 681 880 8929.07 nil 0 0 0.00

Pitch_motor 23 232 80.44 nil 0 0 0.00

Roll_motor 50 165 124.19 nil 0 0 0.00

Iridium 126 144 271.93 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 38 15 8.57 nil 0 0 0.00

Core 1865 5 143.07 SciCon 3010 7 349.90

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1450 0 6.95

Compass 926 5 69.38

RAFOS 1697 40 1016.95

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 0.00 492.9 440.4 545.4 184.9 2268.5 0.00 0.00 0 55.84 44.70 0.00 0.00 0.005 0.000 0.000 1803.31 1787.62 1819.00 185.19 2269.00 0 0 0 15.62 30.00 30.00

56.37 18727 -146.63 -1.35 80.00 1805.9 1787.1 1824.7 185.2 2269.1 3.21 -4.25 9 143.84 59.16 7.51 3.67 0.005 0.233 0.090 3898.81 3884.94 3912.69 1171.62 3769.25 0 0 0 15.66 15.48 15.57

267.52 1156 -146.63 -1.29 0.00 3901.8 3886.7 3916.9 1171.9 3769.1 28.10 -15.50 49 275.45 0.00 0.00 3.39 0.000 0.000 0.015 3901.41 3886.75 3916.06 1172.31 2265.69 0 0 0 30.00 30.00 15.66

460.15 128 -146.63 -1.26 0.00 3902.5 3887.1 3918.0 1172.0 2265.0 49.38 -10.89 84 464.09 0.00 0.00 0.00 0.000 0.000 0.000 3902.28 3886.88 3917.69 1172.00 2264.81 0 0 0 30.00 30.00 30.00

650.26 2437 -146.63 -1.23 80.00 3902.8 3886.4 3919.1 1171.9 2264.9 70.34 -10.69 104 659.53 0.00 0.20 3.71 0.000 0.156 0.091 3902.25 3886.50 3918.00 1202.75 3767.81 0 0 0 30.00 15.63 15.64

688.33 1156 -146.63 -1.20 0.00 3903.0 3886.8 3919.1 1202.8 3768.2 74.90 -11.94 111 695.85 0.00 0.00 3.37 0.000 0.000 0.015 3903.03 3886.88 3919.19 1202.75 2267.06 0 0 0 30.00 30.00 15.70

883.43 420 -146.63 -1.19 80.00 3903.3 3886.9 3919.8 1202.6 2266.3 94.20 -9.80 131 892.16 0.00 0.00 3.69 0.000 0.000 0.093 3904.44 3888.38 3920.50 1203.06 3769.19 0 0 0 30.00 30.00 15.67

940.96 1156 -146.63 -1.16 0.00 3903.5 3887.2 3919.8 1202.9 3769.1 100.60 -11.48 142 948.48 0.00 0.00 3.35 0.000 0.000 0.015 3902.94 3886.94 3918.94 1202.62 2264.25 0 0 0 30.00 30.00 15.71

1136.08 420 -146.63 -1.14 80.00 3903.9 3887.1 3920.7 1202.6 2263.6 119.01 -9.03 162 1144.78 0.00 0.00 3.70 0.000 0.000 0.094 3903.38 3886.81 3919.94 1202.88 3768.88 0 0 0 30.00 30.00 15.68

1187.81 3205 -146.63 -1.12 0.00 3903.8 3886.9 3920.8 1202.5 3768.8 124.87 -11.58 172 1196.05 0.00 0.19 3.36 0.000 0.157 0.015 3904.03 3887.12 3920.94 1232.06 2266.12 0 0 0 30.00 15.67 15.73

1383.51 32 -146.63 -1.12 0.00 3904.0 3886.9 3921.1 1232.1 2265.5 140.55 -7.79 192 1385.39 0.00 0.00 0.00 0.000 0.000 0.000 3903.47 3886.69 3920.25 1232.06 2265.94 0 0 0 30.00 30.00 30.00

1503 end dive: TARGET_DEPTH_EXCEEDED

state 1503 begin apogee

1505.35 10243 0.00 -0.33 0.00 3904.1 3887.4 3920.7 1232.2 2151.3 150.02 -7.86 204 1625.23 106.04 1.27 0.10 0.881 0.110 0.166 3296.72 3241.75 3351.69 1423.56 2212.38 0 0 0 11.53 15.68 15.31

1626 end apogee: CONTROL_FINISHED_OK

state 1627 begin climb

1626.83 10759 146.63 1.35 -80.00 3295.4 3241.4 3349.5 1423.7 2212.6 153.05 0.00 215 1761.15 107.17 2.67 3.82 0.861 0.070 0.115 2698.66 2617.38 2779.94 1831.94 718.88 0 0 0 11.45 15.31 15.16

1829.24 17542 146.63 1.33 0.00 2692.5 2616.6 2768.5 1831.2 718.7 132.08 15.98 252 1837.54 0.00 0.00 3.55 0.000 0.000 0.034 2693.69 2617.62 2769.75 1832.06 2202.12 0 0 0 30.00 30.00 15.35

2025.01 16774 146.63 1.32 80.00 2690.3 2613.4 2767.2 1831.8 2201.7 102.90 14.99 272 2033.97 0.00 0.00 3.61 0.000 0.000 0.095 2688.88 2612.12 2765.62 1832.25 3651.50 0 0 0 30.00 30.00 15.46

2158.63 17542 146.63 1.29 0.00 2689.3 2613.4 2765.2 1831.5 3650.9 79.39 17.02 298 2166.71 0.00 0.00 3.38 0.000 0.000 0.018 2690.91 2614.19 2767.62 1831.12 2156.94 0 0 0 30.00 30.00 15.58

2354.39 16514 146.63 1.29 0.00 2688.9 2612.6 2765.1 1831.8 2156.4 54.12 12.33 318 2356.30 0.00 0.00 0.00 0.000 0.000 0.000 2687.69 2611.62 2763.75 1831.25 2156.31 0 0 0 30.00 30.00 30.00

2541.90 16386 146.63 1.29 0.00 2688.7 2612.2 2765.1 1831.5 2156.8 31.21 11.55 351 2545.95 0.00 0.00 0.00 0.000 0.000 0.000 2688.56 2612.12 2765.00 1831.38 2156.19 0 0 0 30.00 30.00 30.00

2727.01 8486 162.22 1.30 80.00 2688.1 2611.4 2764.8 1831.4 2156.2 12.60 9.28 388 2751.04 11.94 0.00 3.68 0.654 0.000 0.094 2637.31 2554.81 2719.81 1830.94 3652.69 0 0 0 11.49 30.00 15.66

2979.98 11431 388.29 1.57 0.00 2632.9 2552.6 2713.2 1831.6 3652.9 5.94 -0.47 438 3004.44 14.49 0.32 3.35 0.675 0.050 0.016 2566.50 2481.94 2651.06 1891.69 2153.94 0 0 0 11.47 15.76 15.75

3005 end climb: NO_VERTICAL_VELOCITY

state 3005 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	36	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	2.6629989	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	14.500108	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	270623,024753,4736.458,-12256.603,9,1.7,12,15.4	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	-62.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,025131,4736.482,-12256.553,2,0.8,28,15.4	MHEAD_RNG_PITCHd_Wd	185.5,1032,-17.6,-10.000,-21.21,2209,0.144
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	8000307

NAV	1687836434,87.4,3,stop	_24V_AH	14.87,11.161
NET	xmit part outbox0031.n 922 14	_10V_AH	14.98,0.000
NET_PING	1687835863,29,238.453506,2.500000,-0.316824	FG_AHR_24Vo	14.638
MODEM_MSG	CACST,8,1,20230627032500.269079,18,32767,45,0101,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,-7.4,4.96,-100,-1.96,-01,0.26,89,925,0025,0,-1,00,00*02	FG_AHR_10Vo	2.670
FREEZE	5.95,12.064,-1.581,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3377.26,338.27,0.715,0,500.4,441.5,559.4,686.73	MEM2	945424,38,100964,71
SM_GC	2.06,0.00,11.06,0.38,0.000,0.041,0.058,495.1,439.8,550.4,185.1,2323.4,0,0,0,30.00,15.36,15.35	DATA_FILE_SIZE	12924,442
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	163704,0
IRIDIUM_FIX	4736.87,-12256.21,270623,015234	SDSIZE	3887104,3861248
TCM_TEMP	18.21	SDFILEDIR	341,37
SC_FREEKB	3867232	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	0,1687834800,47.60500,-122.95000,0.149,218.7	CURRENT	0.042,221.7,1
RAFOS_FIX	4736.391602,-12256.815430,270623,030300,3,255,0.18	MAGCAL	1.000000,0.023678,-0.031782,-0.003858,1.076532,-0.084197,0.003771,-0.089711,1.020923,668.5,-302.1,-317.5,36,0.0292,0
HUMID	56.36	IMPLIED_C_PITCH	1528,15.89,224,0.0,0.00
TEMP	10.61	IMPLIED_C_VBD	3425,16.011414,224,0
INTERNAL_PRESSURE	8.27233	GPS	270623,035043,4736.098,-12256.815,1,0.7,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	681	880	8929.07	nil	0	0	0.00
Pitch_motor	23	232	80.44	nil	0	0	0.00
Roll_motor	50	165	124.19	nil	0	0	0.00
Iridium	126	144	271.93	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	38	15	8.57	nil	0	0	0.00
Core	1865	5	143.07	SciCon	3010	7	349.90
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1450	0	6.95
Compass	926	5	69.38
RAFOS	1697	40	1016.95
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	492.9	440.4	545.4	184.9	2268.5	0.00	0.00	0	55.84	44.70	0.00	0.00	0.005	0.000	0.000	1803.31	1787.62	1819.00	185.19	2269.00	0	0	0	15.62	30.00	30.00
56.37	18727	-146.63	-1.35	80.00	1805.9	1787.1	1824.7	185.2	2269.1	3.21	-4.25	9	143.84	59.16	7.51	3.67	0.005	0.233	0.090	3898.81	3884.94	3912.69	1171.62	3769.25	0	0	0	15.66	15.48	15.57
267.52	1156	-146.63	-1.29	0.00	3901.8	3886.7	3916.9	1171.9	3769.1	28.10	-15.50	49	275.45	0.00	0.00	3.39	0.000	0.000	0.015	3901.41	3886.75	3916.06	1172.31	2265.69	0	0	0	30.00	30.00	15.66
460.15	128	-146.63	-1.26	0.00	3902.5	3887.1	3918.0	1172.0	2265.0	49.38	-10.89	84	464.09	0.00	0.00	0.00	0.000	0.000	0.000	3902.28	3886.88	3917.69	1172.00	2264.81	0	0	0	30.00	30.00	30.00
650.26	2437	-146.63	-1.23	80.00	3902.8	3886.4	3919.1	1171.9	2264.9	70.34	-10.69	104	659.53	0.00	0.20	3.71	0.000	0.156	0.091	3902.25	3886.50	3918.00	1202.75	3767.81	0	0	0	30.00	15.63	15.64
688.33	1156	-146.63	-1.20	0.00	3903.0	3886.8	3919.1	1202.8	3768.2	74.90	-11.94	111	695.85	0.00	0.00	3.37	0.000	0.000	0.015	3903.03	3886.88	3919.19	1202.75	2267.06	0	0	0	30.00	30.00	15.70
883.43	420	-146.63	-1.19	80.00	3903.3	3886.9	3919.8	1202.6	2266.3	94.20	-9.80	131	892.16	0.00	0.00	3.69	0.000	0.000	0.093	3904.44	3888.38	3920.50	1203.06	3769.19	0	0	0	30.00	30.00	15.67
940.96	1156	-146.63	-1.16	0.00	3903.5	3887.2	3919.8	1202.9	3769.1	100.60	-11.48	142	948.48	0.00	0.00	3.35	0.000	0.000	0.015	3902.94	3886.94	3918.94	1202.62	2264.25	0	0	0	30.00	30.00	15.71
1136.08	420	-146.63	-1.14	80.00	3903.9	3887.1	3920.7	1202.6	2263.6	119.01	-9.03	162	1144.78	0.00	0.00	3.70	0.000	0.000	0.094	3903.38	3886.81	3919.94	1202.88	3768.88	0	0	0	30.00	30.00	15.68
1187.81	3205	-146.63	-1.12	0.00	3903.8	3886.9	3920.8	1202.5	3768.8	124.87	-11.58	172	1196.05	0.00	0.19	3.36	0.000	0.157	0.015	3904.03	3887.12	3920.94	1232.06	2266.12	0	0	0	30.00	15.67	15.73
1383.51	32	-146.63	-1.12	0.00	3904.0	3886.9	3921.1	1232.1	2265.5	140.55	-7.79	192	1385.39	0.00	0.00	0.00	0.000	0.000	0.000	3903.47	3886.69	3920.25	1232.06	2265.94	0	0	0	30.00	30.00	30.00
1503	end dive: TARGET_DEPTH_EXCEEDED
state	1503	begin apogee
1505.35	10243	0.00	-0.33	0.00	3904.1	3887.4	3920.7	1232.2	2151.3	150.02	-7.86	204	1625.23	106.04	1.27	0.10	0.881	0.110	0.166	3296.72	3241.75	3351.69	1423.56	2212.38	0	0	0	11.53	15.68	15.31
1626	end apogee: CONTROL_FINISHED_OK
state	1627	begin climb
1626.83	10759	146.63	1.35	-80.00	3295.4	3241.4	3349.5	1423.7	2212.6	153.05	0.00	215	1761.15	107.17	2.67	3.82	0.861	0.070	0.115	2698.66	2617.38	2779.94	1831.94	718.88	0	0	0	11.45	15.31	15.16
1829.24	17542	146.63	1.33	0.00	2692.5	2616.6	2768.5	1831.2	718.7	132.08	15.98	252	1837.54	0.00	0.00	3.55	0.000	0.000	0.034	2693.69	2617.62	2769.75	1832.06	2202.12	0	0	0	30.00	30.00	15.35
2025.01	16774	146.63	1.32	80.00	2690.3	2613.4	2767.2	1831.8	2201.7	102.90	14.99	272	2033.97	0.00	0.00	3.61	0.000	0.000	0.095	2688.88	2612.12	2765.62	1832.25	3651.50	0	0	0	30.00	30.00	15.46
2158.63	17542	146.63	1.29	0.00	2689.3	2613.4	2765.2	1831.5	3650.9	79.39	17.02	298	2166.71	0.00	0.00	3.38	0.000	0.000	0.018	2690.91	2614.19	2767.62	1831.12	2156.94	0	0	0	30.00	30.00	15.58
2354.39	16514	146.63	1.29	0.00	2688.9	2612.6	2765.1	1831.8	2156.4	54.12	12.33	318	2356.30	0.00	0.00	0.00	0.000	0.000	0.000	2687.69	2611.62	2763.75	1831.25	2156.31	0	0	0	30.00	30.00	30.00
2541.90	16386	146.63	1.29	0.00	2688.7	2612.2	2765.1	1831.5	2156.8	31.21	11.55	351	2545.95	0.00	0.00	0.00	0.000	0.000	0.000	2688.56	2612.12	2765.00	1831.38	2156.19	0	0	0	30.00	30.00	30.00
2727.01	8486	162.22	1.30	80.00	2688.1	2611.4	2764.8	1831.4	2156.2	12.60	9.28	388	2751.04	11.94	0.00	3.68	0.654	0.000	0.094	2637.31	2554.81	2719.81	1830.94	3652.69	0	0	0	11.49	30.00	15.66
2979.98	11431	388.29	1.57	0.00	2632.9	2552.6	2713.2	1831.6	3652.9	5.94	-0.47	438	3004.44	14.49	0.32	3.35	0.675	0.050	0.016	2566.50	2481.94	2651.06	1891.69	2153.94	0	0	0	11.47	15.76	15.75
3005	end climb: NO_VERTICAL_VELOCITY
state	3005	begin surface