Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 38 * 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 38 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 2.676245 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 14.788464 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 2.676245 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.788464 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 38 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 270623,045339,4736.306,-12256.745,1,0.9,30,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.59 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,045701,4736.322,-12256.752,3,0.9,5,15.4 MHEAD_RNG_PITCHd_Wd 27.8,522,-21.7,-10.000,-24.90,1500,0.153

SPEED_LIMITS 0.173,0.258 D_GRID 167

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 1687843636,57.4,4,stop _10V_AH 14.97,0.000

NET CACST,8,1,20230627051750.947451,18,32767,45,0106,0150,07,00,00,00,00,-1,-01,-01,1,3,27,0,150,5.3,0.75,-100,2.25,-01,-0.67,81,10000,5000,0,-1,00,00*75 FG_AHR_24Vo 14.926

MODEM_MSG CACST,8,0,20230627052500.281103,18,30476,44,0098,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-0.7,5.60,-100,-2.60,-01,0.01,88,925,0025,0,1,00,00*06 FG_AHR_10Vo 2.677

FREEZE 4.36,14.530,-1.498,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2917.54,246.93,0.710,0,501.0,447.6,554.4,686.59 MEM2 945624,26,101004,71

SM_GC 1.79,0.00,11.28,3.78,0.000,0.040,0.029,495.7,445.5,545.9,188.9,2318.6,0,0,0,30.00,15.36,15.35 DATA_FILE_SIZE 12935,437

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 160179,0

IRIDIUM_FIX 4736.00,-12258.89,270623,035151 SDSIZE 3887104,3860608

TCM_TEMP 18.69 SDFILEDIR 357,39

SC_FREEKB 3866592 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 0,1687842000,47.60500,-122.95000,0.131,192.0 CURRENT 0.037,213.8,1

RAFOS_FIX 4736.517578,-12256.711914,270623,050500,4,255,0.22 MAGCAL 1.000000,0.034795,-0.110580,0.010870,1.096543,-0.049379,0.060386,-0.066647,1.019002,736.7,-328.4,-303.8,36,0.0461,0

HUMID 55.90 IMPLIED_C_PITCH 1540,16.48,164,0.0,0.00

TEMP 11.31 IMPLIED_C_VBD 3409,20.626644,164,0

INTERNAL_PRESSURE 8.29092 GPS 270623,054845,4736.324,-12256.587,1,1.2,8,15.4

_24V_AH 14.89,11.482

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 677 884 8922.06 nil 0 0 0.00

Pitch_motor 24 236 85.93 nil 0 0 0.00

Roll_motor 57 166 143.22 nil 0 0 0.00

Iridium 134 136 272.24 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.22 nil 0 0 0.00

Core 1852 5 141.96 SciCon 2648 7 298.22

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1085 0 5.20

Compass 897 5 67.14

RAFOS 1693 40 1013.84

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

6.62 16386 -99.05 -1.57 0.00 492.6 440.2 544.9 185.2 2271.4 0.00 0.00 0 50.66 39.70 0.00 0.00 0.005 0.000 0.000 1655.19 1647.25 1663.12 185.12 2271.44 0 0 0 15.63 30.00 30.00

51.20 18727 -146.63 -1.63 80.00 1658.1 1647.6 1668.7 185.3 2271.3 3.16 -4.97 8 144.90 64.78 7.07 3.67 0.005 0.237 0.090 3899.34 3886.25 3912.44 1106.81 3767.62 0 0 0 15.43 15.45 15.54

198.58 1156 -146.63 -1.56 0.00 3901.3 3888.2 3914.4 1106.6 3768.0 19.69 -18.51 33 206.49 0.00 0.00 3.39 0.000 0.000 0.015 3901.12 3888.31 3913.94 1106.69 2268.62 0 0 0 30.00 30.00 15.61

388.12 388 -146.63 -1.53 80.00 3902.7 3888.3 3917.1 1106.1 2267.4 46.24 -13.35 70 396.73 0.00 0.00 3.69 0.000 0.000 0.088 3902.03 3887.69 3916.38 1107.56 3768.19 0 0 0 30.00 30.00 15.58

625.58 3205 -146.63 -1.48 0.00 3903.2 3888.4 3917.9 1107.0 3768.0 87.78 -17.43 117 634.58 0.00 0.25 3.40 0.000 0.173 0.015 3902.69 3887.75 3917.62 1142.94 2268.00 0 0 0 30.00 15.61 15.68

820.59 388 -146.63 -1.47 80.00 3903.9 3888.6 3919.2 1142.8 2267.6 111.72 -11.75 137 829.39 0.00 0.00 3.69 0.000 0.000 0.090 3903.41 3887.88 3918.94 1143.31 3766.50 0 0 0 30.00 30.00 15.64

1058.23 1156 -146.63 -1.44 0.00 3904.1 3888.6 3919.5 1143.0 3767.2 147.20 -15.07 184 1066.94 0.00 0.00 3.43 0.000 0.000 0.015 3905.06 3889.62 3920.50 1143.00 2268.75 0 0 0 30.00 30.00 15.72

1083 end dive: TARGET_DEPTH_EXCEEDED

state 1083 begin apogee

1084.98 10243 0.00 -0.33 0.00 3904.2 3888.8 3919.6 1143.2 2152.6 150.47 -13.39 187 1204.37 105.39 1.92 0.09 0.884 0.125 0.167 3298.75 3244.00 3353.50 1421.38 2210.00 0 0 0 11.50 15.64 15.39

1206 end apogee: CONTROL_FINISHED_OK

state 1206 begin climb

1206.29 10759 146.63 1.63 -80.00 3295.7 3241.9 3349.4 1421.5 2209.2 153.36 0.00 198 1339.39 106.60 3.14 3.85 0.862 0.076 0.112 2696.69 2615.88 2777.50 1897.12 720.06 0 0 0 11.41 15.39 15.18

1367.48 17542 146.63 1.60 0.00 2694.1 2618.2 2770.0 1896.1 720.1 134.27 19.45 226 1375.81 0.00 0.00 3.54 0.000 0.000 0.034 2693.44 2617.19 2769.69 1896.75 2203.62 0 0 0 30.00 30.00 15.31

1563.25 16774 146.63 1.59 80.00 2691.3 2615.9 2766.8 1896.9 2203.6 98.00 17.95 246 1572.14 0.00 0.00 3.56 0.000 0.000 0.092 2688.25 2612.62 2763.88 1896.81 3651.81 0 0 0 30.00 30.00 15.45

1621.00 17542 146.63 1.56 0.00 2690.8 2615.8 2765.8 1897.1 3651.1 85.67 21.95 257 1629.79 0.00 0.00 3.43 0.000 0.000 0.017 2689.84 2615.69 2764.00 1896.88 2160.31 0 0 0 30.00 30.00 15.51

1816.00 16774 146.63 1.55 80.00 2689.8 2614.6 2765.1 1896.6 2159.8 52.80 15.37 277 1824.99 0.00 0.00 3.66 0.000 0.000 0.089 2688.50 2613.06 2763.94 1896.75 3651.12 0 0 0 30.00 30.00 15.55

1853.83 21639 146.63 1.52 0.00 2689.6 2614.3 2764.9 1897.0 3651.4 45.85 19.22 284 1862.82 0.00 0.30 3.43 0.000 0.192 0.018 2687.12 2612.25 2762.00 1863.94 2157.69 0 0 0 30.00 15.54 15.62

2046.63 16774 146.63 1.53 80.00 2689.3 2614.0 2764.6 1863.8 2157.8 20.03 11.81 322 2055.31 0.00 0.00 3.66 0.000 0.000 0.091 2689.59 2613.50 2765.69 1863.06 3654.12 0 0 0 30.00 30.00 15.63

2142.32 17542 146.63 1.52 0.00 2689.1 2613.8 2764.4 1863.8 3653.9 8.76 10.36 340 2150.87 0.00 0.00 3.41 0.000 0.000 0.017 2686.06 2611.12 2761.00 1863.50 2156.06 0 0 0 30.00 30.00 15.69

2334.74 10919 315.22 1.75 -80.00 2688.4 2612.9 2764.0 1863.3 2156.0 8.47 -1.50 378 2470.49 114.41 0.43 3.70 0.729 0.042 0.114 2010.44 1895.56 2125.31 1936.38 718.94 0 0 0 11.54 15.75 15.41

2644 end climb: NO_VERTICAL_VELOCITY

state 2644 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	38	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	2.676245	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	14.788464	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	270623,045339,4736.306,-12256.745,1,0.9,30,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.59	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,045701,4736.322,-12256.752,3,0.9,5,15.4	MHEAD_RNG_PITCHd_Wd	27.8,522,-21.7,-10.000,-24.90,1500,0.153
SPEED_LIMITS	0.173,0.258	D_GRID	167
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	1687843636,57.4,4,stop	_10V_AH	14.97,0.000
NET	CACST,8,1,20230627051750.947451,18,32767,45,0106,0150,07,00,00,00,00,-1,-01,-01,1,3,27,0,150,5.3,0.75,-100,2.25,-01,-0.67,81,10000,5000,0,-1,00,00*75	FG_AHR_24Vo	14.926
MODEM_MSG	CACST,8,0,20230627052500.281103,18,30476,44,0098,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-0.7,5.60,-100,-2.60,-01,0.01,88,925,0025,0,1,00,00*06	FG_AHR_10Vo	2.677
FREEZE	4.36,14.530,-1.498,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2917.54,246.93,0.710,0,501.0,447.6,554.4,686.59	MEM2	945624,26,101004,71
SM_GC	1.79,0.00,11.28,3.78,0.000,0.040,0.029,495.7,445.5,545.9,188.9,2318.6,0,0,0,30.00,15.36,15.35	DATA_FILE_SIZE	12935,437
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	160179,0
IRIDIUM_FIX	4736.00,-12258.89,270623,035151	SDSIZE	3887104,3860608
TCM_TEMP	18.69	SDFILEDIR	357,39
SC_FREEKB	3866592	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	0,1687842000,47.60500,-122.95000,0.131,192.0	CURRENT	0.037,213.8,1
RAFOS_FIX	4736.517578,-12256.711914,270623,050500,4,255,0.22	MAGCAL	1.000000,0.034795,-0.110580,0.010870,1.096543,-0.049379,0.060386,-0.066647,1.019002,736.7,-328.4,-303.8,36,0.0461,0
HUMID	55.90	IMPLIED_C_PITCH	1540,16.48,164,0.0,0.00
TEMP	11.31	IMPLIED_C_VBD	3409,20.626644,164,0
INTERNAL_PRESSURE	8.29092	GPS	270623,054845,4736.324,-12256.587,1,1.2,8,15.4
_24V_AH	14.89,11.482

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	677	884	8922.06	nil	0	0	0.00
Pitch_motor	24	236	85.93	nil	0	0	0.00
Roll_motor	57	166	143.22	nil	0	0	0.00
Iridium	134	136	272.24	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.22	nil	0	0	0.00
Core	1852	5	141.96	SciCon	2648	7	298.22
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1085	0	5.20
Compass	897	5	67.14
RAFOS	1693	40	1013.84
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
6.62	16386	-99.05	-1.57	0.00	492.6	440.2	544.9	185.2	2271.4	0.00	0.00	0	50.66	39.70	0.00	0.00	0.005	0.000	0.000	1655.19	1647.25	1663.12	185.12	2271.44	0	0	0	15.63	30.00	30.00
51.20	18727	-146.63	-1.63	80.00	1658.1	1647.6	1668.7	185.3	2271.3	3.16	-4.97	8	144.90	64.78	7.07	3.67	0.005	0.237	0.090	3899.34	3886.25	3912.44	1106.81	3767.62	0	0	0	15.43	15.45	15.54
198.58	1156	-146.63	-1.56	0.00	3901.3	3888.2	3914.4	1106.6	3768.0	19.69	-18.51	33	206.49	0.00	0.00	3.39	0.000	0.000	0.015	3901.12	3888.31	3913.94	1106.69	2268.62	0	0	0	30.00	30.00	15.61
388.12	388	-146.63	-1.53	80.00	3902.7	3888.3	3917.1	1106.1	2267.4	46.24	-13.35	70	396.73	0.00	0.00	3.69	0.000	0.000	0.088	3902.03	3887.69	3916.38	1107.56	3768.19	0	0	0	30.00	30.00	15.58
625.58	3205	-146.63	-1.48	0.00	3903.2	3888.4	3917.9	1107.0	3768.0	87.78	-17.43	117	634.58	0.00	0.25	3.40	0.000	0.173	0.015	3902.69	3887.75	3917.62	1142.94	2268.00	0	0	0	30.00	15.61	15.68
820.59	388	-146.63	-1.47	80.00	3903.9	3888.6	3919.2	1142.8	2267.6	111.72	-11.75	137	829.39	0.00	0.00	3.69	0.000	0.000	0.090	3903.41	3887.88	3918.94	1143.31	3766.50	0	0	0	30.00	30.00	15.64
1058.23	1156	-146.63	-1.44	0.00	3904.1	3888.6	3919.5	1143.0	3767.2	147.20	-15.07	184	1066.94	0.00	0.00	3.43	0.000	0.000	0.015	3905.06	3889.62	3920.50	1143.00	2268.75	0	0	0	30.00	30.00	15.72
1083	end dive: TARGET_DEPTH_EXCEEDED
state	1083	begin apogee
1084.98	10243	0.00	-0.33	0.00	3904.2	3888.8	3919.6	1143.2	2152.6	150.47	-13.39	187	1204.37	105.39	1.92	0.09	0.884	0.125	0.167	3298.75	3244.00	3353.50	1421.38	2210.00	0	0	0	11.50	15.64	15.39
1206	end apogee: CONTROL_FINISHED_OK
state	1206	begin climb
1206.29	10759	146.63	1.63	-80.00	3295.7	3241.9	3349.4	1421.5	2209.2	153.36	0.00	198	1339.39	106.60	3.14	3.85	0.862	0.076	0.112	2696.69	2615.88	2777.50	1897.12	720.06	0	0	0	11.41	15.39	15.18
1367.48	17542	146.63	1.60	0.00	2694.1	2618.2	2770.0	1896.1	720.1	134.27	19.45	226	1375.81	0.00	0.00	3.54	0.000	0.000	0.034	2693.44	2617.19	2769.69	1896.75	2203.62	0	0	0	30.00	30.00	15.31
1563.25	16774	146.63	1.59	80.00	2691.3	2615.9	2766.8	1896.9	2203.6	98.00	17.95	246	1572.14	0.00	0.00	3.56	0.000	0.000	0.092	2688.25	2612.62	2763.88	1896.81	3651.81	0	0	0	30.00	30.00	15.45
1621.00	17542	146.63	1.56	0.00	2690.8	2615.8	2765.8	1897.1	3651.1	85.67	21.95	257	1629.79	0.00	0.00	3.43	0.000	0.000	0.017	2689.84	2615.69	2764.00	1896.88	2160.31	0	0	0	30.00	30.00	15.51
1816.00	16774	146.63	1.55	80.00	2689.8	2614.6	2765.1	1896.6	2159.8	52.80	15.37	277	1824.99	0.00	0.00	3.66	0.000	0.000	0.089	2688.50	2613.06	2763.94	1896.75	3651.12	0	0	0	30.00	30.00	15.55
1853.83	21639	146.63	1.52	0.00	2689.6	2614.3	2764.9	1897.0	3651.4	45.85	19.22	284	1862.82	0.00	0.30	3.43	0.000	0.192	0.018	2687.12	2612.25	2762.00	1863.94	2157.69	0	0	0	30.00	15.54	15.62
2046.63	16774	146.63	1.53	80.00	2689.3	2614.0	2764.6	1863.8	2157.8	20.03	11.81	322	2055.31	0.00	0.00	3.66	0.000	0.000	0.091	2689.59	2613.50	2765.69	1863.06	3654.12	0	0	0	30.00	30.00	15.63
2142.32	17542	146.63	1.52	0.00	2689.1	2613.8	2764.4	1863.8	3653.9	8.76	10.36	340	2150.87	0.00	0.00	3.41	0.000	0.000	0.017	2686.06	2611.12	2761.00	1863.50	2156.06	0	0	0	30.00	30.00	15.69
2334.74	10919	315.22	1.75	-80.00	2688.4	2612.9	2764.0	1863.3	2156.0	8.47	-1.50	378	2470.49	114.41	0.43	3.70	0.729	0.042	0.114	2010.44	1895.56	2125.31	1936.38	718.94	0	0	0	11.54	15.75	15.41
2644	end climb: NO_VERTICAL_VELOCITY
state	2644	begin surface