Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 40 * 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 40 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 50 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 2 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 2.6768732 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 15.066537 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 50 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 2.6768732 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 15.066537 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 40 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 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 270623,064109,4736.375,-12256.407,17,1.4,18,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 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 270623,064411,4736.393,-12256.415,2,1.4,5,15.4 MHEAD_RNG_PITCHd_Wd 194.8,950,-17.6,-10.000,-21.21,2209,0.183

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 1687850832,46.7,4,stop _24V_AH 14.87,11.792

NET CACST,8,1,20230627073252.155666,18,653,22,0114,0150,134,02,02,01,02,-1,-01,-01,1,3,27,0,150,23.0,0.49,-100,2.51,-01,2.67,52,10000,5000,0,-1,00,00*52 _10V_AH 14.97,0.000

NET_PING 1687849366,29,447.980988,12.200000,-0.594019 FG_AHR_24Vo 15.204

MODEM_MSG CACST,8,0,20230627072500.364180,18,32767,45,0112,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-0.4,9.19,-100,-6.19,-01,0.22,88,925,0025,0,1,00,00*0E FG_AHR_10Vo 2.681

FREEZE 4.99,14.454,-1.521,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3508.07,260.20,0.707,0,500.1,441.9,558.3,686.82 MEM2 945460,36,100968,71

SM_GC 1.80,0.00,11.01,0.38,0.000,0.032,0.061,495.1,441.0,549.2,190.1,2323.1,0,0,0,30.00,15.33,15.34 DATA_FILE_SIZE 12929,469

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 177568,0

IRIDIUM_FIX 4736.87,-12256.21,270623,054954 SDSIZE 3887104,3859968

TCM_TEMP 18.36 SDFILEDIR 372,41

SC_FREEKB 3865952 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 0,1687849200,47.60500,-122.95000,0.284,416.7 CURRENT 0.018,300.1,1

RAFOS_FIX 4736.051758,-12257.374023,270623,070700,4,255,0.55 MAGCAL 1.000000,0.011430,0.031350,-0.032021,1.068121,-0.078499,-0.003217,-0.049126,0.960478,597.3,-297.3,-266.8,34,0.0308,0

HUMID 56.19 IMPLIED_C_PITCH 1530,16.41,226,0.0,0.00

TEMP 10.79 IMPLIED_C_VBD 3435,18.750893,226,0

INTERNAL_PRESSURE 8.28136 GPS 270623,074602,4736.094,-12256.727,10,0.9,32,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 678 883 8918.00 nil 0 0 0.00

Pitch_motor 23 237 84.18 nil 0 0 0.00

Roll_motor 65 167 161.85 nil 0 0 0.00

Iridium 113 139 236.55 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.37 nil 0 0 0.00

Core 2033 5 155.84 SciCon 3225 7 368.56

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1460 0 7.00

Compass 987 5 73.89

RAFOS 1692 40 1013.63

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

6.39 16386 -146.63 -1.35 0.00 493.2 444.3 542.2 193.6 2267.4 0.00 0.00 0 58.30 46.99 0.00 0.00 0.005 0.000 0.000 1861.03 1847.12 1874.94 193.81 2267.62 0 0 0 15.62 30.00 30.00

58.83 18983 -146.63 -1.35 -80.00 1865.0 1849.3 1880.7 193.8 2267.5 3.32 -4.36 10 141.07 55.51 7.53 3.62 0.005 0.238 0.098 3898.59 3882.62 3914.56 1172.38 831.56 0 0 0 15.63 15.46 15.54

144.82 1188 -146.63 -1.30 0.00 3900.0 3883.4 3916.5 1172.4 831.6 9.33 -9.76 25 152.75 0.00 0.00 3.50 0.000 0.000 0.030 3899.59 3882.88 3916.31 1172.12 2320.94 0 0 0 30.00 30.00 15.60

337.88 388 -146.63 -1.27 80.00 3901.4 3883.9 3919.0 1172.2 2320.2 29.70 -10.02 63 346.31 0.00 0.00 3.52 0.000 0.000 0.089 3900.81 3883.19 3918.44 1172.12 3768.12 0 0 0 30.00 30.00 15.62

465.13 3205 -146.63 -1.21 0.00 3901.8 3883.9 3919.6 1172.2 3767.5 46.56 -13.74 88 473.89 0.00 0.24 3.44 0.000 0.156 0.014 3902.16 3884.00 3920.31 1207.12 2264.69 0 0 0 30.00 15.62 15.70

657.77 420 -146.63 -1.20 80.00 3902.5 3883.9 3921.1 1206.8 2265.1 64.59 -8.84 110 666.44 0.00 0.00 3.67 0.000 0.000 0.089 3901.94 3883.31 3920.56 1207.44 3767.81 0 0 0 30.00 30.00 15.68

715.23 1156 -146.63 -1.16 0.00 3902.8 3884.1 3921.4 1207.1 3767.9 70.81 -11.10 121 723.86 0.00 0.00 3.42 0.000 0.000 0.014 3903.50 3885.19 3921.81 1207.25 2264.88 0 0 0 30.00 30.00 15.76

914.40 160 -146.63 -1.15 0.00 3903.5 3884.1 3922.9 1207.2 2265.1 88.44 -8.71 141 916.28 0.00 0.00 0.00 0.000 0.000 0.000 3902.97 3883.19 3922.75 1207.44 2264.94 0 0 0 30.00 30.00 30.00

1104.40 420 -146.63 -1.14 80.00 3904.0 3884.4 3923.6 1207.2 2265.0 105.56 -9.31 160 1116.78 0.00 0.00 3.69 0.000 0.000 0.091 3903.88 3884.56 3923.19 1207.50 3766.50 0 0 0 30.00 30.00 15.66

1195.57 3205 -146.63 -1.11 0.00 3904.1 3884.9 3923.4 1207.2 3766.6 115.49 -11.12 178 1204.45 0.00 0.17 3.45 0.000 0.162 0.014 3904.44 3884.94 3923.94 1233.44 2266.62 0 0 0 30.00 15.58 15.65

1390.55 32 -146.63 -1.11 0.00 3904.3 3884.8 3923.8 1233.4 2266.0 131.18 -7.70 198 1392.47 0.00 0.00 0.00 0.000 0.000 0.000 3904.12 3884.50 3923.75 1233.50 2266.38 0 0 0 30.00 30.00 30.00

1580.56 292 -146.63 -1.11 80.00 3904.5 3884.9 3924.1 1233.4 2266.1 146.54 -8.28 217 1589.71 0.00 0.00 3.70 0.000 0.000 0.095 3903.88 3884.25 3923.50 1234.44 3766.62 0 0 0 30.00 30.00 15.65

1618 end dive: TARGET_DEPTH_EXCEEDED

state 1618 begin apogee

1627.32 10243 0.00 -0.33 0.00 3904.0 3884.2 3923.8 1234.5 2157.3 150.25 -9.72 224 1746.94 105.24 1.27 0.08 0.884 0.115 0.167 3297.97 3242.38 3353.56 1422.50 2207.19 0 0 0 11.56 15.66 15.41

1748 end apogee: CONTROL_FINISHED_OK

state 1748 begin climb

1748.54 10759 146.63 1.35 -80.00 3296.0 3241.1 3350.9 1423.1 2208.0 154.25 0.00 235 1879.67 106.09 2.69 3.90 0.859 0.073 0.114 2697.88 2616.19 2779.56 1831.69 720.44 0 0 0 11.45 15.39 15.19

1917.76 17542 146.63 1.33 0.00 2693.9 2617.0 2770.8 1831.8 720.1 138.95 14.96 265 1926.08 0.00 0.00 3.54 0.000 0.000 0.033 2692.69 2616.31 2769.06 1832.06 2203.69 0 0 0 30.00 30.00 15.34

2113.52 16774 146.63 1.32 80.00 2690.7 2614.2 2767.2 1831.7 2203.4 109.06 15.44 285 2122.40 0.00 0.00 3.59 0.000 0.000 0.092 2690.53 2613.50 2767.56 1831.00 3651.25 0 0 0 30.00 30.00 15.46

2205.49 17542 146.63 1.29 0.00 2690.1 2614.6 2765.6 1831.8 3651.5 92.70 17.99 303 2213.70 0.00 0.00 3.47 0.000 0.000 0.018 2689.28 2613.12 2765.44 1832.00 2158.81 0 0 0 30.00 30.00 15.52

2401.25 16514 146.63 1.28 0.00 2689.2 2613.4 2765.0 1831.9 2158.8 65.33 13.69 323 2403.16 0.00 0.00 0.00 0.000 0.000 0.000 2687.69 2611.50 2763.88 1831.62 2159.00 0 0 0 30.00 30.00 30.00

2586.09 16646 146.63 1.28 80.00 2689.0 2613.0 2765.1 1831.9 2158.9 42.50 12.11 347 2594.99 0.00 0.00 3.68 0.000 0.000 0.090 2688.06 2611.06 2765.06 1831.88 3652.81 0 0 0 30.00 30.00 15.62

2663.82 21639 146.63 1.26 0.00 2688.2 2612.8 2763.8 1831.5 3652.8 31.74 14.15 362 2672.74 0.00 0.27 3.45 0.000 0.181 0.017 2686.81 2611.12 2762.50 1799.44 2157.44 0 0 0 30.00 15.62 15.68

2856.59 8614 188.06 1.32 80.00 2688.0 2612.1 2763.9 1799.1 2157.7 13.90 8.08 400 2900.33 29.90 0.00 3.71 0.719 0.000 0.091 2531.19 2442.75 2619.62 1798.69 3651.50 0 0 0 11.61 30.00 15.58

3129.27 11431 428.57 1.63 0.00 2524.0 2438.5 2609.6 1799.2 3651.7 6.87 -1.14 453 3220.02 74.73 0.64 3.44 0.727 0.036 0.016 2093.22 1981.69 2204.75 1904.31 2155.25 0 0 0 11.54 15.72 15.72

3221 end climb: NO_VERTICAL_VELOCITY

state 3221 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	40	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	50	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	2	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	2.6768732	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	15.066537	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	270623,064109,4736.375,-12256.407,17,1.4,18,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	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	270623,064411,4736.393,-12256.415,2,1.4,5,15.4	MHEAD_RNG_PITCHd_Wd	194.8,950,-17.6,-10.000,-21.21,2209,0.183
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	1687850832,46.7,4,stop	_24V_AH	14.87,11.792
NET	CACST,8,1,20230627073252.155666,18,653,22,0114,0150,134,02,02,01,02,-1,-01,-01,1,3,27,0,150,23.0,0.49,-100,2.51,-01,2.67,52,10000,5000,0,-1,00,00*52	_10V_AH	14.97,0.000
NET_PING	1687849366,29,447.980988,12.200000,-0.594019	FG_AHR_24Vo	15.204
MODEM_MSG	CACST,8,0,20230627072500.364180,18,32767,45,0112,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-0.4,9.19,-100,-6.19,-01,0.22,88,925,0025,0,1,00,00*0E	FG_AHR_10Vo	2.681
FREEZE	4.99,14.454,-1.521,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3508.07,260.20,0.707,0,500.1,441.9,558.3,686.82	MEM2	945460,36,100968,71
SM_GC	1.80,0.00,11.01,0.38,0.000,0.032,0.061,495.1,441.0,549.2,190.1,2323.1,0,0,0,30.00,15.33,15.34	DATA_FILE_SIZE	12929,469
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	177568,0
IRIDIUM_FIX	4736.87,-12256.21,270623,054954	SDSIZE	3887104,3859968
TCM_TEMP	18.36	SDFILEDIR	372,41
SC_FREEKB	3865952	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	0,1687849200,47.60500,-122.95000,0.284,416.7	CURRENT	0.018,300.1,1
RAFOS_FIX	4736.051758,-12257.374023,270623,070700,4,255,0.55	MAGCAL	1.000000,0.011430,0.031350,-0.032021,1.068121,-0.078499,-0.003217,-0.049126,0.960478,597.3,-297.3,-266.8,34,0.0308,0
HUMID	56.19	IMPLIED_C_PITCH	1530,16.41,226,0.0,0.00
TEMP	10.79	IMPLIED_C_VBD	3435,18.750893,226,0
INTERNAL_PRESSURE	8.28136	GPS	270623,074602,4736.094,-12256.727,10,0.9,32,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	678	883	8918.00	nil	0	0	0.00
Pitch_motor	23	237	84.18	nil	0	0	0.00
Roll_motor	65	167	161.85	nil	0	0	0.00
Iridium	113	139	236.55	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.37	nil	0	0	0.00
Core	2033	5	155.84	SciCon	3225	7	368.56
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1460	0	7.00
Compass	987	5	73.89
RAFOS	1692	40	1013.63
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
6.39	16386	-146.63	-1.35	0.00	493.2	444.3	542.2	193.6	2267.4	0.00	0.00	0	58.30	46.99	0.00	0.00	0.005	0.000	0.000	1861.03	1847.12	1874.94	193.81	2267.62	0	0	0	15.62	30.00	30.00
58.83	18983	-146.63	-1.35	-80.00	1865.0	1849.3	1880.7	193.8	2267.5	3.32	-4.36	10	141.07	55.51	7.53	3.62	0.005	0.238	0.098	3898.59	3882.62	3914.56	1172.38	831.56	0	0	0	15.63	15.46	15.54
144.82	1188	-146.63	-1.30	0.00	3900.0	3883.4	3916.5	1172.4	831.6	9.33	-9.76	25	152.75	0.00	0.00	3.50	0.000	0.000	0.030	3899.59	3882.88	3916.31	1172.12	2320.94	0	0	0	30.00	30.00	15.60
337.88	388	-146.63	-1.27	80.00	3901.4	3883.9	3919.0	1172.2	2320.2	29.70	-10.02	63	346.31	0.00	0.00	3.52	0.000	0.000	0.089	3900.81	3883.19	3918.44	1172.12	3768.12	0	0	0	30.00	30.00	15.62
465.13	3205	-146.63	-1.21	0.00	3901.8	3883.9	3919.6	1172.2	3767.5	46.56	-13.74	88	473.89	0.00	0.24	3.44	0.000	0.156	0.014	3902.16	3884.00	3920.31	1207.12	2264.69	0	0	0	30.00	15.62	15.70
657.77	420	-146.63	-1.20	80.00	3902.5	3883.9	3921.1	1206.8	2265.1	64.59	-8.84	110	666.44	0.00	0.00	3.67	0.000	0.000	0.089	3901.94	3883.31	3920.56	1207.44	3767.81	0	0	0	30.00	30.00	15.68
715.23	1156	-146.63	-1.16	0.00	3902.8	3884.1	3921.4	1207.1	3767.9	70.81	-11.10	121	723.86	0.00	0.00	3.42	0.000	0.000	0.014	3903.50	3885.19	3921.81	1207.25	2264.88	0	0	0	30.00	30.00	15.76
914.40	160	-146.63	-1.15	0.00	3903.5	3884.1	3922.9	1207.2	2265.1	88.44	-8.71	141	916.28	0.00	0.00	0.00	0.000	0.000	0.000	3902.97	3883.19	3922.75	1207.44	2264.94	0	0	0	30.00	30.00	30.00
1104.40	420	-146.63	-1.14	80.00	3904.0	3884.4	3923.6	1207.2	2265.0	105.56	-9.31	160	1116.78	0.00	0.00	3.69	0.000	0.000	0.091	3903.88	3884.56	3923.19	1207.50	3766.50	0	0	0	30.00	30.00	15.66
1195.57	3205	-146.63	-1.11	0.00	3904.1	3884.9	3923.4	1207.2	3766.6	115.49	-11.12	178	1204.45	0.00	0.17	3.45	0.000	0.162	0.014	3904.44	3884.94	3923.94	1233.44	2266.62	0	0	0	30.00	15.58	15.65
1390.55	32	-146.63	-1.11	0.00	3904.3	3884.8	3923.8	1233.4	2266.0	131.18	-7.70	198	1392.47	0.00	0.00	0.00	0.000	0.000	0.000	3904.12	3884.50	3923.75	1233.50	2266.38	0	0	0	30.00	30.00	30.00
1580.56	292	-146.63	-1.11	80.00	3904.5	3884.9	3924.1	1233.4	2266.1	146.54	-8.28	217	1589.71	0.00	0.00	3.70	0.000	0.000	0.095	3903.88	3884.25	3923.50	1234.44	3766.62	0	0	0	30.00	30.00	15.65
1618	end dive: TARGET_DEPTH_EXCEEDED
state	1618	begin apogee
1627.32	10243	0.00	-0.33	0.00	3904.0	3884.2	3923.8	1234.5	2157.3	150.25	-9.72	224	1746.94	105.24	1.27	0.08	0.884	0.115	0.167	3297.97	3242.38	3353.56	1422.50	2207.19	0	0	0	11.56	15.66	15.41
1748	end apogee: CONTROL_FINISHED_OK
state	1748	begin climb
1748.54	10759	146.63	1.35	-80.00	3296.0	3241.1	3350.9	1423.1	2208.0	154.25	0.00	235	1879.67	106.09	2.69	3.90	0.859	0.073	0.114	2697.88	2616.19	2779.56	1831.69	720.44	0	0	0	11.45	15.39	15.19
1917.76	17542	146.63	1.33	0.00	2693.9	2617.0	2770.8	1831.8	720.1	138.95	14.96	265	1926.08	0.00	0.00	3.54	0.000	0.000	0.033	2692.69	2616.31	2769.06	1832.06	2203.69	0	0	0	30.00	30.00	15.34
2113.52	16774	146.63	1.32	80.00	2690.7	2614.2	2767.2	1831.7	2203.4	109.06	15.44	285	2122.40	0.00	0.00	3.59	0.000	0.000	0.092	2690.53	2613.50	2767.56	1831.00	3651.25	0	0	0	30.00	30.00	15.46
2205.49	17542	146.63	1.29	0.00	2690.1	2614.6	2765.6	1831.8	3651.5	92.70	17.99	303	2213.70	0.00	0.00	3.47	0.000	0.000	0.018	2689.28	2613.12	2765.44	1832.00	2158.81	0	0	0	30.00	30.00	15.52
2401.25	16514	146.63	1.28	0.00	2689.2	2613.4	2765.0	1831.9	2158.8	65.33	13.69	323	2403.16	0.00	0.00	0.00	0.000	0.000	0.000	2687.69	2611.50	2763.88	1831.62	2159.00	0	0	0	30.00	30.00	30.00
2586.09	16646	146.63	1.28	80.00	2689.0	2613.0	2765.1	1831.9	2158.9	42.50	12.11	347	2594.99	0.00	0.00	3.68	0.000	0.000	0.090	2688.06	2611.06	2765.06	1831.88	3652.81	0	0	0	30.00	30.00	15.62
2663.82	21639	146.63	1.26	0.00	2688.2	2612.8	2763.8	1831.5	3652.8	31.74	14.15	362	2672.74	0.00	0.27	3.45	0.000	0.181	0.017	2686.81	2611.12	2762.50	1799.44	2157.44	0	0	0	30.00	15.62	15.68
2856.59	8614	188.06	1.32	80.00	2688.0	2612.1	2763.9	1799.1	2157.7	13.90	8.08	400	2900.33	29.90	0.00	3.71	0.719	0.000	0.091	2531.19	2442.75	2619.62	1798.69	3651.50	0	0	0	11.61	30.00	15.58
3129.27	11431	428.57	1.63	0.00	2524.0	2438.5	2609.6	1799.2	3651.7	6.87	-1.14	453	3220.02	74.73	0.64	3.44	0.727	0.036	0.016	2093.22	1981.69	2204.75	1904.31	2155.25	0	0	0	11.54	15.72	15.72
3221	end climb: NO_VERTICAL_VELOCITY
state	3221	begin surface