Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 42 * 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 42 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 2.6931746 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 15.352509 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 2.6931746 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 15.352509 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 42 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 270623,084713,4736.503,-12256.442,1,0.7,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,085034,4736.522,-12256.413,2,0.7,3,15.4 MHEAD_RNG_PITCHd_Wd 191.1,1164,-17.6,-10.000,-21.21,2209,0.165

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 1687858038,82.0,3,stop _24V_AH 14.89,12.114

NET CACST,8,0,20230627093238.883441,18,32767,45,0104,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,13.1,6.93,-100,-3.93,-01,-0.04,71,10000,5000,0,-1,00,00*7C _10V_AH 14.96,0.000

NET_PING 1687858360,29,382.583984,13.100000,-0.509999 FG_AHR_24Vo 15.492

MODEM_MSG CACST,8,1,20230627092500.347256,18,32767,45,0101,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-1.5,4.08,-100,-1.08,-01,0.17,88,925,0025,0,-1,00,00*03 FG_AHR_10Vo 2.708

FREEZE 6.39,12.766,-1.567,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3419.73,320.27,0.725,0,500.2,438.7,561.7,686.79 MEM2 945544,32,100964,71

SM_GC 1.71,0.00,10.49,3.22,0.000,0.029,0.013,494.8,437.9,551.6,190.1,2263.6,0,0,0,30.00,15.38,15.38 DATA_FILE_SIZE 12944,462

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 181727,0

IRIDIUM_FIX 4736.87,-12256.21,270623,074709 SDSIZE 3887104,3859296

TCM_TEMP 18.22 SDFILEDIR 389,43

SC_FREEKB 3865312 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 0,1687856400,47.60500,-122.95000,0.347,509.0 CURRENT 0.035, 22.1,1

RAFOS_FIX 4736.484375,-12257.202148,270623,090900,3,255,0.48 MAGCAL 1.000000,0.025804,-0.068824,-0.044593,1.058765,0.237419,0.180287,-0.393859,1.039459,688.3,-483.4,-381.8,29,0.0659,0

HUMID 56.33 IMPLIED_C_PITCH 1529,16.20,229,0.0,0.00

TEMP 10.47 IMPLIED_C_VBD 3401,16.089247,229,0

INTERNAL_PRESSURE 8.26567 GPS 270623,095027,4736.261,-12256.608,1,1.0,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 674 892 8963.34 nil 0 0 0.00

Pitch_motor 22 236 80.87 nil 0 0 0.00

Roll_motor 65 165 160.15 nil 0 0 0.00

Iridium 134 142 285.25 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.95 nil 0 0 0.00

Core 2054 5 157.34 SciCon 3072 7 351.07

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1305 0 6.25

Compass 961 5 71.88

RAFOS 1696 40 1015.23

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 0.00 492.8 439.4 546.1 189.8 2268.4 0.00 0.00 0 45.01 34.72 0.00 0.00 0.005 0.000 0.000 1518.91 1515.62 1522.19 189.94 2268.75 0 0 0 15.61 30.00 30.00

45.53 18727 -146.63 -1.35 80.00 1521.5 1516.2 1526.7 190.1 2268.9 3.02 -4.50 7 138.29 64.00 7.56 3.68 0.005 0.237 0.089 3899.66 3887.12 3912.19 1172.12 3769.38 0 0 0 15.62 15.45 15.54

151.96 1156 -146.63 -1.28 0.00 3901.8 3888.5 3915.1 1172.1 3768.8 12.56 -15.08 26 159.95 0.00 0.00 3.45 0.000 0.000 0.015 3902.28 3888.44 3916.12 1171.69 2266.88 0 0 0 30.00 30.00 15.62

343.58 2437 -146.63 -1.25 80.00 3902.7 3888.4 3917.0 1172.3 2266.5 37.13 -12.08 64 352.31 0.00 0.19 3.70 0.000 0.166 0.090 3902.53 3887.69 3917.38 1200.81 3767.31 0 0 0 30.00 15.61 15.63

391.09 1156 -146.63 -1.20 0.00 3903.3 3888.6 3917.9 1200.8 3766.7 43.48 -13.65 73 399.45 0.00 0.00 3.45 0.000 0.000 0.014 3902.41 3888.12 3916.69 1201.12 2266.12 0 0 0 30.00 30.00 15.68

582.32 128 -146.63 -1.18 0.00 3903.5 3888.3 3918.7 1200.9 2264.9 63.99 -10.01 97 584.18 0.00 0.00 0.00 0.000 0.000 0.000 3902.94 3887.69 3918.19 1200.81 2264.81 0 0 0 30.00 30.00 30.00

772.53 420 -146.63 -1.17 80.00 3903.8 3888.6 3919.1 1200.4 2264.8 82.71 -9.81 116 785.55 0.00 0.00 3.76 0.000 0.000 0.092 3904.47 3889.38 3919.56 1201.31 3767.69 0 0 0 30.00 30.00 15.53

798.79 3205 -146.63 -1.10 0.00 3903.8 3888.6 3919.0 1200.9 3767.5 85.88 -11.18 121 811.22 0.00 0.22 3.48 0.000 0.148 0.014 3903.69 3888.12 3919.25 1234.50 2267.38 0 0 0 30.00 15.49 15.54

994.86 292 -146.63 -1.10 80.00 3904.0 3888.3 3919.8 1234.2 2266.4 102.89 -8.23 142 1003.81 0.00 0.00 3.77 0.000 0.000 0.094 3903.78 3888.44 3919.12 1234.31 3766.56 0 0 0 30.00 30.00 15.48

1102.66 1156 -146.63 -1.09 0.00 3904.0 3888.4 3919.6 1234.4 3766.9 113.92 -10.72 163 1111.44 0.00 0.00 3.43 0.000 0.000 0.013 3903.62 3887.94 3919.31 1234.62 2264.56 0 0 0 30.00 30.00 15.58

1297.68 292 -146.63 -1.09 80.00 3904.5 3888.4 3920.6 1234.4 2264.8 130.06 -7.97 183 1306.74 0.00 0.00 3.74 0.000 0.000 0.096 3903.66 3888.00 3919.31 1234.56 3766.56 0 0 0 30.00 30.00 15.57

1365.68 1188 -146.63 -1.07 0.00 3904.4 3888.4 3920.5 1234.1 3766.5 136.51 -9.78 196 1374.38 0.00 0.00 3.44 0.000 0.000 0.014 3903.78 3887.75 3919.81 1233.88 2267.25 0 0 0 30.00 30.00 15.63

1530 end dive: TARGET_DEPTH_EXCEEDED

state 1530 begin apogee

1532.40 10243 0.00 -0.33 0.00 3904.5 3888.4 3920.6 1234.4 2153.5 150.08 -8.04 213 1651.72 105.78 1.27 0.09 0.893 0.112 0.165 3299.31 3243.88 3354.75 1421.88 2210.56 0 0 0 11.66 15.60 15.35

1653 end apogee: CONTROL_FINISHED_OK

state 1653 begin climb

1653.33 10759 146.63 1.35 -80.00 3295.8 3241.0 3350.5 1421.6 2210.6 152.75 0.00 224 1786.77 106.35 2.70 3.91 0.874 0.075 0.112 2699.12 2616.50 2781.75 1831.62 718.81 0 0 0 11.34 15.35 15.16

1804.85 1156 146.63 1.33 0.00 2694.8 2617.4 2772.1 1832.1 719.1 139.73 13.55 251 1813.21 0.00 0.00 3.60 0.000 0.000 0.033 2695.94 2618.19 2773.69 1831.50 2203.25 0 0 0 30.00 30.00 15.28

2000.62 16774 146.63 1.32 80.00 2691.7 2613.7 2769.8 1831.5 2203.5 110.84 15.43 271 2009.58 0.00 0.00 3.64 0.000 0.000 0.094 2690.25 2612.75 2767.75 1831.50 3651.50 0 0 0 30.00 30.00 15.42

2118.42 17542 146.63 1.29 0.00 2690.5 2613.8 2767.2 1831.6 3651.5 90.01 17.75 294 2127.20 0.00 0.00 3.48 0.000 0.000 0.018 2688.41 2611.31 2765.50 1831.81 2159.69 0 0 0 30.00 30.00 15.53

2313.44 16774 146.63 1.29 80.00 2689.7 2613.1 2766.4 1831.6 2158.9 64.07 12.79 314 2322.51 0.00 0.00 3.71 0.000 0.000 0.090 2689.97 2612.19 2767.75 1831.38 3650.44 0 0 0 30.00 30.00 15.57

2411.38 21639 146.63 1.26 0.00 2689.3 2612.8 2765.9 1831.6 3650.3 49.76 14.93 333 2420.30 0.00 0.27 3.44 0.000 0.179 0.018 2687.84 2611.06 2764.62 1799.25 2157.75 0 0 0 30.00 15.58 15.66

2605.18 8354 156.59 1.28 0.00 2688.9 2611.8 2765.9 1799.2 2157.3 29.78 9.54 371 2616.06 8.06 0.00 0.00 0.605 0.000 0.000 2658.69 2578.62 2738.75 1799.06 2157.62 0 0 0 11.67 30.00 30.00

2800.19 10663 203.63 1.35 80.00 2657.5 2578.9 2736.1 1799.2 2157.4 12.64 7.82 410 2847.99 35.24 0.20 3.72 0.735 0.066 0.092 2444.41 2332.81 2556.00 1834.38 3650.81 0 0 0 11.49 15.74 15.58

3067 end climb: NO_VERTICAL_VELOCITY

state 3067 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	42	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	2.6931746	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	15.352509	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	270623,084713,4736.503,-12256.442,1,0.7,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,085034,4736.522,-12256.413,2,0.7,3,15.4	MHEAD_RNG_PITCHd_Wd	191.1,1164,-17.6,-10.000,-21.21,2209,0.165
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	1687858038,82.0,3,stop	_24V_AH	14.89,12.114
NET	CACST,8,0,20230627093238.883441,18,32767,45,0104,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,13.1,6.93,-100,-3.93,-01,-0.04,71,10000,5000,0,-1,00,00*7C	_10V_AH	14.96,0.000
NET_PING	1687858360,29,382.583984,13.100000,-0.509999	FG_AHR_24Vo	15.492
MODEM_MSG	CACST,8,1,20230627092500.347256,18,32767,45,0101,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-1.5,4.08,-100,-1.08,-01,0.17,88,925,0025,0,-1,00,00*03	FG_AHR_10Vo	2.708
FREEZE	6.39,12.766,-1.567,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3419.73,320.27,0.725,0,500.2,438.7,561.7,686.79	MEM2	945544,32,100964,71
SM_GC	1.71,0.00,10.49,3.22,0.000,0.029,0.013,494.8,437.9,551.6,190.1,2263.6,0,0,0,30.00,15.38,15.38	DATA_FILE_SIZE	12944,462
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	181727,0
IRIDIUM_FIX	4736.87,-12256.21,270623,074709	SDSIZE	3887104,3859296
TCM_TEMP	18.22	SDFILEDIR	389,43
SC_FREEKB	3865312	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	0,1687856400,47.60500,-122.95000,0.347,509.0	CURRENT	0.035, 22.1,1
RAFOS_FIX	4736.484375,-12257.202148,270623,090900,3,255,0.48	MAGCAL	1.000000,0.025804,-0.068824,-0.044593,1.058765,0.237419,0.180287,-0.393859,1.039459,688.3,-483.4,-381.8,29,0.0659,0
HUMID	56.33	IMPLIED_C_PITCH	1529,16.20,229,0.0,0.00
TEMP	10.47	IMPLIED_C_VBD	3401,16.089247,229,0
INTERNAL_PRESSURE	8.26567	GPS	270623,095027,4736.261,-12256.608,1,1.0,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	674	892	8963.34	nil	0	0	0.00
Pitch_motor	22	236	80.87	nil	0	0	0.00
Roll_motor	65	165	160.15	nil	0	0	0.00
Iridium	134	142	285.25	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.95	nil	0	0	0.00
Core	2054	5	157.34	SciCon	3072	7	351.07
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1305	0	6.25
Compass	961	5	71.88
RAFOS	1696	40	1015.23
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	492.8	439.4	546.1	189.8	2268.4	0.00	0.00	0	45.01	34.72	0.00	0.00	0.005	0.000	0.000	1518.91	1515.62	1522.19	189.94	2268.75	0	0	0	15.61	30.00	30.00
45.53	18727	-146.63	-1.35	80.00	1521.5	1516.2	1526.7	190.1	2268.9	3.02	-4.50	7	138.29	64.00	7.56	3.68	0.005	0.237	0.089	3899.66	3887.12	3912.19	1172.12	3769.38	0	0	0	15.62	15.45	15.54
151.96	1156	-146.63	-1.28	0.00	3901.8	3888.5	3915.1	1172.1	3768.8	12.56	-15.08	26	159.95	0.00	0.00	3.45	0.000	0.000	0.015	3902.28	3888.44	3916.12	1171.69	2266.88	0	0	0	30.00	30.00	15.62
343.58	2437	-146.63	-1.25	80.00	3902.7	3888.4	3917.0	1172.3	2266.5	37.13	-12.08	64	352.31	0.00	0.19	3.70	0.000	0.166	0.090	3902.53	3887.69	3917.38	1200.81	3767.31	0	0	0	30.00	15.61	15.63
391.09	1156	-146.63	-1.20	0.00	3903.3	3888.6	3917.9	1200.8	3766.7	43.48	-13.65	73	399.45	0.00	0.00	3.45	0.000	0.000	0.014	3902.41	3888.12	3916.69	1201.12	2266.12	0	0	0	30.00	30.00	15.68
582.32	128	-146.63	-1.18	0.00	3903.5	3888.3	3918.7	1200.9	2264.9	63.99	-10.01	97	584.18	0.00	0.00	0.00	0.000	0.000	0.000	3902.94	3887.69	3918.19	1200.81	2264.81	0	0	0	30.00	30.00	30.00
772.53	420	-146.63	-1.17	80.00	3903.8	3888.6	3919.1	1200.4	2264.8	82.71	-9.81	116	785.55	0.00	0.00	3.76	0.000	0.000	0.092	3904.47	3889.38	3919.56	1201.31	3767.69	0	0	0	30.00	30.00	15.53
798.79	3205	-146.63	-1.10	0.00	3903.8	3888.6	3919.0	1200.9	3767.5	85.88	-11.18	121	811.22	0.00	0.22	3.48	0.000	0.148	0.014	3903.69	3888.12	3919.25	1234.50	2267.38	0	0	0	30.00	15.49	15.54
994.86	292	-146.63	-1.10	80.00	3904.0	3888.3	3919.8	1234.2	2266.4	102.89	-8.23	142	1003.81	0.00	0.00	3.77	0.000	0.000	0.094	3903.78	3888.44	3919.12	1234.31	3766.56	0	0	0	30.00	30.00	15.48
1102.66	1156	-146.63	-1.09	0.00	3904.0	3888.4	3919.6	1234.4	3766.9	113.92	-10.72	163	1111.44	0.00	0.00	3.43	0.000	0.000	0.013	3903.62	3887.94	3919.31	1234.62	2264.56	0	0	0	30.00	30.00	15.58
1297.68	292	-146.63	-1.09	80.00	3904.5	3888.4	3920.6	1234.4	2264.8	130.06	-7.97	183	1306.74	0.00	0.00	3.74	0.000	0.000	0.096	3903.66	3888.00	3919.31	1234.56	3766.56	0	0	0	30.00	30.00	15.57
1365.68	1188	-146.63	-1.07	0.00	3904.4	3888.4	3920.5	1234.1	3766.5	136.51	-9.78	196	1374.38	0.00	0.00	3.44	0.000	0.000	0.014	3903.78	3887.75	3919.81	1233.88	2267.25	0	0	0	30.00	30.00	15.63
1530	end dive: TARGET_DEPTH_EXCEEDED
state	1530	begin apogee
1532.40	10243	0.00	-0.33	0.00	3904.5	3888.4	3920.6	1234.4	2153.5	150.08	-8.04	213	1651.72	105.78	1.27	0.09	0.893	0.112	0.165	3299.31	3243.88	3354.75	1421.88	2210.56	0	0	0	11.66	15.60	15.35
1653	end apogee: CONTROL_FINISHED_OK
state	1653	begin climb
1653.33	10759	146.63	1.35	-80.00	3295.8	3241.0	3350.5	1421.6	2210.6	152.75	0.00	224	1786.77	106.35	2.70	3.91	0.874	0.075	0.112	2699.12	2616.50	2781.75	1831.62	718.81	0	0	0	11.34	15.35	15.16
1804.85	1156	146.63	1.33	0.00	2694.8	2617.4	2772.1	1832.1	719.1	139.73	13.55	251	1813.21	0.00	0.00	3.60	0.000	0.000	0.033	2695.94	2618.19	2773.69	1831.50	2203.25	0	0	0	30.00	30.00	15.28
2000.62	16774	146.63	1.32	80.00	2691.7	2613.7	2769.8	1831.5	2203.5	110.84	15.43	271	2009.58	0.00	0.00	3.64	0.000	0.000	0.094	2690.25	2612.75	2767.75	1831.50	3651.50	0	0	0	30.00	30.00	15.42
2118.42	17542	146.63	1.29	0.00	2690.5	2613.8	2767.2	1831.6	3651.5	90.01	17.75	294	2127.20	0.00	0.00	3.48	0.000	0.000	0.018	2688.41	2611.31	2765.50	1831.81	2159.69	0	0	0	30.00	30.00	15.53
2313.44	16774	146.63	1.29	80.00	2689.7	2613.1	2766.4	1831.6	2158.9	64.07	12.79	314	2322.51	0.00	0.00	3.71	0.000	0.000	0.090	2689.97	2612.19	2767.75	1831.38	3650.44	0	0	0	30.00	30.00	15.57
2411.38	21639	146.63	1.26	0.00	2689.3	2612.8	2765.9	1831.6	3650.3	49.76	14.93	333	2420.30	0.00	0.27	3.44	0.000	0.179	0.018	2687.84	2611.06	2764.62	1799.25	2157.75	0	0	0	30.00	15.58	15.66
2605.18	8354	156.59	1.28	0.00	2688.9	2611.8	2765.9	1799.2	2157.3	29.78	9.54	371	2616.06	8.06	0.00	0.00	0.605	0.000	0.000	2658.69	2578.62	2738.75	1799.06	2157.62	0	0	0	11.67	30.00	30.00
2800.19	10663	203.63	1.35	80.00	2657.5	2578.9	2736.1	1799.2	2157.4	12.64	7.82	410	2847.99	35.24	0.20	3.72	0.735	0.066	0.092	2444.41	2332.81	2556.00	1834.38	3650.81	0	0	0	11.49	15.74	15.58
3067	end climb: NO_VERTICAL_VELOCITY
state	3067	begin surface