Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 43 * 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 43 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 2.7080309 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 15.497832 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 2.7080309 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 15.497832 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 43 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 270623,095027,4736.261,-12256.608,1,1.0,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.60 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,095400,4736.278,-12256.575,2,0.9,4,15.4 MHEAD_RNG_PITCHd_Wd 189.1,669,-17.6,-10.000,-21.21,2209,0.149

SPEED_LIMITS 0.173,0.258 D_GRID 169

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 1687861632,96.6,4,stop _24V_AH 14.86,12.276

NET xmit ok outbox0036.n 1640 26 _10V_AH 14.95,0.000

NET_PING 1687861963,29,686.446472,9.000000,-0.915591 FG_AHR_24Vo 15.637

MODEM_MSG CACST,8,1,20230627102500.446652,18,32767,45,0102,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,1.3,5.91,-100,-2.91,-01,0.23,87,925,0025,0,-1,00,00*20 FG_AHR_10Vo 2.725

FREEZE 5.36,15.095,-1.478,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3195.01,254.00,0.710,0,500.1,437.1,563.0,686.82 MEM2 945452,37,100956,71

SM_GC 2.15,0.00,10.93,3.24,0.000,0.040,0.015,495.8,436.8,554.7,184.9,2266.1,0,0,0,30.00,15.31,15.35 DATA_FILE_SIZE 9739,416

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 173751,0

IRIDIUM_FIX 4735.53,-12254.47,270623,084826 SDSIZE 3887104,3858976

TCM_TEMP 18.18 SDFILEDIR 397,44

SC_FREEKB 3864992 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 0,1687860000,47.60500,-122.95000,0.367,537.3 CURRENT 0.037, 27.4,1

RAFOS_FIX 4736.504395,-12257.146484,270623,101000,4,255,0.44 MAGCAL 1.000000,0.025652,-0.007249,-0.050441,1.075280,0.160008,0.026674,-0.277720,1.276440,639.7,-434.2,-503.3,27,0.0606,0

HUMID 56.51 IMPLIED_C_PITCH 1535,15.60,210,0.0,0.00

TEMP 10.51 IMPLIED_C_VBD 3425,24.691797,206,0

INTERNAL_PRESSURE 8.27294 GPS 270623,105101,4735.980,-12256.732,31,0.9,49,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 677 889 8947.62 nil 0 0 0.00

Pitch_motor 23 239 82.61 nil 0 0 0.00

Roll_motor 57 179 154.21 nil 0 0 0.00

Iridium 144 141 303.51 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.04 nil 0 0 0.00

Core 1932 5 147.92 SciCon 2919 7 332.09

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1286 0 6.15

Compass 879 5 65.75

RAFOS 1693 40 1012.78

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

6.56 16386 -146.63 -1.35 0.00 493.1 437.9 548.4 190.0 2328.1 0.00 0.00 0 50.61 39.71 0.00 0.00 0.005 0.000 0.000 1658.69 1656.56 1660.81 190.06 2328.25 0 0 0 15.62 30.00 30.00

51.14 18727 -146.63 -1.35 80.00 1661.3 1656.7 1666.0 189.9 2328.1 3.10 -4.32 8 137.66 57.53 7.62 3.55 0.005 0.240 0.091 3899.75 3886.81 3912.69 1171.75 3768.81 0 0 0 15.61 15.46 15.56

281.42 1156 -146.63 -1.29 0.00 3902.7 3888.2 3917.1 1172.1 3768.5 31.56 -15.98 50 291.69 0.00 0.00 3.45 0.000 0.000 0.014 3903.41 3888.50 3918.31 1172.06 2267.31 0 0 0 30.00 30.00 15.65

486.14 128 -146.63 -1.26 0.00 3903.0 3888.1 3918.0 1171.9 2266.1 57.29 -11.72 84 489.73 0.00 0.00 0.00 0.000 0.000 0.000 3903.94 3888.31 3919.56 1172.12 2265.81 0 0 0 30.00 30.00 30.00

670.56 2437 -146.63 -1.23 80.00 3903.9 3888.1 3919.6 1172.2 2266.2 78.86 -11.20 103 679.85 0.00 0.20 3.72 0.000 0.160 0.091 3903.19 3887.56 3918.81 1202.62 3767.06 0 0 0 30.00 15.64 15.63

728.65 1156 -146.63 -1.20 0.00 3903.8 3888.0 3919.5 1202.5 3766.2 85.98 -12.44 114 737.26 0.00 0.00 3.46 0.000 0.000 0.014 3903.34 3888.06 3918.62 1202.75 2266.88 0 0 0 30.00 30.00 15.69

923.75 160 -146.63 -1.19 0.00 3904.2 3888.1 3920.4 1202.9 2265.9 105.01 -9.32 134 925.63 0.00 0.00 0.00 0.000 0.000 0.000 3903.94 3888.00 3919.88 1202.94 2266.25 0 0 0 30.00 30.00 30.00

1113.82 420 -146.63 -1.18 80.00 3904.5 3888.4 3920.6 1202.0 2266.2 122.51 -9.07 153 1122.57 0.00 0.00 3.72 0.000 0.000 0.093 3903.94 3887.62 3920.25 1202.50 3767.31 0 0 0 30.00 30.00 15.65

1181.37 1156 -146.63 -1.15 0.00 3904.5 3888.3 3920.7 1202.1 3767.6 129.95 -11.40 166 1190.01 0.00 0.00 3.45 0.000 0.000 0.014 3903.91 3888.00 3919.81 1202.12 2267.44 0 0 0 30.00 30.00 15.72

1376.49 420 -146.63 -1.14 80.00 3904.5 3887.9 3921.2 1202.3 2265.9 147.58 -8.68 186 1388.52 0.00 0.00 3.71 0.000 0.000 0.093 3903.75 3887.19 3920.31 1202.75 3766.56 0 0 0 30.00 30.00 15.44

1406 end dive: TARGET_DEPTH_EXCEEDED

state 1406 begin apogee

1414.93 10243 0.00 -0.33 0.00 3904.5 3887.7 3921.2 1202.9 2157.7 150.55 -9.50 190 1535.78 106.56 1.50 0.09 0.889 0.121 0.179 3298.97 3242.00 3355.94 1421.94 2208.25 0 0 0 11.50 15.58 15.33

1537 end apogee: CONTROL_FINISHED_OK

state 1537 begin climb

1537.39 10759 146.63 1.35 -80.00 3296.0 3240.9 3351.1 1421.4 2208.1 153.66 0.00 201 1669.75 107.02 2.70 3.92 0.871 0.073 0.113 2699.72 2616.69 2782.75 1832.69 720.06 0 0 0 11.49 15.34 15.16

1678.58 1156 146.63 1.34 0.00 2694.4 2613.9 2774.8 1832.4 720.1 141.15 13.22 223 1687.68 0.00 0.00 3.61 0.000 0.000 0.033 2694.91 2614.69 2775.12 1832.81 2202.31 0 0 0 30.00 30.00 15.26

1873.59 16774 146.63 1.33 80.00 2691.1 2613.0 2769.1 1832.8 2202.3 112.14 15.05 243 1882.54 0.00 0.00 3.62 0.000 0.000 0.093 2689.88 2611.69 2768.06 1832.75 3651.56 0 0 0 30.00 30.00 15.43

1983.11 17542 146.63 1.29 0.00 2690.0 2613.2 2766.8 1832.4 3650.8 92.59 18.23 264 1991.88 0.00 0.00 3.48 0.000 0.000 0.018 2687.25 2610.75 2763.75 1832.56 2160.06 0 0 0 30.00 30.00 15.54

2178.21 16514 146.63 1.29 0.00 2689.5 2613.1 2765.9 1832.9 2159.4 65.46 12.59 284 2180.12 0.00 0.00 0.00 0.000 0.000 0.000 2687.41 2610.38 2764.44 1832.94 2159.31 0 0 0 30.00 30.00 30.00

2361.87 16774 146.63 1.36 80.00 2689.0 2612.9 2765.1 1832.5 2159.8 42.29 12.29 309 2373.84 0.00 0.00 3.78 0.000 0.000 0.087 2688.84 2612.56 2765.12 1832.44 3651.62 0 0 0 30.00 30.00 15.11

2392.88 17542 146.63 1.32 0.00 2689.0 2613.0 2765.0 1832.2 3651.1 38.13 13.51 315 2405.55 0.00 0.00 3.48 0.000 0.000 0.018 2691.25 2615.44 2767.06 1832.62 2158.12 0 0 0 30.00 30.00 15.53

2589.89 8226 154.84 1.33 0.00 2688.6 2612.6 2764.6 1833.4 2158.6 16.46 9.62 354 2599.67 6.80 0.00 0.00 0.546 0.000 0.000 2667.56 2589.69 2745.44 1832.75 2158.44 0 0 0 11.66 30.00 30.00

2785.09 10663 306.25 1.53 80.00 2664.9 2586.6 2743.2 1832.5 2158.6 6.60 2.99 393 2909.82 105.48 0.25 3.76 0.738 0.052 0.092 2044.41 1925.00 2163.81 1879.25 3650.69 0 0 0 11.61 15.65 15.37

2913 end climb: NO_VERTICAL_VELOCITY

state 2914 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	43	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	2.7080309	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	15.497832	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	270623,095027,4736.261,-12256.608,1,1.0,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.60	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,095400,4736.278,-12256.575,2,0.9,4,15.4	MHEAD_RNG_PITCHd_Wd	189.1,669,-17.6,-10.000,-21.21,2209,0.149
SPEED_LIMITS	0.173,0.258	D_GRID	169
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	1687861632,96.6,4,stop	_24V_AH	14.86,12.276
NET	xmit ok outbox0036.n 1640 26	_10V_AH	14.95,0.000
NET_PING	1687861963,29,686.446472,9.000000,-0.915591	FG_AHR_24Vo	15.637
MODEM_MSG	CACST,8,1,20230627102500.446652,18,32767,45,0102,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,1.3,5.91,-100,-2.91,-01,0.23,87,925,0025,0,-1,00,00*20	FG_AHR_10Vo	2.725
FREEZE	5.36,15.095,-1.478,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3195.01,254.00,0.710,0,500.1,437.1,563.0,686.82	MEM2	945452,37,100956,71
SM_GC	2.15,0.00,10.93,3.24,0.000,0.040,0.015,495.8,436.8,554.7,184.9,2266.1,0,0,0,30.00,15.31,15.35	DATA_FILE_SIZE	9739,416
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	173751,0
IRIDIUM_FIX	4735.53,-12254.47,270623,084826	SDSIZE	3887104,3858976
TCM_TEMP	18.18	SDFILEDIR	397,44
SC_FREEKB	3864992	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	0,1687860000,47.60500,-122.95000,0.367,537.3	CURRENT	0.037, 27.4,1
RAFOS_FIX	4736.504395,-12257.146484,270623,101000,4,255,0.44	MAGCAL	1.000000,0.025652,-0.007249,-0.050441,1.075280,0.160008,0.026674,-0.277720,1.276440,639.7,-434.2,-503.3,27,0.0606,0
HUMID	56.51	IMPLIED_C_PITCH	1535,15.60,210,0.0,0.00
TEMP	10.51	IMPLIED_C_VBD	3425,24.691797,206,0
INTERNAL_PRESSURE	8.27294	GPS	270623,105101,4735.980,-12256.732,31,0.9,49,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	677	889	8947.62	nil	0	0	0.00
Pitch_motor	23	239	82.61	nil	0	0	0.00
Roll_motor	57	179	154.21	nil	0	0	0.00
Iridium	144	141	303.51	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.04	nil	0	0	0.00
Core	1932	5	147.92	SciCon	2919	7	332.09
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1286	0	6.15
Compass	879	5	65.75
RAFOS	1693	40	1012.78
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
6.56	16386	-146.63	-1.35	0.00	493.1	437.9	548.4	190.0	2328.1	0.00	0.00	0	50.61	39.71	0.00	0.00	0.005	0.000	0.000	1658.69	1656.56	1660.81	190.06	2328.25	0	0	0	15.62	30.00	30.00
51.14	18727	-146.63	-1.35	80.00	1661.3	1656.7	1666.0	189.9	2328.1	3.10	-4.32	8	137.66	57.53	7.62	3.55	0.005	0.240	0.091	3899.75	3886.81	3912.69	1171.75	3768.81	0	0	0	15.61	15.46	15.56
281.42	1156	-146.63	-1.29	0.00	3902.7	3888.2	3917.1	1172.1	3768.5	31.56	-15.98	50	291.69	0.00	0.00	3.45	0.000	0.000	0.014	3903.41	3888.50	3918.31	1172.06	2267.31	0	0	0	30.00	30.00	15.65
486.14	128	-146.63	-1.26	0.00	3903.0	3888.1	3918.0	1171.9	2266.1	57.29	-11.72	84	489.73	0.00	0.00	0.00	0.000	0.000	0.000	3903.94	3888.31	3919.56	1172.12	2265.81	0	0	0	30.00	30.00	30.00
670.56	2437	-146.63	-1.23	80.00	3903.9	3888.1	3919.6	1172.2	2266.2	78.86	-11.20	103	679.85	0.00	0.20	3.72	0.000	0.160	0.091	3903.19	3887.56	3918.81	1202.62	3767.06	0	0	0	30.00	15.64	15.63
728.65	1156	-146.63	-1.20	0.00	3903.8	3888.0	3919.5	1202.5	3766.2	85.98	-12.44	114	737.26	0.00	0.00	3.46	0.000	0.000	0.014	3903.34	3888.06	3918.62	1202.75	2266.88	0	0	0	30.00	30.00	15.69
923.75	160	-146.63	-1.19	0.00	3904.2	3888.1	3920.4	1202.9	2265.9	105.01	-9.32	134	925.63	0.00	0.00	0.00	0.000	0.000	0.000	3903.94	3888.00	3919.88	1202.94	2266.25	0	0	0	30.00	30.00	30.00
1113.82	420	-146.63	-1.18	80.00	3904.5	3888.4	3920.6	1202.0	2266.2	122.51	-9.07	153	1122.57	0.00	0.00	3.72	0.000	0.000	0.093	3903.94	3887.62	3920.25	1202.50	3767.31	0	0	0	30.00	30.00	15.65
1181.37	1156	-146.63	-1.15	0.00	3904.5	3888.3	3920.7	1202.1	3767.6	129.95	-11.40	166	1190.01	0.00	0.00	3.45	0.000	0.000	0.014	3903.91	3888.00	3919.81	1202.12	2267.44	0	0	0	30.00	30.00	15.72
1376.49	420	-146.63	-1.14	80.00	3904.5	3887.9	3921.2	1202.3	2265.9	147.58	-8.68	186	1388.52	0.00	0.00	3.71	0.000	0.000	0.093	3903.75	3887.19	3920.31	1202.75	3766.56	0	0	0	30.00	30.00	15.44
1406	end dive: TARGET_DEPTH_EXCEEDED
state	1406	begin apogee
1414.93	10243	0.00	-0.33	0.00	3904.5	3887.7	3921.2	1202.9	2157.7	150.55	-9.50	190	1535.78	106.56	1.50	0.09	0.889	0.121	0.179	3298.97	3242.00	3355.94	1421.94	2208.25	0	0	0	11.50	15.58	15.33
1537	end apogee: CONTROL_FINISHED_OK
state	1537	begin climb
1537.39	10759	146.63	1.35	-80.00	3296.0	3240.9	3351.1	1421.4	2208.1	153.66	0.00	201	1669.75	107.02	2.70	3.92	0.871	0.073	0.113	2699.72	2616.69	2782.75	1832.69	720.06	0	0	0	11.49	15.34	15.16
1678.58	1156	146.63	1.34	0.00	2694.4	2613.9	2774.8	1832.4	720.1	141.15	13.22	223	1687.68	0.00	0.00	3.61	0.000	0.000	0.033	2694.91	2614.69	2775.12	1832.81	2202.31	0	0	0	30.00	30.00	15.26
1873.59	16774	146.63	1.33	80.00	2691.1	2613.0	2769.1	1832.8	2202.3	112.14	15.05	243	1882.54	0.00	0.00	3.62	0.000	0.000	0.093	2689.88	2611.69	2768.06	1832.75	3651.56	0	0	0	30.00	30.00	15.43
1983.11	17542	146.63	1.29	0.00	2690.0	2613.2	2766.8	1832.4	3650.8	92.59	18.23	264	1991.88	0.00	0.00	3.48	0.000	0.000	0.018	2687.25	2610.75	2763.75	1832.56	2160.06	0	0	0	30.00	30.00	15.54
2178.21	16514	146.63	1.29	0.00	2689.5	2613.1	2765.9	1832.9	2159.4	65.46	12.59	284	2180.12	0.00	0.00	0.00	0.000	0.000	0.000	2687.41	2610.38	2764.44	1832.94	2159.31	0	0	0	30.00	30.00	30.00
2361.87	16774	146.63	1.36	80.00	2689.0	2612.9	2765.1	1832.5	2159.8	42.29	12.29	309	2373.84	0.00	0.00	3.78	0.000	0.000	0.087	2688.84	2612.56	2765.12	1832.44	3651.62	0	0	0	30.00	30.00	15.11
2392.88	17542	146.63	1.32	0.00	2689.0	2613.0	2765.0	1832.2	3651.1	38.13	13.51	315	2405.55	0.00	0.00	3.48	0.000	0.000	0.018	2691.25	2615.44	2767.06	1832.62	2158.12	0	0	0	30.00	30.00	15.53
2589.89	8226	154.84	1.33	0.00	2688.6	2612.6	2764.6	1833.4	2158.6	16.46	9.62	354	2599.67	6.80	0.00	0.00	0.546	0.000	0.000	2667.56	2589.69	2745.44	1832.75	2158.44	0	0	0	11.66	30.00	30.00
2785.09	10663	306.25	1.53	80.00	2664.9	2586.6	2743.2	1832.5	2158.6	6.60	2.99	393	2909.82	105.48	0.25	3.76	0.738	0.052	0.092	2044.41	1925.00	2163.81	1879.25	3650.69	0	0	0	11.61	15.65	15.37
2913	end climb: NO_VERTICAL_VELOCITY
state	2914	begin surface