Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 47 * 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 47 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 2.7625263 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 16.058903 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 2.7625263 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 16.058903 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 47 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 270623,133220,4736.379,-12256.404,1,1.5,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,133526,4736.384,-12256.414,2,1.5,4,15.4 MHEAD_RNG_PITCHd_Wd 198.6,936,-17.6,-10.000,-21.21,2209,0.158

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 8000266

Post-dive calculations and measurements:

NET xmit ok outbox0040.n 1688 27 _24V_AH 14.87,12.907

NET_PING 1687875461,29,619.795532,13.300000,-0.825390 _10V_AH 14.94,0.000

NAV 1687876446,0.1,4,stop FG_AHR_24Vo 16.196

FREEZE 5.15,13.832,-1.538,0,1,0 FG_AHR_10Vo 2.776

SURF forcing MEM0 59804,1,0,0

SM_CCo 3366.72,285.39,0.708,0,500.9,445.0,556.8,686.62 MEM1 65508,1,0,0

SM_GC 2.09,0.00,10.74,3.84,0.000,0.038,0.031,496.3,444.2,548.5,185.7,2318.9,0,0,0,30.00,15.30,15.31 MEM2 945652,26,100976,71

MODEM_MSG CACST,8,1,20230627142500.485434,18,32767,45,0103,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-2.8,2.41,-100,0.59,-01,-0.11,87,925,0025,0,-1,00,00*00 DATA_FILE_SIZE 12933,448

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 174147,0

IRIDIUM_FIX 4735.53,-12254.47,270623,124503 SDSIZE 3887104,3857664

TCM_TEMP 18.39 SDFILEDIR 430,48

SC_FREEKB 3863712 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687874400,47.60500,-122.95000,0.366,535.6 CURRENT 0.022,277.1,1

RAFOS_FIX 4736.705566,-12257.000000,270623,141400,3,255,0.35 MAGCAL 1.000000,0.040415,-0.078288,0.006158,1.112718,-0.086059,0.053883,0.038122,1.314253,696.7,-322.7,-490.0,36,0.0484,0

HUMID 56.03 IMPLIED_C_PITCH 1529,15.74,223,0.0,0.00

TEMP 11.02 IMPLIED_C_VBD 3473,56.905251,223,0

INTERNAL_PRESSURE 8.27468 GPS 270623,143501,4736.088,-12256.753,25,1.0,26,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 674 885 8884.79 nil 0 0 0.00

Pitch_motor 23 235 81.35 nil 0 0 0.00

Roll_motor 57 163 140.61 nil 0 0 0.00

Iridium 117 139 244.57 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.13 nil 0 0 0.00

Core 1976 5 151.21 SciCon 3056 7 349.73

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1351 0 6.46

Compass 942 5 70.44

RAFOS 2099 40 1254.56

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

6.40 16386 -146.63 -1.35 0.00 492.3 438.6 546.0 191.4 2272.2 0.00 0.00 0 55.86 44.68 0.00 0.00 0.005 0.000 0.000 1793.72 1784.69 1802.75 191.38 2272.75 0 0 0 15.61 30.00 30.00

56.39 18983 -146.63 -1.35 -80.00 1796.8 1785.5 1808.1 191.2 2272.9 3.04 -3.85 9 138.50 55.75 7.54 3.63 0.005 0.236 0.097 3898.34 3883.88 3912.81 1172.12 833.25 0 0 0 15.62 15.45 15.54

302.19 1156 -146.63 -1.32 0.00 3901.4 3885.9 3916.9 1172.0 834.2 30.00 -11.74 56 310.19 0.00 0.00 3.48 0.000 0.000 0.031 3901.19 3885.88 3916.50 1172.12 2321.06 0 0 0 30.00 30.00 15.64

498.84 388 -146.63 -1.29 80.00 3902.5 3886.5 3918.4 1172.1 2322.2 51.37 -10.88 94 507.62 0.00 0.00 3.51 0.000 0.000 0.090 3901.62 3885.62 3917.62 1172.38 3769.06 0 0 0 30.00 30.00 15.66

546.42 3205 -146.63 -1.24 0.00 3902.6 3886.6 3918.5 1172.5 3768.9 57.37 -13.04 103 555.32 0.00 0.19 3.42 0.000 0.159 0.014 3902.12 3886.69 3917.56 1201.31 2262.31 0 0 0 30.00 15.65 15.73

744.78 160 -146.63 -1.22 0.00 3903.1 3886.6 3919.6 1201.2 2262.4 76.19 -9.05 124 753.42 0.00 0.00 0.00 0.000 0.000 0.000 3903.09 3886.50 3919.69 1201.56 2262.75 0 0 0 30.00 30.00 30.00

934.58 420 -146.63 -1.21 80.00 3903.3 3886.2 3920.4 1201.1 2262.5 93.87 -9.01 143 943.35 0.00 0.00 3.72 0.000 0.000 0.090 3903.41 3886.44 3920.38 1201.31 3768.75 0 0 0 30.00 30.00 15.64

992.16 1156 -146.63 -1.18 0.00 3903.5 3886.8 3920.2 1201.5 3769.1 100.30 -11.42 154 1000.77 0.00 0.00 3.42 0.000 0.000 0.015 3903.03 3886.12 3919.94 1201.56 2265.56 0 0 0 30.00 30.00 15.71

1187.27 420 -146.63 -1.17 80.00 3903.9 3886.6 3921.2 1201.2 2265.8 117.86 -8.65 174 1195.98 0.00 0.00 3.69 0.000 0.000 0.090 3903.62 3886.31 3920.94 1201.69 3767.75 0 0 0 30.00 30.00 15.69

1249.01 1156 -146.63 -1.14 0.00 3904.0 3886.4 3921.6 1201.4 3768.1 124.90 -11.75 186 1257.04 0.00 0.00 3.40 0.000 0.000 0.015 3904.66 3887.19 3922.12 1201.75 2264.94 0 0 0 30.00 30.00 15.76

1439.45 2209 -146.63 -1.12 0.00 3904.1 3886.3 3921.9 1201.1 2264.6 142.62 -9.45 205 1441.65 0.00 0.18 0.00 0.000 0.146 0.000 3904.62 3886.88 3922.38 1230.06 2264.62 0 0 0 30.00 15.72 30.00

1539 end dive: TARGET_DEPTH_EXCEEDED

state 1539 begin apogee

1541.16 10243 0.00 -0.33 0.00 3904.3 3886.5 3922.2 1230.6 2152.1 150.74 -7.88 215 1660.40 104.93 1.29 0.09 0.885 0.110 0.163 3299.50 3244.06 3354.94 1422.88 2211.38 0 0 0 11.75 15.71 15.41

1662 end apogee: CONTROL_FINISHED_OK

state 1662 begin climb

1662.03 10759 146.63 1.35 -80.00 3295.8 3241.4 3350.2 1422.9 2210.8 153.34 0.00 226 1793.22 106.06 2.66 3.85 0.863 0.073 0.114 2699.28 2616.88 2781.69 1831.62 718.94 0 0 0 11.40 15.44 15.21

1851.31 17542 146.63 1.33 0.00 2693.5 2616.7 2770.3 1831.5 718.9 133.47 16.23 260 1859.61 0.00 0.00 3.56 0.000 0.000 0.032 2693.03 2616.06 2770.00 1831.50 2204.88 0 0 0 30.00 30.00 15.37

2047.07 16774 146.63 1.32 80.00 2691.1 2613.5 2768.7 1831.9 2204.4 103.43 15.04 280 2055.95 0.00 0.00 3.58 0.000 0.000 0.092 2693.47 2615.94 2771.00 1831.44 3652.19 0 0 0 30.00 30.00 15.47

2139.03 17542 146.63 1.29 0.00 2690.0 2613.0 2766.9 1831.5 3652.4 87.29 18.12 298 2147.23 0.00 0.00 3.45 0.000 0.000 0.018 2690.84 2614.56 2767.12 1831.75 2158.75 0 0 0 30.00 30.00 15.55

2334.79 16514 146.63 1.28 0.00 2689.7 2612.8 2766.6 1831.2 2158.3 60.59 13.16 318 2336.70 0.00 0.00 0.00 0.000 0.000 0.000 2687.59 2610.25 2764.94 1831.56 2159.00 0 0 0 30.00 30.00 30.00

2517.39 16646 146.63 1.28 80.00 2689.3 2612.1 2766.6 1831.6 2159.4 37.61 12.07 344 2529.52 0.00 0.00 3.75 0.000 0.000 0.085 2689.31 2612.00 2766.62 1831.38 3651.31 0 0 0 30.00 30.00 15.00

2648.78 21639 146.63 1.25 0.00 2688.8 2612.0 2765.6 1831.4 3652.2 19.63 12.48 370 2657.76 0.00 0.27 3.47 0.000 0.178 0.017 2687.53 2611.12 2763.94 1799.12 2157.56 0 0 0 30.00 15.46 15.53

2841.63 10919 259.11 1.41 -80.00 2688.1 2611.1 2765.1 1799.1 2157.8 6.36 4.79 408 2937.81 78.06 0.31 3.71 0.727 0.048 0.112 2237.41 2131.81 2343.00 1851.94 719.00 0 0 0 11.64 15.61 15.37

3052 end climb: NO_VERTICAL_VELOCITY

state 3052 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	47	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	2.7625263	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	16.058903	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	270623,133220,4736.379,-12256.404,1,1.5,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,133526,4736.384,-12256.414,2,1.5,4,15.4	MHEAD_RNG_PITCHd_Wd	198.6,936,-17.6,-10.000,-21.21,2209,0.158
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	8000266

NET	xmit ok outbox0040.n 1688 27	_24V_AH	14.87,12.907
NET_PING	1687875461,29,619.795532,13.300000,-0.825390	_10V_AH	14.94,0.000
NAV	1687876446,0.1,4,stop	FG_AHR_24Vo	16.196
FREEZE	5.15,13.832,-1.538,0,1,0	FG_AHR_10Vo	2.776
SURF	forcing	MEM0	59804,1,0,0
SM_CCo	3366.72,285.39,0.708,0,500.9,445.0,556.8,686.62	MEM1	65508,1,0,0
SM_GC	2.09,0.00,10.74,3.84,0.000,0.038,0.031,496.3,444.2,548.5,185.7,2318.9,0,0,0,30.00,15.30,15.31	MEM2	945652,26,100976,71
MODEM_MSG	CACST,8,1,20230627142500.485434,18,32767,45,0103,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-2.8,2.41,-100,0.59,-01,-0.11,87,925,0025,0,-1,00,00*00	DATA_FILE_SIZE	12933,448
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	174147,0
IRIDIUM_FIX	4735.53,-12254.47,270623,124503	SDSIZE	3887104,3857664
TCM_TEMP	18.39	SDFILEDIR	430,48
SC_FREEKB	3863712	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687874400,47.60500,-122.95000,0.366,535.6	CURRENT	0.022,277.1,1
RAFOS_FIX	4736.705566,-12257.000000,270623,141400,3,255,0.35	MAGCAL	1.000000,0.040415,-0.078288,0.006158,1.112718,-0.086059,0.053883,0.038122,1.314253,696.7,-322.7,-490.0,36,0.0484,0
HUMID	56.03	IMPLIED_C_PITCH	1529,15.74,223,0.0,0.00
TEMP	11.02	IMPLIED_C_VBD	3473,56.905251,223,0
INTERNAL_PRESSURE	8.27468	GPS	270623,143501,4736.088,-12256.753,25,1.0,26,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	674	885	8884.79	nil	0	0	0.00
Pitch_motor	23	235	81.35	nil	0	0	0.00
Roll_motor	57	163	140.61	nil	0	0	0.00
Iridium	117	139	244.57	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.13	nil	0	0	0.00
Core	1976	5	151.21	SciCon	3056	7	349.73
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1351	0	6.46
Compass	942	5	70.44
RAFOS	2099	40	1254.56
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
6.40	16386	-146.63	-1.35	0.00	492.3	438.6	546.0	191.4	2272.2	0.00	0.00	0	55.86	44.68	0.00	0.00	0.005	0.000	0.000	1793.72	1784.69	1802.75	191.38	2272.75	0	0	0	15.61	30.00	30.00
56.39	18983	-146.63	-1.35	-80.00	1796.8	1785.5	1808.1	191.2	2272.9	3.04	-3.85	9	138.50	55.75	7.54	3.63	0.005	0.236	0.097	3898.34	3883.88	3912.81	1172.12	833.25	0	0	0	15.62	15.45	15.54
302.19	1156	-146.63	-1.32	0.00	3901.4	3885.9	3916.9	1172.0	834.2	30.00	-11.74	56	310.19	0.00	0.00	3.48	0.000	0.000	0.031	3901.19	3885.88	3916.50	1172.12	2321.06	0	0	0	30.00	30.00	15.64
498.84	388	-146.63	-1.29	80.00	3902.5	3886.5	3918.4	1172.1	2322.2	51.37	-10.88	94	507.62	0.00	0.00	3.51	0.000	0.000	0.090	3901.62	3885.62	3917.62	1172.38	3769.06	0	0	0	30.00	30.00	15.66
546.42	3205	-146.63	-1.24	0.00	3902.6	3886.6	3918.5	1172.5	3768.9	57.37	-13.04	103	555.32	0.00	0.19	3.42	0.000	0.159	0.014	3902.12	3886.69	3917.56	1201.31	2262.31	0	0	0	30.00	15.65	15.73
744.78	160	-146.63	-1.22	0.00	3903.1	3886.6	3919.6	1201.2	2262.4	76.19	-9.05	124	753.42	0.00	0.00	0.00	0.000	0.000	0.000	3903.09	3886.50	3919.69	1201.56	2262.75	0	0	0	30.00	30.00	30.00
934.58	420	-146.63	-1.21	80.00	3903.3	3886.2	3920.4	1201.1	2262.5	93.87	-9.01	143	943.35	0.00	0.00	3.72	0.000	0.000	0.090	3903.41	3886.44	3920.38	1201.31	3768.75	0	0	0	30.00	30.00	15.64
992.16	1156	-146.63	-1.18	0.00	3903.5	3886.8	3920.2	1201.5	3769.1	100.30	-11.42	154	1000.77	0.00	0.00	3.42	0.000	0.000	0.015	3903.03	3886.12	3919.94	1201.56	2265.56	0	0	0	30.00	30.00	15.71
1187.27	420	-146.63	-1.17	80.00	3903.9	3886.6	3921.2	1201.2	2265.8	117.86	-8.65	174	1195.98	0.00	0.00	3.69	0.000	0.000	0.090	3903.62	3886.31	3920.94	1201.69	3767.75	0	0	0	30.00	30.00	15.69
1249.01	1156	-146.63	-1.14	0.00	3904.0	3886.4	3921.6	1201.4	3768.1	124.90	-11.75	186	1257.04	0.00	0.00	3.40	0.000	0.000	0.015	3904.66	3887.19	3922.12	1201.75	2264.94	0	0	0	30.00	30.00	15.76
1439.45	2209	-146.63	-1.12	0.00	3904.1	3886.3	3921.9	1201.1	2264.6	142.62	-9.45	205	1441.65	0.00	0.18	0.00	0.000	0.146	0.000	3904.62	3886.88	3922.38	1230.06	2264.62	0	0	0	30.00	15.72	30.00
1539	end dive: TARGET_DEPTH_EXCEEDED
state	1539	begin apogee
1541.16	10243	0.00	-0.33	0.00	3904.3	3886.5	3922.2	1230.6	2152.1	150.74	-7.88	215	1660.40	104.93	1.29	0.09	0.885	0.110	0.163	3299.50	3244.06	3354.94	1422.88	2211.38	0	0	0	11.75	15.71	15.41
1662	end apogee: CONTROL_FINISHED_OK
state	1662	begin climb
1662.03	10759	146.63	1.35	-80.00	3295.8	3241.4	3350.2	1422.9	2210.8	153.34	0.00	226	1793.22	106.06	2.66	3.85	0.863	0.073	0.114	2699.28	2616.88	2781.69	1831.62	718.94	0	0	0	11.40	15.44	15.21
1851.31	17542	146.63	1.33	0.00	2693.5	2616.7	2770.3	1831.5	718.9	133.47	16.23	260	1859.61	0.00	0.00	3.56	0.000	0.000	0.032	2693.03	2616.06	2770.00	1831.50	2204.88	0	0	0	30.00	30.00	15.37
2047.07	16774	146.63	1.32	80.00	2691.1	2613.5	2768.7	1831.9	2204.4	103.43	15.04	280	2055.95	0.00	0.00	3.58	0.000	0.000	0.092	2693.47	2615.94	2771.00	1831.44	3652.19	0	0	0	30.00	30.00	15.47
2139.03	17542	146.63	1.29	0.00	2690.0	2613.0	2766.9	1831.5	3652.4	87.29	18.12	298	2147.23	0.00	0.00	3.45	0.000	0.000	0.018	2690.84	2614.56	2767.12	1831.75	2158.75	0	0	0	30.00	30.00	15.55
2334.79	16514	146.63	1.28	0.00	2689.7	2612.8	2766.6	1831.2	2158.3	60.59	13.16	318	2336.70	0.00	0.00	0.00	0.000	0.000	0.000	2687.59	2610.25	2764.94	1831.56	2159.00	0	0	0	30.00	30.00	30.00
2517.39	16646	146.63	1.28	80.00	2689.3	2612.1	2766.6	1831.6	2159.4	37.61	12.07	344	2529.52	0.00	0.00	3.75	0.000	0.000	0.085	2689.31	2612.00	2766.62	1831.38	3651.31	0	0	0	30.00	30.00	15.00
2648.78	21639	146.63	1.25	0.00	2688.8	2612.0	2765.6	1831.4	3652.2	19.63	12.48	370	2657.76	0.00	0.27	3.47	0.000	0.178	0.017	2687.53	2611.12	2763.94	1799.12	2157.56	0	0	0	30.00	15.46	15.53
2841.63	10919	259.11	1.41	-80.00	2688.1	2611.1	2765.1	1799.1	2157.8	6.36	4.79	408	2937.81	78.06	0.31	3.71	0.727	0.048	0.112	2237.41	2131.81	2343.00	1851.94	719.00	0	0	0	11.64	15.61	15.37
3052	end climb: NO_VERTICAL_VELOCITY
state	3052	begin surface