Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 48 * 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 48 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 2.7758195 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 16.201954 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 2.7758195 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 16.201954 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 48 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 270623,143501,4736.088,-12256.753,25,1.0,26,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,143819,4736.096,-12256.766,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 14.0,884,-17.6,-10.000,-21.21,2209,0.131

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.015448,0.007600,-0.013987,1.042997,-0.042429,0.022686,-0.088198,0.950735,632.884705,-335.695496,-256.128082

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NET CACST,8,0,20230627151741.206450,18,32767,45,0111,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,17.5,9.12,-100,-6.12,-01,-0.06,66,10000,5000,0,-1,00,00*75 _24V_AH 14.86,13.073

NET_PING 1687879062,29,621.004517,17.500000,-0.826696 _10V_AH 14.93,0.000

NAV 1687880020,0.1,4,stop FG_AHR_24Vo 16.342

FREEZE 4.71,13.850,-1.543,0,1,0 FG_AHR_10Vo 2.786

SURF forcing MEM0 59804,1,0,0

SM_CCo 3175.08,260.70,0.709,0,500.6,443.0,558.1,686.70 MEM1 65508,1,0,0

SM_GC 1.98,0.00,11.11,0.37,0.000,0.043,0.066,495.5,441.4,549.6,188.8,2320.4,0,0,0,30.00,15.31,15.28 MEM2 945400,37,101008,71

MODEM_MSG CACST,8,1,20230627152500.483281,18,32767,45,0102,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,-41.1,4.74,-100,-1.74,-01,0.02,88,925,0025,0,-1,00,00*36 DATA_FILE_SIZE 12930,434

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 173030,0

IRIDIUM_FIX 4736.40,-12251.79,270623,133326 SDSIZE 3887104,3857344

TCM_TEMP 18.37 SDFILEDIR 438,49

SC_FREEKB 3863392 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 0,1687878000,47.60500,-122.95000,0.443,649.7 CURRENT 0.029,203.7,1

RAFOS_FIX 4736.441406,-12257.443359,270623,151500,4,255,0.38 MAGCAL 1.000000,0.089328,-0.195063,0.087332,1.054778,-0.077797,0.255267,0.078487,1.340405,785.7,-363.6,-496.7,31,0.0797,0

HUMID 56.05 IMPLIED_C_PITCH 1533,16.67,208,0.0,0.00

TEMP 11.04 IMPLIED_C_VBD 3403,18.788000,208,0

INTERNAL_PRESSURE 8.27588 GPS 270623,153404,4736.285,-12256.512,1,0.9,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 684 887 9026.00 nil 0 0 0.00

Pitch_motor 23 232 82.96 nil 0 0 0.00

Roll_motor 58 169 146.25 nil 0 0 0.00

Iridium 132 159 314.61 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.12 nil 0 0 0.00

Core 1940 5 148.34 SciCon 2892 7 334.02

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1237 0 5.91

Compass 905 5 67.57

RAFOS 2076 40 1239.89

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

6.41 16386 -146.63 -1.35 0.00 493.9 444.1 543.7 185.3 2274.1 0.00 0.00 0 55.87 44.66 0.00 0.00 0.005 0.000 0.000 1798.81 1788.19 1809.44 185.31 2274.75 0 0 0 15.62 30.00 30.00

56.40 18727 -146.63 -1.35 80.00 1802.3 1788.7 1815.9 185.2 2274.8 3.28 -4.31 9 143.32 58.47 7.61 3.69 0.005 0.233 0.091 3839.56 3759.00 3920.12 1171.88 3768.88 0 0 0 15.63 15.46 15.56

372.02 1156 -146.63 -1.30 0.00 3902.3 3880.6 3924.0 1171.9 3768.8 45.19 -15.07 70 380.05 0.00 0.00 3.46 0.000 0.000 0.015 3901.84 3880.56 3923.12 1172.19 2268.88 0 0 0 30.00 30.00 15.69

562.76 388 -146.63 -1.27 80.00 3902.8 3880.9 3924.7 1171.9 2267.4 66.74 -10.95 93 575.93 0.00 0.00 3.72 0.000 0.000 0.088 3903.06 3881.06 3925.06 1172.12 3767.19 0 0 0 30.00 30.00 15.59

775.10 3205 -146.63 -1.23 0.00 3903.2 3881.5 3924.9 1171.9 3766.8 95.87 -13.86 135 784.09 0.00 0.22 3.46 0.000 0.156 0.015 3902.84 3880.94 3924.75 1203.50 2265.88 0 0 0 30.00 15.55 15.60

970.21 160 -146.63 -1.22 0.00 3903.5 3881.0 3926.0 1203.6 2265.8 114.50 -9.25 155 972.08 0.00 0.00 0.00 0.000 0.000 0.000 3903.16 3881.31 3925.00 1203.69 2266.25 0 0 0 30.00 30.00 30.00

1160.23 420 -146.63 -1.20 80.00 3903.6 3881.3 3925.9 1203.8 2265.9 132.04 -9.22 174 1169.04 0.00 0.00 3.71 0.000 0.000 0.092 3903.66 3881.81 3925.50 1203.56 3766.19 0 0 0 30.00 30.00 15.67

1246.31 1156 -146.63 -1.18 0.00 3903.7 3881.1 3926.2 1203.8 3766.8 142.05 -11.93 189 1254.94 0.00 0.00 3.44 0.000 0.000 0.015 3903.56 3881.19 3925.94 1203.56 2267.31 0 0 0 30.00 30.00 15.72

1331 end dive: TARGET_DEPTH_EXCEEDED

state 1331 begin apogee

1333.09 10243 0.00 -0.33 0.00 3903.6 3881.0 3926.2 1203.7 2152.7 150.13 -9.19 198 1452.82 105.80 1.48 0.09 0.888 0.111 0.169 3299.69 3244.81 3354.56 1422.12 2209.50 0 0 0 11.35 15.67 15.38

1454 end apogee: CONTROL_FINISHED_OK

state 1454 begin climb

1454.47 10759 146.63 1.35 -80.00 3295.5 3241.5 3349.6 1421.9 2209.2 153.18 0.00 209 1588.33 106.61 2.70 3.91 0.871 0.073 0.114 2696.66 2620.12 2773.19 1832.44 718.81 0 0 0 11.52 15.39 15.19

1602.17 1156 146.63 1.33 0.00 2694.5 2619.4 2769.6 1832.9 718.9 140.30 14.18 235 1611.09 0.00 0.00 3.56 0.000 0.000 0.033 2692.28 2617.25 2767.31 1833.25 2202.12 0 0 0 30.00 30.00 15.29

1797.18 16774 146.63 1.32 80.00 2691.2 2616.3 2766.1 1832.6 2202.6 110.89 15.04 255 1806.09 0.00 0.00 3.60 0.000 0.000 0.093 2692.75 2616.69 2768.81 1831.25 3652.81 0 0 0 30.00 30.00 15.44

1834.93 17542 146.63 1.29 0.00 2690.1 2615.6 2764.6 1833.0 3652.4 104.49 17.43 262 1843.75 0.00 0.00 3.49 0.000 0.000 0.019 2687.97 2614.00 2761.94 1832.56 2158.81 0 0 0 30.00 30.00 15.49

2029.96 16774 146.63 1.28 80.00 2689.4 2614.3 2764.6 1832.5 2159.1 75.97 14.66 282 2038.97 0.00 0.00 3.69 0.000 0.000 0.090 2688.06 2613.25 2762.88 1832.56 3651.81 0 0 0 30.00 30.00 15.53

2087.82 21639 146.63 1.25 0.00 2688.9 2614.2 2763.6 1832.5 3651.4 66.68 16.32 293 2097.04 0.00 0.28 3.45 0.000 0.181 0.019 2687.22 2612.12 2762.31 1798.50 2159.62 0 0 0 30.00 15.53 15.58

2282.82 16774 146.63 1.26 80.00 2688.4 2613.7 2763.1 1798.4 2159.6 44.56 10.88 318 2291.58 0.00 0.00 3.65 0.000 0.000 0.090 2686.81 2611.69 2761.94 1798.31 3653.94 0 0 0 30.00 30.00 15.59

2364.07 17542 146.63 1.24 0.00 2688.2 2613.9 2762.5 1797.9 3653.9 34.26 12.85 333 2372.73 0.00 0.00 3.47 0.000 0.000 0.018 2687.97 2613.06 2762.88 1798.25 2157.75 0 0 0 30.00 30.00 15.62

2556.59 8614 181.60 1.29 80.00 2687.7 2613.2 2762.2 1798.3 2157.2 16.02 8.38 371 2593.08 25.49 0.00 3.68 0.717 0.000 0.091 2554.59 2471.19 2638.00 1798.56 3652.62 0 0 0 11.54 30.00 15.56

2602.00 11431 205.54 1.33 0.00 2554.8 2472.9 2636.6 1797.9 3652.4 12.02 8.89 379 2631.69 18.98 0.19 3.47 0.680 0.062 0.018 2459.84 2371.50 2548.19 1833.12 2159.00 0 0 0 11.39 15.62 15.61

2815.56 10663 405.75 1.61 80.00 2452.8 2365.8 2539.8 1834.2 2160.0 4.89 0.73 421 2886.43 63.33 0.37 0.00 0.727 0.044 0.000 2089.88 1983.25 2196.50 1898.06 2160.00 0 0 0 11.67 15.61 30.00

2887 end climb: NO_VERTICAL_VELOCITY

state 2887 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	48	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	2.7758195	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	16.201954	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	270623,143501,4736.088,-12256.753,25,1.0,26,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,143819,4736.096,-12256.766,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	14.0,884,-17.6,-10.000,-21.21,2209,0.131
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.015448,0.007600,-0.013987,1.042997,-0.042429,0.022686,-0.088198,0.950735,632.884705,-335.695496,-256.128082
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

NET	CACST,8,0,20230627151741.206450,18,32767,45,0111,0150,07,00,00,00,00,1,029,244,0,5,1,0,150,17.5,9.12,-100,-6.12,-01,-0.06,66,10000,5000,0,-1,00,00*75	_24V_AH	14.86,13.073
NET_PING	1687879062,29,621.004517,17.500000,-0.826696	_10V_AH	14.93,0.000
NAV	1687880020,0.1,4,stop	FG_AHR_24Vo	16.342
FREEZE	4.71,13.850,-1.543,0,1,0	FG_AHR_10Vo	2.786
SURF	forcing	MEM0	59804,1,0,0
SM_CCo	3175.08,260.70,0.709,0,500.6,443.0,558.1,686.70	MEM1	65508,1,0,0
SM_GC	1.98,0.00,11.11,0.37,0.000,0.043,0.066,495.5,441.4,549.6,188.8,2320.4,0,0,0,30.00,15.31,15.28	MEM2	945400,37,101008,71
MODEM_MSG	CACST,8,1,20230627152500.483281,18,32767,45,0102,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,-41.1,4.74,-100,-1.74,-01,0.02,88,925,0025,0,-1,00,00*36	DATA_FILE_SIZE	12930,434
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	173030,0
IRIDIUM_FIX	4736.40,-12251.79,270623,133326	SDSIZE	3887104,3857344
TCM_TEMP	18.37	SDFILEDIR	438,49
SC_FREEKB	3863392	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	0,1687878000,47.60500,-122.95000,0.443,649.7	CURRENT	0.029,203.7,1
RAFOS_FIX	4736.441406,-12257.443359,270623,151500,4,255,0.38	MAGCAL	1.000000,0.089328,-0.195063,0.087332,1.054778,-0.077797,0.255267,0.078487,1.340405,785.7,-363.6,-496.7,31,0.0797,0
HUMID	56.05	IMPLIED_C_PITCH	1533,16.67,208,0.0,0.00
TEMP	11.04	IMPLIED_C_VBD	3403,18.788000,208,0
INTERNAL_PRESSURE	8.27588	GPS	270623,153404,4736.285,-12256.512,1,0.9,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	684	887	9026.00	nil	0	0	0.00
Pitch_motor	23	232	82.96	nil	0	0	0.00
Roll_motor	58	169	146.25	nil	0	0	0.00
Iridium	132	159	314.61	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.12	nil	0	0	0.00
Core	1940	5	148.34	SciCon	2892	7	334.02
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1237	0	5.91
Compass	905	5	67.57
RAFOS	2076	40	1239.89
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
6.41	16386	-146.63	-1.35	0.00	493.9	444.1	543.7	185.3	2274.1	0.00	0.00	0	55.87	44.66	0.00	0.00	0.005	0.000	0.000	1798.81	1788.19	1809.44	185.31	2274.75	0	0	0	15.62	30.00	30.00
56.40	18727	-146.63	-1.35	80.00	1802.3	1788.7	1815.9	185.2	2274.8	3.28	-4.31	9	143.32	58.47	7.61	3.69	0.005	0.233	0.091	3839.56	3759.00	3920.12	1171.88	3768.88	0	0	0	15.63	15.46	15.56
372.02	1156	-146.63	-1.30	0.00	3902.3	3880.6	3924.0	1171.9	3768.8	45.19	-15.07	70	380.05	0.00	0.00	3.46	0.000	0.000	0.015	3901.84	3880.56	3923.12	1172.19	2268.88	0	0	0	30.00	30.00	15.69
562.76	388	-146.63	-1.27	80.00	3902.8	3880.9	3924.7	1171.9	2267.4	66.74	-10.95	93	575.93	0.00	0.00	3.72	0.000	0.000	0.088	3903.06	3881.06	3925.06	1172.12	3767.19	0	0	0	30.00	30.00	15.59
775.10	3205	-146.63	-1.23	0.00	3903.2	3881.5	3924.9	1171.9	3766.8	95.87	-13.86	135	784.09	0.00	0.22	3.46	0.000	0.156	0.015	3902.84	3880.94	3924.75	1203.50	2265.88	0	0	0	30.00	15.55	15.60
970.21	160	-146.63	-1.22	0.00	3903.5	3881.0	3926.0	1203.6	2265.8	114.50	-9.25	155	972.08	0.00	0.00	0.00	0.000	0.000	0.000	3903.16	3881.31	3925.00	1203.69	2266.25	0	0	0	30.00	30.00	30.00
1160.23	420	-146.63	-1.20	80.00	3903.6	3881.3	3925.9	1203.8	2265.9	132.04	-9.22	174	1169.04	0.00	0.00	3.71	0.000	0.000	0.092	3903.66	3881.81	3925.50	1203.56	3766.19	0	0	0	30.00	30.00	15.67
1246.31	1156	-146.63	-1.18	0.00	3903.7	3881.1	3926.2	1203.8	3766.8	142.05	-11.93	189	1254.94	0.00	0.00	3.44	0.000	0.000	0.015	3903.56	3881.19	3925.94	1203.56	2267.31	0	0	0	30.00	30.00	15.72
1331	end dive: TARGET_DEPTH_EXCEEDED
state	1331	begin apogee
1333.09	10243	0.00	-0.33	0.00	3903.6	3881.0	3926.2	1203.7	2152.7	150.13	-9.19	198	1452.82	105.80	1.48	0.09	0.888	0.111	0.169	3299.69	3244.81	3354.56	1422.12	2209.50	0	0	0	11.35	15.67	15.38
1454	end apogee: CONTROL_FINISHED_OK
state	1454	begin climb
1454.47	10759	146.63	1.35	-80.00	3295.5	3241.5	3349.6	1421.9	2209.2	153.18	0.00	209	1588.33	106.61	2.70	3.91	0.871	0.073	0.114	2696.66	2620.12	2773.19	1832.44	718.81	0	0	0	11.52	15.39	15.19
1602.17	1156	146.63	1.33	0.00	2694.5	2619.4	2769.6	1832.9	718.9	140.30	14.18	235	1611.09	0.00	0.00	3.56	0.000	0.000	0.033	2692.28	2617.25	2767.31	1833.25	2202.12	0	0	0	30.00	30.00	15.29
1797.18	16774	146.63	1.32	80.00	2691.2	2616.3	2766.1	1832.6	2202.6	110.89	15.04	255	1806.09	0.00	0.00	3.60	0.000	0.000	0.093	2692.75	2616.69	2768.81	1831.25	3652.81	0	0	0	30.00	30.00	15.44
1834.93	17542	146.63	1.29	0.00	2690.1	2615.6	2764.6	1833.0	3652.4	104.49	17.43	262	1843.75	0.00	0.00	3.49	0.000	0.000	0.019	2687.97	2614.00	2761.94	1832.56	2158.81	0	0	0	30.00	30.00	15.49
2029.96	16774	146.63	1.28	80.00	2689.4	2614.3	2764.6	1832.5	2159.1	75.97	14.66	282	2038.97	0.00	0.00	3.69	0.000	0.000	0.090	2688.06	2613.25	2762.88	1832.56	3651.81	0	0	0	30.00	30.00	15.53
2087.82	21639	146.63	1.25	0.00	2688.9	2614.2	2763.6	1832.5	3651.4	66.68	16.32	293	2097.04	0.00	0.28	3.45	0.000	0.181	0.019	2687.22	2612.12	2762.31	1798.50	2159.62	0	0	0	30.00	15.53	15.58
2282.82	16774	146.63	1.26	80.00	2688.4	2613.7	2763.1	1798.4	2159.6	44.56	10.88	318	2291.58	0.00	0.00	3.65	0.000	0.000	0.090	2686.81	2611.69	2761.94	1798.31	3653.94	0	0	0	30.00	30.00	15.59
2364.07	17542	146.63	1.24	0.00	2688.2	2613.9	2762.5	1797.9	3653.9	34.26	12.85	333	2372.73	0.00	0.00	3.47	0.000	0.000	0.018	2687.97	2613.06	2762.88	1798.25	2157.75	0	0	0	30.00	30.00	15.62
2556.59	8614	181.60	1.29	80.00	2687.7	2613.2	2762.2	1798.3	2157.2	16.02	8.38	371	2593.08	25.49	0.00	3.68	0.717	0.000	0.091	2554.59	2471.19	2638.00	1798.56	3652.62	0	0	0	11.54	30.00	15.56
2602.00	11431	205.54	1.33	0.00	2554.8	2472.9	2636.6	1797.9	3652.4	12.02	8.89	379	2631.69	18.98	0.19	3.47	0.680	0.062	0.018	2459.84	2371.50	2548.19	1833.12	2159.00	0	0	0	11.39	15.62	15.61
2815.56	10663	405.75	1.61	80.00	2452.8	2365.8	2539.8	1834.2	2160.0	4.89	0.73	421	2886.43	63.33	0.37	0.00	0.727	0.044	0.000	2089.88	1983.25	2196.50	1898.06	2160.00	0	0	0	11.67	15.61	30.00
2887	end climb: NO_VERTICAL_VELOCITY
state	2887	begin surface