Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 5 * 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 5 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 10 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 1 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 2.4337716 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 10.133927 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 10 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 2.4337716 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.133927 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 5 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 1 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 250623,210410,4736.602,-12256.508,0,1.3,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,210753,4736.596,-12256.540,2,1.3,5,15.4 MHEAD_RNG_PITCHd_Wd 185.6,1239,-17.6,-10.000,-21.21,2209,0.178

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,0.024494,-0.007319,-0.020644,1.044283,-0.027764,0.019785,-0.057019,1.003244,633.221680,-333.149445,-293.087646

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230625214810.347554,18,32767,45,0101,0150,07,00,00,00,00,1,012,121,0,5,7,0,150,18.1,9.22,-100,-6.22,-01,0.32,69,10000,5000,0,1,01,00*72 _24V_AH 14.85,6.320

NET_PING 1687729660,29,626.789978,13.500000,-0.837967 _10V_AH 14.94,0.000

MODEM_MSG CACST,8,0,20230625212500.586295,18,32767,45,0102,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-3.9,6.86,-100,-3.86,-01,-0.22,88,925,0025,0,1,00,00*2A FG_AHR_24Vo 10.269

NAV 1687730682,0.1,start FG_AHR_10Vo 2.439

FREEZE 4.28,15.297,-1.472,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3262.10,206.93,0.706,0,500.4,442.4,558.5,686.73 MEM2 945660,27,100948,71

SM_GC 1.55,0.00,10.95,0.38,0.000,0.043,0.069,495.7,441.2,550.1,185.4,2319.6,0,0,0,30.00,15.36,15.37 DATA_FILE_SIZE 12957,438

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 169749,0

IRIDIUM_FIX 4738.33,-12256.21,250623,201743 SDSIZE 3887104,3871520

TCM_TEMP 18.37 SDFILEDIR 81,6

SC_FREEKB 3877152 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 1,1687727400,47.60500,-122.95000,0.786,1152.2 CURRENT 0.026,120.1,1

RAFOS_FIX 4736.671387,-12257.436523,250623,212100,3,255,1.10 MAGCAL 1.000000,0.009555,0.001953,-0.008671,1.053118,-0.030747,0.006672,-0.069695,1.030933,623.9,-332.1,-312.4,36,0.0331,1

HUMID 57.88 IMPLIED_C_PITCH 1523,15.90,216,0.0,0.00

TEMP 10.74 IMPLIED_C_VBD 3405,18.346476,216,0

INTERNAL_PRESSURE 8.28749 GPS 250623,220539,4736.235,-12256.592,24,1.5,25,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 676 881 8852.50 nil 0 0 0.00

Pitch_motor 23 240 84.35 nil 0 0 0.00

Roll_motor 57 177 150.98 nil 0 0 0.00

Iridium 159 147 348.01 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.19 nil 0 0 0.00

Core 1993 5 152.50 SciCon 3039 7 351.19

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1357 0 6.49

Compass 924 5 69.07

RAFOS 1382 40 826.04

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

6.35 16386 -146.63 -1.35 0.00 494.0 440.8 547.3 185.3 2273.2 0.00 0.00 0 71.98 59.70 0.00 0.00 0.005 0.000 0.000 2157.56 2145.00 2170.12 185.19 2273.75 0 0 0 15.60 30.00 30.00

72.50 18983 -146.63 -1.35 -80.00 2160.5 2146.3 2174.6 185.3 2273.3 3.17 -3.17 12 144.84 46.75 7.55 3.59 0.005 0.241 0.104 3898.19 3883.56 3912.81 1171.94 833.44 0 0 0 15.60 15.45 15.53

373.51 1156 -146.63 -1.32 0.00 3901.1 3885.2 3917.0 1172.1 832.9 38.36 -12.36 70 381.60 0.00 0.00 3.56 0.000 0.000 0.038 3902.44 3886.56 3918.31 1171.44 2316.38 0 0 0 30.00 30.00 15.63

565.01 128 -146.63 -1.29 0.00 3901.6 3885.2 3917.9 1172.0 2316.8 59.08 -11.37 99 569.23 0.00 0.00 0.00 0.000 0.000 0.000 3902.00 3885.94 3918.06 1172.00 2316.44 0 0 0 30.00 30.00 30.00

750.30 128 -146.63 -1.27 0.00 3902.2 3885.5 3918.9 1172.1 2316.7 79.12 -10.38 118 752.17 0.00 0.00 0.00 0.000 0.000 0.000 3901.78 3884.62 3918.94 1171.69 2316.94 0 0 0 30.00 30.00 30.00

940.31 2437 -146.63 -1.24 80.00 3902.4 3885.4 3919.4 1172.1 2316.8 99.40 -10.81 137 949.28 0.00 0.19 3.60 0.000 0.162 0.099 3903.56 3887.25 3919.88 1201.69 3768.00 0 0 0 30.00 15.62 15.62

972.31 1156 -146.63 -1.21 0.00 3902.8 3885.7 3919.8 1200.9 3768.2 103.22 -11.62 143 980.23 0.00 0.00 3.40 0.000 0.000 0.018 3903.25 3886.12 3920.38 1201.38 2266.81 0 0 0 30.00 30.00 15.67

1168.17 420 -146.63 -1.20 80.00 3903.0 3885.7 3920.2 1201.0 2266.0 121.77 -9.09 163 1176.94 0.00 0.00 3.71 0.000 0.000 0.096 3902.44 3885.69 3919.19 1200.94 3766.44 0 0 0 30.00 30.00 15.67

1209.97 1156 -146.63 -1.17 0.00 3903.1 3885.7 3920.5 1201.3 3766.1 126.36 -10.88 171 1217.89 0.00 0.00 3.36 0.000 0.000 0.017 3902.88 3885.94 3919.81 1201.06 2267.00 0 0 0 30.00 30.00 15.74

1405.83 420 -146.63 -1.16 80.00 3903.2 3885.9 3920.6 1201.4 2265.8 144.39 -9.05 191 1414.60 0.00 0.00 3.71 0.000 0.000 0.096 3902.66 3885.88 3919.44 1201.19 3766.38 0 0 0 30.00 30.00 15.71

1453.10 3205 -146.63 -1.13 0.00 3903.4 3885.9 3920.9 1200.9 3766.8 149.26 -11.53 199 1458.99 0.00 0.00 2.58 0.000 0.000 0.015 3904.31 3887.00 3921.62 1200.94 2620.12 0 0 0 30.00 30.00 15.77

1459 end dive: TARGET_DEPTH_EXCEEDED

state 1460 begin apogee

1462.60 10243 0.00 -0.33 0.00 3903.2 3885.9 3920.5 1201.2 2154.8 150.30 -12.14 200 1579.85 103.61 1.49 0.09 0.881 0.122 0.177 3300.53 3242.31 3358.75 1421.12 2206.88 0 0 0 11.26 15.69 15.46

1581 end apogee: CONTROL_FINISHED_OK

state 1581 begin climb

1581.35 10243 146.63 1.35 0.00 3296.4 3240.6 3352.3 1421.5 2206.9 153.70 0.00 211 1703.29 106.36 2.65 0.00 0.866 0.078 0.000 2698.59 2613.81 2783.38 1831.38 2207.44 0 0 0 11.32 15.48 30.00

1886.99 16774 146.63 1.34 80.00 2691.0 2613.4 2768.6 1831.3 2207.6 118.81 15.18 244 1895.77 0.00 0.00 3.63 0.000 0.000 0.096 2689.06 2613.00 2765.12 1831.25 3649.50 0 0 0 30.00 30.00 15.49

1984.56 17542 146.63 1.31 0.00 2689.7 2613.4 2766.0 1831.2 3650.3 101.10 18.24 263 1993.16 0.00 0.00 3.40 0.000 0.000 0.020 2689.25 2614.25 2764.25 1831.62 2158.69 0 0 0 30.00 30.00 15.59

2179.57 16774 146.63 1.31 80.00 2688.6 2612.1 2765.1 1831.7 2158.5 73.51 13.62 283 2188.41 0.00 0.00 3.72 0.000 0.000 0.095 2688.19 2612.12 2764.25 1831.19 3651.56 0 0 0 30.00 30.00 15.61

2237.19 17542 146.63 1.28 0.00 2688.3 2612.6 2763.9 1831.2 3651.4 64.35 16.38 294 2245.79 0.00 0.00 3.40 0.000 0.000 0.020 2687.34 2611.19 2763.50 1831.19 2158.25 0 0 0 30.00 30.00 15.67

2431.04 16646 146.63 1.28 80.00 2688.0 2612.9 2763.1 1831.3 2158.6 40.33 12.15 322 2439.72 0.00 0.00 3.70 0.000 0.000 0.095 2686.69 2611.06 2762.31 1831.50 3651.12 0 0 0 30.00 30.00 15.64

2548.50 21639 146.63 1.25 0.00 2687.5 2612.3 2762.8 1831.1 3651.5 24.24 12.26 345 2557.23 0.00 0.28 3.40 0.000 0.178 0.020 2687.22 2612.06 2762.38 1798.25 2156.00 0 0 0 30.00 15.66 15.75

2741.04 10663 225.95 1.37 80.00 2686.7 2611.7 2761.8 1798.8 2156.3 9.73 6.33 383 2810.25 55.08 0.25 3.72 0.726 0.058 0.095 2373.16 2270.00 2476.31 1841.38 3651.44 0 0 0 11.30 15.78 15.58

2874.10 11431 371.90 1.55 0.00 2370.8 2269.8 2471.8 1841.1 3651.7 5.52 3.24 408 2990.87 97.90 0.22 3.38 0.714 0.057 0.017 1779.94 1652.62 1907.25 1883.50 2155.12 0 0 0 11.39 15.66 15.64

3034 end climb: NO_VERTICAL_VELOCITY

state 3035 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	5	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	10	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	1	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	2.4337716	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	10.133927	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	250623,210410,4736.602,-12256.508,0,1.3,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,210753,4736.596,-12256.540,2,1.3,5,15.4	MHEAD_RNG_PITCHd_Wd	185.6,1239,-17.6,-10.000,-21.21,2209,0.178
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.024494,-0.007319,-0.020644,1.044283,-0.027764,0.019785,-0.057019,1.003244,633.221680,-333.149445,-293.087646
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NET	CACST,8,0,20230625214810.347554,18,32767,45,0101,0150,07,00,00,00,00,1,012,121,0,5,7,0,150,18.1,9.22,-100,-6.22,-01,0.32,69,10000,5000,0,1,01,00*72	_24V_AH	14.85,6.320
NET_PING	1687729660,29,626.789978,13.500000,-0.837967	_10V_AH	14.94,0.000
MODEM_MSG	CACST,8,0,20230625212500.586295,18,32767,45,0102,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-3.9,6.86,-100,-3.86,-01,-0.22,88,925,0025,0,1,00,00*2A	FG_AHR_24Vo	10.269
NAV	1687730682,0.1,start	FG_AHR_10Vo	2.439
FREEZE	4.28,15.297,-1.472,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3262.10,206.93,0.706,0,500.4,442.4,558.5,686.73	MEM2	945660,27,100948,71
SM_GC	1.55,0.00,10.95,0.38,0.000,0.043,0.069,495.7,441.2,550.1,185.4,2319.6,0,0,0,30.00,15.36,15.37	DATA_FILE_SIZE	12957,438
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	169749,0
IRIDIUM_FIX	4738.33,-12256.21,250623,201743	SDSIZE	3887104,3871520
TCM_TEMP	18.37	SDFILEDIR	81,6
SC_FREEKB	3877152	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	1,1687727400,47.60500,-122.95000,0.786,1152.2	CURRENT	0.026,120.1,1
RAFOS_FIX	4736.671387,-12257.436523,250623,212100,3,255,1.10	MAGCAL	1.000000,0.009555,0.001953,-0.008671,1.053118,-0.030747,0.006672,-0.069695,1.030933,623.9,-332.1,-312.4,36,0.0331,1
HUMID	57.88	IMPLIED_C_PITCH	1523,15.90,216,0.0,0.00
TEMP	10.74	IMPLIED_C_VBD	3405,18.346476,216,0
INTERNAL_PRESSURE	8.28749	GPS	250623,220539,4736.235,-12256.592,24,1.5,25,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	676	881	8852.50	nil	0	0	0.00
Pitch_motor	23	240	84.35	nil	0	0	0.00
Roll_motor	57	177	150.98	nil	0	0	0.00
Iridium	159	147	348.01	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.19	nil	0	0	0.00
Core	1993	5	152.50	SciCon	3039	7	351.19
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1357	0	6.49
Compass	924	5	69.07
RAFOS	1382	40	826.04
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
6.35	16386	-146.63	-1.35	0.00	494.0	440.8	547.3	185.3	2273.2	0.00	0.00	0	71.98	59.70	0.00	0.00	0.005	0.000	0.000	2157.56	2145.00	2170.12	185.19	2273.75	0	0	0	15.60	30.00	30.00
72.50	18983	-146.63	-1.35	-80.00	2160.5	2146.3	2174.6	185.3	2273.3	3.17	-3.17	12	144.84	46.75	7.55	3.59	0.005	0.241	0.104	3898.19	3883.56	3912.81	1171.94	833.44	0	0	0	15.60	15.45	15.53
373.51	1156	-146.63	-1.32	0.00	3901.1	3885.2	3917.0	1172.1	832.9	38.36	-12.36	70	381.60	0.00	0.00	3.56	0.000	0.000	0.038	3902.44	3886.56	3918.31	1171.44	2316.38	0	0	0	30.00	30.00	15.63
565.01	128	-146.63	-1.29	0.00	3901.6	3885.2	3917.9	1172.0	2316.8	59.08	-11.37	99	569.23	0.00	0.00	0.00	0.000	0.000	0.000	3902.00	3885.94	3918.06	1172.00	2316.44	0	0	0	30.00	30.00	30.00
750.30	128	-146.63	-1.27	0.00	3902.2	3885.5	3918.9	1172.1	2316.7	79.12	-10.38	118	752.17	0.00	0.00	0.00	0.000	0.000	0.000	3901.78	3884.62	3918.94	1171.69	2316.94	0	0	0	30.00	30.00	30.00
940.31	2437	-146.63	-1.24	80.00	3902.4	3885.4	3919.4	1172.1	2316.8	99.40	-10.81	137	949.28	0.00	0.19	3.60	0.000	0.162	0.099	3903.56	3887.25	3919.88	1201.69	3768.00	0	0	0	30.00	15.62	15.62
972.31	1156	-146.63	-1.21	0.00	3902.8	3885.7	3919.8	1200.9	3768.2	103.22	-11.62	143	980.23	0.00	0.00	3.40	0.000	0.000	0.018	3903.25	3886.12	3920.38	1201.38	2266.81	0	0	0	30.00	30.00	15.67
1168.17	420	-146.63	-1.20	80.00	3903.0	3885.7	3920.2	1201.0	2266.0	121.77	-9.09	163	1176.94	0.00	0.00	3.71	0.000	0.000	0.096	3902.44	3885.69	3919.19	1200.94	3766.44	0	0	0	30.00	30.00	15.67
1209.97	1156	-146.63	-1.17	0.00	3903.1	3885.7	3920.5	1201.3	3766.1	126.36	-10.88	171	1217.89	0.00	0.00	3.36	0.000	0.000	0.017	3902.88	3885.94	3919.81	1201.06	2267.00	0	0	0	30.00	30.00	15.74
1405.83	420	-146.63	-1.16	80.00	3903.2	3885.9	3920.6	1201.4	2265.8	144.39	-9.05	191	1414.60	0.00	0.00	3.71	0.000	0.000	0.096	3902.66	3885.88	3919.44	1201.19	3766.38	0	0	0	30.00	30.00	15.71
1453.10	3205	-146.63	-1.13	0.00	3903.4	3885.9	3920.9	1200.9	3766.8	149.26	-11.53	199	1458.99	0.00	0.00	2.58	0.000	0.000	0.015	3904.31	3887.00	3921.62	1200.94	2620.12	0	0	0	30.00	30.00	15.77
1459	end dive: TARGET_DEPTH_EXCEEDED
state	1460	begin apogee
1462.60	10243	0.00	-0.33	0.00	3903.2	3885.9	3920.5	1201.2	2154.8	150.30	-12.14	200	1579.85	103.61	1.49	0.09	0.881	0.122	0.177	3300.53	3242.31	3358.75	1421.12	2206.88	0	0	0	11.26	15.69	15.46
1581	end apogee: CONTROL_FINISHED_OK
state	1581	begin climb
1581.35	10243	146.63	1.35	0.00	3296.4	3240.6	3352.3	1421.5	2206.9	153.70	0.00	211	1703.29	106.36	2.65	0.00	0.866	0.078	0.000	2698.59	2613.81	2783.38	1831.38	2207.44	0	0	0	11.32	15.48	30.00
1886.99	16774	146.63	1.34	80.00	2691.0	2613.4	2768.6	1831.3	2207.6	118.81	15.18	244	1895.77	0.00	0.00	3.63	0.000	0.000	0.096	2689.06	2613.00	2765.12	1831.25	3649.50	0	0	0	30.00	30.00	15.49
1984.56	17542	146.63	1.31	0.00	2689.7	2613.4	2766.0	1831.2	3650.3	101.10	18.24	263	1993.16	0.00	0.00	3.40	0.000	0.000	0.020	2689.25	2614.25	2764.25	1831.62	2158.69	0	0	0	30.00	30.00	15.59
2179.57	16774	146.63	1.31	80.00	2688.6	2612.1	2765.1	1831.7	2158.5	73.51	13.62	283	2188.41	0.00	0.00	3.72	0.000	0.000	0.095	2688.19	2612.12	2764.25	1831.19	3651.56	0	0	0	30.00	30.00	15.61
2237.19	17542	146.63	1.28	0.00	2688.3	2612.6	2763.9	1831.2	3651.4	64.35	16.38	294	2245.79	0.00	0.00	3.40	0.000	0.000	0.020	2687.34	2611.19	2763.50	1831.19	2158.25	0	0	0	30.00	30.00	15.67
2431.04	16646	146.63	1.28	80.00	2688.0	2612.9	2763.1	1831.3	2158.6	40.33	12.15	322	2439.72	0.00	0.00	3.70	0.000	0.000	0.095	2686.69	2611.06	2762.31	1831.50	3651.12	0	0	0	30.00	30.00	15.64
2548.50	21639	146.63	1.25	0.00	2687.5	2612.3	2762.8	1831.1	3651.5	24.24	12.26	345	2557.23	0.00	0.28	3.40	0.000	0.178	0.020	2687.22	2612.06	2762.38	1798.25	2156.00	0	0	0	30.00	15.66	15.75
2741.04	10663	225.95	1.37	80.00	2686.7	2611.7	2761.8	1798.8	2156.3	9.73	6.33	383	2810.25	55.08	0.25	3.72	0.726	0.058	0.095	2373.16	2270.00	2476.31	1841.38	3651.44	0	0	0	11.30	15.78	15.58
2874.10	11431	371.90	1.55	0.00	2370.8	2269.8	2471.8	1841.1	3651.7	5.52	3.24	408	2990.87	97.90	0.22	3.38	0.714	0.057	0.017	1779.94	1652.62	1907.25	1883.50	2155.12	0	0	0	11.39	15.66	15.64
3034	end climb: NO_VERTICAL_VELOCITY
state	3035	begin surface