Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 51 * 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 51 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 58 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 2.8066351 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 16.618597 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 58 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 2.8066351 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 16.618597 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 51 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 270623,171301,4736.598,-12256.559,2,1.0,27,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,171606,4736.610,-12256.549,2,0.7,5,15.4 MHEAD_RNG_PITCHd_Wd 178.1,1262,-17.6,-10.000,-21.21,2209,0.175

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 8000266

Post-dive calculations and measurements:

NET xmit ok outbox0044.n 857 14 _24V_AH 14.80,13.516

NET_PING 1687887910,29,233.924988,6.800000,-0.313151 _10V_AH 14.90,0.000

MODEM_MSG CACST,8,0,20230627172500.289075,18,32767,45,0102,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-2.6,8.84,-100,-5.84,-01,-0.26,89,925,0025,0,1,00,00*2C FG_AHR_24Vo 16.755

NAV 1687888742,31.9,start FG_AHR_10Vo 2.818

FREEZE 4.40,14.138,-1.523,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3368.37,269.74,0.712,0,500.7,439.1,562.2,686.67 MEM2 945480,34,100988,71

SM_GC 2.16,0.00,10.62,0.37,0.000,0.038,0.059,496.2,438.3,554.2,185.1,2322.0,0,0,0,30.00,15.32,15.32 DATA_FILE_SIZE 12892,458

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 169940,0

IRIDIUM_FIX 4736.87,-12256.21,270623,162438 SDSIZE 3887104,3856384

TCM_TEMP 18.35 SDFILEDIR 462,52

SC_FREEKB 3862432 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 0,1687885200,47.60500,-122.95000,0.469,687.5 CURRENT 0.022,252.9,1

RAFOS_FIX 4736.645996,-12256.856445,270623,171700,4,255,1.67 MAGCAL 1.000000,-0.006307,-0.055609,-0.037665,1.233136,0.323887,-0.051525,-0.358084,1.599145,673.5,-468.7,-634.7,36,0.0837,0

HUMID 56.33 IMPLIED_C_PITCH 1523,16.05,228,0.0,0.00

TEMP 10.82 IMPLIED_C_VBD 3458,19.740627,228,0

INTERNAL_PRESSURE 8.27693 GPS 270623,181505,4736.253,-12256.759,1,0.7,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 677 883 8860.48 nil 0 0 0.00

Pitch_motor 23 225 77.04 nil 0 0 0.00

Roll_motor 51 161 121.99 nil 0 0 0.00

Iridium 117 129 224.17 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.11 nil 0 0 0.00

Core 1941 5 148.12 SciCon 3074 7 349.15

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1405 0 6.70

Compass 958 5 71.40

RAFOS 856 40 510.55

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 0.00 492.8 437.0 548.6 185.1 2327.9 0.00 0.00 0 56.49 45.22 0.00 0.00 0.005 0.000 0.000 1809.50 1804.19 1814.81 185.19 2327.00 0 0 0 14.43 30.00 30.00

57.03 18727 -146.63 -1.35 80.00 1813.2 1804.6 1821.9 185.4 2326.7 3.04 -3.81 8 144.51 59.84 7.66 3.58 0.005 0.225 0.089 3899.69 3886.94 3912.44 1171.94 3769.12 0 0 0 14.51 15.33 15.45

288.20 1156 -146.63 -1.30 0.00 3902.5 3888.2 3916.8 1172.2 3769.1 28.85 -13.16 52 296.44 0.00 0.00 3.48 0.000 0.000 0.013 3901.69 3887.88 3915.50 1172.75 2266.81 0 0 0 30.00 30.00 15.57

480.19 128 -146.63 -1.27 0.00 3903.0 3888.1 3918.0 1172.6 2266.5 48.39 -10.03 90 484.12 0.00 0.00 0.00 0.000 0.000 0.000 3902.81 3888.12 3917.50 1172.12 2266.50 0 0 0 30.00 30.00 30.00

670.20 2437 -146.63 -1.25 80.00 3903.4 3888.3 3918.5 1172.2 2266.1 67.35 -10.18 111 679.39 0.00 0.19 3.70 0.000 0.150 0.087 3902.62 3887.12 3918.12 1200.88 3770.81 0 0 0 30.00 15.61 15.62

758.20 1156 -146.63 -1.21 0.00 3903.4 3888.1 3918.7 1201.1 3770.2 77.98 -12.53 128 766.84 0.00 0.00 3.46 0.000 0.000 0.013 3902.91 3888.12 3917.69 1200.38 2266.50 0 0 0 30.00 30.00 15.70

956.23 160 -146.63 -1.20 0.00 3904.0 3888.6 3919.4 1200.6 2265.8 97.22 -9.56 149 958.10 0.00 0.00 0.00 0.000 0.000 0.000 3903.50 3887.56 3919.44 1200.38 2265.88 0 0 0 30.00 30.00 30.00

1146.25 420 -146.63 -1.18 80.00 3904.2 3888.1 3920.4 1200.8 2266.0 114.09 -8.56 168 1154.96 0.00 0.00 3.70 0.000 0.000 0.090 3903.66 3887.81 3919.50 1200.75 3767.88 0 0 0 30.00 30.00 15.71

1223.77 1156 -146.63 -1.15 0.00 3904.3 3888.2 3920.3 1200.6 3768.2 122.03 -10.70 183 1232.40 0.00 0.00 3.44 0.000 0.000 0.014 3903.72 3887.75 3919.69 1200.62 2265.06 0 0 0 30.00 30.00 15.77

1418.88 160 -146.63 -1.14 0.00 3904.2 3888.2 3920.2 1200.4 2265.2 139.82 -8.91 203 1420.76 0.00 0.00 0.00 0.000 0.000 0.000 3903.78 3887.62 3919.94 1200.50 2264.56 0 0 0 30.00 30.00 30.00

1539 end dive: TARGET_DEPTH_EXCEEDED

state 1539 begin apogee

1540.56 10243 0.00 -0.33 0.00 3904.2 3887.9 3920.5 1200.4 2153.8 150.64 -8.97 215 1660.01 104.22 1.50 0.09 0.883 0.110 0.161 3298.19 3242.00 3354.38 1421.94 2209.38 0 0 0 11.62 15.73 15.50

1661 end apogee: CONTROL_FINISHED_OK

state 1661 begin climb

1661.71 10759 146.63 1.35 -80.00 3296.5 3241.0 3351.9 1421.8 2209.9 153.15 0.00 226 1794.60 105.98 2.67 3.92 0.864 0.069 0.111 2698.62 2614.31 2782.94 1831.62 716.81 0 0 0 11.49 15.50 14.83

1857.69 17542 146.63 1.33 0.00 2693.1 2614.4 2771.8 1831.3 717.6 131.75 16.88 261 1866.01 0.00 0.00 3.58 0.000 0.000 0.034 2692.97 2613.81 2772.12 1831.44 2203.81 0 0 0 30.00 30.00 15.35

2053.46 16774 146.63 1.32 80.00 2691.5 2613.9 2769.1 1831.6 2203.6 101.68 14.68 281 2062.37 0.00 0.00 3.60 0.000 0.000 0.092 2689.19 2612.12 2766.25 1831.50 3651.69 0 0 0 30.00 30.00 15.49

2171.23 17542 146.63 1.29 0.00 2690.3 2614.3 2766.4 1831.0 3651.4 80.79 17.81 304 2180.04 0.00 0.00 3.47 0.000 0.000 0.017 2689.78 2613.94 2765.62 1831.56 2158.88 0 0 0 30.00 30.00 15.60

2366.24 16774 146.63 1.28 80.00 2690.0 2613.8 2766.1 1831.4 2158.8 54.58 13.30 324 2375.24 0.00 0.00 3.68 0.000 0.000 0.089 2688.75 2612.69 2764.81 1831.38 3652.94 0 0 0 30.00 30.00 15.62

2419.09 21639 146.63 1.25 0.00 2689.7 2613.9 2765.5 1831.7 3652.8 46.40 15.85 334 2428.06 0.00 0.27 3.46 0.000 0.186 0.017 2687.25 2611.38 2763.12 1799.19 2157.69 0 0 0 30.00 15.61 15.67

2612.15 16514 146.63 1.26 0.00 2689.1 2612.8 2765.4 1799.1 2157.5 25.82 10.12 369 2615.48 0.00 0.00 0.00 0.000 0.000 0.000 2689.12 2612.81 2765.44 1799.00 2157.69 0 0 0 30.00 30.00 30.00

2796.51 10663 207.05 1.34 80.00 2689.0 2612.8 2765.2 1798.9 2157.1 9.33 7.20 406 2853.99 42.62 0.20 3.71 0.725 0.061 0.090 2452.31 2355.12 2549.50 1834.44 3652.50 0 0 0 11.55 15.71 15.55

2867.91 9382 278.97 1.44 0.00 2450.2 2355.6 2544.9 1835.3 3652.8 4.79 6.67 419 2931.59 50.34 0.00 3.49 0.708 0.000 0.015 2158.28 2045.88 2270.69 1835.06 2156.38 0 0 0 11.68 30.00 15.60

3070 end climb: NO_VERTICAL_VELOCITY

state 3070 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	51	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	58	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	2.8066351	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	16.618597	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	270623,171301,4736.598,-12256.559,2,1.0,27,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,171606,4736.610,-12256.549,2,0.7,5,15.4	MHEAD_RNG_PITCHd_Wd	178.1,1262,-17.6,-10.000,-21.21,2209,0.175
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	8000266

NET	xmit ok outbox0044.n 857 14	_24V_AH	14.80,13.516
NET_PING	1687887910,29,233.924988,6.800000,-0.313151	_10V_AH	14.90,0.000
MODEM_MSG	CACST,8,0,20230627172500.289075,18,32767,45,0102,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-2.6,8.84,-100,-5.84,-01,-0.26,89,925,0025,0,1,00,00*2C	FG_AHR_24Vo	16.755
NAV	1687888742,31.9,start	FG_AHR_10Vo	2.818
FREEZE	4.40,14.138,-1.523,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3368.37,269.74,0.712,0,500.7,439.1,562.2,686.67	MEM2	945480,34,100988,71
SM_GC	2.16,0.00,10.62,0.37,0.000,0.038,0.059,496.2,438.3,554.2,185.1,2322.0,0,0,0,30.00,15.32,15.32	DATA_FILE_SIZE	12892,458
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	169940,0
IRIDIUM_FIX	4736.87,-12256.21,270623,162438	SDSIZE	3887104,3856384
TCM_TEMP	18.35	SDFILEDIR	462,52
SC_FREEKB	3862432	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	0,1687885200,47.60500,-122.95000,0.469,687.5	CURRENT	0.022,252.9,1
RAFOS_FIX	4736.645996,-12256.856445,270623,171700,4,255,1.67	MAGCAL	1.000000,-0.006307,-0.055609,-0.037665,1.233136,0.323887,-0.051525,-0.358084,1.599145,673.5,-468.7,-634.7,36,0.0837,0
HUMID	56.33	IMPLIED_C_PITCH	1523,16.05,228,0.0,0.00
TEMP	10.82	IMPLIED_C_VBD	3458,19.740627,228,0
INTERNAL_PRESSURE	8.27693	GPS	270623,181505,4736.253,-12256.759,1,0.7,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	677	883	8860.48	nil	0	0	0.00
Pitch_motor	23	225	77.04	nil	0	0	0.00
Roll_motor	51	161	121.99	nil	0	0	0.00
Iridium	117	129	224.17	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.11	nil	0	0	0.00
Core	1941	5	148.12	SciCon	3074	7	349.15
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1405	0	6.70
Compass	958	5	71.40
RAFOS	856	40	510.55
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	492.8	437.0	548.6	185.1	2327.9	0.00	0.00	0	56.49	45.22	0.00	0.00	0.005	0.000	0.000	1809.50	1804.19	1814.81	185.19	2327.00	0	0	0	14.43	30.00	30.00
57.03	18727	-146.63	-1.35	80.00	1813.2	1804.6	1821.9	185.4	2326.7	3.04	-3.81	8	144.51	59.84	7.66	3.58	0.005	0.225	0.089	3899.69	3886.94	3912.44	1171.94	3769.12	0	0	0	14.51	15.33	15.45
288.20	1156	-146.63	-1.30	0.00	3902.5	3888.2	3916.8	1172.2	3769.1	28.85	-13.16	52	296.44	0.00	0.00	3.48	0.000	0.000	0.013	3901.69	3887.88	3915.50	1172.75	2266.81	0	0	0	30.00	30.00	15.57
480.19	128	-146.63	-1.27	0.00	3903.0	3888.1	3918.0	1172.6	2266.5	48.39	-10.03	90	484.12	0.00	0.00	0.00	0.000	0.000	0.000	3902.81	3888.12	3917.50	1172.12	2266.50	0	0	0	30.00	30.00	30.00
670.20	2437	-146.63	-1.25	80.00	3903.4	3888.3	3918.5	1172.2	2266.1	67.35	-10.18	111	679.39	0.00	0.19	3.70	0.000	0.150	0.087	3902.62	3887.12	3918.12	1200.88	3770.81	0	0	0	30.00	15.61	15.62
758.20	1156	-146.63	-1.21	0.00	3903.4	3888.1	3918.7	1201.1	3770.2	77.98	-12.53	128	766.84	0.00	0.00	3.46	0.000	0.000	0.013	3902.91	3888.12	3917.69	1200.38	2266.50	0	0	0	30.00	30.00	15.70
956.23	160	-146.63	-1.20	0.00	3904.0	3888.6	3919.4	1200.6	2265.8	97.22	-9.56	149	958.10	0.00	0.00	0.00	0.000	0.000	0.000	3903.50	3887.56	3919.44	1200.38	2265.88	0	0	0	30.00	30.00	30.00
1146.25	420	-146.63	-1.18	80.00	3904.2	3888.1	3920.4	1200.8	2266.0	114.09	-8.56	168	1154.96	0.00	0.00	3.70	0.000	0.000	0.090	3903.66	3887.81	3919.50	1200.75	3767.88	0	0	0	30.00	30.00	15.71
1223.77	1156	-146.63	-1.15	0.00	3904.3	3888.2	3920.3	1200.6	3768.2	122.03	-10.70	183	1232.40	0.00	0.00	3.44	0.000	0.000	0.014	3903.72	3887.75	3919.69	1200.62	2265.06	0	0	0	30.00	30.00	15.77
1418.88	160	-146.63	-1.14	0.00	3904.2	3888.2	3920.2	1200.4	2265.2	139.82	-8.91	203	1420.76	0.00	0.00	0.00	0.000	0.000	0.000	3903.78	3887.62	3919.94	1200.50	2264.56	0	0	0	30.00	30.00	30.00
1539	end dive: TARGET_DEPTH_EXCEEDED
state	1539	begin apogee
1540.56	10243	0.00	-0.33	0.00	3904.2	3887.9	3920.5	1200.4	2153.8	150.64	-8.97	215	1660.01	104.22	1.50	0.09	0.883	0.110	0.161	3298.19	3242.00	3354.38	1421.94	2209.38	0	0	0	11.62	15.73	15.50
1661	end apogee: CONTROL_FINISHED_OK
state	1661	begin climb
1661.71	10759	146.63	1.35	-80.00	3296.5	3241.0	3351.9	1421.8	2209.9	153.15	0.00	226	1794.60	105.98	2.67	3.92	0.864	0.069	0.111	2698.62	2614.31	2782.94	1831.62	716.81	0	0	0	11.49	15.50	14.83
1857.69	17542	146.63	1.33	0.00	2693.1	2614.4	2771.8	1831.3	717.6	131.75	16.88	261	1866.01	0.00	0.00	3.58	0.000	0.000	0.034	2692.97	2613.81	2772.12	1831.44	2203.81	0	0	0	30.00	30.00	15.35
2053.46	16774	146.63	1.32	80.00	2691.5	2613.9	2769.1	1831.6	2203.6	101.68	14.68	281	2062.37	0.00	0.00	3.60	0.000	0.000	0.092	2689.19	2612.12	2766.25	1831.50	3651.69	0	0	0	30.00	30.00	15.49
2171.23	17542	146.63	1.29	0.00	2690.3	2614.3	2766.4	1831.0	3651.4	80.79	17.81	304	2180.04	0.00	0.00	3.47	0.000	0.000	0.017	2689.78	2613.94	2765.62	1831.56	2158.88	0	0	0	30.00	30.00	15.60
2366.24	16774	146.63	1.28	80.00	2690.0	2613.8	2766.1	1831.4	2158.8	54.58	13.30	324	2375.24	0.00	0.00	3.68	0.000	0.000	0.089	2688.75	2612.69	2764.81	1831.38	3652.94	0	0	0	30.00	30.00	15.62
2419.09	21639	146.63	1.25	0.00	2689.7	2613.9	2765.5	1831.7	3652.8	46.40	15.85	334	2428.06	0.00	0.27	3.46	0.000	0.186	0.017	2687.25	2611.38	2763.12	1799.19	2157.69	0	0	0	30.00	15.61	15.67
2612.15	16514	146.63	1.26	0.00	2689.1	2612.8	2765.4	1799.1	2157.5	25.82	10.12	369	2615.48	0.00	0.00	0.00	0.000	0.000	0.000	2689.12	2612.81	2765.44	1799.00	2157.69	0	0	0	30.00	30.00	30.00
2796.51	10663	207.05	1.34	80.00	2689.0	2612.8	2765.2	1798.9	2157.1	9.33	7.20	406	2853.99	42.62	0.20	3.71	0.725	0.061	0.090	2452.31	2355.12	2549.50	1834.44	3652.50	0	0	0	11.55	15.71	15.55
2867.91	9382	278.97	1.44	0.00	2450.2	2355.6	2544.9	1835.3	3652.8	4.79	6.67	419	2931.59	50.34	0.00	3.49	0.708	0.000	0.015	2158.28	2045.88	2270.69	1835.06	2156.38	0	0	0	11.68	30.00	15.60
3070	end climb: NO_VERTICAL_VELOCITY
state	3070	begin surface