Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 53 * 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 53 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 2.8189719 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 16.901199 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 2.8189719 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 16.901199 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 53 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 270623,190743,4736.015,-12256.834,3,1.3,5,15.4 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 -60.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,191118,4736.023,-12256.818,3,1.3,5,15.4 MHEAD_RNG_PITCHd_Wd 15.8,1035,-17.6,-10.000,-21.21,2209,0.160

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 8000266

Post-dive calculations and measurements:

NET xmit part outbox0045.n 890 0 _24V_AH 14.80,13.846

NET_PING 1687896013,28,216.257996,17.100000,-0.288406 _10V_AH 14.90,0.000

MODEM_MSG CACST,8,0,20230627193200.240347,18,32767,45,0103,0000,07,00,00,00,00,1,028,121,0,5,1,0,150,-2.1,5.67,-100,-2.67,-01,-0.20,88,925,0025,0,1,00,00*2A FG_AHR_24Vo 17.038

NAV 1687895943,7.8,start FG_AHR_10Vo 2.824

FREEZE 4.80,13.257,-1.557,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3366.56,265.17,0.703,0,500.7,438.9,562.4,686.68 MEM2 945648,27,100960,71

SM_GC 1.98,0.00,10.91,0.37,0.000,0.041,0.056,496.1,437.9,554.3,187.6,2323.2,0,0,0,30.00,15.31,15.32 DATA_FILE_SIZE 12920,446

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 172392,0

IRIDIUM_FIX 4736.00,-12258.89,270623,181616 SDSIZE 3887104,3855744

TCM_TEMP 18.30 SDFILEDIR 478,54

SC_FREEKB 3861792 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 0,1687892400,47.60500,-122.95000,0.545,799.0 CURRENT 0.008,274.7,1

RAFOS_FIX 4736.203613,-12257.000000,270623,191900,4,255,0.49 MAGCAL 1.000000,0.076335,-0.015560,-0.046114,1.179594,0.006211,0.034694,-0.209165,1.617911,640.0,-357.0,-622.2,32,0.0698,0

HUMID 56.36 IMPLIED_C_PITCH 1524,16.08,222,0.0,0.00

TEMP 10.72 IMPLIED_C_VBD 3452,19.894245,222,0

INTERNAL_PRESSURE 8.27089 GPS 270623,201131,4736.344,-12256.644,50,0.6,72,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 682 881 8908.26 nil 0 0 0.00

Pitch_motor 23 229 80.78 nil 0 0 0.00

Roll_motor 58 157 135.63 nil 0 0 0.00

Iridium 145 138 297.43 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 1994 5 152.13 SciCon 3079 7 354.86

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1380 0 6.58

Compass 943 5 70.30

RAFOS 1716 40 1023.11

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

6.42 16386 -146.63 -1.35 0.00 492.3 439.1 545.5 184.5 2269.2 0.00 0.00 0 55.88 44.67 0.00 0.00 0.005 0.000 0.000 1796.78 1787.69 1805.88 184.44 2269.44 0 0 0 15.56 30.00 30.00

56.41 18983 -146.63 -1.35 -80.00 1798.4 1787.7 1809.2 184.1 2269.0 3.22 -4.19 9 145.25 60.87 7.70 3.64 0.005 0.230 0.095 3898.28 3882.62 3913.94 1172.00 833.81 0 0 0 15.58 15.41 15.48

375.08 1156 -146.63 -1.32 0.00 3901.3 3884.1 3918.5 1171.9 834.2 34.54 -11.31 69 383.34 0.00 0.00 3.55 0.000 0.000 0.030 3901.06 3883.88 3918.25 1172.38 2318.38 0 0 0 30.00 30.00 15.57

572.16 676 -146.63 -1.29 -80.00 3902.0 3883.8 3920.2 1172.1 2318.4 54.38 -9.77 104 581.00 0.00 0.00 3.79 0.000 0.000 0.093 3901.47 3883.81 3919.12 1172.38 833.06 0 0 0 30.00 30.00 15.56

619.80 3205 -146.63 -1.25 0.00 3901.8 3883.8 3919.9 1171.9 833.2 59.70 -11.33 113 628.80 0.00 0.17 3.53 0.000 0.163 0.030 3902.09 3884.38 3919.81 1197.44 2319.69 0 0 0 30.00 15.59 15.62

814.89 160 -146.63 -1.24 0.00 3903.1 3884.1 3922.1 1197.8 2319.3 78.43 -9.26 133 816.76 0.00 0.00 0.00 0.000 0.000 0.000 3902.50 3883.94 3921.06 1197.81 2319.56 0 0 0 30.00 30.00 30.00

1004.89 420 -146.63 -1.22 80.00 3903.6 3884.1 3923.0 1197.6 2319.6 95.98 -9.25 152 1013.52 0.00 0.00 3.58 0.000 0.000 0.092 3903.06 3883.81 3922.31 1197.88 3767.69 0 0 0 30.00 30.00 15.64

1076.57 1156 -146.63 -1.18 0.00 3903.6 3884.5 3922.7 1197.9 3768.1 104.42 -11.94 166 1084.62 0.00 0.00 3.47 0.000 0.000 0.013 3903.50 3884.69 3922.31 1198.19 2266.25 0 0 0 30.00 30.00 15.70

1272.43 160 -146.63 -1.17 0.00 3903.9 3884.5 3923.3 1198.2 2265.4 123.07 -9.32 186 1274.30 0.00 0.00 0.00 0.000 0.000 0.000 3903.41 3884.12 3922.69 1198.06 2265.12 0 0 0 30.00 30.00 30.00

1462.35 388 -146.63 -1.16 80.00 3904.1 3884.2 3923.9 1197.9 2264.8 141.41 -10.04 205 1471.25 0.00 0.00 3.72 0.000 0.000 0.091 3903.75 3884.44 3923.06 1198.50 3768.12 0 0 0 30.00 30.00 15.67

1500.05 3205 -146.63 -1.13 0.00 3904.2 3884.6 3923.9 1198.1 3767.9 145.75 -11.58 212 1509.09 0.00 0.20 3.46 0.000 0.151 0.014 3904.16 3884.81 3923.50 1227.94 2266.00 0 0 0 30.00 15.69 15.75

1545 end dive: TARGET_DEPTH_EXCEEDED

state 1545 begin apogee

1546.90 10243 0.00 -0.33 0.00 3904.3 3884.6 3924.0 1228.6 2151.0 150.03 -9.41 217 1666.43 105.35 1.32 0.10 0.882 0.108 0.157 3300.88 3245.00 3356.75 1422.31 2212.50 0 0 0 11.68 15.70 15.44

1668 end apogee: CONTROL_FINISHED_OK

state 1668 begin climb

1668.09 10759 146.63 1.35 -80.00 3295.8 3241.1 3350.6 1421.9 2212.2 153.08 0.00 228 1800.41 106.65 2.70 3.91 0.861 0.071 0.112 2699.16 2617.81 2780.50 1832.25 719.06 0 0 0 11.43 15.46 15.23

1803.50 1156 146.63 1.34 0.00 2695.7 2616.9 2774.4 1831.8 719.1 142.06 12.26 248 1811.82 0.00 0.00 3.58 0.000 0.000 0.032 2696.31 2617.56 2775.06 1831.94 2205.19 0 0 0 30.00 30.00 15.33

2000.16 16774 146.63 1.33 80.00 2691.8 2613.9 2769.6 1831.9 2204.9 113.04 15.17 268 2011.99 0.00 0.00 3.59 0.000 0.000 0.093 2691.62 2613.56 2769.69 1831.19 3651.25 0 0 0 30.00 30.00 15.47

2065.09 17542 146.63 1.29 0.00 2690.7 2613.8 2767.6 1832.2 3652.1 100.53 18.69 281 2073.44 0.00 0.00 3.46 0.000 0.000 0.017 2690.31 2613.19 2767.44 1831.38 2158.50 0 0 0 30.00 30.00 15.51

2260.85 16774 146.63 1.29 80.00 2689.6 2613.6 2765.6 1831.8 2158.9 72.08 13.57 301 2269.84 0.00 0.00 3.69 0.000 0.000 0.089 2689.75 2613.00 2766.50 1831.81 3650.69 0 0 0 30.00 30.00 15.59

2312.95 21639 146.63 1.26 0.00 2689.6 2613.9 2765.3 1831.8 3650.3 63.87 16.04 311 2321.56 0.00 0.27 3.41 0.000 0.181 0.016 2687.09 2611.81 2762.38 1799.06 2157.69 0 0 0 30.00 15.58 15.64

2503.71 16774 146.63 1.26 80.00 2688.9 2612.6 2765.1 1799.2 2157.6 41.16 11.57 338 2512.46 0.00 0.00 3.69 0.000 0.000 0.091 2687.97 2611.12 2764.81 1799.44 3650.19 0 0 0 30.00 30.00 15.66

2581.32 17542 146.63 1.25 0.00 2688.8 2612.7 2764.9 1799.4 3650.2 31.22 13.22 353 2589.88 0.00 0.00 3.46 0.000 0.000 0.017 2687.41 2611.31 2763.50 1799.62 2157.69 0 0 0 30.00 30.00 15.71

2773.74 8354 169.09 1.28 0.00 2688.1 2612.0 2764.2 1799.2 2157.2 12.52 8.96 391 2794.33 16.55 0.00 0.00 0.691 0.000 0.000 2608.22 2523.94 2692.50 1798.81 2157.62 0 0 0 11.65 30.00 30.00

2979.95 10663 341.39 1.52 80.00 2604.2 2520.8 2687.6 1799.2 2157.2 5.94 2.02 429 3072.92 83.38 0.49 0.00 0.729 0.037 0.000 2121.06 2008.00 2234.12 1878.12 2157.62 0 0 0 11.51 15.68 30.00

3074 end climb: NO_VERTICAL_VELOCITY

state 3074 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	53	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	2.8189719	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	16.901199	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	270623,190743,4736.015,-12256.834,3,1.3,5,15.4	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	-60.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,191118,4736.023,-12256.818,3,1.3,5,15.4	MHEAD_RNG_PITCHd_Wd	15.8,1035,-17.6,-10.000,-21.21,2209,0.160
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	8000266

NET	xmit part outbox0045.n 890 0	_24V_AH	14.80,13.846
NET_PING	1687896013,28,216.257996,17.100000,-0.288406	_10V_AH	14.90,0.000
MODEM_MSG	CACST,8,0,20230627193200.240347,18,32767,45,0103,0000,07,00,00,00,00,1,028,121,0,5,1,0,150,-2.1,5.67,-100,-2.67,-01,-0.20,88,925,0025,0,1,00,00*2A	FG_AHR_24Vo	17.038
NAV	1687895943,7.8,start	FG_AHR_10Vo	2.824
FREEZE	4.80,13.257,-1.557,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3366.56,265.17,0.703,0,500.7,438.9,562.4,686.68	MEM2	945648,27,100960,71
SM_GC	1.98,0.00,10.91,0.37,0.000,0.041,0.056,496.1,437.9,554.3,187.6,2323.2,0,0,0,30.00,15.31,15.32	DATA_FILE_SIZE	12920,446
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	172392,0
IRIDIUM_FIX	4736.00,-12258.89,270623,181616	SDSIZE	3887104,3855744
TCM_TEMP	18.30	SDFILEDIR	478,54
SC_FREEKB	3861792	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	0,1687892400,47.60500,-122.95000,0.545,799.0	CURRENT	0.008,274.7,1
RAFOS_FIX	4736.203613,-12257.000000,270623,191900,4,255,0.49	MAGCAL	1.000000,0.076335,-0.015560,-0.046114,1.179594,0.006211,0.034694,-0.209165,1.617911,640.0,-357.0,-622.2,32,0.0698,0
HUMID	56.36	IMPLIED_C_PITCH	1524,16.08,222,0.0,0.00
TEMP	10.72	IMPLIED_C_VBD	3452,19.894245,222,0
INTERNAL_PRESSURE	8.27089	GPS	270623,201131,4736.344,-12256.644,50,0.6,72,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	682	881	8908.26	nil	0	0	0.00
Pitch_motor	23	229	80.78	nil	0	0	0.00
Roll_motor	58	157	135.63	nil	0	0	0.00
Iridium	145	138	297.43	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	1994	5	152.13	SciCon	3079	7	354.86
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1380	0	6.58
Compass	943	5	70.30
RAFOS	1716	40	1023.11
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
6.42	16386	-146.63	-1.35	0.00	492.3	439.1	545.5	184.5	2269.2	0.00	0.00	0	55.88	44.67	0.00	0.00	0.005	0.000	0.000	1796.78	1787.69	1805.88	184.44	2269.44	0	0	0	15.56	30.00	30.00
56.41	18983	-146.63	-1.35	-80.00	1798.4	1787.7	1809.2	184.1	2269.0	3.22	-4.19	9	145.25	60.87	7.70	3.64	0.005	0.230	0.095	3898.28	3882.62	3913.94	1172.00	833.81	0	0	0	15.58	15.41	15.48
375.08	1156	-146.63	-1.32	0.00	3901.3	3884.1	3918.5	1171.9	834.2	34.54	-11.31	69	383.34	0.00	0.00	3.55	0.000	0.000	0.030	3901.06	3883.88	3918.25	1172.38	2318.38	0	0	0	30.00	30.00	15.57
572.16	676	-146.63	-1.29	-80.00	3902.0	3883.8	3920.2	1172.1	2318.4	54.38	-9.77	104	581.00	0.00	0.00	3.79	0.000	0.000	0.093	3901.47	3883.81	3919.12	1172.38	833.06	0	0	0	30.00	30.00	15.56
619.80	3205	-146.63	-1.25	0.00	3901.8	3883.8	3919.9	1171.9	833.2	59.70	-11.33	113	628.80	0.00	0.17	3.53	0.000	0.163	0.030	3902.09	3884.38	3919.81	1197.44	2319.69	0	0	0	30.00	15.59	15.62
814.89	160	-146.63	-1.24	0.00	3903.1	3884.1	3922.1	1197.8	2319.3	78.43	-9.26	133	816.76	0.00	0.00	0.00	0.000	0.000	0.000	3902.50	3883.94	3921.06	1197.81	2319.56	0	0	0	30.00	30.00	30.00
1004.89	420	-146.63	-1.22	80.00	3903.6	3884.1	3923.0	1197.6	2319.6	95.98	-9.25	152	1013.52	0.00	0.00	3.58	0.000	0.000	0.092	3903.06	3883.81	3922.31	1197.88	3767.69	0	0	0	30.00	30.00	15.64
1076.57	1156	-146.63	-1.18	0.00	3903.6	3884.5	3922.7	1197.9	3768.1	104.42	-11.94	166	1084.62	0.00	0.00	3.47	0.000	0.000	0.013	3903.50	3884.69	3922.31	1198.19	2266.25	0	0	0	30.00	30.00	15.70
1272.43	160	-146.63	-1.17	0.00	3903.9	3884.5	3923.3	1198.2	2265.4	123.07	-9.32	186	1274.30	0.00	0.00	0.00	0.000	0.000	0.000	3903.41	3884.12	3922.69	1198.06	2265.12	0	0	0	30.00	30.00	30.00
1462.35	388	-146.63	-1.16	80.00	3904.1	3884.2	3923.9	1197.9	2264.8	141.41	-10.04	205	1471.25	0.00	0.00	3.72	0.000	0.000	0.091	3903.75	3884.44	3923.06	1198.50	3768.12	0	0	0	30.00	30.00	15.67
1500.05	3205	-146.63	-1.13	0.00	3904.2	3884.6	3923.9	1198.1	3767.9	145.75	-11.58	212	1509.09	0.00	0.20	3.46	0.000	0.151	0.014	3904.16	3884.81	3923.50	1227.94	2266.00	0	0	0	30.00	15.69	15.75
1545	end dive: TARGET_DEPTH_EXCEEDED
state	1545	begin apogee
1546.90	10243	0.00	-0.33	0.00	3904.3	3884.6	3924.0	1228.6	2151.0	150.03	-9.41	217	1666.43	105.35	1.32	0.10	0.882	0.108	0.157	3300.88	3245.00	3356.75	1422.31	2212.50	0	0	0	11.68	15.70	15.44
1668	end apogee: CONTROL_FINISHED_OK
state	1668	begin climb
1668.09	10759	146.63	1.35	-80.00	3295.8	3241.1	3350.6	1421.9	2212.2	153.08	0.00	228	1800.41	106.65	2.70	3.91	0.861	0.071	0.112	2699.16	2617.81	2780.50	1832.25	719.06	0	0	0	11.43	15.46	15.23
1803.50	1156	146.63	1.34	0.00	2695.7	2616.9	2774.4	1831.8	719.1	142.06	12.26	248	1811.82	0.00	0.00	3.58	0.000	0.000	0.032	2696.31	2617.56	2775.06	1831.94	2205.19	0	0	0	30.00	30.00	15.33
2000.16	16774	146.63	1.33	80.00	2691.8	2613.9	2769.6	1831.9	2204.9	113.04	15.17	268	2011.99	0.00	0.00	3.59	0.000	0.000	0.093	2691.62	2613.56	2769.69	1831.19	3651.25	0	0	0	30.00	30.00	15.47
2065.09	17542	146.63	1.29	0.00	2690.7	2613.8	2767.6	1832.2	3652.1	100.53	18.69	281	2073.44	0.00	0.00	3.46	0.000	0.000	0.017	2690.31	2613.19	2767.44	1831.38	2158.50	0	0	0	30.00	30.00	15.51
2260.85	16774	146.63	1.29	80.00	2689.6	2613.6	2765.6	1831.8	2158.9	72.08	13.57	301	2269.84	0.00	0.00	3.69	0.000	0.000	0.089	2689.75	2613.00	2766.50	1831.81	3650.69	0	0	0	30.00	30.00	15.59
2312.95	21639	146.63	1.26	0.00	2689.6	2613.9	2765.3	1831.8	3650.3	63.87	16.04	311	2321.56	0.00	0.27	3.41	0.000	0.181	0.016	2687.09	2611.81	2762.38	1799.06	2157.69	0	0	0	30.00	15.58	15.64
2503.71	16774	146.63	1.26	80.00	2688.9	2612.6	2765.1	1799.2	2157.6	41.16	11.57	338	2512.46	0.00	0.00	3.69	0.000	0.000	0.091	2687.97	2611.12	2764.81	1799.44	3650.19	0	0	0	30.00	30.00	15.66
2581.32	17542	146.63	1.25	0.00	2688.8	2612.7	2764.9	1799.4	3650.2	31.22	13.22	353	2589.88	0.00	0.00	3.46	0.000	0.000	0.017	2687.41	2611.31	2763.50	1799.62	2157.69	0	0	0	30.00	30.00	15.71
2773.74	8354	169.09	1.28	0.00	2688.1	2612.0	2764.2	1799.2	2157.2	12.52	8.96	391	2794.33	16.55	0.00	0.00	0.691	0.000	0.000	2608.22	2523.94	2692.50	1798.81	2157.62	0	0	0	11.65	30.00	30.00
2979.95	10663	341.39	1.52	80.00	2604.2	2520.8	2687.6	1799.2	2157.2	5.94	2.02	429	3072.92	83.38	0.49	0.00	0.729	0.037	0.000	2121.06	2008.00	2234.12	1878.12	2157.62	0	0	0	11.51	15.68	30.00
3074	end climb: NO_VERTICAL_VELOCITY
state	3074	begin surface