Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 9 * 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 9 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 30 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 2.4579906 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 10.699749 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 30 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 2.4579906 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.699749 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 9 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 260623,004909,4736.231,-12256.680,1,0.9,18,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

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

_SM_ANGLEo -60.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 260623,005313,4736.213,-12256.685,2,0.9,4,15.4 MHEAD_RNG_PITCHd_Wd 4.2,645,-19.5,-10.000,-22.91,1831,0.131

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME N IRON 1.000000,0.009555,0.001953,-0.008671,1.053118,-0.030747,0.006672,-0.069695,1.030933,623.929321,-332.083679,-312.394440

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NAV 1687742840,49.6,4,stop _24V_AH 14.88,6.945

NET CACST,8,1,20230626011808.544283,18,32767,45,0138,0150,52,02,02,00,02,-1,-01,-01,1,3,27,0,150,15.5,0.81,-100,2.19,-01,0.03,59,10000,5000,0,-1,00,00*62 _10V_AH 14.97,0.000

NET_PING 1687741365,29,652.789490,10.800000,-0.868349 FG_AHR_24Vo 10.834

MODEM_MSG CACST,8,0,20230626012500.620452,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,1.3,10.29,-100,-7.29,-01,0.18,87,925,0025,0,1,00,00*17 FG_AHR_10Vo 2.465

FREEZE 5.90,13.087,-1.557,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2967.41,289.95,0.702,0,500.4,443.2,557.7,686.73 MEM2 945516,34,100952,71

SM_GC 1.32,0.00,11.19,0.37,0.000,0.038,0.068,496.6,442.8,550.4,185.8,2322.1,0,0,0,30.00,15.34,15.35 DATA_FILE_SIZE 9757,388

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 150885,0

IRIDIUM_FIX 4736.87,-12256.21,250623,234554 SDSIZE 3887104,3870272

TCM_TEMP 18.37 SDFILEDIR 113,10

SC_FREEKB 3875872 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 0,1687741200,47.60500,-122.95000,0.453,663.5 CURRENT 0.062,182.9,1

RAFOS_FIX 4736.132324,-12256.780273,260623,010100,4,255,0.10 MAGCAL 1.000000,0.038004,-0.297201,-0.016984,1.127687,0.084395,0.193610,-0.158160,0.852955,870.9,-419.8,-270.4,28,0.0458,0

HUMID 56.93 IMPLIED_C_PITCH 1535,16.24,185,0.0,0.00

TEMP 10.90 IMPLIED_C_VBD 3379,16.323647,185,0

INTERNAL_PRESSURE 8.28671 GPS 260623,014533,4736.402,-12256.506,1,1.1,5,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 678 874 8826.12 nil 0 0 0.00

Pitch_motor 24 249 89.61 nil 0 0 0.00

Roll_motor 36 178 96.70 nil 0 0 0.00

Iridium 180 159 428.14 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.14 nil 0 0 0.00

Core 1784 5 136.81 SciCon 2653 7 307.24

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1201 0 5.75

Compass 822 5 61.58

RAFOS 1700 40 1018.52

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

6.56 16386 -121.20 -1.45 0.00 494.1 441.6 546.6 185.4 2269.0 0.00 0.00 0 72.23 59.73 0.00 0.00 0.005 0.000 0.000 2166.62 2157.44 2175.81 185.19 2268.62 0 0 0 15.64 30.00 30.00

72.74 18727 -146.63 -1.48 80.00 2171.0 2157.1 2184.9 185.2 2268.5 3.42 -3.57 12 143.58 43.72 7.36 3.66 0.005 0.250 0.094 3899.62 3886.31 3912.94 1141.38 3768.38 0 0 0 15.66 15.47 15.58

364.63 1156 -146.63 -1.42 0.00 3901.8 3887.4 3916.2 1141.3 3768.6 51.09 -16.92 67 372.29 0.00 0.00 3.42 0.000 0.000 0.016 3901.91 3887.31 3916.50 1141.06 2268.31 0 0 0 30.00 30.00 15.67

560.49 128 -146.63 -1.40 0.00 3902.5 3887.1 3917.9 1141.5 2267.5 76.38 -12.47 87 569.42 0.00 0.00 0.00 0.000 0.000 0.000 3902.59 3887.25 3917.94 1141.44 2267.81 0 0 0 30.00 30.00 30.00

750.49 2177 -146.63 -1.38 0.00 3903.2 3887.2 3919.1 1141.1 2267.6 99.41 -12.43 106 752.64 0.00 0.19 0.00 0.000 0.165 0.000 3902.25 3886.62 3917.88 1167.75 2267.12 0 0 0 30.00 15.56 30.00

940.50 388 -146.63 -1.36 80.00 3903.3 3887.2 3919.4 1168.5 2267.1 120.13 -10.52 125 949.37 0.00 0.00 3.72 0.000 0.000 0.097 3902.84 3886.94 3918.75 1168.50 3767.62 0 0 0 30.00 30.00 15.62

1062.41 1156 -146.63 -1.33 0.00 3903.2 3887.4 3918.9 1168.8 3767.9 136.70 -13.94 149 1070.44 0.00 0.00 3.45 0.000 0.000 0.016 3903.31 3887.19 3919.44 1168.62 2269.31 0 0 0 30.00 30.00 15.69

1188 end dive: TARGET_DEPTH_EXCEEDED

state 1188 begin apogee

1189.95 10243 0.00 -0.33 0.00 3903.5 3887.2 3919.9 1168.4 2154.2 150.68 -10.92 162 1309.03 105.01 1.73 0.09 0.874 0.127 0.178 3300.00 3243.75 3356.25 1420.88 2207.38 0 0 0 11.55 15.64 15.39

1310 end apogee: CONTROL_FINISHED_OK

state 1310 begin climb

1310.48 10759 146.63 1.48 -80.00 3295.8 3241.2 3350.4 1421.0 2207.1 153.83 0.00 173 1440.75 106.78 2.90 3.87 0.860 0.077 0.116 2696.44 2614.94 2777.94 1861.75 720.38 0 0 0 11.22 15.38 15.19

1449.33 1156 146.63 1.47 0.00 2695.6 2617.2 2773.9 1861.7 720.1 142.34 13.81 196 1460.33 0.00 0.00 3.59 0.000 0.000 0.035 2694.47 2617.69 2771.25 1861.50 2203.44 0 0 0 30.00 30.00 15.28

1644.04 16774 146.63 1.46 80.00 2691.8 2614.2 2769.2 1861.3 2203.3 109.95 16.31 217 1652.72 0.00 0.00 3.55 0.000 0.000 0.096 2691.69 2613.56 2769.81 1861.19 3650.25 0 0 0 30.00 30.00 15.43

1741.61 17542 146.63 1.42 0.00 2690.4 2614.2 2766.6 1861.4 3650.9 91.07 20.15 236 1750.10 0.00 0.00 3.43 0.000 0.000 0.018 2690.31 2615.19 2765.44 1861.38 2158.44 0 0 0 30.00 30.00 15.53

1936.51 16514 146.63 1.42 0.00 2689.7 2613.3 2766.1 1861.1 2158.8 60.97 14.70 256 1938.38 0.00 0.00 0.00 0.000 0.000 0.000 2687.81 2610.50 2765.12 1861.44 2158.69 0 0 0 30.00 30.00 30.00

2121.39 16646 146.63 1.42 80.00 2689.5 2612.9 2766.1 1861.0 2158.9 36.10 12.11 285 2130.09 0.00 0.00 3.62 0.000 0.000 0.094 2691.22 2613.25 2769.19 1861.19 3652.00 0 0 0 30.00 30.00 15.62

2188.86 21639 146.63 1.39 0.00 2689.4 2612.8 2766.0 1861.1 3651.2 26.38 14.69 298 2197.51 0.00 0.26 3.39 0.000 0.184 0.018 2691.56 2615.19 2767.94 1831.06 2156.31 0 0 0 30.00 15.62 15.69

2379.32 10403 203.07 1.47 0.00 2688.8 2612.4 2765.1 1830.6 2155.9 10.24 6.85 335 2427.34 40.29 0.19 0.00 0.715 0.058 0.000 2471.88 2376.25 2567.50 1865.25 2155.56 0 0 0 11.43 15.72 30.00

2611.14 10663 382.26 1.71 80.00 2462.6 2368.8 2556.3 1866.7 2156.6 6.22 -0.01 381 2648.80 33.03 0.31 0.00 0.702 0.051 0.000 2282.94 2177.88 2388.00 1927.06 2156.38 0 0 0 11.49 15.67 30.00

2649 end climb: NO_VERTICAL_VELOCITY

state 2649 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	9	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	30	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	2.4579906	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	10.699749	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	260623,004909,4736.231,-12256.680,1,0.9,18,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	260623,005313,4736.213,-12256.685,2,0.9,4,15.4	MHEAD_RNG_PITCHd_Wd	4.2,645,-19.5,-10.000,-22.91,1831,0.131
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	N	IRON	1.000000,0.009555,0.001953,-0.008671,1.053118,-0.030747,0.006672,-0.069695,1.030933,623.929321,-332.083679,-312.394440
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

NAV	1687742840,49.6,4,stop	_24V_AH	14.88,6.945
NET	CACST,8,1,20230626011808.544283,18,32767,45,0138,0150,52,02,02,00,02,-1,-01,-01,1,3,27,0,150,15.5,0.81,-100,2.19,-01,0.03,59,10000,5000,0,-1,00,00*62	_10V_AH	14.97,0.000
NET_PING	1687741365,29,652.789490,10.800000,-0.868349	FG_AHR_24Vo	10.834
MODEM_MSG	CACST,8,0,20230626012500.620452,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,1.3,10.29,-100,-7.29,-01,0.18,87,925,0025,0,1,00,00*17	FG_AHR_10Vo	2.465
FREEZE	5.90,13.087,-1.557,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2967.41,289.95,0.702,0,500.4,443.2,557.7,686.73	MEM2	945516,34,100952,71
SM_GC	1.32,0.00,11.19,0.37,0.000,0.038,0.068,496.6,442.8,550.4,185.8,2322.1,0,0,0,30.00,15.34,15.35	DATA_FILE_SIZE	9757,388
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	150885,0
IRIDIUM_FIX	4736.87,-12256.21,250623,234554	SDSIZE	3887104,3870272
TCM_TEMP	18.37	SDFILEDIR	113,10
SC_FREEKB	3875872	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	0,1687741200,47.60500,-122.95000,0.453,663.5	CURRENT	0.062,182.9,1
RAFOS_FIX	4736.132324,-12256.780273,260623,010100,4,255,0.10	MAGCAL	1.000000,0.038004,-0.297201,-0.016984,1.127687,0.084395,0.193610,-0.158160,0.852955,870.9,-419.8,-270.4,28,0.0458,0
HUMID	56.93	IMPLIED_C_PITCH	1535,16.24,185,0.0,0.00
TEMP	10.90	IMPLIED_C_VBD	3379,16.323647,185,0
INTERNAL_PRESSURE	8.28671	GPS	260623,014533,4736.402,-12256.506,1,1.1,5,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	678	874	8826.12	nil	0	0	0.00
Pitch_motor	24	249	89.61	nil	0	0	0.00
Roll_motor	36	178	96.70	nil	0	0	0.00
Iridium	180	159	428.14	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.14	nil	0	0	0.00
Core	1784	5	136.81	SciCon	2653	7	307.24
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1201	0	5.75
Compass	822	5	61.58
RAFOS	1700	40	1018.52
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
6.56	16386	-121.20	-1.45	0.00	494.1	441.6	546.6	185.4	2269.0	0.00	0.00	0	72.23	59.73	0.00	0.00	0.005	0.000	0.000	2166.62	2157.44	2175.81	185.19	2268.62	0	0	0	15.64	30.00	30.00
72.74	18727	-146.63	-1.48	80.00	2171.0	2157.1	2184.9	185.2	2268.5	3.42	-3.57	12	143.58	43.72	7.36	3.66	0.005	0.250	0.094	3899.62	3886.31	3912.94	1141.38	3768.38	0	0	0	15.66	15.47	15.58
364.63	1156	-146.63	-1.42	0.00	3901.8	3887.4	3916.2	1141.3	3768.6	51.09	-16.92	67	372.29	0.00	0.00	3.42	0.000	0.000	0.016	3901.91	3887.31	3916.50	1141.06	2268.31	0	0	0	30.00	30.00	15.67
560.49	128	-146.63	-1.40	0.00	3902.5	3887.1	3917.9	1141.5	2267.5	76.38	-12.47	87	569.42	0.00	0.00	0.00	0.000	0.000	0.000	3902.59	3887.25	3917.94	1141.44	2267.81	0	0	0	30.00	30.00	30.00
750.49	2177	-146.63	-1.38	0.00	3903.2	3887.2	3919.1	1141.1	2267.6	99.41	-12.43	106	752.64	0.00	0.19	0.00	0.000	0.165	0.000	3902.25	3886.62	3917.88	1167.75	2267.12	0	0	0	30.00	15.56	30.00
940.50	388	-146.63	-1.36	80.00	3903.3	3887.2	3919.4	1168.5	2267.1	120.13	-10.52	125	949.37	0.00	0.00	3.72	0.000	0.000	0.097	3902.84	3886.94	3918.75	1168.50	3767.62	0	0	0	30.00	30.00	15.62
1062.41	1156	-146.63	-1.33	0.00	3903.2	3887.4	3918.9	1168.8	3767.9	136.70	-13.94	149	1070.44	0.00	0.00	3.45	0.000	0.000	0.016	3903.31	3887.19	3919.44	1168.62	2269.31	0	0	0	30.00	30.00	15.69
1188	end dive: TARGET_DEPTH_EXCEEDED
state	1188	begin apogee
1189.95	10243	0.00	-0.33	0.00	3903.5	3887.2	3919.9	1168.4	2154.2	150.68	-10.92	162	1309.03	105.01	1.73	0.09	0.874	0.127	0.178	3300.00	3243.75	3356.25	1420.88	2207.38	0	0	0	11.55	15.64	15.39
1310	end apogee: CONTROL_FINISHED_OK
state	1310	begin climb
1310.48	10759	146.63	1.48	-80.00	3295.8	3241.2	3350.4	1421.0	2207.1	153.83	0.00	173	1440.75	106.78	2.90	3.87	0.860	0.077	0.116	2696.44	2614.94	2777.94	1861.75	720.38	0	0	0	11.22	15.38	15.19
1449.33	1156	146.63	1.47	0.00	2695.6	2617.2	2773.9	1861.7	720.1	142.34	13.81	196	1460.33	0.00	0.00	3.59	0.000	0.000	0.035	2694.47	2617.69	2771.25	1861.50	2203.44	0	0	0	30.00	30.00	15.28
1644.04	16774	146.63	1.46	80.00	2691.8	2614.2	2769.2	1861.3	2203.3	109.95	16.31	217	1652.72	0.00	0.00	3.55	0.000	0.000	0.096	2691.69	2613.56	2769.81	1861.19	3650.25	0	0	0	30.00	30.00	15.43
1741.61	17542	146.63	1.42	0.00	2690.4	2614.2	2766.6	1861.4	3650.9	91.07	20.15	236	1750.10	0.00	0.00	3.43	0.000	0.000	0.018	2690.31	2615.19	2765.44	1861.38	2158.44	0	0	0	30.00	30.00	15.53
1936.51	16514	146.63	1.42	0.00	2689.7	2613.3	2766.1	1861.1	2158.8	60.97	14.70	256	1938.38	0.00	0.00	0.00	0.000	0.000	0.000	2687.81	2610.50	2765.12	1861.44	2158.69	0	0	0	30.00	30.00	30.00
2121.39	16646	146.63	1.42	80.00	2689.5	2612.9	2766.1	1861.0	2158.9	36.10	12.11	285	2130.09	0.00	0.00	3.62	0.000	0.000	0.094	2691.22	2613.25	2769.19	1861.19	3652.00	0	0	0	30.00	30.00	15.62
2188.86	21639	146.63	1.39	0.00	2689.4	2612.8	2766.0	1861.1	3651.2	26.38	14.69	298	2197.51	0.00	0.26	3.39	0.000	0.184	0.018	2691.56	2615.19	2767.94	1831.06	2156.31	0	0	0	30.00	15.62	15.69
2379.32	10403	203.07	1.47	0.00	2688.8	2612.4	2765.1	1830.6	2155.9	10.24	6.85	335	2427.34	40.29	0.19	0.00	0.715	0.058	0.000	2471.88	2376.25	2567.50	1865.25	2155.56	0	0	0	11.43	15.72	30.00
2611.14	10663	382.26	1.71	80.00	2462.6	2368.8	2556.3	1866.7	2156.6	6.22	-0.01	381	2648.80	33.03	0.31	0.00	0.702	0.051	0.000	2282.94	2177.88	2388.00	1927.06	2156.38	0	0	0	11.49	15.67	30.00
2649	end climb: NO_VERTICAL_VELOCITY
state	2649	begin surface