Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 37 * 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 37 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 40 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 2.669709 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 14.643341 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 40 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 2.669709 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 14.643341 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 37 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 270623,035043,4736.098,-12256.815,1,0.7,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.52 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,035351,4736.103,-12256.824,2,0.7,3,15.4 MHEAD_RNG_PITCHd_Wd 15.8,906,-17.6,-10.000,-21.21,2209,0.137

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:

NAV 1687840033,112.3,3,stop _24V_AH 14.88,11.323

NET xmit ok outbox0032.n 918 15 _10V_AH 14.95,0.000

NET_PING 1687840363,29,265.830017,13.500000,-0.352659 FG_AHR_24Vo 14.783

MODEM_MSG CACST,8,0,20230627042500.216633,18,32767,45,0159,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-4.7,11.23,-100,-8.23,-01,-0.26,89,925,0025,0,1,00,00*13 FG_AHR_10Vo 2.676

FREEZE 4.85,13.452,-1.553,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3390.33,279.38,0.714,0,499.9,441.4,558.4,686.87 MEM2 945376,40,100972,71

SM_GC 2.09,0.00,11.18,0.37,0.000,0.046,0.066,495.1,440.2,550.0,185.2,2322.6,0,0,0,30.00,15.32,15.34 DATA_FILE_SIZE 12940,461

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 178692,0

IRIDIUM_FIX 4738.33,-12256.21,270623,024901 SDSIZE 3887104,3860896

TCM_TEMP 18.20 SDFILEDIR 349,38

SC_FREEKB 3866912 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 0,1687838400,47.60500,-122.95000,0.353,517.6 CURRENT 0.038,226.5,1

RAFOS_FIX 4736.235352,-12256.821289,270623,040400,3,255,0.25 MAGCAL 1.000000,0.021984,-0.052060,-0.000092,1.095114,-0.128480,0.032529,-0.062228,1.050489,686.6,-274.0,-336.8,35,0.0487,0

HUMID 56.49 IMPLIED_C_PITCH 1523,15.80,227,0.0,0.00

TEMP 10.65 IMPLIED_C_VBD 3404,17.837084,227,0

INTERNAL_PRESSURE 8.27327 GPS 270623,045339,4736.306,-12256.745,1,0.9,30,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 681 895 9080.89 nil 0 0 0.00

Pitch_motor 23 227 81.05 nil 0 0 0.00

Roll_motor 65 181 176.13 nil 0 0 0.00

Iridium 122 160 292.25 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.96 nil 0 0 0.00

Core 2002 5 153.25 SciCon 3086 7 354.41

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1360 0 6.51

Compass 962 5 71.94

RAFOS 1694 40 1013.07

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

6.38 16386 -146.63 -1.35 0.00 492.8 439.9 545.6 185.1 2268.4 0.00 0.00 0 50.42 39.73 0.00 0.00 0.005 0.000 0.000 1650.91 1647.38 1654.44 185.12 2268.94 0 0 0 15.62 30.00 30.00

50.95 18727 -146.63 -1.35 80.00 1653.9 1647.1 1660.6 184.9 2268.5 3.10 -4.46 8 143.87 65.37 7.52 3.73 0.005 0.227 0.091 3898.50 3884.56 3912.44 1172.12 3768.88 0 0 0 15.64 15.47 15.56

147.53 1156 -146.63 -1.29 0.00 3899.9 3885.9 3913.8 1171.8 3769.1 10.14 -13.42 25 155.52 0.00 0.00 3.42 0.000 0.000 0.015 3899.97 3886.06 3913.88 1172.25 2267.69 0 0 0 30.00 30.00 15.62

338.18 2693 -146.63 -1.25 -80.00 3901.4 3886.3 3916.5 1172.4 2266.9 34.65 -11.98 61 346.89 0.00 0.18 3.57 0.000 0.163 0.100 3901.22 3885.69 3916.75 1199.00 833.00 0 0 0 30.00 15.60 15.59

575.84 1028 -146.63 -1.25 0.00 3902.0 3886.2 3917.8 1199.0 833.0 60.97 -11.08 107 584.14 0.00 0.00 3.56 0.000 0.000 0.034 3901.59 3886.06 3917.12 1198.81 2318.12 0 0 0 30.00 30.00 15.52

771.88 676 -146.63 -1.24 -80.00 3902.6 3886.2 3918.9 1199.1 2318.1 80.11 -9.63 127 780.65 0.00 0.00 3.72 0.000 0.000 0.099 3902.25 3886.62 3917.88 1198.69 834.50 0 0 0 30.00 30.00 15.56

859.47 1156 -146.63 -1.22 0.00 3902.8 3886.8 3918.9 1199.1 833.6 89.32 -10.31 144 868.15 0.00 0.00 3.53 0.000 0.000 0.033 3902.22 3886.12 3918.31 1199.12 2318.56 0 0 0 30.00 30.00 15.63

1054.56 420 -146.63 -1.21 80.00 3903.2 3886.9 3919.6 1198.7 2318.0 107.97 -9.76 164 1063.15 0.00 0.00 3.58 0.000 0.000 0.095 3902.88 3886.38 3919.38 1198.44 3767.81 0 0 0 30.00 30.00 15.62

1101.94 1156 -146.63 -1.18 0.00 3903.1 3886.8 3919.5 1199.2 3768.2 113.52 -12.17 173 1110.65 0.00 0.00 3.43 0.000 0.000 0.015 3902.84 3886.69 3919.00 1199.62 2267.25 0 0 0 30.00 30.00 15.67

1297.06 160 -146.63 -1.17 0.00 3903.3 3887.1 3919.6 1198.8 2267.2 131.92 -9.41 193 1298.93 0.00 0.00 0.00 0.000 0.000 0.000 3903.03 3886.38 3919.69 1199.06 2266.81 0 0 0 30.00 30.00 30.00

1487.12 420 -146.63 -1.15 80.00 3903.4 3886.6 3920.1 1199.0 2267.0 149.25 -9.43 212 1496.10 0.00 0.00 3.71 0.000 0.000 0.094 3902.88 3886.38 3919.38 1199.81 3766.62 0 0 0 30.00 30.00 15.66

1499 end dive: TARGET_DEPTH_EXCEEDED

state 1499 begin apogee

1507.94 10243 0.00 -0.33 0.00 3903.5 3887.2 3919.7 1199.6 2157.9 150.57 -9.71 214 1627.73 105.12 1.52 0.08 0.895 0.119 0.181 3299.53 3244.38 3354.69 1422.75 2207.25 0 0 0 11.60 15.64 15.37

1629 end apogee: CONTROL_FINISHED_OK

state 1629 begin climb

1629.32 10759 146.63 1.35 -80.00 3295.6 3241.2 3349.9 1423.1 2207.2 154.05 0.00 225 1762.88 106.60 2.68 3.90 0.874 0.072 0.115 2699.81 2616.94 2782.69 1831.88 720.06 0 0 0 11.54 15.40 15.18

1836.73 17542 146.63 1.33 0.00 2693.3 2617.2 2769.4 1831.9 719.9 131.92 16.58 263 1845.62 0.00 0.00 3.58 0.000 0.000 0.034 2690.53 2614.81 2766.25 1832.12 2204.56 0 0 0 30.00 30.00 15.36

2031.75 16774 146.63 1.32 80.00 2690.9 2613.8 2768.0 1832.4 2204.8 103.57 14.57 283 2040.62 0.00 0.00 3.59 0.000 0.000 0.095 2690.19 2614.25 2766.12 1831.88 3653.00 0 0 0 30.00 30.00 15.49

2079.47 17542 146.63 1.29 0.00 2690.3 2613.8 2766.8 1832.1 3652.7 95.42 17.93 292 2088.26 0.00 0.00 3.47 0.000 0.000 0.019 2690.34 2613.88 2766.81 1832.50 2158.56 0 0 0 30.00 30.00 15.55

2274.49 16774 146.63 1.28 80.00 2689.6 2612.8 2766.4 1832.0 2158.5 67.72 13.51 312 2283.45 0.00 0.00 3.69 0.000 0.000 0.092 2689.41 2612.19 2766.62 1832.69 3651.50 0 0 0 30.00 30.00 15.59

2315.08 21639 146.63 1.26 0.00 2689.4 2613.1 2765.7 1831.7 3651.4 61.76 14.96 319 2327.95 0.00 0.27 3.45 0.000 0.187 0.020 2689.09 2612.00 2766.19 1800.25 2158.56 0 0 0 30.00 15.54 15.61

2510.11 16774 146.63 1.26 80.00 2689.2 2612.6 2765.7 1799.6 2158.8 39.49 10.78 349 2518.84 0.00 0.00 3.67 0.000 0.000 0.092 2687.41 2612.12 2762.69 1799.81 3651.75 0 0 0 30.00 30.00 15.64

2607.67 17542 146.63 1.25 0.00 2689.1 2612.6 2765.5 1800.2 3651.3 27.76 12.47 368 2616.13 0.00 0.00 3.40 0.000 0.000 0.018 2687.97 2610.88 2765.06 1799.88 2157.50 0 0 0 30.00 30.00 15.70

2799.98 10403 213.71 1.34 0.00 2688.3 2611.5 2765.1 1799.8 2157.6 11.27 6.89 406 2853.94 47.54 0.19 0.00 0.737 0.067 0.000 2428.75 2332.25 2525.25 1833.44 2157.19 0 0 0 11.61 15.75 30.00

3037.80 10663 434.23 1.64 80.00 2418.7 2323.1 2514.3 1833.5 2157.4 5.21 -0.21 453 3081.19 37.99 0.41 0.00 0.722 0.043 0.000 2210.38 2103.75 2317.00 1907.44 2157.94 0 0 0 11.65 15.69 30.00

3082 end climb: NO_VERTICAL_VELOCITY

state 3082 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	37	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	40	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	2.669709	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	14.643341	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	270623,035043,4736.098,-12256.815,1,0.7,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.52	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,035351,4736.103,-12256.824,2,0.7,3,15.4	MHEAD_RNG_PITCHd_Wd	15.8,906,-17.6,-10.000,-21.21,2209,0.137
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

NAV	1687840033,112.3,3,stop	_24V_AH	14.88,11.323
NET	xmit ok outbox0032.n 918 15	_10V_AH	14.95,0.000
NET_PING	1687840363,29,265.830017,13.500000,-0.352659	FG_AHR_24Vo	14.783
MODEM_MSG	CACST,8,0,20230627042500.216633,18,32767,45,0159,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-4.7,11.23,-100,-8.23,-01,-0.26,89,925,0025,0,1,00,00*13	FG_AHR_10Vo	2.676
FREEZE	4.85,13.452,-1.553,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3390.33,279.38,0.714,0,499.9,441.4,558.4,686.87	MEM2	945376,40,100972,71
SM_GC	2.09,0.00,11.18,0.37,0.000,0.046,0.066,495.1,440.2,550.0,185.2,2322.6,0,0,0,30.00,15.32,15.34	DATA_FILE_SIZE	12940,461
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	178692,0
IRIDIUM_FIX	4738.33,-12256.21,270623,024901	SDSIZE	3887104,3860896
TCM_TEMP	18.20	SDFILEDIR	349,38
SC_FREEKB	3866912	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	0,1687838400,47.60500,-122.95000,0.353,517.6	CURRENT	0.038,226.5,1
RAFOS_FIX	4736.235352,-12256.821289,270623,040400,3,255,0.25	MAGCAL	1.000000,0.021984,-0.052060,-0.000092,1.095114,-0.128480,0.032529,-0.062228,1.050489,686.6,-274.0,-336.8,35,0.0487,0
HUMID	56.49	IMPLIED_C_PITCH	1523,15.80,227,0.0,0.00
TEMP	10.65	IMPLIED_C_VBD	3404,17.837084,227,0
INTERNAL_PRESSURE	8.27327	GPS	270623,045339,4736.306,-12256.745,1,0.9,30,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	681	895	9080.89	nil	0	0	0.00
Pitch_motor	23	227	81.05	nil	0	0	0.00
Roll_motor	65	181	176.13	nil	0	0	0.00
Iridium	122	160	292.25	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.96	nil	0	0	0.00
Core	2002	5	153.25	SciCon	3086	7	354.41
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1360	0	6.51
Compass	962	5	71.94
RAFOS	1694	40	1013.07
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
6.38	16386	-146.63	-1.35	0.00	492.8	439.9	545.6	185.1	2268.4	0.00	0.00	0	50.42	39.73	0.00	0.00	0.005	0.000	0.000	1650.91	1647.38	1654.44	185.12	2268.94	0	0	0	15.62	30.00	30.00
50.95	18727	-146.63	-1.35	80.00	1653.9	1647.1	1660.6	184.9	2268.5	3.10	-4.46	8	143.87	65.37	7.52	3.73	0.005	0.227	0.091	3898.50	3884.56	3912.44	1172.12	3768.88	0	0	0	15.64	15.47	15.56
147.53	1156	-146.63	-1.29	0.00	3899.9	3885.9	3913.8	1171.8	3769.1	10.14	-13.42	25	155.52	0.00	0.00	3.42	0.000	0.000	0.015	3899.97	3886.06	3913.88	1172.25	2267.69	0	0	0	30.00	30.00	15.62
338.18	2693	-146.63	-1.25	-80.00	3901.4	3886.3	3916.5	1172.4	2266.9	34.65	-11.98	61	346.89	0.00	0.18	3.57	0.000	0.163	0.100	3901.22	3885.69	3916.75	1199.00	833.00	0	0	0	30.00	15.60	15.59
575.84	1028	-146.63	-1.25	0.00	3902.0	3886.2	3917.8	1199.0	833.0	60.97	-11.08	107	584.14	0.00	0.00	3.56	0.000	0.000	0.034	3901.59	3886.06	3917.12	1198.81	2318.12	0	0	0	30.00	30.00	15.52
771.88	676	-146.63	-1.24	-80.00	3902.6	3886.2	3918.9	1199.1	2318.1	80.11	-9.63	127	780.65	0.00	0.00	3.72	0.000	0.000	0.099	3902.25	3886.62	3917.88	1198.69	834.50	0	0	0	30.00	30.00	15.56
859.47	1156	-146.63	-1.22	0.00	3902.8	3886.8	3918.9	1199.1	833.6	89.32	-10.31	144	868.15	0.00	0.00	3.53	0.000	0.000	0.033	3902.22	3886.12	3918.31	1199.12	2318.56	0	0	0	30.00	30.00	15.63
1054.56	420	-146.63	-1.21	80.00	3903.2	3886.9	3919.6	1198.7	2318.0	107.97	-9.76	164	1063.15	0.00	0.00	3.58	0.000	0.000	0.095	3902.88	3886.38	3919.38	1198.44	3767.81	0	0	0	30.00	30.00	15.62
1101.94	1156	-146.63	-1.18	0.00	3903.1	3886.8	3919.5	1199.2	3768.2	113.52	-12.17	173	1110.65	0.00	0.00	3.43	0.000	0.000	0.015	3902.84	3886.69	3919.00	1199.62	2267.25	0	0	0	30.00	30.00	15.67
1297.06	160	-146.63	-1.17	0.00	3903.3	3887.1	3919.6	1198.8	2267.2	131.92	-9.41	193	1298.93	0.00	0.00	0.00	0.000	0.000	0.000	3903.03	3886.38	3919.69	1199.06	2266.81	0	0	0	30.00	30.00	30.00
1487.12	420	-146.63	-1.15	80.00	3903.4	3886.6	3920.1	1199.0	2267.0	149.25	-9.43	212	1496.10	0.00	0.00	3.71	0.000	0.000	0.094	3902.88	3886.38	3919.38	1199.81	3766.62	0	0	0	30.00	30.00	15.66
1499	end dive: TARGET_DEPTH_EXCEEDED
state	1499	begin apogee
1507.94	10243	0.00	-0.33	0.00	3903.5	3887.2	3919.7	1199.6	2157.9	150.57	-9.71	214	1627.73	105.12	1.52	0.08	0.895	0.119	0.181	3299.53	3244.38	3354.69	1422.75	2207.25	0	0	0	11.60	15.64	15.37
1629	end apogee: CONTROL_FINISHED_OK
state	1629	begin climb
1629.32	10759	146.63	1.35	-80.00	3295.6	3241.2	3349.9	1423.1	2207.2	154.05	0.00	225	1762.88	106.60	2.68	3.90	0.874	0.072	0.115	2699.81	2616.94	2782.69	1831.88	720.06	0	0	0	11.54	15.40	15.18
1836.73	17542	146.63	1.33	0.00	2693.3	2617.2	2769.4	1831.9	719.9	131.92	16.58	263	1845.62	0.00	0.00	3.58	0.000	0.000	0.034	2690.53	2614.81	2766.25	1832.12	2204.56	0	0	0	30.00	30.00	15.36
2031.75	16774	146.63	1.32	80.00	2690.9	2613.8	2768.0	1832.4	2204.8	103.57	14.57	283	2040.62	0.00	0.00	3.59	0.000	0.000	0.095	2690.19	2614.25	2766.12	1831.88	3653.00	0	0	0	30.00	30.00	15.49
2079.47	17542	146.63	1.29	0.00	2690.3	2613.8	2766.8	1832.1	3652.7	95.42	17.93	292	2088.26	0.00	0.00	3.47	0.000	0.000	0.019	2690.34	2613.88	2766.81	1832.50	2158.56	0	0	0	30.00	30.00	15.55
2274.49	16774	146.63	1.28	80.00	2689.6	2612.8	2766.4	1832.0	2158.5	67.72	13.51	312	2283.45	0.00	0.00	3.69	0.000	0.000	0.092	2689.41	2612.19	2766.62	1832.69	3651.50	0	0	0	30.00	30.00	15.59
2315.08	21639	146.63	1.26	0.00	2689.4	2613.1	2765.7	1831.7	3651.4	61.76	14.96	319	2327.95	0.00	0.27	3.45	0.000	0.187	0.020	2689.09	2612.00	2766.19	1800.25	2158.56	0	0	0	30.00	15.54	15.61
2510.11	16774	146.63	1.26	80.00	2689.2	2612.6	2765.7	1799.6	2158.8	39.49	10.78	349	2518.84	0.00	0.00	3.67	0.000	0.000	0.092	2687.41	2612.12	2762.69	1799.81	3651.75	0	0	0	30.00	30.00	15.64
2607.67	17542	146.63	1.25	0.00	2689.1	2612.6	2765.5	1800.2	3651.3	27.76	12.47	368	2616.13	0.00	0.00	3.40	0.000	0.000	0.018	2687.97	2610.88	2765.06	1799.88	2157.50	0	0	0	30.00	30.00	15.70
2799.98	10403	213.71	1.34	0.00	2688.3	2611.5	2765.1	1799.8	2157.6	11.27	6.89	406	2853.94	47.54	0.19	0.00	0.737	0.067	0.000	2428.75	2332.25	2525.25	1833.44	2157.19	0	0	0	11.61	15.75	30.00
3037.80	10663	434.23	1.64	80.00	2418.7	2323.1	2514.3	1833.5	2157.4	5.21	-0.21	453	3081.19	37.99	0.41	0.00	0.722	0.043	0.000	2210.38	2103.75	2317.00	1907.44	2157.94	0	0	0	11.65	15.69	30.00
3082	end climb: NO_VERTICAL_VELOCITY
state	3082	begin surface