Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 41 * 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 41 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 50 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 2 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 2.6813416 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 15.209067 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 50 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 2.6813416 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 15.209067 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 41 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 2 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 270623,074602,4736.094,-12256.727,10,0.9,32,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,074916,4736.102,-12256.716,2,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 9.8,851,-17.6,-10.000,-21.21,2209,0.140

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 1687854432,64.5,4,stop _24V_AH 14.87,11.952

NET CACST,8,1,20230627083237.191490,18,32767,45,0105,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,18.2,6.54,-100,-3.54,-01,0.17,66,10000,5000,0,-1,00,00*75 _10V_AH 14.95,0.000

NET_PING 1687852962,29,463.552490,14.800000,-0.615046 FG_AHR_24Vo 15.347

MODEM_MSG CACST,8,1,20230627082500.321748,18,25324,44,0409,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,2.8,2.37,-100,0.63,-01,0.11,85,925,0025,0,-1,00,00*04 FG_AHR_10Vo 2.693

FREEZE 6.39,12.730,-1.576,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3305.14,285.21,0.712,0,501.1,441.3,560.9,686.57 MEM2 945468,36,100960,71

SM_GC 1.86,0.00,10.78,0.38,0.000,0.031,0.061,494.4,439.5,549.3,190.0,2321.9,0,0,0,30.00,15.36,15.35 DATA_FILE_SIZE 12952,431

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 178147,0

IRIDIUM_FIX 4736.87,-12256.21,270623,064215 SDSIZE 3887104,3859616

TCM_TEMP 18.22 SDFILEDIR 381,42

SC_FREEKB 3865632 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 0,1687852800,47.60500,-122.95000,0.302,442.1 CURRENT 0.048, 35.4,1

RAFOS_FIX 4736.073242,-120256.921875,270623,080800,4,255,37743.06 MAGCAL 1.000000,0.022873,-0.038089,-0.003126,1.100780,-0.041720,0.073669,-0.022038,1.109978,663.7,-339.0,-375.3,35,0.0407,0

HUMID 56.44 IMPLIED_C_PITCH 1529,16.05,222,0.0,0.00

TEMP 10.52 IMPLIED_C_VBD 3428,17.787376,222,0

INTERNAL_PRESSURE 8.27333 GPS 270623,084713,4736.503,-12256.442,1,0.7,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 675 889 8926.34 nil 0 0 0.00

Pitch_motor 23 239 83.77 nil 0 0 0.00

Roll_motor 65 164 159.79 nil 0 0 0.00

Iridium 125 139 259.82 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 1973 5 151.07 SciCon 2996 7 343.41

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1301 0 6.22

Compass 911 5 68.11

RAFOS 1691 40 1011.51

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

6.39 16386 -146.63 -1.35 0.00 492.8 440.8 544.9 189.9 2269.9 0.00 0.00 0 50.53 39.70 0.00 0.00 0.005 0.000 0.000 1659.31 1656.62 1662.00 190.19 2270.25 0 0 0 15.62 30.00 30.00

51.05 18983 -146.63 -1.35 -80.00 1661.9 1656.1 1667.8 190.0 2270.4 3.16 -4.50 8 138.42 59.19 7.59 3.63 0.005 0.240 0.101 3899.22 3886.38 3912.06 1171.88 833.00 0 0 0 15.62 15.47 15.55

342.12 1156 -146.63 -1.32 0.00 3902.0 3888.6 3915.4 1172.2 833.1 36.44 -12.06 64 350.18 0.00 0.00 3.53 0.000 0.000 0.032 3902.16 3888.81 3915.50 1172.12 2319.56 0 0 0 30.00 30.00 15.67

538.80 388 -146.63 -1.29 80.00 3902.8 3888.6 3917.1 1172.0 2319.7 57.73 -10.80 96 547.57 0.00 0.00 3.55 0.000 0.000 0.091 3903.72 3889.19 3918.25 1171.94 3767.69 0 0 0 30.00 30.00 15.66

599.56 3205 -146.63 -1.24 0.00 3902.8 3888.6 3917.1 1172.0 3767.7 65.98 -13.85 106 607.89 0.00 0.20 3.44 0.000 0.159 0.014 3902.91 3888.69 3917.12 1201.44 2264.88 0 0 0 30.00 15.66 15.72

795.43 160 -146.63 -1.23 0.00 3903.3 3888.3 3918.4 1201.6 2264.2 85.72 -9.52 126 804.29 0.00 0.00 0.00 0.000 0.000 0.000 3903.66 3888.75 3918.56 1201.12 2264.38 0 0 0 30.00 30.00 30.00

985.44 420 -146.63 -1.21 80.00 3903.7 3888.4 3918.9 1201.6 2264.9 103.85 -9.64 145 994.21 0.00 0.00 3.78 0.000 0.000 0.093 3904.41 3888.81 3920.00 1202.31 3767.88 0 0 0 30.00 30.00 15.49

1047.26 1156 -146.63 -1.18 0.00 3903.4 3888.2 3918.6 1202.1 3767.9 110.89 -11.48 157 1055.28 0.00 0.00 3.48 0.000 0.000 0.014 3903.75 3888.81 3918.69 1202.00 2267.25 0 0 0 30.00 30.00 15.57

1243.12 420 -146.63 -1.17 80.00 3903.9 3888.8 3919.1 1202.3 2267.2 129.04 -9.25 177 1251.91 0.00 0.00 3.73 0.000 0.000 0.092 3902.81 3887.75 3917.88 1202.50 3766.56 0 0 0 30.00 30.00 15.57

1280.70 1156 -146.63 -1.15 0.00 3903.8 3889.0 3918.7 1202.0 3767.0 133.14 -10.83 184 1289.62 0.00 0.00 3.45 0.000 0.000 0.014 3903.12 3888.06 3918.19 1201.88 2267.31 0 0 0 30.00 30.00 15.63

1465 end dive: TARGET_DEPTH_EXCEEDED

state 1466 begin apogee

1467.56 10243 0.00 -0.33 0.00 3904.0 3888.5 3919.5 1202.2 2152.6 150.41 -9.23 203 1588.17 105.92 1.50 0.09 0.889 0.111 0.164 3269.81 3187.06 3352.56 1420.94 2209.50 0 0 0 11.60 15.61 15.35

1589 end apogee: CONTROL_FINISHED_OK

state 1590 begin climb

1589.78 10759 146.63 1.35 -80.00 3295.7 3241.5 3349.9 1421.9 2209.7 153.12 0.00 214 1721.76 106.64 2.70 3.91 0.868 0.074 0.112 2698.88 2616.44 2781.31 1834.31 718.88 0 0 0 11.42 15.35 15.16

1744.83 17542 146.63 1.33 0.00 2694.0 2616.4 2771.6 1833.8 718.9 138.93 14.12 241 1753.25 0.00 0.00 3.62 0.000 0.000 0.033 2692.81 2615.38 2770.25 1833.44 2202.38 0 0 0 30.00 30.00 15.29

1940.60 16774 146.63 1.32 80.00 2691.5 2613.3 2769.6 1833.7 2201.9 110.15 14.54 261 1949.59 0.00 0.00 3.63 0.000 0.000 0.093 2689.59 2612.75 2766.44 1833.25 3652.75 0 0 0 30.00 30.00 15.43

1988.43 17542 146.63 1.29 0.00 2690.6 2613.4 2767.8 1833.7 3653.0 101.91 17.73 270 1997.32 0.00 0.00 3.51 0.000 0.000 0.018 2689.31 2611.94 2766.69 1833.44 2158.06 0 0 0 30.00 30.00 15.51

2183.44 16774 146.63 1.28 80.00 2689.9 2612.6 2767.2 1833.1 2156.9 73.42 14.15 290 2192.52 0.00 0.00 3.72 0.000 0.000 0.090 2692.22 2615.00 2769.44 1833.38 3651.56 0 0 0 30.00 30.00 15.53

2211.35 21639 146.63 1.25 0.00 2689.4 2612.1 2766.7 1833.9 3651.8 69.21 15.09 295 2220.53 0.00 0.28 3.48 0.000 0.183 0.018 2688.22 2610.75 2765.69 1799.06 2157.69 0 0 0 30.00 15.51 15.58

2401.36 16774 146.63 1.26 80.00 2689.0 2611.8 2766.2 1799.4 2157.8 47.22 10.67 317 2410.10 0.00 0.00 3.68 0.000 0.000 0.090 2691.69 2614.38 2769.00 1799.56 3651.50 0 0 0 30.00 30.00 15.62

2463.95 17542 146.63 1.25 0.00 2689.2 2612.1 2766.2 1799.0 3651.4 39.21 12.99 329 2472.49 0.00 0.00 3.46 0.000 0.000 0.018 2690.53 2612.75 2768.31 1798.69 2157.25 0 0 0 30.00 30.00 15.68

2657.30 8614 164.25 1.28 80.00 2688.4 2611.2 2765.5 1799.3 2157.6 19.87 9.18 367 2681.36 13.52 0.00 3.68 0.677 0.000 0.093 2627.50 2543.81 2711.19 1799.12 3651.50 0 0 0 11.62 30.00 15.63

2910.30 11431 346.95 1.51 0.00 2623.7 2541.8 2705.7 1799.1 3651.3 7.42 1.54 417 2989.90 64.84 0.46 3.43 0.738 0.041 0.016 2254.06 2147.88 2360.25 1874.12 2153.94 0 0 0 11.60 15.71 15.74

2990 end climb: NO_VERTICAL_VELOCITY

state 2991 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	41	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	50	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	2	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	2.6813416	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	15.209067	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	270623,074602,4736.094,-12256.727,10,0.9,32,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,074916,4736.102,-12256.716,2,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	9.8,851,-17.6,-10.000,-21.21,2209,0.140
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	1687854432,64.5,4,stop	_24V_AH	14.87,11.952
NET	CACST,8,1,20230627083237.191490,18,32767,45,0105,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,18.2,6.54,-100,-3.54,-01,0.17,66,10000,5000,0,-1,00,00*75	_10V_AH	14.95,0.000
NET_PING	1687852962,29,463.552490,14.800000,-0.615046	FG_AHR_24Vo	15.347
MODEM_MSG	CACST,8,1,20230627082500.321748,18,25324,44,0409,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,2.8,2.37,-100,0.63,-01,0.11,85,925,0025,0,-1,00,00*04	FG_AHR_10Vo	2.693
FREEZE	6.39,12.730,-1.576,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3305.14,285.21,0.712,0,501.1,441.3,560.9,686.57	MEM2	945468,36,100960,71
SM_GC	1.86,0.00,10.78,0.38,0.000,0.031,0.061,494.4,439.5,549.3,190.0,2321.9,0,0,0,30.00,15.36,15.35	DATA_FILE_SIZE	12952,431
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	178147,0
IRIDIUM_FIX	4736.87,-12256.21,270623,064215	SDSIZE	3887104,3859616
TCM_TEMP	18.22	SDFILEDIR	381,42
SC_FREEKB	3865632	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	0,1687852800,47.60500,-122.95000,0.302,442.1	CURRENT	0.048, 35.4,1
RAFOS_FIX	4736.073242,-120256.921875,270623,080800,4,255,37743.06	MAGCAL	1.000000,0.022873,-0.038089,-0.003126,1.100780,-0.041720,0.073669,-0.022038,1.109978,663.7,-339.0,-375.3,35,0.0407,0
HUMID	56.44	IMPLIED_C_PITCH	1529,16.05,222,0.0,0.00
TEMP	10.52	IMPLIED_C_VBD	3428,17.787376,222,0
INTERNAL_PRESSURE	8.27333	GPS	270623,084713,4736.503,-12256.442,1,0.7,3,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	675	889	8926.34	nil	0	0	0.00
Pitch_motor	23	239	83.77	nil	0	0	0.00
Roll_motor	65	164	159.79	nil	0	0	0.00
Iridium	125	139	259.82	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	1973	5	151.07	SciCon	2996	7	343.41
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1301	0	6.22
Compass	911	5	68.11
RAFOS	1691	40	1011.51
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
6.39	16386	-146.63	-1.35	0.00	492.8	440.8	544.9	189.9	2269.9	0.00	0.00	0	50.53	39.70	0.00	0.00	0.005	0.000	0.000	1659.31	1656.62	1662.00	190.19	2270.25	0	0	0	15.62	30.00	30.00
51.05	18983	-146.63	-1.35	-80.00	1661.9	1656.1	1667.8	190.0	2270.4	3.16	-4.50	8	138.42	59.19	7.59	3.63	0.005	0.240	0.101	3899.22	3886.38	3912.06	1171.88	833.00	0	0	0	15.62	15.47	15.55
342.12	1156	-146.63	-1.32	0.00	3902.0	3888.6	3915.4	1172.2	833.1	36.44	-12.06	64	350.18	0.00	0.00	3.53	0.000	0.000	0.032	3902.16	3888.81	3915.50	1172.12	2319.56	0	0	0	30.00	30.00	15.67
538.80	388	-146.63	-1.29	80.00	3902.8	3888.6	3917.1	1172.0	2319.7	57.73	-10.80	96	547.57	0.00	0.00	3.55	0.000	0.000	0.091	3903.72	3889.19	3918.25	1171.94	3767.69	0	0	0	30.00	30.00	15.66
599.56	3205	-146.63	-1.24	0.00	3902.8	3888.6	3917.1	1172.0	3767.7	65.98	-13.85	106	607.89	0.00	0.20	3.44	0.000	0.159	0.014	3902.91	3888.69	3917.12	1201.44	2264.88	0	0	0	30.00	15.66	15.72
795.43	160	-146.63	-1.23	0.00	3903.3	3888.3	3918.4	1201.6	2264.2	85.72	-9.52	126	804.29	0.00	0.00	0.00	0.000	0.000	0.000	3903.66	3888.75	3918.56	1201.12	2264.38	0	0	0	30.00	30.00	30.00
985.44	420	-146.63	-1.21	80.00	3903.7	3888.4	3918.9	1201.6	2264.9	103.85	-9.64	145	994.21	0.00	0.00	3.78	0.000	0.000	0.093	3904.41	3888.81	3920.00	1202.31	3767.88	0	0	0	30.00	30.00	15.49
1047.26	1156	-146.63	-1.18	0.00	3903.4	3888.2	3918.6	1202.1	3767.9	110.89	-11.48	157	1055.28	0.00	0.00	3.48	0.000	0.000	0.014	3903.75	3888.81	3918.69	1202.00	2267.25	0	0	0	30.00	30.00	15.57
1243.12	420	-146.63	-1.17	80.00	3903.9	3888.8	3919.1	1202.3	2267.2	129.04	-9.25	177	1251.91	0.00	0.00	3.73	0.000	0.000	0.092	3902.81	3887.75	3917.88	1202.50	3766.56	0	0	0	30.00	30.00	15.57
1280.70	1156	-146.63	-1.15	0.00	3903.8	3889.0	3918.7	1202.0	3767.0	133.14	-10.83	184	1289.62	0.00	0.00	3.45	0.000	0.000	0.014	3903.12	3888.06	3918.19	1201.88	2267.31	0	0	0	30.00	30.00	15.63
1465	end dive: TARGET_DEPTH_EXCEEDED
state	1466	begin apogee
1467.56	10243	0.00	-0.33	0.00	3904.0	3888.5	3919.5	1202.2	2152.6	150.41	-9.23	203	1588.17	105.92	1.50	0.09	0.889	0.111	0.164	3269.81	3187.06	3352.56	1420.94	2209.50	0	0	0	11.60	15.61	15.35
1589	end apogee: CONTROL_FINISHED_OK
state	1590	begin climb
1589.78	10759	146.63	1.35	-80.00	3295.7	3241.5	3349.9	1421.9	2209.7	153.12	0.00	214	1721.76	106.64	2.70	3.91	0.868	0.074	0.112	2698.88	2616.44	2781.31	1834.31	718.88	0	0	0	11.42	15.35	15.16
1744.83	17542	146.63	1.33	0.00	2694.0	2616.4	2771.6	1833.8	718.9	138.93	14.12	241	1753.25	0.00	0.00	3.62	0.000	0.000	0.033	2692.81	2615.38	2770.25	1833.44	2202.38	0	0	0	30.00	30.00	15.29
1940.60	16774	146.63	1.32	80.00	2691.5	2613.3	2769.6	1833.7	2201.9	110.15	14.54	261	1949.59	0.00	0.00	3.63	0.000	0.000	0.093	2689.59	2612.75	2766.44	1833.25	3652.75	0	0	0	30.00	30.00	15.43
1988.43	17542	146.63	1.29	0.00	2690.6	2613.4	2767.8	1833.7	3653.0	101.91	17.73	270	1997.32	0.00	0.00	3.51	0.000	0.000	0.018	2689.31	2611.94	2766.69	1833.44	2158.06	0	0	0	30.00	30.00	15.51
2183.44	16774	146.63	1.28	80.00	2689.9	2612.6	2767.2	1833.1	2156.9	73.42	14.15	290	2192.52	0.00	0.00	3.72	0.000	0.000	0.090	2692.22	2615.00	2769.44	1833.38	3651.56	0	0	0	30.00	30.00	15.53
2211.35	21639	146.63	1.25	0.00	2689.4	2612.1	2766.7	1833.9	3651.8	69.21	15.09	295	2220.53	0.00	0.28	3.48	0.000	0.183	0.018	2688.22	2610.75	2765.69	1799.06	2157.69	0	0	0	30.00	15.51	15.58
2401.36	16774	146.63	1.26	80.00	2689.0	2611.8	2766.2	1799.4	2157.8	47.22	10.67	317	2410.10	0.00	0.00	3.68	0.000	0.000	0.090	2691.69	2614.38	2769.00	1799.56	3651.50	0	0	0	30.00	30.00	15.62
2463.95	17542	146.63	1.25	0.00	2689.2	2612.1	2766.2	1799.0	3651.4	39.21	12.99	329	2472.49	0.00	0.00	3.46	0.000	0.000	0.018	2690.53	2612.75	2768.31	1798.69	2157.25	0	0	0	30.00	30.00	15.68
2657.30	8614	164.25	1.28	80.00	2688.4	2611.2	2765.5	1799.3	2157.6	19.87	9.18	367	2681.36	13.52	0.00	3.68	0.677	0.000	0.093	2627.50	2543.81	2711.19	1799.12	3651.50	0	0	0	11.62	30.00	15.63
2910.30	11431	346.95	1.51	0.00	2623.7	2541.8	2705.7	1799.1	3651.3	7.42	1.54	417	2989.90	64.84	0.46	3.43	0.738	0.041	0.016	2254.06	2147.88	2360.25	1874.12	2153.94	0	0	0	11.60	15.71	15.74
2990	end climb: NO_VERTICAL_VELOCITY
state	2991	begin surface