Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 55 * 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 55 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 2.8241792 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 17.18157 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 2.8241792 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 17.18157 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 55 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 270623,210518,4736.530,-12256.617,1,0.7,4,15.4 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 -60.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,210837,4736.542,-12256.593,2,0.7,5,15.4 MHEAD_RNG_PITCHd_Wd 178.9,1126,-17.6,-10.000,-21.21,2209,0.171

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.036082,-0.034244,-0.005116,1.054451,-0.044594,0.015811,-0.079421,0.964608,659.104187,-325.351990,-258.992126

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,0,20230627213200.096976,18,31723,45,0101,0000,07,00,00,00,00,1,028,121,0,5,1,0,150,-1.8,5.29,-100,-2.29,-01,-0.12,88,925,0025,0,1,00,00*2E _24V_AH 14.81,14.168

NAV 1687903143,5.9,start _10V_AH 14.90,0.000

NET xmit part outbox0046.n 886 0 FG_AHR_24Vo 17.319

NET_PING 1687902316,27,156.295502,14.900000,0.784705 FG_AHR_10Vo 2.827

FREEZE 5.30,14.079,-1.530,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3476.55,265.11,0.707,0,500.6,438.6,562.7,686.69 MEM2 945592,29,100976,71

SM_GC 1.27,0.00,11.27,0.38,0.000,0.039,0.063,495.8,437.7,553.9,184.0,2320.9,0,0,0,30.00,15.31,15.31 DATA_FILE_SIZE 12945,474

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 184920,0

IRIDIUM_FIX 4735.60,-12305.98,270623,201244 SDSIZE 3887104,3855104

TCM_TEMP 18.29 SDFILEDIR 494,56

SC_FREEKB 3861152 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 1,1687901520,47.60560,-122.94640,1800.097,2637142.0 CURRENT 0.012, 48.9,1

RAFOS_FIX 4736.203613,-12257.000000,270623,191900,4,255,0.49 MAGCAL 1.000000,0.031948,-0.034614,-0.005745,1.058475,-0.070335,0.018178,-0.063392,0.980895,665.9,-309.6,-275.6,29,0.0287,0

HUMID 56.42 IMPLIED_C_PITCH 1524,16.28,235,0.0,0.00

TEMP 10.98 IMPLIED_C_VBD 3463,18.003733,235,0

INTERNAL_PRESSURE 8.28533 GPS 270623,221009,4736.214,-12256.680,2,1.0,29,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 680 873 8801.88 nil 0 0 0.00

Pitch_motor 24 234 84.69 nil 0 0 0.00

Roll_motor 72 150 161.92 nil 0 0 0.00

Iridium 130 154 297.89 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.26 nil 0 0 0.00

Core 2037 5 155.46 SciCon 3189 7 360.36

Fast 2 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1435 0 6.84

Compass 988 5 73.64

RAFOS 1859 40 1108.48

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

6.34 16386 -146.63 -1.35 0.00 492.7 437.1 548.2 185.0 2327.9 0.00 0.00 0 55.80 44.65 0.00 0.00 0.005 0.000 0.000 1799.62 1788.12 1811.12 185.12 2328.31 0 0 0 15.58 30.00 30.00

56.33 18727 -146.63 -1.35 80.00 1802.1 1788.5 1815.6 184.9 2327.8 3.29 -4.44 9 143.84 57.93 7.71 3.56 0.005 0.235 0.088 3899.12 3884.88 3913.38 1172.19 3767.94 0 0 0 15.59 15.44 15.52

272.53 1156 -146.63 -1.30 0.00 3901.8 3885.9 3917.6 1172.1 3768.1 25.65 -12.91 50 280.55 0.00 0.00 3.49 0.000 0.000 0.012 3902.53 3886.50 3918.56 1171.50 2265.50 0 0 0 30.00 30.00 15.62

462.88 420 -146.63 -1.27 80.00 3902.5 3886.2 3918.8 1171.9 2265.1 43.99 -9.52 87 471.56 0.00 0.00 3.71 0.000 0.000 0.086 3901.88 3885.94 3917.81 1172.25 3768.00 0 0 0 30.00 30.00 15.60

490.37 3205 -146.63 -1.22 0.00 3902.6 3886.2 3918.9 1172.1 3768.2 47.12 -11.10 92 499.26 0.00 0.22 3.48 0.000 0.159 0.012 3901.81 3885.94 3917.69 1204.50 2265.75 0 0 0 30.00 15.59 15.63

683.10 420 -146.63 -1.21 80.00 3903.6 3886.4 3920.7 1204.8 2264.9 64.43 -8.83 114 691.91 0.00 0.00 3.71 0.000 0.000 0.088 3903.22 3885.94 3920.50 1204.50 3767.50 0 0 0 30.00 30.00 15.62

744.96 1156 -146.63 -1.17 0.00 3903.3 3886.5 3920.1 1204.4 3768.2 71.20 -10.97 126 753.03 0.00 0.00 3.46 0.000 0.000 0.012 3903.38 3886.50 3920.25 1204.69 2267.75 0 0 0 30.00 30.00 15.66

940.82 160 -146.63 -1.15 0.00 3904.2 3886.0 3922.4 1204.3 2266.0 88.77 -9.16 146 942.70 0.00 0.00 0.00 0.000 0.000 0.000 3904.19 3886.31 3922.06 1205.00 2266.25 0 0 0 30.00 30.00 30.00

1130.84 420 -146.63 -1.14 80.00 3905.0 3887.1 3922.9 1204.5 2266.4 105.62 -8.93 165 1139.67 0.00 0.00 3.71 0.000 0.000 0.090 3905.25 3887.56 3922.94 1204.69 3767.69 0 0 0 30.00 30.00 15.67

1202.72 3205 -146.63 -1.11 0.00 3904.9 3886.8 3923.0 1204.7 3767.9 114.07 -12.16 179 1211.08 0.00 0.19 3.45 0.000 0.155 0.012 3904.88 3887.06 3922.69 1233.19 2264.56 0 0 0 30.00 15.67 15.72

1398.42 292 -146.63 -1.11 80.00 3905.4 3887.3 3923.4 1233.2 2264.8 129.56 -7.70 199 1407.41 0.00 0.00 3.72 0.000 0.000 0.093 3904.69 3886.81 3922.56 1233.25 3768.00 0 0 0 30.00 30.00 15.66

1476.37 1188 -146.63 -1.09 0.00 3905.4 3887.3 3923.5 1233.0 3767.9 136.87 -9.63 214 1485.10 0.00 0.00 3.45 0.000 0.000 0.014 3905.31 3887.12 3923.50 1233.12 2265.56 0 0 0 30.00 30.00 15.72

1651 end dive: TARGET_DEPTH_EXCEEDED

state 1651 begin apogee

1653.10 10243 0.00 -0.33 0.00 3905.5 3887.6 3923.4 1232.9 2152.4 150.43 -7.51 232 1772.58 105.14 1.27 0.09 0.874 0.103 0.150 3298.62 3242.06 3355.19 1422.50 2213.94 0 0 0 11.59 15.70 15.45

1774 end apogee: CONTROL_FINISHED_OK

state 1774 begin climb

1774.22 10759 146.63 1.35 -80.00 3296.8 3241.4 3352.2 1422.7 2213.3 152.83 0.00 243 1908.18 107.32 2.69 3.90 0.854 0.067 0.111 2698.38 2613.31 2783.44 1833.19 720.06 0 0 0 11.41 15.46 15.24

1952.04 17542 146.63 1.33 0.00 2693.4 2614.1 2772.8 1832.9 720.2 135.12 16.28 275 1960.99 0.00 0.00 3.56 0.000 0.000 0.033 2691.44 2613.31 2769.56 1833.25 2202.06 0 0 0 30.00 30.00 15.38

2147.05 16774 146.63 1.32 80.00 2691.7 2614.1 2769.2 1832.6 2202.1 105.61 14.62 295 2155.98 0.00 0.00 3.59 0.000 0.000 0.093 2692.78 2616.44 2769.12 1833.19 3651.25 0 0 0 30.00 30.00 15.50

2300.33 17542 146.63 1.29 0.00 2690.2 2614.3 2766.1 1832.8 3651.5 78.28 17.08 324 2309.19 0.00 0.00 3.49 0.000 0.000 0.016 2692.56 2616.62 2768.50 1832.31 2158.06 0 0 0 30.00 30.00 15.58

2495.33 16774 146.63 1.28 80.00 2689.7 2613.7 2765.7 1832.7 2157.3 51.63 13.08 344 2504.33 0.00 0.00 3.69 0.000 0.000 0.089 2689.59 2613.50 2765.69 1832.31 3652.88 0 0 0 30.00 30.00 15.60

2538.17 21639 146.63 1.25 0.00 2689.6 2613.8 2765.3 1832.8 3652.6 45.38 15.03 352 2547.24 0.00 0.28 3.51 0.000 0.184 0.016 2688.59 2612.38 2764.81 1796.44 2157.50 0 0 0 30.00 15.58 15.67

2731.02 16774 146.63 1.26 80.00 2689.1 2612.9 2765.2 1797.8 2156.9 24.39 10.12 390 2739.78 0.00 0.00 3.69 0.000 0.000 0.089 2686.62 2610.56 2762.69 1798.38 3651.75 0 0 0 30.00 30.00 15.66

2793.61 17542 146.63 1.25 0.00 2688.8 2612.2 2765.3 1798.1 3651.6 17.35 11.52 402 2802.17 0.00 0.00 3.49 0.000 0.000 0.016 2691.41 2615.25 2767.56 1798.19 2154.94 0 0 0 30.00 30.00 15.71

2986.03 10663 279.54 1.43 80.00 2688.3 2612.0 2764.6 1798.1 2155.1 5.89 3.84 440 3094.62 90.95 0.34 3.76 0.727 0.048 0.089 2155.22 2042.44 2268.00 1857.25 3652.00 0 0 0 11.62 15.75 15.46

3163.56 11431 488.72 1.71 0.00 2150.1 2042.8 2257.3 1856.7 3651.5 5.34 0.31 471 3182.76 9.26 0.37 3.53 0.591 0.046 0.014 2114.09 2004.62 2223.56 1925.06 2155.12 0 0 0 11.52 15.53 15.55

3183 end climb: NO_VERTICAL_VELOCITY

state 3184 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	55	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	2.8241792	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	17.18157	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	270623,210518,4736.530,-12256.617,1,0.7,4,15.4	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	-60.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,210837,4736.542,-12256.593,2,0.7,5,15.4	MHEAD_RNG_PITCHd_Wd	178.9,1126,-17.6,-10.000,-21.21,2209,0.171
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.036082,-0.034244,-0.005116,1.054451,-0.044594,0.015811,-0.079421,0.964608,659.104187,-325.351990,-258.992126
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

MODEM_MSG	CACST,8,0,20230627213200.096976,18,31723,45,0101,0000,07,00,00,00,00,1,028,121,0,5,1,0,150,-1.8,5.29,-100,-2.29,-01,-0.12,88,925,0025,0,1,00,00*2E	_24V_AH	14.81,14.168
NAV	1687903143,5.9,start	_10V_AH	14.90,0.000
NET	xmit part outbox0046.n 886 0	FG_AHR_24Vo	17.319
NET_PING	1687902316,27,156.295502,14.900000,0.784705	FG_AHR_10Vo	2.827
FREEZE	5.30,14.079,-1.530,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3476.55,265.11,0.707,0,500.6,438.6,562.7,686.69	MEM2	945592,29,100976,71
SM_GC	1.27,0.00,11.27,0.38,0.000,0.039,0.063,495.8,437.7,553.9,184.0,2320.9,0,0,0,30.00,15.31,15.31	DATA_FILE_SIZE	12945,474
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	184920,0
IRIDIUM_FIX	4735.60,-12305.98,270623,201244	SDSIZE	3887104,3855104
TCM_TEMP	18.29	SDFILEDIR	494,56
SC_FREEKB	3861152	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	1,1687901520,47.60560,-122.94640,1800.097,2637142.0	CURRENT	0.012, 48.9,1
RAFOS_FIX	4736.203613,-12257.000000,270623,191900,4,255,0.49	MAGCAL	1.000000,0.031948,-0.034614,-0.005745,1.058475,-0.070335,0.018178,-0.063392,0.980895,665.9,-309.6,-275.6,29,0.0287,0
HUMID	56.42	IMPLIED_C_PITCH	1524,16.28,235,0.0,0.00
TEMP	10.98	IMPLIED_C_VBD	3463,18.003733,235,0
INTERNAL_PRESSURE	8.28533	GPS	270623,221009,4736.214,-12256.680,2,1.0,29,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	680	873	8801.88	nil	0	0	0.00
Pitch_motor	24	234	84.69	nil	0	0	0.00
Roll_motor	72	150	161.92	nil	0	0	0.00
Iridium	130	154	297.89	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.26	nil	0	0	0.00
Core	2037	5	155.46	SciCon	3189	7	360.36
Fast	2	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1435	0	6.84
Compass	988	5	73.64
RAFOS	1859	40	1108.48
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
6.34	16386	-146.63	-1.35	0.00	492.7	437.1	548.2	185.0	2327.9	0.00	0.00	0	55.80	44.65	0.00	0.00	0.005	0.000	0.000	1799.62	1788.12	1811.12	185.12	2328.31	0	0	0	15.58	30.00	30.00
56.33	18727	-146.63	-1.35	80.00	1802.1	1788.5	1815.6	184.9	2327.8	3.29	-4.44	9	143.84	57.93	7.71	3.56	0.005	0.235	0.088	3899.12	3884.88	3913.38	1172.19	3767.94	0	0	0	15.59	15.44	15.52
272.53	1156	-146.63	-1.30	0.00	3901.8	3885.9	3917.6	1172.1	3768.1	25.65	-12.91	50	280.55	0.00	0.00	3.49	0.000	0.000	0.012	3902.53	3886.50	3918.56	1171.50	2265.50	0	0	0	30.00	30.00	15.62
462.88	420	-146.63	-1.27	80.00	3902.5	3886.2	3918.8	1171.9	2265.1	43.99	-9.52	87	471.56	0.00	0.00	3.71	0.000	0.000	0.086	3901.88	3885.94	3917.81	1172.25	3768.00	0	0	0	30.00	30.00	15.60
490.37	3205	-146.63	-1.22	0.00	3902.6	3886.2	3918.9	1172.1	3768.2	47.12	-11.10	92	499.26	0.00	0.22	3.48	0.000	0.159	0.012	3901.81	3885.94	3917.69	1204.50	2265.75	0	0	0	30.00	15.59	15.63
683.10	420	-146.63	-1.21	80.00	3903.6	3886.4	3920.7	1204.8	2264.9	64.43	-8.83	114	691.91	0.00	0.00	3.71	0.000	0.000	0.088	3903.22	3885.94	3920.50	1204.50	3767.50	0	0	0	30.00	30.00	15.62
744.96	1156	-146.63	-1.17	0.00	3903.3	3886.5	3920.1	1204.4	3768.2	71.20	-10.97	126	753.03	0.00	0.00	3.46	0.000	0.000	0.012	3903.38	3886.50	3920.25	1204.69	2267.75	0	0	0	30.00	30.00	15.66
940.82	160	-146.63	-1.15	0.00	3904.2	3886.0	3922.4	1204.3	2266.0	88.77	-9.16	146	942.70	0.00	0.00	0.00	0.000	0.000	0.000	3904.19	3886.31	3922.06	1205.00	2266.25	0	0	0	30.00	30.00	30.00
1130.84	420	-146.63	-1.14	80.00	3905.0	3887.1	3922.9	1204.5	2266.4	105.62	-8.93	165	1139.67	0.00	0.00	3.71	0.000	0.000	0.090	3905.25	3887.56	3922.94	1204.69	3767.69	0	0	0	30.00	30.00	15.67
1202.72	3205	-146.63	-1.11	0.00	3904.9	3886.8	3923.0	1204.7	3767.9	114.07	-12.16	179	1211.08	0.00	0.19	3.45	0.000	0.155	0.012	3904.88	3887.06	3922.69	1233.19	2264.56	0	0	0	30.00	15.67	15.72
1398.42	292	-146.63	-1.11	80.00	3905.4	3887.3	3923.4	1233.2	2264.8	129.56	-7.70	199	1407.41	0.00	0.00	3.72	0.000	0.000	0.093	3904.69	3886.81	3922.56	1233.25	3768.00	0	0	0	30.00	30.00	15.66
1476.37	1188	-146.63	-1.09	0.00	3905.4	3887.3	3923.5	1233.0	3767.9	136.87	-9.63	214	1485.10	0.00	0.00	3.45	0.000	0.000	0.014	3905.31	3887.12	3923.50	1233.12	2265.56	0	0	0	30.00	30.00	15.72
1651	end dive: TARGET_DEPTH_EXCEEDED
state	1651	begin apogee
1653.10	10243	0.00	-0.33	0.00	3905.5	3887.6	3923.4	1232.9	2152.4	150.43	-7.51	232	1772.58	105.14	1.27	0.09	0.874	0.103	0.150	3298.62	3242.06	3355.19	1422.50	2213.94	0	0	0	11.59	15.70	15.45
1774	end apogee: CONTROL_FINISHED_OK
state	1774	begin climb
1774.22	10759	146.63	1.35	-80.00	3296.8	3241.4	3352.2	1422.7	2213.3	152.83	0.00	243	1908.18	107.32	2.69	3.90	0.854	0.067	0.111	2698.38	2613.31	2783.44	1833.19	720.06	0	0	0	11.41	15.46	15.24
1952.04	17542	146.63	1.33	0.00	2693.4	2614.1	2772.8	1832.9	720.2	135.12	16.28	275	1960.99	0.00	0.00	3.56	0.000	0.000	0.033	2691.44	2613.31	2769.56	1833.25	2202.06	0	0	0	30.00	30.00	15.38
2147.05	16774	146.63	1.32	80.00	2691.7	2614.1	2769.2	1832.6	2202.1	105.61	14.62	295	2155.98	0.00	0.00	3.59	0.000	0.000	0.093	2692.78	2616.44	2769.12	1833.19	3651.25	0	0	0	30.00	30.00	15.50
2300.33	17542	146.63	1.29	0.00	2690.2	2614.3	2766.1	1832.8	3651.5	78.28	17.08	324	2309.19	0.00	0.00	3.49	0.000	0.000	0.016	2692.56	2616.62	2768.50	1832.31	2158.06	0	0	0	30.00	30.00	15.58
2495.33	16774	146.63	1.28	80.00	2689.7	2613.7	2765.7	1832.7	2157.3	51.63	13.08	344	2504.33	0.00	0.00	3.69	0.000	0.000	0.089	2689.59	2613.50	2765.69	1832.31	3652.88	0	0	0	30.00	30.00	15.60
2538.17	21639	146.63	1.25	0.00	2689.6	2613.8	2765.3	1832.8	3652.6	45.38	15.03	352	2547.24	0.00	0.28	3.51	0.000	0.184	0.016	2688.59	2612.38	2764.81	1796.44	2157.50	0	0	0	30.00	15.58	15.67
2731.02	16774	146.63	1.26	80.00	2689.1	2612.9	2765.2	1797.8	2156.9	24.39	10.12	390	2739.78	0.00	0.00	3.69	0.000	0.000	0.089	2686.62	2610.56	2762.69	1798.38	3651.75	0	0	0	30.00	30.00	15.66
2793.61	17542	146.63	1.25	0.00	2688.8	2612.2	2765.3	1798.1	3651.6	17.35	11.52	402	2802.17	0.00	0.00	3.49	0.000	0.000	0.016	2691.41	2615.25	2767.56	1798.19	2154.94	0	0	0	30.00	30.00	15.71
2986.03	10663	279.54	1.43	80.00	2688.3	2612.0	2764.6	1798.1	2155.1	5.89	3.84	440	3094.62	90.95	0.34	3.76	0.727	0.048	0.089	2155.22	2042.44	2268.00	1857.25	3652.00	0	0	0	11.62	15.75	15.46
3163.56	11431	488.72	1.71	0.00	2150.1	2042.8	2257.3	1856.7	3651.5	5.34	0.31	471	3182.76	9.26	0.37	3.53	0.591	0.046	0.014	2114.09	2004.62	2223.56	1925.06	2155.12	0	0	0	11.52	15.53	15.55
3183	end climb: NO_VERTICAL_VELOCITY
state	3184	begin surface