Glider dive log

HoodCanal 25Jun23 * SG244 * Dive index * Mission links * Dive 8 * 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 8 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 10 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 2.4486845 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 10.555801 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 10 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 2.4486845 PHONE_DEVICE 33 SM_CC 686.83997

ALTIM_SENSITIVITY 2 FG_AHR_24V 10.555801 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 8 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 250623,234448,4735.964,-12256.902,2,1.4,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 250623,234903,4735.955,-12256.902,3,1.4,5,15.4 MHEAD_RNG_PITCHd_Wd 8.7,1194,-17.6,-10.000,-21.21,2209,0.171

SPEED_LIMITS 0.173,0.258 D_GRID 166

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 8000266

Post-dive calculations and measurements:

NAV 1687739232,85.1,3,stop _24V_AH 14.88,6.785

NET xmit ok outbox0006.n 853 14 _10V_AH 14.98,0.000

NET_PING 1687739560,29,556.069519,15.000000,-0.741294 FG_AHR_24Vo 10.692

MODEM_MSG CACST,8,1,20230626002500.408673,18,32767,45,0105,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-6.2,0.73,-100,2.27,-01,0.04,87,925,0025,0,-1,00,00*2E FG_AHR_10Vo 2.458

FREEZE 8.54,12.146,-1.583,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3419.25,298.30,0.704,0,500.7,442.9,558.4,686.68 MEM2 945544,32,100964,71

SM_GC 1.27,0.00,10.96,0.37,0.000,0.045,0.069,495.9,441.5,550.3,185.9,2321.8,0,0,0,30.00,15.36,15.36 DATA_FILE_SIZE 12930,438

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 168231,0

IRIDIUM_FIX 4736.87,-12256.21,250623,225837 SDSIZE 3887104,3870592

TCM_TEMP 18.30 SDFILEDIR 104,9

SC_FREEKB 3876192 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 0,1687737600,47.60500,-122.95000,0.269,394.0 CURRENT 0.031,163.2,1

RAFOS_FIX 4709.652344,-12253.476562,260623,000000,3,255,22.67 MAGCAL 1.000000,0.014473,0.006625,-0.008075,1.097312,0.009610,-0.066524,-0.180406,1.173756,611.2,-360.4,-422.7,35,0.0698,0

HUMID 57.27 IMPLIED_C_PITCH 1533,15.76,240,0.0,0.00

TEMP 10.65 IMPLIED_C_VBD 3423,18.468050,240,0

INTERNAL_PRESSURE 8.28614 GPS 260623,004909,4736.231,-12256.680,1,0.9,18,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 676 883 8891.91 nil 0 0 0.00

Pitch_motor 23 248 85.80 nil 0 0 0.00

Roll_motor 50 160 119.67 nil 0 0 0.00

Iridium 190 177 501.60 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.21 nil 0 0 0.00

Core 1985 5 152.28 SciCon 3097 7 355.32

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1453 0 6.97

Compass 924 5 69.21

RAFOS 1691 40 1013.51

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

6.36 16386 -146.63 -1.35 0.00 495.2 443.2 547.1 185.8 2272.1 0.00 0.00 0 72.02 59.71 0.00 0.00 0.005 0.000 0.000 2176.53 2165.12 2187.94 185.94 2272.50 0 0 0 15.63 30.00 30.00

72.54 18727 -146.63 -1.35 80.00 2180.7 2166.9 2194.4 186.0 2272.2 3.21 -3.20 12 142.75 42.96 7.61 3.68 0.005 0.249 0.094 3900.09 3886.19 3914.00 1171.75 3768.06 0 0 0 15.66 15.46 15.57

146.40 1156 -146.63 -1.28 0.00 3900.5 3886.2 3914.8 1171.9 3767.6 11.62 -11.46 25 154.29 0.00 0.00 3.40 0.000 0.000 0.017 3900.16 3886.00 3914.31 1171.75 2267.38 0 0 0 30.00 30.00 15.62

337.91 2693 -146.63 -1.25 -80.00 3902.1 3886.4 3917.7 1172.0 2266.0 34.51 -11.01 63 346.59 0.00 0.17 3.59 0.000 0.170 0.103 3902.25 3886.44 3918.06 1197.50 834.00 0 0 0 30.00 15.63 15.62

375.38 1156 -146.63 -1.23 0.00 3902.1 3886.1 3918.1 1197.6 834.1 38.62 -10.95 70 383.74 0.00 0.00 3.48 0.000 0.000 0.034 3901.53 3885.75 3917.31 1198.94 2318.06 0 0 0 30.00 30.00 15.67

577.49 160 -146.63 -1.21 0.00 3902.8 3886.8 3918.7 1198.1 2317.6 56.97 -9.47 101 580.76 0.00 0.00 0.00 0.000 0.000 0.000 3902.53 3886.62 3918.44 1198.81 2318.00 0 0 0 30.00 30.00 30.00

761.66 388 -146.63 -1.19 80.00 3903.2 3886.4 3920.0 1198.8 2318.1 76.14 -10.29 120 770.33 0.00 0.00 3.54 0.000 0.000 0.097 3902.25 3885.62 3918.88 1198.75 3768.19 0 0 0 30.00 30.00 15.67

822.60 3205 -146.63 -1.12 0.00 3903.1 3886.6 3919.6 1198.7 3767.5 83.68 -12.84 131 834.69 0.00 0.22 3.42 0.000 0.158 0.016 3903.53 3886.56 3920.50 1230.62 2262.31 0 0 0 30.00 15.59 15.61

1022.15 160 -146.63 -1.11 0.00 3903.9 3885.9 3921.8 1230.5 2262.2 100.43 -7.78 152 1024.03 0.00 0.00 0.00 0.000 0.000 0.000 3903.12 3885.62 3920.62 1230.31 2262.12 0 0 0 30.00 30.00 30.00

1212.00 292 -146.63 -1.11 80.00 3904.2 3886.3 3922.1 1230.6 2261.9 115.54 -7.69 171 1220.94 0.00 0.00 3.71 0.000 0.000 0.098 3903.66 3885.81 3921.50 1230.75 3766.69 0 0 0 30.00 30.00 15.65

1323.97 1156 -146.63 -1.09 0.00 3904.5 3886.9 3922.1 1230.5 3766.6 126.49 -10.16 193 1331.90 0.00 0.00 3.38 0.000 0.000 0.015 3904.69 3886.31 3923.06 1230.81 2268.44 0 0 0 30.00 30.00 15.71

1519.67 292 -146.63 -1.09 80.00 3904.4 3886.3 3922.4 1231.0 2267.2 142.56 -8.29 213 1528.53 0.00 0.00 3.69 0.000 0.000 0.098 3904.16 3886.31 3922.00 1230.75 3766.25 0 0 0 30.00 30.00 15.68

1557.40 1188 -146.63 -1.08 0.00 3904.3 3886.4 3922.2 1231.1 3766.9 146.26 -9.87 220 1565.82 0.00 0.00 3.39 0.000 0.000 0.016 3868.28 3813.62 3922.94 1230.69 2266.81 0 0 0 30.00 30.00 15.72

1602 end dive: TARGET_DEPTH_EXCEEDED

state 1602 begin apogee

1604.07 10243 0.00 -0.33 0.00 3904.8 3886.6 3923.1 1231.2 2155.1 150.23 -8.74 225 1722.62 104.82 1.28 0.09 0.884 0.115 0.160 3297.50 3241.38 3353.62 1421.38 2208.44 0 0 0 11.53 15.66 15.43

1724 end apogee: CONTROL_FINISHED_OK

state 1724 begin climb

1724.07 10243 146.63 1.35 0.00 3296.0 3240.4 3351.5 1421.2 2208.2 153.05 0.00 236 1846.39 106.92 2.68 0.00 0.862 0.076 0.000 2697.94 2614.38 2781.50 1831.38 2208.44 0 0 0 11.23 15.40 30.00

2030.09 16514 146.63 1.34 -80.00 2691.8 2612.5 2771.1 1830.8 2208.1 117.94 14.05 268 2032.07 0.00 0.00 0.00 0.000 0.000 0.000 2690.50 2611.19 2769.81 1831.56 2207.94 0 0 0 30.00 30.00 30.00

2220.11 16774 146.63 1.34 80.00 2690.3 2611.4 2769.2 1831.8 2208.3 91.05 14.16 287 2228.79 0.00 0.00 3.58 0.000 0.000 0.097 2689.00 2610.19 2767.81 1831.56 3654.31 0 0 0 30.00 30.00 15.52

2317.56 17542 146.63 1.31 0.00 2689.9 2611.9 2767.9 1831.1 3653.9 74.82 16.89 306 2326.17 0.00 0.00 3.46 0.000 0.000 0.020 2688.06 2609.75 2766.38 1831.50 2158.69 0 0 0 30.00 30.00 15.61

2512.42 16386 146.63 1.31 0.00 2688.8 2610.6 2767.1 1831.1 2158.4 50.32 12.02 326 2514.28 0.00 0.00 0.00 0.000 0.000 0.000 2687.47 2608.75 2766.19 1831.44 2158.62 0 0 0 30.00 30.00 30.00

2696.74 16646 146.63 1.31 80.00 2688.4 2609.6 2767.2 1831.5 2158.4 28.86 10.42 361 2705.45 0.00 0.00 3.70 0.000 0.000 0.095 2686.94 2608.25 2765.62 1831.12 3651.25 0 0 0 30.00 30.00 15.58

2829.31 1188 148.76 1.29 0.00 2688.3 2610.0 2766.6 1831.4 3651.1 14.30 9.90 387 2837.57 0.00 0.00 3.44 0.000 0.000 0.019 2687.88 2610.94 2764.81 1831.00 2157.06 0 0 0 30.00 30.00 15.67

3021.36 10919 337.95 1.53 -80.00 2687.2 2608.7 2765.8 1831.3 2157.5 9.05 1.24 425 3091.72 63.50 0.25 0.00 0.729 0.052 0.000 2329.69 2224.50 2434.88 1879.50 2157.44 0 0 0 11.53 15.72 30.00

3092 end climb: NO_VERTICAL_VELOCITY

state 3092 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	8	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	10	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	2.4486845	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	10.555801	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	250623,234448,4735.964,-12256.902,2,1.4,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	250623,234903,4735.955,-12256.902,3,1.4,5,15.4	MHEAD_RNG_PITCHd_Wd	8.7,1194,-17.6,-10.000,-21.21,2209,0.171
SPEED_LIMITS	0.173,0.258	D_GRID	166
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	8000266

NAV	1687739232,85.1,3,stop	_24V_AH	14.88,6.785
NET	xmit ok outbox0006.n 853 14	_10V_AH	14.98,0.000
NET_PING	1687739560,29,556.069519,15.000000,-0.741294	FG_AHR_24Vo	10.692
MODEM_MSG	CACST,8,1,20230626002500.408673,18,32767,45,0105,0000,07,00,00,00,00,-1,-01,-01,1,3,0,0,150,-6.2,0.73,-100,2.27,-01,0.04,87,925,0025,0,-1,00,00*2E	FG_AHR_10Vo	2.458
FREEZE	8.54,12.146,-1.583,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3419.25,298.30,0.704,0,500.7,442.9,558.4,686.68	MEM2	945544,32,100964,71
SM_GC	1.27,0.00,10.96,0.37,0.000,0.045,0.069,495.9,441.5,550.3,185.9,2321.8,0,0,0,30.00,15.36,15.36	DATA_FILE_SIZE	12930,438
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	168231,0
IRIDIUM_FIX	4736.87,-12256.21,250623,225837	SDSIZE	3887104,3870592
TCM_TEMP	18.30	SDFILEDIR	104,9
SC_FREEKB	3876192	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	0,1687737600,47.60500,-122.95000,0.269,394.0	CURRENT	0.031,163.2,1
RAFOS_FIX	4709.652344,-12253.476562,260623,000000,3,255,22.67	MAGCAL	1.000000,0.014473,0.006625,-0.008075,1.097312,0.009610,-0.066524,-0.180406,1.173756,611.2,-360.4,-422.7,35,0.0698,0
HUMID	57.27	IMPLIED_C_PITCH	1533,15.76,240,0.0,0.00
TEMP	10.65	IMPLIED_C_VBD	3423,18.468050,240,0
INTERNAL_PRESSURE	8.28614	GPS	260623,004909,4736.231,-12256.680,1,0.9,18,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	676	883	8891.91	nil	0	0	0.00
Pitch_motor	23	248	85.80	nil	0	0	0.00
Roll_motor	50	160	119.67	nil	0	0	0.00
Iridium	190	177	501.60	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.21	nil	0	0	0.00
Core	1985	5	152.28	SciCon	3097	7	355.32
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1453	0	6.97
Compass	924	5	69.21
RAFOS	1691	40	1013.51
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
6.36	16386	-146.63	-1.35	0.00	495.2	443.2	547.1	185.8	2272.1	0.00	0.00	0	72.02	59.71	0.00	0.00	0.005	0.000	0.000	2176.53	2165.12	2187.94	185.94	2272.50	0	0	0	15.63	30.00	30.00
72.54	18727	-146.63	-1.35	80.00	2180.7	2166.9	2194.4	186.0	2272.2	3.21	-3.20	12	142.75	42.96	7.61	3.68	0.005	0.249	0.094	3900.09	3886.19	3914.00	1171.75	3768.06	0	0	0	15.66	15.46	15.57
146.40	1156	-146.63	-1.28	0.00	3900.5	3886.2	3914.8	1171.9	3767.6	11.62	-11.46	25	154.29	0.00	0.00	3.40	0.000	0.000	0.017	3900.16	3886.00	3914.31	1171.75	2267.38	0	0	0	30.00	30.00	15.62
337.91	2693	-146.63	-1.25	-80.00	3902.1	3886.4	3917.7	1172.0	2266.0	34.51	-11.01	63	346.59	0.00	0.17	3.59	0.000	0.170	0.103	3902.25	3886.44	3918.06	1197.50	834.00	0	0	0	30.00	15.63	15.62
375.38	1156	-146.63	-1.23	0.00	3902.1	3886.1	3918.1	1197.6	834.1	38.62	-10.95	70	383.74	0.00	0.00	3.48	0.000	0.000	0.034	3901.53	3885.75	3917.31	1198.94	2318.06	0	0	0	30.00	30.00	15.67
577.49	160	-146.63	-1.21	0.00	3902.8	3886.8	3918.7	1198.1	2317.6	56.97	-9.47	101	580.76	0.00	0.00	0.00	0.000	0.000	0.000	3902.53	3886.62	3918.44	1198.81	2318.00	0	0	0	30.00	30.00	30.00
761.66	388	-146.63	-1.19	80.00	3903.2	3886.4	3920.0	1198.8	2318.1	76.14	-10.29	120	770.33	0.00	0.00	3.54	0.000	0.000	0.097	3902.25	3885.62	3918.88	1198.75	3768.19	0	0	0	30.00	30.00	15.67
822.60	3205	-146.63	-1.12	0.00	3903.1	3886.6	3919.6	1198.7	3767.5	83.68	-12.84	131	834.69	0.00	0.22	3.42	0.000	0.158	0.016	3903.53	3886.56	3920.50	1230.62	2262.31	0	0	0	30.00	15.59	15.61
1022.15	160	-146.63	-1.11	0.00	3903.9	3885.9	3921.8	1230.5	2262.2	100.43	-7.78	152	1024.03	0.00	0.00	0.00	0.000	0.000	0.000	3903.12	3885.62	3920.62	1230.31	2262.12	0	0	0	30.00	30.00	30.00
1212.00	292	-146.63	-1.11	80.00	3904.2	3886.3	3922.1	1230.6	2261.9	115.54	-7.69	171	1220.94	0.00	0.00	3.71	0.000	0.000	0.098	3903.66	3885.81	3921.50	1230.75	3766.69	0	0	0	30.00	30.00	15.65
1323.97	1156	-146.63	-1.09	0.00	3904.5	3886.9	3922.1	1230.5	3766.6	126.49	-10.16	193	1331.90	0.00	0.00	3.38	0.000	0.000	0.015	3904.69	3886.31	3923.06	1230.81	2268.44	0	0	0	30.00	30.00	15.71
1519.67	292	-146.63	-1.09	80.00	3904.4	3886.3	3922.4	1231.0	2267.2	142.56	-8.29	213	1528.53	0.00	0.00	3.69	0.000	0.000	0.098	3904.16	3886.31	3922.00	1230.75	3766.25	0	0	0	30.00	30.00	15.68
1557.40	1188	-146.63	-1.08	0.00	3904.3	3886.4	3922.2	1231.1	3766.9	146.26	-9.87	220	1565.82	0.00	0.00	3.39	0.000	0.000	0.016	3868.28	3813.62	3922.94	1230.69	2266.81	0	0	0	30.00	30.00	15.72
1602	end dive: TARGET_DEPTH_EXCEEDED
state	1602	begin apogee
1604.07	10243	0.00	-0.33	0.00	3904.8	3886.6	3923.1	1231.2	2155.1	150.23	-8.74	225	1722.62	104.82	1.28	0.09	0.884	0.115	0.160	3297.50	3241.38	3353.62	1421.38	2208.44	0	0	0	11.53	15.66	15.43
1724	end apogee: CONTROL_FINISHED_OK
state	1724	begin climb
1724.07	10243	146.63	1.35	0.00	3296.0	3240.4	3351.5	1421.2	2208.2	153.05	0.00	236	1846.39	106.92	2.68	0.00	0.862	0.076	0.000	2697.94	2614.38	2781.50	1831.38	2208.44	0	0	0	11.23	15.40	30.00
2030.09	16514	146.63	1.34	-80.00	2691.8	2612.5	2771.1	1830.8	2208.1	117.94	14.05	268	2032.07	0.00	0.00	0.00	0.000	0.000	0.000	2690.50	2611.19	2769.81	1831.56	2207.94	0	0	0	30.00	30.00	30.00
2220.11	16774	146.63	1.34	80.00	2690.3	2611.4	2769.2	1831.8	2208.3	91.05	14.16	287	2228.79	0.00	0.00	3.58	0.000	0.000	0.097	2689.00	2610.19	2767.81	1831.56	3654.31	0	0	0	30.00	30.00	15.52
2317.56	17542	146.63	1.31	0.00	2689.9	2611.9	2767.9	1831.1	3653.9	74.82	16.89	306	2326.17	0.00	0.00	3.46	0.000	0.000	0.020	2688.06	2609.75	2766.38	1831.50	2158.69	0	0	0	30.00	30.00	15.61
2512.42	16386	146.63	1.31	0.00	2688.8	2610.6	2767.1	1831.1	2158.4	50.32	12.02	326	2514.28	0.00	0.00	0.00	0.000	0.000	0.000	2687.47	2608.75	2766.19	1831.44	2158.62	0	0	0	30.00	30.00	30.00
2696.74	16646	146.63	1.31	80.00	2688.4	2609.6	2767.2	1831.5	2158.4	28.86	10.42	361	2705.45	0.00	0.00	3.70	0.000	0.000	0.095	2686.94	2608.25	2765.62	1831.12	3651.25	0	0	0	30.00	30.00	15.58
2829.31	1188	148.76	1.29	0.00	2688.3	2610.0	2766.6	1831.4	3651.1	14.30	9.90	387	2837.57	0.00	0.00	3.44	0.000	0.000	0.019	2687.88	2610.94	2764.81	1831.00	2157.06	0	0	0	30.00	30.00	15.67
3021.36	10919	337.95	1.53	-80.00	2687.2	2608.7	2765.8	1831.3	2157.5	9.05	1.24	425	3091.72	63.50	0.25	0.00	0.729	0.052	0.000	2329.69	2224.50	2434.88	1879.50	2157.44	0	0	0	11.53	15.72	30.00
3092	end climb: NO_VERTICAL_VELOCITY
state	3092	begin surface