Glider dive log

HoodCanal 21Jun23 * SG243 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 243 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2087 ALTIM_PULSE 3

MISSION 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 1 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 1 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 711.37 ROLL_MAXERRORS 0 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 90 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -1.7

D_ABORT 125 COMM_SEQ 15 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3400 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 129 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 30 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 55 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 400 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 400 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 700 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1740 MINV_24V 10 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 10 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 14.30689 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 53.171585 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 101.86549 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 2 PRESSURE_YINT -165.87093 SEABIRD_T_J 4.3e-06

MASS 72547 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022387519 SEABIRD_C_G -10

NAV_MODE 0 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 2

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 285 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3890 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2087 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 129 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 1 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 90 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 2 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 53.171585 PHONE_SUPPLY 2 SM_CC 711.37

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 101.86549 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.015 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 14.30689 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 HEAD_ERRBAND 10 PITCH_MIN 205 T_ABORT 1440

COMM_SEQ 15 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 243 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 30

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT -1.7 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1740 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022387519 T_MISSION 55

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -165.87093 T_NO_W 60

C_ROLL_CLIMB 2087 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2087 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3400 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 400 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 400

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 700 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 400 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 2 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72547 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 2

DEVICE5 -1 MINV_10V 10 ROLL_MAX 3890 VBD_MIN 500

DEVICE6 -1 MINV_24V 10 ROLL_MAXERRORS 0 VBD_TIMEOUT 720

DIVE 1 MISSION 5 ROLL_MIN 285 W_ADJ_DBAND 0

D_ABORT 125 MOTHERBOARD 6 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 0 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 3 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 210623,163657,4736.599,-12256.603,1,1.5,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,164029,4736.602,-12256.616,4,1.5,9,15.4 MHEAD_RNG_PITCHd_Wd 175.4,1228,-17.6,-10.000,-21.21,2209,0.070

SPEED_LIMITS 0.173,0.258 D_GRID 167

TGT_NAME S IRON 1.000000,-0.005052,0.059860,0.017763,1.033273,-0.062803,-0.031660,-0.012134,1.011246,18.062286,-1094.535522,-894.362610

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,1,20230621170810.399071,18,32767,45,0209,0150,07,01,01,00,01,1,012,121,3,5,7,6,150,2.6,0.78,-100,2.22,-01,1.01,64,10000,5000,0,1,00,00*66 _10V_AH 14.98,0.000

NET_PING 1687367259,29,208.374008,10.800000,-74.084915 FG_AHR_24Vo 102.050

NAV 1687368477,0.5,0,stop FG_AHR_10Vo 53.203

FREEZE 4.25,14.972,-1.444,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2706.88,223.87,0.992,0,500.9,390.2,611.6,711.15 MEM2 945836,23,100892,69

SM_GC 1.70,0.00,12.20,0.10,0.000,0.052,0.133,497.3,389.9,604.7,193.8,2116.6,0,0,0,30.00,15.54,15.56 DATA_FILE_SIZE 12916,432

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 188124,0

IRIDIUM_FIX 4736.00,-12258.89,210623,163416 SDSIZE 3887104,3874272

TCM_TEMP 13.64 SDFILEDIR 43,2

SC_FREEKB 3878464 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

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,0.005947,-0.141970,-0.001081,1.061721,-0.014429,0.018579,-0.089018,1.238531,193.4,-1157.6,-995.9,21,0.0293,0

HUMID 56.40 IMPLIED_C_PITCH 1760,13.50,202,1750.2,13.90

TEMP 11.93 IMPLIED_C_VBD 3247,75.615349,202,3323.3

INTERNAL_PRESSURE 10.3726 GPS 210623,172839,4736.432,-12256.559,1,1.3,22,15.4

_24V_AH 14.21,81.704

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 750 2647 28218.46 nil 0 0 0.00

Pitch_motor 26 266 100.88 nil 0 0 0.00

Roll_motor 57 169 138.47 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 17 15 4.04 nil 0 0 0.00

Core 1723 5 132.22 SciCon 2470 7 281.72

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 896 0 4.30

Compass 927 5 69.46

RAFOS 1732 40 1038.34

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

7.84 16386 -146.63 -1.41 0.00 499.2 390.4 607.9 194.6 2120.8 0.00 0.00 0 102.34 90.93 0.00 0.00 0.005 0.000 0.000 2464.34 2401.81 2526.88 194.38 2121.19 0 0 0 16.01 30.00 30.00

102.67 18983 -146.63 -1.41 -80.00 2464.3 2402.1 2526.6 194.5 2120.7 3.49 -2.35 18 170.54 44.15 9.61 3.76 0.005 0.267 0.104 3958.50 3919.62 3997.38 1399.12 617.88 0 0 0 16.06 15.48 15.82

198.97 17574 -146.63 -1.38 0.00 3959.0 3920.1 3997.8 1399.2 617.9 9.06 -7.13 36 204.97 0.00 0.00 3.46 0.042 0.000 0.045 3958.91 3919.94 3997.88 1398.94 2119.06 0 0 0 30.36 30.00 15.83

386.92 16678 -146.63 -1.38 80.00 3959.1 3920.6 3997.7 1398.9 2120.1 20.66 -6.03 74 393.05 0.00 0.00 3.46 2.647 0.000 0.109 3963.44 3922.25 4004.62 1398.94 3553.62 0 0 0 30.36 30.00 15.83

429.43 17574 -146.63 -1.33 0.00 3963.5 3922.4 4004.6 1398.3 3553.8 23.73 -7.16 82 435.32 0.00 0.00 3.43 0.000 0.000 0.045 3963.53 3922.19 4004.88 1399.00 2053.62 0 0 0 30.00 30.00 15.85

619.40 16678 -146.63 -1.33 80.00 3963.6 3922.5 4004.7 1399.1 2053.8 38.87 -9.17 120 626.50 0.00 0.00 3.63 0.000 0.000 0.101 3963.56 3922.25 4004.88 1398.75 3555.19 0 0 0 30.00 30.00 15.74

784.92 3205 -146.63 -1.25 0.00 3963.3 3922.2 4004.4 1399.1 3554.6 58.47 -12.92 153 791.38 0.00 0.27 3.46 0.000 0.175 0.046 3962.91 3921.69 4004.12 1438.19 2053.38 0 0 0 30.00 15.54 15.78

979.87 260 -146.63 -1.25 80.00 3963.9 3922.5 4005.3 1438.2 2053.6 78.66 -10.14 173 986.25 0.00 0.00 3.65 0.000 0.000 0.103 3962.97 3922.00 4003.94 1437.75 3553.75 0 0 0 30.00 30.00 15.74

1078 end dive: TARGET_DEPTH_EXCEEDED

state 1078 begin apogee

1083.45 10243 0.00 -0.35 0.00 3963.6 3922.3 4004.9 1438.1 2055.9 90.30 -12.57 192 1186.60 94.17 1.53 0.10 1.071 0.147 0.169 3397.88 3321.31 3474.44 1656.44 2118.25 0 0 0 10.11 15.64 15.65

1188 end apogee: CONTROL_FINISHED_OK

state 1189 begin climb

1188.95 10759 146.63 1.41 -80.00 3397.6 3321.8 3473.4 1656.9 2117.2 95.00 0.00 202 1314.67 107.84 2.82 3.89 1.067 0.104 0.108 2798.22 2696.31 2900.12 2086.19 620.06 0 0 0 10.48 15.64 15.45

1328.11 9382 196.98 1.41 0.00 2793.7 2695.3 2892.1 2085.1 620.2 88.42 7.67 228 1375.26 38.42 0.00 3.53 1.032 0.000 0.045 2596.00 2492.50 2699.50 2085.25 2117.31 0 0 0 10.31 30.00 15.57

1558.60 8486 207.18 1.42 80.00 2587.3 2487.4 2687.2 2085.6 2117.0 66.82 9.53 256 1574.40 9.06 0.00 3.55 0.976 0.000 0.113 2554.97 2453.75 2656.19 2085.50 3553.62 0 0 0 10.36 30.00 15.63

1684.62 1156 207.18 1.38 0.00 2551.3 2453.1 2649.6 2085.4 3553.9 53.37 10.80 281 1691.38 0.00 0.00 3.52 0.000 0.000 0.048 2550.34 2450.75 2649.94 2085.38 2056.88 0 0 0 30.00 30.00 15.61

1875.38 8486 246.45 1.43 80.00 2549.4 2450.2 2648.6 2085.0 2056.4 36.64 8.18 315 1917.38 31.06 0.00 3.70 1.036 0.000 0.112 2391.53 2285.88 2497.19 2085.69 3552.69 0 0 0 10.46 30.00 15.69

1980.81 9254 256.82 1.44 0.00 2389.0 2286.1 2491.9 2085.6 3552.2 26.99 9.52 336 1997.33 9.16 0.00 3.51 0.843 0.000 0.047 2353.03 2245.31 2460.75 2084.25 2057.00 0 0 0 10.51 30.00 15.71

2180.83 10663 319.97 1.55 80.00 2348.8 2244.2 2453.4 2085.9 2057.4 10.74 7.08 376 2237.07 46.70 0.19 3.72 0.964 0.092 0.112 2091.34 1977.00 2205.69 2124.25 3551.62 0 0 0 10.44 15.67 15.64

2240.58 9382 396.85 1.68 0.00 2091.5 1978.4 2204.6 2124.0 3551.4 6.92 6.44 387 2304.31 54.74 0.00 3.53 0.954 0.000 0.047 1780.81 1659.94 1901.69 2124.00 2056.25 0 0 0 10.42 30.00 15.70

2468 end climb: NO_VERTICAL_VELOCITY

state 2468 begin surface

ID	243	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2087	ALTIM_PULSE	3
MISSION	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	1	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	1	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	711.37	ROLL_MAXERRORS	0	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	90	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-1.7
D_ABORT	125	COMM_SEQ	15	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3400	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	129	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	30	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	55	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	400	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	400	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	700	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1740	MINV_24V	10	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	10	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	14.30689	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	53.171585	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	101.86549	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-165.87093	SEABIRD_T_J	4.3e-06
MASS	72547	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022387519	SEABIRD_C_G	-10
NAV_MODE	0	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	2
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	285	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3890	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2087	ALTIM_FREQUENCY	13

GPS1	210623,163657,4736.599,-12256.603,1,1.5,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,164029,4736.602,-12256.616,4,1.5,9,15.4	MHEAD_RNG_PITCHd_Wd	175.4,1228,-17.6,-10.000,-21.21,2209,0.070
SPEED_LIMITS	0.173,0.258	D_GRID	167
TGT_NAME	S	IRON	1.000000,-0.005052,0.059860,0.017763,1.033273,-0.062803,-0.031660,-0.012134,1.011246,18.062286,-1094.535522,-894.362610
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NET	CACST,8,1,20230621170810.399071,18,32767,45,0209,0150,07,01,01,00,01,1,012,121,3,5,7,6,150,2.6,0.78,-100,2.22,-01,1.01,64,10000,5000,0,1,00,00*66	_10V_AH	14.98,0.000
NET_PING	1687367259,29,208.374008,10.800000,-74.084915	FG_AHR_24Vo	102.050
NAV	1687368477,0.5,0,stop	FG_AHR_10Vo	53.203
FREEZE	4.25,14.972,-1.444,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2706.88,223.87,0.992,0,500.9,390.2,611.6,711.15	MEM2	945836,23,100892,69
SM_GC	1.70,0.00,12.20,0.10,0.000,0.052,0.133,497.3,389.9,604.7,193.8,2116.6,0,0,0,30.00,15.54,15.56	DATA_FILE_SIZE	12916,432
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	188124,0
IRIDIUM_FIX	4736.00,-12258.89,210623,163416	SDSIZE	3887104,3874272
TCM_TEMP	13.64	SDFILEDIR	43,2
SC_FREEKB	3878464	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
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,0.005947,-0.141970,-0.001081,1.061721,-0.014429,0.018579,-0.089018,1.238531,193.4,-1157.6,-995.9,21,0.0293,0
HUMID	56.40	IMPLIED_C_PITCH	1760,13.50,202,1750.2,13.90
TEMP	11.93	IMPLIED_C_VBD	3247,75.615349,202,3323.3
INTERNAL_PRESSURE	10.3726	GPS	210623,172839,4736.432,-12256.559,1,1.3,22,15.4
_24V_AH	14.21,81.704

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	750	2647	28218.46	nil	0	0	0.00
Pitch_motor	26	266	100.88	nil	0	0	0.00
Roll_motor	57	169	138.47	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	17	15	4.04	nil	0	0	0.00
Core	1723	5	132.22	SciCon	2470	7	281.72
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	896	0	4.30
Compass	927	5	69.46
RAFOS	1732	40	1038.34
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
7.84	16386	-146.63	-1.41	0.00	499.2	390.4	607.9	194.6	2120.8	0.00	0.00	0	102.34	90.93	0.00	0.00	0.005	0.000	0.000	2464.34	2401.81	2526.88	194.38	2121.19	0	0	0	16.01	30.00	30.00
102.67	18983	-146.63	-1.41	-80.00	2464.3	2402.1	2526.6	194.5	2120.7	3.49	-2.35	18	170.54	44.15	9.61	3.76	0.005	0.267	0.104	3958.50	3919.62	3997.38	1399.12	617.88	0	0	0	16.06	15.48	15.82
198.97	17574	-146.63	-1.38	0.00	3959.0	3920.1	3997.8	1399.2	617.9	9.06	-7.13	36	204.97	0.00	0.00	3.46	0.042	0.000	0.045	3958.91	3919.94	3997.88	1398.94	2119.06	0	0	0	30.36	30.00	15.83
386.92	16678	-146.63	-1.38	80.00	3959.1	3920.6	3997.7	1398.9	2120.1	20.66	-6.03	74	393.05	0.00	0.00	3.46	2.647	0.000	0.109	3963.44	3922.25	4004.62	1398.94	3553.62	0	0	0	30.36	30.00	15.83
429.43	17574	-146.63	-1.33	0.00	3963.5	3922.4	4004.6	1398.3	3553.8	23.73	-7.16	82	435.32	0.00	0.00	3.43	0.000	0.000	0.045	3963.53	3922.19	4004.88	1399.00	2053.62	0	0	0	30.00	30.00	15.85
619.40	16678	-146.63	-1.33	80.00	3963.6	3922.5	4004.7	1399.1	2053.8	38.87	-9.17	120	626.50	0.00	0.00	3.63	0.000	0.000	0.101	3963.56	3922.25	4004.88	1398.75	3555.19	0	0	0	30.00	30.00	15.74
784.92	3205	-146.63	-1.25	0.00	3963.3	3922.2	4004.4	1399.1	3554.6	58.47	-12.92	153	791.38	0.00	0.27	3.46	0.000	0.175	0.046	3962.91	3921.69	4004.12	1438.19	2053.38	0	0	0	30.00	15.54	15.78
979.87	260	-146.63	-1.25	80.00	3963.9	3922.5	4005.3	1438.2	2053.6	78.66	-10.14	173	986.25	0.00	0.00	3.65	0.000	0.000	0.103	3962.97	3922.00	4003.94	1437.75	3553.75	0	0	0	30.00	30.00	15.74
1078	end dive: TARGET_DEPTH_EXCEEDED
state	1078	begin apogee
1083.45	10243	0.00	-0.35	0.00	3963.6	3922.3	4004.9	1438.1	2055.9	90.30	-12.57	192	1186.60	94.17	1.53	0.10	1.071	0.147	0.169	3397.88	3321.31	3474.44	1656.44	2118.25	0	0	0	10.11	15.64	15.65
1188	end apogee: CONTROL_FINISHED_OK
state	1189	begin climb
1188.95	10759	146.63	1.41	-80.00	3397.6	3321.8	3473.4	1656.9	2117.2	95.00	0.00	202	1314.67	107.84	2.82	3.89	1.067	0.104	0.108	2798.22	2696.31	2900.12	2086.19	620.06	0	0	0	10.48	15.64	15.45
1328.11	9382	196.98	1.41	0.00	2793.7	2695.3	2892.1	2085.1	620.2	88.42	7.67	228	1375.26	38.42	0.00	3.53	1.032	0.000	0.045	2596.00	2492.50	2699.50	2085.25	2117.31	0	0	0	10.31	30.00	15.57
1558.60	8486	207.18	1.42	80.00	2587.3	2487.4	2687.2	2085.6	2117.0	66.82	9.53	256	1574.40	9.06	0.00	3.55	0.976	0.000	0.113	2554.97	2453.75	2656.19	2085.50	3553.62	0	0	0	10.36	30.00	15.63
1684.62	1156	207.18	1.38	0.00	2551.3	2453.1	2649.6	2085.4	3553.9	53.37	10.80	281	1691.38	0.00	0.00	3.52	0.000	0.000	0.048	2550.34	2450.75	2649.94	2085.38	2056.88	0	0	0	30.00	30.00	15.61
1875.38	8486	246.45	1.43	80.00	2549.4	2450.2	2648.6	2085.0	2056.4	36.64	8.18	315	1917.38	31.06	0.00	3.70	1.036	0.000	0.112	2391.53	2285.88	2497.19	2085.69	3552.69	0	0	0	10.46	30.00	15.69
1980.81	9254	256.82	1.44	0.00	2389.0	2286.1	2491.9	2085.6	3552.2	26.99	9.52	336	1997.33	9.16	0.00	3.51	0.843	0.000	0.047	2353.03	2245.31	2460.75	2084.25	2057.00	0	0	0	10.51	30.00	15.71
2180.83	10663	319.97	1.55	80.00	2348.8	2244.2	2453.4	2085.9	2057.4	10.74	7.08	376	2237.07	46.70	0.19	3.72	0.964	0.092	0.112	2091.34	1977.00	2205.69	2124.25	3551.62	0	0	0	10.44	15.67	15.64
2240.58	9382	396.85	1.68	0.00	2091.5	1978.4	2204.6	2124.0	3551.4	6.92	6.44	387	2304.31	54.74	0.00	3.53	0.954	0.000	0.047	1780.81	1659.94	1901.69	2124.00	2056.25	0	0	0	10.42	30.00	15.70
2468	end climb: NO_VERTICAL_VELOCITY
state	2468	begin surface