Glider dive log

HoodCanal 20Jun23 * SG244 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 244 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2185 ALTIM_PULSE 3

MISSION 4 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 10 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 686.83997 ROLL_MAXERRORS 1 XPDR_INT 13.5

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 13

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT 2.3

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3300 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 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 360 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 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 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 200 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1500 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 15 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 2.2752647 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 7.6685581 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.0049999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -192.53183 SEABIRD_T_J 4.3e-06

MASS 72540 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022440785 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 230 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3835 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 2300 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 30 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 150 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 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 2.2752647 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.6685581 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.0049999999 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 15 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MAX 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 244 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT 2.3 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1500 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022440785 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -192.53183 T_NO_W 60

C_ROLL_CLIMB 2185 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2300 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3300 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72540 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 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 1

DEVICE5 -1 MINV_10V 11 ROLL_MAX 3835 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 360

DIVE 10 MISSION 4 ROLL_MIN 230 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 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 13.5

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 13

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 210623,051012,4736.441,-12256.518,0,1.0,2,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,051357,4736.462,-12256.523,2,1.0,4,15.4 MHEAD_RNG_PITCHd_Wd 191.8,1009,-17.6,-10.000,-21.21,2209,0.145

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.039715,0.008622,-0.030591,1.082832,-0.033720,0.012835,-0.071541,0.988196,588.545898,-356.791168,-300.642365

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,1,20230621055837.957922,18,32767,45,0188,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,14.9,2.50,-100,0.50,-01,0.08,69,10000,5000,0,-1,00,00*5D _24V_AH 14.81,3.573

NET_PING 1687325920,29,336.535492,3.900000,59.550484 _10V_AH 14.90,0.000

MODEM_MSG CACST,8,0,20230621052500.278128,18,32767,45,0119,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-42.1,4.50,-100,-1.50,-01,-0.06,90,925,0025,0,1,00,00*10 FG_AHR_24Vo 7.805

NAV 1687327144,16.0,start FG_AHR_10Vo 2.307

FREEZE 7.60,12.748,-1.569,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3343.55,296.12,0.718,0,500.6,434.7,566.5,686.69 MEM2 945800,27,100868,68

SM_GC 1.65,0.00,10.59,3.22,0.000,0.032,0.018,495.5,433.8,557.3,191.6,2266.9,0,0,0,30.00,15.33,15.32 DATA_FILE_SIZE 12910,441

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 174947,0

IRIDIUM_FIX 4735.53,-12254.47,210623,041027 SDSIZE 3887104,3871520

TCM_TEMP 18.37 SDFILEDIR 111,11

SC_FREEKB 3875648 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 0,1687323600,47.60500,-122.95000,0.437,639.9 CURRENT 0.016,109.2,1

RAFOS_FIX 4736.141602,-12256.630859,210623,050500,4,255,0.92 MAGCAL 1.000000,-0.012031,0.088130,-0.029194,1.108452,-0.094848,-0.132146,0.072372,1.241124,542.3,-355.2,-509.9,28,0.0761,0

HUMID 56.62 IMPLIED_C_PITCH 1516,16.22,220,0.0,0.00

TEMP 10.54 IMPLIED_C_VBD 3340,21.972263,215,0

INTERNAL_PRESSURE 8.26383 GPS 210623,061301,4736.125,-12256.550,2,1.0,19,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 659 888 8672.03 nil 0 0 0.00

Pitch_motor 23 252 86.73 nil 0 0 0.00

Roll_motor 51 171 130.34 nil 0 0 0.00

Iridium 162 168 403.73 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.99 nil 0 0 0.00

Core 2073 5 158.20 SciCon 3021 7 344.80

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1262 0 6.02

Compass 924 5 68.90

RAFOS 1198 40 714.55

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

6.32 16386 -146.63 -1.35 0.00 494.9 436.4 553.4 191.2 2275.4 0.00 0.00 0 50.41 39.78 0.00 0.00 0.005 0.000 0.000 1657.50 1646.31 1668.69 191.25 2275.88 0 0 0 15.56 30.00 30.00

50.92 18983 -146.63 -1.35 -80.00 1659.8 1646.6 1672.9 191.8 2275.6 3.26 -4.57 8 133.12 54.10 7.66 3.64 0.005 0.252 0.110 3898.75 3884.94 3912.56 1171.38 833.94 0 0 0 15.58 15.41 15.49

136.79 1156 -146.63 -1.29 0.00 3900.2 3886.2 3914.1 1171.2 834.3 11.54 -10.49 23 144.82 0.00 0.00 3.55 0.000 0.000 0.038 3900.38 3885.75 3915.00 1171.50 2318.50 0 0 0 30.00 30.00 15.54

328.65 128 -146.63 -1.26 0.00 3903.0 3887.0 3918.9 1171.6 2317.9 35.92 -12.46 60 332.52 0.00 0.00 0.00 0.000 0.000 0.000 3903.31 3887.12 3919.50 1171.69 2318.44 0 0 0 30.00 30.00 30.00

513.59 2177 -146.63 -1.23 0.00 3903.6 3887.0 3920.2 1171.8 2317.8 58.56 -11.71 90 515.83 0.00 0.22 0.00 0.000 0.165 0.000 3904.06 3887.81 3920.31 1204.06 2318.00 0 0 0 30.00 15.55 30.00

703.67 644 -146.63 -1.21 -80.00 3904.2 3886.9 3921.5 1204.0 2317.9 78.85 -10.63 109 712.49 0.00 0.00 3.79 0.000 0.000 0.110 3903.69 3886.44 3920.94 1203.75 834.25 0 0 0 30.00 30.00 15.57

725.51 1156 -146.63 -1.20 0.00 3904.4 3887.6 3921.2 1203.9 834.1 81.35 -10.71 113 733.64 0.00 0.00 3.56 0.000 0.000 0.039 3904.53 3887.62 3921.44 1203.88 2318.12 0 0 0 30.00 30.00 15.62

921.80 676 -146.63 -1.18 -80.00 3904.8 3887.8 3921.8 1203.8 2318.2 100.34 -9.89 133 930.14 0.00 0.00 3.78 0.000 0.000 0.109 3905.69 3887.88 3923.50 1203.88 834.62 0 0 0 30.00 30.00 15.56

993.18 1156 -146.63 -1.17 0.00 3905.1 3887.8 3922.4 1203.6 834.3 107.95 -10.45 147 1001.31 0.00 0.00 3.55 0.000 0.000 0.041 3905.06 3887.75 3922.38 1204.12 2315.62 0 0 0 30.00 30.00 15.65

1189.04 160 -146.63 -1.16 0.00 3905.3 3887.8 3922.9 1203.7 2315.6 125.86 -9.09 167 1190.90 0.00 0.00 0.00 0.000 0.000 0.000 3904.94 3887.44 3922.44 1203.38 2315.88 0 0 0 30.00 30.00 30.00

1378.96 128 -146.63 -1.15 0.00 3905.3 3887.8 3922.8 1204.1 2315.8 144.68 -10.15 186 1380.82 0.00 0.00 0.00 0.000 0.000 0.000 3905.03 3887.38 3922.69 1203.62 2315.94 0 0 0 30.00 30.00 30.00

1439 end dive: TARGET_DEPTH_EXCEEDED

state 1439 begin apogee

1440.91 10243 0.00 -0.33 0.00 3905.6 3887.8 3923.4 1203.7 2152.8 150.77 -10.10 192 1566.79 103.49 1.48 0.10 0.888 0.119 0.172 3298.12 3243.44 3352.81 1421.38 2206.06 0 0 0 11.44 15.68 15.29

1568 end apogee: CONTROL_FINISHED_OK

state 1568 begin climb

1568.24 10759 146.63 1.35 -80.00 3295.3 3241.1 3349.5 1421.4 2205.8 154.36 0.00 204 1700.14 106.25 2.73 3.98 0.867 0.081 0.124 2698.56 2617.44 2779.69 1831.94 720.06 0 0 0 11.28 15.31 15.05

1704.07 1156 146.63 1.32 0.00 2695.1 2617.9 2772.3 1831.9 720.5 145.23 10.69 221 1716.57 0.00 0.00 3.68 0.000 0.000 0.037 2693.25 2616.44 2770.06 1832.00 2201.06 0 0 0 30.00 30.00 14.69

1904.02 16774 146.63 1.31 80.00 2691.8 2616.9 2766.7 1831.7 2201.4 118.11 14.01 243 1912.99 0.00 0.00 3.65 0.000 0.000 0.105 2689.88 2614.69 2765.06 1831.38 3649.31 0 0 0 30.00 30.00 15.34

2144.12 17542 146.63 1.27 0.00 2690.1 2616.4 2763.8 1831.2 3649.1 77.21 16.91 290 2152.87 0.00 0.00 3.46 0.000 0.000 0.022 2691.50 2619.06 2763.94 1831.06 2158.81 0 0 0 30.00 30.00 15.56

2339.12 16774 146.63 1.27 80.00 2689.7 2615.8 2763.6 1830.9 2158.6 52.96 11.58 310 2348.18 0.00 0.00 3.72 0.000 0.000 0.101 2690.78 2617.38 2764.19 1831.31 3650.31 0 0 0 30.00 30.00 15.60

2542.03 21639 146.63 1.24 0.00 2689.1 2615.4 2762.8 1831.6 3650.1 26.33 12.14 350 2550.95 0.00 0.29 3.41 0.000 0.190 0.022 2686.72 2613.38 2760.06 1796.25 2154.56 0 0 0 30.00 15.62 15.70

2734.47 10663 232.65 1.36 80.00 2688.5 2614.2 2762.8 1795.8 2155.0 12.74 6.02 386 2808.54 59.44 0.25 3.76 0.735 0.055 0.100 2347.81 2243.88 2451.75 1840.00 3650.81 0 0 0 11.31 15.72 15.50

3017 end climb: NO_VERTICAL_VELOCITY

state 3017 begin surface

ID	244	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2185	ALTIM_PULSE	3
MISSION	4	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	10	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	686.83997	ROLL_MAXERRORS	1	XPDR_INT	13.5
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	13
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	2.3
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3300	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	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	360	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	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	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	200	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1500	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	15	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	2.2752647	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	7.6685581	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0049999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-192.53183	SEABIRD_T_J	4.3e-06
MASS	72540	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022440785	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	230	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3835	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	2300	ALTIM_FREQUENCY	13

GPS1	210623,051012,4736.441,-12256.518,0,1.0,2,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,051357,4736.462,-12256.523,2,1.0,4,15.4	MHEAD_RNG_PITCHd_Wd	191.8,1009,-17.6,-10.000,-21.21,2209,0.145
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.039715,0.008622,-0.030591,1.082832,-0.033720,0.012835,-0.071541,0.988196,588.545898,-356.791168,-300.642365
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NET	CACST,8,1,20230621055837.957922,18,32767,45,0188,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,14.9,2.50,-100,0.50,-01,0.08,69,10000,5000,0,-1,00,00*5D	_24V_AH	14.81,3.573
NET_PING	1687325920,29,336.535492,3.900000,59.550484	_10V_AH	14.90,0.000
MODEM_MSG	CACST,8,0,20230621052500.278128,18,32767,45,0119,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-42.1,4.50,-100,-1.50,-01,-0.06,90,925,0025,0,1,00,00*10	FG_AHR_24Vo	7.805
NAV	1687327144,16.0,start	FG_AHR_10Vo	2.307
FREEZE	7.60,12.748,-1.569,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3343.55,296.12,0.718,0,500.6,434.7,566.5,686.69	MEM2	945800,27,100868,68
SM_GC	1.65,0.00,10.59,3.22,0.000,0.032,0.018,495.5,433.8,557.3,191.6,2266.9,0,0,0,30.00,15.33,15.32	DATA_FILE_SIZE	12910,441
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	174947,0
IRIDIUM_FIX	4735.53,-12254.47,210623,041027	SDSIZE	3887104,3871520
TCM_TEMP	18.37	SDFILEDIR	111,11
SC_FREEKB	3875648	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	0,1687323600,47.60500,-122.95000,0.437,639.9	CURRENT	0.016,109.2,1
RAFOS_FIX	4736.141602,-12256.630859,210623,050500,4,255,0.92	MAGCAL	1.000000,-0.012031,0.088130,-0.029194,1.108452,-0.094848,-0.132146,0.072372,1.241124,542.3,-355.2,-509.9,28,0.0761,0
HUMID	56.62	IMPLIED_C_PITCH	1516,16.22,220,0.0,0.00
TEMP	10.54	IMPLIED_C_VBD	3340,21.972263,215,0
INTERNAL_PRESSURE	8.26383	GPS	210623,061301,4736.125,-12256.550,2,1.0,19,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	659	888	8672.03	nil	0	0	0.00
Pitch_motor	23	252	86.73	nil	0	0	0.00
Roll_motor	51	171	130.34	nil	0	0	0.00
Iridium	162	168	403.73	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.99	nil	0	0	0.00
Core	2073	5	158.20	SciCon	3021	7	344.80
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1262	0	6.02
Compass	924	5	68.90
RAFOS	1198	40	714.55
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
6.32	16386	-146.63	-1.35	0.00	494.9	436.4	553.4	191.2	2275.4	0.00	0.00	0	50.41	39.78	0.00	0.00	0.005	0.000	0.000	1657.50	1646.31	1668.69	191.25	2275.88	0	0	0	15.56	30.00	30.00
50.92	18983	-146.63	-1.35	-80.00	1659.8	1646.6	1672.9	191.8	2275.6	3.26	-4.57	8	133.12	54.10	7.66	3.64	0.005	0.252	0.110	3898.75	3884.94	3912.56	1171.38	833.94	0	0	0	15.58	15.41	15.49
136.79	1156	-146.63	-1.29	0.00	3900.2	3886.2	3914.1	1171.2	834.3	11.54	-10.49	23	144.82	0.00	0.00	3.55	0.000	0.000	0.038	3900.38	3885.75	3915.00	1171.50	2318.50	0	0	0	30.00	30.00	15.54
328.65	128	-146.63	-1.26	0.00	3903.0	3887.0	3918.9	1171.6	2317.9	35.92	-12.46	60	332.52	0.00	0.00	0.00	0.000	0.000	0.000	3903.31	3887.12	3919.50	1171.69	2318.44	0	0	0	30.00	30.00	30.00
513.59	2177	-146.63	-1.23	0.00	3903.6	3887.0	3920.2	1171.8	2317.8	58.56	-11.71	90	515.83	0.00	0.22	0.00	0.000	0.165	0.000	3904.06	3887.81	3920.31	1204.06	2318.00	0	0	0	30.00	15.55	30.00
703.67	644	-146.63	-1.21	-80.00	3904.2	3886.9	3921.5	1204.0	2317.9	78.85	-10.63	109	712.49	0.00	0.00	3.79	0.000	0.000	0.110	3903.69	3886.44	3920.94	1203.75	834.25	0	0	0	30.00	30.00	15.57
725.51	1156	-146.63	-1.20	0.00	3904.4	3887.6	3921.2	1203.9	834.1	81.35	-10.71	113	733.64	0.00	0.00	3.56	0.000	0.000	0.039	3904.53	3887.62	3921.44	1203.88	2318.12	0	0	0	30.00	30.00	15.62
921.80	676	-146.63	-1.18	-80.00	3904.8	3887.8	3921.8	1203.8	2318.2	100.34	-9.89	133	930.14	0.00	0.00	3.78	0.000	0.000	0.109	3905.69	3887.88	3923.50	1203.88	834.62	0	0	0	30.00	30.00	15.56
993.18	1156	-146.63	-1.17	0.00	3905.1	3887.8	3922.4	1203.6	834.3	107.95	-10.45	147	1001.31	0.00	0.00	3.55	0.000	0.000	0.041	3905.06	3887.75	3922.38	1204.12	2315.62	0	0	0	30.00	30.00	15.65
1189.04	160	-146.63	-1.16	0.00	3905.3	3887.8	3922.9	1203.7	2315.6	125.86	-9.09	167	1190.90	0.00	0.00	0.00	0.000	0.000	0.000	3904.94	3887.44	3922.44	1203.38	2315.88	0	0	0	30.00	30.00	30.00
1378.96	128	-146.63	-1.15	0.00	3905.3	3887.8	3922.8	1204.1	2315.8	144.68	-10.15	186	1380.82	0.00	0.00	0.00	0.000	0.000	0.000	3905.03	3887.38	3922.69	1203.62	2315.94	0	0	0	30.00	30.00	30.00
1439	end dive: TARGET_DEPTH_EXCEEDED
state	1439	begin apogee
1440.91	10243	0.00	-0.33	0.00	3905.6	3887.8	3923.4	1203.7	2152.8	150.77	-10.10	192	1566.79	103.49	1.48	0.10	0.888	0.119	0.172	3298.12	3243.44	3352.81	1421.38	2206.06	0	0	0	11.44	15.68	15.29
1568	end apogee: CONTROL_FINISHED_OK
state	1568	begin climb
1568.24	10759	146.63	1.35	-80.00	3295.3	3241.1	3349.5	1421.4	2205.8	154.36	0.00	204	1700.14	106.25	2.73	3.98	0.867	0.081	0.124	2698.56	2617.44	2779.69	1831.94	720.06	0	0	0	11.28	15.31	15.05
1704.07	1156	146.63	1.32	0.00	2695.1	2617.9	2772.3	1831.9	720.5	145.23	10.69	221	1716.57	0.00	0.00	3.68	0.000	0.000	0.037	2693.25	2616.44	2770.06	1832.00	2201.06	0	0	0	30.00	30.00	14.69
1904.02	16774	146.63	1.31	80.00	2691.8	2616.9	2766.7	1831.7	2201.4	118.11	14.01	243	1912.99	0.00	0.00	3.65	0.000	0.000	0.105	2689.88	2614.69	2765.06	1831.38	3649.31	0	0	0	30.00	30.00	15.34
2144.12	17542	146.63	1.27	0.00	2690.1	2616.4	2763.8	1831.2	3649.1	77.21	16.91	290	2152.87	0.00	0.00	3.46	0.000	0.000	0.022	2691.50	2619.06	2763.94	1831.06	2158.81	0	0	0	30.00	30.00	15.56
2339.12	16774	146.63	1.27	80.00	2689.7	2615.8	2763.6	1830.9	2158.6	52.96	11.58	310	2348.18	0.00	0.00	3.72	0.000	0.000	0.101	2690.78	2617.38	2764.19	1831.31	3650.31	0	0	0	30.00	30.00	15.60
2542.03	21639	146.63	1.24	0.00	2689.1	2615.4	2762.8	1831.6	3650.1	26.33	12.14	350	2550.95	0.00	0.29	3.41	0.000	0.190	0.022	2686.72	2613.38	2760.06	1796.25	2154.56	0	0	0	30.00	15.62	15.70
2734.47	10663	232.65	1.36	80.00	2688.5	2614.2	2762.8	1795.8	2155.0	12.74	6.02	386	2808.54	59.44	0.25	3.76	0.735	0.055	0.100	2347.81	2243.88	2451.75	1840.00	3650.81	0	0	0	11.31	15.72	15.50
3017	end climb: NO_VERTICAL_VELOCITY
state	3017	begin surface