Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1900 ALTIM_PULSE 3

MISSION 8 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

DIVE 12 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 14 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 569.13074 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 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -3.2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 2820.1416 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 540 DEVICE3 -1

D_SAFE 0 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 3 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 6 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 6 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 12 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 3 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 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 120 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 220 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1734.2921 MINV_24V 0 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 13.40199 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.825165 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 29.070604 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.0099999998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -182.53638 SEABIRD_T_J 4.3e-06

MASS 72380 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_G -10

NAV_MODE 2 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 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 195 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3800 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 1980 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 14 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 42.825165 PHONE_SUPPLY 2 SM_CC 569.13074

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.070604 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.0099999998 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 6

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 13.40199 SURFACE_URGENCY_FORCE 12

CALL_TRIES 3 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 6

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 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 HEAD_ERRBAND 20 PITCH_MIN 220 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 242 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 -3.2 PITCH_W_GAIN 0 T_GPS 3

C_PITCH 1734.2921 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022512203 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -182.53638 T_NO_W 120

C_ROLL_CLIMB 1900 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 1980 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 2820.1416 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 72380 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 1

DEVICE5 -1 MINV_10V 0 ROLL_MAX 3800 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 0 VBD_TIMEOUT 540

DIVE 12 MISSION 8 ROLL_MIN 195 W_ADJ_DBAND 0

D_ABORT 175 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 2 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 220623,024254,4736.326,-12256.319,2,0.8,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,024530,4736.316,-12256.317,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 318.9,439,-27.2,-10.000,-30.00,969,0.000

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME N IRON 1.000000,0.025244,-0.072655,0.008785,1.026925,-0.043242,0.027332,-0.082621,1.082390,779.262451,-860.414246,-712.433044

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230622032500.896528,18,3100,28,0121,0000,07,01,01,01,01,-1,-01,-01,1,3,0,0,150,12.4,-0.93,-100,3.93,-01,1.60,31,925,0025,0,-1,00,00*2D _24V_AH 15.15,32.852

NAV 1687404431,5.2,3,stop _10V_AH 15.00,0.000

NET xmit ok outbox0008.n 1912 30 FG_AHR_24Vo 29.223

NET_PING 1687404018,29,1109.041504,16.600000,-1.477374 FG_AHR_10Vo 42.869

FREEZE 4.76,13.492,-1.514,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3121.16,201.65,0.896,0,501.3,401.5,601.1,568.77 MEM2 944964,29,101704,66

SM_GC 1.80,0.00,12.94,0.28,0.000,0.044,0.080,497.4,398.4,596.5,194.0,2021.6,0,0,0,30.00,15.65,15.68 DATA_FILE_SIZE 12908,444

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 173980,0

IRIDIUM_FIX 4735.06,-12250.06,220623,024008 SDSIZE 3887104,3866304

TCM_TEMP 15.07 SDFILEDIR 130,13

SC_FREEKB 3875488 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1401.9

MODEM 4,1687401918,47.60500,-122.95000,18.346,26876.6 CURRENT 0.053,170.7,1

RAFOS_FIX 16219.357422,1454446.125000,220623,030300,3,255,750225.88 MAGCAL 1.000000,0.025608,0.183162,0.005568,1.040908,-0.106723,-0.121759,-0.045333,1.135873,592.4,-809.7,-740.5,21,0.0407,1

HUMID 49.84 IMPLIED_C_PITCH 1735,12.91,172,1734.4,13.16

TEMP 12.00 IMPLIED_C_VBD 2851,37.934387,172,2835.5

INTERNAL_PRESSURE 8.27959 GPS 220623,034041,4736.502,-12256.358,6,1.1,8,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 632 1068 10231.04 nil 0 0 0.00

Pitch_motor 27 234 97.91 nil 0 0 0.00

Roll_motor 42 169 109.80 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 13 15 3.11 nil 0 0 0.00

Core 1846 5 141.80 SciCon 2903 6 292.58

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1212 0 5.82

Compass 950 5 71.29

RAFOS 1822 40 1093.73

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

6.42 16386 -63.69 -2.11 0.00 499.8 406.7 593.0 201.2 1938.8 0.00 0.00 0 65.77 54.88 0.00 0.00 0.005 0.000 0.000 1858.66 1827.00 1890.31 201.44 1938.69 0 0 0 16.01 30.00 30.00

66.20 18727 -121.28 -2.18 80.00 1859.4 1827.6 1891.2 201.4 1938.6 3.33 -3.92 11 135.59 44.85 7.25 3.63 0.005 0.235 0.105 3312.66 3276.38 3348.94 1207.38 3448.38 0 0 0 16.05 15.80 15.93

362.29 17574 -146.63 -2.16 0.00 3313.9 3276.5 3351.2 1207.2 3448.6 20.80 -4.01 68 373.33 1.51 0.00 3.37 0.019 0.000 0.052 3414.69 3380.94 3448.44 1207.19 1944.56 0 0 0 16.13 30.00 16.02

557.25 388 -146.63 -2.14 80.00 3416.1 3381.7 3450.4 1207.1 1945.1 37.94 -11.74 107 565.14 0.00 0.00 3.57 0.000 0.000 0.100 3416.09 3382.75 3449.44 1207.56 3447.81 0 0 0 30.00 30.00 16.00

603.76 1156 -146.63 -2.10 0.00 3416.2 3381.4 3451.1 1207.3 3448.4 44.27 -13.94 116 611.51 0.00 0.00 3.36 0.000 0.000 0.052 3416.38 3382.12 3450.62 1207.38 1946.38 0 0 0 30.00 30.00 16.04

794.37 0 -146.63 -2.10 0.00 3416.2 3382.4 3450.1 1207.4 1946.6 70.18 -13.66 139 796.12 0.00 0.00 0.00 0.000 0.000 0.000 3415.22 3380.38 3450.06 1207.38 1946.44 0 0 0 30.00 30.00 30.00

984.36 260 -146.63 -2.10 80.00 3416.1 3381.7 3450.5 1207.1 1945.9 97.19 -14.52 158 991.63 0.00 0.00 3.58 0.000 0.000 0.104 3416.88 3381.75 3452.00 1207.62 3448.25 0 0 0 30.00 30.00 15.98

1024.50 1156 -146.63 -2.08 0.00 3416.2 3381.6 3450.8 1207.6 3448.8 103.61 -15.85 166 1032.06 0.00 0.00 3.37 0.000 0.000 0.053 3418.38 3384.19 3452.56 1207.19 1948.31 0 0 0 30.00 30.00 16.03

1220.17 0 -146.63 -2.08 0.00 3416.2 3381.4 3451.1 1207.4 1947.9 131.71 -14.21 186 1221.96 0.00 0.00 0.00 0.000 0.000 0.000 3415.41 3380.50 3450.31 1207.44 1948.06 0 0 0 30.00 30.00 30.00

1350 end dive: TARGET_DEPTH_EXCEEDED

state 1350 begin apogee

1351.89 10243 0.00 -0.37 0.00 3416.0 3380.6 3451.4 1207.3 1865.7 150.48 -14.43 199 1481.30 110.23 2.87 0.10 1.068 0.146 0.170 2818.34 2713.38 2923.31 1646.50 1937.12 0 0 0 11.39 15.92 15.63

1482 end apogee: CONTROL_FINISHED_OK

state 1482 begin climb

1482.99 10759 146.63 2.21 -80.00 2816.9 2712.4 2921.3 1646.5 1936.4 154.29 0.00 211 1622.31 112.64 3.96 3.78 1.032 0.082 0.125 2219.69 2115.31 2324.06 2276.88 434.31 0 0 0 11.34 15.67 15.49

1685.24 5253 146.63 2.14 0.00 2214.4 2112.3 2316.5 2276.8 433.8 122.77 23.89 248 1693.25 0.00 0.27 3.44 0.000 0.210 0.050 2214.47 2112.31 2316.62 2247.75 1935.50 0 0 0 30.00 15.61 15.70

1880.84 16386 146.63 2.14 0.00 2212.2 2110.1 2314.2 2247.0 1936.8 87.06 17.74 268 1882.62 0.00 0.00 0.00 0.000 0.000 0.000 2210.88 2108.62 2313.12 2246.75 1936.25 0 0 0 30.00 30.00 30.00

2071.57 16386 146.63 2.14 0.00 2211.2 2109.6 2312.8 2246.8 1938.1 56.12 15.47 287 2080.69 0.00 0.00 0.00 0.000 0.000 0.000 2211.09 2109.31 2312.88 2247.12 1938.00 0 0 0 30.00 30.00 30.00

2266.05 17030 146.63 2.15 -80.00 2210.4 2109.1 2311.8 2247.0 1938.3 27.79 13.22 321 2274.25 0.00 0.00 3.71 0.000 0.000 0.127 2209.47 2107.81 2311.12 2247.38 434.00 0 0 0 30.00 30.00 15.77

2347.93 17542 146.63 2.11 0.00 2209.3 2109.2 2309.4 2246.6 433.9 14.66 17.13 337 2355.92 0.00 0.00 3.41 0.000 0.000 0.052 2211.31 2110.25 2312.38 2246.81 1935.25 0 0 0 30.00 30.00 15.84

2539.60 10663 231.79 2.25 80.00 2208.4 2107.4 2309.4 2247.0 1936.8 6.99 1.01 375 2616.97 61.58 0.23 3.45 0.928 0.068 0.108 1874.78 1769.44 1980.12 2295.38 3365.25 0 0 0 11.35 15.93 15.72

2844.39 9382 323.75 2.38 0.00 1867.8 1768.4 1967.2 2294.9 3365.6 4.81 0.29 434 2900.09 44.96 0.00 3.41 0.916 0.000 0.057 1626.50 1525.69 1727.31 2295.81 1872.06 0 0 0 11.42 30.00 15.92

2900 end climb: NO_VERTICAL_VELOCITY

state 2900 begin surface

ID	242	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1900	ALTIM_PULSE	3
MISSION	8	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
DIVE	12	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	14	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	569.13074	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	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-3.2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	2820.1416	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	540	DEVICE3	-1
D_SAFE	0	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	3	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	6	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	6	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	12	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	3	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	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	120	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	220	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1734.2921	MINV_24V	0	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	13.40199	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.825165	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	29.070604	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0099999998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-182.53638	SEABIRD_T_J	4.3e-06
MASS	72380	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_G	-10
NAV_MODE	2	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	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	195	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3800	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	1980	ALTIM_FREQUENCY	13

GPS1	220623,024254,4736.326,-12256.319,2,0.8,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,024530,4736.316,-12256.317,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	318.9,439,-27.2,-10.000,-30.00,969,0.000
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	N	IRON	1.000000,0.025244,-0.072655,0.008785,1.026925,-0.043242,0.027332,-0.082621,1.082390,779.262451,-860.414246,-712.433044
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

MODEM_MSG	CACST,8,1,20230622032500.896528,18,3100,28,0121,0000,07,01,01,01,01,-1,-01,-01,1,3,0,0,150,12.4,-0.93,-100,3.93,-01,1.60,31,925,0025,0,-1,00,00*2D	_24V_AH	15.15,32.852
NAV	1687404431,5.2,3,stop	_10V_AH	15.00,0.000
NET	xmit ok outbox0008.n 1912 30	FG_AHR_24Vo	29.223
NET_PING	1687404018,29,1109.041504,16.600000,-1.477374	FG_AHR_10Vo	42.869
FREEZE	4.76,13.492,-1.514,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3121.16,201.65,0.896,0,501.3,401.5,601.1,568.77	MEM2	944964,29,101704,66
SM_GC	1.80,0.00,12.94,0.28,0.000,0.044,0.080,497.4,398.4,596.5,194.0,2021.6,0,0,0,30.00,15.65,15.68	DATA_FILE_SIZE	12908,444
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	173980,0
IRIDIUM_FIX	4735.06,-12250.06,220623,024008	SDSIZE	3887104,3866304
TCM_TEMP	15.07	SDFILEDIR	130,13
SC_FREEKB	3875488	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1401.9
MODEM	4,1687401918,47.60500,-122.95000,18.346,26876.6	CURRENT	0.053,170.7,1
RAFOS_FIX	16219.357422,1454446.125000,220623,030300,3,255,750225.88	MAGCAL	1.000000,0.025608,0.183162,0.005568,1.040908,-0.106723,-0.121759,-0.045333,1.135873,592.4,-809.7,-740.5,21,0.0407,1
HUMID	49.84	IMPLIED_C_PITCH	1735,12.91,172,1734.4,13.16
TEMP	12.00	IMPLIED_C_VBD	2851,37.934387,172,2835.5
INTERNAL_PRESSURE	8.27959	GPS	220623,034041,4736.502,-12256.358,6,1.1,8,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	632	1068	10231.04	nil	0	0	0.00
Pitch_motor	27	234	97.91	nil	0	0	0.00
Roll_motor	42	169	109.80	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	13	15	3.11	nil	0	0	0.00
Core	1846	5	141.80	SciCon	2903	6	292.58
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1212	0	5.82
Compass	950	5	71.29
RAFOS	1822	40	1093.73
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
6.42	16386	-63.69	-2.11	0.00	499.8	406.7	593.0	201.2	1938.8	0.00	0.00	0	65.77	54.88	0.00	0.00	0.005	0.000	0.000	1858.66	1827.00	1890.31	201.44	1938.69	0	0	0	16.01	30.00	30.00
66.20	18727	-121.28	-2.18	80.00	1859.4	1827.6	1891.2	201.4	1938.6	3.33	-3.92	11	135.59	44.85	7.25	3.63	0.005	0.235	0.105	3312.66	3276.38	3348.94	1207.38	3448.38	0	0	0	16.05	15.80	15.93
362.29	17574	-146.63	-2.16	0.00	3313.9	3276.5	3351.2	1207.2	3448.6	20.80	-4.01	68	373.33	1.51	0.00	3.37	0.019	0.000	0.052	3414.69	3380.94	3448.44	1207.19	1944.56	0	0	0	16.13	30.00	16.02
557.25	388	-146.63	-2.14	80.00	3416.1	3381.7	3450.4	1207.1	1945.1	37.94	-11.74	107	565.14	0.00	0.00	3.57	0.000	0.000	0.100	3416.09	3382.75	3449.44	1207.56	3447.81	0	0	0	30.00	30.00	16.00
603.76	1156	-146.63	-2.10	0.00	3416.2	3381.4	3451.1	1207.3	3448.4	44.27	-13.94	116	611.51	0.00	0.00	3.36	0.000	0.000	0.052	3416.38	3382.12	3450.62	1207.38	1946.38	0	0	0	30.00	30.00	16.04
794.37	0	-146.63	-2.10	0.00	3416.2	3382.4	3450.1	1207.4	1946.6	70.18	-13.66	139	796.12	0.00	0.00	0.00	0.000	0.000	0.000	3415.22	3380.38	3450.06	1207.38	1946.44	0	0	0	30.00	30.00	30.00
984.36	260	-146.63	-2.10	80.00	3416.1	3381.7	3450.5	1207.1	1945.9	97.19	-14.52	158	991.63	0.00	0.00	3.58	0.000	0.000	0.104	3416.88	3381.75	3452.00	1207.62	3448.25	0	0	0	30.00	30.00	15.98
1024.50	1156	-146.63	-2.08	0.00	3416.2	3381.6	3450.8	1207.6	3448.8	103.61	-15.85	166	1032.06	0.00	0.00	3.37	0.000	0.000	0.053	3418.38	3384.19	3452.56	1207.19	1948.31	0	0	0	30.00	30.00	16.03
1220.17	0	-146.63	-2.08	0.00	3416.2	3381.4	3451.1	1207.4	1947.9	131.71	-14.21	186	1221.96	0.00	0.00	0.00	0.000	0.000	0.000	3415.41	3380.50	3450.31	1207.44	1948.06	0	0	0	30.00	30.00	30.00
1350	end dive: TARGET_DEPTH_EXCEEDED
state	1350	begin apogee
1351.89	10243	0.00	-0.37	0.00	3416.0	3380.6	3451.4	1207.3	1865.7	150.48	-14.43	199	1481.30	110.23	2.87	0.10	1.068	0.146	0.170	2818.34	2713.38	2923.31	1646.50	1937.12	0	0	0	11.39	15.92	15.63
1482	end apogee: CONTROL_FINISHED_OK
state	1482	begin climb
1482.99	10759	146.63	2.21	-80.00	2816.9	2712.4	2921.3	1646.5	1936.4	154.29	0.00	211	1622.31	112.64	3.96	3.78	1.032	0.082	0.125	2219.69	2115.31	2324.06	2276.88	434.31	0	0	0	11.34	15.67	15.49
1685.24	5253	146.63	2.14	0.00	2214.4	2112.3	2316.5	2276.8	433.8	122.77	23.89	248	1693.25	0.00	0.27	3.44	0.000	0.210	0.050	2214.47	2112.31	2316.62	2247.75	1935.50	0	0	0	30.00	15.61	15.70
1880.84	16386	146.63	2.14	0.00	2212.2	2110.1	2314.2	2247.0	1936.8	87.06	17.74	268	1882.62	0.00	0.00	0.00	0.000	0.000	0.000	2210.88	2108.62	2313.12	2246.75	1936.25	0	0	0	30.00	30.00	30.00
2071.57	16386	146.63	2.14	0.00	2211.2	2109.6	2312.8	2246.8	1938.1	56.12	15.47	287	2080.69	0.00	0.00	0.00	0.000	0.000	0.000	2211.09	2109.31	2312.88	2247.12	1938.00	0	0	0	30.00	30.00	30.00
2266.05	17030	146.63	2.15	-80.00	2210.4	2109.1	2311.8	2247.0	1938.3	27.79	13.22	321	2274.25	0.00	0.00	3.71	0.000	0.000	0.127	2209.47	2107.81	2311.12	2247.38	434.00	0	0	0	30.00	30.00	15.77
2347.93	17542	146.63	2.11	0.00	2209.3	2109.2	2309.4	2246.6	433.9	14.66	17.13	337	2355.92	0.00	0.00	3.41	0.000	0.000	0.052	2211.31	2110.25	2312.38	2246.81	1935.25	0	0	0	30.00	30.00	15.84
2539.60	10663	231.79	2.25	80.00	2208.4	2107.4	2309.4	2247.0	1936.8	6.99	1.01	375	2616.97	61.58	0.23	3.45	0.928	0.068	0.108	1874.78	1769.44	1980.12	2295.38	3365.25	0	0	0	11.35	15.93	15.72
2844.39	9382	323.75	2.38	0.00	1867.8	1768.4	1967.2	2294.9	3365.6	4.81	0.29	434	2900.09	44.96	0.00	3.41	0.916	0.000	0.057	1626.50	1525.69	1727.31	2295.81	1872.06	0	0	0	11.42	30.00	15.92
2900	end climb: NO_VERTICAL_VELOCITY
state	2900	begin surface