Glider dive log

HoodCanal 20Jun23 * SG244 * Dive index * Mission links * Dive 13 * 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 13 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 2.3216517 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 8.0855284 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 2.3216517 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 8.0855284 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 13 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 210623,080023,4736.425,-12256.538,1,1.4,30,15.4 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 -64.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,080328,4736.428,-12256.519,3,0.7,4,15.4 MHEAD_RNG_PITCHd_Wd 193.1,951,-17.6,-10.000,-21.21,2209,0.154

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 xmit part outbox0008.n 916 0 _24V_AH 14.90,4.039

NET_PING 1687337331,29,315.009003,1.800000,62.577198 _10V_AH 14.97,0.000

MODEM_MSG CACST,8,0,20230621082500.276352,18,32767,45,0235,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,0.2,4.71,-100,-1.71,-01,-0.16,80,925,0025,0,1,00,00*04 FG_AHR_24Vo 8.223

NAV 1687336033,154.4,4,stop FG_AHR_10Vo 2.326

FREEZE 6.38,13.486,-1.537,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3170.60,272.20,0.709,0,500.8,437.2,564.4,686.65 MEM2 945828,26,100860,68

SM_GC 2.03,0.00,10.78,3.17,0.000,0.038,0.017,497.0,436.9,557.1,184.1,2264.7,0,0,0,30.00,15.35,15.36 DATA_FILE_SIZE 12887,464

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 163425,0

IRIDIUM_FIX 4735.53,-12254.47,210623,070152 SDSIZE 3887104,3870496

TCM_TEMP 18.23 SDFILEDIR 138,14

SC_FREEKB 3874688 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -4 SOUNDSPEED 1465.0

MODEM 0,1687334400,47.60500,-122.95000,0.436,639.4 CURRENT 0.031, 46.5,1

RAFOS_FIX 4736.507812,-12256.816406,210623,080800,4,255,0.31 MAGCAL 1.000000,0.029058,0.004756,-0.006423,1.063439,-0.045839,0.043940,-0.084663,0.970239,604.5,-352.9,-280.3,31,0.0275,1

HUMID 56.49 IMPLIED_C_PITCH 1521,17.07,203,0.0,0.00

TEMP 10.43 IMPLIED_C_VBD 3340,19.531923,203,0

INTERNAL_PRESSURE 8.26591 GPS 210623,085931,4736.301,-12256.545,8,0.7,10,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 662 888 8775.15 nil 0 0 0.00

Pitch_motor 23 248 86.45 nil 0 0 0.00

Roll_motor 57 172 148.34 nil 0 0 0.00

Iridium 120 161 291.06 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.97 nil 0 0 0.00

Core 1945 5 149.10 SciCon 2875 7 330.88

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1202 0 5.76

Compass 947 5 70.93

RAFOS 1601 40 959.02

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

6.33 16386 -146.63 -1.35 0.00 494.4 435.3 553.6 191.0 2274.1 0.00 0.00 0 50.40 39.78 0.00 0.00 0.005 0.000 0.000 1662.31 1656.25 1668.38 191.19 2274.00 0 0 0 15.54 30.00 30.00

50.92 18983 -146.63 -1.35 -80.00 1664.0 1656.9 1671.1 191.2 2273.9 3.13 -4.15 8 131.96 52.76 7.61 3.65 0.005 0.248 0.111 3899.78 3885.00 3914.56 1171.00 833.88 0 0 0 15.57 15.42 15.50

235.63 1156 -146.63 -1.30 0.00 3902.2 3886.8 3917.6 1171.5 833.8 28.25 -13.00 43 243.69 0.00 0.00 3.57 0.000 0.000 0.040 3902.19 3886.62 3917.75 1172.12 2316.69 0 0 0 30.00 30.00 15.58

432.60 388 -146.63 -1.27 80.00 3903.3 3886.8 3919.9 1172.2 2316.8 52.81 -12.45 79 441.46 0.00 0.00 3.63 0.000 0.000 0.103 3903.09 3886.12 3920.06 1172.12 3766.56 0 0 0 30.00 30.00 15.55

670.30 3205 -146.63 -1.23 0.00 3903.7 3886.5 3920.8 1171.9 3766.8 88.35 -15.12 126 679.26 0.00 0.22 3.41 0.000 0.168 0.020 3903.72 3886.44 3921.00 1203.31 2268.50 0 0 0 30.00 15.57 15.64

865.43 420 -146.63 -1.22 80.00 3904.3 3886.5 3922.2 1203.6 2267.5 108.51 -9.85 146 874.25 0.00 0.00 3.74 0.000 0.000 0.102 3904.22 3886.75 3921.69 1203.38 3769.25 0 0 0 30.00 30.00 15.61

985.04 1156 -146.63 -1.19 0.00 3904.8 3886.9 3922.6 1203.3 3769.5 123.24 -12.43 169 993.72 0.00 0.00 3.41 0.000 0.000 0.019 3905.09 3887.25 3922.94 1203.25 2267.44 0 0 0 30.00 30.00 15.68

1180.15 676 -146.63 -1.18 -80.00 3905.1 3886.9 3923.2 1203.8 2267.2 142.24 -9.89 189 1188.82 0.00 0.00 3.61 0.000 0.000 0.112 3905.34 3887.38 3923.31 1203.00 834.25 0 0 0 30.00 30.00 15.63

1231.85 1156 -146.63 -1.16 0.00 3905.0 3886.8 3923.3 1203.2 834.4 147.96 -11.01 199 1239.95 0.00 0.00 3.55 0.000 0.000 0.040 3905.12 3887.00 3923.25 1203.12 2316.94 0 0 0 30.00 30.00 15.68

1257 end dive: TARGET_DEPTH_EXCEEDED

state 1257 begin apogee

1259.42 10243 0.00 -0.33 0.00 3905.0 3887.0 3923.1 1203.4 2152.4 150.61 -10.64 202 1378.50 103.82 1.48 0.10 0.889 0.126 0.173 3297.75 3241.50 3354.00 1421.19 2207.06 0 0 0 11.40 15.64 15.37

1380 end apogee: CONTROL_FINISHED_OK

state 1380 begin climb

1379.95 10759 146.63 1.35 -80.00 3295.9 3240.4 3351.5 1421.2 2207.1 154.22 0.00 213 1514.76 106.36 2.71 3.90 0.865 0.082 0.121 2696.44 2614.19 2778.69 1830.75 720.50 0 0 0 11.22 15.39 15.17

1517.95 1156 146.63 1.34 0.00 2695.3 2615.6 2775.1 1831.2 720.2 144.81 11.32 236 1526.12 0.00 0.00 3.60 0.000 0.000 0.039 2696.50 2616.12 2776.88 1830.88 2201.25 0 0 0 30.00 30.00 15.29

1713.61 16774 146.63 1.33 80.00 2691.6 2613.0 2770.1 1831.7 2200.9 118.06 14.59 256 1722.57 0.00 0.00 3.65 0.000 0.000 0.103 2689.78 2610.56 2769.00 1831.25 3651.56 0 0 0 30.00 30.00 15.45

1951.45 17542 146.63 1.30 0.00 2690.2 2612.9 2767.4 1831.2 3651.4 77.76 15.73 303 1960.20 0.00 0.00 3.42 0.000 0.000 0.021 2689.84 2614.00 2765.69 1831.56 2159.19 0 0 0 30.00 30.00 15.63

2142.44 16774 146.63 1.30 80.00 2689.7 2612.6 2766.7 1831.8 2158.6 54.37 11.68 323 2151.50 0.00 0.00 3.70 0.000 0.000 0.099 2692.19 2614.88 2769.50 1832.00 3650.38 0 0 0 30.00 30.00 15.62

2380.35 21639 146.63 1.27 0.00 2689.2 2612.6 2765.7 1831.6 3650.3 22.77 11.20 370 2389.17 0.00 0.24 3.38 0.000 0.193 0.021 2689.22 2612.50 2765.94 1803.12 2157.38 0 0 0 30.00 15.66 15.73

2573.05 10663 274.90 1.44 80.00 2688.8 2611.8 2765.9 1802.8 2157.2 11.06 4.06 408 2679.96 87.82 0.32 3.77 0.732 0.045 0.102 2176.50 2060.19 2292.81 1860.50 3652.19 0 0 0 11.45 15.78 15.49

2870 end climb: NO_VERTICAL_VELOCITY

state 2870 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	13	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	2.3216517	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	8.0855284	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	210623,080023,4736.425,-12256.538,1,1.4,30,15.4	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	-64.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,080328,4736.428,-12256.519,3,0.7,4,15.4	MHEAD_RNG_PITCHd_Wd	193.1,951,-17.6,-10.000,-21.21,2209,0.154
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	xmit part outbox0008.n 916 0	_24V_AH	14.90,4.039
NET_PING	1687337331,29,315.009003,1.800000,62.577198	_10V_AH	14.97,0.000
MODEM_MSG	CACST,8,0,20230621082500.276352,18,32767,45,0235,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,0.2,4.71,-100,-1.71,-01,-0.16,80,925,0025,0,1,00,00*04	FG_AHR_24Vo	8.223
NAV	1687336033,154.4,4,stop	FG_AHR_10Vo	2.326
FREEZE	6.38,13.486,-1.537,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3170.60,272.20,0.709,0,500.8,437.2,564.4,686.65	MEM2	945828,26,100860,68
SM_GC	2.03,0.00,10.78,3.17,0.000,0.038,0.017,497.0,436.9,557.1,184.1,2264.7,0,0,0,30.00,15.35,15.36	DATA_FILE_SIZE	12887,464
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	163425,0
IRIDIUM_FIX	4735.53,-12254.47,210623,070152	SDSIZE	3887104,3870496
TCM_TEMP	18.23	SDFILEDIR	138,14
SC_FREEKB	3874688	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-4	SOUNDSPEED	1465.0
MODEM	0,1687334400,47.60500,-122.95000,0.436,639.4	CURRENT	0.031, 46.5,1
RAFOS_FIX	4736.507812,-12256.816406,210623,080800,4,255,0.31	MAGCAL	1.000000,0.029058,0.004756,-0.006423,1.063439,-0.045839,0.043940,-0.084663,0.970239,604.5,-352.9,-280.3,31,0.0275,1
HUMID	56.49	IMPLIED_C_PITCH	1521,17.07,203,0.0,0.00
TEMP	10.43	IMPLIED_C_VBD	3340,19.531923,203,0
INTERNAL_PRESSURE	8.26591	GPS	210623,085931,4736.301,-12256.545,8,0.7,10,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	662	888	8775.15	nil	0	0	0.00
Pitch_motor	23	248	86.45	nil	0	0	0.00
Roll_motor	57	172	148.34	nil	0	0	0.00
Iridium	120	161	291.06	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.97	nil	0	0	0.00
Core	1945	5	149.10	SciCon	2875	7	330.88
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1202	0	5.76
Compass	947	5	70.93
RAFOS	1601	40	959.02
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
6.33	16386	-146.63	-1.35	0.00	494.4	435.3	553.6	191.0	2274.1	0.00	0.00	0	50.40	39.78	0.00	0.00	0.005	0.000	0.000	1662.31	1656.25	1668.38	191.19	2274.00	0	0	0	15.54	30.00	30.00
50.92	18983	-146.63	-1.35	-80.00	1664.0	1656.9	1671.1	191.2	2273.9	3.13	-4.15	8	131.96	52.76	7.61	3.65	0.005	0.248	0.111	3899.78	3885.00	3914.56	1171.00	833.88	0	0	0	15.57	15.42	15.50
235.63	1156	-146.63	-1.30	0.00	3902.2	3886.8	3917.6	1171.5	833.8	28.25	-13.00	43	243.69	0.00	0.00	3.57	0.000	0.000	0.040	3902.19	3886.62	3917.75	1172.12	2316.69	0	0	0	30.00	30.00	15.58
432.60	388	-146.63	-1.27	80.00	3903.3	3886.8	3919.9	1172.2	2316.8	52.81	-12.45	79	441.46	0.00	0.00	3.63	0.000	0.000	0.103	3903.09	3886.12	3920.06	1172.12	3766.56	0	0	0	30.00	30.00	15.55
670.30	3205	-146.63	-1.23	0.00	3903.7	3886.5	3920.8	1171.9	3766.8	88.35	-15.12	126	679.26	0.00	0.22	3.41	0.000	0.168	0.020	3903.72	3886.44	3921.00	1203.31	2268.50	0	0	0	30.00	15.57	15.64
865.43	420	-146.63	-1.22	80.00	3904.3	3886.5	3922.2	1203.6	2267.5	108.51	-9.85	146	874.25	0.00	0.00	3.74	0.000	0.000	0.102	3904.22	3886.75	3921.69	1203.38	3769.25	0	0	0	30.00	30.00	15.61
985.04	1156	-146.63	-1.19	0.00	3904.8	3886.9	3922.6	1203.3	3769.5	123.24	-12.43	169	993.72	0.00	0.00	3.41	0.000	0.000	0.019	3905.09	3887.25	3922.94	1203.25	2267.44	0	0	0	30.00	30.00	15.68
1180.15	676	-146.63	-1.18	-80.00	3905.1	3886.9	3923.2	1203.8	2267.2	142.24	-9.89	189	1188.82	0.00	0.00	3.61	0.000	0.000	0.112	3905.34	3887.38	3923.31	1203.00	834.25	0	0	0	30.00	30.00	15.63
1231.85	1156	-146.63	-1.16	0.00	3905.0	3886.8	3923.3	1203.2	834.4	147.96	-11.01	199	1239.95	0.00	0.00	3.55	0.000	0.000	0.040	3905.12	3887.00	3923.25	1203.12	2316.94	0	0	0	30.00	30.00	15.68
1257	end dive: TARGET_DEPTH_EXCEEDED
state	1257	begin apogee
1259.42	10243	0.00	-0.33	0.00	3905.0	3887.0	3923.1	1203.4	2152.4	150.61	-10.64	202	1378.50	103.82	1.48	0.10	0.889	0.126	0.173	3297.75	3241.50	3354.00	1421.19	2207.06	0	0	0	11.40	15.64	15.37
1380	end apogee: CONTROL_FINISHED_OK
state	1380	begin climb
1379.95	10759	146.63	1.35	-80.00	3295.9	3240.4	3351.5	1421.2	2207.1	154.22	0.00	213	1514.76	106.36	2.71	3.90	0.865	0.082	0.121	2696.44	2614.19	2778.69	1830.75	720.50	0	0	0	11.22	15.39	15.17
1517.95	1156	146.63	1.34	0.00	2695.3	2615.6	2775.1	1831.2	720.2	144.81	11.32	236	1526.12	0.00	0.00	3.60	0.000	0.000	0.039	2696.50	2616.12	2776.88	1830.88	2201.25	0	0	0	30.00	30.00	15.29
1713.61	16774	146.63	1.33	80.00	2691.6	2613.0	2770.1	1831.7	2200.9	118.06	14.59	256	1722.57	0.00	0.00	3.65	0.000	0.000	0.103	2689.78	2610.56	2769.00	1831.25	3651.56	0	0	0	30.00	30.00	15.45
1951.45	17542	146.63	1.30	0.00	2690.2	2612.9	2767.4	1831.2	3651.4	77.76	15.73	303	1960.20	0.00	0.00	3.42	0.000	0.000	0.021	2689.84	2614.00	2765.69	1831.56	2159.19	0	0	0	30.00	30.00	15.63
2142.44	16774	146.63	1.30	80.00	2689.7	2612.6	2766.7	1831.8	2158.6	54.37	11.68	323	2151.50	0.00	0.00	3.70	0.000	0.000	0.099	2692.19	2614.88	2769.50	1832.00	3650.38	0	0	0	30.00	30.00	15.62
2380.35	21639	146.63	1.27	0.00	2689.2	2612.6	2765.7	1831.6	3650.3	22.77	11.20	370	2389.17	0.00	0.24	3.38	0.000	0.193	0.021	2689.22	2612.50	2765.94	1803.12	2157.38	0	0	0	30.00	15.66	15.73
2573.05	10663	274.90	1.44	80.00	2688.8	2611.8	2765.9	1802.8	2157.2	11.06	4.06	408	2679.96	87.82	0.32	3.77	0.732	0.045	0.102	2176.50	2060.19	2292.81	1860.50	3652.19	0	0	0	11.45	15.78	15.49
2870	end climb: NO_VERTICAL_VELOCITY
state	2870	begin surface