Glider dive log

HoodCanal 21Jun23 * SG250 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 250 ESCAPE_HEADING_DELTA 10 ROLL_DEG 80 XPDR_VALID 4

MISSION 2 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2025 XPDR_INHIBIT 90

DIVE 13 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2025 XPDR_INT 0

N_DIVES 30 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 XPDR_REP 0

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.054945 DEEPGLIDER 0

D_SURF 2 SM_CC 564.19 ROLL_TIMEOUT 15 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 ROLL_MAXERRORS 1 MOTHERBOARD 7

D_TGT 150 FILEMGR 0 ROLL_ADJ_GAIN 0 DEVICE1 -1

D_ABORT 175 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_NO_BLEED 50 COMM_SEQ 7 VBD_MIN 500 DEVICE3 -1

D_BOOST 0 PROTOCOL 9 VBD_MAX 3960 DEVICE4 -1

T_BOOST 0 N_NOCOMM 1 C_VBD 2800 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 131 VBD_DBAND 2 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_CNV -0.24529999 LOGGERS 7

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 LOGGERDEVICE1 6

D_CALL 0 NETBOX 1 VBD_TIMEOUT 720 LOGGERDEVICE2 -1

SURFACE_URGENCY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0020000001 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 UNCOM_BLEED 20 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_MAXERRORS 1 COMPASS_DEVICE 66

T_DIVE 50 CAPMAXSIZE 100000 C_VBD_AUTO_DELTA 0 COMPASS2_DEVICE -1

T_MISSION 75 T_GPS 5 C_VBD_AUTO_MAX 0 PHONE_DEVICE 33

T_ABORT 1440 N_GPS 100440 W_ADJ_DBAND 0 GPS_DEVICE 48

T_TURN 225 T_RSLEEP 3 DBDW 0 RAFOS_DEVICE 96

T_TURN_SAMPINT -5 STROBE 0 LOITER_W_DBAND 0 NAV_DEVICE 5

T_NO_W 120 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 0 NAV2_DEVICE 5

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 NAV3_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 NAV4_DEVICE 24

USE_BATHY -10 RAFOS_MMODEM 0 LOITER_N_DIVE 0 NETWORK_DEVICE 1

USE_ICE 0 PITCH_MIN 205 CF8_MAXERRORS 20 PRESSURE_DEVICE 34

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3600 AH0_10V 575 XPDR_DEVICE -1

D_OFFGRID 100 C_PITCH 2000 MINV_10V 11 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 MAXI_10V 3.5 SEABIRD_T_G 0.0043000001

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 FG_AHR_10V 5.2875156 SEABIRD_T_H 0.00063999998

MAX_BUOY 150 PITCH_GAIN 15 PRESSURE_YINT -179.93373 SEABIRD_T_I 2.4999999e-05

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_SLOPE 0.00022860049 SEABIRD_T_J 4.3e-06

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 49156 SEABIRD_C_G -10

RHO 1.023 PITCH_ADJ_GAIN 0.015 ALTIM_PING_FIT 0 SEABIRD_C_H 1

MASS 72596 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

NAV_MODE 2 C_PITCH_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

FERRY_MAX 45 C_PITCH_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

KALMAN_USE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_B 0.0099999998 PITCH_W_GAIN 0 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HD_C 1.6e-05 PITCH_W_DBAND 0 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

HEADING -1 ROLL_MIN 255 ALTIM_PULSE 3

ESCAPE_HEADING 0 ROLL_MAX 3865 ALTIM_SENSITIVITY 2

AH0_10V 575 D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 D_TGT 150 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SM_CC 564.19

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_ADJ_GAIN 0.015 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 5.2875156 PITCH_CNV 0.0041299998 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 15 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_MAX 3600 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MIN 205 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_TIMEOUT 25 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0020000001 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_DIVE 50

COMPASS2_DEVICE -1 ID 250 PITCH_W_GAIN 0 T_EPIRB 0

COMPASS_DEVICE 66 KALMAN_USE 2 PRESSURE_DEVICE 34 T_GPS 5

COMPASS_USE 49156 LOGGERDEVICE1 6 PRESSURE_SLOPE 0.00022860049 T_LOITER 0

C_PITCH 2000 LOGGERDEVICE2 -1 PRESSURE_YINT -179.93373 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 PROTOCOL 9 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_RSLEEP 3

C_ROLL_CLIMB 2025 LOGGERS 7 RAFOS_DEVICE 96 T_TURN 225

C_ROLL_DIVE 2025 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_VBD 2800 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_BATHY -10

DBDW 0 LOITER_W_DBAND 0 RHO 1.023 USE_ICE 0

DEEPGLIDER 0 MASS 72596 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MAXI_10V 3.5 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE1 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DEVICE2 -1 MINV_10V 11 ROLL_DEG 80 VBD_MAX 3960

DEVICE3 -1 MISSION 2 ROLL_MAX 3865 VBD_MAXERRORS 1

DEVICE4 -1 MOTHERBOARD 7 ROLL_MAXERRORS 1 VBD_MIN 500

DEVICE5 -1 NAV2_DEVICE 5 ROLL_MIN 255 VBD_TIMEOUT 720

DEVICE6 -1 NAV3_DEVICE 24 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DIVE 13 NAV4_DEVICE 24 SC_NDIVE 1.0 XPDR_DEVICE -1

D_ABORT 175 NAV_DEVICE 5 SC_PROFILE 3.0 XPDR_INHIBIT 90

D_BOOST 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_CALL 0 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_REP 0

D_FINISH 0 NETWORK_DEVICE 1 SEABIRD_C_G -10 XPDR_VALID 4

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_H 1

D_NO_BLEED 50 N_DIVES 30 SEABIRD_C_I -0.0020000001

Pre-dive calculations and measurements:

GPS1 220623,055647,4736.370,-12256.469,2,1.0,5,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,060211,4736.365,-12256.439,20,1.9,20,15.4 MHEAD_RNG_PITCHd_Wd 322.1,308,-27.2,-10.000,-30.00,969,0.154

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME N IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,736.000000,-977.000000,-422.000000

TGT_LATLONG 4736.530,-12256.470 OSC 7999979

Post-dive calculations and measurements:

NAV 1687416435,3.7,0,stop INTERNAL_PRESSURE 8.27159

NET CACST,8,0,19700101000027.438923,17,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,16.7,11.55,-100,-8.55,-01,0.04,60,10000,5000,0,1,00,00*40 _10V_AH 14.95,2.073

NET_PING 1687415719,29,1019.260498,16.400000,-1494.116943 FG_AHR_10Vo 5.479

MODEM_MSG CACST,8,2,20230622062500.521662,2,92648,49,46,79,0,0,0,0,0,-1,-1,-1,0,0,0,0,79,0.00,0.00,0,0.00,0,0.00,197897,925,25,0,-1,0,0 MAMPS 70.7,98.0,54.2,764.7,3018.6,660.0

FREEZE 3.16,14.481,-1.473,0,1,0 MEM0 60172,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2946.27,153.62,0.898,0,500.9,486.4,515.3,563.98 MEM2 1991644,29,103420,75

SM_GC 1.54,0.00,15.46,3.53,0.000,0.061,0.068,495.9,485.8,505.9,187.8,2008.6,0,0,0,30.00,14.76,14.76 DATA_FILE_SIZE 9721,397

SUPER 63,77,254,1,0,0 CAP_FILE_SIZE 356315,0

IRIDIUM_FIX 4735.53,-12254.47,220623,050224 SDSIZE 3887104,3868448

TCM_TEMP 13.77 SDFILEDIR 148,15

SC_FREEKB 3874592 ERRORS 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 1,1687414200,47.60500,-122.95000,0.581,851.4 CURRENT 0.041,126.4,1

RAFOS_FIX 4736.757812,-12257.000000,220623,060600,3,255,0.74 MAGCAL 1.000000,0.056268,0.001382,-0.012686,1.030951,-0.056294,0.059040,-0.066415,0.978028,769.6,-942.7,-399.4,36,0.0479,0

HUMID 45.72 IMPLIED_C_PITCH 2058,15.89,179,0.0,0.00

TEMP 11.12 IMPLIED_C_VBD 2678,33.453327,140,0

VOC 4570.3 GPS 220623,065434,4736.543,-12256.532,3,0.8,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

GPS 30 15 6.77 nil 0 0 0.00

Core 2181 5 166.97 SciCon 2785 5 238.41

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1012 0 4.84

Compass 852 5 63.75

RAFOS 1640 40 981.24

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

6.88 16386 -63.69 -1.94 0.00 494.1 496.8 491.5 191.4 2009.8 0.00 0.00 0 48.33 38.88 0.00 0.00 0.011 0.000 0.000 1562.62 1557.75 1567.50 191.50 2009.81 0 0 0 14.56 30.00 30.00

48.78 18727 -118.11 -2.05 80.00 1562.9 1557.0 1568.9 191.5 2009.8 3.25 -4.25 2 130.81 51.04 10.58 3.68 0.011 0.284 0.132 3280.81 3250.12 3311.50 1504.06 3492.44 0 0 0 14.53 14.96 14.76

226.08 3205 -118.11 -1.85 0.00 3282.5 3253.2 3311.7 1504.2 3492.3 29.78 -20.02 33 234.40 0.00 0.37 3.49 0.000 0.248 0.064 3284.22 3254.94 3313.50 1553.38 2010.31 0 0 0 30.00 15.01 15.05

418.49 128 -118.11 -1.76 0.00 3282.9 3254.4 3311.4 1553.6 2010.6 60.69 -16.38 65 420.30 0.00 0.00 0.00 0.000 0.000 0.000 3282.31 3253.81 3310.81 1553.50 2010.31 0 0 0 30.00 30.00 30.00

608.59 2437 -118.11 -1.70 80.00 3283.4 3255.4 3311.3 1553.4 2010.6 92.91 -17.39 84 617.42 0.00 0.25 3.69 0.000 0.220 0.125 3282.91 3255.00 3310.81 1589.12 3494.81 0 0 0 30.00 15.08 15.10

656.66 1156 -118.11 -1.60 0.00 3283.4 3255.5 3311.2 1589.2 3495.2 101.90 -19.05 93 664.98 0.00 0.00 3.47 0.000 0.000 0.064 3282.75 3255.25 3310.25 1589.25 2006.88 0 0 0 30.00 30.00 15.12

847.80 260 -118.11 -1.60 80.00 3284.2 3256.6 3311.8 1589.1 2006.7 134.57 -17.17 112 856.54 0.00 0.00 3.73 0.000 0.000 0.126 3283.12 3256.38 3309.88 1588.94 3493.44 0 0 0 30.00 30.00 14.98

890.01 3205 -118.11 -1.51 0.00 3284.2 3256.9 3311.4 1589.2 3493.4 142.60 -19.13 120 898.30 0.00 0.33 3.49 0.000 0.221 0.065 3282.72 3255.44 3310.00 1635.44 2007.31 0 0 0 30.00 14.98 15.01

945 end dive: TARGET_DEPTH_EXCEEDED

state 945 begin apogee

947.31 10243 0.00 -0.33 0.00 3284.1 3256.9 3311.4 1635.1 2045.2 151.28 -15.50 126 1048.73 90.43 2.03 0.08 1.084 0.180 0.428 2799.34 2794.00 2804.69 1918.94 2009.75 0 0 0 12.59 15.00 14.72

1049 end apogee: CONTROL_FINISHED_OK

state 1049 begin climb

1050.09 10243 118.11 2.05 0.00 2796.8 2790.3 2803.2 1919.6 2009.9 156.58 0.00 135 1160.90 95.54 3.92 0.00 1.053 0.124 0.000 2319.78 2335.31 2304.25 2499.75 2009.75 0 0 0 12.50 14.75 30.00

1347.92 16514 118.11 2.02 80.00 2309.9 2322.9 2296.8 2499.6 2009.7 121.04 15.17 167 1352.72 0.00 0.00 0.00 0.000 0.000 0.000 2310.22 2323.38 2297.06 2499.81 2009.62 0 0 0 30.00 30.00 30.00

1542.44 16646 118.11 2.02 80.00 2309.0 2321.3 2296.6 2499.9 2009.8 90.02 14.93 187 1551.19 0.00 0.00 3.74 0.000 0.000 0.132 2309.28 2321.69 2296.88 2500.06 3491.12 0 0 0 30.00 30.00 14.99

1570.40 21639 118.11 1.95 0.00 2308.2 2319.9 2296.5 2499.6 3491.0 85.38 16.59 192 1579.11 0.00 0.26 3.49 0.000 0.223 0.069 2308.66 2320.38 2296.94 2467.31 2008.00 0 0 0 30.00 14.98 15.02

1765.28 16646 118.11 1.95 80.00 2307.0 2319.1 2294.8 2467.4 2008.1 61.08 11.83 212 1774.03 0.00 0.00 3.73 0.000 0.000 0.132 2306.25 2318.62 2293.88 2467.50 3493.50 0 0 0 30.00 30.00 15.08

1827.50 17542 118.11 1.91 0.00 2306.5 2318.1 2294.9 2467.3 3493.6 52.71 13.86 224 1835.40 0.00 0.00 3.47 0.000 0.000 0.068 2306.06 2318.06 2294.06 2466.81 2009.25 0 0 0 30.00 30.00 15.11

2017.95 8486 123.54 1.92 80.00 2306.0 2317.6 2294.4 2467.6 2008.6 33.12 9.43 258 2031.99 5.17 0.00 3.71 0.590 0.000 0.137 2292.94 2304.75 2281.12 2467.69 3493.94 0 0 0 12.63 30.00 15.10

2156.11 1028 123.54 1.92 0.00 2294.1 2304.8 2283.3 2467.2 3494.1 17.28 10.17 285 2163.36 0.00 0.00 3.46 0.000 0.000 0.067 2292.22 2303.19 2281.25 2467.56 2007.38 0 0 0 30.00 30.00 15.15

2347.62 10663 186.02 2.09 80.00 2293.3 2304.8 2281.9 2467.6 2007.2 7.30 3.40 323 2410.62 50.38 0.26 3.75 0.935 0.081 0.134 2039.50 2058.56 2020.44 2520.62 3492.19 0 0 0 12.67 15.19 15.00

2434.76 9254 259.64 2.23 0.00 2037.4 2055.6 2019.2 2521.0 3492.2 5.95 2.22 339 2508.82 56.03 0.00 3.48 0.920 0.000 0.066 1736.94 1771.50 1702.38 2520.75 2005.38 0 0 0 12.62 30.00 15.04

2690.95 10663 353.25 2.54 80.00 1733.5 1771.1 1695.8 2520.5 2005.6 3.54 0.11 381 2774.95 69.00 0.59 3.81 0.920 0.062 0.134 1360.00 1410.69 1309.31 2629.75 3492.25 0 0 0 12.57 15.01 14.80

2779 end climb: NO_VERTICAL_VELOCITY

state 2779 begin surface

ID	250	ESCAPE_HEADING_DELTA	10	ROLL_DEG	80	XPDR_VALID	4
MISSION	2	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2025	XPDR_INHIBIT	90
DIVE	13	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2025	XPDR_INT	0
N_DIVES	30	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	XPDR_REP	0
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.054945	DEEPGLIDER	0
D_SURF	2	SM_CC	564.19	ROLL_TIMEOUT	15	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	ROLL_MAXERRORS	1	MOTHERBOARD	7
D_TGT	150	FILEMGR	0	ROLL_ADJ_GAIN	0	DEVICE1	-1
D_ABORT	175	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_NO_BLEED	50	COMM_SEQ	7	VBD_MIN	500	DEVICE3	-1
D_BOOST	0	PROTOCOL	9	VBD_MAX	3960	DEVICE4	-1
T_BOOST	0	N_NOCOMM	1	C_VBD	2800	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	131	VBD_DBAND	2	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	LOGGERS	7
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	LOGGERDEVICE1	6
D_CALL	0	NETBOX	1	VBD_TIMEOUT	720	LOGGERDEVICE2	-1
SURFACE_URGENCY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0020000001	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	UNCOM_BLEED	20	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_MAXERRORS	1	COMPASS_DEVICE	66
T_DIVE	50	CAPMAXSIZE	100000	C_VBD_AUTO_DELTA	0	COMPASS2_DEVICE	-1
T_MISSION	75	T_GPS	5	C_VBD_AUTO_MAX	0	PHONE_DEVICE	33
T_ABORT	1440	N_GPS	100440	W_ADJ_DBAND	0	GPS_DEVICE	48
T_TURN	225	T_RSLEEP	3	DBDW	0	RAFOS_DEVICE	96
T_TURN_SAMPINT	-5	STROBE	0	LOITER_W_DBAND	0	NAV_DEVICE	5
T_NO_W	120	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	0	NAV2_DEVICE	5
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	NAV3_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	NAV4_DEVICE	24
USE_BATHY	-10	RAFOS_MMODEM	0	LOITER_N_DIVE	0	NETWORK_DEVICE	1
USE_ICE	0	PITCH_MIN	205	CF8_MAXERRORS	20	PRESSURE_DEVICE	34
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3600	AH0_10V	575	XPDR_DEVICE	-1
D_OFFGRID	100	C_PITCH	2000	MINV_10V	11	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	MAXI_10V	3.5	SEABIRD_T_G	0.0043000001
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	FG_AHR_10V	5.2875156	SEABIRD_T_H	0.00063999998
MAX_BUOY	150	PITCH_GAIN	15	PRESSURE_YINT	-179.93373	SEABIRD_T_I	2.4999999e-05
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_SLOPE	0.00022860049	SEABIRD_T_J	4.3e-06
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	49156	SEABIRD_C_G	-10
RHO	1.023	PITCH_ADJ_GAIN	0.015	ALTIM_PING_FIT	0	SEABIRD_C_H	1
MASS	72596	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
NAV_MODE	2	C_PITCH_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
FERRY_MAX	45	C_PITCH_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
KALMAN_USE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_A	0.003	PITCH_GAIN_AUTO_MAX	0	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_B	0.0099999998	PITCH_W_GAIN	0	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HD_C	1.6e-05	PITCH_W_DBAND	0	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
HEADING	-1	ROLL_MIN	255	ALTIM_PULSE	3
ESCAPE_HEADING	0	ROLL_MAX	3865	ALTIM_SENSITIVITY	2

GPS1	220623,055647,4736.370,-12256.469,2,1.0,5,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,060211,4736.365,-12256.439,20,1.9,20,15.4	MHEAD_RNG_PITCHd_Wd	322.1,308,-27.2,-10.000,-30.00,969,0.154
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	N	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,736.000000,-977.000000,-422.000000
TGT_LATLONG	4736.530,-12256.470	OSC	7999979

NAV	1687416435,3.7,0,stop	INTERNAL_PRESSURE	8.27159
NET	CACST,8,0,19700101000027.438923,17,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,16.7,11.55,-100,-8.55,-01,0.04,60,10000,5000,0,1,00,00*40	_10V_AH	14.95,2.073
NET_PING	1687415719,29,1019.260498,16.400000,-1494.116943	FG_AHR_10Vo	5.479
MODEM_MSG	CACST,8,2,20230622062500.521662,2,92648,49,46,79,0,0,0,0,0,-1,-1,-1,0,0,0,0,79,0.00,0.00,0,0.00,0,0.00,197897,925,25,0,-1,0,0	MAMPS	70.7,98.0,54.2,764.7,3018.6,660.0
FREEZE	3.16,14.481,-1.473,0,1,0	MEM0	60172,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2946.27,153.62,0.898,0,500.9,486.4,515.3,563.98	MEM2	1991644,29,103420,75
SM_GC	1.54,0.00,15.46,3.53,0.000,0.061,0.068,495.9,485.8,505.9,187.8,2008.6,0,0,0,30.00,14.76,14.76	DATA_FILE_SIZE	9721,397
SUPER	63,77,254,1,0,0	CAP_FILE_SIZE	356315,0
IRIDIUM_FIX	4735.53,-12254.47,220623,050224	SDSIZE	3887104,3868448
TCM_TEMP	13.77	SDFILEDIR	148,15
SC_FREEKB	3874592	ERRORS	0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	1,1687414200,47.60500,-122.95000,0.581,851.4	CURRENT	0.041,126.4,1
RAFOS_FIX	4736.757812,-12257.000000,220623,060600,3,255,0.74	MAGCAL	1.000000,0.056268,0.001382,-0.012686,1.030951,-0.056294,0.059040,-0.066415,0.978028,769.6,-942.7,-399.4,36,0.0479,0
HUMID	45.72	IMPLIED_C_PITCH	2058,15.89,179,0.0,0.00
TEMP	11.12	IMPLIED_C_VBD	2678,33.453327,140,0
VOC	4570.3	GPS	220623,065434,4736.543,-12256.532,3,0.8,4,15.4

device	secs	mA	J	sensor	secs	mA	J
GPS	30	15	6.77	nil	0	0	0.00
Core	2181	5	166.97	SciCon	2785	5	238.41
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1012	0	4.84
Compass	852	5	63.75
RAFOS	1640	40	981.24
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
6.88	16386	-63.69	-1.94	0.00	494.1	496.8	491.5	191.4	2009.8	0.00	0.00	0	48.33	38.88	0.00	0.00	0.011	0.000	0.000	1562.62	1557.75	1567.50	191.50	2009.81	0	0	0	14.56	30.00	30.00
48.78	18727	-118.11	-2.05	80.00	1562.9	1557.0	1568.9	191.5	2009.8	3.25	-4.25	2	130.81	51.04	10.58	3.68	0.011	0.284	0.132	3280.81	3250.12	3311.50	1504.06	3492.44	0	0	0	14.53	14.96	14.76
226.08	3205	-118.11	-1.85	0.00	3282.5	3253.2	3311.7	1504.2	3492.3	29.78	-20.02	33	234.40	0.00	0.37	3.49	0.000	0.248	0.064	3284.22	3254.94	3313.50	1553.38	2010.31	0	0	0	30.00	15.01	15.05
418.49	128	-118.11	-1.76	0.00	3282.9	3254.4	3311.4	1553.6	2010.6	60.69	-16.38	65	420.30	0.00	0.00	0.00	0.000	0.000	0.000	3282.31	3253.81	3310.81	1553.50	2010.31	0	0	0	30.00	30.00	30.00
608.59	2437	-118.11	-1.70	80.00	3283.4	3255.4	3311.3	1553.4	2010.6	92.91	-17.39	84	617.42	0.00	0.25	3.69	0.000	0.220	0.125	3282.91	3255.00	3310.81	1589.12	3494.81	0	0	0	30.00	15.08	15.10
656.66	1156	-118.11	-1.60	0.00	3283.4	3255.5	3311.2	1589.2	3495.2	101.90	-19.05	93	664.98	0.00	0.00	3.47	0.000	0.000	0.064	3282.75	3255.25	3310.25	1589.25	2006.88	0	0	0	30.00	30.00	15.12
847.80	260	-118.11	-1.60	80.00	3284.2	3256.6	3311.8	1589.1	2006.7	134.57	-17.17	112	856.54	0.00	0.00	3.73	0.000	0.000	0.126	3283.12	3256.38	3309.88	1588.94	3493.44	0	0	0	30.00	30.00	14.98
890.01	3205	-118.11	-1.51	0.00	3284.2	3256.9	3311.4	1589.2	3493.4	142.60	-19.13	120	898.30	0.00	0.33	3.49	0.000	0.221	0.065	3282.72	3255.44	3310.00	1635.44	2007.31	0	0	0	30.00	14.98	15.01
945	end dive: TARGET_DEPTH_EXCEEDED
state	945	begin apogee
947.31	10243	0.00	-0.33	0.00	3284.1	3256.9	3311.4	1635.1	2045.2	151.28	-15.50	126	1048.73	90.43	2.03	0.08	1.084	0.180	0.428	2799.34	2794.00	2804.69	1918.94	2009.75	0	0	0	12.59	15.00	14.72
1049	end apogee: CONTROL_FINISHED_OK
state	1049	begin climb
1050.09	10243	118.11	2.05	0.00	2796.8	2790.3	2803.2	1919.6	2009.9	156.58	0.00	135	1160.90	95.54	3.92	0.00	1.053	0.124	0.000	2319.78	2335.31	2304.25	2499.75	2009.75	0	0	0	12.50	14.75	30.00
1347.92	16514	118.11	2.02	80.00	2309.9	2322.9	2296.8	2499.6	2009.7	121.04	15.17	167	1352.72	0.00	0.00	0.00	0.000	0.000	0.000	2310.22	2323.38	2297.06	2499.81	2009.62	0	0	0	30.00	30.00	30.00
1542.44	16646	118.11	2.02	80.00	2309.0	2321.3	2296.6	2499.9	2009.8	90.02	14.93	187	1551.19	0.00	0.00	3.74	0.000	0.000	0.132	2309.28	2321.69	2296.88	2500.06	3491.12	0	0	0	30.00	30.00	14.99
1570.40	21639	118.11	1.95	0.00	2308.2	2319.9	2296.5	2499.6	3491.0	85.38	16.59	192	1579.11	0.00	0.26	3.49	0.000	0.223	0.069	2308.66	2320.38	2296.94	2467.31	2008.00	0	0	0	30.00	14.98	15.02
1765.28	16646	118.11	1.95	80.00	2307.0	2319.1	2294.8	2467.4	2008.1	61.08	11.83	212	1774.03	0.00	0.00	3.73	0.000	0.000	0.132	2306.25	2318.62	2293.88	2467.50	3493.50	0	0	0	30.00	30.00	15.08
1827.50	17542	118.11	1.91	0.00	2306.5	2318.1	2294.9	2467.3	3493.6	52.71	13.86	224	1835.40	0.00	0.00	3.47	0.000	0.000	0.068	2306.06	2318.06	2294.06	2466.81	2009.25	0	0	0	30.00	30.00	15.11
2017.95	8486	123.54	1.92	80.00	2306.0	2317.6	2294.4	2467.6	2008.6	33.12	9.43	258	2031.99	5.17	0.00	3.71	0.590	0.000	0.137	2292.94	2304.75	2281.12	2467.69	3493.94	0	0	0	12.63	30.00	15.10
2156.11	1028	123.54	1.92	0.00	2294.1	2304.8	2283.3	2467.2	3494.1	17.28	10.17	285	2163.36	0.00	0.00	3.46	0.000	0.000	0.067	2292.22	2303.19	2281.25	2467.56	2007.38	0	0	0	30.00	30.00	15.15
2347.62	10663	186.02	2.09	80.00	2293.3	2304.8	2281.9	2467.6	2007.2	7.30	3.40	323	2410.62	50.38	0.26	3.75	0.935	0.081	0.134	2039.50	2058.56	2020.44	2520.62	3492.19	0	0	0	12.67	15.19	15.00
2434.76	9254	259.64	2.23	0.00	2037.4	2055.6	2019.2	2521.0	3492.2	5.95	2.22	339	2508.82	56.03	0.00	3.48	0.920	0.000	0.066	1736.94	1771.50	1702.38	2520.75	2005.38	0	0	0	12.62	30.00	15.04
2690.95	10663	353.25	2.54	80.00	1733.5	1771.1	1695.8	2520.5	2005.6	3.54	0.11	381	2774.95	69.00	0.59	3.81	0.920	0.062	0.134	1360.00	1410.69	1309.31	2629.75	3492.25	0	0	0	12.57	15.01	14.80
2779	end climb: NO_VERTICAL_VELOCITY
state	2779	begin surface