Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 14 * 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 14 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 574.03888 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 2840.1504 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 1731.4663 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 13.238497 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.927101 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 29.395437 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 42.927101 PHONE_SUPPLY 2 SM_CC 574.03888

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.395437 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 13.238497 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 1731.4663 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 2840.1504 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 14 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 220623,045109,4736.179,-12256.653,4,0.9,21,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.76 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,045427,4736.176,-12256.649,2,0.9,5,15.4 MHEAD_RNG_PITCHd_Wd 193.8,459,-27.2,-10.000,-30.00,969,0.110

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME S IRON 1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.469299,-818.692627,-706.311096

TGT_LATLONG 4735.950,-12256.800 OSC 8000225

Post-dive calculations and measurements:

NAV 1687411640,52.1,4,stop _10V_AH 15.00,0.000

NET CACST,8,0,20230622053032.350660,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,9.2,7.17,-100,-4.17,-01,0.03,72,10000,5000,0,1,00,00*42 FG_AHR_24Vo 29.547

NET_PING 1687411812,29,526.302002,15.000000,-0.700650 FG_AHR_10Vo 42.973

MODEM_MSG CACST,8,1,20230622052500.360755,18,32767,45,0256,0000,07,01,01,00,01,-1,-01,-01,2,3,1,0,150,2.8,1.86,-100,1.14,-01,-0.04,45,925,0025,0,-1,00,00*29 MEM0 60020,1,0,0

FREEZE 3.76,14.668,-1.475,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 944912,31,101716,66

SM_CCo 3077.64,189.00,0.909,0,500.6,403.7,597.5,573.86 DATA_FILE_SIZE 12927,443

SM_GC 2.32,0.00,12.96,0.28,0.000,0.046,0.077,497.2,400.7,593.7,196.8,2020.3,0,0,0,30.00,15.66,15.68 CAP_FILE_SIZE 157377,0

SUPER 27,71,254,1,0,0 SDSIZE 3887104,3865696

IRIDIUM_FIX 4735.53,-12254.47,220623,034152 SDFILEDIR 146,15

TCM_TEMP 15.19 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3874848 SOUNDSPEED 1465.0

RAFOS_CLK 0 WARN PPS timeout

MODEM 0,1687410000,47.60500,-122.95000,0.414,580.6 CURRENT 0.047, 75.4,1

RAFOS_FIX 4733.845215,-12257.674805,220623,050500,4,255,2.46 MAGCAL 1.000000,-0.036950,0.010388,0.015116,1.060268,-0.226015,0.110938,0.164693,0.955569,735.2,-739.1,-652.6,35,0.0630,0

HUMID 49.84 IMPLIED_C_PITCH 1744,13.64,179,1737.9,13.44

TEMP 11.93 IMPLIED_C_VBD 2847,38.751434,142,2843.4

INTERNAL_PRESSURE 8.26711 GPS 220623,054842,4736.011,-12256.671,2,1.0,5,15.4

_24V_AH 15.15,33.226

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 630 1083 10357.22 nil 0 0 0.00

Pitch_motor 27 232 97.53 nil 0 0 0.00

Roll_motor 36 184 101.29 nil 0 0 0.00

Iridium 127 223 432.47 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.34 nil 0 0 0.00

Core 2018 5 154.99 SciCon 2879 6 287.61

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1143 0 5.49

Compass 943 5 70.73

RAFOS 1700 40 1020.28

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.70 16386 -63.69 -2.13 0.00 495.1 399.9 590.2 203.8 1942.4 0.00 0.00 0 61.75 49.92 0.00 0.00 0.005 0.000 0.000 1704.56 1675.38 1733.75 203.88 1941.94 0 0 0 15.94 30.00 30.00

62.18 18983 -127.21 -2.21 -80.00 1704.9 1674.1 1735.8 203.7 1942.1 3.28 -3.29 10 140.88 55.56 7.20 3.52 0.005 0.233 0.122 3358.50 3325.06 3391.94 1196.06 511.75 0 0 0 15.97 15.75 15.86

367.07 1156 -127.21 -2.14 0.00 3357.6 3322.9 3392.2 1195.8 511.6 40.00 -13.98 65 374.50 0.00 0.00 3.44 0.000 0.000 0.051 3360.44 3325.75 3395.12 1195.31 2015.44 0 0 0 30.00 30.00 15.76

558.32 644 -127.21 -2.12 -80.00 3358.7 3323.3 3394.1 1195.9 2015.6 64.13 -12.98 92 566.62 0.00 0.00 3.71 0.000 0.000 0.116 3358.44 3323.12 3393.75 1195.88 511.81 0 0 0 30.00 30.00 15.78

735.27 3205 -127.21 -2.07 0.00 3359.1 3322.9 3395.2 1195.9 511.7 92.78 -17.18 127 743.31 0.00 0.24 3.39 0.000 0.191 0.051 3358.03 3321.94 3394.12 1230.44 2014.19 0 0 0 30.00 15.79 15.89

930.28 128 -127.21 -2.08 0.00 3359.2 3322.9 3395.5 1230.5 2014.3 118.54 -12.48 147 939.30 0.00 0.00 0.00 0.000 0.000 0.000 3359.06 3322.56 3395.56 1230.19 2014.12 0 0 0 30.00 30.00 30.00

1120.30 128 -127.21 -2.09 0.00 3359.8 3323.1 3396.5 1230.6 2013.8 143.34 -13.12 166 1122.05 0.00 0.00 0.00 0.000 0.000 0.000 3358.59 3320.75 3396.44 1230.31 2014.75 0 0 0 30.00 30.00 30.00

1170 end dive: TARGET_DEPTH_EXCEEDED

state 1170 begin apogee

1171.99 10243 0.00 -0.38 0.00 3359.6 3322.7 3396.5 1230.6 1867.8 150.02 -13.37 171 1282.48 97.36 2.69 0.10 1.084 0.145 0.185 2837.12 2736.38 2937.88 1641.75 1936.62 0 0 0 11.17 15.86 15.62

1283 end apogee: CONTROL_FINISHED_OK

state 1283 begin climb

1284.17 10759 127.21 2.21 -80.00 2837.9 2736.8 2938.9 1641.7 1936.6 153.36 0.00 181 1407.73 99.03 3.97 3.81 1.052 0.082 0.126 2321.78 2215.88 2427.69 2274.25 433.88 0 0 0 11.36 15.64 15.47

1476.41 5253 127.21 2.14 0.00 2314.1 2211.0 2417.1 2273.6 433.6 125.77 21.94 216 1485.09 0.00 0.26 3.44 0.000 0.209 0.051 2315.25 2212.00 2418.50 2245.19 1933.38 0 0 0 30.00 15.61 15.68

1671.26 16386 127.21 2.14 0.00 2311.9 2207.9 2415.8 2244.5 1935.6 92.63 16.12 236 1673.05 0.00 0.00 0.00 0.000 0.000 0.000 2310.44 2206.81 2414.06 2244.75 1935.81 0 0 0 30.00 30.00 30.00

1861.28 16386 127.21 2.14 0.00 2311.3 2208.2 2414.3 2243.6 1935.4 63.81 14.80 255 1863.07 0.00 0.00 0.00 0.000 0.000 0.000 2309.72 2206.50 2412.94 2244.62 1936.06 0 0 0 30.00 30.00 30.00

2046.31 16902 127.21 2.14 -80.00 2310.8 2208.6 2413.0 2244.4 1935.2 37.71 12.93 282 2054.71 0.00 0.00 3.71 0.000 0.000 0.126 2308.50 2206.75 2410.25 2243.88 432.44 0 0 0 30.00 30.00 15.90

2094.39 17542 127.21 2.09 0.00 2309.6 2207.4 2411.9 2244.9 432.8 30.64 15.72 291 2109.98 0.00 0.00 3.40 0.000 0.000 0.052 2309.59 2207.00 2412.19 2244.62 1938.31 0 0 0 30.00 30.00 15.96

2293.65 8354 159.44 2.15 0.00 2309.6 2207.4 2411.9 2244.9 1938.1 10.72 6.60 330 2323.92 24.39 0.00 0.00 0.923 0.000 0.000 2189.47 2083.69 2295.25 2244.94 1937.88 0 0 0 11.37 30.00 30.00

2508.68 10663 257.64 2.31 80.00 2185.1 2082.2 2288.0 2244.8 1938.5 7.78 -0.37 373 2597.05 72.36 0.31 3.49 0.935 0.060 0.109 1790.25 1683.69 1896.81 2306.69 3366.12 0 0 0 11.22 15.98 15.73

2640.79 9382 315.86 2.40 0.00 1783.7 1681.8 1885.6 2307.1 3366.1 4.22 3.85 398 2696.37 43.18 0.00 3.46 0.907 0.000 0.056 1553.28 1452.88 1653.69 2307.75 1872.00 0 0 0 11.38 30.00 15.85

2871 end climb: NO_VERTICAL_VELOCITY

state 2871 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	14	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	574.03888	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	2840.1504	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	1731.4663	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	13.238497	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.927101	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	29.395437	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	220623,045109,4736.179,-12256.653,4,0.9,21,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.76	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,045427,4736.176,-12256.649,2,0.9,5,15.4	MHEAD_RNG_PITCHd_Wd	193.8,459,-27.2,-10.000,-30.00,969,0.110
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	S	IRON	1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.469299,-818.692627,-706.311096
TGT_LATLONG	4735.950,-12256.800	OSC	8000225

NAV	1687411640,52.1,4,stop	_10V_AH	15.00,0.000
NET	CACST,8,0,20230622053032.350660,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,9.2,7.17,-100,-4.17,-01,0.03,72,10000,5000,0,1,00,00*42	FG_AHR_24Vo	29.547
NET_PING	1687411812,29,526.302002,15.000000,-0.700650	FG_AHR_10Vo	42.973
MODEM_MSG	CACST,8,1,20230622052500.360755,18,32767,45,0256,0000,07,01,01,00,01,-1,-01,-01,2,3,1,0,150,2.8,1.86,-100,1.14,-01,-0.04,45,925,0025,0,-1,00,00*29	MEM0	60020,1,0,0
FREEZE	3.76,14.668,-1.475,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	944912,31,101716,66
SM_CCo	3077.64,189.00,0.909,0,500.6,403.7,597.5,573.86	DATA_FILE_SIZE	12927,443
SM_GC	2.32,0.00,12.96,0.28,0.000,0.046,0.077,497.2,400.7,593.7,196.8,2020.3,0,0,0,30.00,15.66,15.68	CAP_FILE_SIZE	157377,0
SUPER	27,71,254,1,0,0	SDSIZE	3887104,3865696
IRIDIUM_FIX	4735.53,-12254.47,220623,034152	SDFILEDIR	146,15
TCM_TEMP	15.19	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3874848	SOUNDSPEED	1465.0
RAFOS_CLK	0	WARN	PPS timeout
MODEM	0,1687410000,47.60500,-122.95000,0.414,580.6	CURRENT	0.047, 75.4,1
RAFOS_FIX	4733.845215,-12257.674805,220623,050500,4,255,2.46	MAGCAL	1.000000,-0.036950,0.010388,0.015116,1.060268,-0.226015,0.110938,0.164693,0.955569,735.2,-739.1,-652.6,35,0.0630,0
HUMID	49.84	IMPLIED_C_PITCH	1744,13.64,179,1737.9,13.44
TEMP	11.93	IMPLIED_C_VBD	2847,38.751434,142,2843.4
INTERNAL_PRESSURE	8.26711	GPS	220623,054842,4736.011,-12256.671,2,1.0,5,15.4
_24V_AH	15.15,33.226

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	630	1083	10357.22	nil	0	0	0.00
Pitch_motor	27	232	97.53	nil	0	0	0.00
Roll_motor	36	184	101.29	nil	0	0	0.00
Iridium	127	223	432.47	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.34	nil	0	0	0.00
Core	2018	5	154.99	SciCon	2879	6	287.61
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1143	0	5.49
Compass	943	5	70.73
RAFOS	1700	40	1020.28
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.70	16386	-63.69	-2.13	0.00	495.1	399.9	590.2	203.8	1942.4	0.00	0.00	0	61.75	49.92	0.00	0.00	0.005	0.000	0.000	1704.56	1675.38	1733.75	203.88	1941.94	0	0	0	15.94	30.00	30.00
62.18	18983	-127.21	-2.21	-80.00	1704.9	1674.1	1735.8	203.7	1942.1	3.28	-3.29	10	140.88	55.56	7.20	3.52	0.005	0.233	0.122	3358.50	3325.06	3391.94	1196.06	511.75	0	0	0	15.97	15.75	15.86
367.07	1156	-127.21	-2.14	0.00	3357.6	3322.9	3392.2	1195.8	511.6	40.00	-13.98	65	374.50	0.00	0.00	3.44	0.000	0.000	0.051	3360.44	3325.75	3395.12	1195.31	2015.44	0	0	0	30.00	30.00	15.76
558.32	644	-127.21	-2.12	-80.00	3358.7	3323.3	3394.1	1195.9	2015.6	64.13	-12.98	92	566.62	0.00	0.00	3.71	0.000	0.000	0.116	3358.44	3323.12	3393.75	1195.88	511.81	0	0	0	30.00	30.00	15.78
735.27	3205	-127.21	-2.07	0.00	3359.1	3322.9	3395.2	1195.9	511.7	92.78	-17.18	127	743.31	0.00	0.24	3.39	0.000	0.191	0.051	3358.03	3321.94	3394.12	1230.44	2014.19	0	0	0	30.00	15.79	15.89
930.28	128	-127.21	-2.08	0.00	3359.2	3322.9	3395.5	1230.5	2014.3	118.54	-12.48	147	939.30	0.00	0.00	0.00	0.000	0.000	0.000	3359.06	3322.56	3395.56	1230.19	2014.12	0	0	0	30.00	30.00	30.00
1120.30	128	-127.21	-2.09	0.00	3359.8	3323.1	3396.5	1230.6	2013.8	143.34	-13.12	166	1122.05	0.00	0.00	0.00	0.000	0.000	0.000	3358.59	3320.75	3396.44	1230.31	2014.75	0	0	0	30.00	30.00	30.00
1170	end dive: TARGET_DEPTH_EXCEEDED
state	1170	begin apogee
1171.99	10243	0.00	-0.38	0.00	3359.6	3322.7	3396.5	1230.6	1867.8	150.02	-13.37	171	1282.48	97.36	2.69	0.10	1.084	0.145	0.185	2837.12	2736.38	2937.88	1641.75	1936.62	0	0	0	11.17	15.86	15.62
1283	end apogee: CONTROL_FINISHED_OK
state	1283	begin climb
1284.17	10759	127.21	2.21	-80.00	2837.9	2736.8	2938.9	1641.7	1936.6	153.36	0.00	181	1407.73	99.03	3.97	3.81	1.052	0.082	0.126	2321.78	2215.88	2427.69	2274.25	433.88	0	0	0	11.36	15.64	15.47
1476.41	5253	127.21	2.14	0.00	2314.1	2211.0	2417.1	2273.6	433.6	125.77	21.94	216	1485.09	0.00	0.26	3.44	0.000	0.209	0.051	2315.25	2212.00	2418.50	2245.19	1933.38	0	0	0	30.00	15.61	15.68
1671.26	16386	127.21	2.14	0.00	2311.9	2207.9	2415.8	2244.5	1935.6	92.63	16.12	236	1673.05	0.00	0.00	0.00	0.000	0.000	0.000	2310.44	2206.81	2414.06	2244.75	1935.81	0	0	0	30.00	30.00	30.00
1861.28	16386	127.21	2.14	0.00	2311.3	2208.2	2414.3	2243.6	1935.4	63.81	14.80	255	1863.07	0.00	0.00	0.00	0.000	0.000	0.000	2309.72	2206.50	2412.94	2244.62	1936.06	0	0	0	30.00	30.00	30.00
2046.31	16902	127.21	2.14	-80.00	2310.8	2208.6	2413.0	2244.4	1935.2	37.71	12.93	282	2054.71	0.00	0.00	3.71	0.000	0.000	0.126	2308.50	2206.75	2410.25	2243.88	432.44	0	0	0	30.00	30.00	15.90
2094.39	17542	127.21	2.09	0.00	2309.6	2207.4	2411.9	2244.9	432.8	30.64	15.72	291	2109.98	0.00	0.00	3.40	0.000	0.000	0.052	2309.59	2207.00	2412.19	2244.62	1938.31	0	0	0	30.00	30.00	15.96
2293.65	8354	159.44	2.15	0.00	2309.6	2207.4	2411.9	2244.9	1938.1	10.72	6.60	330	2323.92	24.39	0.00	0.00	0.923	0.000	0.000	2189.47	2083.69	2295.25	2244.94	1937.88	0	0	0	11.37	30.00	30.00
2508.68	10663	257.64	2.31	80.00	2185.1	2082.2	2288.0	2244.8	1938.5	7.78	-0.37	373	2597.05	72.36	0.31	3.49	0.935	0.060	0.109	1790.25	1683.69	1896.81	2306.69	3366.12	0	0	0	11.22	15.98	15.73
2640.79	9382	315.86	2.40	0.00	1783.7	1681.8	1885.6	2307.1	3366.1	4.22	3.85	398	2696.37	43.18	0.00	3.46	0.907	0.000	0.056	1553.28	1452.88	1653.69	2307.75	1872.00	0	0	0	11.38	30.00	15.85
2871	end climb: NO_VERTICAL_VELOCITY
state	2871	begin surface