Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 243 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2087 ALTIM_PULSE 3

MISSION 6 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 2 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 2 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 596.99146 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 90 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -1.7

D_ABORT 125 COMM_SEQ 15 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3400 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 129 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 720 DEVICE3 -1

D_SAFE 0 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 400 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 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 30 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 50 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 60 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 205 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1786.6533 MINV_24V 10 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 10 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 13.204008 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 53.774662 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 103.41798 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 2 PRESSURE_YINT -165.77734 SEABIRD_T_J 4.3e-06

MASS 72547 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022387519 SEABIRD_C_G -10

NAV_MODE 0 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 2

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 285 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3890 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 2087 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 129 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 2 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 90 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 2 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 53.774662 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 103.41798 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.015 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 13.204008 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 10000 HD_C 1.6e-05 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 HEAD_ERRBAND 10 PITCH_MIN 205 T_ABORT 1440

COMM_SEQ 15 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 243 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 30

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT -1.7 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1786.6533 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022387519 T_MISSION 50

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -165.77734 T_NO_W 60

C_ROLL_CLIMB 2087 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2087 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3400 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 400 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 400

C_VBD_AUTO_MAX 0 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 72547 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 10 ROLL_MAX 3890 VBD_MIN 500

DEVICE6 -1 MINV_24V 10 ROLL_MAXERRORS 0 VBD_TIMEOUT 720

DIVE 2 MISSION 6 ROLL_MIN 285 W_ADJ_DBAND 0

D_ABORT 125 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 0 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 220623,172105,4736.311,-12256.771,2,1.9,5,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,172411,4736.290,-12256.774,2,1.8,5,15.4 MHEAD_RNG_PITCHd_Wd 25.2,585,-17.6,-10.000,-21.21,2209,0.269

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME N IRON 1.000000,-0.024069,0.030629,0.028963,1.050306,-0.046596,-0.035014,-0.030968,1.063036,81.034927,-1088.709473,-918.284546

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230622175118.471605,18,9172,39,0238,0000,246,02,02,00,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*17 INTERNAL_PRESSURE 10.4288

NAV 1687456744,18.0,start _24V_AH 14.40,83.370

NET CACST,8,1,20230622175810.706511,18,9329,39,0231,0150,07,01,01,00,01,-1,-01,-01,1,3,-3589,0,150,14.3,0.49,-100,2.51,-01,0.99,59,10000,5000,0,-1,00,00*73 _10V_AH 14.96,0.000

NET_PING 1687456660,29,905.236511,1.900000,-1.204981 FG_AHR_24Vo 103.580

FREEZE 2.33,13.780,-1.503,0,1,0 FG_AHR_10Vo 53.803

SURF forcing MEM0 60020,1,0,0

SM_CCo 2743.76,233.12,0.855,0,500.9,390.6,611.2,711.15 MEM1 65508,1,0,0

SM_GC 1.68,0.00,12.69,0.12,0.000,0.053,0.122,498.6,390.3,606.9,187.4,2123.1,0,0,0,30.00,15.61,15.66 MEM2 945748,28,100880,69

SUPER 19,71,254,1,0,0 DATA_FILE_SIZE 9722,431

IRIDIUM_FIX 4735.53,-12254.47,220623,171828 CAP_FILE_SIZE 183987,0

TCM_TEMP 14.15 SDSIZE 3887104,3873184

SC_FREEKB 3878208 SDFILEDIR 55,3

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1687453200,47.60500,-122.95000,0.522,773.5 SOUNDSPEED 1465.0

RAFOS_FIX 4736.581055,-12257.453125,220623,171700,3,255,20.49 MAGCAL 1.000000,0.002647,0.126621,0.004672,1.043518,-0.086148,0.001662,-0.067464,0.967122,7.7,-1072.0,-799.6,26,0.0377,0

HUMID 57.63 GPS 220623,181301,4736.430,-12256.396,17,1.1,18,15.4

TEMP 12.66

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 734 2647 28003.92 nil 0 0 0.00

Pitch_motor 27 244 97.50 nil 0 0 0.00

Roll_motor 49 171 121.58 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 14 15 3.25 nil 0 0 0.00

Core 1759 5 134.77 SciCon 2496 5 197.45

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 884 0 4.23

Compass 965 5 72.20

RAFOS 1407 40 842.12

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

7.82 16386 -146.63 -1.51 0.00 498.0 391.2 604.7 192.0 2046.1 0.00 0.00 0 107.38 95.90 0.00 0.00 0.005 0.000 0.000 2604.53 2550.88 2658.19 192.06 2046.75 0 0 0 15.97 30.00 30.00

107.68 18727 -146.63 -1.51 80.00 2603.8 2550.1 2657.6 191.9 2046.5 3.02 -4.88 14 174.10 41.98 9.23 3.62 0.005 0.244 0.097 3959.50 3922.81 3996.19 1419.44 3554.81 0 0 0 15.99 15.58 15.85

182.63 17574 -146.63 -1.47 0.00 3959.6 3923.8 3995.5 1419.8 3554.9 7.92 -8.84 27 192.32 0.00 0.00 3.39 0.035 0.000 0.038 3959.03 3922.50 3995.56 1420.38 2050.56 0 0 0 30.36 30.00 15.90

376.31 16934 -146.63 -1.47 -80.00 3959.5 3923.4 3995.6 1419.9 2049.9 21.58 -6.95 66 382.40 0.00 0.00 3.49 0.025 0.000 0.100 3959.47 3923.56 3995.38 1419.75 620.38 0 0 0 30.36 30.00 15.84

436.39 17574 -146.63 -1.43 0.00 3959.5 3923.6 3995.4 1420.1 620.2 26.85 -9.18 78 442.37 0.00 0.00 3.38 0.034 0.000 0.039 3959.62 3923.62 3995.62 1420.19 2122.50 0 0 0 30.36 30.00 15.91

626.34 16678 -146.63 -1.43 80.00 3959.2 3923.2 3995.2 1419.8 2122.2 43.09 -9.02 116 632.46 0.00 0.00 3.41 2.647 0.000 0.100 3965.91 3927.62 4004.19 1420.44 3554.88 0 0 0 30.36 30.00 15.90

766.43 3205 -146.63 -1.38 0.00 3966.0 3927.6 4004.3 1420.1 3554.7 58.42 -11.30 144 776.62 0.00 0.23 3.38 0.000 0.176 0.041 3965.91 3927.50 4004.31 1452.56 2049.00 0 0 0 30.00 15.61 13.99

960.00 292 -146.63 -1.38 80.00 3965.9 3927.6 4004.3 1453.1 2048.8 77.14 -9.79 164 966.56 0.00 0.00 3.61 0.000 0.000 0.097 3966.66 3928.19 4005.12 1453.06 3555.38 0 0 0 30.00 30.00 15.89

1075 end dive: TARGET_DEPTH_EXCEEDED

state 1075 begin apogee

1081.24 10243 0.00 -0.38 0.00 3965.8 3927.4 4004.3 1453.1 2053.3 90.51 -11.90 187 1185.69 94.49 1.64 0.10 1.060 0.142 0.172 3398.12 3323.94 3472.31 1695.62 2122.88 0 0 0 10.84 15.74 15.75

1187 end apogee: CONTROL_FINISHED_OK

state 1187 begin climb

1187.21 10759 146.63 1.51 -80.00 3398.7 3325.2 3472.1 1696.3 2122.8 94.28 0.00 197 1309.73 104.89 2.92 3.77 0.921 0.088 0.104 2799.97 2700.19 2899.75 2157.19 618.00 0 0 0 11.15 15.73 15.58

1358.19 5253 146.63 1.36 0.00 2794.5 2700.4 2888.6 2157.6 617.6 82.42 12.09 229 1365.87 0.00 0.38 3.46 0.000 0.188 0.041 2793.22 2699.56 2886.88 2109.88 2120.25 0 0 0 30.00 15.60 15.68

1553.32 8614 179.07 1.34 80.00 2792.4 2698.8 2886.0 2110.0 2120.5 65.27 8.50 249 1585.82 24.77 0.00 3.48 0.885 0.000 0.105 2670.59 2571.25 2769.94 2110.38 3555.31 0 0 0 10.83 30.00 15.74

1685.37 1156 179.07 1.27 0.00 2665.7 2568.4 2763.0 2110.2 3554.6 51.70 11.12 275 1691.79 0.00 0.00 3.42 0.000 0.000 0.041 2664.94 2568.62 2761.25 2109.75 2053.75 0 0 0 30.00 30.00 15.82

1875.37 8486 222.60 1.33 80.00 2662.6 2566.1 2759.1 2109.8 2052.9 34.70 7.98 311 1918.60 33.24 0.00 3.63 0.891 0.000 0.102 2489.31 2383.94 2594.69 2109.69 3553.62 0 0 0 10.95 30.00 15.82

2004.69 1156 222.60 1.29 0.00 2486.9 2384.4 2589.4 2110.1 3552.5 23.14 10.19 336 2010.64 0.00 0.00 3.37 0.000 0.000 0.041 2484.66 2380.81 2588.50 2110.00 2055.25 0 0 0 30.00 30.00 15.83

2194.82 8226 288.92 1.38 0.00 2484.3 2382.8 2585.9 2109.8 2051.4 8.53 6.93 372 2246.89 48.35 0.00 0.00 0.890 0.000 0.000 2219.31 2105.50 2333.12 2109.56 2050.94 0 0 0 11.06 30.00 30.00

2430.34 10919 490.18 1.73 -80.00 2212.9 2102.8 2322.9 2109.4 2050.9 2.81 0.68 419 2493.21 57.83 0.61 0.00 0.883 0.063 0.000 1889.94 1766.94 2012.94 2215.38 2050.88 0 0 0 10.95 15.79 30.00

2494 end climb: NO_VERTICAL_VELOCITY

state 2494 begin surface

ID	243	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2087	ALTIM_PULSE	3
MISSION	6	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	2	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	2	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	596.99146	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	90	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-1.7
D_ABORT	125	COMM_SEQ	15	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3400	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	129	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	720	DEVICE3	-1
D_SAFE	0	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	400	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	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	30	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	50	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	60	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	205	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1786.6533	MINV_24V	10	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	10	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	13.204008	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	53.774662	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	103.41798	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-165.77734	SEABIRD_T_J	4.3e-06
MASS	72547	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022387519	SEABIRD_C_G	-10
NAV_MODE	0	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	2
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	285	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3890	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	2087	ALTIM_FREQUENCY	13

GPS1	220623,172105,4736.311,-12256.771,2,1.9,5,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,172411,4736.290,-12256.774,2,1.8,5,15.4	MHEAD_RNG_PITCHd_Wd	25.2,585,-17.6,-10.000,-21.21,2209,0.269
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	N	IRON	1.000000,-0.024069,0.030629,0.028963,1.050306,-0.046596,-0.035014,-0.030968,1.063036,81.034927,-1088.709473,-918.284546
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

MODEM_MSG	CACST,8,1,20230622175118.471605,18,9172,39,0238,0000,246,02,02,00,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*17	INTERNAL_PRESSURE	10.4288
NAV	1687456744,18.0,start	_24V_AH	14.40,83.370
NET	CACST,8,1,20230622175810.706511,18,9329,39,0231,0150,07,01,01,00,01,-1,-01,-01,1,3,-3589,0,150,14.3,0.49,-100,2.51,-01,0.99,59,10000,5000,0,-1,00,00*73	_10V_AH	14.96,0.000
NET_PING	1687456660,29,905.236511,1.900000,-1.204981	FG_AHR_24Vo	103.580
FREEZE	2.33,13.780,-1.503,0,1,0	FG_AHR_10Vo	53.803
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	2743.76,233.12,0.855,0,500.9,390.6,611.2,711.15	MEM1	65508,1,0,0
SM_GC	1.68,0.00,12.69,0.12,0.000,0.053,0.122,498.6,390.3,606.9,187.4,2123.1,0,0,0,30.00,15.61,15.66	MEM2	945748,28,100880,69
SUPER	19,71,254,1,0,0	DATA_FILE_SIZE	9722,431
IRIDIUM_FIX	4735.53,-12254.47,220623,171828	CAP_FILE_SIZE	183987,0
TCM_TEMP	14.15	SDSIZE	3887104,3873184
SC_FREEKB	3878208	SDFILEDIR	55,3
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1687453200,47.60500,-122.95000,0.522,773.5	SOUNDSPEED	1465.0
RAFOS_FIX	4736.581055,-12257.453125,220623,171700,3,255,20.49	MAGCAL	1.000000,0.002647,0.126621,0.004672,1.043518,-0.086148,0.001662,-0.067464,0.967122,7.7,-1072.0,-799.6,26,0.0377,0
HUMID	57.63	GPS	220623,181301,4736.430,-12256.396,17,1.1,18,15.4
TEMP	12.66

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	734	2647	28003.92	nil	0	0	0.00
Pitch_motor	27	244	97.50	nil	0	0	0.00
Roll_motor	49	171	121.58	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	14	15	3.25	nil	0	0	0.00
Core	1759	5	134.77	SciCon	2496	5	197.45
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	884	0	4.23
Compass	965	5	72.20
RAFOS	1407	40	842.12
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
7.82	16386	-146.63	-1.51	0.00	498.0	391.2	604.7	192.0	2046.1	0.00	0.00	0	107.38	95.90	0.00	0.00	0.005	0.000	0.000	2604.53	2550.88	2658.19	192.06	2046.75	0	0	0	15.97	30.00	30.00
107.68	18727	-146.63	-1.51	80.00	2603.8	2550.1	2657.6	191.9	2046.5	3.02	-4.88	14	174.10	41.98	9.23	3.62	0.005	0.244	0.097	3959.50	3922.81	3996.19	1419.44	3554.81	0	0	0	15.99	15.58	15.85
182.63	17574	-146.63	-1.47	0.00	3959.6	3923.8	3995.5	1419.8	3554.9	7.92	-8.84	27	192.32	0.00	0.00	3.39	0.035	0.000	0.038	3959.03	3922.50	3995.56	1420.38	2050.56	0	0	0	30.36	30.00	15.90
376.31	16934	-146.63	-1.47	-80.00	3959.5	3923.4	3995.6	1419.9	2049.9	21.58	-6.95	66	382.40	0.00	0.00	3.49	0.025	0.000	0.100	3959.47	3923.56	3995.38	1419.75	620.38	0	0	0	30.36	30.00	15.84
436.39	17574	-146.63	-1.43	0.00	3959.5	3923.6	3995.4	1420.1	620.2	26.85	-9.18	78	442.37	0.00	0.00	3.38	0.034	0.000	0.039	3959.62	3923.62	3995.62	1420.19	2122.50	0	0	0	30.36	30.00	15.91
626.34	16678	-146.63	-1.43	80.00	3959.2	3923.2	3995.2	1419.8	2122.2	43.09	-9.02	116	632.46	0.00	0.00	3.41	2.647	0.000	0.100	3965.91	3927.62	4004.19	1420.44	3554.88	0	0	0	30.36	30.00	15.90
766.43	3205	-146.63	-1.38	0.00	3966.0	3927.6	4004.3	1420.1	3554.7	58.42	-11.30	144	776.62	0.00	0.23	3.38	0.000	0.176	0.041	3965.91	3927.50	4004.31	1452.56	2049.00	0	0	0	30.00	15.61	13.99
960.00	292	-146.63	-1.38	80.00	3965.9	3927.6	4004.3	1453.1	2048.8	77.14	-9.79	164	966.56	0.00	0.00	3.61	0.000	0.000	0.097	3966.66	3928.19	4005.12	1453.06	3555.38	0	0	0	30.00	30.00	15.89
1075	end dive: TARGET_DEPTH_EXCEEDED
state	1075	begin apogee
1081.24	10243	0.00	-0.38	0.00	3965.8	3927.4	4004.3	1453.1	2053.3	90.51	-11.90	187	1185.69	94.49	1.64	0.10	1.060	0.142	0.172	3398.12	3323.94	3472.31	1695.62	2122.88	0	0	0	10.84	15.74	15.75
1187	end apogee: CONTROL_FINISHED_OK
state	1187	begin climb
1187.21	10759	146.63	1.51	-80.00	3398.7	3325.2	3472.1	1696.3	2122.8	94.28	0.00	197	1309.73	104.89	2.92	3.77	0.921	0.088	0.104	2799.97	2700.19	2899.75	2157.19	618.00	0	0	0	11.15	15.73	15.58
1358.19	5253	146.63	1.36	0.00	2794.5	2700.4	2888.6	2157.6	617.6	82.42	12.09	229	1365.87	0.00	0.38	3.46	0.000	0.188	0.041	2793.22	2699.56	2886.88	2109.88	2120.25	0	0	0	30.00	15.60	15.68
1553.32	8614	179.07	1.34	80.00	2792.4	2698.8	2886.0	2110.0	2120.5	65.27	8.50	249	1585.82	24.77	0.00	3.48	0.885	0.000	0.105	2670.59	2571.25	2769.94	2110.38	3555.31	0	0	0	10.83	30.00	15.74
1685.37	1156	179.07	1.27	0.00	2665.7	2568.4	2763.0	2110.2	3554.6	51.70	11.12	275	1691.79	0.00	0.00	3.42	0.000	0.000	0.041	2664.94	2568.62	2761.25	2109.75	2053.75	0	0	0	30.00	30.00	15.82
1875.37	8486	222.60	1.33	80.00	2662.6	2566.1	2759.1	2109.8	2052.9	34.70	7.98	311	1918.60	33.24	0.00	3.63	0.891	0.000	0.102	2489.31	2383.94	2594.69	2109.69	3553.62	0	0	0	10.95	30.00	15.82
2004.69	1156	222.60	1.29	0.00	2486.9	2384.4	2589.4	2110.1	3552.5	23.14	10.19	336	2010.64	0.00	0.00	3.37	0.000	0.000	0.041	2484.66	2380.81	2588.50	2110.00	2055.25	0	0	0	30.00	30.00	15.83
2194.82	8226	288.92	1.38	0.00	2484.3	2382.8	2585.9	2109.8	2051.4	8.53	6.93	372	2246.89	48.35	0.00	0.00	0.890	0.000	0.000	2219.31	2105.50	2333.12	2109.56	2050.94	0	0	0	11.06	30.00	30.00
2430.34	10919	490.18	1.73	-80.00	2212.9	2102.8	2322.9	2109.4	2050.9	2.81	0.68	419	2493.21	57.83	0.61	0.00	0.883	0.063	0.000	1889.94	1766.94	2012.94	2215.38	2050.88	0	0	0	10.95	15.79	30.00
2494	end climb: NO_VERTICAL_VELOCITY
state	2494	begin surface