Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 22 * 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 22 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 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 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -1.7

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3100 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 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 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 54.83102 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 106.87127 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 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 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 54.83102 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 106.87127 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 7 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 243 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 -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 75

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 3100 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 22 MISSION 6 ROLL_MIN 285 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 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 230623,143508,4736.214,-12256.559,2,1.1,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,143834,4736.208,-12256.549,2,1.0,4,15.4 MHEAD_RNG_PITCHd_Wd 354.0,605,-23.3,-10.000,-26.38,1308,0.130

SPEED_LIMITS 0.173,0.258 D_GRID 169

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 8000307

Post-dive calculations and measurements:

NAV 1687534184,2.0,3,stop _24V_AH 14.84,87.400

NET xmit ok outbox0020.n 2564 41 _10V_AH 14.86,0.000

NET_PING 1687532862,29,932.329529,11.300000,-1.241579 FG_AHR_24Vo 107.028

FINISH 1.9,1.020232 FG_AHR_10Vo 54.890

SURF forcing MEM0 60020,1,0,0

SM_CCo 3038.26,245.30,0.947,0,667.1,546.1,788.0,596.80 MEM1 65508,1,0,0

SM_GC 1.50,245.30,12.91,3.39,0.947,0.068,0.036,667.1,546.1,788.0,190.6,2049.7,0,0,0,11.03,15.72,15.79 MEM2 945736,27,100912,69

MODEM_MSG CACST,8,1,20230623152000.812445,18,32767,39,0358,0000,216,00,00,01,00,-1,-01,-01,1,3,1,0,150,-15.1,0.62,-100,2.38,-01,-0.05,36,925,0025,0,-1,00,00*04 DATA_FILE_SIZE 12922,434

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 185121,0

IRIDIUM_FIX 4734.67,-12257.15,230623,133134 SDSIZE 3887104,3867008

TCM_TEMP 12.84 SDFILEDIR 208,23

SC_FREEKB 3871936 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687532400,47.60500,-122.95000,0.614,899.1 MAGCAL 1.000000,-0.005333,0.045797,0.009196,1.036859,-0.021134,0.018949,-0.093564,1.036319,49.3,-1166.6,-896.2,36,0.0329,0

RAFOS_FIX 49223.589844,-2154256.500000,230623,151500,4,255,851282.62 IMPLIED_C_PITCH 1768,13.88,192,0.0,0.00

HUMID 56.57 IMPLIED_C_VBD 2936,28.909481,192,0

TEMP 10.72 GPS 230623,153032,4736.511,-12256.334,2,1.1,21,15.4

INTERNAL_PRESSURE 10.3339

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 645 1137 10898.03 nil 0 0 0.00

Pitch_motor 28 253 108.04 nil 0 0 0.00

Roll_motor 65 166 160.85 nil 0 0 0.00

Iridium 135 162 328.56 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.05 nil 0 0 0.00

Core 1965 5 149.54 SciCon 2759 7 298.06

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 993 0 4.72

Compass 924 5 68.67

RAFOS 2326 40 1383.11

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

7.83 16386 -86.24 -1.87 0.00 663.0 543.1 783.0 193.2 2055.4 0.00 0.00 0 90.73 79.79 0.00 0.00 0.005 0.000 0.000 2380.66 2336.25 2425.06 193.25 2056.06 0 0 0 13.93 30.00 30.00

91.04 18727 -146.63 -1.94 80.00 2380.7 2335.5 2425.9 193.4 2055.6 3.18 -2.08 15 155.32 43.97 8.65 3.80 0.005 0.254 0.092 3695.97 3659.00 3732.94 1315.19 3554.12 0 0 0 15.90 15.62 15.79

158.58 3205 -146.63 -1.83 0.00 3695.9 3659.2 3732.5 1314.8 3553.9 8.20 -10.69 28 164.28 0.00 0.20 3.45 0.000 0.213 0.038 3697.25 3660.88 3733.62 1343.19 2055.19 0 0 0 30.00 15.70 15.81

346.71 260 -146.63 -1.83 80.00 3696.4 3659.7 3733.2 1343.2 2055.3 36.02 -13.29 64 353.94 0.00 0.00 3.77 0.000 0.000 0.091 3696.41 3658.94 3733.88 1343.50 3553.94 0 0 0 30.00 30.00 15.81

466.57 1156 -146.63 -1.78 0.00 3696.7 3659.3 3734.1 1343.4 3553.8 55.09 -16.76 88 473.30 0.00 0.00 3.42 0.000 0.000 0.036 3696.91 3659.44 3734.38 1343.19 2055.94 0 0 0 30.00 30.00 15.88

662.29 260 -146.63 -1.78 80.00 3697.3 3659.4 3735.2 1343.4 2055.4 81.15 -13.49 108 668.72 0.00 0.00 3.77 0.000 0.000 0.091 3696.44 3658.62 3734.25 1343.56 3554.19 0 0 0 30.00 30.00 15.85

801.54 1028 -146.63 -1.78 0.00 3696.8 3659.1 3734.5 1343.6 3554.2 102.87 -14.67 136 808.34 0.00 0.00 3.41 0.000 0.000 0.037 3697.56 3660.19 3734.94 1343.75 2054.81 0 0 0 30.00 30.00 15.95

997.41 388 -146.63 -1.81 80.00 3697.1 3659.7 3734.5 1343.3 2055.4 129.21 -13.55 156 1003.77 0.00 0.00 3.73 0.000 0.000 0.091 3696.47 3658.25 3734.69 1343.50 3553.75 0 0 0 30.00 30.00 15.92

1118.74 3205 -146.63 -1.60 0.00 3696.9 3659.1 3734.8 1343.5 3553.4 147.40 -14.75 180 1125.71 0.00 0.38 3.41 0.000 0.176 0.038 3696.81 3659.25 3734.38 1399.31 2055.19 0 0 0 30.00 15.84 15.39

1145 end dive: TARGET_DEPTH_EXCEEDED

state 1145 begin apogee

1146.31 10243 0.00 -0.38 0.00 3697.3 3659.4 3735.2 1400.2 2121.3 150.47 -12.68 183 1259.28 102.71 2.09 0.12 1.138 0.146 0.167 3097.91 3017.44 3178.38 1695.12 2049.06 0 0 0 11.51 15.32 15.61

1261 end apogee: CONTROL_FINISHED_OK

state 1261 begin climb

1261.61 10759 146.63 1.94 -80.00 3097.1 3016.9 3177.2 1695.1 2049.4 153.68 0.00 193 1389.01 107.05 3.68 3.64 1.060 0.089 0.109 2499.06 2399.69 2598.44 2261.62 620.44 0 0 0 11.39 15.62 15.47

1402.45 5253 146.63 1.84 0.00 2496.2 2399.8 2592.8 2262.0 620.3 140.24 15.79 219 1410.14 0.00 0.28 3.53 0.000 0.202 0.037 2494.81 2398.94 2590.69 2228.00 2117.19 0 0 0 30.00 15.51 15.59

1597.47 16774 146.63 1.81 80.00 2493.2 2398.9 2587.5 2227.2 2117.4 112.36 13.43 239 1603.94 0.00 0.00 3.60 0.000 0.000 0.097 2494.53 2398.88 2590.19 2226.81 3554.06 0 0 0 30.00 30.00 15.70

1662.46 17542 146.63 1.73 0.00 2492.4 2398.8 2586.0 2227.5 3554.2 102.30 15.83 252 1668.88 0.00 0.00 3.44 0.000 0.000 0.038 2491.22 2397.44 2585.00 2228.00 2056.12 0 0 0 30.00 30.00 15.77

1857.97 16646 146.63 1.73 80.00 2491.9 2398.5 2585.2 2227.8 2055.4 76.12 13.15 272 1869.40 0.00 0.00 3.88 0.000 0.000 0.095 2489.75 2396.38 2583.12 2227.88 3552.50 0 0 0 30.00 30.00 15.20

1917.82 21639 146.63 1.66 0.00 2491.9 2398.9 2584.9 2227.4 3552.8 67.66 14.19 284 1931.11 0.00 0.31 3.46 0.000 0.193 0.037 2489.56 2396.19 2582.94 2182.38 2052.25 0 0 0 30.00 15.57 15.65

2112.76 16646 146.63 1.66 80.00 2491.3 2398.2 2584.3 2182.3 2052.4 45.88 10.57 308 2120.19 0.00 0.00 3.76 0.000 0.000 0.096 2488.97 2397.19 2580.75 2182.44 3554.62 0 0 0 30.00 30.00 15.72

2203.63 17542 146.63 1.62 0.00 2491.2 2398.5 2583.9 2182.6 3554.8 35.55 11.38 326 2209.77 0.00 0.00 3.42 0.000 0.000 0.038 2491.22 2399.00 2583.44 2181.56 2053.81 0 0 0 30.00 30.00 15.79

2391.53 8226 167.27 1.65 0.00 2490.3 2397.2 2583.4 2182.1 2054.2 18.21 8.38 363 2411.72 16.24 0.00 0.00 0.934 0.000 0.000 2415.25 2316.94 2513.56 2181.69 2053.94 0 0 0 10.99 30.00 30.00

2596.66 10663 236.21 1.77 80.00 2412.3 2316.6 2508.0 2182.1 2053.6 5.37 4.61 404 2657.09 50.31 0.21 3.78 0.946 0.077 0.097 2131.09 2022.62 2239.56 2228.88 3553.69 0 0 0 11.00 15.83 15.71

2690 end climb: SURFACE_DEPTH_REACHED

state 2691 begin surface coast

2751 end surface coast: CONTROL_FINISHED_OK

state 2751 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	22	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	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	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-1.7
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3100	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	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	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	54.83102	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	106.87127	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	230623,143508,4736.214,-12256.559,2,1.1,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,143834,4736.208,-12256.549,2,1.0,4,15.4	MHEAD_RNG_PITCHd_Wd	354.0,605,-23.3,-10.000,-26.38,1308,0.130
SPEED_LIMITS	0.173,0.258	D_GRID	169
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	8000307

NAV	1687534184,2.0,3,stop	_24V_AH	14.84,87.400
NET	xmit ok outbox0020.n 2564 41	_10V_AH	14.86,0.000
NET_PING	1687532862,29,932.329529,11.300000,-1.241579	FG_AHR_24Vo	107.028
FINISH	1.9,1.020232	FG_AHR_10Vo	54.890
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3038.26,245.30,0.947,0,667.1,546.1,788.0,596.80	MEM1	65508,1,0,0
SM_GC	1.50,245.30,12.91,3.39,0.947,0.068,0.036,667.1,546.1,788.0,190.6,2049.7,0,0,0,11.03,15.72,15.79	MEM2	945736,27,100912,69
MODEM_MSG	CACST,8,1,20230623152000.812445,18,32767,39,0358,0000,216,00,00,01,00,-1,-01,-01,1,3,1,0,150,-15.1,0.62,-100,2.38,-01,-0.05,36,925,0025,0,-1,00,00*04	DATA_FILE_SIZE	12922,434
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	185121,0
IRIDIUM_FIX	4734.67,-12257.15,230623,133134	SDSIZE	3887104,3867008
TCM_TEMP	12.84	SDFILEDIR	208,23
SC_FREEKB	3871936	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687532400,47.60500,-122.95000,0.614,899.1	MAGCAL	1.000000,-0.005333,0.045797,0.009196,1.036859,-0.021134,0.018949,-0.093564,1.036319,49.3,-1166.6,-896.2,36,0.0329,0
RAFOS_FIX	49223.589844,-2154256.500000,230623,151500,4,255,851282.62	IMPLIED_C_PITCH	1768,13.88,192,0.0,0.00
HUMID	56.57	IMPLIED_C_VBD	2936,28.909481,192,0
TEMP	10.72	GPS	230623,153032,4736.511,-12256.334,2,1.1,21,15.4
INTERNAL_PRESSURE	10.3339

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	645	1137	10898.03	nil	0	0	0.00
Pitch_motor	28	253	108.04	nil	0	0	0.00
Roll_motor	65	166	160.85	nil	0	0	0.00
Iridium	135	162	328.56	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.05	nil	0	0	0.00
Core	1965	5	149.54	SciCon	2759	7	298.06
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	993	0	4.72
Compass	924	5	68.67
RAFOS	2326	40	1383.11
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
7.83	16386	-86.24	-1.87	0.00	663.0	543.1	783.0	193.2	2055.4	0.00	0.00	0	90.73	79.79	0.00	0.00	0.005	0.000	0.000	2380.66	2336.25	2425.06	193.25	2056.06	0	0	0	13.93	30.00	30.00
91.04	18727	-146.63	-1.94	80.00	2380.7	2335.5	2425.9	193.4	2055.6	3.18	-2.08	15	155.32	43.97	8.65	3.80	0.005	0.254	0.092	3695.97	3659.00	3732.94	1315.19	3554.12	0	0	0	15.90	15.62	15.79
158.58	3205	-146.63	-1.83	0.00	3695.9	3659.2	3732.5	1314.8	3553.9	8.20	-10.69	28	164.28	0.00	0.20	3.45	0.000	0.213	0.038	3697.25	3660.88	3733.62	1343.19	2055.19	0	0	0	30.00	15.70	15.81
346.71	260	-146.63	-1.83	80.00	3696.4	3659.7	3733.2	1343.2	2055.3	36.02	-13.29	64	353.94	0.00	0.00	3.77	0.000	0.000	0.091	3696.41	3658.94	3733.88	1343.50	3553.94	0	0	0	30.00	30.00	15.81
466.57	1156	-146.63	-1.78	0.00	3696.7	3659.3	3734.1	1343.4	3553.8	55.09	-16.76	88	473.30	0.00	0.00	3.42	0.000	0.000	0.036	3696.91	3659.44	3734.38	1343.19	2055.94	0	0	0	30.00	30.00	15.88
662.29	260	-146.63	-1.78	80.00	3697.3	3659.4	3735.2	1343.4	2055.4	81.15	-13.49	108	668.72	0.00	0.00	3.77	0.000	0.000	0.091	3696.44	3658.62	3734.25	1343.56	3554.19	0	0	0	30.00	30.00	15.85
801.54	1028	-146.63	-1.78	0.00	3696.8	3659.1	3734.5	1343.6	3554.2	102.87	-14.67	136	808.34	0.00	0.00	3.41	0.000	0.000	0.037	3697.56	3660.19	3734.94	1343.75	2054.81	0	0	0	30.00	30.00	15.95
997.41	388	-146.63	-1.81	80.00	3697.1	3659.7	3734.5	1343.3	2055.4	129.21	-13.55	156	1003.77	0.00	0.00	3.73	0.000	0.000	0.091	3696.47	3658.25	3734.69	1343.50	3553.75	0	0	0	30.00	30.00	15.92
1118.74	3205	-146.63	-1.60	0.00	3696.9	3659.1	3734.8	1343.5	3553.4	147.40	-14.75	180	1125.71	0.00	0.38	3.41	0.000	0.176	0.038	3696.81	3659.25	3734.38	1399.31	2055.19	0	0	0	30.00	15.84	15.39
1145	end dive: TARGET_DEPTH_EXCEEDED
state	1145	begin apogee
1146.31	10243	0.00	-0.38	0.00	3697.3	3659.4	3735.2	1400.2	2121.3	150.47	-12.68	183	1259.28	102.71	2.09	0.12	1.138	0.146	0.167	3097.91	3017.44	3178.38	1695.12	2049.06	0	0	0	11.51	15.32	15.61
1261	end apogee: CONTROL_FINISHED_OK
state	1261	begin climb
1261.61	10759	146.63	1.94	-80.00	3097.1	3016.9	3177.2	1695.1	2049.4	153.68	0.00	193	1389.01	107.05	3.68	3.64	1.060	0.089	0.109	2499.06	2399.69	2598.44	2261.62	620.44	0	0	0	11.39	15.62	15.47
1402.45	5253	146.63	1.84	0.00	2496.2	2399.8	2592.8	2262.0	620.3	140.24	15.79	219	1410.14	0.00	0.28	3.53	0.000	0.202	0.037	2494.81	2398.94	2590.69	2228.00	2117.19	0	0	0	30.00	15.51	15.59
1597.47	16774	146.63	1.81	80.00	2493.2	2398.9	2587.5	2227.2	2117.4	112.36	13.43	239	1603.94	0.00	0.00	3.60	0.000	0.000	0.097	2494.53	2398.88	2590.19	2226.81	3554.06	0	0	0	30.00	30.00	15.70
1662.46	17542	146.63	1.73	0.00	2492.4	2398.8	2586.0	2227.5	3554.2	102.30	15.83	252	1668.88	0.00	0.00	3.44	0.000	0.000	0.038	2491.22	2397.44	2585.00	2228.00	2056.12	0	0	0	30.00	30.00	15.77
1857.97	16646	146.63	1.73	80.00	2491.9	2398.5	2585.2	2227.8	2055.4	76.12	13.15	272	1869.40	0.00	0.00	3.88	0.000	0.000	0.095	2489.75	2396.38	2583.12	2227.88	3552.50	0	0	0	30.00	30.00	15.20
1917.82	21639	146.63	1.66	0.00	2491.9	2398.9	2584.9	2227.4	3552.8	67.66	14.19	284	1931.11	0.00	0.31	3.46	0.000	0.193	0.037	2489.56	2396.19	2582.94	2182.38	2052.25	0	0	0	30.00	15.57	15.65
2112.76	16646	146.63	1.66	80.00	2491.3	2398.2	2584.3	2182.3	2052.4	45.88	10.57	308	2120.19	0.00	0.00	3.76	0.000	0.000	0.096	2488.97	2397.19	2580.75	2182.44	3554.62	0	0	0	30.00	30.00	15.72
2203.63	17542	146.63	1.62	0.00	2491.2	2398.5	2583.9	2182.6	3554.8	35.55	11.38	326	2209.77	0.00	0.00	3.42	0.000	0.000	0.038	2491.22	2399.00	2583.44	2181.56	2053.81	0	0	0	30.00	30.00	15.79
2391.53	8226	167.27	1.65	0.00	2490.3	2397.2	2583.4	2182.1	2054.2	18.21	8.38	363	2411.72	16.24	0.00	0.00	0.934	0.000	0.000	2415.25	2316.94	2513.56	2181.69	2053.94	0	0	0	10.99	30.00	30.00
2596.66	10663	236.21	1.77	80.00	2412.3	2316.6	2508.0	2182.1	2053.6	5.37	4.61	404	2657.09	50.31	0.21	3.78	0.946	0.077	0.097	2131.09	2022.62	2239.56	2228.88	3553.69	0	0	0	11.00	15.83	15.71
2690	end climb: SURFACE_DEPTH_REACHED
state	2691	begin surface coast
2751	end surface coast: CONTROL_FINISHED_OK
state	2751	begin surface