Glider dive log

HoodCanal 19Jun23 * SG253 * Dive index * Mission links * Dive 23 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 253 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

MISSION 4 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 23 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 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 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 720 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 7

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 3 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 120 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 205 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 1600 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 14 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 1.0365074 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 7.4541154 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 -186.595 SEABIRD_T_J 4.3e-06

MASS 72374 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022830076 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 240 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3850 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 2025 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 1.0365074 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.4541154 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 14 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 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 205 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 253 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 1600 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022830076 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -186.595 T_NO_W 120

C_ROLL_CLIMB 2025 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2025 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3300 LOGGERS 7 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 72374 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 3850 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 23 MISSION 4 ROLL_MIN 240 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 0

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

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 200623,160249,4736.152,-12256.508,41,1.6,82,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,160607,4736.167,-12256.477,2,1.6,4,15.4 MHEAD_RNG_PITCHd_Wd 208.5,569,-17.8,-10.000,-21.41,2159,0.123

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.002241,-0.061658,0.018716,1.048444,0.064963,0.023296,0.048226,1.050715,-555.339233,-1822.087158,622.209961

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687280727,0.6,start _10V_AH 14.95,0.000

NET CACST,8,1,20230620165520.023079,18,25787,44,0259,0108,07,01,01,00,01,1,012,121,3,5,7,3,150,2.3,5.48,-100,-2.48,-01,-0.61,53,10000,5000,0,1,01,01*6F FG_AHR_24Vo 7.659

NET_PING 1687279512,29,735.237000,13.900000,-1.010754 FG_AHR_10Vo 1.065

FREEZE 4.71,14.067,-1.524,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3411.74,240.85,1.009,0,500.7,573.4,428.1,686.66 MEM2 945800,28,100848,68

SM_GC 1.86,0.00,11.80,0.09,0.000,0.061,0.153,498.0,568.4,427.6,193.3,2054.6,0,0,0,30.00,15.56,15.57 DATA_FILE_SIZE 12906,447

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 171886,0

IRIDIUM_FIX 4738.33,-12256.21,200623,145840 SDSIZE 3887104,3867328

TCM_TEMP 15.72 SDFILEDIR 205,24

SC_FREEKB 3871296 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.077, 46.3,1

HUMID 44.35 MAGCAL 1.000000,-2.071189,3.240838,0.226991,4.027676,0.982359,-3.888649,-0.232069,1.140888,-286.4,345.6,3985.9,6,0.0041,0

TEMP 10.58 IMPLIED_C_PITCH 1632,13.96,227,0.0,0.00

INTERNAL_PRESSURE 7.92823 IMPLIED_C_VBD 3104,21.530718,224,0

_24V_AH 14.94,7.187 GPS 200623,170604,4735.928,-12256.653,1,1.4,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 726 1196 13000.28 nil 0 0 0.00

Pitch_motor 26 291 114.71 nil 0 0 0.00

Roll_motor 49 196 146.18 nil 0 0 0.00

Iridium 125 156 293.97 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.15 nil 0 0 0.00

Core 2224 5 170.28 SciCon 3151 6 317.69

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1210 0 5.79

Compass 1118 5 83.59

RAFOS 247 40 148.16

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

7.04 16386 -143.27 -1.45 0.00 493.1 564.9 421.2 191.0 2000.1 0.00 0.00 0 56.15 44.40 0.00 0.00 0.006 0.000 0.000 1708.78 1762.12 1655.44 190.56 2000.56 0 0 0 14.75 30.00 30.00

56.67 18467 -146.63 -1.45 0.00 1711.0 1763.7 1658.2 190.5 2001.2 3.24 -4.51 7 142.31 61.51 8.64 0.00 0.005 0.291 0.000 3897.06 3848.12 3946.00 1246.94 2000.00 0 0 0 15.80 15.66 30.00

326.31 644 -146.63 -1.39 -80.00 3899.2 3852.4 3946.0 1246.6 2000.9 35.70 -13.82 59 334.35 0.00 0.00 3.56 0.000 0.000 0.144 3899.34 3852.00 3946.69 1246.81 557.00 0 0 0 30.00 30.00 15.86

509.21 3205 -146.63 -1.28 0.00 3899.7 3852.8 3946.6 1246.9 557.0 63.78 -15.97 94 520.87 0.00 0.31 3.40 0.000 0.214 0.066 3898.97 3851.88 3946.06 1288.81 2045.44 0 0 0 30.00 15.47 15.02

704.81 260 -146.63 -1.28 80.00 3899.7 3853.1 3946.2 1289.0 2045.3 88.73 -11.82 114 712.63 0.00 0.00 3.53 0.000 0.000 0.136 3899.66 3853.38 3945.94 1289.94 3489.94 0 0 0 30.00 30.00 15.94

741.82 1156 -146.63 -1.25 0.00 3900.2 3853.5 3946.9 1290.1 3489.6 93.66 -13.49 121 750.36 0.00 0.00 3.43 0.000 0.000 0.068 3899.84 3854.00 3945.69 1289.44 2006.56 0 0 0 30.00 30.00 15.98

936.68 516 -146.63 -1.25 -80.00 3900.2 3853.9 3946.4 1288.8 2006.1 116.24 -11.34 141 944.48 0.00 0.00 3.53 0.000 0.000 0.145 3898.62 3852.25 3945.00 1289.69 558.38 0 0 0 30.00 30.00 15.98

993.68 1156 -146.63 -1.21 0.00 3900.0 3853.8 3946.3 1289.6 558.3 123.81 -13.74 152 1002.17 0.00 0.00 3.39 0.000 0.000 0.065 3900.72 3854.62 3946.81 1289.69 2050.25 0 0 0 30.00 30.00 16.04

1188.53 516 -146.63 -1.21 -80.00 3900.5 3854.4 3946.7 1289.8 2051.1 146.43 -11.35 172 1197.44 0.00 0.00 3.68 0.000 0.000 0.145 3900.09 3853.06 3947.12 1289.44 558.25 0 0 0 30.00 30.00 15.97

1216 end dive: TARGET_DEPTH_EXCEEDED

state 1216 begin apogee

1224.32 10243 0.00 -0.36 0.00 3900.6 3854.4 3946.8 1289.7 2050.4 150.01 -12.75 177 1341.19 102.18 1.58 0.10 1.197 0.169 0.197 3295.94 3390.50 3201.38 1513.12 1992.94 0 0 0 11.92 15.97 15.63

1342 end apogee: CONTROL_FINISHED_OK

state 1342 begin climb

1342.67 10243 146.63 1.45 0.00 3294.4 3385.7 3203.2 1513.6 1992.6 155.03 0.00 188 1466.13 106.35 2.99 0.00 1.182 0.118 0.000 2696.91 2826.69 2567.12 1954.19 1992.88 0 0 0 11.58 15.64 30.00

1650.28 16774 146.63 1.42 80.00 2684.2 2797.7 2570.7 1954.0 1992.8 127.73 11.62 218 1659.32 0.00 0.00 3.72 0.000 0.000 0.134 2684.34 2797.38 2571.31 1953.50 3491.12 0 0 0 30.00 30.00 15.73

1716.97 21639 146.63 1.34 0.00 2684.2 2797.6 2570.8 1953.9 3491.2 118.86 13.69 230 1729.67 0.00 0.33 3.53 0.000 0.205 0.074 2682.19 2794.69 2569.69 1919.25 2000.25 0 0 0 30.00 15.36 15.12

1913.74 32 151.16 1.35 0.00 2680.4 2790.0 2570.9 1918.9 2000.5 98.25 9.79 250 1915.67 0.00 0.00 0.00 0.000 0.000 0.000 2676.62 2786.56 2566.69 1919.00 2000.75 0 0 0 30.00 30.00 30.00

2103.78 8226 184.99 1.39 0.00 2679.6 2788.4 2570.7 1918.3 2001.0 81.00 8.40 269 2135.60 27.71 0.00 0.00 1.092 0.000 0.000 2544.22 2657.06 2431.38 1919.31 2000.88 0 0 0 11.80 30.00 30.00

2318.79 8486 204.62 1.41 80.00 2532.2 2633.2 2431.2 1918.9 2000.7 61.81 9.07 290 2347.16 16.80 0.00 3.71 1.031 0.000 0.138 2462.03 2561.25 2362.81 1919.44 3489.81 0 0 0 11.78 30.00 15.80

2391.26 1028 204.62 1.41 0.00 2460.7 2559.6 2361.7 1918.9 3490.1 54.04 10.71 304 2400.13 0.00 0.00 3.48 0.000 0.000 0.074 2458.75 2556.00 2361.50 1918.50 2000.38 0 0 0 30.00 30.00 15.85

2581.51 10403 221.70 1.48 0.00 2456.6 2551.4 2361.8 1919.2 1999.6 35.93 9.19 338 2602.39 15.97 0.29 0.00 1.016 0.075 0.000 2391.41 2486.38 2296.44 1966.69 1999.62 0 0 0 11.71 15.94 30.00

2786.40 16646 221.70 1.48 80.00 2386.8 2476.4 2297.2 1966.4 1999.4 14.12 10.35 379 2795.30 0.00 0.00 3.68 0.000 0.000 0.135 2387.78 2477.56 2298.00 1967.12 3490.62 0 0 0 30.00 30.00 15.92

2829.46 9254 228.76 1.48 0.00 2386.9 2476.8 2297.1 1966.3 3490.9 9.98 9.67 387 2847.86 7.51 0.00 3.45 0.846 0.000 0.073 2362.41 2451.56 2273.25 1966.56 1999.06 0 0 0 11.77 30.00 15.96

3029.77 10663 434.86 1.80 80.00 2360.2 2447.0 2273.4 1966.4 1999.6 6.47 0.23 426 3144.58 103.73 0.43 0.00 1.065 0.068 0.000 1821.62 1898.56 1744.69 2047.69 1999.25 0 0 0 11.82 15.98 30.00

3145 end climb: NO_VERTICAL_VELOCITY

state 3145 begin surface

ID	253	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	ALTIM_PULSE	3
MISSION	4	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	23	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	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	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	720	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	7
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	3	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	120	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	205	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	1600	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	14	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	1.0365074	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	7.4541154	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	-186.595	SEABIRD_T_J	4.3e-06
MASS	72374	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022830076	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	240	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3850	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	2025	ALTIM_FREQUENCY	13

GPS1	200623,160249,4736.152,-12256.508,41,1.6,82,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,160607,4736.167,-12256.477,2,1.6,4,15.4	MHEAD_RNG_PITCHd_Wd	208.5,569,-17.8,-10.000,-21.41,2159,0.123
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.002241,-0.061658,0.018716,1.048444,0.064963,0.023296,0.048226,1.050715,-555.339233,-1822.087158,622.209961
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687280727,0.6,start	_10V_AH	14.95,0.000
NET	CACST,8,1,20230620165520.023079,18,25787,44,0259,0108,07,01,01,00,01,1,012,121,3,5,7,3,150,2.3,5.48,-100,-2.48,-01,-0.61,53,10000,5000,0,1,01,01*6F	FG_AHR_24Vo	7.659
NET_PING	1687279512,29,735.237000,13.900000,-1.010754	FG_AHR_10Vo	1.065
FREEZE	4.71,14.067,-1.524,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3411.74,240.85,1.009,0,500.7,573.4,428.1,686.66	MEM2	945800,28,100848,68
SM_GC	1.86,0.00,11.80,0.09,0.000,0.061,0.153,498.0,568.4,427.6,193.3,2054.6,0,0,0,30.00,15.56,15.57	DATA_FILE_SIZE	12906,447
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	171886,0
IRIDIUM_FIX	4738.33,-12256.21,200623,145840	SDSIZE	3887104,3867328
TCM_TEMP	15.72	SDFILEDIR	205,24
SC_FREEKB	3871296	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.077, 46.3,1
HUMID	44.35	MAGCAL	1.000000,-2.071189,3.240838,0.226991,4.027676,0.982359,-3.888649,-0.232069,1.140888,-286.4,345.6,3985.9,6,0.0041,0
TEMP	10.58	IMPLIED_C_PITCH	1632,13.96,227,0.0,0.00
INTERNAL_PRESSURE	7.92823	IMPLIED_C_VBD	3104,21.530718,224,0
_24V_AH	14.94,7.187	GPS	200623,170604,4735.928,-12256.653,1,1.4,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	726	1196	13000.28	nil	0	0	0.00
Pitch_motor	26	291	114.71	nil	0	0	0.00
Roll_motor	49	196	146.18	nil	0	0	0.00
Iridium	125	156	293.97	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.15	nil	0	0	0.00
Core	2224	5	170.28	SciCon	3151	6	317.69
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1210	0	5.79
Compass	1118	5	83.59
RAFOS	247	40	148.16
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
7.04	16386	-143.27	-1.45	0.00	493.1	564.9	421.2	191.0	2000.1	0.00	0.00	0	56.15	44.40	0.00	0.00	0.006	0.000	0.000	1708.78	1762.12	1655.44	190.56	2000.56	0	0	0	14.75	30.00	30.00
56.67	18467	-146.63	-1.45	0.00	1711.0	1763.7	1658.2	190.5	2001.2	3.24	-4.51	7	142.31	61.51	8.64	0.00	0.005	0.291	0.000	3897.06	3848.12	3946.00	1246.94	2000.00	0	0	0	15.80	15.66	30.00
326.31	644	-146.63	-1.39	-80.00	3899.2	3852.4	3946.0	1246.6	2000.9	35.70	-13.82	59	334.35	0.00	0.00	3.56	0.000	0.000	0.144	3899.34	3852.00	3946.69	1246.81	557.00	0	0	0	30.00	30.00	15.86
509.21	3205	-146.63	-1.28	0.00	3899.7	3852.8	3946.6	1246.9	557.0	63.78	-15.97	94	520.87	0.00	0.31	3.40	0.000	0.214	0.066	3898.97	3851.88	3946.06	1288.81	2045.44	0	0	0	30.00	15.47	15.02
704.81	260	-146.63	-1.28	80.00	3899.7	3853.1	3946.2	1289.0	2045.3	88.73	-11.82	114	712.63	0.00	0.00	3.53	0.000	0.000	0.136	3899.66	3853.38	3945.94	1289.94	3489.94	0	0	0	30.00	30.00	15.94
741.82	1156	-146.63	-1.25	0.00	3900.2	3853.5	3946.9	1290.1	3489.6	93.66	-13.49	121	750.36	0.00	0.00	3.43	0.000	0.000	0.068	3899.84	3854.00	3945.69	1289.44	2006.56	0	0	0	30.00	30.00	15.98
936.68	516	-146.63	-1.25	-80.00	3900.2	3853.9	3946.4	1288.8	2006.1	116.24	-11.34	141	944.48	0.00	0.00	3.53	0.000	0.000	0.145	3898.62	3852.25	3945.00	1289.69	558.38	0	0	0	30.00	30.00	15.98
993.68	1156	-146.63	-1.21	0.00	3900.0	3853.8	3946.3	1289.6	558.3	123.81	-13.74	152	1002.17	0.00	0.00	3.39	0.000	0.000	0.065	3900.72	3854.62	3946.81	1289.69	2050.25	0	0	0	30.00	30.00	16.04
1188.53	516	-146.63	-1.21	-80.00	3900.5	3854.4	3946.7	1289.8	2051.1	146.43	-11.35	172	1197.44	0.00	0.00	3.68	0.000	0.000	0.145	3900.09	3853.06	3947.12	1289.44	558.25	0	0	0	30.00	30.00	15.97
1216	end dive: TARGET_DEPTH_EXCEEDED
state	1216	begin apogee
1224.32	10243	0.00	-0.36	0.00	3900.6	3854.4	3946.8	1289.7	2050.4	150.01	-12.75	177	1341.19	102.18	1.58	0.10	1.197	0.169	0.197	3295.94	3390.50	3201.38	1513.12	1992.94	0	0	0	11.92	15.97	15.63
1342	end apogee: CONTROL_FINISHED_OK
state	1342	begin climb
1342.67	10243	146.63	1.45	0.00	3294.4	3385.7	3203.2	1513.6	1992.6	155.03	0.00	188	1466.13	106.35	2.99	0.00	1.182	0.118	0.000	2696.91	2826.69	2567.12	1954.19	1992.88	0	0	0	11.58	15.64	30.00
1650.28	16774	146.63	1.42	80.00	2684.2	2797.7	2570.7	1954.0	1992.8	127.73	11.62	218	1659.32	0.00	0.00	3.72	0.000	0.000	0.134	2684.34	2797.38	2571.31	1953.50	3491.12	0	0	0	30.00	30.00	15.73
1716.97	21639	146.63	1.34	0.00	2684.2	2797.6	2570.8	1953.9	3491.2	118.86	13.69	230	1729.67	0.00	0.33	3.53	0.000	0.205	0.074	2682.19	2794.69	2569.69	1919.25	2000.25	0	0	0	30.00	15.36	15.12
1913.74	32	151.16	1.35	0.00	2680.4	2790.0	2570.9	1918.9	2000.5	98.25	9.79	250	1915.67	0.00	0.00	0.00	0.000	0.000	0.000	2676.62	2786.56	2566.69	1919.00	2000.75	0	0	0	30.00	30.00	30.00
2103.78	8226	184.99	1.39	0.00	2679.6	2788.4	2570.7	1918.3	2001.0	81.00	8.40	269	2135.60	27.71	0.00	0.00	1.092	0.000	0.000	2544.22	2657.06	2431.38	1919.31	2000.88	0	0	0	11.80	30.00	30.00
2318.79	8486	204.62	1.41	80.00	2532.2	2633.2	2431.2	1918.9	2000.7	61.81	9.07	290	2347.16	16.80	0.00	3.71	1.031	0.000	0.138	2462.03	2561.25	2362.81	1919.44	3489.81	0	0	0	11.78	30.00	15.80
2391.26	1028	204.62	1.41	0.00	2460.7	2559.6	2361.7	1918.9	3490.1	54.04	10.71	304	2400.13	0.00	0.00	3.48	0.000	0.000	0.074	2458.75	2556.00	2361.50	1918.50	2000.38	0	0	0	30.00	30.00	15.85
2581.51	10403	221.70	1.48	0.00	2456.6	2551.4	2361.8	1919.2	1999.6	35.93	9.19	338	2602.39	15.97	0.29	0.00	1.016	0.075	0.000	2391.41	2486.38	2296.44	1966.69	1999.62	0	0	0	11.71	15.94	30.00
2786.40	16646	221.70	1.48	80.00	2386.8	2476.4	2297.2	1966.4	1999.4	14.12	10.35	379	2795.30	0.00	0.00	3.68	0.000	0.000	0.135	2387.78	2477.56	2298.00	1967.12	3490.62	0	0	0	30.00	30.00	15.92
2829.46	9254	228.76	1.48	0.00	2386.9	2476.8	2297.1	1966.3	3490.9	9.98	9.67	387	2847.86	7.51	0.00	3.45	0.846	0.000	0.073	2362.41	2451.56	2273.25	1966.56	1999.06	0	0	0	11.77	30.00	15.96
3029.77	10663	434.86	1.80	80.00	2360.2	2447.0	2273.4	1966.4	1999.6	6.47	0.23	426	3144.58	103.73	0.43	0.00	1.065	0.068	0.000	1821.62	1898.56	1744.69	2047.69	1999.25	0	0	0	11.82	15.98	30.00
3145	end climb: NO_VERTICAL_VELOCITY
state	3145	begin surface