Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 24 * 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 24 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 54.945316 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 107.20518 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 54.945316 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 107.20518 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 24 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 230623,163411,4736.219,-12256.492,1,1.0,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,163729,4736.225,-12256.482,3,1.0,5,15.4 MHEAD_RNG_PITCHd_Wd 202.5,645,-21.7,-10.000,-24.94,1493,0.121

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S 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 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687541232,3.4,3,stop _24V_AH 14.99,87.797

NET xmit ok outbox0022.n 2553 40 _10V_AH 15.00,0.000

NET_PING 1687540663,29,473.854523,10.900000,-0.631194 FG_AHR_24Vo 107.371

MODEM_MSG CACST,8,1,20230623172000.367654,18,32767,45,0200,0000,216,03,03,00,03,-1,-01,-01,1,3,0,0,150,-28.4,0.62,-100,2.38,-01,0.03,44,925,0025,0,-1,00,00*2E FG_AHR_10Vo 55.006

FREEZE 3.55,13.874,-1.515,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3289.71,256.45,0.935,0,500.3,389.1,611.6,637.70 MEM2 945784,24,100924,69

SM_GC 1.76,0.00,12.70,0.10,0.000,0.043,0.121,497.2,389.3,605.1,188.8,2121.8,0,0,0,30.00,15.60,15.64 DATA_FILE_SIZE 12956,475

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 196483,0

IRIDIUM_FIX 4736.40,-12251.79,230623,153151 SDSIZE 3887104,3866368

TCM_TEMP 12.81 SDFILEDIR 224,25

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

MODEM 0,1687539600,47.60500,-122.95000,0.304,444.7 MAGCAL 1.000000,0.014482,-0.000803,-0.015369,1.007727,0.174512,0.088214,-0.359921,0.996497,88.3,-1288.1,-924.8,29,0.0657,0

RAFOS_FIX 4736.011719,-12257.390625,230623,171700,4,255,0.47 IMPLIED_C_PITCH 1768,13.32,213,0.0,0.00

HUMID 56.09 IMPLIED_C_VBD 2882,95.662659,211,0

TEMP 11.05 GPS 230623,173531,4735.993,-12256.653,2,0.8,24,15.4

INTERNAL_PRESSURE 10.3295

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 675 1128 11426.14 nil 0 0 0.00

Pitch_motor 28 245 104.75 nil 0 0 0.00

Roll_motor 64 155 150.68 nil 0 0 0.00

Iridium 127 156 298.70 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.15 nil 0 0 0.00

Core 2099 5 161.21 SciCon 3023 7 337.87

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1206 0 5.79

Compass 1008 5 75.62

RAFOS 2178 40 1307.19

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 -98.63 -1.77 0.00 662.8 539.4 786.3 192.1 2048.6 0.00 0.00 0 101.14 90.01 0.00 0.00 0.005 0.000 0.000 2569.31 2527.00 2611.62 192.12 2049.19 0 0 0 14.28 30.00 30.00

101.44 18983 -146.63 -1.83 -80.00 2568.4 2525.9 2610.9 192.1 2048.4 3.46 -2.28 17 155.42 32.41 8.97 3.54 0.005 0.245 0.106 3696.66 3658.94 3734.38 1344.19 617.94 0 0 0 15.90 15.62 15.77

158.69 1156 -146.63 -1.74 0.00 3696.9 3659.2 3734.6 1344.2 618.1 10.13 -13.22 28 164.28 0.00 0.00 3.48 0.000 0.000 0.038 3696.78 3659.62 3733.94 1344.38 2117.94 0 0 0 30.00 30.00 15.85

348.71 260 -146.63 -1.74 80.00 3697.0 3659.1 3734.9 1344.5 2119.1 37.43 -14.46 66 354.79 0.00 0.00 3.55 0.000 0.000 0.096 3698.31 3660.00 3736.62 1344.12 3556.00 0 0 0 30.00 30.00 15.84

448.81 3205 -146.63 -1.66 0.00 3697.4 3659.5 3735.4 1344.9 3556.0 53.38 -15.81 84 455.26 0.00 0.27 3.40 0.000 0.190 0.037 3696.84 3659.31 3734.38 1383.88 2053.06 0 0 0 30.00 15.74 15.89

644.28 260 -146.63 -1.66 80.00 3696.9 3658.6 3735.2 1383.7 2053.5 78.04 -12.41 104 655.03 0.00 0.00 3.82 0.000 0.000 0.091 3698.84 3661.25 3736.44 1384.19 3554.06 0 0 0 30.00 30.00 15.27

778.39 1028 -146.63 -1.66 0.00 3697.3 3659.8 3734.9 1383.4 3553.8 97.43 -14.50 131 785.18 0.00 0.00 3.42 0.000 0.000 0.036 3698.25 3660.25 3736.25 1383.44 2054.12 0 0 0 30.00 30.00 15.76

974.29 388 -146.63 -1.70 80.00 3697.4 3659.2 3735.6 1384.2 2054.4 120.82 -11.30 151 980.70 0.00 0.00 3.72 0.000 0.000 0.092 3697.12 3659.00 3735.25 1384.12 3554.00 0 0 0 30.00 30.00 15.82

1109.23 1028 -146.63 -1.70 0.00 3697.4 3659.6 3735.3 1384.1 3553.8 138.81 -13.46 178 1115.69 0.00 0.00 3.39 0.000 0.000 0.036 3696.38 3658.44 3734.31 1384.06 2054.25 0 0 0 30.00 30.00 15.90

1211 end dive: TARGET_DEPTH_EXCEEDED

state 1211 begin apogee

1212.72 10243 0.00 -0.38 0.00 3697.6 3659.6 3735.5 1384.1 2123.6 151.09 -12.00 189 1326.35 103.03 2.18 0.13 1.128 0.148 0.156 3100.00 3018.75 3181.25 1695.81 2046.31 0 0 0 11.35 15.72 15.55

1328 end apogee: CONTROL_FINISHED_OK

state 1328 begin climb

1328.24 10759 146.63 1.83 -80.00 3097.3 3016.9 3177.8 1696.2 2046.3 154.36 0.00 199 1455.49 107.43 3.50 3.63 1.087 0.087 0.108 2498.69 2397.94 2599.44 2233.19 620.56 0 0 0 11.32 15.55 15.44

1478.94 5253 146.63 1.73 0.00 2495.8 2397.4 2594.2 2233.1 620.6 141.14 13.74 227 1486.64 0.00 0.25 3.53 0.000 0.203 0.036 2493.31 2395.50 2591.12 2198.44 2116.19 0 0 0 30.00 15.50 15.59

1673.86 16646 146.63 1.73 80.00 2493.3 2396.6 2590.1 2198.8 2115.6 115.97 12.66 247 1680.47 0.00 0.00 3.61 0.000 0.000 0.099 2490.53 2394.06 2587.00 2198.69 3553.88 0 0 0 30.00 30.00 15.70

1768.97 17542 146.63 1.67 0.00 2492.8 2396.8 2588.9 2199.0 3554.1 102.91 13.83 266 1779.51 0.00 0.00 3.44 0.000 0.000 0.036 2492.75 2395.12 2590.38 2197.94 2054.62 0 0 0 30.00 30.00 15.46

1962.84 16646 146.63 1.67 80.00 2491.7 2396.5 2586.9 2199.0 2055.1 80.29 11.35 286 1969.52 0.00 0.00 3.74 0.000 0.000 0.096 2489.31 2392.81 2585.81 2198.25 3553.62 0 0 0 30.00 30.00 15.78

2012.19 17542 146.63 1.61 0.00 2491.9 2396.8 2587.1 2198.7 3554.3 74.23 12.29 296 2019.09 0.00 0.00 3.41 0.000 0.000 0.036 2492.00 2395.12 2588.88 2198.38 2053.81 0 0 0 30.00 30.00 15.84

2208.00 16678 146.75 1.61 80.00 2491.2 2396.2 2586.3 2198.6 2054.1 53.92 9.99 316 2215.57 0.00 0.00 3.74 0.000 0.000 0.096 2489.12 2394.50 2583.75 2198.25 3554.38 0 0 0 30.00 30.00 15.83

2289.02 21639 146.75 1.55 0.00 2491.4 2396.4 2586.4 2198.9 3554.6 44.16 12.13 332 2296.46 0.00 0.28 3.41 0.000 0.185 0.036 2489.91 2394.75 2585.06 2156.38 2053.94 0 0 0 30.00 15.75 15.88

2480.41 8486 178.60 1.59 80.00 2490.8 2396.1 2585.6 2155.7 2054.2 27.49 7.82 369 2513.07 24.30 0.00 3.75 0.978 0.000 0.097 2371.16 2271.81 2470.50 2155.44 3553.75 0 0 0 11.11 30.00 15.76

2606.47 1060 181.17 1.60 0.00 2366.9 2269.2 2464.6 2155.2 3553.9 16.03 9.82 394 2612.65 0.00 0.00 3.42 0.000 0.000 0.037 2366.44 2268.44 2464.44 2155.12 2055.38 0 0 0 30.00 30.00 15.82

2796.61 10403 264.44 1.76 0.00 2365.4 2268.4 2462.5 2155.6 2055.9 5.15 4.30 432 2864.47 61.88 0.35 0.00 0.966 0.061 0.000 2019.06 1905.38 2132.75 2227.50 2055.06 0 0 0 11.09 15.84 30.00

3015 end climb: NO_VERTICAL_VELOCITY

state 3015 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	24	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	54.945316	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	107.20518	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	230623,163411,4736.219,-12256.492,1,1.0,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,163729,4736.225,-12256.482,3,1.0,5,15.4	MHEAD_RNG_PITCHd_Wd	202.5,645,-21.7,-10.000,-24.94,1493,0.121
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000266

NAV	1687541232,3.4,3,stop	_24V_AH	14.99,87.797
NET	xmit ok outbox0022.n 2553 40	_10V_AH	15.00,0.000
NET_PING	1687540663,29,473.854523,10.900000,-0.631194	FG_AHR_24Vo	107.371
MODEM_MSG	CACST,8,1,20230623172000.367654,18,32767,45,0200,0000,216,03,03,00,03,-1,-01,-01,1,3,0,0,150,-28.4,0.62,-100,2.38,-01,0.03,44,925,0025,0,-1,00,00*2E	FG_AHR_10Vo	55.006
FREEZE	3.55,13.874,-1.515,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3289.71,256.45,0.935,0,500.3,389.1,611.6,637.70	MEM2	945784,24,100924,69
SM_GC	1.76,0.00,12.70,0.10,0.000,0.043,0.121,497.2,389.3,605.1,188.8,2121.8,0,0,0,30.00,15.60,15.64	DATA_FILE_SIZE	12956,475
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	196483,0
IRIDIUM_FIX	4736.40,-12251.79,230623,153151	SDSIZE	3887104,3866368
TCM_TEMP	12.81	SDFILEDIR	224,25
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
MODEM	0,1687539600,47.60500,-122.95000,0.304,444.7	MAGCAL	1.000000,0.014482,-0.000803,-0.015369,1.007727,0.174512,0.088214,-0.359921,0.996497,88.3,-1288.1,-924.8,29,0.0657,0
RAFOS_FIX	4736.011719,-12257.390625,230623,171700,4,255,0.47	IMPLIED_C_PITCH	1768,13.32,213,0.0,0.00
HUMID	56.09	IMPLIED_C_VBD	2882,95.662659,211,0
TEMP	11.05	GPS	230623,173531,4735.993,-12256.653,2,0.8,24,15.4
INTERNAL_PRESSURE	10.3295

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	675	1128	11426.14	nil	0	0	0.00
Pitch_motor	28	245	104.75	nil	0	0	0.00
Roll_motor	64	155	150.68	nil	0	0	0.00
Iridium	127	156	298.70	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.15	nil	0	0	0.00
Core	2099	5	161.21	SciCon	3023	7	337.87
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1206	0	5.79
Compass	1008	5	75.62
RAFOS	2178	40	1307.19
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	-98.63	-1.77	0.00	662.8	539.4	786.3	192.1	2048.6	0.00	0.00	0	101.14	90.01	0.00	0.00	0.005	0.000	0.000	2569.31	2527.00	2611.62	192.12	2049.19	0	0	0	14.28	30.00	30.00
101.44	18983	-146.63	-1.83	-80.00	2568.4	2525.9	2610.9	192.1	2048.4	3.46	-2.28	17	155.42	32.41	8.97	3.54	0.005	0.245	0.106	3696.66	3658.94	3734.38	1344.19	617.94	0	0	0	15.90	15.62	15.77
158.69	1156	-146.63	-1.74	0.00	3696.9	3659.2	3734.6	1344.2	618.1	10.13	-13.22	28	164.28	0.00	0.00	3.48	0.000	0.000	0.038	3696.78	3659.62	3733.94	1344.38	2117.94	0	0	0	30.00	30.00	15.85
348.71	260	-146.63	-1.74	80.00	3697.0	3659.1	3734.9	1344.5	2119.1	37.43	-14.46	66	354.79	0.00	0.00	3.55	0.000	0.000	0.096	3698.31	3660.00	3736.62	1344.12	3556.00	0	0	0	30.00	30.00	15.84
448.81	3205	-146.63	-1.66	0.00	3697.4	3659.5	3735.4	1344.9	3556.0	53.38	-15.81	84	455.26	0.00	0.27	3.40	0.000	0.190	0.037	3696.84	3659.31	3734.38	1383.88	2053.06	0	0	0	30.00	15.74	15.89
644.28	260	-146.63	-1.66	80.00	3696.9	3658.6	3735.2	1383.7	2053.5	78.04	-12.41	104	655.03	0.00	0.00	3.82	0.000	0.000	0.091	3698.84	3661.25	3736.44	1384.19	3554.06	0	0	0	30.00	30.00	15.27
778.39	1028	-146.63	-1.66	0.00	3697.3	3659.8	3734.9	1383.4	3553.8	97.43	-14.50	131	785.18	0.00	0.00	3.42	0.000	0.000	0.036	3698.25	3660.25	3736.25	1383.44	2054.12	0	0	0	30.00	30.00	15.76
974.29	388	-146.63	-1.70	80.00	3697.4	3659.2	3735.6	1384.2	2054.4	120.82	-11.30	151	980.70	0.00	0.00	3.72	0.000	0.000	0.092	3697.12	3659.00	3735.25	1384.12	3554.00	0	0	0	30.00	30.00	15.82
1109.23	1028	-146.63	-1.70	0.00	3697.4	3659.6	3735.3	1384.1	3553.8	138.81	-13.46	178	1115.69	0.00	0.00	3.39	0.000	0.000	0.036	3696.38	3658.44	3734.31	1384.06	2054.25	0	0	0	30.00	30.00	15.90
1211	end dive: TARGET_DEPTH_EXCEEDED
state	1211	begin apogee
1212.72	10243	0.00	-0.38	0.00	3697.6	3659.6	3735.5	1384.1	2123.6	151.09	-12.00	189	1326.35	103.03	2.18	0.13	1.128	0.148	0.156	3100.00	3018.75	3181.25	1695.81	2046.31	0	0	0	11.35	15.72	15.55
1328	end apogee: CONTROL_FINISHED_OK
state	1328	begin climb
1328.24	10759	146.63	1.83	-80.00	3097.3	3016.9	3177.8	1696.2	2046.3	154.36	0.00	199	1455.49	107.43	3.50	3.63	1.087	0.087	0.108	2498.69	2397.94	2599.44	2233.19	620.56	0	0	0	11.32	15.55	15.44
1478.94	5253	146.63	1.73	0.00	2495.8	2397.4	2594.2	2233.1	620.6	141.14	13.74	227	1486.64	0.00	0.25	3.53	0.000	0.203	0.036	2493.31	2395.50	2591.12	2198.44	2116.19	0	0	0	30.00	15.50	15.59
1673.86	16646	146.63	1.73	80.00	2493.3	2396.6	2590.1	2198.8	2115.6	115.97	12.66	247	1680.47	0.00	0.00	3.61	0.000	0.000	0.099	2490.53	2394.06	2587.00	2198.69	3553.88	0	0	0	30.00	30.00	15.70
1768.97	17542	146.63	1.67	0.00	2492.8	2396.8	2588.9	2199.0	3554.1	102.91	13.83	266	1779.51	0.00	0.00	3.44	0.000	0.000	0.036	2492.75	2395.12	2590.38	2197.94	2054.62	0	0	0	30.00	30.00	15.46
1962.84	16646	146.63	1.67	80.00	2491.7	2396.5	2586.9	2199.0	2055.1	80.29	11.35	286	1969.52	0.00	0.00	3.74	0.000	0.000	0.096	2489.31	2392.81	2585.81	2198.25	3553.62	0	0	0	30.00	30.00	15.78
2012.19	17542	146.63	1.61	0.00	2491.9	2396.8	2587.1	2198.7	3554.3	74.23	12.29	296	2019.09	0.00	0.00	3.41	0.000	0.000	0.036	2492.00	2395.12	2588.88	2198.38	2053.81	0	0	0	30.00	30.00	15.84
2208.00	16678	146.75	1.61	80.00	2491.2	2396.2	2586.3	2198.6	2054.1	53.92	9.99	316	2215.57	0.00	0.00	3.74	0.000	0.000	0.096	2489.12	2394.50	2583.75	2198.25	3554.38	0	0	0	30.00	30.00	15.83
2289.02	21639	146.75	1.55	0.00	2491.4	2396.4	2586.4	2198.9	3554.6	44.16	12.13	332	2296.46	0.00	0.28	3.41	0.000	0.185	0.036	2489.91	2394.75	2585.06	2156.38	2053.94	0	0	0	30.00	15.75	15.88
2480.41	8486	178.60	1.59	80.00	2490.8	2396.1	2585.6	2155.7	2054.2	27.49	7.82	369	2513.07	24.30	0.00	3.75	0.978	0.000	0.097	2371.16	2271.81	2470.50	2155.44	3553.75	0	0	0	11.11	30.00	15.76
2606.47	1060	181.17	1.60	0.00	2366.9	2269.2	2464.6	2155.2	3553.9	16.03	9.82	394	2612.65	0.00	0.00	3.42	0.000	0.000	0.037	2366.44	2268.44	2464.44	2155.12	2055.38	0	0	0	30.00	30.00	15.82
2796.61	10403	264.44	1.76	0.00	2365.4	2268.4	2462.5	2155.6	2055.9	5.15	4.30	432	2864.47	61.88	0.35	0.00	0.966	0.061	0.000	2019.06	1905.38	2132.75	2227.50	2055.06	0	0	0	11.09	15.84	30.00
3015	end climb: NO_VERTICAL_VELOCITY
state	3015	begin surface