Glider dive log

HoodCanal 21Jun23 * SG250 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 250 ESCAPE_HEADING_DELTA 10 ROLL_DEG 80 XPDR_VALID 4

MISSION 2 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2025 XPDR_INHIBIT 90

DIVE 25 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2025 XPDR_INT 0

N_DIVES 30 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 XPDR_REP 0

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.054945 DEEPGLIDER 0

D_SURF 2 SM_CC 564.19 ROLL_TIMEOUT 15 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 ROLL_MAXERRORS 1 MOTHERBOARD 7

D_TGT 150 FILEMGR 0 ROLL_ADJ_GAIN 0 DEVICE1 -1

D_ABORT 175 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_NO_BLEED 50 COMM_SEQ 7 VBD_MIN 500 DEVICE3 -1

D_BOOST 0 PROTOCOL 9 VBD_MAX 3960 DEVICE4 -1

T_BOOST 0 N_NOCOMM 1 C_VBD 2800 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 131 VBD_DBAND 2 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_CNV -0.24529999 LOGGERS 7

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 LOGGERDEVICE1 6

D_CALL 0 NETBOX 1 VBD_TIMEOUT 720 LOGGERDEVICE2 -1

SURFACE_URGENCY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0020000001 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 UNCOM_BLEED 20 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_MAXERRORS 1 COMPASS_DEVICE 66

T_DIVE 50 CAPMAXSIZE 100000 C_VBD_AUTO_DELTA 0 COMPASS2_DEVICE -1

T_MISSION 75 T_GPS 5 C_VBD_AUTO_MAX 0 PHONE_DEVICE 33

T_ABORT 1440 N_GPS 100440 W_ADJ_DBAND 0 GPS_DEVICE 48

T_TURN 225 T_RSLEEP 3 DBDW 0 RAFOS_DEVICE 96

T_TURN_SAMPINT -5 STROBE 0 LOITER_W_DBAND 0 NAV_DEVICE 5

T_NO_W 120 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 0 NAV2_DEVICE 5

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 NAV3_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 NAV4_DEVICE 24

USE_BATHY -10 RAFOS_MMODEM 0 LOITER_N_DIVE 0 NETWORK_DEVICE 1

USE_ICE 0 PITCH_MIN 205 CF8_MAXERRORS 20 PRESSURE_DEVICE 34

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3600 AH0_10V 575 XPDR_DEVICE -1

D_OFFGRID 100 C_PITCH 2000 MINV_10V 11 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 MAXI_10V 3.5 SEABIRD_T_G 0.0043000001

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 FG_AHR_10V 7.8096571 SEABIRD_T_H 0.00063999998

MAX_BUOY 150 PITCH_GAIN 15 PRESSURE_YINT -179.93373 SEABIRD_T_I 2.4999999e-05

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_SLOPE 0.00022860049 SEABIRD_T_J 4.3e-06

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 49156 SEABIRD_C_G -10

RHO 1.023 PITCH_ADJ_GAIN 0.015 ALTIM_PING_FIT 0 SEABIRD_C_H 1

MASS 72596 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

NAV_MODE 2 C_PITCH_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

FERRY_MAX 45 C_PITCH_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

KALMAN_USE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_B 0.0099999998 PITCH_W_GAIN 0 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HD_C 1.6e-05 PITCH_W_DBAND 0 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

HEADING -1 ROLL_MIN 255 ALTIM_PULSE 3

ESCAPE_HEADING 0 ROLL_MAX 3865 ALTIM_SENSITIVITY 2

AH0_10V 575 D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 D_TGT 150 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SM_CC 564.19

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_ADJ_GAIN 0.015 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 7.8096571 PITCH_CNV 0.0041299998 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 15 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_MAX 3600 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MIN 205 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_TIMEOUT 25 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0020000001 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_DIVE 50

COMPASS2_DEVICE -1 ID 250 PITCH_W_GAIN 0 T_EPIRB 0

COMPASS_DEVICE 66 KALMAN_USE 2 PRESSURE_DEVICE 34 T_GPS 5

COMPASS_USE 49156 LOGGERDEVICE1 6 PRESSURE_SLOPE 0.00022860049 T_LOITER 0

C_PITCH 2000 LOGGERDEVICE2 -1 PRESSURE_YINT -179.93373 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 PROTOCOL 9 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_RSLEEP 3

C_ROLL_CLIMB 2025 LOGGERS 7 RAFOS_DEVICE 96 T_TURN 225

C_ROLL_DIVE 2025 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_VBD 2800 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_BATHY -10

DBDW 0 LOITER_W_DBAND 0 RHO 1.023 USE_ICE 0

DEEPGLIDER 0 MASS 72596 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MAXI_10V 3.5 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE1 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DEVICE2 -1 MINV_10V 11 ROLL_DEG 80 VBD_MAX 3960

DEVICE3 -1 MISSION 2 ROLL_MAX 3865 VBD_MAXERRORS 1

DEVICE4 -1 MOTHERBOARD 7 ROLL_MAXERRORS 1 VBD_MIN 500

DEVICE5 -1 NAV2_DEVICE 5 ROLL_MIN 255 VBD_TIMEOUT 720

DEVICE6 -1 NAV3_DEVICE 24 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DIVE 25 NAV4_DEVICE 24 SC_NDIVE 1.0 XPDR_DEVICE -1

D_ABORT 175 NAV_DEVICE 5 SC_PROFILE 3.0 XPDR_INHIBIT 90

D_BOOST 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_CALL 0 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_REP 0

D_FINISH 0 NETWORK_DEVICE 1 SEABIRD_C_G -10 XPDR_VALID 4

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_H 1

D_NO_BLEED 50 N_DIVES 30 SEABIRD_C_I -0.0020000001

Pre-dive calculations and measurements:

GPS1 220623,180444,4735.992,-12256.736,1,0.9,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,180842,4735.979,-12256.733,24,1.5,25,15.4 MHEAD_RNG_PITCHd_Wd 352.3,1073,-17.6,-10.000,-21.21,2209,0.166

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,736.000000,-977.000000,-422.000000

TGT_LATLONG 4736.530,-12256.470 OSC 7999979

Post-dive calculations and measurements:

NET xmit ok outbox0023.n 1001 16 INTERNAL_PRESSURE 8.25323

NET_PING 1687459968,29,808.414490,15.000000,-445.289307 _10V_AH 14.77,2.507

MODEM_MSG CACST,8,2,20230622184518.590884,2,43562196,76,64,106,0,0,0,0,0,-1,-1,-1,0,0,0,0,106,0.00,0.00,0,0.00,0,0.00,67588226,35,6,0,-1,0,0 FG_AHR_10Vo 8.022

NAV 1687460353,5.6,start MAMPS 68.1,93.4,52.1,929.0,1233.4,1625.4

FINISH 1.7,1.018754 MEM0 60172,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3553.05,98.10,0.938,0,501.2,482.1,520.2,563.90 MEM2 1991672,27,103432,75

SM_GC 1.66,98.10,14.72,0.06,0.938,0.072,0.202,501.2,482.1,520.2,191.4,2043.2,0,0,0,12.51,14.90,14.91 DATA_FILE_SIZE 12909,484

SUPER 63,77,254,1,0,0 CAP_FILE_SIZE 416602,0

IRIDIUM_FIX 4735.53,-12254.47,220623,170816 SDSIZE 3887104,3864160

TCM_TEMP 13.89 SDFILEDIR 244,27

SC_FREEKB 3870752 ERRORS 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 1,1687457400,47.60500,-122.95000,0.726,1063.8 CURRENT 0.076, 74.7,1

RAFOS_FIX 4723.256836,-12304.135742,220623,181801,3,255,25.87 MAGCAL 1.000000,0.016219,-0.047556,0.003457,1.009283,-0.164336,0.050898,0.054199,0.960896,787.8,-871.4,-405.6,36,0.0625,0

HUMID 45.07 IMPLIED_C_PITCH 2068,15.56,227,0.0,0.00

TEMP 10.81 IMPLIED_C_VBD 2632,32.492348,227,0

VOC 4491.2 GPS 220623,190911,4736.408,-12256.427,1,0.7,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

GPS 34 15 7.71 nil 0 0 0.00

Core 2471 5 186.90 SciCon 3422 5 285.11

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1178 0 5.57

Compass 1023 5 75.61

RAFOS 1566 40 925.24

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

6.71 16386 -146.63 -1.47 0.00 493.8 495.0 492.6 189.0 2010.2 0.00 0.00 0 56.23 46.60 0.00 0.00 0.011 0.000 0.000 1732.56 1724.50 1740.62 188.69 2010.38 0 0 0 14.48 30.00 30.00

56.69 18727 -146.63 -1.47 80.00 1733.3 1725.1 1741.4 189.0 2010.3 3.34 -4.45 9 136.38 48.67 12.21 3.71 0.011 0.293 0.136 3396.94 3364.62 3429.25 1645.12 3492.69 0 0 0 14.50 14.91 14.71

155.50 3205 -146.63 -1.26 0.00 3398.3 3366.9 3429.7 1645.3 3492.1 14.58 -17.44 26 163.92 0.00 0.38 3.46 0.000 0.223 0.063 3399.72 3368.00 3431.44 1695.69 2006.56 0 0 0 30.00 14.96 15.00

345.87 388 -146.63 -1.16 80.00 3399.1 3368.7 3429.4 1696.8 2005.9 40.77 -13.26 62 354.21 0.00 0.00 3.71 0.000 0.000 0.124 3397.97 3367.75 3428.19 1696.62 3492.19 0 0 0 30.00 30.00 15.02

427.75 3205 -146.63 -1.02 0.00 3399.5 3369.2 3429.8 1696.1 3492.4 53.42 -15.33 78 435.96 0.00 0.41 3.46 0.000 0.206 0.063 3398.31 3368.25 3428.38 1753.50 2006.81 0 0 0 30.00 15.01 15.05

623.52 388 -146.63 -0.99 80.00 3399.9 3370.4 3429.3 1753.6 2006.8 75.44 -10.97 98 631.94 0.00 0.00 3.69 0.000 0.000 0.127 3398.72 3369.06 3428.38 1752.88 3492.25 0 0 0 30.00 30.00 15.07

685.41 1156 -146.63 -0.92 0.00 3400.0 3370.4 3429.6 1753.3 3492.2 83.37 -13.16 110 693.20 0.00 0.00 3.45 0.000 0.000 0.063 3400.25 3370.75 3429.75 1753.25 2006.44 0 0 0 30.00 30.00 15.09

881.93 2309 -146.63 -0.92 80.00 3400.3 3371.2 3429.4 1753.1 2006.5 104.89 -11.33 129 893.99 0.00 0.17 3.72 0.000 0.192 0.128 3400.41 3370.94 3429.88 1778.56 3493.56 0 0 0 30.00 14.98 14.95

953.34 1156 -146.63 -0.88 0.00 3400.4 3371.2 3429.6 1778.8 3493.8 114.10 -12.44 143 965.82 0.00 0.00 3.56 0.000 0.000 0.063 3400.56 3371.50 3429.62 1778.75 2006.69 0 0 0 30.00 30.00 13.73

1153.42 0 -146.63 -0.88 0.00 3400.5 3371.6 3429.4 1778.8 2006.6 134.43 -10.05 164 1155.23 0.00 0.00 0.00 0.000 0.000 0.000 3399.94 3371.00 3428.88 1778.81 2006.69 0 0 0 30.00 30.00 30.00

1313 end dive: TARGET_DEPTH_EXCEEDED

state 1313 begin apogee

1315.10 10243 0.00 -0.33 0.00 3400.6 3371.6 3429.5 1778.7 2045.1 150.33 -9.89 180 1436.15 110.29 1.01 0.08 1.098 0.157 0.443 2795.97 2797.31 2794.62 1921.12 2009.38 0 0 0 12.77 15.07 14.71

1437 end apogee: CONTROL_FINISHED_OK

state 1437 begin climb

1437.55 10759 146.63 1.47 -80.00 2795.4 2795.2 2795.6 1921.0 2009.1 155.85 0.00 191 1578.25 116.19 3.04 3.82 1.069 0.128 0.150 2202.09 2234.44 2169.75 2358.50 558.25 0 0 0 12.50 14.75 14.57

1607.48 1156 146.63 1.39 0.00 2195.3 2224.3 2166.4 2358.8 558.4 143.99 11.52 221 1615.98 0.00 0.00 3.62 0.000 0.000 0.072 2195.72 2224.81 2166.62 2358.62 2041.44 0 0 0 30.00 30.00 14.74

1802.49 20611 146.63 1.35 0.00 2192.7 2221.3 2164.1 2358.9 2041.1 122.53 10.82 241 1804.65 0.00 0.29 0.00 0.000 0.185 0.000 2191.91 2220.50 2163.31 2320.38 2041.19 0 0 0 30.00 14.93 30.00

1992.44 8486 173.18 1.40 80.00 2191.6 2219.4 2163.8 2320.9 2041.3 104.89 8.77 260 2026.81 21.67 0.00 3.67 0.981 0.000 0.141 2091.62 2120.00 2063.25 2321.12 3491.50 0 0 0 12.70 30.00 14.93

2039.94 11303 195.13 1.44 0.00 2090.2 2117.8 2062.7 2320.5 3491.6 100.43 8.98 267 2070.17 19.06 0.20 3.48 0.954 0.095 0.068 2005.72 2036.50 1974.94 2366.44 2009.25 0 0 0 12.68 14.98 14.98

2255.38 260 195.13 1.44 80.00 1997.9 2030.8 1964.9 2366.4 2009.2 76.67 10.92 289 2264.06 0.00 0.00 3.73 0.000 0.000 0.132 1996.00 2028.75 1963.25 2366.31 3492.62 0 0 0 30.00 30.00 14.99

2299.86 5253 195.13 1.40 0.00 1997.2 2028.8 1965.7 2366.4 3492.1 71.30 12.39 297 2307.99 0.00 0.23 3.46 0.000 0.190 0.068 1996.22 2027.81 1964.62 2333.62 2007.56 0 0 0 30.00 15.00 15.03

2495.60 8226 222.65 1.46 0.00 1995.8 2028.4 1963.1 2333.8 2007.1 53.17 8.73 317 2520.77 22.17 0.00 0.00 0.952 0.000 0.000 1890.06 1925.06 1855.06 2333.38 2007.19 0 0 0 12.74 30.00 30.00

2704.40 10663 249.57 1.55 80.00 1885.8 1923.9 1847.6 2333.4 2006.7 34.35 8.75 352 2739.02 22.01 0.28 3.76 0.934 0.076 0.138 1782.09 1819.88 1744.31 2391.62 3490.88 0 0 0 12.66 15.08 14.96

2748.08 1028 249.57 1.55 0.00 1779.3 1816.9 1741.8 2391.5 3491.1 29.56 11.47 360 2756.33 0.00 0.00 3.47 0.000 0.000 0.068 1779.28 1816.62 1741.94 2391.56 2008.00 0 0 0 30.00 30.00 15.00

2940.45 8226 254.39 1.56 0.00 1777.3 1816.9 1737.8 2391.4 2007.9 9.31 9.78 398 2950.08 5.70 0.00 0.00 0.636 0.000 0.000 1762.56 1801.88 1723.25 2391.88 2007.75 0 0 0 12.65 30.00 30.00

3135.59 10403 437.23 2.01 80.00 1759.1 1800.4 1717.8 2391.6 2007.8 4.49 1.53 432 3266.28 121.10 0.58 0.00 0.941 0.066 0.000 1074.97 1127.12 1022.81 2498.56 2007.94 0 0 0 12.65 15.09 30.00

3266 end climb: SURFACE_DEPTH_REACHED

state 3267 begin surface coast

3415 end surface coast: CONTROL_FINISHED_OK

state 3416 begin surface

ID	250	ESCAPE_HEADING_DELTA	10	ROLL_DEG	80	XPDR_VALID	4
MISSION	2	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2025	XPDR_INHIBIT	90
DIVE	25	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2025	XPDR_INT	0
N_DIVES	30	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	XPDR_REP	0
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.054945	DEEPGLIDER	0
D_SURF	2	SM_CC	564.19	ROLL_TIMEOUT	15	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	ROLL_MAXERRORS	1	MOTHERBOARD	7
D_TGT	150	FILEMGR	0	ROLL_ADJ_GAIN	0	DEVICE1	-1
D_ABORT	175	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_NO_BLEED	50	COMM_SEQ	7	VBD_MIN	500	DEVICE3	-1
D_BOOST	0	PROTOCOL	9	VBD_MAX	3960	DEVICE4	-1
T_BOOST	0	N_NOCOMM	1	C_VBD	2800	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	131	VBD_DBAND	2	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	LOGGERS	7
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	LOGGERDEVICE1	6
D_CALL	0	NETBOX	1	VBD_TIMEOUT	720	LOGGERDEVICE2	-1
SURFACE_URGENCY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0020000001	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	UNCOM_BLEED	20	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_MAXERRORS	1	COMPASS_DEVICE	66
T_DIVE	50	CAPMAXSIZE	100000	C_VBD_AUTO_DELTA	0	COMPASS2_DEVICE	-1
T_MISSION	75	T_GPS	5	C_VBD_AUTO_MAX	0	PHONE_DEVICE	33
T_ABORT	1440	N_GPS	100440	W_ADJ_DBAND	0	GPS_DEVICE	48
T_TURN	225	T_RSLEEP	3	DBDW	0	RAFOS_DEVICE	96
T_TURN_SAMPINT	-5	STROBE	0	LOITER_W_DBAND	0	NAV_DEVICE	5
T_NO_W	120	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	0	NAV2_DEVICE	5
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	NAV3_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	NAV4_DEVICE	24
USE_BATHY	-10	RAFOS_MMODEM	0	LOITER_N_DIVE	0	NETWORK_DEVICE	1
USE_ICE	0	PITCH_MIN	205	CF8_MAXERRORS	20	PRESSURE_DEVICE	34
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3600	AH0_10V	575	XPDR_DEVICE	-1
D_OFFGRID	100	C_PITCH	2000	MINV_10V	11	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	MAXI_10V	3.5	SEABIRD_T_G	0.0043000001
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	FG_AHR_10V	7.8096571	SEABIRD_T_H	0.00063999998
MAX_BUOY	150	PITCH_GAIN	15	PRESSURE_YINT	-179.93373	SEABIRD_T_I	2.4999999e-05
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_SLOPE	0.00022860049	SEABIRD_T_J	4.3e-06
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	49156	SEABIRD_C_G	-10
RHO	1.023	PITCH_ADJ_GAIN	0.015	ALTIM_PING_FIT	0	SEABIRD_C_H	1
MASS	72596	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
NAV_MODE	2	C_PITCH_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
FERRY_MAX	45	C_PITCH_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
KALMAN_USE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_A	0.003	PITCH_GAIN_AUTO_MAX	0	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_B	0.0099999998	PITCH_W_GAIN	0	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HD_C	1.6e-05	PITCH_W_DBAND	0	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
HEADING	-1	ROLL_MIN	255	ALTIM_PULSE	3
ESCAPE_HEADING	0	ROLL_MAX	3865	ALTIM_SENSITIVITY	2

GPS1	220623,180444,4735.992,-12256.736,1,0.9,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,180842,4735.979,-12256.733,24,1.5,25,15.4	MHEAD_RNG_PITCHd_Wd	352.3,1073,-17.6,-10.000,-21.21,2209,0.166
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,736.000000,-977.000000,-422.000000
TGT_LATLONG	4736.530,-12256.470	OSC	7999979

NET	xmit ok outbox0023.n 1001 16	INTERNAL_PRESSURE	8.25323
NET_PING	1687459968,29,808.414490,15.000000,-445.289307	_10V_AH	14.77,2.507
MODEM_MSG	CACST,8,2,20230622184518.590884,2,43562196,76,64,106,0,0,0,0,0,-1,-1,-1,0,0,0,0,106,0.00,0.00,0,0.00,0,0.00,67588226,35,6,0,-1,0,0	FG_AHR_10Vo	8.022
NAV	1687460353,5.6,start	MAMPS	68.1,93.4,52.1,929.0,1233.4,1625.4
FINISH	1.7,1.018754	MEM0	60172,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3553.05,98.10,0.938,0,501.2,482.1,520.2,563.90	MEM2	1991672,27,103432,75
SM_GC	1.66,98.10,14.72,0.06,0.938,0.072,0.202,501.2,482.1,520.2,191.4,2043.2,0,0,0,12.51,14.90,14.91	DATA_FILE_SIZE	12909,484
SUPER	63,77,254,1,0,0	CAP_FILE_SIZE	416602,0
IRIDIUM_FIX	4735.53,-12254.47,220623,170816	SDSIZE	3887104,3864160
TCM_TEMP	13.89	SDFILEDIR	244,27
SC_FREEKB	3870752	ERRORS	0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	1,1687457400,47.60500,-122.95000,0.726,1063.8	CURRENT	0.076, 74.7,1
RAFOS_FIX	4723.256836,-12304.135742,220623,181801,3,255,25.87	MAGCAL	1.000000,0.016219,-0.047556,0.003457,1.009283,-0.164336,0.050898,0.054199,0.960896,787.8,-871.4,-405.6,36,0.0625,0
HUMID	45.07	IMPLIED_C_PITCH	2068,15.56,227,0.0,0.00
TEMP	10.81	IMPLIED_C_VBD	2632,32.492348,227,0
VOC	4491.2	GPS	220623,190911,4736.408,-12256.427,1,0.7,4,15.4

device	secs	mA	J	sensor	secs	mA	J
GPS	34	15	7.71	nil	0	0	0.00
Core	2471	5	186.90	SciCon	3422	5	285.11
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1178	0	5.57
Compass	1023	5	75.61
RAFOS	1566	40	925.24
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
6.71	16386	-146.63	-1.47	0.00	493.8	495.0	492.6	189.0	2010.2	0.00	0.00	0	56.23	46.60	0.00	0.00	0.011	0.000	0.000	1732.56	1724.50	1740.62	188.69	2010.38	0	0	0	14.48	30.00	30.00
56.69	18727	-146.63	-1.47	80.00	1733.3	1725.1	1741.4	189.0	2010.3	3.34	-4.45	9	136.38	48.67	12.21	3.71	0.011	0.293	0.136	3396.94	3364.62	3429.25	1645.12	3492.69	0	0	0	14.50	14.91	14.71
155.50	3205	-146.63	-1.26	0.00	3398.3	3366.9	3429.7	1645.3	3492.1	14.58	-17.44	26	163.92	0.00	0.38	3.46	0.000	0.223	0.063	3399.72	3368.00	3431.44	1695.69	2006.56	0	0	0	30.00	14.96	15.00
345.87	388	-146.63	-1.16	80.00	3399.1	3368.7	3429.4	1696.8	2005.9	40.77	-13.26	62	354.21	0.00	0.00	3.71	0.000	0.000	0.124	3397.97	3367.75	3428.19	1696.62	3492.19	0	0	0	30.00	30.00	15.02
427.75	3205	-146.63	-1.02	0.00	3399.5	3369.2	3429.8	1696.1	3492.4	53.42	-15.33	78	435.96	0.00	0.41	3.46	0.000	0.206	0.063	3398.31	3368.25	3428.38	1753.50	2006.81	0	0	0	30.00	15.01	15.05
623.52	388	-146.63	-0.99	80.00	3399.9	3370.4	3429.3	1753.6	2006.8	75.44	-10.97	98	631.94	0.00	0.00	3.69	0.000	0.000	0.127	3398.72	3369.06	3428.38	1752.88	3492.25	0	0	0	30.00	30.00	15.07
685.41	1156	-146.63	-0.92	0.00	3400.0	3370.4	3429.6	1753.3	3492.2	83.37	-13.16	110	693.20	0.00	0.00	3.45	0.000	0.000	0.063	3400.25	3370.75	3429.75	1753.25	2006.44	0	0	0	30.00	30.00	15.09
881.93	2309	-146.63	-0.92	80.00	3400.3	3371.2	3429.4	1753.1	2006.5	104.89	-11.33	129	893.99	0.00	0.17	3.72	0.000	0.192	0.128	3400.41	3370.94	3429.88	1778.56	3493.56	0	0	0	30.00	14.98	14.95
953.34	1156	-146.63	-0.88	0.00	3400.4	3371.2	3429.6	1778.8	3493.8	114.10	-12.44	143	965.82	0.00	0.00	3.56	0.000	0.000	0.063	3400.56	3371.50	3429.62	1778.75	2006.69	0	0	0	30.00	30.00	13.73
1153.42	0	-146.63	-0.88	0.00	3400.5	3371.6	3429.4	1778.8	2006.6	134.43	-10.05	164	1155.23	0.00	0.00	0.00	0.000	0.000	0.000	3399.94	3371.00	3428.88	1778.81	2006.69	0	0	0	30.00	30.00	30.00
1313	end dive: TARGET_DEPTH_EXCEEDED
state	1313	begin apogee
1315.10	10243	0.00	-0.33	0.00	3400.6	3371.6	3429.5	1778.7	2045.1	150.33	-9.89	180	1436.15	110.29	1.01	0.08	1.098	0.157	0.443	2795.97	2797.31	2794.62	1921.12	2009.38	0	0	0	12.77	15.07	14.71
1437	end apogee: CONTROL_FINISHED_OK
state	1437	begin climb
1437.55	10759	146.63	1.47	-80.00	2795.4	2795.2	2795.6	1921.0	2009.1	155.85	0.00	191	1578.25	116.19	3.04	3.82	1.069	0.128	0.150	2202.09	2234.44	2169.75	2358.50	558.25	0	0	0	12.50	14.75	14.57
1607.48	1156	146.63	1.39	0.00	2195.3	2224.3	2166.4	2358.8	558.4	143.99	11.52	221	1615.98	0.00	0.00	3.62	0.000	0.000	0.072	2195.72	2224.81	2166.62	2358.62	2041.44	0	0	0	30.00	30.00	14.74
1802.49	20611	146.63	1.35	0.00	2192.7	2221.3	2164.1	2358.9	2041.1	122.53	10.82	241	1804.65	0.00	0.29	0.00	0.000	0.185	0.000	2191.91	2220.50	2163.31	2320.38	2041.19	0	0	0	30.00	14.93	30.00
1992.44	8486	173.18	1.40	80.00	2191.6	2219.4	2163.8	2320.9	2041.3	104.89	8.77	260	2026.81	21.67	0.00	3.67	0.981	0.000	0.141	2091.62	2120.00	2063.25	2321.12	3491.50	0	0	0	12.70	30.00	14.93
2039.94	11303	195.13	1.44	0.00	2090.2	2117.8	2062.7	2320.5	3491.6	100.43	8.98	267	2070.17	19.06	0.20	3.48	0.954	0.095	0.068	2005.72	2036.50	1974.94	2366.44	2009.25	0	0	0	12.68	14.98	14.98
2255.38	260	195.13	1.44	80.00	1997.9	2030.8	1964.9	2366.4	2009.2	76.67	10.92	289	2264.06	0.00	0.00	3.73	0.000	0.000	0.132	1996.00	2028.75	1963.25	2366.31	3492.62	0	0	0	30.00	30.00	14.99
2299.86	5253	195.13	1.40	0.00	1997.2	2028.8	1965.7	2366.4	3492.1	71.30	12.39	297	2307.99	0.00	0.23	3.46	0.000	0.190	0.068	1996.22	2027.81	1964.62	2333.62	2007.56	0	0	0	30.00	15.00	15.03
2495.60	8226	222.65	1.46	0.00	1995.8	2028.4	1963.1	2333.8	2007.1	53.17	8.73	317	2520.77	22.17	0.00	0.00	0.952	0.000	0.000	1890.06	1925.06	1855.06	2333.38	2007.19	0	0	0	12.74	30.00	30.00
2704.40	10663	249.57	1.55	80.00	1885.8	1923.9	1847.6	2333.4	2006.7	34.35	8.75	352	2739.02	22.01	0.28	3.76	0.934	0.076	0.138	1782.09	1819.88	1744.31	2391.62	3490.88	0	0	0	12.66	15.08	14.96
2748.08	1028	249.57	1.55	0.00	1779.3	1816.9	1741.8	2391.5	3491.1	29.56	11.47	360	2756.33	0.00	0.00	3.47	0.000	0.000	0.068	1779.28	1816.62	1741.94	2391.56	2008.00	0	0	0	30.00	30.00	15.00
2940.45	8226	254.39	1.56	0.00	1777.3	1816.9	1737.8	2391.4	2007.9	9.31	9.78	398	2950.08	5.70	0.00	0.00	0.636	0.000	0.000	1762.56	1801.88	1723.25	2391.88	2007.75	0	0	0	12.65	30.00	30.00
3135.59	10403	437.23	2.01	80.00	1759.1	1800.4	1717.8	2391.6	2007.8	4.49	1.53	432	3266.28	121.10	0.58	0.00	0.941	0.066	0.000	1074.97	1127.12	1022.81	2498.56	2007.94	0	0	0	12.65	15.09	30.00
3266	end climb: SURFACE_DEPTH_REACHED
state	3267	begin surface coast
3415	end surface coast: CONTROL_FINISHED_OK
state	3416	begin surface