Glider dive log

HoodCanal 21Jun23 * SG250 * Dive index * Mission links * Dive 26 * 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 26 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2025 XPDR_INT 0

N_DIVES 32 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 8.0315628 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 8.0315628 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 26 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 32 SEABIRD_C_I -0.0020000001

Pre-dive calculations and measurements:

GPS1 220623,190911,4736.408,-12256.427,1,0.7,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,191302,4736.392,-12256.420,21,1.0,22,15.4 MHEAD_RNG_PITCHd_Wd 206.7,945,-17.6,-10.000,-21.21,2209,0.138

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 7999979

Post-dive calculations and measurements:

NET CARFP,1970-01-01T00:00:44.541756,0,12,121,1,1,0,0,1;8;080c7903203000ff,1;5;ac017bdebd;1;13;ad1f64a15c342403e80321f937;1;13;970f0f10e347311882242ef7bd;1;13;7b4000000008c1126197bdebda;1;13;e461ef7af697157bdebda4398c;1;13;000dbdef5ed6834f7bd7b6d8e3;1;2;40c8,*29 INTERNAL_PRESSURE 8.27321

NET_PING 1687463567,29,817.477478,14.600000,-445.732666 _10V_AH 15.00,2.550

MODEM_MSG CACST,8,2,20230622195033.809192,2,46091904,76,70,106,0,0,0,0,0,-1,-1,-1,0,0,0,0,106,0.00,0.00,0,0.00,0,0.00,65613856,35,6,0,-1,0,0 FG_AHR_10Vo 8.253

NAV 1687463954,21.9,start MAMPS 65.9,91.0,50.4,625.5,4037.6,876.4

WARN HSCICON missed fuel gauge read MEM0 60172,1,0,0

FREEZE 4.40,14.263,-1.497,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 1991652,31,103372,75

SM_CCo 3389.45,177.86,0.931,0,500.9,496.8,505.0,563.98 DATA_FILE_SIZE 12946,461

SM_GC 1.58,0.00,14.98,0.06,0.000,0.059,0.196,495.7,493.8,497.6,187.7,2041.8,0,0,0,30.00,14.74,14.74 CAP_FILE_SIZE 453638,0

SUPER 63,77,254,1,0,0 SDSIZE 3887104,3863776

IRIDIUM_FIX 4736.00,-12258.89,220623,180607 SDFILEDIR 252,28

TCM_TEMP 13.61 ERRORS 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3870432 SOUNDSPEED 1465.0

RAFOS_CLK 1 CURRENT 0.050, 68.4,1

MODEM 0,1687460400,47.60500,-122.95000,0.825,1208.1 MAGCAL 1.000000,0.046663,-0.034415,-0.013113,1.022217,-0.068933,0.061258,-0.036359,0.946910,775.2,-940.2,-386.4,36,0.0507,0

RAFOS_FIX 4723.256836,-12304.135742,220623,181801,3,255,25.87 IMPLIED_C_PITCH 2069,15.63,223,0.0,0.00

HUMID 44.50 IMPLIED_C_VBD 2610,29.829947,223,0

TEMP 11.40 GPS 220623,201800,4736.195,-12256.444,1,0.7,3,15.4

VOC 4468.0

Energy measurements:

device secs mA J sensor secs mA J

GPS 32 15 7.28 nil 0 0 0.00

Core 2487 5 191.04 SciCon 3202 7 359.36

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1029 0 4.94

Compass 988 5 74.13

RAFOS 1587 40 952.24

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

6.70 16386 -146.63 -1.47 0.00 495.4 480.6 510.2 191.4 2009.9 0.00 0.00 0 64.01 54.01 0.00 0.00 0.011 0.000 0.000 1910.84 1902.56 1919.12 191.38 2010.00 0 0 0 14.30 30.00 30.00

64.47 18727 -146.63 -1.47 80.00 1911.2 1902.4 1920.1 191.4 2009.6 3.16 -2.93 8 138.69 43.82 11.94 3.73 0.011 0.281 0.137 3396.53 3363.81 3429.25 1645.38 3492.50 0 0 0 14.44 14.87 14.67

197.83 3205 -146.63 -1.24 0.00 3399.0 3367.8 3430.2 1645.4 3491.9 23.15 -20.19 32 206.24 0.00 0.41 3.47 0.000 0.223 0.064 3400.50 3369.31 3431.69 1700.12 2006.50 0 0 0 30.00 14.94 14.98

390.42 644 -146.63 -1.15 -80.00 3399.9 3369.4 3430.4 1700.2 2006.6 50.34 -13.38 70 398.92 0.00 0.00 3.67 0.000 0.000 0.138 3400.12 3369.62 3430.62 1700.31 554.81 0 0 0 30.00 30.00 15.01

573.54 3205 -146.63 -1.03 0.00 3400.0 3369.8 3430.2 1700.4 556.1 79.54 -15.92 104 582.00 0.00 0.35 3.58 0.000 0.197 0.071 3401.81 3371.62 3432.00 1751.44 2044.12 0 0 0 30.00 14.94 14.97

769.29 516 -146.63 -1.03 -80.00 3400.9 3371.2 3430.6 1751.6 2043.8 102.82 -11.35 124 778.13 0.00 0.00 3.82 0.000 0.000 0.140 3399.72 3370.31 3429.12 1751.62 557.25 0 0 0 30.00 30.00 14.91

834.56 1156 -146.63 -0.98 0.00 3400.7 3371.4 3429.9 1751.2 557.1 111.17 -13.11 135 842.89 0.00 0.00 3.57 0.000 0.000 0.071 3399.53 3370.25 3428.81 1751.25 2042.44 0 0 0 30.00 30.00 14.97

1029.33 260 -146.63 -0.98 80.00 3401.1 3371.8 3430.3 1751.4 2042.8 133.63 -11.22 155 1037.00 0.00 0.00 3.62 0.000 0.000 0.134 3399.84 3370.75 3428.94 1751.56 3492.38 0 0 0 30.00 30.00 15.04

1090.46 3205 -146.63 -0.92 0.00 3401.1 3372.0 3430.2 1751.6 3492.3 141.70 -13.43 167 1098.52 0.00 0.18 3.47 0.000 0.211 0.066 3399.44 3370.94 3427.94 1778.94 2007.12 0 0 0 30.00 15.05 15.08

1175 end dive: TARGET_DEPTH_EXCEEDED

state 1176 begin apogee

1177.47 10243 0.00 -0.33 0.00 3401.4 3372.2 3430.7 1779.1 2045.2 150.93 -10.57 176 1298.64 110.71 1.00 0.08 1.104 0.157 0.436 2795.72 2794.62 2796.81 1921.00 2009.31 0 0 0 12.60 15.05 14.71

1307 end apogee: CONTROL_FINISHED_OK

state 1308 begin climb

1308.04 10759 146.63 1.47 -80.00 2793.9 2791.5 2796.2 1921.0 2009.2 156.99 0.00 187 1448.57 116.19 3.02 3.84 1.075 0.128 0.152 2198.50 2230.25 2166.75 2358.62 557.12 0 0 0 12.50 14.76 14.57

1452.22 9382 157.48 1.43 0.00 2196.5 2226.3 2166.6 2358.1 557.1 148.47 9.50 206 1472.07 10.57 0.00 3.64 0.876 0.000 0.072 2154.09 2186.62 2121.56 2358.06 2041.25 0 0 0 12.41 30.00 14.68

1656.23 388 157.48 1.40 80.00 2151.1 2182.8 2119.4 2358.1 2041.1 125.60 11.57 228 1664.73 0.00 0.00 3.67 0.000 0.000 0.135 2150.44 2182.50 2118.38 2357.81 3491.50 0 0 0 30.00 30.00 14.91

1745.69 21639 157.48 1.33 0.00 2149.8 2179.6 2119.9 2358.1 3491.6 114.37 12.69 243 1757.67 0.00 0.31 3.50 0.000 0.185 0.068 2149.47 2179.31 2119.62 2317.31 2007.69 0 0 0 30.00 14.93 14.96

1944.36 8226 186.79 1.39 0.00 2148.4 2178.7 2118.1 2316.8 2007.8 95.58 8.64 262 1970.60 23.59 0.00 0.00 0.984 0.000 0.000 2035.62 2067.62 2003.62 2316.75 2007.81 0 0 0 12.62 30.00 30.00

2154.86 10663 209.19 1.47 80.00 2032.2 2064.6 1999.8 2316.9 2007.9 77.08 8.96 283 2183.36 18.82 0.26 3.77 0.958 0.076 0.138 1946.28 1978.88 1913.69 2371.19 3492.38 0 0 0 12.55 15.03 14.94

2227.59 5253 209.19 1.42 0.00 1943.1 1974.6 1911.6 2372.4 3492.1 68.59 12.58 297 2236.30 0.00 0.24 3.50 0.000 0.192 0.069 1943.00 1974.75 1911.25 2338.56 2007.88 0 0 0 30.00 14.95 14.98

2424.09 8486 225.06 1.45 80.00 1940.5 1974.1 1907.0 2338.5 2006.9 49.42 9.26 317 2447.89 14.11 0.00 3.76 0.914 0.000 0.138 1879.62 1914.00 1845.25 2338.81 3491.19 0 0 0 12.70 30.00 14.99

2481.96 1028 225.06 1.45 0.00 1878.0 1912.4 1843.7 2338.7 3491.0 43.58 10.39 328 2490.22 0.00 0.00 3.48 0.000 0.000 0.068 1877.59 1912.50 1842.69 2338.19 2006.81 0 0 0 30.00 30.00 15.03

2674.46 10403 249.97 1.54 0.00 1876.2 1912.4 1839.9 2338.7 2006.5 26.33 8.85 366 2700.57 20.52 0.24 0.00 0.933 0.082 0.000 1779.94 1817.00 1742.88 2390.31 2006.81 0 0 0 12.61 15.11 30.00

2884.46 8486 302.41 1.65 80.00 1775.5 1814.9 1736.1 2390.1 2006.6 6.76 7.57 403 2948.17 39.78 0.00 3.79 0.937 0.000 0.137 1564.59 1605.69 1523.50 2390.31 3491.06 0 0 0 12.70 30.00 14.92

3177.48 11431 520.21 2.17 0.00 1560.9 1602.6 1519.2 2390.2 3491.1 4.50 -0.09 458 3196.30 9.20 0.84 3.48 0.796 0.065 0.065 1527.44 1568.75 1486.12 2538.81 2006.94 0 0 0 12.67 15.03 15.03

3197 end climb: NO_VERTICAL_VELOCITY

state 3197 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	26	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2025	XPDR_INT	0
N_DIVES	32	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	8.0315628	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	220623,190911,4736.408,-12256.427,1,0.7,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,191302,4736.392,-12256.420,21,1.0,22,15.4	MHEAD_RNG_PITCHd_Wd	206.7,945,-17.6,-10.000,-21.21,2209,0.138
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	7999979

NET	CARFP,1970-01-01T00:00:44.541756,0,12,121,1,1,0,0,1;8;080c7903203000ff,1;5;ac017bdebd;1;13;ad1f64a15c342403e80321f937;1;13;970f0f10e347311882242ef7bd;1;13;7b4000000008c1126197bdebda;1;13;e461ef7af697157bdebda4398c;1;13;000dbdef5ed6834f7bd7b6d8e3;1;2;40c8,*29	INTERNAL_PRESSURE	8.27321
NET_PING	1687463567,29,817.477478,14.600000,-445.732666	_10V_AH	15.00,2.550
MODEM_MSG	CACST,8,2,20230622195033.809192,2,46091904,76,70,106,0,0,0,0,0,-1,-1,-1,0,0,0,0,106,0.00,0.00,0,0.00,0,0.00,65613856,35,6,0,-1,0,0	FG_AHR_10Vo	8.253
NAV	1687463954,21.9,start	MAMPS	65.9,91.0,50.4,625.5,4037.6,876.4
WARN	HSCICON missed fuel gauge read	MEM0	60172,1,0,0
FREEZE	4.40,14.263,-1.497,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	1991652,31,103372,75
SM_CCo	3389.45,177.86,0.931,0,500.9,496.8,505.0,563.98	DATA_FILE_SIZE	12946,461
SM_GC	1.58,0.00,14.98,0.06,0.000,0.059,0.196,495.7,493.8,497.6,187.7,2041.8,0,0,0,30.00,14.74,14.74	CAP_FILE_SIZE	453638,0
SUPER	63,77,254,1,0,0	SDSIZE	3887104,3863776
IRIDIUM_FIX	4736.00,-12258.89,220623,180607	SDFILEDIR	252,28
TCM_TEMP	13.61	ERRORS	0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3870432	SOUNDSPEED	1465.0
RAFOS_CLK	1	CURRENT	0.050, 68.4,1
MODEM	0,1687460400,47.60500,-122.95000,0.825,1208.1	MAGCAL	1.000000,0.046663,-0.034415,-0.013113,1.022217,-0.068933,0.061258,-0.036359,0.946910,775.2,-940.2,-386.4,36,0.0507,0
RAFOS_FIX	4723.256836,-12304.135742,220623,181801,3,255,25.87	IMPLIED_C_PITCH	2069,15.63,223,0.0,0.00
HUMID	44.50	IMPLIED_C_VBD	2610,29.829947,223,0
TEMP	11.40	GPS	220623,201800,4736.195,-12256.444,1,0.7,3,15.4
VOC	4468.0

device	secs	mA	J	sensor	secs	mA	J
GPS	32	15	7.28	nil	0	0	0.00
Core	2487	5	191.04	SciCon	3202	7	359.36
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1029	0	4.94
Compass	988	5	74.13
RAFOS	1587	40	952.24
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
6.70	16386	-146.63	-1.47	0.00	495.4	480.6	510.2	191.4	2009.9	0.00	0.00	0	64.01	54.01	0.00	0.00	0.011	0.000	0.000	1910.84	1902.56	1919.12	191.38	2010.00	0	0	0	14.30	30.00	30.00
64.47	18727	-146.63	-1.47	80.00	1911.2	1902.4	1920.1	191.4	2009.6	3.16	-2.93	8	138.69	43.82	11.94	3.73	0.011	0.281	0.137	3396.53	3363.81	3429.25	1645.38	3492.50	0	0	0	14.44	14.87	14.67
197.83	3205	-146.63	-1.24	0.00	3399.0	3367.8	3430.2	1645.4	3491.9	23.15	-20.19	32	206.24	0.00	0.41	3.47	0.000	0.223	0.064	3400.50	3369.31	3431.69	1700.12	2006.50	0	0	0	30.00	14.94	14.98
390.42	644	-146.63	-1.15	-80.00	3399.9	3369.4	3430.4	1700.2	2006.6	50.34	-13.38	70	398.92	0.00	0.00	3.67	0.000	0.000	0.138	3400.12	3369.62	3430.62	1700.31	554.81	0	0	0	30.00	30.00	15.01
573.54	3205	-146.63	-1.03	0.00	3400.0	3369.8	3430.2	1700.4	556.1	79.54	-15.92	104	582.00	0.00	0.35	3.58	0.000	0.197	0.071	3401.81	3371.62	3432.00	1751.44	2044.12	0	0	0	30.00	14.94	14.97
769.29	516	-146.63	-1.03	-80.00	3400.9	3371.2	3430.6	1751.6	2043.8	102.82	-11.35	124	778.13	0.00	0.00	3.82	0.000	0.000	0.140	3399.72	3370.31	3429.12	1751.62	557.25	0	0	0	30.00	30.00	14.91
834.56	1156	-146.63	-0.98	0.00	3400.7	3371.4	3429.9	1751.2	557.1	111.17	-13.11	135	842.89	0.00	0.00	3.57	0.000	0.000	0.071	3399.53	3370.25	3428.81	1751.25	2042.44	0	0	0	30.00	30.00	14.97
1029.33	260	-146.63	-0.98	80.00	3401.1	3371.8	3430.3	1751.4	2042.8	133.63	-11.22	155	1037.00	0.00	0.00	3.62	0.000	0.000	0.134	3399.84	3370.75	3428.94	1751.56	3492.38	0	0	0	30.00	30.00	15.04
1090.46	3205	-146.63	-0.92	0.00	3401.1	3372.0	3430.2	1751.6	3492.3	141.70	-13.43	167	1098.52	0.00	0.18	3.47	0.000	0.211	0.066	3399.44	3370.94	3427.94	1778.94	2007.12	0	0	0	30.00	15.05	15.08
1175	end dive: TARGET_DEPTH_EXCEEDED
state	1176	begin apogee
1177.47	10243	0.00	-0.33	0.00	3401.4	3372.2	3430.7	1779.1	2045.2	150.93	-10.57	176	1298.64	110.71	1.00	0.08	1.104	0.157	0.436	2795.72	2794.62	2796.81	1921.00	2009.31	0	0	0	12.60	15.05	14.71
1307	end apogee: CONTROL_FINISHED_OK
state	1308	begin climb
1308.04	10759	146.63	1.47	-80.00	2793.9	2791.5	2796.2	1921.0	2009.2	156.99	0.00	187	1448.57	116.19	3.02	3.84	1.075	0.128	0.152	2198.50	2230.25	2166.75	2358.62	557.12	0	0	0	12.50	14.76	14.57
1452.22	9382	157.48	1.43	0.00	2196.5	2226.3	2166.6	2358.1	557.1	148.47	9.50	206	1472.07	10.57	0.00	3.64	0.876	0.000	0.072	2154.09	2186.62	2121.56	2358.06	2041.25	0	0	0	12.41	30.00	14.68
1656.23	388	157.48	1.40	80.00	2151.1	2182.8	2119.4	2358.1	2041.1	125.60	11.57	228	1664.73	0.00	0.00	3.67	0.000	0.000	0.135	2150.44	2182.50	2118.38	2357.81	3491.50	0	0	0	30.00	30.00	14.91
1745.69	21639	157.48	1.33	0.00	2149.8	2179.6	2119.9	2358.1	3491.6	114.37	12.69	243	1757.67	0.00	0.31	3.50	0.000	0.185	0.068	2149.47	2179.31	2119.62	2317.31	2007.69	0	0	0	30.00	14.93	14.96
1944.36	8226	186.79	1.39	0.00	2148.4	2178.7	2118.1	2316.8	2007.8	95.58	8.64	262	1970.60	23.59	0.00	0.00	0.984	0.000	0.000	2035.62	2067.62	2003.62	2316.75	2007.81	0	0	0	12.62	30.00	30.00
2154.86	10663	209.19	1.47	80.00	2032.2	2064.6	1999.8	2316.9	2007.9	77.08	8.96	283	2183.36	18.82	0.26	3.77	0.958	0.076	0.138	1946.28	1978.88	1913.69	2371.19	3492.38	0	0	0	12.55	15.03	14.94
2227.59	5253	209.19	1.42	0.00	1943.1	1974.6	1911.6	2372.4	3492.1	68.59	12.58	297	2236.30	0.00	0.24	3.50	0.000	0.192	0.069	1943.00	1974.75	1911.25	2338.56	2007.88	0	0	0	30.00	14.95	14.98
2424.09	8486	225.06	1.45	80.00	1940.5	1974.1	1907.0	2338.5	2006.9	49.42	9.26	317	2447.89	14.11	0.00	3.76	0.914	0.000	0.138	1879.62	1914.00	1845.25	2338.81	3491.19	0	0	0	12.70	30.00	14.99
2481.96	1028	225.06	1.45	0.00	1878.0	1912.4	1843.7	2338.7	3491.0	43.58	10.39	328	2490.22	0.00	0.00	3.48	0.000	0.000	0.068	1877.59	1912.50	1842.69	2338.19	2006.81	0	0	0	30.00	30.00	15.03
2674.46	10403	249.97	1.54	0.00	1876.2	1912.4	1839.9	2338.7	2006.5	26.33	8.85	366	2700.57	20.52	0.24	0.00	0.933	0.082	0.000	1779.94	1817.00	1742.88	2390.31	2006.81	0	0	0	12.61	15.11	30.00
2884.46	8486	302.41	1.65	80.00	1775.5	1814.9	1736.1	2390.1	2006.6	6.76	7.57	403	2948.17	39.78	0.00	3.79	0.937	0.000	0.137	1564.59	1605.69	1523.50	2390.31	3491.06	0	0	0	12.70	30.00	14.92
3177.48	11431	520.21	2.17	0.00	1560.9	1602.6	1519.2	2390.2	3491.1	4.50	-0.09	458	3196.30	9.20	0.84	3.48	0.796	0.065	0.065	1527.44	1568.75	1486.12	2538.81	2006.94	0	0	0	12.67	15.03	15.03
3197	end climb: NO_VERTICAL_VELOCITY
state	3197	begin surface