Glider dive log

HoodCanal 14Jun23 * SG235 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

MISSION 9 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 3 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 6

N_DIVES 3 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 710 ROLL_MAXERRORS 1 XPDR_INT 13

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

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 0.5

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3400 DEEPGLIDERMB 0

D_BOOST 3 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 0.0040000002 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 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 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 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 230 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3900 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2200 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 20 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 0.2714147 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 1.9220146 SEABIRD_T_H 0.00062267116

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.1947648e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -158.08685 SEABIRD_T_J 2.2037441e-06

MASS 72024 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_G -9.9419231

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 49156 SEABIRD_C_H 1.1375728

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0016241658

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002088599

HD_A 0.00281838 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0139236 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_MIN 1200 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 4000 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 2750 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1.1375728

AH0_24V 575 D_PITCH 0 N_DIVES 3 SEABIRD_C_I -0.0016241658

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.0002088599

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0042874566

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00062267116

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.2714147 PHONE_SUPPLY 2 SM_CC 710

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 1.9220146 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 20 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.00281838 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0139236 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAX 3900 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 230 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 25 T_BOOST 0

COMPASS2_DEVICE -1 ID 235 PITCH_VBD_SHIFT 0.0040000002 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 49156 INT_PRESSURE_YINT 0.5 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 2200 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022957686 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -158.08685 T_NO_W 120

C_ROLL_CLIMB 2750 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2750 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3400 LOGGERS 1 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 72024 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 2 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 4000 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 3 MISSION 9 ROLL_MIN 1200 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 3 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 7.0 XPDR_INT 13

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -9.9419231

Pre-dive calculations and measurements:

GPS1 140623,190419,4736.478,-12256.339,1,1.1,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.75 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140623,190723,4736.479,-12256.334,2,1.1,4,15.4 MHEAD_RNG_PITCHd_Wd 322.3,969,-19.3,-10.000,-24.09,2233,0.155

SPEED_LIMITS 0.100,0.224 D_GRID 168

TGT_NAME N IRON 1.000000,-0.037199,0.047407,-0.051119,1.061309,0.006233,-0.012812,0.019589,1.055079,-693.399841,13.848894,328.493378

TGT_LATLONG 4737.000,-12256.400 OSC 8000307

Post-dive calculations and measurements:

NAV 1686773054,2.5,0,stop FG_AHR_24Vo 2.071

MODEM_MSG CACST,8,2,20230614200036.678932,18,32767,45,0103,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*03 FG_AHR_10Vo 0.304

FREEZE 2.19,15.686,-1.456,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3808.87,209.27,0.740,0,500.3,414.1,586.5,711.30 MEM2 944572,30,101916,74

SM_GC 1.86,0.00,16.90,0.08,0.000,0.066,0.163,497.1,414.3,579.9,218.8,2774.3,0,0,0,30.00,15.64,15.68 DATA_FILE_SIZE 16145,618

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 194972,0

IRIDIUM_FIX 4738.86,-12409.77,140623,190132 SDSIZE 3918848,3907264

TCM_TEMP 13.90 SDFILEDIR 73,4

SC_FREEKB 3877728 ERRORS 0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

RAFOS_FIX 4459.668945,-12300.000000,140623,181808,4,255,286.19 CURRENT 0.062, 72.2,1

HUMID 50.22 MAGCAL 1.000000,-0.054856,-0.002379,-0.058453,1.066353,-0.100919,0.016337,0.029297,1.058128,-903.3,-182.1,386.9,36,0.0480,0

TEMP 12.32 IMPLIED_C_PITCH 2189,17.07,251,0.0,0.00

INTERNAL_PRESSURE 8.53942 IMPLIED_C_VBD 3442,34.011974,251,0

_24V_AH 15.03,2.561 GPS 140623,201401,4736.455,-12256.518,19,0.7,20,15.4

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 756 925 10526.32 nil 0 0 0.00

Pitch_motor 37 270 152.91 nil 0 0 0.00

Roll_motor 46 246 170.96 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.96 nil 0 0 0.00

Core 2187 5 168.01 SciCon 3593 6 347.30

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1555 0 7.47

Compass 1208 5 90.64

RAFOS 1712 40 1027.53

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

5.88 16386 -146.63 -1.55 0.00 500.0 425.5 574.5 216.4 2727.4 0.00 0.00 0 89.14 81.61 0.00 0.00 0.005 0.000 0.000 2369.03 2360.12 2377.94 216.50 2728.31 0 0 0 16.10 30.00 30.00

89.39 18983 -146.63 -1.55 -80.00 2367.3 2357.8 2376.8 216.3 2728.3 3.26 -1.96 16 171.64 57.37 12.28 3.45 0.005 0.270 0.119 3960.00 3944.38 3975.62 1823.31 1278.62 0 0 0 16.10 15.89 15.99

398.12 19623 -146.63 -1.27 0.00 3961.8 3943.7 3980.0 1824.4 1278.7 23.04 -6.63 76 405.18 0.00 0.46 3.38 0.000 0.179 0.058 3962.41 3945.00 3979.81 1891.94 2771.94 0 0 0 30.00 15.96 16.04

588.37 16934 -146.63 -1.27 -80.00 3962.0 3943.8 3980.1 1891.9 2771.2 34.15 -6.07 114 594.21 0.00 0.00 3.54 0.000 0.000 0.112 3963.03 3944.62 3981.44 1892.19 1278.88 0 0 0 30.00 30.00 16.02

822.74 1188 -146.63 -1.18 0.00 3962.9 3943.6 3982.2 1892.1 1279.0 54.85 -9.85 161 829.23 0.00 0.00 3.40 0.000 0.000 0.059 3962.81 3943.94 3981.69 1892.94 2770.81 0 0 0 30.00 30.00 16.06

1018.40 548 -146.63 -1.18 -80.00 3963.6 3944.8 3982.3 1892.0 2771.3 71.01 -8.57 181 1024.58 0.00 0.00 3.55 0.000 0.000 0.115 3963.19 3943.94 3982.44 1892.31 1279.81 0 0 0 30.00 30.00 16.03

1253.63 3205 -146.63 -1.11 0.00 3963.0 3943.7 3982.4 1892.3 1279.6 95.12 -10.30 228 1259.74 0.00 0.26 3.38 0.000 0.166 0.062 3962.59 3943.44 3981.75 1933.75 2768.56 0 0 0 30.00 16.01 16.07

1448.54 676 -146.63 -1.19 -80.00 3962.8 3943.8 3981.8 1933.0 2768.2 110.42 -7.41 248 1454.65 0.00 0.00 3.55 0.000 0.000 0.119 3962.66 3943.06 3982.25 1933.69 1280.88 0 0 0 30.00 30.00 16.07

1681.43 5285 -146.63 -1.24 0.00 3963.0 3944.4 3981.5 1933.1 1281.1 131.61 -8.99 294 1688.06 0.00 0.29 3.38 0.000 0.082 0.064 3963.31 3943.88 3982.75 1881.00 2769.12 0 0 0 30.00 16.10 16.12

1877 end dive: TARGET_DEPTH_EXCEEDED

state 1877 begin apogee

1878.40 10243 0.00 -0.25 0.00 3963.0 3943.8 3982.3 1881.1 2727.6 150.11 -9.45 314 1981.54 96.80 1.76 0.07 0.926 0.137 0.247 3399.88 3328.31 3471.44 2141.94 2770.62 0 0 0 11.23 16.09 15.81

1983 end apogee: CONTROL_FINISHED_OK

state 1983 begin climb

1983.99 10503 146.63 1.55 80.00 3397.0 3325.5 3468.4 2142.4 2770.4 151.22 0.00 324 2103.04 107.56 2.74 3.08 0.893 0.088 0.124 2800.09 2707.94 2892.25 2584.06 4008.94 0 0 0 11.31 15.82 15.60

2334.12 21639 146.63 1.23 0.00 2790.3 2706.5 2874.1 2583.9 4009.1 96.26 18.85 392 2340.34 0.00 0.69 2.97 0.000 0.202 0.066 2790.53 2706.94 2874.12 2492.69 2725.25 0 0 0 30.00 15.81 15.90

2529.05 16646 146.63 1.23 80.00 2789.0 2703.4 2874.6 2493.0 2725.3 71.64 11.92 412 2535.08 0.00 0.00 3.11 0.000 0.000 0.120 2790.78 2706.00 2875.56 2489.56 4009.12 0 0 0 30.00 30.00 15.94

2762.09 17542 146.63 1.17 0.00 2787.5 2703.2 2871.8 2492.8 4009.3 43.54 12.04 458 2767.66 0.00 0.00 2.94 0.000 0.000 0.067 2790.84 2706.00 2875.69 2493.12 2724.88 0 0 0 30.00 30.00 16.03

2952.16 10663 177.66 1.33 80.00 2787.1 2702.2 2872.0 2492.8 2724.6 24.96 8.58 496 2984.07 24.01 0.21 3.12 0.757 0.094 0.120 2673.38 2584.25 2762.50 2533.06 4011.50 0 0 0 11.21 16.05 15.97

3210.42 11431 318.47 1.84 0.00 2668.0 2583.2 2752.8 2532.9 4010.9 5.84 3.55 544 3328.71 106.03 0.69 2.95 0.765 0.066 0.065 2099.00 1992.75 2205.25 2659.06 2722.81 0 0 0 11.32 16.00 16.03

3511.90 10663 542.33 2.80 80.00 2088.6 1988.9 2188.2 2658.5 2722.4 2.72 -0.25 603 3590.08 73.93 1.34 0.00 0.760 0.058 0.000 1683.47 1580.56 1786.38 2893.00 2722.25 0 0 0 11.22 15.90 30.00

3591 end climb: NO_VERTICAL_VELOCITY

state 3591 begin surface

ID	235	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
MISSION	9	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	3	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	6
N_DIVES	3	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	710	ROLL_MAXERRORS	1	XPDR_INT	13
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
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	0.5
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3400	DEEPGLIDERMB	0
D_BOOST	3	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	0.0040000002	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	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	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	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	230	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3900	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2200	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	20	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	0.2714147	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	1.9220146	SEABIRD_T_H	0.00062267116
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.1947648e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-158.08685	SEABIRD_T_J	2.2037441e-06
MASS	72024	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_G	-9.9419231
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	49156	SEABIRD_C_H	1.1375728
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0016241658
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002088599
HD_A	0.00281838	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0139236	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_MIN	1200	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	4000	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	2750	ALTIM_FREQUENCY	13

GPS1	140623,190419,4736.478,-12256.339,1,1.1,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.75	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140623,190723,4736.479,-12256.334,2,1.1,4,15.4	MHEAD_RNG_PITCHd_Wd	322.3,969,-19.3,-10.000,-24.09,2233,0.155
SPEED_LIMITS	0.100,0.224	D_GRID	168
TGT_NAME	N	IRON	1.000000,-0.037199,0.047407,-0.051119,1.061309,0.006233,-0.012812,0.019589,1.055079,-693.399841,13.848894,328.493378
TGT_LATLONG	4737.000,-12256.400	OSC	8000307

NAV	1686773054,2.5,0,stop	FG_AHR_24Vo	2.071
MODEM_MSG	CACST,8,2,20230614200036.678932,18,32767,45,0103,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*03	FG_AHR_10Vo	0.304
FREEZE	2.19,15.686,-1.456,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3808.87,209.27,0.740,0,500.3,414.1,586.5,711.30	MEM2	944572,30,101916,74
SM_GC	1.86,0.00,16.90,0.08,0.000,0.066,0.163,497.1,414.3,579.9,218.8,2774.3,0,0,0,30.00,15.64,15.68	DATA_FILE_SIZE	16145,618
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	194972,0
IRIDIUM_FIX	4738.86,-12409.77,140623,190132	SDSIZE	3918848,3907264
TCM_TEMP	13.90	SDFILEDIR	73,4
SC_FREEKB	3877728	ERRORS	0,0,0,0,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
RAFOS_FIX	4459.668945,-12300.000000,140623,181808,4,255,286.19	CURRENT	0.062, 72.2,1
HUMID	50.22	MAGCAL	1.000000,-0.054856,-0.002379,-0.058453,1.066353,-0.100919,0.016337,0.029297,1.058128,-903.3,-182.1,386.9,36,0.0480,0
TEMP	12.32	IMPLIED_C_PITCH	2189,17.07,251,0.0,0.00
INTERNAL_PRESSURE	8.53942	IMPLIED_C_VBD	3442,34.011974,251,0
_24V_AH	15.03,2.561	GPS	140623,201401,4736.455,-12256.518,19,0.7,20,15.4
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	756	925	10526.32	nil	0	0	0.00
Pitch_motor	37	270	152.91	nil	0	0	0.00
Roll_motor	46	246	170.96	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.96	nil	0	0	0.00
Core	2187	5	168.01	SciCon	3593	6	347.30
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1555	0	7.47
Compass	1208	5	90.64
RAFOS	1712	40	1027.53
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
5.88	16386	-146.63	-1.55	0.00	500.0	425.5	574.5	216.4	2727.4	0.00	0.00	0	89.14	81.61	0.00	0.00	0.005	0.000	0.000	2369.03	2360.12	2377.94	216.50	2728.31	0	0	0	16.10	30.00	30.00
89.39	18983	-146.63	-1.55	-80.00	2367.3	2357.8	2376.8	216.3	2728.3	3.26	-1.96	16	171.64	57.37	12.28	3.45	0.005	0.270	0.119	3960.00	3944.38	3975.62	1823.31	1278.62	0	0	0	16.10	15.89	15.99
398.12	19623	-146.63	-1.27	0.00	3961.8	3943.7	3980.0	1824.4	1278.7	23.04	-6.63	76	405.18	0.00	0.46	3.38	0.000	0.179	0.058	3962.41	3945.00	3979.81	1891.94	2771.94	0	0	0	30.00	15.96	16.04
588.37	16934	-146.63	-1.27	-80.00	3962.0	3943.8	3980.1	1891.9	2771.2	34.15	-6.07	114	594.21	0.00	0.00	3.54	0.000	0.000	0.112	3963.03	3944.62	3981.44	1892.19	1278.88	0	0	0	30.00	30.00	16.02
822.74	1188	-146.63	-1.18	0.00	3962.9	3943.6	3982.2	1892.1	1279.0	54.85	-9.85	161	829.23	0.00	0.00	3.40	0.000	0.000	0.059	3962.81	3943.94	3981.69	1892.94	2770.81	0	0	0	30.00	30.00	16.06
1018.40	548	-146.63	-1.18	-80.00	3963.6	3944.8	3982.3	1892.0	2771.3	71.01	-8.57	181	1024.58	0.00	0.00	3.55	0.000	0.000	0.115	3963.19	3943.94	3982.44	1892.31	1279.81	0	0	0	30.00	30.00	16.03
1253.63	3205	-146.63	-1.11	0.00	3963.0	3943.7	3982.4	1892.3	1279.6	95.12	-10.30	228	1259.74	0.00	0.26	3.38	0.000	0.166	0.062	3962.59	3943.44	3981.75	1933.75	2768.56	0	0	0	30.00	16.01	16.07
1448.54	676	-146.63	-1.19	-80.00	3962.8	3943.8	3981.8	1933.0	2768.2	110.42	-7.41	248	1454.65	0.00	0.00	3.55	0.000	0.000	0.119	3962.66	3943.06	3982.25	1933.69	1280.88	0	0	0	30.00	30.00	16.07
1681.43	5285	-146.63	-1.24	0.00	3963.0	3944.4	3981.5	1933.1	1281.1	131.61	-8.99	294	1688.06	0.00	0.29	3.38	0.000	0.082	0.064	3963.31	3943.88	3982.75	1881.00	2769.12	0	0	0	30.00	16.10	16.12
1877	end dive: TARGET_DEPTH_EXCEEDED
state	1877	begin apogee
1878.40	10243	0.00	-0.25	0.00	3963.0	3943.8	3982.3	1881.1	2727.6	150.11	-9.45	314	1981.54	96.80	1.76	0.07	0.926	0.137	0.247	3399.88	3328.31	3471.44	2141.94	2770.62	0	0	0	11.23	16.09	15.81
1983	end apogee: CONTROL_FINISHED_OK
state	1983	begin climb
1983.99	10503	146.63	1.55	80.00	3397.0	3325.5	3468.4	2142.4	2770.4	151.22	0.00	324	2103.04	107.56	2.74	3.08	0.893	0.088	0.124	2800.09	2707.94	2892.25	2584.06	4008.94	0	0	0	11.31	15.82	15.60
2334.12	21639	146.63	1.23	0.00	2790.3	2706.5	2874.1	2583.9	4009.1	96.26	18.85	392	2340.34	0.00	0.69	2.97	0.000	0.202	0.066	2790.53	2706.94	2874.12	2492.69	2725.25	0	0	0	30.00	15.81	15.90
2529.05	16646	146.63	1.23	80.00	2789.0	2703.4	2874.6	2493.0	2725.3	71.64	11.92	412	2535.08	0.00	0.00	3.11	0.000	0.000	0.120	2790.78	2706.00	2875.56	2489.56	4009.12	0	0	0	30.00	30.00	15.94
2762.09	17542	146.63	1.17	0.00	2787.5	2703.2	2871.8	2492.8	4009.3	43.54	12.04	458	2767.66	0.00	0.00	2.94	0.000	0.000	0.067	2790.84	2706.00	2875.69	2493.12	2724.88	0	0	0	30.00	30.00	16.03
2952.16	10663	177.66	1.33	80.00	2787.1	2702.2	2872.0	2492.8	2724.6	24.96	8.58	496	2984.07	24.01	0.21	3.12	0.757	0.094	0.120	2673.38	2584.25	2762.50	2533.06	4011.50	0	0	0	11.21	16.05	15.97
3210.42	11431	318.47	1.84	0.00	2668.0	2583.2	2752.8	2532.9	4010.9	5.84	3.55	544	3328.71	106.03	0.69	2.95	0.765	0.066	0.065	2099.00	1992.75	2205.25	2659.06	2722.81	0	0	0	11.32	16.00	16.03
3511.90	10663	542.33	2.80	80.00	2088.6	1988.9	2188.2	2658.5	2722.4	2.72	-0.25	603	3590.08	73.93	1.34	0.00	0.760	0.058	0.000	1683.47	1580.56	1786.38	2893.00	2722.25	0	0	0	11.22	15.90	30.00
3591	end climb: NO_VERTICAL_VELOCITY
state	3591	begin surface