Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1900 ALTIM_PULSE 3

MISSION 8 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

DIVE 3 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 3 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 593.79755 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 -3.2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 2881.9702 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 540 DEVICE3 -1

D_SAFE 0 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 3 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 6 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 6 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 12 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 3 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 120 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 220 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE -1

ICE_FREEZE_MARGIN 0.07 C_PITCH 1728.7859 MINV_24V 0 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 13.656569 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.494686 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 27.856604 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.0099999998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -182.53638 SEABIRD_T_J 4.3e-06

MASS 72380 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 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 195 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3800 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 1980 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 3 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 42.494686 PHONE_SUPPLY 2 SM_CC 593.79755

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 27.856604 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.0099999998 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 6

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 13.656569 SURFACE_URGENCY_FORCE 12

CALL_TRIES 3 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 6

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 2 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 0 HEAD_ERRBAND 20 PITCH_MIN 220 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 242 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 -3.2 PITCH_W_GAIN 0 T_GPS 3

C_PITCH 1728.7859 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022512203 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -182.53638 T_NO_W 120

C_ROLL_CLIMB 1900 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 1980 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 2881.9702 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 400 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 400

C_VBD_AUTO_MAX 100 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 72380 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 0 ROLL_MAX 3800 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 0 VBD_TIMEOUT 540

DIVE 3 MISSION 8 ROLL_MIN 195 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE -1 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 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 210623,185101,4736.150,-12256.619,34,0.9,35,15.4 TGT_RADIUS 300.000

_CALLS 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,185800,4736.139,-12256.661,1,0.8,2,15.4 MHEAD_RNG_PITCHd_Wd 195.1,389,-26.4,-10.000,-29.26,1026,0.134

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME S IRON 1.000000,0.052292,-0.171131,0.015423,0.992865,0.009919,0.097313,-0.083476,1.014149,875.643433,-918.263367,-648.299438

TGT_LATLONG 4735.950,-12256.800 OSC 8000225

Post-dive calculations and measurements:

NAV 1687375637,87.4,3,stop _24V_AH 15.06,31.504

NET xmit part outbox0002.n 1511 0 _10V_AH 15.00,0.000

NET_PING 1687375811,29,586.915466,13.000000,-0.781317 FG_AHR_24Vo 28.023

MODEM_MSG CACST,8,0,20230621192500.409988,18,16505,42,0256,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,5.4,9.31,-100,-6.31,-01,0.02,71,925,0025,0,1,00,00*1E FG_AHR_10Vo 42.531

FREEZE 4.14,14.423,-1.491,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3118.95,0.08,0.263,0,499.2,399.9,598.6,584.25 MEM2 946364,23,100424,66

SM_GC 2.95,0.08,13.19,0.21,0.263,0.047,0.095,499.2,399.9,598.6,194.3,2020.4,0,0,0,15.84,15.61,15.64 DATA_FILE_SIZE 12958,442

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 147609,0

IRIDIUM_FIX 4736.87,-12256.21,210623,185215 SDSIZE 3887104,3868864

TCM_TEMP 14.88 SDFILEDIR 67,4

SC_FREEKB 3877824 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687374000,47.60500,-122.95000,0.419,614.2 CURRENT 0.031, 37.8,1

RAFOS_FIX 4836.537109,-12257.000000,210623,191904,4,255,154.50 MAGCAL 1.000000,0.025244,-0.072655,0.008785,1.026925,-0.043242,0.027332,-0.082621,1.082390,779.3,-860.4,-712.4,32,0.0269,1

HUMID 50.01 IMPLIED_C_PITCH 1738,13.41,187,1733.2,13.53

TEMP 11.66 IMPLIED_C_VBD 2834,39.838497,187,2857.9

INTERNAL_PRESSURE 8.26284 GPS 210623,195109,4735.966,-12256.767,9,1.0,11,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 650 1150 11268.56 nil 0 0 0.00

Pitch_motor 27 216 90.58 nil 0 0 0.00

Roll_motor 29 279 122.11 nil 0 0 0.00

Iridium 234 220 777.15 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.70 nil 0 0 0.00

Core 2024 5 155.50 SciCon 2877 6 286.51

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1296 0 6.22

Compass 934 5 70.08

RAFOS 1694 40 1016.74

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.65 16386 -67.50 -2.02 0.00 496.6 391.1 602.1 202.7 1940.8 0.00 0.00 0 65.18 53.11 0.00 0.00 0.005 0.000 0.000 1751.16 1719.56 1782.75 202.75 1941.38 0 0 0 15.95 30.00 30.00

65.61 18983 -141.21 -2.11 -80.00 1751.3 1718.2 1784.4 202.7 1940.7 3.01 -2.65 9 142.04 54.58 7.32 3.48 0.005 0.216 0.121 3454.97 3419.62 3490.31 1217.88 510.38 0 0 0 14.73 15.74 15.82

370.56 1156 -141.21 -2.04 0.00 3457.5 3420.3 3494.7 1217.9 510.1 39.33 -14.38 68 377.05 0.00 0.00 3.41 0.000 0.000 0.051 3457.56 3420.50 3494.62 1218.50 2003.06 0 0 0 30.00 30.00 15.90

560.62 516 -141.21 -2.04 -80.00 3458.2 3420.6 3495.9 1218.2 2013.6 63.42 -13.59 96 568.89 0.00 0.00 3.65 0.000 0.000 0.116 3457.59 3418.94 3496.25 1218.62 510.56 0 0 0 30.00 30.00 15.88

737.38 3205 -141.21 -2.00 0.00 3458.2 3420.3 3496.2 1218.9 510.2 93.62 -18.19 130 744.97 0.00 0.18 3.43 0.000 0.197 0.051 3458.78 3421.12 3496.44 1245.31 2013.62 0 0 0 30.00 15.79 15.88

932.97 128 -141.21 -2.01 0.00 3459.0 3420.0 3498.1 1245.4 2013.9 120.72 -13.05 150 934.72 0.00 0.00 0.00 0.000 0.000 0.000 3458.00 3419.75 3496.25 1245.50 2014.31 0 0 0 30.00 30.00 30.00

1122.99 128 -141.21 -2.03 0.00 3458.6 3420.8 3496.4 1245.3 2014.1 146.80 -14.09 169 1124.73 0.00 0.00 0.00 0.000 0.000 0.000 3458.75 3420.94 3496.56 1245.25 2014.00 0 0 0 30.00 30.00 30.00

1152 end dive: TARGET_DEPTH_EXCEEDED

state 1152 begin apogee

1154.59 10243 0.00 -0.37 0.00 3459.0 3419.9 3498.1 1245.1 1868.3 151.00 -14.05 172 1276.74 108.32 2.60 0.10 1.150 0.134 0.187 2883.34 2777.94 2988.75 1642.69 1936.38 0 0 0 10.97 15.85 15.59

1278 end apogee: CONTROL_FINISHED_OK

state 1278 begin climb

1278.37 10759 141.21 2.11 -80.00 2879.4 2774.3 2984.5 1642.6 1936.2 154.58 0.00 183 1413.02 110.04 3.82 3.77 1.117 0.079 0.126 2304.19 2199.75 2408.62 2245.12 434.19 0 0 0 11.26 15.61 15.42

1481.70 5253 141.21 2.03 0.00 2297.6 2196.8 2398.4 2245.6 434.1 127.10 21.53 219 1490.29 0.00 0.26 3.47 0.000 0.209 0.052 2297.34 2196.31 2398.38 2215.81 1934.31 0 0 0 30.00 15.59 15.68

1676.56 16386 141.21 2.03 0.00 2296.2 2195.2 2397.3 2216.4 1935.0 95.12 16.01 239 1678.36 0.00 0.00 0.00 0.000 0.000 0.000 2295.28 2194.00 2396.56 2216.62 1935.50 0 0 0 30.00 30.00 30.00

1866.58 16386 141.21 2.03 0.00 2295.9 2195.2 2396.6 2216.1 1935.2 67.75 13.99 258 1868.37 0.00 0.00 0.00 0.000 0.000 0.000 2294.38 2193.44 2395.31 2216.06 1935.75 0 0 0 30.00 30.00 30.00

2049.59 16386 141.21 2.03 0.00 2295.3 2194.5 2396.1 2216.1 1935.6 43.75 12.95 281 2053.51 0.00 0.00 0.00 0.000 0.000 0.000 2295.53 2195.00 2396.06 2216.38 1935.81 0 0 0 30.00 30.00 30.00

2234.76 17030 141.21 2.05 -80.00 2294.6 2194.4 2394.8 2216.1 1935.9 21.97 11.07 318 2242.96 0.00 0.00 3.65 0.000 0.000 0.126 2294.53 2195.31 2393.75 2216.31 432.75 0 0 0 30.00 30.00 15.91

2326.64 17542 141.21 2.01 0.00 2293.8 2194.2 2393.4 2216.6 432.6 10.34 12.01 336 2334.57 0.00 0.00 3.39 0.000 0.000 0.052 2294.22 2194.50 2393.94 2215.12 1937.06 0 0 0 30.00 30.00 15.97

2519.33 10403 246.73 2.18 0.00 2293.7 2193.8 2393.6 2215.9 1937.8 7.59 -0.52 374 2604.96 76.76 0.26 0.00 1.005 0.060 0.000 1873.84 1769.62 1978.06 2270.94 1939.25 0 0 0 10.94 15.99 30.00

2788.64 10919 347.76 2.36 -80.00 1866.2 1763.4 1968.9 2270.9 1938.9 4.47 -0.07 427 2869.23 73.63 0.17 0.05 0.986 0.080 0.279 1464.00 1360.38 1567.62 2320.50 1908.25 0 0 0 11.02 15.89 15.65

2869 end climb: NO_VERTICAL_VELOCITY

state 2869 begin surface

ID	242	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1900	ALTIM_PULSE	3
MISSION	8	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
DIVE	3	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	3	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	593.79755	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	-3.2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	2881.9702	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	540	DEVICE3	-1
D_SAFE	0	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	3	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	6	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	6	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	12	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	3	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	120	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	220	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	-1
ICE_FREEZE_MARGIN	0.07	C_PITCH	1728.7859	MINV_24V	0	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	13.656569	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.494686	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	27.856604	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0099999998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-182.53638	SEABIRD_T_J	4.3e-06
MASS	72380	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	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	195	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3800	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	1980	ALTIM_FREQUENCY	13

GPS1	210623,185101,4736.150,-12256.619,34,0.9,35,15.4	TGT_RADIUS	300.000
_CALLS	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,185800,4736.139,-12256.661,1,0.8,2,15.4	MHEAD_RNG_PITCHd_Wd	195.1,389,-26.4,-10.000,-29.26,1026,0.134
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.052292,-0.171131,0.015423,0.992865,0.009919,0.097313,-0.083476,1.014149,875.643433,-918.263367,-648.299438
TGT_LATLONG	4735.950,-12256.800	OSC	8000225

NAV	1687375637,87.4,3,stop	_24V_AH	15.06,31.504
NET	xmit part outbox0002.n 1511 0	_10V_AH	15.00,0.000
NET_PING	1687375811,29,586.915466,13.000000,-0.781317	FG_AHR_24Vo	28.023
MODEM_MSG	CACST,8,0,20230621192500.409988,18,16505,42,0256,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,5.4,9.31,-100,-6.31,-01,0.02,71,925,0025,0,1,00,00*1E	FG_AHR_10Vo	42.531
FREEZE	4.14,14.423,-1.491,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3118.95,0.08,0.263,0,499.2,399.9,598.6,584.25	MEM2	946364,23,100424,66
SM_GC	2.95,0.08,13.19,0.21,0.263,0.047,0.095,499.2,399.9,598.6,194.3,2020.4,0,0,0,15.84,15.61,15.64	DATA_FILE_SIZE	12958,442
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	147609,0
IRIDIUM_FIX	4736.87,-12256.21,210623,185215	SDSIZE	3887104,3868864
TCM_TEMP	14.88	SDFILEDIR	67,4
SC_FREEKB	3877824	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687374000,47.60500,-122.95000,0.419,614.2	CURRENT	0.031, 37.8,1
RAFOS_FIX	4836.537109,-12257.000000,210623,191904,4,255,154.50	MAGCAL	1.000000,0.025244,-0.072655,0.008785,1.026925,-0.043242,0.027332,-0.082621,1.082390,779.3,-860.4,-712.4,32,0.0269,1
HUMID	50.01	IMPLIED_C_PITCH	1738,13.41,187,1733.2,13.53
TEMP	11.66	IMPLIED_C_VBD	2834,39.838497,187,2857.9
INTERNAL_PRESSURE	8.26284	GPS	210623,195109,4735.966,-12256.767,9,1.0,11,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	650	1150	11268.56	nil	0	0	0.00
Pitch_motor	27	216	90.58	nil	0	0	0.00
Roll_motor	29	279	122.11	nil	0	0	0.00
Iridium	234	220	777.15	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.70	nil	0	0	0.00
Core	2024	5	155.50	SciCon	2877	6	286.51
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1296	0	6.22
Compass	934	5	70.08
RAFOS	1694	40	1016.74
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.65	16386	-67.50	-2.02	0.00	496.6	391.1	602.1	202.7	1940.8	0.00	0.00	0	65.18	53.11	0.00	0.00	0.005	0.000	0.000	1751.16	1719.56	1782.75	202.75	1941.38	0	0	0	15.95	30.00	30.00
65.61	18983	-141.21	-2.11	-80.00	1751.3	1718.2	1784.4	202.7	1940.7	3.01	-2.65	9	142.04	54.58	7.32	3.48	0.005	0.216	0.121	3454.97	3419.62	3490.31	1217.88	510.38	0	0	0	14.73	15.74	15.82
370.56	1156	-141.21	-2.04	0.00	3457.5	3420.3	3494.7	1217.9	510.1	39.33	-14.38	68	377.05	0.00	0.00	3.41	0.000	0.000	0.051	3457.56	3420.50	3494.62	1218.50	2003.06	0	0	0	30.00	30.00	15.90
560.62	516	-141.21	-2.04	-80.00	3458.2	3420.6	3495.9	1218.2	2013.6	63.42	-13.59	96	568.89	0.00	0.00	3.65	0.000	0.000	0.116	3457.59	3418.94	3496.25	1218.62	510.56	0	0	0	30.00	30.00	15.88
737.38	3205	-141.21	-2.00	0.00	3458.2	3420.3	3496.2	1218.9	510.2	93.62	-18.19	130	744.97	0.00	0.18	3.43	0.000	0.197	0.051	3458.78	3421.12	3496.44	1245.31	2013.62	0	0	0	30.00	15.79	15.88
932.97	128	-141.21	-2.01	0.00	3459.0	3420.0	3498.1	1245.4	2013.9	120.72	-13.05	150	934.72	0.00	0.00	0.00	0.000	0.000	0.000	3458.00	3419.75	3496.25	1245.50	2014.31	0	0	0	30.00	30.00	30.00
1122.99	128	-141.21	-2.03	0.00	3458.6	3420.8	3496.4	1245.3	2014.1	146.80	-14.09	169	1124.73	0.00	0.00	0.00	0.000	0.000	0.000	3458.75	3420.94	3496.56	1245.25	2014.00	0	0	0	30.00	30.00	30.00
1152	end dive: TARGET_DEPTH_EXCEEDED
state	1152	begin apogee
1154.59	10243	0.00	-0.37	0.00	3459.0	3419.9	3498.1	1245.1	1868.3	151.00	-14.05	172	1276.74	108.32	2.60	0.10	1.150	0.134	0.187	2883.34	2777.94	2988.75	1642.69	1936.38	0	0	0	10.97	15.85	15.59
1278	end apogee: CONTROL_FINISHED_OK
state	1278	begin climb
1278.37	10759	141.21	2.11	-80.00	2879.4	2774.3	2984.5	1642.6	1936.2	154.58	0.00	183	1413.02	110.04	3.82	3.77	1.117	0.079	0.126	2304.19	2199.75	2408.62	2245.12	434.19	0	0	0	11.26	15.61	15.42
1481.70	5253	141.21	2.03	0.00	2297.6	2196.8	2398.4	2245.6	434.1	127.10	21.53	219	1490.29	0.00	0.26	3.47	0.000	0.209	0.052	2297.34	2196.31	2398.38	2215.81	1934.31	0	0	0	30.00	15.59	15.68
1676.56	16386	141.21	2.03	0.00	2296.2	2195.2	2397.3	2216.4	1935.0	95.12	16.01	239	1678.36	0.00	0.00	0.00	0.000	0.000	0.000	2295.28	2194.00	2396.56	2216.62	1935.50	0	0	0	30.00	30.00	30.00
1866.58	16386	141.21	2.03	0.00	2295.9	2195.2	2396.6	2216.1	1935.2	67.75	13.99	258	1868.37	0.00	0.00	0.00	0.000	0.000	0.000	2294.38	2193.44	2395.31	2216.06	1935.75	0	0	0	30.00	30.00	30.00
2049.59	16386	141.21	2.03	0.00	2295.3	2194.5	2396.1	2216.1	1935.6	43.75	12.95	281	2053.51	0.00	0.00	0.00	0.000	0.000	0.000	2295.53	2195.00	2396.06	2216.38	1935.81	0	0	0	30.00	30.00	30.00
2234.76	17030	141.21	2.05	-80.00	2294.6	2194.4	2394.8	2216.1	1935.9	21.97	11.07	318	2242.96	0.00	0.00	3.65	0.000	0.000	0.126	2294.53	2195.31	2393.75	2216.31	432.75	0	0	0	30.00	30.00	15.91
2326.64	17542	141.21	2.01	0.00	2293.8	2194.2	2393.4	2216.6	432.6	10.34	12.01	336	2334.57	0.00	0.00	3.39	0.000	0.000	0.052	2294.22	2194.50	2393.94	2215.12	1937.06	0	0	0	30.00	30.00	15.97
2519.33	10403	246.73	2.18	0.00	2293.7	2193.8	2393.6	2215.9	1937.8	7.59	-0.52	374	2604.96	76.76	0.26	0.00	1.005	0.060	0.000	1873.84	1769.62	1978.06	2270.94	1939.25	0	0	0	10.94	15.99	30.00
2788.64	10919	347.76	2.36	-80.00	1866.2	1763.4	1968.9	2270.9	1938.9	4.47	-0.07	427	2869.23	73.63	0.17	0.05	0.986	0.080	0.279	1464.00	1360.38	1567.62	2320.50	1908.25	0	0	0	11.02	15.89	15.65
2869	end climb: NO_VERTICAL_VELOCITY
state	2869	begin surface