Glider dive log

HoodCanal 21Jun23 * SG250 * Dive index * Mission links * Dive 30 * 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 30 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 8.9552402 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 8.9552402 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 30 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 220623,233937,4736.344,-12256.591,2,1.0,3,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,234602,4736.321,-12256.619,26,1.0,27,15.4 MHEAD_RNG_PITCHd_Wd 5.9,430,-22.3,-10.000,-25.45,1424,0.136

SPEED_LIMITS 0.173,0.258 D_GRID 168

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 8000020

Post-dive calculations and measurements:

NAV 1687480036,24.2,4,stop INTERNAL_PRESSURE 8.31917

MODEM_MSG CACST,8,2,20230623002500.633056,2,20868,43,20,73,0,0,0,0,0,-1,-1,-1,0,0,0,0,73,0.00,0.00,0,0.00,0,0.00,100548,925,25,0,-1,0,0 _10V_AH 15.22,2.738

NET CACST,8,1,19700101000016.090773,17,32767,45,0114,0113,134,02,02,00,02,-1,-01,-01,1,3,-31481,0,150,6.0,3.05,-100,-0.05,-01,2.66,68,10000,5000,0,-1,00,00*54 FG_AHR_10Vo 9.156

NET_PING 1687479172,29,909.982483,8.300000,759.596008 MAMPS 56.2,78.3,43.7,553.2,966.1,646.0

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

FREEZE 4.36,14.283,-1.490,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 1991664,30,103380,75

SM_CCo 3130.07,158.51,0.914,0,500.6,498.5,502.6,564.05 DATA_FILE_SIZE 9744,406

SM_GC 1.97,0.00,14.90,0.09,0.000,0.065,0.173,495.9,495.9,496.0,186.5,2007.4,0,0,0,30.00,14.75,14.76 CAP_FILE_SIZE 434349,0

SUPER 63,77,254,1,0,8 SDSIZE 3887104,3862304

IRIDIUM_FIX 4736.87,-12256.21,220623,234054 SDFILEDIR 286,32

TCM_TEMP 13.64 ERRORS 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3869184 SOUNDSPEED 1465.0

RAFOS_CLK 1 CURRENT 0.146,213.8,1

MODEM 4,1687477819,47.60500,-122.95000,319.458,468006.4 MAGCAL 1.000000,0.086565,-0.416000,-0.139733,0.993967,0.092634,0.385404,0.016731,0.669761,1139.6,-1040.1,-335.3,23,0.0673,0

RAFOS_FIX 4736.096191,-12257.000000,220623,232300,7,255,0.08 IMPLIED_C_PITCH 2062,15.67,195,0.0,0.00

HUMID 44.68 IMPLIED_C_VBD 2661,33.461945,195,0

TEMP 12.13 GPS 230623,005414,4736.359,-12256.717,2,0.8,3,15.4

VOC 4414.8

Energy measurements:

device secs mA J sensor secs mA J

GPS 37 15 8.54 nil 0 0 0.00

Core 2326 5 181.32 SciCon 2964 7 339.92

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1103 0 5.37

Compass 878 5 66.84

RAFOS 2007 40 1221.95

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

6.87 16386 -93.99 -1.67 0.00 491.3 482.4 500.2 188.8 2041.1 0.00 0.00 0 57.70 47.88 0.00 0.00 0.011 0.000 0.000 1759.50 1750.88 1768.12 188.62 2040.62 0 0 0 14.59 30.00 30.00

58.16 18727 -146.63 -1.78 80.00 1760.8 1753.7 1768.0 188.6 2040.6 3.47 -3.75 4 140.85 50.31 11.27 3.58 0.011 0.275 0.134 3397.66 3365.75 3429.56 1568.75 3494.12 0 0 0 14.56 14.99 14.77

144.98 3205 -146.63 -1.56 0.00 3398.0 3366.8 3429.2 1568.6 3494.1 10.79 -18.16 19 153.36 0.00 0.41 3.46 0.000 0.225 0.060 3396.72 3366.06 3427.38 1622.44 2005.62 0 0 0 30.00 15.03 15.07

338.38 2693 -146.63 -1.46 -80.00 3399.2 3369.6 3428.7 1622.4 2005.4 40.33 -15.30 56 346.52 0.00 0.18 3.64 0.000 0.227 0.132 3400.88 3371.56 3430.19 1648.06 555.88 0 0 0 30.00 15.07 15.09

380.83 1156 -146.63 -1.41 0.00 3399.4 3370.1 3428.7 1649.3 557.2 48.40 -16.86 61 392.39 0.00 0.00 3.52 0.000 0.000 0.067 3399.69 3371.25 3428.12 1649.00 2044.88 0 0 0 30.00 30.00 15.03

577.64 2177 -146.63 -1.34 0.00 3399.9 3371.2 3428.6 1649.3 2045.4 76.56 -14.23 81 579.71 0.00 0.19 0.00 0.000 0.215 0.000 3398.91 3370.44 3427.38 1675.75 2045.25 0 0 0 30.00 15.01 30.00

774.24 388 -146.63 -1.31 80.00 3400.5 3372.2 3428.8 1676.0 2044.9 100.29 -14.00 98 785.05 0.00 0.00 3.57 0.000 0.000 0.129 3400.53 3372.31 3428.75 1675.81 3493.00 0 0 0 30.00 30.00 15.07

814.28 3205 -146.63 -1.23 0.00 3400.4 3372.2 3428.6 1676.1 3492.9 110.84 -17.56 106 822.89 0.00 0.19 3.46 0.000 0.231 0.063 3399.72 3371.81 3427.62 1704.19 2006.75 0 0 0 30.00 15.05 15.10

1005.48 260 -146.63 -1.23 80.00 3400.7 3372.8 3428.7 1704.2 2006.7 137.37 -13.24 125 1013.18 0.00 0.00 3.68 0.000 0.000 0.127 3401.97 3374.00 3429.94 1704.25 3493.50 0 0 0 30.00 30.00 15.07

1086 end dive: TARGET_DEPTH_EXCEEDED

state 1086 begin apogee

1094.12 10243 0.00 -0.33 0.00 3400.9 3373.3 3428.4 1704.1 2006.6 150.02 -15.79 141 1218.81 110.10 1.56 0.06 1.091 0.172 0.484 2798.56 2795.38 2801.75 1920.31 2043.88 0 0 0 12.75 15.08 14.73

1227 end apogee: CONTROL_FINISHED_OK

state 1228 begin climb

1228.24 10243 146.63 1.78 0.00 2793.9 2790.5 2797.2 1920.5 2044.0 157.58 0.00 153 1359.08 115.66 3.54 0.00 1.060 0.122 0.000 2202.25 2229.12 2175.38 2432.88 2043.69 0 0 0 12.47 14.77 30.00

1543.27 16774 146.63 1.74 80.00 2193.9 2221.3 2166.4 2433.8 2043.8 122.95 13.86 184 1551.77 0.00 0.00 3.64 0.000 0.000 0.130 2193.88 2220.94 2166.81 2434.00 3491.00 0 0 0 30.00 30.00 14.87

1575.75 21639 146.63 1.68 0.00 2192.4 2218.6 2166.2 2434.1 3490.8 117.70 15.54 188 1583.88 0.00 0.25 3.52 0.000 0.217 0.066 2190.72 2216.88 2164.56 2401.19 2006.62 0 0 0 30.00 14.85 14.88

1771.51 16646 146.63 1.68 80.00 2191.8 2218.1 2165.4 2401.3 2006.5 94.54 10.84 208 1780.11 0.00 0.00 3.73 0.000 0.000 0.130 2190.84 2217.19 2164.50 2400.94 3492.31 0 0 0 30.00 30.00 14.97

1789.17 17414 146.63 1.68 0.00 2191.0 2216.9 2165.0 2401.2 3492.1 92.34 11.60 211 1796.76 0.00 0.00 3.48 0.000 0.000 0.065 2189.53 2215.38 2163.69 2400.94 2007.94 0 0 0 30.00 30.00 14.99

1984.19 16646 146.63 1.68 80.00 2190.5 2216.3 2164.7 2401.2 2007.9 69.17 11.35 231 1991.95 0.00 0.00 3.71 0.000 0.000 0.131 2189.12 2215.50 2162.75 2401.31 3492.25 0 0 0 30.00 30.00 15.02

2035.40 17542 146.63 1.65 0.00 2190.1 2215.2 2165.0 2401.4 3492.2 62.73 12.58 241 2043.20 0.00 0.00 3.47 0.000 0.000 0.066 2190.75 2215.81 2165.69 2401.19 2008.00 0 0 0 30.00 30.00 15.05

2228.16 16386 146.63 1.65 0.00 2189.7 2215.1 2164.4 2401.1 2007.8 42.59 10.01 267 2232.29 0.00 0.00 0.00 0.000 0.000 0.000 2190.22 2215.69 2164.75 2401.00 2007.81 0 0 0 30.00 30.00 30.00

2413.39 8226 170.75 1.69 0.00 2189.3 2214.4 2164.1 2401.1 2007.6 25.79 8.27 304 2443.39 19.49 0.00 0.00 0.918 0.000 0.000 2098.56 2124.25 2072.88 2400.88 2008.19 0 0 0 12.66 30.00 30.00

2627.63 10919 219.55 1.85 -80.00 2097.7 2124.7 2070.8 2401.1 2007.8 9.73 6.49 345 2678.50 37.88 0.30 3.71 0.936 0.072 0.149 1903.03 1932.25 1873.81 2463.56 556.12 0 0 0 12.74 15.12 14.96

2819.01 11303 337.88 2.08 0.00 1897.8 1926.2 1869.4 2463.5 556.0 5.46 1.50 380 2918.87 85.25 0.25 3.54 0.937 0.081 0.068 1421.19 1470.88 1371.50 2520.81 2046.31 0 0 0 12.65 15.05 15.06

2957 end climb: NO_VERTICAL_VELOCITY

state 2958 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	30	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	8.9552402	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	220623,233937,4736.344,-12256.591,2,1.0,3,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,234602,4736.321,-12256.619,26,1.0,27,15.4	MHEAD_RNG_PITCHd_Wd	5.9,430,-22.3,-10.000,-25.45,1424,0.136
SPEED_LIMITS	0.173,0.258	D_GRID	168
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	8000020

NAV	1687480036,24.2,4,stop	INTERNAL_PRESSURE	8.31917
MODEM_MSG	CACST,8,2,20230623002500.633056,2,20868,43,20,73,0,0,0,0,0,-1,-1,-1,0,0,0,0,73,0.00,0.00,0,0.00,0,0.00,100548,925,25,0,-1,0,0	_10V_AH	15.22,2.738
NET	CACST,8,1,19700101000016.090773,17,32767,45,0114,0113,134,02,02,00,02,-1,-01,-01,1,3,-31481,0,150,6.0,3.05,-100,-0.05,-01,2.66,68,10000,5000,0,-1,00,00*54	FG_AHR_10Vo	9.156
NET_PING	1687479172,29,909.982483,8.300000,759.596008	MAMPS	56.2,78.3,43.7,553.2,966.1,646.0
WARN	HSCICON missed fuel gauge read	MEM0	60172,1,0,0
FREEZE	4.36,14.283,-1.490,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	1991664,30,103380,75
SM_CCo	3130.07,158.51,0.914,0,500.6,498.5,502.6,564.05	DATA_FILE_SIZE	9744,406
SM_GC	1.97,0.00,14.90,0.09,0.000,0.065,0.173,495.9,495.9,496.0,186.5,2007.4,0,0,0,30.00,14.75,14.76	CAP_FILE_SIZE	434349,0
SUPER	63,77,254,1,0,8	SDSIZE	3887104,3862304
IRIDIUM_FIX	4736.87,-12256.21,220623,234054	SDFILEDIR	286,32
TCM_TEMP	13.64	ERRORS	0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3869184	SOUNDSPEED	1465.0
RAFOS_CLK	1	CURRENT	0.146,213.8,1
MODEM	4,1687477819,47.60500,-122.95000,319.458,468006.4	MAGCAL	1.000000,0.086565,-0.416000,-0.139733,0.993967,0.092634,0.385404,0.016731,0.669761,1139.6,-1040.1,-335.3,23,0.0673,0
RAFOS_FIX	4736.096191,-12257.000000,220623,232300,7,255,0.08	IMPLIED_C_PITCH	2062,15.67,195,0.0,0.00
HUMID	44.68	IMPLIED_C_VBD	2661,33.461945,195,0
TEMP	12.13	GPS	230623,005414,4736.359,-12256.717,2,0.8,3,15.4
VOC	4414.8

device	secs	mA	J	sensor	secs	mA	J
GPS	37	15	8.54	nil	0	0	0.00
Core	2326	5	181.32	SciCon	2964	7	339.92
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1103	0	5.37
Compass	878	5	66.84
RAFOS	2007	40	1221.95
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
6.87	16386	-93.99	-1.67	0.00	491.3	482.4	500.2	188.8	2041.1	0.00	0.00	0	57.70	47.88	0.00	0.00	0.011	0.000	0.000	1759.50	1750.88	1768.12	188.62	2040.62	0	0	0	14.59	30.00	30.00
58.16	18727	-146.63	-1.78	80.00	1760.8	1753.7	1768.0	188.6	2040.6	3.47	-3.75	4	140.85	50.31	11.27	3.58	0.011	0.275	0.134	3397.66	3365.75	3429.56	1568.75	3494.12	0	0	0	14.56	14.99	14.77
144.98	3205	-146.63	-1.56	0.00	3398.0	3366.8	3429.2	1568.6	3494.1	10.79	-18.16	19	153.36	0.00	0.41	3.46	0.000	0.225	0.060	3396.72	3366.06	3427.38	1622.44	2005.62	0	0	0	30.00	15.03	15.07
338.38	2693	-146.63	-1.46	-80.00	3399.2	3369.6	3428.7	1622.4	2005.4	40.33	-15.30	56	346.52	0.00	0.18	3.64	0.000	0.227	0.132	3400.88	3371.56	3430.19	1648.06	555.88	0	0	0	30.00	15.07	15.09
380.83	1156	-146.63	-1.41	0.00	3399.4	3370.1	3428.7	1649.3	557.2	48.40	-16.86	61	392.39	0.00	0.00	3.52	0.000	0.000	0.067	3399.69	3371.25	3428.12	1649.00	2044.88	0	0	0	30.00	30.00	15.03
577.64	2177	-146.63	-1.34	0.00	3399.9	3371.2	3428.6	1649.3	2045.4	76.56	-14.23	81	579.71	0.00	0.19	0.00	0.000	0.215	0.000	3398.91	3370.44	3427.38	1675.75	2045.25	0	0	0	30.00	15.01	30.00
774.24	388	-146.63	-1.31	80.00	3400.5	3372.2	3428.8	1676.0	2044.9	100.29	-14.00	98	785.05	0.00	0.00	3.57	0.000	0.000	0.129	3400.53	3372.31	3428.75	1675.81	3493.00	0	0	0	30.00	30.00	15.07
814.28	3205	-146.63	-1.23	0.00	3400.4	3372.2	3428.6	1676.1	3492.9	110.84	-17.56	106	822.89	0.00	0.19	3.46	0.000	0.231	0.063	3399.72	3371.81	3427.62	1704.19	2006.75	0	0	0	30.00	15.05	15.10
1005.48	260	-146.63	-1.23	80.00	3400.7	3372.8	3428.7	1704.2	2006.7	137.37	-13.24	125	1013.18	0.00	0.00	3.68	0.000	0.000	0.127	3401.97	3374.00	3429.94	1704.25	3493.50	0	0	0	30.00	30.00	15.07
1086	end dive: TARGET_DEPTH_EXCEEDED
state	1086	begin apogee
1094.12	10243	0.00	-0.33	0.00	3400.9	3373.3	3428.4	1704.1	2006.6	150.02	-15.79	141	1218.81	110.10	1.56	0.06	1.091	0.172	0.484	2798.56	2795.38	2801.75	1920.31	2043.88	0	0	0	12.75	15.08	14.73
1227	end apogee: CONTROL_FINISHED_OK
state	1228	begin climb
1228.24	10243	146.63	1.78	0.00	2793.9	2790.5	2797.2	1920.5	2044.0	157.58	0.00	153	1359.08	115.66	3.54	0.00	1.060	0.122	0.000	2202.25	2229.12	2175.38	2432.88	2043.69	0	0	0	12.47	14.77	30.00
1543.27	16774	146.63	1.74	80.00	2193.9	2221.3	2166.4	2433.8	2043.8	122.95	13.86	184	1551.77	0.00	0.00	3.64	0.000	0.000	0.130	2193.88	2220.94	2166.81	2434.00	3491.00	0	0	0	30.00	30.00	14.87
1575.75	21639	146.63	1.68	0.00	2192.4	2218.6	2166.2	2434.1	3490.8	117.70	15.54	188	1583.88	0.00	0.25	3.52	0.000	0.217	0.066	2190.72	2216.88	2164.56	2401.19	2006.62	0	0	0	30.00	14.85	14.88
1771.51	16646	146.63	1.68	80.00	2191.8	2218.1	2165.4	2401.3	2006.5	94.54	10.84	208	1780.11	0.00	0.00	3.73	0.000	0.000	0.130	2190.84	2217.19	2164.50	2400.94	3492.31	0	0	0	30.00	30.00	14.97
1789.17	17414	146.63	1.68	0.00	2191.0	2216.9	2165.0	2401.2	3492.1	92.34	11.60	211	1796.76	0.00	0.00	3.48	0.000	0.000	0.065	2189.53	2215.38	2163.69	2400.94	2007.94	0	0	0	30.00	30.00	14.99
1984.19	16646	146.63	1.68	80.00	2190.5	2216.3	2164.7	2401.2	2007.9	69.17	11.35	231	1991.95	0.00	0.00	3.71	0.000	0.000	0.131	2189.12	2215.50	2162.75	2401.31	3492.25	0	0	0	30.00	30.00	15.02
2035.40	17542	146.63	1.65	0.00	2190.1	2215.2	2165.0	2401.4	3492.2	62.73	12.58	241	2043.20	0.00	0.00	3.47	0.000	0.000	0.066	2190.75	2215.81	2165.69	2401.19	2008.00	0	0	0	30.00	30.00	15.05
2228.16	16386	146.63	1.65	0.00	2189.7	2215.1	2164.4	2401.1	2007.8	42.59	10.01	267	2232.29	0.00	0.00	0.00	0.000	0.000	0.000	2190.22	2215.69	2164.75	2401.00	2007.81	0	0	0	30.00	30.00	30.00
2413.39	8226	170.75	1.69	0.00	2189.3	2214.4	2164.1	2401.1	2007.6	25.79	8.27	304	2443.39	19.49	0.00	0.00	0.918	0.000	0.000	2098.56	2124.25	2072.88	2400.88	2008.19	0	0	0	12.66	30.00	30.00
2627.63	10919	219.55	1.85	-80.00	2097.7	2124.7	2070.8	2401.1	2007.8	9.73	6.49	345	2678.50	37.88	0.30	3.71	0.936	0.072	0.149	1903.03	1932.25	1873.81	2463.56	556.12	0	0	0	12.74	15.12	14.96
2819.01	11303	337.88	2.08	0.00	1897.8	1926.2	1869.4	2463.5	556.0	5.46	1.50	380	2918.87	85.25	0.25	3.54	0.937	0.081	0.068	1421.19	1470.88	1371.50	2520.81	2046.31	0	0	0	12.65	15.05	15.06
2957	end climb: NO_VERTICAL_VELOCITY
state	2958	begin surface