Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 243 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2087 ALTIM_PULSE 3

MISSION 6 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 4 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 4 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 596.99146 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 -1.7

D_ABORT 175 COMM_SEQ 15 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3400 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 129 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 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 400 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 10000 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 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 60 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 205 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1786.6533 MINV_24V 10 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 10 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 13.204008 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 53.858612 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 103.77253 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 2 PRESSURE_YINT -165.77734 SEABIRD_T_J 4.3e-06

MASS 72547 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022387519 SEABIRD_C_G -10

NAV_MODE 0 C_PITCH_AUTO_MAX 0 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 2

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 285 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3890 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 2087 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 129 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 4 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 2 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 53.858612 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 103.77253 PITCH_ADJ_DBAND 2 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.015 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 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 13.204008 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 HEAD_ERRBAND 10 PITCH_MIN 205 T_ABORT 1440

COMM_SEQ 15 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 243 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 -1.7 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1786.6533 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022387519 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -165.77734 T_NO_W 60

C_ROLL_CLIMB 2087 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2087 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 400 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 400

C_VBD_AUTO_MAX 0 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 72547 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 10 ROLL_MAX 3890 VBD_MIN 500

DEVICE6 -1 MINV_24V 10 ROLL_MAXERRORS 0 VBD_TIMEOUT 720

DIVE 4 MISSION 6 ROLL_MIN 285 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 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 0 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 220623,192701,4736.261,-12256.447,1,0.9,4,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,193237,4736.242,-12256.438,2,1.0,5,15.4 MHEAD_RNG_PITCHd_Wd 204.4,704,-19.7,-10.000,-23.07,1800,0.121

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,-0.024069,0.030629,0.028963,1.050306,-0.046596,-0.035014,-0.030968,1.063036,81.034927,-1088.709473,-918.284546

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,0,20230622202500.644317,18,1497,31,0098,0000,07,01,01,00,01,1,029,121,0,5,1,0,150,-22.2,6.20,-100,-3.20,-01,0.12,44,925,0025,0,1,00,00*06 _24V_AH 15.05,83.817

NAV 1687465631,4.1,3,stop _10V_AH 15.00,0.000

NET CACST,8,1,20230622201810.483030,18,32767,45,0144,0150,07,00,00,00,00,1,012,121,3,5,7,1,150,3.7,1.29,-100,1.71,-01,0.63,66,10000,5000,0,1,01,01*62 FG_AHR_24Vo 103.950

NET_PING 1687465060,29,660.627014,20.299999,-0.879571 FG_AHR_10Vo 53.898

FREEZE 4.08,14.203,-1.495,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3515.83,247.85,0.919,0,500.7,392.9,608.5,711.19 MEM2 945744,27,100904,69

SM_GC 1.47,0.00,12.30,3.44,0.000,0.055,0.047,497.9,392.8,603.0,189.7,2060.7,0,0,0,30.00,15.62,15.66 DATA_FILE_SIZE 12936,514

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 201231,0

IRIDIUM_FIX 4735.53,-12254.47,220623,192808 SDSIZE 3887104,3872608

TCM_TEMP 13.03 SDFILEDIR 68,5

SC_FREEKB 3877568 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -1 SOUNDSPEED 1465.0

MODEM 0,1687460400,47.60500,-122.95000,0.514,752.8 MAGCAL 1.000000,-0.018574,0.048954,-0.006662,1.038819,-0.078865,-0.017006,-0.046748,1.043681,60.1,-1112.5,-905.3,36,0.0296,0

RAFOS_FIX 4736.828125,-12257.000000,220623,191933,4,255,1.20 IMPLIED_C_PITCH 1746,13.44,232,0.0,0.00

HUMID 57.43 IMPLIED_C_VBD 2953,34.578049,232,0

TEMP 11.42 GPS 220623,203440,4736.031,-12256.521,18,0.8,19,15.4

INTERNAL_PRESSURE 10.3608

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 738 1098 12217.88 nil 0 0 0.00

Pitch_motor 27 250 101.94 nil 0 0 0.00

Roll_motor 70 169 179.40 nil 0 0 0.00

Iridium 210 168 532.38 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.29 nil 0 0 0.00

Core 2207 5 169.53 SciCon 3258 7 353.82

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1471 0 7.06

Compass 1080 5 81.00

RAFOS 2546 40 1528.15

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

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

7.86 16386 -119.17 -1.64 0.00 496.7 392.6 600.8 192.3 2117.2 0.00 0.00 0 107.88 96.46 0.00 0.00 0.005 0.000 0.000 2510.81 2459.94 2561.69 192.00 2117.25 0 0 0 15.87 30.00 30.00

108.18 18983 -146.63 -1.67 -80.00 2511.0 2460.8 2561.2 192.4 2117.6 3.26 -2.04 19 168.47 39.72 9.03 3.70 0.005 0.251 0.109 3959.94 3926.19 3993.69 1381.62 620.25 0 0 0 15.97 15.64 15.81

394.51 17542 -146.63 -1.63 0.00 3960.0 3924.8 3995.2 1381.8 620.6 43.85 -14.38 75 400.40 0.00 0.00 3.40 0.000 0.000 0.045 3960.50 3924.88 3996.12 1381.44 2118.06 0 0 0 30.00 30.00 15.91

584.44 260 -146.63 -1.63 80.00 3960.6 3924.9 3996.2 1381.3 2118.6 68.26 -12.77 99 590.74 0.00 0.00 3.42 0.000 0.000 0.103 3959.81 3923.62 3996.00 1381.81 3554.38 0 0 0 30.00 30.00 15.88

678.81 1156 -146.63 -1.59 0.00 3960.7 3924.9 3996.4 1381.6 3555.2 82.54 -15.22 116 685.01 0.00 0.00 3.40 0.000 0.000 0.043 3959.75 3924.00 3995.50 1381.31 2055.75 0 0 0 30.00 30.00 15.90

868.57 260 -146.63 -1.59 80.00 3960.8 3925.0 3996.6 1381.9 2055.8 107.23 -13.04 135 878.53 0.00 0.00 3.62 0.000 0.000 0.099 3961.06 3925.12 3997.00 1381.38 3555.12 0 0 0 30.00 30.00 15.82

961.46 1028 -146.63 -1.59 0.00 3960.7 3924.6 3996.8 1382.0 3555.1 121.66 -15.21 154 968.22 0.00 0.00 3.40 0.000 0.000 0.043 3961.03 3924.81 3997.25 1381.94 2054.62 0 0 0 30.00 30.00 15.90

1157.26 260 -146.63 -1.59 80.00 3960.9 3924.8 3997.1 1381.9 2054.4 147.74 -13.33 174 1163.66 0.00 0.00 3.61 0.000 0.000 0.100 3961.50 3924.75 3998.25 1382.00 3554.94 0 0 0 30.00 30.00 15.88

1177 end dive: TARGET_DEPTH_EXCEEDED

state 1177 begin apogee

1182.59 10243 0.00 -0.38 0.00 3961.0 3925.2 3996.8 1381.9 2051.9 150.69 -13.82 178 1287.31 94.26 2.16 0.11 1.099 0.159 0.169 3397.97 3322.81 3473.12 1694.81 2121.62 0 0 0 10.70 15.76 15.70

1289 end apogee: CONTROL_FINISHED_OK

state 1289 begin climb

1289.19 10759 146.63 1.67 -80.00 3398.2 3323.4 3472.9 1695.4 2122.2 154.96 0.00 188 1413.13 106.02 3.19 3.79 1.068 0.091 0.109 2797.75 2695.38 2900.12 2195.19 618.38 0 0 0 11.23 15.70 15.54

1586.92 21639 146.63 1.53 0.00 2793.1 2698.4 2887.8 2195.6 617.8 132.52 11.57 241 1594.59 0.00 0.33 3.45 0.000 0.186 0.045 2793.00 2699.00 2887.00 2151.62 2114.94 0 0 0 30.00 15.64 15.73

1781.96 8614 172.58 1.51 80.00 2792.7 2698.1 2887.2 2150.2 2115.5 115.70 8.53 261 1810.55 20.37 0.00 3.48 1.009 0.000 0.109 2692.53 2595.38 2789.69 2151.25 3552.88 0 0 0 10.98 30.00 15.76

1909.01 1156 172.58 1.44 0.00 2693.1 2597.5 2788.6 2150.7 3552.4 102.59 11.00 286 1915.42 0.00 0.00 3.41 0.000 0.000 0.043 2660.88 2532.31 2789.44 2149.12 2057.38 0 0 0 30.00 30.00 15.81

2103.99 8486 193.50 1.46 80.00 2690.9 2596.8 2785.1 2150.8 2057.1 84.85 8.81 306 2130.57 17.38 0.00 3.63 0.981 0.000 0.105 2607.50 2508.25 2706.75 2150.38 3553.38 0 0 0 10.90 30.00 15.80

2248.28 1156 193.50 1.41 0.00 2607.4 2510.3 2704.6 2150.2 3552.6 70.01 10.46 335 2255.18 0.00 0.00 3.41 0.000 0.000 0.043 2607.56 2510.00 2705.12 2150.69 2053.81 0 0 0 30.00 30.00 15.84

2444.05 8486 231.08 1.45 80.00 2605.9 2509.6 2702.2 2150.6 2054.1 53.81 7.86 355 2482.32 29.22 0.00 3.64 0.985 0.000 0.106 2454.09 2349.88 2558.31 2150.94 3555.00 0 0 0 10.97 30.00 15.79

2550.78 1156 231.08 1.42 0.00 2453.6 2351.4 2555.9 2151.1 3555.2 43.70 10.36 376 2556.92 0.00 0.00 3.43 0.000 0.000 0.044 2453.97 2350.81 2557.12 2150.25 2054.94 0 0 0 30.00 30.00 15.83

2738.57 8486 250.20 1.44 80.00 2451.9 2351.6 2552.2 2151.1 2055.1 26.85 8.91 413 2761.94 15.74 0.00 3.64 0.927 0.000 0.105 2377.00 2273.31 2480.69 2150.81 3556.88 0 0 0 11.01 30.00 15.80

2820.33 9254 256.23 1.45 0.00 2376.5 2273.2 2479.8 2150.2 3556.9 18.91 9.66 429 2836.22 6.86 0.00 3.42 0.779 0.000 0.043 2352.56 2249.19 2455.94 2150.19 2053.88 0 0 0 11.03 30.00 15.84

3020.47 8614 347.73 1.60 80.00 2350.2 2246.8 2453.6 2150.8 2055.6 6.00 4.80 469 3096.38 65.11 0.00 3.67 0.942 0.000 0.104 1981.12 1861.50 2100.75 2149.56 3553.81 0 0 0 10.72 30.00 15.70

3250 end climb: NO_VERTICAL_VELOCITY

state 3250 begin surface

ID	243	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2087	ALTIM_PULSE	3
MISSION	6	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	4	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	4	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	596.99146	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	-1.7
D_ABORT	175	COMM_SEQ	15	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3400	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	129	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	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	400	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	10000	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	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	60	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	205	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1786.6533	MINV_24V	10	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	10	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	13.204008	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	53.858612	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	103.77253	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-165.77734	SEABIRD_T_J	4.3e-06
MASS	72547	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022387519	SEABIRD_C_G	-10
NAV_MODE	0	C_PITCH_AUTO_MAX	0	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	2
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	285	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3890	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	2087	ALTIM_FREQUENCY	13

GPS1	220623,192701,4736.261,-12256.447,1,0.9,4,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,193237,4736.242,-12256.438,2,1.0,5,15.4	MHEAD_RNG_PITCHd_Wd	204.4,704,-19.7,-10.000,-23.07,1800,0.121
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,-0.024069,0.030629,0.028963,1.050306,-0.046596,-0.035014,-0.030968,1.063036,81.034927,-1088.709473,-918.284546
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

MODEM_MSG	CACST,8,0,20230622202500.644317,18,1497,31,0098,0000,07,01,01,00,01,1,029,121,0,5,1,0,150,-22.2,6.20,-100,-3.20,-01,0.12,44,925,0025,0,1,00,00*06	_24V_AH	15.05,83.817
NAV	1687465631,4.1,3,stop	_10V_AH	15.00,0.000
NET	CACST,8,1,20230622201810.483030,18,32767,45,0144,0150,07,00,00,00,00,1,012,121,3,5,7,1,150,3.7,1.29,-100,1.71,-01,0.63,66,10000,5000,0,1,01,01*62	FG_AHR_24Vo	103.950
NET_PING	1687465060,29,660.627014,20.299999,-0.879571	FG_AHR_10Vo	53.898
FREEZE	4.08,14.203,-1.495,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3515.83,247.85,0.919,0,500.7,392.9,608.5,711.19	MEM2	945744,27,100904,69
SM_GC	1.47,0.00,12.30,3.44,0.000,0.055,0.047,497.9,392.8,603.0,189.7,2060.7,0,0,0,30.00,15.62,15.66	DATA_FILE_SIZE	12936,514
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	201231,0
IRIDIUM_FIX	4735.53,-12254.47,220623,192808	SDSIZE	3887104,3872608
TCM_TEMP	13.03	SDFILEDIR	68,5
SC_FREEKB	3877568	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-1	SOUNDSPEED	1465.0
MODEM	0,1687460400,47.60500,-122.95000,0.514,752.8	MAGCAL	1.000000,-0.018574,0.048954,-0.006662,1.038819,-0.078865,-0.017006,-0.046748,1.043681,60.1,-1112.5,-905.3,36,0.0296,0
RAFOS_FIX	4736.828125,-12257.000000,220623,191933,4,255,1.20	IMPLIED_C_PITCH	1746,13.44,232,0.0,0.00
HUMID	57.43	IMPLIED_C_VBD	2953,34.578049,232,0
TEMP	11.42	GPS	220623,203440,4736.031,-12256.521,18,0.8,19,15.4
INTERNAL_PRESSURE	10.3608

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	738	1098	12217.88	nil	0	0	0.00
Pitch_motor	27	250	101.94	nil	0	0	0.00
Roll_motor	70	169	179.40	nil	0	0	0.00
Iridium	210	168	532.38	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.29	nil	0	0	0.00
Core	2207	5	169.53	SciCon	3258	7	353.82
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1471	0	7.06
Compass	1080	5	81.00
RAFOS	2546	40	1528.15
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
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
7.86	16386	-119.17	-1.64	0.00	496.7	392.6	600.8	192.3	2117.2	0.00	0.00	0	107.88	96.46	0.00	0.00	0.005	0.000	0.000	2510.81	2459.94	2561.69	192.00	2117.25	0	0	0	15.87	30.00	30.00
108.18	18983	-146.63	-1.67	-80.00	2511.0	2460.8	2561.2	192.4	2117.6	3.26	-2.04	19	168.47	39.72	9.03	3.70	0.005	0.251	0.109	3959.94	3926.19	3993.69	1381.62	620.25	0	0	0	15.97	15.64	15.81
394.51	17542	-146.63	-1.63	0.00	3960.0	3924.8	3995.2	1381.8	620.6	43.85	-14.38	75	400.40	0.00	0.00	3.40	0.000	0.000	0.045	3960.50	3924.88	3996.12	1381.44	2118.06	0	0	0	30.00	30.00	15.91
584.44	260	-146.63	-1.63	80.00	3960.6	3924.9	3996.2	1381.3	2118.6	68.26	-12.77	99	590.74	0.00	0.00	3.42	0.000	0.000	0.103	3959.81	3923.62	3996.00	1381.81	3554.38	0	0	0	30.00	30.00	15.88
678.81	1156	-146.63	-1.59	0.00	3960.7	3924.9	3996.4	1381.6	3555.2	82.54	-15.22	116	685.01	0.00	0.00	3.40	0.000	0.000	0.043	3959.75	3924.00	3995.50	1381.31	2055.75	0	0	0	30.00	30.00	15.90
868.57	260	-146.63	-1.59	80.00	3960.8	3925.0	3996.6	1381.9	2055.8	107.23	-13.04	135	878.53	0.00	0.00	3.62	0.000	0.000	0.099	3961.06	3925.12	3997.00	1381.38	3555.12	0	0	0	30.00	30.00	15.82
961.46	1028	-146.63	-1.59	0.00	3960.7	3924.6	3996.8	1382.0	3555.1	121.66	-15.21	154	968.22	0.00	0.00	3.40	0.000	0.000	0.043	3961.03	3924.81	3997.25	1381.94	2054.62	0	0	0	30.00	30.00	15.90
1157.26	260	-146.63	-1.59	80.00	3960.9	3924.8	3997.1	1381.9	2054.4	147.74	-13.33	174	1163.66	0.00	0.00	3.61	0.000	0.000	0.100	3961.50	3924.75	3998.25	1382.00	3554.94	0	0	0	30.00	30.00	15.88
1177	end dive: TARGET_DEPTH_EXCEEDED
state	1177	begin apogee
1182.59	10243	0.00	-0.38	0.00	3961.0	3925.2	3996.8	1381.9	2051.9	150.69	-13.82	178	1287.31	94.26	2.16	0.11	1.099	0.159	0.169	3397.97	3322.81	3473.12	1694.81	2121.62	0	0	0	10.70	15.76	15.70
1289	end apogee: CONTROL_FINISHED_OK
state	1289	begin climb
1289.19	10759	146.63	1.67	-80.00	3398.2	3323.4	3472.9	1695.4	2122.2	154.96	0.00	188	1413.13	106.02	3.19	3.79	1.068	0.091	0.109	2797.75	2695.38	2900.12	2195.19	618.38	0	0	0	11.23	15.70	15.54
1586.92	21639	146.63	1.53	0.00	2793.1	2698.4	2887.8	2195.6	617.8	132.52	11.57	241	1594.59	0.00	0.33	3.45	0.000	0.186	0.045	2793.00	2699.00	2887.00	2151.62	2114.94	0	0	0	30.00	15.64	15.73
1781.96	8614	172.58	1.51	80.00	2792.7	2698.1	2887.2	2150.2	2115.5	115.70	8.53	261	1810.55	20.37	0.00	3.48	1.009	0.000	0.109	2692.53	2595.38	2789.69	2151.25	3552.88	0	0	0	10.98	30.00	15.76
1909.01	1156	172.58	1.44	0.00	2693.1	2597.5	2788.6	2150.7	3552.4	102.59	11.00	286	1915.42	0.00	0.00	3.41	0.000	0.000	0.043	2660.88	2532.31	2789.44	2149.12	2057.38	0	0	0	30.00	30.00	15.81
2103.99	8486	193.50	1.46	80.00	2690.9	2596.8	2785.1	2150.8	2057.1	84.85	8.81	306	2130.57	17.38	0.00	3.63	0.981	0.000	0.105	2607.50	2508.25	2706.75	2150.38	3553.38	0	0	0	10.90	30.00	15.80
2248.28	1156	193.50	1.41	0.00	2607.4	2510.3	2704.6	2150.2	3552.6	70.01	10.46	335	2255.18	0.00	0.00	3.41	0.000	0.000	0.043	2607.56	2510.00	2705.12	2150.69	2053.81	0	0	0	30.00	30.00	15.84
2444.05	8486	231.08	1.45	80.00	2605.9	2509.6	2702.2	2150.6	2054.1	53.81	7.86	355	2482.32	29.22	0.00	3.64	0.985	0.000	0.106	2454.09	2349.88	2558.31	2150.94	3555.00	0	0	0	10.97	30.00	15.79
2550.78	1156	231.08	1.42	0.00	2453.6	2351.4	2555.9	2151.1	3555.2	43.70	10.36	376	2556.92	0.00	0.00	3.43	0.000	0.000	0.044	2453.97	2350.81	2557.12	2150.25	2054.94	0	0	0	30.00	30.00	15.83
2738.57	8486	250.20	1.44	80.00	2451.9	2351.6	2552.2	2151.1	2055.1	26.85	8.91	413	2761.94	15.74	0.00	3.64	0.927	0.000	0.105	2377.00	2273.31	2480.69	2150.81	3556.88	0	0	0	11.01	30.00	15.80
2820.33	9254	256.23	1.45	0.00	2376.5	2273.2	2479.8	2150.2	3556.9	18.91	9.66	429	2836.22	6.86	0.00	3.42	0.779	0.000	0.043	2352.56	2249.19	2455.94	2150.19	2053.88	0	0	0	11.03	30.00	15.84
3020.47	8614	347.73	1.60	80.00	2350.2	2246.8	2453.6	2150.8	2055.6	6.00	4.80	469	3096.38	65.11	0.00	3.67	0.942	0.000	0.104	1981.12	1861.50	2100.75	2149.56	3553.81	0	0	0	10.72	30.00	15.70
3250	end climb: NO_VERTICAL_VELOCITY
state	3250	begin surface