Glider dive log

HoodCanal 21Jun23 * SG243 * Dive index * Mission links * Dive 5 * 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 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 5 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 5 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 711.37 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 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3022.8914 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 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 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 1766.0677 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 13.374094 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 53.351784 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 102.60683 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 -165.87093 SEABIRD_T_J 4.3e-06

MASS 72547 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022387519 SEABIRD_C_G -10

NAV_MODE 0 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 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 5 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 53.351784 PHONE_SUPPLY 2 SM_CC 711.37

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 102.60683 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 13.374094 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

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 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 7 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 1766.0677 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022387519 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -165.87093 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 3022.8914 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 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 2

DEVICE5 -1 MINV_10V 10 ROLL_MAX 3890 VBD_MIN 500

DEVICE6 -1 MINV_24V 10 ROLL_MAXERRORS 0 VBD_TIMEOUT 720

DIVE 5 MISSION 5 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 210623,205013,4736.270,-12256.451,12,1.6,15,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,205343,4736.244,-12256.479,3,1.6,5,15.4 MHEAD_RNG_PITCHd_Wd 345.9,529,-26.7,-10.000,-29.55,1003,0.123

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME N IRON 1.000000,0.004780,-0.016681,0.000116,1.034704,-0.038828,0.006090,-0.055997,1.083564,104.884903,-1154.019409,-924.375000

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230621212810.737048,18,32767,45,0105,0150,07,00,00,00,00,1,012,121,0,5,7,0,150,14.7,8.58,-100,-5.58,-01,1.17,65,10000,5000,0,1,00,00*7C _24V_AH 14.94,82.500

NET_PING 1687382859,29,914.947510,14.600000,-1.219819 _10V_AH 14.96,0.000

NAV 1687382832,46.0,4,stop FG_AHR_24Vo 102.766

MODEM_MSG CACST,8,0,20230621212500.609984,18,32767,39,0204,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,11.1,9.46,-100,-6.46,-01,0.04,67,925,0025,0,1,00,00*2A FG_AHR_10Vo 53.398

FREEZE 4.36,14.311,-1.503,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2977.96,0.08,0.277,0,498.9,389.6,608.2,618.92 MEM2 945808,25,100880,69

SM_GC 3.07,0.08,13.35,0.11,0.277,0.058,0.126,498.9,389.6,608.2,191.9,2119.2,0,0,0,15.82,15.58,15.63 DATA_FILE_SIZE 12892,425

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 185509,0

IRIDIUM_FIX 4736.40,-12251.79,210623,194321 SDSIZE 3887104,3872864

TCM_TEMP 13.05 SDFILEDIR 78,6

SC_FREEKB 3877184 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -2 SOUNDSPEED 1465.0

MODEM 0,1687381200,47.60500,-122.95000,0.435,636.7 WARN PPS timeout

RAFOS_FIX 4738.191406,-12257.000000,210623,191900,3,255,7.97 MAGCAL 1.000000,0.005174,-0.164708,0.007395,1.077360,-0.016435,0.169628,-0.129133,1.006220,216.4,-1172.3,-922.2,36,0.0709,0

HUMID 56.54 IMPLIED_C_PITCH 1770,13.26,181,1767.8,13.32

TEMP 11.31 IMPLIED_C_VBD 2983,36.196331,154,3003.0

INTERNAL_PRESSURE 10.3593 GPS 210623,214430,4736.415,-12256.530,1,1.4,5,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 640 1114 10659.50 nil 0 0 0.00

Pitch_motor 29 258 112.68 nil 0 0 0.00

Roll_motor 64 180 174.16 nil 0 0 0.00

Iridium 135 166 337.43 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.13 nil 0 0 0.00

Core 1909 5 146.22 SciCon 2672 7 292.20

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 992 0 4.75

Compass 909 5 68.05

RAFOS 1691 40 1012.11

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

7.97 16386 -65.97 -2.08 0.00 499.3 390.1 608.5 189.6 2055.1 0.00 0.00 0 60.98 50.66 0.00 0.00 0.005 0.000 0.000 1716.75 1667.19 1766.31 189.56 2055.00 0 0 0 15.88 30.00 30.00

61.28 18727 -131.26 -2.16 80.00 1718.0 1667.7 1768.3 189.4 2054.1 3.07 -3.34 10 141.93 61.33 8.11 3.67 0.005 0.258 0.104 3555.25 3510.62 3599.88 1243.12 3556.31 0 0 0 15.90 15.60 15.78

284.40 1156 -131.26 -2.25 0.00 3555.5 3510.4 3600.5 1243.4 3555.4 28.81 -12.72 52 302.08 0.00 0.00 3.49 0.000 0.000 0.047 3554.69 3509.56 3599.81 1243.19 2055.06 0 0 0 30.00 30.00 15.69

486.11 516 -131.26 -2.25 -80.00 3556.1 3510.8 3601.3 1243.2 2055.0 54.25 -13.06 87 492.52 0.00 0.00 3.61 0.000 0.000 0.110 3555.16 3509.94 3600.38 1243.19 620.19 0 0 0 30.00 30.00 15.69

505.42 1156 -131.26 -2.20 0.00 3555.8 3510.6 3601.1 1243.4 620.3 57.13 -13.68 91 512.15 0.00 0.00 3.49 0.000 0.000 0.046 3555.81 3511.00 3600.62 1242.88 2116.38 0 0 0 30.00 30.00 15.73

701.12 260 -131.26 -2.20 80.00 3556.2 3511.1 3601.4 1242.9 2117.1 83.37 -13.61 111 707.46 0.00 0.00 3.53 0.000 0.000 0.104 3556.66 3511.25 3602.06 1242.94 3554.00 0 0 0 30.00 30.00 15.75

878.51 1156 -131.26 -2.12 0.00 3556.2 3511.1 3601.4 1243.4 3553.9 112.69 -17.09 146 884.75 0.00 0.00 3.46 0.000 0.000 0.049 3557.25 3510.88 3603.62 1243.50 2055.88 0 0 0 30.00 30.00 15.81

1073.45 260 -131.26 -2.12 80.00 3556.8 3510.7 3602.9 1243.6 2056.1 141.12 -14.66 166 1080.04 0.00 0.00 3.66 0.000 0.000 0.100 3556.03 3510.75 3601.31 1243.31 3554.25 0 0 0 30.00 30.00 15.80

1129 end dive: TARGET_DEPTH_EXCEEDED

state 1129 begin apogee

1134.82 10243 0.00 -0.37 0.00 3556.4 3510.6 3602.2 1243.1 2055.7 150.58 -17.98 177 1239.97 93.18 3.13 0.10 1.115 0.188 0.181 3018.59 2936.00 3101.19 1674.94 2117.31 0 0 0 10.81 15.68 15.59

1241 end apogee: CONTROL_FINISHED_OK

state 1242 begin climb

1241.99 10759 131.26 2.16 -80.00 3020.0 2938.2 3101.8 1675.2 2117.2 155.36 0.00 187 1359.18 97.06 4.08 3.86 1.084 0.107 0.115 2485.34 2387.50 2583.19 2293.31 620.56 0 0 0 11.02 15.59 15.45

1414.57 5253 131.26 2.07 0.00 2480.5 2385.9 2575.1 2293.8 620.6 132.53 20.20 219 1425.98 0.00 0.25 3.53 0.000 0.211 0.048 2479.19 2384.12 2574.25 2262.06 2114.50 0 0 0 30.00 15.51 15.59

1614.49 16646 131.26 2.07 80.00 2477.8 2383.3 2572.2 2262.1 2114.6 100.29 15.15 240 1621.03 0.00 0.00 3.55 0.000 0.000 0.110 2475.72 2381.19 2570.25 2262.00 3553.81 0 0 0 30.00 30.00 15.68

1649.58 17542 131.26 2.03 0.00 2477.4 2383.4 2571.5 2261.5 3553.4 94.90 15.82 247 1656.00 0.00 0.00 3.48 0.000 0.000 0.048 2475.00 2380.38 2569.62 2261.75 2058.50 0 0 0 30.00 30.00 15.72

1844.53 16646 131.26 2.03 80.00 2476.5 2382.9 2570.0 2262.3 2058.3 66.73 14.05 267 1851.12 0.00 0.00 3.69 0.000 0.000 0.108 2476.91 2383.06 2570.75 2261.62 3552.31 0 0 0 30.00 30.00 15.74

1923.86 17542 131.26 1.99 0.00 2476.7 2383.4 2569.9 2262.2 3553.2 53.94 16.25 283 1930.75 0.00 0.00 3.46 0.000 0.000 0.048 2475.00 2382.06 2567.94 2261.69 2052.62 0 0 0 30.00 30.00 15.80

2115.52 16646 131.26 1.99 80.00 2475.9 2383.1 2568.7 2261.9 2053.6 29.18 12.18 318 2122.88 0.00 0.00 3.67 0.000 0.000 0.108 2473.28 2379.69 2566.88 2261.94 3552.81 0 0 0 30.00 30.00 15.78

2171.31 17542 131.26 1.95 0.00 2475.8 2382.9 2568.8 2261.6 3552.1 22.08 12.73 329 2177.56 0.00 0.00 3.44 0.000 0.000 0.047 2477.22 2384.62 2569.81 2262.25 2055.88 0 0 0 30.00 30.00 15.89

2361.39 8614 186.93 2.07 80.00 2475.4 2382.4 2568.4 2262.6 2056.1 6.45 4.32 367 2410.93 40.59 0.00 3.67 0.969 0.000 0.107 2256.00 2151.88 2360.12 2261.94 3555.12 0 0 0 10.66 30.00 15.81

2414.52 11431 258.84 2.22 0.00 2256.8 2153.5 2360.1 2261.8 3555.1 6.18 2.66 377 2478.65 51.77 0.28 3.45 0.937 0.072 0.044 1963.78 1849.06 2078.50 2314.88 2052.56 0 0 0 10.96 15.84 15.86

2660 end climb: NO_VERTICAL_VELOCITY

state 2660 begin surface

ID	243	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2087	ALTIM_PULSE	3
MISSION	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	5	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	5	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	711.37	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	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3022.8914	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	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	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	1766.0677	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	13.374094	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	53.351784	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	102.60683	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	-165.87093	SEABIRD_T_J	4.3e-06
MASS	72547	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022387519	SEABIRD_C_G	-10
NAV_MODE	0	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	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	210623,205013,4736.270,-12256.451,12,1.6,15,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,205343,4736.244,-12256.479,3,1.6,5,15.4	MHEAD_RNG_PITCHd_Wd	345.9,529,-26.7,-10.000,-29.55,1003,0.123
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	N	IRON	1.000000,0.004780,-0.016681,0.000116,1.034704,-0.038828,0.006090,-0.055997,1.083564,104.884903,-1154.019409,-924.375000
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	CACST,8,0,20230621212810.737048,18,32767,45,0105,0150,07,00,00,00,00,1,012,121,0,5,7,0,150,14.7,8.58,-100,-5.58,-01,1.17,65,10000,5000,0,1,00,00*7C	_24V_AH	14.94,82.500
NET_PING	1687382859,29,914.947510,14.600000,-1.219819	_10V_AH	14.96,0.000
NAV	1687382832,46.0,4,stop	FG_AHR_24Vo	102.766
MODEM_MSG	CACST,8,0,20230621212500.609984,18,32767,39,0204,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,11.1,9.46,-100,-6.46,-01,0.04,67,925,0025,0,1,00,00*2A	FG_AHR_10Vo	53.398
FREEZE	4.36,14.311,-1.503,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2977.96,0.08,0.277,0,498.9,389.6,608.2,618.92	MEM2	945808,25,100880,69
SM_GC	3.07,0.08,13.35,0.11,0.277,0.058,0.126,498.9,389.6,608.2,191.9,2119.2,0,0,0,15.82,15.58,15.63	DATA_FILE_SIZE	12892,425
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	185509,0
IRIDIUM_FIX	4736.40,-12251.79,210623,194321	SDSIZE	3887104,3872864
TCM_TEMP	13.05	SDFILEDIR	78,6
SC_FREEKB	3877184	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-2	SOUNDSPEED	1465.0
MODEM	0,1687381200,47.60500,-122.95000,0.435,636.7	WARN	PPS timeout
RAFOS_FIX	4738.191406,-12257.000000,210623,191900,3,255,7.97	MAGCAL	1.000000,0.005174,-0.164708,0.007395,1.077360,-0.016435,0.169628,-0.129133,1.006220,216.4,-1172.3,-922.2,36,0.0709,0
HUMID	56.54	IMPLIED_C_PITCH	1770,13.26,181,1767.8,13.32
TEMP	11.31	IMPLIED_C_VBD	2983,36.196331,154,3003.0
INTERNAL_PRESSURE	10.3593	GPS	210623,214430,4736.415,-12256.530,1,1.4,5,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	640	1114	10659.50	nil	0	0	0.00
Pitch_motor	29	258	112.68	nil	0	0	0.00
Roll_motor	64	180	174.16	nil	0	0	0.00
Iridium	135	166	337.43	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.13	nil	0	0	0.00
Core	1909	5	146.22	SciCon	2672	7	292.20
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	992	0	4.75
Compass	909	5	68.05
RAFOS	1691	40	1012.11
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
7.97	16386	-65.97	-2.08	0.00	499.3	390.1	608.5	189.6	2055.1	0.00	0.00	0	60.98	50.66	0.00	0.00	0.005	0.000	0.000	1716.75	1667.19	1766.31	189.56	2055.00	0	0	0	15.88	30.00	30.00
61.28	18727	-131.26	-2.16	80.00	1718.0	1667.7	1768.3	189.4	2054.1	3.07	-3.34	10	141.93	61.33	8.11	3.67	0.005	0.258	0.104	3555.25	3510.62	3599.88	1243.12	3556.31	0	0	0	15.90	15.60	15.78
284.40	1156	-131.26	-2.25	0.00	3555.5	3510.4	3600.5	1243.4	3555.4	28.81	-12.72	52	302.08	0.00	0.00	3.49	0.000	0.000	0.047	3554.69	3509.56	3599.81	1243.19	2055.06	0	0	0	30.00	30.00	15.69
486.11	516	-131.26	-2.25	-80.00	3556.1	3510.8	3601.3	1243.2	2055.0	54.25	-13.06	87	492.52	0.00	0.00	3.61	0.000	0.000	0.110	3555.16	3509.94	3600.38	1243.19	620.19	0	0	0	30.00	30.00	15.69
505.42	1156	-131.26	-2.20	0.00	3555.8	3510.6	3601.1	1243.4	620.3	57.13	-13.68	91	512.15	0.00	0.00	3.49	0.000	0.000	0.046	3555.81	3511.00	3600.62	1242.88	2116.38	0	0	0	30.00	30.00	15.73
701.12	260	-131.26	-2.20	80.00	3556.2	3511.1	3601.4	1242.9	2117.1	83.37	-13.61	111	707.46	0.00	0.00	3.53	0.000	0.000	0.104	3556.66	3511.25	3602.06	1242.94	3554.00	0	0	0	30.00	30.00	15.75
878.51	1156	-131.26	-2.12	0.00	3556.2	3511.1	3601.4	1243.4	3553.9	112.69	-17.09	146	884.75	0.00	0.00	3.46	0.000	0.000	0.049	3557.25	3510.88	3603.62	1243.50	2055.88	0	0	0	30.00	30.00	15.81
1073.45	260	-131.26	-2.12	80.00	3556.8	3510.7	3602.9	1243.6	2056.1	141.12	-14.66	166	1080.04	0.00	0.00	3.66	0.000	0.000	0.100	3556.03	3510.75	3601.31	1243.31	3554.25	0	0	0	30.00	30.00	15.80
1129	end dive: TARGET_DEPTH_EXCEEDED
state	1129	begin apogee
1134.82	10243	0.00	-0.37	0.00	3556.4	3510.6	3602.2	1243.1	2055.7	150.58	-17.98	177	1239.97	93.18	3.13	0.10	1.115	0.188	0.181	3018.59	2936.00	3101.19	1674.94	2117.31	0	0	0	10.81	15.68	15.59
1241	end apogee: CONTROL_FINISHED_OK
state	1242	begin climb
1241.99	10759	131.26	2.16	-80.00	3020.0	2938.2	3101.8	1675.2	2117.2	155.36	0.00	187	1359.18	97.06	4.08	3.86	1.084	0.107	0.115	2485.34	2387.50	2583.19	2293.31	620.56	0	0	0	11.02	15.59	15.45
1414.57	5253	131.26	2.07	0.00	2480.5	2385.9	2575.1	2293.8	620.6	132.53	20.20	219	1425.98	0.00	0.25	3.53	0.000	0.211	0.048	2479.19	2384.12	2574.25	2262.06	2114.50	0	0	0	30.00	15.51	15.59
1614.49	16646	131.26	2.07	80.00	2477.8	2383.3	2572.2	2262.1	2114.6	100.29	15.15	240	1621.03	0.00	0.00	3.55	0.000	0.000	0.110	2475.72	2381.19	2570.25	2262.00	3553.81	0	0	0	30.00	30.00	15.68
1649.58	17542	131.26	2.03	0.00	2477.4	2383.4	2571.5	2261.5	3553.4	94.90	15.82	247	1656.00	0.00	0.00	3.48	0.000	0.000	0.048	2475.00	2380.38	2569.62	2261.75	2058.50	0	0	0	30.00	30.00	15.72
1844.53	16646	131.26	2.03	80.00	2476.5	2382.9	2570.0	2262.3	2058.3	66.73	14.05	267	1851.12	0.00	0.00	3.69	0.000	0.000	0.108	2476.91	2383.06	2570.75	2261.62	3552.31	0	0	0	30.00	30.00	15.74
1923.86	17542	131.26	1.99	0.00	2476.7	2383.4	2569.9	2262.2	3553.2	53.94	16.25	283	1930.75	0.00	0.00	3.46	0.000	0.000	0.048	2475.00	2382.06	2567.94	2261.69	2052.62	0	0	0	30.00	30.00	15.80
2115.52	16646	131.26	1.99	80.00	2475.9	2383.1	2568.7	2261.9	2053.6	29.18	12.18	318	2122.88	0.00	0.00	3.67	0.000	0.000	0.108	2473.28	2379.69	2566.88	2261.94	3552.81	0	0	0	30.00	30.00	15.78
2171.31	17542	131.26	1.95	0.00	2475.8	2382.9	2568.8	2261.6	3552.1	22.08	12.73	329	2177.56	0.00	0.00	3.44	0.000	0.000	0.047	2477.22	2384.62	2569.81	2262.25	2055.88	0	0	0	30.00	30.00	15.89
2361.39	8614	186.93	2.07	80.00	2475.4	2382.4	2568.4	2262.6	2056.1	6.45	4.32	367	2410.93	40.59	0.00	3.67	0.969	0.000	0.107	2256.00	2151.88	2360.12	2261.94	3555.12	0	0	0	10.66	30.00	15.81
2414.52	11431	258.84	2.22	0.00	2256.8	2153.5	2360.1	2261.8	3555.1	6.18	2.66	377	2478.65	51.77	0.28	3.45	0.937	0.072	0.044	1963.78	1849.06	2078.50	2314.88	2052.56	0	0	0	10.96	15.84	15.86
2660	end climb: NO_VERTICAL_VELOCITY
state	2660	begin surface