Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 6 * 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 6 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 10 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 2825.4458 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 1731.0573 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 13.456676 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.650715 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 28.380713 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 10 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 42.650715 PHONE_SUPPLY 2 SM_CC 593.79755

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.380713 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 13.456676 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 1731.0573 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 2825.4458 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 6 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 210623,220433,4736.402,-12256.556,1,0.8,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.76 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,220811,4736.376,-12256.569,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 7.1,311,-27.2,-10.000,-30.00,969,0.136

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME N IRON 1.000000,0.025244,-0.072655,0.008785,1.026925,-0.043242,0.027332,-0.082621,1.082390,779.262451,-860.414246,-712.433044

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230621225010.726741,18,32767,45,0104,0113,07,00,00,00,00,1,250,029,0,5,2,0,150,11.7,3.15,-100,-0.15,-01,-0.28,71,10000,5000,0,1,03,00*5D _10V_AH 15.00,0.000

NET_PING 1687386011,29,724.756470,9.900000,-0.966460 FG_AHR_24Vo 28.535

MODEM_MSG CACST,8,0,20230621222500.565319,18,1726,32,0104,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,4.0,9.07,-100,-6.07,-01,0.19,72,925,0025,0,1,00,00*2E FG_AHR_10Vo 42.679

NAV 1687388412,0.2,start MEM0 60020,1,0,0

FREEZE 4.39,13.955,-1.515,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 946200,28,100488,66

SM_CCo 3086.77,0.12,0.179,0,500.0,401.1,598.9,570.31 DATA_FILE_SIZE 12971,437

SM_GC 3.36,0.12,12.90,0.10,0.179,0.044,0.133,500.0,401.1,598.9,194.0,2016.5,0,0,0,15.84,15.64,15.66 CAP_FILE_SIZE 151915,0

SUPER 27,71,254,1,0,0 SDSIZE 3887104,3867872

IRIDIUM_FIX 4736.87,-12256.21,210623,210526 SDFILEDIR 92,7

TCM_TEMP 15.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3876864 SOUNDSPEED 1465.0

RAFOS_CLK 1 WARN PPS timeout

MODEM 1,1687385400,47.60500,-122.95000,0.561,821.2 CURRENT 0.088,197.2,1

RAFOS_FIX 4735.859375,-12257.135742,210623,222200,2,510,1.18 MAGCAL 1.000000,0.183263,-0.702977,-0.059994,1.110761,0.053776,0.423020,0.061206,0.763349,1161.7,-878.1,-810.9,25,0.0625,0

HUMID 49.83 IMPLIED_C_PITCH 1734,13.39,175,1732.4,13.42

TEMP 11.59 IMPLIED_C_VBD 2808,34.826004,145,2816.5

INTERNAL_PRESSURE 8.25275 GPS 210623,230152,4736.470,-12256.515,1,2.4,67,15.4

_24V_AH 15.05,32.077

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 624 1104 10386.97 nil 0 0 0.00

Pitch_motor 27 227 94.64 nil 0 0 0.00

Roll_motor 42 167 108.00 nil 0 0 0.00

Iridium 145 220 481.89 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.07 nil 0 0 0.00

Core 1862 5 143.04 SciCon 2815 6 280.29

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1192 0 5.72

Compass 924 5 69.36

RAFOS 1362 40 817.57

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

7.71 16386 -63.69 -2.10 0.00 499.8 397.6 601.9 194.1 1943.6 0.00 0.00 0 67.10 54.89 0.00 0.00 0.005 0.000 0.000 1803.38 1770.44 1836.31 194.19 1942.88 0 0 0 15.84 30.00 30.00

67.53 18727 -130.94 -2.18 80.00 1802.7 1768.6 1836.8 194.0 1942.8 3.12 -2.90 11 138.90 47.21 7.35 3.64 0.005 0.227 0.109 3358.22 3323.00 3393.44 1203.56 3447.19 0 0 0 14.79 15.69 15.78

367.44 1156 -130.94 -2.14 0.00 3359.4 3321.8 3397.1 1203.2 3448.1 40.44 -13.74 69 373.79 0.00 0.00 3.39 0.000 0.000 0.056 3360.50 3323.31 3397.69 1203.06 1953.06 0 0 0 30.00 30.00 15.89

562.35 516 -130.94 -2.14 -80.00 3359.4 3321.8 3397.1 1203.2 1950.2 65.95 -13.07 96 569.61 0.00 0.00 3.46 0.000 0.000 0.120 3359.91 3322.81 3397.00 1203.75 510.38 0 0 0 30.00 30.00 15.88

721.80 1156 -130.94 -2.09 0.00 3359.9 3323.0 3396.8 1203.8 510.5 91.78 -17.18 127 733.17 0.00 0.00 3.51 0.000 0.000 0.053 3359.69 3322.12 3397.25 1203.62 2013.69 0 0 0 30.00 30.00 15.26

921.18 260 -130.94 -2.09 80.00 3360.2 3321.7 3398.8 1203.2 2014.1 120.52 -14.17 148 928.38 0.00 0.00 3.46 0.000 0.000 0.111 3360.41 3321.69 3399.12 1203.94 3447.88 0 0 0 30.00 30.00 15.90

977.01 3205 -130.94 -2.06 0.00 3360.0 3321.8 3398.2 1203.8 3447.9 129.10 -15.47 159 985.31 0.00 0.20 3.38 0.000 0.183 0.056 3359.91 3321.38 3398.44 1234.00 1947.88 0 0 0 30.00 15.87 15.93

1141 end dive: TARGET_DEPTH_EXCEEDED

state 1141 begin apogee

1143.54 10243 0.00 -0.37 0.00 3360.6 3321.9 3399.2 1234.5 1866.7 150.75 -12.68 176 1256.17 99.95 2.69 0.10 1.105 0.142 0.168 2825.34 2721.38 2929.31 1643.12 1935.69 0 0 0 11.23 15.90 15.65

1257 end apogee: CONTROL_FINISHED_OK

state 1257 begin climb

1257.81 10759 130.94 2.18 -80.00 2824.3 2720.4 2928.3 1643.1 1935.4 153.54 0.00 186 1383.81 102.53 3.92 3.80 1.067 0.081 0.127 2291.44 2187.06 2395.81 2264.94 434.56 0 0 0 11.36 15.66 15.48

1421.77 1156 130.94 2.11 0.00 2284.4 2182.8 2386.1 2265.9 434.0 131.11 22.42 215 1429.43 0.00 0.00 3.45 0.000 0.000 0.052 2286.34 2183.69 2389.00 2266.00 1932.19 0 0 0 30.00 30.00 15.68

1617.48 20611 130.94 2.10 0.00 2282.4 2180.6 2384.3 2266.4 1934.1 96.02 16.82 235 1619.61 0.00 0.28 0.00 0.000 0.199 0.000 2281.22 2179.69 2382.75 2233.56 1933.81 0 0 0 30.00 15.78 30.00

1807.36 16386 130.94 2.10 0.00 2281.6 2180.2 2382.9 2232.9 1934.6 67.59 14.49 254 1809.14 0.00 0.00 0.00 0.000 0.000 0.000 2280.31 2179.00 2381.62 2233.12 1934.50 0 0 0 30.00 30.00 30.00

1991.51 16902 130.94 2.10 -80.00 2281.2 2180.1 2382.4 2233.8 1934.4 41.60 13.50 278 1999.84 0.00 0.00 3.70 0.000 0.000 0.126 2281.09 2179.94 2382.25 2233.50 431.50 0 0 0 30.00 30.00 15.89

2058.51 17542 130.94 2.05 0.00 2280.3 2179.8 2380.8 2233.3 431.5 31.74 15.17 291 2066.46 0.00 0.00 3.39 0.000 0.000 0.052 2278.94 2178.25 2379.62 2233.50 1937.44 0 0 0 30.00 30.00 15.98

2250.07 16514 130.94 2.08 0.00 2280.2 2179.2 2381.1 2233.4 1939.4 8.89 10.92 329 2253.98 0.00 0.00 0.00 0.000 0.000 0.000 2280.44 2180.31 2380.56 2233.81 1939.00 0 0 0 30.00 30.00 30.00

2435.16 10919 236.88 2.25 -80.00 2279.8 2178.6 2380.9 2233.4 1939.2 8.36 -1.19 366 2527.41 77.22 0.29 3.74 0.960 0.062 0.127 1858.09 1753.56 1962.62 2291.31 434.00 0 0 0 11.18 16.02 15.73

2756.17 9382 331.00 2.35 0.00 1850.0 1746.9 1953.2 2290.9 433.8 4.84 0.06 428 2806.48 40.19 0.00 3.39 0.945 0.000 0.052 1638.22 1535.44 1741.00 2291.69 1942.06 0 0 0 11.19 30.00 15.93

2807 end climb: NO_VERTICAL_VELOCITY

state 2807 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	6	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	10	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	2825.4458	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	1731.0573	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	13.456676	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.650715	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	28.380713	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	210623,220433,4736.402,-12256.556,1,0.8,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.76	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,220811,4736.376,-12256.569,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	7.1,311,-27.2,-10.000,-30.00,969,0.136
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	N	IRON	1.000000,0.025244,-0.072655,0.008785,1.026925,-0.043242,0.027332,-0.082621,1.082390,779.262451,-860.414246,-712.433044
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	CACST,8,0,20230621225010.726741,18,32767,45,0104,0113,07,00,00,00,00,1,250,029,0,5,2,0,150,11.7,3.15,-100,-0.15,-01,-0.28,71,10000,5000,0,1,03,00*5D	_10V_AH	15.00,0.000
NET_PING	1687386011,29,724.756470,9.900000,-0.966460	FG_AHR_24Vo	28.535
MODEM_MSG	CACST,8,0,20230621222500.565319,18,1726,32,0104,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,4.0,9.07,-100,-6.07,-01,0.19,72,925,0025,0,1,00,00*2E	FG_AHR_10Vo	42.679
NAV	1687388412,0.2,start	MEM0	60020,1,0,0
FREEZE	4.39,13.955,-1.515,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	946200,28,100488,66
SM_CCo	3086.77,0.12,0.179,0,500.0,401.1,598.9,570.31	DATA_FILE_SIZE	12971,437
SM_GC	3.36,0.12,12.90,0.10,0.179,0.044,0.133,500.0,401.1,598.9,194.0,2016.5,0,0,0,15.84,15.64,15.66	CAP_FILE_SIZE	151915,0
SUPER	27,71,254,1,0,0	SDSIZE	3887104,3867872
IRIDIUM_FIX	4736.87,-12256.21,210623,210526	SDFILEDIR	92,7
TCM_TEMP	15.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3876864	SOUNDSPEED	1465.0
RAFOS_CLK	1	WARN	PPS timeout
MODEM	1,1687385400,47.60500,-122.95000,0.561,821.2	CURRENT	0.088,197.2,1
RAFOS_FIX	4735.859375,-12257.135742,210623,222200,2,510,1.18	MAGCAL	1.000000,0.183263,-0.702977,-0.059994,1.110761,0.053776,0.423020,0.061206,0.763349,1161.7,-878.1,-810.9,25,0.0625,0
HUMID	49.83	IMPLIED_C_PITCH	1734,13.39,175,1732.4,13.42
TEMP	11.59	IMPLIED_C_VBD	2808,34.826004,145,2816.5
INTERNAL_PRESSURE	8.25275	GPS	210623,230152,4736.470,-12256.515,1,2.4,67,15.4
_24V_AH	15.05,32.077

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	624	1104	10386.97	nil	0	0	0.00
Pitch_motor	27	227	94.64	nil	0	0	0.00
Roll_motor	42	167	108.00	nil	0	0	0.00
Iridium	145	220	481.89	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.07	nil	0	0	0.00
Core	1862	5	143.04	SciCon	2815	6	280.29
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1192	0	5.72
Compass	924	5	69.36
RAFOS	1362	40	817.57
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
7.71	16386	-63.69	-2.10	0.00	499.8	397.6	601.9	194.1	1943.6	0.00	0.00	0	67.10	54.89	0.00	0.00	0.005	0.000	0.000	1803.38	1770.44	1836.31	194.19	1942.88	0	0	0	15.84	30.00	30.00
67.53	18727	-130.94	-2.18	80.00	1802.7	1768.6	1836.8	194.0	1942.8	3.12	-2.90	11	138.90	47.21	7.35	3.64	0.005	0.227	0.109	3358.22	3323.00	3393.44	1203.56	3447.19	0	0	0	14.79	15.69	15.78
367.44	1156	-130.94	-2.14	0.00	3359.4	3321.8	3397.1	1203.2	3448.1	40.44	-13.74	69	373.79	0.00	0.00	3.39	0.000	0.000	0.056	3360.50	3323.31	3397.69	1203.06	1953.06	0	0	0	30.00	30.00	15.89
562.35	516	-130.94	-2.14	-80.00	3359.4	3321.8	3397.1	1203.2	1950.2	65.95	-13.07	96	569.61	0.00	0.00	3.46	0.000	0.000	0.120	3359.91	3322.81	3397.00	1203.75	510.38	0	0	0	30.00	30.00	15.88
721.80	1156	-130.94	-2.09	0.00	3359.9	3323.0	3396.8	1203.8	510.5	91.78	-17.18	127	733.17	0.00	0.00	3.51	0.000	0.000	0.053	3359.69	3322.12	3397.25	1203.62	2013.69	0	0	0	30.00	30.00	15.26
921.18	260	-130.94	-2.09	80.00	3360.2	3321.7	3398.8	1203.2	2014.1	120.52	-14.17	148	928.38	0.00	0.00	3.46	0.000	0.000	0.111	3360.41	3321.69	3399.12	1203.94	3447.88	0	0	0	30.00	30.00	15.90
977.01	3205	-130.94	-2.06	0.00	3360.0	3321.8	3398.2	1203.8	3447.9	129.10	-15.47	159	985.31	0.00	0.20	3.38	0.000	0.183	0.056	3359.91	3321.38	3398.44	1234.00	1947.88	0	0	0	30.00	15.87	15.93
1141	end dive: TARGET_DEPTH_EXCEEDED
state	1141	begin apogee
1143.54	10243	0.00	-0.37	0.00	3360.6	3321.9	3399.2	1234.5	1866.7	150.75	-12.68	176	1256.17	99.95	2.69	0.10	1.105	0.142	0.168	2825.34	2721.38	2929.31	1643.12	1935.69	0	0	0	11.23	15.90	15.65
1257	end apogee: CONTROL_FINISHED_OK
state	1257	begin climb
1257.81	10759	130.94	2.18	-80.00	2824.3	2720.4	2928.3	1643.1	1935.4	153.54	0.00	186	1383.81	102.53	3.92	3.80	1.067	0.081	0.127	2291.44	2187.06	2395.81	2264.94	434.56	0	0	0	11.36	15.66	15.48
1421.77	1156	130.94	2.11	0.00	2284.4	2182.8	2386.1	2265.9	434.0	131.11	22.42	215	1429.43	0.00	0.00	3.45	0.000	0.000	0.052	2286.34	2183.69	2389.00	2266.00	1932.19	0	0	0	30.00	30.00	15.68
1617.48	20611	130.94	2.10	0.00	2282.4	2180.6	2384.3	2266.4	1934.1	96.02	16.82	235	1619.61	0.00	0.28	0.00	0.000	0.199	0.000	2281.22	2179.69	2382.75	2233.56	1933.81	0	0	0	30.00	15.78	30.00
1807.36	16386	130.94	2.10	0.00	2281.6	2180.2	2382.9	2232.9	1934.6	67.59	14.49	254	1809.14	0.00	0.00	0.00	0.000	0.000	0.000	2280.31	2179.00	2381.62	2233.12	1934.50	0	0	0	30.00	30.00	30.00
1991.51	16902	130.94	2.10	-80.00	2281.2	2180.1	2382.4	2233.8	1934.4	41.60	13.50	278	1999.84	0.00	0.00	3.70	0.000	0.000	0.126	2281.09	2179.94	2382.25	2233.50	431.50	0	0	0	30.00	30.00	15.89
2058.51	17542	130.94	2.05	0.00	2280.3	2179.8	2380.8	2233.3	431.5	31.74	15.17	291	2066.46	0.00	0.00	3.39	0.000	0.000	0.052	2278.94	2178.25	2379.62	2233.50	1937.44	0	0	0	30.00	30.00	15.98
2250.07	16514	130.94	2.08	0.00	2280.2	2179.2	2381.1	2233.4	1939.4	8.89	10.92	329	2253.98	0.00	0.00	0.00	0.000	0.000	0.000	2280.44	2180.31	2380.56	2233.81	1939.00	0	0	0	30.00	30.00	30.00
2435.16	10919	236.88	2.25	-80.00	2279.8	2178.6	2380.9	2233.4	1939.2	8.36	-1.19	366	2527.41	77.22	0.29	3.74	0.960	0.062	0.127	1858.09	1753.56	1962.62	2291.31	434.00	0	0	0	11.18	16.02	15.73
2756.17	9382	331.00	2.35	0.00	1850.0	1746.9	1953.2	2290.9	433.8	4.84	0.06	428	2806.48	40.19	0.00	3.39	0.945	0.000	0.052	1638.22	1535.44	1741.00	2291.69	1942.06	0	0	0	11.19	30.00	15.93
2807	end climb: NO_VERTICAL_VELOCITY
state	2807	begin surface