Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 7 * 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 7 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 2816.4912 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 1732.4045 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 13.421761 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.68327 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 28.542913 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 42.68327 PHONE_SUPPLY 2 SM_CC 593.79755

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.542913 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 13.421761 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 1732.4045 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 2816.4912 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 7 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 210623,230152,4736.470,-12256.515,1,2.4,67,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.73 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,230540,4736.446,-12256.522,2,1.0,26,15.4 MHEAD_RNG_PITCHd_Wd 186.7,982,-19.5,-10.000,-22.91,1831,0.149

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000225

Post-dive calculations and measurements:

NET CACST,8,0,20230622000023.220876,18,32767,45,0103,0113,07,00,00,00,00,1,029,012,0,5,1,0,150,9.2,6.61,-100,-3.61,-01,0.07,75,10000,5000,0,-1,00,00*63 _24V_AH 15.01,32.264

MODEM_MSG CACST,8,0,20230621232501.546634,18,4932,36,0213,0000,246,02,02,00,04,1,029,121,0,5,1,0,150,-8.9,6.44,-100,-3.44,-01,-0.28,66,925,0025,0,1,00,00*24 _10V_AH 15.00,0.000

NAV 1687391943,6.0,start FG_AHR_24Vo 28.699

NET_PING 1687390211,29,768.346497,12.000000,-1.024450 FG_AHR_10Vo 42.721

FREEZE 3.84,14.788,-1.425,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3675.91,0.10,0.202,0,499.3,399.1,599.6,568.28 MEM2 946380,21,100448,66

SM_GC 3.01,0.10,12.15,0.10,0.202,0.050,0.134,499.3,399.1,599.6,198.9,2016.6,0,0,0,15.75,15.61,15.64 DATA_FILE_SIZE 12912,521

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 157746,0

IRIDIUM_FIX 4736.87,-12256.21,210623,220548 SDSIZE 3887104,3867520

TCM_TEMP 14.60 SDFILEDIR 101,8

SC_FREEKB 3876544 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 2,1687389600,47.60500,-122.95000,0.605,886.4 CURRENT 0.055,190.3,1

RAFOS_FIX 4736.111328,-12257.029297,210623,232301,2,510,0.76 MAGCAL 1.000000,0.009246,-0.081234,-0.029638,1.057241,-0.031434,0.093224,-0.016014,0.993430,803.2,-863.7,-670.8,36,0.0463,0

HUMID 50.14 IMPLIED_C_PITCH 1737,13.53,253,1734.7,13.48

TEMP 11.36 IMPLIED_C_VBD 2815,35.984329,253,2815.9

INTERNAL_PRESSURE 8.23962 GPS 220623,000807,4736.112,-12256.721,14,1.1,17,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 639 1098 10540.83 nil 0 0 0.00

Pitch_motor 26 219 85.94 nil 0 0 0.00

Roll_motor 36 188 101.84 nil 0 0 0.00

Iridium 132 208 413.78 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 35 15 8.00 nil 0 0 0.00

Core 2227 5 171.10 SciCon 3480 6 347.18

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1501 0 7.21

Compass 1095 5 82.18

RAFOS 1525 40 915.49

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

7.49 16386 -121.20 -1.60 0.00 499.9 400.9 598.9 193.0 1941.6 0.00 0.00 0 56.25 44.92 0.00 0.00 0.005 0.000 0.000 1598.41 1567.69 1629.12 192.94 1941.50 0 0 0 15.88 30.00 30.00

56.69 18983 -146.63 -1.63 -80.00 1597.7 1567.0 1628.4 192.9 1942.1 3.32 -4.24 9 141.37 60.13 8.23 3.48 0.005 0.220 0.122 3411.44 3377.44 3445.44 1337.06 511.62 0 0 0 15.90 15.71 15.81

267.99 1188 -146.63 -1.57 0.00 3412.7 3376.8 3448.7 1337.0 511.8 21.57 -9.49 49 275.37 0.00 0.00 3.41 0.000 0.000 0.051 3412.53 3375.94 3449.12 1336.75 2017.12 0 0 0 30.00 30.00 15.90

458.98 676 -146.63 -1.54 -80.00 3413.3 3376.2 3450.4 1336.9 2017.6 37.64 -8.30 87 466.89 0.00 0.00 3.70 0.000 0.000 0.117 3413.12 3376.19 3450.06 1337.12 511.19 0 0 0 30.00 30.00 15.87

695.56 3205 -146.63 -1.49 0.00 3413.0 3376.1 3450.0 1336.6 511.7 64.92 -12.03 134 703.95 0.00 0.24 3.41 0.000 0.161 0.051 3413.31 3376.06 3450.56 1375.06 2015.06 0 0 0 30.00 15.84 15.93

890.49 548 -146.63 -1.49 -80.00 3414.4 3377.2 3451.6 1375.0 2015.8 83.31 -9.05 154 898.77 0.00 0.00 3.68 0.000 0.000 0.120 3414.72 3376.25 3453.19 1375.19 513.06 0 0 0 30.00 30.00 15.90

991.64 1156 -146.63 -1.46 0.00 3413.9 3376.3 3451.6 1375.0 513.1 93.94 -10.49 174 999.16 0.00 0.00 3.41 0.000 0.000 0.051 3414.84 3377.69 3452.00 1375.25 2016.06 0 0 0 30.00 30.00 15.96

1187.34 32 -146.63 -1.46 0.00 3414.7 3376.9 3452.4 1375.0 2016.1 112.05 -9.37 194 1189.09 0.00 0.00 0.00 0.000 0.000 0.000 3413.44 3375.69 3451.19 1375.06 2016.31 0 0 0 30.00 30.00 30.00

1377.49 160 -146.63 -1.47 0.00 3414.4 3376.9 3451.8 1374.8 2016.4 129.74 -9.07 213 1379.25 0.00 0.00 0.00 0.000 0.000 0.000 3414.03 3375.75 3452.31 1375.06 2016.44 0 0 0 30.00 30.00 30.00

1567.50 160 -146.63 -1.48 0.00 3415.0 3377.2 3452.7 1374.4 2017.8 147.41 -9.51 232 1569.25 0.00 0.00 0.00 0.000 0.000 0.000 3413.53 3375.56 3451.50 1374.94 2017.56 0 0 0 30.00 30.00 30.00

1597 end dive: TARGET_DEPTH_EXCEEDED

state 1597 begin apogee

1599.11 10243 0.00 -0.37 0.00 3415.0 3377.5 3452.6 1375.1 1867.7 150.20 -9.37 235 1722.45 111.00 1.72 0.09 1.098 0.119 0.188 2814.03 2707.94 2920.12 1644.94 1934.81 0 0 0 11.14 15.95 15.64

1723 end apogee: CONTROL_FINISHED_OK

state 1724 begin climb

1724.15 10243 146.63 1.63 0.00 2814.5 2709.3 2919.7 1645.9 1935.1 153.07 0.00 246 1853.51 112.51 3.07 0.00 1.063 0.084 0.000 2218.34 2109.94 2326.75 2133.69 1935.38 0 0 0 11.37 15.67 30.00

2035.22 17030 146.63 1.60 -80.00 2209.7 2104.7 2314.6 2133.6 1935.3 117.74 14.04 285 2046.52 0.00 0.00 3.76 0.000 0.000 0.130 2211.25 2106.50 2316.00 2133.38 433.69 0 0 0 30.00 30.00 15.68

2139.44 21639 146.63 1.53 0.00 2208.0 2104.2 2311.7 2134.4 433.8 99.55 16.89 306 2147.49 0.00 0.30 3.41 0.000 0.179 0.053 2208.03 2104.25 2311.81 2096.25 1932.00 0 0 0 30.00 15.78 15.87

2335.11 16386 146.63 1.53 0.00 2207.5 2103.4 2311.5 2096.5 1933.4 76.69 11.13 326 2336.91 0.00 0.00 0.00 0.000 0.000 0.000 2206.44 2102.81 2310.06 2096.75 1933.38 0 0 0 30.00 30.00 30.00

2525.09 16386 146.63 1.53 0.00 2206.9 2103.3 2310.5 2096.8 1933.7 56.46 10.08 345 2526.88 0.00 0.00 0.00 0.000 0.000 0.000 2205.69 2102.69 2308.69 2096.38 1933.31 0 0 0 30.00 30.00 30.00

2711.05 16386 146.63 1.53 0.00 2206.6 2103.2 2310.0 2096.4 1934.6 38.08 10.32 375 2714.98 0.00 0.00 0.00 0.000 0.000 0.000 2206.66 2103.81 2309.50 2096.38 1934.19 0 0 0 30.00 30.00 30.00

2896.15 8226 170.95 1.56 0.00 2206.2 2103.0 2309.4 2096.4 1933.9 21.13 8.64 412 2917.95 18.77 0.00 0.00 0.939 0.000 0.000 2119.81 2011.81 2227.81 2096.25 1934.12 0 0 0 11.23 30.00 30.00

3101.62 10919 263.04 1.71 -80.00 2114.9 2009.6 2220.2 2096.4 1934.2 7.59 4.85 453 3191.53 68.35 0.34 3.74 0.951 0.054 0.131 1741.72 1634.56 1848.88 2168.50 433.75 0 0 0 11.17 16.01 15.74

3236.34 9382 388.77 1.88 0.00 1737.5 1629.1 1845.9 2168.0 433.9 4.22 2.97 475 3344.13 91.19 0.00 3.44 0.930 0.000 0.052 1231.47 1124.00 1338.94 2168.88 1944.06 0 0 0 11.39 30.00 15.76

3472 end climb: NO_VERTICAL_VELOCITY

state 3473 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	7	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	2816.4912	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	1732.4045	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	13.421761	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.68327	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	28.542913	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	210623,230152,4736.470,-12256.515,1,2.4,67,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.73	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,230540,4736.446,-12256.522,2,1.0,26,15.4	MHEAD_RNG_PITCHd_Wd	186.7,982,-19.5,-10.000,-22.91,1831,0.149
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000225

NET	CACST,8,0,20230622000023.220876,18,32767,45,0103,0113,07,00,00,00,00,1,029,012,0,5,1,0,150,9.2,6.61,-100,-3.61,-01,0.07,75,10000,5000,0,-1,00,00*63	_24V_AH	15.01,32.264
MODEM_MSG	CACST,8,0,20230621232501.546634,18,4932,36,0213,0000,246,02,02,00,04,1,029,121,0,5,1,0,150,-8.9,6.44,-100,-3.44,-01,-0.28,66,925,0025,0,1,00,00*24	_10V_AH	15.00,0.000
NAV	1687391943,6.0,start	FG_AHR_24Vo	28.699
NET_PING	1687390211,29,768.346497,12.000000,-1.024450	FG_AHR_10Vo	42.721
FREEZE	3.84,14.788,-1.425,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3675.91,0.10,0.202,0,499.3,399.1,599.6,568.28	MEM2	946380,21,100448,66
SM_GC	3.01,0.10,12.15,0.10,0.202,0.050,0.134,499.3,399.1,599.6,198.9,2016.6,0,0,0,15.75,15.61,15.64	DATA_FILE_SIZE	12912,521
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	157746,0
IRIDIUM_FIX	4736.87,-12256.21,210623,220548	SDSIZE	3887104,3867520
TCM_TEMP	14.60	SDFILEDIR	101,8
SC_FREEKB	3876544	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	2,1687389600,47.60500,-122.95000,0.605,886.4	CURRENT	0.055,190.3,1
RAFOS_FIX	4736.111328,-12257.029297,210623,232301,2,510,0.76	MAGCAL	1.000000,0.009246,-0.081234,-0.029638,1.057241,-0.031434,0.093224,-0.016014,0.993430,803.2,-863.7,-670.8,36,0.0463,0
HUMID	50.14	IMPLIED_C_PITCH	1737,13.53,253,1734.7,13.48
TEMP	11.36	IMPLIED_C_VBD	2815,35.984329,253,2815.9
INTERNAL_PRESSURE	8.23962	GPS	220623,000807,4736.112,-12256.721,14,1.1,17,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	639	1098	10540.83	nil	0	0	0.00
Pitch_motor	26	219	85.94	nil	0	0	0.00
Roll_motor	36	188	101.84	nil	0	0	0.00
Iridium	132	208	413.78	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	35	15	8.00	nil	0	0	0.00
Core	2227	5	171.10	SciCon	3480	6	347.18
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1501	0	7.21
Compass	1095	5	82.18
RAFOS	1525	40	915.49
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
7.49	16386	-121.20	-1.60	0.00	499.9	400.9	598.9	193.0	1941.6	0.00	0.00	0	56.25	44.92	0.00	0.00	0.005	0.000	0.000	1598.41	1567.69	1629.12	192.94	1941.50	0	0	0	15.88	30.00	30.00
56.69	18983	-146.63	-1.63	-80.00	1597.7	1567.0	1628.4	192.9	1942.1	3.32	-4.24	9	141.37	60.13	8.23	3.48	0.005	0.220	0.122	3411.44	3377.44	3445.44	1337.06	511.62	0	0	0	15.90	15.71	15.81
267.99	1188	-146.63	-1.57	0.00	3412.7	3376.8	3448.7	1337.0	511.8	21.57	-9.49	49	275.37	0.00	0.00	3.41	0.000	0.000	0.051	3412.53	3375.94	3449.12	1336.75	2017.12	0	0	0	30.00	30.00	15.90
458.98	676	-146.63	-1.54	-80.00	3413.3	3376.2	3450.4	1336.9	2017.6	37.64	-8.30	87	466.89	0.00	0.00	3.70	0.000	0.000	0.117	3413.12	3376.19	3450.06	1337.12	511.19	0	0	0	30.00	30.00	15.87
695.56	3205	-146.63	-1.49	0.00	3413.0	3376.1	3450.0	1336.6	511.7	64.92	-12.03	134	703.95	0.00	0.24	3.41	0.000	0.161	0.051	3413.31	3376.06	3450.56	1375.06	2015.06	0	0	0	30.00	15.84	15.93
890.49	548	-146.63	-1.49	-80.00	3414.4	3377.2	3451.6	1375.0	2015.8	83.31	-9.05	154	898.77	0.00	0.00	3.68	0.000	0.000	0.120	3414.72	3376.25	3453.19	1375.19	513.06	0	0	0	30.00	30.00	15.90
991.64	1156	-146.63	-1.46	0.00	3413.9	3376.3	3451.6	1375.0	513.1	93.94	-10.49	174	999.16	0.00	0.00	3.41	0.000	0.000	0.051	3414.84	3377.69	3452.00	1375.25	2016.06	0	0	0	30.00	30.00	15.96
1187.34	32	-146.63	-1.46	0.00	3414.7	3376.9	3452.4	1375.0	2016.1	112.05	-9.37	194	1189.09	0.00	0.00	0.00	0.000	0.000	0.000	3413.44	3375.69	3451.19	1375.06	2016.31	0	0	0	30.00	30.00	30.00
1377.49	160	-146.63	-1.47	0.00	3414.4	3376.9	3451.8	1374.8	2016.4	129.74	-9.07	213	1379.25	0.00	0.00	0.00	0.000	0.000	0.000	3414.03	3375.75	3452.31	1375.06	2016.44	0	0	0	30.00	30.00	30.00
1567.50	160	-146.63	-1.48	0.00	3415.0	3377.2	3452.7	1374.4	2017.8	147.41	-9.51	232	1569.25	0.00	0.00	0.00	0.000	0.000	0.000	3413.53	3375.56	3451.50	1374.94	2017.56	0	0	0	30.00	30.00	30.00
1597	end dive: TARGET_DEPTH_EXCEEDED
state	1597	begin apogee
1599.11	10243	0.00	-0.37	0.00	3415.0	3377.5	3452.6	1375.1	1867.7	150.20	-9.37	235	1722.45	111.00	1.72	0.09	1.098	0.119	0.188	2814.03	2707.94	2920.12	1644.94	1934.81	0	0	0	11.14	15.95	15.64
1723	end apogee: CONTROL_FINISHED_OK
state	1724	begin climb
1724.15	10243	146.63	1.63	0.00	2814.5	2709.3	2919.7	1645.9	1935.1	153.07	0.00	246	1853.51	112.51	3.07	0.00	1.063	0.084	0.000	2218.34	2109.94	2326.75	2133.69	1935.38	0	0	0	11.37	15.67	30.00
2035.22	17030	146.63	1.60	-80.00	2209.7	2104.7	2314.6	2133.6	1935.3	117.74	14.04	285	2046.52	0.00	0.00	3.76	0.000	0.000	0.130	2211.25	2106.50	2316.00	2133.38	433.69	0	0	0	30.00	30.00	15.68
2139.44	21639	146.63	1.53	0.00	2208.0	2104.2	2311.7	2134.4	433.8	99.55	16.89	306	2147.49	0.00	0.30	3.41	0.000	0.179	0.053	2208.03	2104.25	2311.81	2096.25	1932.00	0	0	0	30.00	15.78	15.87
2335.11	16386	146.63	1.53	0.00	2207.5	2103.4	2311.5	2096.5	1933.4	76.69	11.13	326	2336.91	0.00	0.00	0.00	0.000	0.000	0.000	2206.44	2102.81	2310.06	2096.75	1933.38	0	0	0	30.00	30.00	30.00
2525.09	16386	146.63	1.53	0.00	2206.9	2103.3	2310.5	2096.8	1933.7	56.46	10.08	345	2526.88	0.00	0.00	0.00	0.000	0.000	0.000	2205.69	2102.69	2308.69	2096.38	1933.31	0	0	0	30.00	30.00	30.00
2711.05	16386	146.63	1.53	0.00	2206.6	2103.2	2310.0	2096.4	1934.6	38.08	10.32	375	2714.98	0.00	0.00	0.00	0.000	0.000	0.000	2206.66	2103.81	2309.50	2096.38	1934.19	0	0	0	30.00	30.00	30.00
2896.15	8226	170.95	1.56	0.00	2206.2	2103.0	2309.4	2096.4	1933.9	21.13	8.64	412	2917.95	18.77	0.00	0.00	0.939	0.000	0.000	2119.81	2011.81	2227.81	2096.25	1934.12	0	0	0	11.23	30.00	30.00
3101.62	10919	263.04	1.71	-80.00	2114.9	2009.6	2220.2	2096.4	1934.2	7.59	4.85	453	3191.53	68.35	0.34	3.74	0.951	0.054	0.131	1741.72	1634.56	1848.88	2168.50	433.75	0	0	0	11.17	16.01	15.74
3236.34	9382	388.77	1.88	0.00	1737.5	1629.1	1845.9	2168.0	433.9	4.22	2.97	475	3344.13	91.19	0.00	3.44	0.930	0.000	0.052	1231.47	1124.00	1338.94	2168.88	1944.06	0	0	0	11.39	30.00	15.76
3472	end climb: NO_VERTICAL_VELOCITY
state	3473	begin surface