Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 8 * 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 8 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 15 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 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3100 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 54.02322 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 104.51083 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 15 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 54.02322 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 104.51083 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 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 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 3100 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 8 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 230623,000140,4736.342,-12256.490,1,1.1,3,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.49 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,000637,4736.329,-12256.511,2,1.5,4,15.4 MHEAD_RNG_PITCHd_Wd 352.5,376,-27.2,-10.000,-30.00,969,0.127

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME N 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 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET xmit ok outbox0006.n 812 13 _24V_AH 15.01,84.640

NET_PING 1687480661,29,1047.903076,19.700001,-1.399118 _10V_AH 15.00,0.000

MODEM_MSG CACST,8,1,20230623004918.175719,18,4819,30,0231,0000,246,03,03,01,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*13 FG_AHR_24Vo 104.667

NAV 1687481798,0.2,1,stop FG_AHR_10Vo 54.068

FREEZE 5.21,13.399,-1.521,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2860.69,261.21,0.910,0,500.8,389.3,612.3,637.58 MEM2 945824,24,100884,69

SM_GC 1.46,0.00,13.39,0.13,0.000,0.055,0.120,498.0,389.6,606.4,188.7,2050.0,0,0,0,30.00,15.57,15.61 DATA_FILE_SIZE 9732,423

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 172958,0

IRIDIUM_FIX 4734.67,-12257.15,220623,225409 SDSIZE 3887104,3871520

TCM_TEMP 13.03 SDFILEDIR 95,9

SC_FREEKB 3876416 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 1,1687479000,47.60500,-122.95000,0.585,857.4 MAGCAL 1.000000,-0.025515,0.067669,0.014716,1.044646,-0.060652,0.001585,-0.097366,1.005973,21.5,-1134.4,-860.3,22,0.0333,0

RAFOS_FIX 4641.553711,-12257.000000,230623,000018,4,255,41.56 IMPLIED_C_PITCH 1776,13.59,180,0.0,0.00

HUMID 56.75 IMPLIED_C_VBD 2998,38.005814,138,0

TEMP 11.45 GPS 230623,005731,4736.441,-12256.460,2,1.0,18,15.4

INTERNAL_PRESSURE 10.3634

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 651 1094 10697.77 nil 0 0 0.00

Pitch_motor 29 282 126.36 nil 0 0 0.00

Roll_motor 56 163 137.88 nil 0 0 0.00

Iridium 170 146 375.35 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.02 nil 0 0 0.00

Core 1895 5 145.54 SciCon 2588 7 285.37

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1070 0 5.14

Compass 897 5 67.34

RAFOS 2282 40 1369.69

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

7.83 16386 -63.69 -2.14 0.00 496.7 390.1 603.2 185.0 2051.8 0.00 0.00 0 83.58 72.75 0.00 0.00 0.005 0.000 0.000 2133.41 2088.31 2178.50 185.12 2052.06 0 0 0 13.66 30.00 30.00

83.87 18983 -131.16 -2.22 -80.00 2133.4 2088.1 2178.8 185.1 2051.7 3.48 -2.87 14 147.03 41.69 8.35 3.54 0.005 0.282 0.108 3634.44 3595.12 3673.75 1248.06 618.06 0 0 0 15.89 15.61 15.77

300.30 1156 -131.16 -2.14 0.00 3634.0 3595.1 3672.9 1247.8 618.3 33.25 -14.97 57 305.90 0.00 0.00 3.46 0.000 0.000 0.044 3634.56 3595.69 3673.44 1247.94 2118.56 0 0 0 30.00 30.00 15.85

495.33 260 -131.16 -2.14 80.00 3634.4 3595.2 3673.6 1247.8 2119.6 60.02 -13.86 89 501.63 0.00 0.00 3.46 0.000 0.000 0.098 3584.59 3496.38 3672.81 1246.94 3556.25 0 0 0 30.00 30.00 15.82

574.65 3205 -131.16 -2.07 0.00 3634.0 3594.6 3673.4 1247.8 3556.2 73.18 -17.15 105 581.57 0.00 0.26 3.39 0.000 0.212 0.041 3576.66 3480.06 3673.25 1284.31 2054.44 0 0 0 30.00 15.71 15.89

770.46 260 -131.16 -2.07 80.00 3634.4 3595.4 3673.5 1284.6 2053.6 100.38 -13.93 125 781.62 0.00 0.00 3.64 0.000 0.000 0.093 3634.22 3595.31 3673.12 1285.00 3556.12 0 0 0 30.00 30.00 15.76

1010.38 1028 -131.16 -2.07 0.00 3634.8 3595.4 3674.2 1284.8 3556.1 140.93 -16.94 173 1016.63 0.00 0.00 3.40 0.000 0.000 0.041 3635.34 3596.19 3674.50 1284.75 2054.75 0 0 0 30.00 30.00 15.85

1075 end dive: TARGET_DEPTH_EXCEEDED

state 1075 begin apogee

1076.75 10243 0.00 -0.38 0.00 3634.7 3595.3 3674.1 1284.2 2121.4 150.78 -14.89 180 1181.49 92.36 2.92 0.12 1.094 0.178 0.163 3100.56 3020.00 3181.12 1693.69 2048.62 0 0 0 10.84 15.72 15.60

1183 end apogee: CONTROL_FINISHED_OK

state 1183 begin climb

1183.37 10759 131.16 2.22 -80.00 3097.9 3017.9 3177.9 1693.8 2048.9 154.27 0.00 190 1297.54 95.46 4.07 3.61 1.065 0.094 0.112 2562.28 2468.50 2656.06 2330.12 620.25 0 0 0 11.24 15.59 15.50

1320.21 5253 131.16 2.11 0.00 2559.3 2468.0 2650.6 2329.2 620.2 139.28 16.90 215 1327.35 0.00 0.29 3.48 0.000 0.218 0.042 2559.78 2467.75 2651.81 2292.94 2115.81 0 0 0 30.00 15.53 15.63

1515.91 16646 131.16 2.11 80.00 2556.7 2466.8 2646.6 2292.8 2115.8 107.55 15.14 235 1522.38 0.00 0.00 3.50 0.000 0.000 0.101 2531.59 2418.56 2644.62 2289.88 3554.06 0 0 0 30.00 30.00 15.74

1581.01 17542 131.16 2.04 0.00 2556.3 2466.8 2645.8 2292.3 3553.9 96.30 17.61 248 1587.37 0.00 0.00 3.40 0.000 0.000 0.041 2553.88 2463.56 2644.19 2292.69 2055.38 0 0 0 30.00 30.00 15.82

1775.93 16646 131.16 2.04 80.00 2555.3 2466.1 2644.6 2292.6 2055.2 67.87 14.34 268 1782.55 0.00 0.00 3.63 0.000 0.000 0.098 2553.06 2463.12 2643.00 2292.19 3555.31 0 0 0 30.00 30.00 15.84

1864.93 21639 131.16 1.98 0.00 2555.1 2466.4 2643.8 2292.6 3554.7 53.59 16.30 285 1874.47 0.00 0.23 3.38 0.000 0.216 0.040 2554.84 2467.19 2642.50 2261.81 2053.12 0 0 0 30.00 15.77 15.89

2058.70 16646 131.16 1.98 80.00 2554.2 2465.2 2643.2 2261.5 2052.9 30.66 10.82 322 2065.99 0.00 0.00 3.64 0.000 0.000 0.099 2551.09 2461.69 2640.50 2261.38 3554.88 0 0 0 30.00 30.00 15.88

2129.43 17542 131.16 1.95 0.00 2553.9 2464.9 2642.9 2261.3 3554.5 21.79 12.92 336 2135.51 0.00 0.00 3.38 0.000 0.000 0.041 2552.59 2463.19 2642.00 2261.19 2055.19 0 0 0 30.00 30.00 15.96

2317.93 8870 176.58 2.04 -80.00 2553.4 2464.1 2642.7 2261.4 2054.5 8.11 5.20 372 2360.99 33.12 0.00 3.53 0.950 0.000 0.113 2376.66 2277.75 2475.56 2261.56 620.25 0 0 0 10.89 30.00 15.83

2457.53 11303 253.30 2.14 0.00 2373.5 2277.8 2469.1 2261.3 620.4 5.56 1.90 399 2522.15 54.71 0.28 3.42 0.939 0.074 0.040 2065.66 1955.25 2176.06 2315.50 2122.81 0 0 0 11.20 15.85 15.87

2581 end climb: NO_VERTICAL_VELOCITY

state 2581 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	8	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	15	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	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3100	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	54.02322	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	104.51083	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	230623,000140,4736.342,-12256.490,1,1.1,3,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.49	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,000637,4736.329,-12256.511,2,1.5,4,15.4	MHEAD_RNG_PITCHd_Wd	352.5,376,-27.2,-10.000,-30.00,969,0.127
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	N	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	4736.530,-12256.470	OSC	8000266

NET	xmit ok outbox0006.n 812 13	_24V_AH	15.01,84.640
NET_PING	1687480661,29,1047.903076,19.700001,-1.399118	_10V_AH	15.00,0.000
MODEM_MSG	CACST,8,1,20230623004918.175719,18,4819,30,0231,0000,246,03,03,01,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*13	FG_AHR_24Vo	104.667
NAV	1687481798,0.2,1,stop	FG_AHR_10Vo	54.068
FREEZE	5.21,13.399,-1.521,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2860.69,261.21,0.910,0,500.8,389.3,612.3,637.58	MEM2	945824,24,100884,69
SM_GC	1.46,0.00,13.39,0.13,0.000,0.055,0.120,498.0,389.6,606.4,188.7,2050.0,0,0,0,30.00,15.57,15.61	DATA_FILE_SIZE	9732,423
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	172958,0
IRIDIUM_FIX	4734.67,-12257.15,220623,225409	SDSIZE	3887104,3871520
TCM_TEMP	13.03	SDFILEDIR	95,9
SC_FREEKB	3876416	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	1,1687479000,47.60500,-122.95000,0.585,857.4	MAGCAL	1.000000,-0.025515,0.067669,0.014716,1.044646,-0.060652,0.001585,-0.097366,1.005973,21.5,-1134.4,-860.3,22,0.0333,0
RAFOS_FIX	4641.553711,-12257.000000,230623,000018,4,255,41.56	IMPLIED_C_PITCH	1776,13.59,180,0.0,0.00
HUMID	56.75	IMPLIED_C_VBD	2998,38.005814,138,0
TEMP	11.45	GPS	230623,005731,4736.441,-12256.460,2,1.0,18,15.4
INTERNAL_PRESSURE	10.3634

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	651	1094	10697.77	nil	0	0	0.00
Pitch_motor	29	282	126.36	nil	0	0	0.00
Roll_motor	56	163	137.88	nil	0	0	0.00
Iridium	170	146	375.35	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.02	nil	0	0	0.00
Core	1895	5	145.54	SciCon	2588	7	285.37
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1070	0	5.14
Compass	897	5	67.34
RAFOS	2282	40	1369.69
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
7.83	16386	-63.69	-2.14	0.00	496.7	390.1	603.2	185.0	2051.8	0.00	0.00	0	83.58	72.75	0.00	0.00	0.005	0.000	0.000	2133.41	2088.31	2178.50	185.12	2052.06	0	0	0	13.66	30.00	30.00
83.87	18983	-131.16	-2.22	-80.00	2133.4	2088.1	2178.8	185.1	2051.7	3.48	-2.87	14	147.03	41.69	8.35	3.54	0.005	0.282	0.108	3634.44	3595.12	3673.75	1248.06	618.06	0	0	0	15.89	15.61	15.77
300.30	1156	-131.16	-2.14	0.00	3634.0	3595.1	3672.9	1247.8	618.3	33.25	-14.97	57	305.90	0.00	0.00	3.46	0.000	0.000	0.044	3634.56	3595.69	3673.44	1247.94	2118.56	0	0	0	30.00	30.00	15.85
495.33	260	-131.16	-2.14	80.00	3634.4	3595.2	3673.6	1247.8	2119.6	60.02	-13.86	89	501.63	0.00	0.00	3.46	0.000	0.000	0.098	3584.59	3496.38	3672.81	1246.94	3556.25	0	0	0	30.00	30.00	15.82
574.65	3205	-131.16	-2.07	0.00	3634.0	3594.6	3673.4	1247.8	3556.2	73.18	-17.15	105	581.57	0.00	0.26	3.39	0.000	0.212	0.041	3576.66	3480.06	3673.25	1284.31	2054.44	0	0	0	30.00	15.71	15.89
770.46	260	-131.16	-2.07	80.00	3634.4	3595.4	3673.5	1284.6	2053.6	100.38	-13.93	125	781.62	0.00	0.00	3.64	0.000	0.000	0.093	3634.22	3595.31	3673.12	1285.00	3556.12	0	0	0	30.00	30.00	15.76
1010.38	1028	-131.16	-2.07	0.00	3634.8	3595.4	3674.2	1284.8	3556.1	140.93	-16.94	173	1016.63	0.00	0.00	3.40	0.000	0.000	0.041	3635.34	3596.19	3674.50	1284.75	2054.75	0	0	0	30.00	30.00	15.85
1075	end dive: TARGET_DEPTH_EXCEEDED
state	1075	begin apogee
1076.75	10243	0.00	-0.38	0.00	3634.7	3595.3	3674.1	1284.2	2121.4	150.78	-14.89	180	1181.49	92.36	2.92	0.12	1.094	0.178	0.163	3100.56	3020.00	3181.12	1693.69	2048.62	0	0	0	10.84	15.72	15.60
1183	end apogee: CONTROL_FINISHED_OK
state	1183	begin climb
1183.37	10759	131.16	2.22	-80.00	3097.9	3017.9	3177.9	1693.8	2048.9	154.27	0.00	190	1297.54	95.46	4.07	3.61	1.065	0.094	0.112	2562.28	2468.50	2656.06	2330.12	620.25	0	0	0	11.24	15.59	15.50
1320.21	5253	131.16	2.11	0.00	2559.3	2468.0	2650.6	2329.2	620.2	139.28	16.90	215	1327.35	0.00	0.29	3.48	0.000	0.218	0.042	2559.78	2467.75	2651.81	2292.94	2115.81	0	0	0	30.00	15.53	15.63
1515.91	16646	131.16	2.11	80.00	2556.7	2466.8	2646.6	2292.8	2115.8	107.55	15.14	235	1522.38	0.00	0.00	3.50	0.000	0.000	0.101	2531.59	2418.56	2644.62	2289.88	3554.06	0	0	0	30.00	30.00	15.74
1581.01	17542	131.16	2.04	0.00	2556.3	2466.8	2645.8	2292.3	3553.9	96.30	17.61	248	1587.37	0.00	0.00	3.40	0.000	0.000	0.041	2553.88	2463.56	2644.19	2292.69	2055.38	0	0	0	30.00	30.00	15.82
1775.93	16646	131.16	2.04	80.00	2555.3	2466.1	2644.6	2292.6	2055.2	67.87	14.34	268	1782.55	0.00	0.00	3.63	0.000	0.000	0.098	2553.06	2463.12	2643.00	2292.19	3555.31	0	0	0	30.00	30.00	15.84
1864.93	21639	131.16	1.98	0.00	2555.1	2466.4	2643.8	2292.6	3554.7	53.59	16.30	285	1874.47	0.00	0.23	3.38	0.000	0.216	0.040	2554.84	2467.19	2642.50	2261.81	2053.12	0	0	0	30.00	15.77	15.89
2058.70	16646	131.16	1.98	80.00	2554.2	2465.2	2643.2	2261.5	2052.9	30.66	10.82	322	2065.99	0.00	0.00	3.64	0.000	0.000	0.099	2551.09	2461.69	2640.50	2261.38	3554.88	0	0	0	30.00	30.00	15.88
2129.43	17542	131.16	1.95	0.00	2553.9	2464.9	2642.9	2261.3	3554.5	21.79	12.92	336	2135.51	0.00	0.00	3.38	0.000	0.000	0.041	2552.59	2463.19	2642.00	2261.19	2055.19	0	0	0	30.00	30.00	15.96
2317.93	8870	176.58	2.04	-80.00	2553.4	2464.1	2642.7	2261.4	2054.5	8.11	5.20	372	2360.99	33.12	0.00	3.53	0.950	0.000	0.113	2376.66	2277.75	2475.56	2261.56	620.25	0	0	0	10.89	30.00	15.83
2457.53	11303	253.30	2.14	0.00	2373.5	2277.8	2469.1	2261.3	620.4	5.56	1.90	399	2522.15	54.71	0.28	3.42	0.939	0.074	0.040	2065.66	1955.25	2176.06	2315.50	2122.81	0	0	0	11.20	15.85	15.87
2581	end climb: NO_VERTICAL_VELOCITY
state	2581	begin surface