Glider dive log

HoodCanal 22Jun23 * SG251 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 251 ESCAPE_HEADING_DELTA 10 ROLL_DEG 80 XPDR_VALID 4

MISSION 2 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2400 XPDR_INHIBIT 90

DIVE 11 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2400 XPDR_INT 0

N_DIVES 15 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 XPDR_REP 0

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.054945 DEEPGLIDER 0

D_SURF 2 SM_CC 588.71997 ROLL_TIMEOUT 15 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 ROLL_MAXERRORS 1 MOTHERBOARD 7

D_TGT 150 FILEMGR 0 ROLL_ADJ_GAIN 0 DEVICE1 -1

D_ABORT 175 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_NO_BLEED 50 COMM_SEQ 7 VBD_MIN 500 DEVICE3 -1

D_BOOST 0 PROTOCOL 9 VBD_MAX 3960 DEVICE4 -1

T_BOOST 0 N_NOCOMM 1 C_VBD 2900 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 131 VBD_DBAND 2 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_CNV -0.24529999 LOGGERS 7

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 LOGGERDEVICE1 6

D_CALL 0 NETBOX 1 VBD_TIMEOUT 720 LOGGERDEVICE2 -1

SURFACE_URGENCY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0024999999 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 UNCOM_BLEED 20 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_MAXERRORS 1 COMPASS_DEVICE 66

T_DIVE 50 CAPMAXSIZE 100000 C_VBD_AUTO_DELTA 0 COMPASS2_DEVICE -1

T_MISSION 75 T_GPS 5 C_VBD_AUTO_MAX 0 PHONE_DEVICE 33

T_ABORT 1440 N_GPS 100440 W_ADJ_DBAND 0 GPS_DEVICE 48

T_TURN 300 T_RSLEEP 3 DBDW 0 RAFOS_DEVICE 96

T_TURN_SAMPINT -5 STROBE 0 LOITER_W_DBAND 0 NAV_DEVICE 5

T_NO_W 120 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 0 NAV2_DEVICE 5

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 NAV3_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 NAV4_DEVICE 24

USE_BATHY -10 RAFOS_MMODEM 0 LOITER_N_DIVE 0 NETWORK_DEVICE 1

USE_ICE 0 PITCH_MIN 200 CF8_MAXERRORS 20 PRESSURE_DEVICE 34

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3600 AH0_10V 575 XPDR_DEVICE -1

D_OFFGRID 100 C_PITCH 1570 MINV_10V 11 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 MAXI_10V 5 SEABIRD_T_G 0.0043000001

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 FG_AHR_10V 4.5283518 SEABIRD_T_H 0.00063999998

MAX_BUOY 150 PITCH_GAIN 17 PRESSURE_YINT -191.3745 SEABIRD_T_I 2.4999999e-05

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_SLOPE 0.0002272921 SEABIRD_T_J 4.3e-06

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 49156 SEABIRD_C_G -10

RHO 1.023 PITCH_ADJ_GAIN 0.015 ALTIM_PING_FIT 0 SEABIRD_C_H 1

MASS 72374 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

NAV_MODE 2 C_PITCH_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

FERRY_MAX 45 C_PITCH_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

KALMAN_USE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_B 0.0099999998 PITCH_W_GAIN 0 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HD_C 1.6e-05 PITCH_W_DBAND 0 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

HEADING -1 ROLL_MIN 190 ALTIM_PULSE 3

ESCAPE_HEADING 0 ROLL_MAX 3795 ALTIM_SENSITIVITY 2

AH0_10V 575 D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 D_TGT 150 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SM_CC 588.71997

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_ADJ_GAIN 0.015 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 4.5283518 PITCH_CNV 0.0041299998 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 17 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_MAX 3600 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MIN 200 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_TIMEOUT 25 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0024999999 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_DIVE 50

COMPASS2_DEVICE -1 ID 251 PITCH_W_GAIN 0 T_EPIRB 0

COMPASS_DEVICE 66 KALMAN_USE 2 PRESSURE_DEVICE 34 T_GPS 5

COMPASS_USE 49156 LOGGERDEVICE1 6 PRESSURE_SLOPE 0.0002272921 T_LOITER 0

C_PITCH 1570 LOGGERDEVICE2 -1 PRESSURE_YINT -191.3745 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 PROTOCOL 9 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_RSLEEP 3

C_ROLL_CLIMB 2400 LOGGERS 7 RAFOS_DEVICE 96 T_TURN 300

C_ROLL_DIVE 2400 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_VBD 2900 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_BATHY -10

DBDW 0 LOITER_W_DBAND 0 RHO 1.023 USE_ICE 0

DEEPGLIDER 0 MASS 72374 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MAXI_10V 5 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE1 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DEVICE2 -1 MINV_10V 11 ROLL_DEG 80 VBD_MAX 3960

DEVICE3 -1 MISSION 2 ROLL_MAX 3795 VBD_MAXERRORS 1

DEVICE4 -1 MOTHERBOARD 7 ROLL_MAXERRORS 1 VBD_MIN 500

DEVICE5 -1 NAV2_DEVICE 5 ROLL_MIN 190 VBD_TIMEOUT 720

DEVICE6 -1 NAV3_DEVICE 24 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DIVE 11 NAV4_DEVICE 24 SC_NDIVE 1.0 XPDR_DEVICE -1

D_ABORT 175 NAV_DEVICE 5 SC_PROFILE 3.0 XPDR_INHIBIT 90

D_BOOST 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_CALL 0 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_REP 0

D_FINISH 0 NETWORK_DEVICE 1 SEABIRD_C_G -10 XPDR_VALID 4

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_H 1

D_NO_BLEED 50 N_DIVES 15 SEABIRD_C_I -0.0020000001

Pre-dive calculations and measurements:

GPS1 230623,044556,4736.110,-12256.608,31,0.6,32,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,044941,4736.114,-12256.603,29,1.0,29,15.4 MHEAD_RNG_PITCHd_Wd 211.1,390,-27.2,-10.000,-30.00,969,0.111

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME S IRON 1.000000,0.027167,0.021622,-0.014525,1.079872,-0.062652,-0.001034,-0.095418,1.059993,508.079681,852.414490,-727.214294

TGT_LATLONG 4735.950,-12256.800 OSC 8000061

Post-dive calculations and measurements:

NAV 1687499177,0.1,start INTERNAL_PRESSURE 8.92668

NET CACST,8,0,19700101000008.968325,17,32767,45,0101,0113,07,00,00,00,00,1,029,251,0,5,1,0,150,7.5,7.05,-100,-4.05,-01,0.02,69,10000,5000,0,-1,-1,00*79 _10V_AH 14.94,0.867

NET_PING 1687498217,29,556.192505,7.500000,-1793.159912 FG_AHR_10Vo 4.784

MODEM_MSG CACST,8,2,20230623052500.338705,2,3914204,65,71,95,0,0,0,0,0,-1,-1,-1,0,0,0,0,95,0.00,0.00,0,0.00,0,0.00,5484990,925,25,0,-1,0,0 MAMPS 82.0,128.2,59.4,800.0,1182.7,1504.4

FREEZE 4.32,12.588,-1.558,0,1,0 MEM0 60172,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3233.92,408.49,0.876,0,500.8,437.4,564.2,588.53 MEM2 1991624,31,103400,75

SM_GC 1.49,0.00,13.12,0.08,0.000,0.075,0.168,497.8,433.4,562.3,185.2,2371.8,0,0,0,30.00,14.80,14.81 DATA_FILE_SIZE 9728,421

SUPER 55,77,254,1,0,0 CAP_FILE_SIZE 194199,0

IRIDIUM_FIX 4739.20,-12253.53,230623,033955 SDSIZE 3887104,3870816

TCM_TEMP 13.02 SDFILEDIR 125,12

SC_FREEKB 3875232 ERRORS 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1465.0

MODEM 0,1687496400,47.60500,-122.95000,0.389,569.8 CURRENT 0.028, 83.3,1

RAFOS_FIX 4737.187988,-12257.000000,230623,050559,5,255,1.13 MAGCAL 1.000000,0.044624,0.020748,0.002126,1.077330,-0.066220,0.024448,-0.069870,0.995842,515.5,841.7,-676.2,33,0.0309,0

HUMID 46.14 IMPLIED_C_PITCH 1693,14.25,185,0.0,0.00

TEMP 12.11 IMPLIED_C_VBD 2873,35.044563,185,0

VOC 3655.0 GPS 230623,054723,4735.900,-12256.819,1,0.9,3,15.4

Energy measurements:

device secs mA J sensor secs mA J

GPS 38 15 8.55 nil 0 0 0.00

Core 1942 5 148.56 SciCon 2818 6 253.66

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1185 0 5.67

Compass 880 5 65.78

RAFOS 2081 40 1243.89

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

7.44 16386 -63.69 -1.76 0.00 496.8 457.4 536.2 190.0 2429.6 0.00 0.00 0 87.46 78.49 0.00 0.00 0.011 0.000 0.000 2424.59 2392.75 2456.44 189.81 2430.19 0 0 0 13.43 30.00 30.00

87.75 18983 -141.02 -1.95 -80.00 2425.3 2394.0 2456.7 189.8 2429.9 3.09 -1.83 13 134.62 28.55 7.41 3.66 0.012 0.318 0.118 3475.16 3424.38 3525.94 1096.94 928.69 0 0 0 14.43 14.94 14.78

137.82 3205 -141.02 -1.80 0.00 3475.4 3424.6 3526.2 1097.1 928.8 9.70 -14.62 23 143.47 0.00 0.28 3.46 0.000 0.273 0.070 3476.31 3425.75 3526.88 1134.75 2419.31 0 0 0 30.00 14.98 15.05

327.84 644 -141.02 -1.72 -80.00 3476.3 3425.2 3527.4 1134.8 2418.8 40.91 -15.14 61 333.83 0.00 0.00 3.60 0.000 0.000 0.103 3477.59 3426.38 3528.81 1134.50 927.62 0 0 0 30.00 30.00 15.12

407.96 3205 -141.02 -1.62 0.00 3476.5 3425.3 3527.7 1134.6 927.6 53.51 -15.72 77 414.35 0.00 0.32 3.44 0.000 0.256 0.072 3475.47 3424.31 3526.62 1179.25 2418.94 0 0 0 30.00 15.09 15.15

600.48 644 -141.02 -1.58 -80.00 3477.0 3425.4 3528.6 1179.2 2418.9 78.93 -14.06 94 610.02 0.00 0.00 3.58 0.000 0.000 0.103 3478.44 3427.44 3529.44 1179.25 930.00 0 0 0 30.00 30.00 15.15

673.31 1156 -141.02 -1.53 0.00 3476.9 3425.2 3528.6 1179.5 930.0 91.84 -15.57 109 679.94 0.00 0.00 3.43 0.000 0.000 0.072 3477.16 3425.75 3528.56 1179.19 2418.31 0 0 0 30.00 30.00 15.17

869.00 516 -141.02 -1.53 -80.00 3477.7 3425.9 3529.5 1179.3 2418.3 121.29 -15.50 129 875.27 0.00 0.00 3.57 0.000 0.000 0.105 3477.91 3426.12 3529.69 1179.06 928.62 0 0 0 30.00 30.00 15.18

968.35 3205 -141.02 -1.48 0.00 3477.7 3425.8 3529.5 1179.2 928.8 137.59 -16.23 149 975.17 0.00 0.25 3.43 0.000 0.256 0.072 3477.97 3426.06 3529.88 1213.00 2417.50 0 0 0 30.00 15.14 15.20

1064 end dive: TARGET_DEPTH_EXCEEDED

state 1064 begin apogee

1065.39 10243 0.00 -0.29 0.00 3478.1 3426.0 3530.1 1212.9 2368.0 151.24 -14.20 159 1237.01 162.02 2.04 0.10 1.003 0.210 0.325 2901.31 2829.81 2972.81 1500.00 2424.88 0 0 0 11.95 15.16 14.74

1238 end apogee: CONTROL_FINISHED_OK

state 1238 begin climb

1238.11 10503 141.02 1.95 80.00 2897.1 2825.9 2968.3 1499.9 2424.6 159.86 0.00 175 1407.71 152.96 3.87 3.59 0.973 0.160 0.154 2324.06 2248.50 2399.62 2044.44 3804.06 0 0 0 11.70 14.77 14.61

1441.14 1028 141.02 1.95 0.00 2320.8 2247.4 2394.2 2044.5 3803.9 141.66 15.47 213 1447.34 0.00 0.00 3.38 0.000 0.000 0.051 2319.62 2246.69 2392.56 2044.44 2365.69 0 0 0 30.00 30.00 14.77

1636.08 644 141.02 2.05 -80.00 2317.8 2241.8 2393.9 2044.6 2365.8 116.88 12.50 233 1642.48 0.00 0.00 3.52 0.000 0.000 0.115 2318.53 2242.69 2394.38 2043.69 930.00 0 0 0 30.00 30.00 14.95

1661.10 3205 141.02 2.14 0.00 2317.6 2241.1 2394.0 2044.4 930.0 113.67 12.85 238 1667.65 0.00 0.27 3.48 0.000 0.094 0.073 2318.22 2242.00 2394.44 2098.88 2417.06 0 0 0 30.00 14.98 14.98

1854.91 644 141.02 2.19 -80.00 2317.2 2240.6 2393.9 2099.6 2417.4 87.80 13.60 257 1864.74 0.00 0.00 3.65 0.000 0.000 0.112 2317.12 2240.31 2393.94 2099.75 931.12 0 0 0 30.00 30.00 14.95

1884.94 17542 141.02 2.23 0.00 2316.7 2239.4 2394.0 2099.4 932.1 83.06 14.03 263 1900.04 0.00 0.00 3.56 0.000 0.000 0.071 2318.75 2241.88 2395.62 2099.38 2417.19 0 0 0 30.00 30.00 14.23

2084.84 18563 141.02 2.29 0.00 2316.6 2239.2 2393.9 2099.8 2417.2 57.32 12.27 284 2086.63 0.00 0.16 0.00 0.000 0.110 0.000 2315.28 2238.50 2392.06 2134.88 2417.31 0 0 0 30.00 15.05 30.00

2270.59 16514 141.02 2.32 0.00 2316.0 2238.6 2393.4 2134.9 2417.1 32.65 12.70 315 2274.32 0.00 0.00 0.00 0.000 0.000 0.000 2316.50 2239.19 2393.81 2135.06 2417.06 0 0 0 30.00 30.00 30.00

2458.17 8870 150.09 2.40 -80.00 2315.9 2238.2 2393.6 2134.8 2417.2 12.61 9.04 351 2479.13 11.72 0.00 3.62 0.805 0.000 0.116 2287.16 2210.06 2364.25 2135.19 931.38 0 0 0 11.78 30.00 15.12

2578.20 11431 190.73 2.57 0.00 2285.2 2207.3 2363.1 2134.8 931.1 4.03 5.71 375 2636.30 47.76 0.36 3.44 0.887 0.083 0.072 2121.22 2040.69 2201.75 2205.81 2419.75 0 0 0 11.82 15.16 15.16

2810 end climb: NO_VERTICAL_VELOCITY

state 2810 begin surface

ID	251	ESCAPE_HEADING_DELTA	10	ROLL_DEG	80	XPDR_VALID	4
MISSION	2	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2400	XPDR_INHIBIT	90
DIVE	11	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2400	XPDR_INT	0
N_DIVES	15	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	XPDR_REP	0
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.054945	DEEPGLIDER	0
D_SURF	2	SM_CC	588.71997	ROLL_TIMEOUT	15	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	ROLL_MAXERRORS	1	MOTHERBOARD	7
D_TGT	150	FILEMGR	0	ROLL_ADJ_GAIN	0	DEVICE1	-1
D_ABORT	175	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_NO_BLEED	50	COMM_SEQ	7	VBD_MIN	500	DEVICE3	-1
D_BOOST	0	PROTOCOL	9	VBD_MAX	3960	DEVICE4	-1
T_BOOST	0	N_NOCOMM	1	C_VBD	2900	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	131	VBD_DBAND	2	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	LOGGERS	7
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	LOGGERDEVICE1	6
D_CALL	0	NETBOX	1	VBD_TIMEOUT	720	LOGGERDEVICE2	-1
SURFACE_URGENCY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0024999999	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	UNCOM_BLEED	20	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_MAXERRORS	1	COMPASS_DEVICE	66
T_DIVE	50	CAPMAXSIZE	100000	C_VBD_AUTO_DELTA	0	COMPASS2_DEVICE	-1
T_MISSION	75	T_GPS	5	C_VBD_AUTO_MAX	0	PHONE_DEVICE	33
T_ABORT	1440	N_GPS	100440	W_ADJ_DBAND	0	GPS_DEVICE	48
T_TURN	300	T_RSLEEP	3	DBDW	0	RAFOS_DEVICE	96
T_TURN_SAMPINT	-5	STROBE	0	LOITER_W_DBAND	0	NAV_DEVICE	5
T_NO_W	120	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	0	NAV2_DEVICE	5
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	NAV3_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	NAV4_DEVICE	24
USE_BATHY	-10	RAFOS_MMODEM	0	LOITER_N_DIVE	0	NETWORK_DEVICE	1
USE_ICE	0	PITCH_MIN	200	CF8_MAXERRORS	20	PRESSURE_DEVICE	34
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3600	AH0_10V	575	XPDR_DEVICE	-1
D_OFFGRID	100	C_PITCH	1570	MINV_10V	11	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	MAXI_10V	5	SEABIRD_T_G	0.0043000001
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	FG_AHR_10V	4.5283518	SEABIRD_T_H	0.00063999998
MAX_BUOY	150	PITCH_GAIN	17	PRESSURE_YINT	-191.3745	SEABIRD_T_I	2.4999999e-05
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_SLOPE	0.0002272921	SEABIRD_T_J	4.3e-06
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	49156	SEABIRD_C_G	-10
RHO	1.023	PITCH_ADJ_GAIN	0.015	ALTIM_PING_FIT	0	SEABIRD_C_H	1
MASS	72374	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
NAV_MODE	2	C_PITCH_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
FERRY_MAX	45	C_PITCH_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
KALMAN_USE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_A	0.003	PITCH_GAIN_AUTO_MAX	0	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_B	0.0099999998	PITCH_W_GAIN	0	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HD_C	1.6e-05	PITCH_W_DBAND	0	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
HEADING	-1	ROLL_MIN	190	ALTIM_PULSE	3
ESCAPE_HEADING	0	ROLL_MAX	3795	ALTIM_SENSITIVITY	2

GPS1	230623,044556,4736.110,-12256.608,31,0.6,32,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,044941,4736.114,-12256.603,29,1.0,29,15.4	MHEAD_RNG_PITCHd_Wd	211.1,390,-27.2,-10.000,-30.00,969,0.111
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.027167,0.021622,-0.014525,1.079872,-0.062652,-0.001034,-0.095418,1.059993,508.079681,852.414490,-727.214294
TGT_LATLONG	4735.950,-12256.800	OSC	8000061

NAV	1687499177,0.1,start	INTERNAL_PRESSURE	8.92668
NET	CACST,8,0,19700101000008.968325,17,32767,45,0101,0113,07,00,00,00,00,1,029,251,0,5,1,0,150,7.5,7.05,-100,-4.05,-01,0.02,69,10000,5000,0,-1,-1,00*79	_10V_AH	14.94,0.867
NET_PING	1687498217,29,556.192505,7.500000,-1793.159912	FG_AHR_10Vo	4.784
MODEM_MSG	CACST,8,2,20230623052500.338705,2,3914204,65,71,95,0,0,0,0,0,-1,-1,-1,0,0,0,0,95,0.00,0.00,0,0.00,0,0.00,5484990,925,25,0,-1,0,0	MAMPS	82.0,128.2,59.4,800.0,1182.7,1504.4
FREEZE	4.32,12.588,-1.558,0,1,0	MEM0	60172,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3233.92,408.49,0.876,0,500.8,437.4,564.2,588.53	MEM2	1991624,31,103400,75
SM_GC	1.49,0.00,13.12,0.08,0.000,0.075,0.168,497.8,433.4,562.3,185.2,2371.8,0,0,0,30.00,14.80,14.81	DATA_FILE_SIZE	9728,421
SUPER	55,77,254,1,0,0	CAP_FILE_SIZE	194199,0
IRIDIUM_FIX	4739.20,-12253.53,230623,033955	SDSIZE	3887104,3870816
TCM_TEMP	13.02	SDFILEDIR	125,12
SC_FREEKB	3875232	ERRORS	0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1465.0
MODEM	0,1687496400,47.60500,-122.95000,0.389,569.8	CURRENT	0.028, 83.3,1
RAFOS_FIX	4737.187988,-12257.000000,230623,050559,5,255,1.13	MAGCAL	1.000000,0.044624,0.020748,0.002126,1.077330,-0.066220,0.024448,-0.069870,0.995842,515.5,841.7,-676.2,33,0.0309,0
HUMID	46.14	IMPLIED_C_PITCH	1693,14.25,185,0.0,0.00
TEMP	12.11	IMPLIED_C_VBD	2873,35.044563,185,0
VOC	3655.0	GPS	230623,054723,4735.900,-12256.819,1,0.9,3,15.4

device	secs	mA	J	sensor	secs	mA	J
GPS	38	15	8.55	nil	0	0	0.00
Core	1942	5	148.56	SciCon	2818	6	253.66
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1185	0	5.67
Compass	880	5	65.78
RAFOS	2081	40	1243.89
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
7.44	16386	-63.69	-1.76	0.00	496.8	457.4	536.2	190.0	2429.6	0.00	0.00	0	87.46	78.49	0.00	0.00	0.011	0.000	0.000	2424.59	2392.75	2456.44	189.81	2430.19	0	0	0	13.43	30.00	30.00
87.75	18983	-141.02	-1.95	-80.00	2425.3	2394.0	2456.7	189.8	2429.9	3.09	-1.83	13	134.62	28.55	7.41	3.66	0.012	0.318	0.118	3475.16	3424.38	3525.94	1096.94	928.69	0	0	0	14.43	14.94	14.78
137.82	3205	-141.02	-1.80	0.00	3475.4	3424.6	3526.2	1097.1	928.8	9.70	-14.62	23	143.47	0.00	0.28	3.46	0.000	0.273	0.070	3476.31	3425.75	3526.88	1134.75	2419.31	0	0	0	30.00	14.98	15.05
327.84	644	-141.02	-1.72	-80.00	3476.3	3425.2	3527.4	1134.8	2418.8	40.91	-15.14	61	333.83	0.00	0.00	3.60	0.000	0.000	0.103	3477.59	3426.38	3528.81	1134.50	927.62	0	0	0	30.00	30.00	15.12
407.96	3205	-141.02	-1.62	0.00	3476.5	3425.3	3527.7	1134.6	927.6	53.51	-15.72	77	414.35	0.00	0.32	3.44	0.000	0.256	0.072	3475.47	3424.31	3526.62	1179.25	2418.94	0	0	0	30.00	15.09	15.15
600.48	644	-141.02	-1.58	-80.00	3477.0	3425.4	3528.6	1179.2	2418.9	78.93	-14.06	94	610.02	0.00	0.00	3.58	0.000	0.000	0.103	3478.44	3427.44	3529.44	1179.25	930.00	0	0	0	30.00	30.00	15.15
673.31	1156	-141.02	-1.53	0.00	3476.9	3425.2	3528.6	1179.5	930.0	91.84	-15.57	109	679.94	0.00	0.00	3.43	0.000	0.000	0.072	3477.16	3425.75	3528.56	1179.19	2418.31	0	0	0	30.00	30.00	15.17
869.00	516	-141.02	-1.53	-80.00	3477.7	3425.9	3529.5	1179.3	2418.3	121.29	-15.50	129	875.27	0.00	0.00	3.57	0.000	0.000	0.105	3477.91	3426.12	3529.69	1179.06	928.62	0	0	0	30.00	30.00	15.18
968.35	3205	-141.02	-1.48	0.00	3477.7	3425.8	3529.5	1179.2	928.8	137.59	-16.23	149	975.17	0.00	0.25	3.43	0.000	0.256	0.072	3477.97	3426.06	3529.88	1213.00	2417.50	0	0	0	30.00	15.14	15.20
1064	end dive: TARGET_DEPTH_EXCEEDED
state	1064	begin apogee
1065.39	10243	0.00	-0.29	0.00	3478.1	3426.0	3530.1	1212.9	2368.0	151.24	-14.20	159	1237.01	162.02	2.04	0.10	1.003	0.210	0.325	2901.31	2829.81	2972.81	1500.00	2424.88	0	0	0	11.95	15.16	14.74
1238	end apogee: CONTROL_FINISHED_OK
state	1238	begin climb
1238.11	10503	141.02	1.95	80.00	2897.1	2825.9	2968.3	1499.9	2424.6	159.86	0.00	175	1407.71	152.96	3.87	3.59	0.973	0.160	0.154	2324.06	2248.50	2399.62	2044.44	3804.06	0	0	0	11.70	14.77	14.61
1441.14	1028	141.02	1.95	0.00	2320.8	2247.4	2394.2	2044.5	3803.9	141.66	15.47	213	1447.34	0.00	0.00	3.38	0.000	0.000	0.051	2319.62	2246.69	2392.56	2044.44	2365.69	0	0	0	30.00	30.00	14.77
1636.08	644	141.02	2.05	-80.00	2317.8	2241.8	2393.9	2044.6	2365.8	116.88	12.50	233	1642.48	0.00	0.00	3.52	0.000	0.000	0.115	2318.53	2242.69	2394.38	2043.69	930.00	0	0	0	30.00	30.00	14.95
1661.10	3205	141.02	2.14	0.00	2317.6	2241.1	2394.0	2044.4	930.0	113.67	12.85	238	1667.65	0.00	0.27	3.48	0.000	0.094	0.073	2318.22	2242.00	2394.44	2098.88	2417.06	0	0	0	30.00	14.98	14.98
1854.91	644	141.02	2.19	-80.00	2317.2	2240.6	2393.9	2099.6	2417.4	87.80	13.60	257	1864.74	0.00	0.00	3.65	0.000	0.000	0.112	2317.12	2240.31	2393.94	2099.75	931.12	0	0	0	30.00	30.00	14.95
1884.94	17542	141.02	2.23	0.00	2316.7	2239.4	2394.0	2099.4	932.1	83.06	14.03	263	1900.04	0.00	0.00	3.56	0.000	0.000	0.071	2318.75	2241.88	2395.62	2099.38	2417.19	0	0	0	30.00	30.00	14.23
2084.84	18563	141.02	2.29	0.00	2316.6	2239.2	2393.9	2099.8	2417.2	57.32	12.27	284	2086.63	0.00	0.16	0.00	0.000	0.110	0.000	2315.28	2238.50	2392.06	2134.88	2417.31	0	0	0	30.00	15.05	30.00
2270.59	16514	141.02	2.32	0.00	2316.0	2238.6	2393.4	2134.9	2417.1	32.65	12.70	315	2274.32	0.00	0.00	0.00	0.000	0.000	0.000	2316.50	2239.19	2393.81	2135.06	2417.06	0	0	0	30.00	30.00	30.00
2458.17	8870	150.09	2.40	-80.00	2315.9	2238.2	2393.6	2134.8	2417.2	12.61	9.04	351	2479.13	11.72	0.00	3.62	0.805	0.000	0.116	2287.16	2210.06	2364.25	2135.19	931.38	0	0	0	11.78	30.00	15.12
2578.20	11431	190.73	2.57	0.00	2285.2	2207.3	2363.1	2134.8	931.1	4.03	5.71	375	2636.30	47.76	0.36	3.44	0.887	0.083	0.072	2121.22	2040.69	2201.75	2205.81	2419.75	0	0	0	11.82	15.16	15.16
2810	end climb: NO_VERTICAL_VELOCITY
state	2810	begin surface