Glider dive log

HoodCanal 20Jun23 * SG244 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 244 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2185 ALTIM_PULSE 3

MISSION 4 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 12 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 686.83997 ROLL_MAXERRORS 1 XPDR_INT 13.5

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 13

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 2.3

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3300 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 360 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 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 100000 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 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 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 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 200 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1500 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 15 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 2.3131316 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 7.9446125 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.0049999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -192.53183 SEABIRD_T_J 4.3e-06

MASS 72540 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022440785 SEABIRD_C_G -10

NAV_MODE 2 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 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 230 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3835 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 2300 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 30 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 2.3131316 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.9446125 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.0049999999 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 15 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 100000 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 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 244 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 2.3 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1500 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022440785 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -192.53183 T_NO_W 60

C_ROLL_CLIMB 2185 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2300 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3300 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72540 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 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 11 ROLL_MAX 3835 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 360

DIVE 12 MISSION 4 ROLL_MIN 230 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 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 13.5

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 13

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 210623,070040,4736.048,-12256.646,1,0.7,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,070341,4736.049,-12256.630,2,0.7,2,15.4 MHEAD_RNG_PITCHd_Wd 355.2,913,-17.6,-10.000,-21.21,2209,0.175

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.039715,0.008622,-0.030591,1.082832,-0.033720,0.012835,-0.071541,0.988196,588.545898,-356.791168,-300.642365

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NET xmit part outbox0007.n 871 0 _24V_AH 14.85,3.880

NET_PING 1687333723,29,390.251984,2.300000,60.477528 _10V_AH 14.92,0.000

MODEM_MSG CACST,8,1,20230621072500.277891,18,32767,45,0131,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,-10.1,2.29,-100,0.71,-01,-0.02,89,925,0025,0,-1,00,00*3C FG_AHR_24Vo 8.080

NAV 1687334350,1.2,start FG_AHR_10Vo 2.322

FREEZE 8.32,11.751,-1.592,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3182.37,286.27,0.705,0,500.6,436.4,564.9,686.69 MEM2 945948,22,100820,68

SM_GC 1.68,0.00,10.71,0.38,0.000,0.032,0.071,495.7,435.4,555.9,191.4,2320.5,0,0,0,30.00,15.35,15.34 DATA_FILE_SIZE 9719,412

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 155078,0

IRIDIUM_FIX 4735.53,-12254.47,210623,061620 SDSIZE 3887104,3870848

TCM_TEMP 18.17 SDFILEDIR 129,13

SC_FREEKB 3875008 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 1,1687331400,47.60500,-122.95000,0.298,436.7 CURRENT 0.046, 63.2,1

RAFOS_FIX 4736.161621,-12256.631836,210623,070700,3,255,0.55 MAGCAL 1.000000,-0.001364,0.091363,0.003620,1.107029,-0.126116,-0.092442,0.018609,1.102504,532.5,-324.7,-413.7,35,0.0704,0

HUMID 56.53 IMPLIED_C_PITCH 1515,16.16,221,0.0,0.00

TEMP 10.31 IMPLIED_C_VBD 3359,22.356562,221,0

INTERNAL_PRESSURE 8.26706 GPS 210623,080023,4736.425,-12256.538,1,1.4,30,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 661 892 8764.98 nil 0 0 0.00

Pitch_motor 23 254 86.85 nil 0 0 0.00

Roll_motor 43 180 118.03 nil 0 0 0.00

Iridium 118 145 257.10 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.72 nil 0 0 0.00

Core 1888 5 144.23 SciCon 2871 7 328.08

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1253 0 5.98

Compass 867 5 64.72

RAFOS 1606 40 959.00

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.33 16386 -146.63 -1.35 0.00 494.1 434.9 553.4 185.4 2273.9 0.00 0.00 0 61.20 49.76 0.00 0.00 0.005 0.000 0.000 1937.16 1922.81 1951.50 185.25 2273.94 0 0 0 15.56 30.00 30.00

61.72 18727 -146.63 -1.35 80.00 1940.5 1924.2 1956.8 185.3 2274.1 3.45 -4.19 10 132.08 42.28 7.71 3.74 0.005 0.254 0.103 3899.44 3883.19 3915.69 1172.50 3766.75 0 0 0 15.60 15.42 15.50

170.74 1156 -146.63 -1.29 0.00 3901.0 3883.9 3918.1 1171.9 3766.8 20.48 -15.11 30 178.72 0.00 0.00 3.46 0.000 0.000 0.019 3901.16 3883.62 3918.69 1172.00 2271.00 0 0 0 30.00 30.00 15.58

362.61 128 -146.63 -1.26 0.00 3903.3 3884.1 3922.6 1171.6 2269.8 43.20 -11.40 67 366.55 0.00 0.00 0.00 0.000 0.000 0.000 3903.34 3884.06 3922.62 1171.88 2269.75 0 0 0 30.00 30.00 30.00

552.71 2177 -146.63 -1.23 0.00 3903.7 3884.2 3923.1 1172.3 2270.0 65.71 -11.79 92 554.96 0.00 0.22 0.00 0.000 0.165 0.000 3903.69 3885.38 3922.00 1203.44 2270.06 0 0 0 30.00 15.58 30.00

742.83 676 -146.63 -1.22 -80.00 3903.9 3884.5 3923.4 1203.5 2269.9 84.93 -9.52 111 751.50 0.00 0.00 3.66 0.000 0.000 0.112 3903.66 3884.44 3922.88 1202.56 832.00 0 0 0 30.00 30.00 15.59

790.30 1156 -146.63 -1.20 0.00 3904.1 3884.8 3923.4 1203.6 832.1 90.02 -10.90 120 798.98 0.00 0.00 3.56 0.000 0.000 0.040 3903.66 3884.00 3923.31 1203.25 2316.88 0 0 0 30.00 30.00 15.64

985.37 160 -146.63 -1.19 0.00 3904.6 3885.1 3924.1 1203.2 2316.5 109.05 -9.57 140 987.25 0.00 0.00 0.00 0.000 0.000 0.000 3904.06 3884.00 3924.12 1203.25 2316.81 0 0 0 30.00 30.00 30.00

1175.29 644 -146.63 -1.18 -80.00 3904.4 3884.5 3924.4 1203.3 2317.1 128.02 -10.31 159 1184.18 0.00 0.00 3.79 0.000 0.000 0.111 3904.72 3884.94 3924.50 1203.44 834.06 0 0 0 30.00 30.00 15.60

1222.97 1156 -146.63 -1.16 0.00 3904.5 3884.7 3924.2 1203.3 833.7 133.29 -11.21 168 1231.65 0.00 0.00 3.54 0.000 0.000 0.041 3904.84 3884.88 3924.81 1203.12 2316.94 0 0 0 30.00 30.00 15.65

1389 end dive: TARGET_DEPTH_EXCEEDED

state 1389 begin apogee

1391.26 10243 0.00 -0.33 0.00 3904.6 3884.8 3924.5 1203.3 2153.8 150.00 -10.02 185 1507.07 102.04 1.49 0.09 0.892 0.126 0.181 3296.66 3240.06 3353.25 1421.12 2206.00 0 0 0 11.45 15.64 15.39

1508 end apogee: CONTROL_FINISHED_OK

state 1508 begin climb

1508.51 10243 146.63 1.35 0.00 3296.4 3241.0 3351.8 1421.1 2206.1 153.51 0.00 196 1630.20 105.88 2.70 0.00 0.864 0.084 0.000 2700.53 2614.31 2786.75 1830.31 2205.88 0 0 0 11.32 15.41 30.00

1813.98 16774 146.63 1.34 80.00 2691.9 2612.2 2771.6 1829.8 2205.6 120.89 14.19 226 1822.95 0.00 0.00 3.65 0.000 0.000 0.105 2690.50 2610.81 2770.19 1830.62 3650.56 0 0 0 30.00 30.00 15.45

1961.79 17542 146.63 1.31 0.00 2691.1 2612.2 2769.9 1830.2 3650.6 94.68 17.24 255 1970.56 0.00 0.00 3.46 0.000 0.000 0.023 2689.94 2611.00 2768.88 1830.69 2160.56 0 0 0 30.00 30.00 15.57

2159.79 16774 146.63 1.31 80.00 2690.4 2611.1 2769.6 1830.5 2159.8 67.82 13.07 276 2168.84 0.00 0.00 3.72 0.000 0.000 0.100 2690.38 2611.25 2769.50 1830.44 3650.31 0 0 0 30.00 30.00 15.56

2342.70 17542 146.63 1.28 0.00 2689.6 2611.4 2767.8 1830.2 3650.4 40.94 13.72 312 2351.25 0.00 0.00 3.40 0.000 0.000 0.022 2689.78 2610.75 2768.81 1830.25 2159.00 0 0 0 30.00 30.00 15.67

2534.83 16646 146.63 1.28 80.00 2689.1 2610.8 2767.4 1831.1 2158.8 20.62 10.50 350 2543.73 0.00 0.00 3.70 0.000 0.000 0.101 2687.38 2608.62 2766.12 1831.00 3650.81 0 0 0 30.00 30.00 15.65

2774.21 11431 322.77 1.48 0.00 2688.8 2610.8 2766.9 1830.3 3650.1 9.37 1.84 396 2864.42 75.31 0.17 3.37 0.732 0.071 0.020 2258.09 2143.94 2372.25 1866.88 2156.75 0 0 0 11.35 15.71 15.71

2865 end climb: NO_VERTICAL_VELOCITY

state 2865 begin surface

ID	244	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2185	ALTIM_PULSE	3
MISSION	4	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	12	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	686.83997	ROLL_MAXERRORS	1	XPDR_INT	13.5
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	13
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	2.3
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3300	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	360	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	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	100000	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	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	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	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	200	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1500	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	15	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	2.3131316	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	7.9446125	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0049999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-192.53183	SEABIRD_T_J	4.3e-06
MASS	72540	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022440785	SEABIRD_C_G	-10
NAV_MODE	2	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	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	230	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3835	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	2300	ALTIM_FREQUENCY	13

GPS1	210623,070040,4736.048,-12256.646,1,0.7,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,070341,4736.049,-12256.630,2,0.7,2,15.4	MHEAD_RNG_PITCHd_Wd	355.2,913,-17.6,-10.000,-21.21,2209,0.175
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.039715,0.008622,-0.030591,1.082832,-0.033720,0.012835,-0.071541,0.988196,588.545898,-356.791168,-300.642365
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

NET	xmit part outbox0007.n 871 0	_24V_AH	14.85,3.880
NET_PING	1687333723,29,390.251984,2.300000,60.477528	_10V_AH	14.92,0.000
MODEM_MSG	CACST,8,1,20230621072500.277891,18,32767,45,0131,0000,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,-10.1,2.29,-100,0.71,-01,-0.02,89,925,0025,0,-1,00,00*3C	FG_AHR_24Vo	8.080
NAV	1687334350,1.2,start	FG_AHR_10Vo	2.322
FREEZE	8.32,11.751,-1.592,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3182.37,286.27,0.705,0,500.6,436.4,564.9,686.69	MEM2	945948,22,100820,68
SM_GC	1.68,0.00,10.71,0.38,0.000,0.032,0.071,495.7,435.4,555.9,191.4,2320.5,0,0,0,30.00,15.35,15.34	DATA_FILE_SIZE	9719,412
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	155078,0
IRIDIUM_FIX	4735.53,-12254.47,210623,061620	SDSIZE	3887104,3870848
TCM_TEMP	18.17	SDFILEDIR	129,13
SC_FREEKB	3875008	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	1,1687331400,47.60500,-122.95000,0.298,436.7	CURRENT	0.046, 63.2,1
RAFOS_FIX	4736.161621,-12256.631836,210623,070700,3,255,0.55	MAGCAL	1.000000,-0.001364,0.091363,0.003620,1.107029,-0.126116,-0.092442,0.018609,1.102504,532.5,-324.7,-413.7,35,0.0704,0
HUMID	56.53	IMPLIED_C_PITCH	1515,16.16,221,0.0,0.00
TEMP	10.31	IMPLIED_C_VBD	3359,22.356562,221,0
INTERNAL_PRESSURE	8.26706	GPS	210623,080023,4736.425,-12256.538,1,1.4,30,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	661	892	8764.98	nil	0	0	0.00
Pitch_motor	23	254	86.85	nil	0	0	0.00
Roll_motor	43	180	118.03	nil	0	0	0.00
Iridium	118	145	257.10	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.72	nil	0	0	0.00
Core	1888	5	144.23	SciCon	2871	7	328.08
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1253	0	5.98
Compass	867	5	64.72
RAFOS	1606	40	959.00
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.33	16386	-146.63	-1.35	0.00	494.1	434.9	553.4	185.4	2273.9	0.00	0.00	0	61.20	49.76	0.00	0.00	0.005	0.000	0.000	1937.16	1922.81	1951.50	185.25	2273.94	0	0	0	15.56	30.00	30.00
61.72	18727	-146.63	-1.35	80.00	1940.5	1924.2	1956.8	185.3	2274.1	3.45	-4.19	10	132.08	42.28	7.71	3.74	0.005	0.254	0.103	3899.44	3883.19	3915.69	1172.50	3766.75	0	0	0	15.60	15.42	15.50
170.74	1156	-146.63	-1.29	0.00	3901.0	3883.9	3918.1	1171.9	3766.8	20.48	-15.11	30	178.72	0.00	0.00	3.46	0.000	0.000	0.019	3901.16	3883.62	3918.69	1172.00	2271.00	0	0	0	30.00	30.00	15.58
362.61	128	-146.63	-1.26	0.00	3903.3	3884.1	3922.6	1171.6	2269.8	43.20	-11.40	67	366.55	0.00	0.00	0.00	0.000	0.000	0.000	3903.34	3884.06	3922.62	1171.88	2269.75	0	0	0	30.00	30.00	30.00
552.71	2177	-146.63	-1.23	0.00	3903.7	3884.2	3923.1	1172.3	2270.0	65.71	-11.79	92	554.96	0.00	0.22	0.00	0.000	0.165	0.000	3903.69	3885.38	3922.00	1203.44	2270.06	0	0	0	30.00	15.58	30.00
742.83	676	-146.63	-1.22	-80.00	3903.9	3884.5	3923.4	1203.5	2269.9	84.93	-9.52	111	751.50	0.00	0.00	3.66	0.000	0.000	0.112	3903.66	3884.44	3922.88	1202.56	832.00	0	0	0	30.00	30.00	15.59
790.30	1156	-146.63	-1.20	0.00	3904.1	3884.8	3923.4	1203.6	832.1	90.02	-10.90	120	798.98	0.00	0.00	3.56	0.000	0.000	0.040	3903.66	3884.00	3923.31	1203.25	2316.88	0	0	0	30.00	30.00	15.64
985.37	160	-146.63	-1.19	0.00	3904.6	3885.1	3924.1	1203.2	2316.5	109.05	-9.57	140	987.25	0.00	0.00	0.00	0.000	0.000	0.000	3904.06	3884.00	3924.12	1203.25	2316.81	0	0	0	30.00	30.00	30.00
1175.29	644	-146.63	-1.18	-80.00	3904.4	3884.5	3924.4	1203.3	2317.1	128.02	-10.31	159	1184.18	0.00	0.00	3.79	0.000	0.000	0.111	3904.72	3884.94	3924.50	1203.44	834.06	0	0	0	30.00	30.00	15.60
1222.97	1156	-146.63	-1.16	0.00	3904.5	3884.7	3924.2	1203.3	833.7	133.29	-11.21	168	1231.65	0.00	0.00	3.54	0.000	0.000	0.041	3904.84	3884.88	3924.81	1203.12	2316.94	0	0	0	30.00	30.00	15.65
1389	end dive: TARGET_DEPTH_EXCEEDED
state	1389	begin apogee
1391.26	10243	0.00	-0.33	0.00	3904.6	3884.8	3924.5	1203.3	2153.8	150.00	-10.02	185	1507.07	102.04	1.49	0.09	0.892	0.126	0.181	3296.66	3240.06	3353.25	1421.12	2206.00	0	0	0	11.45	15.64	15.39
1508	end apogee: CONTROL_FINISHED_OK
state	1508	begin climb
1508.51	10243	146.63	1.35	0.00	3296.4	3241.0	3351.8	1421.1	2206.1	153.51	0.00	196	1630.20	105.88	2.70	0.00	0.864	0.084	0.000	2700.53	2614.31	2786.75	1830.31	2205.88	0	0	0	11.32	15.41	30.00
1813.98	16774	146.63	1.34	80.00	2691.9	2612.2	2771.6	1829.8	2205.6	120.89	14.19	226	1822.95	0.00	0.00	3.65	0.000	0.000	0.105	2690.50	2610.81	2770.19	1830.62	3650.56	0	0	0	30.00	30.00	15.45
1961.79	17542	146.63	1.31	0.00	2691.1	2612.2	2769.9	1830.2	3650.6	94.68	17.24	255	1970.56	0.00	0.00	3.46	0.000	0.000	0.023	2689.94	2611.00	2768.88	1830.69	2160.56	0	0	0	30.00	30.00	15.57
2159.79	16774	146.63	1.31	80.00	2690.4	2611.1	2769.6	1830.5	2159.8	67.82	13.07	276	2168.84	0.00	0.00	3.72	0.000	0.000	0.100	2690.38	2611.25	2769.50	1830.44	3650.31	0	0	0	30.00	30.00	15.56
2342.70	17542	146.63	1.28	0.00	2689.6	2611.4	2767.8	1830.2	3650.4	40.94	13.72	312	2351.25	0.00	0.00	3.40	0.000	0.000	0.022	2689.78	2610.75	2768.81	1830.25	2159.00	0	0	0	30.00	30.00	15.67
2534.83	16646	146.63	1.28	80.00	2689.1	2610.8	2767.4	1831.1	2158.8	20.62	10.50	350	2543.73	0.00	0.00	3.70	0.000	0.000	0.101	2687.38	2608.62	2766.12	1831.00	3650.81	0	0	0	30.00	30.00	15.65
2774.21	11431	322.77	1.48	0.00	2688.8	2610.8	2766.9	1830.3	3650.1	9.37	1.84	396	2864.42	75.31	0.17	3.37	0.732	0.071	0.020	2258.09	2143.94	2372.25	1866.88	2156.75	0	0	0	11.35	15.71	15.71
2865	end climb: NO_VERTICAL_VELOCITY
state	2865	begin surface