Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

MISSION 10 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 15 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 6

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 742.03015 ROLL_MAXERRORS 1 XPDR_INT 13

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

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 0.5

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3524.9905 DEEPGLIDERMB 0

D_BOOST 3 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 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0040000002 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 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 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 120 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 230 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3900 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2214.5308 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 16.370201 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 0.85367423 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 4.6989264 SEABIRD_T_H 0.00062267116

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.1947648e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -158.29968 SEABIRD_T_J 2.2037441e-06

MASS 72024 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_G -9.9419231

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1.1375728

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0016241658

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002088599

HD_A 0.00281838 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0139236 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_MIN 1200 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 4000 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 2750 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1.1375728

AH0_24V 575 D_PITCH 0 N_DIVES 30 SEABIRD_C_I -0.0016241658

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.0002088599

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0042874566

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00062267116

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.85367423 PHONE_SUPPLY 2 SM_CC 742.03015

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 4.6989264 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 16.370201 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.00281838 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0139236 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAX 3900 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 230 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 25 T_BOOST 0

COMPASS2_DEVICE -1 ID 235 PITCH_VBD_SHIFT 0.0040000002 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 0.5 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 2214.5308 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022957686 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -158.29968 T_NO_W 120

C_ROLL_CLIMB 2750 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2750 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3524.9905 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 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 72024 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 2 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 4000 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 15 MISSION 10 ROLL_MIN 1200 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 3 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 7.0 XPDR_INT 13

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -9.9419231

Pre-dive calculations and measurements:

GPS1 210623,085447,4736.269,-12256.549,2,1.4,12,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,090052,4736.251,-12256.536,4,1.5,7,15.4 MHEAD_RNG_PITCHd_Wd 203.1,648,-19.3,-10.000,-24.09,2233,0.163

SPEED_LIMITS 0.100,0.224 D_GRID 169

TGT_NAME S IRON 1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018

TGT_LATLONG 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NAV 1687341940,0.3,start _24V_AH 14.97,5.619

NET xmit part outbox0010.n 1116 9 _10V_AH 15.00,0.000

NET_PING 1687340562,29,485.821503,14.200000,63.358395 FG_AHR_24Vo 4.847

MODEM_MSG CACST,8,2,20230621092500.383481,18,32767,45,0103,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*09 FG_AHR_10Vo 0.913

WARN HSCICON missed fuel gauge read MEM0 60020,1,0,0

FREEZE 5.67,14.208,-1.498,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 944844,27,101804,69

SM_CCo 3740.92,277.81,0.749,0,500.4,408.5,592.4,741.68 DATA_FILE_SIZE 16118,557

SM_GC 1.88,0.00,15.51,0.08,0.000,0.047,0.163,496.5,409.1,583.8,216.2,2726.6,0,0,0,30.00,15.67,15.67 CAP_FILE_SIZE 197757,0

SUPER 19,71,254,1,0,0 SDSIZE 3918848,3902816

IRIDIUM_FIX 4735.53,-12254.47,210623,085606 SDFILEDIR 179,16

TCM_TEMP 13.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3873888 SOUNDSPEED 1465.0

RAFOS_CLK 1 CURRENT 0.019,120.6,1

MODEM 1,1687338600,47.60500,-122.95000,0.331,485.4 MAGCAL 1.000000,-0.036330,-0.129733,-0.085198,1.154655,-0.068731,0.033643,-0.010821,1.282399,-801.7,-6.4,133.4,36,0.0676,0

RAFOS_FIX 4736.561035,-12257.000000,210623,090900,3,255,0.56 IMPLIED_C_PITCH 2220,16.33,261,2217.2,16.35

HUMID 49.46 IMPLIED_C_VBD 3513,26.692936,152,3519.1

TEMP 11.65 GPS 210623,100631,4736.081,-12256.632,21,0.9,22,15.4

INTERNAL_PRESSURE 8.51597

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 749 942 10577.47 nil 0 0 0.00

Pitch_motor 36 268 146.95 nil 0 0 0.00

Roll_motor 49 230 171.77 nil 0 0 0.00

Iridium 228 215 735.88 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 16 15 3.70 nil 0 0 0.00

Core 2395 5 184.00 SciCon 3463 8 433.95

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1511 0 7.26

Compass 1102 5 82.65

RAFOS 1544 40 926.45

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

7.93 16386 -146.63 -1.77 0.00 498.7 418.3 579.1 216.2 2773.5 0.00 0.00 0 89.67 80.01 0.00 0.00 0.005 0.000 0.000 2303.53 2295.81 2311.25 216.44 2774.56 0 0 0 14.97 30.00 30.00

89.92 18983 -146.63 -1.77 -80.00 2302.3 2294.9 2309.8 216.2 2773.9 3.37 -1.82 13 160.16 44.55 12.02 3.68 0.007 0.268 0.121 3960.41 3944.44 3976.38 1786.31 1281.94 0 0 0 15.07 15.10 15.76

343.35 19591 -146.63 -1.40 0.00 3961.8 3944.5 3979.0 1786.1 1282.2 31.31 -10.73 63 350.54 0.00 0.61 3.43 0.000 0.180 0.059 3961.25 3944.44 3978.06 1877.50 2766.56 0 0 0 30.00 15.84 15.89

533.76 17062 -146.63 -1.30 -80.00 3962.4 3945.0 3979.9 1876.5 2766.2 46.43 -8.18 101 539.53 0.00 0.00 3.60 0.000 0.000 0.119 3963.59 3946.31 3980.88 1876.88 1281.38 0 0 0 30.00 30.00 15.92

766.38 3205 -146.63 -1.14 0.00 3962.6 3944.7 3980.5 1876.8 1281.2 72.35 -11.29 147 772.70 0.00 0.41 3.40 0.000 0.167 0.060 3963.88 3946.12 3981.62 1937.00 2771.62 0 0 0 30.00 15.96 16.00

961.43 676 -146.63 -1.18 -80.00 3964.3 3945.5 3983.1 1940.0 2772.1 87.44 -7.32 167 967.52 0.00 0.00 3.60 0.000 0.000 0.122 3964.16 3945.81 3982.50 1937.31 1281.38 0 0 0 30.00 30.00 16.00

1166.41 1060 -146.63 -1.18 0.00 3964.4 3945.7 3983.1 1939.7 1281.8 105.15 -8.56 208 1172.47 0.00 0.00 3.39 0.000 0.000 0.061 3964.03 3945.56 3982.50 1939.12 2771.38 0 0 0 30.00 30.00 16.06

1361.52 4257 -146.63 -1.25 0.00 3964.2 3945.1 3983.2 1939.2 2771.8 120.01 -8.10 228 1363.32 0.00 0.26 0.00 0.000 0.076 0.000 3965.06 3946.19 3983.94 1891.25 2771.50 0 0 0 30.00 16.02 30.00

1552.75 2725 -146.63 -1.21 -80.00 3964.2 3944.8 3983.6 1892.1 2771.2 138.57 -9.85 247 1562.12 0.00 0.23 3.65 0.000 0.159 0.124 3964.38 3945.25 3983.50 1921.88 1281.12 0 0 0 30.00 16.02 16.02

1641.63 1188 -146.63 -1.18 0.00 3964.2 3944.9 3983.4 1921.8 1281.4 147.48 -9.92 265 1647.72 0.00 0.00 3.38 0.000 0.000 0.063 3965.34 3946.00 3984.69 1921.38 2771.81 0 0 0 30.00 30.00 16.08

1676 end dive: TARGET_DEPTH_EXCEEDED

state 1676 begin apogee

1677.79 10243 0.00 -0.31 0.00 3964.2 3945.3 3983.2 1922.1 2724.6 150.52 -8.75 269 1760.41 75.85 1.46 0.08 0.942 0.130 0.231 3523.44 3459.69 3587.19 2142.06 2771.88 0 0 0 12.01 16.04 15.82

1770 end apogee: CONTROL_FINISHED_OK

state 1770 begin climb

1770.86 10243 146.63 1.77 0.00 3521.2 3456.2 3586.1 2141.8 2771.2 151.97 0.00 277 1887.00 107.63 3.15 0.00 0.901 0.078 0.000 2926.56 2843.38 3009.75 2650.69 2771.12 0 0 0 11.79 15.84 30.00

2070.23 21127 146.63 1.48 -80.00 2917.5 2839.0 2996.0 2650.8 2771.7 112.24 16.96 317 2078.03 0.00 0.64 3.71 0.000 0.214 0.120 2916.84 2839.12 2994.56 2567.75 1281.19 0 0 0 30.00 15.79 15.82

2146.32 21639 146.63 1.25 0.00 2916.6 2839.0 2994.1 2567.9 1281.3 99.06 17.57 332 2152.86 0.00 0.40 3.41 0.000 0.221 0.060 2916.28 2838.12 2994.44 2510.31 2772.69 0 0 0 30.00 15.83 15.91

2341.27 16902 146.63 1.25 -80.00 2914.8 2836.2 2993.4 2510.6 2772.5 76.96 10.08 352 2347.72 0.00 0.00 3.66 0.000 0.000 0.123 2917.91 2839.56 2996.25 2511.25 1281.12 0 0 0 30.00 30.00 15.95

2430.63 17542 146.63 1.15 0.00 2915.0 2837.8 2992.2 2511.6 1280.9 65.83 12.63 370 2437.28 0.00 0.00 3.37 0.000 0.000 0.060 2917.34 2839.81 2994.88 2510.94 2773.12 0 0 0 30.00 30.00 16.01

2618.55 8226 172.91 1.26 0.00 2914.1 2835.7 2992.5 2510.8 2772.3 48.12 8.80 392 2642.91 20.09 0.00 0.00 0.764 0.000 0.000 2816.56 2729.25 2903.88 2510.75 2772.75 0 0 0 11.97 30.00 30.00

2828.22 10919 189.44 1.37 -80.00 2813.4 2727.8 2899.1 2510.7 2772.8 28.19 9.24 434 2850.26 14.77 0.25 3.69 0.721 0.079 0.124 2752.56 2665.12 2840.00 2558.81 1280.94 0 0 0 11.89 15.93 15.86

2953.53 5253 189.44 1.26 0.00 2746.1 2661.5 2830.7 2558.8 1281.1 13.35 11.85 459 2960.73 0.00 0.35 3.38 0.000 0.200 0.059 2744.88 2660.12 2829.62 2512.69 2772.25 0 0 0 30.00 15.88 15.95

3141.50 10403 359.94 2.08 0.00 2744.8 2659.6 2830.0 2513.1 2772.6 7.45 2.19 496 3277.83 129.04 1.29 0.00 0.766 0.053 0.000 2055.03 1948.88 2161.19 2729.38 2772.50 0 0 0 12.08 16.00 30.00

3451 end climb: NO_VERTICAL_VELOCITY

state 3451 begin surface

ID	235	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
MISSION	10	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	15	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	6
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	742.03015	ROLL_MAXERRORS	1	XPDR_INT	13
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
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	0.5
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3524.9905	DEEPGLIDERMB	0
D_BOOST	3	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	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0040000002	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	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	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	120	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	230	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3900	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2214.5308	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	16.370201	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	0.85367423	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	4.6989264	SEABIRD_T_H	0.00062267116
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.1947648e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-158.29968	SEABIRD_T_J	2.2037441e-06
MASS	72024	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_G	-9.9419231
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1.1375728
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0016241658
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002088599
HD_A	0.00281838	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0139236	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_MIN	1200	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	4000	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	2750	ALTIM_FREQUENCY	13

GPS1	210623,085447,4736.269,-12256.549,2,1.4,12,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,090052,4736.251,-12256.536,4,1.5,7,15.4	MHEAD_RNG_PITCHd_Wd	203.1,648,-19.3,-10.000,-24.09,2233,0.163
SPEED_LIMITS	0.100,0.224	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018
TGT_LATLONG	4735.950,-12256.800	OSC	8000307

NAV	1687341940,0.3,start	_24V_AH	14.97,5.619
NET	xmit part outbox0010.n 1116 9	_10V_AH	15.00,0.000
NET_PING	1687340562,29,485.821503,14.200000,63.358395	FG_AHR_24Vo	4.847
MODEM_MSG	CACST,8,2,20230621092500.383481,18,32767,45,0103,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*09	FG_AHR_10Vo	0.913
WARN	HSCICON missed fuel gauge read	MEM0	60020,1,0,0
FREEZE	5.67,14.208,-1.498,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	944844,27,101804,69
SM_CCo	3740.92,277.81,0.749,0,500.4,408.5,592.4,741.68	DATA_FILE_SIZE	16118,557
SM_GC	1.88,0.00,15.51,0.08,0.000,0.047,0.163,496.5,409.1,583.8,216.2,2726.6,0,0,0,30.00,15.67,15.67	CAP_FILE_SIZE	197757,0
SUPER	19,71,254,1,0,0	SDSIZE	3918848,3902816
IRIDIUM_FIX	4735.53,-12254.47,210623,085606	SDFILEDIR	179,16
TCM_TEMP	13.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3873888	SOUNDSPEED	1465.0
RAFOS_CLK	1	CURRENT	0.019,120.6,1
MODEM	1,1687338600,47.60500,-122.95000,0.331,485.4	MAGCAL	1.000000,-0.036330,-0.129733,-0.085198,1.154655,-0.068731,0.033643,-0.010821,1.282399,-801.7,-6.4,133.4,36,0.0676,0
RAFOS_FIX	4736.561035,-12257.000000,210623,090900,3,255,0.56	IMPLIED_C_PITCH	2220,16.33,261,2217.2,16.35
HUMID	49.46	IMPLIED_C_VBD	3513,26.692936,152,3519.1
TEMP	11.65	GPS	210623,100631,4736.081,-12256.632,21,0.9,22,15.4
INTERNAL_PRESSURE	8.51597

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	749	942	10577.47	nil	0	0	0.00
Pitch_motor	36	268	146.95	nil	0	0	0.00
Roll_motor	49	230	171.77	nil	0	0	0.00
Iridium	228	215	735.88	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	16	15	3.70	nil	0	0	0.00
Core	2395	5	184.00	SciCon	3463	8	433.95
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1511	0	7.26
Compass	1102	5	82.65
RAFOS	1544	40	926.45
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
7.93	16386	-146.63	-1.77	0.00	498.7	418.3	579.1	216.2	2773.5	0.00	0.00	0	89.67	80.01	0.00	0.00	0.005	0.000	0.000	2303.53	2295.81	2311.25	216.44	2774.56	0	0	0	14.97	30.00	30.00
89.92	18983	-146.63	-1.77	-80.00	2302.3	2294.9	2309.8	216.2	2773.9	3.37	-1.82	13	160.16	44.55	12.02	3.68	0.007	0.268	0.121	3960.41	3944.44	3976.38	1786.31	1281.94	0	0	0	15.07	15.10	15.76
343.35	19591	-146.63	-1.40	0.00	3961.8	3944.5	3979.0	1786.1	1282.2	31.31	-10.73	63	350.54	0.00	0.61	3.43	0.000	0.180	0.059	3961.25	3944.44	3978.06	1877.50	2766.56	0	0	0	30.00	15.84	15.89
533.76	17062	-146.63	-1.30	-80.00	3962.4	3945.0	3979.9	1876.5	2766.2	46.43	-8.18	101	539.53	0.00	0.00	3.60	0.000	0.000	0.119	3963.59	3946.31	3980.88	1876.88	1281.38	0	0	0	30.00	30.00	15.92
766.38	3205	-146.63	-1.14	0.00	3962.6	3944.7	3980.5	1876.8	1281.2	72.35	-11.29	147	772.70	0.00	0.41	3.40	0.000	0.167	0.060	3963.88	3946.12	3981.62	1937.00	2771.62	0	0	0	30.00	15.96	16.00
961.43	676	-146.63	-1.18	-80.00	3964.3	3945.5	3983.1	1940.0	2772.1	87.44	-7.32	167	967.52	0.00	0.00	3.60	0.000	0.000	0.122	3964.16	3945.81	3982.50	1937.31	1281.38	0	0	0	30.00	30.00	16.00
1166.41	1060	-146.63	-1.18	0.00	3964.4	3945.7	3983.1	1939.7	1281.8	105.15	-8.56	208	1172.47	0.00	0.00	3.39	0.000	0.000	0.061	3964.03	3945.56	3982.50	1939.12	2771.38	0	0	0	30.00	30.00	16.06
1361.52	4257	-146.63	-1.25	0.00	3964.2	3945.1	3983.2	1939.2	2771.8	120.01	-8.10	228	1363.32	0.00	0.26	0.00	0.000	0.076	0.000	3965.06	3946.19	3983.94	1891.25	2771.50	0	0	0	30.00	16.02	30.00
1552.75	2725	-146.63	-1.21	-80.00	3964.2	3944.8	3983.6	1892.1	2771.2	138.57	-9.85	247	1562.12	0.00	0.23	3.65	0.000	0.159	0.124	3964.38	3945.25	3983.50	1921.88	1281.12	0	0	0	30.00	16.02	16.02
1641.63	1188	-146.63	-1.18	0.00	3964.2	3944.9	3983.4	1921.8	1281.4	147.48	-9.92	265	1647.72	0.00	0.00	3.38	0.000	0.000	0.063	3965.34	3946.00	3984.69	1921.38	2771.81	0	0	0	30.00	30.00	16.08
1676	end dive: TARGET_DEPTH_EXCEEDED
state	1676	begin apogee
1677.79	10243	0.00	-0.31	0.00	3964.2	3945.3	3983.2	1922.1	2724.6	150.52	-8.75	269	1760.41	75.85	1.46	0.08	0.942	0.130	0.231	3523.44	3459.69	3587.19	2142.06	2771.88	0	0	0	12.01	16.04	15.82
1770	end apogee: CONTROL_FINISHED_OK
state	1770	begin climb
1770.86	10243	146.63	1.77	0.00	3521.2	3456.2	3586.1	2141.8	2771.2	151.97	0.00	277	1887.00	107.63	3.15	0.00	0.901	0.078	0.000	2926.56	2843.38	3009.75	2650.69	2771.12	0	0	0	11.79	15.84	30.00
2070.23	21127	146.63	1.48	-80.00	2917.5	2839.0	2996.0	2650.8	2771.7	112.24	16.96	317	2078.03	0.00	0.64	3.71	0.000	0.214	0.120	2916.84	2839.12	2994.56	2567.75	1281.19	0	0	0	30.00	15.79	15.82
2146.32	21639	146.63	1.25	0.00	2916.6	2839.0	2994.1	2567.9	1281.3	99.06	17.57	332	2152.86	0.00	0.40	3.41	0.000	0.221	0.060	2916.28	2838.12	2994.44	2510.31	2772.69	0	0	0	30.00	15.83	15.91
2341.27	16902	146.63	1.25	-80.00	2914.8	2836.2	2993.4	2510.6	2772.5	76.96	10.08	352	2347.72	0.00	0.00	3.66	0.000	0.000	0.123	2917.91	2839.56	2996.25	2511.25	1281.12	0	0	0	30.00	30.00	15.95
2430.63	17542	146.63	1.15	0.00	2915.0	2837.8	2992.2	2511.6	1280.9	65.83	12.63	370	2437.28	0.00	0.00	3.37	0.000	0.000	0.060	2917.34	2839.81	2994.88	2510.94	2773.12	0	0	0	30.00	30.00	16.01
2618.55	8226	172.91	1.26	0.00	2914.1	2835.7	2992.5	2510.8	2772.3	48.12	8.80	392	2642.91	20.09	0.00	0.00	0.764	0.000	0.000	2816.56	2729.25	2903.88	2510.75	2772.75	0	0	0	11.97	30.00	30.00
2828.22	10919	189.44	1.37	-80.00	2813.4	2727.8	2899.1	2510.7	2772.8	28.19	9.24	434	2850.26	14.77	0.25	3.69	0.721	0.079	0.124	2752.56	2665.12	2840.00	2558.81	1280.94	0	0	0	11.89	15.93	15.86
2953.53	5253	189.44	1.26	0.00	2746.1	2661.5	2830.7	2558.8	1281.1	13.35	11.85	459	2960.73	0.00	0.35	3.38	0.000	0.200	0.059	2744.88	2660.12	2829.62	2512.69	2772.25	0	0	0	30.00	15.88	15.95
3141.50	10403	359.94	2.08	0.00	2744.8	2659.6	2830.0	2513.1	2772.6	7.45	2.19	496	3277.83	129.04	1.29	0.00	0.766	0.053	0.000	2055.03	1948.88	2161.19	2729.38	2772.50	0	0	0	12.08	16.00	30.00
3451	end climb: NO_VERTICAL_VELOCITY
state	3451	begin surface