Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 16 * 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 16 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 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 54.486599 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 105.86401 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 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 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 54.486599 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 105.86401 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 16 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 230623,082632,4736.147,-12256.512,31,0.6,32,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,082949,4736.161,-12256.497,2,0.6,4,15.4 MHEAD_RNG_PITCHd_Wd 208.7,543,-26.1,-10.000,-28.93,1053,0.126

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230623082000.541255,18,21926,37,0359,0000,216,04,04,01,04,-1,-01,-01,1,3,0,0,150,-31.2,0.66,-100,2.34,-01,0.07,44,925,0025,0,-1,00,00*2C _24V_AH 14.90,86.214

NAV 1687510741,63.2,start _10V_AH 14.92,0.000

NET CACST,8,0,20230623090738.749880,18,32767,45,0103,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,7.0,6.57,-100,-3.57,-01,0.07,70,10000,5000,0,-1,00,00*6D FG_AHR_24Vo 106.028

NET_PING 1687511260,29,407.770508,7.000000,-0.541917 FG_AHR_10Vo 54.535

FREEZE 2.69,14.323,-1.499,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 2777.63,244.14,0.925,0,500.6,389.4,611.8,637.63 MEM2 945780,25,100908,69

SM_GC 1.64,0.00,13.22,0.11,0.000,0.047,0.118,497.2,389.4,605.0,184.7,2122.1,0,0,0,30.00,15.57,15.60 DATA_FILE_SIZE 9723,405

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 173782,0

IRIDIUM_FIX 4736.00,-12258.89,230623,072120 SDSIZE 3887104,3868928

TCM_TEMP 12.94 SDFILEDIR 160,17

SC_FREEKB 3873856 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 0,1687507200,47.60500,-122.95000,0.459,673.0 MAGCAL 1.000000,0.024695,0.015411,0.000484,1.024555,0.139544,0.015346,-0.116864,0.758659,73.7,-1309.6,-653.2,32,0.0482,0

RAFOS_FIX 4735.983398,-12256.845703,230623,080800,4,255,-0.30 IMPLIED_C_PITCH 1766,13.59,163,0.0,0.00

HUMID 56.08 IMPLIED_C_VBD 2952,27.378159,163,0

TEMP 11.26 GPS 230623,091903,4735.980,-12256.692,2,0.8,3,15.4

INTERNAL_PRESSURE 10.3466

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 677 1124 11350.85 nil 0 0 0.00

Pitch_motor 29 249 109.30 nil 0 0 0.00

Roll_motor 50 156 117.27 nil 0 0 0.00

Iridium 126 178 335.75 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 1853 5 141.56 SciCon 2525 7 279.61

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 951 0 4.54

Compass 868 5 64.75

RAFOS 741 40 442.59

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

7.82 16386 -69.30 -2.06 0.00 663.2 545.4 781.1 189.7 2053.7 0.00 0.00 0 102.93 91.63 0.00 0.00 0.005 0.000 0.000 2571.81 2526.44 2617.19 190.00 2054.50 0 0 0 15.81 30.00 30.00

103.22 18467 -146.63 -2.15 0.00 2572.2 2526.6 2617.8 189.9 2054.2 3.19 -2.01 18 150.39 33.74 8.20 0.00 0.005 0.250 0.000 3696.19 3659.44 3732.94 1262.81 2054.25 0 0 0 15.90 15.64 30.00

333.58 260 -146.63 -2.15 80.00 3696.9 3659.6 3734.2 1263.0 2053.8 39.48 -15.79 64 339.33 0.00 0.00 3.68 0.000 0.000 0.093 3697.75 3660.88 3734.62 1263.75 3553.69 0 0 0 30.00 30.00 15.84

506.56 1156 -146.63 -2.08 0.00 3697.1 3660.1 3734.1 1264.2 3553.9 71.22 -18.87 98 517.52 0.00 0.00 3.46 0.000 0.000 0.039 3696.78 3659.75 3733.81 1264.31 2056.00 0 0 0 30.00 30.00 15.13

706.38 260 -146.63 -2.08 80.00 3697.2 3659.9 3734.4 1264.4 2056.4 103.99 -16.29 119 712.82 0.00 0.00 3.71 0.000 0.000 0.091 3696.25 3659.38 3733.12 1264.12 3555.50 0 0 0 30.00 30.00 15.76

837.86 3205 -146.63 -2.04 0.00 3697.3 3660.1 3734.6 1264.1 3554.9 125.68 -18.34 143 846.18 0.00 0.20 3.44 0.000 0.205 0.039 3698.62 3660.88 3736.38 1293.00 2054.62 0 0 0 30.00 15.73 15.82

991 end dive: TARGET_DEPTH_EXCEEDED

state 992 begin apogee

992.88 10243 0.00 -0.38 0.00 3697.3 3659.8 3734.9 1293.4 2122.4 151.05 -14.72 160 1108.03 103.22 2.84 0.12 1.124 0.165 0.156 3101.03 3019.94 3182.12 1694.50 2049.38 0 0 0 11.02 15.75 15.56

1109 end apogee: CONTROL_FINISHED_OK

state 1109 begin climb

1109.91 10759 146.63 2.15 -80.00 3097.6 3017.8 3177.4 1694.9 2049.1 154.70 0.00 171 1237.59 107.47 4.03 3.66 1.072 0.088 0.110 2498.41 2401.12 2595.69 2314.75 620.44 0 0 0 11.22 15.57 15.45

1295.28 5253 146.63 2.03 0.00 2494.2 2401.4 2586.9 2315.0 620.5 130.51 20.46 206 1302.50 0.00 0.32 3.50 0.000 0.219 0.040 2492.97 2399.31 2586.62 2273.69 2116.38 0 0 0 30.00 15.52 15.64

1490.98 16646 146.63 2.03 80.00 2492.3 2400.6 2583.9 2273.2 2115.5 97.95 15.85 226 1497.51 0.00 0.00 3.56 0.000 0.000 0.100 2491.84 2399.62 2584.06 2273.62 3555.12 0 0 0 30.00 30.00 15.74

1530.30 17542 146.63 1.96 0.00 2492.1 2400.2 2583.9 2273.2 3554.9 91.02 17.52 234 1537.20 0.00 0.00 3.44 0.000 0.000 0.038 2492.00 2399.88 2584.12 2273.69 2056.25 0 0 0 30.00 30.00 15.82

1732.85 16646 146.63 1.96 80.00 2491.4 2400.1 2582.7 2273.0 2056.4 63.25 14.15 254 1742.38 0.00 0.00 3.70 0.000 0.000 0.097 2490.34 2398.81 2581.88 2273.31 3555.06 0 0 0 30.00 30.00 15.80

1771.58 21639 146.63 1.88 0.00 2491.4 2400.1 2582.8 2273.6 3554.9 55.56 16.43 262 1778.21 0.00 0.26 3.45 0.000 0.199 0.038 2490.91 2401.19 2580.62 2238.00 2053.25 0 0 0 30.00 15.75 15.86

1961.62 16646 146.63 1.88 80.00 2491.1 2399.8 2582.3 2237.9 2052.6 31.67 12.03 296 1968.94 0.00 0.00 3.72 0.000 0.000 0.097 2489.50 2398.25 2580.75 2237.88 3556.31 0 0 0 30.00 30.00 15.83

2042.38 17542 146.63 1.85 0.00 2490.8 2399.9 2581.8 2237.6 3555.9 21.25 12.61 312 2048.51 0.00 0.00 3.43 0.000 0.000 0.038 2492.59 2401.25 2583.94 2237.88 2054.50 0 0 0 30.00 30.00 15.87

2237.71 8614 201.18 1.95 80.00 2490.4 2398.8 2582.1 2237.2 2053.5 7.59 4.70 350 2289.23 39.56 0.00 3.73 0.973 0.000 0.096 2275.97 2171.81 2380.12 2237.88 3553.38 0 0 0 11.24 30.00 15.77

2417.66 11303 281.62 2.05 0.00 2272.8 2172.9 2372.7 2237.5 3553.8 3.86 2.19 386 2487.36 57.71 0.31 3.43 0.952 0.063 0.037 1952.94 1838.00 2067.88 2295.31 2052.38 0 0 0 11.06 15.82 15.84

2516 end climb: NO_VERTICAL_VELOCITY

state 2516 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	16	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	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	54.486599	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	105.86401	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	230623,082632,4736.147,-12256.512,31,0.6,32,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,082949,4736.161,-12256.497,2,0.6,4,15.4	MHEAD_RNG_PITCHd_Wd	208.7,543,-26.1,-10.000,-28.93,1053,0.126
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000266

MODEM_MSG	CACST,8,1,20230623082000.541255,18,21926,37,0359,0000,216,04,04,01,04,-1,-01,-01,1,3,0,0,150,-31.2,0.66,-100,2.34,-01,0.07,44,925,0025,0,-1,00,00*2C	_24V_AH	14.90,86.214
NAV	1687510741,63.2,start	_10V_AH	14.92,0.000
NET	CACST,8,0,20230623090738.749880,18,32767,45,0103,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,7.0,6.57,-100,-3.57,-01,0.07,70,10000,5000,0,-1,00,00*6D	FG_AHR_24Vo	106.028
NET_PING	1687511260,29,407.770508,7.000000,-0.541917	FG_AHR_10Vo	54.535
FREEZE	2.69,14.323,-1.499,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	2777.63,244.14,0.925,0,500.6,389.4,611.8,637.63	MEM2	945780,25,100908,69
SM_GC	1.64,0.00,13.22,0.11,0.000,0.047,0.118,497.2,389.4,605.0,184.7,2122.1,0,0,0,30.00,15.57,15.60	DATA_FILE_SIZE	9723,405
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	173782,0
IRIDIUM_FIX	4736.00,-12258.89,230623,072120	SDSIZE	3887104,3868928
TCM_TEMP	12.94	SDFILEDIR	160,17
SC_FREEKB	3873856	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	0,1687507200,47.60500,-122.95000,0.459,673.0	MAGCAL	1.000000,0.024695,0.015411,0.000484,1.024555,0.139544,0.015346,-0.116864,0.758659,73.7,-1309.6,-653.2,32,0.0482,0
RAFOS_FIX	4735.983398,-12256.845703,230623,080800,4,255,-0.30	IMPLIED_C_PITCH	1766,13.59,163,0.0,0.00
HUMID	56.08	IMPLIED_C_VBD	2952,27.378159,163,0
TEMP	11.26	GPS	230623,091903,4735.980,-12256.692,2,0.8,3,15.4
INTERNAL_PRESSURE	10.3466

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	677	1124	11350.85	nil	0	0	0.00
Pitch_motor	29	249	109.30	nil	0	0	0.00
Roll_motor	50	156	117.27	nil	0	0	0.00
Iridium	126	178	335.75	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	1853	5	141.56	SciCon	2525	7	279.61
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	951	0	4.54
Compass	868	5	64.75
RAFOS	741	40	442.59
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
7.82	16386	-69.30	-2.06	0.00	663.2	545.4	781.1	189.7	2053.7	0.00	0.00	0	102.93	91.63	0.00	0.00	0.005	0.000	0.000	2571.81	2526.44	2617.19	190.00	2054.50	0	0	0	15.81	30.00	30.00
103.22	18467	-146.63	-2.15	0.00	2572.2	2526.6	2617.8	189.9	2054.2	3.19	-2.01	18	150.39	33.74	8.20	0.00	0.005	0.250	0.000	3696.19	3659.44	3732.94	1262.81	2054.25	0	0	0	15.90	15.64	30.00
333.58	260	-146.63	-2.15	80.00	3696.9	3659.6	3734.2	1263.0	2053.8	39.48	-15.79	64	339.33	0.00	0.00	3.68	0.000	0.000	0.093	3697.75	3660.88	3734.62	1263.75	3553.69	0	0	0	30.00	30.00	15.84
506.56	1156	-146.63	-2.08	0.00	3697.1	3660.1	3734.1	1264.2	3553.9	71.22	-18.87	98	517.52	0.00	0.00	3.46	0.000	0.000	0.039	3696.78	3659.75	3733.81	1264.31	2056.00	0	0	0	30.00	30.00	15.13
706.38	260	-146.63	-2.08	80.00	3697.2	3659.9	3734.4	1264.4	2056.4	103.99	-16.29	119	712.82	0.00	0.00	3.71	0.000	0.000	0.091	3696.25	3659.38	3733.12	1264.12	3555.50	0	0	0	30.00	30.00	15.76
837.86	3205	-146.63	-2.04	0.00	3697.3	3660.1	3734.6	1264.1	3554.9	125.68	-18.34	143	846.18	0.00	0.20	3.44	0.000	0.205	0.039	3698.62	3660.88	3736.38	1293.00	2054.62	0	0	0	30.00	15.73	15.82
991	end dive: TARGET_DEPTH_EXCEEDED
state	992	begin apogee
992.88	10243	0.00	-0.38	0.00	3697.3	3659.8	3734.9	1293.4	2122.4	151.05	-14.72	160	1108.03	103.22	2.84	0.12	1.124	0.165	0.156	3101.03	3019.94	3182.12	1694.50	2049.38	0	0	0	11.02	15.75	15.56
1109	end apogee: CONTROL_FINISHED_OK
state	1109	begin climb
1109.91	10759	146.63	2.15	-80.00	3097.6	3017.8	3177.4	1694.9	2049.1	154.70	0.00	171	1237.59	107.47	4.03	3.66	1.072	0.088	0.110	2498.41	2401.12	2595.69	2314.75	620.44	0	0	0	11.22	15.57	15.45
1295.28	5253	146.63	2.03	0.00	2494.2	2401.4	2586.9	2315.0	620.5	130.51	20.46	206	1302.50	0.00	0.32	3.50	0.000	0.219	0.040	2492.97	2399.31	2586.62	2273.69	2116.38	0	0	0	30.00	15.52	15.64
1490.98	16646	146.63	2.03	80.00	2492.3	2400.6	2583.9	2273.2	2115.5	97.95	15.85	226	1497.51	0.00	0.00	3.56	0.000	0.000	0.100	2491.84	2399.62	2584.06	2273.62	3555.12	0	0	0	30.00	30.00	15.74
1530.30	17542	146.63	1.96	0.00	2492.1	2400.2	2583.9	2273.2	3554.9	91.02	17.52	234	1537.20	0.00	0.00	3.44	0.000	0.000	0.038	2492.00	2399.88	2584.12	2273.69	2056.25	0	0	0	30.00	30.00	15.82
1732.85	16646	146.63	1.96	80.00	2491.4	2400.1	2582.7	2273.0	2056.4	63.25	14.15	254	1742.38	0.00	0.00	3.70	0.000	0.000	0.097	2490.34	2398.81	2581.88	2273.31	3555.06	0	0	0	30.00	30.00	15.80
1771.58	21639	146.63	1.88	0.00	2491.4	2400.1	2582.8	2273.6	3554.9	55.56	16.43	262	1778.21	0.00	0.26	3.45	0.000	0.199	0.038	2490.91	2401.19	2580.62	2238.00	2053.25	0	0	0	30.00	15.75	15.86
1961.62	16646	146.63	1.88	80.00	2491.1	2399.8	2582.3	2237.9	2052.6	31.67	12.03	296	1968.94	0.00	0.00	3.72	0.000	0.000	0.097	2489.50	2398.25	2580.75	2237.88	3556.31	0	0	0	30.00	30.00	15.83
2042.38	17542	146.63	1.85	0.00	2490.8	2399.9	2581.8	2237.6	3555.9	21.25	12.61	312	2048.51	0.00	0.00	3.43	0.000	0.000	0.038	2492.59	2401.25	2583.94	2237.88	2054.50	0	0	0	30.00	30.00	15.87
2237.71	8614	201.18	1.95	80.00	2490.4	2398.8	2582.1	2237.2	2053.5	7.59	4.70	350	2289.23	39.56	0.00	3.73	0.973	0.000	0.096	2275.97	2171.81	2380.12	2237.88	3553.38	0	0	0	11.24	30.00	15.77
2417.66	11303	281.62	2.05	0.00	2272.8	2172.9	2372.7	2237.5	3553.8	3.86	2.19	386	2487.36	57.71	0.31	3.43	0.952	0.063	0.037	1952.94	1838.00	2067.88	2295.31	2052.38	0	0	0	11.06	15.82	15.84
2516	end climb: NO_VERTICAL_VELOCITY
state	2516	begin surface