Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1900 ALTIM_PULSE 3

MISSION 8 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

DIVE 17 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 574.84723 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 -3.2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 2817.0134 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 540 DEVICE3 -1

D_SAFE 0 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 3 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 6 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 6 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 12 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 3 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 120 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 220 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1731.282 MINV_24V 0 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 13.242413 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 43.080433 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 29.890137 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.0099999998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -182.53638 SEABIRD_T_J 4.3e-06

MASS 72380 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 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 195 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3800 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 1980 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 43.080433 PHONE_SUPPLY 2 SM_CC 574.84723

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.890137 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.0099999998 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 6

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 13.242413 SURFACE_URGENCY_FORCE 12

CALL_TRIES 3 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 6

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 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 0 HEAD_ERRBAND 20 PITCH_MIN 220 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 242 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 -3.2 PITCH_W_GAIN 0 T_GPS 3

C_PITCH 1731.282 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022512203 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -182.53638 T_NO_W 120

C_ROLL_CLIMB 1900 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 1980 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 2817.0134 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 400 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 400

C_VBD_AUTO_MAX 100 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 72380 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 0 ROLL_MAX 3800 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 0 VBD_TIMEOUT 540

DIVE 17 MISSION 8 ROLL_MIN 195 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 2 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 220623,080836,4736.191,-12256.690,3,1.7,8,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,081430,4736.183,-12256.664,2,1.6,4,15.4 MHEAD_RNG_PITCHd_Wd 191.9,462,-26.8,-10.000,-29.63,997,0.133

SPEED_LIMITS 0.173,0.258 D_GRID 167

TGT_NAME S IRON 1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.469299,-818.692627,-706.311096

TGT_LATLONG 4735.950,-12256.800 OSC 8000225

Post-dive calculations and measurements:

NET CACST,8,0,20230622085032.271848,18,32767,45,0102,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,11.1,2.49,-100,0.51,-01,0.18,71,10000,5000,0,1,00,00*5A _24V_AH 15.04,33.794

NET_PING 1687423811,29,407.941498,12.800000,-0.540983 _10V_AH 15.00,0.000

MODEM_MSG CACST,8,1,20230622082500.294176,18,32767,45,0151,0000,07,01,01,00,01,-1,-01,-01,2,3,1,0,150,10.4,6.20,-100,-3.20,-01,-0.10,42,925,0025,0,-1,00,00*3E FG_AHR_24Vo 30.041

NAV 1687424345,6.6,start FG_AHR_10Vo 43.128

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

FREEZE 4.43,13.955,-1.508,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 944876,32,101732,66

SM_CCo 3290.89,0.17,0.125,0,500.0,402.6,597.4,568.36 DATA_FILE_SIZE 12923,457

SM_GC 2.81,0.17,13.05,0.28,0.125,0.046,0.078,500.0,402.6,597.4,196.4,2022.8,0,0,0,15.76,15.62,15.65 CAP_FILE_SIZE 167758,0

SUPER 27,71,254,1,0,0 SDSIZE 3887104,3864704

IRIDIUM_FIX 4739.27,-12305.05,220623,081007 SDFILEDIR 170,18

TCM_TEMP 15.06 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 0.031, 91.8,1

MODEM 0,1687420800,47.60500,-122.95000,0.386,565.1 MAGCAL 1.000000,0.062885,0.040945,-0.049089,1.027708,0.116289,-0.044179,-0.431233,1.166812,695.0,-943.5,-814.6,31,0.0555,0

RAFOS_FIX -31223.685547,-192257.671875,220623,080800,4,255,223280.81 IMPLIED_C_PITCH 1730,13.19,198,1730.7,13.22

HUMID 49.70 IMPLIED_C_VBD 2842,40.271488,151,2829.3

TEMP 11.82 GPS 220623,091107,4735.957,-12256.819,2,0.7,37,15.4

INTERNAL_PRESSURE 8.26601

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 622 1083 10144.72 nil 0 0 0.00

Pitch_motor 27 234 98.12 nil 0 0 0.00

Roll_motor 42 169 108.98 nil 0 0 0.00

Iridium 224 215 728.32 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 2137 5 164.20 SciCon 3004 8 375.58

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1249 0 6.00

Compass 969 5 72.69

RAFOS 1311 40 786.81

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

7.64 16386 -65.58 -2.11 0.00 499.2 402.0 596.5 198.6 1943.8 0.00 0.00 0 56.38 44.90 0.00 0.00 0.005 0.000 0.000 1590.69 1561.75 1619.62 198.88 1943.56 0 0 0 15.88 30.00 30.00

56.81 18983 -124.64 -2.18 -80.00 1590.7 1561.2 1620.1 198.9 1943.4 3.13 -3.94 9 135.65 55.40 7.32 3.53 0.005 0.235 0.121 3322.56 3288.00 3357.12 1204.06 511.31 0 0 0 15.90 15.70 15.81

139.14 1156 -124.64 -2.11 0.00 3323.3 3289.1 3357.6 1203.9 511.4 8.92 -10.40 24 145.55 0.00 0.00 3.41 0.000 0.000 0.049 3323.34 3288.38 3358.31 1203.94 2005.88 0 0 0 30.00 30.00 15.87

329.99 2177 -124.64 -2.08 0.00 3325.0 3288.8 3361.2 1202.8 2018.0 31.37 -10.14 61 334.24 0.00 0.17 0.00 0.000 0.192 0.000 3327.91 3291.69 3364.12 1229.12 2016.62 0 0 0 30.00 15.75 30.00

516.90 0 -124.64 -2.08 0.00 3325.3 3288.8 3361.9 1229.6 2017.6 50.14 -10.71 98 517.72 0.00 0.00 0.00 0.000 0.000 0.000 3324.72 3288.38 3361.06 1229.38 2018.06 0 0 0 30.00 30.00 30.00

704.87 260 -124.64 -2.08 80.00 3326.1 3289.0 3363.2 1229.6 2017.7 72.26 -12.48 117 712.09 0.00 0.00 3.45 0.000 0.000 0.109 3326.53 3288.06 3365.00 1229.88 3447.19 0 0 0 30.00 30.00 15.80

774.95 1156 -124.64 -2.05 0.00 3326.0 3288.6 3363.4 1229.2 3448.6 81.91 -14.16 131 782.49 0.00 0.00 3.42 0.000 0.000 0.054 3326.56 3289.69 3363.44 1229.69 1949.88 0 0 0 30.00 30.00 15.90

963.48 0 -124.64 -2.05 0.00 3326.2 3288.9 3363.6 1229.8 1949.9 106.39 -13.15 151 965.23 0.00 0.00 0.00 0.000 0.000 0.000 3324.75 3287.50 3362.00 1229.44 1949.69 0 0 0 30.00 30.00 30.00

1153.51 0 -124.64 -2.05 0.00 3326.2 3289.0 3363.3 1229.6 1950.0 130.92 -13.07 170 1155.27 0.00 0.00 0.00 0.000 0.000 0.000 3325.34 3288.25 3362.44 1229.62 1949.38 0 0 0 30.00 30.00 30.00

1303 end dive: TARGET_DEPTH_EXCEEDED

state 1303 begin apogee

1305.18 10243 0.00 -0.38 0.00 3326.4 3288.7 3364.1 1229.5 1865.4 150.28 -13.34 185 1414.21 95.67 2.69 0.11 1.083 0.147 0.169 2816.72 2716.06 2917.38 1641.75 1939.81 0 0 0 11.49 15.96 15.68

1423 end apogee: CONTROL_FINISHED_OK

state 1423 begin climb

1423.92 10759 124.64 2.18 -80.00 2815.5 2715.8 2915.2 1642.2 1940.2 153.25 0.00 195 1545.05 96.92 3.90 3.84 1.055 0.082 0.127 2306.41 2201.69 2411.12 2264.62 434.00 0 0 0 11.27 15.70 15.52

1607.98 1156 124.64 2.10 0.00 2301.5 2198.9 2404.1 2264.4 433.8 127.06 22.11 228 1615.68 0.00 0.00 3.45 0.000 0.000 0.051 2302.66 2200.19 2405.12 2263.62 1934.06 0 0 0 30.00 30.00 15.73

1797.53 20611 124.64 2.09 0.00 2299.6 2198.1 2401.1 2265.0 1935.2 94.02 16.42 247 1799.67 0.00 0.28 0.00 0.000 0.193 0.000 2300.00 2197.56 2402.44 2231.25 1935.12 0 0 0 30.00 15.78 30.00

1987.42 16902 124.64 2.09 -80.00 2298.6 2197.1 2400.0 2232.4 1935.5 66.62 13.83 266 1996.11 0.00 0.00 3.70 0.000 0.000 0.125 2296.50 2195.50 2397.50 2232.00 433.94 0 0 0 30.00 30.00 15.87

2049.03 17542 124.64 2.04 0.00 2297.5 2196.6 2398.5 2231.9 434.0 56.48 16.55 278 2056.65 0.00 0.00 3.38 0.000 0.000 0.050 2297.53 2196.50 2398.56 2232.44 1936.81 0 0 0 30.00 30.00 15.95

2237.64 16386 124.64 2.04 0.00 2297.4 2196.6 2398.1 2232.6 1937.6 31.73 12.61 311 2241.55 0.00 0.00 0.00 0.000 0.000 0.000 2297.06 2195.44 2398.69 2232.00 1938.19 0 0 0 30.00 30.00 30.00

2422.88 8870 147.48 2.09 -80.00 2297.0 2195.6 2398.3 2231.7 1937.9 12.37 7.66 348 2451.59 17.90 0.00 3.70 0.906 0.000 0.126 2216.34 2112.25 2320.44 2230.44 433.62 0 0 0 11.50 30.00 15.90

2455.33 9382 175.16 2.14 0.00 2212.6 2109.4 2315.8 2232.4 433.9 10.07 7.16 354 2489.08 22.39 0.00 3.38 0.891 0.000 0.050 2102.41 1995.62 2209.19 2232.31 1942.81 0 0 0 11.39 30.00 15.96

2671.64 10663 266.74 2.30 80.00 2097.5 1993.3 2201.7 2232.0 1942.8 6.55 0.60 395 2753.51 67.26 0.39 3.47 0.929 0.054 0.109 1725.94 1620.94 1830.94 2308.56 3367.06 0 0 0 11.50 15.95 15.68

2982.18 9254 363.01 2.42 0.00 1720.1 1622.2 1818.0 2308.7 3367.5 4.45 0.12 455 2994.75 4.96 0.00 3.48 0.566 0.000 0.056 1710.75 1611.00 1810.50 2308.38 1873.00 0 0 0 11.42 30.00 15.87

2995 end climb: NO_VERTICAL_VELOCITY

state 2995 begin surface

ID	242	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1900	ALTIM_PULSE	3
MISSION	8	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
DIVE	17	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	574.84723	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	-3.2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	2817.0134	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	540	DEVICE3	-1
D_SAFE	0	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	3	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	6	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	6	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	12	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	3	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	120	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	220	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1731.282	MINV_24V	0	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	13.242413	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	43.080433	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	29.890137	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0099999998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-182.53638	SEABIRD_T_J	4.3e-06
MASS	72380	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	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	195	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3800	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	1980	ALTIM_FREQUENCY	13

GPS1	220623,080836,4736.191,-12256.690,3,1.7,8,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,081430,4736.183,-12256.664,2,1.6,4,15.4	MHEAD_RNG_PITCHd_Wd	191.9,462,-26.8,-10.000,-29.63,997,0.133
SPEED_LIMITS	0.173,0.258	D_GRID	167
TGT_NAME	S	IRON	1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.469299,-818.692627,-706.311096
TGT_LATLONG	4735.950,-12256.800	OSC	8000225

NET	CACST,8,0,20230622085032.271848,18,32767,45,0102,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,11.1,2.49,-100,0.51,-01,0.18,71,10000,5000,0,1,00,00*5A	_24V_AH	15.04,33.794
NET_PING	1687423811,29,407.941498,12.800000,-0.540983	_10V_AH	15.00,0.000
MODEM_MSG	CACST,8,1,20230622082500.294176,18,32767,45,0151,0000,07,01,01,00,01,-1,-01,-01,2,3,1,0,150,10.4,6.20,-100,-3.20,-01,-0.10,42,925,0025,0,-1,00,00*3E	FG_AHR_24Vo	30.041
NAV	1687424345,6.6,start	FG_AHR_10Vo	43.128
WARN	HSCICON missed fuel gauge read	MEM0	60020,1,0,0
FREEZE	4.43,13.955,-1.508,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	944876,32,101732,66
SM_CCo	3290.89,0.17,0.125,0,500.0,402.6,597.4,568.36	DATA_FILE_SIZE	12923,457
SM_GC	2.81,0.17,13.05,0.28,0.125,0.046,0.078,500.0,402.6,597.4,196.4,2022.8,0,0,0,15.76,15.62,15.65	CAP_FILE_SIZE	167758,0
SUPER	27,71,254,1,0,0	SDSIZE	3887104,3864704
IRIDIUM_FIX	4739.27,-12305.05,220623,081007	SDFILEDIR	170,18
TCM_TEMP	15.06	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	0.031, 91.8,1
MODEM	0,1687420800,47.60500,-122.95000,0.386,565.1	MAGCAL	1.000000,0.062885,0.040945,-0.049089,1.027708,0.116289,-0.044179,-0.431233,1.166812,695.0,-943.5,-814.6,31,0.0555,0
RAFOS_FIX	-31223.685547,-192257.671875,220623,080800,4,255,223280.81	IMPLIED_C_PITCH	1730,13.19,198,1730.7,13.22
HUMID	49.70	IMPLIED_C_VBD	2842,40.271488,151,2829.3
TEMP	11.82	GPS	220623,091107,4735.957,-12256.819,2,0.7,37,15.4
INTERNAL_PRESSURE	8.26601

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	622	1083	10144.72	nil	0	0	0.00
Pitch_motor	27	234	98.12	nil	0	0	0.00
Roll_motor	42	169	108.98	nil	0	0	0.00
Iridium	224	215	728.32	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	2137	5	164.20	SciCon	3004	8	375.58
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1249	0	6.00
Compass	969	5	72.69
RAFOS	1311	40	786.81
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
7.64	16386	-65.58	-2.11	0.00	499.2	402.0	596.5	198.6	1943.8	0.00	0.00	0	56.38	44.90	0.00	0.00	0.005	0.000	0.000	1590.69	1561.75	1619.62	198.88	1943.56	0	0	0	15.88	30.00	30.00
56.81	18983	-124.64	-2.18	-80.00	1590.7	1561.2	1620.1	198.9	1943.4	3.13	-3.94	9	135.65	55.40	7.32	3.53	0.005	0.235	0.121	3322.56	3288.00	3357.12	1204.06	511.31	0	0	0	15.90	15.70	15.81
139.14	1156	-124.64	-2.11	0.00	3323.3	3289.1	3357.6	1203.9	511.4	8.92	-10.40	24	145.55	0.00	0.00	3.41	0.000	0.000	0.049	3323.34	3288.38	3358.31	1203.94	2005.88	0	0	0	30.00	30.00	15.87
329.99	2177	-124.64	-2.08	0.00	3325.0	3288.8	3361.2	1202.8	2018.0	31.37	-10.14	61	334.24	0.00	0.17	0.00	0.000	0.192	0.000	3327.91	3291.69	3364.12	1229.12	2016.62	0	0	0	30.00	15.75	30.00
516.90	0	-124.64	-2.08	0.00	3325.3	3288.8	3361.9	1229.6	2017.6	50.14	-10.71	98	517.72	0.00	0.00	0.00	0.000	0.000	0.000	3324.72	3288.38	3361.06	1229.38	2018.06	0	0	0	30.00	30.00	30.00
704.87	260	-124.64	-2.08	80.00	3326.1	3289.0	3363.2	1229.6	2017.7	72.26	-12.48	117	712.09	0.00	0.00	3.45	0.000	0.000	0.109	3326.53	3288.06	3365.00	1229.88	3447.19	0	0	0	30.00	30.00	15.80
774.95	1156	-124.64	-2.05	0.00	3326.0	3288.6	3363.4	1229.2	3448.6	81.91	-14.16	131	782.49	0.00	0.00	3.42	0.000	0.000	0.054	3326.56	3289.69	3363.44	1229.69	1949.88	0	0	0	30.00	30.00	15.90
963.48	0	-124.64	-2.05	0.00	3326.2	3288.9	3363.6	1229.8	1949.9	106.39	-13.15	151	965.23	0.00	0.00	0.00	0.000	0.000	0.000	3324.75	3287.50	3362.00	1229.44	1949.69	0	0	0	30.00	30.00	30.00
1153.51	0	-124.64	-2.05	0.00	3326.2	3289.0	3363.3	1229.6	1950.0	130.92	-13.07	170	1155.27	0.00	0.00	0.00	0.000	0.000	0.000	3325.34	3288.25	3362.44	1229.62	1949.38	0	0	0	30.00	30.00	30.00
1303	end dive: TARGET_DEPTH_EXCEEDED
state	1303	begin apogee
1305.18	10243	0.00	-0.38	0.00	3326.4	3288.7	3364.1	1229.5	1865.4	150.28	-13.34	185	1414.21	95.67	2.69	0.11	1.083	0.147	0.169	2816.72	2716.06	2917.38	1641.75	1939.81	0	0	0	11.49	15.96	15.68
1423	end apogee: CONTROL_FINISHED_OK
state	1423	begin climb
1423.92	10759	124.64	2.18	-80.00	2815.5	2715.8	2915.2	1642.2	1940.2	153.25	0.00	195	1545.05	96.92	3.90	3.84	1.055	0.082	0.127	2306.41	2201.69	2411.12	2264.62	434.00	0	0	0	11.27	15.70	15.52
1607.98	1156	124.64	2.10	0.00	2301.5	2198.9	2404.1	2264.4	433.8	127.06	22.11	228	1615.68	0.00	0.00	3.45	0.000	0.000	0.051	2302.66	2200.19	2405.12	2263.62	1934.06	0	0	0	30.00	30.00	15.73
1797.53	20611	124.64	2.09	0.00	2299.6	2198.1	2401.1	2265.0	1935.2	94.02	16.42	247	1799.67	0.00	0.28	0.00	0.000	0.193	0.000	2300.00	2197.56	2402.44	2231.25	1935.12	0	0	0	30.00	15.78	30.00
1987.42	16902	124.64	2.09	-80.00	2298.6	2197.1	2400.0	2232.4	1935.5	66.62	13.83	266	1996.11	0.00	0.00	3.70	0.000	0.000	0.125	2296.50	2195.50	2397.50	2232.00	433.94	0	0	0	30.00	30.00	15.87
2049.03	17542	124.64	2.04	0.00	2297.5	2196.6	2398.5	2231.9	434.0	56.48	16.55	278	2056.65	0.00	0.00	3.38	0.000	0.000	0.050	2297.53	2196.50	2398.56	2232.44	1936.81	0	0	0	30.00	30.00	15.95
2237.64	16386	124.64	2.04	0.00	2297.4	2196.6	2398.1	2232.6	1937.6	31.73	12.61	311	2241.55	0.00	0.00	0.00	0.000	0.000	0.000	2297.06	2195.44	2398.69	2232.00	1938.19	0	0	0	30.00	30.00	30.00
2422.88	8870	147.48	2.09	-80.00	2297.0	2195.6	2398.3	2231.7	1937.9	12.37	7.66	348	2451.59	17.90	0.00	3.70	0.906	0.000	0.126	2216.34	2112.25	2320.44	2230.44	433.62	0	0	0	11.50	30.00	15.90
2455.33	9382	175.16	2.14	0.00	2212.6	2109.4	2315.8	2232.4	433.9	10.07	7.16	354	2489.08	22.39	0.00	3.38	0.891	0.000	0.050	2102.41	1995.62	2209.19	2232.31	1942.81	0	0	0	11.39	30.00	15.96
2671.64	10663	266.74	2.30	80.00	2097.5	1993.3	2201.7	2232.0	1942.8	6.55	0.60	395	2753.51	67.26	0.39	3.47	0.929	0.054	0.109	1725.94	1620.94	1830.94	2308.56	3367.06	0	0	0	11.50	15.95	15.68
2982.18	9254	363.01	2.42	0.00	1720.1	1622.2	1818.0	2308.7	3367.5	4.45	0.12	455	2994.75	4.96	0.00	3.48	0.566	0.000	0.056	1710.75	1611.00	1810.50	2308.38	1873.00	0	0	0	11.42	30.00	15.87
2995	end climb: NO_VERTICAL_VELOCITY
state	2995	begin surface