Glider dive log

HoodCanal 20Jun23 * SG244 * Dive index * Mission links * Dive 17 * 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 17 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 2.3548632 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 8.6378765 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 2.3548632 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 8.6378765 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 17 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 210623,114456,4735.944,-12256.807,1,0.6,2,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,114802,4735.940,-12256.825,2,0.6,5,15.4 MHEAD_RNG_PITCHd_Wd 9.9,1178,-17.6,-10.000,-21.21,2209,0.175

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.022576,-0.016989,-0.002609,1.076571,-0.080603,0.037353,-0.050084,1.009150,622.396057,-335.180328,-319.772278

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET xmit part outbox0012.n 894 8 _24V_AH 14.86,4.651

NET_PING 1687350519,29,204.525009,15.000000,67.727905 _10V_AH 14.97,0.000

NAV 1687350435,56.9,3,stop FG_AHR_24Vo 8.774

MODEM_MSG CACST,8,0,20230621122459.124012,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-2.4,10.38,-100,-7.38,-01,-0.20,89,925,0025,0,1,00,00*1F FG_AHR_10Vo 2.377

FREEZE 6.06,12.556,-1.557,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3321.98,310.74,0.713,0,500.7,438.8,562.6,686.68 MEM2 945804,27,100844,69

SM_GC 1.88,0.00,10.58,0.37,0.000,0.038,0.069,496.3,438.0,554.6,187.6,2319.6,0,0,0,30.00,15.36,15.34 DATA_FILE_SIZE 9737,430

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 169091,0

IRIDIUM_FIX 4738.33,-12256.21,210623,105510 SDSIZE 3887104,3869056

TCM_TEMP 18.27 SDFILEDIR 174,18

SC_FREEKB 3873408 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 0,1687349399,47.60500,-122.95000,599.224,877863.4 CURRENT 0.014, 84.0,1

RAFOS_FIX 5530.612793,-12257.000000,210623,121259,3,255,458.82 MAGCAL 1.000000,0.030574,-0.267869,0.021764,1.050202,-0.013073,0.201377,-0.164559,0.920810,817.7,-382.7,-299.5,36,0.0799,0

HUMID 56.29 IMPLIED_C_PITCH 1516,16.35,219,0.0,0.00

TEMP 10.43 IMPLIED_C_VBD 3386,20.189342,219,0

INTERNAL_PRESSURE 8.26432 GPS 210623,124615,4736.282,-12256.634,1,0.7,2,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 670 881 8781.90 nil 0 0 0.00

Pitch_motor 22 244 82.85 nil 0 0 0.00

Roll_motor 51 175 134.01 nil 0 0 0.00

Iridium 120 125 223.88 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.26 nil 0 0 0.00

Core 1978 5 151.62 SciCon 2984 7 342.53

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1280 0 6.13

Compass 901 5 67.51

RAFOS 1687 40 1010.55

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

6.34 16386 -146.63 -1.35 0.00 494.2 438.6 549.9 186.4 2272.9 0.00 0.00 0 54.78 43.80 0.00 0.00 0.005 0.000 0.000 1785.38 1768.06 1802.69 186.12 2273.12 0 0 0 14.51 30.00 30.00

55.30 18727 -146.63 -1.35 80.00 1788.2 1767.7 1808.7 185.8 2272.8 3.34 -4.11 8 139.69 56.85 7.79 3.77 0.005 0.244 0.098 3899.28 3886.88 3911.69 1172.06 3768.00 0 0 0 14.32 14.81 15.43

193.36 1156 -146.63 -1.29 0.00 3901.1 3888.6 3913.6 1172.1 3767.7 19.58 -16.56 33 201.46 0.00 0.00 3.47 0.000 0.000 0.018 3901.00 3888.56 3913.44 1172.31 2268.81 0 0 0 30.00 30.00 15.54

385.20 644 -146.63 -1.26 -80.00 3902.4 3888.3 3916.5 1172.3 2267.5 42.32 -11.55 71 393.76 0.00 0.00 3.64 0.000 0.000 0.106 3901.84 3887.62 3916.06 1172.19 834.12 0 0 0 30.00 30.00 15.55

432.57 3205 -146.63 -1.22 0.00 3902.4 3888.2 3916.6 1172.1 834.2 48.44 -13.31 80 441.44 0.00 0.23 3.55 0.000 0.168 0.036 3903.12 3889.38 3916.88 1204.88 2317.44 0 0 0 30.00 15.55 15.62

629.00 160 -146.63 -1.20 0.00 3903.0 3888.1 3917.8 1205.3 2316.9 67.84 -9.79 101 648.58 0.00 0.00 0.00 0.000 0.000 0.000 3902.59 3888.00 3917.19 1205.00 2316.81 0 0 0 30.00 30.00 30.00

832.37 676 -146.63 -1.19 -80.00 3903.2 3888.4 3918.1 1205.1 2317.0 87.84 -9.46 121 841.30 0.00 0.00 3.81 0.000 0.000 0.107 3903.12 3888.06 3918.19 1205.56 833.94 0 0 0 30.00 30.00 15.46

860.18 1188 -146.63 -1.17 0.00 3903.2 3888.2 3918.1 1204.9 834.1 90.68 -9.84 126 868.80 0.00 0.00 3.59 0.000 0.000 0.037 3902.75 3888.25 3917.25 1206.06 2318.25 0 0 0 30.00 30.00 15.52

1055.18 160 -146.63 -1.15 0.00 3903.6 3888.4 3918.8 1206.1 2318.1 109.17 -8.88 146 1057.06 0.00 0.00 0.00 0.000 0.000 0.000 3903.06 3887.88 3918.25 1205.88 2318.19 0 0 0 30.00 30.00 30.00

1245.22 676 -146.63 -1.14 -80.00 3903.7 3888.4 3919.0 1205.8 2318.4 127.11 -9.35 165 1254.24 0.00 0.00 3.80 0.000 0.000 0.107 3903.19 3887.81 3918.56 1206.19 834.06 0 0 0 30.00 30.00 15.56

1287.43 1188 -146.63 -1.13 0.00 3903.8 3888.6 3918.9 1206.0 834.4 131.42 -9.96 173 1295.67 0.00 0.00 3.57 0.000 0.000 0.038 3903.88 3888.50 3919.25 1205.69 2317.75 0 0 0 30.00 30.00 15.61

1483 end dive: TARGET_DEPTH_EXCEEDED

state 1483 begin apogee

1485.08 10243 0.00 -0.33 0.00 3903.8 3888.5 3919.2 1205.8 2154.1 150.59 -9.85 193 1604.28 103.82 1.48 0.09 0.882 0.123 0.175 3297.28 3241.75 3352.81 1420.69 2206.00 0 0 0 11.31 15.61 15.34

1606 end apogee: CONTROL_FINISHED_OK

state 1606 begin climb

1606.00 10243 146.63 1.35 0.00 3295.9 3240.8 3351.0 1420.5 2206.0 153.65 0.00 204 1728.83 105.32 2.73 0.00 0.859 0.081 0.000 2697.75 2612.56 2782.94 1830.44 2206.38 0 0 0 11.46 15.38 30.00

1912.59 16774 146.63 1.35 80.00 2691.7 2612.4 2771.0 1830.2 2205.8 120.36 13.60 240 1921.56 0.00 0.00 3.67 0.000 0.000 0.102 2691.47 2612.25 2770.69 1830.56 3650.44 0 0 0 30.00 30.00 15.41

2050.43 17542 146.63 1.31 0.00 2690.8 2612.3 2769.2 1830.4 3650.4 96.26 18.18 267 2059.20 0.00 0.00 3.44 0.000 0.000 0.021 2688.31 2610.69 2765.94 1830.00 2160.38 0 0 0 30.00 30.00 15.52

2245.42 16774 146.63 1.31 80.00 2690.1 2611.6 2768.6 1830.3 2159.8 68.83 13.44 287 2254.49 0.00 0.00 3.73 0.000 0.000 0.097 2692.41 2614.12 2770.69 1830.44 3649.25 0 0 0 30.00 30.00 15.54

2449.23 17542 146.63 1.28 0.00 2689.7 2611.9 2767.5 1830.2 3648.8 38.65 13.79 326 2462.19 0.00 0.00 3.41 0.000 0.000 0.021 2690.84 2613.25 2768.44 1830.31 2159.12 0 0 0 30.00 30.00 15.60

2645.90 8486 152.45 1.29 80.00 2689.0 2611.1 2766.8 1830.2 2158.9 17.59 9.73 365 2660.41 4.93 0.00 3.71 0.433 0.000 0.099 2674.84 2595.62 2754.06 1830.69 3651.25 0 0 0 11.39 30.00 15.61

2754.32 9382 213.50 1.34 0.00 2675.7 2597.9 2753.5 1829.9 3651.1 8.50 7.17 386 2811.20 44.76 0.00 3.42 0.720 0.000 0.020 2427.41 2326.00 2528.81 1830.81 2156.81 0 0 0 11.37 30.00 15.69

2980 end climb: NO_VERTICAL_VELOCITY

state 2980 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	17	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	2.3548632	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	8.6378765	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	210623,114456,4735.944,-12256.807,1,0.6,2,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,114802,4735.940,-12256.825,2,0.6,5,15.4	MHEAD_RNG_PITCHd_Wd	9.9,1178,-17.6,-10.000,-21.21,2209,0.175
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.022576,-0.016989,-0.002609,1.076571,-0.080603,0.037353,-0.050084,1.009150,622.396057,-335.180328,-319.772278
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	xmit part outbox0012.n 894 8	_24V_AH	14.86,4.651
NET_PING	1687350519,29,204.525009,15.000000,67.727905	_10V_AH	14.97,0.000
NAV	1687350435,56.9,3,stop	FG_AHR_24Vo	8.774
MODEM_MSG	CACST,8,0,20230621122459.124012,18,32767,45,0101,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-2.4,10.38,-100,-7.38,-01,-0.20,89,925,0025,0,1,00,00*1F	FG_AHR_10Vo	2.377
FREEZE	6.06,12.556,-1.557,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3321.98,310.74,0.713,0,500.7,438.8,562.6,686.68	MEM2	945804,27,100844,69
SM_GC	1.88,0.00,10.58,0.37,0.000,0.038,0.069,496.3,438.0,554.6,187.6,2319.6,0,0,0,30.00,15.36,15.34	DATA_FILE_SIZE	9737,430
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	169091,0
IRIDIUM_FIX	4738.33,-12256.21,210623,105510	SDSIZE	3887104,3869056
TCM_TEMP	18.27	SDFILEDIR	174,18
SC_FREEKB	3873408	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	0,1687349399,47.60500,-122.95000,599.224,877863.4	CURRENT	0.014, 84.0,1
RAFOS_FIX	5530.612793,-12257.000000,210623,121259,3,255,458.82	MAGCAL	1.000000,0.030574,-0.267869,0.021764,1.050202,-0.013073,0.201377,-0.164559,0.920810,817.7,-382.7,-299.5,36,0.0799,0
HUMID	56.29	IMPLIED_C_PITCH	1516,16.35,219,0.0,0.00
TEMP	10.43	IMPLIED_C_VBD	3386,20.189342,219,0
INTERNAL_PRESSURE	8.26432	GPS	210623,124615,4736.282,-12256.634,1,0.7,2,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	670	881	8781.90	nil	0	0	0.00
Pitch_motor	22	244	82.85	nil	0	0	0.00
Roll_motor	51	175	134.01	nil	0	0	0.00
Iridium	120	125	223.88	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.26	nil	0	0	0.00
Core	1978	5	151.62	SciCon	2984	7	342.53
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1280	0	6.13
Compass	901	5	67.51
RAFOS	1687	40	1010.55
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
6.34	16386	-146.63	-1.35	0.00	494.2	438.6	549.9	186.4	2272.9	0.00	0.00	0	54.78	43.80	0.00	0.00	0.005	0.000	0.000	1785.38	1768.06	1802.69	186.12	2273.12	0	0	0	14.51	30.00	30.00
55.30	18727	-146.63	-1.35	80.00	1788.2	1767.7	1808.7	185.8	2272.8	3.34	-4.11	8	139.69	56.85	7.79	3.77	0.005	0.244	0.098	3899.28	3886.88	3911.69	1172.06	3768.00	0	0	0	14.32	14.81	15.43
193.36	1156	-146.63	-1.29	0.00	3901.1	3888.6	3913.6	1172.1	3767.7	19.58	-16.56	33	201.46	0.00	0.00	3.47	0.000	0.000	0.018	3901.00	3888.56	3913.44	1172.31	2268.81	0	0	0	30.00	30.00	15.54
385.20	644	-146.63	-1.26	-80.00	3902.4	3888.3	3916.5	1172.3	2267.5	42.32	-11.55	71	393.76	0.00	0.00	3.64	0.000	0.000	0.106	3901.84	3887.62	3916.06	1172.19	834.12	0	0	0	30.00	30.00	15.55
432.57	3205	-146.63	-1.22	0.00	3902.4	3888.2	3916.6	1172.1	834.2	48.44	-13.31	80	441.44	0.00	0.23	3.55	0.000	0.168	0.036	3903.12	3889.38	3916.88	1204.88	2317.44	0	0	0	30.00	15.55	15.62
629.00	160	-146.63	-1.20	0.00	3903.0	3888.1	3917.8	1205.3	2316.9	67.84	-9.79	101	648.58	0.00	0.00	0.00	0.000	0.000	0.000	3902.59	3888.00	3917.19	1205.00	2316.81	0	0	0	30.00	30.00	30.00
832.37	676	-146.63	-1.19	-80.00	3903.2	3888.4	3918.1	1205.1	2317.0	87.84	-9.46	121	841.30	0.00	0.00	3.81	0.000	0.000	0.107	3903.12	3888.06	3918.19	1205.56	833.94	0	0	0	30.00	30.00	15.46
860.18	1188	-146.63	-1.17	0.00	3903.2	3888.2	3918.1	1204.9	834.1	90.68	-9.84	126	868.80	0.00	0.00	3.59	0.000	0.000	0.037	3902.75	3888.25	3917.25	1206.06	2318.25	0	0	0	30.00	30.00	15.52
1055.18	160	-146.63	-1.15	0.00	3903.6	3888.4	3918.8	1206.1	2318.1	109.17	-8.88	146	1057.06	0.00	0.00	0.00	0.000	0.000	0.000	3903.06	3887.88	3918.25	1205.88	2318.19	0	0	0	30.00	30.00	30.00
1245.22	676	-146.63	-1.14	-80.00	3903.7	3888.4	3919.0	1205.8	2318.4	127.11	-9.35	165	1254.24	0.00	0.00	3.80	0.000	0.000	0.107	3903.19	3887.81	3918.56	1206.19	834.06	0	0	0	30.00	30.00	15.56
1287.43	1188	-146.63	-1.13	0.00	3903.8	3888.6	3918.9	1206.0	834.4	131.42	-9.96	173	1295.67	0.00	0.00	3.57	0.000	0.000	0.038	3903.88	3888.50	3919.25	1205.69	2317.75	0	0	0	30.00	30.00	15.61
1483	end dive: TARGET_DEPTH_EXCEEDED
state	1483	begin apogee
1485.08	10243	0.00	-0.33	0.00	3903.8	3888.5	3919.2	1205.8	2154.1	150.59	-9.85	193	1604.28	103.82	1.48	0.09	0.882	0.123	0.175	3297.28	3241.75	3352.81	1420.69	2206.00	0	0	0	11.31	15.61	15.34
1606	end apogee: CONTROL_FINISHED_OK
state	1606	begin climb
1606.00	10243	146.63	1.35	0.00	3295.9	3240.8	3351.0	1420.5	2206.0	153.65	0.00	204	1728.83	105.32	2.73	0.00	0.859	0.081	0.000	2697.75	2612.56	2782.94	1830.44	2206.38	0	0	0	11.46	15.38	30.00
1912.59	16774	146.63	1.35	80.00	2691.7	2612.4	2771.0	1830.2	2205.8	120.36	13.60	240	1921.56	0.00	0.00	3.67	0.000	0.000	0.102	2691.47	2612.25	2770.69	1830.56	3650.44	0	0	0	30.00	30.00	15.41
2050.43	17542	146.63	1.31	0.00	2690.8	2612.3	2769.2	1830.4	3650.4	96.26	18.18	267	2059.20	0.00	0.00	3.44	0.000	0.000	0.021	2688.31	2610.69	2765.94	1830.00	2160.38	0	0	0	30.00	30.00	15.52
2245.42	16774	146.63	1.31	80.00	2690.1	2611.6	2768.6	1830.3	2159.8	68.83	13.44	287	2254.49	0.00	0.00	3.73	0.000	0.000	0.097	2692.41	2614.12	2770.69	1830.44	3649.25	0	0	0	30.00	30.00	15.54
2449.23	17542	146.63	1.28	0.00	2689.7	2611.9	2767.5	1830.2	3648.8	38.65	13.79	326	2462.19	0.00	0.00	3.41	0.000	0.000	0.021	2690.84	2613.25	2768.44	1830.31	2159.12	0	0	0	30.00	30.00	15.60
2645.90	8486	152.45	1.29	80.00	2689.0	2611.1	2766.8	1830.2	2158.9	17.59	9.73	365	2660.41	4.93	0.00	3.71	0.433	0.000	0.099	2674.84	2595.62	2754.06	1830.69	3651.25	0	0	0	11.39	30.00	15.61
2754.32	9382	213.50	1.34	0.00	2675.7	2597.9	2753.5	1829.9	3651.1	8.50	7.17	386	2811.20	44.76	0.00	3.42	0.720	0.000	0.020	2427.41	2326.00	2528.81	1830.81	2156.81	0	0	0	11.37	30.00	15.69
2980	end climb: NO_VERTICAL_VELOCITY
state	2980	begin surface