Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 18 * 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 18 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 54.599239 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 106.20159 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 54.599239 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 106.20159 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 18 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 230623,102334,4736.353,-12256.355,1,1.2,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,102654,4736.356,-12256.354,2,1.2,4,15.4 MHEAD_RNG_PITCHd_Wd 320.5,353,-27.2,-10.000,-30.00,969,0.129

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME N 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 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

MODEM_MSG CACST,8,0,20230623102500.692213,18,14875,35,0314,0000,216,02,02,01,02,1,029,121,0,5,1,0,150,5.3,3.75,-100,-0.75,-01,0.02,61,925,0025,0,1,00,00*16 _24V_AH 14.90,86.598

NAV 1687517950,52.7,start _10V_AH 14.93,0.000

NET CACST,8,0,20230623105737.848132,18,32767,45,0195,0150,37,02,02,00,02,1,029,243,0,5,1,0,150,10.9,7.28,-100,-4.28,-01,0.14,60,10000,5000,0,-1,00,00*55 FG_AHR_24Vo 106.357

NET_PING 1687517861,29,1233.624023,10.900000,-1.643489 FG_AHR_10Vo 54.654

FREEZE 3.04,13.722,-1.515,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3084.78,261.04,0.926,0,500.5,389.3,611.6,637.66 MEM2 945720,28,100908,69

SM_GC 1.34,0.00,13.24,0.13,0.000,0.048,0.118,497.2,389.2,605.1,188.2,2049.4,0,0,0,30.00,15.57,15.60 DATA_FILE_SIZE 12906,444

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 185918,0

IRIDIUM_FIX 4735.53,-12254.47,230623,092015 SDSIZE 3887104,3868288

TCM_TEMP 13.10 SDFILEDIR 176,19

SC_FREEKB 3873216 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 0,1687514400,47.60500,-122.95000,0.548,802.4 MAGCAL 1.000000,0.004094,0.035576,0.012312,1.035816,-0.060783,0.003840,-0.043667,1.013357,53.3,-1133.7,-879.5,36,0.0340,0

RAFOS_FIX 4736.350098,-12256.820312,230623,101000,3,255,-5.11 IMPLIED_C_PITCH 1764,14.20,187,0.0,0.00

HUMID 55.92 IMPLIED_C_VBD 2922,20.411438,126,0

TEMP 11.39 GPS 230623,112132,4736.637,-12256.394,5,0.8,27,15.4

INTERNAL_PRESSURE 10.3557

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 651 1131 10981.08 nil 0 0 0.00

Pitch_motor 29 248 110.08 nil 0 0 0.00

Roll_motor 64 166 161.44 nil 0 0 0.00

Iridium 131 162 317.89 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.90 nil 0 0 0.00

Core 2044 5 156.31 SciCon 2813 7 307.59

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1053 0 5.03

Compass 952 5 71.12

RAFOS 741 40 442.84

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

7.81 16386 -63.69 -2.14 0.00 663.0 541.5 784.6 192.1 2052.8 0.00 0.00 0 105.24 93.89 0.00 0.00 0.005 0.000 0.000 2604.22 2560.19 2648.25 192.06 2053.12 0 0 0 14.78 30.00 30.00

105.53 18727 -110.22 -2.20 80.00 2603.7 2559.1 2648.2 192.2 2052.7 3.10 -5.09 17 154.00 29.05 8.18 3.76 0.005 0.249 0.091 3547.41 3504.94 3589.88 1254.06 3555.94 0 0 0 15.89 15.62 15.77

381.52 1156 -110.22 -2.12 0.00 3548.4 3505.5 3591.3 1254.2 3556.6 52.96 -17.41 72 388.13 0.00 0.00 3.43 0.000 0.000 0.038 3549.25 3506.19 3592.31 1254.50 2055.69 0 0 0 30.00 30.00 15.90

577.32 260 -110.22 -2.12 80.00 3548.4 3505.1 3591.8 1254.2 2055.8 81.65 -14.45 92 583.76 0.00 0.00 3.70 0.000 0.000 0.089 3549.34 3506.12 3592.56 1253.75 3554.06 0 0 0 30.00 30.00 15.89

738.74 3205 -110.22 -2.07 0.00 3548.4 3505.2 3591.6 1254.4 3554.6 108.94 -17.19 124 745.66 0.00 0.21 3.42 0.000 0.208 0.038 3548.97 3505.88 3592.06 1284.50 2053.69 0 0 0 30.00 15.80 15.93

934.54 388 -110.22 -2.11 80.00 3548.8 3505.5 3592.1 1284.9 2053.6 135.61 -13.00 144 940.84 0.00 0.00 3.70 0.000 0.000 0.090 3547.72 3504.62 3590.81 1285.56 3557.88 0 0 0 30.00 30.00 15.91

1028 end dive: TARGET_DEPTH_EXCEEDED

state 1028 begin apogee

1033.79 10243 0.00 -0.38 0.00 3548.8 3505.2 3592.4 1285.6 2054.8 150.16 -16.25 161 1122.64 78.08 2.96 0.10 1.131 0.177 0.167 3098.28 3022.19 3174.38 1694.44 2121.94 0 0 0 11.09 15.81 15.71

1124 end apogee: CONTROL_FINISHED_OK

state 1124 begin climb

1124.48 10759 110.22 2.20 -80.00 3098.5 3021.9 3175.2 1694.6 2121.9 154.38 0.00 170 1231.15 80.82 4.09 3.86 1.086 0.091 0.106 2644.28 2555.88 2732.69 2324.06 616.31 0 0 0 11.27 15.68 14.98

1234.48 5253 110.22 2.11 0.00 2645.6 2558.1 2733.0 2324.0 616.6 144.26 12.09 183 1245.84 0.00 0.25 3.62 0.000 0.219 0.039 2644.59 2557.38 2731.81 2292.25 2120.69 0 0 0 30.00 15.48 15.04

1429.59 16774 110.22 2.07 80.00 2642.2 2555.6 2728.8 2292.8 2120.6 115.14 15.00 204 1442.62 0.00 0.00 3.61 0.000 0.000 0.097 2643.03 2556.38 2729.69 2292.44 3554.38 0 0 0 30.00 30.00 15.58

1501.08 21639 110.22 1.98 0.00 2641.9 2555.4 2728.4 2292.8 3554.0 103.77 16.04 218 1507.71 0.00 0.23 3.46 0.000 0.211 0.038 2642.03 2555.56 2728.50 2261.00 2055.06 0 0 0 30.00 15.60 15.70

1696.02 16646 110.22 1.98 80.00 2640.8 2554.4 2727.2 2260.9 2055.0 78.87 12.42 238 1702.67 0.00 0.00 3.75 0.000 0.000 0.095 2640.41 2554.81 2726.00 2260.94 3553.75 0 0 0 30.00 30.00 15.78

1791.13 17542 110.22 1.92 0.00 2640.8 2554.6 2727.1 2260.2 3553.9 65.77 13.19 257 1797.53 0.00 0.00 3.43 0.000 0.000 0.038 2638.41 2551.12 2725.69 2261.00 2055.06 0 0 0 30.00 30.00 15.84

1980.79 16646 110.22 1.92 80.00 2639.7 2553.2 2726.2 2260.7 2055.0 44.65 10.79 281 1988.21 0.00 0.00 3.76 0.000 0.000 0.095 2637.50 2549.88 2725.12 2261.06 3554.31 0 0 0 30.00 30.00 15.81

2051.65 21639 110.22 1.86 0.00 2639.8 2553.7 2726.0 2260.4 3554.6 36.63 11.45 295 2059.06 0.00 0.20 3.44 0.000 0.201 0.038 2639.47 2553.12 2725.81 2231.38 2055.25 0 0 0 30.00 15.78 15.88

2242.45 8486 132.50 1.89 80.00 2639.3 2552.6 2726.1 2231.8 2054.9 20.29 7.65 333 2269.86 17.09 0.00 3.76 0.980 0.000 0.097 2555.41 2464.94 2645.88 2232.06 3555.06 0 0 0 10.85 30.00 15.84

2303.24 9254 147.25 1.90 0.00 2556.2 2466.8 2645.6 2231.5 3555.6 15.38 8.44 345 2325.22 12.97 0.00 3.44 0.938 0.000 0.037 2496.75 2404.38 2589.12 2231.50 2053.19 0 0 0 11.24 30.00 15.88

2506.62 10919 216.26 2.04 -80.00 2493.0 2401.3 2584.7 2231.8 2054.0 7.08 2.71 385 2570.31 50.54 0.34 3.61 0.976 0.063 0.110 2215.19 2110.62 2319.75 2291.50 619.06 0 0 0 11.06 15.85 15.70

2613.80 9382 253.85 2.04 0.00 2212.0 2111.7 2312.3 2292.0 619.3 3.26 6.03 406 2651.49 27.95 0.00 3.49 0.937 0.000 0.038 2061.72 1951.31 2172.12 2292.19 2120.81 0 0 0 11.13 30.00 15.78

2805 end climb: NO_VERTICAL_VELOCITY

state 2805 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	18	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	54.599239	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	106.20159	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	230623,102334,4736.353,-12256.355,1,1.2,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,102654,4736.356,-12256.354,2,1.2,4,15.4	MHEAD_RNG_PITCHd_Wd	320.5,353,-27.2,-10.000,-30.00,969,0.129
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	N	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	4736.530,-12256.470	OSC	8000307

MODEM_MSG	CACST,8,0,20230623102500.692213,18,14875,35,0314,0000,216,02,02,01,02,1,029,121,0,5,1,0,150,5.3,3.75,-100,-0.75,-01,0.02,61,925,0025,0,1,00,00*16	_24V_AH	14.90,86.598
NAV	1687517950,52.7,start	_10V_AH	14.93,0.000
NET	CACST,8,0,20230623105737.848132,18,32767,45,0195,0150,37,02,02,00,02,1,029,243,0,5,1,0,150,10.9,7.28,-100,-4.28,-01,0.14,60,10000,5000,0,-1,00,00*55	FG_AHR_24Vo	106.357
NET_PING	1687517861,29,1233.624023,10.900000,-1.643489	FG_AHR_10Vo	54.654
FREEZE	3.04,13.722,-1.515,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3084.78,261.04,0.926,0,500.5,389.3,611.6,637.66	MEM2	945720,28,100908,69
SM_GC	1.34,0.00,13.24,0.13,0.000,0.048,0.118,497.2,389.2,605.1,188.2,2049.4,0,0,0,30.00,15.57,15.60	DATA_FILE_SIZE	12906,444
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	185918,0
IRIDIUM_FIX	4735.53,-12254.47,230623,092015	SDSIZE	3887104,3868288
TCM_TEMP	13.10	SDFILEDIR	176,19
SC_FREEKB	3873216	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	0,1687514400,47.60500,-122.95000,0.548,802.4	MAGCAL	1.000000,0.004094,0.035576,0.012312,1.035816,-0.060783,0.003840,-0.043667,1.013357,53.3,-1133.7,-879.5,36,0.0340,0
RAFOS_FIX	4736.350098,-12256.820312,230623,101000,3,255,-5.11	IMPLIED_C_PITCH	1764,14.20,187,0.0,0.00
HUMID	55.92	IMPLIED_C_VBD	2922,20.411438,126,0
TEMP	11.39	GPS	230623,112132,4736.637,-12256.394,5,0.8,27,15.4
INTERNAL_PRESSURE	10.3557

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	651	1131	10981.08	nil	0	0	0.00
Pitch_motor	29	248	110.08	nil	0	0	0.00
Roll_motor	64	166	161.44	nil	0	0	0.00
Iridium	131	162	317.89	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.90	nil	0	0	0.00
Core	2044	5	156.31	SciCon	2813	7	307.59
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1053	0	5.03
Compass	952	5	71.12
RAFOS	741	40	442.84
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
7.81	16386	-63.69	-2.14	0.00	663.0	541.5	784.6	192.1	2052.8	0.00	0.00	0	105.24	93.89	0.00	0.00	0.005	0.000	0.000	2604.22	2560.19	2648.25	192.06	2053.12	0	0	0	14.78	30.00	30.00
105.53	18727	-110.22	-2.20	80.00	2603.7	2559.1	2648.2	192.2	2052.7	3.10	-5.09	17	154.00	29.05	8.18	3.76	0.005	0.249	0.091	3547.41	3504.94	3589.88	1254.06	3555.94	0	0	0	15.89	15.62	15.77
381.52	1156	-110.22	-2.12	0.00	3548.4	3505.5	3591.3	1254.2	3556.6	52.96	-17.41	72	388.13	0.00	0.00	3.43	0.000	0.000	0.038	3549.25	3506.19	3592.31	1254.50	2055.69	0	0	0	30.00	30.00	15.90
577.32	260	-110.22	-2.12	80.00	3548.4	3505.1	3591.8	1254.2	2055.8	81.65	-14.45	92	583.76	0.00	0.00	3.70	0.000	0.000	0.089	3549.34	3506.12	3592.56	1253.75	3554.06	0	0	0	30.00	30.00	15.89
738.74	3205	-110.22	-2.07	0.00	3548.4	3505.2	3591.6	1254.4	3554.6	108.94	-17.19	124	745.66	0.00	0.21	3.42	0.000	0.208	0.038	3548.97	3505.88	3592.06	1284.50	2053.69	0	0	0	30.00	15.80	15.93
934.54	388	-110.22	-2.11	80.00	3548.8	3505.5	3592.1	1284.9	2053.6	135.61	-13.00	144	940.84	0.00	0.00	3.70	0.000	0.000	0.090	3547.72	3504.62	3590.81	1285.56	3557.88	0	0	0	30.00	30.00	15.91
1028	end dive: TARGET_DEPTH_EXCEEDED
state	1028	begin apogee
1033.79	10243	0.00	-0.38	0.00	3548.8	3505.2	3592.4	1285.6	2054.8	150.16	-16.25	161	1122.64	78.08	2.96	0.10	1.131	0.177	0.167	3098.28	3022.19	3174.38	1694.44	2121.94	0	0	0	11.09	15.81	15.71
1124	end apogee: CONTROL_FINISHED_OK
state	1124	begin climb
1124.48	10759	110.22	2.20	-80.00	3098.5	3021.9	3175.2	1694.6	2121.9	154.38	0.00	170	1231.15	80.82	4.09	3.86	1.086	0.091	0.106	2644.28	2555.88	2732.69	2324.06	616.31	0	0	0	11.27	15.68	14.98
1234.48	5253	110.22	2.11	0.00	2645.6	2558.1	2733.0	2324.0	616.6	144.26	12.09	183	1245.84	0.00	0.25	3.62	0.000	0.219	0.039	2644.59	2557.38	2731.81	2292.25	2120.69	0	0	0	30.00	15.48	15.04
1429.59	16774	110.22	2.07	80.00	2642.2	2555.6	2728.8	2292.8	2120.6	115.14	15.00	204	1442.62	0.00	0.00	3.61	0.000	0.000	0.097	2643.03	2556.38	2729.69	2292.44	3554.38	0	0	0	30.00	30.00	15.58
1501.08	21639	110.22	1.98	0.00	2641.9	2555.4	2728.4	2292.8	3554.0	103.77	16.04	218	1507.71	0.00	0.23	3.46	0.000	0.211	0.038	2642.03	2555.56	2728.50	2261.00	2055.06	0	0	0	30.00	15.60	15.70
1696.02	16646	110.22	1.98	80.00	2640.8	2554.4	2727.2	2260.9	2055.0	78.87	12.42	238	1702.67	0.00	0.00	3.75	0.000	0.000	0.095	2640.41	2554.81	2726.00	2260.94	3553.75	0	0	0	30.00	30.00	15.78
1791.13	17542	110.22	1.92	0.00	2640.8	2554.6	2727.1	2260.2	3553.9	65.77	13.19	257	1797.53	0.00	0.00	3.43	0.000	0.000	0.038	2638.41	2551.12	2725.69	2261.00	2055.06	0	0	0	30.00	30.00	15.84
1980.79	16646	110.22	1.92	80.00	2639.7	2553.2	2726.2	2260.7	2055.0	44.65	10.79	281	1988.21	0.00	0.00	3.76	0.000	0.000	0.095	2637.50	2549.88	2725.12	2261.06	3554.31	0	0	0	30.00	30.00	15.81
2051.65	21639	110.22	1.86	0.00	2639.8	2553.7	2726.0	2260.4	3554.6	36.63	11.45	295	2059.06	0.00	0.20	3.44	0.000	0.201	0.038	2639.47	2553.12	2725.81	2231.38	2055.25	0	0	0	30.00	15.78	15.88
2242.45	8486	132.50	1.89	80.00	2639.3	2552.6	2726.1	2231.8	2054.9	20.29	7.65	333	2269.86	17.09	0.00	3.76	0.980	0.000	0.097	2555.41	2464.94	2645.88	2232.06	3555.06	0	0	0	10.85	30.00	15.84
2303.24	9254	147.25	1.90	0.00	2556.2	2466.8	2645.6	2231.5	3555.6	15.38	8.44	345	2325.22	12.97	0.00	3.44	0.938	0.000	0.037	2496.75	2404.38	2589.12	2231.50	2053.19	0	0	0	11.24	30.00	15.88
2506.62	10919	216.26	2.04	-80.00	2493.0	2401.3	2584.7	2231.8	2054.0	7.08	2.71	385	2570.31	50.54	0.34	3.61	0.976	0.063	0.110	2215.19	2110.62	2319.75	2291.50	619.06	0	0	0	11.06	15.85	15.70
2613.80	9382	253.85	2.04	0.00	2212.0	2111.7	2312.3	2292.0	619.3	3.26	6.03	406	2651.49	27.95	0.00	3.49	0.937	0.000	0.038	2061.72	1951.31	2172.12	2292.19	2120.81	0	0	0	11.13	30.00	15.78
2805	end climb: NO_VERTICAL_VELOCITY
state	2805	begin surface