Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 3 * 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 3 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 4 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 15 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3400 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 53.809963 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 103.58899 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 4 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 53.809963 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 103.58899 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 15 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 3400 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 3 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 220623,181852,4736.424,-12256.368,1,0.8,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,182154,4736.421,-12256.350,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 197.4,1037,-17.6,-10.000,-21.21,2209,0.136

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 8000307

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230622184518.202036,18,1109,30,0111,0000,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*12 INTERNAL_PRESSURE 10.3905

NAV 1687460343,97.0,start _24V_AH 14.94,83.583

NET CACST,8,1,20230622191754.513843,18,9391,39,0297,0150,07,01,01,00,01,-1,-01,-01,1,3,-3589,0,150,10.2,0.34,-100,2.66,-01,-0.31,62,10000,5000,0,-1,00,00*59 _10V_AH 14.95,0.000

NET_PING 1687460861,29,789.175537,15.000000,-1.050569 FG_AHR_24Vo 103.764

WARN HSCICON missed fuel gauge read FG_AHR_10Vo 53.854

FREEZE 2.15,14.957,-1.454,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3722.23,208.51,0.914,0,500.7,392.4,609.0,711.19 MEM2 945720,27,100928,69

SM_GC 1.66,0.00,12.59,3.46,0.000,0.053,0.048,498.2,392.4,604.0,194.8,2060.8,0,0,0,30.00,15.62,15.65 DATA_FILE_SIZE 16184,577

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 195630,0

IRIDIUM_FIX 4736.47,-12303.31,220623,181616 SDSIZE 3887104,3872928

TCM_TEMP 13.34 SDFILEDIR 61,4

SC_FREEKB 3877888 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 2,1687458000,47.60500,-122.95000,0.730,1070.0 MAGCAL 1.000000,-0.007984,0.016717,-0.006433,1.037202,-0.060076,-0.018684,-0.080952,1.051101,85.6,-1116.2,-907.7,35,0.0403,0

RAFOS_FIX 4736.581055,-12257.453125,220623,171700,3,255,20.49 IMPLIED_C_PITCH 1756,13.19,253,0.0,0.00

HUMID 57.69 IMPLIED_C_VBD 2954,46.078873,253,0

TEMP 11.84 GPS 220623,192701,4736.261,-12256.447,1,0.9,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 743 1077 11978.70 nil 0 0 0.00

Pitch_motor 27 250 102.20 nil 0 0 0.00

Roll_motor 56 159 134.16 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.91 nil 0 0 0.00

Core 2189 5 167.60 SciCon 3500 8 438.38

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1463 0 7.00

Compass 1196 5 89.44

RAFOS 1345 40 804.90

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

7.71 16386 -146.63 -1.51 0.00 497.2 390.2 604.1 194.5 2119.8 0.00 0.00 0 117.69 106.08 0.00 0.00 0.005 0.000 0.000 2743.88 2700.94 2786.81 194.56 2120.44 0 0 0 15.94 30.00 30.00

117.99 18727 -146.63 -1.51 80.00 2743.8 2700.2 2787.4 194.6 2119.8 3.16 -1.72 21 177.71 36.04 9.23 3.46 0.005 0.250 0.103 3959.25 3924.50 3994.00 1420.12 3555.44 0 0 0 15.96 15.61 15.80

403.39 17542 -146.63 -1.47 0.00 3959.3 3924.8 3993.8 1420.3 3555.1 35.31 -12.20 77 409.40 0.00 0.00 3.40 0.030 0.000 0.043 3958.97 3924.50 3993.44 1420.50 2054.38 0 0 0 30.36 30.00 15.91

593.41 260 -146.63 -1.47 80.00 3959.5 3924.7 3994.3 1420.4 2054.4 55.89 -11.38 110 599.72 0.00 0.00 3.60 0.000 0.000 0.097 3959.56 3924.44 3994.69 1420.50 3555.19 0 0 0 30.00 30.00 15.88

828.48 1156 -146.63 -1.43 0.00 3959.2 3924.3 3994.1 1420.5 3554.8 86.61 -13.16 157 834.65 0.00 0.00 3.39 0.000 0.000 0.043 3960.38 3924.81 3995.94 1420.44 2056.00 0 0 0 30.00 30.00 15.94

1020.52 260 -146.63 -1.43 80.00 3959.5 3924.5 3994.6 1420.3 2055.1 108.23 -11.00 177 1026.78 0.00 0.00 3.60 0.000 0.000 0.098 3958.78 3923.62 3993.94 1420.38 3555.50 0 0 0 30.00 30.00 15.91

1175.49 1028 -146.63 -1.43 0.00 3959.6 3924.8 3994.5 1420.5 3555.4 129.28 -13.69 208 1181.96 0.00 0.00 3.38 0.000 0.000 0.044 3959.22 3923.62 3994.81 1420.38 2054.88 0 0 0 30.00 30.00 15.96

1355 end dive: TARGET_DEPTH_EXCEEDED

state 1355 begin apogee

1356.08 10243 0.00 -0.38 0.00 3959.2 3924.2 3994.1 1419.9 2120.6 150.74 -11.72 226 1460.43 93.76 1.87 0.10 1.078 0.143 0.159 3399.19 3325.56 3472.81 1695.12 2052.00 0 0 0 10.77 15.72 15.73

1470 end apogee: CONTROL_FINISHED_OK

state 1470 begin climb

1470.32 10759 146.63 1.51 -80.00 3398.2 3324.8 3471.7 1695.2 2051.2 154.30 0.00 236 1595.46 106.25 2.92 3.62 1.045 0.091 0.111 2797.06 2696.81 2897.31 2157.88 620.25 0 0 0 11.19 15.73 15.53

1768.17 21639 146.63 1.37 0.00 2793.1 2698.5 2887.7 2157.6 620.1 134.08 10.39 293 1775.38 0.00 0.34 3.45 0.000 0.190 0.044 2793.38 2699.00 2887.75 2113.06 2116.88 0 0 0 30.00 15.63 15.73

1964.01 8614 204.16 1.39 80.00 2792.2 2698.1 2886.2 2113.2 2117.2 119.40 7.34 313 2017.57 43.03 0.00 3.48 1.020 0.000 0.108 2564.91 2463.38 2666.44 2113.19 3552.19 0 0 0 11.00 30.00 15.75

2158.45 1156 204.16 1.33 0.00 2561.8 2463.1 2660.4 2112.8 3552.6 100.41 10.85 351 2164.92 0.00 0.00 3.41 0.000 0.000 0.044 2559.84 2461.38 2658.31 2112.94 2056.25 0 0 0 30.00 30.00 15.86

2348.72 8226 240.99 1.38 0.00 2559.1 2460.1 2658.1 2112.4 2056.1 83.86 8.29 370 2379.57 28.42 0.00 0.00 0.986 0.000 0.000 2415.31 2307.50 2523.12 2113.25 2056.56 0 0 0 10.93 30.00 30.00

2568.74 8486 275.92 1.42 80.00 2410.3 2305.5 2515.1 2113.0 2056.2 65.09 8.38 393 2605.03 26.79 0.00 3.65 0.965 0.000 0.108 2273.09 2162.06 2384.12 2112.38 3553.56 0 0 0 10.99 30.00 15.78

2730.35 1028 275.92 1.42 0.00 2269.6 2162.6 2376.7 2112.7 3554.2 48.70 10.34 425 2736.80 0.00 0.00 3.45 0.000 0.000 0.045 2269.34 2161.69 2377.00 2112.50 2058.12 0 0 0 30.00 30.00 15.72

2920.45 10535 313.44 1.47 80.00 2267.7 2161.7 2373.8 2112.7 2058.0 32.24 8.26 463 2958.54 28.58 0.20 3.64 0.944 0.090 0.107 2118.16 2005.44 2230.88 2151.81 3555.62 0 0 0 11.00 15.81 15.78

3031.89 1028 313.44 1.47 0.00 2116.2 2006.9 2225.6 2152.2 3556.2 20.17 11.43 485 3038.12 0.00 0.00 3.42 0.000 0.000 0.044 2116.19 2006.62 2225.75 2151.94 2054.56 0 0 0 30.00 30.00 15.84

3222.17 10663 408.12 1.62 80.00 2114.4 2005.6 2223.2 2151.8 2054.6 5.15 5.61 523 3301.45 66.36 0.17 3.66 0.927 0.094 0.104 1732.88 1616.25 1849.50 2189.50 3557.44 0 0 0 10.97 15.82 15.70

3498 end climb: NO_VERTICAL_VELOCITY

state 3498 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	3	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	4	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	15	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3400	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	53.809963	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	103.58899	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	220623,181852,4736.424,-12256.368,1,0.8,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,182154,4736.421,-12256.350,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	197.4,1037,-17.6,-10.000,-21.21,2209,0.136
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	8000307

MODEM_MSG	CACST,8,1,20230622184518.202036,18,1109,30,0111,0000,246,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,35,0006,0,-1,00,00*12	INTERNAL_PRESSURE	10.3905
NAV	1687460343,97.0,start	_24V_AH	14.94,83.583
NET	CACST,8,1,20230622191754.513843,18,9391,39,0297,0150,07,01,01,00,01,-1,-01,-01,1,3,-3589,0,150,10.2,0.34,-100,2.66,-01,-0.31,62,10000,5000,0,-1,00,00*59	_10V_AH	14.95,0.000
NET_PING	1687460861,29,789.175537,15.000000,-1.050569	FG_AHR_24Vo	103.764
WARN	HSCICON missed fuel gauge read	FG_AHR_10Vo	53.854
FREEZE	2.15,14.957,-1.454,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3722.23,208.51,0.914,0,500.7,392.4,609.0,711.19	MEM2	945720,27,100928,69
SM_GC	1.66,0.00,12.59,3.46,0.000,0.053,0.048,498.2,392.4,604.0,194.8,2060.8,0,0,0,30.00,15.62,15.65	DATA_FILE_SIZE	16184,577
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	195630,0
IRIDIUM_FIX	4736.47,-12303.31,220623,181616	SDSIZE	3887104,3872928
TCM_TEMP	13.34	SDFILEDIR	61,4
SC_FREEKB	3877888	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	2,1687458000,47.60500,-122.95000,0.730,1070.0	MAGCAL	1.000000,-0.007984,0.016717,-0.006433,1.037202,-0.060076,-0.018684,-0.080952,1.051101,85.6,-1116.2,-907.7,35,0.0403,0
RAFOS_FIX	4736.581055,-12257.453125,220623,171700,3,255,20.49	IMPLIED_C_PITCH	1756,13.19,253,0.0,0.00
HUMID	57.69	IMPLIED_C_VBD	2954,46.078873,253,0
TEMP	11.84	GPS	220623,192701,4736.261,-12256.447,1,0.9,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	743	1077	11978.70	nil	0	0	0.00
Pitch_motor	27	250	102.20	nil	0	0	0.00
Roll_motor	56	159	134.16	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.91	nil	0	0	0.00
Core	2189	5	167.60	SciCon	3500	8	438.38
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1463	0	7.00
Compass	1196	5	89.44
RAFOS	1345	40	804.90
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
7.71	16386	-146.63	-1.51	0.00	497.2	390.2	604.1	194.5	2119.8	0.00	0.00	0	117.69	106.08	0.00	0.00	0.005	0.000	0.000	2743.88	2700.94	2786.81	194.56	2120.44	0	0	0	15.94	30.00	30.00
117.99	18727	-146.63	-1.51	80.00	2743.8	2700.2	2787.4	194.6	2119.8	3.16	-1.72	21	177.71	36.04	9.23	3.46	0.005	0.250	0.103	3959.25	3924.50	3994.00	1420.12	3555.44	0	0	0	15.96	15.61	15.80
403.39	17542	-146.63	-1.47	0.00	3959.3	3924.8	3993.8	1420.3	3555.1	35.31	-12.20	77	409.40	0.00	0.00	3.40	0.030	0.000	0.043	3958.97	3924.50	3993.44	1420.50	2054.38	0	0	0	30.36	30.00	15.91
593.41	260	-146.63	-1.47	80.00	3959.5	3924.7	3994.3	1420.4	2054.4	55.89	-11.38	110	599.72	0.00	0.00	3.60	0.000	0.000	0.097	3959.56	3924.44	3994.69	1420.50	3555.19	0	0	0	30.00	30.00	15.88
828.48	1156	-146.63	-1.43	0.00	3959.2	3924.3	3994.1	1420.5	3554.8	86.61	-13.16	157	834.65	0.00	0.00	3.39	0.000	0.000	0.043	3960.38	3924.81	3995.94	1420.44	2056.00	0	0	0	30.00	30.00	15.94
1020.52	260	-146.63	-1.43	80.00	3959.5	3924.5	3994.6	1420.3	2055.1	108.23	-11.00	177	1026.78	0.00	0.00	3.60	0.000	0.000	0.098	3958.78	3923.62	3993.94	1420.38	3555.50	0	0	0	30.00	30.00	15.91
1175.49	1028	-146.63	-1.43	0.00	3959.6	3924.8	3994.5	1420.5	3555.4	129.28	-13.69	208	1181.96	0.00	0.00	3.38	0.000	0.000	0.044	3959.22	3923.62	3994.81	1420.38	2054.88	0	0	0	30.00	30.00	15.96
1355	end dive: TARGET_DEPTH_EXCEEDED
state	1355	begin apogee
1356.08	10243	0.00	-0.38	0.00	3959.2	3924.2	3994.1	1419.9	2120.6	150.74	-11.72	226	1460.43	93.76	1.87	0.10	1.078	0.143	0.159	3399.19	3325.56	3472.81	1695.12	2052.00	0	0	0	10.77	15.72	15.73
1470	end apogee: CONTROL_FINISHED_OK
state	1470	begin climb
1470.32	10759	146.63	1.51	-80.00	3398.2	3324.8	3471.7	1695.2	2051.2	154.30	0.00	236	1595.46	106.25	2.92	3.62	1.045	0.091	0.111	2797.06	2696.81	2897.31	2157.88	620.25	0	0	0	11.19	15.73	15.53
1768.17	21639	146.63	1.37	0.00	2793.1	2698.5	2887.7	2157.6	620.1	134.08	10.39	293	1775.38	0.00	0.34	3.45	0.000	0.190	0.044	2793.38	2699.00	2887.75	2113.06	2116.88	0	0	0	30.00	15.63	15.73
1964.01	8614	204.16	1.39	80.00	2792.2	2698.1	2886.2	2113.2	2117.2	119.40	7.34	313	2017.57	43.03	0.00	3.48	1.020	0.000	0.108	2564.91	2463.38	2666.44	2113.19	3552.19	0	0	0	11.00	30.00	15.75
2158.45	1156	204.16	1.33	0.00	2561.8	2463.1	2660.4	2112.8	3552.6	100.41	10.85	351	2164.92	0.00	0.00	3.41	0.000	0.000	0.044	2559.84	2461.38	2658.31	2112.94	2056.25	0	0	0	30.00	30.00	15.86
2348.72	8226	240.99	1.38	0.00	2559.1	2460.1	2658.1	2112.4	2056.1	83.86	8.29	370	2379.57	28.42	0.00	0.00	0.986	0.000	0.000	2415.31	2307.50	2523.12	2113.25	2056.56	0	0	0	10.93	30.00	30.00
2568.74	8486	275.92	1.42	80.00	2410.3	2305.5	2515.1	2113.0	2056.2	65.09	8.38	393	2605.03	26.79	0.00	3.65	0.965	0.000	0.108	2273.09	2162.06	2384.12	2112.38	3553.56	0	0	0	10.99	30.00	15.78
2730.35	1028	275.92	1.42	0.00	2269.6	2162.6	2376.7	2112.7	3554.2	48.70	10.34	425	2736.80	0.00	0.00	3.45	0.000	0.000	0.045	2269.34	2161.69	2377.00	2112.50	2058.12	0	0	0	30.00	30.00	15.72
2920.45	10535	313.44	1.47	80.00	2267.7	2161.7	2373.8	2112.7	2058.0	32.24	8.26	463	2958.54	28.58	0.20	3.64	0.944	0.090	0.107	2118.16	2005.44	2230.88	2151.81	3555.62	0	0	0	11.00	15.81	15.78
3031.89	1028	313.44	1.47	0.00	2116.2	2006.9	2225.6	2152.2	3556.2	20.17	11.43	485	3038.12	0.00	0.00	3.42	0.000	0.000	0.044	2116.19	2006.62	2225.75	2151.94	2054.56	0	0	0	30.00	30.00	15.84
3222.17	10663	408.12	1.62	80.00	2114.4	2005.6	2223.2	2151.8	2054.6	5.15	5.61	523	3301.45	66.36	0.17	3.66	0.927	0.094	0.104	1732.88	1616.25	1849.50	2189.50	3557.44	0	0	0	10.97	15.82	15.70
3498	end climb: NO_VERTICAL_VELOCITY
state	3498	begin surface