Glider dive log

HoodCanal 21Jun23 * SG250 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 250 ESCAPE_HEADING_DELTA 10 ROLL_DEG 80 XPDR_VALID 4

MISSION 2 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2025 XPDR_INHIBIT 90

DIVE 4 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2025 XPDR_INT 0

N_DIVES 5 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 XPDR_REP 0

STOP_T 0 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.054945 DEEPGLIDER 0

D_SURF 2 SM_CC 564.19 ROLL_TIMEOUT 15 DEEPGLIDERMB 0

D_FLARE 3 N_FILEKB 8 ROLL_MAXERRORS 1 MOTHERBOARD 7

D_TGT 150 FILEMGR 0 ROLL_ADJ_GAIN 0 DEVICE1 -1

D_ABORT 175 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE2 -1

D_NO_BLEED 50 COMM_SEQ 7 VBD_MIN 500 DEVICE3 -1

D_BOOST 0 PROTOCOL 9 VBD_MAX 3960 DEVICE4 -1

T_BOOST 0 N_NOCOMM 1 C_VBD 2800 DEVICE5 -1

D_FINISH 0 NOCOMM_ACTION 131 VBD_DBAND 2 DEVICE6 -1

D_PITCH 0 N_NOSURFACE 0 VBD_CNV -0.24529999 LOGGERS 7

D_SAFE 0 UPLOAD_DIVES_MAX -1 VBD_LP_IGNORE 0 LOGGERDEVICE1 6

D_CALL 0 NETBOX 1 VBD_TIMEOUT 720 LOGGERDEVICE2 -1

SURFACE_URGENCY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.0020000001 LOGGERDEVICE3 -1

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 UNCOM_BLEED 20 LOGGERDEVICE4 -1

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_MAXERRORS 1 COMPASS_DEVICE 66

T_DIVE 50 CAPMAXSIZE 100000 C_VBD_AUTO_DELTA 0 COMPASS2_DEVICE -1

T_MISSION 75 T_GPS 5 C_VBD_AUTO_MAX 0 PHONE_DEVICE 33

T_ABORT 1440 N_GPS 100440 W_ADJ_DBAND 0 GPS_DEVICE 48

T_TURN 225 T_RSLEEP 3 DBDW 0 RAFOS_DEVICE 96

T_TURN_SAMPINT -5 STROBE 0 LOITER_W_DBAND 0 NAV_DEVICE 5

T_NO_W 120 RAFOS_PEAK_OFFSET 0 LOITER_DBDW 0 NAV2_DEVICE 5

T_LOITER 0 RAFOS_CORR_THRESH 60 LOITER_D_TOP 0 NAV3_DEVICE 24

T_EPIRB 0 RAFOS_HIT_WINDOW 3600 LOITER_D_BOTTOM 0 NAV4_DEVICE 24

USE_BATHY -10 RAFOS_MMODEM 0 LOITER_N_DIVE 0 NETWORK_DEVICE 1

USE_ICE 0 PITCH_MIN 205 CF8_MAXERRORS 20 PRESSURE_DEVICE 34

ICE_FREEZE_MARGIN 0.30000001 PITCH_MAX 3600 AH0_10V 575 XPDR_DEVICE -1

D_OFFGRID 100 C_PITCH 2000 MINV_10V 11 SIM_W 0

RELAUNCH 1 PITCH_DBAND 0.1 MAXI_10V 3.5 SEABIRD_T_G 0.0043000001

APOGEE_PITCH -5 PITCH_CNV 0.0041299998 FG_AHR_10V 3.3483412 SEABIRD_T_H 0.00063999998

MAX_BUOY 150 PITCH_GAIN 15 PRESSURE_YINT -179.93373 SEABIRD_T_I 2.4999999e-05

GLIDE_SLOPE 30 PITCH_TIMEOUT 25 PRESSURE_SLOPE 0.00022860049 SEABIRD_T_J 4.3e-06

SPEED_FACTOR 1 PITCH_MAXERRORS 1 COMPASS_USE 49156 SEABIRD_C_G -10

RHO 1.023 PITCH_ADJ_GAIN 0.015 ALTIM_PING_FIT 0 SEABIRD_C_H 1

MASS 72596 PITCH_ADJ_DBAND 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

NAV_MODE 2 C_PITCH_AUTO_DELTA 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

FERRY_MAX 45 C_PITCH_AUTO_MAX 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

KALMAN_USE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_A 0.003 PITCH_GAIN_AUTO_MAX 0 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_B 0.0099999998 PITCH_W_GAIN 0 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HD_C 1.6e-05 PITCH_W_DBAND 0 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

HEADING -1 ROLL_MIN 255 ALTIM_PULSE 3

ESCAPE_HEADING 0 ROLL_MAX 3865 ALTIM_SENSITIVITY 2

AH0_10V 575 D_OFFGRID 100 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_SAFE 0 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 D_SURF 2 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 D_TGT 150 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 ESCAPE_HEADING 0 PHONE_DEVICE 33 SIM_W 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_ADJ_DBAND 2 SM_CC 564.19

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_ADJ_GAIN 0.015 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 3.3483412 PITCH_CNV 0.0041299998 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_DBAND 0.1 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_GAIN 15 SURFACE_URGENCY 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN_AUTO_MAX 0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_A 0.003 PITCH_MAX 3600 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 100000 HD_C 1.6e-05 PITCH_MIN 205 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEADING -1 PITCH_TIMEOUT 25 T_ABORT 1440

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_VBD_SHIFT 0.0020000001 T_BOOST 0

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_W_DBAND 0 T_DIVE 50

COMPASS2_DEVICE -1 ID 250 PITCH_W_GAIN 0 T_EPIRB 0

COMPASS_DEVICE 66 KALMAN_USE 2 PRESSURE_DEVICE 34 T_GPS 5

COMPASS_USE 49156 LOGGERDEVICE1 6 PRESSURE_SLOPE 0.00022860049 T_LOITER 0

C_PITCH 2000 LOGGERDEVICE2 -1 PRESSURE_YINT -179.93373 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE3 -1 PROTOCOL 9 T_NO_W 120

C_PITCH_AUTO_MAX 0 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_RSLEEP 3

C_ROLL_CLIMB 2025 LOGGERS 7 RAFOS_DEVICE 96 T_TURN 225

C_ROLL_DIVE 2025 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 T_TURN_SAMPINT -5

C_VBD 2800 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_BATHY -10

DBDW 0 LOITER_W_DBAND 0 RHO 1.023 USE_ICE 0

DEEPGLIDER 0 MASS 72596 ROLL_ADJ_DBAND 0 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MAXI_10V 3.5 ROLL_ADJ_GAIN 0 VBD_DBAND 2

DEVICE1 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_LP_IGNORE 0

DEVICE2 -1 MINV_10V 11 ROLL_DEG 80 VBD_MAX 3960

DEVICE3 -1 MISSION 2 ROLL_MAX 3865 VBD_MAXERRORS 1

DEVICE4 -1 MOTHERBOARD 7 ROLL_MAXERRORS 1 VBD_MIN 500

DEVICE5 -1 NAV2_DEVICE 5 ROLL_MIN 255 VBD_TIMEOUT 720

DEVICE6 -1 NAV3_DEVICE 24 ROLL_TIMEOUT 15 W_ADJ_DBAND 0

DIVE 4 NAV4_DEVICE 24 SC_NDIVE 1.0 XPDR_DEVICE -1

D_ABORT 175 NAV_DEVICE 5 SC_PROFILE 3.0 XPDR_INHIBIT 90

D_BOOST 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_INT 0

D_CALL 0 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_REP 0

D_FINISH 0 NETWORK_DEVICE 1 SEABIRD_C_G -10 XPDR_VALID 4

D_FLARE 3 NOCOMM_ACTION 131 SEABIRD_C_H 1

D_NO_BLEED 50 N_DIVES 5 SEABIRD_C_I -0.0020000001

Pre-dive calculations and measurements:

GPS1 210623,201231,4736.280,-12256.860,23,0.8,23,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,201602,4736.267,-12256.887,22,0.8,23,15.4 MHEAD_RNG_PITCHd_Wd 160.6,597,-22.3,-10.000,-25.45,1424,0.167

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME S IRON 1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,736.000000,-977.000000,-422.000000

TGT_LATLONG 4735.950,-12256.800 OSC 8000020

Post-dive calculations and measurements:

NET CACST,8,0,19700101000056.073614,17,32767,45,0107,0113,07,01,01,00,01,1,029,243,0,5,2,0,150,0.1,1.71,-100,1.29,-01,0.11,68,10000,5000,0,1,00,00*63 _10V_AH 14.87,1.706

NET_PING 1687381126,29,432.363007,8.500000,-85.550537 FG_AHR_10Vo 3.546

MODEM_MSG CACST,8,2,20230621202500.182446,2,938960,59,59,89,0,0,0,0,0,-1,-1,-1,0,0,0,0,89,0.00,0.00,0,0.00,0,0.00,1566431,925,25,0,-1,0,0 MAMPS 68.0,94.8,51.9,887.0,1195.2,469.1

NAV 1687381156,14.4,start MEM0 60172,1,0,0

FREEZE 4.86,13.499,-1.548,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 1991692,29,103372,75

SM_CCo 3153.64,201.74,0.912,0,501.2,510.7,491.8,563.89 DATA_FILE_SIZE 12975,435

SM_GC 2.56,0.00,14.78,0.08,0.000,0.065,0.188,497.5,507.2,487.9,190.2,2008.2,0,0,0,30.00,14.73,14.74 CAP_FILE_SIZE 395057,0

SUPER 55,77,254,1,0,0 SDSIZE 3887104,3871648

IRIDIUM_FIX 4735.53,-12254.47,210623,201016 SDFILEDIR 73,6

TCM_TEMP 13.60 ERRORS 0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3877472 SOUNDSPEED 1465.0

RAFOS_CLK 1 WARN PPS timeout

MODEM 1,1687378798,47.60500,-122.95000,598.625,876986.2 CURRENT 0.018,217.8,1

RAFOS_FIX 4738.512695,-12257.000000,210623,191901,6,255,24.74 MAGCAL 1.000000,0.037896,0.038251,-0.006851,1.006020,-0.059353,-0.044711,-0.038808,1.009613,727.6,-936.8,-437.2,34,0.0280,0

HUMID 46.69 IMPLIED_C_PITCH 2069,16.47,203,0.0,0.00

TEMP 11.06 IMPLIED_C_VBD 2667,41.392387,203,0

VOC 4610.9 GPS 210623,211200,4736.027,-12256.843,1,0.8,3,15.4

INTERNAL_PRESSURE 8.27109

Energy measurements:

device secs mA J sensor secs mA J

GPS 33 15 7.40 nil 0 0 0.00

Core 2047 5 155.91 SciCon 2938 5 247.67

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1066 0 5.08

Compass 910 5 67.67

RAFOS 1130 40 672.33

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

6.83 16386 -93.99 -1.67 0.00 493.1 491.4 494.8 192.7 2008.6 0.00 0.00 0 45.77 36.40 0.00 0.00 0.011 0.000 0.000 1486.50 1488.62 1484.38 192.75 2008.19 0 0 0 14.51 30.00 30.00

46.22 18983 -146.63 -1.78 -80.00 1487.3 1488.1 1486.4 192.8 2008.2 3.35 -5.48 7 138.55 57.54 10.85 3.65 0.011 0.283 0.148 3395.78 3365.00 3426.56 1569.88 554.94 0 0 0 14.22 14.97 14.72

156.07 3205 -146.63 -1.48 0.00 3397.7 3367.6 3427.8 1570.1 554.6 14.27 -16.64 23 168.04 0.00 0.54 3.56 0.000 0.223 0.070 3396.75 3367.50 3426.00 1642.75 2045.06 0 0 0 30.00 14.31 14.97

350.10 644 -146.63 -1.39 -80.00 3399.7 3371.2 3428.1 1643.0 2045.1 39.70 -13.86 60 358.27 0.00 0.00 3.78 0.000 0.000 0.135 3399.81 3371.38 3428.25 1643.44 554.81 0 0 0 30.00 30.00 14.98

587.43 3205 -146.63 -1.26 0.00 3400.1 3372.2 3427.9 1643.2 554.8 80.75 -18.44 107 598.76 0.00 0.38 3.54 0.000 0.212 0.071 3400.59 3373.31 3427.88 1697.94 2042.62 0 0 0 30.00 15.01 15.05

783.41 516 -146.63 -1.26 -80.00 3400.8 3373.8 3427.8 1697.8 2042.8 107.71 -13.75 127 790.94 0.00 0.00 3.74 0.000 0.000 0.139 3402.47 3375.62 3429.31 1697.62 555.88 0 0 0 30.00 30.00 15.09

860.08 1156 -146.63 -1.21 0.00 3400.9 3373.9 3428.0 1697.9 555.9 120.09 -16.68 142 867.31 0.00 0.00 3.52 0.000 0.000 0.073 3402.44 3375.50 3429.38 1696.94 2042.62 0 0 0 30.00 30.00 15.13

1054.97 260 -146.63 -1.21 80.00 3401.1 3374.2 3427.9 1697.8 2042.6 147.43 -13.78 162 1062.35 0.00 0.00 3.58 0.000 0.000 0.137 3400.56 3373.81 3427.31 1697.75 3492.19 0 0 0 30.00 30.00 15.15

1075 end dive: TARGET_DEPTH_EXCEEDED

state 1075 begin apogee

1083.02 10243 0.00 -0.33 0.00 3401.4 3374.8 3428.0 1697.8 2007.4 150.73 -14.72 166 1206.64 110.00 1.54 0.06 1.086 0.170 0.431 2797.78 2798.62 2796.94 1921.38 2042.81 0 0 0 12.59 15.13 14.78

1207 end apogee: CONTROL_FINISHED_OK

state 1207 begin climb

1207.92 10759 146.63 1.78 -80.00 2796.0 2796.0 2796.0 1921.1 2042.6 158.50 0.00 178 1347.44 114.76 3.43 3.89 1.063 0.125 0.149 2199.31 2222.56 2176.06 2433.44 557.25 0 0 0 12.46 14.81 14.59

1356.80 1156 146.63 1.71 0.00 2196.7 2218.1 2175.3 2433.8 557.0 146.43 12.66 202 1364.90 0.00 0.00 3.64 0.000 0.000 0.075 2194.88 2216.62 2173.12 2434.06 2040.31 0 0 0 30.00 30.00 14.72

1551.58 20871 146.63 1.67 80.00 2193.7 2213.2 2174.1 2433.8 2040.1 118.72 14.38 222 1560.22 0.00 0.27 3.65 0.000 0.213 0.139 2196.34 2215.50 2177.19 2396.62 3491.69 0 0 0 30.00 14.92 14.94

1589.33 17542 146.63 1.61 0.00 2192.9 2211.8 2174.1 2397.9 3491.8 113.10 15.05 229 1596.50 0.00 0.00 3.49 0.000 0.000 0.071 2193.38 2212.12 2174.62 2397.94 2009.12 0 0 0 30.00 30.00 14.98

1777.59 16646 146.63 1.61 80.00 2191.9 2211.2 2172.6 2398.1 2008.9 90.77 11.59 249 1785.14 0.00 0.00 3.70 0.000 0.000 0.137 2190.16 2209.44 2170.88 2397.81 3491.00 0 0 0 30.00 30.00 15.05

1824.28 17542 146.63 1.57 0.00 2191.4 2210.0 2172.8 2397.8 3491.1 84.53 13.67 258 1831.43 0.00 0.00 3.45 0.000 0.000 0.070 2193.97 2212.31 2175.62 2398.00 2008.69 0 0 0 30.00 30.00 15.08

2013.34 16418 147.15 1.57 0.00 2190.8 2209.9 2171.8 2397.9 2007.8 64.25 9.96 277 2015.11 0.00 0.00 0.00 0.000 0.000 0.000 2189.69 2208.88 2170.50 2397.81 2008.00 0 0 0 30.00 30.00 30.00

2198.37 8486 152.62 1.58 80.00 2190.3 2209.5 2171.2 2397.8 2007.7 46.15 9.61 299 2212.08 5.58 0.00 3.69 0.640 0.000 0.142 2174.62 2193.19 2156.06 2398.00 3492.06 0 0 0 12.54 30.00 15.13

2231.07 1028 152.62 1.58 0.00 2175.8 2193.7 2158.0 2397.8 3492.1 42.73 10.44 305 2238.05 0.00 0.00 3.44 0.000 0.000 0.070 2176.62 2194.69 2158.56 2397.00 2005.81 0 0 0 30.00 30.00 15.15

2422.09 8226 165.98 1.61 0.00 2175.6 2193.6 2157.6 2397.8 2005.3 24.53 9.04 343 2437.36 13.10 0.00 0.00 0.877 0.000 0.000 2123.12 2141.56 2104.69 2398.12 2005.38 0 0 0 12.68 30.00 30.00

2619.87 8870 200.15 1.72 -80.00 2118.3 2137.6 2099.1 2397.8 2005.5 8.83 7.55 374 2659.13 27.78 0.00 3.69 0.928 0.000 0.150 1983.88 2005.88 1961.88 2397.50 555.88 0 0 0 12.61 30.00 15.01

2863.38 11431 346.48 2.08 0.00 1977.2 1995.9 1958.4 2397.8 555.9 5.47 -0.51 422 2935.97 60.54 0.67 3.55 0.941 0.064 0.072 1654.84 1684.06 1625.62 2518.88 2042.88 0 0 0 12.55 15.08 15.08

2936 end climb: NO_VERTICAL_VELOCITY

state 2936 begin surface

ID	250	ESCAPE_HEADING_DELTA	10	ROLL_DEG	80	XPDR_VALID	4
MISSION	2	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2025	XPDR_INHIBIT	90
DIVE	4	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2025	XPDR_INT	0
N_DIVES	5	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	XPDR_REP	0
STOP_T	0	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.054945	DEEPGLIDER	0
D_SURF	2	SM_CC	564.19	ROLL_TIMEOUT	15	DEEPGLIDERMB	0
D_FLARE	3	N_FILEKB	8	ROLL_MAXERRORS	1	MOTHERBOARD	7
D_TGT	150	FILEMGR	0	ROLL_ADJ_GAIN	0	DEVICE1	-1
D_ABORT	175	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE2	-1
D_NO_BLEED	50	COMM_SEQ	7	VBD_MIN	500	DEVICE3	-1
D_BOOST	0	PROTOCOL	9	VBD_MAX	3960	DEVICE4	-1
T_BOOST	0	N_NOCOMM	1	C_VBD	2800	DEVICE5	-1
D_FINISH	0	NOCOMM_ACTION	131	VBD_DBAND	2	DEVICE6	-1
D_PITCH	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	LOGGERS	7
D_SAFE	0	UPLOAD_DIVES_MAX	-1	VBD_LP_IGNORE	0	LOGGERDEVICE1	6
D_CALL	0	NETBOX	1	VBD_TIMEOUT	720	LOGGERDEVICE2	-1
SURFACE_URGENCY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.0020000001	LOGGERDEVICE3	-1
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	UNCOM_BLEED	20	LOGGERDEVICE4	-1
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_MAXERRORS	1	COMPASS_DEVICE	66
T_DIVE	50	CAPMAXSIZE	100000	C_VBD_AUTO_DELTA	0	COMPASS2_DEVICE	-1
T_MISSION	75	T_GPS	5	C_VBD_AUTO_MAX	0	PHONE_DEVICE	33
T_ABORT	1440	N_GPS	100440	W_ADJ_DBAND	0	GPS_DEVICE	48
T_TURN	225	T_RSLEEP	3	DBDW	0	RAFOS_DEVICE	96
T_TURN_SAMPINT	-5	STROBE	0	LOITER_W_DBAND	0	NAV_DEVICE	5
T_NO_W	120	RAFOS_PEAK_OFFSET	0	LOITER_DBDW	0	NAV2_DEVICE	5
T_LOITER	0	RAFOS_CORR_THRESH	60	LOITER_D_TOP	0	NAV3_DEVICE	24
T_EPIRB	0	RAFOS_HIT_WINDOW	3600	LOITER_D_BOTTOM	0	NAV4_DEVICE	24
USE_BATHY	-10	RAFOS_MMODEM	0	LOITER_N_DIVE	0	NETWORK_DEVICE	1
USE_ICE	0	PITCH_MIN	205	CF8_MAXERRORS	20	PRESSURE_DEVICE	34
ICE_FREEZE_MARGIN	0.30000001	PITCH_MAX	3600	AH0_10V	575	XPDR_DEVICE	-1
D_OFFGRID	100	C_PITCH	2000	MINV_10V	11	SIM_W	0
RELAUNCH	1	PITCH_DBAND	0.1	MAXI_10V	3.5	SEABIRD_T_G	0.0043000001
APOGEE_PITCH	-5	PITCH_CNV	0.0041299998	FG_AHR_10V	3.3483412	SEABIRD_T_H	0.00063999998
MAX_BUOY	150	PITCH_GAIN	15	PRESSURE_YINT	-179.93373	SEABIRD_T_I	2.4999999e-05
GLIDE_SLOPE	30	PITCH_TIMEOUT	25	PRESSURE_SLOPE	0.00022860049	SEABIRD_T_J	4.3e-06
SPEED_FACTOR	1	PITCH_MAXERRORS	1	COMPASS_USE	49156	SEABIRD_C_G	-10
RHO	1.023	PITCH_ADJ_GAIN	0.015	ALTIM_PING_FIT	0	SEABIRD_C_H	1
MASS	72596	PITCH_ADJ_DBAND	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
NAV_MODE	2	C_PITCH_AUTO_DELTA	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
FERRY_MAX	45	C_PITCH_AUTO_MAX	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
KALMAN_USE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_A	0.003	PITCH_GAIN_AUTO_MAX	0	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_B	0.0099999998	PITCH_W_GAIN	0	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HD_C	1.6e-05	PITCH_W_DBAND	0	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
HEADING	-1	ROLL_MIN	255	ALTIM_PULSE	3
ESCAPE_HEADING	0	ROLL_MAX	3865	ALTIM_SENSITIVITY	2

GPS1	210623,201231,4736.280,-12256.860,23,0.8,23,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,201602,4736.267,-12256.887,22,0.8,23,15.4	MHEAD_RNG_PITCHd_Wd	160.6,597,-22.3,-10.000,-25.45,1424,0.167
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	S	IRON	1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,736.000000,-977.000000,-422.000000
TGT_LATLONG	4735.950,-12256.800	OSC	8000020

NET	CACST,8,0,19700101000056.073614,17,32767,45,0107,0113,07,01,01,00,01,1,029,243,0,5,2,0,150,0.1,1.71,-100,1.29,-01,0.11,68,10000,5000,0,1,00,00*63	_10V_AH	14.87,1.706
NET_PING	1687381126,29,432.363007,8.500000,-85.550537	FG_AHR_10Vo	3.546
MODEM_MSG	CACST,8,2,20230621202500.182446,2,938960,59,59,89,0,0,0,0,0,-1,-1,-1,0,0,0,0,89,0.00,0.00,0,0.00,0,0.00,1566431,925,25,0,-1,0,0	MAMPS	68.0,94.8,51.9,887.0,1195.2,469.1
NAV	1687381156,14.4,start	MEM0	60172,1,0,0
FREEZE	4.86,13.499,-1.548,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	1991692,29,103372,75
SM_CCo	3153.64,201.74,0.912,0,501.2,510.7,491.8,563.89	DATA_FILE_SIZE	12975,435
SM_GC	2.56,0.00,14.78,0.08,0.000,0.065,0.188,497.5,507.2,487.9,190.2,2008.2,0,0,0,30.00,14.73,14.74	CAP_FILE_SIZE	395057,0
SUPER	55,77,254,1,0,0	SDSIZE	3887104,3871648
IRIDIUM_FIX	4735.53,-12254.47,210623,201016	SDFILEDIR	73,6
TCM_TEMP	13.60	ERRORS	0,0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3877472	SOUNDSPEED	1465.0
RAFOS_CLK	1	WARN	PPS timeout
MODEM	1,1687378798,47.60500,-122.95000,598.625,876986.2	CURRENT	0.018,217.8,1
RAFOS_FIX	4738.512695,-12257.000000,210623,191901,6,255,24.74	MAGCAL	1.000000,0.037896,0.038251,-0.006851,1.006020,-0.059353,-0.044711,-0.038808,1.009613,727.6,-936.8,-437.2,34,0.0280,0
HUMID	46.69	IMPLIED_C_PITCH	2069,16.47,203,0.0,0.00
TEMP	11.06	IMPLIED_C_VBD	2667,41.392387,203,0
VOC	4610.9	GPS	210623,211200,4736.027,-12256.843,1,0.8,3,15.4
INTERNAL_PRESSURE	8.27109

device	secs	mA	J	sensor	secs	mA	J
GPS	33	15	7.40	nil	0	0	0.00
Core	2047	5	155.91	SciCon	2938	5	247.67
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1066	0	5.08
Compass	910	5	67.67
RAFOS	1130	40	672.33
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
6.83	16386	-93.99	-1.67	0.00	493.1	491.4	494.8	192.7	2008.6	0.00	0.00	0	45.77	36.40	0.00	0.00	0.011	0.000	0.000	1486.50	1488.62	1484.38	192.75	2008.19	0	0	0	14.51	30.00	30.00
46.22	18983	-146.63	-1.78	-80.00	1487.3	1488.1	1486.4	192.8	2008.2	3.35	-5.48	7	138.55	57.54	10.85	3.65	0.011	0.283	0.148	3395.78	3365.00	3426.56	1569.88	554.94	0	0	0	14.22	14.97	14.72
156.07	3205	-146.63	-1.48	0.00	3397.7	3367.6	3427.8	1570.1	554.6	14.27	-16.64	23	168.04	0.00	0.54	3.56	0.000	0.223	0.070	3396.75	3367.50	3426.00	1642.75	2045.06	0	0	0	30.00	14.31	14.97
350.10	644	-146.63	-1.39	-80.00	3399.7	3371.2	3428.1	1643.0	2045.1	39.70	-13.86	60	358.27	0.00	0.00	3.78	0.000	0.000	0.135	3399.81	3371.38	3428.25	1643.44	554.81	0	0	0	30.00	30.00	14.98
587.43	3205	-146.63	-1.26	0.00	3400.1	3372.2	3427.9	1643.2	554.8	80.75	-18.44	107	598.76	0.00	0.38	3.54	0.000	0.212	0.071	3400.59	3373.31	3427.88	1697.94	2042.62	0	0	0	30.00	15.01	15.05
783.41	516	-146.63	-1.26	-80.00	3400.8	3373.8	3427.8	1697.8	2042.8	107.71	-13.75	127	790.94	0.00	0.00	3.74	0.000	0.000	0.139	3402.47	3375.62	3429.31	1697.62	555.88	0	0	0	30.00	30.00	15.09
860.08	1156	-146.63	-1.21	0.00	3400.9	3373.9	3428.0	1697.9	555.9	120.09	-16.68	142	867.31	0.00	0.00	3.52	0.000	0.000	0.073	3402.44	3375.50	3429.38	1696.94	2042.62	0	0	0	30.00	30.00	15.13
1054.97	260	-146.63	-1.21	80.00	3401.1	3374.2	3427.9	1697.8	2042.6	147.43	-13.78	162	1062.35	0.00	0.00	3.58	0.000	0.000	0.137	3400.56	3373.81	3427.31	1697.75	3492.19	0	0	0	30.00	30.00	15.15
1075	end dive: TARGET_DEPTH_EXCEEDED
state	1075	begin apogee
1083.02	10243	0.00	-0.33	0.00	3401.4	3374.8	3428.0	1697.8	2007.4	150.73	-14.72	166	1206.64	110.00	1.54	0.06	1.086	0.170	0.431	2797.78	2798.62	2796.94	1921.38	2042.81	0	0	0	12.59	15.13	14.78
1207	end apogee: CONTROL_FINISHED_OK
state	1207	begin climb
1207.92	10759	146.63	1.78	-80.00	2796.0	2796.0	2796.0	1921.1	2042.6	158.50	0.00	178	1347.44	114.76	3.43	3.89	1.063	0.125	0.149	2199.31	2222.56	2176.06	2433.44	557.25	0	0	0	12.46	14.81	14.59
1356.80	1156	146.63	1.71	0.00	2196.7	2218.1	2175.3	2433.8	557.0	146.43	12.66	202	1364.90	0.00	0.00	3.64	0.000	0.000	0.075	2194.88	2216.62	2173.12	2434.06	2040.31	0	0	0	30.00	30.00	14.72
1551.58	20871	146.63	1.67	80.00	2193.7	2213.2	2174.1	2433.8	2040.1	118.72	14.38	222	1560.22	0.00	0.27	3.65	0.000	0.213	0.139	2196.34	2215.50	2177.19	2396.62	3491.69	0	0	0	30.00	14.92	14.94
1589.33	17542	146.63	1.61	0.00	2192.9	2211.8	2174.1	2397.9	3491.8	113.10	15.05	229	1596.50	0.00	0.00	3.49	0.000	0.000	0.071	2193.38	2212.12	2174.62	2397.94	2009.12	0	0	0	30.00	30.00	14.98
1777.59	16646	146.63	1.61	80.00	2191.9	2211.2	2172.6	2398.1	2008.9	90.77	11.59	249	1785.14	0.00	0.00	3.70	0.000	0.000	0.137	2190.16	2209.44	2170.88	2397.81	3491.00	0	0	0	30.00	30.00	15.05
1824.28	17542	146.63	1.57	0.00	2191.4	2210.0	2172.8	2397.8	3491.1	84.53	13.67	258	1831.43	0.00	0.00	3.45	0.000	0.000	0.070	2193.97	2212.31	2175.62	2398.00	2008.69	0	0	0	30.00	30.00	15.08
2013.34	16418	147.15	1.57	0.00	2190.8	2209.9	2171.8	2397.9	2007.8	64.25	9.96	277	2015.11	0.00	0.00	0.00	0.000	0.000	0.000	2189.69	2208.88	2170.50	2397.81	2008.00	0	0	0	30.00	30.00	30.00
2198.37	8486	152.62	1.58	80.00	2190.3	2209.5	2171.2	2397.8	2007.7	46.15	9.61	299	2212.08	5.58	0.00	3.69	0.640	0.000	0.142	2174.62	2193.19	2156.06	2398.00	3492.06	0	0	0	12.54	30.00	15.13
2231.07	1028	152.62	1.58	0.00	2175.8	2193.7	2158.0	2397.8	3492.1	42.73	10.44	305	2238.05	0.00	0.00	3.44	0.000	0.000	0.070	2176.62	2194.69	2158.56	2397.00	2005.81	0	0	0	30.00	30.00	15.15
2422.09	8226	165.98	1.61	0.00	2175.6	2193.6	2157.6	2397.8	2005.3	24.53	9.04	343	2437.36	13.10	0.00	0.00	0.877	0.000	0.000	2123.12	2141.56	2104.69	2398.12	2005.38	0	0	0	12.68	30.00	30.00
2619.87	8870	200.15	1.72	-80.00	2118.3	2137.6	2099.1	2397.8	2005.5	8.83	7.55	374	2659.13	27.78	0.00	3.69	0.928	0.000	0.150	1983.88	2005.88	1961.88	2397.50	555.88	0	0	0	12.61	30.00	15.01
2863.38	11431	346.48	2.08	0.00	1977.2	1995.9	1958.4	2397.8	555.9	5.47	-0.51	422	2935.97	60.54	0.67	3.55	0.941	0.064	0.072	1654.84	1684.06	1625.62	2518.88	2042.88	0	0	0	12.55	15.08	15.08
2936	end climb: NO_VERTICAL_VELOCITY
state	2936	begin surface