Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 5 * 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 5 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 5 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 593.79755 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 2833.387 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 -1

ICE_FREEZE_MARGIN 0.07 C_PITCH 1731.1736 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 13.372957 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.597862 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 28.211048 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 5 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 42.597862 PHONE_SUPPLY 2 SM_CC 593.79755

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.211048 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 13.372957 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 1731.1736 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 2833.387 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 5 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 -1 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 210623,210410,4736.222,-12256.461,54,0.9,55,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.71 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,210739,4736.196,-12256.484,2,0.6,4,15.4 MHEAD_RNG_PITCHd_Wd 343.8,619,-21.1,-10.000,-24.37,1578,0.121

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME N IRON 1.000000,0.025244,-0.072655,0.008785,1.026925,-0.043242,0.027332,-0.082621,1.082390,779.262451,-860.414246,-712.433044

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,1,20230621215010.405920,18,32600,45,0105,0113,07,00,00,00,00,-1,-01,-01,1,3,10285,0,150,0.9,0.74,-100,2.26,-01,-1.84,73,10000,5000,0,-1,00,00*41 _10V_AH 15.00,0.000

NET_PING 1687383613,29,771.877502,11.500000,-1.030287 FG_AHR_24Vo 28.372

MODEM_MSG CACST,8,0,20230621212500.467628,18,32767,39,0273,0000,246,03,03,01,03,1,029,121,0,5,1,0,150,1.6,8.11,-100,-5.11,-01,0.03,69,925,0025,0,1,00,00*14 FG_AHR_10Vo 42.647

NAV 1687385032,0.3,start MEM0 60020,1,0,0

FREEZE 4.86,14.112,-1.514,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 946272,27,100436,66

SM_CCo 3341.83,0.12,0.196,0,499.8,397.7,601.9,572.33 DATA_FILE_SIZE 12908,467

SM_GC 2.47,0.12,12.35,0.28,0.196,0.047,0.082,499.8,397.7,601.9,194.2,2017.6,0,0,0,15.84,15.64,15.66 CAP_FILE_SIZE 179657,0

SUPER 27,71,254,1,0,0 SDSIZE 3887104,3868192

IRIDIUM_FIX 4735.53,-12254.47,210623,195445 SDFILEDIR 83,6

TCM_TEMP 14.36 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3877184 SOUNDSPEED 1465.0

RAFOS_CLK 1 WARN PPS timeout

MODEM 1,1687381800,47.60500,-122.95000,0.549,804.4 CURRENT 0.054,199.9,1

RAFOS_FIX 4836.537109,-12257.000000,210623,191904,4,255,154.50 MAGCAL 1.000000,0.040548,-0.018178,-0.016070,1.093082,-0.131740,-0.020573,0.069084,1.047160,735.4,-805.4,-728.8,36,0.0358,0

HUMID 50.14 IMPLIED_C_PITCH 1731,13.54,222,1731.1,13.46

TEMP 11.27 IMPLIED_C_VBD 2818,34.306244,222,2825.4

INTERNAL_PRESSURE 8.2415 GPS 210623,220433,4736.402,-12256.556,1,0.8,4,15.4

_24V_AH 15.03,31.897

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 640 1129 10869.81 nil 0 0 0.00

Pitch_motor 26 210 83.57 nil 0 0 0.00

Roll_motor 42 179 115.24 nil 0 0 0.00

Iridium 140 203 428.22 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.10 nil 0 0 0.00

Core 2086 5 160.23 SciCon 3053 6 305.59

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1199 0 5.76

Compass 977 5 73.33

RAFOS 1387 40 832.27

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 -104.29 -1.71 0.00 499.3 399.5 599.1 204.0 1939.6 0.00 0.00 0 51.09 39.94 0.00 0.00 0.005 0.000 0.000 1471.03 1434.62 1507.44 204.06 1940.75 0 0 0 15.80 30.00 30.00

51.52 18727 -146.63 -1.76 80.00 1471.5 1433.4 1509.7 204.0 1940.2 3.03 -4.02 8 144.10 63.76 7.95 3.66 0.005 0.211 0.112 3429.25 3393.94 3464.56 1306.31 3448.38 0 0 0 14.80 15.67 15.75

372.63 1156 -146.63 -1.71 0.00 3431.4 3393.0 3469.8 1306.4 3448.9 33.95 -11.13 70 379.08 0.00 0.00 3.39 0.000 0.000 0.057 3432.66 3393.94 3471.38 1307.00 1952.31 0 0 0 30.00 30.00 15.89

567.74 644 -146.63 -1.69 -80.00 3431.6 3392.9 3470.4 1306.6 1950.6 54.86 -11.03 105 574.81 0.00 0.00 3.50 0.000 0.000 0.121 3431.38 3393.06 3469.69 1306.69 511.62 0 0 0 30.00 30.00 15.86

758.15 3205 -146.63 -1.64 0.00 3431.7 3393.9 3469.5 1306.3 511.9 80.04 -13.54 142 769.51 0.00 0.20 3.46 0.000 0.177 0.052 3434.41 3395.19 3473.62 1335.69 2012.38 0 0 0 30.00 15.24 14.13

957.48 260 -146.63 -1.64 80.00 3432.9 3393.6 3472.1 1336.2 2012.1 101.66 -10.53 163 964.70 0.00 0.00 3.47 0.000 0.000 0.113 3431.75 3392.62 3470.88 1336.12 3447.50 0 0 0 30.00 30.00 15.81

1023.33 1156 -146.63 -1.63 0.00 3433.4 3395.0 3471.9 1336.5 3447.1 109.49 -12.06 176 1030.47 0.00 0.00 3.42 0.000 0.000 0.057 3432.69 3392.56 3472.81 1336.06 1950.25 0 0 0 30.00 30.00 15.88

1218.23 0 -146.63 -1.63 0.00 3433.1 3393.8 3472.4 1336.2 1951.1 130.25 -11.08 196 1220.03 0.00 0.00 0.00 0.000 0.000 0.000 3431.56 3392.38 3470.75 1336.50 1950.88 0 0 0 30.00 30.00 30.00

1401 end dive: TARGET_DEPTH_EXCEEDED

state 1401 begin apogee

1403.06 10243 0.00 -0.37 0.00 3433.2 3393.9 3472.6 1336.1 1867.1 150.66 -11.23 215 1530.94 111.92 1.98 0.10 1.130 0.124 0.179 2833.88 2727.56 2940.19 1641.62 1936.38 0 0 0 11.05 15.90 15.60

1532 end apogee: CONTROL_FINISHED_OK

state 1532 begin climb

1532.62 10759 146.63 1.76 -80.00 2831.6 2725.4 2937.9 1641.2 1936.4 154.43 0.00 227 1671.55 112.80 3.31 3.81 1.075 0.084 0.129 2234.31 2128.44 2340.19 2162.38 432.81 0 0 0 11.18 15.63 15.46

1744.51 21639 146.63 1.68 0.00 2226.9 2122.7 2331.2 2163.8 432.4 128.04 19.76 266 1752.55 0.00 0.28 3.45 0.000 0.190 0.052 2227.16 2122.88 2331.44 2132.12 1934.62 0 0 0 30.00 15.63 15.73

1935.03 16386 146.63 1.68 0.00 2225.4 2121.8 2329.0 2131.1 1936.4 101.25 13.27 286 1944.29 0.00 0.00 0.00 0.000 0.000 0.000 2225.47 2121.81 2329.12 2131.31 1936.50 0 0 0 30.00 30.00 30.00

2124.96 16386 146.63 1.68 0.00 2224.9 2121.8 2327.9 2131.6 1936.6 77.52 12.54 305 2126.75 0.00 0.00 0.00 0.000 0.000 0.000 2223.41 2121.19 2325.62 2131.25 1936.62 0 0 0 30.00 30.00 30.00

2314.97 16902 146.63 1.68 -80.00 2224.5 2121.9 2327.1 2131.2 1936.4 55.59 11.37 324 2323.65 0.00 0.00 3.71 0.000 0.000 0.128 2222.78 2120.69 2324.88 2130.88 433.94 0 0 0 30.00 30.00 15.85

2382.33 17542 146.63 1.63 0.00 2223.6 2120.2 2327.0 2131.2 433.8 46.08 14.72 337 2390.34 0.00 0.00 3.40 0.000 0.000 0.053 2222.06 2119.50 2324.62 2131.50 1933.56 0 0 0 30.00 30.00 15.94

2575.13 16386 146.63 1.63 0.00 2223.3 2120.4 2326.2 2131.1 1935.8 25.64 10.06 375 2579.04 0.00 0.00 0.00 0.000 0.000 0.000 2223.50 2120.81 2326.19 2131.38 1935.50 0 0 0 30.00 30.00 30.00

2760.38 8614 166.13 1.67 80.00 2223.4 2120.1 2326.8 2131.6 1935.9 7.99 8.74 412 2784.75 15.26 0.00 3.47 0.952 0.000 0.116 2153.22 2047.00 2259.44 2130.75 3365.75 0 0 0 11.22 30.00 15.90

2853.50 11431 270.75 1.82 0.00 2153.5 2047.7 2259.2 2130.4 3364.4 6.30 3.22 430 2947.28 77.68 0.29 3.40 0.989 0.058 0.059 1728.50 1621.38 1835.62 2191.06 1871.81 0 0 0 11.21 15.96 15.99

3045 end climb: NO_VERTICAL_VELOCITY

state 3045 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	5	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	5	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	593.79755	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	2833.387	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	-1
ICE_FREEZE_MARGIN	0.07	C_PITCH	1731.1736	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	13.372957	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.597862	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	28.211048	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	210623,210410,4736.222,-12256.461,54,0.9,55,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.71	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,210739,4736.196,-12256.484,2,0.6,4,15.4	MHEAD_RNG_PITCHd_Wd	343.8,619,-21.1,-10.000,-24.37,1578,0.121
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	N	IRON	1.000000,0.025244,-0.072655,0.008785,1.026925,-0.043242,0.027332,-0.082621,1.082390,779.262451,-860.414246,-712.433044
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	CACST,8,1,20230621215010.405920,18,32600,45,0105,0113,07,00,00,00,00,-1,-01,-01,1,3,10285,0,150,0.9,0.74,-100,2.26,-01,-1.84,73,10000,5000,0,-1,00,00*41	_10V_AH	15.00,0.000
NET_PING	1687383613,29,771.877502,11.500000,-1.030287	FG_AHR_24Vo	28.372
MODEM_MSG	CACST,8,0,20230621212500.467628,18,32767,39,0273,0000,246,03,03,01,03,1,029,121,0,5,1,0,150,1.6,8.11,-100,-5.11,-01,0.03,69,925,0025,0,1,00,00*14	FG_AHR_10Vo	42.647
NAV	1687385032,0.3,start	MEM0	60020,1,0,0
FREEZE	4.86,14.112,-1.514,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	946272,27,100436,66
SM_CCo	3341.83,0.12,0.196,0,499.8,397.7,601.9,572.33	DATA_FILE_SIZE	12908,467
SM_GC	2.47,0.12,12.35,0.28,0.196,0.047,0.082,499.8,397.7,601.9,194.2,2017.6,0,0,0,15.84,15.64,15.66	CAP_FILE_SIZE	179657,0
SUPER	27,71,254,1,0,0	SDSIZE	3887104,3868192
IRIDIUM_FIX	4735.53,-12254.47,210623,195445	SDFILEDIR	83,6
TCM_TEMP	14.36	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3877184	SOUNDSPEED	1465.0
RAFOS_CLK	1	WARN	PPS timeout
MODEM	1,1687381800,47.60500,-122.95000,0.549,804.4	CURRENT	0.054,199.9,1
RAFOS_FIX	4836.537109,-12257.000000,210623,191904,4,255,154.50	MAGCAL	1.000000,0.040548,-0.018178,-0.016070,1.093082,-0.131740,-0.020573,0.069084,1.047160,735.4,-805.4,-728.8,36,0.0358,0
HUMID	50.14	IMPLIED_C_PITCH	1731,13.54,222,1731.1,13.46
TEMP	11.27	IMPLIED_C_VBD	2818,34.306244,222,2825.4
INTERNAL_PRESSURE	8.2415	GPS	210623,220433,4736.402,-12256.556,1,0.8,4,15.4
_24V_AH	15.03,31.897

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	640	1129	10869.81	nil	0	0	0.00
Pitch_motor	26	210	83.57	nil	0	0	0.00
Roll_motor	42	179	115.24	nil	0	0	0.00
Iridium	140	203	428.22	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.10	nil	0	0	0.00
Core	2086	5	160.23	SciCon	3053	6	305.59
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1199	0	5.76
Compass	977	5	73.33
RAFOS	1387	40	832.27
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	-104.29	-1.71	0.00	499.3	399.5	599.1	204.0	1939.6	0.00	0.00	0	51.09	39.94	0.00	0.00	0.005	0.000	0.000	1471.03	1434.62	1507.44	204.06	1940.75	0	0	0	15.80	30.00	30.00
51.52	18727	-146.63	-1.76	80.00	1471.5	1433.4	1509.7	204.0	1940.2	3.03	-4.02	8	144.10	63.76	7.95	3.66	0.005	0.211	0.112	3429.25	3393.94	3464.56	1306.31	3448.38	0	0	0	14.80	15.67	15.75
372.63	1156	-146.63	-1.71	0.00	3431.4	3393.0	3469.8	1306.4	3448.9	33.95	-11.13	70	379.08	0.00	0.00	3.39	0.000	0.000	0.057	3432.66	3393.94	3471.38	1307.00	1952.31	0	0	0	30.00	30.00	15.89
567.74	644	-146.63	-1.69	-80.00	3431.6	3392.9	3470.4	1306.6	1950.6	54.86	-11.03	105	574.81	0.00	0.00	3.50	0.000	0.000	0.121	3431.38	3393.06	3469.69	1306.69	511.62	0	0	0	30.00	30.00	15.86
758.15	3205	-146.63	-1.64	0.00	3431.7	3393.9	3469.5	1306.3	511.9	80.04	-13.54	142	769.51	0.00	0.20	3.46	0.000	0.177	0.052	3434.41	3395.19	3473.62	1335.69	2012.38	0	0	0	30.00	15.24	14.13
957.48	260	-146.63	-1.64	80.00	3432.9	3393.6	3472.1	1336.2	2012.1	101.66	-10.53	163	964.70	0.00	0.00	3.47	0.000	0.000	0.113	3431.75	3392.62	3470.88	1336.12	3447.50	0	0	0	30.00	30.00	15.81
1023.33	1156	-146.63	-1.63	0.00	3433.4	3395.0	3471.9	1336.5	3447.1	109.49	-12.06	176	1030.47	0.00	0.00	3.42	0.000	0.000	0.057	3432.69	3392.56	3472.81	1336.06	1950.25	0	0	0	30.00	30.00	15.88
1218.23	0	-146.63	-1.63	0.00	3433.1	3393.8	3472.4	1336.2	1951.1	130.25	-11.08	196	1220.03	0.00	0.00	0.00	0.000	0.000	0.000	3431.56	3392.38	3470.75	1336.50	1950.88	0	0	0	30.00	30.00	30.00
1401	end dive: TARGET_DEPTH_EXCEEDED
state	1401	begin apogee
1403.06	10243	0.00	-0.37	0.00	3433.2	3393.9	3472.6	1336.1	1867.1	150.66	-11.23	215	1530.94	111.92	1.98	0.10	1.130	0.124	0.179	2833.88	2727.56	2940.19	1641.62	1936.38	0	0	0	11.05	15.90	15.60
1532	end apogee: CONTROL_FINISHED_OK
state	1532	begin climb
1532.62	10759	146.63	1.76	-80.00	2831.6	2725.4	2937.9	1641.2	1936.4	154.43	0.00	227	1671.55	112.80	3.31	3.81	1.075	0.084	0.129	2234.31	2128.44	2340.19	2162.38	432.81	0	0	0	11.18	15.63	15.46
1744.51	21639	146.63	1.68	0.00	2226.9	2122.7	2331.2	2163.8	432.4	128.04	19.76	266	1752.55	0.00	0.28	3.45	0.000	0.190	0.052	2227.16	2122.88	2331.44	2132.12	1934.62	0	0	0	30.00	15.63	15.73
1935.03	16386	146.63	1.68	0.00	2225.4	2121.8	2329.0	2131.1	1936.4	101.25	13.27	286	1944.29	0.00	0.00	0.00	0.000	0.000	0.000	2225.47	2121.81	2329.12	2131.31	1936.50	0	0	0	30.00	30.00	30.00
2124.96	16386	146.63	1.68	0.00	2224.9	2121.8	2327.9	2131.6	1936.6	77.52	12.54	305	2126.75	0.00	0.00	0.00	0.000	0.000	0.000	2223.41	2121.19	2325.62	2131.25	1936.62	0	0	0	30.00	30.00	30.00
2314.97	16902	146.63	1.68	-80.00	2224.5	2121.9	2327.1	2131.2	1936.4	55.59	11.37	324	2323.65	0.00	0.00	3.71	0.000	0.000	0.128	2222.78	2120.69	2324.88	2130.88	433.94	0	0	0	30.00	30.00	15.85
2382.33	17542	146.63	1.63	0.00	2223.6	2120.2	2327.0	2131.2	433.8	46.08	14.72	337	2390.34	0.00	0.00	3.40	0.000	0.000	0.053	2222.06	2119.50	2324.62	2131.50	1933.56	0	0	0	30.00	30.00	15.94
2575.13	16386	146.63	1.63	0.00	2223.3	2120.4	2326.2	2131.1	1935.8	25.64	10.06	375	2579.04	0.00	0.00	0.00	0.000	0.000	0.000	2223.50	2120.81	2326.19	2131.38	1935.50	0	0	0	30.00	30.00	30.00
2760.38	8614	166.13	1.67	80.00	2223.4	2120.1	2326.8	2131.6	1935.9	7.99	8.74	412	2784.75	15.26	0.00	3.47	0.952	0.000	0.116	2153.22	2047.00	2259.44	2130.75	3365.75	0	0	0	11.22	30.00	15.90
2853.50	11431	270.75	1.82	0.00	2153.5	2047.7	2259.2	2130.4	3364.4	6.30	3.22	430	2947.28	77.68	0.29	3.40	0.989	0.058	0.059	1728.50	1621.38	1835.62	2191.06	1871.81	0	0	0	11.21	15.96	15.99
3045	end climb: NO_VERTICAL_VELOCITY
state	3045	begin surface