Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 8 * 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 8 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 10 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 2815.9116 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 1734.6614 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 13.476445 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.724674 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 28.708714 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 10 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 42.724674 PHONE_SUPPLY 2 SM_CC 593.79755

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.708714 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 13.476445 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 1734.6614 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 2815.9116 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 8 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 220623,000807,4736.112,-12256.721,14,1.1,17,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,001155,4736.097,-12256.732,2,1.1,4,15.4 MHEAD_RNG_PITCHd_Wd 4.3,866,-17.6,-10.000,-21.21,2209,0.130

SPEED_LIMITS 0.173,0.258 D_GRID 166

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 8000225

Post-dive calculations and measurements:

NET CACST,8,1,20230622011018.308331,18,531,21,0135,0088,07,01,01,01,01,-1,-01,-01,1,3,10287,0,150,10.2,0.66,-100,2.34,-01,2.78,70,10000,5000,0,-1,00,00*58 _24V_AH 15.04,32.457

NET_PING 1687394411,29,290.205017,12.600000,-0.387604 _10V_AH 15.00,0.000

MODEM_MSG CACST,8,1,20230622002000.207390,18,25973,44,0404,0000,216,02,02,00,02,-1,-01,-01,1,3,0,0,150,2.4,0.49,-100,2.51,-01,0.10,51,925,0025,0,-1,00,00*3D FG_AHR_24Vo 28.869

NAV 1687395545,50.9,start FG_AHR_10Vo 42.781

FREEZE 2.64,15.639,-1.364,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3982.50,0.11,0.199,0,499.9,400.1,599.7,567.90 MEM2 946312,24,100456,66

SM_GC 3.12,0.11,12.31,0.12,0.199,0.053,0.127,499.9,400.1,599.7,196.6,2019.4,0,0,0,15.79,15.66,15.67 DATA_FILE_SIZE 16118,567

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 164096,0

IRIDIUM_FIX 4738.33,-12256.21,210623,230305 SDSIZE 3887104,3867136

TCM_TEMP 15.25 SDFILEDIR 110,9

SC_FREEKB 3876224 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 0,1687392000,47.60500,-122.95000,0.371,543.9 CURRENT 0.052,201.9,1

RAFOS_FIX 4736.111328,-12257.029297,210623,232301,2,510,0.76 MAGCAL 1.000000,0.022827,-0.261793,-0.048667,1.047302,0.015527,0.336442,0.035183,0.846969,968.0,-888.9,-610.0,36,0.0963,0

HUMID 49.65 IMPLIED_C_PITCH 1736,13.53,276,1735.6,13.50

TEMP 11.76 IMPLIED_C_VBD 2814,34.382809,276,2814.9

INTERNAL_PRESSURE 8.2561 GPS 220623,012010,4736.322,-12256.729,1,1.7,50,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 645 1098 10665.72 nil 0 0 0.00

Pitch_motor 26 219 86.71 nil 0 0 0.00

Roll_motor 28 188 81.97 nil 0 0 0.00

Iridium 159 215 515.17 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 2433 5 186.91 SciCon 3844 6 383.67

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1664 0 7.99

Compass 1194 5 89.57

RAFOS 1153 40 692.04

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

7.51 16386 -146.63 -1.49 0.00 499.1 399.1 599.1 198.9 1941.2 0.00 0.00 0 56.26 44.90 0.00 0.00 0.005 0.000 0.000 1595.88 1564.81 1626.94 199.06 1941.25 0 0 0 15.85 30.00 30.00

56.69 18727 -146.63 -1.49 80.00 1595.6 1564.4 1626.7 198.8 1940.8 3.25 -3.91 9 140.54 56.63 8.48 3.67 0.005 0.220 0.112 3411.56 3376.25 3446.88 1375.06 3449.69 0 0 0 15.86 15.68 15.78

369.14 1188 -146.63 -1.44 0.00 3412.9 3375.6 3450.2 1375.2 3449.8 31.51 -9.34 70 376.52 0.00 0.00 3.43 0.000 0.000 0.056 3413.91 3376.50 3451.31 1375.31 1948.88 0 0 0 30.00 30.00 15.88

560.95 676 -146.63 -1.41 -80.00 3413.3 3376.4 3450.1 1375.5 1948.8 47.97 -8.44 107 568.76 0.00 0.00 3.50 0.000 0.000 0.122 3413.00 3375.88 3450.12 1375.75 512.75 0 0 0 30.00 30.00 15.85

797.42 3205 -146.63 -1.37 0.00 3414.0 3376.1 3451.9 1375.3 512.6 73.48 -10.89 154 805.83 0.00 0.17 3.41 0.000 0.170 0.051 3414.84 3377.75 3451.94 1405.50 2013.00 0 0 0 30.00 15.85 15.93

992.35 32 -146.63 -1.37 0.00 3414.8 3376.8 3452.8 1405.6 2013.8 90.21 -8.73 174 994.10 0.00 0.00 0.00 0.000 0.000 0.000 3413.66 3375.88 3451.44 1406.00 2012.88 0 0 0 30.00 30.00 30.00

1182.37 32 -146.63 -1.37 0.00 3414.8 3376.8 3452.9 1405.4 2014.1 106.12 -8.08 193 1184.11 0.00 0.00 0.00 0.000 0.000 0.000 3413.38 3376.38 3450.38 1405.56 2014.25 0 0 0 30.00 30.00 30.00

1372.38 32 -146.63 -1.37 0.00 3414.9 3376.0 3453.8 1405.8 2014.7 121.83 -8.22 212 1374.13 0.00 0.00 0.00 0.000 0.000 0.000 3414.19 3375.38 3453.00 1405.62 2013.81 0 0 0 30.00 30.00 30.00

1562.40 32 -146.63 -1.37 0.00 3415.2 3376.6 3453.8 1405.8 2013.8 137.87 -8.54 231 1564.15 0.00 0.00 0.00 0.000 0.000 0.000 3413.81 3375.25 3452.38 1406.06 2013.81 0 0 0 30.00 30.00 30.00

1713 end dive: TARGET_DEPTH_EXCEEDED

state 1713 begin apogee

1714.72 10243 0.00 -0.37 0.00 3415.0 3376.4 3453.5 1405.9 1870.0 150.65 -8.33 246 1842.49 112.83 1.56 0.09 1.099 0.112 0.188 2816.62 2709.38 2923.88 1646.94 1934.44 0 0 0 11.52 15.37 15.43

1843 end apogee: CONTROL_FINISHED_OK

state 1844 begin climb

1844.20 10243 146.63 1.49 0.00 2812.1 2706.6 2917.7 1647.7 1934.4 153.08 0.00 258 1973.48 114.29 2.87 0.00 1.066 0.082 0.000 2218.78 2110.12 2327.44 2099.25 1934.25 0 0 0 11.44 15.52 30.00

2157.11 644 146.63 1.46 -80.00 2209.2 2103.9 2314.5 2099.6 1934.2 119.82 12.61 289 2165.62 0.00 0.00 3.75 0.000 0.000 0.130 2213.47 2108.06 2318.88 2100.50 432.75 0 0 0 30.00 30.00 15.76

2208.53 21639 146.63 1.38 0.00 2207.8 2103.1 2312.4 2099.8 432.9 112.02 15.66 299 2216.56 0.00 0.29 3.42 0.000 0.173 0.052 2210.12 2104.75 2315.50 2061.81 1934.50 0 0 0 30.00 15.76 15.84

2402.14 16386 146.63 1.38 0.00 2207.2 2101.9 2312.4 2062.0 1935.2 90.75 10.18 319 2403.92 0.00 0.00 0.00 0.000 0.000 0.000 2206.06 2101.38 2310.75 2062.38 1935.25 0 0 0 30.00 30.00 30.00

2592.23 8742 153.21 1.39 -80.00 2206.8 2102.0 2311.5 2062.8 1935.8 71.57 9.70 338 2608.55 5.84 0.00 3.73 0.699 0.000 0.131 2191.59 2085.06 2298.12 2062.69 433.69 0 0 0 11.46 30.00 15.90

2652.34 1156 153.21 1.35 0.00 2190.1 2084.6 2295.6 2062.8 433.8 64.70 12.04 350 2659.58 0.00 0.00 3.41 0.000 0.000 0.052 2191.03 2084.19 2297.88 2062.25 1935.56 0 0 0 30.00 30.00 15.98

2841.35 8226 166.75 1.36 0.00 2190.0 2084.4 2295.5 2062.4 1936.6 46.79 9.37 372 2862.16 13.05 0.00 0.00 0.921 0.000 0.000 2133.88 2026.81 2240.94 2062.00 1936.81 0 0 0 11.24 30.00 30.00

3045.68 8226 194.91 1.40 0.00 2131.3 2025.9 2236.7 2062.1 1936.5 28.34 8.70 412 3071.79 23.15 0.00 0.00 0.955 0.000 0.000 2019.38 1911.50 2127.25 2061.81 1937.12 0 0 0 11.27 30.00 30.00

3255.85 10403 246.28 1.49 0.00 2014.9 1909.4 2120.3 2062.8 1936.9 10.26 7.62 454 3299.52 39.08 0.23 0.00 0.950 0.060 0.000 1812.03 1702.25 1921.81 2116.75 1936.56 0 0 0 11.25 15.91 30.00

3481.19 10403 462.11 1.79 80.00 1803.4 1695.3 1911.6 2117.7 1936.9 5.81 0.00 498 3652.70 156.21 0.31 0.00 0.939 0.058 0.000 930.84 826.75 1034.94 2186.62 1937.75 0 0 0 11.18 15.87 30.00

3836 end climb: NO_VERTICAL_VELOCITY

state 3836 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	8	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	10	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	2815.9116	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	1734.6614	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	13.476445	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.724674	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	28.708714	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	220623,000807,4736.112,-12256.721,14,1.1,17,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,001155,4736.097,-12256.732,2,1.1,4,15.4	MHEAD_RNG_PITCHd_Wd	4.3,866,-17.6,-10.000,-21.21,2209,0.130
SPEED_LIMITS	0.173,0.258	D_GRID	166
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	8000225

NET	CACST,8,1,20230622011018.308331,18,531,21,0135,0088,07,01,01,01,01,-1,-01,-01,1,3,10287,0,150,10.2,0.66,-100,2.34,-01,2.78,70,10000,5000,0,-1,00,00*58	_24V_AH	15.04,32.457
NET_PING	1687394411,29,290.205017,12.600000,-0.387604	_10V_AH	15.00,0.000
MODEM_MSG	CACST,8,1,20230622002000.207390,18,25973,44,0404,0000,216,02,02,00,02,-1,-01,-01,1,3,0,0,150,2.4,0.49,-100,2.51,-01,0.10,51,925,0025,0,-1,00,00*3D	FG_AHR_24Vo	28.869
NAV	1687395545,50.9,start	FG_AHR_10Vo	42.781
FREEZE	2.64,15.639,-1.364,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3982.50,0.11,0.199,0,499.9,400.1,599.7,567.90	MEM2	946312,24,100456,66
SM_GC	3.12,0.11,12.31,0.12,0.199,0.053,0.127,499.9,400.1,599.7,196.6,2019.4,0,0,0,15.79,15.66,15.67	DATA_FILE_SIZE	16118,567
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	164096,0
IRIDIUM_FIX	4738.33,-12256.21,210623,230305	SDSIZE	3887104,3867136
TCM_TEMP	15.25	SDFILEDIR	110,9
SC_FREEKB	3876224	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	0,1687392000,47.60500,-122.95000,0.371,543.9	CURRENT	0.052,201.9,1
RAFOS_FIX	4736.111328,-12257.029297,210623,232301,2,510,0.76	MAGCAL	1.000000,0.022827,-0.261793,-0.048667,1.047302,0.015527,0.336442,0.035183,0.846969,968.0,-888.9,-610.0,36,0.0963,0
HUMID	49.65	IMPLIED_C_PITCH	1736,13.53,276,1735.6,13.50
TEMP	11.76	IMPLIED_C_VBD	2814,34.382809,276,2814.9
INTERNAL_PRESSURE	8.2561	GPS	220623,012010,4736.322,-12256.729,1,1.7,50,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	645	1098	10665.72	nil	0	0	0.00
Pitch_motor	26	219	86.71	nil	0	0	0.00
Roll_motor	28	188	81.97	nil	0	0	0.00
Iridium	159	215	515.17	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	2433	5	186.91	SciCon	3844	6	383.67
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1664	0	7.99
Compass	1194	5	89.57
RAFOS	1153	40	692.04
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
7.51	16386	-146.63	-1.49	0.00	499.1	399.1	599.1	198.9	1941.2	0.00	0.00	0	56.26	44.90	0.00	0.00	0.005	0.000	0.000	1595.88	1564.81	1626.94	199.06	1941.25	0	0	0	15.85	30.00	30.00
56.69	18727	-146.63	-1.49	80.00	1595.6	1564.4	1626.7	198.8	1940.8	3.25	-3.91	9	140.54	56.63	8.48	3.67	0.005	0.220	0.112	3411.56	3376.25	3446.88	1375.06	3449.69	0	0	0	15.86	15.68	15.78
369.14	1188	-146.63	-1.44	0.00	3412.9	3375.6	3450.2	1375.2	3449.8	31.51	-9.34	70	376.52	0.00	0.00	3.43	0.000	0.000	0.056	3413.91	3376.50	3451.31	1375.31	1948.88	0	0	0	30.00	30.00	15.88
560.95	676	-146.63	-1.41	-80.00	3413.3	3376.4	3450.1	1375.5	1948.8	47.97	-8.44	107	568.76	0.00	0.00	3.50	0.000	0.000	0.122	3413.00	3375.88	3450.12	1375.75	512.75	0	0	0	30.00	30.00	15.85
797.42	3205	-146.63	-1.37	0.00	3414.0	3376.1	3451.9	1375.3	512.6	73.48	-10.89	154	805.83	0.00	0.17	3.41	0.000	0.170	0.051	3414.84	3377.75	3451.94	1405.50	2013.00	0	0	0	30.00	15.85	15.93
992.35	32	-146.63	-1.37	0.00	3414.8	3376.8	3452.8	1405.6	2013.8	90.21	-8.73	174	994.10	0.00	0.00	0.00	0.000	0.000	0.000	3413.66	3375.88	3451.44	1406.00	2012.88	0	0	0	30.00	30.00	30.00
1182.37	32	-146.63	-1.37	0.00	3414.8	3376.8	3452.9	1405.4	2014.1	106.12	-8.08	193	1184.11	0.00	0.00	0.00	0.000	0.000	0.000	3413.38	3376.38	3450.38	1405.56	2014.25	0	0	0	30.00	30.00	30.00
1372.38	32	-146.63	-1.37	0.00	3414.9	3376.0	3453.8	1405.8	2014.7	121.83	-8.22	212	1374.13	0.00	0.00	0.00	0.000	0.000	0.000	3414.19	3375.38	3453.00	1405.62	2013.81	0	0	0	30.00	30.00	30.00
1562.40	32	-146.63	-1.37	0.00	3415.2	3376.6	3453.8	1405.8	2013.8	137.87	-8.54	231	1564.15	0.00	0.00	0.00	0.000	0.000	0.000	3413.81	3375.25	3452.38	1406.06	2013.81	0	0	0	30.00	30.00	30.00
1713	end dive: TARGET_DEPTH_EXCEEDED
state	1713	begin apogee
1714.72	10243	0.00	-0.37	0.00	3415.0	3376.4	3453.5	1405.9	1870.0	150.65	-8.33	246	1842.49	112.83	1.56	0.09	1.099	0.112	0.188	2816.62	2709.38	2923.88	1646.94	1934.44	0	0	0	11.52	15.37	15.43
1843	end apogee: CONTROL_FINISHED_OK
state	1844	begin climb
1844.20	10243	146.63	1.49	0.00	2812.1	2706.6	2917.7	1647.7	1934.4	153.08	0.00	258	1973.48	114.29	2.87	0.00	1.066	0.082	0.000	2218.78	2110.12	2327.44	2099.25	1934.25	0	0	0	11.44	15.52	30.00
2157.11	644	146.63	1.46	-80.00	2209.2	2103.9	2314.5	2099.6	1934.2	119.82	12.61	289	2165.62	0.00	0.00	3.75	0.000	0.000	0.130	2213.47	2108.06	2318.88	2100.50	432.75	0	0	0	30.00	30.00	15.76
2208.53	21639	146.63	1.38	0.00	2207.8	2103.1	2312.4	2099.8	432.9	112.02	15.66	299	2216.56	0.00	0.29	3.42	0.000	0.173	0.052	2210.12	2104.75	2315.50	2061.81	1934.50	0	0	0	30.00	15.76	15.84
2402.14	16386	146.63	1.38	0.00	2207.2	2101.9	2312.4	2062.0	1935.2	90.75	10.18	319	2403.92	0.00	0.00	0.00	0.000	0.000	0.000	2206.06	2101.38	2310.75	2062.38	1935.25	0	0	0	30.00	30.00	30.00
2592.23	8742	153.21	1.39	-80.00	2206.8	2102.0	2311.5	2062.8	1935.8	71.57	9.70	338	2608.55	5.84	0.00	3.73	0.699	0.000	0.131	2191.59	2085.06	2298.12	2062.69	433.69	0	0	0	11.46	30.00	15.90
2652.34	1156	153.21	1.35	0.00	2190.1	2084.6	2295.6	2062.8	433.8	64.70	12.04	350	2659.58	0.00	0.00	3.41	0.000	0.000	0.052	2191.03	2084.19	2297.88	2062.25	1935.56	0	0	0	30.00	30.00	15.98
2841.35	8226	166.75	1.36	0.00	2190.0	2084.4	2295.5	2062.4	1936.6	46.79	9.37	372	2862.16	13.05	0.00	0.00	0.921	0.000	0.000	2133.88	2026.81	2240.94	2062.00	1936.81	0	0	0	11.24	30.00	30.00
3045.68	8226	194.91	1.40	0.00	2131.3	2025.9	2236.7	2062.1	1936.5	28.34	8.70	412	3071.79	23.15	0.00	0.00	0.955	0.000	0.000	2019.38	1911.50	2127.25	2061.81	1937.12	0	0	0	11.27	30.00	30.00
3255.85	10403	246.28	1.49	0.00	2014.9	1909.4	2120.3	2062.8	1936.9	10.26	7.62	454	3299.52	39.08	0.23	0.00	0.950	0.060	0.000	1812.03	1702.25	1921.81	2116.75	1936.56	0	0	0	11.25	15.91	30.00
3481.19	10403	462.11	1.79	80.00	1803.4	1695.3	1911.6	2117.7	1936.9	5.81	0.00	498	3652.70	156.21	0.31	0.00	0.939	0.058	0.000	930.84	826.75	1034.94	2186.62	1937.75	0	0	0	11.18	15.87	30.00
3836	end climb: NO_VERTICAL_VELOCITY
state	3836	begin surface