Glider dive log

HoodCanal 20Jun23 * SG244 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 244 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2185 ALTIM_PULSE 3

MISSION 4 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 9 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 15 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 686.83997 ROLL_MAXERRORS 1 XPDR_INT 13.5

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 13

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 2.3

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3300 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 360 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 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 100000 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 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 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 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 200 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1500 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 15 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 2.2704878 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 7.5253835 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.0049999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -192.53183 SEABIRD_T_J 4.3e-06

MASS 72540 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022440785 SEABIRD_C_G -10

NAV_MODE 2 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 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 230 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3835 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 2300 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 15 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 2.2704878 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.5253835 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.0049999999 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 15 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 100000 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 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 244 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 2.3 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1500 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022440785 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -192.53183 T_NO_W 60

C_ROLL_CLIMB 2185 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2300 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3300 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72540 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 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 11 ROLL_MAX 3835 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 360

DIVE 9 MISSION 4 ROLL_MIN 230 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 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 13.5

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 13

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 210623,040922,4736.057,-12256.696,31,0.9,32,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.64 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,041234,4736.062,-12256.702,2,0.7,5,15.4 MHEAD_RNG_PITCHd_Wd 4.4,913,-17.6,-10.000,-21.21,2209,0.141

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.039715,0.008622,-0.030591,1.082832,-0.033720,0.012835,-0.071541,0.988196,588.545898,-356.791168,-300.642365

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,1,20230621045837.920347,18,32767,45,0125,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,8.5,2.49,-100,0.51,-01,-0.04,75,10000,5000,0,-1,00,00*46 _24V_AH 14.83,3.410

NET_PING 1687322922,29,396.746979,11.000000,59.472218 _10V_AH 14.93,0.000

NAV 1687323543,8.0,start FG_AHR_24Vo 7.661

MODEM_MSG CACST,8,0,20230621042500.269564,18,32767,45,0130,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-41.9,8.67,-100,-5.67,-01,-0.14,89,925,0025,0,1,00,00*1D FG_AHR_10Vo 2.275

FREEZE 6.93,13.871,-1.519,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3257.62,249.45,0.714,0,500.8,436.8,564.9,686.63 MEM2 945780,30,100828,68

SM_GC 1.93,0.00,11.19,0.37,0.000,0.040,0.073,495.7,436.2,555.2,191.3,2319.3,0,0,0,30.00,15.31,15.33 DATA_FILE_SIZE 12951,435

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 154057,0

IRIDIUM_FIX 4737.46,-12258.89,210623,030731 SDSIZE 3887104,3871936

TCM_TEMP 18.29 SDFILEDIR 101,10

SC_FREEKB 3875968 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 3,1687321200,47.50000,-123.00000,120.310,176253.6 CURRENT 0.057, 55.0,1

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MAGCAL 1.000000,0.007366,0.004032,-0.031817,1.083860,-0.035272,-0.017748,-0.007032,1.060809,597.7,-373.0,-378.9,27,0.0338,0

HUMID 56.71 IMPLIED_C_PITCH 1527,16.46,215,0.0,0.00

TEMP 10.72 IMPLIED_C_VBD 3342,20.315268,215,0

INTERNAL_PRESSURE 8.27394 GPS 210623,051012,4736.441,-12256.518,0,1.0,2,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 655 896 8718.76 nil 0 0 0.00

Pitch_motor 23 247 87.10 nil 0 0 0.00

Roll_motor 43 185 120.88 nil 0 0 0.00

Iridium 128 141 268.95 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.27 nil 0 0 0.00

Core 1916 5 146.52 SciCon 2988 7 343.01

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1374 0 6.57

Compass 914 5 68.30

RAFOS 1257 40 750.92

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

6.31 16386 -146.63 -1.35 0.00 494.7 433.6 555.8 191.5 2274.5 0.00 0.00 0 50.38 39.80 0.00 0.00 0.005 0.000 0.000 1654.75 1645.25 1664.25 191.56 2274.56 0 0 0 15.57 30.00 30.00

50.91 18727 -146.63 -1.35 80.00 1658.0 1645.6 1670.3 191.8 2274.4 3.11 -4.20 8 128.77 51.01 7.59 3.74 0.005 0.248 0.102 3899.56 3885.12 3914.00 1172.12 3767.75 0 0 0 15.59 15.42 15.50

302.43 1156 -146.63 -1.30 0.00 3903.9 3888.4 3919.4 1171.9 3768.1 42.26 -15.90 56 310.42 0.00 0.00 3.47 0.000 0.000 0.020 3904.03 3888.12 3919.94 1172.00 2269.56 0 0 0 30.00 30.00 15.61

496.91 644 -146.63 -1.27 -80.00 3904.8 3888.2 3921.2 1172.1 2268.7 65.89 -11.86 81 505.56 0.00 0.00 3.66 0.000 0.000 0.111 3904.66 3887.56 3921.75 1172.31 834.06 0 0 0 30.00 30.00 15.56

534.35 3205 -146.63 -1.24 0.00 3904.8 3888.4 3921.1 1172.1 834.1 70.46 -12.34 88 543.32 0.00 0.12 3.54 0.000 0.189 0.041 3904.69 3887.69 3921.69 1190.31 2317.56 0 0 0 30.00 15.59 15.63

729.34 128 -146.63 -1.22 0.00 3905.8 3888.4 3923.1 1190.2 2318.2 91.47 -10.33 108 731.21 0.00 0.00 0.00 0.000 0.000 0.000 3905.19 3888.00 3922.38 1190.06 2317.56 0 0 0 30.00 30.00 30.00

919.36 644 -146.63 -1.20 -80.00 3905.9 3888.5 3923.4 1190.3 2317.7 111.06 -10.53 127 928.23 0.00 0.00 3.79 0.000 0.000 0.111 3906.25 3888.62 3923.88 1190.25 835.69 0 0 0 30.00 30.00 15.62

972.86 1156 -146.63 -1.18 0.00 3906.1 3888.9 3923.2 1189.9 835.5 117.12 -11.57 134 984.75 0.00 0.00 3.59 0.000 0.000 0.038 3905.59 3888.00 3923.19 1190.25 2317.25 0 0 0 30.00 30.00 15.04

1172.40 2209 -146.63 -1.17 0.00 3906.3 3888.5 3924.2 1190.4 2317.6 137.76 -9.96 155 1174.54 0.00 0.19 0.00 0.000 0.159 0.000 3905.78 3888.19 3923.38 1220.06 2317.88 0 0 0 30.00 15.67 30.00

1312 end dive: TARGET_DEPTH_EXCEEDED

state 1312 begin apogee

1314.16 10243 0.00 -0.33 0.00 3906.2 3888.3 3924.2 1220.0 2154.9 150.51 -9.01 169 1428.54 101.83 1.36 0.09 0.897 0.120 0.185 3299.34 3243.25 3355.44 1421.69 2205.31 0 0 0 11.39 15.68 15.41

1430 end apogee: CONTROL_FINISHED_OK

state 1430 begin climb

1429.93 10243 146.63 1.35 0.00 3295.8 3240.8 3350.8 1421.9 2204.8 153.44 0.00 179 1550.56 104.56 2.68 0.00 0.870 0.081 0.000 2700.25 2618.75 2781.75 1831.12 2204.94 0 0 0 11.20 15.41 30.00

1734.27 16774 146.63 1.34 80.00 2691.9 2616.3 2767.4 1831.4 2204.8 120.86 14.50 211 1743.02 0.00 0.00 3.64 0.000 0.000 0.105 2690.69 2615.00 2766.38 1831.38 3651.38 0 0 0 30.00 30.00 15.45

1971.84 17542 146.63 1.31 0.00 2690.5 2616.3 2764.6 1831.2 3651.9 79.70 16.48 258 1980.43 0.00 0.00 3.42 0.000 0.000 0.024 2688.66 2614.12 2763.19 1831.12 2161.25 0 0 0 30.00 30.00 15.61

2165.85 16774 146.63 1.31 80.00 2689.5 2615.1 2763.9 1831.5 2161.2 56.14 11.31 278 2178.59 0.00 0.00 3.72 0.000 0.000 0.099 2689.66 2614.88 2764.44 1831.31 3650.06 0 0 0 30.00 30.00 14.76

2232.37 17542 146.63 1.28 0.00 2689.2 2614.9 2763.6 1831.5 3650.5 47.57 12.56 291 2240.72 0.00 0.00 3.43 0.000 0.000 0.024 2687.59 2612.88 2762.31 1831.75 2158.75 0 0 0 30.00 30.00 15.65

2424.27 16646 146.63 1.28 80.00 2689.0 2614.2 2763.7 1831.6 2159.1 26.56 10.59 329 2432.96 0.00 0.00 3.67 0.000 0.000 0.101 2688.25 2613.88 2762.62 1831.50 3651.00 0 0 0 30.00 30.00 15.65

2661.83 9382 288.49 1.43 0.00 2688.2 2614.2 2762.2 1831.4 3651.5 9.24 3.43 376 2783.32 96.49 0.00 3.40 0.738 0.000 0.021 2117.62 1998.19 2237.06 1831.75 2156.56 0 0 0 11.25 30.00 15.75

2967.12 10663 507.42 1.75 80.00 2111.8 1995.4 2228.2 1831.5 2156.2 6.99 -0.14 432 2983.02 12.65 0.58 0.00 0.642 0.039 0.000 2055.16 1936.62 2173.69 1933.31 2156.25 0 0 0 11.10 15.58 30.00

2984 end climb: NO_VERTICAL_VELOCITY

state 2984 begin surface

ID	244	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2185	ALTIM_PULSE	3
MISSION	4	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	9	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	15	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	686.83997	ROLL_MAXERRORS	1	XPDR_INT	13.5
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	13
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	2.3
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3300	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	360	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	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	100000	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	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	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	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	200	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1500	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	15	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	2.2704878	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	7.5253835	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0049999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-192.53183	SEABIRD_T_J	4.3e-06
MASS	72540	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022440785	SEABIRD_C_G	-10
NAV_MODE	2	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	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	230	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3835	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	2300	ALTIM_FREQUENCY	13

GPS1	210623,040922,4736.057,-12256.696,31,0.9,32,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.64	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,041234,4736.062,-12256.702,2,0.7,5,15.4	MHEAD_RNG_PITCHd_Wd	4.4,913,-17.6,-10.000,-21.21,2209,0.141
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.039715,0.008622,-0.030591,1.082832,-0.033720,0.012835,-0.071541,0.988196,588.545898,-356.791168,-300.642365
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	CACST,8,1,20230621045837.920347,18,32767,45,0125,0150,07,00,00,00,00,-1,-01,-01,2,3,1,0,150,8.5,2.49,-100,0.51,-01,-0.04,75,10000,5000,0,-1,00,00*46	_24V_AH	14.83,3.410
NET_PING	1687322922,29,396.746979,11.000000,59.472218	_10V_AH	14.93,0.000
NAV	1687323543,8.0,start	FG_AHR_24Vo	7.661
MODEM_MSG	CACST,8,0,20230621042500.269564,18,32767,45,0130,0000,07,00,00,00,00,1,029,121,0,5,1,0,150,-41.9,8.67,-100,-5.67,-01,-0.14,89,925,0025,0,1,00,00*1D	FG_AHR_10Vo	2.275
FREEZE	6.93,13.871,-1.519,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3257.62,249.45,0.714,0,500.8,436.8,564.9,686.63	MEM2	945780,30,100828,68
SM_GC	1.93,0.00,11.19,0.37,0.000,0.040,0.073,495.7,436.2,555.2,191.3,2319.3,0,0,0,30.00,15.31,15.33	DATA_FILE_SIZE	12951,435
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	154057,0
IRIDIUM_FIX	4737.46,-12258.89,210623,030731	SDSIZE	3887104,3871936
TCM_TEMP	18.29	SDFILEDIR	101,10
SC_FREEKB	3875968	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	3,1687321200,47.50000,-123.00000,120.310,176253.6	CURRENT	0.057, 55.0,1
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MAGCAL	1.000000,0.007366,0.004032,-0.031817,1.083860,-0.035272,-0.017748,-0.007032,1.060809,597.7,-373.0,-378.9,27,0.0338,0
HUMID	56.71	IMPLIED_C_PITCH	1527,16.46,215,0.0,0.00
TEMP	10.72	IMPLIED_C_VBD	3342,20.315268,215,0
INTERNAL_PRESSURE	8.27394	GPS	210623,051012,4736.441,-12256.518,0,1.0,2,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	655	896	8718.76	nil	0	0	0.00
Pitch_motor	23	247	87.10	nil	0	0	0.00
Roll_motor	43	185	120.88	nil	0	0	0.00
Iridium	128	141	268.95	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.27	nil	0	0	0.00
Core	1916	5	146.52	SciCon	2988	7	343.01
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1374	0	6.57
Compass	914	5	68.30
RAFOS	1257	40	750.92
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
6.31	16386	-146.63	-1.35	0.00	494.7	433.6	555.8	191.5	2274.5	0.00	0.00	0	50.38	39.80	0.00	0.00	0.005	0.000	0.000	1654.75	1645.25	1664.25	191.56	2274.56	0	0	0	15.57	30.00	30.00
50.91	18727	-146.63	-1.35	80.00	1658.0	1645.6	1670.3	191.8	2274.4	3.11	-4.20	8	128.77	51.01	7.59	3.74	0.005	0.248	0.102	3899.56	3885.12	3914.00	1172.12	3767.75	0	0	0	15.59	15.42	15.50
302.43	1156	-146.63	-1.30	0.00	3903.9	3888.4	3919.4	1171.9	3768.1	42.26	-15.90	56	310.42	0.00	0.00	3.47	0.000	0.000	0.020	3904.03	3888.12	3919.94	1172.00	2269.56	0	0	0	30.00	30.00	15.61
496.91	644	-146.63	-1.27	-80.00	3904.8	3888.2	3921.2	1172.1	2268.7	65.89	-11.86	81	505.56	0.00	0.00	3.66	0.000	0.000	0.111	3904.66	3887.56	3921.75	1172.31	834.06	0	0	0	30.00	30.00	15.56
534.35	3205	-146.63	-1.24	0.00	3904.8	3888.4	3921.1	1172.1	834.1	70.46	-12.34	88	543.32	0.00	0.12	3.54	0.000	0.189	0.041	3904.69	3887.69	3921.69	1190.31	2317.56	0	0	0	30.00	15.59	15.63
729.34	128	-146.63	-1.22	0.00	3905.8	3888.4	3923.1	1190.2	2318.2	91.47	-10.33	108	731.21	0.00	0.00	0.00	0.000	0.000	0.000	3905.19	3888.00	3922.38	1190.06	2317.56	0	0	0	30.00	30.00	30.00
919.36	644	-146.63	-1.20	-80.00	3905.9	3888.5	3923.4	1190.3	2317.7	111.06	-10.53	127	928.23	0.00	0.00	3.79	0.000	0.000	0.111	3906.25	3888.62	3923.88	1190.25	835.69	0	0	0	30.00	30.00	15.62
972.86	1156	-146.63	-1.18	0.00	3906.1	3888.9	3923.2	1189.9	835.5	117.12	-11.57	134	984.75	0.00	0.00	3.59	0.000	0.000	0.038	3905.59	3888.00	3923.19	1190.25	2317.25	0	0	0	30.00	30.00	15.04
1172.40	2209	-146.63	-1.17	0.00	3906.3	3888.5	3924.2	1190.4	2317.6	137.76	-9.96	155	1174.54	0.00	0.19	0.00	0.000	0.159	0.000	3905.78	3888.19	3923.38	1220.06	2317.88	0	0	0	30.00	15.67	30.00
1312	end dive: TARGET_DEPTH_EXCEEDED
state	1312	begin apogee
1314.16	10243	0.00	-0.33	0.00	3906.2	3888.3	3924.2	1220.0	2154.9	150.51	-9.01	169	1428.54	101.83	1.36	0.09	0.897	0.120	0.185	3299.34	3243.25	3355.44	1421.69	2205.31	0	0	0	11.39	15.68	15.41
1430	end apogee: CONTROL_FINISHED_OK
state	1430	begin climb
1429.93	10243	146.63	1.35	0.00	3295.8	3240.8	3350.8	1421.9	2204.8	153.44	0.00	179	1550.56	104.56	2.68	0.00	0.870	0.081	0.000	2700.25	2618.75	2781.75	1831.12	2204.94	0	0	0	11.20	15.41	30.00
1734.27	16774	146.63	1.34	80.00	2691.9	2616.3	2767.4	1831.4	2204.8	120.86	14.50	211	1743.02	0.00	0.00	3.64	0.000	0.000	0.105	2690.69	2615.00	2766.38	1831.38	3651.38	0	0	0	30.00	30.00	15.45
1971.84	17542	146.63	1.31	0.00	2690.5	2616.3	2764.6	1831.2	3651.9	79.70	16.48	258	1980.43	0.00	0.00	3.42	0.000	0.000	0.024	2688.66	2614.12	2763.19	1831.12	2161.25	0	0	0	30.00	30.00	15.61
2165.85	16774	146.63	1.31	80.00	2689.5	2615.1	2763.9	1831.5	2161.2	56.14	11.31	278	2178.59	0.00	0.00	3.72	0.000	0.000	0.099	2689.66	2614.88	2764.44	1831.31	3650.06	0	0	0	30.00	30.00	14.76
2232.37	17542	146.63	1.28	0.00	2689.2	2614.9	2763.6	1831.5	3650.5	47.57	12.56	291	2240.72	0.00	0.00	3.43	0.000	0.000	0.024	2687.59	2612.88	2762.31	1831.75	2158.75	0	0	0	30.00	30.00	15.65
2424.27	16646	146.63	1.28	80.00	2689.0	2614.2	2763.7	1831.6	2159.1	26.56	10.59	329	2432.96	0.00	0.00	3.67	0.000	0.000	0.101	2688.25	2613.88	2762.62	1831.50	3651.00	0	0	0	30.00	30.00	15.65
2661.83	9382	288.49	1.43	0.00	2688.2	2614.2	2762.2	1831.4	3651.5	9.24	3.43	376	2783.32	96.49	0.00	3.40	0.738	0.000	0.021	2117.62	1998.19	2237.06	1831.75	2156.56	0	0	0	11.25	30.00	15.75
2967.12	10663	507.42	1.75	80.00	2111.8	1995.4	2228.2	1831.5	2156.2	6.99	-0.14	432	2983.02	12.65	0.58	0.00	0.642	0.039	0.000	2055.16	1936.62	2173.69	1933.31	2156.25	0	0	0	11.10	15.58	30.00
2984	end climb: NO_VERTICAL_VELOCITY
state	2984	begin surface