Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 10 * 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 10 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 15 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 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3100 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 54.1217 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 104.84622 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 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 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 54.1217 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 104.84622 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 7 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 3100 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 10 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 230623,020509,4735.964,-12256.686,1,1.2,20,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -55.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,020834,4735.956,-12256.695,2,1.0,5,15.4 MHEAD_RNG_PITCHd_Wd 359.5,1099,-17.6,-10.000,-21.21,2209,0.135

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N 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 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230623025740.250781,18,32767,45,0115,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,13.6,8.36,-100,-5.36,-01,0.07,64,10000,5000,0,-1,00,00*56 _24V_AH 14.90,85.038

NET_PING 1687489061,29,788.392517,13.600000,-1.049735 _10V_AH 14.92,0.000

MODEM_MSG CACST,8,0,20230623022500.539737,18,19006,42,0339,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,11.0,7.22,-100,-4.22,-01,0.19,67,925,0025,0,1,00,00*26 FG_AHR_24Vo 105.016

NAV 1687489145,23.1,start FG_AHR_10Vo 54.189

FREEZE 3.08,14.560,-1.483,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3657.07,189.91,0.928,0,500.9,389.6,612.2,637.56 MEM2 945760,25,100928,69

SM_GC 1.72,0.00,12.98,0.10,0.000,0.049,0.125,497.9,389.6,606.2,186.1,2118.5,0,0,0,30.00,15.58,15.60 DATA_FILE_SIZE 16106,556

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 208273,0

IRIDIUM_FIX 4736.00,-12258.89,230623,005842 SDSIZE 3887104,3870816

TCM_TEMP 12.96 SDFILEDIR 112,11

SC_FREEKB 3875776 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 1,1687486200,47.60500,-122.95000,0.577,845.1 MAGCAL 1.000000,-0.011535,-0.080366,0.034365,1.043328,-0.167076,0.093107,0.018441,1.052819,150.1,-1076.2,-930.3,35,0.0612,0

RAFOS_FIX 4731.687988,-12256.046875,230623,020200,3,255,8.06 IMPLIED_C_PITCH 1783,13.29,255,0.0,0.00

HUMID 56.60 IMPLIED_C_VBD 2928,36.509613,255,0

TEMP 11.21 GPS 230623,031221,4736.083,-12256.421,1,1.0,4,15.4

INTERNAL_PRESSURE 10.3495

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 689 1109 11397.56 nil 0 0 0.00

Pitch_motor 28 253 107.44 nil 0 0 0.00

Roll_motor 71 163 173.96 nil 0 0 0.00

Iridium 133 172 342.94 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.28 nil 0 0 0.00

Core 2358 5 180.17 SciCon 3461 7 371.54

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1389 0 6.64

Compass 1158 5 86.39

RAFOS 1811 40 1081.26

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 0.00 496.5 389.8 603.2 187.0 2053.8 0.00 0.00 0 90.84 79.89 0.00 0.00 0.005 0.000 0.000 2236.47 2189.62 2283.31 187.12 2053.44 0 0 0 13.74 30.00 30.00

91.15 18727 -146.63 -1.51 80.00 2236.2 2189.4 2283.1 187.3 2053.1 3.09 -1.85 15 161.34 45.96 9.53 3.73 0.005 0.254 0.097 3696.25 3657.50 3735.00 1418.88 3555.50 0 0 0 14.46 14.10 15.67

389.75 1156 -146.63 -1.43 0.00 3696.6 3657.5 3735.6 1419.4 3554.4 37.38 -11.33 74 395.69 0.00 0.00 3.42 0.000 0.000 0.040 3697.09 3657.88 3736.31 1418.94 2053.50 0 0 0 30.00 30.00 15.81

577.33 260 -146.63 -1.43 80.00 3697.2 3657.5 3736.8 1419.4 2053.2 56.64 -10.10 105 583.71 0.00 0.00 3.68 0.000 0.000 0.094 3696.28 3656.88 3735.69 1418.56 3556.50 0 0 0 30.00 30.00 15.79

812.43 3205 -146.63 -1.38 0.00 3697.3 3658.4 3736.3 1419.2 3556.2 84.57 -11.77 152 818.82 0.00 0.25 3.39 0.000 0.179 0.040 3696.16 3657.25 3735.06 1454.12 2055.00 0 0 0 30.00 15.75 15.88

1007.43 292 -146.63 -1.38 80.00 3697.6 3657.7 3737.6 1454.4 2054.6 102.91 -9.20 172 1013.78 0.00 0.00 3.67 0.000 0.000 0.095 3698.06 3657.56 3738.56 1453.88 3554.69 0 0 0 30.00 30.00 15.83

1239.74 1028 -146.63 -1.38 0.00 3697.6 3657.7 3737.4 1454.5 3555.6 127.84 -10.63 218 1247.12 0.00 0.00 3.43 0.000 0.000 0.040 3698.38 3658.00 3738.75 1454.62 2054.62 0 0 0 30.00 30.00 15.77

1435.49 420 -146.63 -1.41 80.00 3697.8 3657.6 3738.1 1454.2 2054.9 145.55 -8.84 238 1441.95 0.00 0.00 3.67 0.000 0.000 0.096 3698.50 3658.88 3738.12 1454.19 3553.75 0 0 0 30.00 30.00 15.78

1481 end dive: TARGET_DEPTH_EXCEEDED

state 1481 begin apogee

1486.72 10243 0.00 -0.38 0.00 3698.1 3657.9 3738.2 1454.6 2053.5 150.09 -10.31 247 1599.54 102.54 1.65 0.11 1.109 0.146 0.163 3083.41 2984.50 3182.31 1695.12 2124.69 0 0 0 10.98 15.74 15.58

1601 end apogee: CONTROL_FINISHED_OK

state 1601 begin climb

1601.43 10759 146.63 1.51 -80.00 3097.6 3015.5 3179.7 1696.0 2124.6 153.63 0.00 258 1729.84 107.52 2.98 3.84 1.070 0.095 0.112 2500.56 2391.62 2609.50 2156.44 620.31 0 0 0 11.15 15.60 15.04

1777.52 5253 146.63 1.41 0.00 2494.6 2391.5 2597.8 2157.2 620.2 139.10 13.10 291 1784.65 0.00 0.26 3.49 0.000 0.187 0.041 2495.59 2392.31 2598.88 2124.44 2117.25 0 0 0 30.00 15.57 15.67

1973.26 8486 151.61 1.42 80.00 2492.1 2389.6 2594.7 2124.0 2116.7 119.42 9.77 311 1985.93 5.06 0.00 3.55 0.735 0.000 0.104 2477.94 2376.50 2579.38 2123.38 3555.25 0 0 0 10.97 30.00 15.75

2059.37 1156 151.61 1.36 0.00 2479.7 2378.0 2581.4 2123.5 3555.3 110.27 10.74 328 2065.78 0.00 0.00 3.41 0.000 0.000 0.040 2478.44 2376.44 2580.44 2123.38 2054.75 0 0 0 30.00 30.00 15.82

2248.72 8486 161.40 1.38 80.00 2478.6 2378.2 2579.1 2122.9 2055.4 92.02 9.55 347 2265.94 9.73 0.00 3.70 0.924 0.000 0.101 2440.91 2337.69 2544.12 2123.44 3553.69 0 0 0 10.89 30.00 15.81

2326.54 1156 161.40 1.33 0.00 2438.6 2337.9 2539.2 2123.6 3553.8 83.93 10.62 362 2337.72 0.00 0.00 3.42 0.000 0.000 0.040 2439.06 2337.25 2540.88 2123.06 2055.06 0 0 0 30.00 30.00 15.80

2526.45 8486 192.29 1.37 80.00 2437.7 2337.7 2537.7 2123.2 2054.7 66.27 8.57 383 2559.21 24.50 0.00 3.71 1.000 0.000 0.101 2312.50 2203.88 2421.12 2124.19 3553.94 0 0 0 11.01 30.00 15.78

2618.37 1028 192.29 1.37 0.00 2311.5 2205.4 2417.6 2123.4 3553.9 57.65 10.13 401 2624.86 0.00 0.00 3.41 0.000 0.000 0.041 2308.53 2202.38 2414.69 2123.44 2054.25 0 0 0 30.00 30.00 15.84

2808.45 8486 218.60 1.40 80.00 2309.6 2204.8 2414.5 2123.5 2053.4 40.53 8.78 431 2837.00 20.62 0.00 3.70 0.976 0.000 0.102 2203.41 2092.44 2314.38 2123.81 3555.12 0 0 0 10.91 30.00 15.82

2895.40 1060 219.83 1.41 0.00 2204.7 2095.4 2313.9 2123.2 3555.2 32.30 9.94 448 2901.57 0.00 0.00 3.41 0.000 0.000 0.041 2203.59 2094.25 2312.94 2123.62 2054.69 0 0 0 30.00 30.00 15.87

3086.81 8614 258.57 1.48 80.00 2202.6 2094.1 2311.2 2123.5 2054.5 15.91 8.21 484 3125.78 29.93 0.00 3.69 0.967 0.000 0.102 2040.00 1926.06 2153.94 2123.00 3552.19 0 0 0 10.93 30.00 15.78

3179.26 11431 300.44 1.57 0.00 2040.6 1928.4 2152.7 2123.3 3552.8 8.60 8.06 502 3221.57 30.83 0.29 3.40 0.946 0.074 0.041 1872.72 1751.88 1993.56 2177.06 2055.75 0 0 0 11.12 15.80 15.83

3405.04 10919 509.88 1.93 -80.00 1866.8 1749.6 1984.1 2176.6 2055.9 3.18 0.30 547 3452.02 43.01 0.46 0.00 0.949 0.067 0.000 1627.31 1508.69 1745.94 2261.62 2055.75 0 0 0 11.15 15.78 30.00

3453 end climb: NO_VERTICAL_VELOCITY

state 3453 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	10	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	15	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	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3100	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	54.1217	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	104.84622	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	230623,020509,4735.964,-12256.686,1,1.2,20,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-55.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,020834,4735.956,-12256.695,2,1.0,5,15.4	MHEAD_RNG_PITCHd_Wd	359.5,1099,-17.6,-10.000,-21.21,2209,0.135
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	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	4736.530,-12256.470	OSC	8000266

NET	CACST,8,0,20230623025740.250781,18,32767,45,0115,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,13.6,8.36,-100,-5.36,-01,0.07,64,10000,5000,0,-1,00,00*56	_24V_AH	14.90,85.038
NET_PING	1687489061,29,788.392517,13.600000,-1.049735	_10V_AH	14.92,0.000
MODEM_MSG	CACST,8,0,20230623022500.539737,18,19006,42,0339,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,11.0,7.22,-100,-4.22,-01,0.19,67,925,0025,0,1,00,00*26	FG_AHR_24Vo	105.016
NAV	1687489145,23.1,start	FG_AHR_10Vo	54.189
FREEZE	3.08,14.560,-1.483,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3657.07,189.91,0.928,0,500.9,389.6,612.2,637.56	MEM2	945760,25,100928,69
SM_GC	1.72,0.00,12.98,0.10,0.000,0.049,0.125,497.9,389.6,606.2,186.1,2118.5,0,0,0,30.00,15.58,15.60	DATA_FILE_SIZE	16106,556
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	208273,0
IRIDIUM_FIX	4736.00,-12258.89,230623,005842	SDSIZE	3887104,3870816
TCM_TEMP	12.96	SDFILEDIR	112,11
SC_FREEKB	3875776	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	1,1687486200,47.60500,-122.95000,0.577,845.1	MAGCAL	1.000000,-0.011535,-0.080366,0.034365,1.043328,-0.167076,0.093107,0.018441,1.052819,150.1,-1076.2,-930.3,35,0.0612,0
RAFOS_FIX	4731.687988,-12256.046875,230623,020200,3,255,8.06	IMPLIED_C_PITCH	1783,13.29,255,0.0,0.00
HUMID	56.60	IMPLIED_C_VBD	2928,36.509613,255,0
TEMP	11.21	GPS	230623,031221,4736.083,-12256.421,1,1.0,4,15.4
INTERNAL_PRESSURE	10.3495

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	689	1109	11397.56	nil	0	0	0.00
Pitch_motor	28	253	107.44	nil	0	0	0.00
Roll_motor	71	163	173.96	nil	0	0	0.00
Iridium	133	172	342.94	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.28	nil	0	0	0.00
Core	2358	5	180.17	SciCon	3461	7	371.54
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1389	0	6.64
Compass	1158	5	86.39
RAFOS	1811	40	1081.26
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	496.5	389.8	603.2	187.0	2053.8	0.00	0.00	0	90.84	79.89	0.00	0.00	0.005	0.000	0.000	2236.47	2189.62	2283.31	187.12	2053.44	0	0	0	13.74	30.00	30.00
91.15	18727	-146.63	-1.51	80.00	2236.2	2189.4	2283.1	187.3	2053.1	3.09	-1.85	15	161.34	45.96	9.53	3.73	0.005	0.254	0.097	3696.25	3657.50	3735.00	1418.88	3555.50	0	0	0	14.46	14.10	15.67
389.75	1156	-146.63	-1.43	0.00	3696.6	3657.5	3735.6	1419.4	3554.4	37.38	-11.33	74	395.69	0.00	0.00	3.42	0.000	0.000	0.040	3697.09	3657.88	3736.31	1418.94	2053.50	0	0	0	30.00	30.00	15.81
577.33	260	-146.63	-1.43	80.00	3697.2	3657.5	3736.8	1419.4	2053.2	56.64	-10.10	105	583.71	0.00	0.00	3.68	0.000	0.000	0.094	3696.28	3656.88	3735.69	1418.56	3556.50	0	0	0	30.00	30.00	15.79
812.43	3205	-146.63	-1.38	0.00	3697.3	3658.4	3736.3	1419.2	3556.2	84.57	-11.77	152	818.82	0.00	0.25	3.39	0.000	0.179	0.040	3696.16	3657.25	3735.06	1454.12	2055.00	0	0	0	30.00	15.75	15.88
1007.43	292	-146.63	-1.38	80.00	3697.6	3657.7	3737.6	1454.4	2054.6	102.91	-9.20	172	1013.78	0.00	0.00	3.67	0.000	0.000	0.095	3698.06	3657.56	3738.56	1453.88	3554.69	0	0	0	30.00	30.00	15.83
1239.74	1028	-146.63	-1.38	0.00	3697.6	3657.7	3737.4	1454.5	3555.6	127.84	-10.63	218	1247.12	0.00	0.00	3.43	0.000	0.000	0.040	3698.38	3658.00	3738.75	1454.62	2054.62	0	0	0	30.00	30.00	15.77
1435.49	420	-146.63	-1.41	80.00	3697.8	3657.6	3738.1	1454.2	2054.9	145.55	-8.84	238	1441.95	0.00	0.00	3.67	0.000	0.000	0.096	3698.50	3658.88	3738.12	1454.19	3553.75	0	0	0	30.00	30.00	15.78
1481	end dive: TARGET_DEPTH_EXCEEDED
state	1481	begin apogee
1486.72	10243	0.00	-0.38	0.00	3698.1	3657.9	3738.2	1454.6	2053.5	150.09	-10.31	247	1599.54	102.54	1.65	0.11	1.109	0.146	0.163	3083.41	2984.50	3182.31	1695.12	2124.69	0	0	0	10.98	15.74	15.58
1601	end apogee: CONTROL_FINISHED_OK
state	1601	begin climb
1601.43	10759	146.63	1.51	-80.00	3097.6	3015.5	3179.7	1696.0	2124.6	153.63	0.00	258	1729.84	107.52	2.98	3.84	1.070	0.095	0.112	2500.56	2391.62	2609.50	2156.44	620.31	0	0	0	11.15	15.60	15.04
1777.52	5253	146.63	1.41	0.00	2494.6	2391.5	2597.8	2157.2	620.2	139.10	13.10	291	1784.65	0.00	0.26	3.49	0.000	0.187	0.041	2495.59	2392.31	2598.88	2124.44	2117.25	0	0	0	30.00	15.57	15.67
1973.26	8486	151.61	1.42	80.00	2492.1	2389.6	2594.7	2124.0	2116.7	119.42	9.77	311	1985.93	5.06	0.00	3.55	0.735	0.000	0.104	2477.94	2376.50	2579.38	2123.38	3555.25	0	0	0	10.97	30.00	15.75
2059.37	1156	151.61	1.36	0.00	2479.7	2378.0	2581.4	2123.5	3555.3	110.27	10.74	328	2065.78	0.00	0.00	3.41	0.000	0.000	0.040	2478.44	2376.44	2580.44	2123.38	2054.75	0	0	0	30.00	30.00	15.82
2248.72	8486	161.40	1.38	80.00	2478.6	2378.2	2579.1	2122.9	2055.4	92.02	9.55	347	2265.94	9.73	0.00	3.70	0.924	0.000	0.101	2440.91	2337.69	2544.12	2123.44	3553.69	0	0	0	10.89	30.00	15.81
2326.54	1156	161.40	1.33	0.00	2438.6	2337.9	2539.2	2123.6	3553.8	83.93	10.62	362	2337.72	0.00	0.00	3.42	0.000	0.000	0.040	2439.06	2337.25	2540.88	2123.06	2055.06	0	0	0	30.00	30.00	15.80
2526.45	8486	192.29	1.37	80.00	2437.7	2337.7	2537.7	2123.2	2054.7	66.27	8.57	383	2559.21	24.50	0.00	3.71	1.000	0.000	0.101	2312.50	2203.88	2421.12	2124.19	3553.94	0	0	0	11.01	30.00	15.78
2618.37	1028	192.29	1.37	0.00	2311.5	2205.4	2417.6	2123.4	3553.9	57.65	10.13	401	2624.86	0.00	0.00	3.41	0.000	0.000	0.041	2308.53	2202.38	2414.69	2123.44	2054.25	0	0	0	30.00	30.00	15.84
2808.45	8486	218.60	1.40	80.00	2309.6	2204.8	2414.5	2123.5	2053.4	40.53	8.78	431	2837.00	20.62	0.00	3.70	0.976	0.000	0.102	2203.41	2092.44	2314.38	2123.81	3555.12	0	0	0	10.91	30.00	15.82
2895.40	1060	219.83	1.41	0.00	2204.7	2095.4	2313.9	2123.2	3555.2	32.30	9.94	448	2901.57	0.00	0.00	3.41	0.000	0.000	0.041	2203.59	2094.25	2312.94	2123.62	2054.69	0	0	0	30.00	30.00	15.87
3086.81	8614	258.57	1.48	80.00	2202.6	2094.1	2311.2	2123.5	2054.5	15.91	8.21	484	3125.78	29.93	0.00	3.69	0.967	0.000	0.102	2040.00	1926.06	2153.94	2123.00	3552.19	0	0	0	10.93	30.00	15.78
3179.26	11431	300.44	1.57	0.00	2040.6	1928.4	2152.7	2123.3	3552.8	8.60	8.06	502	3221.57	30.83	0.29	3.40	0.946	0.074	0.041	1872.72	1751.88	1993.56	2177.06	2055.75	0	0	0	11.12	15.80	15.83
3405.04	10919	509.88	1.93	-80.00	1866.8	1749.6	1984.1	2176.6	2055.9	3.18	0.30	547	3452.02	43.01	0.46	0.00	0.949	0.067	0.000	1627.31	1508.69	1745.94	2261.62	2055.75	0	0	0	11.15	15.78	30.00
3453	end climb: NO_VERTICAL_VELOCITY
state	3453	begin surface