Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 11 * 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 11 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 54.192253 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 105.02298 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 54.192253 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 105.02298 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 11 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 230623,031221,4736.083,-12256.421,1,1.0,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,031554,4736.083,-12256.418,3,1.0,5,15.4 MHEAD_RNG_PITCHd_Wd 340.2,831,-17.6,-10.000,-21.21,2209,0.133

SPEED_LIMITS 0.173,0.258 D_GRID 168

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 8000307

Post-dive calculations and measurements:

MODEM_MSG CACST,8,0,20230623032500.532027,18,32767,39,0125,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,3.3,7.76,-100,-4.76,-01,0.11,73,925,0025,0,1,00,00*1C INTERNAL_PRESSURE 10.3356

NAV 1687492750,63.2,start _24V_AH 14.82,85.234

NET CACST,8,1,20230623040738.486474,18,5472,37,0106,0150,07,01,01,00,01,-1,-01,-01,1,3,-3589,0,150,20.7,-0.02,-100,3.02,-01,0.58,60,10000,5000,0,-1,00,00*54 _10V_AH 14.81,0.000

NET_PING 1687492660,29,915.249023,11.600000,-1.218587 FG_AHR_24Vo 105.184

FINISH 1.8,1.019602 FG_AHR_10Vo 54.251

SURF forcing MEM0 60020,1,0,0

SM_CCo 3577.14,199.76,0.954,0,666.7,549.9,783.4,596.89 MEM1 65508,1,0,0

SM_GC 1.48,199.76,12.43,0.09,0.954,0.063,0.129,666.7,549.9,783.4,190.9,2118.2,0,0,0,11.07,15.75,15.81 MEM2 945756,28,100872,69

SUPER 27,71,254,1,0,0 DATA_FILE_SIZE 12906,524

IRIDIUM_FIX 4734.67,-12257.15,230623,020618 CAP_FILE_SIZE 200940,0

TCM_TEMP 12.68 SDSIZE 3887104,3870496

SC_FREEKB 3875456 SDFILEDIR 120,12

RAFOS_CLK 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MODEM 0,1687489200,47.60500,-122.95000,0.724,1060.7 SOUNDSPEED 1465.0

RAFOS_FIX 4736.212891,-12257.647461,230623,030300,3,255,2.85 IMPLIED_C_PITCH 1776,13.07,255,0.0,0.00

HUMID 57.18 IMPLIED_C_VBD 2904,32.313557,255,0

TEMP 10.53 GPS 230623,041702,4736.406,-12256.345,2,0.7,31,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 655 1127 10956.39 nil 0 0 0.00

Pitch_motor 27 268 108.77 nil 0 0 0.00

Roll_motor 77 165 190.66 nil 0 0 0.00

Iridium 143 178 379.18 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.15 nil 0 0 0.00

Core 2317 5 175.72 SciCon 3351 7 363.68

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1240 0 5.88

Compass 1099 5 81.39

RAFOS 1391 40 824.23

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

7.82 16386 -146.63 -1.51 0.00 496.3 389.7 602.9 186.0 2051.8 0.00 0.00 0 99.03 87.86 0.00 0.00 0.005 0.000 0.000 2391.84 2340.62 2443.06 186.00 2051.31 0 0 0 14.71 30.00 30.00

99.32 18983 -146.63 -1.51 -80.00 2391.9 2342.1 2441.6 186.0 2050.7 3.36 -2.19 17 158.58 38.47 9.59 3.55 0.005 0.268 0.111 3697.38 3658.94 3735.81 1419.50 620.38 0 0 0 15.87 15.61 15.75

366.87 1156 -146.63 -1.44 0.00 3697.2 3657.6 3736.8 1419.0 620.2 34.63 -12.42 70 372.82 0.00 0.00 3.44 0.000 0.000 0.042 3698.09 3658.19 3738.00 1420.00 2118.94 0 0 0 30.00 30.00 15.85

556.92 260 -146.63 -1.44 80.00 3697.6 3657.8 3737.3 1420.0 2119.2 54.63 -10.43 104 563.20 0.00 0.00 3.49 0.000 0.000 0.098 3696.12 3656.44 3735.81 1420.50 3554.94 0 0 0 30.00 30.00 15.82

657.71 3205 -146.63 -1.39 0.00 3697.5 3657.9 3737.1 1420.4 3554.9 67.05 -12.53 124 664.57 0.00 0.22 3.38 0.000 0.180 0.040 3697.38 3658.25 3736.50 1450.81 2053.88 0 0 0 30.00 15.76 15.89

848.43 292 -146.63 -1.39 80.00 3697.8 3657.5 3738.2 1451.2 2053.6 85.63 -9.54 144 859.57 0.00 0.00 3.79 0.000 0.000 0.094 3698.31 3657.38 3739.25 1451.19 3555.44 0 0 0 30.00 30.00 15.11

987.92 1028 -146.63 -1.39 0.00 3698.3 3658.2 3738.5 1450.9 3555.7 100.87 -11.12 172 994.24 0.00 0.00 3.41 0.000 0.000 0.039 3698.38 3658.25 3738.50 1451.12 2055.12 0 0 0 30.00 30.00 15.79

1183.02 292 -146.63 -1.39 80.00 3698.2 3657.8 3738.7 1451.2 2054.3 119.17 -9.25 192 1189.58 0.00 0.00 3.68 0.000 0.000 0.095 3698.75 3658.12 3739.38 1451.50 3556.56 0 0 0 30.00 30.00 15.83

1272.56 1028 -146.63 -1.39 0.00 3698.2 3657.6 3738.8 1450.8 3556.8 128.15 -10.76 209 1282.36 0.00 0.00 3.40 0.000 0.000 0.039 3699.09 3657.88 3740.31 1451.12 2054.00 0 0 0 30.00 30.00 15.84

1471.36 420 -146.63 -1.42 80.00 3698.2 3657.2 3739.1 1451.1 2054.2 147.83 -9.52 230 1477.81 0.00 0.00 3.65 0.000 0.000 0.096 3697.84 3657.00 3738.69 1451.12 3554.75 0 0 0 30.00 30.00 15.89

1496 end dive: TARGET_DEPTH_EXCEEDED

state 1496 begin apogee

1502.59 10243 0.00 -0.38 0.00 3698.1 3657.1 3739.1 1450.4 2050.3 150.47 -9.92 235 1614.36 101.95 1.66 0.11 1.127 0.146 0.165 3098.03 3016.81 3179.25 1694.81 2122.19 0 0 0 11.00 15.82 15.64

1616 end apogee: CONTROL_FINISHED_OK

state 1616 begin climb

1616.25 10759 146.63 1.51 -80.00 3098.1 3015.7 3180.4 1694.8 2122.2 154.24 0.00 246 1742.19 107.13 2.98 3.80 1.082 0.097 0.111 2498.91 2392.62 2605.19 2156.94 620.56 0 0 0 11.23 15.63 15.48

1825.65 21639 146.63 1.41 0.00 2493.2 2391.2 2595.1 2156.6 620.7 135.58 12.99 284 1832.28 0.00 0.25 3.47 0.000 0.190 0.041 2493.03 2389.88 2596.19 2123.69 2116.94 0 0 0 30.00 15.57 15.68

2020.63 8486 158.94 1.43 80.00 2492.0 2390.2 2593.8 2123.9 2117.2 116.33 9.43 304 2038.81 10.44 0.00 3.53 0.950 0.000 0.104 2449.16 2345.31 2553.00 2123.75 3552.94 0 0 0 10.98 30.00 15.72

2097.24 1156 158.94 1.38 0.00 2448.7 2347.2 2550.1 2124.0 3553.6 108.07 11.36 319 2103.66 0.00 0.00 3.41 0.000 0.000 0.040 2448.03 2345.25 2550.81 2123.00 2057.81 0 0 0 30.00 30.00 15.77

2292.24 8486 173.58 1.40 80.00 2447.6 2346.8 2548.4 2123.6 2058.4 89.42 9.32 339 2314.34 13.12 0.00 3.65 0.979 0.000 0.102 2389.12 2284.50 2493.75 2123.56 3552.69 0 0 0 10.98 30.00 15.81

2387.01 1156 173.58 1.36 0.00 2387.6 2284.7 2490.6 2124.1 3552.8 79.39 10.95 358 2393.87 0.00 0.00 3.39 0.000 0.000 0.040 2387.12 2283.75 2490.50 2123.88 2055.69 0 0 0 30.00 30.00 15.89

2576.89 8486 193.74 1.38 80.00 2386.3 2284.0 2488.6 2123.2 2056.1 63.21 9.07 377 2602.09 16.67 0.00 3.65 0.983 0.000 0.102 2306.31 2199.38 2413.25 2123.75 3554.38 0 0 0 10.98 30.00 15.81

2655.54 1028 193.74 1.38 0.00 2306.2 2200.9 2411.6 2123.1 3554.3 54.28 10.33 393 2662.03 0.00 0.00 3.40 0.000 0.000 0.040 2304.84 2198.88 2410.81 2123.12 2055.19 0 0 0 30.00 30.00 15.86

2845.63 8486 217.59 1.41 80.00 2304.9 2200.7 2409.1 2123.8 2055.6 37.28 8.90 426 2873.07 19.18 0.00 3.66 0.973 0.000 0.102 2209.19 2098.56 2319.81 2123.19 3553.94 0 0 0 10.88 30.00 15.80

2916.47 1060 219.18 1.41 0.00 2208.6 2100.1 2317.2 2123.1 3554.3 30.66 9.93 440 2922.64 0.00 0.00 3.40 0.000 0.000 0.040 2209.03 2101.25 2316.81 2123.38 2056.38 0 0 0 30.00 30.00 15.84

3104.52 8486 262.35 1.47 80.00 2207.1 2099.3 2314.8 2123.3 2056.0 14.55 8.00 477 3147.75 33.37 0.00 3.67 0.971 0.000 0.102 2027.50 1913.00 2142.00 2123.62 3553.62 0 0 0 10.92 30.00 15.76

3176.23 11431 299.91 1.55 0.00 2025.3 1911.8 2138.9 2123.6 3553.4 8.79 8.26 491 3214.16 27.81 0.25 3.41 0.941 0.072 0.040 1875.78 1754.94 1996.62 2172.06 2058.12 0 0 0 11.09 15.78 15.80

3292 end climb: SURFACE_DEPTH_REACHED

state 3293 begin surface coast

3343 end surface coast: CONTROL_FINISHED_OK

state 3343 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	11	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	54.192253	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	105.02298	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	230623,031221,4736.083,-12256.421,1,1.0,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,031554,4736.083,-12256.418,3,1.0,5,15.4	MHEAD_RNG_PITCHd_Wd	340.2,831,-17.6,-10.000,-21.21,2209,0.133
SPEED_LIMITS	0.173,0.258	D_GRID	168
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	8000307

MODEM_MSG	CACST,8,0,20230623032500.532027,18,32767,39,0125,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,3.3,7.76,-100,-4.76,-01,0.11,73,925,0025,0,1,00,00*1C	INTERNAL_PRESSURE	10.3356
NAV	1687492750,63.2,start	_24V_AH	14.82,85.234
NET	CACST,8,1,20230623040738.486474,18,5472,37,0106,0150,07,01,01,00,01,-1,-01,-01,1,3,-3589,0,150,20.7,-0.02,-100,3.02,-01,0.58,60,10000,5000,0,-1,00,00*54	_10V_AH	14.81,0.000
NET_PING	1687492660,29,915.249023,11.600000,-1.218587	FG_AHR_24Vo	105.184
FINISH	1.8,1.019602	FG_AHR_10Vo	54.251
SURF	forcing	MEM0	60020,1,0,0
SM_CCo	3577.14,199.76,0.954,0,666.7,549.9,783.4,596.89	MEM1	65508,1,0,0
SM_GC	1.48,199.76,12.43,0.09,0.954,0.063,0.129,666.7,549.9,783.4,190.9,2118.2,0,0,0,11.07,15.75,15.81	MEM2	945756,28,100872,69
SUPER	27,71,254,1,0,0	DATA_FILE_SIZE	12906,524
IRIDIUM_FIX	4734.67,-12257.15,230623,020618	CAP_FILE_SIZE	200940,0
TCM_TEMP	12.68	SDSIZE	3887104,3870496
SC_FREEKB	3875456	SDFILEDIR	120,12
RAFOS_CLK	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MODEM	0,1687489200,47.60500,-122.95000,0.724,1060.7	SOUNDSPEED	1465.0
RAFOS_FIX	4736.212891,-12257.647461,230623,030300,3,255,2.85	IMPLIED_C_PITCH	1776,13.07,255,0.0,0.00
HUMID	57.18	IMPLIED_C_VBD	2904,32.313557,255,0
TEMP	10.53	GPS	230623,041702,4736.406,-12256.345,2,0.7,31,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	655	1127	10956.39	nil	0	0	0.00
Pitch_motor	27	268	108.77	nil	0	0	0.00
Roll_motor	77	165	190.66	nil	0	0	0.00
Iridium	143	178	379.18	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.15	nil	0	0	0.00
Core	2317	5	175.72	SciCon	3351	7	363.68
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1240	0	5.88
Compass	1099	5	81.39
RAFOS	1391	40	824.23
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
7.82	16386	-146.63	-1.51	0.00	496.3	389.7	602.9	186.0	2051.8	0.00	0.00	0	99.03	87.86	0.00	0.00	0.005	0.000	0.000	2391.84	2340.62	2443.06	186.00	2051.31	0	0	0	14.71	30.00	30.00
99.32	18983	-146.63	-1.51	-80.00	2391.9	2342.1	2441.6	186.0	2050.7	3.36	-2.19	17	158.58	38.47	9.59	3.55	0.005	0.268	0.111	3697.38	3658.94	3735.81	1419.50	620.38	0	0	0	15.87	15.61	15.75
366.87	1156	-146.63	-1.44	0.00	3697.2	3657.6	3736.8	1419.0	620.2	34.63	-12.42	70	372.82	0.00	0.00	3.44	0.000	0.000	0.042	3698.09	3658.19	3738.00	1420.00	2118.94	0	0	0	30.00	30.00	15.85
556.92	260	-146.63	-1.44	80.00	3697.6	3657.8	3737.3	1420.0	2119.2	54.63	-10.43	104	563.20	0.00	0.00	3.49	0.000	0.000	0.098	3696.12	3656.44	3735.81	1420.50	3554.94	0	0	0	30.00	30.00	15.82
657.71	3205	-146.63	-1.39	0.00	3697.5	3657.9	3737.1	1420.4	3554.9	67.05	-12.53	124	664.57	0.00	0.22	3.38	0.000	0.180	0.040	3697.38	3658.25	3736.50	1450.81	2053.88	0	0	0	30.00	15.76	15.89
848.43	292	-146.63	-1.39	80.00	3697.8	3657.5	3738.2	1451.2	2053.6	85.63	-9.54	144	859.57	0.00	0.00	3.79	0.000	0.000	0.094	3698.31	3657.38	3739.25	1451.19	3555.44	0	0	0	30.00	30.00	15.11
987.92	1028	-146.63	-1.39	0.00	3698.3	3658.2	3738.5	1450.9	3555.7	100.87	-11.12	172	994.24	0.00	0.00	3.41	0.000	0.000	0.039	3698.38	3658.25	3738.50	1451.12	2055.12	0	0	0	30.00	30.00	15.79
1183.02	292	-146.63	-1.39	80.00	3698.2	3657.8	3738.7	1451.2	2054.3	119.17	-9.25	192	1189.58	0.00	0.00	3.68	0.000	0.000	0.095	3698.75	3658.12	3739.38	1451.50	3556.56	0	0	0	30.00	30.00	15.83
1272.56	1028	-146.63	-1.39	0.00	3698.2	3657.6	3738.8	1450.8	3556.8	128.15	-10.76	209	1282.36	0.00	0.00	3.40	0.000	0.000	0.039	3699.09	3657.88	3740.31	1451.12	2054.00	0	0	0	30.00	30.00	15.84
1471.36	420	-146.63	-1.42	80.00	3698.2	3657.2	3739.1	1451.1	2054.2	147.83	-9.52	230	1477.81	0.00	0.00	3.65	0.000	0.000	0.096	3697.84	3657.00	3738.69	1451.12	3554.75	0	0	0	30.00	30.00	15.89
1496	end dive: TARGET_DEPTH_EXCEEDED
state	1496	begin apogee
1502.59	10243	0.00	-0.38	0.00	3698.1	3657.1	3739.1	1450.4	2050.3	150.47	-9.92	235	1614.36	101.95	1.66	0.11	1.127	0.146	0.165	3098.03	3016.81	3179.25	1694.81	2122.19	0	0	0	11.00	15.82	15.64
1616	end apogee: CONTROL_FINISHED_OK
state	1616	begin climb
1616.25	10759	146.63	1.51	-80.00	3098.1	3015.7	3180.4	1694.8	2122.2	154.24	0.00	246	1742.19	107.13	2.98	3.80	1.082	0.097	0.111	2498.91	2392.62	2605.19	2156.94	620.56	0	0	0	11.23	15.63	15.48
1825.65	21639	146.63	1.41	0.00	2493.2	2391.2	2595.1	2156.6	620.7	135.58	12.99	284	1832.28	0.00	0.25	3.47	0.000	0.190	0.041	2493.03	2389.88	2596.19	2123.69	2116.94	0	0	0	30.00	15.57	15.68
2020.63	8486	158.94	1.43	80.00	2492.0	2390.2	2593.8	2123.9	2117.2	116.33	9.43	304	2038.81	10.44	0.00	3.53	0.950	0.000	0.104	2449.16	2345.31	2553.00	2123.75	3552.94	0	0	0	10.98	30.00	15.72
2097.24	1156	158.94	1.38	0.00	2448.7	2347.2	2550.1	2124.0	3553.6	108.07	11.36	319	2103.66	0.00	0.00	3.41	0.000	0.000	0.040	2448.03	2345.25	2550.81	2123.00	2057.81	0	0	0	30.00	30.00	15.77
2292.24	8486	173.58	1.40	80.00	2447.6	2346.8	2548.4	2123.6	2058.4	89.42	9.32	339	2314.34	13.12	0.00	3.65	0.979	0.000	0.102	2389.12	2284.50	2493.75	2123.56	3552.69	0	0	0	10.98	30.00	15.81
2387.01	1156	173.58	1.36	0.00	2387.6	2284.7	2490.6	2124.1	3552.8	79.39	10.95	358	2393.87	0.00	0.00	3.39	0.000	0.000	0.040	2387.12	2283.75	2490.50	2123.88	2055.69	0	0	0	30.00	30.00	15.89
2576.89	8486	193.74	1.38	80.00	2386.3	2284.0	2488.6	2123.2	2056.1	63.21	9.07	377	2602.09	16.67	0.00	3.65	0.983	0.000	0.102	2306.31	2199.38	2413.25	2123.75	3554.38	0	0	0	10.98	30.00	15.81
2655.54	1028	193.74	1.38	0.00	2306.2	2200.9	2411.6	2123.1	3554.3	54.28	10.33	393	2662.03	0.00	0.00	3.40	0.000	0.000	0.040	2304.84	2198.88	2410.81	2123.12	2055.19	0	0	0	30.00	30.00	15.86
2845.63	8486	217.59	1.41	80.00	2304.9	2200.7	2409.1	2123.8	2055.6	37.28	8.90	426	2873.07	19.18	0.00	3.66	0.973	0.000	0.102	2209.19	2098.56	2319.81	2123.19	3553.94	0	0	0	10.88	30.00	15.80
2916.47	1060	219.18	1.41	0.00	2208.6	2100.1	2317.2	2123.1	3554.3	30.66	9.93	440	2922.64	0.00	0.00	3.40	0.000	0.000	0.040	2209.03	2101.25	2316.81	2123.38	2056.38	0	0	0	30.00	30.00	15.84
3104.52	8486	262.35	1.47	80.00	2207.1	2099.3	2314.8	2123.3	2056.0	14.55	8.00	477	3147.75	33.37	0.00	3.67	0.971	0.000	0.102	2027.50	1913.00	2142.00	2123.62	3553.62	0	0	0	10.92	30.00	15.76
3176.23	11431	299.91	1.55	0.00	2025.3	1911.8	2138.9	2123.6	3553.4	8.79	8.26	491	3214.16	27.81	0.25	3.41	0.941	0.072	0.040	1875.78	1754.94	1996.62	2172.06	2058.12	0	0	0	11.09	15.78	15.80
3292	end climb: SURFACE_DEPTH_REACHED
state	3293	begin surface coast
3343	end surface coast: CONTROL_FINISHED_OK
state	3343	begin surface