Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 13 * 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 13 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 14 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 572.88739 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 2835.4563 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 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1734.4097 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 13.156659 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.869728 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 29.230175 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 14 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 42.869728 PHONE_SUPPLY 2 SM_CC 572.88739

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.230175 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 13.156659 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 1734.4097 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 2835.4563 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 13 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 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 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 220623,034041,4736.502,-12256.358,6,1.1,8,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.78 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,034404,4736.492,-12256.345,2,1.0,4,15.4 MHEAD_RNG_PITCHd_Wd 201.5,1153,-17.6,-10.000,-21.21,2209,0.153

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.025608,0.183162,0.005568,1.040908,-0.106723,-0.121759,-0.045333,1.135873,592.378052,-809.704712,-740.479858

TGT_LATLONG 4735.950,-12256.800 OSC 8000225

Post-dive calculations and measurements:

NAV 1687409412,1.0,0,stop _24V_AH 15.12,33.046

NET CACST,8,0,20230622043032.376197,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,10.9,6.47,-100,-3.47,-01,-0.17,69,10000,5000,0,1,00,00*5F _10V_AH 15.00,0.000

NET_PING 1687408216,29,570.078003,11.600000,-0.758725 FG_AHR_24Vo 29.388

MODEM_MSG CACST,8,0,20230622042500.390439,18,32767,45,0241,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,-2.7,7.26,-100,-4.26,-01,-0.24,76,925,0025,0,1,00,00*15 FG_AHR_10Vo 42.926

FREEZE 3.43,14.653,-1.466,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3819.47,148.88,0.902,0,500.5,401.9,599.1,572.66 MEM2 944872,33,101716,66

SM_GC 2.10,0.00,12.45,0.12,0.000,0.053,0.129,496.6,400.1,593.2,203.9,2015.9,0,0,0,30.00,15.61,15.63 DATA_FILE_SIZE 12932,516

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 159554,0

IRIDIUM_FIX 4738.44,-12319.25,220623,024339 SDSIZE 3887104,3866016

TCM_TEMP 14.42 SDFILEDIR 138,14

SC_FREEKB 3875168 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1404.0

MODEM 0,1687406400,47.60500,-122.95000,0.633,887.9 CURRENT 0.015,120.2,1

RAFOS_FIX 16219.357422,1454446.125000,220623,030300,3,255,750225.88 MAGCAL 1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.5,-818.7,-706.3,33,0.0271,1

HUMID 49.72 IMPLIED_C_PITCH 1729,13.32,280,1731.5,13.24

TEMP 11.42 IMPLIED_C_VBD 2845,38.131329,280,2840.2

INTERNAL_PRESSURE 8.24554 GPS 220623,045109,4736.179,-12256.653,4,0.9,21,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1091 10660.48 nil 0 0 0.00

Pitch_motor 26 229 91.83 nil 0 0 0.00

Roll_motor 21 187 62.19 nil 0 0 0.00

Iridium 134 206 419.74 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.15 nil 0 0 0.00

Core 2351 5 180.62 SciCon 3663 6 365.22

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1600 0 7.68

Compass 1095 5 82.19

RAFOS 2207 40 1324.46

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

7.52 16386 -146.63 -1.52 0.00 495.4 398.3 592.5 194.1 1942.8 0.00 0.00 0 62.92 51.13 0.00 0.00 0.005 0.000 0.000 1739.41 1709.06 1769.75 194.19 1943.31 0 0 0 15.91 30.00 30.00

63.35 18983 -146.63 -1.52 -80.00 1739.8 1709.0 1770.5 194.0 1942.9 3.21 -2.88 8 141.85 51.51 8.52 3.52 0.005 0.229 0.123 3433.03 3399.38 3466.69 1368.19 511.31 0 0 0 15.92 15.72 15.81

369.02 1188 -146.63 -1.46 0.00 3433.4 3398.2 3468.5 1368.1 511.3 32.88 -9.16 67 376.40 0.00 0.00 3.41 0.000 0.000 0.051 3434.31 3398.25 3470.38 1368.25 2016.75 0 0 0 30.00 30.00 15.96

560.04 160 -146.63 -1.43 0.00 3433.8 3397.8 3469.8 1368.2 2018.1 48.53 -8.69 105 563.92 0.00 0.00 0.00 0.000 0.000 0.000 3434.12 3398.00 3470.25 1367.88 2017.94 0 0 0 30.00 30.00 30.00

750.05 160 -146.63 -1.41 0.00 3433.9 3397.2 3470.5 1368.0 2017.9 65.65 -9.21 126 751.80 0.00 0.00 0.00 0.000 0.000 0.000 3433.06 3397.31 3468.81 1367.94 2017.88 0 0 0 30.00 30.00 30.00

938.27 2209 -146.63 -1.39 0.00 3434.3 3397.6 3471.1 1368.3 2017.8 83.01 -9.52 143 946.50 0.00 0.18 0.00 0.000 0.163 0.000 3434.88 3397.94 3471.81 1399.94 2017.94 0 0 0 30.00 15.91 30.00

1132.30 32 -146.63 -1.39 0.00 3434.4 3398.2 3470.6 1399.6 2018.4 99.33 -7.81 163 1134.05 0.00 0.00 0.00 0.000 0.000 0.000 3433.06 3396.38 3469.75 1400.00 2018.50 0 0 0 30.00 30.00 30.00

1322.32 32 -146.63 -1.39 0.00 3434.6 3398.2 3470.9 1400.0 2018.1 114.88 -8.07 182 1324.08 0.00 0.00 0.00 0.000 0.000 0.000 3433.34 3396.62 3470.06 1400.00 2018.19 0 0 0 30.00 30.00 30.00

1512.34 32 -146.63 -1.39 0.00 3434.6 3397.6 3471.5 1399.9 2018.2 130.73 -8.35 201 1514.10 0.00 0.00 0.00 0.000 0.000 0.000 3433.50 3396.81 3470.19 1399.44 2017.81 0 0 0 30.00 30.00 30.00

1702.35 32 -146.63 -1.39 0.00 3434.0 3397.7 3470.3 1400.1 2018.8 146.57 -8.33 220 1704.10 0.00 0.00 0.00 0.000 0.000 0.000 3432.84 3396.25 3469.44 1399.81 2018.75 0 0 0 30.00 30.00 30.00

1752 end dive: TARGET_DEPTH_EXCEEDED

state 1752 begin apogee

1754.08 10243 0.00 -0.38 0.00 3434.4 3397.6 3471.1 1399.8 1869.6 150.71 -8.29 225 1878.03 111.67 1.55 0.09 1.091 0.116 0.187 2833.16 2726.81 2939.50 1645.50 1935.38 0 0 0 11.25 15.91 15.59

1879 end apogee: CONTROL_FINISHED_OK

state 1879 begin climb

1879.72 10759 146.63 1.52 -80.00 2833.0 2728.3 2937.8 1645.7 1935.6 153.24 0.00 236 2018.44 114.44 2.91 3.83 1.054 0.085 0.131 2236.06 2126.69 2345.44 2106.50 434.94 0 0 0 11.46 15.62 15.45

2077.13 5253 146.63 1.43 0.00 2229.6 2123.2 2335.9 2106.9 435.2 132.45 16.63 272 2085.70 0.00 0.26 3.45 0.000 0.179 0.052 2231.91 2125.06 2338.75 2075.25 1932.62 0 0 0 30.00 15.60 15.68

2272.13 16514 146.63 1.42 0.00 2227.7 2121.8 2333.6 2074.1 1935.9 108.45 11.63 292 2273.92 0.00 0.00 0.00 0.000 0.000 0.000 2226.09 2120.31 2331.88 2075.38 1935.50 0 0 0 30.00 30.00 30.00

2462.16 16514 146.63 1.41 0.00 2226.8 2121.9 2331.7 2074.4 1935.3 87.33 11.01 311 2463.94 0.00 0.00 0.00 0.000 0.000 0.000 2225.72 2120.62 2330.81 2075.00 1935.00 0 0 0 30.00 30.00 30.00

2652.05 16902 146.63 1.41 -80.00 2226.5 2121.2 2331.8 2074.8 1935.2 67.83 10.21 330 2660.70 0.00 0.00 3.71 0.000 0.000 0.130 2224.69 2119.81 2329.56 2074.69 434.19 0 0 0 30.00 30.00 15.91

2719.38 17542 146.63 1.36 0.00 2225.1 2119.8 2330.3 2074.4 433.9 59.73 12.27 343 2726.62 0.00 0.00 3.41 0.000 0.000 0.052 2225.12 2119.38 2330.88 2074.31 1935.50 0 0 0 30.00 30.00 15.98

2910.15 8226 168.05 1.39 0.00 2225.2 2120.1 2330.2 2075.2 1937.2 42.04 9.01 371 2930.70 16.94 0.00 0.00 0.941 0.000 0.000 2149.44 2040.81 2258.06 2075.38 1936.38 0 0 0 11.05 30.00 30.00

3115.17 8226 197.07 1.42 0.00 2145.0 2039.7 2250.4 2074.6 1936.9 23.79 8.66 412 3142.37 23.58 0.00 0.00 0.943 0.000 0.000 2028.25 1920.94 2135.56 2075.38 1937.00 0 0 0 11.45 30.00 30.00

3330.33 10403 277.54 1.55 0.00 2025.2 1919.2 2131.2 2075.1 1937.6 8.07 6.27 454 3397.87 59.49 0.24 0.00 0.938 0.061 0.000 1704.22 1595.94 1812.50 2128.62 1937.12 0 0 0 11.47 15.95 30.00

3580.50 10919 495.69 1.87 -80.00 1695.3 1588.5 1802.1 2130.0 1937.7 3.74 -0.10 502 3655.64 68.61 0.36 0.00 0.926 0.052 0.000 1322.50 1216.00 1429.00 2208.31 1938.25 0 0 0 11.14 15.89 30.00

3656 end climb: NO_VERTICAL_VELOCITY

state 3656 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	13	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	14	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	572.88739	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	2835.4563	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	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1734.4097	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	13.156659	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.869728	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	29.230175	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	220623,034041,4736.502,-12256.358,6,1.1,8,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.78	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,034404,4736.492,-12256.345,2,1.0,4,15.4	MHEAD_RNG_PITCHd_Wd	201.5,1153,-17.6,-10.000,-21.21,2209,0.153
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.025608,0.183162,0.005568,1.040908,-0.106723,-0.121759,-0.045333,1.135873,592.378052,-809.704712,-740.479858
TGT_LATLONG	4735.950,-12256.800	OSC	8000225

NAV	1687409412,1.0,0,stop	_24V_AH	15.12,33.046
NET	CACST,8,0,20230622043032.376197,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,10.9,6.47,-100,-3.47,-01,-0.17,69,10000,5000,0,1,00,00*5F	_10V_AH	15.00,0.000
NET_PING	1687408216,29,570.078003,11.600000,-0.758725	FG_AHR_24Vo	29.388
MODEM_MSG	CACST,8,0,20230622042500.390439,18,32767,45,0241,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,-2.7,7.26,-100,-4.26,-01,-0.24,76,925,0025,0,1,00,00*15	FG_AHR_10Vo	42.926
FREEZE	3.43,14.653,-1.466,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3819.47,148.88,0.902,0,500.5,401.9,599.1,572.66	MEM2	944872,33,101716,66
SM_GC	2.10,0.00,12.45,0.12,0.000,0.053,0.129,496.6,400.1,593.2,203.9,2015.9,0,0,0,30.00,15.61,15.63	DATA_FILE_SIZE	12932,516
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	159554,0
IRIDIUM_FIX	4738.44,-12319.25,220623,024339	SDSIZE	3887104,3866016
TCM_TEMP	14.42	SDFILEDIR	138,14
SC_FREEKB	3875168	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1404.0
MODEM	0,1687406400,47.60500,-122.95000,0.633,887.9	CURRENT	0.015,120.2,1
RAFOS_FIX	16219.357422,1454446.125000,220623,030300,3,255,750225.88	MAGCAL	1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.5,-818.7,-706.3,33,0.0271,1
HUMID	49.72	IMPLIED_C_PITCH	1729,13.32,280,1731.5,13.24
TEMP	11.42	IMPLIED_C_VBD	2845,38.131329,280,2840.2
INTERNAL_PRESSURE	8.24554	GPS	220623,045109,4736.179,-12256.653,4,0.9,21,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1091	10660.48	nil	0	0	0.00
Pitch_motor	26	229	91.83	nil	0	0	0.00
Roll_motor	21	187	62.19	nil	0	0	0.00
Iridium	134	206	419.74	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.15	nil	0	0	0.00
Core	2351	5	180.62	SciCon	3663	6	365.22
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1600	0	7.68
Compass	1095	5	82.19
RAFOS	2207	40	1324.46
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
7.52	16386	-146.63	-1.52	0.00	495.4	398.3	592.5	194.1	1942.8	0.00	0.00	0	62.92	51.13	0.00	0.00	0.005	0.000	0.000	1739.41	1709.06	1769.75	194.19	1943.31	0	0	0	15.91	30.00	30.00
63.35	18983	-146.63	-1.52	-80.00	1739.8	1709.0	1770.5	194.0	1942.9	3.21	-2.88	8	141.85	51.51	8.52	3.52	0.005	0.229	0.123	3433.03	3399.38	3466.69	1368.19	511.31	0	0	0	15.92	15.72	15.81
369.02	1188	-146.63	-1.46	0.00	3433.4	3398.2	3468.5	1368.1	511.3	32.88	-9.16	67	376.40	0.00	0.00	3.41	0.000	0.000	0.051	3434.31	3398.25	3470.38	1368.25	2016.75	0	0	0	30.00	30.00	15.96
560.04	160	-146.63	-1.43	0.00	3433.8	3397.8	3469.8	1368.2	2018.1	48.53	-8.69	105	563.92	0.00	0.00	0.00	0.000	0.000	0.000	3434.12	3398.00	3470.25	1367.88	2017.94	0	0	0	30.00	30.00	30.00
750.05	160	-146.63	-1.41	0.00	3433.9	3397.2	3470.5	1368.0	2017.9	65.65	-9.21	126	751.80	0.00	0.00	0.00	0.000	0.000	0.000	3433.06	3397.31	3468.81	1367.94	2017.88	0	0	0	30.00	30.00	30.00
938.27	2209	-146.63	-1.39	0.00	3434.3	3397.6	3471.1	1368.3	2017.8	83.01	-9.52	143	946.50	0.00	0.18	0.00	0.000	0.163	0.000	3434.88	3397.94	3471.81	1399.94	2017.94	0	0	0	30.00	15.91	30.00
1132.30	32	-146.63	-1.39	0.00	3434.4	3398.2	3470.6	1399.6	2018.4	99.33	-7.81	163	1134.05	0.00	0.00	0.00	0.000	0.000	0.000	3433.06	3396.38	3469.75	1400.00	2018.50	0	0	0	30.00	30.00	30.00
1322.32	32	-146.63	-1.39	0.00	3434.6	3398.2	3470.9	1400.0	2018.1	114.88	-8.07	182	1324.08	0.00	0.00	0.00	0.000	0.000	0.000	3433.34	3396.62	3470.06	1400.00	2018.19	0	0	0	30.00	30.00	30.00
1512.34	32	-146.63	-1.39	0.00	3434.6	3397.6	3471.5	1399.9	2018.2	130.73	-8.35	201	1514.10	0.00	0.00	0.00	0.000	0.000	0.000	3433.50	3396.81	3470.19	1399.44	2017.81	0	0	0	30.00	30.00	30.00
1702.35	32	-146.63	-1.39	0.00	3434.0	3397.7	3470.3	1400.1	2018.8	146.57	-8.33	220	1704.10	0.00	0.00	0.00	0.000	0.000	0.000	3432.84	3396.25	3469.44	1399.81	2018.75	0	0	0	30.00	30.00	30.00
1752	end dive: TARGET_DEPTH_EXCEEDED
state	1752	begin apogee
1754.08	10243	0.00	-0.38	0.00	3434.4	3397.6	3471.1	1399.8	1869.6	150.71	-8.29	225	1878.03	111.67	1.55	0.09	1.091	0.116	0.187	2833.16	2726.81	2939.50	1645.50	1935.38	0	0	0	11.25	15.91	15.59
1879	end apogee: CONTROL_FINISHED_OK
state	1879	begin climb
1879.72	10759	146.63	1.52	-80.00	2833.0	2728.3	2937.8	1645.7	1935.6	153.24	0.00	236	2018.44	114.44	2.91	3.83	1.054	0.085	0.131	2236.06	2126.69	2345.44	2106.50	434.94	0	0	0	11.46	15.62	15.45
2077.13	5253	146.63	1.43	0.00	2229.6	2123.2	2335.9	2106.9	435.2	132.45	16.63	272	2085.70	0.00	0.26	3.45	0.000	0.179	0.052	2231.91	2125.06	2338.75	2075.25	1932.62	0	0	0	30.00	15.60	15.68
2272.13	16514	146.63	1.42	0.00	2227.7	2121.8	2333.6	2074.1	1935.9	108.45	11.63	292	2273.92	0.00	0.00	0.00	0.000	0.000	0.000	2226.09	2120.31	2331.88	2075.38	1935.50	0	0	0	30.00	30.00	30.00
2462.16	16514	146.63	1.41	0.00	2226.8	2121.9	2331.7	2074.4	1935.3	87.33	11.01	311	2463.94	0.00	0.00	0.00	0.000	0.000	0.000	2225.72	2120.62	2330.81	2075.00	1935.00	0	0	0	30.00	30.00	30.00
2652.05	16902	146.63	1.41	-80.00	2226.5	2121.2	2331.8	2074.8	1935.2	67.83	10.21	330	2660.70	0.00	0.00	3.71	0.000	0.000	0.130	2224.69	2119.81	2329.56	2074.69	434.19	0	0	0	30.00	30.00	15.91
2719.38	17542	146.63	1.36	0.00	2225.1	2119.8	2330.3	2074.4	433.9	59.73	12.27	343	2726.62	0.00	0.00	3.41	0.000	0.000	0.052	2225.12	2119.38	2330.88	2074.31	1935.50	0	0	0	30.00	30.00	15.98
2910.15	8226	168.05	1.39	0.00	2225.2	2120.1	2330.2	2075.2	1937.2	42.04	9.01	371	2930.70	16.94	0.00	0.00	0.941	0.000	0.000	2149.44	2040.81	2258.06	2075.38	1936.38	0	0	0	11.05	30.00	30.00
3115.17	8226	197.07	1.42	0.00	2145.0	2039.7	2250.4	2074.6	1936.9	23.79	8.66	412	3142.37	23.58	0.00	0.00	0.943	0.000	0.000	2028.25	1920.94	2135.56	2075.38	1937.00	0	0	0	11.45	30.00	30.00
3330.33	10403	277.54	1.55	0.00	2025.2	1919.2	2131.2	2075.1	1937.6	8.07	6.27	454	3397.87	59.49	0.24	0.00	0.938	0.061	0.000	1704.22	1595.94	1812.50	2128.62	1937.12	0	0	0	11.47	15.95	30.00
3580.50	10919	495.69	1.87	-80.00	1695.3	1588.5	1802.1	2130.0	1937.7	3.74	-0.10	502	3655.64	68.61	0.36	0.00	0.926	0.052	0.000	1322.50	1216.00	1429.00	2208.31	1938.25	0	0	0	11.14	15.89	30.00
3656	end climb: NO_VERTICAL_VELOCITY
state	3656	begin surface