Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

MISSION 10 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 14 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 6

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 739.98816 ROLL_MAXERRORS 1 XPDR_INT 13

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

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 0.5

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3473.2405 DEEPGLIDERMB 0

D_BOOST 3 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 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0040000002 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 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 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 120 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 230 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3900 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2208.6082 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 16.360847 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 0.77757359 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 4.537046 SEABIRD_T_H 0.00062267116

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.1947648e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -158.29968 SEABIRD_T_J 2.2037441e-06

MASS 72024 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_G -9.9419231

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1.1375728

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0016241658

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002088599

HD_A 0.00281838 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0139236 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_MIN 1200 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 4000 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 2750 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1.1375728

AH0_24V 575 D_PITCH 0 N_DIVES 30 SEABIRD_C_I -0.0016241658

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.0002088599

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0042874566

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00062267116

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.77757359 PHONE_SUPPLY 2 SM_CC 739.98816

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 4.537046 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 16.360847 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.00281838 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0139236 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAX 3900 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 230 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 25 T_BOOST 0

COMPASS2_DEVICE -1 ID 235 PITCH_VBD_SHIFT 0.0040000002 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 0.5 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 2208.6082 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022957686 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -158.29968 T_NO_W 120

C_ROLL_CLIMB 2750 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2750 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3473.2405 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 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 72024 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 2 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 4000 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 14 MISSION 10 ROLL_MIN 1200 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 3 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 7.0 XPDR_INT 13

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -9.9419231

Pre-dive calculations and measurements:

GPS1 210623,074811,4736.446,-12256.532,1,1.5,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,075140,4736.451,-12256.516,3,0.9,18,15.4 MHEAD_RNG_PITCHd_Wd 193.3,993,-19.3,-10.000,-24.09,2233,0.205

SPEED_LIMITS 0.100,0.224 D_GRID 168

TGT_NAME S IRON 1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018

TGT_LATLONG 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NET xmit part outbox0009.n 990 13 _24V_AH 14.97,5.434

NET_PING 1687336962,29,316.129486,9.400000,62.584686 _10V_AH 15.00,0.000

NAV 1687336033,97.8,4,stop FG_AHR_24Vo 4.687

WARN HSCICON missed fuel gauge read FG_AHR_10Vo 0.853

MODEM_MSG CACST,8,2,20230621082500.268113,18,32767,45,0103,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*01 MEM0 60020,1,0,0

FREEZE 5.49,14.602,-1.466,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 944868,25,101820,69

SM_CCo 3720.03,0.06,0.361,0,499.4,417.7,581.2,729.41 DATA_FILE_SIZE 16139,542

SM_GC 2.75,0.06,15.69,0.09,0.361,0.052,0.155,499.4,417.7,581.2,216.0,2724.0,0,0,0,15.85,15.66,15.68 CAP_FILE_SIZE 221628,0

SUPER 27,71,254,1,0,0 SDSIZE 3918848,3903168

IRIDIUM_FIX 4735.53,-12254.47,210623,065305 SDFILEDIR 170,15

TCM_TEMP 13.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3874208 SOUNDSPEED 1465.0

RAFOS_CLK -1 CURRENT 0.039, 82.3,1

MODEM 0,1687334400,47.60500,-122.95000,0.441,646.5 MAGCAL 1.000000,-0.042606,-0.153603,-0.080808,1.133241,0.076077,0.021870,-0.118394,1.103569,-794.9,-84.3,208.6,36,0.0778,0

RAFOS_FIX 4736.493652,-12257.000000,210623,080800,4,255,0.30 IMPLIED_C_PITCH 2220,16.38,239,2214.5,16.37

HUMID 49.65 IMPLIED_C_VBD 3577,61.487633,158,3525.0

TEMP 11.75 GPS 210623,085447,4736.269,-12256.549,2,1.4,12,15.4

INTERNAL_PRESSURE 8.51478

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 745 944 10537.29 nil 0 0 0.00

Pitch_motor 37 266 150.78 nil 0 0 0.00

Roll_motor 68 248 255.71 nil 0 0 0.00

Iridium 120 203 366.77 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 27 15 6.13 nil 0 0 0.00

Core 2371 5 182.13 SciCon 3416 8 428.78

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1275 0 6.12

Compass 1077 5 80.85

RAFOS 1693 40 1015.97

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

7.88 16386 -146.63 -1.77 0.00 494.7 419.7 569.6 216.1 2775.2 0.00 0.00 0 80.21 70.83 0.00 0.00 0.007 0.000 0.000 2128.38 2127.38 2129.38 216.19 2774.25 0 0 0 14.91 30.00 30.00

80.47 18983 -146.63 -1.77 -80.00 2128.3 2127.2 2129.4 216.3 2773.6 3.30 -2.45 14 152.21 47.03 12.24 3.68 0.006 0.266 0.123 3959.47 3944.19 3974.75 1780.19 1280.00 0 0 0 15.09 14.89 15.76

380.45 19591 -146.63 -1.39 0.00 3961.6 3945.4 3977.8 1780.0 1279.8 37.57 -12.28 73 387.63 0.00 0.62 3.41 0.000 0.180 0.061 3962.66 3945.88 3979.44 1873.06 2765.31 0 0 0 30.00 15.90 15.96

568.66 676 -146.63 -1.30 -80.00 3962.1 3944.9 3979.3 1872.9 2765.6 54.73 -9.24 104 574.88 0.00 0.00 3.60 0.000 0.000 0.120 3961.50 3943.31 3979.69 1873.50 1280.38 0 0 0 30.00 30.00 15.96

800.69 3205 -146.63 -1.14 0.00 3962.8 3945.1 3980.5 1872.9 1280.2 81.99 -13.06 150 807.40 0.00 0.40 3.43 0.000 0.165 0.060 3963.12 3946.06 3980.19 1933.50 2768.88 0 0 0 30.00 15.85 15.90

996.48 676 -146.63 -1.17 -80.00 3964.1 3945.5 3982.8 1933.4 2768.9 97.17 -7.31 170 1002.61 0.00 0.00 3.63 0.000 0.000 0.122 3962.84 3944.62 3981.06 1933.69 1282.25 0 0 0 30.00 30.00 15.94

1101.45 1060 -146.63 -1.17 0.00 3963.9 3945.2 3982.5 1933.3 1281.9 106.41 -9.17 191 1107.70 0.00 0.00 3.41 0.000 0.000 0.061 3964.06 3945.75 3982.38 1933.75 2772.44 0 0 0 30.00 30.00 15.99

1296.92 420 -146.63 -1.22 80.00 3963.6 3944.3 3982.8 1933.0 2772.0 121.47 -7.51 211 1302.60 0.00 0.00 3.04 0.000 0.000 0.124 3965.03 3946.44 3983.62 1931.62 4011.00 0 0 0 30.00 30.00 15.94

1321.59 5285 -146.63 -1.25 0.00 3964.1 3945.1 3983.1 1932.9 4010.6 123.43 -7.50 216 1327.80 0.00 0.27 2.95 0.000 0.079 0.063 3964.28 3945.06 3983.50 1885.19 2724.06 0 0 0 30.00 15.97 15.98

1516.61 2725 -146.63 -1.21 -80.00 3964.7 3945.8 3983.7 1885.9 2724.3 141.89 -9.66 236 1523.08 0.00 0.25 3.51 0.000 0.158 0.129 3964.66 3946.12 3983.19 1918.12 1281.31 0 0 0 30.00 15.99 15.99

1561.68 1156 -146.63 -1.17 0.00 3964.1 3945.8 3982.4 1918.4 1281.6 146.37 -10.02 245 1567.85 0.00 0.00 3.42 0.000 0.000 0.062 3964.03 3944.94 3983.12 1918.38 2772.12 0 0 0 30.00 30.00 16.03

1607 end dive: TARGET_DEPTH_EXCEEDED

state 1607 begin apogee

1607.85 10243 0.00 -0.31 0.00 3964.3 3945.5 3983.2 1918.5 2728.4 150.26 -8.59 250 1700.94 84.79 1.45 0.07 0.944 0.128 0.248 3473.66 3407.44 3539.88 2136.75 2771.69 0 0 0 11.98 15.99 15.74

1711 end apogee: CONTROL_FINISHED_OK

state 1711 begin climb

1711.36 10503 146.63 1.77 80.00 3469.8 3403.1 3536.4 2136.9 2771.4 151.67 0.00 259 1837.01 107.99 3.16 3.10 0.900 0.080 0.118 2871.75 2787.50 2956.00 2643.06 4010.94 0 0 0 11.76 15.76 15.56

1844.30 5253 146.63 1.45 0.00 2868.8 2786.4 2951.1 2643.4 4011.5 139.49 14.97 280 1853.32 0.00 0.71 3.04 0.000 0.221 0.059 2869.91 2787.31 2952.50 2554.00 2725.62 0 0 0 30.00 15.54 15.61

2037.84 17030 146.63 1.35 -80.00 2863.8 2781.0 2946.6 2554.6 2725.2 108.63 15.03 301 2044.15 0.00 0.00 3.59 0.000 0.000 0.127 2863.25 2779.81 2946.69 2553.94 1282.06 0 0 0 30.00 30.00 15.78

2152.87 21639 146.63 1.14 0.00 2863.2 2781.8 2944.8 2553.6 1282.0 89.08 17.43 324 2160.47 0.00 0.51 3.42 0.000 0.205 0.060 2863.81 2782.44 2945.19 2479.88 2770.44 0 0 0 30.00 15.83 15.91

2347.93 10919 161.76 1.26 -80.00 2861.8 2779.4 2944.2 2480.0 2770.4 68.60 9.31 344 2369.21 11.98 0.24 3.66 0.728 0.082 0.124 2813.91 2728.38 2899.44 2526.75 1280.50 0 0 0 11.85 15.98 15.92

2407.89 5253 161.76 1.15 0.00 2809.3 2724.8 2893.9 2527.5 1280.2 60.84 14.17 356 2414.48 0.00 0.36 3.39 0.000 0.203 0.059 2810.56 2725.56 2895.56 2481.19 2772.62 0 0 0 30.00 15.90 15.98

2597.08 10919 178.72 1.31 -80.00 2807.8 2722.5 2893.2 2480.4 2772.7 42.14 9.22 383 2619.54 14.94 0.31 3.73 0.728 0.073 0.123 2741.09 2653.19 2829.00 2538.81 1281.31 0 0 0 11.84 15.77 15.65

2622.87 5253 178.72 1.27 0.00 2741.6 2654.4 2828.9 2538.9 1281.9 39.48 10.07 388 2633.94 0.00 0.25 3.45 0.000 0.201 0.058 2741.22 2654.12 2828.31 2508.75 2771.62 0 0 0 30.00 15.65 15.66

2817.85 10919 192.09 1.39 -80.00 2738.1 2651.4 2824.8 2508.6 2772.1 20.58 9.39 427 2839.81 12.34 0.25 3.71 0.693 0.079 0.125 2687.75 2601.19 2774.31 2555.44 1281.88 0 0 0 11.83 15.89 15.83

3068.85 11303 390.69 2.18 0.00 2684.2 2600.9 2767.4 2555.6 1282.1 8.10 0.90 476 3231.87 149.10 1.10 3.39 0.768 0.058 0.057 1881.59 1775.75 1987.44 2747.31 2776.81 0 0 0 11.91 15.93 15.96

3405 end climb: NO_VERTICAL_VELOCITY

state 3405 begin surface

ID	235	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
MISSION	10	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	14	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	6
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	739.98816	ROLL_MAXERRORS	1	XPDR_INT	13
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
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	0.5
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3473.2405	DEEPGLIDERMB	0
D_BOOST	3	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	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0040000002	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	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	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	120	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	230	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3900	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2208.6082	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	16.360847	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	0.77757359	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	4.537046	SEABIRD_T_H	0.00062267116
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.1947648e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-158.29968	SEABIRD_T_J	2.2037441e-06
MASS	72024	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_G	-9.9419231
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1.1375728
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0016241658
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002088599
HD_A	0.00281838	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0139236	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_MIN	1200	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	4000	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	2750	ALTIM_FREQUENCY	13

GPS1	210623,074811,4736.446,-12256.532,1,1.5,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,075140,4736.451,-12256.516,3,0.9,18,15.4	MHEAD_RNG_PITCHd_Wd	193.3,993,-19.3,-10.000,-24.09,2233,0.205
SPEED_LIMITS	0.100,0.224	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018
TGT_LATLONG	4735.950,-12256.800	OSC	8000307

NET	xmit part outbox0009.n 990 13	_24V_AH	14.97,5.434
NET_PING	1687336962,29,316.129486,9.400000,62.584686	_10V_AH	15.00,0.000
NAV	1687336033,97.8,4,stop	FG_AHR_24Vo	4.687
WARN	HSCICON missed fuel gauge read	FG_AHR_10Vo	0.853
MODEM_MSG	CACST,8,2,20230621082500.268113,18,32767,45,0103,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*01	MEM0	60020,1,0,0
FREEZE	5.49,14.602,-1.466,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	944868,25,101820,69
SM_CCo	3720.03,0.06,0.361,0,499.4,417.7,581.2,729.41	DATA_FILE_SIZE	16139,542
SM_GC	2.75,0.06,15.69,0.09,0.361,0.052,0.155,499.4,417.7,581.2,216.0,2724.0,0,0,0,15.85,15.66,15.68	CAP_FILE_SIZE	221628,0
SUPER	27,71,254,1,0,0	SDSIZE	3918848,3903168
IRIDIUM_FIX	4735.53,-12254.47,210623,065305	SDFILEDIR	170,15
TCM_TEMP	13.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3874208	SOUNDSPEED	1465.0
RAFOS_CLK	-1	CURRENT	0.039, 82.3,1
MODEM	0,1687334400,47.60500,-122.95000,0.441,646.5	MAGCAL	1.000000,-0.042606,-0.153603,-0.080808,1.133241,0.076077,0.021870,-0.118394,1.103569,-794.9,-84.3,208.6,36,0.0778,0
RAFOS_FIX	4736.493652,-12257.000000,210623,080800,4,255,0.30	IMPLIED_C_PITCH	2220,16.38,239,2214.5,16.37
HUMID	49.65	IMPLIED_C_VBD	3577,61.487633,158,3525.0
TEMP	11.75	GPS	210623,085447,4736.269,-12256.549,2,1.4,12,15.4
INTERNAL_PRESSURE	8.51478

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	745	944	10537.29	nil	0	0	0.00
Pitch_motor	37	266	150.78	nil	0	0	0.00
Roll_motor	68	248	255.71	nil	0	0	0.00
Iridium	120	203	366.77	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	27	15	6.13	nil	0	0	0.00
Core	2371	5	182.13	SciCon	3416	8	428.78
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1275	0	6.12
Compass	1077	5	80.85
RAFOS	1693	40	1015.97
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
7.88	16386	-146.63	-1.77	0.00	494.7	419.7	569.6	216.1	2775.2	0.00	0.00	0	80.21	70.83	0.00	0.00	0.007	0.000	0.000	2128.38	2127.38	2129.38	216.19	2774.25	0	0	0	14.91	30.00	30.00
80.47	18983	-146.63	-1.77	-80.00	2128.3	2127.2	2129.4	216.3	2773.6	3.30	-2.45	14	152.21	47.03	12.24	3.68	0.006	0.266	0.123	3959.47	3944.19	3974.75	1780.19	1280.00	0	0	0	15.09	14.89	15.76
380.45	19591	-146.63	-1.39	0.00	3961.6	3945.4	3977.8	1780.0	1279.8	37.57	-12.28	73	387.63	0.00	0.62	3.41	0.000	0.180	0.061	3962.66	3945.88	3979.44	1873.06	2765.31	0	0	0	30.00	15.90	15.96
568.66	676	-146.63	-1.30	-80.00	3962.1	3944.9	3979.3	1872.9	2765.6	54.73	-9.24	104	574.88	0.00	0.00	3.60	0.000	0.000	0.120	3961.50	3943.31	3979.69	1873.50	1280.38	0	0	0	30.00	30.00	15.96
800.69	3205	-146.63	-1.14	0.00	3962.8	3945.1	3980.5	1872.9	1280.2	81.99	-13.06	150	807.40	0.00	0.40	3.43	0.000	0.165	0.060	3963.12	3946.06	3980.19	1933.50	2768.88	0	0	0	30.00	15.85	15.90
996.48	676	-146.63	-1.17	-80.00	3964.1	3945.5	3982.8	1933.4	2768.9	97.17	-7.31	170	1002.61	0.00	0.00	3.63	0.000	0.000	0.122	3962.84	3944.62	3981.06	1933.69	1282.25	0	0	0	30.00	30.00	15.94
1101.45	1060	-146.63	-1.17	0.00	3963.9	3945.2	3982.5	1933.3	1281.9	106.41	-9.17	191	1107.70	0.00	0.00	3.41	0.000	0.000	0.061	3964.06	3945.75	3982.38	1933.75	2772.44	0	0	0	30.00	30.00	15.99
1296.92	420	-146.63	-1.22	80.00	3963.6	3944.3	3982.8	1933.0	2772.0	121.47	-7.51	211	1302.60	0.00	0.00	3.04	0.000	0.000	0.124	3965.03	3946.44	3983.62	1931.62	4011.00	0	0	0	30.00	30.00	15.94
1321.59	5285	-146.63	-1.25	0.00	3964.1	3945.1	3983.1	1932.9	4010.6	123.43	-7.50	216	1327.80	0.00	0.27	2.95	0.000	0.079	0.063	3964.28	3945.06	3983.50	1885.19	2724.06	0	0	0	30.00	15.97	15.98
1516.61	2725	-146.63	-1.21	-80.00	3964.7	3945.8	3983.7	1885.9	2724.3	141.89	-9.66	236	1523.08	0.00	0.25	3.51	0.000	0.158	0.129	3964.66	3946.12	3983.19	1918.12	1281.31	0	0	0	30.00	15.99	15.99
1561.68	1156	-146.63	-1.17	0.00	3964.1	3945.8	3982.4	1918.4	1281.6	146.37	-10.02	245	1567.85	0.00	0.00	3.42	0.000	0.000	0.062	3964.03	3944.94	3983.12	1918.38	2772.12	0	0	0	30.00	30.00	16.03
1607	end dive: TARGET_DEPTH_EXCEEDED
state	1607	begin apogee
1607.85	10243	0.00	-0.31	0.00	3964.3	3945.5	3983.2	1918.5	2728.4	150.26	-8.59	250	1700.94	84.79	1.45	0.07	0.944	0.128	0.248	3473.66	3407.44	3539.88	2136.75	2771.69	0	0	0	11.98	15.99	15.74
1711	end apogee: CONTROL_FINISHED_OK
state	1711	begin climb
1711.36	10503	146.63	1.77	80.00	3469.8	3403.1	3536.4	2136.9	2771.4	151.67	0.00	259	1837.01	107.99	3.16	3.10	0.900	0.080	0.118	2871.75	2787.50	2956.00	2643.06	4010.94	0	0	0	11.76	15.76	15.56
1844.30	5253	146.63	1.45	0.00	2868.8	2786.4	2951.1	2643.4	4011.5	139.49	14.97	280	1853.32	0.00	0.71	3.04	0.000	0.221	0.059	2869.91	2787.31	2952.50	2554.00	2725.62	0	0	0	30.00	15.54	15.61
2037.84	17030	146.63	1.35	-80.00	2863.8	2781.0	2946.6	2554.6	2725.2	108.63	15.03	301	2044.15	0.00	0.00	3.59	0.000	0.000	0.127	2863.25	2779.81	2946.69	2553.94	1282.06	0	0	0	30.00	30.00	15.78
2152.87	21639	146.63	1.14	0.00	2863.2	2781.8	2944.8	2553.6	1282.0	89.08	17.43	324	2160.47	0.00	0.51	3.42	0.000	0.205	0.060	2863.81	2782.44	2945.19	2479.88	2770.44	0	0	0	30.00	15.83	15.91
2347.93	10919	161.76	1.26	-80.00	2861.8	2779.4	2944.2	2480.0	2770.4	68.60	9.31	344	2369.21	11.98	0.24	3.66	0.728	0.082	0.124	2813.91	2728.38	2899.44	2526.75	1280.50	0	0	0	11.85	15.98	15.92
2407.89	5253	161.76	1.15	0.00	2809.3	2724.8	2893.9	2527.5	1280.2	60.84	14.17	356	2414.48	0.00	0.36	3.39	0.000	0.203	0.059	2810.56	2725.56	2895.56	2481.19	2772.62	0	0	0	30.00	15.90	15.98
2597.08	10919	178.72	1.31	-80.00	2807.8	2722.5	2893.2	2480.4	2772.7	42.14	9.22	383	2619.54	14.94	0.31	3.73	0.728	0.073	0.123	2741.09	2653.19	2829.00	2538.81	1281.31	0	0	0	11.84	15.77	15.65
2622.87	5253	178.72	1.27	0.00	2741.6	2654.4	2828.9	2538.9	1281.9	39.48	10.07	388	2633.94	0.00	0.25	3.45	0.000	0.201	0.058	2741.22	2654.12	2828.31	2508.75	2771.62	0	0	0	30.00	15.65	15.66
2817.85	10919	192.09	1.39	-80.00	2738.1	2651.4	2824.8	2508.6	2772.1	20.58	9.39	427	2839.81	12.34	0.25	3.71	0.693	0.079	0.125	2687.75	2601.19	2774.31	2555.44	1281.88	0	0	0	11.83	15.89	15.83
3068.85	11303	390.69	2.18	0.00	2684.2	2600.9	2767.4	2555.6	1282.1	8.10	0.90	476	3231.87	149.10	1.10	3.39	0.768	0.058	0.057	1881.59	1775.75	1987.44	2747.31	2776.81	0	0	0	11.91	15.93	15.96
3405	end climb: NO_VERTICAL_VELOCITY
state	3405	begin surface