Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 15 * 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 15 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 574.84723 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 2843.4458 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 1737.9048 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 13.437267 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.973648 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 29.555059 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 30 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 42.973648 PHONE_SUPPLY 2 SM_CC 574.84723

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.555059 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 13.437267 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 1737.9048 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 2843.4458 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 15 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 220623,054842,4736.011,-12256.671,2,1.0,5,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.63 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,055214,4736.012,-12256.663,2,1.0,6,15.4 MHEAD_RNG_PITCHd_Wd 349.6,989,-17.6,-10.000,-21.21,2209,0.155

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.469299,-818.692627,-706.311096

TGT_LATLONG 4736.530,-12256.470 OSC 8000225

Post-dive calculations and measurements:

NAV 1687416434,13.2,0,stop _24V_AH 15.14,33.417

NET CACST,8,0,20230622064032.541249,18,28601,44,0112,0112,07,00,00,00,00,1,029,121,0,5,2,0,150,11.2,5.18,-100,-2.18,-01,0.16,61,10000,5000,0,1,00,00*7C _10V_AH 15.00,0.000

NET_PING 1687416010,29,808.307983,8.200000,-1.077067 FG_AHR_24Vo 29.713

MODEM_MSG CACST,8,1,20230622062000.450718,18,30867,44,0430,0000,246,03,03,00,05,-1,-01,-01,1,3,0,0,150,-34.9,0.66,-100,2.34,-01,0.02,45,925,0025,0,-1,00,00*26 FG_AHR_10Vo 43.021

FREEZE 4.04,14.639,-1.474,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3796.90,142.80,0.901,0,500.2,402.4,598.1,574.68 MEM2 944876,32,101732,66

SM_GC 2.03,0.00,12.27,0.12,0.000,0.048,0.128,496.6,400.5,592.8,205.1,2013.9,0,0,0,30.00,15.64,15.67 DATA_FILE_SIZE 12931,512

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 166225,0

IRIDIUM_FIX 4735.53,-12254.47,220623,045216 SDSIZE 3887104,3865344

TCM_TEMP 14.27 SDFILEDIR 154,16

SC_FREEKB 3874528 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1405.8

MODEM 0,1687413600,47.60500,-122.95000,0.393,576.3 CURRENT 0.046, 64.7,1

RAFOS_FIX 4736.154785,-12256.609375,220623,060600,4,255,0.16 MAGCAL 1.000000,-0.058163,-0.029150,0.012514,1.030618,-0.160889,0.135923,0.168967,0.939946,764.3,-780.9,-630.6,30,0.0681,0

HUMID 49.77 IMPLIED_C_PITCH 1729,13.27,276,1733.6,13.35

TEMP 11.14 IMPLIED_C_VBD 2833,36.083252,276,2838.4

INTERNAL_PRESSURE 8.22689 GPS 220623,065901,4736.415,-12256.345,39,0.9,40,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 648 1085 10655.36 nil 0 0 0.00

Pitch_motor 26 229 91.05 nil 0 0 0.00

Roll_motor 36 174 95.81 nil 0 0 0.00

Iridium 137 209 436.68 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.51 nil 0 0 0.00

Core 2274 5 174.65 SciCon 3647 6 361.11

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1666 0 8.00

Compass 1088 5 81.66

RAFOS 1880 40 1128.43

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

7.53 16386 -146.63 -1.49 0.00 494.8 400.5 589.2 196.7 1943.0 0.00 0.00 0 56.27 44.90 0.00 0.00 0.005 0.000 0.000 1582.38 1551.75 1613.00 196.62 1943.25 0 0 0 15.94 30.00 30.00

56.70 18727 -146.63 -1.49 80.00 1581.9 1550.8 1613.1 196.4 1942.2 3.03 -3.31 9 141.66 59.42 8.52 3.66 0.005 0.230 0.109 3439.66 3406.19 3473.12 1377.44 3449.62 0 0 0 15.95 15.76 15.86

370.25 1188 -146.63 -1.45 0.00 3440.2 3404.8 3475.6 1377.7 3449.9 29.78 -8.55 70 377.64 0.00 0.00 3.45 0.000 0.000 0.054 3441.50 3406.25 3476.75 1377.06 1948.56 0 0 0 30.00 30.00 15.98

562.13 160 -146.63 -1.43 0.00 3440.4 3404.9 3475.9 1377.2 1948.7 45.95 -8.09 105 567.76 0.00 0.00 0.00 0.000 0.000 0.000 3440.97 3405.00 3476.94 1377.12 1947.69 0 0 0 30.00 30.00 30.00

752.14 160 -146.63 -1.41 0.00 3441.3 3404.9 3477.6 1377.3 1948.7 62.60 -8.83 129 753.89 0.00 0.00 0.00 0.000 0.000 0.000 3439.88 3403.50 3476.25 1377.38 1948.62 0 0 0 30.00 30.00 30.00

942.17 420 -146.63 -1.40 80.00 3441.5 3404.6 3478.3 1377.1 1948.9 79.60 -9.02 148 950.32 0.00 0.00 3.67 0.000 0.000 0.107 3441.47 3405.06 3477.88 1377.25 3449.69 0 0 0 30.00 30.00 15.88

1044.19 3205 -146.63 -1.37 0.00 3442.0 3404.9 3479.1 1377.2 3449.5 89.64 -10.44 167 1055.18 0.00 0.18 3.48 0.000 0.166 0.054 3442.31 3405.00 3479.62 1407.69 1949.94 0 0 0 30.00 15.84 15.87

1243.14 32 -146.63 -1.37 0.00 3442.2 3404.7 3479.8 1407.6 1950.1 106.92 -8.24 188 1244.89 0.00 0.00 0.00 0.000 0.000 0.000 3441.53 3403.62 3479.44 1407.69 1949.69 0 0 0 30.00 30.00 30.00

1433.13 32 -146.63 -1.37 0.00 3442.2 3404.2 3480.1 1407.2 1950.1 122.49 -8.05 207 1434.88 0.00 0.00 0.00 0.000 0.000 0.000 3441.44 3404.25 3478.62 1407.44 1949.50 0 0 0 30.00 30.00 30.00

1623.14 292 -146.63 -1.37 80.00 3442.3 3404.6 3480.1 1406.8 1949.7 137.87 -8.00 226 1631.43 0.00 0.00 3.65 0.000 0.000 0.109 3444.94 3408.12 3481.75 1406.94 3447.25 0 0 0 30.00 30.00 15.95

1683.07 1060 -146.63 -1.37 0.00 3442.1 3405.0 3479.2 1407.4 3447.2 143.22 -9.10 237 1690.39 0.00 0.00 3.45 0.000 0.000 0.056 3441.66 3404.38 3478.94 1407.62 1949.81 0 0 0 30.00 30.00 15.97

1768 end dive: TARGET_DEPTH_EXCEEDED

state 1768 begin apogee

1769.71 10243 0.00 -0.37 0.00 3442.8 3405.1 3480.4 1407.2 1866.9 150.14 -8.04 246 1893.18 111.01 1.54 0.10 1.085 0.116 0.175 2843.59 2739.00 2948.19 1651.12 1937.75 0 0 0 11.20 15.92 15.62

1894 end apogee: CONTROL_FINISHED_OK

state 1894 begin climb

1894.89 10243 146.63 1.49 0.00 2841.1 2737.1 2945.0 1651.6 1937.8 152.74 0.00 257 2024.12 113.92 2.86 0.00 1.053 0.086 0.000 2243.84 2135.44 2352.25 2102.50 1938.44 0 0 0 11.40 15.64 30.00

2207.71 17030 146.63 1.46 -80.00 2236.7 2131.8 2341.6 2102.6 1937.9 119.32 13.31 289 2216.22 0.00 0.00 3.79 0.000 0.000 0.130 2237.81 2131.88 2343.75 2102.88 431.38 0 0 0 30.00 30.00 15.77

2272.40 21639 146.63 1.38 0.00 2235.5 2130.9 2340.1 2102.9 431.4 109.26 15.64 301 2280.52 0.00 0.29 3.42 0.000 0.170 0.050 2238.22 2132.88 2343.56 2065.31 1939.44 0 0 0 30.00 15.75 15.82

2468.01 16386 146.63 1.38 0.00 2234.8 2130.2 2339.4 2065.1 1940.7 88.11 10.33 321 2469.80 0.00 0.00 0.00 0.000 0.000 0.000 2233.78 2129.50 2338.06 2064.69 1940.50 0 0 0 30.00 30.00 30.00

2658.10 32 149.53 1.38 0.00 2234.3 2129.5 2339.2 2065.0 1940.2 68.68 9.87 340 2659.90 0.00 0.00 0.00 0.000 0.000 0.000 2233.09 2129.19 2337.00 2064.69 1940.31 0 0 0 30.00 30.00 30.00

2845.15 8742 165.54 1.40 -80.00 2234.0 2129.7 2338.2 2064.6 1940.3 51.43 9.26 359 2873.13 15.17 0.00 3.78 0.925 0.000 0.130 2165.84 2058.75 2272.94 2064.94 434.12 0 0 0 11.46 30.00 15.89

2886.88 1188 166.12 1.38 0.00 2165.2 2058.3 2272.0 2065.2 433.9 47.17 9.97 366 2894.80 0.00 0.00 3.41 0.000 0.000 0.051 2163.88 2056.75 2271.00 2064.88 1935.56 0 0 0 30.00 30.00 15.96

3089.47 8226 194.77 1.42 0.00 2163.4 2057.4 2269.5 2064.9 1937.1 30.12 8.67 404 3118.71 23.97 0.00 0.00 0.942 0.000 0.000 2047.25 1938.56 2155.94 2064.50 1937.19 0 0 0 11.41 30.00 30.00

3303.57 10403 223.50 1.47 -80.00 2042.8 1937.0 2148.6 2065.6 1937.0 10.12 8.67 447 3329.88 23.04 0.21 0.00 0.920 0.063 0.000 1930.69 1822.94 2038.44 2116.69 1937.19 0 0 0 11.44 15.97 30.00

3515.22 10919 432.58 1.77 -80.00 1925.2 1819.6 2030.8 2115.8 1937.6 4.65 0.32 489 3639.08 114.17 0.30 0.00 0.932 0.056 0.000 1290.72 1183.94 1397.50 2186.88 1937.94 0 0 0 11.67 15.96 30.00

3639 end climb: NO_VERTICAL_VELOCITY

state 3639 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	15	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	574.84723	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	2843.4458	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	1737.9048	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	13.437267	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.973648	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	29.555059	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	220623,054842,4736.011,-12256.671,2,1.0,5,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.63	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,055214,4736.012,-12256.663,2,1.0,6,15.4	MHEAD_RNG_PITCHd_Wd	349.6,989,-17.6,-10.000,-21.21,2209,0.155
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.469299,-818.692627,-706.311096
TGT_LATLONG	4736.530,-12256.470	OSC	8000225

NAV	1687416434,13.2,0,stop	_24V_AH	15.14,33.417
NET	CACST,8,0,20230622064032.541249,18,28601,44,0112,0112,07,00,00,00,00,1,029,121,0,5,2,0,150,11.2,5.18,-100,-2.18,-01,0.16,61,10000,5000,0,1,00,00*7C	_10V_AH	15.00,0.000
NET_PING	1687416010,29,808.307983,8.200000,-1.077067	FG_AHR_24Vo	29.713
MODEM_MSG	CACST,8,1,20230622062000.450718,18,30867,44,0430,0000,246,03,03,00,05,-1,-01,-01,1,3,0,0,150,-34.9,0.66,-100,2.34,-01,0.02,45,925,0025,0,-1,00,00*26	FG_AHR_10Vo	43.021
FREEZE	4.04,14.639,-1.474,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3796.90,142.80,0.901,0,500.2,402.4,598.1,574.68	MEM2	944876,32,101732,66
SM_GC	2.03,0.00,12.27,0.12,0.000,0.048,0.128,496.6,400.5,592.8,205.1,2013.9,0,0,0,30.00,15.64,15.67	DATA_FILE_SIZE	12931,512
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	166225,0
IRIDIUM_FIX	4735.53,-12254.47,220623,045216	SDSIZE	3887104,3865344
TCM_TEMP	14.27	SDFILEDIR	154,16
SC_FREEKB	3874528	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1405.8
MODEM	0,1687413600,47.60500,-122.95000,0.393,576.3	CURRENT	0.046, 64.7,1
RAFOS_FIX	4736.154785,-12256.609375,220623,060600,4,255,0.16	MAGCAL	1.000000,-0.058163,-0.029150,0.012514,1.030618,-0.160889,0.135923,0.168967,0.939946,764.3,-780.9,-630.6,30,0.0681,0
HUMID	49.77	IMPLIED_C_PITCH	1729,13.27,276,1733.6,13.35
TEMP	11.14	IMPLIED_C_VBD	2833,36.083252,276,2838.4
INTERNAL_PRESSURE	8.22689	GPS	220623,065901,4736.415,-12256.345,39,0.9,40,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	648	1085	10655.36	nil	0	0	0.00
Pitch_motor	26	229	91.05	nil	0	0	0.00
Roll_motor	36	174	95.81	nil	0	0	0.00
Iridium	137	209	436.68	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.51	nil	0	0	0.00
Core	2274	5	174.65	SciCon	3647	6	361.11
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1666	0	8.00
Compass	1088	5	81.66
RAFOS	1880	40	1128.43
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
7.53	16386	-146.63	-1.49	0.00	494.8	400.5	589.2	196.7	1943.0	0.00	0.00	0	56.27	44.90	0.00	0.00	0.005	0.000	0.000	1582.38	1551.75	1613.00	196.62	1943.25	0	0	0	15.94	30.00	30.00
56.70	18727	-146.63	-1.49	80.00	1581.9	1550.8	1613.1	196.4	1942.2	3.03	-3.31	9	141.66	59.42	8.52	3.66	0.005	0.230	0.109	3439.66	3406.19	3473.12	1377.44	3449.62	0	0	0	15.95	15.76	15.86
370.25	1188	-146.63	-1.45	0.00	3440.2	3404.8	3475.6	1377.7	3449.9	29.78	-8.55	70	377.64	0.00	0.00	3.45	0.000	0.000	0.054	3441.50	3406.25	3476.75	1377.06	1948.56	0	0	0	30.00	30.00	15.98
562.13	160	-146.63	-1.43	0.00	3440.4	3404.9	3475.9	1377.2	1948.7	45.95	-8.09	105	567.76	0.00	0.00	0.00	0.000	0.000	0.000	3440.97	3405.00	3476.94	1377.12	1947.69	0	0	0	30.00	30.00	30.00
752.14	160	-146.63	-1.41	0.00	3441.3	3404.9	3477.6	1377.3	1948.7	62.60	-8.83	129	753.89	0.00	0.00	0.00	0.000	0.000	0.000	3439.88	3403.50	3476.25	1377.38	1948.62	0	0	0	30.00	30.00	30.00
942.17	420	-146.63	-1.40	80.00	3441.5	3404.6	3478.3	1377.1	1948.9	79.60	-9.02	148	950.32	0.00	0.00	3.67	0.000	0.000	0.107	3441.47	3405.06	3477.88	1377.25	3449.69	0	0	0	30.00	30.00	15.88
1044.19	3205	-146.63	-1.37	0.00	3442.0	3404.9	3479.1	1377.2	3449.5	89.64	-10.44	167	1055.18	0.00	0.18	3.48	0.000	0.166	0.054	3442.31	3405.00	3479.62	1407.69	1949.94	0	0	0	30.00	15.84	15.87
1243.14	32	-146.63	-1.37	0.00	3442.2	3404.7	3479.8	1407.6	1950.1	106.92	-8.24	188	1244.89	0.00	0.00	0.00	0.000	0.000	0.000	3441.53	3403.62	3479.44	1407.69	1949.69	0	0	0	30.00	30.00	30.00
1433.13	32	-146.63	-1.37	0.00	3442.2	3404.2	3480.1	1407.2	1950.1	122.49	-8.05	207	1434.88	0.00	0.00	0.00	0.000	0.000	0.000	3441.44	3404.25	3478.62	1407.44	1949.50	0	0	0	30.00	30.00	30.00
1623.14	292	-146.63	-1.37	80.00	3442.3	3404.6	3480.1	1406.8	1949.7	137.87	-8.00	226	1631.43	0.00	0.00	3.65	0.000	0.000	0.109	3444.94	3408.12	3481.75	1406.94	3447.25	0	0	0	30.00	30.00	15.95
1683.07	1060	-146.63	-1.37	0.00	3442.1	3405.0	3479.2	1407.4	3447.2	143.22	-9.10	237	1690.39	0.00	0.00	3.45	0.000	0.000	0.056	3441.66	3404.38	3478.94	1407.62	1949.81	0	0	0	30.00	30.00	15.97
1768	end dive: TARGET_DEPTH_EXCEEDED
state	1768	begin apogee
1769.71	10243	0.00	-0.37	0.00	3442.8	3405.1	3480.4	1407.2	1866.9	150.14	-8.04	246	1893.18	111.01	1.54	0.10	1.085	0.116	0.175	2843.59	2739.00	2948.19	1651.12	1937.75	0	0	0	11.20	15.92	15.62
1894	end apogee: CONTROL_FINISHED_OK
state	1894	begin climb
1894.89	10243	146.63	1.49	0.00	2841.1	2737.1	2945.0	1651.6	1937.8	152.74	0.00	257	2024.12	113.92	2.86	0.00	1.053	0.086	0.000	2243.84	2135.44	2352.25	2102.50	1938.44	0	0	0	11.40	15.64	30.00
2207.71	17030	146.63	1.46	-80.00	2236.7	2131.8	2341.6	2102.6	1937.9	119.32	13.31	289	2216.22	0.00	0.00	3.79	0.000	0.000	0.130	2237.81	2131.88	2343.75	2102.88	431.38	0	0	0	30.00	30.00	15.77
2272.40	21639	146.63	1.38	0.00	2235.5	2130.9	2340.1	2102.9	431.4	109.26	15.64	301	2280.52	0.00	0.29	3.42	0.000	0.170	0.050	2238.22	2132.88	2343.56	2065.31	1939.44	0	0	0	30.00	15.75	15.82
2468.01	16386	146.63	1.38	0.00	2234.8	2130.2	2339.4	2065.1	1940.7	88.11	10.33	321	2469.80	0.00	0.00	0.00	0.000	0.000	0.000	2233.78	2129.50	2338.06	2064.69	1940.50	0	0	0	30.00	30.00	30.00
2658.10	32	149.53	1.38	0.00	2234.3	2129.5	2339.2	2065.0	1940.2	68.68	9.87	340	2659.90	0.00	0.00	0.00	0.000	0.000	0.000	2233.09	2129.19	2337.00	2064.69	1940.31	0	0	0	30.00	30.00	30.00
2845.15	8742	165.54	1.40	-80.00	2234.0	2129.7	2338.2	2064.6	1940.3	51.43	9.26	359	2873.13	15.17	0.00	3.78	0.925	0.000	0.130	2165.84	2058.75	2272.94	2064.94	434.12	0	0	0	11.46	30.00	15.89
2886.88	1188	166.12	1.38	0.00	2165.2	2058.3	2272.0	2065.2	433.9	47.17	9.97	366	2894.80	0.00	0.00	3.41	0.000	0.000	0.051	2163.88	2056.75	2271.00	2064.88	1935.56	0	0	0	30.00	30.00	15.96
3089.47	8226	194.77	1.42	0.00	2163.4	2057.4	2269.5	2064.9	1937.1	30.12	8.67	404	3118.71	23.97	0.00	0.00	0.942	0.000	0.000	2047.25	1938.56	2155.94	2064.50	1937.19	0	0	0	11.41	30.00	30.00
3303.57	10403	223.50	1.47	-80.00	2042.8	1937.0	2148.6	2065.6	1937.0	10.12	8.67	447	3329.88	23.04	0.21	0.00	0.920	0.063	0.000	1930.69	1822.94	2038.44	2116.69	1937.19	0	0	0	11.44	15.97	30.00
3515.22	10919	432.58	1.77	-80.00	1925.2	1819.6	2030.8	2115.8	1937.6	4.65	0.32	489	3639.08	114.17	0.30	0.00	0.932	0.056	0.000	1290.72	1183.94	1397.50	2186.88	1937.94	0	0	0	11.67	15.96	30.00
3639	end climb: NO_VERTICAL_VELOCITY
state	3639	begin surface