Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 15 * 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 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 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 54.426151 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 105.69682 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 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 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 54.426151 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 105.69682 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 15 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 230623,071832,4736.410,-12256.372,1,1.2,5,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,072340,4736.423,-12256.363,2,1.0,16,15.4 MHEAD_RNG_PITCHd_Wd 196.5,1032,-17.6,-10.000,-21.21,2209,0.122

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230623072500.725577,18,4964,30,0170,0000,216,03,03,01,03,-1,-01,-01,2,3,1,0,150,1.3,3.00,-100,0.00,-01,0.00,64,925,0025,0,-1,00,00*08 _24V_AH 14.80,86.017

NAV 1687507151,111.9,start _10V_AH 14.81,0.000

NET CACST,8,0,20230623080739.077182,18,32767,45,0103,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,9.9,6.59,-100,-3.59,-01,-0.13,67,10000,5000,0,-1,00,00*45 FG_AHR_24Vo 105.858

NET_PING 1687507660,29,654.975037,9.900000,-0.871653 FG_AHR_10Vo 54.483

FINISH 1.5,1.019624 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3680.01,217.04,0.945,0,666.7,549.9,783.6,596.88 MEM2 945760,25,100928,69

SM_GC 1.40,217.04,12.74,0.10,0.945,0.066,0.121,666.7,549.9,783.6,191.0,2122.7,0,0,0,11.09,15.80,15.85 DATA_FILE_SIZE 12933,530

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 198458,0

IRIDIUM_FIX 4735.53,-12254.47,230623,061220 SDSIZE 3887104,3869216

TCM_TEMP 12.64 SDFILEDIR 152,16

SC_FREEKB 3874176 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -1 SOUNDSPEED 1465.0

MODEM 0,1687503600,47.60500,-122.95000,0.655,959.3 MAGCAL 1.000000,0.013792,0.025357,0.007631,1.036579,0.085280,0.003202,-0.121915,0.839540,63.8,-1244.5,-751.1,35,0.0464,0

RAFOS_FIX 4736.155273,-12256.758789,230623,070700,4,255,8.75 IMPLIED_C_PITCH 1784,13.06,255,0.0,0.00

HUMID 56.83 IMPLIED_C_VBD 2893,37.710545,255,0

TEMP 10.57 GPS 230623,082632,4736.147,-12256.512,31,0.6,32,15.4

INTERNAL_PRESSURE 10.3334

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 666 1135 11198.71 nil 0 0 0.00

Pitch_motor 27 243 99.88 nil 0 0 0.00

Roll_motor 71 168 178.44 nil 0 0 0.00

Iridium 166 171 422.70 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 25 15 5.66 nil 0 0 0.00

Core 2320 5 175.94 SciCon 3435 7 374.22

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1415 0 6.71

Compass 1118 5 82.83

RAFOS 1016 40 601.88

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

7 end surface: CONTROL_FINISHED_OK

state 7 begin dive

7.71 16386 -146.63 -1.51 0.00 495.6 389.9 601.3 189.8 2050.6 0.00 0.00 0 107.29 96.00 0.00 0.00 0.005 0.000 0.000 2518.91 2471.50 2566.31 189.69 2050.62 0 0 0 15.86 30.00 30.00

107.58 18727 -146.63 -1.51 80.00 2520.1 2472.4 2567.8 189.7 2050.2 3.12 -5.88 19 166.80 38.51 9.34 3.69 0.005 0.243 0.098 3696.88 3657.44 3736.31 1420.19 3555.25 0 0 0 15.89 15.63 15.77

180.08 3237 -146.63 -1.40 0.00 3696.4 3658.0 3734.9 1420.4 3555.0 8.56 -9.26 33 189.39 0.00 0.19 3.44 0.000 0.196 0.039 3695.72 3656.62 3734.81 1447.19 2054.00 0 0 0 30.00 15.71 15.83

373.39 292 -146.63 -1.40 80.00 3696.6 3657.8 3735.4 1447.4 2054.8 28.66 -9.86 71 380.52 0.00 0.00 3.65 0.000 0.000 0.094 3695.97 3657.06 3734.88 1447.12 3554.06 0 0 0 30.00 30.00 15.85

568.93 1156 -146.63 -1.36 0.00 3696.6 3657.9 3735.2 1447.5 3554.2 50.51 -11.14 110 575.14 0.00 0.00 3.41 0.000 0.000 0.038 3696.34 3657.00 3735.69 1447.38 2054.00 0 0 0 30.00 30.00 15.93

763.92 292 -146.63 -1.36 80.00 3696.8 3657.8 3735.9 1447.7 2053.9 69.26 -9.57 130 770.27 0.00 0.00 3.64 0.000 0.000 0.093 3696.53 3657.38 3735.69 1447.25 3554.12 0 0 0 30.00 30.00 15.91

911.85 1028 -146.63 -1.36 0.00 3697.0 3657.9 3736.2 1447.4 3554.1 86.24 -11.68 159 922.98 0.00 0.00 3.53 0.000 0.000 0.040 3697.34 3657.69 3737.00 1447.00 2053.06 0 0 0 30.00 30.00 15.22

1111.41 292 -146.63 -1.36 80.00 3697.2 3657.8 3736.6 1446.9 2053.3 106.26 -9.65 180 1117.96 0.00 0.00 3.67 0.000 0.000 0.093 3662.03 3587.19 3736.88 1446.94 3555.88 0 0 0 30.00 30.00 15.81

1218.87 1028 -146.63 -1.36 0.00 3697.3 3658.2 3736.5 1447.4 3554.9 117.79 -11.07 200 1225.86 0.00 0.00 3.44 0.000 0.000 0.038 3698.19 3659.31 3737.06 1447.69 2054.62 0 0 0 30.00 30.00 15.85

1409.49 292 -146.63 -1.36 80.00 3697.5 3657.4 3737.7 1447.2 2053.5 135.24 -9.00 219 1419.46 0.00 0.00 3.68 0.000 0.000 0.094 3697.25 3658.38 3736.12 1447.62 3555.00 0 0 0 30.00 30.00 15.81

1543 end dive: TARGET_DEPTH_EXCEEDED

state 1543 begin apogee

1548.73 10243 0.00 -0.38 0.00 3697.3 3658.2 3736.4 1447.1 2054.9 150.24 -11.49 246 1661.55 102.44 1.70 0.10 1.136 0.147 0.168 3100.38 3020.25 3180.50 1695.44 2120.38 0 0 0 11.07 15.77 15.60

1663 end apogee: CONTROL_FINISHED_OK

state 1663 begin climb

1663.44 10759 146.63 1.51 -80.00 3096.8 3016.2 3177.4 1695.6 2121.2 154.03 0.00 257 1790.51 107.57 3.00 3.84 1.082 0.097 0.110 2499.91 2393.38 2606.44 2155.25 620.62 0 0 0 11.25 15.59 15.48

1794.06 1156 146.63 1.45 0.00 2496.1 2393.2 2599.0 2156.4 620.5 145.51 10.27 281 1800.41 0.00 0.00 3.51 0.000 0.000 0.039 2493.44 2390.50 2596.38 2156.12 2118.44 0 0 0 30.00 30.00 15.58

1988.98 20871 146.63 1.40 80.00 2492.8 2392.4 2593.2 2156.2 2118.2 124.15 10.86 301 1996.66 0.00 0.28 3.55 0.000 0.177 0.101 2494.12 2393.69 2594.56 2118.81 3552.31 0 0 0 30.00 15.68 15.72

2087.46 17542 146.63 1.35 0.00 2492.5 2392.8 2592.2 2118.9 3552.8 113.48 10.81 320 2093.87 0.00 0.00 3.43 0.000 0.000 0.039 2490.34 2389.50 2591.19 2118.88 2054.94 0 0 0 30.00 30.00 15.81

2277.80 8226 159.68 1.36 0.00 2491.1 2391.9 2590.3 2119.2 2055.2 95.29 9.40 339 2290.62 10.85 0.00 0.00 0.967 0.000 0.000 2445.72 2345.50 2545.94 2119.00 2054.81 0 0 0 10.91 30.00 30.00

2477.73 8486 194.91 1.41 80.00 2444.7 2345.9 2543.4 2119.4 2054.8 78.01 8.37 359 2514.94 27.82 0.00 3.72 1.035 0.000 0.100 2300.94 2193.69 2408.19 2119.50 3554.00 0 0 0 11.07 30.00 15.75

2614.59 1028 194.91 1.41 0.00 2299.8 2195.3 2404.2 2119.0 3554.2 64.90 10.15 386 2621.57 0.00 0.00 3.45 0.000 0.000 0.039 2299.72 2194.62 2404.81 2118.88 2055.69 0 0 0 30.00 30.00 15.78

2805.43 8486 222.17 1.44 80.00 2297.5 2193.5 2401.5 2119.1 2056.0 47.98 8.74 407 2837.27 21.44 0.00 3.73 0.989 0.000 0.100 2190.47 2078.69 2302.25 2119.31 3556.38 0 0 0 11.02 30.00 15.77

2885.68 9254 226.44 1.45 0.00 2189.6 2079.9 2299.2 2119.0 3556.8 40.48 9.80 423 2898.30 5.41 0.00 3.45 0.753 0.000 0.039 2172.81 2064.12 2281.50 2119.06 2054.94 0 0 0 11.23 30.00 15.83

3081.70 10535 274.41 1.51 80.00 2171.6 2063.1 2280.1 2119.4 2055.1 23.83 7.78 462 3129.53 35.76 0.21 3.72 0.985 0.080 0.100 1977.12 1862.62 2091.62 2161.31 3553.56 0 0 0 10.99 15.82 15.73

3177.87 1028 274.41 1.51 0.00 1975.8 1862.4 2089.1 2161.2 3553.8 14.45 10.48 481 3185.11 0.00 0.00 3.45 0.000 0.000 0.040 1978.06 1864.44 2091.69 2161.00 2054.44 0 0 0 30.00 30.00 15.79

3366.55 10663 399.41 1.73 80.00 1973.1 1861.5 2084.8 2161.2 2054.0 2.03 4.21 518 3371.21 3.24 0.26 0.00 0.504 0.079 0.000 1972.62 1861.00 2084.25 2215.94 2054.94 0 0 0 11.07 15.81 30.00

3372 end climb: SURFACE_DEPTH_REACHED

state 3372 begin surface coast

3427 end surface coast: CONTROL_FINISHED_OK

state 3427 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	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	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	54.426151	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	105.69682	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	230623,071832,4736.410,-12256.372,1,1.2,5,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,072340,4736.423,-12256.363,2,1.0,16,15.4	MHEAD_RNG_PITCHd_Wd	196.5,1032,-17.6,-10.000,-21.21,2209,0.122
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000307

MODEM_MSG	CACST,8,1,20230623072500.725577,18,4964,30,0170,0000,216,03,03,01,03,-1,-01,-01,2,3,1,0,150,1.3,3.00,-100,0.00,-01,0.00,64,925,0025,0,-1,00,00*08	_24V_AH	14.80,86.017
NAV	1687507151,111.9,start	_10V_AH	14.81,0.000
NET	CACST,8,0,20230623080739.077182,18,32767,45,0103,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,9.9,6.59,-100,-3.59,-01,-0.13,67,10000,5000,0,-1,00,00*45	FG_AHR_24Vo	105.858
NET_PING	1687507660,29,654.975037,9.900000,-0.871653	FG_AHR_10Vo	54.483
FINISH	1.5,1.019624	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3680.01,217.04,0.945,0,666.7,549.9,783.6,596.88	MEM2	945760,25,100928,69
SM_GC	1.40,217.04,12.74,0.10,0.945,0.066,0.121,666.7,549.9,783.6,191.0,2122.7,0,0,0,11.09,15.80,15.85	DATA_FILE_SIZE	12933,530
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	198458,0
IRIDIUM_FIX	4735.53,-12254.47,230623,061220	SDSIZE	3887104,3869216
TCM_TEMP	12.64	SDFILEDIR	152,16
SC_FREEKB	3874176	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-1	SOUNDSPEED	1465.0
MODEM	0,1687503600,47.60500,-122.95000,0.655,959.3	MAGCAL	1.000000,0.013792,0.025357,0.007631,1.036579,0.085280,0.003202,-0.121915,0.839540,63.8,-1244.5,-751.1,35,0.0464,0
RAFOS_FIX	4736.155273,-12256.758789,230623,070700,4,255,8.75	IMPLIED_C_PITCH	1784,13.06,255,0.0,0.00
HUMID	56.83	IMPLIED_C_VBD	2893,37.710545,255,0
TEMP	10.57	GPS	230623,082632,4736.147,-12256.512,31,0.6,32,15.4
INTERNAL_PRESSURE	10.3334

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	666	1135	11198.71	nil	0	0	0.00
Pitch_motor	27	243	99.88	nil	0	0	0.00
Roll_motor	71	168	178.44	nil	0	0	0.00
Iridium	166	171	422.70	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	25	15	5.66	nil	0	0	0.00
Core	2320	5	175.94	SciCon	3435	7	374.22
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1415	0	6.71
Compass	1118	5	82.83
RAFOS	1016	40	601.88
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
7	end surface: CONTROL_FINISHED_OK
state	7	begin dive
7.71	16386	-146.63	-1.51	0.00	495.6	389.9	601.3	189.8	2050.6	0.00	0.00	0	107.29	96.00	0.00	0.00	0.005	0.000	0.000	2518.91	2471.50	2566.31	189.69	2050.62	0	0	0	15.86	30.00	30.00
107.58	18727	-146.63	-1.51	80.00	2520.1	2472.4	2567.8	189.7	2050.2	3.12	-5.88	19	166.80	38.51	9.34	3.69	0.005	0.243	0.098	3696.88	3657.44	3736.31	1420.19	3555.25	0	0	0	15.89	15.63	15.77
180.08	3237	-146.63	-1.40	0.00	3696.4	3658.0	3734.9	1420.4	3555.0	8.56	-9.26	33	189.39	0.00	0.19	3.44	0.000	0.196	0.039	3695.72	3656.62	3734.81	1447.19	2054.00	0	0	0	30.00	15.71	15.83
373.39	292	-146.63	-1.40	80.00	3696.6	3657.8	3735.4	1447.4	2054.8	28.66	-9.86	71	380.52	0.00	0.00	3.65	0.000	0.000	0.094	3695.97	3657.06	3734.88	1447.12	3554.06	0	0	0	30.00	30.00	15.85
568.93	1156	-146.63	-1.36	0.00	3696.6	3657.9	3735.2	1447.5	3554.2	50.51	-11.14	110	575.14	0.00	0.00	3.41	0.000	0.000	0.038	3696.34	3657.00	3735.69	1447.38	2054.00	0	0	0	30.00	30.00	15.93
763.92	292	-146.63	-1.36	80.00	3696.8	3657.8	3735.9	1447.7	2053.9	69.26	-9.57	130	770.27	0.00	0.00	3.64	0.000	0.000	0.093	3696.53	3657.38	3735.69	1447.25	3554.12	0	0	0	30.00	30.00	15.91
911.85	1028	-146.63	-1.36	0.00	3697.0	3657.9	3736.2	1447.4	3554.1	86.24	-11.68	159	922.98	0.00	0.00	3.53	0.000	0.000	0.040	3697.34	3657.69	3737.00	1447.00	2053.06	0	0	0	30.00	30.00	15.22
1111.41	292	-146.63	-1.36	80.00	3697.2	3657.8	3736.6	1446.9	2053.3	106.26	-9.65	180	1117.96	0.00	0.00	3.67	0.000	0.000	0.093	3662.03	3587.19	3736.88	1446.94	3555.88	0	0	0	30.00	30.00	15.81
1218.87	1028	-146.63	-1.36	0.00	3697.3	3658.2	3736.5	1447.4	3554.9	117.79	-11.07	200	1225.86	0.00	0.00	3.44	0.000	0.000	0.038	3698.19	3659.31	3737.06	1447.69	2054.62	0	0	0	30.00	30.00	15.85
1409.49	292	-146.63	-1.36	80.00	3697.5	3657.4	3737.7	1447.2	2053.5	135.24	-9.00	219	1419.46	0.00	0.00	3.68	0.000	0.000	0.094	3697.25	3658.38	3736.12	1447.62	3555.00	0	0	0	30.00	30.00	15.81
1543	end dive: TARGET_DEPTH_EXCEEDED
state	1543	begin apogee
1548.73	10243	0.00	-0.38	0.00	3697.3	3658.2	3736.4	1447.1	2054.9	150.24	-11.49	246	1661.55	102.44	1.70	0.10	1.136	0.147	0.168	3100.38	3020.25	3180.50	1695.44	2120.38	0	0	0	11.07	15.77	15.60
1663	end apogee: CONTROL_FINISHED_OK
state	1663	begin climb
1663.44	10759	146.63	1.51	-80.00	3096.8	3016.2	3177.4	1695.6	2121.2	154.03	0.00	257	1790.51	107.57	3.00	3.84	1.082	0.097	0.110	2499.91	2393.38	2606.44	2155.25	620.62	0	0	0	11.25	15.59	15.48
1794.06	1156	146.63	1.45	0.00	2496.1	2393.2	2599.0	2156.4	620.5	145.51	10.27	281	1800.41	0.00	0.00	3.51	0.000	0.000	0.039	2493.44	2390.50	2596.38	2156.12	2118.44	0	0	0	30.00	30.00	15.58
1988.98	20871	146.63	1.40	80.00	2492.8	2392.4	2593.2	2156.2	2118.2	124.15	10.86	301	1996.66	0.00	0.28	3.55	0.000	0.177	0.101	2494.12	2393.69	2594.56	2118.81	3552.31	0	0	0	30.00	15.68	15.72
2087.46	17542	146.63	1.35	0.00	2492.5	2392.8	2592.2	2118.9	3552.8	113.48	10.81	320	2093.87	0.00	0.00	3.43	0.000	0.000	0.039	2490.34	2389.50	2591.19	2118.88	2054.94	0	0	0	30.00	30.00	15.81
2277.80	8226	159.68	1.36	0.00	2491.1	2391.9	2590.3	2119.2	2055.2	95.29	9.40	339	2290.62	10.85	0.00	0.00	0.967	0.000	0.000	2445.72	2345.50	2545.94	2119.00	2054.81	0	0	0	10.91	30.00	30.00
2477.73	8486	194.91	1.41	80.00	2444.7	2345.9	2543.4	2119.4	2054.8	78.01	8.37	359	2514.94	27.82	0.00	3.72	1.035	0.000	0.100	2300.94	2193.69	2408.19	2119.50	3554.00	0	0	0	11.07	30.00	15.75
2614.59	1028	194.91	1.41	0.00	2299.8	2195.3	2404.2	2119.0	3554.2	64.90	10.15	386	2621.57	0.00	0.00	3.45	0.000	0.000	0.039	2299.72	2194.62	2404.81	2118.88	2055.69	0	0	0	30.00	30.00	15.78
2805.43	8486	222.17	1.44	80.00	2297.5	2193.5	2401.5	2119.1	2056.0	47.98	8.74	407	2837.27	21.44	0.00	3.73	0.989	0.000	0.100	2190.47	2078.69	2302.25	2119.31	3556.38	0	0	0	11.02	30.00	15.77
2885.68	9254	226.44	1.45	0.00	2189.6	2079.9	2299.2	2119.0	3556.8	40.48	9.80	423	2898.30	5.41	0.00	3.45	0.753	0.000	0.039	2172.81	2064.12	2281.50	2119.06	2054.94	0	0	0	11.23	30.00	15.83
3081.70	10535	274.41	1.51	80.00	2171.6	2063.1	2280.1	2119.4	2055.1	23.83	7.78	462	3129.53	35.76	0.21	3.72	0.985	0.080	0.100	1977.12	1862.62	2091.62	2161.31	3553.56	0	0	0	10.99	15.82	15.73
3177.87	1028	274.41	1.51	0.00	1975.8	1862.4	2089.1	2161.2	3553.8	14.45	10.48	481	3185.11	0.00	0.00	3.45	0.000	0.000	0.040	1978.06	1864.44	2091.69	2161.00	2054.44	0	0	0	30.00	30.00	15.79
3366.55	10663	399.41	1.73	80.00	1973.1	1861.5	2084.8	2161.2	2054.0	2.03	4.21	518	3371.21	3.24	0.26	0.00	0.504	0.079	0.000	1972.62	1861.00	2084.25	2215.94	2054.94	0	0	0	11.07	15.81	30.00
3372	end climb: SURFACE_DEPTH_REACHED
state	3372	begin surface coast
3427	end surface coast: CONTROL_FINISHED_OK
state	3427	begin surface