Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 16 * 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 16 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 2838.3799 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 1733.5972 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 13.354063 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 43.022118 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 29.720295 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 43.022118 PHONE_SUPPLY 2 SM_CC 574.84723

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 29.720295 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 13.354063 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 1733.5972 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 2838.3799 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 16 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 220623,065901,4736.415,-12256.345,39,0.9,40,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.72 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,070222,4736.418,-12256.326,3,0.9,4,15.4 MHEAD_RNG_PITCHd_Wd 204.0,1050,-17.6,-10.000,-21.21,2209,0.118

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000225

Post-dive calculations and measurements:

NAV 1687420745,9.8,start _24V_AH 15.01,33.609

NET CACST,8,0,20230622080032.245719,18,32767,45,0118,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,3.4,2.42,-100,0.58,-01,0.06,71,10000,5000,0,1,00,00*63 _10V_AH 15.00,0.000

NET_PING 1687420811,29,371.040009,4.700000,-0.492501 FG_AHR_24Vo 29.879

MODEM_MSG CACST,8,0,20230622072500.487938,18,32767,45,0333,0000,07,01,01,00,01,1,029,121,0,5,1,0,150,8.5,9.79,-100,-6.79,-01,-0.12,40,925,0025,0,1,00,00*00 FG_AHR_10Vo 43.075

WARN HSCICON missed fuel gauge read MEM0 60020,1,0,0

FREEZE 3.83,14.600,-1.483,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 944940,30,101708,66

SM_CCo 3903.66,0.16,0.145,0,499.4,402.0,596.8,573.66 DATA_FILE_SIZE 12933,531

SM_GC 3.13,0.16,12.41,0.11,0.145,0.051,0.134,499.4,402.0,596.8,198.5,2013.8,0,0,0,15.74,15.60,15.63 CAP_FILE_SIZE 183853,0

SUPER 19,71,254,1,0,0 SDSIZE 3887104,3865024

IRIDIUM_FIX 4735.53,-12254.47,220623,054955 SDFILEDIR 162,17

TCM_TEMP 14.18 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 0.026, 64.9,1

MODEM 1,1687417800,47.60500,-122.95000,0.578,812.5 MAGCAL 1.000000,-0.013692,-0.070478,-0.016642,1.077904,0.017518,0.130985,-0.234051,1.268628,768.8,-888.4,-858.3,33,0.0470,0

RAFOS_FIX 4736.232910,-12257.384766,220623,070700,3,255,1.01 IMPLIED_C_PITCH 1729,13.13,279,1731.3,13.24

HUMID 49.90 IMPLIED_C_VBD 2796,38.410419,279,2817.0

TEMP 11.06 GPS 220623,080836,4736.191,-12256.690,3,1.7,8,15.4

INTERNAL_PRESSURE 8.22815

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 651 1094 10700.65 nil 0 0 0.00

Pitch_motor 26 236 95.14 nil 0 0 0.00

Roll_motor 50 175 132.36 nil 0 0 0.00

Iridium 131 214 423.57 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.98 nil 0 0 0.00

Core 2420 5 185.93 SciCon 3698 8 465.39

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1503 0 7.22

Compass 1119 5 83.99

RAFOS 1651 40 990.63

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 -1.50 0.00 495.1 400.5 589.7 203.9 1943.1 0.00 0.00 0 53.35 42.16 0.00 0.00 0.005 0.000 0.000 1532.00 1500.00 1564.00 203.88 1943.69 0 0 0 15.91 30.00 30.00

53.79 18983 -146.63 -1.50 -80.00 1531.8 1499.3 1564.2 204.1 1943.9 3.28 -3.75 6 143.83 62.50 8.52 3.54 0.005 0.236 0.123 3433.97 3401.06 3466.88 1371.88 512.81 0 0 0 15.91 15.72 15.82

147.38 1188 -146.63 -1.40 0.00 3434.9 3401.1 3468.7 1371.5 512.8 7.46 -5.77 23 154.78 0.00 0.00 3.44 0.000 0.000 0.050 3434.03 3399.81 3468.25 1371.94 2018.25 0 0 0 30.00 30.00 15.87

338.28 2469 -146.63 -1.37 80.00 3435.7 3400.8 3470.6 1371.9 2018.9 24.23 -9.90 61 346.41 0.00 0.19 3.47 0.000 0.167 0.111 3437.78 3401.38 3474.19 1404.38 3446.25 0 0 0 30.00 15.85 15.88

443.18 1188 -146.63 -1.44 0.00 3436.1 3400.4 3471.8 1405.2 3445.7 33.92 -9.04 81 454.86 0.00 0.00 3.43 0.000 0.000 0.054 3436.91 3401.81 3472.00 1404.62 1949.00 0 0 0 30.00 30.00 15.87

638.49 292 -146.63 -1.44 80.00 3436.3 3400.0 3472.6 1405.2 1949.9 50.15 -8.51 120 646.78 0.00 0.00 3.68 0.000 0.000 0.105 3437.19 3400.62 3473.75 1404.62 3447.62 0 0 0 30.00 30.00 15.74

685.48 1188 -146.63 -1.43 0.00 3436.8 3400.9 3472.6 1405.2 3446.9 54.51 -9.36 129 692.47 0.00 0.00 3.44 0.000 0.000 0.054 3436.28 3399.81 3472.75 1405.06 1949.38 0 0 0 30.00 30.00 15.81

880.36 32 -146.63 -1.43 0.00 3437.4 3400.8 3474.0 1405.4 1949.5 70.90 -8.55 149 882.12 0.00 0.00 0.00 0.000 0.000 0.000 3436.69 3400.25 3473.12 1404.56 1948.62 0 0 0 30.00 30.00 30.00

1070.37 292 -146.63 -1.43 80.00 3436.9 3400.3 3473.4 1404.6 1949.6 87.41 -8.63 168 1077.81 0.00 0.00 3.66 0.000 0.000 0.107 3436.47 3400.00 3472.94 1405.38 3446.19 0 0 0 30.00 30.00 15.87

1180.83 1188 -146.63 -1.42 0.00 3437.5 3400.4 3474.6 1405.2 3445.6 97.83 -9.39 190 1188.44 0.00 0.00 3.44 0.000 0.000 0.055 3438.62 3401.81 3475.44 1404.88 1949.19 0 0 0 30.00 30.00 15.94

1376.44 32 -146.63 -1.42 0.00 3437.2 3400.0 3474.3 1404.9 1950.2 114.97 -8.59 210 1378.24 0.00 0.00 0.00 0.000 0.000 0.000 3436.38 3399.44 3473.31 1404.62 1949.81 0 0 0 30.00 30.00 30.00

1566.45 32 -146.63 -1.42 0.00 3437.3 3400.0 3474.7 1405.0 1949.8 131.04 -8.33 229 1568.24 0.00 0.00 0.00 0.000 0.000 0.000 3436.09 3399.50 3472.69 1405.19 1950.25 0 0 0 30.00 30.00 30.00

1756.48 292 -146.63 -1.42 80.00 3437.4 3400.1 3474.8 1405.2 1949.7 147.85 -9.14 248 1764.97 0.00 0.00 3.64 0.000 0.000 0.110 3437.91 3401.44 3474.38 1404.50 3447.12 0 0 0 30.00 30.00 15.99

1783 end dive: TARGET_DEPTH_EXCEEDED

state 1783 begin apogee

1791.13 10243 0.00 -0.37 0.00 3437.2 3399.6 3474.8 1404.9 1872.6 150.51 -9.47 253 1915.09 111.04 1.53 0.09 1.095 0.119 0.176 2837.31 2732.50 2942.12 1646.56 1938.38 0 0 0 11.47 15.95 15.65

1924 end apogee: CONTROL_FINISHED_OK

state 1924 begin climb

1924.80 10759 146.63 1.50 -80.00 2835.2 2731.0 2939.4 1646.4 1937.8 154.68 0.00 265 2062.91 113.54 2.86 3.84 1.061 0.085 0.130 2240.22 2132.62 2347.81 2100.69 434.62 0 0 0 11.60 15.68 15.50

2135.84 5253 146.63 1.42 0.00 2233.2 2126.3 2340.0 2101.8 434.6 132.70 16.28 304 2143.86 0.00 0.25 3.42 0.000 0.174 0.050 2235.44 2128.50 2342.38 2070.19 1935.56 0 0 0 30.00 15.68 15.73

2326.59 16514 146.63 1.41 0.00 2231.5 2125.2 2337.8 2070.2 1937.8 110.18 11.27 324 2328.38 0.00 0.00 0.00 0.000 0.000 0.000 2229.94 2123.88 2336.00 2070.31 1937.94 0 0 0 30.00 30.00 30.00

2511.27 16386 146.63 1.41 0.00 2230.7 2124.2 2337.1 2069.5 1938.2 90.10 10.47 342 2513.06 0.00 0.00 0.00 0.000 0.000 0.000 2229.88 2123.75 2336.00 2069.88 1938.00 0 0 0 30.00 30.00 30.00

2701.37 8226 151.68 1.41 0.00 2230.4 2124.6 2336.1 2070.0 1938.4 70.96 9.77 361 2707.68 4.97 0.00 0.00 0.597 0.000 0.000 2217.31 2110.69 2323.94 2069.88 1937.50 0 0 0 11.31 30.00 30.00

2896.37 8226 168.48 1.43 0.00 2218.6 2112.5 2324.8 2070.2 1937.8 52.67 9.22 381 2916.03 15.10 0.00 0.00 0.927 0.000 0.000 2151.97 2045.00 2258.94 2070.00 1937.75 0 0 0 11.41 30.00 30.00

3101.41 8226 190.54 1.46 0.00 2147.7 2041.4 2253.9 2069.5 1937.9 33.48 8.98 419 3123.18 18.81 0.00 0.00 0.932 0.000 0.000 2063.00 1955.06 2170.94 2069.56 1937.81 0 0 0 11.50 30.00 30.00

3306.85 10919 239.41 1.54 -80.00 2056.4 1951.1 2161.8 2069.1 1937.7 15.80 7.74 460 3357.64 37.88 0.25 3.80 0.942 0.059 0.130 1862.25 1753.88 1970.62 2126.19 434.00 0 0 0 11.45 15.99 15.80

3386.43 5253 239.41 1.50 0.00 1857.8 1749.1 1966.5 2127.6 434.1 8.17 11.01 473 3394.77 0.00 0.28 3.42 0.000 0.157 0.051 1857.44 1748.69 1966.19 2090.06 1937.38 0 0 0 30.00 15.81 15.87

3577.34 10663 447.29 1.82 80.00 1853.9 1745.9 1962.0 2090.6 1940.1 5.08 0.37 510 3690.54 103.81 0.55 0.00 0.933 0.046 0.000 1279.31 1172.56 1386.06 2191.38 1940.25 0 0 0 11.62 15.92 30.00

3691 end climb: NO_VERTICAL_VELOCITY

state 3691 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	16	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	2838.3799	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	1733.5972	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	13.354063	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	43.022118	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	29.720295	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	220623,065901,4736.415,-12256.345,39,0.9,40,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.72	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,070222,4736.418,-12256.326,3,0.9,4,15.4	MHEAD_RNG_PITCHd_Wd	204.0,1050,-17.6,-10.000,-21.21,2209,0.118
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000225

NAV	1687420745,9.8,start	_24V_AH	15.01,33.609
NET	CACST,8,0,20230622080032.245719,18,32767,45,0118,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,3.4,2.42,-100,0.58,-01,0.06,71,10000,5000,0,1,00,00*63	_10V_AH	15.00,0.000
NET_PING	1687420811,29,371.040009,4.700000,-0.492501	FG_AHR_24Vo	29.879
MODEM_MSG	CACST,8,0,20230622072500.487938,18,32767,45,0333,0000,07,01,01,00,01,1,029,121,0,5,1,0,150,8.5,9.79,-100,-6.79,-01,-0.12,40,925,0025,0,1,00,00*00	FG_AHR_10Vo	43.075
WARN	HSCICON missed fuel gauge read	MEM0	60020,1,0,0
FREEZE	3.83,14.600,-1.483,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	944940,30,101708,66
SM_CCo	3903.66,0.16,0.145,0,499.4,402.0,596.8,573.66	DATA_FILE_SIZE	12933,531
SM_GC	3.13,0.16,12.41,0.11,0.145,0.051,0.134,499.4,402.0,596.8,198.5,2013.8,0,0,0,15.74,15.60,15.63	CAP_FILE_SIZE	183853,0
SUPER	19,71,254,1,0,0	SDSIZE	3887104,3865024
IRIDIUM_FIX	4735.53,-12254.47,220623,054955	SDFILEDIR	162,17
TCM_TEMP	14.18	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	0.026, 64.9,1
MODEM	1,1687417800,47.60500,-122.95000,0.578,812.5	MAGCAL	1.000000,-0.013692,-0.070478,-0.016642,1.077904,0.017518,0.130985,-0.234051,1.268628,768.8,-888.4,-858.3,33,0.0470,0
RAFOS_FIX	4736.232910,-12257.384766,220623,070700,3,255,1.01	IMPLIED_C_PITCH	1729,13.13,279,1731.3,13.24
HUMID	49.90	IMPLIED_C_VBD	2796,38.410419,279,2817.0
TEMP	11.06	GPS	220623,080836,4736.191,-12256.690,3,1.7,8,15.4
INTERNAL_PRESSURE	8.22815

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	651	1094	10700.65	nil	0	0	0.00
Pitch_motor	26	236	95.14	nil	0	0	0.00
Roll_motor	50	175	132.36	nil	0	0	0.00
Iridium	131	214	423.57	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.98	nil	0	0	0.00
Core	2420	5	185.93	SciCon	3698	8	465.39
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1503	0	7.22
Compass	1119	5	83.99
RAFOS	1651	40	990.63
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	-1.50	0.00	495.1	400.5	589.7	203.9	1943.1	0.00	0.00	0	53.35	42.16	0.00	0.00	0.005	0.000	0.000	1532.00	1500.00	1564.00	203.88	1943.69	0	0	0	15.91	30.00	30.00
53.79	18983	-146.63	-1.50	-80.00	1531.8	1499.3	1564.2	204.1	1943.9	3.28	-3.75	6	143.83	62.50	8.52	3.54	0.005	0.236	0.123	3433.97	3401.06	3466.88	1371.88	512.81	0	0	0	15.91	15.72	15.82
147.38	1188	-146.63	-1.40	0.00	3434.9	3401.1	3468.7	1371.5	512.8	7.46	-5.77	23	154.78	0.00	0.00	3.44	0.000	0.000	0.050	3434.03	3399.81	3468.25	1371.94	2018.25	0	0	0	30.00	30.00	15.87
338.28	2469	-146.63	-1.37	80.00	3435.7	3400.8	3470.6	1371.9	2018.9	24.23	-9.90	61	346.41	0.00	0.19	3.47	0.000	0.167	0.111	3437.78	3401.38	3474.19	1404.38	3446.25	0	0	0	30.00	15.85	15.88
443.18	1188	-146.63	-1.44	0.00	3436.1	3400.4	3471.8	1405.2	3445.7	33.92	-9.04	81	454.86	0.00	0.00	3.43	0.000	0.000	0.054	3436.91	3401.81	3472.00	1404.62	1949.00	0	0	0	30.00	30.00	15.87
638.49	292	-146.63	-1.44	80.00	3436.3	3400.0	3472.6	1405.2	1949.9	50.15	-8.51	120	646.78	0.00	0.00	3.68	0.000	0.000	0.105	3437.19	3400.62	3473.75	1404.62	3447.62	0	0	0	30.00	30.00	15.74
685.48	1188	-146.63	-1.43	0.00	3436.8	3400.9	3472.6	1405.2	3446.9	54.51	-9.36	129	692.47	0.00	0.00	3.44	0.000	0.000	0.054	3436.28	3399.81	3472.75	1405.06	1949.38	0	0	0	30.00	30.00	15.81
880.36	32	-146.63	-1.43	0.00	3437.4	3400.8	3474.0	1405.4	1949.5	70.90	-8.55	149	882.12	0.00	0.00	0.00	0.000	0.000	0.000	3436.69	3400.25	3473.12	1404.56	1948.62	0	0	0	30.00	30.00	30.00
1070.37	292	-146.63	-1.43	80.00	3436.9	3400.3	3473.4	1404.6	1949.6	87.41	-8.63	168	1077.81	0.00	0.00	3.66	0.000	0.000	0.107	3436.47	3400.00	3472.94	1405.38	3446.19	0	0	0	30.00	30.00	15.87
1180.83	1188	-146.63	-1.42	0.00	3437.5	3400.4	3474.6	1405.2	3445.6	97.83	-9.39	190	1188.44	0.00	0.00	3.44	0.000	0.000	0.055	3438.62	3401.81	3475.44	1404.88	1949.19	0	0	0	30.00	30.00	15.94
1376.44	32	-146.63	-1.42	0.00	3437.2	3400.0	3474.3	1404.9	1950.2	114.97	-8.59	210	1378.24	0.00	0.00	0.00	0.000	0.000	0.000	3436.38	3399.44	3473.31	1404.62	1949.81	0	0	0	30.00	30.00	30.00
1566.45	32	-146.63	-1.42	0.00	3437.3	3400.0	3474.7	1405.0	1949.8	131.04	-8.33	229	1568.24	0.00	0.00	0.00	0.000	0.000	0.000	3436.09	3399.50	3472.69	1405.19	1950.25	0	0	0	30.00	30.00	30.00
1756.48	292	-146.63	-1.42	80.00	3437.4	3400.1	3474.8	1405.2	1949.7	147.85	-9.14	248	1764.97	0.00	0.00	3.64	0.000	0.000	0.110	3437.91	3401.44	3474.38	1404.50	3447.12	0	0	0	30.00	30.00	15.99
1783	end dive: TARGET_DEPTH_EXCEEDED
state	1783	begin apogee
1791.13	10243	0.00	-0.37	0.00	3437.2	3399.6	3474.8	1404.9	1872.6	150.51	-9.47	253	1915.09	111.04	1.53	0.09	1.095	0.119	0.176	2837.31	2732.50	2942.12	1646.56	1938.38	0	0	0	11.47	15.95	15.65
1924	end apogee: CONTROL_FINISHED_OK
state	1924	begin climb
1924.80	10759	146.63	1.50	-80.00	2835.2	2731.0	2939.4	1646.4	1937.8	154.68	0.00	265	2062.91	113.54	2.86	3.84	1.061	0.085	0.130	2240.22	2132.62	2347.81	2100.69	434.62	0	0	0	11.60	15.68	15.50
2135.84	5253	146.63	1.42	0.00	2233.2	2126.3	2340.0	2101.8	434.6	132.70	16.28	304	2143.86	0.00	0.25	3.42	0.000	0.174	0.050	2235.44	2128.50	2342.38	2070.19	1935.56	0	0	0	30.00	15.68	15.73
2326.59	16514	146.63	1.41	0.00	2231.5	2125.2	2337.8	2070.2	1937.8	110.18	11.27	324	2328.38	0.00	0.00	0.00	0.000	0.000	0.000	2229.94	2123.88	2336.00	2070.31	1937.94	0	0	0	30.00	30.00	30.00
2511.27	16386	146.63	1.41	0.00	2230.7	2124.2	2337.1	2069.5	1938.2	90.10	10.47	342	2513.06	0.00	0.00	0.00	0.000	0.000	0.000	2229.88	2123.75	2336.00	2069.88	1938.00	0	0	0	30.00	30.00	30.00
2701.37	8226	151.68	1.41	0.00	2230.4	2124.6	2336.1	2070.0	1938.4	70.96	9.77	361	2707.68	4.97	0.00	0.00	0.597	0.000	0.000	2217.31	2110.69	2323.94	2069.88	1937.50	0	0	0	11.31	30.00	30.00
2896.37	8226	168.48	1.43	0.00	2218.6	2112.5	2324.8	2070.2	1937.8	52.67	9.22	381	2916.03	15.10	0.00	0.00	0.927	0.000	0.000	2151.97	2045.00	2258.94	2070.00	1937.75	0	0	0	11.41	30.00	30.00
3101.41	8226	190.54	1.46	0.00	2147.7	2041.4	2253.9	2069.5	1937.9	33.48	8.98	419	3123.18	18.81	0.00	0.00	0.932	0.000	0.000	2063.00	1955.06	2170.94	2069.56	1937.81	0	0	0	11.50	30.00	30.00
3306.85	10919	239.41	1.54	-80.00	2056.4	1951.1	2161.8	2069.1	1937.7	15.80	7.74	460	3357.64	37.88	0.25	3.80	0.942	0.059	0.130	1862.25	1753.88	1970.62	2126.19	434.00	0	0	0	11.45	15.99	15.80
3386.43	5253	239.41	1.50	0.00	1857.8	1749.1	1966.5	2127.6	434.1	8.17	11.01	473	3394.77	0.00	0.28	3.42	0.000	0.157	0.051	1857.44	1748.69	1966.19	2090.06	1937.38	0	0	0	30.00	15.81	15.87
3577.34	10663	447.29	1.82	80.00	1853.9	1745.9	1962.0	2090.6	1940.1	5.08	0.37	510	3690.54	103.81	0.55	0.00	0.933	0.046	0.000	1279.31	1172.56	1386.06	2191.38	1940.25	0	0	0	11.62	15.92	30.00
3691	end climb: NO_VERTICAL_VELOCITY
state	3691	begin surface