Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 17 * 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 17 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 54.538483 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 106.03349 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 54.538483 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 106.03349 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 17 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 230623,091903,4735.980,-12256.692,2,0.8,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.41 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,092214,4735.964,-12256.685,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 359.0,1081,-17.6,-10.000,-21.21,2209,0.142

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N 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 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230623092500.490901,18,5991,37,0387,0000,216,02,02,00,02,-1,-01,-01,1,3,0,0,150,8.7,1.89,-100,1.11,-01,0.25,63,925,0025,0,-1,00,00*05 _24V_AH 14.81,86.410

NAV 1687514350,99.7,start _10V_AH 14.80,0.000

NET CACST,8,0,20230623100743.306677,18,32767,45,0114,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,11.1,7.86,-100,-4.86,-01,0.14,61,10000,5000,0,-1,00,00*54 FG_AHR_24Vo 106.196

NET_PING 1687514866,29,828.135010,11.100000,-1.102569 FG_AHR_10Vo 54.596

FINISH 1.5,1.019860 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3622.16,207.86,0.939,0,667.0,545.4,788.6,596.81 MEM2 945784,26,100884,69

SM_GC 1.53,207.86,12.37,0.10,0.939,0.061,0.121,667.0,545.4,788.6,192.1,2122.2,0,0,0,11.06,15.76,15.83 DATA_FILE_SIZE 12923,529

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 204701,0

IRIDIUM_FIX 4736.40,-12251.79,230623,082743 SDSIZE 3887104,3868576

TCM_TEMP 12.65 SDFILEDIR 168,18

SC_FREEKB 3873536 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687510800,47.60500,-122.95000,0.265,387.8 MAGCAL 1.000000,0.019928,0.059436,0.007551,1.017556,-0.048863,0.009051,-0.047239,0.974466,36.9,-1142.2,-846.2,28,0.0338,0

RAFOS_FIX 4736.549805,-12257.529297,230623,090900,4,255,9.11 IMPLIED_C_PITCH 1777,13.11,254,0.0,0.00

HUMID 56.96 IMPLIED_C_VBD 2895,30.774002,254,0

TEMP 10.55 GPS 230623,102334,4736.353,-12256.355,1,1.2,3,15.4

INTERNAL_PRESSURE 10.329

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 665 1145 11286.21 nil 0 0 0.00

Pitch_motor 27 244 98.46 nil 0 0 0.00

Roll_motor 79 165 194.20 nil 0 0 0.00

Iridium 122 158 286.77 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.90 nil 0 0 0.00

Core 2283 5 173.01 SciCon 3388 7 364.03

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1290 0 6.11

Compass 1108 5 82.04

RAFOS 997 40 590.57

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 0.00 495.6 389.6 601.6 184.7 2050.1 0.00 0.00 0 107.30 96.01 0.00 0.00 0.005 0.000 0.000 2520.66 2470.50 2570.81 184.69 2050.06 0 0 0 15.84 30.00 30.00

107.60 18727 -146.63 -1.51 80.00 2520.1 2469.6 2570.5 184.7 2049.9 3.23 -1.99 19 166.88 35.94 9.43 3.73 0.005 0.244 0.095 3696.38 3657.56 3735.19 1420.56 3556.12 0 0 0 15.88 15.62 15.76

215.14 1156 -146.63 -1.42 0.00 3696.8 3658.2 3735.2 1420.7 3556.5 16.68 -15.38 40 220.74 0.00 0.00 3.44 0.000 0.000 0.038 3696.44 3657.62 3735.25 1420.38 2055.06 0 0 0 30.00 30.00 15.81

403.77 260 -146.63 -1.42 80.00 3696.7 3657.8 3735.6 1420.3 2055.0 37.97 -10.82 77 415.00 0.00 0.00 3.84 0.000 0.000 0.090 3696.66 3658.31 3735.00 1420.38 3555.19 0 0 0 30.00 30.00 15.08

557.63 3205 -146.63 -1.36 0.00 3696.8 3657.8 3735.8 1420.4 3555.2 57.21 -12.25 108 564.60 0.00 0.26 3.43 0.000 0.174 0.037 3689.22 3642.44 3736.00 1456.44 2055.19 0 0 0 30.00 15.70 15.81

753.39 292 -146.63 -1.36 80.00 3696.8 3658.0 3735.5 1457.0 2055.6 76.29 -9.42 128 759.78 0.00 0.00 3.70 0.000 0.000 0.093 3696.25 3657.25 3735.25 1456.62 3555.31 0 0 0 30.00 30.00 15.84

868.36 1028 -146.63 -1.36 0.00 3696.6 3657.5 3735.7 1456.9 3555.0 88.74 -10.58 151 874.66 0.00 0.00 3.41 0.000 0.000 0.037 3656.75 3577.25 3736.25 1456.06 2053.94 0 0 0 30.00 30.00 15.92

1056.44 292 -146.63 -1.36 80.00 3697.3 3658.1 3736.5 1456.8 2053.5 105.64 -8.85 171 1063.06 0.00 0.00 3.71 0.000 0.000 0.092 3697.19 3657.69 3736.69 1456.75 3554.31 0 0 0 30.00 30.00 15.88

1185.67 1028 -146.63 -1.36 0.00 3697.0 3657.7 3736.2 1456.6 3554.2 119.59 -10.93 197 1192.66 0.00 0.00 3.41 0.000 0.000 0.038 3697.75 3658.38 3737.12 1456.94 2055.00 0 0 0 30.00 30.00 15.95

1375.81 420 -146.63 -1.40 80.00 3697.4 3657.9 3736.9 1456.9 2055.0 137.56 -9.27 216 1383.36 0.00 0.00 3.70 0.000 0.000 0.093 3696.59 3656.94 3736.25 1457.06 3556.25 0 0 0 30.00 30.00 15.89

1495 end dive: TARGET_DEPTH_EXCEEDED

state 1495 begin apogee

1500.85 10243 0.00 -0.38 0.00 3696.8 3657.0 3736.7 1456.8 2055.6 150.42 -11.10 239 1613.88 103.30 1.63 0.10 1.146 0.145 0.165 3098.50 3016.19 3180.81 1695.06 2122.31 0 0 0 11.20 15.76 15.61

1615 end apogee: CONTROL_FINISHED_OK

state 1615 begin climb

1615.78 10759 146.63 1.51 -80.00 3097.7 3015.9 3179.4 1694.3 2122.0 154.73 0.00 250 1742.81 107.88 3.02 3.85 1.085 0.096 0.109 2501.44 2395.44 2607.44 2155.94 620.75 0 0 0 11.34 15.61 15.46

1750.48 1156 146.63 1.44 0.00 2496.2 2392.9 2599.6 2156.1 620.9 146.06 10.36 275 1757.43 0.00 0.00 3.53 0.000 0.000 0.038 2496.75 2393.50 2600.00 2156.00 2118.19 0 0 0 30.00 30.00 15.57

1946.26 20871 146.63 1.39 80.00 2493.1 2392.2 2593.9 2157.3 2118.2 124.36 11.33 295 1953.94 0.00 0.30 3.58 0.000 0.179 0.099 2495.31 2394.62 2596.00 2116.81 3551.56 0 0 0 30.00 15.66 15.73

2056.62 17542 146.63 1.34 0.00 2492.6 2392.1 2593.1 2116.9 3551.6 111.98 10.98 317 2063.50 0.00 0.00 3.43 0.000 0.000 0.038 2495.22 2395.31 2595.12 2116.31 2057.06 0 0 0 30.00 30.00 15.83

2248.71 8486 157.74 1.35 80.00 2491.7 2392.2 2591.2 2116.4 2056.6 93.85 9.49 336 2265.94 9.52 0.00 3.75 0.964 0.000 0.098 2451.66 2350.94 2552.38 2116.75 3553.06 0 0 0 11.10 30.00 15.80

2294.38 1156 157.74 1.31 0.00 2453.9 2354.3 2553.4 2116.4 3553.1 89.17 10.48 345 2300.78 0.00 0.00 3.43 0.000 0.000 0.038 2451.44 2352.62 2550.25 2116.62 2057.62 0 0 0 30.00 30.00 15.84

2489.37 8486 189.26 1.35 80.00 2453.0 2354.4 2551.6 2117.2 2057.2 71.61 8.54 365 2523.24 25.08 0.00 3.77 1.034 0.000 0.098 2323.59 2218.69 2428.50 2116.44 3552.88 0 0 0 10.99 30.00 15.78

2606.61 1028 189.26 1.35 0.00 2323.5 2219.7 2427.3 2116.9 3553.0 60.40 10.00 388 2613.10 0.00 0.00 3.44 0.000 0.000 0.039 2321.50 2218.19 2424.81 2116.62 2058.38 0 0 0 30.00 30.00 15.82

2796.68 8486 224.47 1.40 80.00 2322.2 2218.6 2425.8 2117.2 2058.2 44.26 8.37 414 2834.61 27.07 0.00 3.77 1.022 0.000 0.099 2183.06 2071.31 2294.81 2116.44 3552.69 0 0 0 11.12 30.00 15.76

2908.00 9254 228.65 1.40 0.00 2179.4 2070.1 2288.7 2116.6 3553.1 33.88 9.81 436 2920.65 5.12 0.00 3.44 0.731 0.000 0.039 2167.62 2056.06 2279.19 2114.94 2057.19 0 0 0 11.26 30.00 15.81

3104.13 10663 280.73 1.50 80.00 2163.4 2054.1 2272.8 2116.5 2057.4 17.58 7.59 475 3152.81 38.58 0.22 3.78 0.984 0.079 0.099 1953.31 1838.94 2067.69 2161.25 3552.25 0 0 0 10.95 15.82 15.72

3181.20 9254 290.18 1.51 0.00 1949.9 1836.3 2063.6 2161.6 3552.9 10.62 9.56 490 3197.96 8.73 0.00 3.45 0.844 0.000 0.039 1914.19 1798.31 2030.06 2161.94 2055.50 0 0 0 11.25 30.00 15.78

3329 end climb: SURFACE_DEPTH_REACHED

state 3330 begin surface coast

3380 end surface coast: CONTROL_FINISHED_OK

state 3380 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	17	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	54.538483	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	106.03349	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	230623,091903,4735.980,-12256.692,2,0.8,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.41	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,092214,4735.964,-12256.685,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	359.0,1081,-17.6,-10.000,-21.21,2209,0.142
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	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	4736.530,-12256.470	OSC	8000266

MODEM_MSG	CACST,8,1,20230623092500.490901,18,5991,37,0387,0000,216,02,02,00,02,-1,-01,-01,1,3,0,0,150,8.7,1.89,-100,1.11,-01,0.25,63,925,0025,0,-1,00,00*05	_24V_AH	14.81,86.410
NAV	1687514350,99.7,start	_10V_AH	14.80,0.000
NET	CACST,8,0,20230623100743.306677,18,32767,45,0114,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,11.1,7.86,-100,-4.86,-01,0.14,61,10000,5000,0,-1,00,00*54	FG_AHR_24Vo	106.196
NET_PING	1687514866,29,828.135010,11.100000,-1.102569	FG_AHR_10Vo	54.596
FINISH	1.5,1.019860	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3622.16,207.86,0.939,0,667.0,545.4,788.6,596.81	MEM2	945784,26,100884,69
SM_GC	1.53,207.86,12.37,0.10,0.939,0.061,0.121,667.0,545.4,788.6,192.1,2122.2,0,0,0,11.06,15.76,15.83	DATA_FILE_SIZE	12923,529
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	204701,0
IRIDIUM_FIX	4736.40,-12251.79,230623,082743	SDSIZE	3887104,3868576
TCM_TEMP	12.65	SDFILEDIR	168,18
SC_FREEKB	3873536	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687510800,47.60500,-122.95000,0.265,387.8	MAGCAL	1.000000,0.019928,0.059436,0.007551,1.017556,-0.048863,0.009051,-0.047239,0.974466,36.9,-1142.2,-846.2,28,0.0338,0
RAFOS_FIX	4736.549805,-12257.529297,230623,090900,4,255,9.11	IMPLIED_C_PITCH	1777,13.11,254,0.0,0.00
HUMID	56.96	IMPLIED_C_VBD	2895,30.774002,254,0
TEMP	10.55	GPS	230623,102334,4736.353,-12256.355,1,1.2,3,15.4
INTERNAL_PRESSURE	10.329

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	665	1145	11286.21	nil	0	0	0.00
Pitch_motor	27	244	98.46	nil	0	0	0.00
Roll_motor	79	165	194.20	nil	0	0	0.00
Iridium	122	158	286.77	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.90	nil	0	0	0.00
Core	2283	5	173.01	SciCon	3388	7	364.03
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1290	0	6.11
Compass	1108	5	82.04
RAFOS	997	40	590.57
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	389.6	601.6	184.7	2050.1	0.00	0.00	0	107.30	96.01	0.00	0.00	0.005	0.000	0.000	2520.66	2470.50	2570.81	184.69	2050.06	0	0	0	15.84	30.00	30.00
107.60	18727	-146.63	-1.51	80.00	2520.1	2469.6	2570.5	184.7	2049.9	3.23	-1.99	19	166.88	35.94	9.43	3.73	0.005	0.244	0.095	3696.38	3657.56	3735.19	1420.56	3556.12	0	0	0	15.88	15.62	15.76
215.14	1156	-146.63	-1.42	0.00	3696.8	3658.2	3735.2	1420.7	3556.5	16.68	-15.38	40	220.74	0.00	0.00	3.44	0.000	0.000	0.038	3696.44	3657.62	3735.25	1420.38	2055.06	0	0	0	30.00	30.00	15.81
403.77	260	-146.63	-1.42	80.00	3696.7	3657.8	3735.6	1420.3	2055.0	37.97	-10.82	77	415.00	0.00	0.00	3.84	0.000	0.000	0.090	3696.66	3658.31	3735.00	1420.38	3555.19	0	0	0	30.00	30.00	15.08
557.63	3205	-146.63	-1.36	0.00	3696.8	3657.8	3735.8	1420.4	3555.2	57.21	-12.25	108	564.60	0.00	0.26	3.43	0.000	0.174	0.037	3689.22	3642.44	3736.00	1456.44	2055.19	0	0	0	30.00	15.70	15.81
753.39	292	-146.63	-1.36	80.00	3696.8	3658.0	3735.5	1457.0	2055.6	76.29	-9.42	128	759.78	0.00	0.00	3.70	0.000	0.000	0.093	3696.25	3657.25	3735.25	1456.62	3555.31	0	0	0	30.00	30.00	15.84
868.36	1028	-146.63	-1.36	0.00	3696.6	3657.5	3735.7	1456.9	3555.0	88.74	-10.58	151	874.66	0.00	0.00	3.41	0.000	0.000	0.037	3656.75	3577.25	3736.25	1456.06	2053.94	0	0	0	30.00	30.00	15.92
1056.44	292	-146.63	-1.36	80.00	3697.3	3658.1	3736.5	1456.8	2053.5	105.64	-8.85	171	1063.06	0.00	0.00	3.71	0.000	0.000	0.092	3697.19	3657.69	3736.69	1456.75	3554.31	0	0	0	30.00	30.00	15.88
1185.67	1028	-146.63	-1.36	0.00	3697.0	3657.7	3736.2	1456.6	3554.2	119.59	-10.93	197	1192.66	0.00	0.00	3.41	0.000	0.000	0.038	3697.75	3658.38	3737.12	1456.94	2055.00	0	0	0	30.00	30.00	15.95
1375.81	420	-146.63	-1.40	80.00	3697.4	3657.9	3736.9	1456.9	2055.0	137.56	-9.27	216	1383.36	0.00	0.00	3.70	0.000	0.000	0.093	3696.59	3656.94	3736.25	1457.06	3556.25	0	0	0	30.00	30.00	15.89
1495	end dive: TARGET_DEPTH_EXCEEDED
state	1495	begin apogee
1500.85	10243	0.00	-0.38	0.00	3696.8	3657.0	3736.7	1456.8	2055.6	150.42	-11.10	239	1613.88	103.30	1.63	0.10	1.146	0.145	0.165	3098.50	3016.19	3180.81	1695.06	2122.31	0	0	0	11.20	15.76	15.61
1615	end apogee: CONTROL_FINISHED_OK
state	1615	begin climb
1615.78	10759	146.63	1.51	-80.00	3097.7	3015.9	3179.4	1694.3	2122.0	154.73	0.00	250	1742.81	107.88	3.02	3.85	1.085	0.096	0.109	2501.44	2395.44	2607.44	2155.94	620.75	0	0	0	11.34	15.61	15.46
1750.48	1156	146.63	1.44	0.00	2496.2	2392.9	2599.6	2156.1	620.9	146.06	10.36	275	1757.43	0.00	0.00	3.53	0.000	0.000	0.038	2496.75	2393.50	2600.00	2156.00	2118.19	0	0	0	30.00	30.00	15.57
1946.26	20871	146.63	1.39	80.00	2493.1	2392.2	2593.9	2157.3	2118.2	124.36	11.33	295	1953.94	0.00	0.30	3.58	0.000	0.179	0.099	2495.31	2394.62	2596.00	2116.81	3551.56	0	0	0	30.00	15.66	15.73
2056.62	17542	146.63	1.34	0.00	2492.6	2392.1	2593.1	2116.9	3551.6	111.98	10.98	317	2063.50	0.00	0.00	3.43	0.000	0.000	0.038	2495.22	2395.31	2595.12	2116.31	2057.06	0	0	0	30.00	30.00	15.83
2248.71	8486	157.74	1.35	80.00	2491.7	2392.2	2591.2	2116.4	2056.6	93.85	9.49	336	2265.94	9.52	0.00	3.75	0.964	0.000	0.098	2451.66	2350.94	2552.38	2116.75	3553.06	0	0	0	11.10	30.00	15.80
2294.38	1156	157.74	1.31	0.00	2453.9	2354.3	2553.4	2116.4	3553.1	89.17	10.48	345	2300.78	0.00	0.00	3.43	0.000	0.000	0.038	2451.44	2352.62	2550.25	2116.62	2057.62	0	0	0	30.00	30.00	15.84
2489.37	8486	189.26	1.35	80.00	2453.0	2354.4	2551.6	2117.2	2057.2	71.61	8.54	365	2523.24	25.08	0.00	3.77	1.034	0.000	0.098	2323.59	2218.69	2428.50	2116.44	3552.88	0	0	0	10.99	30.00	15.78
2606.61	1028	189.26	1.35	0.00	2323.5	2219.7	2427.3	2116.9	3553.0	60.40	10.00	388	2613.10	0.00	0.00	3.44	0.000	0.000	0.039	2321.50	2218.19	2424.81	2116.62	2058.38	0	0	0	30.00	30.00	15.82
2796.68	8486	224.47	1.40	80.00	2322.2	2218.6	2425.8	2117.2	2058.2	44.26	8.37	414	2834.61	27.07	0.00	3.77	1.022	0.000	0.099	2183.06	2071.31	2294.81	2116.44	3552.69	0	0	0	11.12	30.00	15.76
2908.00	9254	228.65	1.40	0.00	2179.4	2070.1	2288.7	2116.6	3553.1	33.88	9.81	436	2920.65	5.12	0.00	3.44	0.731	0.000	0.039	2167.62	2056.06	2279.19	2114.94	2057.19	0	0	0	11.26	30.00	15.81
3104.13	10663	280.73	1.50	80.00	2163.4	2054.1	2272.8	2116.5	2057.4	17.58	7.59	475	3152.81	38.58	0.22	3.78	0.984	0.079	0.099	1953.31	1838.94	2067.69	2161.25	3552.25	0	0	0	10.95	15.82	15.72
3181.20	9254	290.18	1.51	0.00	1949.9	1836.3	2063.6	2161.6	3552.9	10.62	9.56	490	3197.96	8.73	0.00	3.45	0.844	0.000	0.039	1914.19	1798.31	2030.06	2161.94	2055.50	0	0	0	11.25	30.00	15.78
3329	end climb: SURFACE_DEPTH_REACHED
state	3330	begin surface coast
3380	end surface coast: CONTROL_FINISHED_OK
state	3380	begin surface