Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

MISSION 10 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 18 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 6

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 740.66125 ROLL_MAXERRORS 1 XPDR_INT 13

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT 0.5

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3519.4099 DEEPGLIDERMB 0

D_BOOST 3 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0040000002 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 230 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3900 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2212.4502 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 16.165585 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 1.0178494 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 5.1637597 SEABIRD_T_H 0.00062267116

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.1947648e-05

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

MASS 72024 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_G -9.9419231

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1.1375728

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0016241658

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002088599

HD_A 0.00281838 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0139236 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_MIN 1200 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 4000 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2750 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1.1375728

AH0_24V 575 D_PITCH 0 N_DIVES 30 SEABIRD_C_I -0.0016241658

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.0002088599

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0042874566

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00062267116

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 1.0178494 PHONE_SUPPLY 2 SM_CC 740.66125

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 5.1637597 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 16.165585 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.00281838 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0139236 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAX 3900 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 230 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 25 T_BOOST 0

COMPASS2_DEVICE -1 ID 235 PITCH_VBD_SHIFT 0.0040000002 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT 0.5 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 2212.4502 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022957686 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -158.29968 T_NO_W 120

C_ROLL_CLIMB 2750 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2750 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3519.4099 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72024 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 2 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 11 ROLL_MAX 4000 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 18 MISSION 10 ROLL_MIN 1200 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 3 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 7.0 XPDR_INT 13

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -9.9419231

Pre-dive calculations and measurements:

GPS1 210623,121909,4736.168,-12256.528,1,1.0,25,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

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

GPS2 210623,122441,4736.152,-12256.548,2,0.6,2,15.4 MHEAD_RNG_PITCHd_Wd 349.9,707,-19.3,-10.000,-24.09,2233,0.168

SPEED_LIMITS 0.100,0.224 D_GRID 169

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

TGT_LATLONG 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

MODEM_MSG CACST,8,2,20230621132500.459699,18,32767,45,0101,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*03 _24V_AH 15.00,6.171

NAV 1687354331,0.3,4,stop _10V_AH 15.00,0.000

NET xmit part outbox0013.n 1120 1 FG_AHR_24Vo 5.313

NET_PING 1687353160,29,436.401001,11.000000,66.425484 FG_AHR_10Vo 1.069

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

FREEZE 4.09,14.468,-1.475,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 944824,28,101804,69

SM_CCo 3900.66,246.88,0.749,0,501.2,408.8,593.6,740.27 DATA_FILE_SIZE 16111,565

SM_GC 1.82,0.00,16.90,0.09,0.000,0.054,0.155,496.6,408.2,584.9,217.4,2725.9,0,0,0,30.00,15.63,15.64 CAP_FILE_SIZE 208182,0

SUPER 19,71,254,1,0,0 SDSIZE 3918848,3901760

IRIDIUM_FIX 4738.33,-12256.21,210623,122025 SDFILEDIR 206,19

TCM_TEMP 13.47 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3872928 SOUNDSPEED 1465.0

RAFOS_CLK 0 CURRENT 0.029, 89.3,1

MODEM 0,1687348800,47.60500,-122.95000,0.307,450.3 MAGCAL 1.000000,0.012963,-0.147273,-0.090675,1.115406,0.070189,0.089675,-0.075574,1.002886,-770.4,-82.2,279.5,36,0.0536,0

RAFOS_FIX 4736.643066,-12257.000000,210623,131300,4,255,0.30 IMPLIED_C_PITCH 2209,16.54,263,2210.9,16.35

HUMID 49.47 IMPLIED_C_VBD 3524,28.048555,150,3521.6

TEMP 11.86 GPS 210623,133238,4736.394,-12256.407,1,0.7,3,15.4

INTERNAL_PRESSURE 8.51903

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 753 951 10754.54 nil 0 0 0.00

Pitch_motor 39 281 165.50 nil 0 0 0.00

Roll_motor 68 222 230.39 nil 0 0 0.00

Iridium 197 218 647.75 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 11 15 2.68 nil 0 0 0.00

Core 2391 5 183.69 SciCon 3655 8 463.27

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1674 0 8.04

Compass 1125 5 84.42

RAFOS 2464 40 1478.42

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

7.92 16386 -146.63 -1.78 0.00 498.5 418.9 578.2 216.4 2764.0 0.00 0.00 0 85.99 76.42 0.00 0.00 0.005 0.000 0.000 2220.91 2211.50 2230.31 216.25 2764.25 0 0 0 15.92 30.00 30.00

86.24 18727 -146.63 -1.78 80.00 2220.5 2210.2 2230.8 216.2 2763.6 3.42 -2.47 15 161.62 53.98 12.27 3.06 0.005 0.281 0.128 3958.69 3945.56 3971.81 1781.56 4009.62 0 0 0 15.95 15.78 15.89

389.79 19591 -146.63 -1.44 0.00 3961.3 3946.8 3975.8 1781.4 4009.4 32.42 -11.64 75 395.67 0.00 0.56 2.98 0.000 0.173 0.066 3962.47 3947.81 3977.12 1863.44 2725.31 0 0 0 30.00 15.96 16.02

580.58 19111 -146.63 -1.31 -80.00 3962.8 3946.8 3978.7 1864.3 2726.3 48.34 -7.68 112 587.55 0.00 0.19 3.58 0.000 0.169 0.124 3964.16 3948.19 3980.12 1893.50 1280.56 0 0 0 30.00 15.99 15.99

700.06 3237 -146.63 -1.19 0.00 3963.2 3946.6 3979.8 1895.2 1279.6 58.90 -9.16 136 706.63 0.00 0.19 3.39 0.000 0.179 0.059 3964.19 3947.81 3980.56 1925.19 2772.38 0 0 0 30.00 15.99 16.05

895.75 548 -146.63 -1.19 -80.00 3963.3 3946.8 3979.8 1926.0 2772.1 72.93 -7.57 156 901.94 0.00 0.00 3.69 0.000 0.000 0.122 3962.97 3947.69 3978.25 1925.50 1279.75 0 0 0 30.00 30.00 16.06

920.74 1060 -146.63 -1.19 0.00 3963.3 3946.9 3979.8 1925.8 1279.9 75.15 -8.04 161 926.83 0.00 0.00 3.38 0.000 0.000 0.060 3963.38 3947.69 3979.06 1926.12 2771.25 0 0 0 30.00 30.00 16.10

1109.08 548 -146.63 -1.19 -80.00 3963.1 3946.5 3979.6 1926.2 2771.4 90.19 -8.41 181 1115.96 0.00 0.00 3.70 0.000 0.000 0.123 3964.12 3947.00 3981.25 1926.56 1281.81 0 0 0 30.00 30.00 16.04

1144.12 1060 -146.63 -1.19 0.00 3963.3 3946.9 3979.7 1925.9 1281.4 93.71 -9.95 188 1150.38 0.00 0.00 3.39 0.000 0.000 0.061 3963.09 3945.56 3980.62 1925.62 2770.81 0 0 0 30.00 30.00 16.09

1339.17 548 -146.63 -1.19 -80.00 3963.6 3947.1 3980.1 1926.3 2771.1 109.62 -7.83 208 1345.60 0.00 0.00 3.61 0.000 0.000 0.124 3963.56 3945.94 3981.19 1926.31 1281.75 0 0 0 30.00 30.00 16.08

1414.18 1060 -146.63 -1.19 0.00 3963.5 3946.5 3980.6 1925.8 1281.6 116.58 -9.50 223 1420.44 0.00 0.00 3.38 0.000 0.000 0.062 3963.91 3947.50 3980.31 1925.94 2770.31 0 0 0 30.00 30.00 16.13

1609.28 676 -146.63 -1.23 -80.00 3963.7 3947.1 3980.3 1926.1 2770.3 132.14 -7.81 243 1615.55 0.00 0.00 3.60 0.000 0.000 0.125 3964.53 3947.00 3982.06 1923.12 1280.44 0 0 0 30.00 30.00 16.11

1657.50 1060 -146.63 -1.23 0.00 3963.4 3946.5 3980.4 1926.1 1280.4 136.55 -9.39 252 1668.33 0.00 0.00 3.38 0.000 0.000 0.063 3964.31 3947.50 3981.12 1924.31 2771.25 0 0 0 30.00 30.00 16.12

1827 end dive: TARGET_DEPTH_EXCEEDED

state 1827 begin apogee

1828.70 10243 0.00 -0.31 0.00 3964.1 3947.1 3981.1 1925.8 2725.2 150.17 -7.94 270 1911.37 75.82 1.42 0.08 0.952 0.129 0.223 3518.16 3455.56 3580.75 2139.69 2772.25 0 0 0 11.98 16.08 15.85

1921 end apogee: CONTROL_FINISHED_OK

state 1921 begin climb

1921.86 10503 146.63 1.78 80.00 3516.1 3451.7 3580.4 2139.1 2772.2 151.76 0.00 278 2051.49 106.22 3.22 3.11 0.907 0.079 0.120 2918.00 2836.19 2999.81 2650.69 4010.56 0 0 0 11.91 15.89 15.64

2079.75 5253 146.63 1.38 0.00 2913.6 2834.3 2992.8 2650.9 4012.2 136.06 18.09 306 2087.33 0.00 0.87 3.05 0.000 0.220 0.060 2913.78 2835.19 2992.38 2539.38 2725.44 0 0 0 30.00 15.67 15.74

2274.79 17030 146.63 1.29 -80.00 2909.6 2830.8 2988.4 2538.6 2725.9 109.39 12.78 326 2281.11 0.00 0.00 3.67 0.000 0.000 0.126 2913.28 2833.94 2992.62 2539.44 1280.06 0 0 0 30.00 30.00 15.84

2339.78 21639 146.63 1.11 0.00 2908.6 2830.0 2987.1 2539.6 1280.2 99.35 15.79 339 2346.34 0.00 0.44 3.42 0.000 0.207 0.059 2909.09 2830.50 2987.69 2475.94 2770.62 0 0 0 30.00 15.83 15.91

2534.82 2725 151.14 1.19 -80.00 2908.3 2829.8 2986.9 2474.9 2770.2 78.66 9.79 359 2541.34 0.00 0.19 3.64 0.000 0.085 0.125 2909.78 2831.75 2987.81 2511.06 1281.75 0 0 0 30.00 15.96 15.92

2679.81 5253 151.14 1.08 0.00 2907.9 2828.8 2986.9 2514.1 1281.9 60.08 12.78 388 2686.27 0.00 0.36 3.39 0.000 0.205 0.059 2907.66 2829.50 2985.81 2467.81 2773.56 0 0 0 30.00 15.91 15.99

2871.10 10403 199.47 1.37 0.00 2907.2 2828.2 2986.2 2468.6 2773.8 44.38 7.79 413 2917.61 39.24 0.50 0.00 0.796 0.062 0.000 2702.88 2611.62 2794.12 2556.12 2773.31 0 0 0 11.84 15.95 30.00

3100.99 16902 199.47 1.37 -80.00 2697.0 2609.0 2785.0 2555.5 2773.8 18.15 11.75 459 3108.22 0.00 0.00 3.79 0.000 0.000 0.123 2697.69 2609.69 2785.69 2556.44 1281.00 0 0 0 30.00 30.00 15.87

3291.43 11303 353.21 1.99 0.00 2696.4 2609.9 2782.9 2555.9 1280.9 6.65 2.96 497 3418.70 116.51 0.83 3.40 0.767 0.056 0.058 2077.88 1971.88 2183.88 2705.38 2776.00 0 0 0 11.96 15.94 15.96

3600.48 10919 569.57 2.90 -80.00 2066.1 1968.9 2163.4 2704.7 2777.1 4.38 0.09 557 3642.33 38.10 1.28 0.00 0.740 0.053 0.000 1877.66 1780.44 1974.88 2928.38 2777.44 0 0 0 11.87 15.85 30.00

3643 end climb: NO_VERTICAL_VELOCITY

state 3643 begin surface

ID	235	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
MISSION	10	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	18	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	6
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	740.66125	ROLL_MAXERRORS	1	XPDR_INT	13
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	0.5
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3519.4099	DEEPGLIDERMB	0
D_BOOST	3	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0040000002	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	230	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3900	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2212.4502	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	16.165585	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	1.0178494	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	5.1637597	SEABIRD_T_H	0.00062267116
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.1947648e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-158.29968	SEABIRD_T_J	2.2037441e-06
MASS	72024	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_G	-9.9419231
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1.1375728
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0016241658
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002088599
HD_A	0.00281838	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0139236	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_MIN	1200	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	4000	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2750	ALTIM_FREQUENCY	13

GPS1	210623,121909,4736.168,-12256.528,1,1.0,25,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,122441,4736.152,-12256.548,2,0.6,2,15.4	MHEAD_RNG_PITCHd_Wd	349.9,707,-19.3,-10.000,-24.09,2233,0.168
SPEED_LIMITS	0.100,0.224	D_GRID	169
TGT_NAME	N	IRON	1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018
TGT_LATLONG	4736.530,-12256.470	OSC	8000307

MODEM_MSG	CACST,8,2,20230621132500.459699,18,32767,45,0101,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*03	_24V_AH	15.00,6.171
NAV	1687354331,0.3,4,stop	_10V_AH	15.00,0.000
NET	xmit part outbox0013.n 1120 1	FG_AHR_24Vo	5.313
NET_PING	1687353160,29,436.401001,11.000000,66.425484	FG_AHR_10Vo	1.069
WARN	HSCICON missed fuel gauge read	MEM0	60020,1,0,0
FREEZE	4.09,14.468,-1.475,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	944824,28,101804,69
SM_CCo	3900.66,246.88,0.749,0,501.2,408.8,593.6,740.27	DATA_FILE_SIZE	16111,565
SM_GC	1.82,0.00,16.90,0.09,0.000,0.054,0.155,496.6,408.2,584.9,217.4,2725.9,0,0,0,30.00,15.63,15.64	CAP_FILE_SIZE	208182,0
SUPER	19,71,254,1,0,0	SDSIZE	3918848,3901760
IRIDIUM_FIX	4738.33,-12256.21,210623,122025	SDFILEDIR	206,19
TCM_TEMP	13.47	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3872928	SOUNDSPEED	1465.0
RAFOS_CLK	0	CURRENT	0.029, 89.3,1
MODEM	0,1687348800,47.60500,-122.95000,0.307,450.3	MAGCAL	1.000000,0.012963,-0.147273,-0.090675,1.115406,0.070189,0.089675,-0.075574,1.002886,-770.4,-82.2,279.5,36,0.0536,0
RAFOS_FIX	4736.643066,-12257.000000,210623,131300,4,255,0.30	IMPLIED_C_PITCH	2209,16.54,263,2210.9,16.35
HUMID	49.47	IMPLIED_C_VBD	3524,28.048555,150,3521.6
TEMP	11.86	GPS	210623,133238,4736.394,-12256.407,1,0.7,3,15.4
INTERNAL_PRESSURE	8.51903

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	753	951	10754.54	nil	0	0	0.00
Pitch_motor	39	281	165.50	nil	0	0	0.00
Roll_motor	68	222	230.39	nil	0	0	0.00
Iridium	197	218	647.75	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	11	15	2.68	nil	0	0	0.00
Core	2391	5	183.69	SciCon	3655	8	463.27
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1674	0	8.04
Compass	1125	5	84.42
RAFOS	2464	40	1478.42
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
7.92	16386	-146.63	-1.78	0.00	498.5	418.9	578.2	216.4	2764.0	0.00	0.00	0	85.99	76.42	0.00	0.00	0.005	0.000	0.000	2220.91	2211.50	2230.31	216.25	2764.25	0	0	0	15.92	30.00	30.00
86.24	18727	-146.63	-1.78	80.00	2220.5	2210.2	2230.8	216.2	2763.6	3.42	-2.47	15	161.62	53.98	12.27	3.06	0.005	0.281	0.128	3958.69	3945.56	3971.81	1781.56	4009.62	0	0	0	15.95	15.78	15.89
389.79	19591	-146.63	-1.44	0.00	3961.3	3946.8	3975.8	1781.4	4009.4	32.42	-11.64	75	395.67	0.00	0.56	2.98	0.000	0.173	0.066	3962.47	3947.81	3977.12	1863.44	2725.31	0	0	0	30.00	15.96	16.02
580.58	19111	-146.63	-1.31	-80.00	3962.8	3946.8	3978.7	1864.3	2726.3	48.34	-7.68	112	587.55	0.00	0.19	3.58	0.000	0.169	0.124	3964.16	3948.19	3980.12	1893.50	1280.56	0	0	0	30.00	15.99	15.99
700.06	3237	-146.63	-1.19	0.00	3963.2	3946.6	3979.8	1895.2	1279.6	58.90	-9.16	136	706.63	0.00	0.19	3.39	0.000	0.179	0.059	3964.19	3947.81	3980.56	1925.19	2772.38	0	0	0	30.00	15.99	16.05
895.75	548	-146.63	-1.19	-80.00	3963.3	3946.8	3979.8	1926.0	2772.1	72.93	-7.57	156	901.94	0.00	0.00	3.69	0.000	0.000	0.122	3962.97	3947.69	3978.25	1925.50	1279.75	0	0	0	30.00	30.00	16.06
920.74	1060	-146.63	-1.19	0.00	3963.3	3946.9	3979.8	1925.8	1279.9	75.15	-8.04	161	926.83	0.00	0.00	3.38	0.000	0.000	0.060	3963.38	3947.69	3979.06	1926.12	2771.25	0	0	0	30.00	30.00	16.10
1109.08	548	-146.63	-1.19	-80.00	3963.1	3946.5	3979.6	1926.2	2771.4	90.19	-8.41	181	1115.96	0.00	0.00	3.70	0.000	0.000	0.123	3964.12	3947.00	3981.25	1926.56	1281.81	0	0	0	30.00	30.00	16.04
1144.12	1060	-146.63	-1.19	0.00	3963.3	3946.9	3979.7	1925.9	1281.4	93.71	-9.95	188	1150.38	0.00	0.00	3.39	0.000	0.000	0.061	3963.09	3945.56	3980.62	1925.62	2770.81	0	0	0	30.00	30.00	16.09
1339.17	548	-146.63	-1.19	-80.00	3963.6	3947.1	3980.1	1926.3	2771.1	109.62	-7.83	208	1345.60	0.00	0.00	3.61	0.000	0.000	0.124	3963.56	3945.94	3981.19	1926.31	1281.75	0	0	0	30.00	30.00	16.08
1414.18	1060	-146.63	-1.19	0.00	3963.5	3946.5	3980.6	1925.8	1281.6	116.58	-9.50	223	1420.44	0.00	0.00	3.38	0.000	0.000	0.062	3963.91	3947.50	3980.31	1925.94	2770.31	0	0	0	30.00	30.00	16.13
1609.28	676	-146.63	-1.23	-80.00	3963.7	3947.1	3980.3	1926.1	2770.3	132.14	-7.81	243	1615.55	0.00	0.00	3.60	0.000	0.000	0.125	3964.53	3947.00	3982.06	1923.12	1280.44	0	0	0	30.00	30.00	16.11
1657.50	1060	-146.63	-1.23	0.00	3963.4	3946.5	3980.4	1926.1	1280.4	136.55	-9.39	252	1668.33	0.00	0.00	3.38	0.000	0.000	0.063	3964.31	3947.50	3981.12	1924.31	2771.25	0	0	0	30.00	30.00	16.12
1827	end dive: TARGET_DEPTH_EXCEEDED
state	1827	begin apogee
1828.70	10243	0.00	-0.31	0.00	3964.1	3947.1	3981.1	1925.8	2725.2	150.17	-7.94	270	1911.37	75.82	1.42	0.08	0.952	0.129	0.223	3518.16	3455.56	3580.75	2139.69	2772.25	0	0	0	11.98	16.08	15.85
1921	end apogee: CONTROL_FINISHED_OK
state	1921	begin climb
1921.86	10503	146.63	1.78	80.00	3516.1	3451.7	3580.4	2139.1	2772.2	151.76	0.00	278	2051.49	106.22	3.22	3.11	0.907	0.079	0.120	2918.00	2836.19	2999.81	2650.69	4010.56	0	0	0	11.91	15.89	15.64
2079.75	5253	146.63	1.38	0.00	2913.6	2834.3	2992.8	2650.9	4012.2	136.06	18.09	306	2087.33	0.00	0.87	3.05	0.000	0.220	0.060	2913.78	2835.19	2992.38	2539.38	2725.44	0	0	0	30.00	15.67	15.74
2274.79	17030	146.63	1.29	-80.00	2909.6	2830.8	2988.4	2538.6	2725.9	109.39	12.78	326	2281.11	0.00	0.00	3.67	0.000	0.000	0.126	2913.28	2833.94	2992.62	2539.44	1280.06	0	0	0	30.00	30.00	15.84
2339.78	21639	146.63	1.11	0.00	2908.6	2830.0	2987.1	2539.6	1280.2	99.35	15.79	339	2346.34	0.00	0.44	3.42	0.000	0.207	0.059	2909.09	2830.50	2987.69	2475.94	2770.62	0	0	0	30.00	15.83	15.91
2534.82	2725	151.14	1.19	-80.00	2908.3	2829.8	2986.9	2474.9	2770.2	78.66	9.79	359	2541.34	0.00	0.19	3.64	0.000	0.085	0.125	2909.78	2831.75	2987.81	2511.06	1281.75	0	0	0	30.00	15.96	15.92
2679.81	5253	151.14	1.08	0.00	2907.9	2828.8	2986.9	2514.1	1281.9	60.08	12.78	388	2686.27	0.00	0.36	3.39	0.000	0.205	0.059	2907.66	2829.50	2985.81	2467.81	2773.56	0	0	0	30.00	15.91	15.99
2871.10	10403	199.47	1.37	0.00	2907.2	2828.2	2986.2	2468.6	2773.8	44.38	7.79	413	2917.61	39.24	0.50	0.00	0.796	0.062	0.000	2702.88	2611.62	2794.12	2556.12	2773.31	0	0	0	11.84	15.95	30.00
3100.99	16902	199.47	1.37	-80.00	2697.0	2609.0	2785.0	2555.5	2773.8	18.15	11.75	459	3108.22	0.00	0.00	3.79	0.000	0.000	0.123	2697.69	2609.69	2785.69	2556.44	1281.00	0	0	0	30.00	30.00	15.87
3291.43	11303	353.21	1.99	0.00	2696.4	2609.9	2782.9	2555.9	1280.9	6.65	2.96	497	3418.70	116.51	0.83	3.40	0.767	0.056	0.058	2077.88	1971.88	2183.88	2705.38	2776.00	0	0	0	11.96	15.94	15.96
3600.48	10919	569.57	2.90	-80.00	2066.1	1968.9	2163.4	2704.7	2777.1	4.38	0.09	557	3642.33	38.10	1.28	0.00	0.740	0.053	0.000	1877.66	1780.44	1974.88	2928.38	2777.44	0	0	0	11.87	15.85	30.00
3643	end climb: NO_VERTICAL_VELOCITY
state	3643	begin surface