Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 19 * 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 19 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 54.65723 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 106.36247 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 54.65723 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 106.36247 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 19 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 230623,112132,4736.637,-12256.394,5,0.8,27,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -49.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,112443,4736.640,-12256.414,2,0.6,5,15.4 MHEAD_RNG_PITCHd_Wd 185.3,1365,-17.6,-10.000,-21.21,2209,0.146

SPEED_LIMITS 0.173,0.258 D_GRID 169

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,8,0,20230623112500.875024,18,3656,29,0194,0000,246,03,03,01,03,1,029,121,0,5,1,0,150,3.6,7.65,-100,-4.65,-01,0.00,66,925,0025,0,1,00,00*2A _24V_AH 14.80,86.791

NAV 1687521541,115.9,start _10V_AH 14.79,0.000

NET CACST,8,0,20230623120742.217404,18,29392,44,0091,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,17.0,5.91,-100,-2.91,-01,-0.11,65,10000,5000,0,-1,00,00*76 FG_AHR_24Vo 106.523

NET_PING 1687522065,29,759.348022,17.000000,-1.010519 FG_AHR_10Vo 54.713

FINISH 1.5,1.020139 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3525.51,180.10,0.941,0,667.0,544.3,789.6,596.82 MEM2 945756,25,100932,69

SM_GC 1.52,180.10,12.43,0.10,0.941,0.057,0.120,667.0,544.3,789.6,192.3,2121.6,0,0,0,11.15,15.71,15.74 DATA_FILE_SIZE 12955,517

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 202992,0

IRIDIUM_FIX 4738.33,-12256.21,230623,102440 SDSIZE 3887104,3867936

TCM_TEMP 12.61 SDFILEDIR 184,20

SC_FREEKB 3872896 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 0,1687518000,47.60500,-122.95000,0.923,1352.6 MAGCAL 1.000000,0.003808,0.025827,0.006572,1.027020,-0.056471,0.041780,-0.029067,0.971592,64.7,-1138.9,-842.5,33,0.0378,0

RAFOS_FIX 4736.482422,-12257.368164,230623,111100,3,255,72.16 IMPLIED_C_PITCH 1776,12.93,255,0.0,0.00

HUMID 56.97 IMPLIED_C_VBD 2894,31.855036,255,0

TEMP 10.48 GPS 230623,122424,4736.273,-12256.532,2,0.9,3,15.4

INTERNAL_PRESSURE 10.3238

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 671 1124 11181.64 nil 0 0 0.00

Pitch_motor 27 239 96.50 nil 0 0 0.00

Roll_motor 79 161 189.50 nil 0 0 0.00

Iridium 120 166 295.79 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.12 nil 0 0 0.00

Core 2250 5 170.40 SciCon 3320 7 355.31

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1254 0 5.94

Compass 1088 5 80.53

RAFOS 835 40 494.30

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 0.00 496.1 389.6 602.6 188.4 2120.1 0.00 0.00 0 117.68 106.04 0.00 0.00 0.005 0.000 0.000 2680.72 2633.44 2728.00 188.50 2120.19 0 0 0 15.84 30.00 30.00

117.98 18983 -146.63 -1.51 -80.00 2679.8 2632.6 2727.0 188.3 2120.6 3.30 -1.94 21 169.83 31.05 9.37 3.74 0.006 0.240 0.105 3696.38 3657.62 3735.12 1419.25 618.06 0 0 0 14.62 15.62 15.74

268.10 1156 -146.63 -1.45 0.00 3696.7 3658.5 3734.9 1419.3 617.8 21.90 -14.25 50 274.14 0.00 0.00 3.48 0.000 0.000 0.039 3696.44 3658.00 3734.88 1419.31 2117.38 0 0 0 30.00 30.00 15.89

458.16 260 -146.63 -1.45 80.00 3696.8 3658.4 3735.1 1419.4 2117.6 42.86 -10.69 88 464.24 0.00 0.00 3.58 0.000 0.000 0.097 3696.97 3658.25 3735.69 1419.88 3553.69 0 0 0 30.00 30.00 15.87

618.26 3205 -146.63 -1.40 0.00 3696.8 3658.1 3735.5 1419.6 3554.2 62.35 -12.62 120 624.68 0.00 0.21 3.40 0.000 0.182 0.038 3696.09 3657.56 3734.62 1449.50 2052.62 0 0 0 30.00 15.84 15.95

807.80 292 -146.63 -1.40 80.00 3697.1 3658.4 3735.8 1449.5 2051.5 80.59 -9.58 140 819.03 0.00 0.00 3.84 0.000 0.000 0.093 3698.22 3658.62 3737.81 1449.19 3552.62 0 0 0 30.00 30.00 15.23

939.50 1028 -146.63 -1.40 0.00 3696.9 3658.4 3735.4 1449.0 3552.4 95.40 -11.91 166 945.44 0.00 0.00 3.45 0.000 0.000 0.037 3697.66 3658.75 3736.56 1449.12 2053.44 0 0 0 30.00 30.00 15.79

1143.79 292 -146.63 -1.40 80.00 3697.1 3657.9 3736.3 1449.2 2053.4 114.11 -9.00 186 1153.33 0.00 0.00 3.77 0.000 0.000 0.093 3697.19 3658.56 3735.81 1449.19 3552.81 0 0 0 30.00 30.00 15.79

1282.47 1028 -146.63 -1.40 0.00 3696.9 3657.9 3735.9 1449.6 3552.4 129.76 -10.86 214 1288.96 0.00 0.00 3.42 0.000 0.000 0.037 3698.38 3659.69 3737.06 1449.25 2054.06 0 0 0 30.00 30.00 15.86

1477.64 420 -146.63 -1.43 80.00 3697.3 3658.2 3736.3 1449.0 2053.6 148.02 -9.24 234 1485.14 0.00 0.00 3.74 0.000 0.000 0.094 3697.53 3659.44 3735.62 1448.88 3554.44 0 0 0 30.00 30.00 15.84

1498 end dive: TARGET_DEPTH_EXCEEDED

state 1498 begin apogee

1504.02 10243 0.00 -0.38 0.00 3697.2 3658.2 3736.2 1449.4 2054.8 150.21 -9.69 238 1616.88 102.75 1.70 0.10 1.124 0.148 0.161 3100.56 3019.00 3182.12 1695.25 2121.94 0 0 0 11.08 15.77 15.61

1618 end apogee: CONTROL_FINISHED_OK

state 1618 begin climb

1618.78 10759 146.63 1.51 -80.00 3097.7 3017.1 3178.2 1696.6 2122.6 153.92 0.00 249 1745.93 107.82 3.02 3.83 1.079 0.095 0.109 2498.34 2393.94 2602.75 2157.12 619.31 0 0 0 11.36 15.60 15.49

1803.61 5253 146.63 1.41 0.00 2494.5 2394.0 2595.0 2156.4 619.0 138.65 12.92 284 1810.79 0.00 0.26 3.52 0.000 0.191 0.039 2494.28 2393.06 2595.50 2124.25 2117.50 0 0 0 30.00 15.58 15.66

1997.35 8486 151.72 1.42 80.00 2492.6 2392.3 2592.9 2123.9 2117.1 119.31 9.76 304 2010.11 5.16 0.00 3.61 0.715 0.000 0.102 2476.56 2376.31 2576.81 2123.69 3555.69 0 0 0 11.13 30.00 15.76

2071.74 1156 151.72 1.37 0.00 2478.4 2379.4 2577.3 2124.1 3554.9 110.85 11.70 317 2078.15 0.00 0.00 3.44 0.000 0.000 0.037 2477.97 2380.06 2575.88 2123.38 2054.75 0 0 0 30.00 30.00 15.81

2266.72 8486 171.68 1.39 80.00 2477.8 2379.3 2576.3 2123.6 2055.2 92.69 9.08 337 2293.36 17.09 0.00 3.79 0.976 0.000 0.098 2396.75 2293.50 2500.00 2123.31 3553.56 0 0 0 11.00 30.00 15.77

2366.81 1156 171.68 1.35 0.00 2395.3 2294.1 2496.4 2123.3 3553.9 82.49 10.75 357 2373.23 0.00 0.00 3.42 0.000 0.000 0.037 2391.62 2290.56 2492.69 2123.19 2054.88 0 0 0 30.00 30.00 15.83

2561.79 8486 203.49 1.39 80.00 2394.8 2293.4 2496.1 2123.6 2054.8 64.99 8.53 377 2595.61 25.00 0.00 3.78 0.982 0.000 0.098 2266.66 2156.69 2376.62 2122.25 3552.44 0 0 0 11.18 30.00 15.76

2643.19 1028 203.49 1.39 0.00 2264.8 2157.8 2371.9 2122.9 3552.3 56.95 10.34 393 2650.18 0.00 0.00 3.43 0.000 0.000 0.038 2266.09 2159.44 2372.75 2123.44 2054.88 0 0 0 30.00 30.00 15.81

2834.06 8486 231.60 1.43 80.00 2263.2 2157.6 2368.7 2123.4 2054.9 40.09 8.70 423 2866.70 21.93 0.00 3.80 0.964 0.000 0.098 2152.12 2041.62 2262.62 2123.50 3552.69 0 0 0 10.95 30.00 15.77

2920.09 1060 233.19 1.43 0.00 2151.1 2040.8 2261.4 2123.5 3552.6 32.01 9.93 440 2926.25 0.00 0.00 3.45 0.000 0.000 0.038 2150.88 2041.12 2260.62 2122.94 2054.31 0 0 0 30.00 30.00 15.83

3110.22 10663 278.46 1.52 80.00 2149.5 2041.0 2258.0 2123.8 2055.1 16.13 7.90 478 3156.09 34.81 0.20 3.81 0.958 0.079 0.098 1961.19 1847.25 2075.12 2165.06 3552.50 0 0 0 10.99 15.84 15.72

3254.51 9254 334.85 1.59 0.00 1958.6 1847.2 2069.9 2164.8 3552.4 3.85 7.39 506 3303.05 40.13 0.00 3.44 0.938 0.000 0.038 1737.69 1618.75 1856.62 2165.50 2055.19 0 0 0 11.18 30.00 15.81

3304 end climb: SURFACE_DEPTH_REACHED

state 3304 begin surface coast

3312 end surface coast: CONTROL_FINISHED_OK

state 3312 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	19	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	54.65723	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	106.36247	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	230623,112132,4736.637,-12256.394,5,0.8,27,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-49.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,112443,4736.640,-12256.414,2,0.6,5,15.4	MHEAD_RNG_PITCHd_Wd	185.3,1365,-17.6,-10.000,-21.21,2209,0.146
SPEED_LIMITS	0.173,0.258	D_GRID	169
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,8,0,20230623112500.875024,18,3656,29,0194,0000,246,03,03,01,03,1,029,121,0,5,1,0,150,3.6,7.65,-100,-4.65,-01,0.00,66,925,0025,0,1,00,00*2A	_24V_AH	14.80,86.791
NAV	1687521541,115.9,start	_10V_AH	14.79,0.000
NET	CACST,8,0,20230623120742.217404,18,29392,44,0091,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,17.0,5.91,-100,-2.91,-01,-0.11,65,10000,5000,0,-1,00,00*76	FG_AHR_24Vo	106.523
NET_PING	1687522065,29,759.348022,17.000000,-1.010519	FG_AHR_10Vo	54.713
FINISH	1.5,1.020139	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3525.51,180.10,0.941,0,667.0,544.3,789.6,596.82	MEM2	945756,25,100932,69
SM_GC	1.52,180.10,12.43,0.10,0.941,0.057,0.120,667.0,544.3,789.6,192.3,2121.6,0,0,0,11.15,15.71,15.74	DATA_FILE_SIZE	12955,517
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	202992,0
IRIDIUM_FIX	4738.33,-12256.21,230623,102440	SDSIZE	3887104,3867936
TCM_TEMP	12.61	SDFILEDIR	184,20
SC_FREEKB	3872896	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	0,1687518000,47.60500,-122.95000,0.923,1352.6	MAGCAL	1.000000,0.003808,0.025827,0.006572,1.027020,-0.056471,0.041780,-0.029067,0.971592,64.7,-1138.9,-842.5,33,0.0378,0
RAFOS_FIX	4736.482422,-12257.368164,230623,111100,3,255,72.16	IMPLIED_C_PITCH	1776,12.93,255,0.0,0.00
HUMID	56.97	IMPLIED_C_VBD	2894,31.855036,255,0
TEMP	10.48	GPS	230623,122424,4736.273,-12256.532,2,0.9,3,15.4
INTERNAL_PRESSURE	10.3238

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	671	1124	11181.64	nil	0	0	0.00
Pitch_motor	27	239	96.50	nil	0	0	0.00
Roll_motor	79	161	189.50	nil	0	0	0.00
Iridium	120	166	295.79	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.12	nil	0	0	0.00
Core	2250	5	170.40	SciCon	3320	7	355.31
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1254	0	5.94
Compass	1088	5	80.53
RAFOS	835	40	494.30
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	496.1	389.6	602.6	188.4	2120.1	0.00	0.00	0	117.68	106.04	0.00	0.00	0.005	0.000	0.000	2680.72	2633.44	2728.00	188.50	2120.19	0	0	0	15.84	30.00	30.00
117.98	18983	-146.63	-1.51	-80.00	2679.8	2632.6	2727.0	188.3	2120.6	3.30	-1.94	21	169.83	31.05	9.37	3.74	0.006	0.240	0.105	3696.38	3657.62	3735.12	1419.25	618.06	0	0	0	14.62	15.62	15.74
268.10	1156	-146.63	-1.45	0.00	3696.7	3658.5	3734.9	1419.3	617.8	21.90	-14.25	50	274.14	0.00	0.00	3.48	0.000	0.000	0.039	3696.44	3658.00	3734.88	1419.31	2117.38	0	0	0	30.00	30.00	15.89
458.16	260	-146.63	-1.45	80.00	3696.8	3658.4	3735.1	1419.4	2117.6	42.86	-10.69	88	464.24	0.00	0.00	3.58	0.000	0.000	0.097	3696.97	3658.25	3735.69	1419.88	3553.69	0	0	0	30.00	30.00	15.87
618.26	3205	-146.63	-1.40	0.00	3696.8	3658.1	3735.5	1419.6	3554.2	62.35	-12.62	120	624.68	0.00	0.21	3.40	0.000	0.182	0.038	3696.09	3657.56	3734.62	1449.50	2052.62	0	0	0	30.00	15.84	15.95
807.80	292	-146.63	-1.40	80.00	3697.1	3658.4	3735.8	1449.5	2051.5	80.59	-9.58	140	819.03	0.00	0.00	3.84	0.000	0.000	0.093	3698.22	3658.62	3737.81	1449.19	3552.62	0	0	0	30.00	30.00	15.23
939.50	1028	-146.63	-1.40	0.00	3696.9	3658.4	3735.4	1449.0	3552.4	95.40	-11.91	166	945.44	0.00	0.00	3.45	0.000	0.000	0.037	3697.66	3658.75	3736.56	1449.12	2053.44	0	0	0	30.00	30.00	15.79
1143.79	292	-146.63	-1.40	80.00	3697.1	3657.9	3736.3	1449.2	2053.4	114.11	-9.00	186	1153.33	0.00	0.00	3.77	0.000	0.000	0.093	3697.19	3658.56	3735.81	1449.19	3552.81	0	0	0	30.00	30.00	15.79
1282.47	1028	-146.63	-1.40	0.00	3696.9	3657.9	3735.9	1449.6	3552.4	129.76	-10.86	214	1288.96	0.00	0.00	3.42	0.000	0.000	0.037	3698.38	3659.69	3737.06	1449.25	2054.06	0	0	0	30.00	30.00	15.86
1477.64	420	-146.63	-1.43	80.00	3697.3	3658.2	3736.3	1449.0	2053.6	148.02	-9.24	234	1485.14	0.00	0.00	3.74	0.000	0.000	0.094	3697.53	3659.44	3735.62	1448.88	3554.44	0	0	0	30.00	30.00	15.84
1498	end dive: TARGET_DEPTH_EXCEEDED
state	1498	begin apogee
1504.02	10243	0.00	-0.38	0.00	3697.2	3658.2	3736.2	1449.4	2054.8	150.21	-9.69	238	1616.88	102.75	1.70	0.10	1.124	0.148	0.161	3100.56	3019.00	3182.12	1695.25	2121.94	0	0	0	11.08	15.77	15.61
1618	end apogee: CONTROL_FINISHED_OK
state	1618	begin climb
1618.78	10759	146.63	1.51	-80.00	3097.7	3017.1	3178.2	1696.6	2122.6	153.92	0.00	249	1745.93	107.82	3.02	3.83	1.079	0.095	0.109	2498.34	2393.94	2602.75	2157.12	619.31	0	0	0	11.36	15.60	15.49
1803.61	5253	146.63	1.41	0.00	2494.5	2394.0	2595.0	2156.4	619.0	138.65	12.92	284	1810.79	0.00	0.26	3.52	0.000	0.191	0.039	2494.28	2393.06	2595.50	2124.25	2117.50	0	0	0	30.00	15.58	15.66
1997.35	8486	151.72	1.42	80.00	2492.6	2392.3	2592.9	2123.9	2117.1	119.31	9.76	304	2010.11	5.16	0.00	3.61	0.715	0.000	0.102	2476.56	2376.31	2576.81	2123.69	3555.69	0	0	0	11.13	30.00	15.76
2071.74	1156	151.72	1.37	0.00	2478.4	2379.4	2577.3	2124.1	3554.9	110.85	11.70	317	2078.15	0.00	0.00	3.44	0.000	0.000	0.037	2477.97	2380.06	2575.88	2123.38	2054.75	0	0	0	30.00	30.00	15.81
2266.72	8486	171.68	1.39	80.00	2477.8	2379.3	2576.3	2123.6	2055.2	92.69	9.08	337	2293.36	17.09	0.00	3.79	0.976	0.000	0.098	2396.75	2293.50	2500.00	2123.31	3553.56	0	0	0	11.00	30.00	15.77
2366.81	1156	171.68	1.35	0.00	2395.3	2294.1	2496.4	2123.3	3553.9	82.49	10.75	357	2373.23	0.00	0.00	3.42	0.000	0.000	0.037	2391.62	2290.56	2492.69	2123.19	2054.88	0	0	0	30.00	30.00	15.83
2561.79	8486	203.49	1.39	80.00	2394.8	2293.4	2496.1	2123.6	2054.8	64.99	8.53	377	2595.61	25.00	0.00	3.78	0.982	0.000	0.098	2266.66	2156.69	2376.62	2122.25	3552.44	0	0	0	11.18	30.00	15.76
2643.19	1028	203.49	1.39	0.00	2264.8	2157.8	2371.9	2122.9	3552.3	56.95	10.34	393	2650.18	0.00	0.00	3.43	0.000	0.000	0.038	2266.09	2159.44	2372.75	2123.44	2054.88	0	0	0	30.00	30.00	15.81
2834.06	8486	231.60	1.43	80.00	2263.2	2157.6	2368.7	2123.4	2054.9	40.09	8.70	423	2866.70	21.93	0.00	3.80	0.964	0.000	0.098	2152.12	2041.62	2262.62	2123.50	3552.69	0	0	0	10.95	30.00	15.77
2920.09	1060	233.19	1.43	0.00	2151.1	2040.8	2261.4	2123.5	3552.6	32.01	9.93	440	2926.25	0.00	0.00	3.45	0.000	0.000	0.038	2150.88	2041.12	2260.62	2122.94	2054.31	0	0	0	30.00	30.00	15.83
3110.22	10663	278.46	1.52	80.00	2149.5	2041.0	2258.0	2123.8	2055.1	16.13	7.90	478	3156.09	34.81	0.20	3.81	0.958	0.079	0.098	1961.19	1847.25	2075.12	2165.06	3552.50	0	0	0	10.99	15.84	15.72
3254.51	9254	334.85	1.59	0.00	1958.6	1847.2	2069.9	2164.8	3552.4	3.85	7.39	506	3303.05	40.13	0.00	3.44	0.938	0.000	0.038	1737.69	1618.75	1856.62	2165.50	2055.19	0	0	0	11.18	30.00	15.81
3304	end climb: SURFACE_DEPTH_REACHED
state	3304	begin surface coast
3312	end surface coast: CONTROL_FINISHED_OK
state	3312	begin surface