Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 2 * 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 2 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 2 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 593.79755 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 2920.6995 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 -1

ICE_FREEZE_MARGIN 0.07 C_PITCH 1727.9307 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 13.907644 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.455528 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 27.673586 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 2 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 42.455528 PHONE_SUPPLY 2 SM_CC 593.79755

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 27.673586 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 13.907644 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 1727.9307 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 2920.6995 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 2 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 -1 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 210623,173909,4736.434,-12256.555,1,0.9,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,174220,4736.431,-12256.568,2,0.9,4,15.4 MHEAD_RNG_PITCHd_Wd 177.1,936,-17.6,-10.000,-21.21,2209,0.145

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.000402,-0.174615,0.047175,0.983413,-0.025608,0.080065,-0.031732,1.089273,865.694885,-894.877747,-712.820007

TGT_LATLONG 4735.950,-12256.800 OSC 8000225

Post-dive calculations and measurements:

NET CACST,8,1,20230621184011.773249,18,530,27,0091,0096,37,02,02,00,02,-1,-01,-01,1,3,10285,0,150,11.9,0.47,-100,2.53,-01,0.87,63,10000,5000,0,-1,00,00*55 _24V_AH 15.07,31.306

NAV 1687372040,82.8,2,stop _10V_AH 15.00,0.000

MODEM_MSG CACST,8,1,20230621182004.283333,18,32767,45,0192,0000,07,01,01,00,01,-1,-01,-01,1,3,0,0,150,-14.9,0.61,-100,2.39,-01,0.04,29,925,0025,0,-1,00,00*14 FG_AHR_24Vo 27.846

NET_PING 1687372211,29,544.426514,14.500000,1029.275757 FG_AHR_10Vo 42.493

FREEZE 3.76,14.780,-1.443,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3909.24,140.51,0.961,0,500.8,393.9,607.7,593.43 MEM2 946416,23,100392,65

SM_GC 2.20,0.00,12.18,1.48,0.000,0.051,0.056,497.7,391.2,604.1,204.2,2013.4,0,0,0,30.00,15.61,15.64 DATA_FILE_SIZE 12949,534

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 200003,0

IRIDIUM_FIX 4736.87,-12256.21,210623,173631 SDSIZE 3887104,3869152

TCM_TEMP 14.23 SDFILEDIR 58,3

SC_FREEKB 3878144 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 1,1687371146,47.60500,-122.95000,146.066,216907.2 CURRENT 0.052, 40.5,1

RAFOS_FIX 4836.577148,-12257.000000,210623,181804,2,510,49.20 MAGCAL 1.000000,0.052292,-0.171131,0.015423,0.992865,0.009919,0.097313,-0.083476,1.014149,875.6,-918.3,-648.3,27,0.0380,1

HUMID 50.26 IMPLIED_C_PITCH 1730,13.41,276,1728.8,13.66

TEMP 11.22 IMPLIED_C_VBD 2843,45.567570,276,2882.0

INTERNAL_PRESSURE 8.23749 GPS 210623,185101,4736.150,-12256.619,34,0.9,35,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 672 1149 11638.18 nil 0 0 0.00

Pitch_motor 26 226 90.21 nil 0 0 0.00

Roll_motor 52 196 154.72 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 2186 5 167.96 SciCon 3758 6 373.51

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1719 0 8.26

Compass 1125 5 84.39

RAFOS 1698 40 1019.01

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

7.72 16386 -146.63 -1.45 0.00 497.2 395.3 599.0 202.6 1939.4 0.00 0.00 0 78.07 64.87 0.00 0.00 0.005 0.000 0.000 2029.09 1990.12 2068.06 202.50 1939.94 0 0 0 16.00 30.00 30.00

78.56 18983 -146.63 -1.45 -80.00 2029.0 1989.9 2068.0 202.7 1939.9 3.12 -2.78 13 149.58 45.43 8.56 3.45 0.005 0.226 0.122 3517.16 3480.94 3553.38 1377.62 509.00 0 0 0 16.01 15.72 15.84

378.31 1188 -146.63 -1.39 0.00 3516.8 3479.0 3554.7 1377.9 509.2 24.41 -7.12 71 386.07 0.00 0.00 3.42 0.000 0.000 0.050 3515.44 3477.06 3553.81 1379.00 2015.62 0 0 0 30.00 30.00 15.95

568.43 676 -146.63 -1.37 -80.00 3516.8 3477.9 3555.8 1378.6 2015.9 38.70 -8.06 108 576.35 0.00 0.00 3.62 0.000 0.000 0.117 3518.16 3478.94 3557.38 1378.69 511.62 0 0 0 30.00 30.00 15.91

669.98 3205 -146.63 -1.31 0.00 3516.7 3477.8 3555.6 1378.3 511.6 48.71 -10.22 128 678.05 0.00 0.20 3.39 0.000 0.166 0.050 3518.50 3482.44 3554.56 1412.50 2018.50 0 0 0 30.00 15.83 15.97

866.53 292 -146.63 -1.31 80.00 3517.1 3478.5 3555.7 1412.0 2018.0 65.21 -8.42 149 873.68 0.00 0.00 3.43 0.000 0.000 0.111 3517.94 3478.62 3557.25 1412.44 3449.81 0 0 0 30.00 30.00 15.94

946.49 1060 -146.63 -1.31 0.00 3517.3 3477.6 3557.1 1412.0 3449.8 72.84 -9.53 165 953.99 0.00 0.00 3.37 0.000 0.000 0.057 3517.88 3478.81 3556.94 1412.62 1948.81 0 0 0 30.00 30.00 15.98

1143.64 160 -146.63 -1.32 0.00 3517.7 3478.8 3556.6 1412.5 1949.3 89.88 -8.91 184 1145.39 0.00 0.00 0.00 0.000 0.000 0.000 3517.03 3478.00 3556.06 1412.56 1948.69 0 0 0 30.00 30.00 30.00

1333.66 420 -146.63 -1.34 80.00 3517.1 3478.3 3555.9 1412.8 1948.9 106.68 -9.01 203 1341.80 0.00 0.00 3.63 0.000 0.000 0.109 3516.41 3477.31 3555.50 1412.25 3448.12 0 0 0 30.00 30.00 15.89

1384.59 1060 -146.63 -1.34 0.00 3517.3 3478.4 3556.3 1412.6 3448.8 111.56 -9.51 213 1392.11 0.00 0.00 3.39 0.000 0.000 0.058 3518.34 3479.00 3557.69 1412.38 1949.06 0 0 0 30.00 30.00 15.92

1580.50 160 -146.63 -1.35 0.00 3517.2 3478.1 3556.2 1412.4 1948.9 128.02 -8.49 233 1582.25 0.00 0.00 0.00 0.000 0.000 0.000 3516.81 3478.25 3555.38 1412.38 1948.75 0 0 0 30.00 30.00 30.00

1770.51 420 -146.63 -1.37 80.00 3516.9 3477.8 3556.0 1412.6 1948.4 144.37 -8.56 252 1778.65 0.00 0.00 3.65 0.000 0.000 0.111 3518.12 3477.38 3558.88 1412.19 3447.81 0 0 0 30.00 30.00 15.87

1827.21 1060 -146.63 -1.37 0.00 3517.0 3477.4 3556.6 1412.6 3448.8 149.66 -9.53 263 1832.73 0.00 0.00 2.69 0.000 0.000 0.056 3518.47 3479.06 3557.88 1412.69 2254.25 0 0 0 30.00 30.00 15.93

1833 end dive: TARGET_DEPTH_EXCEEDED

state 1833 begin apogee

1835.84 10243 0.00 -0.36 0.00 3517.3 3477.9 3556.8 1412.6 1872.2 150.08 -9.54 264 1958.89 111.11 1.49 0.09 1.149 0.113 0.197 2921.81 2820.50 3023.12 1643.44 1934.94 0 0 0 11.01 15.81 15.60

1960 end apogee: CONTROL_FINISHED_OK

state 1960 begin climb

1960.53 10243 146.63 1.45 0.00 2918.3 2816.6 3020.1 1643.7 1934.4 153.57 0.00 276 2089.09 114.06 2.79 0.00 1.117 0.081 0.000 2323.75 2214.88 2432.62 2082.81 1934.44 0 0 0 11.01 15.63 30.00

2272.63 17030 146.63 1.42 -80.00 2314.0 2208.5 2419.6 2083.6 1934.7 124.55 11.48 310 2280.94 0.00 0.00 3.72 0.000 0.000 0.129 2315.47 2209.75 2421.19 2084.00 433.94 0 0 0 30.00 30.00 15.70

2333.80 21639 146.63 1.34 0.00 2312.4 2207.4 2417.3 2083.9 434.0 115.81 14.70 322 2341.83 0.00 0.31 3.44 0.000 0.167 0.052 2312.66 2207.62 2417.69 2046.06 1935.38 0 0 0 30.00 15.68 15.77

2529.48 8226 159.97 1.36 0.00 2312.2 2206.8 2417.6 2045.8 1936.6 95.95 9.38 342 2542.63 11.39 0.00 0.00 0.926 0.000 0.000 2268.81 2163.12 2374.50 2045.62 1936.94 0 0 0 11.02 30.00 30.00

2729.51 8226 176.79 1.38 0.00 2264.3 2160.1 2368.5 2045.8 1936.5 77.30 9.22 362 2749.01 14.76 0.00 0.00 0.969 0.000 0.000 2199.88 2092.25 2307.50 2045.38 1936.94 0 0 0 10.94 30.00 30.00

2939.52 8226 196.26 1.40 0.00 2196.7 2092.2 2301.1 2044.9 1936.9 57.90 9.10 383 2959.98 16.93 0.00 0.00 0.976 0.000 0.000 2119.50 2012.06 2226.94 2045.56 1936.94 0 0 0 10.79 30.00 30.00

3144.67 10403 220.43 1.45 0.00 2115.2 2010.0 2220.5 2045.4 1936.7 39.40 8.88 415 3169.80 20.17 0.22 0.00 0.981 0.064 0.000 2021.72 1914.69 2128.75 2095.88 1937.12 0 0 0 11.04 15.92 30.00

3354.48 516 220.43 1.45 -80.00 2016.8 1913.3 2120.2 2095.9 1936.6 17.72 10.11 457 3362.63 0.00 0.00 3.68 0.000 0.000 0.128 2016.44 1913.00 2119.88 2095.69 431.56 0 0 0 30.00 30.00 15.87

3416.25 5253 220.43 1.41 0.00 2015.5 1910.9 2120.1 2095.4 431.6 10.42 11.66 469 3424.39 0.00 0.25 3.44 0.000 0.162 0.052 2015.88 1912.00 2119.75 2061.00 1934.75 0 0 0 30.00 15.87 15.95

3609.39 10919 403.63 1.69 -80.00 2014.5 1910.0 2119.0 2061.1 1936.6 4.92 1.51 507 3755.25 132.87 0.49 1.39 0.999 0.049 0.104 1275.28 1166.38 1384.19 2153.94 1362.44 0 0 0 10.91 15.98 15.58

3755 end climb: NO_VERTICAL_VELOCITY

state 3755 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	2	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	2	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	593.79755	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	2920.6995	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	-1
ICE_FREEZE_MARGIN	0.07	C_PITCH	1727.9307	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	13.907644	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.455528	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	27.673586	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	210623,173909,4736.434,-12256.555,1,0.9,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,174220,4736.431,-12256.568,2,0.9,4,15.4	MHEAD_RNG_PITCHd_Wd	177.1,936,-17.6,-10.000,-21.21,2209,0.145
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.000402,-0.174615,0.047175,0.983413,-0.025608,0.080065,-0.031732,1.089273,865.694885,-894.877747,-712.820007
TGT_LATLONG	4735.950,-12256.800	OSC	8000225

NET	CACST,8,1,20230621184011.773249,18,530,27,0091,0096,37,02,02,00,02,-1,-01,-01,1,3,10285,0,150,11.9,0.47,-100,2.53,-01,0.87,63,10000,5000,0,-1,00,00*55	_24V_AH	15.07,31.306
NAV	1687372040,82.8,2,stop	_10V_AH	15.00,0.000
MODEM_MSG	CACST,8,1,20230621182004.283333,18,32767,45,0192,0000,07,01,01,00,01,-1,-01,-01,1,3,0,0,150,-14.9,0.61,-100,2.39,-01,0.04,29,925,0025,0,-1,00,00*14	FG_AHR_24Vo	27.846
NET_PING	1687372211,29,544.426514,14.500000,1029.275757	FG_AHR_10Vo	42.493
FREEZE	3.76,14.780,-1.443,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3909.24,140.51,0.961,0,500.8,393.9,607.7,593.43	MEM2	946416,23,100392,65
SM_GC	2.20,0.00,12.18,1.48,0.000,0.051,0.056,497.7,391.2,604.1,204.2,2013.4,0,0,0,30.00,15.61,15.64	DATA_FILE_SIZE	12949,534
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	200003,0
IRIDIUM_FIX	4736.87,-12256.21,210623,173631	SDSIZE	3887104,3869152
TCM_TEMP	14.23	SDFILEDIR	58,3
SC_FREEKB	3878144	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	1,1687371146,47.60500,-122.95000,146.066,216907.2	CURRENT	0.052, 40.5,1
RAFOS_FIX	4836.577148,-12257.000000,210623,181804,2,510,49.20	MAGCAL	1.000000,0.052292,-0.171131,0.015423,0.992865,0.009919,0.097313,-0.083476,1.014149,875.6,-918.3,-648.3,27,0.0380,1
HUMID	50.26	IMPLIED_C_PITCH	1730,13.41,276,1728.8,13.66
TEMP	11.22	IMPLIED_C_VBD	2843,45.567570,276,2882.0
INTERNAL_PRESSURE	8.23749	GPS	210623,185101,4736.150,-12256.619,34,0.9,35,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	672	1149	11638.18	nil	0	0	0.00
Pitch_motor	26	226	90.21	nil	0	0	0.00
Roll_motor	52	196	154.72	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	2186	5	167.96	SciCon	3758	6	373.51
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1719	0	8.26
Compass	1125	5	84.39
RAFOS	1698	40	1019.01
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
7.72	16386	-146.63	-1.45	0.00	497.2	395.3	599.0	202.6	1939.4	0.00	0.00	0	78.07	64.87	0.00	0.00	0.005	0.000	0.000	2029.09	1990.12	2068.06	202.50	1939.94	0	0	0	16.00	30.00	30.00
78.56	18983	-146.63	-1.45	-80.00	2029.0	1989.9	2068.0	202.7	1939.9	3.12	-2.78	13	149.58	45.43	8.56	3.45	0.005	0.226	0.122	3517.16	3480.94	3553.38	1377.62	509.00	0	0	0	16.01	15.72	15.84
378.31	1188	-146.63	-1.39	0.00	3516.8	3479.0	3554.7	1377.9	509.2	24.41	-7.12	71	386.07	0.00	0.00	3.42	0.000	0.000	0.050	3515.44	3477.06	3553.81	1379.00	2015.62	0	0	0	30.00	30.00	15.95
568.43	676	-146.63	-1.37	-80.00	3516.8	3477.9	3555.8	1378.6	2015.9	38.70	-8.06	108	576.35	0.00	0.00	3.62	0.000	0.000	0.117	3518.16	3478.94	3557.38	1378.69	511.62	0	0	0	30.00	30.00	15.91
669.98	3205	-146.63	-1.31	0.00	3516.7	3477.8	3555.6	1378.3	511.6	48.71	-10.22	128	678.05	0.00	0.20	3.39	0.000	0.166	0.050	3518.50	3482.44	3554.56	1412.50	2018.50	0	0	0	30.00	15.83	15.97
866.53	292	-146.63	-1.31	80.00	3517.1	3478.5	3555.7	1412.0	2018.0	65.21	-8.42	149	873.68	0.00	0.00	3.43	0.000	0.000	0.111	3517.94	3478.62	3557.25	1412.44	3449.81	0	0	0	30.00	30.00	15.94
946.49	1060	-146.63	-1.31	0.00	3517.3	3477.6	3557.1	1412.0	3449.8	72.84	-9.53	165	953.99	0.00	0.00	3.37	0.000	0.000	0.057	3517.88	3478.81	3556.94	1412.62	1948.81	0	0	0	30.00	30.00	15.98
1143.64	160	-146.63	-1.32	0.00	3517.7	3478.8	3556.6	1412.5	1949.3	89.88	-8.91	184	1145.39	0.00	0.00	0.00	0.000	0.000	0.000	3517.03	3478.00	3556.06	1412.56	1948.69	0	0	0	30.00	30.00	30.00
1333.66	420	-146.63	-1.34	80.00	3517.1	3478.3	3555.9	1412.8	1948.9	106.68	-9.01	203	1341.80	0.00	0.00	3.63	0.000	0.000	0.109	3516.41	3477.31	3555.50	1412.25	3448.12	0	0	0	30.00	30.00	15.89
1384.59	1060	-146.63	-1.34	0.00	3517.3	3478.4	3556.3	1412.6	3448.8	111.56	-9.51	213	1392.11	0.00	0.00	3.39	0.000	0.000	0.058	3518.34	3479.00	3557.69	1412.38	1949.06	0	0	0	30.00	30.00	15.92
1580.50	160	-146.63	-1.35	0.00	3517.2	3478.1	3556.2	1412.4	1948.9	128.02	-8.49	233	1582.25	0.00	0.00	0.00	0.000	0.000	0.000	3516.81	3478.25	3555.38	1412.38	1948.75	0	0	0	30.00	30.00	30.00
1770.51	420	-146.63	-1.37	80.00	3516.9	3477.8	3556.0	1412.6	1948.4	144.37	-8.56	252	1778.65	0.00	0.00	3.65	0.000	0.000	0.111	3518.12	3477.38	3558.88	1412.19	3447.81	0	0	0	30.00	30.00	15.87
1827.21	1060	-146.63	-1.37	0.00	3517.0	3477.4	3556.6	1412.6	3448.8	149.66	-9.53	263	1832.73	0.00	0.00	2.69	0.000	0.000	0.056	3518.47	3479.06	3557.88	1412.69	2254.25	0	0	0	30.00	30.00	15.93
1833	end dive: TARGET_DEPTH_EXCEEDED
state	1833	begin apogee
1835.84	10243	0.00	-0.36	0.00	3517.3	3477.9	3556.8	1412.6	1872.2	150.08	-9.54	264	1958.89	111.11	1.49	0.09	1.149	0.113	0.197	2921.81	2820.50	3023.12	1643.44	1934.94	0	0	0	11.01	15.81	15.60
1960	end apogee: CONTROL_FINISHED_OK
state	1960	begin climb
1960.53	10243	146.63	1.45	0.00	2918.3	2816.6	3020.1	1643.7	1934.4	153.57	0.00	276	2089.09	114.06	2.79	0.00	1.117	0.081	0.000	2323.75	2214.88	2432.62	2082.81	1934.44	0	0	0	11.01	15.63	30.00
2272.63	17030	146.63	1.42	-80.00	2314.0	2208.5	2419.6	2083.6	1934.7	124.55	11.48	310	2280.94	0.00	0.00	3.72	0.000	0.000	0.129	2315.47	2209.75	2421.19	2084.00	433.94	0	0	0	30.00	30.00	15.70
2333.80	21639	146.63	1.34	0.00	2312.4	2207.4	2417.3	2083.9	434.0	115.81	14.70	322	2341.83	0.00	0.31	3.44	0.000	0.167	0.052	2312.66	2207.62	2417.69	2046.06	1935.38	0	0	0	30.00	15.68	15.77
2529.48	8226	159.97	1.36	0.00	2312.2	2206.8	2417.6	2045.8	1936.6	95.95	9.38	342	2542.63	11.39	0.00	0.00	0.926	0.000	0.000	2268.81	2163.12	2374.50	2045.62	1936.94	0	0	0	11.02	30.00	30.00
2729.51	8226	176.79	1.38	0.00	2264.3	2160.1	2368.5	2045.8	1936.5	77.30	9.22	362	2749.01	14.76	0.00	0.00	0.969	0.000	0.000	2199.88	2092.25	2307.50	2045.38	1936.94	0	0	0	10.94	30.00	30.00
2939.52	8226	196.26	1.40	0.00	2196.7	2092.2	2301.1	2044.9	1936.9	57.90	9.10	383	2959.98	16.93	0.00	0.00	0.976	0.000	0.000	2119.50	2012.06	2226.94	2045.56	1936.94	0	0	0	10.79	30.00	30.00
3144.67	10403	220.43	1.45	0.00	2115.2	2010.0	2220.5	2045.4	1936.7	39.40	8.88	415	3169.80	20.17	0.22	0.00	0.981	0.064	0.000	2021.72	1914.69	2128.75	2095.88	1937.12	0	0	0	11.04	15.92	30.00
3354.48	516	220.43	1.45	-80.00	2016.8	1913.3	2120.2	2095.9	1936.6	17.72	10.11	457	3362.63	0.00	0.00	3.68	0.000	0.000	0.128	2016.44	1913.00	2119.88	2095.69	431.56	0	0	0	30.00	30.00	15.87
3416.25	5253	220.43	1.41	0.00	2015.5	1910.9	2120.1	2095.4	431.6	10.42	11.66	469	3424.39	0.00	0.25	3.44	0.000	0.162	0.052	2015.88	1912.00	2119.75	2061.00	1934.75	0	0	0	30.00	15.87	15.95
3609.39	10919	403.63	1.69	-80.00	2014.5	1910.0	2119.0	2061.1	1936.6	4.92	1.51	507	3755.25	132.87	0.49	1.39	0.999	0.049	0.104	1275.28	1166.38	1384.19	2153.94	1362.44	0	0	0	10.91	15.98	15.58
3755	end climb: NO_VERTICAL_VELOCITY
state	3755	begin surface