Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 20 * 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 20 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 572.39038 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 2833.4302 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

D_SAFE 0 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 3 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 6 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 6 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 12 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 3 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 400 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 400 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 700 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 220 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1729.9583 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 13.153952 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 43.235195 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 30.368839 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.0099999998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -182.53638 SEABIRD_T_J 4.3e-06

MASS 72380 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 195 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3800 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1980 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 30 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 43.235195 PHONE_SUPPLY 2 SM_CC 572.39038

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 30.368839 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 13.153952 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 1729.9583 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 2833.4302 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 20 MISSION 8 ROLL_MIN 195 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 3 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 220623,111532,4736.519,-12256.410,15,0.6,32,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,111851,4736.507,-12256.393,3,0.6,5,15.4 MHEAD_RNG_PITCHd_Wd 199.7,1150,-17.6,-10.000,-21.21,2209,0.157

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.469299,-818.692627,-706.311096

TGT_LATLONG 4735.950,-12256.800 OSC 8000225

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230622112000.868968,18,15705,29,0291,0000,216,03,03,02,03,-1,-01,-01,1,3,0,0,150,5.0,-0.99,-100,3.99,-01,0.03,50,925,0025,0,-1,00,00*1D _24V_AH 15.06,34.355

NAV 1687435147,96.1,start _10V_AH 15.00,0.000

NET CACST,8,0,20230622121032.338513,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,12.5,8.42,-100,-5.42,-01,-0.26,71,10000,5000,0,1,00,00*55 FG_AHR_24Vo 30.526

NET_PING 1687435817,29,516.841492,13.000000,-0.686825 FG_AHR_10Vo 43.293

FREEZE 4.66,13.610,-1.509,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3850.93,222.27,0.919,0,500.3,405.8,594.9,572.20 MEM2 944960,28,101728,66

SM_GC 2.43,0.00,12.31,0.28,0.000,0.049,0.078,496.8,402.9,590.8,200.4,2019.4,0,0,0,30.00,15.61,15.65 DATA_FILE_SIZE 12947,534

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 184267,0

IRIDIUM_FIX 4738.33,-12256.21,220623,102146 SDSIZE 3887104,3863744

TCM_TEMP 14.21 SDFILEDIR 194,21

SC_FREEKB 3872928 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 2,1687432800,47.60500,-122.95000,0.869,1273.0 CURRENT 0.034,171.6,1

RAFOS_FIX 4736.044922,-12257.042969,220623,111100,2,510,17.35 MAGCAL 1.000000,-0.004266,-0.033904,0.005644,1.079885,-0.031443,0.067085,-0.062914,0.979057,748.9,-870.2,-649.5,26,0.0372,0

HUMID 49.77 IMPLIED_C_PITCH 1738,13.43,271,1734.1,13.29

TEMP 11.41 IMPLIED_C_VBD 2827,32.011051,271,2830.1

INTERNAL_PRESSURE 8.23954 GPS 220623,122554,4736.255,-12256.729,2,0.7,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1095 10670.63 nil 0 0 0.00

Pitch_motor 26 232 92.66 nil 0 0 0.00

Roll_motor 56 169 145.67 nil 0 0 0.00

Iridium 129 196 382.59 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.06 nil 0 0 0.00

Core 2336 5 179.48 SciCon 3616 6 359.39

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1563 0 7.50

Compass 1114 5 83.62

RAFOS 897 40 538.56

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.52 16386 -146.63 -1.52 0.00 495.6 398.1 593.1 196.5 1939.6 0.00 0.00 0 59.38 47.83 0.00 0.00 0.005 0.000 0.000 1659.81 1634.44 1685.19 196.56 1939.94 0 0 0 14.98 30.00 30.00

59.81 18983 -146.63 -1.52 -80.00 1660.1 1634.0 1686.2 196.6 1940.2 3.34 -4.27 9 144.61 58.87 8.52 3.51 0.005 0.233 0.124 3429.25 3395.69 3462.81 1361.75 512.88 0 0 0 15.88 15.70 15.79

188.10 1156 -146.63 -1.44 0.00 3429.3 3395.1 3463.5 1361.8 512.8 11.89 -10.11 33 194.52 0.00 0.00 3.43 0.000 0.000 0.049 3429.31 3395.38 3463.25 1361.88 2011.12 0 0 0 30.00 30.00 15.87

378.17 2469 -146.63 -1.40 80.00 3430.7 3395.1 3466.2 1361.9 2017.4 29.20 -9.00 71 386.26 0.00 0.18 3.44 0.000 0.164 0.110 3431.62 3394.62 3468.62 1393.00 3449.69 0 0 0 30.00 15.85 15.87

614.97 1188 -146.63 -1.37 0.00 3431.2 3394.5 3467.9 1393.4 3449.4 51.18 -9.46 118 621.98 0.00 0.00 3.40 0.000 0.000 0.055 3431.34 3396.56 3466.12 1393.38 1948.69 0 0 0 30.00 30.00 15.98

807.85 292 -146.63 -1.37 80.00 3431.7 3394.6 3468.8 1393.8 1948.8 68.29 -8.80 138 821.59 0.00 0.00 3.67 0.000 0.000 0.105 3433.97 3397.38 3470.56 1393.88 3448.75 0 0 0 30.00 30.00 15.73

970.32 1188 -146.63 -1.35 0.00 3432.0 3394.9 3469.1 1393.7 3447.7 84.60 -9.82 170 977.34 0.00 0.00 3.41 0.000 0.000 0.053 3436.19 3396.25 3476.12 1393.50 1947.38 0 0 0 30.00 30.00 15.89

1165.20 32 -146.63 -1.35 0.00 3432.4 3395.6 3469.2 1393.7 1947.8 101.71 -8.68 190 1166.95 0.00 0.00 0.00 0.000 0.000 0.000 3431.38 3394.44 3468.31 1393.19 1947.69 0 0 0 30.00 30.00 30.00

1348.16 32 -146.63 -1.35 0.00 3432.5 3395.1 3469.8 1393.6 1947.8 117.21 -8.68 209 1349.94 0.00 0.00 0.00 0.000 0.000 0.000 3431.50 3393.88 3469.12 1393.19 1947.00 0 0 0 30.00 30.00 30.00

1532.38 292 -146.63 -1.35 80.00 3432.4 3395.4 3469.4 1393.2 1948.1 133.45 -8.88 227 1540.87 0.00 0.00 3.62 0.000 0.000 0.108 3431.03 3394.50 3467.56 1393.25 3447.19 0 0 0 30.00 30.00 15.96

1609.63 1188 -146.63 -1.34 0.00 3432.3 3395.3 3469.3 1393.3 3447.1 141.12 -9.98 242 1616.74 0.00 0.00 3.38 0.000 0.000 0.056 3432.28 3395.62 3468.94 1393.19 1948.56 0 0 0 30.00 30.00 16.01

1714 end dive: TARGET_DEPTH_EXCEEDED

state 1714 begin apogee

1716.12 10243 0.00 -0.38 0.00 3432.1 3395.3 3468.9 1393.4 1865.9 150.59 -9.04 253 1838.51 110.21 1.58 0.10 1.096 0.121 0.170 2832.97 2727.69 2938.25 1641.12 1937.31 0 0 0 11.43 15.94 15.65

1839 end apogee: CONTROL_FINISHED_OK

state 1840 begin climb

1840.21 10759 146.63 1.52 -80.00 2832.9 2728.4 2937.4 1641.4 1939.2 153.84 0.00 264 1975.87 113.75 2.91 3.80 1.061 0.088 0.130 2236.34 2128.06 2344.62 2100.19 433.88 0 0 0 11.45 15.66 15.49

2018.83 5253 146.63 1.44 0.00 2228.9 2122.4 2335.5 2102.3 433.9 137.72 15.36 296 2026.88 0.00 0.25 3.43 0.000 0.177 0.050 2231.16 2124.25 2338.06 2071.31 1936.50 0 0 0 30.00 15.62 15.68

2214.63 16514 146.63 1.43 0.00 2226.7 2121.5 2331.9 2072.0 1937.8 114.63 11.74 316 2216.42 0.00 0.00 0.00 0.000 0.000 0.000 2225.34 2120.56 2330.12 2072.12 1938.06 0 0 0 30.00 30.00 30.00

2398.27 16386 146.63 1.43 0.00 2226.0 2120.8 2331.2 2071.0 1938.0 94.53 10.67 334 2400.06 0.00 0.00 0.00 0.000 0.000 0.000 2224.47 2120.06 2328.88 2071.50 1937.31 0 0 0 30.00 30.00 30.00

2588.37 8742 161.07 1.44 -80.00 2224.9 2120.9 2329.0 2070.5 1938.1 75.25 9.33 353 2611.70 12.27 0.00 3.67 0.914 0.000 0.130 2173.59 2067.94 2279.25 2071.81 434.00 0 0 0 11.56 30.00 15.83

2640.39 1156 161.07 1.41 0.00 2172.7 2066.8 2278.6 2071.7 434.1 69.50 11.57 363 2647.64 0.00 0.00 3.41 0.000 0.000 0.051 2171.41 2065.69 2277.12 2071.56 1937.50 0 0 0 30.00 30.00 15.91

2835.30 32 163.59 1.41 0.00 2171.3 2066.0 2276.6 2071.7 1939.1 49.46 9.88 383 2836.17 0.00 0.00 0.00 0.000 0.000 0.000 2170.19 2065.25 2275.12 2071.31 1938.88 0 0 0 30.00 30.00 30.00

3020.33 8742 185.47 1.44 -80.00 2170.8 2065.6 2276.0 2071.6 1939.6 32.06 8.99 420 3049.96 20.32 0.00 3.71 0.943 0.000 0.131 2073.81 1966.56 2181.06 2072.50 433.94 0 0 0 11.54 30.00 14.50

3108.63 1156 185.47 1.41 0.00 2071.4 1964.7 2178.1 2071.5 433.8 22.76 11.08 436 3116.65 0.00 0.00 3.41 0.000 0.000 0.051 2071.16 1964.19 2178.12 2071.31 1937.19 0 0 0 30.00 30.00 15.91

3300.32 8614 254.61 1.51 80.00 2069.9 1964.0 2175.9 2071.3 1938.6 7.63 6.80 474 3365.83 51.94 0.00 3.51 0.942 0.000 0.111 1793.38 1682.75 1904.00 2072.06 3369.56 0 0 0 11.45 30.00 15.73

3589.61 11431 472.29 1.84 0.00 1786.9 1682.4 1891.4 2071.7 3369.4 4.82 -0.08 531 3608.12 9.24 0.67 3.43 0.811 0.046 0.056 1753.91 1649.50 1858.31 2190.31 1870.81 0 0 0 11.29 15.88 15.90

3608 end climb: NO_VERTICAL_VELOCITY

state 3608 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	20	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	572.39038	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	2833.4302	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
D_SAFE	0	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	3	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	6	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	6	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	12	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	3	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	400	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	400	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	700	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	220	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1729.9583	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	13.153952	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	43.235195	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	30.368839	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0099999998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-182.53638	SEABIRD_T_J	4.3e-06
MASS	72380	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	195	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3800	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1980	ALTIM_FREQUENCY	13

GPS1	220623,111532,4736.519,-12256.410,15,0.6,32,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,111851,4736.507,-12256.393,3,0.6,5,15.4	MHEAD_RNG_PITCHd_Wd	199.7,1150,-17.6,-10.000,-21.21,2209,0.157
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.469299,-818.692627,-706.311096
TGT_LATLONG	4735.950,-12256.800	OSC	8000225

MODEM_MSG	CACST,8,1,20230622112000.868968,18,15705,29,0291,0000,216,03,03,02,03,-1,-01,-01,1,3,0,0,150,5.0,-0.99,-100,3.99,-01,0.03,50,925,0025,0,-1,00,00*1D	_24V_AH	15.06,34.355
NAV	1687435147,96.1,start	_10V_AH	15.00,0.000
NET	CACST,8,0,20230622121032.338513,18,32767,45,0101,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,12.5,8.42,-100,-5.42,-01,-0.26,71,10000,5000,0,1,00,00*55	FG_AHR_24Vo	30.526
NET_PING	1687435817,29,516.841492,13.000000,-0.686825	FG_AHR_10Vo	43.293
FREEZE	4.66,13.610,-1.509,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3850.93,222.27,0.919,0,500.3,405.8,594.9,572.20	MEM2	944960,28,101728,66
SM_GC	2.43,0.00,12.31,0.28,0.000,0.049,0.078,496.8,402.9,590.8,200.4,2019.4,0,0,0,30.00,15.61,15.65	DATA_FILE_SIZE	12947,534
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	184267,0
IRIDIUM_FIX	4738.33,-12256.21,220623,102146	SDSIZE	3887104,3863744
TCM_TEMP	14.21	SDFILEDIR	194,21
SC_FREEKB	3872928	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	2,1687432800,47.60500,-122.95000,0.869,1273.0	CURRENT	0.034,171.6,1
RAFOS_FIX	4736.044922,-12257.042969,220623,111100,2,510,17.35	MAGCAL	1.000000,-0.004266,-0.033904,0.005644,1.079885,-0.031443,0.067085,-0.062914,0.979057,748.9,-870.2,-649.5,26,0.0372,0
HUMID	49.77	IMPLIED_C_PITCH	1738,13.43,271,1734.1,13.29
TEMP	11.41	IMPLIED_C_VBD	2827,32.011051,271,2830.1
INTERNAL_PRESSURE	8.23954	GPS	220623,122554,4736.255,-12256.729,2,0.7,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1095	10670.63	nil	0	0	0.00
Pitch_motor	26	232	92.66	nil	0	0	0.00
Roll_motor	56	169	145.67	nil	0	0	0.00
Iridium	129	196	382.59	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.06	nil	0	0	0.00
Core	2336	5	179.48	SciCon	3616	6	359.39
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1563	0	7.50
Compass	1114	5	83.62
RAFOS	897	40	538.56
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.52	16386	-146.63	-1.52	0.00	495.6	398.1	593.1	196.5	1939.6	0.00	0.00	0	59.38	47.83	0.00	0.00	0.005	0.000	0.000	1659.81	1634.44	1685.19	196.56	1939.94	0	0	0	14.98	30.00	30.00
59.81	18983	-146.63	-1.52	-80.00	1660.1	1634.0	1686.2	196.6	1940.2	3.34	-4.27	9	144.61	58.87	8.52	3.51	0.005	0.233	0.124	3429.25	3395.69	3462.81	1361.75	512.88	0	0	0	15.88	15.70	15.79
188.10	1156	-146.63	-1.44	0.00	3429.3	3395.1	3463.5	1361.8	512.8	11.89	-10.11	33	194.52	0.00	0.00	3.43	0.000	0.000	0.049	3429.31	3395.38	3463.25	1361.88	2011.12	0	0	0	30.00	30.00	15.87
378.17	2469	-146.63	-1.40	80.00	3430.7	3395.1	3466.2	1361.9	2017.4	29.20	-9.00	71	386.26	0.00	0.18	3.44	0.000	0.164	0.110	3431.62	3394.62	3468.62	1393.00	3449.69	0	0	0	30.00	15.85	15.87
614.97	1188	-146.63	-1.37	0.00	3431.2	3394.5	3467.9	1393.4	3449.4	51.18	-9.46	118	621.98	0.00	0.00	3.40	0.000	0.000	0.055	3431.34	3396.56	3466.12	1393.38	1948.69	0	0	0	30.00	30.00	15.98
807.85	292	-146.63	-1.37	80.00	3431.7	3394.6	3468.8	1393.8	1948.8	68.29	-8.80	138	821.59	0.00	0.00	3.67	0.000	0.000	0.105	3433.97	3397.38	3470.56	1393.88	3448.75	0	0	0	30.00	30.00	15.73
970.32	1188	-146.63	-1.35	0.00	3432.0	3394.9	3469.1	1393.7	3447.7	84.60	-9.82	170	977.34	0.00	0.00	3.41	0.000	0.000	0.053	3436.19	3396.25	3476.12	1393.50	1947.38	0	0	0	30.00	30.00	15.89
1165.20	32	-146.63	-1.35	0.00	3432.4	3395.6	3469.2	1393.7	1947.8	101.71	-8.68	190	1166.95	0.00	0.00	0.00	0.000	0.000	0.000	3431.38	3394.44	3468.31	1393.19	1947.69	0	0	0	30.00	30.00	30.00
1348.16	32	-146.63	-1.35	0.00	3432.5	3395.1	3469.8	1393.6	1947.8	117.21	-8.68	209	1349.94	0.00	0.00	0.00	0.000	0.000	0.000	3431.50	3393.88	3469.12	1393.19	1947.00	0	0	0	30.00	30.00	30.00
1532.38	292	-146.63	-1.35	80.00	3432.4	3395.4	3469.4	1393.2	1948.1	133.45	-8.88	227	1540.87	0.00	0.00	3.62	0.000	0.000	0.108	3431.03	3394.50	3467.56	1393.25	3447.19	0	0	0	30.00	30.00	15.96
1609.63	1188	-146.63	-1.34	0.00	3432.3	3395.3	3469.3	1393.3	3447.1	141.12	-9.98	242	1616.74	0.00	0.00	3.38	0.000	0.000	0.056	3432.28	3395.62	3468.94	1393.19	1948.56	0	0	0	30.00	30.00	16.01
1714	end dive: TARGET_DEPTH_EXCEEDED
state	1714	begin apogee
1716.12	10243	0.00	-0.38	0.00	3432.1	3395.3	3468.9	1393.4	1865.9	150.59	-9.04	253	1838.51	110.21	1.58	0.10	1.096	0.121	0.170	2832.97	2727.69	2938.25	1641.12	1937.31	0	0	0	11.43	15.94	15.65
1839	end apogee: CONTROL_FINISHED_OK
state	1840	begin climb
1840.21	10759	146.63	1.52	-80.00	2832.9	2728.4	2937.4	1641.4	1939.2	153.84	0.00	264	1975.87	113.75	2.91	3.80	1.061	0.088	0.130	2236.34	2128.06	2344.62	2100.19	433.88	0	0	0	11.45	15.66	15.49
2018.83	5253	146.63	1.44	0.00	2228.9	2122.4	2335.5	2102.3	433.9	137.72	15.36	296	2026.88	0.00	0.25	3.43	0.000	0.177	0.050	2231.16	2124.25	2338.06	2071.31	1936.50	0	0	0	30.00	15.62	15.68
2214.63	16514	146.63	1.43	0.00	2226.7	2121.5	2331.9	2072.0	1937.8	114.63	11.74	316	2216.42	0.00	0.00	0.00	0.000	0.000	0.000	2225.34	2120.56	2330.12	2072.12	1938.06	0	0	0	30.00	30.00	30.00
2398.27	16386	146.63	1.43	0.00	2226.0	2120.8	2331.2	2071.0	1938.0	94.53	10.67	334	2400.06	0.00	0.00	0.00	0.000	0.000	0.000	2224.47	2120.06	2328.88	2071.50	1937.31	0	0	0	30.00	30.00	30.00
2588.37	8742	161.07	1.44	-80.00	2224.9	2120.9	2329.0	2070.5	1938.1	75.25	9.33	353	2611.70	12.27	0.00	3.67	0.914	0.000	0.130	2173.59	2067.94	2279.25	2071.81	434.00	0	0	0	11.56	30.00	15.83
2640.39	1156	161.07	1.41	0.00	2172.7	2066.8	2278.6	2071.7	434.1	69.50	11.57	363	2647.64	0.00	0.00	3.41	0.000	0.000	0.051	2171.41	2065.69	2277.12	2071.56	1937.50	0	0	0	30.00	30.00	15.91
2835.30	32	163.59	1.41	0.00	2171.3	2066.0	2276.6	2071.7	1939.1	49.46	9.88	383	2836.17	0.00	0.00	0.00	0.000	0.000	0.000	2170.19	2065.25	2275.12	2071.31	1938.88	0	0	0	30.00	30.00	30.00
3020.33	8742	185.47	1.44	-80.00	2170.8	2065.6	2276.0	2071.6	1939.6	32.06	8.99	420	3049.96	20.32	0.00	3.71	0.943	0.000	0.131	2073.81	1966.56	2181.06	2072.50	433.94	0	0	0	11.54	30.00	14.50
3108.63	1156	185.47	1.41	0.00	2071.4	1964.7	2178.1	2071.5	433.8	22.76	11.08	436	3116.65	0.00	0.00	3.41	0.000	0.000	0.051	2071.16	1964.19	2178.12	2071.31	1937.19	0	0	0	30.00	30.00	15.91
3300.32	8614	254.61	1.51	80.00	2069.9	1964.0	2175.9	2071.3	1938.6	7.63	6.80	474	3365.83	51.94	0.00	3.51	0.942	0.000	0.111	1793.38	1682.75	1904.00	2072.06	3369.56	0	0	0	11.45	30.00	15.73
3589.61	11431	472.29	1.84	0.00	1786.9	1682.4	1891.4	2071.7	3369.4	4.82	-0.08	531	3608.12	9.24	0.67	3.43	0.811	0.046	0.056	1753.91	1649.50	1858.31	2190.31	1870.81	0	0	0	11.29	15.88	15.90
3608	end climb: NO_VERTICAL_VELOCITY
state	3608	begin surface