Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 20 * 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 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 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 54.717712 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 106.53077 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 54.717712 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 106.53077 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 20 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 230623,122424,4736.273,-12256.532,2,0.9,3,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,122937,4736.285,-12256.519,3,0.9,5,15.4 MHEAD_RNG_PITCHd_Wd 194.2,712,-19.4,-10.000,-22.85,1843,0.135

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 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230623131000.339317,18,32767,39,0172,0000,07,01,01,01,01,-1,-01,-01,1,3,0,0,150,-26.3,0.48,-100,2.52,-01,0.71,52,925,0025,0,-1,00,00*15 _24V_AH 14.98,87.014

NAV 1687526993,0.2,2,stop _10V_AH 15.00,0.000

NET CACST,8,0,20230623131737.848064,18,32767,45,0101,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,15.8,10.82,-100,-7.82,-01,0.05,69,10000,5000,0,-1,00,00*64 FG_AHR_24Vo 106.697

NET_PING 1687526259,29,483.384003,15.800000,-0.643814 FG_AHR_10Vo 54.775

FREEZE 2.62,14.021,-1.506,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3473.12,227.46,0.914,0,500.7,389.3,612.1,637.60 MEM2 945764,27,100884,69

SM_GC 1.71,0.00,13.00,0.10,0.000,0.047,0.119,497.7,389.7,605.8,187.1,2120.1,0,0,0,30.00,15.58,15.61 DATA_FILE_SIZE 12963,513

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 196945,0

IRIDIUM_FIX 4737.86,-12251.79,230623,122537 SDSIZE 3887104,3867616

TCM_TEMP 12.80 SDFILEDIR 192,21

SC_FREEKB 3872576 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -1 SOUNDSPEED 1465.0

MODEM 0,1687521600,47.60500,-122.95000,0.528,772.9 MAGCAL 1.000000,-0.012967,0.018400,0.008949,1.028418,-0.070361,0.001905,-0.022470,1.041561,68.5,-1132.0,-896.8,33,0.0348,0

RAFOS_FIX 4735.801270,23702.505859,230623,121200,4,255,-22918.22 IMPLIED_C_PITCH 1774,13.45,239,0.0,0.00

HUMID 56.10 IMPLIED_C_VBD 2887,24.824627,239,0

TEMP 11.11 GPS 230623,133025,4735.964,-12256.728,1,1.7,5,15.4

INTERNAL_PRESSURE 10.3404

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 691 1124 11649.38 nil 0 0 0.00

Pitch_motor 28 243 104.69 nil 0 0 0.00

Roll_motor 65 155 151.67 nil 0 0 0.00

Iridium 183 172 474.97 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.23 nil 0 0 0.00

Core 2305 5 177.03 SciCon 3237 7 361.10

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1328 0 6.38

Compass 1081 5 81.13

RAFOS 2689 40 1613.87

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

7.83 16386 -122.00 -1.62 0.00 663.4 541.0 785.8 191.9 2049.6 0.00 0.00 0 108.35 96.86 0.00 0.00 0.005 0.000 0.000 2671.81 2626.88 2716.75 192.06 2050.38 0 0 0 15.83 30.00 30.00

108.66 18983 -146.63 -1.65 -80.00 2671.3 2626.2 2716.4 192.0 2049.9 3.31 -2.08 19 162.55 32.21 9.18 3.57 0.005 0.243 0.108 3696.50 3659.00 3734.00 1386.31 618.19 0 0 0 15.92 15.64 15.79

165.81 1156 -146.63 -1.55 0.00 3696.4 3658.2 3734.7 1386.6 618.0 8.69 -12.22 30 171.49 0.00 0.00 3.49 0.000 0.000 0.040 3696.28 3658.06 3734.50 1386.50 2117.44 0 0 0 30.00 30.00 15.84

355.94 2437 -146.63 -1.52 80.00 3696.9 3658.8 3735.1 1386.0 2117.5 34.64 -13.06 68 363.16 0.00 0.21 3.59 0.000 0.180 0.097 3696.56 3658.62 3734.50 1418.81 3553.56 0 0 0 30.00 15.77 15.85

497.52 1156 -146.63 -1.48 0.00 3697.0 3658.9 3735.1 1419.3 3554.5 53.63 -12.93 95 508.50 0.00 0.00 3.44 0.000 0.000 0.037 3696.44 3658.56 3734.31 1419.19 2055.19 0 0 0 30.00 30.00 14.90

697.35 260 -146.63 -1.48 80.00 3697.0 3658.6 3735.4 1419.1 2054.8 75.90 -10.85 116 703.79 0.00 0.00 3.77 0.000 0.000 0.092 3697.34 3658.75 3735.94 1419.25 3554.06 0 0 0 30.00 30.00 15.76

832.35 1028 -146.63 -1.48 0.00 3697.2 3658.8 3735.6 1419.3 3553.9 92.96 -12.87 143 848.50 0.00 0.00 3.44 0.000 0.000 0.037 3696.31 3658.31 3734.31 1418.94 2054.50 0 0 0 30.00 30.00 15.85

1031.86 388 -146.63 -1.51 80.00 3697.6 3659.1 3736.1 1419.3 2053.9 114.91 -10.09 163 1038.46 0.00 0.00 3.77 0.000 0.000 0.092 3696.53 3657.75 3735.31 1419.12 3556.69 0 0 0 30.00 30.00 15.83

1183.73 1028 -146.63 -1.51 0.00 3697.0 3658.2 3735.8 1419.1 3555.8 133.19 -12.43 193 1190.72 0.00 0.00 3.45 0.000 0.000 0.038 3698.31 3659.06 3737.56 1419.12 2053.75 0 0 0 30.00 30.00 15.90

1340 end dive: TARGET_DEPTH_EXCEEDED

state 1340 begin apogee

1341.00 10243 0.00 -0.38 0.00 3697.6 3659.1 3736.1 1419.3 2122.2 150.02 -10.74 209 1455.84 102.53 1.92 0.12 1.124 0.145 0.156 3098.00 3017.12 3178.88 1694.81 2049.56 0 0 0 10.94 15.83 15.62

1457 end apogee: CONTROL_FINISHED_OK

state 1457 begin climb

1457.73 10759 146.63 1.65 -80.00 3096.9 3016.7 3177.2 1694.6 2048.6 153.34 0.00 220 1584.32 107.17 3.24 3.66 1.073 0.091 0.112 2498.28 2396.25 2600.31 2191.44 620.69 0 0 0 11.34 15.63 15.48

1652.65 5253 146.63 1.55 0.00 2494.4 2395.4 2593.4 2191.0 620.5 136.23 13.87 256 1662.81 0.00 0.26 3.55 0.000 0.185 0.038 2495.03 2395.50 2594.56 2154.88 2116.00 0 0 0 30.00 15.59 15.63

1845.78 16646 146.63 1.55 80.00 2492.9 2394.4 2591.3 2154.9 2116.1 114.05 10.77 276 1852.39 0.00 0.00 3.66 0.000 0.000 0.100 2491.00 2393.94 2588.06 2154.94 3553.88 0 0 0 30.00 30.00 15.72

1960.90 17542 146.63 1.49 0.00 2492.5 2395.0 2590.1 2154.9 3553.9 100.03 11.88 299 1967.29 0.00 0.00 3.46 0.000 0.000 0.038 2485.31 2379.50 2591.12 2153.25 2054.50 0 0 0 30.00 30.00 15.79

2155.88 8486 153.54 1.50 80.00 2491.7 2394.8 2588.5 2155.3 2054.9 80.65 9.62 319 2171.21 6.37 0.00 3.81 0.815 0.000 0.097 2471.28 2374.94 2567.62 2155.00 3552.12 0 0 0 10.98 30.00 15.81

2200.14 1156 153.54 1.45 0.00 2471.7 2374.9 2568.5 2155.6 3552.7 76.09 10.35 328 2207.03 0.00 0.00 3.44 0.000 0.000 0.038 2472.47 2376.62 2568.31 2154.81 2055.12 0 0 0 30.00 30.00 15.85

2395.90 8486 167.27 1.46 80.00 2470.9 2375.1 2566.7 2154.4 2055.1 57.64 9.24 348 2418.08 12.69 0.00 3.81 0.946 0.000 0.098 2417.09 2316.88 2517.31 2154.12 3554.94 0 0 0 10.99 30.00 15.82

2511.53 5253 167.27 1.42 0.00 2413.9 2316.9 2510.9 2155.1 3554.4 45.70 10.71 371 2518.94 0.00 0.21 3.43 0.000 0.187 0.037 2412.41 2315.25 2509.56 2125.56 2054.75 0 0 0 30.00 15.77 15.85

2702.34 8486 208.93 1.47 80.00 2413.1 2316.6 2509.6 2125.7 2054.1 30.11 7.69 409 2745.55 31.81 0.00 3.82 0.982 0.000 0.098 2246.69 2140.31 2353.06 2125.25 3555.75 0 0 0 10.97 30.00 15.78

2773.94 11303 231.77 1.50 0.00 2243.6 2138.6 2348.6 2124.9 3556.1 24.18 8.73 423 2801.54 18.41 0.17 3.45 0.931 0.075 0.037 2153.62 2041.38 2265.88 2162.00 2055.12 0 0 0 11.07 15.82 15.83

2982.65 8354 276.94 1.60 0.00 2148.1 2039.7 2256.5 2162.3 2056.4 6.12 7.49 464 3018.68 33.15 0.00 0.00 0.949 0.000 0.000 1970.41 1853.62 2087.19 2162.94 2056.12 0 0 0 11.04 30.00 30.00

3202.70 10663 456.86 1.93 80.00 1963.0 1851.1 2074.9 2162.6 2056.1 2.84 0.01 508 3228.59 22.93 0.55 0.00 0.934 0.058 0.000 1846.12 1726.75 1965.50 2262.44 2055.75 0 0 0 10.90 15.79 30.00

3229 end climb: NO_VERTICAL_VELOCITY

state 3229 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	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	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	54.717712	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	106.53077	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	230623,122424,4736.273,-12256.532,2,0.9,3,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,122937,4736.285,-12256.519,3,0.9,5,15.4	MHEAD_RNG_PITCHd_Wd	194.2,712,-19.4,-10.000,-22.85,1843,0.135
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	8000266

MODEM_MSG	CACST,8,1,20230623131000.339317,18,32767,39,0172,0000,07,01,01,01,01,-1,-01,-01,1,3,0,0,150,-26.3,0.48,-100,2.52,-01,0.71,52,925,0025,0,-1,00,00*15	_24V_AH	14.98,87.014
NAV	1687526993,0.2,2,stop	_10V_AH	15.00,0.000
NET	CACST,8,0,20230623131737.848064,18,32767,45,0101,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,15.8,10.82,-100,-7.82,-01,0.05,69,10000,5000,0,-1,00,00*64	FG_AHR_24Vo	106.697
NET_PING	1687526259,29,483.384003,15.800000,-0.643814	FG_AHR_10Vo	54.775
FREEZE	2.62,14.021,-1.506,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3473.12,227.46,0.914,0,500.7,389.3,612.1,637.60	MEM2	945764,27,100884,69
SM_GC	1.71,0.00,13.00,0.10,0.000,0.047,0.119,497.7,389.7,605.8,187.1,2120.1,0,0,0,30.00,15.58,15.61	DATA_FILE_SIZE	12963,513
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	196945,0
IRIDIUM_FIX	4737.86,-12251.79,230623,122537	SDSIZE	3887104,3867616
TCM_TEMP	12.80	SDFILEDIR	192,21
SC_FREEKB	3872576	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-1	SOUNDSPEED	1465.0
MODEM	0,1687521600,47.60500,-122.95000,0.528,772.9	MAGCAL	1.000000,-0.012967,0.018400,0.008949,1.028418,-0.070361,0.001905,-0.022470,1.041561,68.5,-1132.0,-896.8,33,0.0348,0
RAFOS_FIX	4735.801270,23702.505859,230623,121200,4,255,-22918.22	IMPLIED_C_PITCH	1774,13.45,239,0.0,0.00
HUMID	56.10	IMPLIED_C_VBD	2887,24.824627,239,0
TEMP	11.11	GPS	230623,133025,4735.964,-12256.728,1,1.7,5,15.4
INTERNAL_PRESSURE	10.3404

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	691	1124	11649.38	nil	0	0	0.00
Pitch_motor	28	243	104.69	nil	0	0	0.00
Roll_motor	65	155	151.67	nil	0	0	0.00
Iridium	183	172	474.97	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.23	nil	0	0	0.00
Core	2305	5	177.03	SciCon	3237	7	361.10
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1328	0	6.38
Compass	1081	5	81.13
RAFOS	2689	40	1613.87
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
7.83	16386	-122.00	-1.62	0.00	663.4	541.0	785.8	191.9	2049.6	0.00	0.00	0	108.35	96.86	0.00	0.00	0.005	0.000	0.000	2671.81	2626.88	2716.75	192.06	2050.38	0	0	0	15.83	30.00	30.00
108.66	18983	-146.63	-1.65	-80.00	2671.3	2626.2	2716.4	192.0	2049.9	3.31	-2.08	19	162.55	32.21	9.18	3.57	0.005	0.243	0.108	3696.50	3659.00	3734.00	1386.31	618.19	0	0	0	15.92	15.64	15.79
165.81	1156	-146.63	-1.55	0.00	3696.4	3658.2	3734.7	1386.6	618.0	8.69	-12.22	30	171.49	0.00	0.00	3.49	0.000	0.000	0.040	3696.28	3658.06	3734.50	1386.50	2117.44	0	0	0	30.00	30.00	15.84
355.94	2437	-146.63	-1.52	80.00	3696.9	3658.8	3735.1	1386.0	2117.5	34.64	-13.06	68	363.16	0.00	0.21	3.59	0.000	0.180	0.097	3696.56	3658.62	3734.50	1418.81	3553.56	0	0	0	30.00	15.77	15.85
497.52	1156	-146.63	-1.48	0.00	3697.0	3658.9	3735.1	1419.3	3554.5	53.63	-12.93	95	508.50	0.00	0.00	3.44	0.000	0.000	0.037	3696.44	3658.56	3734.31	1419.19	2055.19	0	0	0	30.00	30.00	14.90
697.35	260	-146.63	-1.48	80.00	3697.0	3658.6	3735.4	1419.1	2054.8	75.90	-10.85	116	703.79	0.00	0.00	3.77	0.000	0.000	0.092	3697.34	3658.75	3735.94	1419.25	3554.06	0	0	0	30.00	30.00	15.76
832.35	1028	-146.63	-1.48	0.00	3697.2	3658.8	3735.6	1419.3	3553.9	92.96	-12.87	143	848.50	0.00	0.00	3.44	0.000	0.000	0.037	3696.31	3658.31	3734.31	1418.94	2054.50	0	0	0	30.00	30.00	15.85
1031.86	388	-146.63	-1.51	80.00	3697.6	3659.1	3736.1	1419.3	2053.9	114.91	-10.09	163	1038.46	0.00	0.00	3.77	0.000	0.000	0.092	3696.53	3657.75	3735.31	1419.12	3556.69	0	0	0	30.00	30.00	15.83
1183.73	1028	-146.63	-1.51	0.00	3697.0	3658.2	3735.8	1419.1	3555.8	133.19	-12.43	193	1190.72	0.00	0.00	3.45	0.000	0.000	0.038	3698.31	3659.06	3737.56	1419.12	2053.75	0	0	0	30.00	30.00	15.90
1340	end dive: TARGET_DEPTH_EXCEEDED
state	1340	begin apogee
1341.00	10243	0.00	-0.38	0.00	3697.6	3659.1	3736.1	1419.3	2122.2	150.02	-10.74	209	1455.84	102.53	1.92	0.12	1.124	0.145	0.156	3098.00	3017.12	3178.88	1694.81	2049.56	0	0	0	10.94	15.83	15.62
1457	end apogee: CONTROL_FINISHED_OK
state	1457	begin climb
1457.73	10759	146.63	1.65	-80.00	3096.9	3016.7	3177.2	1694.6	2048.6	153.34	0.00	220	1584.32	107.17	3.24	3.66	1.073	0.091	0.112	2498.28	2396.25	2600.31	2191.44	620.69	0	0	0	11.34	15.63	15.48
1652.65	5253	146.63	1.55	0.00	2494.4	2395.4	2593.4	2191.0	620.5	136.23	13.87	256	1662.81	0.00	0.26	3.55	0.000	0.185	0.038	2495.03	2395.50	2594.56	2154.88	2116.00	0	0	0	30.00	15.59	15.63
1845.78	16646	146.63	1.55	80.00	2492.9	2394.4	2591.3	2154.9	2116.1	114.05	10.77	276	1852.39	0.00	0.00	3.66	0.000	0.000	0.100	2491.00	2393.94	2588.06	2154.94	3553.88	0	0	0	30.00	30.00	15.72
1960.90	17542	146.63	1.49	0.00	2492.5	2395.0	2590.1	2154.9	3553.9	100.03	11.88	299	1967.29	0.00	0.00	3.46	0.000	0.000	0.038	2485.31	2379.50	2591.12	2153.25	2054.50	0	0	0	30.00	30.00	15.79
2155.88	8486	153.54	1.50	80.00	2491.7	2394.8	2588.5	2155.3	2054.9	80.65	9.62	319	2171.21	6.37	0.00	3.81	0.815	0.000	0.097	2471.28	2374.94	2567.62	2155.00	3552.12	0	0	0	10.98	30.00	15.81
2200.14	1156	153.54	1.45	0.00	2471.7	2374.9	2568.5	2155.6	3552.7	76.09	10.35	328	2207.03	0.00	0.00	3.44	0.000	0.000	0.038	2472.47	2376.62	2568.31	2154.81	2055.12	0	0	0	30.00	30.00	15.85
2395.90	8486	167.27	1.46	80.00	2470.9	2375.1	2566.7	2154.4	2055.1	57.64	9.24	348	2418.08	12.69	0.00	3.81	0.946	0.000	0.098	2417.09	2316.88	2517.31	2154.12	3554.94	0	0	0	10.99	30.00	15.82
2511.53	5253	167.27	1.42	0.00	2413.9	2316.9	2510.9	2155.1	3554.4	45.70	10.71	371	2518.94	0.00	0.21	3.43	0.000	0.187	0.037	2412.41	2315.25	2509.56	2125.56	2054.75	0	0	0	30.00	15.77	15.85
2702.34	8486	208.93	1.47	80.00	2413.1	2316.6	2509.6	2125.7	2054.1	30.11	7.69	409	2745.55	31.81	0.00	3.82	0.982	0.000	0.098	2246.69	2140.31	2353.06	2125.25	3555.75	0	0	0	10.97	30.00	15.78
2773.94	11303	231.77	1.50	0.00	2243.6	2138.6	2348.6	2124.9	3556.1	24.18	8.73	423	2801.54	18.41	0.17	3.45	0.931	0.075	0.037	2153.62	2041.38	2265.88	2162.00	2055.12	0	0	0	11.07	15.82	15.83
2982.65	8354	276.94	1.60	0.00	2148.1	2039.7	2256.5	2162.3	2056.4	6.12	7.49	464	3018.68	33.15	0.00	0.00	0.949	0.000	0.000	1970.41	1853.62	2087.19	2162.94	2056.12	0	0	0	11.04	30.00	30.00
3202.70	10663	456.86	1.93	80.00	1963.0	1851.1	2074.9	2162.6	2056.1	2.84	0.01	508	3228.59	22.93	0.55	0.00	0.934	0.058	0.000	1846.12	1726.75	1965.50	2262.44	2055.75	0	0	0	10.90	15.79	30.00
3229	end climb: NO_VERTICAL_VELOCITY
state	3229	begin surface