Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 21 * 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 21 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 54.776234 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 106.70331 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 54.776234 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 106.70331 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 21 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 230623,133025,4735.964,-12256.728,1,1.7,5,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,133402,4735.970,-12256.711,3,1.1,21,15.4 MHEAD_RNG_PITCHd_Wd 0.8,1079,-17.6,-10.000,-21.21,2209,0.146

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N 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 4736.530,-12256.470 OSC 8000307

Post-dive calculations and measurements:

NET CACST,8,0,20230623141739.824299,18,32767,45,0109,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,8.4,3.73,-100,-0.73,-01,0.16,69,10000,5000,0,-1,00,00*68 _24V_AH 14.85,87.210

NET_PING 1687529863,29,468.850494,8.400000,-0.623308 _10V_AH 14.87,0.000

NAV 1687530435,7.7,3,stop FG_AHR_24Vo 106.865

MODEM_MSG CACST,8,0,20230623142500.353920,18,10893,40,0291,0000,07,00,00,00,03,1,029,121,0,5,1,0,150,-3.4,4.41,-100,-1.41,-01,0.08,50,925,0025,0,1,00,00*07 FG_AHR_10Vo 54.830

FINISH 1.6,1.019435 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3609.59,148.82,0.956,0,666.8,546.1,787.6,596.85 MEM2 945760,26,100908,69

SM_GC 1.62,148.82,12.85,0.10,0.956,0.061,0.121,666.8,546.1,787.6,193.3,2119.6,0,0,0,11.05,15.73,15.78 DATA_FILE_SIZE 16129,544

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 199832,0

IRIDIUM_FIX 4736.00,-12258.89,230623,122727 SDSIZE 3887104,3867296

TCM_TEMP 12.81 SDFILEDIR 200,22

SC_FREEKB 3872256 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 1,1687529400,47.60500,-122.95000,0.327,479.0 MAGCAL 1.000000,0.002554,0.050677,0.002904,1.036163,-0.046805,-0.015063,-0.053964,1.033323,46.5,-1150.6,-894.9,36,0.0286,0

RAFOS_FIX 4720.507812,-12228.435547,230623,141400,3,255,14.91 IMPLIED_C_PITCH 1776,13.01,251,0.0,0.00

HUMID 56.66 IMPLIED_C_VBD 2885,29.123817,251,0

TEMP 10.65 GPS 230623,143508,4736.214,-12256.559,2,1.1,4,15.4

INTERNAL_PRESSURE 10.3355

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 664 1116 11026.71 nil 0 0 0.00

Pitch_motor 28 247 103.11 nil 0 0 0.00

Roll_motor 72 161 173.66 nil 0 0 0.00

Iridium 130 165 319.39 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 30 15 6.78 nil 0 0 0.00

Core 2373 5 180.67 SciCon 3436 7 372.21

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1274 0 6.06

Compass 1141 5 84.85

RAFOS 2177 40 1295.30

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 0.00 495.5 389.6 601.5 187.1 2052.1 0.00 0.00 0 102.08 90.89 0.00 0.00 0.005 0.000 0.000 2445.84 2395.50 2496.19 187.12 2051.62 0 0 0 15.90 30.00 30.00

102.39 18727 -146.63 -1.51 80.00 2445.1 2394.4 2495.8 187.1 2052.3 3.29 -2.13 18 166.06 40.53 9.51 3.82 0.005 0.248 0.094 3696.44 3657.44 3735.44 1420.31 3553.19 0 0 0 15.96 15.67 15.82

340.43 1156 -146.63 -1.44 0.00 3696.9 3658.6 3735.2 1420.3 3553.3 31.87 -13.77 64 346.43 0.00 0.00 3.49 0.000 0.000 0.037 3696.69 3658.25 3735.12 1420.75 2057.44 0 0 0 30.00 30.00 15.68

535.26 516 -146.63 -1.44 -80.00 3696.8 3658.2 3735.4 1420.1 2057.6 53.50 -11.03 100 541.61 0.00 0.00 3.60 0.000 0.000 0.105 3696.41 3658.38 3734.44 1420.12 618.44 0 0 0 30.00 30.00 15.79

769.80 3205 -146.63 -1.40 0.00 3696.9 3658.1 3735.8 1420.2 618.1 82.21 -12.14 145 776.15 0.00 0.20 3.51 0.000 0.179 0.039 3698.16 3658.81 3737.50 1448.06 2118.94 0 0 0 30.00 15.75 15.88

964.70 292 -146.63 -1.40 80.00 3697.3 3658.8 3735.9 1448.5 2118.8 101.00 -9.63 165 971.06 0.00 0.00 3.62 0.000 0.000 0.097 3696.41 3657.25 3735.56 1448.62 3554.25 0 0 0 30.00 30.00 15.84

1033.90 1028 -146.63 -1.40 0.00 3697.1 3657.9 3736.3 1448.6 3553.4 108.67 -11.06 179 1040.83 0.00 0.00 3.43 0.000 0.000 0.037 3697.62 3659.31 3735.94 1448.25 2055.12 0 0 0 30.00 30.00 15.89

1229.78 292 -146.63 -1.40 80.00 3697.4 3658.4 3736.4 1448.5 2055.2 127.05 -9.25 199 1236.38 0.00 0.00 3.77 0.000 0.000 0.093 3696.78 3658.06 3735.50 1448.56 3553.62 0 0 0 30.00 30.00 15.91

1358.98 1028 -146.63 -1.40 0.00 3697.4 3658.4 3736.4 1448.6 3554.1 141.36 -11.25 225 1365.96 0.00 0.00 3.40 0.000 0.000 0.038 3697.97 3658.88 3737.06 1448.56 2054.38 0 0 0 30.00 30.00 15.97

1448 end dive: TARGET_DEPTH_EXCEEDED

state 1448 begin apogee

1449.22 10243 0.00 -0.38 0.00 3697.4 3658.4 3736.4 1448.4 2122.1 150.17 -9.87 235 1560.92 102.06 1.68 0.12 1.117 0.139 0.161 3097.19 3016.88 3177.50 1696.25 2048.50 0 0 0 10.82 15.87 15.64

1562 end apogee: CONTROL_FINISHED_OK

state 1562 begin climb

1562.81 10759 146.63 1.51 -80.00 3096.7 3016.8 3176.6 1696.1 2047.8 153.42 0.00 245 1689.77 107.55 2.99 3.65 1.076 0.092 0.110 2500.59 2394.69 2606.50 2155.88 620.19 0 0 0 11.36 15.64 15.47

1723.21 5253 146.63 1.42 0.00 2495.5 2394.6 2596.5 2156.0 620.2 141.52 12.23 275 1730.91 0.00 0.25 3.54 0.000 0.188 0.038 2494.38 2393.62 2595.12 2124.12 2118.19 0 0 0 30.00 15.55 15.62

1918.14 16646 146.63 1.42 80.00 2492.5 2392.6 2592.4 2124.8 2118.5 121.97 10.11 295 1924.73 0.00 0.00 3.65 0.000 0.000 0.099 2493.88 2393.88 2593.88 2124.31 3552.69 0 0 0 30.00 30.00 15.71

2016.44 17542 146.63 1.36 0.00 2492.1 2392.8 2591.4 2124.6 3552.8 111.00 10.97 314 2027.64 0.00 0.00 3.44 0.000 0.000 0.038 2492.22 2392.25 2592.19 2123.81 2055.75 0 0 0 30.00 30.00 15.75

2216.44 8486 165.64 1.38 80.00 2491.1 2392.6 2589.7 2124.0 2056.4 92.14 9.12 335 2239.81 15.35 0.00 3.81 1.007 0.000 0.098 2423.28 2323.44 2523.12 2123.81 3553.25 0 0 0 10.92 30.00 15.78

2297.48 1156 165.64 1.34 0.00 2420.4 2320.9 2520.0 2123.6 3552.0 84.01 10.18 351 2304.37 0.00 0.00 3.44 0.000 0.000 0.037 2421.72 2323.38 2520.06 2124.12 2056.19 0 0 0 30.00 30.00 15.84

2493.25 8486 190.95 1.37 80.00 2419.5 2320.8 2518.2 2124.2 2055.9 66.89 8.83 371 2522.12 20.40 0.00 3.82 1.002 0.000 0.098 2315.72 2210.88 2420.56 2124.31 3552.62 0 0 0 10.99 30.00 15.79

2554.70 1028 190.95 1.37 0.00 2317.2 2214.2 2420.3 2123.4 3552.7 60.79 10.32 383 2561.68 0.00 0.00 3.45 0.000 0.000 0.037 2316.94 2213.50 2420.38 2124.56 2054.38 0 0 0 30.00 30.00 15.82

2745.55 8486 225.21 1.41 80.00 2315.8 2213.8 2417.8 2123.6 2055.3 44.30 8.41 409 2782.73 26.48 0.00 3.82 0.992 0.000 0.098 2179.50 2069.94 2289.06 2123.75 3553.81 0 0 0 11.16 30.00 15.76

2841.08 1028 225.21 1.41 0.00 2176.3 2069.6 2283.0 2123.4 3553.8 35.10 10.21 428 2847.35 0.00 0.00 3.45 0.000 0.000 0.037 2177.69 2072.56 2282.81 2124.06 2055.31 0 0 0 30.00 30.00 15.79

3031.18 8486 266.56 1.46 80.00 2174.8 2068.5 2281.1 2124.2 2055.3 18.52 8.09 466 3073.55 30.79 0.00 3.82 0.970 0.000 0.097 2012.59 1899.00 2126.19 2123.88 3552.12 0 0 0 11.01 30.00 15.76

3101.94 11303 305.19 1.51 0.00 2008.8 1896.5 2121.2 2124.2 3551.9 12.89 8.21 480 3139.99 28.88 0.18 3.45 0.947 0.075 0.038 1853.19 1732.50 1973.88 2161.62 2055.69 0 0 0 11.13 15.79 15.80

3321.52 10919 463.38 1.80 -80.00 1847.6 1729.8 1965.4 2161.5 2056.6 2.15 2.67 523 3378.99 53.08 0.37 0.00 0.954 0.067 0.000 1548.59 1424.31 1672.88 2234.44 2056.06 0 0 0 11.13 15.80 30.00

3379 end climb: SURFACE_DEPTH_REACHED

state 3380 begin surface coast

3428 end surface coast: NO_VERTICAL_VELOCITY

state 3428 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	21	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	54.776234	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	106.70331	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	230623,133025,4735.964,-12256.728,1,1.7,5,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,133402,4735.970,-12256.711,3,1.1,21,15.4	MHEAD_RNG_PITCHd_Wd	0.8,1079,-17.6,-10.000,-21.21,2209,0.146
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	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	4736.530,-12256.470	OSC	8000307

NET	CACST,8,0,20230623141739.824299,18,32767,45,0109,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,8.4,3.73,-100,-0.73,-01,0.16,69,10000,5000,0,-1,00,00*68	_24V_AH	14.85,87.210
NET_PING	1687529863,29,468.850494,8.400000,-0.623308	_10V_AH	14.87,0.000
NAV	1687530435,7.7,3,stop	FG_AHR_24Vo	106.865
MODEM_MSG	CACST,8,0,20230623142500.353920,18,10893,40,0291,0000,07,00,00,00,03,1,029,121,0,5,1,0,150,-3.4,4.41,-100,-1.41,-01,0.08,50,925,0025,0,1,00,00*07	FG_AHR_10Vo	54.830
FINISH	1.6,1.019435	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3609.59,148.82,0.956,0,666.8,546.1,787.6,596.85	MEM2	945760,26,100908,69
SM_GC	1.62,148.82,12.85,0.10,0.956,0.061,0.121,666.8,546.1,787.6,193.3,2119.6,0,0,0,11.05,15.73,15.78	DATA_FILE_SIZE	16129,544
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	199832,0
IRIDIUM_FIX	4736.00,-12258.89,230623,122727	SDSIZE	3887104,3867296
TCM_TEMP	12.81	SDFILEDIR	200,22
SC_FREEKB	3872256	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	1,1687529400,47.60500,-122.95000,0.327,479.0	MAGCAL	1.000000,0.002554,0.050677,0.002904,1.036163,-0.046805,-0.015063,-0.053964,1.033323,46.5,-1150.6,-894.9,36,0.0286,0
RAFOS_FIX	4720.507812,-12228.435547,230623,141400,3,255,14.91	IMPLIED_C_PITCH	1776,13.01,251,0.0,0.00
HUMID	56.66	IMPLIED_C_VBD	2885,29.123817,251,0
TEMP	10.65	GPS	230623,143508,4736.214,-12256.559,2,1.1,4,15.4
INTERNAL_PRESSURE	10.3355

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	664	1116	11026.71	nil	0	0	0.00
Pitch_motor	28	247	103.11	nil	0	0	0.00
Roll_motor	72	161	173.66	nil	0	0	0.00
Iridium	130	165	319.39	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	30	15	6.78	nil	0	0	0.00
Core	2373	5	180.67	SciCon	3436	7	372.21
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1274	0	6.06
Compass	1141	5	84.85
RAFOS	2177	40	1295.30
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	495.5	389.6	601.5	187.1	2052.1	0.00	0.00	0	102.08	90.89	0.00	0.00	0.005	0.000	0.000	2445.84	2395.50	2496.19	187.12	2051.62	0	0	0	15.90	30.00	30.00
102.39	18727	-146.63	-1.51	80.00	2445.1	2394.4	2495.8	187.1	2052.3	3.29	-2.13	18	166.06	40.53	9.51	3.82	0.005	0.248	0.094	3696.44	3657.44	3735.44	1420.31	3553.19	0	0	0	15.96	15.67	15.82
340.43	1156	-146.63	-1.44	0.00	3696.9	3658.6	3735.2	1420.3	3553.3	31.87	-13.77	64	346.43	0.00	0.00	3.49	0.000	0.000	0.037	3696.69	3658.25	3735.12	1420.75	2057.44	0	0	0	30.00	30.00	15.68
535.26	516	-146.63	-1.44	-80.00	3696.8	3658.2	3735.4	1420.1	2057.6	53.50	-11.03	100	541.61	0.00	0.00	3.60	0.000	0.000	0.105	3696.41	3658.38	3734.44	1420.12	618.44	0	0	0	30.00	30.00	15.79
769.80	3205	-146.63	-1.40	0.00	3696.9	3658.1	3735.8	1420.2	618.1	82.21	-12.14	145	776.15	0.00	0.20	3.51	0.000	0.179	0.039	3698.16	3658.81	3737.50	1448.06	2118.94	0	0	0	30.00	15.75	15.88
964.70	292	-146.63	-1.40	80.00	3697.3	3658.8	3735.9	1448.5	2118.8	101.00	-9.63	165	971.06	0.00	0.00	3.62	0.000	0.000	0.097	3696.41	3657.25	3735.56	1448.62	3554.25	0	0	0	30.00	30.00	15.84
1033.90	1028	-146.63	-1.40	0.00	3697.1	3657.9	3736.3	1448.6	3553.4	108.67	-11.06	179	1040.83	0.00	0.00	3.43	0.000	0.000	0.037	3697.62	3659.31	3735.94	1448.25	2055.12	0	0	0	30.00	30.00	15.89
1229.78	292	-146.63	-1.40	80.00	3697.4	3658.4	3736.4	1448.5	2055.2	127.05	-9.25	199	1236.38	0.00	0.00	3.77	0.000	0.000	0.093	3696.78	3658.06	3735.50	1448.56	3553.62	0	0	0	30.00	30.00	15.91
1358.98	1028	-146.63	-1.40	0.00	3697.4	3658.4	3736.4	1448.6	3554.1	141.36	-11.25	225	1365.96	0.00	0.00	3.40	0.000	0.000	0.038	3697.97	3658.88	3737.06	1448.56	2054.38	0	0	0	30.00	30.00	15.97
1448	end dive: TARGET_DEPTH_EXCEEDED
state	1448	begin apogee
1449.22	10243	0.00	-0.38	0.00	3697.4	3658.4	3736.4	1448.4	2122.1	150.17	-9.87	235	1560.92	102.06	1.68	0.12	1.117	0.139	0.161	3097.19	3016.88	3177.50	1696.25	2048.50	0	0	0	10.82	15.87	15.64
1562	end apogee: CONTROL_FINISHED_OK
state	1562	begin climb
1562.81	10759	146.63	1.51	-80.00	3096.7	3016.8	3176.6	1696.1	2047.8	153.42	0.00	245	1689.77	107.55	2.99	3.65	1.076	0.092	0.110	2500.59	2394.69	2606.50	2155.88	620.19	0	0	0	11.36	15.64	15.47
1723.21	5253	146.63	1.42	0.00	2495.5	2394.6	2596.5	2156.0	620.2	141.52	12.23	275	1730.91	0.00	0.25	3.54	0.000	0.188	0.038	2494.38	2393.62	2595.12	2124.12	2118.19	0	0	0	30.00	15.55	15.62
1918.14	16646	146.63	1.42	80.00	2492.5	2392.6	2592.4	2124.8	2118.5	121.97	10.11	295	1924.73	0.00	0.00	3.65	0.000	0.000	0.099	2493.88	2393.88	2593.88	2124.31	3552.69	0	0	0	30.00	30.00	15.71
2016.44	17542	146.63	1.36	0.00	2492.1	2392.8	2591.4	2124.6	3552.8	111.00	10.97	314	2027.64	0.00	0.00	3.44	0.000	0.000	0.038	2492.22	2392.25	2592.19	2123.81	2055.75	0	0	0	30.00	30.00	15.75
2216.44	8486	165.64	1.38	80.00	2491.1	2392.6	2589.7	2124.0	2056.4	92.14	9.12	335	2239.81	15.35	0.00	3.81	1.007	0.000	0.098	2423.28	2323.44	2523.12	2123.81	3553.25	0	0	0	10.92	30.00	15.78
2297.48	1156	165.64	1.34	0.00	2420.4	2320.9	2520.0	2123.6	3552.0	84.01	10.18	351	2304.37	0.00	0.00	3.44	0.000	0.000	0.037	2421.72	2323.38	2520.06	2124.12	2056.19	0	0	0	30.00	30.00	15.84
2493.25	8486	190.95	1.37	80.00	2419.5	2320.8	2518.2	2124.2	2055.9	66.89	8.83	371	2522.12	20.40	0.00	3.82	1.002	0.000	0.098	2315.72	2210.88	2420.56	2124.31	3552.62	0	0	0	10.99	30.00	15.79
2554.70	1028	190.95	1.37	0.00	2317.2	2214.2	2420.3	2123.4	3552.7	60.79	10.32	383	2561.68	0.00	0.00	3.45	0.000	0.000	0.037	2316.94	2213.50	2420.38	2124.56	2054.38	0	0	0	30.00	30.00	15.82
2745.55	8486	225.21	1.41	80.00	2315.8	2213.8	2417.8	2123.6	2055.3	44.30	8.41	409	2782.73	26.48	0.00	3.82	0.992	0.000	0.098	2179.50	2069.94	2289.06	2123.75	3553.81	0	0	0	11.16	30.00	15.76
2841.08	1028	225.21	1.41	0.00	2176.3	2069.6	2283.0	2123.4	3553.8	35.10	10.21	428	2847.35	0.00	0.00	3.45	0.000	0.000	0.037	2177.69	2072.56	2282.81	2124.06	2055.31	0	0	0	30.00	30.00	15.79
3031.18	8486	266.56	1.46	80.00	2174.8	2068.5	2281.1	2124.2	2055.3	18.52	8.09	466	3073.55	30.79	0.00	3.82	0.970	0.000	0.097	2012.59	1899.00	2126.19	2123.88	3552.12	0	0	0	11.01	30.00	15.76
3101.94	11303	305.19	1.51	0.00	2008.8	1896.5	2121.2	2124.2	3551.9	12.89	8.21	480	3139.99	28.88	0.18	3.45	0.947	0.075	0.038	1853.19	1732.50	1973.88	2161.62	2055.69	0	0	0	11.13	15.79	15.80
3321.52	10919	463.38	1.80	-80.00	1847.6	1729.8	1965.4	2161.5	2056.6	2.15	2.67	523	3378.99	53.08	0.37	0.00	0.954	0.067	0.000	1548.59	1424.31	1672.88	2234.44	2056.06	0	0	0	11.13	15.80	30.00
3379	end climb: SURFACE_DEPTH_REACHED
state	3380	begin surface coast
3428	end surface coast: NO_VERTICAL_VELOCITY
state	3428	begin surface