Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 23 * 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 23 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 54.890587 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 107.0335 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 54.890587 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 107.0335 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 23 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 230623,153032,4736.511,-12256.334,2,1.1,21,15.4 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 -53.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,153407,4736.512,-12256.338,2,0.8,4,15.4 MHEAD_RNG_PITCHd_Wd 193.6,1190,-17.6,-10.000,-21.21,2209,0.151

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,-0.024069,0.030629,0.028963,1.050306,-0.046596,-0.035014,-0.030968,1.063036,81.034927,-1088.709473,-918.284546

TGT_LATLONG 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NAV 1687537633,8.8,3,stop INTERNAL_PRESSURE 10.3171

NET CACST,8,1,20230623162741.011352,18,19603,42,0099,0150,07,00,00,00,00,-1,-01,-01,1,3,-3589,0,150,15.9,0.56,-100,2.44,-01,-0.25,71,10000,5000,0,-1,00,00*6F _24V_AH 14.85,87.600

NET_PING 1687537058,29,648.606018,15.600000,-0.863635 _10V_AH 14.89,0.000

_722121b981efe5c5ddd58c1f*1F FG_AHR_24Vo 107.200

MODEM_MSG CACST,8,1,20230623162500.447281,18,1916,32,0096,0000,246,02,02,00,02,-1,-01,-01,2,3,1,0,150,3.0,2.36,-100,0.64,-01,-0.05,72,925,0025,0,-1,00,00*24 FG_AHR_10Vo 54.945

FINISH 1.9,1.019789 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3539.27,199.70,1.001,0,667.1,544.4,789.7,596.80 MEM2 945760,27,100888,69

SM_GC 1.43,199.70,12.42,0.10,1.001,0.060,0.122,667.1,544.4,789.7,192.2,2120.2,0,0,0,11.27,15.77,15.84 DATA_FILE_SIZE 12944,519

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 197099,0

IRIDIUM_FIX 4736.40,-12251.79,230623,143618 SDSIZE 3887104,3866656

TCM_TEMP 12.60 SDFILEDIR 216,24

SC_FREEKB 3871616 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 1,1687536600,47.60500,-122.95000,0.439,642.7 MAGCAL 1.000000,-0.004686,0.032167,0.003111,1.036014,-0.014359,0.030419,-0.091500,1.010940,61.3,-1173.7,-880.6,36,0.0338,0

RAFOS_FIX 4737.035156,-12257.000000,230623,161600,2,510,0.46 IMPLIED_C_PITCH 1777,12.89,252,0.0,0.00

HUMID 56.93 IMPLIED_C_VBD 2878,28.891909,252,0

TEMP 10.43 GPS 230623,163411,4736.219,-12256.492,1,1.0,4,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 664 1129 11137.72 nil 0 0 0.00

Pitch_motor 27 245 99.11 nil 0 0 0.00

Roll_motor 71 158 169.09 nil 0 0 0.00

Iridium 144 142 307.30 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 2250 5 171.56 SciCon 3314 7 356.08

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1271 0 6.06

Compass 1087 5 80.99

RAFOS 2181 40 1299.50

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

7.68 16386 -146.63 -1.51 0.00 663.2 540.6 785.8 189.6 2124.9 0.00 0.00 0 107.23 95.89 0.00 0.00 0.005 0.000 0.000 2669.50 2626.00 2713.00 189.62 2125.06 0 0 0 15.87 30.00 30.00

107.53 18983 -146.63 -1.51 -80.00 2669.2 2626.1 2712.4 189.6 2124.8 3.37 -2.12 19 160.76 30.64 9.44 3.74 0.006 0.245 0.104 3696.66 3658.69 3734.62 1420.25 619.06 0 0 0 15.93 15.61 15.79

291.22 1156 -146.63 -1.43 0.00 3696.8 3658.7 3734.9 1420.2 618.1 26.73 -13.53 55 296.98 0.00 0.00 3.46 0.000 0.000 0.039 3696.69 3658.44 3734.94 1420.69 2118.12 0 0 0 30.00 30.00 15.89

481.28 260 -146.63 -1.43 80.00 3697.0 3658.8 3735.2 1421.0 2118.2 48.60 -11.16 93 487.36 0.00 0.00 3.58 0.000 0.000 0.097 3697.78 3659.25 3736.31 1420.88 3555.00 0 0 0 30.00 30.00 15.87

633.87 3205 -146.63 -1.38 0.00 3697.2 3658.6 3735.7 1420.3 3555.8 68.13 -12.73 122 640.79 0.00 0.23 3.40 0.000 0.179 0.037 3697.97 3659.75 3736.19 1454.50 2052.88 0 0 0 30.00 15.77 15.91

830.14 260 -146.63 -1.38 80.00 3696.9 3658.2 3735.7 1454.1 2051.9 87.56 -10.01 142 841.40 0.00 0.00 3.84 0.000 0.000 0.092 3696.53 3658.31 3734.75 1454.44 3555.44 0 0 0 30.00 30.00 15.23

953.56 1028 -146.63 -1.38 0.00 3697.1 3658.6 3735.5 1454.1 3554.9 101.24 -11.50 167 962.68 0.00 0.00 3.44 0.000 0.000 0.036 3697.41 3658.69 3736.12 1454.38 2053.56 0 0 0 30.00 30.00 15.74

1149.55 420 -146.63 -1.41 80.00 3696.9 3658.3 3735.5 1454.2 2053.6 119.62 -9.17 187 1157.06 0.00 0.00 3.74 0.000 0.000 0.093 3696.03 3657.31 3734.75 1454.06 3556.00 0 0 0 30.00 30.00 15.81

1279.67 1028 -146.63 -1.41 0.00 3697.2 3658.9 3735.6 1454.4 3555.8 133.24 -10.66 213 1286.66 0.00 0.00 3.41 0.000 0.000 0.037 3697.41 3659.38 3735.44 1454.44 2054.69 0 0 0 30.00 30.00 15.90

1463 end dive: TARGET_DEPTH_EXCEEDED

state 1463 begin apogee

1463.94 10243 0.00 -0.38 0.00 3696.8 3658.4 3735.2 1454.8 2123.5 150.47 -9.56 232 1579.06 102.86 1.65 0.12 1.129 0.139 0.158 3098.94 3017.25 3180.62 1695.56 2047.19 0 0 0 10.94 15.82 15.60

1581 end apogee: CONTROL_FINISHED_OK

state 1581 begin climb

1581.38 10759 146.63 1.51 -80.00 3096.6 3016.2 3176.9 1695.2 2046.5 153.68 0.00 242 1708.50 107.67 3.00 3.62 1.087 0.092 0.110 2497.62 2392.94 2602.31 2156.50 620.50 0 0 0 11.24 15.61 15.46

1776.19 5253 146.63 1.42 0.00 2494.2 2394.4 2594.1 2156.1 620.6 136.95 13.08 279 1783.35 0.00 0.25 3.52 0.000 0.192 0.038 2494.09 2393.25 2594.94 2125.12 2117.44 0 0 0 30.00 15.56 15.65

1971.93 292 150.80 1.42 80.00 2492.9 2393.4 2592.4 2125.2 2117.9 117.09 9.81 299 1982.36 0.00 0.00 3.60 0.000 0.000 0.100 2490.09 2390.62 2589.56 2125.00 3554.75 0 0 0 30.00 30.00 15.44

2060.03 1156 150.80 1.37 0.00 2492.0 2392.9 2591.2 2124.4 3554.8 107.25 11.09 316 2066.92 0.00 0.00 3.43 0.000 0.000 0.037 2492.31 2392.81 2591.81 2124.56 2056.19 0 0 0 30.00 30.00 15.79

2255.79 8486 171.92 1.39 80.00 2491.3 2392.6 2590.0 2125.3 2056.4 88.81 9.02 336 2283.62 19.78 0.00 3.76 1.019 0.000 0.098 2396.19 2292.69 2499.69 2124.38 3553.81 0 0 0 10.98 30.00 15.77

2336.34 1156 171.92 1.36 0.00 2394.2 2294.0 2494.3 2125.1 3553.6 80.72 10.43 352 2343.24 0.00 0.00 3.43 0.000 0.000 0.037 2395.69 2295.38 2496.00 2124.06 2054.25 0 0 0 30.00 30.00 15.81

2532.09 8486 207.90 1.40 80.00 2392.9 2294.1 2491.7 2124.6 2054.1 63.93 8.33 372 2569.29 27.94 0.00 3.76 1.017 0.000 0.099 2249.06 2141.56 2356.56 2124.69 3552.81 0 0 0 11.11 30.00 15.76

2635.33 1028 207.90 1.40 0.00 2247.0 2142.6 2351.4 2125.1 3552.7 54.16 10.13 392 2641.84 0.00 0.00 3.43 0.000 0.000 0.038 2244.75 2141.12 2348.38 2124.75 2055.75 0 0 0 30.00 30.00 15.80

2825.43 8486 236.73 1.44 80.00 2245.3 2140.9 2349.7 2124.2 2055.6 37.30 8.66 425 2858.10 22.48 0.00 3.75 0.975 0.000 0.099 2130.50 2020.62 2240.38 2124.44 3556.25 0 0 0 11.23 30.00 15.76

2921.49 1060 238.27 1.44 0.00 2129.5 2021.1 2238.0 2124.6 3555.8 28.15 9.93 444 2927.66 0.00 0.00 3.43 0.000 0.000 0.037 2129.81 2020.56 2239.06 2123.81 2054.25 0 0 0 30.00 30.00 15.82

3111.64 10663 289.56 1.54 80.00 2127.8 2020.7 2235.0 2123.7 2054.0 12.54 7.62 482 3163.62 38.71 0.23 3.77 0.970 0.072 0.098 1915.66 1797.19 2034.12 2171.69 3552.81 0 0 0 11.09 15.83 15.73

3167.12 9254 313.35 1.57 0.00 1914.9 1798.2 2031.6 2171.4 3552.6 7.78 8.90 492 3196.72 18.62 0.00 3.42 0.928 0.000 0.037 1822.22 1703.75 1940.69 2171.50 2055.19 0 0 0 11.29 30.00 15.79

3260 end climb: SURFACE_DEPTH_REACHED

state 3260 begin surface coast

3305 end surface coast: CONTROL_FINISHED_OK

state 3305 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	23	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	54.890587	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	107.0335	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	230623,153032,4736.511,-12256.334,2,1.1,21,15.4	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	-53.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,153407,4736.512,-12256.338,2,0.8,4,15.4	MHEAD_RNG_PITCHd_Wd	193.6,1190,-17.6,-10.000,-21.21,2209,0.151
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,-0.024069,0.030629,0.028963,1.050306,-0.046596,-0.035014,-0.030968,1.063036,81.034927,-1088.709473,-918.284546
TGT_LATLONG	4735.950,-12256.800	OSC	8000307

NAV	1687537633,8.8,3,stop	INTERNAL_PRESSURE	10.3171
NET	CACST,8,1,20230623162741.011352,18,19603,42,0099,0150,07,00,00,00,00,-1,-01,-01,1,3,-3589,0,150,15.9,0.56,-100,2.44,-01,-0.25,71,10000,5000,0,-1,00,00*6F	_24V_AH	14.85,87.600
NET_PING	1687537058,29,648.606018,15.600000,-0.863635	_10V_AH	14.89,0.000
_722121b981efe5c5ddd58c1f*1F		FG_AHR_24Vo	107.200
MODEM_MSG	CACST,8,1,20230623162500.447281,18,1916,32,0096,0000,246,02,02,00,02,-1,-01,-01,2,3,1,0,150,3.0,2.36,-100,0.64,-01,-0.05,72,925,0025,0,-1,00,00*24	FG_AHR_10Vo	54.945
FINISH	1.9,1.019789	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3539.27,199.70,1.001,0,667.1,544.4,789.7,596.80	MEM2	945760,27,100888,69
SM_GC	1.43,199.70,12.42,0.10,1.001,0.060,0.122,667.1,544.4,789.7,192.2,2120.2,0,0,0,11.27,15.77,15.84	DATA_FILE_SIZE	12944,519
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	197099,0
IRIDIUM_FIX	4736.40,-12251.79,230623,143618	SDSIZE	3887104,3866656
TCM_TEMP	12.60	SDFILEDIR	216,24
SC_FREEKB	3871616	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	1,1687536600,47.60500,-122.95000,0.439,642.7	MAGCAL	1.000000,-0.004686,0.032167,0.003111,1.036014,-0.014359,0.030419,-0.091500,1.010940,61.3,-1173.7,-880.6,36,0.0338,0
RAFOS_FIX	4737.035156,-12257.000000,230623,161600,2,510,0.46	IMPLIED_C_PITCH	1777,12.89,252,0.0,0.00
HUMID	56.93	IMPLIED_C_VBD	2878,28.891909,252,0
TEMP	10.43	GPS	230623,163411,4736.219,-12256.492,1,1.0,4,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	664	1129	11137.72	nil	0	0	0.00
Pitch_motor	27	245	99.11	nil	0	0	0.00
Roll_motor	71	158	169.09	nil	0	0	0.00
Iridium	144	142	307.30	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	2250	5	171.56	SciCon	3314	7	356.08
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1271	0	6.06
Compass	1087	5	80.99
RAFOS	2181	40	1299.50
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
7.68	16386	-146.63	-1.51	0.00	663.2	540.6	785.8	189.6	2124.9	0.00	0.00	0	107.23	95.89	0.00	0.00	0.005	0.000	0.000	2669.50	2626.00	2713.00	189.62	2125.06	0	0	0	15.87	30.00	30.00
107.53	18983	-146.63	-1.51	-80.00	2669.2	2626.1	2712.4	189.6	2124.8	3.37	-2.12	19	160.76	30.64	9.44	3.74	0.006	0.245	0.104	3696.66	3658.69	3734.62	1420.25	619.06	0	0	0	15.93	15.61	15.79
291.22	1156	-146.63	-1.43	0.00	3696.8	3658.7	3734.9	1420.2	618.1	26.73	-13.53	55	296.98	0.00	0.00	3.46	0.000	0.000	0.039	3696.69	3658.44	3734.94	1420.69	2118.12	0	0	0	30.00	30.00	15.89
481.28	260	-146.63	-1.43	80.00	3697.0	3658.8	3735.2	1421.0	2118.2	48.60	-11.16	93	487.36	0.00	0.00	3.58	0.000	0.000	0.097	3697.78	3659.25	3736.31	1420.88	3555.00	0	0	0	30.00	30.00	15.87
633.87	3205	-146.63	-1.38	0.00	3697.2	3658.6	3735.7	1420.3	3555.8	68.13	-12.73	122	640.79	0.00	0.23	3.40	0.000	0.179	0.037	3697.97	3659.75	3736.19	1454.50	2052.88	0	0	0	30.00	15.77	15.91
830.14	260	-146.63	-1.38	80.00	3696.9	3658.2	3735.7	1454.1	2051.9	87.56	-10.01	142	841.40	0.00	0.00	3.84	0.000	0.000	0.092	3696.53	3658.31	3734.75	1454.44	3555.44	0	0	0	30.00	30.00	15.23
953.56	1028	-146.63	-1.38	0.00	3697.1	3658.6	3735.5	1454.1	3554.9	101.24	-11.50	167	962.68	0.00	0.00	3.44	0.000	0.000	0.036	3697.41	3658.69	3736.12	1454.38	2053.56	0	0	0	30.00	30.00	15.74
1149.55	420	-146.63	-1.41	80.00	3696.9	3658.3	3735.5	1454.2	2053.6	119.62	-9.17	187	1157.06	0.00	0.00	3.74	0.000	0.000	0.093	3696.03	3657.31	3734.75	1454.06	3556.00	0	0	0	30.00	30.00	15.81
1279.67	1028	-146.63	-1.41	0.00	3697.2	3658.9	3735.6	1454.4	3555.8	133.24	-10.66	213	1286.66	0.00	0.00	3.41	0.000	0.000	0.037	3697.41	3659.38	3735.44	1454.44	2054.69	0	0	0	30.00	30.00	15.90
1463	end dive: TARGET_DEPTH_EXCEEDED
state	1463	begin apogee
1463.94	10243	0.00	-0.38	0.00	3696.8	3658.4	3735.2	1454.8	2123.5	150.47	-9.56	232	1579.06	102.86	1.65	0.12	1.129	0.139	0.158	3098.94	3017.25	3180.62	1695.56	2047.19	0	0	0	10.94	15.82	15.60
1581	end apogee: CONTROL_FINISHED_OK
state	1581	begin climb
1581.38	10759	146.63	1.51	-80.00	3096.6	3016.2	3176.9	1695.2	2046.5	153.68	0.00	242	1708.50	107.67	3.00	3.62	1.087	0.092	0.110	2497.62	2392.94	2602.31	2156.50	620.50	0	0	0	11.24	15.61	15.46
1776.19	5253	146.63	1.42	0.00	2494.2	2394.4	2594.1	2156.1	620.6	136.95	13.08	279	1783.35	0.00	0.25	3.52	0.000	0.192	0.038	2494.09	2393.25	2594.94	2125.12	2117.44	0	0	0	30.00	15.56	15.65
1971.93	292	150.80	1.42	80.00	2492.9	2393.4	2592.4	2125.2	2117.9	117.09	9.81	299	1982.36	0.00	0.00	3.60	0.000	0.000	0.100	2490.09	2390.62	2589.56	2125.00	3554.75	0	0	0	30.00	30.00	15.44
2060.03	1156	150.80	1.37	0.00	2492.0	2392.9	2591.2	2124.4	3554.8	107.25	11.09	316	2066.92	0.00	0.00	3.43	0.000	0.000	0.037	2492.31	2392.81	2591.81	2124.56	2056.19	0	0	0	30.00	30.00	15.79
2255.79	8486	171.92	1.39	80.00	2491.3	2392.6	2590.0	2125.3	2056.4	88.81	9.02	336	2283.62	19.78	0.00	3.76	1.019	0.000	0.098	2396.19	2292.69	2499.69	2124.38	3553.81	0	0	0	10.98	30.00	15.77
2336.34	1156	171.92	1.36	0.00	2394.2	2294.0	2494.3	2125.1	3553.6	80.72	10.43	352	2343.24	0.00	0.00	3.43	0.000	0.000	0.037	2395.69	2295.38	2496.00	2124.06	2054.25	0	0	0	30.00	30.00	15.81
2532.09	8486	207.90	1.40	80.00	2392.9	2294.1	2491.7	2124.6	2054.1	63.93	8.33	372	2569.29	27.94	0.00	3.76	1.017	0.000	0.099	2249.06	2141.56	2356.56	2124.69	3552.81	0	0	0	11.11	30.00	15.76
2635.33	1028	207.90	1.40	0.00	2247.0	2142.6	2351.4	2125.1	3552.7	54.16	10.13	392	2641.84	0.00	0.00	3.43	0.000	0.000	0.038	2244.75	2141.12	2348.38	2124.75	2055.75	0	0	0	30.00	30.00	15.80
2825.43	8486	236.73	1.44	80.00	2245.3	2140.9	2349.7	2124.2	2055.6	37.30	8.66	425	2858.10	22.48	0.00	3.75	0.975	0.000	0.099	2130.50	2020.62	2240.38	2124.44	3556.25	0	0	0	11.23	30.00	15.76
2921.49	1060	238.27	1.44	0.00	2129.5	2021.1	2238.0	2124.6	3555.8	28.15	9.93	444	2927.66	0.00	0.00	3.43	0.000	0.000	0.037	2129.81	2020.56	2239.06	2123.81	2054.25	0	0	0	30.00	30.00	15.82
3111.64	10663	289.56	1.54	80.00	2127.8	2020.7	2235.0	2123.7	2054.0	12.54	7.62	482	3163.62	38.71	0.23	3.77	0.970	0.072	0.098	1915.66	1797.19	2034.12	2171.69	3552.81	0	0	0	11.09	15.83	15.73
3167.12	9254	313.35	1.57	0.00	1914.9	1798.2	2031.6	2171.4	3552.6	7.78	8.90	492	3196.72	18.62	0.00	3.42	0.928	0.000	0.037	1822.22	1703.75	1940.69	2171.50	2055.19	0	0	0	11.29	30.00	15.79
3260	end climb: SURFACE_DEPTH_REACHED
state	3260	begin surface coast
3305	end surface coast: CONTROL_FINISHED_OK
state	3305	begin surface