Glider dive log

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

N_DIVES 5 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 593.79755 ROLL_MAXERRORS 0 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -3.2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 2857.9485 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

D_SAFE 0 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 3 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 6 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 6 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 12 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 3 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 400 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 400 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 700 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 220 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE -1

ICE_FREEZE_MARGIN 0.07 C_PITCH 1733.1931 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 13.530844 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 42.532303 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 28.033043 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 5 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 42.532303 PHONE_SUPPLY 2 SM_CC 593.79755

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 28.033043 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 13.530844 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 1733.1931 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 2857.9485 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 4 MISSION 8 ROLL_MIN 195 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE -1 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 3 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 210623,195109,4735.966,-12256.767,9,1.0,11,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.58 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,195645,4735.942,-12256.826,2,1.0,4,15.4 MHEAD_RNG_PITCHd_Wd 5.1,1176,-17.6,-10.000,-21.21,2209,0.143

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.025244,-0.072655,0.008785,1.026925,-0.043242,0.027332,-0.082621,1.082390,779.262451,-860.414246,-712.433044

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NAV 1687381145,2.9,start _24V_AH 14.96,31.707

NET CACST,8,0,20230621205032.544289,18,32767,45,0107,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,11.5,6.80,-100,-3.80,-01,0.17,60,10000,5000,0,1,00,00*79 _10V_AH 14.98,0.000

NET_PING 1687380611,29,814.973999,11.600000,-1.084869 FG_AHR_24Vo 28.203

MODEM_MSG CACST,8,0,20230621202500.433884,18,29099,44,0331,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,1.8,8.82,-100,-5.82,-01,0.14,74,925,0025,0,1,00,00*18 FG_AHR_10Vo 42.590

FREEZE 2.68,15.348,-1.396,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3928.51,0.10,0.217,0,499.5,399.6,599.4,578.29 MEM2 931380,19,115408,70

SM_GC 2.61,0.10,12.85,0.10,0.217,0.058,0.136,499.5,399.6,599.4,203.6,2015.2,0,0,0,15.70,15.56,15.60 DATA_FILE_SIZE 16145,546

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 175475,0

IRIDIUM_FIX 4735.53,-12254.47,210623,195235 SDSIZE 3887104,3868512

TCM_TEMP 14.80 SDFILEDIR 75,5

SC_FREEKB 3877504 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 0,1687377600,47.60500,-122.95000,0.488,715.6 CURRENT 0.017,148.7,1

RAFOS_FIX 4836.537109,-12257.000000,210623,191904,4,255,154.50 MAGCAL 1.000000,0.008433,0.026514,-0.006192,1.081769,-0.204593,0.001797,0.078192,1.021998,708.3,-755.7,-715.0,36,0.0375,0

HUMID 50.35 IMPLIED_C_PITCH 1729,13.22,275,1731.2,13.37

TEMP 11.41 IMPLIED_C_VBD 2809,35.272758,270,2833.4

INTERNAL_PRESSURE 8.24628 GPS 210623,210410,4736.222,-12256.461,54,0.9,55,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 662 1166 11566.80 nil 0 0 0.00

Pitch_motor 27 224 90.95 nil 0 0 0.00

Roll_motor 36 187 102.07 nil 0 0 0.00

Iridium 208 213 666.71 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.08 nil 0 0 0.00

Core 2525 5 193.73 SciCon 3785 6 374.44

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1620 0 7.77

Compass 1157 5 86.66

RAFOS 1707 40 1023.42

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

7.51 16386 -146.63 -1.48 0.00 499.2 399.9 598.6 191.9 1941.2 0.00 0.00 0 66.89 54.88 0.00 0.00 0.005 0.000 0.000 1799.38 1763.50 1835.25 191.62 1941.31 0 0 0 15.94 30.00 30.00

67.33 18467 -146.63 -1.48 0.00 1798.8 1762.4 1835.2 191.6 1941.6 3.20 -3.24 11 139.55 51.85 8.62 0.00 0.005 0.224 0.000 3453.69 3418.38 3489.00 1374.75 1941.50 0 0 0 15.94 15.74 30.00

321.05 420 -146.63 -1.46 80.00 3455.6 3416.8 3494.4 1374.9 1941.5 21.67 -7.55 58 328.55 0.00 0.00 3.68 0.000 0.000 0.109 3454.44 3415.06 3493.81 1375.56 3448.75 0 0 0 30.00 30.00 15.85

497.23 1188 -146.63 -1.42 0.00 3455.8 3417.1 3494.6 1375.7 3448.0 37.80 -9.47 93 504.99 0.00 0.00 3.41 0.000 0.000 0.056 3454.47 3414.94 3494.00 1375.56 1948.50 0 0 0 30.00 30.00 15.92

688.62 160 -146.63 -1.40 0.00 3455.7 3416.1 3495.4 1374.9 1948.8 54.73 -9.10 126 690.38 0.00 0.00 0.00 0.000 0.000 0.000 3455.00 3414.94 3495.06 1375.25 1949.06 0 0 0 30.00 30.00 30.00

879.20 160 -146.63 -1.39 0.00 3456.0 3416.1 3495.9 1375.3 1948.1 72.71 -9.38 145 880.94 0.00 0.00 0.00 0.000 0.000 0.000 3454.97 3415.25 3494.69 1375.56 1948.44 0 0 0 30.00 30.00 30.00

1069.21 420 -146.63 -1.38 80.00 3455.9 3415.8 3496.0 1375.5 1948.1 90.81 -9.55 164 1077.38 0.00 0.00 3.67 0.000 0.000 0.110 3455.91 3414.81 3497.00 1375.56 3450.88 0 0 0 30.00 30.00 15.90

1160.23 3205 -146.63 -1.36 0.00 3456.0 3415.7 3496.4 1375.4 3450.7 100.61 -10.75 182 1168.00 0.00 0.19 3.41 0.000 0.162 0.057 3456.88 3416.62 3497.12 1408.12 1948.75 0 0 0 30.00 15.86 15.95

1355.95 32 -146.63 -1.36 0.00 3456.8 3416.8 3496.8 1407.8 1948.5 117.84 -8.66 202 1357.71 0.00 0.00 0.00 0.000 0.000 0.000 3455.47 3415.69 3495.25 1407.81 1948.88 0 0 0 30.00 30.00 30.00

1546.03 32 -146.63 -1.36 0.00 3456.8 3416.8 3496.9 1408.1 1948.9 134.50 -8.58 221 1547.78 0.00 0.00 0.00 0.000 0.000 0.000 3455.47 3415.12 3495.81 1407.56 1948.81 0 0 0 30.00 30.00 30.00

1736 end dive: TARGET_DEPTH_EXCEEDED

state 1736 begin apogee

1737.67 10243 0.00 -0.37 0.00 3456.3 3415.9 3496.7 1407.7 1867.1 150.81 -8.63 240 1861.82 112.02 1.54 0.10 1.167 0.113 0.188 2857.22 2751.25 2963.19 1647.69 1935.31 0 0 0 10.99 15.88 15.60

1863 end apogee: CONTROL_FINISHED_OK

state 1863 begin climb

1863.50 10759 146.63 1.48 -80.00 2855.7 2749.6 2961.8 1647.2 1934.6 153.81 0.00 251 1999.78 114.51 2.85 3.83 1.091 0.082 0.128 2256.88 2149.44 2364.31 2098.06 434.12 0 0 0 11.22 15.65 15.45

2063.46 21639 146.63 1.40 0.00 2250.7 2145.1 2356.3 2097.7 433.9 134.33 15.85 287 2072.05 0.00 0.25 3.44 0.000 0.178 0.052 2251.09 2147.25 2354.94 2065.94 1936.75 0 0 0 30.00 15.64 15.70

2258.46 16514 146.63 1.38 0.00 2249.3 2145.1 2353.6 2066.2 1938.4 112.06 10.72 307 2260.25 0.00 0.00 0.00 0.000 0.000 0.000 2247.94 2144.19 2351.69 2066.12 1938.19 0 0 0 30.00 30.00 30.00

2448.47 16514 146.63 1.37 0.00 2248.9 2144.8 2353.0 2066.4 1938.3 91.97 10.40 326 2450.26 0.00 0.00 0.00 0.000 0.000 0.000 2247.44 2143.62 2351.25 2065.69 1938.44 0 0 0 30.00 30.00 30.00

2634.42 8226 158.56 1.39 0.00 2248.1 2144.6 2351.6 2065.9 1937.6 73.75 9.45 345 2648.82 9.96 0.00 0.00 0.902 0.000 0.000 2210.34 2104.31 2316.38 2066.44 1937.88 0 0 0 11.28 30.00 30.00

2834.88 8742 177.20 1.41 -80.00 2208.4 2103.4 2313.3 2066.4 1938.1 54.80 9.14 366 2862.07 16.69 0.00 3.76 0.984 0.000 0.130 2132.72 2025.69 2239.75 2066.38 432.81 0 0 0 11.22 30.00 15.74

2950.76 1156 177.20 1.38 0.00 2129.9 2023.2 2236.6 2066.4 432.8 41.67 11.73 389 2958.76 0.00 0.00 3.45 0.000 0.000 0.053 2133.00 2025.56 2240.44 2065.88 1934.12 0 0 0 30.00 30.00 15.88

3142.29 8226 199.12 1.40 0.00 2128.8 2022.6 2234.9 2066.6 1935.0 24.41 8.98 427 3171.57 18.54 0.00 0.00 0.977 0.000 0.000 2046.09 1938.44 2153.75 2066.38 1935.69 0 0 0 11.02 30.00 30.00

3355.22 10919 267.46 1.52 -80.00 2040.1 1934.9 2145.2 2065.8 1936.0 6.34 6.84 469 3421.25 51.67 0.23 3.75 1.005 0.062 0.128 1766.66 1656.38 1876.94 2119.94 433.00 0 0 0 10.91 15.94 15.72

3425.08 11431 411.56 1.72 0.00 1763.8 1654.9 1872.8 2119.8 432.6 4.38 3.33 482 3545.88 105.51 0.19 3.47 0.988 0.075 0.052 1179.25 1070.38 1288.12 2170.44 1944.62 0 0 0 11.20 15.80 15.80

3727.61 10663 622.03 2.05 80.00 1172.5 1065.6 1279.4 2170.2 1944.1 2.92 0.25 537 3777.71 45.16 0.36 0.00 0.971 0.061 0.000 940.34 834.75 1045.94 2249.06 1944.12 0 0 0 11.22 15.80 30.00

3778 end climb: NO_VERTICAL_VELOCITY

state 3778 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	4	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	5	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	593.79755	ROLL_MAXERRORS	0	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-3.2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	2857.9485	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
D_SAFE	0	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	3	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	6	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	6	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	12	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	3	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	400	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	400	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	700	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	220	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	-1
ICE_FREEZE_MARGIN	0.07	C_PITCH	1733.1931	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	13.530844	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	42.532303	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	28.033043	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0099999998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-182.53638	SEABIRD_T_J	4.3e-06
MASS	72380	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	195	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3800	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1980	ALTIM_FREQUENCY	13

GPS1	210623,195109,4735.966,-12256.767,9,1.0,11,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.58	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,195645,4735.942,-12256.826,2,1.0,4,15.4	MHEAD_RNG_PITCHd_Wd	5.1,1176,-17.6,-10.000,-21.21,2209,0.143
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.025244,-0.072655,0.008785,1.026925,-0.043242,0.027332,-0.082621,1.082390,779.262451,-860.414246,-712.433044
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NAV	1687381145,2.9,start	_24V_AH	14.96,31.707
NET	CACST,8,0,20230621205032.544289,18,32767,45,0107,0113,07,00,00,00,00,1,029,121,0,5,3,0,150,11.5,6.80,-100,-3.80,-01,0.17,60,10000,5000,0,1,00,00*79	_10V_AH	14.98,0.000
NET_PING	1687380611,29,814.973999,11.600000,-1.084869	FG_AHR_24Vo	28.203
MODEM_MSG	CACST,8,0,20230621202500.433884,18,29099,44,0331,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,1.8,8.82,-100,-5.82,-01,0.14,74,925,0025,0,1,00,00*18	FG_AHR_10Vo	42.590
FREEZE	2.68,15.348,-1.396,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3928.51,0.10,0.217,0,499.5,399.6,599.4,578.29	MEM2	931380,19,115408,70
SM_GC	2.61,0.10,12.85,0.10,0.217,0.058,0.136,499.5,399.6,599.4,203.6,2015.2,0,0,0,15.70,15.56,15.60	DATA_FILE_SIZE	16145,546
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	175475,0
IRIDIUM_FIX	4735.53,-12254.47,210623,195235	SDSIZE	3887104,3868512
TCM_TEMP	14.80	SDFILEDIR	75,5
SC_FREEKB	3877504	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	0,1687377600,47.60500,-122.95000,0.488,715.6	CURRENT	0.017,148.7,1
RAFOS_FIX	4836.537109,-12257.000000,210623,191904,4,255,154.50	MAGCAL	1.000000,0.008433,0.026514,-0.006192,1.081769,-0.204593,0.001797,0.078192,1.021998,708.3,-755.7,-715.0,36,0.0375,0
HUMID	50.35	IMPLIED_C_PITCH	1729,13.22,275,1731.2,13.37
TEMP	11.41	IMPLIED_C_VBD	2809,35.272758,270,2833.4
INTERNAL_PRESSURE	8.24628	GPS	210623,210410,4736.222,-12256.461,54,0.9,55,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	662	1166	11566.80	nil	0	0	0.00
Pitch_motor	27	224	90.95	nil	0	0	0.00
Roll_motor	36	187	102.07	nil	0	0	0.00
Iridium	208	213	666.71	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.08	nil	0	0	0.00
Core	2525	5	193.73	SciCon	3785	6	374.44
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1620	0	7.77
Compass	1157	5	86.66
RAFOS	1707	40	1023.42
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
7.51	16386	-146.63	-1.48	0.00	499.2	399.9	598.6	191.9	1941.2	0.00	0.00	0	66.89	54.88	0.00	0.00	0.005	0.000	0.000	1799.38	1763.50	1835.25	191.62	1941.31	0	0	0	15.94	30.00	30.00
67.33	18467	-146.63	-1.48	0.00	1798.8	1762.4	1835.2	191.6	1941.6	3.20	-3.24	11	139.55	51.85	8.62	0.00	0.005	0.224	0.000	3453.69	3418.38	3489.00	1374.75	1941.50	0	0	0	15.94	15.74	30.00
321.05	420	-146.63	-1.46	80.00	3455.6	3416.8	3494.4	1374.9	1941.5	21.67	-7.55	58	328.55	0.00	0.00	3.68	0.000	0.000	0.109	3454.44	3415.06	3493.81	1375.56	3448.75	0	0	0	30.00	30.00	15.85
497.23	1188	-146.63	-1.42	0.00	3455.8	3417.1	3494.6	1375.7	3448.0	37.80	-9.47	93	504.99	0.00	0.00	3.41	0.000	0.000	0.056	3454.47	3414.94	3494.00	1375.56	1948.50	0	0	0	30.00	30.00	15.92
688.62	160	-146.63	-1.40	0.00	3455.7	3416.1	3495.4	1374.9	1948.8	54.73	-9.10	126	690.38	0.00	0.00	0.00	0.000	0.000	0.000	3455.00	3414.94	3495.06	1375.25	1949.06	0	0	0	30.00	30.00	30.00
879.20	160	-146.63	-1.39	0.00	3456.0	3416.1	3495.9	1375.3	1948.1	72.71	-9.38	145	880.94	0.00	0.00	0.00	0.000	0.000	0.000	3454.97	3415.25	3494.69	1375.56	1948.44	0	0	0	30.00	30.00	30.00
1069.21	420	-146.63	-1.38	80.00	3455.9	3415.8	3496.0	1375.5	1948.1	90.81	-9.55	164	1077.38	0.00	0.00	3.67	0.000	0.000	0.110	3455.91	3414.81	3497.00	1375.56	3450.88	0	0	0	30.00	30.00	15.90
1160.23	3205	-146.63	-1.36	0.00	3456.0	3415.7	3496.4	1375.4	3450.7	100.61	-10.75	182	1168.00	0.00	0.19	3.41	0.000	0.162	0.057	3456.88	3416.62	3497.12	1408.12	1948.75	0	0	0	30.00	15.86	15.95
1355.95	32	-146.63	-1.36	0.00	3456.8	3416.8	3496.8	1407.8	1948.5	117.84	-8.66	202	1357.71	0.00	0.00	0.00	0.000	0.000	0.000	3455.47	3415.69	3495.25	1407.81	1948.88	0	0	0	30.00	30.00	30.00
1546.03	32	-146.63	-1.36	0.00	3456.8	3416.8	3496.9	1408.1	1948.9	134.50	-8.58	221	1547.78	0.00	0.00	0.00	0.000	0.000	0.000	3455.47	3415.12	3495.81	1407.56	1948.81	0	0	0	30.00	30.00	30.00
1736	end dive: TARGET_DEPTH_EXCEEDED
state	1736	begin apogee
1737.67	10243	0.00	-0.37	0.00	3456.3	3415.9	3496.7	1407.7	1867.1	150.81	-8.63	240	1861.82	112.02	1.54	0.10	1.167	0.113	0.188	2857.22	2751.25	2963.19	1647.69	1935.31	0	0	0	10.99	15.88	15.60
1863	end apogee: CONTROL_FINISHED_OK
state	1863	begin climb
1863.50	10759	146.63	1.48	-80.00	2855.7	2749.6	2961.8	1647.2	1934.6	153.81	0.00	251	1999.78	114.51	2.85	3.83	1.091	0.082	0.128	2256.88	2149.44	2364.31	2098.06	434.12	0	0	0	11.22	15.65	15.45
2063.46	21639	146.63	1.40	0.00	2250.7	2145.1	2356.3	2097.7	433.9	134.33	15.85	287	2072.05	0.00	0.25	3.44	0.000	0.178	0.052	2251.09	2147.25	2354.94	2065.94	1936.75	0	0	0	30.00	15.64	15.70
2258.46	16514	146.63	1.38	0.00	2249.3	2145.1	2353.6	2066.2	1938.4	112.06	10.72	307	2260.25	0.00	0.00	0.00	0.000	0.000	0.000	2247.94	2144.19	2351.69	2066.12	1938.19	0	0	0	30.00	30.00	30.00
2448.47	16514	146.63	1.37	0.00	2248.9	2144.8	2353.0	2066.4	1938.3	91.97	10.40	326	2450.26	0.00	0.00	0.00	0.000	0.000	0.000	2247.44	2143.62	2351.25	2065.69	1938.44	0	0	0	30.00	30.00	30.00
2634.42	8226	158.56	1.39	0.00	2248.1	2144.6	2351.6	2065.9	1937.6	73.75	9.45	345	2648.82	9.96	0.00	0.00	0.902	0.000	0.000	2210.34	2104.31	2316.38	2066.44	1937.88	0	0	0	11.28	30.00	30.00
2834.88	8742	177.20	1.41	-80.00	2208.4	2103.4	2313.3	2066.4	1938.1	54.80	9.14	366	2862.07	16.69	0.00	3.76	0.984	0.000	0.130	2132.72	2025.69	2239.75	2066.38	432.81	0	0	0	11.22	30.00	15.74
2950.76	1156	177.20	1.38	0.00	2129.9	2023.2	2236.6	2066.4	432.8	41.67	11.73	389	2958.76	0.00	0.00	3.45	0.000	0.000	0.053	2133.00	2025.56	2240.44	2065.88	1934.12	0	0	0	30.00	30.00	15.88
3142.29	8226	199.12	1.40	0.00	2128.8	2022.6	2234.9	2066.6	1935.0	24.41	8.98	427	3171.57	18.54	0.00	0.00	0.977	0.000	0.000	2046.09	1938.44	2153.75	2066.38	1935.69	0	0	0	11.02	30.00	30.00
3355.22	10919	267.46	1.52	-80.00	2040.1	1934.9	2145.2	2065.8	1936.0	6.34	6.84	469	3421.25	51.67	0.23	3.75	1.005	0.062	0.128	1766.66	1656.38	1876.94	2119.94	433.00	0	0	0	10.91	15.94	15.72
3425.08	11431	411.56	1.72	0.00	1763.8	1654.9	1872.8	2119.8	432.6	4.38	3.33	482	3545.88	105.51	0.19	3.47	0.988	0.075	0.052	1179.25	1070.38	1288.12	2170.44	1944.62	0	0	0	11.20	15.80	15.80
3727.61	10663	622.03	2.05	80.00	1172.5	1065.6	1279.4	2170.2	1944.1	2.92	0.25	537	3777.71	45.16	0.36	0.00	0.971	0.061	0.000	940.34	834.75	1045.94	2249.06	1944.12	0	0	0	11.22	15.80	30.00
3778	end climb: NO_VERTICAL_VELOCITY
state	3778	begin surface