Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 6 * 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 6 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 6 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 15 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3400 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 53.93795 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 104.13351 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 6 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 53.93795 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 104.13351 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 15 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 3400 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 6 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 220623,213111,4735.912,-12256.819,1,0.9,5,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.48 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,213416,4735.900,-12256.823,3,0.9,6,15.4 MHEAD_RNG_PITCHd_Wd 5.3,1247,-17.6,-10.000,-21.21,2209,0.157

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,8,0,20230622221810.569570,18,32767,45,0110,0150,07,00,00,00,00,1,012,121,0,5,7,0,150,14.8,6.73,-100,-3.73,-01,0.27,64,10000,5000,0,1,01,00*79 _24V_AH 14.37,84.234

NET_PING 1687472260,29,650.152466,12.500000,-0.864738 _10V_AH 15.00,0.000

NAV 1687472831,8.9,3,stop FG_AHR_24Vo 104.314

MODEM_MSG CACST,8,0,20230622222500.538830,18,16675,36,0253,0000,07,01,01,01,01,1,029,121,0,5,1,0,150,8.5,3.90,-100,-0.90,-01,0.06,35,925,0025,0,1,00,00*2C FG_AHR_10Vo 53.978

FREEZE 2.55,15.080,-1.453,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3643.36,195.28,0.923,0,501.1,389.9,612.2,711.11 MEM2 945792,25,100896,69

SM_GC 1.39,0.00,12.37,0.10,0.000,0.050,0.129,498.7,389.8,607.7,187.2,2119.9,0,0,0,30.00,15.63,15.64 DATA_FILE_SIZE 16107,556

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 199627,0

IRIDIUM_FIX 4736.40,-12251.79,220623,203547 SDSIZE 3887104,3872064

TCM_TEMP 12.93 SDFILEDIR 81,7

SC_FREEKB 3876992 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 4,1687470677,47.60500,-122.95000,377.773,553437.2 MAGCAL 1.000000,0.002157,0.054713,0.003934,1.018166,-0.052409,-0.022050,-0.067911,1.015490,39.3,-1141.9,-881.7,36,0.0285,0

RAFOS_FIX 4736.828125,-12257.000000,220623,191933,4,255,1.20 IMPLIED_C_PITCH 1754,12.81,245,0.0,0.00

HUMID 56.89 IMPLIED_C_VBD 2925,37.639900,245,0

TEMP 11.23 GPS 220623,223831,4736.167,-12256.551,26,0.9,27,15.4

INTERNAL_PRESSURE 10.3508

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 738 2690 28560.56 nil 0 0 0.00

Pitch_motor 27 255 99.81 nil 0 0 0.00

Roll_motor 70 176 179.10 nil 0 0 0.00

Iridium 121 154 270.93 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.39 nil 0 0 0.00

Core 2252 5 172.98 SciCon 3441 7 370.18

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1462 0 7.02

Compass 1158 5 86.92

RAFOS 2189 40 1313.72

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 0.00 497.0 390.1 603.9 188.4 2051.4 0.00 0.00 0 86.53 75.89 0.00 0.00 0.005 0.000 0.000 2175.03 2130.50 2219.56 188.44 2051.38 0 0 0 15.91 30.00 30.00

86.83 18727 -146.63 -1.51 80.00 2175.5 2130.8 2220.2 188.3 2050.6 3.15 -2.42 15 162.65 54.64 9.35 3.63 0.005 0.256 0.103 3958.47 3924.75 3992.19 1420.38 3556.19 0 0 0 15.95 15.64 15.81

278.23 17542 -146.63 -1.46 0.00 3959.4 3925.4 3993.3 1420.2 3556.4 25.28 -13.74 52 284.21 0.00 0.00 3.39 0.028 0.000 0.043 3959.00 3925.12 3992.88 1420.06 2054.25 0 0 0 30.36 30.00 15.89

468.30 16646 -146.63 -1.46 80.00 3959.1 3924.8 3993.3 1420.3 2054.0 47.01 -11.53 90 475.67 0.00 0.00 3.60 2.691 0.000 0.100 3966.97 3929.75 4004.19 1420.00 3555.38 0 0 0 30.36 30.00 15.87

575.89 1156 -146.63 -1.42 0.00 3966.2 3929.8 4002.7 1420.2 3555.8 61.28 -13.23 110 582.57 0.00 0.00 3.38 0.000 0.000 0.041 3966.38 3929.44 4003.31 1420.50 2054.94 0 0 0 30.00 30.00 15.90

776.39 260 -146.63 -1.42 80.00 3966.5 3929.5 4003.5 1420.8 2054.8 83.12 -11.33 130 786.11 0.00 0.00 3.62 0.000 0.000 0.097 3966.16 3929.06 4003.25 1420.44 3555.12 0 0 0 30.00 30.00 15.84

919.22 1028 -146.63 -1.42 0.00 3966.1 3928.8 4003.4 1420.2 3554.8 103.11 -13.81 159 925.98 0.00 0.00 3.39 0.000 0.000 0.042 3967.19 3929.94 4004.44 1420.31 2055.69 0 0 0 30.00 30.00 15.92

1115.02 260 -146.63 -1.42 80.00 3966.7 3929.1 4004.2 1420.2 2055.9 126.07 -11.68 179 1121.37 0.00 0.00 3.60 0.000 0.000 0.100 3967.06 3929.25 4004.88 1420.31 3555.06 0 0 0 30.00 30.00 15.89

1240.04 1028 -146.63 -1.42 0.00 3966.6 3929.6 4003.6 1420.5 3554.8 142.78 -13.74 204 1246.30 0.00 0.00 3.38 0.000 0.000 0.043 3966.12 3928.75 4003.50 1420.25 2052.62 0 0 0 30.00 30.00 15.94

1305 end dive: TARGET_DEPTH_EXCEEDED

state 1305 begin apogee

1306.50 10243 0.00 -0.38 0.00 3966.8 3929.2 4004.5 1420.1 2120.8 150.91 -12.24 211 1413.22 95.01 1.87 0.11 1.102 0.145 0.176 3399.56 3326.81 3472.31 1695.88 2049.25 0 0 0 10.65 15.78 15.69

1415 end apogee: CONTROL_FINISHED_OK

state 1415 begin climb

1415.11 10759 146.63 1.51 -80.00 3397.7 3325.0 3470.4 1695.9 2049.1 154.58 0.00 222 1537.82 105.08 2.94 3.60 1.067 0.093 0.114 2799.09 2698.19 2900.00 2156.75 620.25 0 0 0 11.16 15.70 15.51

1631.42 13479 156.53 1.39 0.00 2794.4 2698.0 2890.8 2156.8 620.1 142.60 9.54 260 1648.53 8.97 0.32 3.46 0.892 0.199 0.044 2758.12 2659.12 2857.12 2115.75 2117.31 0 0 0 11.07 15.58 15.68

1836.44 8614 206.62 1.40 80.00 2757.3 2661.8 2852.9 2115.8 2117.3 126.45 7.68 282 1883.91 38.65 0.00 3.52 1.035 0.000 0.107 2555.56 2451.75 2659.38 2116.06 3554.06 0 0 0 10.90 30.00 15.66

2044.77 1156 206.62 1.34 0.00 2552.4 2452.3 2652.5 2116.0 3553.9 105.68 10.37 323 2051.67 0.00 0.00 3.43 0.000 0.000 0.043 2551.94 2451.06 2652.81 2116.31 2054.75 0 0 0 30.00 30.00 15.77

2240.63 8486 233.52 1.38 80.00 2550.2 2450.4 2649.9 2115.9 2054.9 88.58 8.75 343 2272.57 21.16 0.00 3.66 0.998 0.000 0.104 2444.44 2338.81 2550.06 2115.75 3554.88 0 0 0 10.88 30.00 15.77

2335.33 1156 233.52 1.34 0.00 2443.6 2340.4 2546.8 2115.8 3554.5 79.48 10.07 362 2342.21 0.00 0.00 3.41 0.000 0.000 0.043 2444.78 2341.50 2548.06 2115.44 2055.81 0 0 0 30.00 30.00 15.81

2531.08 8486 265.35 1.38 80.00 2441.4 2338.8 2544.1 2115.8 2055.8 62.16 8.53 382 2563.80 24.84 0.00 3.65 0.984 0.000 0.104 2316.75 2209.19 2424.31 2116.12 3553.25 0 0 0 10.88 30.00 15.77

2618.63 1060 266.39 1.38 0.00 2313.2 2206.6 2419.8 2115.9 3553.7 54.04 9.95 399 2625.56 0.00 0.00 3.41 0.000 0.000 0.043 2314.53 2207.94 2421.12 2115.94 2056.62 0 0 0 30.00 30.00 15.81

2809.44 8486 302.46 1.42 80.00 2311.6 2205.2 2417.9 2116.2 2056.5 37.31 8.33 433 2847.38 28.24 0.00 3.65 0.967 0.000 0.105 2163.56 2050.25 2276.88 2115.62 3552.75 0 0 0 10.90 30.00 15.76

2915.78 9254 307.91 1.43 0.00 2161.2 2051.3 2271.0 2115.9 3552.2 27.41 9.75 454 2928.44 6.07 0.00 3.41 0.746 0.000 0.044 2141.03 2030.19 2251.88 2116.38 2056.19 0 0 0 11.02 30.00 15.82

3111.92 10663 365.36 1.55 80.00 2140.1 2030.8 2249.3 2115.9 2055.9 11.61 7.34 493 3165.70 41.84 0.29 3.66 0.948 0.074 0.106 1907.66 1787.88 2027.44 2169.81 3554.88 0 0 0 11.15 15.81 15.74

3206.51 9382 426.04 1.66 0.00 1904.9 1788.1 2021.6 2170.3 3555.1 4.57 7.19 511 3260.04 42.90 0.00 3.41 0.927 0.000 0.042 1660.91 1542.31 1779.50 2169.88 2054.88 0 0 0 11.07 30.00 15.80

3434 end climb: NO_VERTICAL_VELOCITY

state 3434 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	6	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	6	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	15	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3400	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	53.93795	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	104.13351	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	220623,213111,4735.912,-12256.819,1,0.9,5,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.48	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,213416,4735.900,-12256.823,3,0.9,6,15.4	MHEAD_RNG_PITCHd_Wd	5.3,1247,-17.6,-10.000,-21.21,2209,0.157
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,8,0,20230622221810.569570,18,32767,45,0110,0150,07,00,00,00,00,1,012,121,0,5,7,0,150,14.8,6.73,-100,-3.73,-01,0.27,64,10000,5000,0,1,01,00*79	_24V_AH	14.37,84.234
NET_PING	1687472260,29,650.152466,12.500000,-0.864738	_10V_AH	15.00,0.000
NAV	1687472831,8.9,3,stop	FG_AHR_24Vo	104.314
MODEM_MSG	CACST,8,0,20230622222500.538830,18,16675,36,0253,0000,07,01,01,01,01,1,029,121,0,5,1,0,150,8.5,3.90,-100,-0.90,-01,0.06,35,925,0025,0,1,00,00*2C	FG_AHR_10Vo	53.978
FREEZE	2.55,15.080,-1.453,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3643.36,195.28,0.923,0,501.1,389.9,612.2,711.11	MEM2	945792,25,100896,69
SM_GC	1.39,0.00,12.37,0.10,0.000,0.050,0.129,498.7,389.8,607.7,187.2,2119.9,0,0,0,30.00,15.63,15.64	DATA_FILE_SIZE	16107,556
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	199627,0
IRIDIUM_FIX	4736.40,-12251.79,220623,203547	SDSIZE	3887104,3872064
TCM_TEMP	12.93	SDFILEDIR	81,7
SC_FREEKB	3876992	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	4,1687470677,47.60500,-122.95000,377.773,553437.2	MAGCAL	1.000000,0.002157,0.054713,0.003934,1.018166,-0.052409,-0.022050,-0.067911,1.015490,39.3,-1141.9,-881.7,36,0.0285,0
RAFOS_FIX	4736.828125,-12257.000000,220623,191933,4,255,1.20	IMPLIED_C_PITCH	1754,12.81,245,0.0,0.00
HUMID	56.89	IMPLIED_C_VBD	2925,37.639900,245,0
TEMP	11.23	GPS	220623,223831,4736.167,-12256.551,26,0.9,27,15.4
INTERNAL_PRESSURE	10.3508

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	738	2690	28560.56	nil	0	0	0.00
Pitch_motor	27	255	99.81	nil	0	0	0.00
Roll_motor	70	176	179.10	nil	0	0	0.00
Iridium	121	154	270.93	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.39	nil	0	0	0.00
Core	2252	5	172.98	SciCon	3441	7	370.18
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1462	0	7.02
Compass	1158	5	86.92
RAFOS	2189	40	1313.72
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	497.0	390.1	603.9	188.4	2051.4	0.00	0.00	0	86.53	75.89	0.00	0.00	0.005	0.000	0.000	2175.03	2130.50	2219.56	188.44	2051.38	0	0	0	15.91	30.00	30.00
86.83	18727	-146.63	-1.51	80.00	2175.5	2130.8	2220.2	188.3	2050.6	3.15	-2.42	15	162.65	54.64	9.35	3.63	0.005	0.256	0.103	3958.47	3924.75	3992.19	1420.38	3556.19	0	0	0	15.95	15.64	15.81
278.23	17542	-146.63	-1.46	0.00	3959.4	3925.4	3993.3	1420.2	3556.4	25.28	-13.74	52	284.21	0.00	0.00	3.39	0.028	0.000	0.043	3959.00	3925.12	3992.88	1420.06	2054.25	0	0	0	30.36	30.00	15.89
468.30	16646	-146.63	-1.46	80.00	3959.1	3924.8	3993.3	1420.3	2054.0	47.01	-11.53	90	475.67	0.00	0.00	3.60	2.691	0.000	0.100	3966.97	3929.75	4004.19	1420.00	3555.38	0	0	0	30.36	30.00	15.87
575.89	1156	-146.63	-1.42	0.00	3966.2	3929.8	4002.7	1420.2	3555.8	61.28	-13.23	110	582.57	0.00	0.00	3.38	0.000	0.000	0.041	3966.38	3929.44	4003.31	1420.50	2054.94	0	0	0	30.00	30.00	15.90
776.39	260	-146.63	-1.42	80.00	3966.5	3929.5	4003.5	1420.8	2054.8	83.12	-11.33	130	786.11	0.00	0.00	3.62	0.000	0.000	0.097	3966.16	3929.06	4003.25	1420.44	3555.12	0	0	0	30.00	30.00	15.84
919.22	1028	-146.63	-1.42	0.00	3966.1	3928.8	4003.4	1420.2	3554.8	103.11	-13.81	159	925.98	0.00	0.00	3.39	0.000	0.000	0.042	3967.19	3929.94	4004.44	1420.31	2055.69	0	0	0	30.00	30.00	15.92
1115.02	260	-146.63	-1.42	80.00	3966.7	3929.1	4004.2	1420.2	2055.9	126.07	-11.68	179	1121.37	0.00	0.00	3.60	0.000	0.000	0.100	3967.06	3929.25	4004.88	1420.31	3555.06	0	0	0	30.00	30.00	15.89
1240.04	1028	-146.63	-1.42	0.00	3966.6	3929.6	4003.6	1420.5	3554.8	142.78	-13.74	204	1246.30	0.00	0.00	3.38	0.000	0.000	0.043	3966.12	3928.75	4003.50	1420.25	2052.62	0	0	0	30.00	30.00	15.94
1305	end dive: TARGET_DEPTH_EXCEEDED
state	1305	begin apogee
1306.50	10243	0.00	-0.38	0.00	3966.8	3929.2	4004.5	1420.1	2120.8	150.91	-12.24	211	1413.22	95.01	1.87	0.11	1.102	0.145	0.176	3399.56	3326.81	3472.31	1695.88	2049.25	0	0	0	10.65	15.78	15.69
1415	end apogee: CONTROL_FINISHED_OK
state	1415	begin climb
1415.11	10759	146.63	1.51	-80.00	3397.7	3325.0	3470.4	1695.9	2049.1	154.58	0.00	222	1537.82	105.08	2.94	3.60	1.067	0.093	0.114	2799.09	2698.19	2900.00	2156.75	620.25	0	0	0	11.16	15.70	15.51
1631.42	13479	156.53	1.39	0.00	2794.4	2698.0	2890.8	2156.8	620.1	142.60	9.54	260	1648.53	8.97	0.32	3.46	0.892	0.199	0.044	2758.12	2659.12	2857.12	2115.75	2117.31	0	0	0	11.07	15.58	15.68
1836.44	8614	206.62	1.40	80.00	2757.3	2661.8	2852.9	2115.8	2117.3	126.45	7.68	282	1883.91	38.65	0.00	3.52	1.035	0.000	0.107	2555.56	2451.75	2659.38	2116.06	3554.06	0	0	0	10.90	30.00	15.66
2044.77	1156	206.62	1.34	0.00	2552.4	2452.3	2652.5	2116.0	3553.9	105.68	10.37	323	2051.67	0.00	0.00	3.43	0.000	0.000	0.043	2551.94	2451.06	2652.81	2116.31	2054.75	0	0	0	30.00	30.00	15.77
2240.63	8486	233.52	1.38	80.00	2550.2	2450.4	2649.9	2115.9	2054.9	88.58	8.75	343	2272.57	21.16	0.00	3.66	0.998	0.000	0.104	2444.44	2338.81	2550.06	2115.75	3554.88	0	0	0	10.88	30.00	15.77
2335.33	1156	233.52	1.34	0.00	2443.6	2340.4	2546.8	2115.8	3554.5	79.48	10.07	362	2342.21	0.00	0.00	3.41	0.000	0.000	0.043	2444.78	2341.50	2548.06	2115.44	2055.81	0	0	0	30.00	30.00	15.81
2531.08	8486	265.35	1.38	80.00	2441.4	2338.8	2544.1	2115.8	2055.8	62.16	8.53	382	2563.80	24.84	0.00	3.65	0.984	0.000	0.104	2316.75	2209.19	2424.31	2116.12	3553.25	0	0	0	10.88	30.00	15.77
2618.63	1060	266.39	1.38	0.00	2313.2	2206.6	2419.8	2115.9	3553.7	54.04	9.95	399	2625.56	0.00	0.00	3.41	0.000	0.000	0.043	2314.53	2207.94	2421.12	2115.94	2056.62	0	0	0	30.00	30.00	15.81
2809.44	8486	302.46	1.42	80.00	2311.6	2205.2	2417.9	2116.2	2056.5	37.31	8.33	433	2847.38	28.24	0.00	3.65	0.967	0.000	0.105	2163.56	2050.25	2276.88	2115.62	3552.75	0	0	0	10.90	30.00	15.76
2915.78	9254	307.91	1.43	0.00	2161.2	2051.3	2271.0	2115.9	3552.2	27.41	9.75	454	2928.44	6.07	0.00	3.41	0.746	0.000	0.044	2141.03	2030.19	2251.88	2116.38	2056.19	0	0	0	11.02	30.00	15.82
3111.92	10663	365.36	1.55	80.00	2140.1	2030.8	2249.3	2115.9	2055.9	11.61	7.34	493	3165.70	41.84	0.29	3.66	0.948	0.074	0.106	1907.66	1787.88	2027.44	2169.81	3554.88	0	0	0	11.15	15.81	15.74
3206.51	9382	426.04	1.66	0.00	1904.9	1788.1	2021.6	2170.3	3555.1	4.57	7.19	511	3260.04	42.90	0.00	3.41	0.927	0.000	0.042	1660.91	1542.31	1779.50	2169.88	2054.88	0	0	0	11.07	30.00	15.80
3434	end climb: NO_VERTICAL_VELOCITY
state	3434	begin surface