Glider dive log

HoodCanal 21Jun23 * SG243 * Dive index * Mission links * Dive 7 * 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 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 7 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 10 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 711.37 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 2963.1189 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 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 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 1780.8188 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 13.246581 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 53.462643 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 102.94637 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 -165.87093 SEABIRD_T_J 4.3e-06

MASS 72547 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022387519 SEABIRD_C_G -10

NAV_MODE 0 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 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 10 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 53.462643 PHONE_SUPPLY 2 SM_CC 711.37

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 102.94637 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 13.246581 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

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 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 1780.8188 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022387519 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -165.87093 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 2963.1189 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 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 2

DEVICE5 -1 MINV_10V 10 ROLL_MAX 3890 VBD_MIN 500

DEVICE6 -1 MINV_24V 10 ROLL_MAXERRORS 0 VBD_TIMEOUT 720

DIVE 7 MISSION 5 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 210623,225349,4735.978,-12256.767,33,1.5,51,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.70 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,225740,4735.953,-12256.788,2,1.0,22,15.4 MHEAD_RNG_PITCHd_Wd 5.0,1140,-17.6,-10.000,-21.21,2209,0.126

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.004780,-0.016681,0.000116,1.034704,-0.038828,0.006090,-0.055997,1.083564,104.884903,-1154.019409,-924.375000

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,1,20230621235743.234283,18,32767,45,0193,0150,37,02,02,00,02,-1,-01,-01,1,3,-3589,0,150,9.6,0.71,-100,2.29,-01,5.40,65,10000,5000,0,-1,00,00*73 _24V_AH 14.72,82.894

NAV 1687392071,1.1,start _10V_AH 14.80,0.000

MODEM_MSG CACST,8,1,20230621232501.357706,18,3230,35,0191,0000,07,00,00,00,02,-1,-01,-01,2,3,1,0,150,-30.8,0.57,-100,2.43,-01,0.02,55,925,0025,0,-1,00,00*2B FG_AHR_24Vo 103.115

NET_PING 1687391259,29,348.122986,10.900000,-0.461094 FG_AHR_10Vo 53.533

FREEZE 3.91,14.767,-1.409,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3780.18,0.04,0.564,0,498.9,389.9,608.0,604.43 MEM2 930816,23,115832,73

SM_GC 2.33,0.04,12.56,0.10,0.564,0.052,0.125,498.9,389.9,608.0,193.4,2117.1,0,0,0,15.65,15.51,15.48 DATA_FILE_SIZE 16121,547

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 219326,0

IRIDIUM_FIX 4736.00,-12258.89,210623,214543 SDSIZE 3887104,3872192

TCM_TEMP 12.94 SDFILEDIR 94,8

SC_FREEKB 3876544 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 0,1687388400,47.60500,-122.95000,0.446,652.7 MAGCAL 1.000000,0.058920,-0.184957,-0.009672,1.028223,0.166649,0.281108,-0.246536,0.712001,269.4,-1314.3,-728.8,36,0.0953,0

RAFOS_FIX 4736.750977,-12256.694336,210623,232300,3,255,10.59 IMPLIED_C_PITCH 1792,13.16,264,1786.7,13.20

HUMID 56.95 IMPLIED_C_VBD 2904,48.048161,264,2933.7

TEMP 10.72 GPS 220623,000203,4736.206,-12256.766,13,1.2,16,15.4

INTERNAL_PRESSURE 10.3199

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 648 1148 10956.02 nil 0 0 0.00

Pitch_motor 27 259 105.04 nil 0 0 0.00

Roll_motor 71 178 187.26 nil 0 0 0.00

Iridium 142 165 347.26 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 31 15 7.03 nil 0 0 0.00

Core 2426 5 183.89 SciCon 3587 7 386.74

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1383 0 6.55

Compass 1150 5 85.14

RAFOS 1892 40 1120.44

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

7.77 16386 -146.63 -1.51 0.00 498.8 389.8 607.8 195.8 2053.2 0.00 0.00 0 72.34 62.03 0.00 0.00 0.005 0.000 0.000 2009.84 1961.75 2057.94 195.88 2053.38 0 0 0 13.53 30.00 30.00

72.64 18727 -146.63 -1.51 80.00 2010.3 1962.4 2058.2 195.8 2053.1 4.09 -6.60 5 142.16 46.13 9.38 3.67 0.005 0.259 0.102 3557.47 3510.69 3604.25 1414.69 3554.81 0 0 0 15.85 15.56 15.71

370.57 3237 -146.63 -1.39 0.00 3558.5 3511.5 3605.5 1414.2 3555.6 31.90 -9.45 64 377.74 0.00 0.20 3.46 0.000 0.192 0.046 3557.41 3509.94 3604.88 1443.06 2052.69 0 0 0 30.00 15.68 15.82

566.39 548 -146.63 -1.39 -80.00 3558.5 3510.8 3606.3 1443.2 2052.5 47.71 -8.44 102 576.42 0.00 0.00 3.59 0.000 0.000 0.116 3560.44 3512.88 3608.00 1442.50 620.31 0 0 0 30.00 30.00 15.67

615.05 1156 -146.63 -1.34 0.00 3558.8 3511.6 3605.9 1443.1 620.1 53.01 -10.28 112 621.29 0.00 0.00 3.44 0.000 0.000 0.046 3558.16 3510.38 3605.94 1442.94 2117.44 0 0 0 30.00 30.00 15.82

810.05 292 -146.63 -1.34 80.00 3559.4 3511.4 3607.4 1443.4 2117.4 70.31 -9.26 132 816.31 0.00 0.00 3.48 0.000 0.000 0.108 3560.12 3512.19 3608.06 1443.06 3554.12 0 0 0 30.00 30.00 15.80

915.11 1156 -146.63 -1.29 0.00 3559.3 3511.4 3607.2 1443.1 3554.3 81.10 -10.48 153 921.32 0.00 0.00 3.43 0.000 0.000 0.047 3559.72 3511.75 3607.69 1443.25 2056.50 0 0 0 30.00 30.00 15.83

1110.09 292 -146.63 -1.29 80.00 3559.3 3510.9 3607.7 1443.0 2056.1 98.84 -8.56 173 1116.43 0.00 0.00 3.64 0.000 0.000 0.103 3559.00 3510.44 3607.56 1442.56 3555.69 0 0 0 30.00 30.00 15.81

1288.29 1028 -146.63 -1.29 0.00 3559.8 3511.9 3607.7 1443.4 3555.7 116.77 -10.42 208 1294.78 0.00 0.00 3.43 0.000 0.000 0.048 3558.75 3510.69 3606.81 1443.12 2057.94 0 0 0 30.00 30.00 15.87

1483.37 292 -146.63 -1.29 80.00 3559.6 3511.6 3607.7 1443.0 2056.8 133.90 -8.22 228 1489.91 0.00 0.00 3.63 0.000 0.000 0.103 3558.22 3510.50 3605.94 1443.12 3553.75 0 0 0 30.00 30.00 15.82

1618.36 1028 -146.63 -1.29 0.00 3560.0 3511.7 3608.2 1443.3 3553.8 147.77 -10.86 255 1624.85 0.00 0.00 3.43 0.000 0.000 0.047 3558.62 3510.00 3607.25 1443.19 2057.38 0 0 0 30.00 30.00 15.86

1644 end dive: TARGET_DEPTH_EXCEEDED

state 1644 begin apogee

1644.86 10243 0.00 -0.38 0.00 3560.0 3512.1 3607.8 1442.9 2119.5 150.16 -9.72 258 1759.72 103.46 1.68 0.11 1.148 0.147 0.178 2963.22 2875.31 3051.12 1690.25 2051.94 0 0 0 10.81 15.70 15.60

1761 end apogee: CONTROL_FINISHED_OK

state 1761 begin climb

1761.60 10759 146.63 1.51 -80.00 2960.1 2871.2 3049.0 1690.2 2051.7 153.05 0.00 269 1887.58 108.29 2.98 3.68 1.094 0.106 0.122 2361.31 2251.62 2471.00 2147.75 621.69 0 0 0 11.08 15.61 15.45

1890.36 1156 146.63 1.46 0.00 2360.9 2252.8 2469.0 2148.2 621.5 143.17 10.22 289 1897.21 0.00 0.00 3.51 0.000 0.000 0.047 2361.16 2253.06 2469.25 2148.25 2114.56 0 0 0 30.00 30.00 15.56

2086.03 16774 146.63 1.43 80.00 2356.8 2252.5 2461.2 2148.2 2114.1 120.99 11.09 309 2092.50 0.00 0.00 3.54 0.000 0.000 0.111 2351.81 2243.38 2460.25 2145.69 3553.69 0 0 0 30.00 30.00 15.69

2165.27 21639 146.63 1.36 0.00 2356.1 2251.9 2460.2 2148.5 3553.8 111.16 12.48 325 2172.44 0.00 0.33 3.45 0.000 0.163 0.048 2354.84 2250.75 2458.94 2103.38 2057.44 0 0 0 30.00 15.69 15.77

2365.41 8486 176.10 1.40 80.00 2355.3 2252.0 2458.7 2103.4 2057.8 92.97 8.63 345 2397.36 22.88 0.00 3.70 1.060 0.000 0.110 2244.44 2134.25 2354.62 2102.19 3552.50 0 0 0 11.14 30.00 15.29

2446.33 1060 176.87 1.40 0.00 2240.7 2134.1 2347.2 2102.6 3552.4 85.13 9.96 361 2457.13 0.00 0.00 3.54 0.000 0.000 0.049 2240.53 2132.94 2348.12 2103.00 2058.00 0 0 0 30.00 30.00 15.11

2646.06 8354 194.77 1.27 0.00 2239.2 2133.6 2344.9 2103.8 2058.6 66.54 9.17 382 2666.05 15.69 0.00 0.00 1.011 0.000 0.000 2167.16 2056.62 2277.69 2102.88 2058.12 0 0 0 11.08 30.00 30.00

2849.71 8614 221.39 1.33 80.00 2163.3 2055.8 2270.8 2103.1 2058.2 48.44 8.77 404 2881.45 21.15 0.00 3.70 1.017 0.000 0.111 2059.56 1945.56 2173.56 2102.31 3552.31 0 0 0 10.88 30.00 15.67

3008.31 9254 226.42 1.34 0.00 2055.5 1944.8 2166.2 2102.6 3552.6 33.26 9.77 435 3020.95 5.85 0.00 3.46 0.805 0.000 0.048 2037.78 1927.06 2148.50 2102.94 2056.25 0 0 0 10.96 30.00 15.80

3204.43 10663 271.74 1.44 80.00 2036.6 1927.0 2146.2 2103.1 2056.0 16.86 7.90 474 3247.71 33.78 0.19 3.70 1.000 0.095 0.111 1851.81 1730.69 1972.94 2138.81 3553.75 0 0 0 10.81 15.80 15.73

3346.19 11431 359.43 1.62 0.00 1848.9 1729.7 1968.1 2138.7 3553.7 5.99 5.94 502 3420.23 61.18 0.21 3.44 0.973 0.086 0.047 1495.59 1365.31 1625.88 2180.19 2055.25 0 0 0 11.02 15.81 15.82

3575 end climb: NO_VERTICAL_VELOCITY

state 3575 begin surface

ID	243	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2087	ALTIM_PULSE	3
MISSION	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	7	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	10	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	711.37	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	2963.1189	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	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	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	1780.8188	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	13.246581	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	53.462643	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	102.94637	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	-165.87093	SEABIRD_T_J	4.3e-06
MASS	72547	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022387519	SEABIRD_C_G	-10
NAV_MODE	0	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	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	210623,225349,4735.978,-12256.767,33,1.5,51,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.70	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,225740,4735.953,-12256.788,2,1.0,22,15.4	MHEAD_RNG_PITCHd_Wd	5.0,1140,-17.6,-10.000,-21.21,2209,0.126
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.004780,-0.016681,0.000116,1.034704,-0.038828,0.006090,-0.055997,1.083564,104.884903,-1154.019409,-924.375000
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	CACST,8,1,20230621235743.234283,18,32767,45,0193,0150,37,02,02,00,02,-1,-01,-01,1,3,-3589,0,150,9.6,0.71,-100,2.29,-01,5.40,65,10000,5000,0,-1,00,00*73	_24V_AH	14.72,82.894
NAV	1687392071,1.1,start	_10V_AH	14.80,0.000
MODEM_MSG	CACST,8,1,20230621232501.357706,18,3230,35,0191,0000,07,00,00,00,02,-1,-01,-01,2,3,1,0,150,-30.8,0.57,-100,2.43,-01,0.02,55,925,0025,0,-1,00,00*2B	FG_AHR_24Vo	103.115
NET_PING	1687391259,29,348.122986,10.900000,-0.461094	FG_AHR_10Vo	53.533
FREEZE	3.91,14.767,-1.409,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3780.18,0.04,0.564,0,498.9,389.9,608.0,604.43	MEM2	930816,23,115832,73
SM_GC	2.33,0.04,12.56,0.10,0.564,0.052,0.125,498.9,389.9,608.0,193.4,2117.1,0,0,0,15.65,15.51,15.48	DATA_FILE_SIZE	16121,547
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	219326,0
IRIDIUM_FIX	4736.00,-12258.89,210623,214543	SDSIZE	3887104,3872192
TCM_TEMP	12.94	SDFILEDIR	94,8
SC_FREEKB	3876544	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	0,1687388400,47.60500,-122.95000,0.446,652.7	MAGCAL	1.000000,0.058920,-0.184957,-0.009672,1.028223,0.166649,0.281108,-0.246536,0.712001,269.4,-1314.3,-728.8,36,0.0953,0
RAFOS_FIX	4736.750977,-12256.694336,210623,232300,3,255,10.59	IMPLIED_C_PITCH	1792,13.16,264,1786.7,13.20
HUMID	56.95	IMPLIED_C_VBD	2904,48.048161,264,2933.7
TEMP	10.72	GPS	220623,000203,4736.206,-12256.766,13,1.2,16,15.4
INTERNAL_PRESSURE	10.3199

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	648	1148	10956.02	nil	0	0	0.00
Pitch_motor	27	259	105.04	nil	0	0	0.00
Roll_motor	71	178	187.26	nil	0	0	0.00
Iridium	142	165	347.26	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	31	15	7.03	nil	0	0	0.00
Core	2426	5	183.89	SciCon	3587	7	386.74
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1383	0	6.55
Compass	1150	5	85.14
RAFOS	1892	40	1120.44
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
7.77	16386	-146.63	-1.51	0.00	498.8	389.8	607.8	195.8	2053.2	0.00	0.00	0	72.34	62.03	0.00	0.00	0.005	0.000	0.000	2009.84	1961.75	2057.94	195.88	2053.38	0	0	0	13.53	30.00	30.00
72.64	18727	-146.63	-1.51	80.00	2010.3	1962.4	2058.2	195.8	2053.1	4.09	-6.60	5	142.16	46.13	9.38	3.67	0.005	0.259	0.102	3557.47	3510.69	3604.25	1414.69	3554.81	0	0	0	15.85	15.56	15.71
370.57	3237	-146.63	-1.39	0.00	3558.5	3511.5	3605.5	1414.2	3555.6	31.90	-9.45	64	377.74	0.00	0.20	3.46	0.000	0.192	0.046	3557.41	3509.94	3604.88	1443.06	2052.69	0	0	0	30.00	15.68	15.82
566.39	548	-146.63	-1.39	-80.00	3558.5	3510.8	3606.3	1443.2	2052.5	47.71	-8.44	102	576.42	0.00	0.00	3.59	0.000	0.000	0.116	3560.44	3512.88	3608.00	1442.50	620.31	0	0	0	30.00	30.00	15.67
615.05	1156	-146.63	-1.34	0.00	3558.8	3511.6	3605.9	1443.1	620.1	53.01	-10.28	112	621.29	0.00	0.00	3.44	0.000	0.000	0.046	3558.16	3510.38	3605.94	1442.94	2117.44	0	0	0	30.00	30.00	15.82
810.05	292	-146.63	-1.34	80.00	3559.4	3511.4	3607.4	1443.4	2117.4	70.31	-9.26	132	816.31	0.00	0.00	3.48	0.000	0.000	0.108	3560.12	3512.19	3608.06	1443.06	3554.12	0	0	0	30.00	30.00	15.80
915.11	1156	-146.63	-1.29	0.00	3559.3	3511.4	3607.2	1443.1	3554.3	81.10	-10.48	153	921.32	0.00	0.00	3.43	0.000	0.000	0.047	3559.72	3511.75	3607.69	1443.25	2056.50	0	0	0	30.00	30.00	15.83
1110.09	292	-146.63	-1.29	80.00	3559.3	3510.9	3607.7	1443.0	2056.1	98.84	-8.56	173	1116.43	0.00	0.00	3.64	0.000	0.000	0.103	3559.00	3510.44	3607.56	1442.56	3555.69	0	0	0	30.00	30.00	15.81
1288.29	1028	-146.63	-1.29	0.00	3559.8	3511.9	3607.7	1443.4	3555.7	116.77	-10.42	208	1294.78	0.00	0.00	3.43	0.000	0.000	0.048	3558.75	3510.69	3606.81	1443.12	2057.94	0	0	0	30.00	30.00	15.87
1483.37	292	-146.63	-1.29	80.00	3559.6	3511.6	3607.7	1443.0	2056.8	133.90	-8.22	228	1489.91	0.00	0.00	3.63	0.000	0.000	0.103	3558.22	3510.50	3605.94	1443.12	3553.75	0	0	0	30.00	30.00	15.82
1618.36	1028	-146.63	-1.29	0.00	3560.0	3511.7	3608.2	1443.3	3553.8	147.77	-10.86	255	1624.85	0.00	0.00	3.43	0.000	0.000	0.047	3558.62	3510.00	3607.25	1443.19	2057.38	0	0	0	30.00	30.00	15.86
1644	end dive: TARGET_DEPTH_EXCEEDED
state	1644	begin apogee
1644.86	10243	0.00	-0.38	0.00	3560.0	3512.1	3607.8	1442.9	2119.5	150.16	-9.72	258	1759.72	103.46	1.68	0.11	1.148	0.147	0.178	2963.22	2875.31	3051.12	1690.25	2051.94	0	0	0	10.81	15.70	15.60
1761	end apogee: CONTROL_FINISHED_OK
state	1761	begin climb
1761.60	10759	146.63	1.51	-80.00	2960.1	2871.2	3049.0	1690.2	2051.7	153.05	0.00	269	1887.58	108.29	2.98	3.68	1.094	0.106	0.122	2361.31	2251.62	2471.00	2147.75	621.69	0	0	0	11.08	15.61	15.45
1890.36	1156	146.63	1.46	0.00	2360.9	2252.8	2469.0	2148.2	621.5	143.17	10.22	289	1897.21	0.00	0.00	3.51	0.000	0.000	0.047	2361.16	2253.06	2469.25	2148.25	2114.56	0	0	0	30.00	30.00	15.56
2086.03	16774	146.63	1.43	80.00	2356.8	2252.5	2461.2	2148.2	2114.1	120.99	11.09	309	2092.50	0.00	0.00	3.54	0.000	0.000	0.111	2351.81	2243.38	2460.25	2145.69	3553.69	0	0	0	30.00	30.00	15.69
2165.27	21639	146.63	1.36	0.00	2356.1	2251.9	2460.2	2148.5	3553.8	111.16	12.48	325	2172.44	0.00	0.33	3.45	0.000	0.163	0.048	2354.84	2250.75	2458.94	2103.38	2057.44	0	0	0	30.00	15.69	15.77
2365.41	8486	176.10	1.40	80.00	2355.3	2252.0	2458.7	2103.4	2057.8	92.97	8.63	345	2397.36	22.88	0.00	3.70	1.060	0.000	0.110	2244.44	2134.25	2354.62	2102.19	3552.50	0	0	0	11.14	30.00	15.29
2446.33	1060	176.87	1.40	0.00	2240.7	2134.1	2347.2	2102.6	3552.4	85.13	9.96	361	2457.13	0.00	0.00	3.54	0.000	0.000	0.049	2240.53	2132.94	2348.12	2103.00	2058.00	0	0	0	30.00	30.00	15.11
2646.06	8354	194.77	1.27	0.00	2239.2	2133.6	2344.9	2103.8	2058.6	66.54	9.17	382	2666.05	15.69	0.00	0.00	1.011	0.000	0.000	2167.16	2056.62	2277.69	2102.88	2058.12	0	0	0	11.08	30.00	30.00
2849.71	8614	221.39	1.33	80.00	2163.3	2055.8	2270.8	2103.1	2058.2	48.44	8.77	404	2881.45	21.15	0.00	3.70	1.017	0.000	0.111	2059.56	1945.56	2173.56	2102.31	3552.31	0	0	0	10.88	30.00	15.67
3008.31	9254	226.42	1.34	0.00	2055.5	1944.8	2166.2	2102.6	3552.6	33.26	9.77	435	3020.95	5.85	0.00	3.46	0.805	0.000	0.048	2037.78	1927.06	2148.50	2102.94	2056.25	0	0	0	10.96	30.00	15.80
3204.43	10663	271.74	1.44	80.00	2036.6	1927.0	2146.2	2103.1	2056.0	16.86	7.90	474	3247.71	33.78	0.19	3.70	1.000	0.095	0.111	1851.81	1730.69	1972.94	2138.81	3553.75	0	0	0	10.81	15.80	15.73
3346.19	11431	359.43	1.62	0.00	1848.9	1729.7	1968.1	2138.7	3553.7	5.99	5.94	502	3420.23	61.18	0.21	3.44	0.973	0.086	0.047	1495.59	1365.31	1625.88	2180.19	2055.25	0	0	0	11.02	15.81	15.82
3575	end climb: NO_VERTICAL_VELOCITY
state	3575	begin surface