Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 9 * 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 9 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 15 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 54.068775 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 104.67281 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 15 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 54.068775 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 104.67281 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 9 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 230623,005731,4736.441,-12256.460,2,1.0,18,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -53.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,010049,4736.422,-12256.487,3,0.8,5,15.4 MHEAD_RNG_PITCHd_Wd 188.7,958,-17.6,-10.000,-21.21,2209,0.180

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 1687485542,2.7,start _24V_AH 14.92,84.837

NET CACST,8,1,20230623015752.397004,18,32767,45,0201,0150,07,01,01,00,01,-1,-01,-01,1,3,-3589,0,150,22.8,0.41,-100,2.59,-01,0.44,58,10000,5000,0,-1,00,00*40 _10V_AH 14.93,0.000

NET_PING 1687483060,29,793.783508,14.800000,-1.056860 FG_AHR_24Vo 104.840

MODEM_MSG CACST,8,0,20230623012500.416522,18,32767,39,0164,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,1.8,10.54,-100,-7.54,-01,-0.24,75,925,0025,0,1,00,00*0F FG_AHR_10Vo 54.118

FREEZE 2.73,16.175,-1.427,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3667.50,177.75,0.926,0,500.7,389.6,611.7,637.62 MEM2 945744,27,100904,69

SM_GC 1.45,0.00,12.67,0.11,0.000,0.054,0.121,498.2,389.8,606.6,187.1,2121.4,0,0,0,30.00,15.60,15.62 DATA_FILE_SIZE 16116,553

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 215940,0

IRIDIUM_FIX 4738.33,-12256.21,230623,000434 SDSIZE 3887104,3871136

TCM_TEMP 12.92 SDFILEDIR 104,10

SC_FREEKB 3876096 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 1,1687482600,47.60500,-122.95000,0.564,826.9 MAGCAL 1.000000,-0.019416,0.013385,0.006583,1.037158,-0.023248,0.022417,-0.114944,0.994402,71.6,-1155.9,-876.4,36,0.0382,0

RAFOS_FIX 4810.994629,-12257.000000,230623,010100,3,255,116.21 IMPLIED_C_PITCH 1779,13.05,259,0.0,0.00

HUMID 56.76 IMPLIED_C_VBD 2923,37.394085,259,0

TEMP 11.19 GPS 230623,020509,4735.964,-12256.686,1,1.2,20,15.4

INTERNAL_PRESSURE 10.3589

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 679 1108 11238.19 nil 0 0 0.00

Pitch_motor 27 250 102.64 nil 0 0 0.00

Roll_motor 70 163 172.45 nil 0 0 0.00

Iridium 128 152 291.70 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.19 nil 0 0 0.00

Core 2258 5 172.67 SciCon 3484 7 373.06

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1507 0 7.20

Compass 1153 5 86.15

RAFOS 2044 40 1220.84

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

7.69 16386 -146.63 -1.51 0.00 496.7 389.8 603.5 188.3 2121.4 0.00 0.00 0 87.91 77.08 0.00 0.00 0.005 0.000 0.000 2191.38 2143.00 2239.75 188.19 2121.75 0 0 0 15.88 30.00 30.00

88.21 18983 -146.63 -1.51 -80.00 2191.4 2142.2 2240.6 188.4 2121.2 3.26 -2.06 13 153.73 44.93 9.32 3.71 0.005 0.250 0.109 3695.16 3655.75 3734.56 1420.69 620.50 0 0 0 15.90 15.62 15.77

367.01 1156 -146.63 -1.45 0.00 3696.6 3656.2 3736.9 1420.1 620.7 35.79 -11.56 68 377.92 0.00 0.00 3.43 0.000 0.000 0.043 3697.88 3657.88 3737.88 1420.56 2117.38 0 0 0 30.00 30.00 15.87

566.29 292 -146.63 -1.45 80.00 3697.1 3656.7 3737.5 1420.7 2117.4 55.34 -9.69 102 572.52 0.00 0.00 3.47 0.000 0.000 0.099 3696.66 3655.69 3737.62 1420.25 3555.38 0 0 0 30.00 30.00 15.82

731.32 3205 -146.63 -1.39 0.00 3697.4 3656.9 3737.9 1420.6 3554.5 74.67 -11.79 135 737.70 0.00 0.21 3.38 0.000 0.186 0.039 3695.88 3655.12 3736.62 1450.69 2054.56 0 0 0 30.00 15.75 15.89

926.31 292 -146.63 -1.39 80.00 3697.5 3656.2 3738.8 1450.7 2055.6 93.16 -9.44 155 932.67 0.00 0.00 3.63 0.000 0.000 0.095 3696.59 3655.38 3737.81 1450.81 3553.62 0 0 0 30.00 30.00 15.84

1074.69 1028 -146.63 -1.39 0.00 3697.7 3656.8 3738.7 1450.9 3553.4 109.21 -10.50 184 1081.14 0.00 0.00 3.40 0.000 0.000 0.038 3697.19 3655.81 3738.56 1450.50 2053.00 0 0 0 30.00 30.00 15.84

1269.76 292 -146.63 -1.39 80.00 3697.8 3656.4 3739.1 1450.5 2053.4 127.13 -9.03 204 1276.31 0.00 0.00 3.65 0.000 0.000 0.096 3697.91 3656.19 3739.62 1450.19 3555.69 0 0 0 30.00 30.00 15.81

1378.96 1028 -146.63 -1.39 0.00 3698.0 3656.9 3739.1 1450.6 3554.9 138.91 -10.84 226 1385.90 0.00 0.00 3.40 0.000 0.000 0.040 3698.00 3656.62 3739.38 1450.50 2054.75 0 0 0 30.00 30.00 15.86

1495 end dive: TARGET_DEPTH_EXCEEDED

state 1495 begin apogee

1496.16 10243 0.00 -0.38 0.00 3697.6 3656.6 3738.7 1450.6 2122.1 150.16 -10.03 238 1607.92 102.19 1.65 0.12 1.108 0.144 0.163 3100.72 3015.94 3185.50 1694.50 2048.62 0 0 0 10.97 15.75 15.61

1609 end apogee: CONTROL_FINISHED_OK

state 1609 begin climb

1609.80 10759 146.63 1.51 -80.00 3097.6 3014.4 3180.8 1694.8 2048.2 153.81 0.00 249 1736.05 107.33 2.98 3.63 1.068 0.099 0.115 2498.19 2392.81 2603.56 2156.44 620.44 0 0 0 11.24 15.62 15.49

1779.51 5253 146.63 1.42 0.00 2495.0 2393.3 2596.8 2156.6 620.6 141.06 12.07 281 1786.14 0.00 0.25 3.47 0.000 0.190 0.041 2492.06 2389.94 2594.19 2123.62 2116.06 0 0 0 30.00 15.57 15.66

1974.52 292 149.32 1.42 80.00 2492.5 2391.8 2593.2 2123.9 2115.9 121.32 9.88 301 1981.06 0.00 0.00 3.52 0.000 0.000 0.104 2493.94 2392.06 2595.81 2122.69 3553.75 0 0 0 30.00 30.00 15.74

2069.55 1156 149.32 1.37 0.00 2492.3 2391.8 2592.8 2123.9 3554.1 110.35 11.67 320 2075.96 0.00 0.00 3.40 0.000 0.000 0.041 2494.41 2394.38 2594.44 2123.88 2057.50 0 0 0 30.00 30.00 15.83

2260.54 8486 164.72 1.38 80.00 2491.7 2391.8 2591.6 2123.8 2058.2 92.06 9.29 340 2282.82 14.53 0.00 3.65 0.983 0.000 0.102 2425.88 2324.94 2526.81 2123.38 3553.44 0 0 0 10.88 30.00 15.83

2365.52 1156 164.72 1.35 0.00 2424.6 2324.4 2524.8 2124.0 3553.9 81.52 10.61 361 2372.36 0.00 0.00 3.39 0.000 0.000 0.040 2424.47 2324.88 2524.06 2124.25 2055.25 0 0 0 30.00 30.00 15.90

2561.27 8486 200.35 1.39 80.00 2423.4 2322.6 2524.1 2124.1 2055.1 64.73 8.35 381 2597.88 27.59 0.00 3.68 1.002 0.000 0.101 2279.50 2170.50 2388.50 2124.56 3555.25 0 0 0 10.92 30.00 15.81

2676.24 1028 200.35 1.39 0.00 2278.4 2172.1 2384.6 2123.8 3554.1 53.40 10.75 402 2682.74 0.00 0.00 3.41 0.000 0.000 0.041 2279.16 2171.94 2386.38 2124.00 2058.19 0 0 0 30.00 30.00 15.86

2864.46 8486 231.36 1.43 80.00 2276.2 2171.2 2381.1 2124.1 2057.8 36.72 8.56 435 2897.13 23.93 0.00 3.68 0.975 0.000 0.102 2155.12 2042.81 2267.44 2124.06 3552.88 0 0 0 10.96 30.00 15.78

2940.56 1028 231.36 1.43 0.00 2151.7 2041.3 2262.0 2123.9 3553.1 29.54 10.37 450 2946.71 0.00 0.00 3.40 0.000 0.000 0.041 2151.97 2040.62 2263.31 2124.25 2058.25 0 0 0 30.00 30.00 15.84

3130.66 10663 284.32 1.53 80.00 2149.8 2041.1 2258.5 2123.9 2057.8 13.91 7.55 488 3179.28 38.67 0.22 3.69 0.958 0.082 0.102 1939.50 1822.50 2056.50 2166.38 3552.50 0 0 0 11.11 15.88 15.77

3282.79 11431 378.85 1.69 0.00 1933.9 1822.1 2045.6 2166.3 3552.5 2.87 5.62 518 3358.73 65.56 0.17 3.39 0.943 0.095 0.039 1554.34 1431.31 1677.38 2204.81 2053.69 0 0 0 11.00 15.83 15.86

3476 end climb: NO_VERTICAL_VELOCITY

state 3476 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	9	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	15	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	54.068775	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	104.67281	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	230623,005731,4736.441,-12256.460,2,1.0,18,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-53.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,010049,4736.422,-12256.487,3,0.8,5,15.4	MHEAD_RNG_PITCHd_Wd	188.7,958,-17.6,-10.000,-21.21,2209,0.180
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	1687485542,2.7,start	_24V_AH	14.92,84.837
NET	CACST,8,1,20230623015752.397004,18,32767,45,0201,0150,07,01,01,00,01,-1,-01,-01,1,3,-3589,0,150,22.8,0.41,-100,2.59,-01,0.44,58,10000,5000,0,-1,00,00*40	_10V_AH	14.93,0.000
NET_PING	1687483060,29,793.783508,14.800000,-1.056860	FG_AHR_24Vo	104.840
MODEM_MSG	CACST,8,0,20230623012500.416522,18,32767,39,0164,0000,246,02,02,01,02,1,029,121,0,5,1,0,150,1.8,10.54,-100,-7.54,-01,-0.24,75,925,0025,0,1,00,00*0F	FG_AHR_10Vo	54.118
FREEZE	2.73,16.175,-1.427,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3667.50,177.75,0.926,0,500.7,389.6,611.7,637.62	MEM2	945744,27,100904,69
SM_GC	1.45,0.00,12.67,0.11,0.000,0.054,0.121,498.2,389.8,606.6,187.1,2121.4,0,0,0,30.00,15.60,15.62	DATA_FILE_SIZE	16116,553
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	215940,0
IRIDIUM_FIX	4738.33,-12256.21,230623,000434	SDSIZE	3887104,3871136
TCM_TEMP	12.92	SDFILEDIR	104,10
SC_FREEKB	3876096	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	1,1687482600,47.60500,-122.95000,0.564,826.9	MAGCAL	1.000000,-0.019416,0.013385,0.006583,1.037158,-0.023248,0.022417,-0.114944,0.994402,71.6,-1155.9,-876.4,36,0.0382,0
RAFOS_FIX	4810.994629,-12257.000000,230623,010100,3,255,116.21	IMPLIED_C_PITCH	1779,13.05,259,0.0,0.00
HUMID	56.76	IMPLIED_C_VBD	2923,37.394085,259,0
TEMP	11.19	GPS	230623,020509,4735.964,-12256.686,1,1.2,20,15.4
INTERNAL_PRESSURE	10.3589

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	679	1108	11238.19	nil	0	0	0.00
Pitch_motor	27	250	102.64	nil	0	0	0.00
Roll_motor	70	163	172.45	nil	0	0	0.00
Iridium	128	152	291.70	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.19	nil	0	0	0.00
Core	2258	5	172.67	SciCon	3484	7	373.06
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1507	0	7.20
Compass	1153	5	86.15
RAFOS	2044	40	1220.84
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
7.69	16386	-146.63	-1.51	0.00	496.7	389.8	603.5	188.3	2121.4	0.00	0.00	0	87.91	77.08	0.00	0.00	0.005	0.000	0.000	2191.38	2143.00	2239.75	188.19	2121.75	0	0	0	15.88	30.00	30.00
88.21	18983	-146.63	-1.51	-80.00	2191.4	2142.2	2240.6	188.4	2121.2	3.26	-2.06	13	153.73	44.93	9.32	3.71	0.005	0.250	0.109	3695.16	3655.75	3734.56	1420.69	620.50	0	0	0	15.90	15.62	15.77
367.01	1156	-146.63	-1.45	0.00	3696.6	3656.2	3736.9	1420.1	620.7	35.79	-11.56	68	377.92	0.00	0.00	3.43	0.000	0.000	0.043	3697.88	3657.88	3737.88	1420.56	2117.38	0	0	0	30.00	30.00	15.87
566.29	292	-146.63	-1.45	80.00	3697.1	3656.7	3737.5	1420.7	2117.4	55.34	-9.69	102	572.52	0.00	0.00	3.47	0.000	0.000	0.099	3696.66	3655.69	3737.62	1420.25	3555.38	0	0	0	30.00	30.00	15.82
731.32	3205	-146.63	-1.39	0.00	3697.4	3656.9	3737.9	1420.6	3554.5	74.67	-11.79	135	737.70	0.00	0.21	3.38	0.000	0.186	0.039	3695.88	3655.12	3736.62	1450.69	2054.56	0	0	0	30.00	15.75	15.89
926.31	292	-146.63	-1.39	80.00	3697.5	3656.2	3738.8	1450.7	2055.6	93.16	-9.44	155	932.67	0.00	0.00	3.63	0.000	0.000	0.095	3696.59	3655.38	3737.81	1450.81	3553.62	0	0	0	30.00	30.00	15.84
1074.69	1028	-146.63	-1.39	0.00	3697.7	3656.8	3738.7	1450.9	3553.4	109.21	-10.50	184	1081.14	0.00	0.00	3.40	0.000	0.000	0.038	3697.19	3655.81	3738.56	1450.50	2053.00	0	0	0	30.00	30.00	15.84
1269.76	292	-146.63	-1.39	80.00	3697.8	3656.4	3739.1	1450.5	2053.4	127.13	-9.03	204	1276.31	0.00	0.00	3.65	0.000	0.000	0.096	3697.91	3656.19	3739.62	1450.19	3555.69	0	0	0	30.00	30.00	15.81
1378.96	1028	-146.63	-1.39	0.00	3698.0	3656.9	3739.1	1450.6	3554.9	138.91	-10.84	226	1385.90	0.00	0.00	3.40	0.000	0.000	0.040	3698.00	3656.62	3739.38	1450.50	2054.75	0	0	0	30.00	30.00	15.86
1495	end dive: TARGET_DEPTH_EXCEEDED
state	1495	begin apogee
1496.16	10243	0.00	-0.38	0.00	3697.6	3656.6	3738.7	1450.6	2122.1	150.16	-10.03	238	1607.92	102.19	1.65	0.12	1.108	0.144	0.163	3100.72	3015.94	3185.50	1694.50	2048.62	0	0	0	10.97	15.75	15.61
1609	end apogee: CONTROL_FINISHED_OK
state	1609	begin climb
1609.80	10759	146.63	1.51	-80.00	3097.6	3014.4	3180.8	1694.8	2048.2	153.81	0.00	249	1736.05	107.33	2.98	3.63	1.068	0.099	0.115	2498.19	2392.81	2603.56	2156.44	620.44	0	0	0	11.24	15.62	15.49
1779.51	5253	146.63	1.42	0.00	2495.0	2393.3	2596.8	2156.6	620.6	141.06	12.07	281	1786.14	0.00	0.25	3.47	0.000	0.190	0.041	2492.06	2389.94	2594.19	2123.62	2116.06	0	0	0	30.00	15.57	15.66
1974.52	292	149.32	1.42	80.00	2492.5	2391.8	2593.2	2123.9	2115.9	121.32	9.88	301	1981.06	0.00	0.00	3.52	0.000	0.000	0.104	2493.94	2392.06	2595.81	2122.69	3553.75	0	0	0	30.00	30.00	15.74
2069.55	1156	149.32	1.37	0.00	2492.3	2391.8	2592.8	2123.9	3554.1	110.35	11.67	320	2075.96	0.00	0.00	3.40	0.000	0.000	0.041	2494.41	2394.38	2594.44	2123.88	2057.50	0	0	0	30.00	30.00	15.83
2260.54	8486	164.72	1.38	80.00	2491.7	2391.8	2591.6	2123.8	2058.2	92.06	9.29	340	2282.82	14.53	0.00	3.65	0.983	0.000	0.102	2425.88	2324.94	2526.81	2123.38	3553.44	0	0	0	10.88	30.00	15.83
2365.52	1156	164.72	1.35	0.00	2424.6	2324.4	2524.8	2124.0	3553.9	81.52	10.61	361	2372.36	0.00	0.00	3.39	0.000	0.000	0.040	2424.47	2324.88	2524.06	2124.25	2055.25	0	0	0	30.00	30.00	15.90
2561.27	8486	200.35	1.39	80.00	2423.4	2322.6	2524.1	2124.1	2055.1	64.73	8.35	381	2597.88	27.59	0.00	3.68	1.002	0.000	0.101	2279.50	2170.50	2388.50	2124.56	3555.25	0	0	0	10.92	30.00	15.81
2676.24	1028	200.35	1.39	0.00	2278.4	2172.1	2384.6	2123.8	3554.1	53.40	10.75	402	2682.74	0.00	0.00	3.41	0.000	0.000	0.041	2279.16	2171.94	2386.38	2124.00	2058.19	0	0	0	30.00	30.00	15.86
2864.46	8486	231.36	1.43	80.00	2276.2	2171.2	2381.1	2124.1	2057.8	36.72	8.56	435	2897.13	23.93	0.00	3.68	0.975	0.000	0.102	2155.12	2042.81	2267.44	2124.06	3552.88	0	0	0	10.96	30.00	15.78
2940.56	1028	231.36	1.43	0.00	2151.7	2041.3	2262.0	2123.9	3553.1	29.54	10.37	450	2946.71	0.00	0.00	3.40	0.000	0.000	0.041	2151.97	2040.62	2263.31	2124.25	2058.25	0	0	0	30.00	30.00	15.84
3130.66	10663	284.32	1.53	80.00	2149.8	2041.1	2258.5	2123.9	2057.8	13.91	7.55	488	3179.28	38.67	0.22	3.69	0.958	0.082	0.102	1939.50	1822.50	2056.50	2166.38	3552.50	0	0	0	11.11	15.88	15.77
3282.79	11431	378.85	1.69	0.00	1933.9	1822.1	2045.6	2166.3	3552.5	2.87	5.62	518	3358.73	65.56	0.17	3.39	0.943	0.095	0.039	1554.34	1431.31	1677.38	2204.81	2053.69	0	0	0	11.00	15.83	15.86
3476	end climb: NO_VERTICAL_VELOCITY
state	3476	begin surface