Glider dive log

HoodCanal 22Jun23 * SG243 * Dive index * Mission links * Dive 14 * 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 14 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 596.99146 ROLL_MAXERRORS 0 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -1.7

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3100 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 129 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 400 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 400 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 700 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1786.6533 MINV_24V 10 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 10 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 13.204008 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 54.353722 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 105.52151 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 2 PRESSURE_YINT -165.77734 SEABIRD_T_J 4.3e-06

MASS 72547 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022387519 SEABIRD_C_G -10

NAV_MODE 0 C_PITCH_AUTO_MAX 0 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 2

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 285 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3890 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2087 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 129 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 30 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 2 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 54.353722 PHONE_SUPPLY 2 SM_CC 596.99146

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 105.52151 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 14 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 230623,061111,4735.988,-12256.649,1,1.3,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -52.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 230623,061414,4736.001,-12256.637,2,1.3,4,15.4 MHEAD_RNG_PITCHd_Wd 356.6,1001,-17.6,-10.000,-21.21,2209,0.151

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 8000266

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230623062500.440218,18,32767,39,0141,0000,07,01,01,01,01,-1,-01,-01,2,3,1,0,150,16.9,-0.73,-100,3.73,-01,0.10,37,925,0025,0,-1,00,00*13 _24V_AH 14.90,85.822

NAV 1687503544,57.1,start _10V_AH 14.93,0.000

NET CACST,8,0,20230623065737.381937,18,32767,45,0126,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,11.2,7.29,-100,-4.29,-01,0.06,62,10000,5000,0,-1,00,00*53 FG_AHR_24Vo 105.691

NET_PING 1687503460,29,889.911011,11.200000,-1.185094 FG_AHR_10Vo 54.422

FREEZE 2.34,14.641,-1.485,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3685.91,196.66,0.933,0,500.7,389.6,611.8,637.62 MEM2 945740,29,100868,69

SM_GC 1.62,0.00,12.97,0.10,0.000,0.048,0.126,497.5,389.8,605.1,191.0,2118.3,0,0,0,30.00,15.59,15.61 DATA_FILE_SIZE 16131,551

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 212101,0

IRIDIUM_FIX 4737.46,-12258.89,230623,052114 SDSIZE 3887104,3869536

TCM_TEMP 12.86 SDFILEDIR 144,15

SC_FREEKB 3874496 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687500000,47.60500,-122.95000,0.484,709.0 MAGCAL 1.000000,0.037610,-0.001791,0.004952,1.050043,0.168415,-0.047605,-0.175092,0.951173,84.0,-1297.0,-881.6,35,0.0532,0

RAFOS_FIX 4736.485840,-12257.437500,230623,060600,4,255,2.08 IMPLIED_C_PITCH 1777,12.94,255,0.0,0.00

HUMID 56.18 IMPLIED_C_VBD 2897,32.956551,255,0

TEMP 11.10 GPS 230623,071832,4736.410,-12256.372,1,1.2,5,15.4

INTERNAL_PRESSURE 10.3394

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 697 1108 11520.21 nil 0 0 0.00

Pitch_motor 28 248 104.82 nil 0 0 0.00

Roll_motor 78 163 190.73 nil 0 0 0.00

Iridium 114 164 279.78 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.05 nil 0 0 0.00

Core 2433 5 186.06 SciCon 3482 7 383.40

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1316 0 6.29

Compass 1154 5 86.22

RAFOS 1463 40 874.00

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

7.70 16386 -146.63 -1.51 0.00 496.0 389.6 602.5 187.2 2049.1 0.00 0.00 0 107.31 96.07 0.00 0.00 0.005 0.000 0.000 2550.12 2501.31 2598.94 187.31 2049.38 0 0 0 15.83 30.00 30.00

107.61 18983 -146.63 -1.51 -80.00 2549.0 2499.6 2598.4 187.1 2048.6 3.28 -2.00 19 165.95 35.65 9.45 3.57 0.005 0.249 0.111 3696.69 3657.75 3735.62 1420.25 618.25 0 0 0 15.87 15.62 15.75

337.30 1156 -146.63 -1.44 0.00 3696.7 3657.8 3735.6 1420.4 617.8 30.34 -11.95 64 343.11 0.00 0.00 3.45 0.000 0.000 0.042 3697.56 3659.06 3736.06 1420.19 2115.50 0 0 0 30.00 30.00 15.85

527.29 260 -146.63 -1.44 80.00 3696.4 3657.2 3735.6 1420.1 2116.0 50.23 -10.26 102 533.63 0.00 0.00 3.52 0.000 0.000 0.100 3698.06 3659.00 3737.12 1421.00 3552.38 0 0 0 30.00 30.00 15.81

662.38 3205 -146.63 -1.38 0.00 3696.7 3657.9 3735.5 1420.4 3552.5 66.83 -12.50 129 668.79 0.00 0.23 3.42 0.000 0.182 0.040 3697.09 3657.81 3736.38 1454.12 2053.81 0 0 0 30.00 15.74 15.88

856.36 292 -146.63 -1.38 80.00 3696.9 3657.8 3736.0 1453.8 2053.6 85.48 -9.28 149 862.72 0.00 0.00 3.66 0.000 0.000 0.097 3698.41 3658.19 3738.62 1454.31 3554.88 0 0 0 30.00 30.00 15.88

941.33 1028 -146.63 -1.38 0.00 3696.9 3657.6 3736.2 1454.2 3554.8 94.83 -11.16 166 947.64 0.00 0.00 3.40 0.000 0.000 0.039 3696.03 3656.69 3735.38 1454.50 2054.12 0 0 0 30.00 30.00 15.94

1136.48 420 -146.63 -1.41 80.00 3697.4 3658.2 3736.6 1454.4 2054.2 113.61 -9.31 186 1142.75 0.00 0.00 3.65 0.000 0.000 0.095 3696.91 3657.19 3736.62 1454.25 3555.38 0 0 0 30.00 30.00 15.91

1295.61 1028 -146.63 -1.41 0.00 3697.6 3658.1 3737.2 1454.5 3555.3 130.73 -11.06 218 1302.40 0.00 0.00 3.39 0.000 0.000 0.039 3697.72 3658.62 3736.81 1454.50 2054.44 0 0 0 30.00 30.00 16.00

1487.13 420 -146.63 -1.45 80.00 3697.6 3657.8 3737.3 1454.4 2053.2 149.09 -9.62 238 1497.99 0.00 0.00 3.76 0.000 0.000 0.095 3697.84 3657.75 3737.94 1454.00 3553.81 0 0 0 30.00 30.00 15.35

1501 end dive: TARGET_DEPTH_EXCEEDED

state 1501 begin apogee

1506.92 10243 0.00 -0.38 0.00 3697.1 3657.3 3736.9 1454.3 2053.8 150.63 -9.81 241 1620.03 103.10 1.66 0.11 1.108 0.150 0.163 3097.59 3015.44 3179.75 1695.19 2123.75 0 0 0 11.35 15.78 15.56

1621 end apogee: CONTROL_FINISHED_OK

state 1622 begin climb

1621.92 10759 146.63 1.51 -80.00 3097.2 3015.9 3178.6 1694.4 2123.5 154.45 0.00 252 1749.03 108.07 3.02 3.85 1.078 0.097 0.111 2500.16 2393.62 2606.69 2156.19 620.62 0 0 0 11.21 15.56 15.47

1821.97 21639 146.63 1.42 0.00 2493.7 2393.4 2593.9 2156.1 620.6 138.21 12.09 287 1829.09 0.00 0.25 3.49 0.000 0.191 0.041 2493.19 2392.81 2593.56 2123.88 2116.62 0 0 0 30.00 15.55 15.65

2018.15 8486 158.81 1.43 80.00 2492.4 2392.5 2592.3 2124.3 2116.1 119.72 9.44 307 2040.26 10.47 0.00 3.61 0.962 0.000 0.103 2450.62 2348.12 2553.12 2123.75 3554.81 0 0 0 11.42 30.00 15.23

2098.70 1156 158.81 1.38 0.00 2448.5 2348.8 2548.2 2123.9 3554.1 110.79 11.46 323 2109.83 0.00 0.00 3.48 0.000 0.000 0.039 2450.03 2349.31 2550.75 2123.56 2057.12 0 0 0 30.00 30.00 15.65

2298.67 8486 186.30 1.41 80.00 2447.8 2349.0 2546.6 2124.0 2057.0 92.31 8.73 344 2331.28 22.27 0.00 3.70 1.032 0.000 0.101 2337.84 2233.06 2442.62 2124.19 3553.44 0 0 0 11.07 30.00 15.71

2423.98 1156 186.30 1.38 0.00 2335.3 2232.6 2438.0 2124.2 3554.2 79.71 10.20 369 2430.87 0.00 0.00 3.44 0.000 0.000 0.040 2335.69 2232.12 2439.25 2123.88 2057.31 0 0 0 30.00 30.00 15.80

2615.80 8486 193.77 1.39 80.00 2334.3 2231.6 2437.0 2124.5 2057.8 61.56 9.65 389 2631.77 7.61 0.00 3.66 0.883 0.000 0.101 2310.09 2204.88 2415.31 2123.50 3552.44 0 0 0 11.04 30.00 15.83

2681.64 1028 193.77 1.39 0.00 2306.7 2202.7 2410.7 2123.6 3552.2 54.85 10.63 399 2688.14 0.00 0.00 3.42 0.000 0.000 0.039 2303.81 2199.56 2408.06 2124.06 2056.69 0 0 0 30.00 30.00 15.84

2871.72 8486 224.57 1.43 80.00 2305.3 2202.1 2408.6 2123.6 2055.8 37.73 8.57 432 2904.43 24.33 0.00 3.67 0.993 0.000 0.101 2183.16 2071.12 2295.19 2122.44 3553.19 0 0 0 10.93 30.00 15.79

2957.77 1028 224.57 1.43 0.00 2179.5 2071.1 2287.9 2124.2 3553.7 29.51 10.23 449 2963.99 0.00 0.00 3.44 0.000 0.000 0.040 2180.09 2070.69 2289.50 2123.94 2056.25 0 0 0 30.00 30.00 15.84

3147.96 10663 277.41 1.53 80.00 2177.4 2070.4 2284.3 2123.1 2056.1 13.51 7.55 487 3198.46 38.84 0.22 3.69 0.971 0.077 0.101 1964.06 1849.25 2078.88 2168.06 3553.06 0 0 0 10.95 15.83 15.73

3221.84 9254 298.48 1.55 0.00 1963.8 1850.4 2077.1 2167.4 3552.4 7.19 9.02 501 3248.26 16.73 0.00 3.45 0.919 0.000 0.040 1881.88 1763.19 2000.56 2167.69 2056.12 0 0 0 11.20 30.00 15.79

3431.98 10663 508.98 1.91 80.00 1875.5 1758.2 1992.8 2167.9 2056.6 2.56 0.25 543 3473.63 37.97 0.49 0.00 0.955 0.063 0.000 1668.53 1549.56 1787.50 2258.81 2056.00 0 0 0 10.94 15.77 30.00

3474 end climb: NO_VERTICAL_VELOCITY

state 3474 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	14	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	596.99146	ROLL_MAXERRORS	0	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-1.7
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3100	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	129	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	400	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	400	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	700	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1786.6533	MINV_24V	10	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	10	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	13.204008	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	54.353722	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	105.52151	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	230623,061111,4735.988,-12256.649,1,1.3,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-52.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	230623,061414,4736.001,-12256.637,2,1.3,4,15.4	MHEAD_RNG_PITCHd_Wd	356.6,1001,-17.6,-10.000,-21.21,2209,0.151
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	8000266

MODEM_MSG	CACST,8,1,20230623062500.440218,18,32767,39,0141,0000,07,01,01,01,01,-1,-01,-01,2,3,1,0,150,16.9,-0.73,-100,3.73,-01,0.10,37,925,0025,0,-1,00,00*13	_24V_AH	14.90,85.822
NAV	1687503544,57.1,start	_10V_AH	14.93,0.000
NET	CACST,8,0,20230623065737.381937,18,32767,45,0126,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,11.2,7.29,-100,-4.29,-01,0.06,62,10000,5000,0,-1,00,00*53	FG_AHR_24Vo	105.691
NET_PING	1687503460,29,889.911011,11.200000,-1.185094	FG_AHR_10Vo	54.422
FREEZE	2.34,14.641,-1.485,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3685.91,196.66,0.933,0,500.7,389.6,611.8,637.62	MEM2	945740,29,100868,69
SM_GC	1.62,0.00,12.97,0.10,0.000,0.048,0.126,497.5,389.8,605.1,191.0,2118.3,0,0,0,30.00,15.59,15.61	DATA_FILE_SIZE	16131,551
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	212101,0
IRIDIUM_FIX	4737.46,-12258.89,230623,052114	SDSIZE	3887104,3869536
TCM_TEMP	12.86	SDFILEDIR	144,15
SC_FREEKB	3874496	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687500000,47.60500,-122.95000,0.484,709.0	MAGCAL	1.000000,0.037610,-0.001791,0.004952,1.050043,0.168415,-0.047605,-0.175092,0.951173,84.0,-1297.0,-881.6,35,0.0532,0
RAFOS_FIX	4736.485840,-12257.437500,230623,060600,4,255,2.08	IMPLIED_C_PITCH	1777,12.94,255,0.0,0.00
HUMID	56.18	IMPLIED_C_VBD	2897,32.956551,255,0
TEMP	11.10	GPS	230623,071832,4736.410,-12256.372,1,1.2,5,15.4
INTERNAL_PRESSURE	10.3394

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	697	1108	11520.21	nil	0	0	0.00
Pitch_motor	28	248	104.82	nil	0	0	0.00
Roll_motor	78	163	190.73	nil	0	0	0.00
Iridium	114	164	279.78	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.05	nil	0	0	0.00
Core	2433	5	186.06	SciCon	3482	7	383.40
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1316	0	6.29
Compass	1154	5	86.22
RAFOS	1463	40	874.00
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
7.70	16386	-146.63	-1.51	0.00	496.0	389.6	602.5	187.2	2049.1	0.00	0.00	0	107.31	96.07	0.00	0.00	0.005	0.000	0.000	2550.12	2501.31	2598.94	187.31	2049.38	0	0	0	15.83	30.00	30.00
107.61	18983	-146.63	-1.51	-80.00	2549.0	2499.6	2598.4	187.1	2048.6	3.28	-2.00	19	165.95	35.65	9.45	3.57	0.005	0.249	0.111	3696.69	3657.75	3735.62	1420.25	618.25	0	0	0	15.87	15.62	15.75
337.30	1156	-146.63	-1.44	0.00	3696.7	3657.8	3735.6	1420.4	617.8	30.34	-11.95	64	343.11	0.00	0.00	3.45	0.000	0.000	0.042	3697.56	3659.06	3736.06	1420.19	2115.50	0	0	0	30.00	30.00	15.85
527.29	260	-146.63	-1.44	80.00	3696.4	3657.2	3735.6	1420.1	2116.0	50.23	-10.26	102	533.63	0.00	0.00	3.52	0.000	0.000	0.100	3698.06	3659.00	3737.12	1421.00	3552.38	0	0	0	30.00	30.00	15.81
662.38	3205	-146.63	-1.38	0.00	3696.7	3657.9	3735.5	1420.4	3552.5	66.83	-12.50	129	668.79	0.00	0.23	3.42	0.000	0.182	0.040	3697.09	3657.81	3736.38	1454.12	2053.81	0	0	0	30.00	15.74	15.88
856.36	292	-146.63	-1.38	80.00	3696.9	3657.8	3736.0	1453.8	2053.6	85.48	-9.28	149	862.72	0.00	0.00	3.66	0.000	0.000	0.097	3698.41	3658.19	3738.62	1454.31	3554.88	0	0	0	30.00	30.00	15.88
941.33	1028	-146.63	-1.38	0.00	3696.9	3657.6	3736.2	1454.2	3554.8	94.83	-11.16	166	947.64	0.00	0.00	3.40	0.000	0.000	0.039	3696.03	3656.69	3735.38	1454.50	2054.12	0	0	0	30.00	30.00	15.94
1136.48	420	-146.63	-1.41	80.00	3697.4	3658.2	3736.6	1454.4	2054.2	113.61	-9.31	186	1142.75	0.00	0.00	3.65	0.000	0.000	0.095	3696.91	3657.19	3736.62	1454.25	3555.38	0	0	0	30.00	30.00	15.91
1295.61	1028	-146.63	-1.41	0.00	3697.6	3658.1	3737.2	1454.5	3555.3	130.73	-11.06	218	1302.40	0.00	0.00	3.39	0.000	0.000	0.039	3697.72	3658.62	3736.81	1454.50	2054.44	0	0	0	30.00	30.00	16.00
1487.13	420	-146.63	-1.45	80.00	3697.6	3657.8	3737.3	1454.4	2053.2	149.09	-9.62	238	1497.99	0.00	0.00	3.76	0.000	0.000	0.095	3697.84	3657.75	3737.94	1454.00	3553.81	0	0	0	30.00	30.00	15.35
1501	end dive: TARGET_DEPTH_EXCEEDED
state	1501	begin apogee
1506.92	10243	0.00	-0.38	0.00	3697.1	3657.3	3736.9	1454.3	2053.8	150.63	-9.81	241	1620.03	103.10	1.66	0.11	1.108	0.150	0.163	3097.59	3015.44	3179.75	1695.19	2123.75	0	0	0	11.35	15.78	15.56
1621	end apogee: CONTROL_FINISHED_OK
state	1622	begin climb
1621.92	10759	146.63	1.51	-80.00	3097.2	3015.9	3178.6	1694.4	2123.5	154.45	0.00	252	1749.03	108.07	3.02	3.85	1.078	0.097	0.111	2500.16	2393.62	2606.69	2156.19	620.62	0	0	0	11.21	15.56	15.47
1821.97	21639	146.63	1.42	0.00	2493.7	2393.4	2593.9	2156.1	620.6	138.21	12.09	287	1829.09	0.00	0.25	3.49	0.000	0.191	0.041	2493.19	2392.81	2593.56	2123.88	2116.62	0	0	0	30.00	15.55	15.65
2018.15	8486	158.81	1.43	80.00	2492.4	2392.5	2592.3	2124.3	2116.1	119.72	9.44	307	2040.26	10.47	0.00	3.61	0.962	0.000	0.103	2450.62	2348.12	2553.12	2123.75	3554.81	0	0	0	11.42	30.00	15.23
2098.70	1156	158.81	1.38	0.00	2448.5	2348.8	2548.2	2123.9	3554.1	110.79	11.46	323	2109.83	0.00	0.00	3.48	0.000	0.000	0.039	2450.03	2349.31	2550.75	2123.56	2057.12	0	0	0	30.00	30.00	15.65
2298.67	8486	186.30	1.41	80.00	2447.8	2349.0	2546.6	2124.0	2057.0	92.31	8.73	344	2331.28	22.27	0.00	3.70	1.032	0.000	0.101	2337.84	2233.06	2442.62	2124.19	3553.44	0	0	0	11.07	30.00	15.71
2423.98	1156	186.30	1.38	0.00	2335.3	2232.6	2438.0	2124.2	3554.2	79.71	10.20	369	2430.87	0.00	0.00	3.44	0.000	0.000	0.040	2335.69	2232.12	2439.25	2123.88	2057.31	0	0	0	30.00	30.00	15.80
2615.80	8486	193.77	1.39	80.00	2334.3	2231.6	2437.0	2124.5	2057.8	61.56	9.65	389	2631.77	7.61	0.00	3.66	0.883	0.000	0.101	2310.09	2204.88	2415.31	2123.50	3552.44	0	0	0	11.04	30.00	15.83
2681.64	1028	193.77	1.39	0.00	2306.7	2202.7	2410.7	2123.6	3552.2	54.85	10.63	399	2688.14	0.00	0.00	3.42	0.000	0.000	0.039	2303.81	2199.56	2408.06	2124.06	2056.69	0	0	0	30.00	30.00	15.84
2871.72	8486	224.57	1.43	80.00	2305.3	2202.1	2408.6	2123.6	2055.8	37.73	8.57	432	2904.43	24.33	0.00	3.67	0.993	0.000	0.101	2183.16	2071.12	2295.19	2122.44	3553.19	0	0	0	10.93	30.00	15.79
2957.77	1028	224.57	1.43	0.00	2179.5	2071.1	2287.9	2124.2	3553.7	29.51	10.23	449	2963.99	0.00	0.00	3.44	0.000	0.000	0.040	2180.09	2070.69	2289.50	2123.94	2056.25	0	0	0	30.00	30.00	15.84
3147.96	10663	277.41	1.53	80.00	2177.4	2070.4	2284.3	2123.1	2056.1	13.51	7.55	487	3198.46	38.84	0.22	3.69	0.971	0.077	0.101	1964.06	1849.25	2078.88	2168.06	3553.06	0	0	0	10.95	15.83	15.73
3221.84	9254	298.48	1.55	0.00	1963.8	1850.4	2077.1	2167.4	3552.4	7.19	9.02	501	3248.26	16.73	0.00	3.45	0.919	0.000	0.040	1881.88	1763.19	2000.56	2167.69	2056.12	0	0	0	11.20	30.00	15.79
3431.98	10663	508.98	1.91	80.00	1875.5	1758.2	1992.8	2167.9	2056.6	2.56	0.25	543	3473.63	37.97	0.49	0.00	0.955	0.063	0.000	1668.53	1549.56	1787.50	2258.81	2056.00	0	0	0	10.94	15.77	30.00
3474	end climb: NO_VERTICAL_VELOCITY
state	3474	begin surface