Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 242 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1900 ALTIM_PULSE 3

MISSION 8 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 20 ALTIM_SENSITIVITY 2

DIVE 18 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 571.38477 ROLL_MAXERRORS 0 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -3.2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 2829.3306 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 131 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 540 DEVICE3 -1

D_SAFE 0 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 3 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 6 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 6 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 12 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 3 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 400 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 400 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 700 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 220 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1730.7219 MINV_24V 0 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 0 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 13.2157 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 43.131844 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 30.04887 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.0099999998 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -182.53638 SEABIRD_T_J 4.3e-06

MASS 72380 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022512203 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 195 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3800 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1980 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 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 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 43.131844 PHONE_SUPPLY 2 SM_CC 571.38477

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 30.04887 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.0099999998 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PITCH_DBAND 0.1 SURFACE_URGENCY 6

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 13.2157 SURFACE_URGENCY_FORCE 12

CALL_TRIES 3 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 6

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 HEAD_ERRBAND 20 PITCH_MIN 220 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 242 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT -3.2 PITCH_W_GAIN 0 T_GPS 3

C_PITCH 1730.7219 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022512203 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -182.53638 T_NO_W 120

C_ROLL_CLIMB 1900 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 1980 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 2829.3306 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 400 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 400

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 700 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 400 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 2 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72380 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 0 ROLL_MAX 3800 VBD_MIN 500

DEVICE6 -1 MINV_24V 0 ROLL_MAXERRORS 0 VBD_TIMEOUT 540

DIVE 18 MISSION 8 ROLL_MIN 195 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 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 2 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 3 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 220623,091107,4735.957,-12256.819,2,0.7,37,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.69 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,091427,4735.949,-12256.807,3,0.7,5,15.4 MHEAD_RNG_PITCHd_Wd 359.7,1154,-17.6,-10.000,-21.21,2209,0.135

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.469299,-818.692627,-706.311096

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230622100032.396590,18,32767,45,0115,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,6.7,3.46,-100,-0.46,-01,0.18,65,10000,5000,0,1,00,00*40 _24V_AH 15.06,33.985

NET_PING 1687428015,29,594.510010,6.800000,-0.790668 _10V_AH 15.00,0.000

MODEM_MSG CACST,8,0,20230622092500.253081,18,16067,42,0294,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,2.4,5.51,-100,-2.51,-01,-0.16,74,925,0025,0,1,00,00*3A FG_AHR_24Vo 30.206

NAV 1687427942,69.9,start FG_AHR_10Vo 43.187

FREEZE 3.99,14.690,-1.463,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3773.34,134.15,0.901,0,500.3,406.4,594.2,571.22 MEM2 944880,30,101768,66

SM_GC 2.16,0.00,12.43,0.09,0.000,0.051,0.142,497.6,403.5,591.7,197.9,2012.8,0,0,0,30.00,15.60,15.62 DATA_FILE_SIZE 12948,514

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 179171,0

IRIDIUM_FIX 4735.53,-12254.47,220623,081217 SDSIZE 3887104,3864384

TCM_TEMP 14.28 SDFILEDIR 178,19

SC_FREEKB 3873568 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 1 SOUNDSPEED 1403.4

MODEM 1,1687425000,47.60500,-122.95000,0.466,683.0 CURRENT 0.029,100.3,1

RAFOS_FIX 4736.194824,-12257.399414,220623,090900,3,255,1.37 MAGCAL 1.000000,0.051131,-0.009372,-0.044876,1.024668,0.149567,0.018141,-0.406708,1.071201,735.0,-971.8,-758.5,32,0.0552,0

HUMID 49.94 IMPLIED_C_PITCH 1733,13.23,275,1731.6,13.22

TEMP 11.34 IMPLIED_C_VBD 2834,32.508034,275,2831.9

INTERNAL_PRESSURE 8.23509 GPS 220623,102031,4736.303,-12256.510,4,1.2,21,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 646 1091 10618.51 nil 0 0 0.00

Pitch_motor 26 232 92.62 nil 0 0 0.00

Roll_motor 50 198 149.90 nil 0 0 0.00

Iridium 128 212 410.76 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.30 nil 0 0 0.00

Core 2373 5 182.30 SciCon 3632 6 363.55

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1543 0 7.41

Compass 1089 5 81.74

RAFOS 1174 40 704.83

Transponder 0 0 0.00

Compass2 0 0 0.00

Altimeter Analysis:

m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2

depth range fit R obstacle m R fit R obstacle m R

Guidance and control:

st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

7.53 16386 -146.63 -1.51 0.00 499.9 402.6 597.2 195.3 1943.2 0.00 0.00 0 72.22 59.87 0.00 0.00 0.005 0.000 0.000 1911.56 1876.38 1946.75 195.38 1943.56 0 0 0 15.86 30.00 30.00

72.66 18467 -146.63 -1.51 0.00 1911.9 1876.6 1947.2 195.2 1943.2 3.06 -2.55 12 135.21 44.14 8.51 0.00 0.005 0.232 0.000 3424.66 3391.81 3457.50 1364.38 1943.31 0 0 0 15.89 15.72 30.00

316.93 420 -146.63 -1.48 80.00 3426.4 3391.3 3461.5 1364.1 1943.2 24.03 -7.51 58 327.42 0.00 0.00 3.70 0.000 0.000 0.105 3428.97 3393.94 3464.00 1363.69 3447.94 0 0 0 30.00 30.00 14.34

366.25 1188 -146.63 -1.43 0.00 3426.8 3390.9 3462.7 1364.1 3447.9 28.76 -9.12 68 373.46 0.00 0.00 3.46 0.000 0.000 0.053 3426.84 3391.56 3462.12 1363.69 1948.81 0 0 0 30.00 30.00 15.75

557.18 2725 -146.63 -1.40 -80.00 3426.5 3391.1 3461.9 1364.1 1949.0 45.24 -8.62 106 565.25 0.00 0.17 3.55 0.000 0.165 0.120 3426.62 3391.56 3461.69 1393.81 511.81 0 0 0 30.00 15.75 15.75

653.88 1156 -146.63 -1.36 0.00 3427.2 3391.8 3462.6 1393.6 511.7 55.18 -10.66 125 660.96 0.00 0.00 3.43 0.000 0.000 0.049 3427.16 3392.31 3462.00 1393.88 2013.44 0 0 0 30.00 30.00 15.83

848.82 32 -146.63 -1.36 0.00 3427.9 3392.4 3463.4 1394.0 2014.3 71.88 -8.10 145 850.57 0.00 0.00 0.00 0.000 0.000 0.000 3426.34 3390.75 3461.94 1393.50 2014.44 0 0 0 30.00 30.00 30.00

1031.83 32 -146.63 -1.36 0.00 3428.1 3392.1 3464.1 1393.3 2014.8 87.25 -8.84 164 1033.58 0.00 0.00 0.00 0.000 0.000 0.000 3427.31 3390.31 3464.31 1393.94 2014.69 0 0 0 30.00 30.00 30.00

1221.85 292 -146.63 -1.36 80.00 3428.4 3391.9 3464.8 1394.2 2015.5 104.27 -8.86 183 1228.98 0.00 0.00 3.45 0.000 0.000 0.111 3427.62 3391.69 3463.56 1393.69 3449.62 0 0 0 30.00 30.00 15.97

1311.96 1188 -146.63 -1.34 0.00 3428.3 3391.7 3464.9 1393.6 3448.7 113.09 -9.84 201 1319.57 0.00 0.00 3.41 0.000 0.000 0.054 3429.34 3392.88 3465.81 1394.00 1949.94 0 0 0 30.00 30.00 16.01

1507.19 32 -146.63 -1.34 0.00 3428.4 3391.8 3465.0 1393.6 1949.8 129.17 -8.25 221 1511.70 0.00 0.00 0.00 0.000 0.000 0.000 3428.97 3392.69 3465.25 1394.19 1949.94 0 0 0 30.00 30.00 30.00

1701.63 292 -146.63 -1.34 80.00 3428.3 3391.1 3465.5 1394.1 1949.9 145.73 -8.18 241 1710.11 0.00 0.00 3.61 0.000 0.000 0.109 3429.69 3392.69 3466.69 1393.38 3450.12 0 0 0 30.00 30.00 16.01

1757 end dive: TARGET_DEPTH_EXCEEDED

state 1757 begin apogee

1764.88 10243 0.00 -0.38 0.00 3428.5 3392.4 3464.7 1393.9 1873.2 150.89 -9.38 250 1888.83 111.24 1.58 0.09 1.091 0.121 0.199 2829.12 2723.50 2934.75 1640.56 1935.69 0 0 0 11.57 15.97 15.64

1890 end apogee: CONTROL_FINISHED_OK

state 1890 begin climb

1890.54 10243 146.63 1.51 0.00 2827.2 2722.2 2932.2 1641.1 1935.4 154.01 0.00 262 2018.76 113.42 2.91 0.00 1.055 0.087 0.000 2231.38 2123.19 2339.56 2100.38 1935.62 0 0 0 11.59 15.66 30.00

2201.35 17030 146.63 1.48 -80.00 2222.1 2116.9 2327.2 2101.7 1934.9 119.01 13.52 293 2209.86 0.00 0.00 3.77 0.000 0.000 0.130 2220.34 2114.94 2325.75 2101.81 433.75 0 0 0 30.00 30.00 15.77

2268.55 21639 146.63 1.41 0.00 2221.2 2116.2 2326.1 2101.7 434.0 108.41 15.90 306 2277.05 0.00 0.29 3.40 0.000 0.170 0.051 2220.88 2117.00 2324.75 2063.38 1936.94 0 0 0 30.00 15.80 15.86

2463.45 32 147.95 1.41 0.00 2221.0 2115.4 2326.6 2064.0 1937.8 87.68 9.94 326 2465.24 0.00 0.00 0.00 0.000 0.000 0.000 2219.66 2114.12 2325.19 2063.56 1938.31 0 0 0 30.00 30.00 30.00

2662.48 8226 162.14 1.42 0.00 2220.4 2115.6 2325.2 2063.6 1937.8 69.94 9.34 344 2677.70 12.80 0.00 0.00 0.914 0.000 0.000 2168.00 2060.31 2275.69 2063.19 1937.62 0 0 0 11.56 30.00 30.00

2861.43 32 163.90 1.43 0.00 2163.5 2058.2 2268.9 2063.9 1937.8 48.43 9.92 366 2865.34 0.00 0.00 0.00 0.000 0.000 0.000 2163.97 2058.75 2269.19 2063.75 1938.12 0 0 0 30.00 30.00 30.00

3046.46 8742 195.05 1.47 -80.00 2163.2 2057.4 2269.0 2063.4 1937.6 31.89 8.56 403 3085.27 26.58 0.00 3.77 0.951 0.000 0.131 2033.03 1924.19 2141.88 2063.44 433.56 0 0 0 11.35 30.00 15.82

3143.94 1156 195.05 1.45 0.00 2028.5 1920.3 2136.7 2063.4 433.8 21.70 11.67 422 3151.96 0.00 0.00 3.42 0.000 0.000 0.051 2027.56 1919.75 2135.38 2063.19 1936.62 0 0 0 30.00 30.00 15.89

3334.21 10919 259.65 1.56 -80.00 2026.4 1919.4 2133.4 2063.7 1938.2 6.59 7.01 459 3395.80 48.53 0.29 3.79 0.935 0.054 0.128 1768.34 1656.75 1879.94 2128.19 432.81 0 0 0 11.43 15.92 15.73

3514.55 11431 470.36 1.83 0.00 1763.1 1652.8 1873.4 2127.4 432.8 4.74 0.24 494 3624.77 95.54 0.28 3.42 0.926 0.058 0.051 1239.06 1132.31 1345.81 2194.56 1945.88 0 0 0 11.47 15.86 15.85

3625 end climb: NO_VERTICAL_VELOCITY

state 3625 begin surface

ID	242	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1900	ALTIM_PULSE	3
MISSION	8	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	20	ALTIM_SENSITIVITY	2
DIVE	18	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	571.38477	ROLL_MAXERRORS	0	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-3.2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	2829.3306	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	131	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	540	DEVICE3	-1
D_SAFE	0	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	3	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	6	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	6	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	12	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	3	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	400	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	400	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	700	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	220	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1730.7219	MINV_24V	0	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	0	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	13.2157	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	43.131844	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	30.04887	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.0099999998	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-182.53638	SEABIRD_T_J	4.3e-06
MASS	72380	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022512203	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	195	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3800	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1980	ALTIM_FREQUENCY	13

GPS1	220623,091107,4735.957,-12256.819,2,0.7,37,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.69	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,091427,4735.949,-12256.807,3,0.7,5,15.4	MHEAD_RNG_PITCHd_Wd	359.7,1154,-17.6,-10.000,-21.21,2209,0.135
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,-0.001928,0.032024,0.012268,1.036610,-0.103521,-0.037571,-0.039467,1.057804,700.469299,-818.692627,-706.311096
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	CACST,8,0,20230622100032.396590,18,32767,45,0115,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,6.7,3.46,-100,-0.46,-01,0.18,65,10000,5000,0,1,00,00*40	_24V_AH	15.06,33.985
NET_PING	1687428015,29,594.510010,6.800000,-0.790668	_10V_AH	15.00,0.000
MODEM_MSG	CACST,8,0,20230622092500.253081,18,16067,42,0294,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,2.4,5.51,-100,-2.51,-01,-0.16,74,925,0025,0,1,00,00*3A	FG_AHR_24Vo	30.206
NAV	1687427942,69.9,start	FG_AHR_10Vo	43.187
FREEZE	3.99,14.690,-1.463,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3773.34,134.15,0.901,0,500.3,406.4,594.2,571.22	MEM2	944880,30,101768,66
SM_GC	2.16,0.00,12.43,0.09,0.000,0.051,0.142,497.6,403.5,591.7,197.9,2012.8,0,0,0,30.00,15.60,15.62	DATA_FILE_SIZE	12948,514
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	179171,0
IRIDIUM_FIX	4735.53,-12254.47,220623,081217	SDSIZE	3887104,3864384
TCM_TEMP	14.28	SDFILEDIR	178,19
SC_FREEKB	3873568	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	1	SOUNDSPEED	1403.4
MODEM	1,1687425000,47.60500,-122.95000,0.466,683.0	CURRENT	0.029,100.3,1
RAFOS_FIX	4736.194824,-12257.399414,220623,090900,3,255,1.37	MAGCAL	1.000000,0.051131,-0.009372,-0.044876,1.024668,0.149567,0.018141,-0.406708,1.071201,735.0,-971.8,-758.5,32,0.0552,0
HUMID	49.94	IMPLIED_C_PITCH	1733,13.23,275,1731.6,13.22
TEMP	11.34	IMPLIED_C_VBD	2834,32.508034,275,2831.9
INTERNAL_PRESSURE	8.23509	GPS	220623,102031,4736.303,-12256.510,4,1.2,21,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	646	1091	10618.51	nil	0	0	0.00
Pitch_motor	26	232	92.62	nil	0	0	0.00
Roll_motor	50	198	149.90	nil	0	0	0.00
Iridium	128	212	410.76	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.30	nil	0	0	0.00
Core	2373	5	182.30	SciCon	3632	6	363.55
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1543	0	7.41
Compass	1089	5	81.74
RAFOS	1174	40	704.83
Transponder	0	0	0.00
Compass2	0	0	0.00

		m=0.0,R=0.0,N=0				m=0.6,R=0.8,N=2
depth	range	fit R	obstacle	m	R	fit R	obstacle	m	R

st_secs	flags	vbd_ctl	pitch_ctl	roll_ctl	vbd_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	pitch_ad_start	roll_ad_start	depth	ob_vertv	data_pts	end_secs	vbd_secs	pitch_secs	roll_secs	vbd_i	pitch_i	roll_i	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_ad	roll_ad	vbd_errors	pitch_errors	roll_errors	vbd_volts	pitch_volts	roll_volts
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
7.53	16386	-146.63	-1.51	0.00	499.9	402.6	597.2	195.3	1943.2	0.00	0.00	0	72.22	59.87	0.00	0.00	0.005	0.000	0.000	1911.56	1876.38	1946.75	195.38	1943.56	0	0	0	15.86	30.00	30.00
72.66	18467	-146.63	-1.51	0.00	1911.9	1876.6	1947.2	195.2	1943.2	3.06	-2.55	12	135.21	44.14	8.51	0.00	0.005	0.232	0.000	3424.66	3391.81	3457.50	1364.38	1943.31	0	0	0	15.89	15.72	30.00
316.93	420	-146.63	-1.48	80.00	3426.4	3391.3	3461.5	1364.1	1943.2	24.03	-7.51	58	327.42	0.00	0.00	3.70	0.000	0.000	0.105	3428.97	3393.94	3464.00	1363.69	3447.94	0	0	0	30.00	30.00	14.34
366.25	1188	-146.63	-1.43	0.00	3426.8	3390.9	3462.7	1364.1	3447.9	28.76	-9.12	68	373.46	0.00	0.00	3.46	0.000	0.000	0.053	3426.84	3391.56	3462.12	1363.69	1948.81	0	0	0	30.00	30.00	15.75
557.18	2725	-146.63	-1.40	-80.00	3426.5	3391.1	3461.9	1364.1	1949.0	45.24	-8.62	106	565.25	0.00	0.17	3.55	0.000	0.165	0.120	3426.62	3391.56	3461.69	1393.81	511.81	0	0	0	30.00	15.75	15.75
653.88	1156	-146.63	-1.36	0.00	3427.2	3391.8	3462.6	1393.6	511.7	55.18	-10.66	125	660.96	0.00	0.00	3.43	0.000	0.000	0.049	3427.16	3392.31	3462.00	1393.88	2013.44	0	0	0	30.00	30.00	15.83
848.82	32	-146.63	-1.36	0.00	3427.9	3392.4	3463.4	1394.0	2014.3	71.88	-8.10	145	850.57	0.00	0.00	0.00	0.000	0.000	0.000	3426.34	3390.75	3461.94	1393.50	2014.44	0	0	0	30.00	30.00	30.00
1031.83	32	-146.63	-1.36	0.00	3428.1	3392.1	3464.1	1393.3	2014.8	87.25	-8.84	164	1033.58	0.00	0.00	0.00	0.000	0.000	0.000	3427.31	3390.31	3464.31	1393.94	2014.69	0	0	0	30.00	30.00	30.00
1221.85	292	-146.63	-1.36	80.00	3428.4	3391.9	3464.8	1394.2	2015.5	104.27	-8.86	183	1228.98	0.00	0.00	3.45	0.000	0.000	0.111	3427.62	3391.69	3463.56	1393.69	3449.62	0	0	0	30.00	30.00	15.97
1311.96	1188	-146.63	-1.34	0.00	3428.3	3391.7	3464.9	1393.6	3448.7	113.09	-9.84	201	1319.57	0.00	0.00	3.41	0.000	0.000	0.054	3429.34	3392.88	3465.81	1394.00	1949.94	0	0	0	30.00	30.00	16.01
1507.19	32	-146.63	-1.34	0.00	3428.4	3391.8	3465.0	1393.6	1949.8	129.17	-8.25	221	1511.70	0.00	0.00	0.00	0.000	0.000	0.000	3428.97	3392.69	3465.25	1394.19	1949.94	0	0	0	30.00	30.00	30.00
1701.63	292	-146.63	-1.34	80.00	3428.3	3391.1	3465.5	1394.1	1949.9	145.73	-8.18	241	1710.11	0.00	0.00	3.61	0.000	0.000	0.109	3429.69	3392.69	3466.69	1393.38	3450.12	0	0	0	30.00	30.00	16.01
1757	end dive: TARGET_DEPTH_EXCEEDED
state	1757	begin apogee
1764.88	10243	0.00	-0.38	0.00	3428.5	3392.4	3464.7	1393.9	1873.2	150.89	-9.38	250	1888.83	111.24	1.58	0.09	1.091	0.121	0.199	2829.12	2723.50	2934.75	1640.56	1935.69	0	0	0	11.57	15.97	15.64
1890	end apogee: CONTROL_FINISHED_OK
state	1890	begin climb
1890.54	10243	146.63	1.51	0.00	2827.2	2722.2	2932.2	1641.1	1935.4	154.01	0.00	262	2018.76	113.42	2.91	0.00	1.055	0.087	0.000	2231.38	2123.19	2339.56	2100.38	1935.62	0	0	0	11.59	15.66	30.00
2201.35	17030	146.63	1.48	-80.00	2222.1	2116.9	2327.2	2101.7	1934.9	119.01	13.52	293	2209.86	0.00	0.00	3.77	0.000	0.000	0.130	2220.34	2114.94	2325.75	2101.81	433.75	0	0	0	30.00	30.00	15.77
2268.55	21639	146.63	1.41	0.00	2221.2	2116.2	2326.1	2101.7	434.0	108.41	15.90	306	2277.05	0.00	0.29	3.40	0.000	0.170	0.051	2220.88	2117.00	2324.75	2063.38	1936.94	0	0	0	30.00	15.80	15.86
2463.45	32	147.95	1.41	0.00	2221.0	2115.4	2326.6	2064.0	1937.8	87.68	9.94	326	2465.24	0.00	0.00	0.00	0.000	0.000	0.000	2219.66	2114.12	2325.19	2063.56	1938.31	0	0	0	30.00	30.00	30.00
2662.48	8226	162.14	1.42	0.00	2220.4	2115.6	2325.2	2063.6	1937.8	69.94	9.34	344	2677.70	12.80	0.00	0.00	0.914	0.000	0.000	2168.00	2060.31	2275.69	2063.19	1937.62	0	0	0	11.56	30.00	30.00
2861.43	32	163.90	1.43	0.00	2163.5	2058.2	2268.9	2063.9	1937.8	48.43	9.92	366	2865.34	0.00	0.00	0.00	0.000	0.000	0.000	2163.97	2058.75	2269.19	2063.75	1938.12	0	0	0	30.00	30.00	30.00
3046.46	8742	195.05	1.47	-80.00	2163.2	2057.4	2269.0	2063.4	1937.6	31.89	8.56	403	3085.27	26.58	0.00	3.77	0.951	0.000	0.131	2033.03	1924.19	2141.88	2063.44	433.56	0	0	0	11.35	30.00	15.82
3143.94	1156	195.05	1.45	0.00	2028.5	1920.3	2136.7	2063.4	433.8	21.70	11.67	422	3151.96	0.00	0.00	3.42	0.000	0.000	0.051	2027.56	1919.75	2135.38	2063.19	1936.62	0	0	0	30.00	30.00	15.89
3334.21	10919	259.65	1.56	-80.00	2026.4	1919.4	2133.4	2063.7	1938.2	6.59	7.01	459	3395.80	48.53	0.29	3.79	0.935	0.054	0.128	1768.34	1656.75	1879.94	2128.19	432.81	0	0	0	11.43	15.92	15.73
3514.55	11431	470.36	1.83	0.00	1763.1	1652.8	1873.4	2127.4	432.8	4.74	0.24	494	3624.77	95.54	0.28	3.42	0.926	0.058	0.051	1239.06	1132.31	1345.81	2194.56	1945.88	0	0	0	11.47	15.86	15.85
3625	end climb: NO_VERTICAL_VELOCITY
state	3625	begin surface