Glider dive log

HoodCanal 20Jun23 * SG235 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 235 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2750 ALTIM_PULSE 3

MISSION 10 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 19 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 6

N_DIVES 30 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 741.19495 ROLL_MAXERRORS 1 XPDR_INT 13

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 11.5

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 0.5

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3521.5857 DEEPGLIDERMB 0

D_BOOST 3 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 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0040000002 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 100000 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 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 120 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 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 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 230 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3900 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 2210.9377 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 16.351944 MAXI_10V 2 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 25 FG_AHR_10V 1.0697107 SEABIRD_T_G 0.0042874566

GLIDE_SLOPE 45 PITCH_MAXERRORS 1 FG_AHR_24V 5.3199053 SEABIRD_T_H 0.00062267116

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.029999999 PHONE_SUPPLY 2 SEABIRD_T_I 2.1947648e-05

RHO 1.023 PITCH_ADJ_DBAND 1 PRESSURE_YINT -158.29968 SEABIRD_T_J 2.2037441e-06

MASS 72024 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022957686 SEABIRD_C_G -9.9419231

NAV_MODE 2 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1.1375728

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0016241658

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002088599

HD_A 0.00281838 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 0

HD_B 0.0139236 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 5.7000002e-06 ROLL_MIN 1200 ALTIM_TOP_MIN_OBSTACLE 0 SC_PROFILE 7.0

HEADING -1 ROLL_MAX 4000 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 2750 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1.1375728

AH0_24V 575 D_PITCH 0 N_DIVES 30 SEABIRD_C_I -0.0016241658

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.0002088599

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0042874566

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00062267116

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.1947648e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 2.2037441e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 1.0697107 PHONE_SUPPLY 2 SM_CC 741.19495

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 5.3199053 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_ADJ_GAIN 0.029999999 STOP_T 0

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_CNV 0.0041299998 STROBE 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PITCH_DBAND 0.1 SURFACE_URGENCY 0

CALL_NDIVES 1 GPS_DEVICE 48 PITCH_GAIN 16.351944 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.00281838 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0139236 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 100000 HD_C 5.7000002e-06 PITCH_MAX 3900 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 230 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 25 T_BOOST 0

COMPASS2_DEVICE -1 ID 235 PITCH_VBD_SHIFT 0.0040000002 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 0.5 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 2210.9377 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022957686 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -158.29968 T_NO_W 120

C_ROLL_CLIMB 2750 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2750 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3521.5857 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72024 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 2 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 11 ROLL_MAX 4000 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 19 MISSION 10 ROLL_MIN 1200 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 XPDR_DEVICE -1

D_BOOST 3 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 7.0 XPDR_INT 13

D_FINISH 0 NAV_MODE 2 SC_RECORDABOVE 2000.0 XPDR_REP 11.5

D_FLARE 3 NETBOX 1 SC_XMITPROFILE 3.0 XPDR_VALID 6

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -9.9419231

Pre-dive calculations and measurements:

GPS1 210623,133238,4736.394,-12256.407,1,0.7,3,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,133604,4736.393,-12256.407,2,0.9,3,15.4 MHEAD_RNG_PITCHd_Wd 201.8,956,-19.3,-10.000,-24.09,2233,0.154

SPEED_LIMITS 0.100,0.224 D_GRID 168

TGT_NAME S IRON 1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018

TGT_LATLONG 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NET CACST,8,1,20230621143318.196795,18,32767,45,0122,0112,07,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,10000,5000,0,-1,00,00*4A _24V_AH 14.96,6.354

NET_PING 1687357959,29,298.987488,4.100000,66.607628 _10V_AH 15.00,0.000

NAV 1687357633,16.3,4,stop FG_AHR_24Vo 5.471

WARN HSCICON missed fuel gauge read FG_AHR_10Vo 1.122

MODEM_MSG CACST,8,2,20230621142500.184133,18,32767,45,0101,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*01 MEM0 60020,1,0,0

FREEZE 5.50,12.792,-1.563,0,1,0 MEM1 65508,1,0,0

SURF forcing MEM2 928132,27,118356,77

SM_CCo 3775.08,349.20,0.757,0,500.7,407.2,594.2,740.88 DATA_FILE_SIZE 16116,540

SM_GC 1.93,0.00,16.06,0.09,0.000,0.050,0.155,496.4,408.2,584.6,215.1,2727.2,0,0,0,30.00,15.62,15.64 CAP_FILE_SIZE 210221,0

SUPER 19,71,254,1,0,0 SDSIZE 3918848,3901408

IRIDIUM_FIX 4738.39,-12307.73,210623,122233 SDFILEDIR 215,20

TCM_TEMP 12.77 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

SC_FREEKB 3872608 SOUNDSPEED 1465.0

RAFOS_CLK -1 CURRENT 0.030, 53.6,1

MODEM 0,1687356000,47.60500,-122.95000,0.298,435.9 MAGCAL 1.000000,0.047949,-0.248181,-0.152362,1.100516,0.153436,0.215969,-0.010471,0.978997,-687.3,-128.5,272.0,31,0.0635,0

RAFOS_FIX 4736.529297,-12257.000000,210623,141400,4,255,0.30 IMPLIED_C_PITCH 2210,16.78,258,2210.4,16.57

HUMID 49.52 IMPLIED_C_VBD 3525,29.429552,147,3523.4

TEMP 11.48 GPS 210623,144229,4736.318,-12256.646,2,1.0,32,15.4

INTERNAL_PRESSURE 8.50452

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 756 951 10769.22 nil 0 0 0.00

Pitch_motor 38 272 155.50 nil 0 0 0.00

Roll_motor 74 213 237.84 nil 0 0 0.00

Iridium 130 207 404.15 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 12 15 2.84 nil 0 0 0.00

Core 2191 5 168.28 SciCon 3424 8 434.97

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1518 0 7.29

Compass 1069 5 80.18

RAFOS 1689 40 1013.60

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

7.85 16386 -146.63 -1.77 0.00 494.6 414.5 574.7 215.2 2764.2 0.00 0.00 0 80.77 71.25 0.00 0.00 0.005 0.000 0.000 2111.75 2107.81 2115.69 214.94 2764.56 0 0 0 15.95 30.00 30.00

81.03 18983 -146.63 -1.77 -80.00 2111.2 2106.8 2115.7 215.1 2765.1 3.33 -2.54 14 164.78 58.78 12.19 3.64 0.005 0.272 0.121 3960.44 3946.94 3973.94 1782.62 1281.06 0 0 0 15.98 15.81 15.91

391.25 19591 -146.63 -1.21 0.00 3962.8 3947.3 3978.2 1782.2 1280.6 35.86 -12.14 75 402.94 0.00 0.93 3.40 0.000 0.174 0.059 3963.78 3947.81 3979.75 1917.00 2768.25 0 0 0 30.00 15.93 15.98

586.23 16678 -146.63 -1.21 80.00 3963.0 3946.7 3979.4 1917.2 2768.4 49.47 -7.20 114 591.92 0.00 0.00 3.03 0.000 0.000 0.121 3963.88 3947.56 3980.19 1917.12 4011.12 0 0 0 30.00 30.00 16.00

820.63 1188 -146.63 -1.17 0.00 3963.2 3948.0 3978.5 1916.6 4012.4 70.68 -8.99 161 826.88 0.00 0.00 2.95 0.000 0.000 0.063 3964.00 3947.44 3980.56 1916.81 2722.38 0 0 0 30.00 30.00 16.09

1016.31 292 -146.63 -1.17 80.00 3963.7 3947.1 3980.2 1916.9 2722.2 86.51 -7.98 181 1022.29 0.00 0.00 3.13 0.000 0.000 0.117 3963.28 3946.19 3980.38 1916.56 4012.19 0 0 0 30.00 30.00 16.08

1091.31 1060 -146.63 -1.17 0.00 3963.4 3946.7 3980.1 1916.9 4011.6 93.33 -9.21 196 1097.23 0.00 0.00 2.99 0.000 0.000 0.064 3963.66 3946.56 3980.75 1917.81 2723.88 0 0 0 30.00 30.00 16.12

1286.36 292 -146.63 -1.17 80.00 3964.1 3947.0 3981.1 1917.1 2723.9 110.10 -8.58 216 1292.35 0.00 0.00 3.15 0.000 0.000 0.118 3964.78 3947.31 3982.25 1917.44 4011.44 0 0 0 30.00 30.00 16.11

1311.33 1060 -146.63 -1.17 0.00 3964.1 3947.4 3980.8 1916.9 4011.9 112.43 -8.96 221 1316.22 0.00 0.00 2.98 0.000 0.000 0.064 3964.22 3947.00 3981.44 1916.94 2727.50 0 0 0 30.00 30.00 16.14

1503.64 548 -146.63 -1.17 -80.00 3963.8 3946.7 3981.0 1917.0 2723.8 128.65 -8.12 241 1509.99 0.00 0.00 3.59 0.000 0.000 0.129 3964.59 3947.12 3982.06 1917.19 1280.12 0 0 0 30.00 30.00 16.10

1543.00 1188 -146.63 -1.13 0.00 3963.9 3946.4 3981.4 1916.6 1280.1 132.43 -9.45 249 1549.61 0.00 0.00 3.40 0.000 0.000 0.062 3965.31 3948.06 3982.56 1917.88 2769.62 0 0 0 30.00 30.00 16.13

1738.65 548 -146.63 -1.13 -80.00 3963.8 3946.8 3980.9 1917.0 2769.1 149.54 -8.79 269 1745.09 0.00 0.00 3.64 0.000 0.000 0.126 3964.16 3946.38 3981.94 1916.31 1280.75 0 0 0 30.00 30.00 16.03

1748 end dive: TARGET_DEPTH_EXCEEDED

state 1748 begin apogee

1753.89 10243 0.00 -0.31 0.00 3964.1 3946.9 3981.3 1917.1 2772.0 150.46 -8.91 271 1835.40 75.92 1.50 0.08 0.952 0.135 0.214 3521.28 3458.25 3584.31 2135.25 2723.00 0 0 0 12.09 16.02 15.80

1845 end apogee: CONTROL_FINISHED_OK

state 1845 begin climb

1845.87 10503 146.63 1.77 80.00 3517.7 3454.0 3581.4 2137.9 2723.1 152.58 0.00 279 1967.49 107.64 3.23 3.27 0.905 0.079 0.117 2918.00 2834.81 3001.19 2644.44 4009.12 0 0 0 11.81 15.81 15.59

2010.73 5253 146.63 1.36 0.00 2915.7 2837.0 2994.4 2646.2 4009.2 135.87 18.06 310 2018.33 0.00 0.88 3.05 0.000 0.220 0.059 2914.78 2835.56 2994.00 2532.94 2724.62 0 0 0 30.00 15.65 15.73

2205.75 17030 146.63 1.29 -80.00 2911.5 2831.9 2991.1 2533.2 2724.1 108.76 12.53 330 2212.11 0.00 0.00 3.68 0.000 0.000 0.126 2911.66 2831.75 2991.56 2532.38 1281.12 0 0 0 30.00 30.00 15.83

2355.05 21639 146.63 1.14 0.00 2909.8 2831.9 2987.7 2533.8 1281.6 86.68 14.28 360 2362.01 0.00 0.37 3.42 0.000 0.210 0.059 2910.50 2832.94 2988.06 2479.25 2771.38 0 0 0 30.00 15.85 15.93

2550.86 10919 164.89 1.27 -80.00 2908.7 2829.8 2987.7 2480.4 2770.9 67.65 9.16 380 2572.81 13.98 0.26 3.66 0.752 0.076 0.124 2849.50 2765.19 2933.81 2528.94 1280.81 0 0 0 11.86 15.97 15.90

2631.06 5253 164.89 1.14 0.00 2845.1 2762.6 2927.5 2529.4 1280.9 57.85 13.43 396 2637.59 0.00 0.38 3.40 0.000 0.204 0.059 2848.47 2765.38 2931.56 2480.69 2772.56 0 0 0 30.00 15.89 15.96

2822.10 10919 197.20 1.36 -80.00 2843.4 2758.7 2928.1 2480.6 2772.5 40.26 8.52 425 2855.84 25.91 0.39 3.81 0.776 0.066 0.124 2712.56 2623.00 2802.12 2550.56 1281.69 0 0 0 11.94 15.88 15.81

2919.06 5253 197.20 1.25 0.00 2710.9 2624.2 2797.6 2550.8 1281.9 28.22 13.97 444 2926.30 0.00 0.34 3.42 0.000 0.202 0.059 2709.69 2622.75 2796.62 2506.25 2771.81 0 0 0 30.00 15.82 15.89

3109.60 10919 221.75 1.45 -80.00 2709.3 2621.6 2796.9 2506.4 2771.5 10.04 8.88 482 3137.97 20.56 0.37 3.68 0.734 0.067 0.124 2616.62 2528.62 2704.62 2574.31 1281.44 0 0 0 11.95 15.98 15.88

3369.35 11303 448.86 2.35 0.00 2609.8 2528.0 2691.6 2573.7 1281.5 5.92 -0.40 532 3411.30 33.24 1.26 3.39 0.755 0.056 0.057 2452.31 2363.38 2541.25 2791.44 2777.62 0 0 0 12.00 15.96 15.98

3412 end climb: NO_VERTICAL_VELOCITY

state 3412 begin surface

ID	235	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2750	ALTIM_PULSE	3
MISSION	10	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	19	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	6
N_DIVES	30	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	741.19495	ROLL_MAXERRORS	1	XPDR_INT	13
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	11.5
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	0.5
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3521.5857	DEEPGLIDERMB	0
D_BOOST	3	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	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0040000002	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	100000	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	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	120	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	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	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	230	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3900	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	2210.9377	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	16.351944	MAXI_10V	2	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	25	FG_AHR_10V	1.0697107	SEABIRD_T_G	0.0042874566
GLIDE_SLOPE	45	PITCH_MAXERRORS	1	FG_AHR_24V	5.3199053	SEABIRD_T_H	0.00062267116
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.029999999	PHONE_SUPPLY	2	SEABIRD_T_I	2.1947648e-05
RHO	1.023	PITCH_ADJ_DBAND	1	PRESSURE_YINT	-158.29968	SEABIRD_T_J	2.2037441e-06
MASS	72024	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022957686	SEABIRD_C_G	-9.9419231
NAV_MODE	2	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1.1375728
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0016241658
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002088599
HD_A	0.00281838	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	0
HD_B	0.0139236	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	5.7000002e-06	ROLL_MIN	1200	ALTIM_TOP_MIN_OBSTACLE	0	SC_PROFILE	7.0
HEADING	-1	ROLL_MAX	4000	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	2750	ALTIM_FREQUENCY	13

GPS1	210623,133238,4736.394,-12256.407,1,0.7,3,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,133604,4736.393,-12256.407,2,0.9,3,15.4	MHEAD_RNG_PITCHd_Wd	201.8,956,-19.3,-10.000,-24.09,2233,0.154
SPEED_LIMITS	0.100,0.224	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.017451,0.014585,-0.089957,1.062811,-0.004192,0.045696,-0.042900,1.093061,-893.957825,-40.148529,230.343018
TGT_LATLONG	4735.950,-12256.800	OSC	8000307

NET	CACST,8,1,20230621143318.196795,18,32767,45,0122,0112,07,00,00,00,00,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,10000,5000,0,-1,00,00*4A	_24V_AH	14.96,6.354
NET_PING	1687357959,29,298.987488,4.100000,66.607628	_10V_AH	15.00,0.000
NAV	1687357633,16.3,4,stop	FG_AHR_24Vo	5.471
WARN	HSCICON missed fuel gauge read	FG_AHR_10Vo	1.122
MODEM_MSG	CACST,8,2,20230621142500.184133,18,32767,45,0101,0000,00,00,00,00,00,-1,-01,-01,0,-1,1,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,925,0025,0,-1,00,00*01	MEM0	60020,1,0,0
FREEZE	5.50,12.792,-1.563,0,1,0	MEM1	65508,1,0,0
SURF	forcing	MEM2	928132,27,118356,77
SM_CCo	3775.08,349.20,0.757,0,500.7,407.2,594.2,740.88	DATA_FILE_SIZE	16116,540
SM_GC	1.93,0.00,16.06,0.09,0.000,0.050,0.155,496.4,408.2,584.6,215.1,2727.2,0,0,0,30.00,15.62,15.64	CAP_FILE_SIZE	210221,0
SUPER	19,71,254,1,0,0	SDSIZE	3918848,3901408
IRIDIUM_FIX	4738.39,-12307.73,210623,122233	SDFILEDIR	215,20
TCM_TEMP	12.77	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
SC_FREEKB	3872608	SOUNDSPEED	1465.0
RAFOS_CLK	-1	CURRENT	0.030, 53.6,1
MODEM	0,1687356000,47.60500,-122.95000,0.298,435.9	MAGCAL	1.000000,0.047949,-0.248181,-0.152362,1.100516,0.153436,0.215969,-0.010471,0.978997,-687.3,-128.5,272.0,31,0.0635,0
RAFOS_FIX	4736.529297,-12257.000000,210623,141400,4,255,0.30	IMPLIED_C_PITCH	2210,16.78,258,2210.4,16.57
HUMID	49.52	IMPLIED_C_VBD	3525,29.429552,147,3523.4
TEMP	11.48	GPS	210623,144229,4736.318,-12256.646,2,1.0,32,15.4
INTERNAL_PRESSURE	8.50452

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	756	951	10769.22	nil	0	0	0.00
Pitch_motor	38	272	155.50	nil	0	0	0.00
Roll_motor	74	213	237.84	nil	0	0	0.00
Iridium	130	207	404.15	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	12	15	2.84	nil	0	0	0.00
Core	2191	5	168.28	SciCon	3424	8	434.97
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1518	0	7.29
Compass	1069	5	80.18
RAFOS	1689	40	1013.60
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
7.85	16386	-146.63	-1.77	0.00	494.6	414.5	574.7	215.2	2764.2	0.00	0.00	0	80.77	71.25	0.00	0.00	0.005	0.000	0.000	2111.75	2107.81	2115.69	214.94	2764.56	0	0	0	15.95	30.00	30.00
81.03	18983	-146.63	-1.77	-80.00	2111.2	2106.8	2115.7	215.1	2765.1	3.33	-2.54	14	164.78	58.78	12.19	3.64	0.005	0.272	0.121	3960.44	3946.94	3973.94	1782.62	1281.06	0	0	0	15.98	15.81	15.91
391.25	19591	-146.63	-1.21	0.00	3962.8	3947.3	3978.2	1782.2	1280.6	35.86	-12.14	75	402.94	0.00	0.93	3.40	0.000	0.174	0.059	3963.78	3947.81	3979.75	1917.00	2768.25	0	0	0	30.00	15.93	15.98
586.23	16678	-146.63	-1.21	80.00	3963.0	3946.7	3979.4	1917.2	2768.4	49.47	-7.20	114	591.92	0.00	0.00	3.03	0.000	0.000	0.121	3963.88	3947.56	3980.19	1917.12	4011.12	0	0	0	30.00	30.00	16.00
820.63	1188	-146.63	-1.17	0.00	3963.2	3948.0	3978.5	1916.6	4012.4	70.68	-8.99	161	826.88	0.00	0.00	2.95	0.000	0.000	0.063	3964.00	3947.44	3980.56	1916.81	2722.38	0	0	0	30.00	30.00	16.09
1016.31	292	-146.63	-1.17	80.00	3963.7	3947.1	3980.2	1916.9	2722.2	86.51	-7.98	181	1022.29	0.00	0.00	3.13	0.000	0.000	0.117	3963.28	3946.19	3980.38	1916.56	4012.19	0	0	0	30.00	30.00	16.08
1091.31	1060	-146.63	-1.17	0.00	3963.4	3946.7	3980.1	1916.9	4011.6	93.33	-9.21	196	1097.23	0.00	0.00	2.99	0.000	0.000	0.064	3963.66	3946.56	3980.75	1917.81	2723.88	0	0	0	30.00	30.00	16.12
1286.36	292	-146.63	-1.17	80.00	3964.1	3947.0	3981.1	1917.1	2723.9	110.10	-8.58	216	1292.35	0.00	0.00	3.15	0.000	0.000	0.118	3964.78	3947.31	3982.25	1917.44	4011.44	0	0	0	30.00	30.00	16.11
1311.33	1060	-146.63	-1.17	0.00	3964.1	3947.4	3980.8	1916.9	4011.9	112.43	-8.96	221	1316.22	0.00	0.00	2.98	0.000	0.000	0.064	3964.22	3947.00	3981.44	1916.94	2727.50	0	0	0	30.00	30.00	16.14
1503.64	548	-146.63	-1.17	-80.00	3963.8	3946.7	3981.0	1917.0	2723.8	128.65	-8.12	241	1509.99	0.00	0.00	3.59	0.000	0.000	0.129	3964.59	3947.12	3982.06	1917.19	1280.12	0	0	0	30.00	30.00	16.10
1543.00	1188	-146.63	-1.13	0.00	3963.9	3946.4	3981.4	1916.6	1280.1	132.43	-9.45	249	1549.61	0.00	0.00	3.40	0.000	0.000	0.062	3965.31	3948.06	3982.56	1917.88	2769.62	0	0	0	30.00	30.00	16.13
1738.65	548	-146.63	-1.13	-80.00	3963.8	3946.8	3980.9	1917.0	2769.1	149.54	-8.79	269	1745.09	0.00	0.00	3.64	0.000	0.000	0.126	3964.16	3946.38	3981.94	1916.31	1280.75	0	0	0	30.00	30.00	16.03
1748	end dive: TARGET_DEPTH_EXCEEDED
state	1748	begin apogee
1753.89	10243	0.00	-0.31	0.00	3964.1	3946.9	3981.3	1917.1	2772.0	150.46	-8.91	271	1835.40	75.92	1.50	0.08	0.952	0.135	0.214	3521.28	3458.25	3584.31	2135.25	2723.00	0	0	0	12.09	16.02	15.80
1845	end apogee: CONTROL_FINISHED_OK
state	1845	begin climb
1845.87	10503	146.63	1.77	80.00	3517.7	3454.0	3581.4	2137.9	2723.1	152.58	0.00	279	1967.49	107.64	3.23	3.27	0.905	0.079	0.117	2918.00	2834.81	3001.19	2644.44	4009.12	0	0	0	11.81	15.81	15.59
2010.73	5253	146.63	1.36	0.00	2915.7	2837.0	2994.4	2646.2	4009.2	135.87	18.06	310	2018.33	0.00	0.88	3.05	0.000	0.220	0.059	2914.78	2835.56	2994.00	2532.94	2724.62	0	0	0	30.00	15.65	15.73
2205.75	17030	146.63	1.29	-80.00	2911.5	2831.9	2991.1	2533.2	2724.1	108.76	12.53	330	2212.11	0.00	0.00	3.68	0.000	0.000	0.126	2911.66	2831.75	2991.56	2532.38	1281.12	0	0	0	30.00	30.00	15.83
2355.05	21639	146.63	1.14	0.00	2909.8	2831.9	2987.7	2533.8	1281.6	86.68	14.28	360	2362.01	0.00	0.37	3.42	0.000	0.210	0.059	2910.50	2832.94	2988.06	2479.25	2771.38	0	0	0	30.00	15.85	15.93
2550.86	10919	164.89	1.27	-80.00	2908.7	2829.8	2987.7	2480.4	2770.9	67.65	9.16	380	2572.81	13.98	0.26	3.66	0.752	0.076	0.124	2849.50	2765.19	2933.81	2528.94	1280.81	0	0	0	11.86	15.97	15.90
2631.06	5253	164.89	1.14	0.00	2845.1	2762.6	2927.5	2529.4	1280.9	57.85	13.43	396	2637.59	0.00	0.38	3.40	0.000	0.204	0.059	2848.47	2765.38	2931.56	2480.69	2772.56	0	0	0	30.00	15.89	15.96
2822.10	10919	197.20	1.36	-80.00	2843.4	2758.7	2928.1	2480.6	2772.5	40.26	8.52	425	2855.84	25.91	0.39	3.81	0.776	0.066	0.124	2712.56	2623.00	2802.12	2550.56	1281.69	0	0	0	11.94	15.88	15.81
2919.06	5253	197.20	1.25	0.00	2710.9	2624.2	2797.6	2550.8	1281.9	28.22	13.97	444	2926.30	0.00	0.34	3.42	0.000	0.202	0.059	2709.69	2622.75	2796.62	2506.25	2771.81	0	0	0	30.00	15.82	15.89
3109.60	10919	221.75	1.45	-80.00	2709.3	2621.6	2796.9	2506.4	2771.5	10.04	8.88	482	3137.97	20.56	0.37	3.68	0.734	0.067	0.124	2616.62	2528.62	2704.62	2574.31	1281.44	0	0	0	11.95	15.98	15.88
3369.35	11303	448.86	2.35	0.00	2609.8	2528.0	2691.6	2573.7	1281.5	5.92	-0.40	532	3411.30	33.24	1.26	3.39	0.755	0.056	0.057	2452.31	2363.38	2541.25	2791.44	2777.62	0	0	0	12.00	15.96	15.98
3412	end climb: NO_VERTICAL_VELOCITY
state	3412	begin surface