Glider dive log

HoodCanal 21Jun23 * SG243 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 243 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2087 ALTIM_PULSE 3

MISSION 5 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 2 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 2 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 30 XPDR_INHIBIT 90

STOP_T 0 SM_CC 711.37 ROLL_MAXERRORS 0 XPDR_INT 0

D_SURF 2 N_FILEKB 8 ROLL_ADJ_GAIN 0 XPDR_REP 0

D_FLARE 3 FILEMGR 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_SLOPE 1.9639999e-06

D_TGT 150 CALL_NDIVES 1 VBD_MIN 500 INT_PRESSURE_YINT -1.7

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3322.8914 DEEPGLIDERMB 0

D_BOOST 0 N_NOCOMM 1 VBD_DBAND 2 MOTHERBOARD 6

T_BOOST 0 NOCOMM_ACTION 129 VBD_CNV -0.24529999 DEVICE1 -1

D_FINISH 0 N_NOSURFACE 0 VBD_LP_IGNORE 0 DEVICE2 -1

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_TIMEOUT 720 DEVICE3 -1

D_SAFE 0 NETBOX 3 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 400 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 2 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0.5 LOGGERS 1

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 100 LOGGERDEVICE1 7

T_DIVE 50 T_GPS 5 W_ADJ_DBAND 0 LOGGERDEVICE2 -1

T_MISSION 75 N_GPS 100440 DBDW 0 LOGGERDEVICE3 -1

T_ABORT 1440 T_RSLEEP 2 LOITER_W_DBAND 2 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 400 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 400 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 700 PHONE_DEVICE 33

T_LOITER 0 RAFOS_HIT_WINDOW 3600 LOITER_N_DIVE 0 GPS_DEVICE 48

T_EPIRB 0 RAFOS_MMODEM 0 CF8_MAXERRORS 0 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 205 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3600 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.07 C_PITCH 1755.2439 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 13.698362 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 53.204765 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 102.06323 SEABIRD_T_H 0.00063999998

SPEED_FACTOR 1 PITCH_ADJ_GAIN 0.015 PHONE_SUPPLY 2 SEABIRD_T_I 2.4999999e-05

RHO 1.023 PITCH_ADJ_DBAND 2 PRESSURE_YINT -165.87093 SEABIRD_T_J 4.3e-06

MASS 72547 C_PITCH_AUTO_DELTA 0.5 PRESSURE_SLOPE 0.00022387519 SEABIRD_C_G -10

NAV_MODE 0 C_PITCH_AUTO_MAX 200 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0.5 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 2 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00019999999

HD_A 0.003 PITCH_W_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0 OPTIONS 2

HD_B 0.0099999998 PITCH_W_DBAND 0 ALTIM_TOP_TURN_MARGIN 0 SC_RECORDABOVE 2000.0

HD_C 1.6e-05 ROLL_MIN 285 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3890 ALTIM_PING_DEPTH 0 SC_XMITPROFILE 3.0

ESCAPE_HEADING 0 ROLL_DEG 80 ALTIM_PING_DELTA 0 SC_NDIVE 1.0

ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2087 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 129 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 2 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 2 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 53.204765 PHONE_SUPPLY 2 SM_CC 711.37

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 102.06323 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 13.698362 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0.5 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 2 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3600 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 0 HEAD_ERRBAND 10 PITCH_MIN 205 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.07 PITCH_TIMEOUT 40 T_BOOST 0

COMPASS2_DEVICE -1 ID 243 PITCH_VBD_SHIFT 0.0012300001 T_DIVE 50

COMPASS_DEVICE 66 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_W_DBAND 0 T_EPIRB 0

COMPASS_USE 114692 INT_PRESSURE_YINT -1.7 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1755.2439 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0.5 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022387519 T_MISSION 75

C_PITCH_AUTO_MAX 200 LOGGERDEVICE2 -1 PRESSURE_YINT -165.87093 T_NO_W 60

C_ROLL_CLIMB 2087 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 2

C_ROLL_DIVE 2087 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3322.8914 LOGGERS 1 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0.5 LOITER_DBDW 400 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 400

C_VBD_AUTO_MAX 100 LOITER_D_BOTTOM 700 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 400 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 2 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72547 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 5 ROLL_ADJ_GAIN 0 VBD_LP_IGNORE 0

DEVICE3 -1 MAXI_24V 5 ROLL_CNV 0.054945 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 150 ROLL_DEG 80 VBD_MAXERRORS 2

DEVICE5 -1 MINV_10V 10 ROLL_MAX 3890 VBD_MIN 500

DEVICE6 -1 MINV_24V 10 ROLL_MAXERRORS 0 VBD_TIMEOUT 720

DIVE 2 MISSION 5 ROLL_MIN 285 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 30 XPDR_DEVICE -1

D_BOOST 0 NAV2_DEVICE 6 SC_NDIVE 1.0 XPDR_INHIBIT 90

D_CALL 0 NAV_DEVICE 6 SC_PROFILE 3.0 XPDR_INT 0

D_FINISH 0 NAV_MODE 0 SC_RECORDABOVE 2000.0 XPDR_REP 0

D_FLARE 3 NETBOX 3 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 210623,173847,4736.425,-12256.601,2,1.1,4,15.4 TGT_RADIUS 300.000

_CALLS 2 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,174236,4736.423,-12256.616,2,1.1,4,15.4 MHEAD_RNG_PITCHd_Wd 179.3,905,-17.6,-10.000,-21.21,2209,0.157

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,-0.005052,0.059860,0.017763,1.033273,-0.062803,-0.031660,-0.012134,1.011246,18.062286,-1094.535522,-894.362610

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687372034,64.9,2,stop _24V_AH 14.95,81.928

NET CACST,8,1,20230621182755.659091,18,1020,30,0123,0150,126,03,03,00,03,-1,-01,-01,1,3,-3589,0,150,13.1,0.78,-100,2.22,-01,2.55,55,10000,5000,0,-1,00,00*46 _10V_AH 14.98,0.000

NET_PING 1687371458,29,631.530029,6.800000,-74.650841 FG_AHR_24Vo 102.253

MODEM_MSG CACST,8,1,20230621182004.342779,18,32767,45,0132,0000,246,02,02,00,02,-1,-01,-01,1,3,0,0,150,-33.4,0.46,-100,2.54,-01,0.19,60,925,0025,0,-1,00,00*2B FG_AHR_10Vo 53.242

FREEZE 4.08,14.668,-1.473,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3816.27,0.09,0.240,0,498.8,390.1,607.5,692.53 MEM2 945816,24,100892,69

SM_GC 2.76,0.09,13.03,0.10,0.240,0.058,0.134,498.8,390.1,607.5,190.9,2114.2,0,0,0,15.83,15.59,15.62 DATA_FILE_SIZE 16122,561

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 215179,0

IRIDIUM_FIX 4734.67,-12257.15,210623,173918 SDSIZE 3887104,3873856

TCM_TEMP 12.88 SDFILEDIR 52,3

SC_FREEKB 3878144 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 1,1687371146,47.60500,-122.95000,146.045,213955.5 MAGCAL 1.000000,0.001627,-0.032875,-0.002660,1.025391,-0.041190,0.000812,-0.037698,1.109033,112.5,-1151.9,-939.4,23,0.0349,1

RAFOS_FIX 4835.781250,-12257.000000,210623,181804,2,510,48.90 IMPLIED_C_PITCH 1767,12.98,253,1761.3,13.34

HUMID 57.23 IMPLIED_C_VBD 2988,60.569912,253,3222.9

TEMP 11.02 GPS 210623,184805,4736.155,-12256.501,4,3.4,54,15.4

INTERNAL_PRESSURE 10.357

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 734 1194 13122.30 nil 0 0 0.00

Pitch_motor 28 252 107.64 nil 0 0 0.00

Roll_motor 72 177 191.41 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 2154 5 165.24 SciCon 3538 7 384.35

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1472 0 7.06

Compass 1176 5 88.15

RAFOS 1691 40 1013.68

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

8.01 16386 -146.63 -1.46 0.00 499.7 391.4 608.0 194.6 2119.6 0.00 0.00 0 81.66 70.83 0.00 0.00 0.005 0.000 0.000 2118.53 2071.25 2165.81 194.50 2119.56 0 0 0 15.98 30.00 30.00

81.96 18983 -146.63 -1.46 -80.00 2118.9 2070.4 2167.4 194.5 2119.8 3.19 -2.73 14 163.21 55.51 9.35 3.77 0.005 0.253 0.108 3918.72 3879.31 3958.12 1399.81 620.38 0 0 0 16.01 15.52 15.80

389.61 1188 -146.63 -1.38 0.00 3918.7 3879.9 3957.6 1400.0 620.4 29.64 -9.66 74 395.52 0.00 0.00 3.44 0.000 0.000 0.046 3918.97 3879.94 3958.00 1400.19 2115.88 0 0 0 30.00 30.00 15.85

579.66 2725 -146.63 -1.34 -80.00 3918.7 3879.8 3957.6 1400.2 2116.4 48.74 -9.96 112 587.06 0.00 0.21 3.77 0.000 0.179 0.105 3918.62 3880.19 3957.06 1430.88 620.19 0 0 0 30.00 15.60 15.78

625.45 1156 -146.63 -1.29 0.00 3918.6 3879.8 3957.4 1430.9 620.0 53.83 -11.38 121 631.68 0.00 0.00 3.42 0.000 0.000 0.047 3918.34 3879.69 3957.00 1430.50 2116.00 0 0 0 30.00 30.00 15.85

820.40 260 -146.63 -1.29 80.00 3918.5 3879.5 3957.4 1430.8 2115.3 73.86 -10.35 141 826.69 0.00 0.00 3.48 0.000 0.000 0.110 3918.69 3880.94 3956.44 1431.50 3553.88 0 0 0 30.00 30.00 15.77

987.90 1028 -146.63 -1.29 0.00 3918.5 3879.6 3957.4 1431.1 3553.5 95.21 -13.22 172 994.32 0.00 0.00 3.48 0.000 0.000 0.049 3917.88 3879.38 3956.38 1431.25 2057.94 0 0 0 30.00 30.00 15.79

1182.85 260 -146.63 -1.29 80.00 3918.5 3879.4 3957.6 1430.9 2057.8 117.12 -10.74 192 1189.45 0.00 0.00 3.66 0.000 0.000 0.108 3917.94 3879.12 3956.75 1431.12 3553.69 0 0 0 30.00 30.00 15.74

1292.09 1028 -146.63 -1.29 0.00 3918.2 3879.4 3957.0 1431.5 3553.2 130.67 -12.75 214 1299.07 0.00 0.00 3.49 0.000 0.000 0.048 3918.38 3879.56 3957.19 1430.88 2057.44 0 0 0 30.00 30.00 15.77

1473 end dive: TARGET_DEPTH_EXCEEDED

state 1473 begin apogee

1474.01 10243 0.00 -0.37 0.00 3918.3 3878.8 3957.8 1430.7 2115.8 150.20 -10.87 232 1583.88 99.91 1.63 0.10 1.195 0.140 0.178 3320.50 3241.06 3399.94 1668.50 2048.88 0 0 0 10.74 15.76 15.60

1585 end apogee: CONTROL_FINISHED_OK

state 1585 begin climb

1585.76 10759 146.63 1.46 -80.00 3319.1 3240.0 3398.1 1667.8 2049.1 154.76 0.00 243 1712.16 107.11 2.93 3.71 1.090 0.104 0.115 2722.19 2617.44 2826.94 2113.62 621.44 0 0 0 10.80 15.61 15.44

1775.66 9382 155.78 1.39 0.00 2717.7 2617.4 2818.0 2113.4 621.4 143.45 9.58 279 1791.57 8.72 0.00 3.53 0.936 0.000 0.049 2684.50 2583.81 2785.19 2113.19 2114.94 0 0 0 10.75 30.00 15.61

1975.68 8614 177.12 1.39 80.00 2683.0 2585.2 2780.7 2113.7 2114.4 125.59 9.01 301 2002.16 18.16 0.00 3.59 1.055 0.000 0.116 2598.38 2496.75 2700.00 2112.94 3551.88 0 0 0 10.78 30.00 15.66

2059.87 5253 177.12 1.32 0.00 2596.9 2496.7 2697.1 2113.9 3551.4 117.09 10.71 318 2071.83 0.00 0.31 3.52 0.000 0.159 0.049 2596.91 2496.62 2697.19 2068.94 2055.62 0 0 0 30.00 15.62 15.71

2256.53 10535 236.93 1.39 80.00 2594.6 2495.9 2693.2 2068.3 2056.1 101.98 7.23 338 2314.13 45.75 0.17 3.76 1.081 0.092 0.113 2353.59 2244.88 2462.31 2101.81 3552.50 0 0 0 10.76 15.70 15.63

2377.49 1028 236.93 1.39 0.00 2351.8 2244.4 2459.1 2102.5 3553.3 90.63 10.63 362 2384.04 0.00 0.00 3.52 0.000 0.000 0.049 2350.09 2243.06 2457.12 2101.19 2058.25 0 0 0 30.00 30.00 15.72

2572.55 8486 255.88 1.42 80.00 2349.3 2243.9 2454.7 2101.8 2058.6 72.59 9.12 382 2595.87 15.56 0.00 3.72 1.018 0.000 0.115 2276.81 2168.12 2385.50 2102.38 3552.69 0 0 0 10.70 30.00 15.73

2695.77 1028 255.88 1.42 0.00 2274.4 2168.4 2380.4 2102.5 3552.8 59.97 10.48 406 2702.76 0.00 0.00 3.49 0.000 0.000 0.049 2273.28 2167.44 2379.12 2102.44 2058.81 0 0 0 30.00 30.00 15.81

2886.59 8486 293.96 1.46 80.00 2272.8 2167.2 2378.4 2102.2 2058.6 43.57 8.24 433 2924.57 29.16 0.00 3.70 1.032 0.000 0.115 2123.06 2008.50 2237.62 2101.50 3551.25 0 0 0 10.70 30.00 15.76

3007.98 9254 307.23 1.48 0.00 2118.2 2008.3 2228.1 2102.1 3551.2 32.37 9.39 457 3029.14 11.52 0.00 3.48 0.951 0.000 0.049 2067.44 1956.12 2178.75 2102.44 2057.88 0 0 0 10.69 30.00 15.80

3213.20 10663 339.36 1.57 80.00 2063.8 1953.9 2173.6 2101.6 2057.9 15.05 8.51 498 3247.00 24.52 0.20 3.70 0.996 0.093 0.115 1937.38 1824.44 2050.31 2142.50 3553.62 0 0 0 10.70 15.82 15.77

3303.66 9382 358.06 1.62 0.00 1933.2 1821.9 2044.4 2142.6 3554.1 6.80 9.13 515 3326.74 15.10 0.00 3.49 0.962 0.000 0.050 1860.69 1744.31 1977.06 2142.56 2055.81 0 0 0 10.61 30.00 15.84

3510.20 10663 577.31 2.04 80.00 1855.6 1739.2 1971.9 2142.9 2056.4 4.18 -0.15 556 3536.14 22.83 0.65 0.00 0.988 0.074 0.000 1737.97 1621.94 1854.00 2254.25 2056.12 0 0 0 10.64 15.80 30.00

3537 end climb: NO_VERTICAL_VELOCITY

state 3537 begin surface

ID	243	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2087	ALTIM_PULSE	3
MISSION	5	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	2	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	2	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	30	XPDR_INHIBIT	90
STOP_T	0	SM_CC	711.37	ROLL_MAXERRORS	0	XPDR_INT	0
D_SURF	2	N_FILEKB	8	ROLL_ADJ_GAIN	0	XPDR_REP	0
D_FLARE	3	FILEMGR	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_SLOPE	1.9639999e-06
D_TGT	150	CALL_NDIVES	1	VBD_MIN	500	INT_PRESSURE_YINT	-1.7
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3322.8914	DEEPGLIDERMB	0
D_BOOST	0	N_NOCOMM	1	VBD_DBAND	2	MOTHERBOARD	6
T_BOOST	0	NOCOMM_ACTION	129	VBD_CNV	-0.24529999	DEVICE1	-1
D_FINISH	0	N_NOSURFACE	0	VBD_LP_IGNORE	0	DEVICE2	-1
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_TIMEOUT	720	DEVICE3	-1
D_SAFE	0	NETBOX	3	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	400	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	2	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0.5	LOGGERS	1
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	100	LOGGERDEVICE1	7
T_DIVE	50	T_GPS	5	W_ADJ_DBAND	0	LOGGERDEVICE2	-1
T_MISSION	75	N_GPS	100440	DBDW	0	LOGGERDEVICE3	-1
T_ABORT	1440	T_RSLEEP	2	LOITER_W_DBAND	2	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	400	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	400	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	700	PHONE_DEVICE	33
T_LOITER	0	RAFOS_HIT_WINDOW	3600	LOITER_N_DIVE	0	GPS_DEVICE	48
T_EPIRB	0	RAFOS_MMODEM	0	CF8_MAXERRORS	0	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	205	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3600	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.07	C_PITCH	1755.2439	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	13.698362	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	53.204765	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	102.06323	SEABIRD_T_H	0.00063999998
SPEED_FACTOR	1	PITCH_ADJ_GAIN	0.015	PHONE_SUPPLY	2	SEABIRD_T_I	2.4999999e-05
RHO	1.023	PITCH_ADJ_DBAND	2	PRESSURE_YINT	-165.87093	SEABIRD_T_J	4.3e-06
MASS	72547	C_PITCH_AUTO_DELTA	0.5	PRESSURE_SLOPE	0.00022387519	SEABIRD_C_G	-10
NAV_MODE	0	C_PITCH_AUTO_MAX	200	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0.5	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	2	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00019999999
HD_A	0.003	PITCH_W_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0	OPTIONS	2
HD_B	0.0099999998	PITCH_W_DBAND	0	ALTIM_TOP_TURN_MARGIN	0	SC_RECORDABOVE	2000.0
HD_C	1.6e-05	ROLL_MIN	285	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3890	ALTIM_PING_DEPTH	0	SC_XMITPROFILE	3.0
ESCAPE_HEADING	0	ROLL_DEG	80	ALTIM_PING_DELTA	0	SC_NDIVE	1.0
ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2087	ALTIM_FREQUENCY	13

GPS1	210623,173847,4736.425,-12256.601,2,1.1,4,15.4	TGT_RADIUS	300.000
_CALLS	2	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,174236,4736.423,-12256.616,2,1.1,4,15.4	MHEAD_RNG_PITCHd_Wd	179.3,905,-17.6,-10.000,-21.21,2209,0.157
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,-0.005052,0.059860,0.017763,1.033273,-0.062803,-0.031660,-0.012134,1.011246,18.062286,-1094.535522,-894.362610
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687372034,64.9,2,stop	_24V_AH	14.95,81.928
NET	CACST,8,1,20230621182755.659091,18,1020,30,0123,0150,126,03,03,00,03,-1,-01,-01,1,3,-3589,0,150,13.1,0.78,-100,2.22,-01,2.55,55,10000,5000,0,-1,00,00*46	_10V_AH	14.98,0.000
NET_PING	1687371458,29,631.530029,6.800000,-74.650841	FG_AHR_24Vo	102.253
MODEM_MSG	CACST,8,1,20230621182004.342779,18,32767,45,0132,0000,246,02,02,00,02,-1,-01,-01,1,3,0,0,150,-33.4,0.46,-100,2.54,-01,0.19,60,925,0025,0,-1,00,00*2B	FG_AHR_10Vo	53.242
FREEZE	4.08,14.668,-1.473,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3816.27,0.09,0.240,0,498.8,390.1,607.5,692.53	MEM2	945816,24,100892,69
SM_GC	2.76,0.09,13.03,0.10,0.240,0.058,0.134,498.8,390.1,607.5,190.9,2114.2,0,0,0,15.83,15.59,15.62	DATA_FILE_SIZE	16122,561
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	215179,0
IRIDIUM_FIX	4734.67,-12257.15,210623,173918	SDSIZE	3887104,3873856
TCM_TEMP	12.88	SDFILEDIR	52,3
SC_FREEKB	3878144	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	1,1687371146,47.60500,-122.95000,146.045,213955.5	MAGCAL	1.000000,0.001627,-0.032875,-0.002660,1.025391,-0.041190,0.000812,-0.037698,1.109033,112.5,-1151.9,-939.4,23,0.0349,1
RAFOS_FIX	4835.781250,-12257.000000,210623,181804,2,510,48.90	IMPLIED_C_PITCH	1767,12.98,253,1761.3,13.34
HUMID	57.23	IMPLIED_C_VBD	2988,60.569912,253,3222.9
TEMP	11.02	GPS	210623,184805,4736.155,-12256.501,4,3.4,54,15.4
INTERNAL_PRESSURE	10.357

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	734	1194	13122.30	nil	0	0	0.00
Pitch_motor	28	252	107.64	nil	0	0	0.00
Roll_motor	72	177	191.41	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	2154	5	165.24	SciCon	3538	7	384.35
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1472	0	7.06
Compass	1176	5	88.15
RAFOS	1691	40	1013.68
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
8.01	16386	-146.63	-1.46	0.00	499.7	391.4	608.0	194.6	2119.6	0.00	0.00	0	81.66	70.83	0.00	0.00	0.005	0.000	0.000	2118.53	2071.25	2165.81	194.50	2119.56	0	0	0	15.98	30.00	30.00
81.96	18983	-146.63	-1.46	-80.00	2118.9	2070.4	2167.4	194.5	2119.8	3.19	-2.73	14	163.21	55.51	9.35	3.77	0.005	0.253	0.108	3918.72	3879.31	3958.12	1399.81	620.38	0	0	0	16.01	15.52	15.80
389.61	1188	-146.63	-1.38	0.00	3918.7	3879.9	3957.6	1400.0	620.4	29.64	-9.66	74	395.52	0.00	0.00	3.44	0.000	0.000	0.046	3918.97	3879.94	3958.00	1400.19	2115.88	0	0	0	30.00	30.00	15.85
579.66	2725	-146.63	-1.34	-80.00	3918.7	3879.8	3957.6	1400.2	2116.4	48.74	-9.96	112	587.06	0.00	0.21	3.77	0.000	0.179	0.105	3918.62	3880.19	3957.06	1430.88	620.19	0	0	0	30.00	15.60	15.78
625.45	1156	-146.63	-1.29	0.00	3918.6	3879.8	3957.4	1430.9	620.0	53.83	-11.38	121	631.68	0.00	0.00	3.42	0.000	0.000	0.047	3918.34	3879.69	3957.00	1430.50	2116.00	0	0	0	30.00	30.00	15.85
820.40	260	-146.63	-1.29	80.00	3918.5	3879.5	3957.4	1430.8	2115.3	73.86	-10.35	141	826.69	0.00	0.00	3.48	0.000	0.000	0.110	3918.69	3880.94	3956.44	1431.50	3553.88	0	0	0	30.00	30.00	15.77
987.90	1028	-146.63	-1.29	0.00	3918.5	3879.6	3957.4	1431.1	3553.5	95.21	-13.22	172	994.32	0.00	0.00	3.48	0.000	0.000	0.049	3917.88	3879.38	3956.38	1431.25	2057.94	0	0	0	30.00	30.00	15.79
1182.85	260	-146.63	-1.29	80.00	3918.5	3879.4	3957.6	1430.9	2057.8	117.12	-10.74	192	1189.45	0.00	0.00	3.66	0.000	0.000	0.108	3917.94	3879.12	3956.75	1431.12	3553.69	0	0	0	30.00	30.00	15.74
1292.09	1028	-146.63	-1.29	0.00	3918.2	3879.4	3957.0	1431.5	3553.2	130.67	-12.75	214	1299.07	0.00	0.00	3.49	0.000	0.000	0.048	3918.38	3879.56	3957.19	1430.88	2057.44	0	0	0	30.00	30.00	15.77
1473	end dive: TARGET_DEPTH_EXCEEDED
state	1473	begin apogee
1474.01	10243	0.00	-0.37	0.00	3918.3	3878.8	3957.8	1430.7	2115.8	150.20	-10.87	232	1583.88	99.91	1.63	0.10	1.195	0.140	0.178	3320.50	3241.06	3399.94	1668.50	2048.88	0	0	0	10.74	15.76	15.60
1585	end apogee: CONTROL_FINISHED_OK
state	1585	begin climb
1585.76	10759	146.63	1.46	-80.00	3319.1	3240.0	3398.1	1667.8	2049.1	154.76	0.00	243	1712.16	107.11	2.93	3.71	1.090	0.104	0.115	2722.19	2617.44	2826.94	2113.62	621.44	0	0	0	10.80	15.61	15.44
1775.66	9382	155.78	1.39	0.00	2717.7	2617.4	2818.0	2113.4	621.4	143.45	9.58	279	1791.57	8.72	0.00	3.53	0.936	0.000	0.049	2684.50	2583.81	2785.19	2113.19	2114.94	0	0	0	10.75	30.00	15.61
1975.68	8614	177.12	1.39	80.00	2683.0	2585.2	2780.7	2113.7	2114.4	125.59	9.01	301	2002.16	18.16	0.00	3.59	1.055	0.000	0.116	2598.38	2496.75	2700.00	2112.94	3551.88	0	0	0	10.78	30.00	15.66
2059.87	5253	177.12	1.32	0.00	2596.9	2496.7	2697.1	2113.9	3551.4	117.09	10.71	318	2071.83	0.00	0.31	3.52	0.000	0.159	0.049	2596.91	2496.62	2697.19	2068.94	2055.62	0	0	0	30.00	15.62	15.71
2256.53	10535	236.93	1.39	80.00	2594.6	2495.9	2693.2	2068.3	2056.1	101.98	7.23	338	2314.13	45.75	0.17	3.76	1.081	0.092	0.113	2353.59	2244.88	2462.31	2101.81	3552.50	0	0	0	10.76	15.70	15.63
2377.49	1028	236.93	1.39	0.00	2351.8	2244.4	2459.1	2102.5	3553.3	90.63	10.63	362	2384.04	0.00	0.00	3.52	0.000	0.000	0.049	2350.09	2243.06	2457.12	2101.19	2058.25	0	0	0	30.00	30.00	15.72
2572.55	8486	255.88	1.42	80.00	2349.3	2243.9	2454.7	2101.8	2058.6	72.59	9.12	382	2595.87	15.56	0.00	3.72	1.018	0.000	0.115	2276.81	2168.12	2385.50	2102.38	3552.69	0	0	0	10.70	30.00	15.73
2695.77	1028	255.88	1.42	0.00	2274.4	2168.4	2380.4	2102.5	3552.8	59.97	10.48	406	2702.76	0.00	0.00	3.49	0.000	0.000	0.049	2273.28	2167.44	2379.12	2102.44	2058.81	0	0	0	30.00	30.00	15.81
2886.59	8486	293.96	1.46	80.00	2272.8	2167.2	2378.4	2102.2	2058.6	43.57	8.24	433	2924.57	29.16	0.00	3.70	1.032	0.000	0.115	2123.06	2008.50	2237.62	2101.50	3551.25	0	0	0	10.70	30.00	15.76
3007.98	9254	307.23	1.48	0.00	2118.2	2008.3	2228.1	2102.1	3551.2	32.37	9.39	457	3029.14	11.52	0.00	3.48	0.951	0.000	0.049	2067.44	1956.12	2178.75	2102.44	2057.88	0	0	0	10.69	30.00	15.80
3213.20	10663	339.36	1.57	80.00	2063.8	1953.9	2173.6	2101.6	2057.9	15.05	8.51	498	3247.00	24.52	0.20	3.70	0.996	0.093	0.115	1937.38	1824.44	2050.31	2142.50	3553.62	0	0	0	10.70	15.82	15.77
3303.66	9382	358.06	1.62	0.00	1933.2	1821.9	2044.4	2142.6	3554.1	6.80	9.13	515	3326.74	15.10	0.00	3.49	0.962	0.000	0.050	1860.69	1744.31	1977.06	2142.56	2055.81	0	0	0	10.61	30.00	15.84
3510.20	10663	577.31	2.04	80.00	1855.6	1739.2	1971.9	2142.9	2056.4	4.18	-0.15	556	3536.14	22.83	0.65	0.00	0.988	0.074	0.000	1737.97	1621.94	1854.00	2254.25	2056.12	0	0	0	10.64	15.80	30.00
3537	end climb: NO_VERTICAL_VELOCITY
state	3537	begin surface