Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 22 * 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 22 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 572.29907 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 2833.0579 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 1740.5789 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 13.291255 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 43.345184 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 30.692764 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 43.345184 PHONE_SUPPLY 2 SM_CC 572.29907

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 30.692764 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 13.291255 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 1740.5789 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 2833.0579 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 22 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 220623,131846,4736.028,-12256.690,1,1.1,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.54 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -56.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,132152,4736.011,-12256.677,1,1.0,3,15.4 MHEAD_RNG_PITCHd_Wd 352.3,995,-17.6,-10.000,-21.21,2209,0.147

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 8000225

Post-dive calculations and measurements:

MODEM_MSG CACST,8,0,20230622132500.423125,18,8913,39,0189,0000,246,03,03,00,03,1,029,121,0,5,1,0,150,1.1,5.30,-100,-2.30,-01,-0.16,69,925,0025,0,1,00,00*08 _24V_AH 15.08,34.729

NAV 1687442345,112.9,start _10V_AH 15.00,0.000

NET CACST,8,0,20230622141032.431291,18,32767,45,0119,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,6.6,4.60,-100,-1.60,-01,0.23,64,10000,5000,0,1,00,00*4B FG_AHR_24Vo 30.850

NET_PING 1687443013,29,644.962524,2.700000,-0.858273 FG_AHR_10Vo 43.400

FREEZE 3.63,13.591,-1.508,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3768.58,182.10,0.907,0,500.6,406.3,594.9,572.14 MEM2 945000,28,101688,66

SM_GC 2.25,0.00,12.31,0.09,0.000,0.044,0.142,497.1,403.4,590.8,202.7,2013.9,0,0,0,30.00,15.62,15.63 DATA_FILE_SIZE 12955,513

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 164076,0

IRIDIUM_FIX 4738.39,-12307.73,220623,122719 SDSIZE 3887104,3863104

TCM_TEMP 14.17 SDFILEDIR 210,23

SC_FREEKB 3872288 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 0,1687438800,47.60500,-122.95000,0.255,373.5 CURRENT 0.039,117.6,1

RAFOS_FIX 4736.233887,-12257.600586,220623,131300,4,255,6.52 MAGCAL 1.000000,0.035486,-0.353342,-0.015616,1.066155,0.114496,0.338715,-0.160864,0.857913,1005.9,-957.7,-666.1,36,0.1172,0

HUMID 49.79 IMPLIED_C_PITCH 1730,13.20,266,1735.0,13.25

TEMP 11.32 IMPLIED_C_VBD 2817,28.086149,266,2825.0

INTERNAL_PRESSURE 8.23005 GPS 220623,142810,4736.338,-12256.424,37,1.4,39,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 648 1094 10700.36 nil 0 0 0.00

Pitch_motor 26 232 92.71 nil 0 0 0.00

Roll_motor 28 173 75.72 nil 0 0 0.00

Iridium 116 216 380.73 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 2.94 nil 0 0 0.00

Core 2275 5 174.72 SciCon 3577 6 355.36

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1572 0 7.55

Compass 1085 5 81.44

RAFOS 706 40 424.03

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

7.54 16386 -146.63 -1.50 0.00 498.9 413.7 584.1 195.0 2016.4 0.00 0.00 0 77.56 64.85 0.00 0.00 0.005 0.000 0.000 2023.00 1985.62 2060.38 195.25 2016.25 0 0 0 15.85 30.00 30.00

78.00 18467 -146.63 -1.50 0.00 2023.0 1986.2 2059.9 195.1 2016.1 3.39 -3.13 13 139.51 42.03 8.65 0.00 0.005 0.233 0.000 3428.44 3397.12 3459.75 1377.31 2016.50 0 0 0 15.88 15.71 30.00

324.77 160 -146.63 -1.48 -80.00 3430.2 3396.6 3463.9 1377.4 2016.1 24.63 -8.80 61 328.57 0.00 0.00 0.00 0.000 0.000 0.000 3430.16 3396.81 3463.50 1376.81 2016.56 0 0 0 30.00 30.00 30.00

514.47 160 -146.63 -1.45 -80.00 3430.8 3396.8 3464.8 1376.8 2016.5 42.22 -9.68 98 518.04 0.00 0.00 0.00 0.000 0.000 0.000 3431.09 3396.94 3465.25 1377.44 2016.81 0 0 0 30.00 30.00 30.00

698.96 160 -146.63 -1.44 -80.00 3431.2 3396.8 3465.6 1377.2 2016.8 59.52 -9.15 125 700.72 0.00 0.00 0.00 0.000 0.000 0.000 3430.81 3396.12 3465.50 1377.62 2016.50 0 0 0 30.00 30.00 30.00

888.98 160 -146.63 -1.42 -80.00 3432.1 3397.2 3467.0 1377.1 2016.3 76.55 -9.34 144 890.74 0.00 0.00 0.00 0.000 0.000 0.000 3430.59 3394.75 3466.44 1377.31 2016.44 0 0 0 30.00 30.00 30.00

1076.99 420 -146.63 -1.41 80.00 3432.7 3397.4 3467.9 1377.4 2016.4 93.86 -9.19 163 1088.72 0.00 0.00 3.49 0.000 0.000 0.111 3431.94 3396.38 3467.50 1377.44 3447.50 0 0 0 30.00 30.00 15.90

1151.59 3205 -146.63 -1.38 0.00 3432.3 3396.8 3467.9 1377.5 3448.1 101.73 -10.67 178 1159.30 0.00 0.18 3.39 0.000 0.172 0.054 3434.06 3398.38 3469.75 1407.19 1949.81 0 0 0 30.00 15.90 15.99

1341.32 32 -146.63 -1.38 0.00 3432.8 3396.8 3468.9 1407.4 1949.9 118.09 -8.28 197 1343.08 0.00 0.00 0.00 0.000 0.000 0.000 3431.47 3395.31 3467.62 1407.88 1949.75 0 0 0 30.00 30.00 30.00

1531.33 32 -146.63 -1.38 0.00 3432.7 3396.1 3469.3 1407.1 1949.8 133.90 -8.07 216 1533.08 0.00 0.00 0.00 0.000 0.000 0.000 3431.38 3395.06 3467.69 1407.25 1950.06 0 0 0 30.00 30.00 30.00

1716.34 32 -146.63 -1.38 0.00 3433.0 3396.9 3469.2 1407.2 1949.9 149.51 -8.65 235 1718.09 0.00 0.00 0.00 0.000 0.000 0.000 3431.50 3395.69 3467.31 1407.44 1949.44 0 0 0 30.00 30.00 30.00

1726 end dive: TARGET_DEPTH_EXCEEDED

state 1726 begin apogee

1727.92 10243 0.00 -0.38 0.00 3433.0 3396.6 3469.4 1407.3 1866.5 150.34 -8.55 236 1851.47 110.71 1.55 0.10 1.095 0.117 0.174 2832.84 2728.62 2937.06 1652.25 1937.38 0 0 0 11.52 15.98 15.67

1852 end apogee: CONTROL_FINISHED_OK

state 1853 begin climb

1853.19 10759 146.63 1.50 -80.00 2832.4 2728.3 2936.5 1652.8 1937.6 153.12 0.00 247 1988.23 113.04 2.88 3.81 1.060 0.084 0.131 2233.41 2123.75 2343.06 2110.69 433.88 0 0 0 11.70 15.68 15.50

2046.91 5253 146.63 1.42 0.00 2228.7 2121.9 2335.4 2110.2 433.8 132.95 16.49 282 2055.51 0.00 0.25 3.45 0.000 0.175 0.051 2230.69 2124.25 2337.12 2080.88 1933.75 0 0 0 30.00 15.63 15.72

2237.42 16514 146.63 1.40 0.00 2226.8 2119.1 2334.6 2080.6 1935.7 108.75 11.74 301 2239.21 0.00 0.00 0.00 0.000 0.000 0.000 2225.25 2118.06 2332.44 2081.00 1935.31 0 0 0 30.00 30.00 30.00

2427.43 17030 146.63 1.39 -80.00 2225.8 2118.6 2333.1 2080.9 1934.8 87.46 10.72 320 2435.89 0.00 0.00 3.69 0.000 0.000 0.129 2228.47 2121.44 2335.50 2079.75 432.62 0 0 0 30.00 30.00 15.83

2478.57 17542 146.63 1.34 0.00 2225.1 2118.9 2331.3 2081.2 432.5 80.83 13.27 330 2486.50 0.00 0.00 3.42 0.000 0.000 0.051 2227.69 2120.94 2334.44 2081.19 1935.62 0 0 0 30.00 30.00 15.90

2674.50 32 147.77 1.34 0.00 2224.8 2118.6 2331.1 2080.7 1937.1 60.91 9.95 350 2676.28 0.00 0.00 0.00 0.000 0.000 0.000 2223.88 2117.56 2330.19 2081.44 1936.38 0 0 0 30.00 30.00 30.00

2865.17 8226 161.94 1.36 0.00 2224.6 2117.9 2331.3 2080.9 1936.8 42.99 9.34 375 2884.33 12.80 0.00 0.00 0.904 0.000 0.000 2172.16 2063.31 2281.00 2080.88 1936.69 0 0 0 11.55 30.00 30.00

3069.14 8226 187.51 1.39 0.00 2168.7 2061.9 2275.4 2080.8 1936.6 24.00 8.82 416 3095.08 21.23 0.00 0.00 0.934 0.000 0.000 2067.09 1958.25 2175.94 2081.31 1937.12 0 0 0 11.48 30.00 30.00

3279.30 8870 241.85 1.47 -80.00 2062.9 1955.9 2169.9 2080.4 1937.6 6.37 7.48 458 3334.16 41.47 0.00 3.74 0.933 0.000 0.131 1845.84 1734.94 1956.75 2081.50 433.81 0 0 0 11.67 30.00 15.74

3496.22 11431 462.61 1.77 0.00 1838.7 1726.8 1950.6 2081.2 433.8 4.34 -0.22 500 3568.76 59.83 0.57 3.44 0.931 0.043 0.051 1515.56 1411.38 1619.75 2188.56 1948.06 0 0 0 11.48 15.86 15.88

3569 end climb: NO_VERTICAL_VELOCITY

state 3569 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	22	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	572.29907	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	2833.0579	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	1740.5789	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	13.291255	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	43.345184	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	30.692764	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	220623,131846,4736.028,-12256.690,1,1.1,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.54	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-56.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,132152,4736.011,-12256.677,1,1.0,3,15.4	MHEAD_RNG_PITCHd_Wd	352.3,995,-17.6,-10.000,-21.21,2209,0.147
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	8000225

MODEM_MSG	CACST,8,0,20230622132500.423125,18,8913,39,0189,0000,246,03,03,00,03,1,029,121,0,5,1,0,150,1.1,5.30,-100,-2.30,-01,-0.16,69,925,0025,0,1,00,00*08	_24V_AH	15.08,34.729
NAV	1687442345,112.9,start	_10V_AH	15.00,0.000
NET	CACST,8,0,20230622141032.431291,18,32767,45,0119,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,6.6,4.60,-100,-1.60,-01,0.23,64,10000,5000,0,1,00,00*4B	FG_AHR_24Vo	30.850
NET_PING	1687443013,29,644.962524,2.700000,-0.858273	FG_AHR_10Vo	43.400
FREEZE	3.63,13.591,-1.508,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3768.58,182.10,0.907,0,500.6,406.3,594.9,572.14	MEM2	945000,28,101688,66
SM_GC	2.25,0.00,12.31,0.09,0.000,0.044,0.142,497.1,403.4,590.8,202.7,2013.9,0,0,0,30.00,15.62,15.63	DATA_FILE_SIZE	12955,513
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	164076,0
IRIDIUM_FIX	4738.39,-12307.73,220623,122719	SDSIZE	3887104,3863104
TCM_TEMP	14.17	SDFILEDIR	210,23
SC_FREEKB	3872288	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	0,1687438800,47.60500,-122.95000,0.255,373.5	CURRENT	0.039,117.6,1
RAFOS_FIX	4736.233887,-12257.600586,220623,131300,4,255,6.52	MAGCAL	1.000000,0.035486,-0.353342,-0.015616,1.066155,0.114496,0.338715,-0.160864,0.857913,1005.9,-957.7,-666.1,36,0.1172,0
HUMID	49.79	IMPLIED_C_PITCH	1730,13.20,266,1735.0,13.25
TEMP	11.32	IMPLIED_C_VBD	2817,28.086149,266,2825.0
INTERNAL_PRESSURE	8.23005	GPS	220623,142810,4736.338,-12256.424,37,1.4,39,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	648	1094	10700.36	nil	0	0	0.00
Pitch_motor	26	232	92.71	nil	0	0	0.00
Roll_motor	28	173	75.72	nil	0	0	0.00
Iridium	116	216	380.73	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	2.94	nil	0	0	0.00
Core	2275	5	174.72	SciCon	3577	6	355.36
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1572	0	7.55
Compass	1085	5	81.44
RAFOS	706	40	424.03
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
7.54	16386	-146.63	-1.50	0.00	498.9	413.7	584.1	195.0	2016.4	0.00	0.00	0	77.56	64.85	0.00	0.00	0.005	0.000	0.000	2023.00	1985.62	2060.38	195.25	2016.25	0	0	0	15.85	30.00	30.00
78.00	18467	-146.63	-1.50	0.00	2023.0	1986.2	2059.9	195.1	2016.1	3.39	-3.13	13	139.51	42.03	8.65	0.00	0.005	0.233	0.000	3428.44	3397.12	3459.75	1377.31	2016.50	0	0	0	15.88	15.71	30.00
324.77	160	-146.63	-1.48	-80.00	3430.2	3396.6	3463.9	1377.4	2016.1	24.63	-8.80	61	328.57	0.00	0.00	0.00	0.000	0.000	0.000	3430.16	3396.81	3463.50	1376.81	2016.56	0	0	0	30.00	30.00	30.00
514.47	160	-146.63	-1.45	-80.00	3430.8	3396.8	3464.8	1376.8	2016.5	42.22	-9.68	98	518.04	0.00	0.00	0.00	0.000	0.000	0.000	3431.09	3396.94	3465.25	1377.44	2016.81	0	0	0	30.00	30.00	30.00
698.96	160	-146.63	-1.44	-80.00	3431.2	3396.8	3465.6	1377.2	2016.8	59.52	-9.15	125	700.72	0.00	0.00	0.00	0.000	0.000	0.000	3430.81	3396.12	3465.50	1377.62	2016.50	0	0	0	30.00	30.00	30.00
888.98	160	-146.63	-1.42	-80.00	3432.1	3397.2	3467.0	1377.1	2016.3	76.55	-9.34	144	890.74	0.00	0.00	0.00	0.000	0.000	0.000	3430.59	3394.75	3466.44	1377.31	2016.44	0	0	0	30.00	30.00	30.00
1076.99	420	-146.63	-1.41	80.00	3432.7	3397.4	3467.9	1377.4	2016.4	93.86	-9.19	163	1088.72	0.00	0.00	3.49	0.000	0.000	0.111	3431.94	3396.38	3467.50	1377.44	3447.50	0	0	0	30.00	30.00	15.90
1151.59	3205	-146.63	-1.38	0.00	3432.3	3396.8	3467.9	1377.5	3448.1	101.73	-10.67	178	1159.30	0.00	0.18	3.39	0.000	0.172	0.054	3434.06	3398.38	3469.75	1407.19	1949.81	0	0	0	30.00	15.90	15.99
1341.32	32	-146.63	-1.38	0.00	3432.8	3396.8	3468.9	1407.4	1949.9	118.09	-8.28	197	1343.08	0.00	0.00	0.00	0.000	0.000	0.000	3431.47	3395.31	3467.62	1407.88	1949.75	0	0	0	30.00	30.00	30.00
1531.33	32	-146.63	-1.38	0.00	3432.7	3396.1	3469.3	1407.1	1949.8	133.90	-8.07	216	1533.08	0.00	0.00	0.00	0.000	0.000	0.000	3431.38	3395.06	3467.69	1407.25	1950.06	0	0	0	30.00	30.00	30.00
1716.34	32	-146.63	-1.38	0.00	3433.0	3396.9	3469.2	1407.2	1949.9	149.51	-8.65	235	1718.09	0.00	0.00	0.00	0.000	0.000	0.000	3431.50	3395.69	3467.31	1407.44	1949.44	0	0	0	30.00	30.00	30.00
1726	end dive: TARGET_DEPTH_EXCEEDED
state	1726	begin apogee
1727.92	10243	0.00	-0.38	0.00	3433.0	3396.6	3469.4	1407.3	1866.5	150.34	-8.55	236	1851.47	110.71	1.55	0.10	1.095	0.117	0.174	2832.84	2728.62	2937.06	1652.25	1937.38	0	0	0	11.52	15.98	15.67
1852	end apogee: CONTROL_FINISHED_OK
state	1853	begin climb
1853.19	10759	146.63	1.50	-80.00	2832.4	2728.3	2936.5	1652.8	1937.6	153.12	0.00	247	1988.23	113.04	2.88	3.81	1.060	0.084	0.131	2233.41	2123.75	2343.06	2110.69	433.88	0	0	0	11.70	15.68	15.50
2046.91	5253	146.63	1.42	0.00	2228.7	2121.9	2335.4	2110.2	433.8	132.95	16.49	282	2055.51	0.00	0.25	3.45	0.000	0.175	0.051	2230.69	2124.25	2337.12	2080.88	1933.75	0	0	0	30.00	15.63	15.72
2237.42	16514	146.63	1.40	0.00	2226.8	2119.1	2334.6	2080.6	1935.7	108.75	11.74	301	2239.21	0.00	0.00	0.00	0.000	0.000	0.000	2225.25	2118.06	2332.44	2081.00	1935.31	0	0	0	30.00	30.00	30.00
2427.43	17030	146.63	1.39	-80.00	2225.8	2118.6	2333.1	2080.9	1934.8	87.46	10.72	320	2435.89	0.00	0.00	3.69	0.000	0.000	0.129	2228.47	2121.44	2335.50	2079.75	432.62	0	0	0	30.00	30.00	15.83
2478.57	17542	146.63	1.34	0.00	2225.1	2118.9	2331.3	2081.2	432.5	80.83	13.27	330	2486.50	0.00	0.00	3.42	0.000	0.000	0.051	2227.69	2120.94	2334.44	2081.19	1935.62	0	0	0	30.00	30.00	15.90
2674.50	32	147.77	1.34	0.00	2224.8	2118.6	2331.1	2080.7	1937.1	60.91	9.95	350	2676.28	0.00	0.00	0.00	0.000	0.000	0.000	2223.88	2117.56	2330.19	2081.44	1936.38	0	0	0	30.00	30.00	30.00
2865.17	8226	161.94	1.36	0.00	2224.6	2117.9	2331.3	2080.9	1936.8	42.99	9.34	375	2884.33	12.80	0.00	0.00	0.904	0.000	0.000	2172.16	2063.31	2281.00	2080.88	1936.69	0	0	0	11.55	30.00	30.00
3069.14	8226	187.51	1.39	0.00	2168.7	2061.9	2275.4	2080.8	1936.6	24.00	8.82	416	3095.08	21.23	0.00	0.00	0.934	0.000	0.000	2067.09	1958.25	2175.94	2081.31	1937.12	0	0	0	11.48	30.00	30.00
3279.30	8870	241.85	1.47	-80.00	2062.9	1955.9	2169.9	2080.4	1937.6	6.37	7.48	458	3334.16	41.47	0.00	3.74	0.933	0.000	0.131	1845.84	1734.94	1956.75	2081.50	433.81	0	0	0	11.67	30.00	15.74
3496.22	11431	462.61	1.77	0.00	1838.7	1726.8	1950.6	2081.2	433.8	4.34	-0.22	500	3568.76	59.83	0.57	3.44	0.931	0.043	0.051	1515.56	1411.38	1619.75	2188.56	1948.06	0	0	0	11.48	15.86	15.88
3569	end climb: NO_VERTICAL_VELOCITY
state	3569	begin surface