Glider dive log

HoodCanal 21Jun23 * SG242 * Dive index * Mission links * Dive 24 * 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 24 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 2822.3948 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 1738.1741 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 13.281136 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 43.45451 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 31.017672 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 43.45451 PHONE_SUPPLY 2 SM_CC 572.29907

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 31.017672 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 13.281136 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 1738.1741 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 2822.3948 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 24 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 220623,152555,4736.496,-12256.551,2,1.3,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.44 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220623,152911,4736.479,-12256.564,2,1.3,4,15.4 MHEAD_RNG_PITCHd_Wd 183.4,1023,-17.6,-10.000,-21.21,2209,0.158

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000225

Post-dive calculations and measurements:

MODEM_MSG CACST,8,1,20230622162000.237465,18,32767,45,0153,0000,07,00,00,00,01,-1,-01,-01,1,3,0,0,150,-11.4,0.73,-100,2.27,-01,0.06,22,925,0025,0,-1,00,00*1E _24V_AH 15.07,35.125

NAV 1687451234,4.5,3,stop _10V_AH 15.00,0.000

NET CACST,8,0,20230622162032.278081,18,32767,45,0102,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,15.7,3.53,-100,-0.53,-01,-0.20,72,10000,5000,0,1,00,00*54 FG_AHR_24Vo 31.175

NET_PING 1687450813,29,424.007996,11.300000,-0.563411 FG_AHR_10Vo 43.506

FREEZE 4.19,14.650,-1.475,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3884.64,0.13,0.165,0,499.3,405.1,593.6,569.76 MEM2 944984,28,101704,66

SM_GC 2.54,0.13,12.40,0.11,0.165,0.047,0.129,499.3,405.1,593.6,196.8,2016.6,0,0,0,15.83,15.64,15.66 DATA_FILE_SIZE 12957,523

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 181305,0

IRIDIUM_FIX 4738.80,-12300.63,220623,142926 SDSIZE 3887104,3862464

TCM_TEMP 14.23 SDFILEDIR 226,25

SC_FREEKB 3871648 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK 0 SOUNDSPEED 1465.0

MODEM 0,1687446000,47.60500,-122.95000,0.636,932.5 CURRENT 0.038, 74.7,1

RAFOS_FIX 4737.024902,-12257.000000,220623,161600,3,255,0.38 MAGCAL 1.000000,0.086610,-0.058439,-0.024436,1.049633,0.099526,0.104232,-0.205156,0.933397,777.8,-942.7,-632.7,35,0.0635,0

HUMID 49.59 IMPLIED_C_PITCH 1733,13.20,273,1735.4,13.24

TEMP 11.18 IMPLIED_C_VBD 2802,28.956875,273,2812.0

INTERNAL_PRESSURE 8.22316 GPS 220623,163525,4736.241,-12256.725,1,0.8,33,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 655 1093 10801.81 nil 0 0 0.00

Pitch_motor 26 223 88.72 nil 0 0 0.00

Roll_motor 49 170 127.86 nil 0 0 0.00

Iridium 125 212 403.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.10 nil 0 0 0.00

Core 2370 5 182.09 SciCon 3674 6 363.62

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1525 0 7.32

Compass 1106 5 82.97

RAFOS 2127 40 1276.40

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

7.51 16386 -146.63 -1.51 0.00 496.5 409.8 583.3 202.6 1946.9 0.00 0.00 0 91.36 77.79 0.00 0.00 0.005 0.000 0.000 2289.19 2249.56 2328.81 202.94 1947.19 0 0 0 15.00 30.00 30.00

91.79 18983 -146.63 -1.51 -80.00 2289.2 2250.3 2328.1 202.6 1947.2 3.15 -2.06 14 155.47 39.51 8.50 3.52 0.005 0.223 0.123 3417.50 3385.38 3449.62 1375.50 512.75 0 0 0 15.92 15.71 15.81

159.04 3237 -146.63 -1.36 0.00 3417.4 3384.6 3450.2 1375.4 512.8 6.38 -5.58 26 166.71 0.00 0.22 3.44 0.000 0.171 0.049 3417.03 3384.38 3449.69 1411.44 2020.19 0 0 0 30.00 15.79 15.87

350.33 420 -146.63 -1.35 80.00 3419.2 3385.4 3452.9 1411.1 2020.2 22.14 -7.81 64 358.12 0.00 0.00 3.44 0.000 0.000 0.109 3418.72 3384.00 3453.44 1411.44 3446.94 0 0 0 30.00 30.00 15.90

586.82 1188 -146.63 -1.33 0.00 3420.2 3385.9 3454.4 1411.1 3446.2 44.05 -9.66 111 594.50 0.00 0.00 3.39 0.000 0.000 0.053 3422.69 3386.75 3458.62 1410.75 1949.31 0 0 0 30.00 30.00 15.99

781.02 292 -146.63 -1.33 80.00 3420.2 3385.2 3455.2 1411.3 1949.8 60.23 -8.25 137 789.29 0.00 0.00 3.66 0.000 0.000 0.105 3419.44 3385.00 3453.88 1411.12 3445.12 0 0 0 30.00 30.00 15.81

910.66 1188 -146.63 -1.32 0.00 3420.6 3385.8 3455.4 1410.9 3444.6 71.87 -9.15 161 918.11 0.00 0.00 3.42 0.000 0.000 0.053 3420.97 3385.56 3456.38 1411.06 1947.81 0 0 0 30.00 30.00 15.89

1106.30 32 -146.63 -1.32 0.00 3420.5 3385.4 3455.6 1411.4 1947.5 88.29 -8.15 181 1108.06 0.00 0.00 0.00 0.000 0.000 0.000 3419.75 3383.94 3455.56 1410.88 1948.06 0 0 0 30.00 30.00 30.00

1289.27 292 -146.63 -1.32 80.00 3421.0 3385.6 3456.4 1410.9 1948.1 102.70 -8.06 200 1297.72 0.00 0.00 3.64 0.000 0.000 0.106 3421.44 3385.12 3457.75 1410.56 3448.56 0 0 0 30.00 30.00 15.95

1346.35 1060 -146.63 -1.32 0.00 3420.6 3385.4 3455.9 1411.2 3448.6 108.10 -9.62 211 1353.57 0.00 0.00 3.39 0.000 0.000 0.053 3420.91 3386.56 3455.25 1411.38 1948.75 0 0 0 30.00 30.00 16.02

1541.36 32 -146.63 -1.32 0.00 3420.3 3384.9 3455.8 1411.4 1948.4 124.52 -8.14 231 1543.14 0.00 0.00 0.00 0.000 0.000 0.000 3419.56 3384.56 3454.56 1411.19 1948.62 0 0 0 30.00 30.00 30.00

1731.37 292 -146.63 -1.32 80.00 3420.8 3386.1 3455.6 1411.0 1948.9 140.17 -8.02 250 1739.83 0.00 0.00 3.62 0.000 0.000 0.108 3422.50 3386.94 3458.06 1411.19 3448.12 0 0 0 30.00 30.00 16.02

1798.36 1060 -146.63 -1.32 0.00 3420.3 3384.3 3456.4 1411.0 3448.1 146.45 -9.59 261 1805.59 0.00 0.00 3.39 0.000 0.000 0.054 3419.72 3384.12 3455.31 1411.31 1949.56 0 0 0 30.00 30.00 16.04

1843 end dive: TARGET_DEPTH_EXCEEDED

state 1843 begin apogee

1844.98 10243 0.00 -0.38 0.00 3420.8 3385.4 3456.1 1411.0 1866.4 150.28 -8.43 266 1968.45 111.04 1.53 0.10 1.093 0.117 0.171 2821.06 2716.88 2925.25 1651.44 1938.06 0 0 0 11.37 15.93 15.65

1970 end apogee: CONTROL_FINISHED_OK

state 1970 begin climb

1970.60 10243 146.63 1.51 0.00 2819.1 2716.1 2922.0 1651.6 1938.4 153.12 0.00 277 2098.72 113.06 2.89 0.00 1.059 0.084 0.000 2223.75 2113.62 2333.88 2107.62 1938.88 0 0 0 11.46 15.65 30.00

2282.31 16514 146.63 1.47 0.00 2215.7 2108.6 2322.8 2107.3 1938.2 119.02 13.30 308 2284.10 0.00 0.00 0.00 0.000 0.000 0.000 2214.41 2107.88 2320.94 2107.88 1938.25 0 0 0 30.00 30.00 30.00

2472.41 16514 146.63 1.44 0.00 2214.4 2108.4 2320.4 2107.6 1938.4 94.40 12.50 327 2474.20 0.00 0.00 0.00 0.000 0.000 0.000 2212.34 2105.94 2318.75 2108.00 1938.50 0 0 0 30.00 30.00 30.00

2662.35 20611 146.63 1.42 0.00 2213.7 2107.1 2320.4 2107.8 1938.5 71.99 11.25 346 2664.47 0.00 0.26 0.00 0.000 0.163 0.000 2212.88 2107.25 2318.50 2075.81 1938.56 0 0 0 30.00 15.85 30.00

2852.30 548 150.38 1.42 -80.00 2212.9 2106.6 2319.1 2076.1 1938.7 53.84 9.83 365 2860.88 0.00 0.00 3.72 0.000 0.000 0.131 2211.12 2105.50 2316.75 2075.88 433.81 0 0 0 30.00 30.00 15.88

2899.55 1156 150.38 1.38 0.00 2212.1 2106.2 2318.0 2075.8 433.8 48.40 11.94 374 2907.56 0.00 0.00 3.43 0.000 0.000 0.051 2210.88 2105.56 2316.19 2076.00 1937.50 0 0 0 30.00 30.00 15.95

3090.04 8226 170.26 1.40 0.00 2212.1 2106.1 2318.1 2075.5 1939.4 30.44 9.08 411 3111.81 18.59 0.00 0.00 0.936 0.000 0.000 2124.94 2015.94 2233.94 2075.69 1939.06 0 0 0 11.58 30.00 30.00

3295.48 8870 210.90 1.46 -80.00 2122.1 2015.4 2228.8 2076.1 1939.2 13.28 8.12 452 3340.34 31.94 0.00 3.76 0.940 0.000 0.130 1960.06 1850.25 2069.88 2076.44 434.88 0 0 0 11.40 30.00 15.78

3343.93 11303 251.20 1.51 0.00 1958.6 1849.0 2068.2 2076.4 435.1 9.43 8.13 461 3388.27 31.41 0.22 3.42 0.908 0.072 0.050 1797.25 1687.38 1907.12 2123.69 1941.50 0 0 0 11.74 15.84 15.83

3571.93 10663 477.99 1.84 80.00 1788.8 1677.9 1899.6 2124.2 1941.4 4.98 -0.50 506 3666.96 87.14 0.37 0.00 0.930 0.053 0.000 1308.19 1203.31 1413.06 2202.75 1941.81 0 0 0 11.53 15.89 30.00

3667 end climb: NO_VERTICAL_VELOCITY

state 3667 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	24	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	2822.3948	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	1738.1741	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	13.281136	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	43.45451	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	31.017672	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	220623,152555,4736.496,-12256.551,2,1.3,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.44	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220623,152911,4736.479,-12256.564,2,1.3,4,15.4	MHEAD_RNG_PITCHd_Wd	183.4,1023,-17.6,-10.000,-21.21,2209,0.158
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000225

MODEM_MSG	CACST,8,1,20230622162000.237465,18,32767,45,0153,0000,07,00,00,00,01,-1,-01,-01,1,3,0,0,150,-11.4,0.73,-100,2.27,-01,0.06,22,925,0025,0,-1,00,00*1E	_24V_AH	15.07,35.125
NAV	1687451234,4.5,3,stop	_10V_AH	15.00,0.000
NET	CACST,8,0,20230622162032.278081,18,32767,45,0102,0113,07,00,00,00,00,1,029,121,0,5,2,0,150,15.7,3.53,-100,-0.53,-01,-0.20,72,10000,5000,0,1,00,00*54	FG_AHR_24Vo	31.175
NET_PING	1687450813,29,424.007996,11.300000,-0.563411	FG_AHR_10Vo	43.506
FREEZE	4.19,14.650,-1.475,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3884.64,0.13,0.165,0,499.3,405.1,593.6,569.76	MEM2	944984,28,101704,66
SM_GC	2.54,0.13,12.40,0.11,0.165,0.047,0.129,499.3,405.1,593.6,196.8,2016.6,0,0,0,15.83,15.64,15.66	DATA_FILE_SIZE	12957,523
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	181305,0
IRIDIUM_FIX	4738.80,-12300.63,220623,142926	SDSIZE	3887104,3862464
TCM_TEMP	14.23	SDFILEDIR	226,25
SC_FREEKB	3871648	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	0	SOUNDSPEED	1465.0
MODEM	0,1687446000,47.60500,-122.95000,0.636,932.5	CURRENT	0.038, 74.7,1
RAFOS_FIX	4737.024902,-12257.000000,220623,161600,3,255,0.38	MAGCAL	1.000000,0.086610,-0.058439,-0.024436,1.049633,0.099526,0.104232,-0.205156,0.933397,777.8,-942.7,-632.7,35,0.0635,0
HUMID	49.59	IMPLIED_C_PITCH	1733,13.20,273,1735.4,13.24
TEMP	11.18	IMPLIED_C_VBD	2802,28.956875,273,2812.0
INTERNAL_PRESSURE	8.22316	GPS	220623,163525,4736.241,-12256.725,1,0.8,33,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	655	1093	10801.81	nil	0	0	0.00
Pitch_motor	26	223	88.72	nil	0	0	0.00
Roll_motor	49	170	127.86	nil	0	0	0.00
Iridium	125	212	403.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.10	nil	0	0	0.00
Core	2370	5	182.09	SciCon	3674	6	363.62
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1525	0	7.32
Compass	1106	5	82.97
RAFOS	2127	40	1276.40
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
7.51	16386	-146.63	-1.51	0.00	496.5	409.8	583.3	202.6	1946.9	0.00	0.00	0	91.36	77.79	0.00	0.00	0.005	0.000	0.000	2289.19	2249.56	2328.81	202.94	1947.19	0	0	0	15.00	30.00	30.00
91.79	18983	-146.63	-1.51	-80.00	2289.2	2250.3	2328.1	202.6	1947.2	3.15	-2.06	14	155.47	39.51	8.50	3.52	0.005	0.223	0.123	3417.50	3385.38	3449.62	1375.50	512.75	0	0	0	15.92	15.71	15.81
159.04	3237	-146.63	-1.36	0.00	3417.4	3384.6	3450.2	1375.4	512.8	6.38	-5.58	26	166.71	0.00	0.22	3.44	0.000	0.171	0.049	3417.03	3384.38	3449.69	1411.44	2020.19	0	0	0	30.00	15.79	15.87
350.33	420	-146.63	-1.35	80.00	3419.2	3385.4	3452.9	1411.1	2020.2	22.14	-7.81	64	358.12	0.00	0.00	3.44	0.000	0.000	0.109	3418.72	3384.00	3453.44	1411.44	3446.94	0	0	0	30.00	30.00	15.90
586.82	1188	-146.63	-1.33	0.00	3420.2	3385.9	3454.4	1411.1	3446.2	44.05	-9.66	111	594.50	0.00	0.00	3.39	0.000	0.000	0.053	3422.69	3386.75	3458.62	1410.75	1949.31	0	0	0	30.00	30.00	15.99
781.02	292	-146.63	-1.33	80.00	3420.2	3385.2	3455.2	1411.3	1949.8	60.23	-8.25	137	789.29	0.00	0.00	3.66	0.000	0.000	0.105	3419.44	3385.00	3453.88	1411.12	3445.12	0	0	0	30.00	30.00	15.81
910.66	1188	-146.63	-1.32	0.00	3420.6	3385.8	3455.4	1410.9	3444.6	71.87	-9.15	161	918.11	0.00	0.00	3.42	0.000	0.000	0.053	3420.97	3385.56	3456.38	1411.06	1947.81	0	0	0	30.00	30.00	15.89
1106.30	32	-146.63	-1.32	0.00	3420.5	3385.4	3455.6	1411.4	1947.5	88.29	-8.15	181	1108.06	0.00	0.00	0.00	0.000	0.000	0.000	3419.75	3383.94	3455.56	1410.88	1948.06	0	0	0	30.00	30.00	30.00
1289.27	292	-146.63	-1.32	80.00	3421.0	3385.6	3456.4	1410.9	1948.1	102.70	-8.06	200	1297.72	0.00	0.00	3.64	0.000	0.000	0.106	3421.44	3385.12	3457.75	1410.56	3448.56	0	0	0	30.00	30.00	15.95
1346.35	1060	-146.63	-1.32	0.00	3420.6	3385.4	3455.9	1411.2	3448.6	108.10	-9.62	211	1353.57	0.00	0.00	3.39	0.000	0.000	0.053	3420.91	3386.56	3455.25	1411.38	1948.75	0	0	0	30.00	30.00	16.02
1541.36	32	-146.63	-1.32	0.00	3420.3	3384.9	3455.8	1411.4	1948.4	124.52	-8.14	231	1543.14	0.00	0.00	0.00	0.000	0.000	0.000	3419.56	3384.56	3454.56	1411.19	1948.62	0	0	0	30.00	30.00	30.00
1731.37	292	-146.63	-1.32	80.00	3420.8	3386.1	3455.6	1411.0	1948.9	140.17	-8.02	250	1739.83	0.00	0.00	3.62	0.000	0.000	0.108	3422.50	3386.94	3458.06	1411.19	3448.12	0	0	0	30.00	30.00	16.02
1798.36	1060	-146.63	-1.32	0.00	3420.3	3384.3	3456.4	1411.0	3448.1	146.45	-9.59	261	1805.59	0.00	0.00	3.39	0.000	0.000	0.054	3419.72	3384.12	3455.31	1411.31	1949.56	0	0	0	30.00	30.00	16.04
1843	end dive: TARGET_DEPTH_EXCEEDED
state	1843	begin apogee
1844.98	10243	0.00	-0.38	0.00	3420.8	3385.4	3456.1	1411.0	1866.4	150.28	-8.43	266	1968.45	111.04	1.53	0.10	1.093	0.117	0.171	2821.06	2716.88	2925.25	1651.44	1938.06	0	0	0	11.37	15.93	15.65
1970	end apogee: CONTROL_FINISHED_OK
state	1970	begin climb
1970.60	10243	146.63	1.51	0.00	2819.1	2716.1	2922.0	1651.6	1938.4	153.12	0.00	277	2098.72	113.06	2.89	0.00	1.059	0.084	0.000	2223.75	2113.62	2333.88	2107.62	1938.88	0	0	0	11.46	15.65	30.00
2282.31	16514	146.63	1.47	0.00	2215.7	2108.6	2322.8	2107.3	1938.2	119.02	13.30	308	2284.10	0.00	0.00	0.00	0.000	0.000	0.000	2214.41	2107.88	2320.94	2107.88	1938.25	0	0	0	30.00	30.00	30.00
2472.41	16514	146.63	1.44	0.00	2214.4	2108.4	2320.4	2107.6	1938.4	94.40	12.50	327	2474.20	0.00	0.00	0.00	0.000	0.000	0.000	2212.34	2105.94	2318.75	2108.00	1938.50	0	0	0	30.00	30.00	30.00
2662.35	20611	146.63	1.42	0.00	2213.7	2107.1	2320.4	2107.8	1938.5	71.99	11.25	346	2664.47	0.00	0.26	0.00	0.000	0.163	0.000	2212.88	2107.25	2318.50	2075.81	1938.56	0	0	0	30.00	15.85	30.00
2852.30	548	150.38	1.42	-80.00	2212.9	2106.6	2319.1	2076.1	1938.7	53.84	9.83	365	2860.88	0.00	0.00	3.72	0.000	0.000	0.131	2211.12	2105.50	2316.75	2075.88	433.81	0	0	0	30.00	30.00	15.88
2899.55	1156	150.38	1.38	0.00	2212.1	2106.2	2318.0	2075.8	433.8	48.40	11.94	374	2907.56	0.00	0.00	3.43	0.000	0.000	0.051	2210.88	2105.56	2316.19	2076.00	1937.50	0	0	0	30.00	30.00	15.95
3090.04	8226	170.26	1.40	0.00	2212.1	2106.1	2318.1	2075.5	1939.4	30.44	9.08	411	3111.81	18.59	0.00	0.00	0.936	0.000	0.000	2124.94	2015.94	2233.94	2075.69	1939.06	0	0	0	11.58	30.00	30.00
3295.48	8870	210.90	1.46	-80.00	2122.1	2015.4	2228.8	2076.1	1939.2	13.28	8.12	452	3340.34	31.94	0.00	3.76	0.940	0.000	0.130	1960.06	1850.25	2069.88	2076.44	434.88	0	0	0	11.40	30.00	15.78
3343.93	11303	251.20	1.51	0.00	1958.6	1849.0	2068.2	2076.4	435.1	9.43	8.13	461	3388.27	31.41	0.22	3.42	0.908	0.072	0.050	1797.25	1687.38	1907.12	2123.69	1941.50	0	0	0	11.74	15.84	15.83
3571.93	10663	477.99	1.84	80.00	1788.8	1677.9	1899.6	2124.2	1941.4	4.98	-0.50	506	3666.96	87.14	0.37	0.00	0.930	0.053	0.000	1308.19	1203.31	1413.06	2202.75	1941.81	0	0	0	11.53	15.89	30.00
3667	end climb: NO_VERTICAL_VELOCITY
state	3667	begin surface