Glider dive log

HoodCanal 21Jun23 * SG243 * Dive index * Mission links * Dive 4 * 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 4 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 5 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 3122.8914 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 1756.9456 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 13.721979 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 53.286266 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 102.4295 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 5 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 53.286266 PHONE_SUPPLY 2 SM_CC 711.37

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 102.4295 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 13.721979 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 1756.9456 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 3122.8914 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 4 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 210623,194208,4736.017,-12256.748,3,0.8,5,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.61 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,194523,4736.005,-12256.777,3,0.8,5,15.4 MHEAD_RNG_PITCHd_Wd 6.2,1044,-17.6,-10.000,-21.21,2209,0.164

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.004780,-0.016681,0.000116,1.034704,-0.038828,0.006090,-0.055997,1.083564,104.884903,-1154.019409,-924.375000

TGT_LATLONG 4736.530,-12256.470 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,0,20230621203738.378769,18,32767,45,0108,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,15.4,9.83,-100,-6.83,-01,0.15,60,10000,5000,0,-1,00,00*5D _24V_AH 14.94,82.316

NET_PING 1687379859,29,869.230530,15.400000,-1.159493 _10V_AH 14.97,0.000

NAV 1687379231,77.4,3,stop FG_AHR_24Vo 102.601

MODEM_MSG CACST,8,0,20230621202500.555112,18,307,24,0094,0000,07,00,00,00,02,1,029,121,0,5,1,0,150,0.5,8.82,-100,-5.82,-01,0.02,49,925,0025,0,1,00,00*28 FG_AHR_10Vo 53.351

FREEZE 4.16,14.472,-1.497,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3819.07,0.05,0.416,0,499.1,389.8,608.4,643.39 MEM2 945820,25,100868,69

SM_GC 2.91,0.05,12.88,0.11,0.416,0.060,0.130,499.1,389.8,608.4,189.6,2118.3,0,0,0,15.83,15.59,15.63 DATA_FILE_SIZE 16138,561

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 211422,0

IRIDIUM_FIX 4735.53,-12254.47,210623,184922 SDSIZE 3887104,3873152

TCM_TEMP 12.81 SDFILEDIR 70,5

SC_FREEKB 3877504 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

RAFOS_CLK -2 SOUNDSPEED 1465.0

MODEM 0,1687377600,47.60500,-122.95000,0.427,626.3 MAGCAL 1.000000,0.003284,-0.086958,0.012900,1.067735,-0.118751,0.097393,-0.000384,1.081604,164.5,-1111.0,-935.0,33,0.0627,0

RAFOS_FIX 4738.191406,-12257.000000,210623,191900,3,255,7.97 IMPLIED_C_PITCH 1775,13.03,264,1766.1,13.37

HUMID 57.13 IMPLIED_C_VBD 2893,53.080845,264,3022.9

TEMP 10.90 GPS 210623,205013,4736.270,-12256.451,12,1.6,15,15.4

INTERNAL_PRESSURE 10.3429

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 686 1117 11452.08 nil 0 0 0.00

Pitch_motor 27 248 102.40 nil 0 0 0.00

Roll_motor 72 185 199.75 nil 0 0 0.00

Iridium 122 156 287.33 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 14 15 3.24 nil 0 0 0.00

Core 2467 5 189.10 SciCon 3525 7 382.00

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1276 0 6.12

Compass 1171 5 87.70

RAFOS 1687 40 1010.31

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

7.86 16386 -146.63 -1.46 0.00 499.0 389.9 608.1 192.1 2050.2 0.00 0.00 0 65.96 55.69 0.00 0.00 0.005 0.000 0.000 1817.50 1771.44 1863.56 191.94 2049.75 0 0 0 15.88 30.00 30.00

66.26 18727 -146.63 -1.46 80.00 1817.5 1771.2 1863.9 192.1 2050.1 3.09 -3.02 11 147.77 60.06 9.26 3.69 0.005 0.249 0.105 3717.97 3677.44 3758.50 1401.69 3554.75 0 0 0 14.75 15.58 15.75

376.05 3205 -146.63 -1.36 0.00 3718.5 3678.4 3758.6 1401.5 3554.8 36.30 -12.64 72 381.96 0.00 0.17 3.48 0.000 0.197 0.048 3718.78 3678.19 3759.38 1427.88 2056.81 0 0 0 30.00 15.64 15.82

571.09 260 -146.63 -1.36 80.00 3718.3 3677.5 3759.1 1428.0 2056.0 56.11 -10.11 105 577.49 0.00 0.00 3.65 0.000 0.000 0.104 3717.16 3676.50 3757.81 1428.50 3554.56 0 0 0 30.00 30.00 15.82

713.29 1156 -146.63 -1.32 0.00 3718.6 3678.1 3759.1 1428.4 3553.8 72.10 -11.55 132 722.90 0.00 0.00 3.46 0.000 0.000 0.047 3719.41 3678.81 3760.00 1428.06 2052.25 0 0 0 30.00 30.00 15.88

906.97 292 -146.63 -1.32 80.00 3718.7 3677.6 3759.7 1428.8 2052.4 92.33 -9.78 152 918.07 0.00 0.00 3.79 0.000 0.000 0.103 3719.06 3677.88 3760.25 1427.88 3553.19 0 0 0 30.00 30.00 15.07

920.84 3237 -146.63 -1.17 0.00 3718.9 3677.9 3760.0 1428.3 3553.3 93.92 -9.63 155 927.65 0.00 0.32 3.46 0.000 0.173 0.045 3719.06 3678.00 3760.12 1473.50 2052.38 0 0 0 30.00 15.65 15.71

1116.57 420 -146.63 -1.22 80.00 3719.0 3678.0 3759.9 1473.9 2052.6 111.38 -8.81 175 1124.08 0.00 0.00 3.70 0.000 0.000 0.105 3718.06 3677.50 3758.62 1473.62 3554.00 0 0 0 30.00 30.00 15.70

1354.38 1028 -146.63 -1.22 0.00 3719.9 3679.0 3760.8 1473.2 3553.7 134.97 -10.06 222 1366.04 0.00 0.00 3.49 0.000 0.000 0.048 3720.16 3679.00 3761.31 1473.50 2056.50 0 0 0 30.00 30.00 15.76

1525 end dive: TARGET_DEPTH_EXCEEDED

state 1525 begin apogee

1525.81 10243 0.00 -0.36 0.00 3718.8 3677.6 3759.9 1473.7 2115.9 150.25 -8.89 240 1640.40 103.23 1.34 0.10 1.117 0.139 0.185 3120.62 3036.81 3204.44 1669.94 2054.88 0 0 0 11.02 15.66 15.52

1642 end apogee: CONTROL_FINISHED_OK

state 1642 begin climb

1642.30 10759 146.63 1.46 -80.00 3119.8 3036.9 3202.6 1669.5 2054.6 154.07 0.00 251 1769.53 109.24 2.93 3.74 1.073 0.110 0.118 2520.84 2413.12 2628.56 2112.50 620.38 0 0 0 10.92 15.53 15.42

1862.98 1156 146.63 1.41 0.00 2516.5 2413.8 2619.3 2112.9 620.6 137.32 11.26 293 1869.57 0.00 0.00 3.53 0.000 0.000 0.049 2514.16 2410.06 2618.25 2112.69 2113.25 0 0 0 30.00 30.00 15.64

2057.96 8486 155.88 1.42 80.00 2515.5 2412.4 2618.6 2112.7 2113.4 118.27 9.57 313 2073.98 8.27 0.00 3.57 0.886 0.000 0.114 2485.09 2380.94 2589.25 2113.19 3551.94 0 0 0 10.63 30.00 15.70

2148.01 1156 155.88 1.37 0.00 2483.5 2380.6 2586.5 2112.3 3552.8 108.39 11.53 331 2154.43 0.00 0.00 3.49 0.000 0.000 0.048 2482.19 2379.25 2585.12 2113.00 2058.56 0 0 0 30.00 30.00 15.76

2343.00 8486 174.23 1.40 80.00 2482.9 2380.8 2585.0 2113.1 2058.7 90.24 9.15 351 2368.81 16.06 0.00 3.71 0.989 0.000 0.112 2411.03 2305.38 2516.69 2112.94 3551.00 0 0 0 10.76 30.00 15.75

2432.95 1028 174.23 1.40 0.00 2407.8 2304.2 2511.4 2112.5 3551.0 81.33 10.16 369 2439.45 0.00 0.00 3.46 0.000 0.000 0.048 2409.50 2304.31 2514.69 2111.25 2059.62 0 0 0 30.00 30.00 15.81

2627.03 8486 200.78 1.43 80.00 2406.2 2302.8 2509.8 2112.3 2059.4 64.47 8.77 389 2659.05 21.24 0.00 3.69 0.994 0.000 0.112 2300.50 2191.62 2409.38 2112.75 3551.62 0 0 0 10.78 30.00 15.79

2737.43 1028 200.78 1.43 0.00 2299.2 2193.0 2405.5 2112.9 3551.6 53.74 10.07 411 2743.92 0.00 0.00 3.46 0.000 0.000 0.049 2300.19 2193.06 2407.31 2111.38 2057.62 0 0 0 30.00 30.00 15.85

2927.53 8486 240.44 1.48 80.00 2297.8 2192.3 2403.2 2112.8 2057.1 37.54 8.16 445 2966.61 30.08 0.00 3.69 0.984 0.000 0.112 2137.62 2023.44 2251.81 2113.19 3556.38 0 0 0 10.73 30.00 15.79

3025.00 9254 253.63 1.49 0.00 2137.2 2025.4 2249.1 2113.1 3556.2 28.95 9.39 464 3046.16 11.66 0.00 3.46 0.901 0.000 0.048 2086.19 1971.75 2200.62 2112.75 2057.56 0 0 0 10.78 30.00 15.87

3230.56 10663 291.58 1.59 80.00 2081.8 1969.9 2193.8 2112.8 2057.5 11.31 8.24 505 3268.62 28.33 0.17 3.70 0.950 0.102 0.112 1931.69 1815.19 2048.19 2148.44 3552.75 0 0 0 10.77 15.83 15.77

3497.12 11431 510.36 1.95 0.00 1926.1 1813.6 2038.6 2148.3 3552.1 4.33 -0.13 558 3514.22 9.59 0.49 3.44 0.869 0.075 0.046 1888.50 1773.25 2003.75 2237.25 2053.31 0 0 0 10.59 15.86 15.88

3515 end climb: NO_VERTICAL_VELOCITY

state 3515 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	4	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	5	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	3122.8914	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	1756.9456	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	13.721979	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	53.286266	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	102.4295	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	210623,194208,4736.017,-12256.748,3,0.8,5,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.61	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,194523,4736.005,-12256.777,3,0.8,5,15.4	MHEAD_RNG_PITCHd_Wd	6.2,1044,-17.6,-10.000,-21.21,2209,0.164
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.004780,-0.016681,0.000116,1.034704,-0.038828,0.006090,-0.055997,1.083564,104.884903,-1154.019409,-924.375000
TGT_LATLONG	4736.530,-12256.470	OSC	8000266

NET	CACST,8,0,20230621203738.378769,18,32767,45,0108,0150,07,00,00,00,00,1,029,243,0,5,1,0,150,15.4,9.83,-100,-6.83,-01,0.15,60,10000,5000,0,-1,00,00*5D	_24V_AH	14.94,82.316
NET_PING	1687379859,29,869.230530,15.400000,-1.159493	_10V_AH	14.97,0.000
NAV	1687379231,77.4,3,stop	FG_AHR_24Vo	102.601
MODEM_MSG	CACST,8,0,20230621202500.555112,18,307,24,0094,0000,07,00,00,00,02,1,029,121,0,5,1,0,150,0.5,8.82,-100,-5.82,-01,0.02,49,925,0025,0,1,00,00*28	FG_AHR_10Vo	53.351
FREEZE	4.16,14.472,-1.497,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3819.07,0.05,0.416,0,499.1,389.8,608.4,643.39	MEM2	945820,25,100868,69
SM_GC	2.91,0.05,12.88,0.11,0.416,0.060,0.130,499.1,389.8,608.4,189.6,2118.3,0,0,0,15.83,15.59,15.63	DATA_FILE_SIZE	16138,561
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	211422,0
IRIDIUM_FIX	4735.53,-12254.47,210623,184922	SDSIZE	3887104,3873152
TCM_TEMP	12.81	SDFILEDIR	70,5
SC_FREEKB	3877504	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
RAFOS_CLK	-2	SOUNDSPEED	1465.0
MODEM	0,1687377600,47.60500,-122.95000,0.427,626.3	MAGCAL	1.000000,0.003284,-0.086958,0.012900,1.067735,-0.118751,0.097393,-0.000384,1.081604,164.5,-1111.0,-935.0,33,0.0627,0
RAFOS_FIX	4738.191406,-12257.000000,210623,191900,3,255,7.97	IMPLIED_C_PITCH	1775,13.03,264,1766.1,13.37
HUMID	57.13	IMPLIED_C_VBD	2893,53.080845,264,3022.9
TEMP	10.90	GPS	210623,205013,4736.270,-12256.451,12,1.6,15,15.4
INTERNAL_PRESSURE	10.3429

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	686	1117	11452.08	nil	0	0	0.00
Pitch_motor	27	248	102.40	nil	0	0	0.00
Roll_motor	72	185	199.75	nil	0	0	0.00
Iridium	122	156	287.33	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	14	15	3.24	nil	0	0	0.00
Core	2467	5	189.10	SciCon	3525	7	382.00
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1276	0	6.12
Compass	1171	5	87.70
RAFOS	1687	40	1010.31
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
7.86	16386	-146.63	-1.46	0.00	499.0	389.9	608.1	192.1	2050.2	0.00	0.00	0	65.96	55.69	0.00	0.00	0.005	0.000	0.000	1817.50	1771.44	1863.56	191.94	2049.75	0	0	0	15.88	30.00	30.00
66.26	18727	-146.63	-1.46	80.00	1817.5	1771.2	1863.9	192.1	2050.1	3.09	-3.02	11	147.77	60.06	9.26	3.69	0.005	0.249	0.105	3717.97	3677.44	3758.50	1401.69	3554.75	0	0	0	14.75	15.58	15.75
376.05	3205	-146.63	-1.36	0.00	3718.5	3678.4	3758.6	1401.5	3554.8	36.30	-12.64	72	381.96	0.00	0.17	3.48	0.000	0.197	0.048	3718.78	3678.19	3759.38	1427.88	2056.81	0	0	0	30.00	15.64	15.82
571.09	260	-146.63	-1.36	80.00	3718.3	3677.5	3759.1	1428.0	2056.0	56.11	-10.11	105	577.49	0.00	0.00	3.65	0.000	0.000	0.104	3717.16	3676.50	3757.81	1428.50	3554.56	0	0	0	30.00	30.00	15.82
713.29	1156	-146.63	-1.32	0.00	3718.6	3678.1	3759.1	1428.4	3553.8	72.10	-11.55	132	722.90	0.00	0.00	3.46	0.000	0.000	0.047	3719.41	3678.81	3760.00	1428.06	2052.25	0	0	0	30.00	30.00	15.88
906.97	292	-146.63	-1.32	80.00	3718.7	3677.6	3759.7	1428.8	2052.4	92.33	-9.78	152	918.07	0.00	0.00	3.79	0.000	0.000	0.103	3719.06	3677.88	3760.25	1427.88	3553.19	0	0	0	30.00	30.00	15.07
920.84	3237	-146.63	-1.17	0.00	3718.9	3677.9	3760.0	1428.3	3553.3	93.92	-9.63	155	927.65	0.00	0.32	3.46	0.000	0.173	0.045	3719.06	3678.00	3760.12	1473.50	2052.38	0	0	0	30.00	15.65	15.71
1116.57	420	-146.63	-1.22	80.00	3719.0	3678.0	3759.9	1473.9	2052.6	111.38	-8.81	175	1124.08	0.00	0.00	3.70	0.000	0.000	0.105	3718.06	3677.50	3758.62	1473.62	3554.00	0	0	0	30.00	30.00	15.70
1354.38	1028	-146.63	-1.22	0.00	3719.9	3679.0	3760.8	1473.2	3553.7	134.97	-10.06	222	1366.04	0.00	0.00	3.49	0.000	0.000	0.048	3720.16	3679.00	3761.31	1473.50	2056.50	0	0	0	30.00	30.00	15.76
1525	end dive: TARGET_DEPTH_EXCEEDED
state	1525	begin apogee
1525.81	10243	0.00	-0.36	0.00	3718.8	3677.6	3759.9	1473.7	2115.9	150.25	-8.89	240	1640.40	103.23	1.34	0.10	1.117	0.139	0.185	3120.62	3036.81	3204.44	1669.94	2054.88	0	0	0	11.02	15.66	15.52
1642	end apogee: CONTROL_FINISHED_OK
state	1642	begin climb
1642.30	10759	146.63	1.46	-80.00	3119.8	3036.9	3202.6	1669.5	2054.6	154.07	0.00	251	1769.53	109.24	2.93	3.74	1.073	0.110	0.118	2520.84	2413.12	2628.56	2112.50	620.38	0	0	0	10.92	15.53	15.42
1862.98	1156	146.63	1.41	0.00	2516.5	2413.8	2619.3	2112.9	620.6	137.32	11.26	293	1869.57	0.00	0.00	3.53	0.000	0.000	0.049	2514.16	2410.06	2618.25	2112.69	2113.25	0	0	0	30.00	30.00	15.64
2057.96	8486	155.88	1.42	80.00	2515.5	2412.4	2618.6	2112.7	2113.4	118.27	9.57	313	2073.98	8.27	0.00	3.57	0.886	0.000	0.114	2485.09	2380.94	2589.25	2113.19	3551.94	0	0	0	10.63	30.00	15.70
2148.01	1156	155.88	1.37	0.00	2483.5	2380.6	2586.5	2112.3	3552.8	108.39	11.53	331	2154.43	0.00	0.00	3.49	0.000	0.000	0.048	2482.19	2379.25	2585.12	2113.00	2058.56	0	0	0	30.00	30.00	15.76
2343.00	8486	174.23	1.40	80.00	2482.9	2380.8	2585.0	2113.1	2058.7	90.24	9.15	351	2368.81	16.06	0.00	3.71	0.989	0.000	0.112	2411.03	2305.38	2516.69	2112.94	3551.00	0	0	0	10.76	30.00	15.75
2432.95	1028	174.23	1.40	0.00	2407.8	2304.2	2511.4	2112.5	3551.0	81.33	10.16	369	2439.45	0.00	0.00	3.46	0.000	0.000	0.048	2409.50	2304.31	2514.69	2111.25	2059.62	0	0	0	30.00	30.00	15.81
2627.03	8486	200.78	1.43	80.00	2406.2	2302.8	2509.8	2112.3	2059.4	64.47	8.77	389	2659.05	21.24	0.00	3.69	0.994	0.000	0.112	2300.50	2191.62	2409.38	2112.75	3551.62	0	0	0	10.78	30.00	15.79
2737.43	1028	200.78	1.43	0.00	2299.2	2193.0	2405.5	2112.9	3551.6	53.74	10.07	411	2743.92	0.00	0.00	3.46	0.000	0.000	0.049	2300.19	2193.06	2407.31	2111.38	2057.62	0	0	0	30.00	30.00	15.85
2927.53	8486	240.44	1.48	80.00	2297.8	2192.3	2403.2	2112.8	2057.1	37.54	8.16	445	2966.61	30.08	0.00	3.69	0.984	0.000	0.112	2137.62	2023.44	2251.81	2113.19	3556.38	0	0	0	10.73	30.00	15.79
3025.00	9254	253.63	1.49	0.00	2137.2	2025.4	2249.1	2113.1	3556.2	28.95	9.39	464	3046.16	11.66	0.00	3.46	0.901	0.000	0.048	2086.19	1971.75	2200.62	2112.75	2057.56	0	0	0	10.78	30.00	15.87
3230.56	10663	291.58	1.59	80.00	2081.8	1969.9	2193.8	2112.8	2057.5	11.31	8.24	505	3268.62	28.33	0.17	3.70	0.950	0.102	0.112	1931.69	1815.19	2048.19	2148.44	3552.75	0	0	0	10.77	15.83	15.77
3497.12	11431	510.36	1.95	0.00	1926.1	1813.6	2038.6	2148.3	3552.1	4.33	-0.13	558	3514.22	9.59	0.49	3.44	0.869	0.075	0.046	1888.50	1773.25	2003.75	2237.25	2053.31	0	0	0	10.59	15.86	15.88
3515	end climb: NO_VERTICAL_VELOCITY
state	3515	begin surface