Glider dive log

HoodCanal 21Jun23 * SG243 * Dive index * Mission links * Dive 6 * 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 6 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 10 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 3003.0168 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 1767.797 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 13.317941 MAXI_10V 5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 40 FG_AHR_10V 53.398903 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 102.77169 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 10 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 53.398903 PHONE_SUPPLY 2 SM_CC 711.37

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 102.77169 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 13.317941 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 1767.797 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 3003.0168 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 6 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 210623,214430,4736.415,-12256.530,1,1.4,5,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.62 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210623,214748,4736.390,-12256.544,2,1.4,6,15.4 MHEAD_RNG_PITCHd_Wd 186.0,875,-17.6,-10.000,-21.21,2209,0.147

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S 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 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NET CACST,8,0,20230621224736.805036,18,25538,44,0288,0150,07,01,01,00,01,1,029,243,0,5,1,0,150,-3.6,1.57,-100,1.43,-01,0.03,68,10000,5000,0,-1,00,00*6F INTERNAL_PRESSURE 10.3234

dbf5efea17dfc94c4c5976fc*40 _24V_AH 14.81,82.696

NET_PING 1687387658,29,452.269470,-3.600000,-0.602893 _10V_AH 14.84,0.000

NAV 1687386440,97.1,3,stop FG_AHR_24Vo 102.940

MODEM_MSG CACST,8,0,20230621222500.315696,18,21990,43,0345,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,0.9,8.19,-100,-5.19,-01,-0.17,75,925,0025,0,1,00,00*35 FG_AHR_10Vo 53.457

FREEZE 4.86,14.634,-1.472,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3847.36,0.05,0.424,0,498.6,389.4,607.7,614.34 MEM2 930872,20,115836,73

SM_GC 2.28,0.05,12.35,0.10,0.424,0.053,0.128,498.6,389.4,607.7,195.8,2117.5,0,0,0,15.67,15.53,15.55 DATA_FILE_SIZE 16100,563

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 206200,0

IRIDIUM_FIX 4737.86,-12251.79,210623,205129 SDSIZE 3887104,3872512

TCM_TEMP 12.79 SDFILEDIR 86,7

SC_FREEKB 3876864 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 0,1687384800,47.60500,-122.95000,0.519,760.2 MAGCAL 1.000000,0.023213,-0.164721,0.024750,1.058930,-0.130745,0.257323,-0.045794,0.948376,225.7,-1090.4,-872.0,34,0.0832,0

RAFOS_FIX 4736.401367,-12257.565430,210623,222200,4,255,0.96 IMPLIED_C_PITCH 1794,13.18,267,1780.8,13.25

HUMID 56.88 IMPLIED_C_VBD 2923,40.130413,267,2963.1

TEMP 10.72 GPS 210623,225349,4735.978,-12256.767,33,1.5,51,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 657 1150 11204.64 nil 0 0 0.00

Pitch_motor 27 259 103.95 nil 0 0 0.00

Roll_motor 71 174 184.88 nil 0 0 0.00

Iridium 122 178 321.66 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.49 nil 0 0 0.00

Core 2331 5 177.11 SciCon 3586 7 383.74

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1451 0 6.89

Compass 1182 5 87.77

RAFOS 1696 40 1006.93

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

7.85 16386 -146.63 -1.50 0.00 499.1 389.9 608.3 192.2 2053.8 0.00 0.00 0 55.38 45.47 0.00 0.00 0.005 0.000 0.000 1607.44 1557.75 1657.12 191.94 2052.75 0 0 0 13.68 30.00 30.00

55.68 18983 -146.63 -1.50 -80.00 1607.7 1558.2 1657.1 192.3 2053.1 3.01 -2.64 8 146.04 68.04 9.27 3.60 0.005 0.260 0.114 3599.28 3556.88 3641.69 1404.25 620.06 0 0 0 15.89 15.60 15.74

209.31 3205 -146.63 -1.40 0.00 3599.3 3557.1 3641.6 1403.9 620.1 16.19 -10.20 38 215.01 0.00 0.17 3.45 0.000 0.198 0.047 3600.22 3559.00 3641.44 1429.81 2118.31 0 0 0 30.00 15.68 15.85

399.47 676 -146.63 -1.37 -80.00 3599.8 3557.9 3641.8 1430.1 2118.5 30.23 -7.80 76 406.57 0.00 0.00 3.76 0.000 0.000 0.109 3598.88 3556.31 3641.44 1430.00 619.38 0 0 0 30.00 30.00 15.81

632.17 1156 -146.63 -1.31 0.00 3599.6 3557.0 3642.1 1430.2 619.1 53.31 -10.31 122 638.67 0.00 0.00 3.55 0.000 0.000 0.049 3599.22 3557.19 3641.25 1430.44 2118.31 0 0 0 30.00 30.00 15.30

826.08 32 -146.63 -1.31 0.00 3600.2 3557.8 3642.6 1430.4 2118.2 71.43 -9.49 141 827.65 0.00 0.00 0.00 0.000 0.000 0.000 3600.25 3557.75 3642.75 1429.94 2118.25 0 0 0 30.00 30.00 30.00

1016.11 292 -146.63 -1.31 80.00 3600.0 3557.4 3642.6 1430.2 2118.1 89.38 -9.95 160 1022.40 0.00 0.00 3.52 0.000 0.000 0.108 3599.97 3557.12 3642.81 1429.88 3552.50 0 0 0 30.00 30.00 15.75

1193.39 3205 -146.63 -1.26 0.00 3600.2 3557.4 3643.0 1430.2 3552.2 109.20 -10.45 195 1200.05 0.00 0.23 3.46 0.000 0.179 0.048 3599.50 3557.12 3641.88 1461.81 2055.06 0 0 0 30.00 15.71 15.83

1388.41 292 -146.63 -1.26 80.00 3600.5 3557.7 3643.2 1461.9 2054.1 124.75 -7.98 215 1394.96 0.00 0.00 3.67 0.000 0.000 0.106 3599.38 3556.44 3642.31 1463.00 3553.75 0 0 0 30.00 30.00 15.78

1523.36 1028 -146.63 -1.26 0.00 3600.2 3557.3 3643.1 1463.2 3554.4 138.25 -10.17 242 1529.85 0.00 0.00 3.45 0.000 0.000 0.048 3599.72 3556.44 3643.00 1462.69 2056.31 0 0 0 30.00 30.00 15.83

1669 end dive: TARGET_DEPTH_EXCEEDED

state 1669 begin apogee

1669.79 10243 0.00 -0.38 0.00 3600.2 3557.5 3642.9 1462.9 2118.2 150.71 -8.63 257 1784.49 103.76 1.46 0.11 1.151 0.143 0.174 3001.38 2915.56 3087.19 1677.56 2051.50 0 0 0 10.80 15.72 15.56

1786 end apogee: CONTROL_FINISHED_OK

state 1786 begin climb

1786.38 10759 146.63 1.50 -80.00 3000.9 2916.1 3085.6 1677.2 2050.6 153.99 0.00 268 1913.95 109.22 3.00 3.71 1.099 0.108 0.120 2402.12 2293.62 2510.62 2134.12 621.81 0 0 0 11.04 15.56 15.44

1957.40 1156 146.63 1.44 0.00 2398.6 2293.8 2503.4 2133.4 621.6 139.98 12.24 300 1963.85 0.00 0.00 3.52 0.000 0.000 0.048 2397.09 2292.25 2501.94 2133.88 2115.50 0 0 0 30.00 30.00 15.60

2152.32 16646 146.63 1.44 80.00 2396.9 2293.6 2500.2 2134.0 2115.5 118.38 11.15 320 2158.88 0.00 0.00 3.56 0.000 0.000 0.112 2395.16 2291.62 2498.69 2133.62 3553.62 0 0 0 30.00 30.00 15.67

2257.42 21639 146.63 1.38 0.00 2395.7 2293.2 2498.2 2133.8 3553.6 105.37 12.23 341 2265.07 0.00 0.28 3.47 0.000 0.165 0.048 2396.38 2293.62 2499.12 2095.75 2058.69 0 0 0 30.00 15.66 15.75

2452.40 8486 170.04 1.41 80.00 2395.0 2293.6 2496.4 2095.7 2058.2 87.04 8.92 361 2479.01 18.43 0.00 3.68 1.046 0.000 0.111 2307.47 2200.56 2414.38 2095.69 3553.38 0 0 0 10.78 30.00 15.78

2532.37 1028 170.04 1.41 0.00 2305.9 2201.5 2410.2 2095.5 3553.9 79.38 10.01 377 2538.89 0.00 0.00 3.45 0.000 0.000 0.048 2304.38 2200.00 2408.75 2096.00 2057.81 0 0 0 30.00 30.00 15.84

2727.46 8486 208.05 1.46 80.00 2304.2 2201.5 2407.0 2095.9 2057.4 62.94 8.24 397 2765.70 29.23 0.00 3.68 1.040 0.000 0.111 2153.78 2043.19 2264.38 2096.12 3554.81 0 0 0 10.94 30.00 15.78

2834.11 11303 216.09 1.47 0.00 2149.9 2040.9 2258.9 2095.9 3555.0 53.30 9.63 418 2850.26 8.15 0.19 3.45 0.894 0.086 0.048 2120.19 2009.31 2231.06 2131.38 2057.56 0 0 0 11.05 15.85 15.86

3034.44 8486 224.88 1.48 80.00 2117.3 2009.6 2225.0 2131.4 2057.6 33.66 9.59 456 3051.27 8.64 0.00 3.67 0.900 0.000 0.111 2083.38 1974.06 2192.69 2131.75 3555.12 0 0 0 10.84 30.00 15.83

3099.61 1028 224.88 1.48 0.00 2082.1 1974.1 2190.1 2131.6 3555.4 26.84 10.89 469 3105.95 0.00 0.00 3.43 0.000 0.000 0.048 2081.81 1973.25 2190.38 2131.38 2058.00 0 0 0 30.00 30.00 15.87

3289.80 8614 283.55 1.58 80.00 2080.9 1973.4 2188.4 2131.6 2057.4 10.59 7.28 507 3343.43 42.35 0.00 3.68 0.991 0.000 0.110 1844.91 1722.56 1967.25 2131.50 3552.50 0 0 0 10.85 30.00 15.77

3569.49 11431 506.17 1.98 0.00 1839.0 1720.8 1957.3 2131.4 3552.9 4.83 -0.31 562 3575.75 0.00 0.06 3.44 0.000 0.165 0.046 1839.59 1721.38 1957.81 2145.31 2054.94 0 0 0 30.00 15.83 15.83

3576 end climb: NO_VERTICAL_VELOCITY

state 3576 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	6	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	10	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	3003.0168	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	1767.797	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	13.317941	MAXI_10V	5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	40	FG_AHR_10V	53.398903	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	102.77169	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	210623,214430,4736.415,-12256.530,1,1.4,5,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.62	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210623,214748,4736.390,-12256.544,2,1.4,6,15.4	MHEAD_RNG_PITCHd_Wd	186.0,875,-17.6,-10.000,-21.21,2209,0.147
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	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	4735.950,-12256.800	OSC	8000307

NET	CACST,8,0,20230621224736.805036,18,25538,44,0288,0150,07,01,01,00,01,1,029,243,0,5,1,0,150,-3.6,1.57,-100,1.43,-01,0.03,68,10000,5000,0,-1,00,00*6F	INTERNAL_PRESSURE	10.3234
dbf5efea17dfc94c4c5976fc*40		_24V_AH	14.81,82.696
NET_PING	1687387658,29,452.269470,-3.600000,-0.602893	_10V_AH	14.84,0.000
NAV	1687386440,97.1,3,stop	FG_AHR_24Vo	102.940
MODEM_MSG	CACST,8,0,20230621222500.315696,18,21990,43,0345,0000,246,02,02,00,02,1,029,121,0,5,1,0,150,0.9,8.19,-100,-5.19,-01,-0.17,75,925,0025,0,1,00,00*35	FG_AHR_10Vo	53.457
FREEZE	4.86,14.634,-1.472,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3847.36,0.05,0.424,0,498.6,389.4,607.7,614.34	MEM2	930872,20,115836,73
SM_GC	2.28,0.05,12.35,0.10,0.424,0.053,0.128,498.6,389.4,607.7,195.8,2117.5,0,0,0,15.67,15.53,15.55	DATA_FILE_SIZE	16100,563
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	206200,0
IRIDIUM_FIX	4737.86,-12251.79,210623,205129	SDSIZE	3887104,3872512
TCM_TEMP	12.79	SDFILEDIR	86,7
SC_FREEKB	3876864	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	0,1687384800,47.60500,-122.95000,0.519,760.2	MAGCAL	1.000000,0.023213,-0.164721,0.024750,1.058930,-0.130745,0.257323,-0.045794,0.948376,225.7,-1090.4,-872.0,34,0.0832,0
RAFOS_FIX	4736.401367,-12257.565430,210623,222200,4,255,0.96	IMPLIED_C_PITCH	1794,13.18,267,1780.8,13.25
HUMID	56.88	IMPLIED_C_VBD	2923,40.130413,267,2963.1
TEMP	10.72	GPS	210623,225349,4735.978,-12256.767,33,1.5,51,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	657	1150	11204.64	nil	0	0	0.00
Pitch_motor	27	259	103.95	nil	0	0	0.00
Roll_motor	71	174	184.88	nil	0	0	0.00
Iridium	122	178	321.66	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.49	nil	0	0	0.00
Core	2331	5	177.11	SciCon	3586	7	383.74
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1451	0	6.89
Compass	1182	5	87.77
RAFOS	1696	40	1006.93
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
7.85	16386	-146.63	-1.50	0.00	499.1	389.9	608.3	192.2	2053.8	0.00	0.00	0	55.38	45.47	0.00	0.00	0.005	0.000	0.000	1607.44	1557.75	1657.12	191.94	2052.75	0	0	0	13.68	30.00	30.00
55.68	18983	-146.63	-1.50	-80.00	1607.7	1558.2	1657.1	192.3	2053.1	3.01	-2.64	8	146.04	68.04	9.27	3.60	0.005	0.260	0.114	3599.28	3556.88	3641.69	1404.25	620.06	0	0	0	15.89	15.60	15.74
209.31	3205	-146.63	-1.40	0.00	3599.3	3557.1	3641.6	1403.9	620.1	16.19	-10.20	38	215.01	0.00	0.17	3.45	0.000	0.198	0.047	3600.22	3559.00	3641.44	1429.81	2118.31	0	0	0	30.00	15.68	15.85
399.47	676	-146.63	-1.37	-80.00	3599.8	3557.9	3641.8	1430.1	2118.5	30.23	-7.80	76	406.57	0.00	0.00	3.76	0.000	0.000	0.109	3598.88	3556.31	3641.44	1430.00	619.38	0	0	0	30.00	30.00	15.81
632.17	1156	-146.63	-1.31	0.00	3599.6	3557.0	3642.1	1430.2	619.1	53.31	-10.31	122	638.67	0.00	0.00	3.55	0.000	0.000	0.049	3599.22	3557.19	3641.25	1430.44	2118.31	0	0	0	30.00	30.00	15.30
826.08	32	-146.63	-1.31	0.00	3600.2	3557.8	3642.6	1430.4	2118.2	71.43	-9.49	141	827.65	0.00	0.00	0.00	0.000	0.000	0.000	3600.25	3557.75	3642.75	1429.94	2118.25	0	0	0	30.00	30.00	30.00
1016.11	292	-146.63	-1.31	80.00	3600.0	3557.4	3642.6	1430.2	2118.1	89.38	-9.95	160	1022.40	0.00	0.00	3.52	0.000	0.000	0.108	3599.97	3557.12	3642.81	1429.88	3552.50	0	0	0	30.00	30.00	15.75
1193.39	3205	-146.63	-1.26	0.00	3600.2	3557.4	3643.0	1430.2	3552.2	109.20	-10.45	195	1200.05	0.00	0.23	3.46	0.000	0.179	0.048	3599.50	3557.12	3641.88	1461.81	2055.06	0	0	0	30.00	15.71	15.83
1388.41	292	-146.63	-1.26	80.00	3600.5	3557.7	3643.2	1461.9	2054.1	124.75	-7.98	215	1394.96	0.00	0.00	3.67	0.000	0.000	0.106	3599.38	3556.44	3642.31	1463.00	3553.75	0	0	0	30.00	30.00	15.78
1523.36	1028	-146.63	-1.26	0.00	3600.2	3557.3	3643.1	1463.2	3554.4	138.25	-10.17	242	1529.85	0.00	0.00	3.45	0.000	0.000	0.048	3599.72	3556.44	3643.00	1462.69	2056.31	0	0	0	30.00	30.00	15.83
1669	end dive: TARGET_DEPTH_EXCEEDED
state	1669	begin apogee
1669.79	10243	0.00	-0.38	0.00	3600.2	3557.5	3642.9	1462.9	2118.2	150.71	-8.63	257	1784.49	103.76	1.46	0.11	1.151	0.143	0.174	3001.38	2915.56	3087.19	1677.56	2051.50	0	0	0	10.80	15.72	15.56
1786	end apogee: CONTROL_FINISHED_OK
state	1786	begin climb
1786.38	10759	146.63	1.50	-80.00	3000.9	2916.1	3085.6	1677.2	2050.6	153.99	0.00	268	1913.95	109.22	3.00	3.71	1.099	0.108	0.120	2402.12	2293.62	2510.62	2134.12	621.81	0	0	0	11.04	15.56	15.44
1957.40	1156	146.63	1.44	0.00	2398.6	2293.8	2503.4	2133.4	621.6	139.98	12.24	300	1963.85	0.00	0.00	3.52	0.000	0.000	0.048	2397.09	2292.25	2501.94	2133.88	2115.50	0	0	0	30.00	30.00	15.60
2152.32	16646	146.63	1.44	80.00	2396.9	2293.6	2500.2	2134.0	2115.5	118.38	11.15	320	2158.88	0.00	0.00	3.56	0.000	0.000	0.112	2395.16	2291.62	2498.69	2133.62	3553.62	0	0	0	30.00	30.00	15.67
2257.42	21639	146.63	1.38	0.00	2395.7	2293.2	2498.2	2133.8	3553.6	105.37	12.23	341	2265.07	0.00	0.28	3.47	0.000	0.165	0.048	2396.38	2293.62	2499.12	2095.75	2058.69	0	0	0	30.00	15.66	15.75
2452.40	8486	170.04	1.41	80.00	2395.0	2293.6	2496.4	2095.7	2058.2	87.04	8.92	361	2479.01	18.43	0.00	3.68	1.046	0.000	0.111	2307.47	2200.56	2414.38	2095.69	3553.38	0	0	0	10.78	30.00	15.78
2532.37	1028	170.04	1.41	0.00	2305.9	2201.5	2410.2	2095.5	3553.9	79.38	10.01	377	2538.89	0.00	0.00	3.45	0.000	0.000	0.048	2304.38	2200.00	2408.75	2096.00	2057.81	0	0	0	30.00	30.00	15.84
2727.46	8486	208.05	1.46	80.00	2304.2	2201.5	2407.0	2095.9	2057.4	62.94	8.24	397	2765.70	29.23	0.00	3.68	1.040	0.000	0.111	2153.78	2043.19	2264.38	2096.12	3554.81	0	0	0	10.94	30.00	15.78
2834.11	11303	216.09	1.47	0.00	2149.9	2040.9	2258.9	2095.9	3555.0	53.30	9.63	418	2850.26	8.15	0.19	3.45	0.894	0.086	0.048	2120.19	2009.31	2231.06	2131.38	2057.56	0	0	0	11.05	15.85	15.86
3034.44	8486	224.88	1.48	80.00	2117.3	2009.6	2225.0	2131.4	2057.6	33.66	9.59	456	3051.27	8.64	0.00	3.67	0.900	0.000	0.111	2083.38	1974.06	2192.69	2131.75	3555.12	0	0	0	10.84	30.00	15.83
3099.61	1028	224.88	1.48	0.00	2082.1	1974.1	2190.1	2131.6	3555.4	26.84	10.89	469	3105.95	0.00	0.00	3.43	0.000	0.000	0.048	2081.81	1973.25	2190.38	2131.38	2058.00	0	0	0	30.00	30.00	15.87
3289.80	8614	283.55	1.58	80.00	2080.9	1973.4	2188.4	2131.6	2057.4	10.59	7.28	507	3343.43	42.35	0.00	3.68	0.991	0.000	0.110	1844.91	1722.56	1967.25	2131.50	3552.50	0	0	0	10.85	30.00	15.77
3569.49	11431	506.17	1.98	0.00	1839.0	1720.8	1957.3	2131.4	3552.9	4.83	-0.31	562	3575.75	0.00	0.06	3.44	0.000	0.165	0.046	1839.59	1721.38	1957.81	2145.31	2054.94	0	0	0	30.00	15.83	15.83
3576	end climb: NO_VERTICAL_VELOCITY
state	3576	begin surface