Glider dive log

HoodCanal 25Jun23 * SG252 * Dive index * Mission links * Dive 32 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 252 TGT_DEFAULT_LAT 4736 ROLL_CNV 0.054945 XPDR_INHIBIT 90

MISSION 4 TGT_DEFAULT_LON -12218 ROLL_TIMEOUT 15 XPDR_INT 0

DIVE 32 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 XPDR_REP 0

N_DIVES 40 SM_CC 699.10498 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 1.9639999e-06

STOP_T 0 N_FILEKB 8 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 2

D_SURF 2 FILEMGR 0 VBD_MIN 500 DEEPGLIDER 0

D_FLARE 3 CALL_NDIVES 1 VBD_MAX 3960 DEEPGLIDERMB 0

D_TGT 150 COMM_SEQ 7 C_VBD 3350 MOTHERBOARD 6

D_ABORT 175 PROTOCOL 9 VBD_DBAND 2 DEVICE1 -1

D_NO_BLEED 50 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE2 -1

D_BOOST 0 NOCOMM_ACTION 131 VBD_LP_IGNORE 0 DEVICE3 -1

T_BOOST 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE4 -1

D_FINISH 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.0012300001 DEVICE5 -1

D_PITCH 0 NETBOX 1 UNCOM_BLEED 20 DEVICE6 -1

D_SAFE 0 CALL_TRIES 5 VBD_MAXERRORS 1 LOGGERS 7

D_CALL 0 CALL_WAIT 60 C_VBD_AUTO_DELTA 0 LOGGERDEVICE1 7

SURFACE_URGENCY 0 CAPUPLOAD 0 C_VBD_AUTO_MAX 0 LOGGERDEVICE2 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 10000 W_ADJ_DBAND 0 LOGGERDEVICE3 -1

SURFACE_URGENCY_FORCE 0 T_GPS 5 DBDW 0 LOGGERDEVICE4 -1

T_DIVE 50 N_GPS 100440 LOITER_W_DBAND 0 COMPASS_DEVICE 66

T_MISSION 75 T_RSLEEP 3 LOITER_DBDW 0 COMPASS2_DEVICE -1

T_ABORT 1440 STROBE 0 LOITER_D_TOP 0 PHONE_DEVICE 33

T_TURN 225 RAFOS_PEAK_OFFSET 0 LOITER_D_BOTTOM 0 GPS_DEVICE 48

T_TURN_SAMPINT -5 RAFOS_CORR_THRESH 60 LOITER_N_DIVE 0 RAFOS_DEVICE 96

T_NO_W 60 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 NAV_DEVICE 6

T_LOITER 0 RAFOS_MMODEM 0 AH0_24V 575 NAV2_DEVICE 6

T_EPIRB 0 PITCH_MIN 210 AH0_10V 0 NAV3_DEVICE -1

USE_BATHY -10 PITCH_MAX 3615 MINV_24V 11 NAV4_DEVICE -1

USE_ICE 0 C_PITCH 1600 MINV_10V 11 NETWORK_DEVICE 1

ICE_FREEZE_MARGIN 0.30000001 PITCH_DBAND 0.1 MAXI_24V 5 PRESSURE_DEVICE 34

D_OFFGRID 100 PITCH_CNV 0.0041299998 MAXI_10V 1.5 XPDR_DEVICE -1

RELAUNCH 1 PITCH_GAIN 14 FG_AHR_10V 2.1712384 SIM_W 0

APOGEE_PITCH -5 PITCH_TIMEOUT 30 FG_AHR_24V 15.40911 SEABIRD_T_G 0.0043000001

MAX_BUOY 150 PITCH_MAXERRORS 1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063999998

GLIDE_SLOPE 30 PITCH_ADJ_GAIN 0.015 PRESSURE_YINT -179.75725 SEABIRD_T_I 2.4999999e-05

SPEED_FACTOR 1 PITCH_ADJ_DBAND 2 PRESSURE_SLOPE 0.00022626969 SEABIRD_T_J 4.3e-06

RHO 1.023 C_PITCH_AUTO_DELTA 0 COMPASS_USE 114692 SEABIRD_C_G -10

MASS 72278 C_PITCH_AUTO_MAX 0 ALTIM_PING_FIT 0 SEABIRD_C_H 1

NAV_MODE 2 PITCH_GAIN_AUTO_DELTA 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_I -0.0020000001

FERRY_MAX 45 PITCH_GAIN_AUTO_MAX 0 ALTIM_BOTTOM_TURN_MARGIN 0 SEABIRD_C_J 0.00019999999

KALMAN_USE 2 PITCH_W_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 OPTIONS 0

HD_A 0.003 PITCH_W_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1 SC_RECORDABOVE 2000.0

HD_B 0.0099999998 ROLL_MIN 275 ALTIM_PING_DEPTH 0 SC_PROFILE 3.0

HD_C 1.6e-05 ROLL_MAX 3885 ALTIM_PING_DELTA 0 SC_XMITPROFILE 3.0

HEADING -1 ROLL_DEG 80 ALTIM_FREQUENCY 13 SC_NDIVE 1.0

ESCAPE_HEADING 0 C_ROLL_DIVE 2025 ALTIM_PULSE 3

ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 2025 ALTIM_SENSITIVITY 2

FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 10 XPDR_VALID 4

AH0_10V 0 D_PITCH 0 NOCOMM_ACTION 131 SEABIRD_C_I -0.0020000001

AH0_24V 575 D_SAFE 0 N_DIVES 40 SEABIRD_C_J 0.00019999999

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 2 N_FILEKB 8 SEABIRD_T_G 0.0043000001

ALTIM_FREQUENCY 13 D_TGT 150 N_GPS 100440 SEABIRD_T_H 0.00063999998

ALTIM_PING_DELTA 0 ESCAPE_HEADING 0 N_NOCOMM 1 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 N_NOSURFACE 0 SEABIRD_T_J 4.3e-06

ALTIM_PING_FIT 0 FERRY_MAX 45 OPTIONS 0 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 2.1712384 PHONE_DEVICE 33 SM_CC 699.10498

ALTIM_SENSITIVITY 2 FG_AHR_24V 15.40911 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_ADJ_DBAND 2 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_ADJ_GAIN 0.015 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_CNV 0.0041299998 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 48 PITCH_DBAND 0.1 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.003 PITCH_GAIN 14 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0099999998 PITCH_GAIN_AUTO_DELTA 0 TGT_AUTO_DEFAULT 0

CALL_WAIT 60 HD_C 1.6e-05 PITCH_GAIN_AUTO_MAX 0 TGT_DEFAULT_LAT 4736

CAPMAXSIZE 10000 HEADING -1 PITCH_MAX 3615 TGT_DEFAULT_LON -12218

CAPUPLOAD 0 HEAD_ERRBAND 10 PITCH_MAXERRORS 1 T_ABORT 1440

CF8_MAXERRORS 20 ICE_FREEZE_MARGIN 0.30000001 PITCH_MIN 210 T_BOOST 0

COMM_SEQ 7 ID 252 PITCH_TIMEOUT 30 T_DIVE 50

COMPASS2_DEVICE -1 INT_PRESSURE_SLOPE 1.9639999e-06 PITCH_VBD_SHIFT 0.0012300001 T_EPIRB 0

COMPASS_DEVICE 66 INT_PRESSURE_YINT 2 PITCH_W_DBAND 0 T_GPS 5

COMPASS_USE 114692 KALMAN_USE 2 PITCH_W_GAIN 0 T_LOITER 0

C_PITCH 1600 LOGGERDEVICE1 7 PRESSURE_DEVICE 34 T_MISSION 75

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE2 -1 PRESSURE_SLOPE 0.00022626969 T_NO_W 60

C_PITCH_AUTO_MAX 0 LOGGERDEVICE3 -1 PRESSURE_YINT -179.75725 T_RSLEEP 3

C_ROLL_CLIMB 2025 LOGGERDEVICE4 -1 PROTOCOL 9 T_TURN 225

C_ROLL_DIVE 2025 LOGGERS 7 RAFOS_CORR_THRESH 60 T_TURN_SAMPINT -5

C_VBD 3350 LOITER_DBDW 0 RAFOS_DEVICE 96 UNCOM_BLEED 20

C_VBD_AUTO_DELTA 0 LOITER_D_BOTTOM 0 RAFOS_HIT_WINDOW 3600 UPLOAD_DIVES_MAX -1

C_VBD_AUTO_MAX 0 LOITER_D_TOP 0 RAFOS_MMODEM 0 USE_BATHY -10

DBDW 0 LOITER_N_DIVE 0 RAFOS_PEAK_OFFSET 0 USE_ICE 0

DEEPGLIDER 0 LOITER_W_DBAND 0 RELAUNCH 1 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MASS 72278 RHO 1.023 VBD_DBAND 2

DEVICE1 -1 MAXI_10V 1.5 ROLL_ADJ_DBAND 0 VBD_LP_IGNORE 0

DEVICE2 -1 MAXI_24V 5 ROLL_ADJ_GAIN 0 VBD_MAX 3960

DEVICE3 -1 MAX_BUOY 150 ROLL_CNV 0.054945 VBD_MAXERRORS 1

DEVICE4 -1 MINV_10V 11 ROLL_DEG 80 VBD_MIN 500

DEVICE5 -1 MINV_24V 11 ROLL_MAX 3885 VBD_TIMEOUT 720

DEVICE6 -1 MISSION 4 ROLL_MAXERRORS 1 W_ADJ_DBAND 0

DIVE 32 MOTHERBOARD 6 ROLL_MIN 275 XPDR_DEVICE -1

D_ABORT 175 NAV2_DEVICE 6 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_BOOST 0 NAV3_DEVICE -1 SC_NDIVE 1.0 XPDR_INT 0

D_CALL 0 NAV4_DEVICE -1 SC_PROFILE 3.0 XPDR_REP 0

D_FINISH 0 NAV_DEVICE 6 SC_RECORDABOVE 2000.0 XPDR_VALID 4

D_FLARE 3 NAV_MODE 2 SC_XMITPROFILE 3.0

D_NO_BLEED 50 NETBOX 1 SEABIRD_C_G -10

D_OFFGRID 100 NETWORK_DEVICE 1 SEABIRD_C_H 1

Pre-dive calculations and measurements:

GPS1 270623,015331,4736.418,-12256.618,4,0.9,35,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.43 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270623,015656,4736.430,-12256.592,2,0.6,4,15.4 MHEAD_RNG_PITCHd_Wd 182.6,926,-17.6,-10.000,-21.21,2209,0.156

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME S IRON 1.000000,0.031484,-0.032928,-0.010108,1.045478,-0.062488,0.002039,-0.013247,0.921834,-196.850296,-1213.832397,-653.799561

TGT_LATLONG 4735.950,-12256.800 OSC 8000307

Post-dive calculations and measurements:

NAV 1687834759,0.1,start _10V_AH 14.95,0.000

NET CARFP,2023-06-27T02:37:51.915819,0,12,121,1,1,0,0,1;8;080c7903202016ff,1;5;ac017c9357;1;13;8d1f82615c4114032002826db8;1;13;16f70e30e143acd640842ef926;1;13;af000000001450426197c93576;1;13;f061f24d5d97157c935764368b;1;13;020b3e49ab9c0521b7c93574e8;1;2;69f2,1;22;4d5e5dcc5e141c7c935795011fa09460251608cc811f*14 FG_AHR_24Vo 15.655

MODEM_MSG CACST,8,1,20230627022500.203018,18,32767,45,0155,0000,126,04,04,00,04,-1,-01,-01,2,3,1,0,150,5.8,2.77,-100,0.23,-01,0.19,58,925,0025,0,-1,00,00*35 FG_AHR_10Vo 2.207

FREEZE 5.11,14.463,-1.516,0,1,0 MEM0 59804,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3589.68,284.80,1.137,0,501.0,527.1,475.0,698.85 MEM2 945440,26,101128,74

SM_GC 1.74,0.00,12.36,0.06,0.000,0.060,0.196,497.6,522.9,472.3,191.4,2042.0,0,0,0,30.00,15.60,15.57 DATA_FILE_SIZE 12902,489

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 194404,0

IRIDIUM_FIX 4736.87,-12256.21,270623,005733 SDSIZE 3887104,3862464

TCM_TEMP -86.36 SDFILEDIR 302,33

SC_FREEKB 3868544 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 0,1687831200,47.60500,-122.95000,0.178,260.5 CURRENT 0.037,233.1,1

RAFOS_FIX 4736.508301,-12257.306641,270623,020200,4,255,1.15 MAGCAL 1.000000,0.028550,-0.024161,-0.013810,1.039717,-0.063845,0.008384,-0.017174,0.914412,-203.5,-1214.1,-640.0,36,0.0254,0

HUMID 52.45 IMPLIED_C_PITCH 1760,13.01,235,0.0,0.00

TEMP 10.97 IMPLIED_C_VBD 3314,20.508331,235,0

INTERNAL_PRESSURE 7.98715 GPS 270623,025955,4736.003,-12256.895,2,0.7,3,15.4

_24V_AH 14.89,16.628

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 800 1316 15692.44 nil 0 0 0.00

Pitch_motor 25 257 98.94 nil 0 0 0.00

Roll_motor 73 293 319.37 nil 0 0 0.00

Iridium 136 159 323.91 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 13 15 3.09 nil 0 0 0.00

Core 2142 5 164.03 SciCon 3279 6 317.12

Fast 1 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1429 0 6.84

Compass 1030 5 77.02

RAFOS 1900 40 1136.77

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

5 end surface: CONTROL_FINISHED_OK

state 5 begin dive

6.78 16386 -146.63 -1.44 0.00 496.5 516.8 476.2 185.4 2005.6 0.00 0.00 0 56.32 44.74 0.00 0.00 0.005 0.000 0.000 1829.19 1822.81 1835.56 185.62 2005.19 0 0 0 15.94 30.00 30.00

56.85 18727 -146.63 -1.44 80.00 1830.1 1825.2 1834.9 185.7 2005.1 3.01 -3.95 9 142.09 57.13 7.95 3.69 0.005 0.258 0.132 3948.97 3953.62 3944.31 1252.06 3491.44 0 0 0 15.95 15.81 15.88

190.83 3205 -146.63 -1.23 0.00 3950.2 3955.2 3945.2 1252.8 3490.6 18.88 -16.00 31 199.36 0.00 0.34 3.54 0.000 0.194 0.075 3950.12 3956.88 3943.38 1304.75 2009.25 0 0 0 30.00 15.87 15.90

383.06 388 -146.63 -1.12 80.00 3950.8 3957.5 3944.1 1304.5 2008.9 44.42 -13.07 69 391.87 0.00 0.00 3.70 0.000 0.000 0.130 3950.62 3957.56 3943.69 1304.81 3492.56 0 0 0 30.00 30.00 15.94

490.73 3205 -146.63 -0.98 0.00 3951.1 3958.2 3943.9 1305.2 3491.9 60.54 -15.09 90 499.94 0.00 0.38 3.52 0.000 0.172 0.077 3951.44 3958.19 3944.69 1363.38 2008.56 0 0 0 30.00 15.93 15.96

685.76 388 -146.63 -0.94 80.00 3951.7 3959.4 3944.1 1364.1 2009.1 82.46 -10.88 110 694.63 0.00 0.00 3.71 0.000 0.000 0.133 3952.34 3959.38 3945.31 1364.62 3492.94 0 0 0 30.00 30.00 15.98

797.74 3205 -146.63 -0.87 0.00 3952.1 3959.9 3944.3 1364.4 3492.6 96.75 -12.90 132 806.18 0.00 0.18 3.55 0.000 0.183 0.077 3953.31 3960.88 3945.75 1393.25 2008.06 0 0 0 30.00 15.97 16.00

993.46 292 -146.63 -0.87 80.00 3952.9 3961.2 3944.6 1393.2 2008.8 116.25 -9.72 152 1002.34 0.00 0.00 3.70 0.000 0.000 0.134 3953.56 3961.69 3945.44 1393.06 3490.81 0 0 0 30.00 30.00 16.01

1085.43 1156 -146.63 -0.83 0.00 3953.1 3961.6 3944.6 1392.9 3490.6 126.03 -10.71 170 1093.61 0.00 0.00 3.51 0.000 0.000 0.079 3953.38 3962.06 3944.69 1392.94 2010.12 0 0 0 30.00 30.00 16.02

1281.15 292 -146.63 -0.83 80.00 3953.8 3962.8 3944.9 1392.9 2009.9 144.81 -9.62 190 1290.02 0.00 0.00 3.69 0.000 0.000 0.136 3953.00 3962.38 3943.62 1392.94 3487.62 0 0 0 30.00 30.00 16.03

1329 end dive: TARGET_DEPTH_EXCEEDED

state 1329 begin apogee

1336.99 10243 0.00 -0.36 0.00 3953.8 3962.5 3945.2 1392.4 2007.8 150.01 -11.21 199 1467.18 115.98 0.79 0.06 1.316 0.137 0.294 3350.03 3386.94 3313.12 1516.00 2039.31 0 0 0 11.96 16.03 15.61

1468 end apogee: CONTROL_FINISHED_OK

state 1469 begin climb

1468.75 10759 146.63 1.44 -80.00 3348.6 3385.8 3311.4 1516.1 2038.8 157.36 0.00 211 1620.48 124.64 2.82 4.16 1.281 0.107 0.182 2751.25 2797.88 2704.62 1950.00 562.06 0 0 0 11.89 15.64 15.40

1693.77 9382 181.17 1.52 0.00 2747.2 2790.6 2703.8 1951.4 562.3 145.08 8.40 251 1736.76 31.22 0.00 3.60 1.228 0.000 0.074 2608.00 2658.06 2557.94 1950.56 2040.06 0 0 0 11.92 30.00 15.64

1920.74 10663 233.21 1.68 80.00 2605.8 2654.8 2556.8 1950.7 2039.6 127.78 7.59 277 1978.99 44.04 0.34 3.72 1.249 0.064 0.143 2397.75 2455.50 2340.00 2026.56 3492.19 0 0 0 11.95 15.81 15.63

2082.20 1156 233.21 1.71 0.00 2394.5 2452.8 2336.2 2026.6 3491.3 109.18 12.48 308 2090.71 0.00 0.00 3.59 0.000 0.000 0.080 2393.28 2451.62 2334.94 2026.38 2009.88 0 0 0 30.00 30.00 15.77

2277.98 388 233.21 1.78 80.00 2393.2 2452.7 2333.6 2026.9 2010.1 88.04 10.59 328 2287.28 0.00 0.00 3.75 0.000 0.000 0.140 2393.78 2453.44 2334.12 2026.69 3488.88 0 0 0 30.00 30.00 15.88

2326.24 1156 233.21 1.82 0.00 2392.8 2451.9 2333.8 2026.2 3488.9 82.57 11.53 337 2335.33 0.00 0.00 3.54 0.000 0.000 0.080 2393.59 2452.06 2335.12 2026.88 2009.88 0 0 0 30.00 30.00 15.91

2521.35 2209 234.48 1.89 0.00 2391.8 2451.2 2332.5 2026.6 2010.1 63.20 9.94 357 2523.62 0.00 0.19 0.00 0.000 0.078 0.000 2390.34 2449.38 2331.31 2070.19 2009.94 0 0 0 30.00 16.00 30.00

2706.28 388 234.48 1.92 80.00 2392.1 2451.6 2332.6 2070.1 2009.8 42.69 10.80 382 2715.32 0.00 0.00 3.71 0.000 0.000 0.140 2390.53 2450.88 2330.19 2070.50 3490.69 0 0 0 30.00 30.00 16.00

2789.08 1028 234.48 1.92 0.00 2391.7 2450.4 2333.0 2070.9 3489.9 32.67 12.18 398 2807.83 0.00 0.00 3.50 0.000 0.000 0.081 2389.59 2447.31 2331.88 2071.12 2009.19 0 0 0 30.00 30.00 16.02

2991.81 8614 240.90 1.98 80.00 2391.1 2449.9 2332.2 2071.1 2009.7 12.23 9.70 436 3010.62 7.99 0.00 3.71 0.998 0.000 0.140 2366.62 2425.88 2307.38 2070.94 3490.12 0 0 0 12.02 30.00 16.01

3164.69 11431 399.25 2.23 0.00 2365.7 2423.6 2307.8 2071.1 3490.1 5.87 2.67 470 3272.66 90.08 0.42 3.49 1.190 0.059 0.077 1941.66 2012.88 1870.44 2156.62 2007.31 0 0 0 12.10 16.06 16.05

3273 end climb: NO_VERTICAL_VELOCITY

state 3273 begin surface

ID	252	TGT_DEFAULT_LAT	4736	ROLL_CNV	0.054945	XPDR_INHIBIT	90
MISSION	4	TGT_DEFAULT_LON	-12218	ROLL_TIMEOUT	15	XPDR_INT	0
DIVE	32	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	XPDR_REP	0
N_DIVES	40	SM_CC	699.10498	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	1.9639999e-06
STOP_T	0	N_FILEKB	8	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	2
D_SURF	2	FILEMGR	0	VBD_MIN	500	DEEPGLIDER	0
D_FLARE	3	CALL_NDIVES	1	VBD_MAX	3960	DEEPGLIDERMB	0
D_TGT	150	COMM_SEQ	7	C_VBD	3350	MOTHERBOARD	6
D_ABORT	175	PROTOCOL	9	VBD_DBAND	2	DEVICE1	-1
D_NO_BLEED	50	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE2	-1
D_BOOST	0	NOCOMM_ACTION	131	VBD_LP_IGNORE	0	DEVICE3	-1
T_BOOST	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE4	-1
D_FINISH	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.0012300001	DEVICE5	-1
D_PITCH	0	NETBOX	1	UNCOM_BLEED	20	DEVICE6	-1
D_SAFE	0	CALL_TRIES	5	VBD_MAXERRORS	1	LOGGERS	7
D_CALL	0	CALL_WAIT	60	C_VBD_AUTO_DELTA	0	LOGGERDEVICE1	7
SURFACE_URGENCY	0	CAPUPLOAD	0	C_VBD_AUTO_MAX	0	LOGGERDEVICE2	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	10000	W_ADJ_DBAND	0	LOGGERDEVICE3	-1
SURFACE_URGENCY_FORCE	0	T_GPS	5	DBDW	0	LOGGERDEVICE4	-1
T_DIVE	50	N_GPS	100440	LOITER_W_DBAND	0	COMPASS_DEVICE	66
T_MISSION	75	T_RSLEEP	3	LOITER_DBDW	0	COMPASS2_DEVICE	-1
T_ABORT	1440	STROBE	0	LOITER_D_TOP	0	PHONE_DEVICE	33
T_TURN	225	RAFOS_PEAK_OFFSET	0	LOITER_D_BOTTOM	0	GPS_DEVICE	48
T_TURN_SAMPINT	-5	RAFOS_CORR_THRESH	60	LOITER_N_DIVE	0	RAFOS_DEVICE	96
T_NO_W	60	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	NAV_DEVICE	6
T_LOITER	0	RAFOS_MMODEM	0	AH0_24V	575	NAV2_DEVICE	6
T_EPIRB	0	PITCH_MIN	210	AH0_10V	0	NAV3_DEVICE	-1
USE_BATHY	-10	PITCH_MAX	3615	MINV_24V	11	NAV4_DEVICE	-1
USE_ICE	0	C_PITCH	1600	MINV_10V	11	NETWORK_DEVICE	1
ICE_FREEZE_MARGIN	0.30000001	PITCH_DBAND	0.1	MAXI_24V	5	PRESSURE_DEVICE	34
D_OFFGRID	100	PITCH_CNV	0.0041299998	MAXI_10V	1.5	XPDR_DEVICE	-1
RELAUNCH	1	PITCH_GAIN	14	FG_AHR_10V	2.1712384	SIM_W	0
APOGEE_PITCH	-5	PITCH_TIMEOUT	30	FG_AHR_24V	15.40911	SEABIRD_T_G	0.0043000001
MAX_BUOY	150	PITCH_MAXERRORS	1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063999998
GLIDE_SLOPE	30	PITCH_ADJ_GAIN	0.015	PRESSURE_YINT	-179.75725	SEABIRD_T_I	2.4999999e-05
SPEED_FACTOR	1	PITCH_ADJ_DBAND	2	PRESSURE_SLOPE	0.00022626969	SEABIRD_T_J	4.3e-06
RHO	1.023	C_PITCH_AUTO_DELTA	0	COMPASS_USE	114692	SEABIRD_C_G	-10
MASS	72278	C_PITCH_AUTO_MAX	0	ALTIM_PING_FIT	0	SEABIRD_C_H	1
NAV_MODE	2	PITCH_GAIN_AUTO_DELTA	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_I	-0.0020000001
FERRY_MAX	45	PITCH_GAIN_AUTO_MAX	0	ALTIM_BOTTOM_TURN_MARGIN	0	SEABIRD_C_J	0.00019999999
KALMAN_USE	2	PITCH_W_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	OPTIONS	0
HD_A	0.003	PITCH_W_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1	SC_RECORDABOVE	2000.0
HD_B	0.0099999998	ROLL_MIN	275	ALTIM_PING_DEPTH	0	SC_PROFILE	3.0
HD_C	1.6e-05	ROLL_MAX	3885	ALTIM_PING_DELTA	0	SC_XMITPROFILE	3.0
HEADING	-1	ROLL_DEG	80	ALTIM_FREQUENCY	13	SC_NDIVE	1.0
ESCAPE_HEADING	0	C_ROLL_DIVE	2025	ALTIM_PULSE	3
ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	2025	ALTIM_SENSITIVITY	2
FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	10	XPDR_VALID	4

GPS1	270623,015331,4736.418,-12256.618,4,0.9,35,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.43	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270623,015656,4736.430,-12256.592,2,0.6,4,15.4	MHEAD_RNG_PITCHd_Wd	182.6,926,-17.6,-10.000,-21.21,2209,0.156
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	S	IRON	1.000000,0.031484,-0.032928,-0.010108,1.045478,-0.062488,0.002039,-0.013247,0.921834,-196.850296,-1213.832397,-653.799561
TGT_LATLONG	4735.950,-12256.800	OSC	8000307

NAV	1687834759,0.1,start	_10V_AH	14.95,0.000
NET	CARFP,2023-06-27T02:37:51.915819,0,12,121,1,1,0,0,1;8;080c7903202016ff,1;5;ac017c9357;1;13;8d1f82615c4114032002826db8;1;13;16f70e30e143acd640842ef926;1;13;af000000001450426197c93576;1;13;f061f24d5d97157c935764368b;1;13;020b3e49ab9c0521b7c93574e8;1;2;69f2,1;22;4d5e5dcc5e141c7c935795011fa09460251608cc811f*14	FG_AHR_24Vo	15.655
MODEM_MSG	CACST,8,1,20230627022500.203018,18,32767,45,0155,0000,126,04,04,00,04,-1,-01,-01,2,3,1,0,150,5.8,2.77,-100,0.23,-01,0.19,58,925,0025,0,-1,00,00*35	FG_AHR_10Vo	2.207
FREEZE	5.11,14.463,-1.516,0,1,0	MEM0	59804,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3589.68,284.80,1.137,0,501.0,527.1,475.0,698.85	MEM2	945440,26,101128,74
SM_GC	1.74,0.00,12.36,0.06,0.000,0.060,0.196,497.6,522.9,472.3,191.4,2042.0,0,0,0,30.00,15.60,15.57	DATA_FILE_SIZE	12902,489
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	194404,0
IRIDIUM_FIX	4736.87,-12256.21,270623,005733	SDSIZE	3887104,3862464
TCM_TEMP	-86.36	SDFILEDIR	302,33
SC_FREEKB	3868544	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	0,1687831200,47.60500,-122.95000,0.178,260.5	CURRENT	0.037,233.1,1
RAFOS_FIX	4736.508301,-12257.306641,270623,020200,4,255,1.15	MAGCAL	1.000000,0.028550,-0.024161,-0.013810,1.039717,-0.063845,0.008384,-0.017174,0.914412,-203.5,-1214.1,-640.0,36,0.0254,0
HUMID	52.45	IMPLIED_C_PITCH	1760,13.01,235,0.0,0.00
TEMP	10.97	IMPLIED_C_VBD	3314,20.508331,235,0
INTERNAL_PRESSURE	7.98715	GPS	270623,025955,4736.003,-12256.895,2,0.7,3,15.4
_24V_AH	14.89,16.628

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	800	1316	15692.44	nil	0	0	0.00
Pitch_motor	25	257	98.94	nil	0	0	0.00
Roll_motor	73	293	319.37	nil	0	0	0.00
Iridium	136	159	323.91	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	13	15	3.09	nil	0	0	0.00
Core	2142	5	164.03	SciCon	3279	6	317.12
Fast	1	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1429	0	6.84
Compass	1030	5	77.02
RAFOS	1900	40	1136.77
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
5	end surface: CONTROL_FINISHED_OK
state	5	begin dive
6.78	16386	-146.63	-1.44	0.00	496.5	516.8	476.2	185.4	2005.6	0.00	0.00	0	56.32	44.74	0.00	0.00	0.005	0.000	0.000	1829.19	1822.81	1835.56	185.62	2005.19	0	0	0	15.94	30.00	30.00
56.85	18727	-146.63	-1.44	80.00	1830.1	1825.2	1834.9	185.7	2005.1	3.01	-3.95	9	142.09	57.13	7.95	3.69	0.005	0.258	0.132	3948.97	3953.62	3944.31	1252.06	3491.44	0	0	0	15.95	15.81	15.88
190.83	3205	-146.63	-1.23	0.00	3950.2	3955.2	3945.2	1252.8	3490.6	18.88	-16.00	31	199.36	0.00	0.34	3.54	0.000	0.194	0.075	3950.12	3956.88	3943.38	1304.75	2009.25	0	0	0	30.00	15.87	15.90
383.06	388	-146.63	-1.12	80.00	3950.8	3957.5	3944.1	1304.5	2008.9	44.42	-13.07	69	391.87	0.00	0.00	3.70	0.000	0.000	0.130	3950.62	3957.56	3943.69	1304.81	3492.56	0	0	0	30.00	30.00	15.94
490.73	3205	-146.63	-0.98	0.00	3951.1	3958.2	3943.9	1305.2	3491.9	60.54	-15.09	90	499.94	0.00	0.38	3.52	0.000	0.172	0.077	3951.44	3958.19	3944.69	1363.38	2008.56	0	0	0	30.00	15.93	15.96
685.76	388	-146.63	-0.94	80.00	3951.7	3959.4	3944.1	1364.1	2009.1	82.46	-10.88	110	694.63	0.00	0.00	3.71	0.000	0.000	0.133	3952.34	3959.38	3945.31	1364.62	3492.94	0	0	0	30.00	30.00	15.98
797.74	3205	-146.63	-0.87	0.00	3952.1	3959.9	3944.3	1364.4	3492.6	96.75	-12.90	132	806.18	0.00	0.18	3.55	0.000	0.183	0.077	3953.31	3960.88	3945.75	1393.25	2008.06	0	0	0	30.00	15.97	16.00
993.46	292	-146.63	-0.87	80.00	3952.9	3961.2	3944.6	1393.2	2008.8	116.25	-9.72	152	1002.34	0.00	0.00	3.70	0.000	0.000	0.134	3953.56	3961.69	3945.44	1393.06	3490.81	0	0	0	30.00	30.00	16.01
1085.43	1156	-146.63	-0.83	0.00	3953.1	3961.6	3944.6	1392.9	3490.6	126.03	-10.71	170	1093.61	0.00	0.00	3.51	0.000	0.000	0.079	3953.38	3962.06	3944.69	1392.94	2010.12	0	0	0	30.00	30.00	16.02
1281.15	292	-146.63	-0.83	80.00	3953.8	3962.8	3944.9	1392.9	2009.9	144.81	-9.62	190	1290.02	0.00	0.00	3.69	0.000	0.000	0.136	3953.00	3962.38	3943.62	1392.94	3487.62	0	0	0	30.00	30.00	16.03
1329	end dive: TARGET_DEPTH_EXCEEDED
state	1329	begin apogee
1336.99	10243	0.00	-0.36	0.00	3953.8	3962.5	3945.2	1392.4	2007.8	150.01	-11.21	199	1467.18	115.98	0.79	0.06	1.316	0.137	0.294	3350.03	3386.94	3313.12	1516.00	2039.31	0	0	0	11.96	16.03	15.61
1468	end apogee: CONTROL_FINISHED_OK
state	1469	begin climb
1468.75	10759	146.63	1.44	-80.00	3348.6	3385.8	3311.4	1516.1	2038.8	157.36	0.00	211	1620.48	124.64	2.82	4.16	1.281	0.107	0.182	2751.25	2797.88	2704.62	1950.00	562.06	0	0	0	11.89	15.64	15.40
1693.77	9382	181.17	1.52	0.00	2747.2	2790.6	2703.8	1951.4	562.3	145.08	8.40	251	1736.76	31.22	0.00	3.60	1.228	0.000	0.074	2608.00	2658.06	2557.94	1950.56	2040.06	0	0	0	11.92	30.00	15.64
1920.74	10663	233.21	1.68	80.00	2605.8	2654.8	2556.8	1950.7	2039.6	127.78	7.59	277	1978.99	44.04	0.34	3.72	1.249	0.064	0.143	2397.75	2455.50	2340.00	2026.56	3492.19	0	0	0	11.95	15.81	15.63
2082.20	1156	233.21	1.71	0.00	2394.5	2452.8	2336.2	2026.6	3491.3	109.18	12.48	308	2090.71	0.00	0.00	3.59	0.000	0.000	0.080	2393.28	2451.62	2334.94	2026.38	2009.88	0	0	0	30.00	30.00	15.77
2277.98	388	233.21	1.78	80.00	2393.2	2452.7	2333.6	2026.9	2010.1	88.04	10.59	328	2287.28	0.00	0.00	3.75	0.000	0.000	0.140	2393.78	2453.44	2334.12	2026.69	3488.88	0	0	0	30.00	30.00	15.88
2326.24	1156	233.21	1.82	0.00	2392.8	2451.9	2333.8	2026.2	3488.9	82.57	11.53	337	2335.33	0.00	0.00	3.54	0.000	0.000	0.080	2393.59	2452.06	2335.12	2026.88	2009.88	0	0	0	30.00	30.00	15.91
2521.35	2209	234.48	1.89	0.00	2391.8	2451.2	2332.5	2026.6	2010.1	63.20	9.94	357	2523.62	0.00	0.19	0.00	0.000	0.078	0.000	2390.34	2449.38	2331.31	2070.19	2009.94	0	0	0	30.00	16.00	30.00
2706.28	388	234.48	1.92	80.00	2392.1	2451.6	2332.6	2070.1	2009.8	42.69	10.80	382	2715.32	0.00	0.00	3.71	0.000	0.000	0.140	2390.53	2450.88	2330.19	2070.50	3490.69	0	0	0	30.00	30.00	16.00
2789.08	1028	234.48	1.92	0.00	2391.7	2450.4	2333.0	2070.9	3489.9	32.67	12.18	398	2807.83	0.00	0.00	3.50	0.000	0.000	0.081	2389.59	2447.31	2331.88	2071.12	2009.19	0	0	0	30.00	30.00	16.02
2991.81	8614	240.90	1.98	80.00	2391.1	2449.9	2332.2	2071.1	2009.7	12.23	9.70	436	3010.62	7.99	0.00	3.71	0.998	0.000	0.140	2366.62	2425.88	2307.38	2070.94	3490.12	0	0	0	12.02	30.00	16.01
3164.69	11431	399.25	2.23	0.00	2365.7	2423.6	2307.8	2071.1	3490.1	5.87	2.67	470	3272.66	90.08	0.42	3.49	1.190	0.059	0.077	1941.66	2012.88	1870.44	2156.62	2007.31	0	0	0	12.10	16.06	16.05
3273	end climb: NO_VERTICAL_VELOCITY
state	3273	begin surface