Glider dive log

HoodCanal 19Jun23 * SG252 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 252 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2025 ALTIM_PULSE 3

MISSION 3 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 8 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 699.10498 ROLL_MAXERRORS 1 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 2

D_ABORT 175 COMM_SEQ 7 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3350 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 720 DEVICE3 -1

D_SAFE 0 NETBOX 1 PITCH_VBD_SHIFT 0.0012300001 DEVICE4 -1

D_CALL 0 CALL_TRIES 5 UNCOM_BLEED 20 DEVICE5 -1

SURFACE_URGENCY 0 CALL_WAIT 60 VBD_MAXERRORS 1 DEVICE6 -1

SURFACE_URGENCY_TRY 0 CAPUPLOAD 0 C_VBD_AUTO_DELTA 0 LOGGERS 7

SURFACE_URGENCY_FORCE 0 CAPMAXSIZE 10000 C_VBD_AUTO_MAX 0 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 3 LOITER_W_DBAND 0 LOGGERDEVICE4 -1

T_TURN 225 STROBE 0 LOITER_DBDW 0 COMPASS_DEVICE 66

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 LOITER_D_TOP 0 COMPASS2_DEVICE -1

T_NO_W 60 RAFOS_CORR_THRESH 60 LOITER_D_BOTTOM 0 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 20 RAFOS_DEVICE 96

USE_BATHY -10 PITCH_MIN 210 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3615 AH0_10V 0 NAV2_DEVICE 6

ICE_FREEZE_MARGIN 0.30000001 C_PITCH 1600 MINV_24V 11 NETWORK_DEVICE 1

D_OFFGRID 100 PITCH_DBAND 0.1 MINV_10V 11 PRESSURE_DEVICE 34

RELAUNCH 1 PITCH_CNV 0.0041299998 MAXI_24V 5 XPDR_DEVICE -1

APOGEE_PITCH -5 PITCH_GAIN 14 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 0.36867276 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 3.3293455 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 -179.55089 SEABIRD_T_J 4.3e-06

MASS 72278 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022626969 SEABIRD_C_G -10

NAV_MODE 2 C_PITCH_AUTO_MAX 0 COMPASS_USE 114692 SEABIRD_C_H 1

FERRY_MAX 45 PITCH_GAIN_AUTO_DELTA 0 ALTIM_PING_FIT 0 SEABIRD_C_I -0.0020000001

KALMAN_USE 2 PITCH_GAIN_AUTO_MAX 0 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 275 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3885 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 2025 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 8 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 0.36867276 PHONE_SUPPLY 2 SM_CC 699.10498

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 3.3293455 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 14 SURFACE_URGENCY_FORCE 0

CALL_TRIES 5 HD_A 0.003 PITCH_GAIN_AUTO_DELTA 0 SURFACE_URGENCY_TRY 0

CALL_WAIT 60 HD_B 0.0099999998 PITCH_GAIN_AUTO_MAX 0 TGT_AUTO_DEFAULT 0

CAPMAXSIZE 10000 HD_C 1.6e-05 PITCH_MAX 3615 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 210 T_ABORT 1440

COMM_SEQ 7 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 252 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 2 PITCH_W_GAIN 0 T_GPS 5

C_PITCH 1600 KALMAN_USE 2 PRESSURE_DEVICE 34 T_LOITER 0

C_PITCH_AUTO_DELTA 0 LOGGERDEVICE1 7 PRESSURE_SLOPE 0.00022626969 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -179.55089 T_NO_W 60

C_ROLL_CLIMB 2025 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2025 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3350 LOGGERS 7 RAFOS_DEVICE 96 T_TURN_SAMPINT -5

C_VBD_AUTO_DELTA 0 LOITER_DBDW 0 RAFOS_HIT_WINDOW 3600 UNCOM_BLEED 20

C_VBD_AUTO_MAX 0 LOITER_D_BOTTOM 0 RAFOS_MMODEM 0 UPLOAD_DIVES_MAX -1

DBDW 0 LOITER_D_TOP 0 RAFOS_PEAK_OFFSET 0 USE_BATHY -10

DEEPGLIDER 0 LOITER_N_DIVE 0 RELAUNCH 1 USE_ICE 0

DEEPGLIDERMB 0 LOITER_W_DBAND 0 RHO 1.023 VBD_CNV -0.24529999

DEVICE1 -1 MASS 72278 ROLL_ADJ_DBAND 0 VBD_DBAND 2

DEVICE2 -1 MAXI_10V 1.5 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 11 ROLL_MAX 3885 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 6 MISSION 3 ROLL_MIN 275 W_ADJ_DBAND 0

D_ABORT 175 MOTHERBOARD 6 ROLL_TIMEOUT 15 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 1 SC_XMITPROFILE 3.0 XPDR_VALID 4

D_NO_BLEED 50 NETWORK_DEVICE 1 SEABIRD_C_G -10

Pre-dive calculations and measurements:

GPS1 200623,010305,4736.451,-12256.278,2,1.4,8,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.40 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,010506,4736.441,-12256.284,4,1.4,10,15.4 MHEAD_RNG_PITCHd_Wd 341.8,721,-17.6,-10.000,-21.21,2209,0.133

SPEED_LIMITS 0.173,0.258 D_GRID 168

TGT_NAME N IRON 1.000000,0.038334,-0.018923,-0.049440,1.166098,-0.010501,-0.078735,0.017244,1.118553,-234.082230,-1254.545410,-869.140137

TGT_LATLONG 4736.830,-12256.300 OSC 8000307

Post-dive calculations and measurements:

NET CACST,8,1,20230620010609.196588,18,32767,45,0194,0110,07,01,01,00,01,-1,-01,-01,2,3,7,0,150,8.5,2.63,-100,0.37,-01,-0.09,64,10000,5000,0,-1,00,00*48 FG_AHR_24Vo 3.569

NAV 1687226654,5.0,0,stop FG_AHR_10Vo 0.404

FREEZE 4.58,14.874,-1.481,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3866.66,277.13,1.134,0,500.8,528.4,473.2,698.91 MEM2 945684,33,100864,68

SM_GC 1.35,0.00,12.40,0.05,0.000,0.071,0.221,498.4,525.8,471.0,195.4,2038.6,0,0,0,30.00,15.64,15.63 DATA_FILE_SIZE 16150,552

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 222042,0

IRIDIUM_FIX 4738.80,-12300.63,200623,005910 SDSIZE 3887104,3872480

TCM_TEMP -86.09 SDFILEDIR 75,7

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 1 SOUNDSPEED 1465.0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CURRENT 0.053,143.7,1

HUMID 53.10 MAGCAL 1.000000,0.010119,0.007013,0.001362,1.040693,-0.120474,-0.041075,-0.059257,1.015568,-267.6,-1171.5,-780.4,26,0.0283,0

TEMP 11.39 IMPLIED_C_PITCH 1763,13.07,263,0.0,0.00

INTERNAL_PRESSURE 8.00748 IMPLIED_C_VBD 3396,46.055866,263,0

_24V_AH 15.00,3.748 GPS 200623,021302,4736.734,-12256.204,41,0.8,42,15.4

_10V_AH 15.00,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 784 1303 15335.40 nil 0 0 0.00

Pitch_motor 25 261 99.99 nil 0 0 0.00

Roll_motor 64 319 309.56 nil 0 0 0.00

Iridium 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 19 15 4.40 nil 0 0 0.00

Core 2185 5 167.85 SciCon 3562 6 346.60

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1533 0 7.36

Compass 1149 5 86.22

RAFOS 1856 40 1114.17

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

7.04 16386 -146.63 -1.44 0.00 501.0 527.5 474.4 211.2 2009.7 0.00 0.00 0 78.64 64.21 0.00 0.00 0.005 0.000 0.000 2357.59 2380.94 2334.25 211.88 2009.56 0 0 0 15.33 30.00 30.00

79.22 18727 -146.63 -1.44 80.00 2356.3 2379.9 2332.7 211.6 2009.5 3.20 -2.68 12 146.36 37.46 7.63 3.60 0.005 0.261 0.135 3948.16 3956.50 3939.81 1252.81 3491.31 0 0 0 16.26 16.11 16.17

245.29 3237 -146.63 -1.29 0.00 3949.0 3957.8 3940.2 1252.9 3491.4 18.67 -8.75 43 253.95 0.00 0.23 3.42 0.000 0.191 0.074 3950.00 3959.06 3940.94 1289.06 2007.38 0 0 0 30.00 16.13 16.17

437.89 160 -146.63 -1.20 0.00 3949.1 3958.2 3940.0 1289.2 2006.9 32.21 -7.47 81 441.70 0.00 0.00 0.00 0.000 0.000 0.000 3949.03 3958.25 3939.81 1289.25 2007.25 0 0 0 30.00 30.00 30.00

626.32 2209 -146.63 -1.08 0.00 3949.2 3958.6 3939.8 1289.4 2006.8 47.96 -9.37 118 630.61 0.00 0.33 0.00 0.000 0.173 0.000 3949.28 3958.81 3939.75 1340.88 2007.19 0 0 0 30.00 16.11 30.00

821.32 420 -146.63 -0.99 80.00 3949.1 3958.2 3940.0 1340.9 2007.7 66.06 -9.67 140 830.21 0.00 0.00 3.61 0.000 0.000 0.136 3948.00 3958.19 3937.81 1341.81 3491.12 0 0 0 30.00 30.00 16.14

989.14 3205 -146.63 -0.87 0.00 3949.3 3958.9 3939.8 1341.8 3491.7 85.95 -12.22 173 998.44 0.00 0.32 3.44 0.000 0.173 0.080 3948.31 3958.00 3938.62 1391.44 2007.38 0 0 0 30.00 16.13 16.16

1184.16 388 -146.63 -0.84 80.00 3949.0 3958.8 3939.2 1391.7 2007.1 105.95 -10.23 193 1193.24 0.00 0.00 3.62 0.000 0.000 0.139 3949.75 3959.38 3940.12 1391.50 3489.06 0 0 0 30.00 30.00 16.12

1232.15 1156 -146.63 -0.79 0.00 3949.1 3958.7 3939.5 1391.4 3489.3 111.10 -10.78 202 1240.95 0.00 0.00 3.43 0.000 0.000 0.081 3948.88 3958.19 3939.56 1391.56 2008.25 0 0 0 30.00 30.00 16.15

1427.09 292 -146.63 -0.79 80.00 3949.2 3958.7 3939.7 1391.6 2008.1 129.72 -9.12 222 1436.15 0.00 0.00 3.63 0.000 0.000 0.142 3950.12 3960.38 3939.88 1391.94 3491.25 0 0 0 30.00 30.00 16.14

1535.08 3205 -146.63 -0.75 0.00 3949.0 3958.8 3939.2 1391.6 3490.9 141.16 -10.85 243 1544.17 0.00 0.18 3.44 0.000 0.167 0.083 3948.69 3958.06 3939.31 1420.56 2010.56 0 0 0 30.00 16.15 16.16

1640 end dive: TARGET_DEPTH_EXCEEDED

state 1640 begin apogee

1641.71 10243 0.00 -0.36 0.00 3949.3 3958.8 3939.8 1420.7 2039.5 150.49 -8.66 254 1767.40 112.44 0.60 0.06 1.303 0.133 0.320 3349.94 3394.00 3305.88 1516.81 2013.06 0 0 0 11.77 16.16 15.74

1768 end apogee: CONTROL_FINISHED_OK

state 1769 begin climb

1768.85 10759 146.63 1.44 -80.00 3347.7 3391.2 3304.2 1516.2 2013.2 156.62 0.00 265 1915.92 119.30 2.82 3.92 1.263 0.111 0.194 2750.19 2804.00 2696.38 1950.69 560.75 0 0 0 11.74 15.77 15.50

1954.15 9382 192.36 1.53 0.00 2747.4 2797.2 2697.6 1950.1 561.1 147.49 7.88 298 2006.40 38.96 0.00 3.55 1.217 0.000 0.080 2565.81 2623.12 2508.50 1950.25 2039.62 0 0 0 11.67 30.00 15.70

2190.33 10663 215.27 1.66 80.00 2558.6 2614.8 2502.4 1950.6 2040.1 128.03 8.94 326 2221.84 19.82 0.31 3.64 1.179 0.069 0.148 2468.31 2526.00 2410.62 2018.00 3490.50 0 0 0 11.85 15.88 15.77

2360.76 1156 215.27 1.69 0.00 2468.2 2524.8 2411.6 2017.4 3490.6 108.10 12.15 359 2373.46 0.00 0.00 3.53 0.000 0.000 0.087 2465.38 2521.94 2408.81 2017.75 2010.62 0 0 0 30.00 30.00 15.79

2557.38 8614 230.29 1.77 80.00 2466.4 2524.7 2408.2 2017.4 2010.9 87.93 9.30 379 2581.58 14.02 0.00 3.67 1.135 0.000 0.144 2409.22 2469.62 2348.81 2018.56 3489.44 0 0 0 11.85 30.00 15.93

2664.73 1156 230.29 1.82 0.00 2408.5 2467.7 2349.2 2018.4 3489.6 76.97 10.47 400 2672.97 0.00 0.00 3.50 0.000 0.000 0.086 2407.94 2466.38 2349.50 2017.94 2010.75 0 0 0 30.00 30.00 15.98

2860.61 10663 247.51 1.91 80.00 2407.4 2467.5 2347.2 2018.0 2011.0 58.68 9.20 420 2889.73 17.65 0.28 3.66 1.154 0.072 0.145 2339.84 2401.88 2277.81 2075.62 3489.44 0 0 0 11.75 16.06 15.96

2933.46 1028 247.51 1.91 0.00 2338.9 2400.0 2277.9 2076.4 3489.1 49.67 13.20 434 2942.21 0.00 0.00 3.49 0.000 0.000 0.086 2337.75 2399.56 2275.94 2075.81 2009.19 0 0 0 30.00 30.00 16.00

3127.22 388 247.51 1.95 80.00 2337.2 2399.4 2275.0 2075.6 2009.2 28.52 10.60 472 3135.99 0.00 0.00 3.65 0.000 0.000 0.143 2335.75 2398.19 2273.31 2075.88 3490.50 0 0 0 30.00 30.00 16.03

3274.30 1028 247.51 1.95 0.00 2336.4 2398.2 2274.6 2075.7 3490.1 11.60 10.49 497 3283.04 0.00 0.00 3.47 0.000 0.000 0.084 2334.41 2395.56 2273.25 2075.94 2009.31 0 0 0 30.00 30.00 16.05

3466.99 10919 421.08 2.26 -80.00 2334.7 2397.2 2272.1 2075.9 2009.5 5.01 1.96 535 3559.95 83.49 0.44 0.00 1.189 0.064 0.000 1932.56 2006.81 1858.31 2160.06 2009.56 0 0 0 11.88 16.09 30.00

3560 end climb: NO_VERTICAL_VELOCITY

state 3561 begin surface

ID	252	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2025	ALTIM_PULSE	3
MISSION	3	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	8	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	699.10498	ROLL_MAXERRORS	1	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	2
D_ABORT	175	COMM_SEQ	7	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3350	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	720	DEVICE3	-1
D_SAFE	0	NETBOX	1	PITCH_VBD_SHIFT	0.0012300001	DEVICE4	-1
D_CALL	0	CALL_TRIES	5	UNCOM_BLEED	20	DEVICE5	-1
SURFACE_URGENCY	0	CALL_WAIT	60	VBD_MAXERRORS	1	DEVICE6	-1
SURFACE_URGENCY_TRY	0	CAPUPLOAD	0	C_VBD_AUTO_DELTA	0	LOGGERS	7
SURFACE_URGENCY_FORCE	0	CAPMAXSIZE	10000	C_VBD_AUTO_MAX	0	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	3	LOITER_W_DBAND	0	LOGGERDEVICE4	-1
T_TURN	225	STROBE	0	LOITER_DBDW	0	COMPASS_DEVICE	66
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	LOITER_D_TOP	0	COMPASS2_DEVICE	-1
T_NO_W	60	RAFOS_CORR_THRESH	60	LOITER_D_BOTTOM	0	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	20	RAFOS_DEVICE	96
USE_BATHY	-10	PITCH_MIN	210	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3615	AH0_10V	0	NAV2_DEVICE	6
ICE_FREEZE_MARGIN	0.30000001	C_PITCH	1600	MINV_24V	11	NETWORK_DEVICE	1
D_OFFGRID	100	PITCH_DBAND	0.1	MINV_10V	11	PRESSURE_DEVICE	34
RELAUNCH	1	PITCH_CNV	0.0041299998	MAXI_24V	5	XPDR_DEVICE	-1
APOGEE_PITCH	-5	PITCH_GAIN	14	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	0.36867276	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	3.3293455	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	-179.55089	SEABIRD_T_J	4.3e-06
MASS	72278	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022626969	SEABIRD_C_G	-10
NAV_MODE	2	C_PITCH_AUTO_MAX	0	COMPASS_USE	114692	SEABIRD_C_H	1
FERRY_MAX	45	PITCH_GAIN_AUTO_DELTA	0	ALTIM_PING_FIT	0	SEABIRD_C_I	-0.0020000001
KALMAN_USE	2	PITCH_GAIN_AUTO_MAX	0	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	275	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3885	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	2025	ALTIM_FREQUENCY	13

GPS1	200623,010305,4736.451,-12256.278,2,1.4,8,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.40	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,010506,4736.441,-12256.284,4,1.4,10,15.4	MHEAD_RNG_PITCHd_Wd	341.8,721,-17.6,-10.000,-21.21,2209,0.133
SPEED_LIMITS	0.173,0.258	D_GRID	168
TGT_NAME	N	IRON	1.000000,0.038334,-0.018923,-0.049440,1.166098,-0.010501,-0.078735,0.017244,1.118553,-234.082230,-1254.545410,-869.140137
TGT_LATLONG	4736.830,-12256.300	OSC	8000307

NET	CACST,8,1,20230620010609.196588,18,32767,45,0194,0110,07,01,01,00,01,-1,-01,-01,2,3,7,0,150,8.5,2.63,-100,0.37,-01,-0.09,64,10000,5000,0,-1,00,00*48	FG_AHR_24Vo	3.569
NAV	1687226654,5.0,0,stop	FG_AHR_10Vo	0.404
FREEZE	4.58,14.874,-1.481,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3866.66,277.13,1.134,0,500.8,528.4,473.2,698.91	MEM2	945684,33,100864,68
SM_GC	1.35,0.00,12.40,0.05,0.000,0.071,0.221,498.4,525.8,471.0,195.4,2038.6,0,0,0,30.00,15.64,15.63	DATA_FILE_SIZE	16150,552
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	222042,0
IRIDIUM_FIX	4738.80,-12300.63,200623,005910	SDSIZE	3887104,3872480
TCM_TEMP	-86.09	SDFILEDIR	75,7
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	1	SOUNDSPEED	1465.0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CURRENT	0.053,143.7,1
HUMID	53.10	MAGCAL	1.000000,0.010119,0.007013,0.001362,1.040693,-0.120474,-0.041075,-0.059257,1.015568,-267.6,-1171.5,-780.4,26,0.0283,0
TEMP	11.39	IMPLIED_C_PITCH	1763,13.07,263,0.0,0.00
INTERNAL_PRESSURE	8.00748	IMPLIED_C_VBD	3396,46.055866,263,0
_24V_AH	15.00,3.748	GPS	200623,021302,4736.734,-12256.204,41,0.8,42,15.4
_10V_AH	15.00,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	784	1303	15335.40	nil	0	0	0.00
Pitch_motor	25	261	99.99	nil	0	0	0.00
Roll_motor	64	319	309.56	nil	0	0	0.00
Iridium	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	19	15	4.40	nil	0	0	0.00
Core	2185	5	167.85	SciCon	3562	6	346.60
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1533	0	7.36
Compass	1149	5	86.22
RAFOS	1856	40	1114.17
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
7.04	16386	-146.63	-1.44	0.00	501.0	527.5	474.4	211.2	2009.7	0.00	0.00	0	78.64	64.21	0.00	0.00	0.005	0.000	0.000	2357.59	2380.94	2334.25	211.88	2009.56	0	0	0	15.33	30.00	30.00
79.22	18727	-146.63	-1.44	80.00	2356.3	2379.9	2332.7	211.6	2009.5	3.20	-2.68	12	146.36	37.46	7.63	3.60	0.005	0.261	0.135	3948.16	3956.50	3939.81	1252.81	3491.31	0	0	0	16.26	16.11	16.17
245.29	3237	-146.63	-1.29	0.00	3949.0	3957.8	3940.2	1252.9	3491.4	18.67	-8.75	43	253.95	0.00	0.23	3.42	0.000	0.191	0.074	3950.00	3959.06	3940.94	1289.06	2007.38	0	0	0	30.00	16.13	16.17
437.89	160	-146.63	-1.20	0.00	3949.1	3958.2	3940.0	1289.2	2006.9	32.21	-7.47	81	441.70	0.00	0.00	0.00	0.000	0.000	0.000	3949.03	3958.25	3939.81	1289.25	2007.25	0	0	0	30.00	30.00	30.00
626.32	2209	-146.63	-1.08	0.00	3949.2	3958.6	3939.8	1289.4	2006.8	47.96	-9.37	118	630.61	0.00	0.33	0.00	0.000	0.173	0.000	3949.28	3958.81	3939.75	1340.88	2007.19	0	0	0	30.00	16.11	30.00
821.32	420	-146.63	-0.99	80.00	3949.1	3958.2	3940.0	1340.9	2007.7	66.06	-9.67	140	830.21	0.00	0.00	3.61	0.000	0.000	0.136	3948.00	3958.19	3937.81	1341.81	3491.12	0	0	0	30.00	30.00	16.14
989.14	3205	-146.63	-0.87	0.00	3949.3	3958.9	3939.8	1341.8	3491.7	85.95	-12.22	173	998.44	0.00	0.32	3.44	0.000	0.173	0.080	3948.31	3958.00	3938.62	1391.44	2007.38	0	0	0	30.00	16.13	16.16
1184.16	388	-146.63	-0.84	80.00	3949.0	3958.8	3939.2	1391.7	2007.1	105.95	-10.23	193	1193.24	0.00	0.00	3.62	0.000	0.000	0.139	3949.75	3959.38	3940.12	1391.50	3489.06	0	0	0	30.00	30.00	16.12
1232.15	1156	-146.63	-0.79	0.00	3949.1	3958.7	3939.5	1391.4	3489.3	111.10	-10.78	202	1240.95	0.00	0.00	3.43	0.000	0.000	0.081	3948.88	3958.19	3939.56	1391.56	2008.25	0	0	0	30.00	30.00	16.15
1427.09	292	-146.63	-0.79	80.00	3949.2	3958.7	3939.7	1391.6	2008.1	129.72	-9.12	222	1436.15	0.00	0.00	3.63	0.000	0.000	0.142	3950.12	3960.38	3939.88	1391.94	3491.25	0	0	0	30.00	30.00	16.14
1535.08	3205	-146.63	-0.75	0.00	3949.0	3958.8	3939.2	1391.6	3490.9	141.16	-10.85	243	1544.17	0.00	0.18	3.44	0.000	0.167	0.083	3948.69	3958.06	3939.31	1420.56	2010.56	0	0	0	30.00	16.15	16.16
1640	end dive: TARGET_DEPTH_EXCEEDED
state	1640	begin apogee
1641.71	10243	0.00	-0.36	0.00	3949.3	3958.8	3939.8	1420.7	2039.5	150.49	-8.66	254	1767.40	112.44	0.60	0.06	1.303	0.133	0.320	3349.94	3394.00	3305.88	1516.81	2013.06	0	0	0	11.77	16.16	15.74
1768	end apogee: CONTROL_FINISHED_OK
state	1769	begin climb
1768.85	10759	146.63	1.44	-80.00	3347.7	3391.2	3304.2	1516.2	2013.2	156.62	0.00	265	1915.92	119.30	2.82	3.92	1.263	0.111	0.194	2750.19	2804.00	2696.38	1950.69	560.75	0	0	0	11.74	15.77	15.50
1954.15	9382	192.36	1.53	0.00	2747.4	2797.2	2697.6	1950.1	561.1	147.49	7.88	298	2006.40	38.96	0.00	3.55	1.217	0.000	0.080	2565.81	2623.12	2508.50	1950.25	2039.62	0	0	0	11.67	30.00	15.70
2190.33	10663	215.27	1.66	80.00	2558.6	2614.8	2502.4	1950.6	2040.1	128.03	8.94	326	2221.84	19.82	0.31	3.64	1.179	0.069	0.148	2468.31	2526.00	2410.62	2018.00	3490.50	0	0	0	11.85	15.88	15.77
2360.76	1156	215.27	1.69	0.00	2468.2	2524.8	2411.6	2017.4	3490.6	108.10	12.15	359	2373.46	0.00	0.00	3.53	0.000	0.000	0.087	2465.38	2521.94	2408.81	2017.75	2010.62	0	0	0	30.00	30.00	15.79
2557.38	8614	230.29	1.77	80.00	2466.4	2524.7	2408.2	2017.4	2010.9	87.93	9.30	379	2581.58	14.02	0.00	3.67	1.135	0.000	0.144	2409.22	2469.62	2348.81	2018.56	3489.44	0	0	0	11.85	30.00	15.93
2664.73	1156	230.29	1.82	0.00	2408.5	2467.7	2349.2	2018.4	3489.6	76.97	10.47	400	2672.97	0.00	0.00	3.50	0.000	0.000	0.086	2407.94	2466.38	2349.50	2017.94	2010.75	0	0	0	30.00	30.00	15.98
2860.61	10663	247.51	1.91	80.00	2407.4	2467.5	2347.2	2018.0	2011.0	58.68	9.20	420	2889.73	17.65	0.28	3.66	1.154	0.072	0.145	2339.84	2401.88	2277.81	2075.62	3489.44	0	0	0	11.75	16.06	15.96
2933.46	1028	247.51	1.91	0.00	2338.9	2400.0	2277.9	2076.4	3489.1	49.67	13.20	434	2942.21	0.00	0.00	3.49	0.000	0.000	0.086	2337.75	2399.56	2275.94	2075.81	2009.19	0	0	0	30.00	30.00	16.00
3127.22	388	247.51	1.95	80.00	2337.2	2399.4	2275.0	2075.6	2009.2	28.52	10.60	472	3135.99	0.00	0.00	3.65	0.000	0.000	0.143	2335.75	2398.19	2273.31	2075.88	3490.50	0	0	0	30.00	30.00	16.03
3274.30	1028	247.51	1.95	0.00	2336.4	2398.2	2274.6	2075.7	3490.1	11.60	10.49	497	3283.04	0.00	0.00	3.47	0.000	0.000	0.084	2334.41	2395.56	2273.25	2075.94	2009.31	0	0	0	30.00	30.00	16.05
3466.99	10919	421.08	2.26	-80.00	2334.7	2397.2	2272.1	2075.9	2009.5	5.01	1.96	535	3559.95	83.49	0.44	0.00	1.189	0.064	0.000	1932.56	2006.81	1858.31	2160.06	2009.56	0	0	0	11.88	16.09	30.00
3560	end climb: NO_VERTICAL_VELOCITY
state	3561	begin surface