Glider dive log

HoodCanal 19Jun23 * SG252 * Dive index * Mission links * Dive 21 * 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 21 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 30 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 0.72161311 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 7.1572776 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 30 SEABIRD_C_I -0.0020000001

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 N_FILEKB 8 SEABIRD_C_J 0.00019999999

ALTIM_FREQUENCY 13 D_SURF 2 N_GPS 100440 SEABIRD_T_G 0.0043000001

ALTIM_PING_DELTA 0 D_TGT 150 N_NOCOMM 1 SEABIRD_T_H 0.00063999998

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 N_NOSURFACE 0 SEABIRD_T_I 2.4999999e-05

ALTIM_PING_FIT 0 ESCAPE_HEADING_DELTA 10 OPTIONS 0 SEABIRD_T_J 4.3e-06

ALTIM_PULSE 3 FERRY_MAX 45 PHONE_DEVICE 33 SIM_W 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0.72161311 PHONE_SUPPLY 2 SM_CC 699.10498

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 7.1572776 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 21 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 200623,165710,4736.279,-12256.584,40,1.4,41,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200623,170016,4736.301,-12256.529,3,1.4,6,15.4 MHEAD_RNG_PITCHd_Wd 194.4,732,-17.6,-10.000,-21.21,2209,0.129

SPEED_LIMITS 0.173,0.258 D_GRID 169

TGT_NAME S IRON 1.000000,0.015188,-0.026368,-0.008752,1.062011,-0.056960,-0.006738,-0.038463,0.987792,-236.468765,-1241.938110,-775.440735

TGT_LATLONG 4735.950,-12256.800 OSC 8000266

Post-dive calculations and measurements:

NAV 1687284100,0.2,start _10V_AH 14.93,0.000

NET CACST,8,1,20230620175010.083743,18,185,16,0102,0085,74,01,01,01,01,-1,-01,-01,1,3,302,0,150,19.1,0.37,-100,2.63,-01,7.86,62,10000,5000,0,-1,00,00*54 FG_AHR_24Vo 7.410

NET_PING 1687282811,29,476.760010,5.800000,-0.665371 FG_AHR_10Vo 0.746

FREEZE 5.59,14.362,-1.506,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3514.57,282.76,1.168,0,500.9,527.8,474.1,698.88 MEM2 945624,37,100844,68

SM_GC 2.08,0.00,12.38,0.05,0.000,0.062,0.212,497.2,523.2,471.2,195.9,2038.4,0,0,0,30.00,15.56,15.55 DATA_FILE_SIZE 12950,485

SUPER 27,71,254,1,0,0 CAP_FILE_SIZE 198437,0

IRIDIUM_FIX 4735.06,-12250.06,200623,155240 SDSIZE 3887104,3867808

TCM_TEMP -86.43 SDFILEDIR 191,22

SC_FREEKB 3872064 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 0.068, 38.2,1

HUMID 52.51 MAGCAL 1.000000,0.010666,-0.067574,-0.003453,1.062269,-0.042677,0.013691,-0.035728,0.939704,-194.7,-1245.9,-724.3,36,0.0267,0

TEMP 10.63 IMPLIED_C_PITCH 1766,12.77,237,0.0,0.00

INTERNAL_PRESSURE 7.96451 IMPLIED_C_VBD 3276,18.946411,237,0

_24V_AH 14.89,7.664 GPS 200623,180232,4736.038,-12256.653,3,0.8,26,15.4

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 794 1372 16243.06 nil 0 0 0.00

Pitch_motor 25 273 105.16 nil 0 0 0.00

Roll_motor 73 316 344.32 nil 0 0 0.00

Iridium 118 167 296.58 nil 0 0 0.00

Transponder_ping 0 0 0.00 nil 0 0 0.00

GPS 15 15 3.50 nil 0 0 0.00

Core 2194 5 167.74 SciCon 3207 6 306.20

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1288 0 6.15

Compass 1018 5 76.00

RAFOS 218 40 130.65

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

6.98 16386 -146.63 -1.44 0.00 494.7 516.8 472.5 196.2 2038.6 0.00 0.00 0 55.12 43.47 0.00 0.00 0.005 0.000 0.000 1805.03 1840.12 1769.94 196.44 2038.69 0 0 0 15.16 30.00 30.00

55.65 18727 -146.63 -1.44 80.00 1805.8 1841.6 1770.1 196.5 2038.7 3.41 -3.67 3 138.10 54.55 8.04 3.60 0.005 0.273 0.137 3949.56 3954.94 3944.19 1253.06 3491.69 0 0 0 15.92 15.77 15.85

181.82 3205 -146.63 -1.21 0.00 3950.9 3956.6 3945.2 1252.8 3491.8 19.46 -19.05 26 190.45 0.00 0.37 3.55 0.000 0.208 0.079 3950.66 3956.94 3944.38 1306.81 2011.38 0 0 0 30.00 15.84 15.89

374.24 2437 -146.63 -1.11 80.00 3951.7 3958.9 3944.5 1307.0 2011.1 47.72 -13.82 64 383.09 0.00 0.17 3.69 0.000 0.195 0.136 3951.25 3957.75 3944.75 1334.81 3491.81 0 0 0 30.00 15.94 15.95

436.18 3205 -146.63 -0.99 0.00 3951.4 3958.1 3944.8 1334.8 3491.2 56.95 -14.94 76 444.64 0.00 0.17 3.54 0.000 0.196 0.079 3951.50 3958.00 3945.00 1361.31 2009.88 0 0 0 30.00 15.95 15.98

631.97 388 -146.63 -0.95 80.00 3951.8 3958.6 3945.0 1361.7 2009.9 80.48 -11.57 96 640.76 0.00 0.00 3.68 0.000 0.000 0.137 3951.19 3958.44 3943.94 1361.50 3491.19 0 0 0 30.00 30.00 16.01

723.85 3205 -146.63 -0.88 0.00 3951.7 3959.0 3944.3 1362.1 3491.6 92.47 -13.24 114 732.30 0.00 0.17 3.52 0.000 0.191 0.079 3951.84 3959.44 3944.25 1389.00 2008.56 0 0 0 30.00 16.00 16.03

919.48 260 -146.63 -0.88 80.00 3952.4 3960.1 3944.6 1389.4 2009.2 113.23 -10.29 134 928.44 0.00 0.00 3.67 0.000 0.000 0.140 3952.12 3959.19 3945.06 1388.00 3492.38 0 0 0 30.00 30.00 16.06

987.30 1156 -146.63 -0.84 0.00 3952.3 3959.9 3944.8 1388.9 3492.5 120.86 -11.49 147 996.01 0.00 0.00 3.51 0.000 0.000 0.080 3952.53 3960.31 3944.75 1389.25 2009.69 0 0 0 30.00 30.00 16.08

1177.04 292 -146.63 -0.84 80.00 3952.8 3960.6 3945.1 1389.4 2009.8 139.08 -9.94 166 1188.86 0.00 0.00 3.67 0.000 0.000 0.140 3952.72 3960.31 3945.12 1389.12 3490.38 0 0 0 30.00 30.00 16.05

1247.78 1156 -146.63 -0.81 0.00 3952.6 3960.9 3944.3 1389.1 3490.5 147.59 -11.54 180 1256.68 0.00 0.00 3.52 0.000 0.000 0.082 3952.25 3960.56 3943.94 1388.94 2009.75 0 0 0 30.00 30.00 16.05

1272 end dive: TARGET_DEPTH_EXCEEDED

state 1272 begin apogee

1274.39 10243 0.00 -0.36 0.00 3952.8 3960.8 3944.8 1388.9 2039.8 150.24 -10.75 183 1403.71 113.32 0.82 0.06 1.372 0.142 0.317 3350.41 3390.44 3310.38 1516.25 2012.38 0 0 0 12.19 16.05 15.61

1405 end apogee: CONTROL_FINISHED_OK

state 1405 begin climb

1405.19 10759 146.63 1.44 -80.00 3347.4 3387.4 3307.4 1516.0 2012.1 157.27 0.00 195 1550.85 118.93 2.85 4.09 1.330 0.116 0.190 2749.00 2800.06 2697.94 1949.88 562.31 0 0 0 11.94 15.65 15.40

1554.18 11431 219.33 1.60 0.00 2748.7 2798.0 2699.4 1951.8 562.2 151.29 6.63 219 1630.26 61.08 0.22 3.61 1.292 0.085 0.076 2452.78 2514.06 2391.50 1999.94 2038.88 0 0 0 11.77 15.52 15.53

1814.34 8614 233.43 1.69 80.00 2448.2 2508.4 2388.1 2000.4 2039.8 127.91 9.35 251 1838.43 12.85 0.00 3.71 1.168 0.000 0.148 2395.75 2455.94 2335.56 2000.44 3490.44 0 0 0 11.90 30.00 15.67

2017.36 3205 233.43 1.76 0.00 2395.0 2454.6 2335.4 1999.8 3490.4 106.70 10.55 291 2026.68 0.00 0.15 3.62 0.000 0.096 0.083 2393.03 2452.00 2334.06 2041.88 2011.88 0 0 0 30.00 15.87 15.84

2212.38 388 233.43 1.81 80.00 2394.5 2454.6 2334.4 2043.9 2012.2 85.08 10.68 311 2221.48 0.00 0.00 3.71 0.000 0.000 0.143 2391.03 2451.25 2330.81 2043.69 3488.88 0 0 0 30.00 30.00 15.92

2254.44 1028 233.43 1.81 0.00 2394.0 2453.8 2334.3 2043.4 3489.1 80.20 11.37 319 2262.97 0.00 0.00 3.59 0.000 0.000 0.082 2393.94 2453.44 2334.44 2043.75 2011.69 0 0 0 30.00 30.00 15.94

2453.49 420 235.40 1.87 80.00 2393.6 2453.7 2333.5 2044.1 2010.9 60.18 9.91 340 2462.50 0.00 0.00 3.71 0.000 0.000 0.143 2393.06 2452.00 2334.12 2044.19 3489.50 0 0 0 30.00 30.00 15.94

2581.25 1028 235.40 1.87 0.00 2393.4 2452.8 2334.1 2044.3 3489.8 46.56 10.08 365 2590.09 0.00 0.00 3.55 0.000 0.000 0.082 2394.34 2454.19 2334.50 2043.44 2012.00 0 0 0 30.00 30.00 15.99

2774.04 10663 246.94 1.94 80.00 2393.2 2452.8 2333.8 2044.1 2011.6 28.16 9.47 403 2798.62 14.19 0.17 3.71 1.162 0.090 0.143 2340.59 2399.75 2281.44 2085.00 3490.12 0 0 0 12.01 16.05 15.97

2907.44 1028 246.94 1.94 0.00 2341.1 2400.2 2282.1 2085.0 3490.2 13.46 10.83 429 2916.20 0.00 0.00 3.56 0.000 0.000 0.080 2340.22 2399.25 2281.19 2086.19 2009.44 0 0 0 30.00 30.00 16.01

3097.50 10403 409.46 2.23 0.00 2339.8 2400.2 2279.2 2085.5 2009.7 6.18 2.47 466 3201.37 93.71 0.34 0.00 1.226 0.067 0.000 1905.62 1980.31 1830.94 2154.56 2009.81 0 0 0 12.04 16.07 30.00

3202 end climb: NO_VERTICAL_VELOCITY

state 3202 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	21	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	30	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	0.72161311	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	7.1572776	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	200623,165710,4736.279,-12256.584,40,1.4,41,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200623,170016,4736.301,-12256.529,3,1.4,6,15.4	MHEAD_RNG_PITCHd_Wd	194.4,732,-17.6,-10.000,-21.21,2209,0.129
SPEED_LIMITS	0.173,0.258	D_GRID	169
TGT_NAME	S	IRON	1.000000,0.015188,-0.026368,-0.008752,1.062011,-0.056960,-0.006738,-0.038463,0.987792,-236.468765,-1241.938110,-775.440735
TGT_LATLONG	4735.950,-12256.800	OSC	8000266

NAV	1687284100,0.2,start	_10V_AH	14.93,0.000
NET	CACST,8,1,20230620175010.083743,18,185,16,0102,0085,74,01,01,01,01,-1,-01,-01,1,3,302,0,150,19.1,0.37,-100,2.63,-01,7.86,62,10000,5000,0,-1,00,00*54	FG_AHR_24Vo	7.410
NET_PING	1687282811,29,476.760010,5.800000,-0.665371	FG_AHR_10Vo	0.746
FREEZE	5.59,14.362,-1.506,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3514.57,282.76,1.168,0,500.9,527.8,474.1,698.88	MEM2	945624,37,100844,68
SM_GC	2.08,0.00,12.38,0.05,0.000,0.062,0.212,497.2,523.2,471.2,195.9,2038.4,0,0,0,30.00,15.56,15.55	DATA_FILE_SIZE	12950,485
SUPER	27,71,254,1,0,0	CAP_FILE_SIZE	198437,0
IRIDIUM_FIX	4735.06,-12250.06,200623,155240	SDSIZE	3887104,3867808
TCM_TEMP	-86.43	SDFILEDIR	191,22
SC_FREEKB	3872064	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	0.068, 38.2,1
HUMID	52.51	MAGCAL	1.000000,0.010666,-0.067574,-0.003453,1.062269,-0.042677,0.013691,-0.035728,0.939704,-194.7,-1245.9,-724.3,36,0.0267,0
TEMP	10.63	IMPLIED_C_PITCH	1766,12.77,237,0.0,0.00
INTERNAL_PRESSURE	7.96451	IMPLIED_C_VBD	3276,18.946411,237,0
_24V_AH	14.89,7.664	GPS	200623,180232,4736.038,-12256.653,3,0.8,26,15.4

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	794	1372	16243.06	nil	0	0	0.00
Pitch_motor	25	273	105.16	nil	0	0	0.00
Roll_motor	73	316	344.32	nil	0	0	0.00
Iridium	118	167	296.58	nil	0	0	0.00
Transponder_ping	0	0	0.00	nil	0	0	0.00
GPS	15	15	3.50	nil	0	0	0.00
Core	2194	5	167.74	SciCon	3207	6	306.20
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1288	0	6.15
Compass	1018	5	76.00
RAFOS	218	40	130.65
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
6.98	16386	-146.63	-1.44	0.00	494.7	516.8	472.5	196.2	2038.6	0.00	0.00	0	55.12	43.47	0.00	0.00	0.005	0.000	0.000	1805.03	1840.12	1769.94	196.44	2038.69	0	0	0	15.16	30.00	30.00
55.65	18727	-146.63	-1.44	80.00	1805.8	1841.6	1770.1	196.5	2038.7	3.41	-3.67	3	138.10	54.55	8.04	3.60	0.005	0.273	0.137	3949.56	3954.94	3944.19	1253.06	3491.69	0	0	0	15.92	15.77	15.85
181.82	3205	-146.63	-1.21	0.00	3950.9	3956.6	3945.2	1252.8	3491.8	19.46	-19.05	26	190.45	0.00	0.37	3.55	0.000	0.208	0.079	3950.66	3956.94	3944.38	1306.81	2011.38	0	0	0	30.00	15.84	15.89
374.24	2437	-146.63	-1.11	80.00	3951.7	3958.9	3944.5	1307.0	2011.1	47.72	-13.82	64	383.09	0.00	0.17	3.69	0.000	0.195	0.136	3951.25	3957.75	3944.75	1334.81	3491.81	0	0	0	30.00	15.94	15.95
436.18	3205	-146.63	-0.99	0.00	3951.4	3958.1	3944.8	1334.8	3491.2	56.95	-14.94	76	444.64	0.00	0.17	3.54	0.000	0.196	0.079	3951.50	3958.00	3945.00	1361.31	2009.88	0	0	0	30.00	15.95	15.98
631.97	388	-146.63	-0.95	80.00	3951.8	3958.6	3945.0	1361.7	2009.9	80.48	-11.57	96	640.76	0.00	0.00	3.68	0.000	0.000	0.137	3951.19	3958.44	3943.94	1361.50	3491.19	0	0	0	30.00	30.00	16.01
723.85	3205	-146.63	-0.88	0.00	3951.7	3959.0	3944.3	1362.1	3491.6	92.47	-13.24	114	732.30	0.00	0.17	3.52	0.000	0.191	0.079	3951.84	3959.44	3944.25	1389.00	2008.56	0	0	0	30.00	16.00	16.03
919.48	260	-146.63	-0.88	80.00	3952.4	3960.1	3944.6	1389.4	2009.2	113.23	-10.29	134	928.44	0.00	0.00	3.67	0.000	0.000	0.140	3952.12	3959.19	3945.06	1388.00	3492.38	0	0	0	30.00	30.00	16.06
987.30	1156	-146.63	-0.84	0.00	3952.3	3959.9	3944.8	1388.9	3492.5	120.86	-11.49	147	996.01	0.00	0.00	3.51	0.000	0.000	0.080	3952.53	3960.31	3944.75	1389.25	2009.69	0	0	0	30.00	30.00	16.08
1177.04	292	-146.63	-0.84	80.00	3952.8	3960.6	3945.1	1389.4	2009.8	139.08	-9.94	166	1188.86	0.00	0.00	3.67	0.000	0.000	0.140	3952.72	3960.31	3945.12	1389.12	3490.38	0	0	0	30.00	30.00	16.05
1247.78	1156	-146.63	-0.81	0.00	3952.6	3960.9	3944.3	1389.1	3490.5	147.59	-11.54	180	1256.68	0.00	0.00	3.52	0.000	0.000	0.082	3952.25	3960.56	3943.94	1388.94	2009.75	0	0	0	30.00	30.00	16.05
1272	end dive: TARGET_DEPTH_EXCEEDED
state	1272	begin apogee
1274.39	10243	0.00	-0.36	0.00	3952.8	3960.8	3944.8	1388.9	2039.8	150.24	-10.75	183	1403.71	113.32	0.82	0.06	1.372	0.142	0.317	3350.41	3390.44	3310.38	1516.25	2012.38	0	0	0	12.19	16.05	15.61
1405	end apogee: CONTROL_FINISHED_OK
state	1405	begin climb
1405.19	10759	146.63	1.44	-80.00	3347.4	3387.4	3307.4	1516.0	2012.1	157.27	0.00	195	1550.85	118.93	2.85	4.09	1.330	0.116	0.190	2749.00	2800.06	2697.94	1949.88	562.31	0	0	0	11.94	15.65	15.40
1554.18	11431	219.33	1.60	0.00	2748.7	2798.0	2699.4	1951.8	562.2	151.29	6.63	219	1630.26	61.08	0.22	3.61	1.292	0.085	0.076	2452.78	2514.06	2391.50	1999.94	2038.88	0	0	0	11.77	15.52	15.53
1814.34	8614	233.43	1.69	80.00	2448.2	2508.4	2388.1	2000.4	2039.8	127.91	9.35	251	1838.43	12.85	0.00	3.71	1.168	0.000	0.148	2395.75	2455.94	2335.56	2000.44	3490.44	0	0	0	11.90	30.00	15.67
2017.36	3205	233.43	1.76	0.00	2395.0	2454.6	2335.4	1999.8	3490.4	106.70	10.55	291	2026.68	0.00	0.15	3.62	0.000	0.096	0.083	2393.03	2452.00	2334.06	2041.88	2011.88	0	0	0	30.00	15.87	15.84
2212.38	388	233.43	1.81	80.00	2394.5	2454.6	2334.4	2043.9	2012.2	85.08	10.68	311	2221.48	0.00	0.00	3.71	0.000	0.000	0.143	2391.03	2451.25	2330.81	2043.69	3488.88	0	0	0	30.00	30.00	15.92
2254.44	1028	233.43	1.81	0.00	2394.0	2453.8	2334.3	2043.4	3489.1	80.20	11.37	319	2262.97	0.00	0.00	3.59	0.000	0.000	0.082	2393.94	2453.44	2334.44	2043.75	2011.69	0	0	0	30.00	30.00	15.94
2453.49	420	235.40	1.87	80.00	2393.6	2453.7	2333.5	2044.1	2010.9	60.18	9.91	340	2462.50	0.00	0.00	3.71	0.000	0.000	0.143	2393.06	2452.00	2334.12	2044.19	3489.50	0	0	0	30.00	30.00	15.94
2581.25	1028	235.40	1.87	0.00	2393.4	2452.8	2334.1	2044.3	3489.8	46.56	10.08	365	2590.09	0.00	0.00	3.55	0.000	0.000	0.082	2394.34	2454.19	2334.50	2043.44	2012.00	0	0	0	30.00	30.00	15.99
2774.04	10663	246.94	1.94	80.00	2393.2	2452.8	2333.8	2044.1	2011.6	28.16	9.47	403	2798.62	14.19	0.17	3.71	1.162	0.090	0.143	2340.59	2399.75	2281.44	2085.00	3490.12	0	0	0	12.01	16.05	15.97
2907.44	1028	246.94	1.94	0.00	2341.1	2400.2	2282.1	2085.0	3490.2	13.46	10.83	429	2916.20	0.00	0.00	3.56	0.000	0.000	0.080	2340.22	2399.25	2281.19	2086.19	2009.44	0	0	0	30.00	30.00	16.01
3097.50	10403	409.46	2.23	0.00	2339.8	2400.2	2279.2	2085.5	2009.7	6.18	2.47	466	3201.37	93.71	0.34	0.00	1.226	0.067	0.000	1905.62	1980.31	1830.94	2154.56	2009.81	0	0	0	12.04	16.07	30.00
3202	end climb: NO_VERTICAL_VELOCITY
state	3202	begin surface