Glider dive log

HoodCanal 18Jun23 * SG246 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 246 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2550 ALTIM_PULSE 3

MISSION 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

DIVE 5 TGT_DEFAULT_LON -12218 ROLL_CNV 0.054945 XPDR_VALID 4

N_DIVES 6 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

STOP_T 0 SM_CC 686.83997 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 2.2

D_ABORT 175 COMM_SEQ 15 VBD_MAX 3960 DEEPGLIDER 0

D_NO_BLEED 50 PROTOCOL 9 C_VBD 3300 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 100000 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 200 AH0_24V 575 NAV_DEVICE 6

USE_ICE 0 PITCH_MAX 3610 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 15 MAXI_10V 1.5 SIM_W 0

MAX_BUOY 150 PITCH_TIMEOUT 30 FG_AHR_10V 0.0081519661 SEABIRD_T_G 0.0043000001

GLIDE_SLOPE 30 PITCH_MAXERRORS 1 FG_AHR_24V 2.4032021 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 1 PRESSURE_YINT -171.61913 SEABIRD_T_J 4.3e-06

MASS 72348 C_PITCH_AUTO_DELTA 0 PRESSURE_SLOPE 0.00022436336 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 265 ALTIM_TOP_MIN_OBSTACLE 1 SC_PROFILE 3.0

HEADING -1 ROLL_MAX 3880 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 2540 ALTIM_FREQUENCY 13

AH0_10V 0 D_OFFGRID 100 NOCOMM_ACTION 131 SEABIRD_C_H 1

AH0_24V 575 D_PITCH 0 N_DIVES 6 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 0.0081519661 PHONE_SUPPLY 2 SM_CC 686.83997

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 2.4032021 PITCH_ADJ_DBAND 1 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 15 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 100000 HD_C 1.6e-05 PITCH_MAX 3610 TGT_DEFAULT_LAT 4736

CAPUPLOAD 0 HEADING -1 PITCH_MAXERRORS 1 TGT_DEFAULT_LON -12218

CF8_MAXERRORS 20 HEAD_ERRBAND 10 PITCH_MIN 200 T_ABORT 1440

COMM_SEQ 15 ICE_FREEZE_MARGIN 0.30000001 PITCH_TIMEOUT 30 T_BOOST 0

COMPASS2_DEVICE -1 ID 246 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 2.2 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 0.00022436336 T_MISSION 75

C_PITCH_AUTO_MAX 0 LOGGERDEVICE2 -1 PRESSURE_YINT -171.61913 T_NO_W 60

C_ROLL_CLIMB 2550 LOGGERDEVICE3 -1 PROTOCOL 9 T_RSLEEP 3

C_ROLL_DIVE 2540 LOGGERDEVICE4 -1 RAFOS_CORR_THRESH 60 T_TURN 225

C_VBD 3300 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 72348 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 3880 VBD_MIN 500

DEVICE6 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_TIMEOUT 720

DIVE 5 MISSION 3 ROLL_MIN 265 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 180623,210213,4736.084,-12256.975,1,0.8,4,15.4 TGT_RADIUS 300.000

_CALLS 1 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180623,210514,4736.067,-12257.004,2,0.8,3,15.4 MHEAD_RNG_PITCHd_Wd 12.7,1884,-17.6,-10.000,-21.21,2209,0.144

SPEED_LIMITS 0.173,0.258 D_GRID 166

TGT_NAME N IRON 1.000000,0.055977,-0.172755,-0.054096,1.108344,-0.071580,-0.013828,-0.053057,0.920541,540.480530,-557.983215,-471.144592

TGT_LATLONG 4737.000,-12256.400 OSC 8000266

Post-dive calculations and measurements:

NET CACST,8,1,20230618210610.862085,18,2302,33,0107,0150,07,01,01,00,01,1,012,121,3,5,7,5,150,6.6,4.07,-100,-1.07,-01,-0.30,57,10000,5000,0,1,00,00*57 FG_AHR_24Vo 2.577

NAV 1687126022,0.3,0,stop FG_AHR_10Vo 0.009

FREEZE 3.96,15.328,-1.441,0,1,0 MEM0 60020,1,0,0

SURF forcing MEM1 65508,1,0,0

SM_CCo 3568.04,205.30,0.872,0,501.0,449.2,552.8,686.59 MEM2 945108,37,101180,77

SM_GC 1.33,0.00,10.90,0.09,0.000,0.048,0.120,497.8,447.2,548.4,189.5,2510.2,0,0,0,30.00,15.24,15.24 DATA_FILE_SIZE 12899,485

SUPER 19,71,254,1,0,0 CAP_FILE_SIZE 270539,0

IRIDIUM_FIX 4738.33,-12256.21,180623,205841 SDSIZE 3887104,3873056

TCM_TEMP 15.35 SDFILEDIR 66,6

SC_FREEKB 3876960 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 0.082,206.0,1

HUMID 51.94 MAGCAL 1.000000,0.013690,-0.005527,-0.010391,1.001253,-0.047822,0.012203,-0.031994,0.960892,371.1,-615.5,-619.7,23,0.0301,1

TEMP 10.28 IMPLIED_C_PITCH 1573,18.62,249,0.0,0.00

INTERNAL_PRESSURE 8.5456 IMPLIED_C_VBD 3065,33.926556,249,0

_24V_AH 14.88,2.648 GPS 180623,220732,4736.266,-12256.834,6,1.1,10,15.4

_10V_AH 14.91,0.000

Energy measurements:

device secs mA J sensor secs mA J

VBD_pump 727 1058 11470.21 nil 0 0 0.00

Pitch_motor 24 270 99.97 nil 0 0 0.00

Roll_motor 48 204 147.68 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 12 15 2.73 nil 0 0 0.00

Core 2002 5 152.84 SciCon 3353 9 462.04

Fast 0 0 0.00 nil 0 0 0.00

Slow 0 0 0.00 nil 0 0 0.00

LPSleep 1495 0 7.13

Compass 1115 5 83.15

RAFOS 2013 40 1200.68

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

6 end surface: CONTROL_FINISHED_OK

state 6 begin dive

6.62 16386 -146.63 -1.35 0.00 496.6 456.5 536.7 186.9 2512.5 0.00 0.00 0 79.94 70.23 0.00 0.00 0.005 0.000 0.000 2176.88 2144.62 2209.12 187.38 2513.12 0 0 0 14.96 30.00 30.00

80.23 18727 -146.63 -1.35 80.00 2178.8 2146.1 2211.6 187.2 2513.1 3.03 -2.46 13 155.01 51.71 8.34 3.44 0.005 0.270 0.114 3897.44 3858.12 3936.75 1271.50 3891.12 0 0 0 15.63 15.49 15.57

193.35 3205 -146.63 -1.16 0.00 3899.6 3861.2 3937.9 1271.1 3891.4 16.14 -18.47 35 199.29 0.00 0.34 3.17 0.000 0.196 0.025 3899.91 3861.25 3938.56 1318.44 2496.75 0 0 0 30.00 15.54 15.64

383.66 644 -146.63 -1.12 -80.00 3900.9 3861.1 3940.8 1318.3 2496.7 38.80 -11.63 73 390.24 0.00 0.00 3.46 0.000 0.000 0.084 3901.84 3861.94 3941.75 1317.94 1071.50 0 0 0 30.00 30.00 15.60

428.67 1156 -146.63 -1.08 0.00 3901.3 3861.1 3941.6 1318.1 1071.2 43.94 -11.33 82 434.68 0.00 0.00 3.49 0.000 0.000 0.041 3901.66 3861.81 3941.50 1318.50 2556.12 0 0 0 30.00 30.00 15.63

618.98 2177 -146.63 -1.05 0.00 3901.6 3861.8 3941.4 1318.3 2555.6 65.59 -11.81 107 620.75 0.00 0.17 0.00 0.000 0.176 0.000 3901.66 3861.69 3941.62 1346.62 2555.94 0 0 0 30.00 15.60 30.00

808.87 516 -146.63 -1.05 -80.00 3902.3 3862.2 3942.4 1346.2 2555.9 85.34 -10.39 126 815.13 0.00 0.00 3.62 0.000 0.000 0.082 3902.81 3862.19 3943.44 1346.62 1069.94 0 0 0 30.00 30.00 15.63

857.88 1028 -146.63 -1.05 0.00 3902.3 3861.5 3943.2 1346.2 1070.1 90.68 -10.66 136 864.99 0.00 0.00 3.50 0.000 0.000 0.043 3902.41 3862.06 3942.75 1346.69 2555.94 0 0 0 30.00 30.00 15.65

1053.99 128 -146.63 -1.07 0.00 3902.3 3861.8 3942.8 1346.4 2555.0 110.80 -10.59 156 1055.57 0.00 0.00 0.00 0.000 0.000 0.000 3901.88 3861.06 3942.69 1346.25 2555.56 0 0 0 30.00 30.00 30.00

1244.02 388 -146.63 -1.09 80.00 3902.6 3862.0 3943.1 1345.6 2555.7 132.61 -11.16 175 1250.01 0.00 0.00 3.36 0.000 0.000 0.126 3902.31 3861.44 3943.19 1346.81 3889.19 0 0 0 30.00 30.00 15.63

1279.03 1156 -146.63 -1.07 0.00 3902.5 3861.9 3943.0 1346.9 3888.5 137.18 -13.32 182 1284.92 0.00 0.00 3.15 0.000 0.000 0.025 3904.06 3863.38 3944.75 1347.06 2495.19 0 0 0 30.00 30.00 15.69

1404 end dive: TARGET_DEPTH_EXCEEDED

state 1404 begin apogee

1405.40 10243 0.00 -0.33 0.00 3902.7 3862.2 3943.2 1346.8 2565.8 150.72 -10.28 195 1519.41 105.00 1.16 0.07 1.059 0.139 0.204 3299.03 3253.25 3344.81 1520.88 2521.75 0 0 0 11.43 15.64 15.32

1521 end apogee: CONTROL_FINISHED_OK

state 1521 begin climb

1520.76 10503 146.63 1.35 80.00 3296.8 3250.5 3343.1 1520.7 2521.7 154.97 0.00 206 1647.91 110.89 2.70 3.54 1.029 0.102 0.118 2698.97 2639.31 2758.62 1929.94 3888.56 0 0 0 11.34 15.31 15.11

1661.55 5253 146.63 1.14 0.00 2695.7 2638.7 2752.6 1929.8 3888.4 143.87 13.53 232 1668.86 0.00 0.51 3.21 0.000 0.186 0.024 2695.31 2638.38 2752.25 1871.25 2508.19 0 0 0 30.00 15.15 15.24

1858.70 17030 146.63 1.06 -80.00 2690.2 2630.8 2749.6 1870.6 2507.8 119.48 12.05 253 1864.80 0.00 0.00 3.53 0.000 0.000 0.090 2689.09 2630.00 2748.19 1871.25 1079.50 0 0 0 30.00 30.00 15.43

1887.83 21639 146.63 0.97 0.00 2689.1 2629.6 2748.5 1869.9 1079.2 115.88 11.97 259 1894.99 0.00 0.28 3.54 0.000 0.188 0.047 2689.50 2630.19 2748.81 1830.88 2564.44 0 0 0 30.00 15.44 15.48

2083.78 8354 153.89 0.94 0.00 2688.3 2627.9 2748.8 1831.1 2564.2 97.23 9.66 279 2093.33 6.24 0.00 0.00 0.663 0.000 0.000 2670.62 2610.00 2731.25 1830.69 2564.38 0 0 0 11.41 30.00 30.00

2283.82 8354 159.50 0.91 0.00 2668.9 2608.2 2729.6 1831.0 2563.9 77.61 9.74 299 2293.37 6.96 0.00 0.00 0.703 0.000 0.000 2648.44 2587.50 2709.38 1830.62 2564.25 0 0 0 11.31 30.00 30.00

2476.99 8870 177.97 0.91 -80.00 2644.9 2583.7 2706.1 1830.8 2564.1 59.17 9.14 319 2502.46 16.20 0.00 3.64 0.881 0.000 0.089 2570.97 2508.25 2633.69 1830.94 1082.12 0 0 0 11.44 30.00 15.57

2540.97 1156 177.97 0.89 0.00 2568.9 2505.1 2632.7 1830.8 1081.9 52.82 10.12 332 2548.05 0.00 0.00 3.51 0.000 0.000 0.047 2569.06 2505.44 2632.69 1830.69 2563.81 0 0 0 30.00 30.00 15.61

2731.98 8226 205.54 0.92 0.00 2567.1 2501.9 2632.2 1831.0 2564.5 35.15 8.72 367 2757.44 22.35 0.00 0.00 0.894 0.000 0.000 2459.66 2391.94 2527.38 1831.19 2564.50 0 0 0 11.41 30.00 30.00

2942.04 8226 240.45 0.96 0.00 2453.9 2384.1 2523.7 1830.5 2564.4 16.73 8.38 409 2975.33 27.30 0.00 0.00 0.887 0.000 0.000 2316.44 2241.00 2391.88 1830.50 2563.56 0 0 0 11.39 30.00 30.00

3159.77 10403 391.82 1.22 0.00 2310.8 2233.2 2388.5 1830.2 2564.3 5.48 2.99 452 3271.98 105.82 0.48 0.00 0.901 0.057 0.000 1700.34 1612.56 1788.12 1903.38 2564.12 0 0 0 11.42 15.63 30.00

3351 end climb: NO_VERTICAL_VELOCITY

state 3351 begin surface

ID	246	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2550	ALTIM_PULSE	3
MISSION	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
DIVE	5	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.054945	XPDR_VALID	4
N_DIVES	6	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
STOP_T	0	SM_CC	686.83997	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	2.2
D_ABORT	175	COMM_SEQ	15	VBD_MAX	3960	DEEPGLIDER	0
D_NO_BLEED	50	PROTOCOL	9	C_VBD	3300	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	100000	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	200	AH0_24V	575	NAV_DEVICE	6
USE_ICE	0	PITCH_MAX	3610	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	15	MAXI_10V	1.5	SIM_W	0
MAX_BUOY	150	PITCH_TIMEOUT	30	FG_AHR_10V	0.0081519661	SEABIRD_T_G	0.0043000001
GLIDE_SLOPE	30	PITCH_MAXERRORS	1	FG_AHR_24V	2.4032021	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	1	PRESSURE_YINT	-171.61913	SEABIRD_T_J	4.3e-06
MASS	72348	C_PITCH_AUTO_DELTA	0	PRESSURE_SLOPE	0.00022436336	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	265	ALTIM_TOP_MIN_OBSTACLE	1	SC_PROFILE	3.0
HEADING	-1	ROLL_MAX	3880	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	2540	ALTIM_FREQUENCY	13

GPS1	180623,210213,4736.084,-12256.975,1,0.8,4,15.4	TGT_RADIUS	300.000
_CALLS	1	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180623,210514,4736.067,-12257.004,2,0.8,3,15.4	MHEAD_RNG_PITCHd_Wd	12.7,1884,-17.6,-10.000,-21.21,2209,0.144
SPEED_LIMITS	0.173,0.258	D_GRID	166
TGT_NAME	N	IRON	1.000000,0.055977,-0.172755,-0.054096,1.108344,-0.071580,-0.013828,-0.053057,0.920541,540.480530,-557.983215,-471.144592
TGT_LATLONG	4737.000,-12256.400	OSC	8000266

NET	CACST,8,1,20230618210610.862085,18,2302,33,0107,0150,07,01,01,00,01,1,012,121,3,5,7,5,150,6.6,4.07,-100,-1.07,-01,-0.30,57,10000,5000,0,1,00,00*57	FG_AHR_24Vo	2.577
NAV	1687126022,0.3,0,stop	FG_AHR_10Vo	0.009
FREEZE	3.96,15.328,-1.441,0,1,0	MEM0	60020,1,0,0
SURF	forcing	MEM1	65508,1,0,0
SM_CCo	3568.04,205.30,0.872,0,501.0,449.2,552.8,686.59	MEM2	945108,37,101180,77
SM_GC	1.33,0.00,10.90,0.09,0.000,0.048,0.120,497.8,447.2,548.4,189.5,2510.2,0,0,0,30.00,15.24,15.24	DATA_FILE_SIZE	12899,485
SUPER	19,71,254,1,0,0	CAP_FILE_SIZE	270539,0
IRIDIUM_FIX	4738.33,-12256.21,180623,205841	SDSIZE	3887104,3873056
TCM_TEMP	15.35	SDFILEDIR	66,6
SC_FREEKB	3876960	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	0.082,206.0,1
HUMID	51.94	MAGCAL	1.000000,0.013690,-0.005527,-0.010391,1.001253,-0.047822,0.012203,-0.031994,0.960892,371.1,-615.5,-619.7,23,0.0301,1
TEMP	10.28	IMPLIED_C_PITCH	1573,18.62,249,0.0,0.00
INTERNAL_PRESSURE	8.5456	IMPLIED_C_VBD	3065,33.926556,249,0
_24V_AH	14.88,2.648	GPS	180623,220732,4736.266,-12256.834,6,1.1,10,15.4
_10V_AH	14.91,0.000

device	secs	mA	J	sensor	secs	mA	J
VBD_pump	727	1058	11470.21	nil	0	0	0.00
Pitch_motor	24	270	99.97	nil	0	0	0.00
Roll_motor	48	204	147.68	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	12	15	2.73	nil	0	0	0.00
Core	2002	5	152.84	SciCon	3353	9	462.04
Fast	0	0	0.00	nil	0	0	0.00
Slow	0	0	0.00	nil	0	0	0.00
LPSleep	1495	0	7.13
Compass	1115	5	83.15
RAFOS	2013	40	1200.68
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
6	end surface: CONTROL_FINISHED_OK
state	6	begin dive
6.62	16386	-146.63	-1.35	0.00	496.6	456.5	536.7	186.9	2512.5	0.00	0.00	0	79.94	70.23	0.00	0.00	0.005	0.000	0.000	2176.88	2144.62	2209.12	187.38	2513.12	0	0	0	14.96	30.00	30.00
80.23	18727	-146.63	-1.35	80.00	2178.8	2146.1	2211.6	187.2	2513.1	3.03	-2.46	13	155.01	51.71	8.34	3.44	0.005	0.270	0.114	3897.44	3858.12	3936.75	1271.50	3891.12	0	0	0	15.63	15.49	15.57
193.35	3205	-146.63	-1.16	0.00	3899.6	3861.2	3937.9	1271.1	3891.4	16.14	-18.47	35	199.29	0.00	0.34	3.17	0.000	0.196	0.025	3899.91	3861.25	3938.56	1318.44	2496.75	0	0	0	30.00	15.54	15.64
383.66	644	-146.63	-1.12	-80.00	3900.9	3861.1	3940.8	1318.3	2496.7	38.80	-11.63	73	390.24	0.00	0.00	3.46	0.000	0.000	0.084	3901.84	3861.94	3941.75	1317.94	1071.50	0	0	0	30.00	30.00	15.60
428.67	1156	-146.63	-1.08	0.00	3901.3	3861.1	3941.6	1318.1	1071.2	43.94	-11.33	82	434.68	0.00	0.00	3.49	0.000	0.000	0.041	3901.66	3861.81	3941.50	1318.50	2556.12	0	0	0	30.00	30.00	15.63
618.98	2177	-146.63	-1.05	0.00	3901.6	3861.8	3941.4	1318.3	2555.6	65.59	-11.81	107	620.75	0.00	0.17	0.00	0.000	0.176	0.000	3901.66	3861.69	3941.62	1346.62	2555.94	0	0	0	30.00	15.60	30.00
808.87	516	-146.63	-1.05	-80.00	3902.3	3862.2	3942.4	1346.2	2555.9	85.34	-10.39	126	815.13	0.00	0.00	3.62	0.000	0.000	0.082	3902.81	3862.19	3943.44	1346.62	1069.94	0	0	0	30.00	30.00	15.63
857.88	1028	-146.63	-1.05	0.00	3902.3	3861.5	3943.2	1346.2	1070.1	90.68	-10.66	136	864.99	0.00	0.00	3.50	0.000	0.000	0.043	3902.41	3862.06	3942.75	1346.69	2555.94	0	0	0	30.00	30.00	15.65
1053.99	128	-146.63	-1.07	0.00	3902.3	3861.8	3942.8	1346.4	2555.0	110.80	-10.59	156	1055.57	0.00	0.00	0.00	0.000	0.000	0.000	3901.88	3861.06	3942.69	1346.25	2555.56	0	0	0	30.00	30.00	30.00
1244.02	388	-146.63	-1.09	80.00	3902.6	3862.0	3943.1	1345.6	2555.7	132.61	-11.16	175	1250.01	0.00	0.00	3.36	0.000	0.000	0.126	3902.31	3861.44	3943.19	1346.81	3889.19	0	0	0	30.00	30.00	15.63
1279.03	1156	-146.63	-1.07	0.00	3902.5	3861.9	3943.0	1346.9	3888.5	137.18	-13.32	182	1284.92	0.00	0.00	3.15	0.000	0.000	0.025	3904.06	3863.38	3944.75	1347.06	2495.19	0	0	0	30.00	30.00	15.69
1404	end dive: TARGET_DEPTH_EXCEEDED
state	1404	begin apogee
1405.40	10243	0.00	-0.33	0.00	3902.7	3862.2	3943.2	1346.8	2565.8	150.72	-10.28	195	1519.41	105.00	1.16	0.07	1.059	0.139	0.204	3299.03	3253.25	3344.81	1520.88	2521.75	0	0	0	11.43	15.64	15.32
1521	end apogee: CONTROL_FINISHED_OK
state	1521	begin climb
1520.76	10503	146.63	1.35	80.00	3296.8	3250.5	3343.1	1520.7	2521.7	154.97	0.00	206	1647.91	110.89	2.70	3.54	1.029	0.102	0.118	2698.97	2639.31	2758.62	1929.94	3888.56	0	0	0	11.34	15.31	15.11
1661.55	5253	146.63	1.14	0.00	2695.7	2638.7	2752.6	1929.8	3888.4	143.87	13.53	232	1668.86	0.00	0.51	3.21	0.000	0.186	0.024	2695.31	2638.38	2752.25	1871.25	2508.19	0	0	0	30.00	15.15	15.24
1858.70	17030	146.63	1.06	-80.00	2690.2	2630.8	2749.6	1870.6	2507.8	119.48	12.05	253	1864.80	0.00	0.00	3.53	0.000	0.000	0.090	2689.09	2630.00	2748.19	1871.25	1079.50	0	0	0	30.00	30.00	15.43
1887.83	21639	146.63	0.97	0.00	2689.1	2629.6	2748.5	1869.9	1079.2	115.88	11.97	259	1894.99	0.00	0.28	3.54	0.000	0.188	0.047	2689.50	2630.19	2748.81	1830.88	2564.44	0	0	0	30.00	15.44	15.48
2083.78	8354	153.89	0.94	0.00	2688.3	2627.9	2748.8	1831.1	2564.2	97.23	9.66	279	2093.33	6.24	0.00	0.00	0.663	0.000	0.000	2670.62	2610.00	2731.25	1830.69	2564.38	0	0	0	11.41	30.00	30.00
2283.82	8354	159.50	0.91	0.00	2668.9	2608.2	2729.6	1831.0	2563.9	77.61	9.74	299	2293.37	6.96	0.00	0.00	0.703	0.000	0.000	2648.44	2587.50	2709.38	1830.62	2564.25	0	0	0	11.31	30.00	30.00
2476.99	8870	177.97	0.91	-80.00	2644.9	2583.7	2706.1	1830.8	2564.1	59.17	9.14	319	2502.46	16.20	0.00	3.64	0.881	0.000	0.089	2570.97	2508.25	2633.69	1830.94	1082.12	0	0	0	11.44	30.00	15.57
2540.97	1156	177.97	0.89	0.00	2568.9	2505.1	2632.7	1830.8	1081.9	52.82	10.12	332	2548.05	0.00	0.00	3.51	0.000	0.000	0.047	2569.06	2505.44	2632.69	1830.69	2563.81	0	0	0	30.00	30.00	15.61
2731.98	8226	205.54	0.92	0.00	2567.1	2501.9	2632.2	1831.0	2564.5	35.15	8.72	367	2757.44	22.35	0.00	0.00	0.894	0.000	0.000	2459.66	2391.94	2527.38	1831.19	2564.50	0	0	0	11.41	30.00	30.00
2942.04	8226	240.45	0.96	0.00	2453.9	2384.1	2523.7	1830.5	2564.4	16.73	8.38	409	2975.33	27.30	0.00	0.00	0.887	0.000	0.000	2316.44	2241.00	2391.88	1830.50	2563.56	0	0	0	11.39	30.00	30.00
3159.77	10403	391.82	1.22	0.00	2310.8	2233.2	2388.5	1830.2	2564.3	5.48	2.99	452	3271.98	105.82	0.48	0.00	0.901	0.057	0.000	1700.34	1612.56	1788.12	1903.38	2564.12	0	0	0	11.42	15.63	30.00
3351	end climb: NO_VERTICAL_VELOCITY
state	3351	begin surface